From 527cc7fbb7030a800c00e98d238e32264e5373cd Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 21 Aug 2018 07:37:52 +0200 Subject: [PATCH 001/197] Replace broad phase pair management custom array by List --- .../broadphase/BroadPhaseAlgorithm.cpp | 82 ++++--------------- .../broadphase/BroadPhaseAlgorithm.h | 21 ++--- src/containers/List.h | 61 +++++++++++++- test/tests/containers/TestList.h | 18 ++++ 4 files changed, 104 insertions(+), 78 deletions(-) diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/collision/broadphase/BroadPhaseAlgorithm.cpp index 43a1122e..fe577490 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp +++ b/src/collision/broadphase/BroadPhaseAlgorithm.cpp @@ -37,15 +37,9 @@ using namespace reactphysics3d; BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), - mNbPotentialPairs(0), mNbAllocatedPotentialPairs(8), + mPotentialPairs(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { - PoolAllocator& poolAllocator = collisionDetection.getMemoryManager().getPoolAllocator(); - - // Allocate memory for the array of potential overlapping pairs - mPotentialPairs = static_cast(poolAllocator.allocate(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair))); - assert(mPotentialPairs != nullptr); - #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -54,16 +48,6 @@ BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection) } -// Destructor -BroadPhaseAlgorithm::~BroadPhaseAlgorithm() { - - // Get the memory pool allocatory - PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator(); - - // Release the memory for the array of potential overlapping pairs - poolAllocator.release(mPotentialPairs, mNbAllocatedPotentialPairs * sizeof(BroadPhasePair)); -} - // Return true if the two broad-phase collision shapes are overlapping bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1, const ProxyShape* shape2) const { @@ -158,7 +142,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) // TODO : Try to see if we can allocate potential pairs in single frame allocator // Reset the potential overlapping pairs - mNbPotentialPairs = 0; + mPotentialPairs.clear(); LinkedList overlappingNodes(memoryManager.getPoolAllocator()); @@ -191,22 +175,22 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) mMovedShapes.clear(); // Sort the array of potential overlapping pairs in order to remove duplicate pairs - std::sort(mPotentialPairs, mPotentialPairs + mNbPotentialPairs, BroadPhasePair::smallerThan); + std::sort(mPotentialPairs.begin(), mPotentialPairs.end(), BroadPhasePair::smallerThan); // Check all the potential overlapping pairs avoiding duplicates to report unique // overlapping pairs - uint i=0; - while (i < mNbPotentialPairs) { + auto it = mPotentialPairs.begin(); + while (it != mPotentialPairs.end()) { // Get a potential overlapping pair - BroadPhasePair* pair = mPotentialPairs + i; - i++; + BroadPhasePair& pair = *it; + ++it; - assert(pair->collisionShape1ID != pair->collisionShape2ID); + assert(pair.collisionShape1ID != pair.collisionShape2ID); // Get the two collision shapes of the pair - ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair->collisionShape1ID)); - ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair->collisionShape2ID)); + ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.collisionShape1ID)); + ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.collisionShape2ID)); // If the two proxy collision shapes are from the same body, skip it if (shape1->getBody()->getId() != shape2->getBody()->getId()) { @@ -216,35 +200,19 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) } // Skip the duplicate overlapping pairs - while (i < mNbPotentialPairs) { + while (it != mPotentialPairs.end()) { // Get the next pair - BroadPhasePair* nextPair = mPotentialPairs + i; + BroadPhasePair& nextPair = *it; // If the next pair is different from the previous one, we stop skipping pairs - if (nextPair->collisionShape1ID != pair->collisionShape1ID || - nextPair->collisionShape2ID != pair->collisionShape2ID) { + if (nextPair.collisionShape1ID != pair.collisionShape1ID || + nextPair.collisionShape2ID != pair.collisionShape2ID) { break; } - i++; + ++it; } } - - // If the number of potential overlapping pairs is less than the quarter of allocated - // number of overlapping pairs - if (mNbPotentialPairs < mNbAllocatedPotentialPairs / 4 && mNbPotentialPairs > 8) { - - PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator(); - - // Reduce the number of allocated potential overlapping pairs - BroadPhasePair* oldPairs = mPotentialPairs; - uint oldNbAllocatedPotentialPairs = mNbAllocatedPotentialPairs; - mNbAllocatedPotentialPairs /= 2; - mPotentialPairs = static_cast(poolAllocator.allocate(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair))); - assert(mPotentialPairs); - memcpy(mPotentialPairs, oldPairs, mNbPotentialPairs * sizeof(BroadPhasePair)); - poolAllocator.release(oldPairs, oldNbAllocatedPotentialPairs * sizeof(BroadPhasePair)); - } } // Notify the broad-phase about a potential overlapping pair in the dynamic AABB tree @@ -257,25 +225,9 @@ void BroadPhaseAlgorithm::addOverlappingNodes(int referenceNodeId, const LinkedL // If both the nodes are the same, we do not create store the overlapping pair if (referenceNodeId != elem->data) { - // If we need to allocate more memory for the array of potential overlapping pairs - if (mNbPotentialPairs == mNbAllocatedPotentialPairs) { - - PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator(); - - // Allocate more memory for the array of potential pairs - BroadPhasePair* oldPairs = mPotentialPairs; - uint oldNbAllocatedPotentialPairs = mNbAllocatedPotentialPairs; - mNbAllocatedPotentialPairs *= 2; - mPotentialPairs = static_cast(poolAllocator.allocate(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair))); - assert(mPotentialPairs); - memcpy(mPotentialPairs, oldPairs, mNbPotentialPairs * sizeof(BroadPhasePair)); - poolAllocator.release(oldPairs, oldNbAllocatedPotentialPairs * sizeof(BroadPhasePair)); - } - // Add the new potential pair into the array of potential overlapping pairs - mPotentialPairs[mNbPotentialPairs].collisionShape1ID = std::min(referenceNodeId, elem->data); - mPotentialPairs[mNbPotentialPairs].collisionShape2ID = std::max(referenceNodeId, elem->data); - mNbPotentialPairs++; + mPotentialPairs.add(BroadPhasePair(std::min(referenceNodeId, elem->data), + std::max(referenceNodeId, elem->data))); } elem = elem->next; diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.h b/src/collision/broadphase/BroadPhaseAlgorithm.h index 49f43121..037edb4c 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.h +++ b/src/collision/broadphase/BroadPhaseAlgorithm.h @@ -59,8 +59,14 @@ struct BroadPhasePair { // -------------------- Methods -------------------- // + /// Constructor + BroadPhasePair(int shapeId1, int shapeId2) { + collisionShape1ID = shapeId1; + collisionShape2ID = shapeId2; + } + /// Method used to compare two pairs for sorting algorithm - static bool smallerThan(const BroadPhasePair& pair1, const BroadPhasePair& pair2); + static bool smallerThan(const BroadPhasePair &pair1, const BroadPhasePair &pair2); }; // class AABBOverlapCallback @@ -140,13 +146,7 @@ class BroadPhaseAlgorithm { Set mMovedShapes; /// Temporary array of potential overlapping pairs (with potential duplicates) - BroadPhasePair* mPotentialPairs; - - /// Number of potential overlapping pairs - uint mNbPotentialPairs; - - /// Number of allocated elements for the array of potential overlapping pairs - uint mNbAllocatedPotentialPairs; + List mPotentialPairs; /// Reference to the collision detection object CollisionDetection& mCollisionDetection; @@ -166,7 +166,7 @@ class BroadPhaseAlgorithm { BroadPhaseAlgorithm(CollisionDetection& collisionDetection); /// Destructor - ~BroadPhaseAlgorithm(); + ~BroadPhaseAlgorithm() = default; /// Deleted copy-constructor BroadPhaseAlgorithm(const BroadPhaseAlgorithm& algorithm) = delete; @@ -223,7 +223,8 @@ class BroadPhaseAlgorithm { }; // Method used to compare two pairs for sorting algorithm -inline bool BroadPhasePair::smallerThan(const BroadPhasePair& pair1, const BroadPhasePair& pair2) { +inline bool BroadPhasePair::smallerThan(const BroadPhasePair& pair1, + const BroadPhasePair& pair2) { if (pair1.collisionShape1ID < pair2.collisionShape1ID) return true; if (pair1.collisionShape1ID == pair2.collisionShape1ID) { diff --git a/src/containers/List.h b/src/containers/List.h index 5eacd495..9a7b1a3a 100755 --- a/src/containers/List.h +++ b/src/containers/List.h @@ -79,8 +79,10 @@ class List { using value_type = T; using difference_type = std::ptrdiff_t; using pointer = T*; + using const_pointer = T const*; using reference = T&; - using iterator_category = std::bidirectional_iterator_tag; + using const_reference = const T&; + using iterator_category = std::random_access_iterator_tag; /// Constructor Iterator() = default; @@ -98,13 +100,19 @@ class List { } /// Deferencable - reference operator*() const { + reference operator*() { + assert(mCurrentIndex >= 0 && mCurrentIndex < mSize); + return mBuffer[mCurrentIndex]; + } + + /// Const Deferencable + const_reference operator*() const { assert(mCurrentIndex >= 0 && mCurrentIndex < mSize); return mBuffer[mCurrentIndex]; } /// Deferencable - pointer operator->() const { + const_pointer operator->() const { assert(mCurrentIndex >= 0 && mCurrentIndex < mSize); return &(mBuffer[mCurrentIndex]); } @@ -138,6 +146,53 @@ class List { mCurrentIndex--; return tmp; } + + /// Plus operator + Iterator operator+(const difference_type& n) { + return Iterator(mBuffer, mCurrentIndex + n, mSize); + } + + /// Plus operator + Iterator& operator+=(const difference_type& n) { + mCurrentIndex += n; + return *this; + } + + /// Minus operator + Iterator operator-(const difference_type& n) { + return Iterator(mBuffer, mCurrentIndex - n, mSize); + } + + /// Minus operator + Iterator& operator-=(const difference_type& n) { + mCurrentIndex -= n; + return *this; + } + + /// Difference operator + difference_type operator-(const Iterator& iterator) const { + return mCurrentIndex - iterator.mCurrentIndex; + } + + /// Comparison operator + bool operator<(const Iterator& other) const { + return mCurrentIndex < other.mCurrentIndex; + } + + /// Comparison operator + bool operator>(const Iterator& other) const { + return mCurrentIndex > other.mCurrentIndex; + } + + /// Comparison operator + bool operator<=(const Iterator& other) const { + return mCurrentIndex <= other.mCurrentIndex; + } + + /// Comparison operator + bool operator>=(const Iterator& other) const { + return mCurrentIndex >= other.mCurrentIndex; + } /// Equality operator (it == end()) bool operator==(const Iterator& iterator) const { diff --git a/test/tests/containers/TestList.h b/test/tests/containers/TestList.h index 07cc5b4d..647bb350 100644 --- a/test/tests/containers/TestList.h +++ b/test/tests/containers/TestList.h @@ -375,6 +375,11 @@ class TestList : public Test { List::Iterator itEnd = list1.end(); List::Iterator it = list1.begin(); + test(itBegin < itEnd); + test(itBegin <= itEnd); + test(itEnd > itBegin); + test(itEnd >= itBegin); + test(itBegin == it); test(*it == 5); test(*(it++) == 5); @@ -399,6 +404,19 @@ class TestList : public Test { list2.add(*it); } test(list1 == list2); + + it = itBegin; + test(*(it + 2) == 8); + it += 2; + test(*it == 8); + test(*(it - 2) == 5); + it -= 2; + test(*it == 5); + test((itEnd - itBegin) == 4); + + it = itBegin; + *it = 19; + test(*it == 19); } }; From bcf305b118c32f644636d2ba2b9f802eee83ae66 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 9 Sep 2018 21:59:02 +0200 Subject: [PATCH 002/197] Refactor contact points creation --- CMakeLists.txt | 2 - src/collision/CollisionDetection.cpp | 371 ++++-- src/collision/CollisionDetection.h | 12 +- ....sync-conflict-20180707-081346-ARAT43F.cpp | 1084 +++++++++++++++++ src/collision/ContactManifold.cpp | 287 ++++- src/collision/ContactManifold.h | 16 +- src/collision/ContactManifoldInfo.cpp | 305 ----- src/collision/ContactManifoldInfo.h | 117 -- src/collision/ContactManifoldSet.cpp | 147 +-- src/collision/ContactManifoldSet.h | 15 +- src/collision/NarrowPhaseInfo.cpp | 6 - src/collision/NarrowPhaseInfo.h | 3 - src/containers/Set.h | 50 +- src/engine/DynamicsWorld.cpp | 3 +- src/engine/OverlappingPair.cpp | 96 +- src/engine/OverlappingPair.h | 36 +- test/tests/containers/TestSet.h | 17 +- 17 files changed, 1698 insertions(+), 869 deletions(-) create mode 100644 src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp delete mode 100644 src/collision/ContactManifoldInfo.cpp delete mode 100644 src/collision/ContactManifoldInfo.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 147a6a73..efa0bc04 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -81,7 +81,6 @@ SET (REACTPHYSICS3D_HEADERS "src/body/CollisionBody.h" "src/body/RigidBody.h" "src/collision/ContactPointInfo.h" - "src/collision/ContactManifoldInfo.h" "src/collision/broadphase/BroadPhaseAlgorithm.h" "src/collision/broadphase/DynamicAABBTree.h" "src/collision/narrowphase/CollisionDispatch.h" @@ -167,7 +166,6 @@ SET (REACTPHYSICS3D_SOURCES "src/body/Body.cpp" "src/body/CollisionBody.cpp" "src/body/RigidBody.cpp" - "src/collision/ContactManifoldInfo.cpp" "src/collision/broadphase/BroadPhaseAlgorithm.cpp" "src/collision/broadphase/DynamicAABBTree.cpp" "src/collision/narrowphase/DefaultCollisionDispatch.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 277d4647..c835c4e7 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -37,7 +37,6 @@ #include "collision/OverlapCallback.h" #include "collision/NarrowPhaseInfo.h" #include "collision/ContactManifold.h" -#include "collision/ContactManifoldInfo.h" #include "utils/Profiler.h" #include "engine/EventListener.h" #include "collision/RaycastInfo.h" @@ -107,8 +106,7 @@ void CollisionDetection::computeMiddlePhase() { RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); // For each possible collision pair of bodies - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { OverlappingPair* pair = it->second; @@ -130,9 +128,9 @@ void CollisionDetection::computeMiddlePhase() { if (!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { // Destroy the overlapping pair - it->second->~OverlappingPair(); + pair->~OverlappingPair(); - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, it->second, sizeof(OverlappingPair)); + mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); it = mOverlappingPairs.remove(it); continue; } @@ -256,6 +254,8 @@ void CollisionDetection::computeNarrowPhase() { RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); + List narrowPhaseInfos(mMemoryManager.getSingleFrameAllocator()); + NarrowPhaseInfo* currentNarrowPhaseInfo = mNarrowPhaseInfoList; while (currentNarrowPhaseInfo != nullptr) { @@ -269,14 +269,13 @@ void CollisionDetection::computeNarrowPhase() { LastFrameCollisionInfo* lastCollisionFrameInfo = currentNarrowPhaseInfo->getLastFrameCollisionInfo(); + narrowPhaseInfos.add(currentNarrowPhaseInfo); + // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. if (narrowPhaseAlgorithm->testCollision(currentNarrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) { - // Add the contact points as a potential contact manifold into the pair - currentNarrowPhaseInfo->addContactPointsAsPotentialContactManifold(); - lastCollisionFrameInfo->wasColliding = true; } else { @@ -287,24 +286,29 @@ void CollisionDetection::computeNarrowPhase() { lastCollisionFrameInfo->isValid = true; } - NarrowPhaseInfo* narrowPhaseInfoToDelete = currentNarrowPhaseInfo; currentNarrowPhaseInfo = currentNarrowPhaseInfo->next; - - // Call the destructor - narrowPhaseInfoToDelete->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Frame, narrowPhaseInfoToDelete, sizeof(NarrowPhaseInfo)); } // Convert the potential contact into actual contacts - processAllPotentialContacts(); + processAllPotentialContacts(narrowPhaseInfos, mOverlappingPairs); // Add all the contact manifolds (between colliding bodies) to the bodies addAllContactManifoldsToBodies(); // Report contacts to the user reportAllContacts(); + + // Destroy the narrow phase infos + for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Frame, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } } // Allow the broadphase to notify the collision detection about an overlapping pair. @@ -329,8 +333,10 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); + assert(newPair != nullptr); + // Add the new overlapping pair mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); // Wake up the two bodies @@ -344,16 +350,18 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { assert(proxyShape->getBroadPhaseId() != -1); // Remove all the overlapping pairs involving this proxy shape - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { - if (it->second->getShape1()->getBroadPhaseId() == proxyShape->getBroadPhaseId()|| - it->second->getShape2()->getBroadPhaseId() == proxyShape->getBroadPhaseId()) { + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + + OverlappingPair* pair = it->second; + + if (pair->getShape1()->getBroadPhaseId() == proxyShape->getBroadPhaseId()|| + pair->getShape2()->getBroadPhaseId() == proxyShape->getBroadPhaseId()) { // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved // Destroy the overlapping pair - it->second->~OverlappingPair(); - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, it->second, sizeof(OverlappingPair)); + pair->~OverlappingPair(); + mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); it = mOverlappingPairs.remove(it); } else { @@ -370,8 +378,7 @@ void CollisionDetection::addAllContactManifoldsToBodies() { RP3D_PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler); // For each overlapping pairs in contact during the narrow-phase - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { // Add all the contact manifolds of the pair into the list of contact manifolds // of the two bodies involved in the contact @@ -430,42 +437,36 @@ void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { } /// Convert the potential contact into actual contacts -void CollisionDetection::processAllPotentialContacts() { +void CollisionDetection::processAllPotentialContacts(const List& narrowPhaseInfos, + const OverlappingPairMap& overlappingPairs) { RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); - // For each overlapping pairs in contact during the narrow-phase - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + // For each narrow phase info object + for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { - // Process the potential contacts of the overlapping pair - processPotentialContacts(it->second); + NarrowPhaseInfo* narrowPhaseInfo = *it; + + assert(narrowPhaseInfo != nullptr); + + if (narrowPhaseInfo->contactPoints != nullptr) { + + // Transfer the contact points from the narrow phase info to the overlapping pair + narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); + } } -} -// Process the potential contact manifold of a pair to create actual contact manifold -void CollisionDetection::processPotentialContacts(OverlappingPair* pair) { + // For each overlapping pairs in contact during the narrow-phase + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { - // Reduce the number of contact points of the manifold - pair->reducePotentialContactManifolds(); + OverlappingPair* pair = it->second; - // Add all the potential contact manifolds as actual contact manifolds to the pair - ContactManifoldInfo* potentialManifold = pair->getPotentialContactManifolds(); - while (potentialManifold != nullptr) { + // Clear the obsolete contact manifolds and contact points + pair->clearObsoleteManifoldsAndContactPoints(); - pair->addContactManifold(potentialManifold); - - potentialManifold = potentialManifold->mNext; - } - - // Clear the obsolete contact manifolds and contact points - pair->clearObsoleteManifoldsAndContactPoints(); - - // Reduce the contact manifolds and contact points if there are too many of them - pair->reduceContactManifolds(); - - // Reset the potential contacts of the pair - pair->clearPotentialContactManifolds(); + // Reduce the contact manifolds and contact points if there are too many of them + pair->reduceContactManifolds(); + } } // Report contacts for all the colliding overlapping pairs @@ -474,13 +475,14 @@ void CollisionDetection::reportAllContacts() { RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); // For each overlapping pairs in contact during the narrow-phase - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + + OverlappingPair* pair = it->second; // If there is a user callback - if (mWorld->mEventListener != nullptr && it->second->hasContacts()) { + if (mWorld->mEventListener != nullptr && pair->hasContacts()) { - CollisionCallback::CollisionCallbackInfo collisionInfo(it->second, mMemoryManager); + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); // Trigger a callback event to report the new contact to the user mWorld->mEventListener->newContact(collisionInfo); @@ -751,6 +753,10 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body assert(collisionCallback != nullptr); + List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + List allNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + // For each proxy shape proxy shape of the first body ProxyShape* body1ProxyShape = body1->getProxyShapesList(); while (body1ProxyShape != nullptr) { @@ -766,16 +772,36 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // Test if the AABBs of the two proxy shapes overlap if (aabb1.testCollision(aabb2)) { - // Create a temporary overlapping pair - OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); + OverlappingPair* pair; + const Pair pairID = OverlappingPair::computeID(body1ProxyShape, body2ProxyShape); + + // Try to retrieve a corresponding copy of the overlapping pair (if it exists) + auto itPair = overlappingPairs.find(pairID); + + // If a copy of the overlapping pair does not exist yet + if (itPair == overlappingPairs.end()) { + + // Create a temporary copy of the overlapping pair + pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + overlappingPairs.add(Pair, OverlappingPair*>(pairID, pair)); + } + else { // If a temporary copy of this overlapping pair already exists + + // Retrieve the existing copy of the overlapping pair + pair = itPair->second; + } // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); // For each narrow-phase info object while (narrowPhaseInfo != nullptr) { + allNarrowPhaseInfos.add(narrowPhaseInfo); + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); @@ -790,30 +816,12 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // notifyContact() callback method will be called. if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - // Add the contact points as a potential contact manifold into the pair - narrowPhaseInfo->addContactPointsAsPotentialContactManifold(); + collidingNarrowPhaseInfos.add(narrowPhaseInfo); } } - NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; narrowPhaseInfo = narrowPhaseInfo->next; - - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); } - - // Process the potential contacts - processPotentialContacts(&pair); - - if (pair.hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(&pair, mMemoryManager); - collisionCallback->notifyContact(collisionInfo); - } } // Go to the next proxy shape @@ -823,6 +831,38 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // Go to the next proxy shape body1ProxyShape = body1ProxyShape->getNext(); } + + // Process the potential contacts + processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); + + // For each overlapping pair + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + + OverlappingPair* pair = it->second; + + if (pair->hasContacts()) { + + // Report the contacts to the user + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); + collisionCallback->notifyContact(collisionInfo); + } + + // Destroy the temporary overlapping pair + pair->~OverlappingPair(); + mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + } + + // Destroy the narrow phase infos + for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } } // Test and report collisions between a body and all the others bodies of the world @@ -830,6 +870,10 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c assert(callback != nullptr); + List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + List allNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + // For each proxy shape proxy shape of the body ProxyShape* bodyProxyShape = body->getProxyShapesList(); while (bodyProxyShape != nullptr) { @@ -859,16 +903,36 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // Check if the collision filtering allows collision between the two shapes if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - // Create a temporary overlapping pair - OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); + OverlappingPair* pair; + const Pair pairID = OverlappingPair::computeID(bodyProxyShape, proxyShape); + + // Try to retrieve a corresponding copy of the overlapping pair (if it exists) + auto itPair = overlappingPairs.find(pairID); + + // If a copy of the overlapping pair does not exist yet + if (itPair == overlappingPairs.end()) { + + // Create a temporary overlapping pair + pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + overlappingPairs.add(Pair, OverlappingPair*>(pairID, pair)); + } + else { // If a temporary copy of this overlapping pair already exists + + // Retrieve the existing copy of the overlapping pair + pair = itPair->second; + } // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); // For each narrow-phase info object while (narrowPhaseInfo != nullptr) { + allNarrowPhaseInfos.add(narrowPhaseInfo); + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); @@ -883,29 +947,11 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // notifyContact() callback method will be called. if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - // Add the contact points as a potential contact manifold into the pair - narrowPhaseInfo->addContactPointsAsPotentialContactManifold(); + collidingNarrowPhaseInfos.add(narrowPhaseInfo); } } - NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; narrowPhaseInfo = narrowPhaseInfo->next; - - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } - - // Process the potential contacts - processPotentialContacts(&pair); - - if (pair.hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(&pair, mMemoryManager); - callback->notifyContact(collisionInfo); } } } @@ -918,6 +964,38 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c bodyProxyShape = bodyProxyShape->getNext(); } } + + // Process the potential contacts + processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); + + // For each overlapping pair + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + + OverlappingPair* pair = it->second; + + if (pair->hasContacts()) { + + // Report the contacts to the user + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); + callback->notifyContact(collisionInfo); + } + + // Destroy the temporary overlapping pair + pair->~OverlappingPair(); + mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + } + + // Destroy the narrow phase infos + for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } } // Test and report collisions between all shapes of the world @@ -928,18 +1006,39 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // Compute the broad-phase collision detection computeBroadPhase(); + List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + List allNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + // For each possible collision pair of bodies - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { OverlappingPair* originalPair = it->second; - // Create a new overlapping pair so that we do not work on the original one - OverlappingPair pair(originalPair->getShape1(), originalPair->getShape2(), mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); + OverlappingPair* pair; + const Pair pairID = OverlappingPair::computeID(originalPair->getShape1(), originalPair->getShape2()); - ProxyShape* shape1 = pair.getShape1(); - ProxyShape* shape2 = pair.getShape2(); + // Try to retrieve a corresponding copy of the overlapping pair (if it exists) + auto itPair = overlappingPairs.find(pairID); + + // If a copy of the overlapping pair does not exist yet + if (itPair == overlappingPairs.end()) { + + // Create a temporary overlapping pair + pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(originalPair->getShape1(), originalPair->getShape2(), mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + overlappingPairs.add(Pair, OverlappingPair*>(pairID, pair)); + } + else { // If a temporary copy of this overlapping pair already exists + + // Retrieve the existing copy of the overlapping pair + pair = itPair->second; + } + + ProxyShape* shape1 = pair->getShape1(); + ProxyShape* shape2 = pair->getShape2(); // Check if the collision filtering allows collision between the two shapes and // that the two shapes are still overlapping. @@ -948,11 +1047,13 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); // For each narrow-phase info object while (narrowPhaseInfo != nullptr) { + allNarrowPhaseInfos.add(narrowPhaseInfo); + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); @@ -967,32 +1068,46 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // notifyContact() callback method will be called. if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - // Add the contact points as a potential contact manifold into the pair - narrowPhaseInfo->addContactPointsAsPotentialContactManifold(); + collidingNarrowPhaseInfos.add(narrowPhaseInfo); } } - NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; narrowPhaseInfo = narrowPhaseInfo->next; - - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); } - - // Process the potential contacts - processPotentialContacts(&pair); - - if (pair.hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(&pair, mMemoryManager); - callback->notifyContact(collisionInfo); - } } } + + // Process the potential contacts + processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); + + // For each overlapping pair + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + + OverlappingPair* pair = it->second; + + if (pair->hasContacts()) { + + // Report the contacts to the user + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); + callback->notifyContact(collisionInfo); + } + + // Destroy the temporary overlapping pair + pair->~OverlappingPair(); + mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + } + + // Destroy the narrow phase infos + for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } } // Fill-in the collision detection matrix diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index a6c36ab8..6a72bf0b 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -59,6 +59,8 @@ class CollisionDetection { private : + using OverlappingPairMap = Map, OverlappingPair*>; + // -------------------- Attributes -------------------- // /// Memory manager @@ -80,7 +82,7 @@ class CollisionDetection { NarrowPhaseInfo* mNarrowPhaseInfoList; /// Broad-phase overlapping pairs - Map, OverlappingPair*> mOverlappingPairs; + OverlappingPairMap mOverlappingPairs; /// Broad-phase algorithm BroadPhaseAlgorithm mBroadPhaseAlgorithm; @@ -131,17 +133,15 @@ class CollisionDetection { NarrowPhaseInfo* computeMiddlePhaseForProxyShapes(OverlappingPair* pair); /// Convert the potential contact into actual contacts - void processAllPotentialContacts(); - - /// Process the potential contact manifold of a pair to create actual contact manifold - void processPotentialContacts(OverlappingPair* pair); + void processAllPotentialContacts(const List& narrowPhaseInfos, + const OverlappingPairMap& overlappingPairs); /// Report contacts for all the colliding overlapping pairs void reportAllContacts(); /// Process the potential contacts where one collion is a concave shape void processSmoothMeshContacts(OverlappingPair* pair); - + public : // -------------------- Methods -------------------- // diff --git a/src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp b/src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp new file mode 100644 index 00000000..7dfb2f72 --- /dev/null +++ b/src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp @@ -0,0 +1,1084 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "CollisionDetection.h" +#include "engine/CollisionWorld.h" +#include "collision/OverlapCallback.h" +#include "body/Body.h" +#include "collision/shapes/BoxShape.h" +#include "collision/shapes/ConcaveShape.h" +#include "body/RigidBody.h" +#include "configuration.h" +#include "collision/CollisionCallback.h" +#include "collision/MiddlePhaseTriangleCallback.h" +#include "collision/OverlapCallback.h" +#include "collision/NarrowPhaseInfo.h" +#include "collision/ContactManifold.h" +#include "collision/ContactManifoldInfo.h" +#include "utils/Profiler.h" +#include "engine/EventListener.h" +#include "collision/RaycastInfo.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; +using namespace std; + + +// Constructor +CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager) + : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoList(nullptr), + mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), + mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false) { + + // Set the default collision dispatch configuration + setCollisionDispatch(&mDefaultCollisionDispatch); + + // Fill-in the collision detection matrix with algorithms + fillInCollisionMatrix(); + +#ifdef IS_PROFILING_ACTIVE + + mProfiler = nullptr; + +#endif + +} + +// Compute the collision detection +void CollisionDetection::computeCollisionDetection() { + + RP3D_PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler); + + // Compute the broad-phase collision detection + computeBroadPhase(); + + // Compute the middle-phase collision detection + computeMiddlePhase(); + + // Compute the narrow-phase collision detection + computeNarrowPhase(); + + // Reset the linked list of narrow-phase info + mNarrowPhaseInfoList = nullptr; +} + +// Compute the broad-phase collision detection +void CollisionDetection::computeBroadPhase() { + + RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); + + // If new collision shapes have been added to bodies + if (mIsCollisionShapesAdded) { + + // Ask the broad-phase to recompute the overlapping pairs of collision + // shapes. This call can only add new overlapping pairs in the collision + // detection. + mBroadPhaseAlgorithm.computeOverlappingPairs(mMemoryManager); + } +} + +// Compute the middle-phase collision detection +void CollisionDetection::computeMiddlePhase() { + + RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); + + // For each possible collision pair of bodies + Map, OverlappingPair*>::Iterator it; + for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + + OverlappingPair* pair = it->second; + + // Make all the contact manifolds and contact points of the pair obsolete + pair->makeContactsObsolete(); + + // Make all the last frame collision info obsolete + pair->makeLastFrameCollisionInfosObsolete(); + + ProxyShape* shape1 = pair->getShape1(); + ProxyShape* shape2 = pair->getShape2(); + + assert(shape1->getBroadPhaseId() != -1); + assert(shape2->getBroadPhaseId() != -1); + assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); + + // Check if the two shapes are still overlapping. Otherwise, we destroy the + // overlapping pair + if (!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { + + // Destroy the overlapping pair + it->second->~OverlappingPair(); + + mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, it->second, sizeof(OverlappingPair)); + it = mOverlappingPairs.remove(it); + continue; + } + else { + ++it; + } + + // Check if the collision filtering allows collision between the two shapes + if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && + (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0)) { + + CollisionBody* const body1 = shape1->getBody(); + CollisionBody* const body2 = shape2->getBody(); + + // Check that at least one body is awake and not static + bool isBody1Active = !body1->isSleeping() && body1->getType() != BodyType::STATIC; + bool isBody2Active = !body2->isSleeping() && body2->getType() != BodyType::STATIC; + if (!isBody1Active && !isBody2Active) continue; + + // Check if the bodies are in the set of bodies that cannot collide between each other + bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2); + if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; + + bool isShape1Convex = shape1->getCollisionShape()->isConvex(); + bool isShape2Convex = shape2->getCollisionShape()->isConvex(); + + // If both shapes are convex + if (isShape1Convex && isShape2Convex) { + + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + NarrowPhaseInfo* firstNarrowPhaseInfo = mNarrowPhaseInfoList; + mNarrowPhaseInfoList = new (mMemoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(NarrowPhaseInfo))) + NarrowPhaseInfo(pair, shape1->getCollisionShape(), + shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), + shape2->getLocalToWorldTransform(), mMemoryManager.getSingleFrameAllocator()); + mNarrowPhaseInfoList->next = firstNarrowPhaseInfo; + + } + // Concave vs Convex algorithm + else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { + + NarrowPhaseInfo* narrowPhaseInfo = nullptr; + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), &narrowPhaseInfo); + + // Add all the narrow-phase info object reported by the callback into the + // list of all the narrow-phase info object + while (narrowPhaseInfo != nullptr) { + NarrowPhaseInfo* next = narrowPhaseInfo->next; + narrowPhaseInfo->next = mNarrowPhaseInfoList; + mNarrowPhaseInfoList = narrowPhaseInfo; + + narrowPhaseInfo = next; + } + } + // Concave vs Concave shape + else { + // Not handled + continue; + } + + // Remove the obsolete last frame collision infos + pair->clearObsoleteLastFrameCollisionInfos(); + } + } +} + +// Compute the concave vs convex middle-phase algorithm for a given pair of bodies +void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, + NarrowPhaseInfo** firstNarrowPhaseInfo) { + + ProxyShape* shape1 = pair->getShape1(); + ProxyShape* shape2 = pair->getShape2(); + + ProxyShape* convexProxyShape; + ProxyShape* concaveProxyShape; + const ConvexShape* convexShape; + const ConcaveShape* concaveShape; + + // Collision shape 1 is convex, collision shape 2 is concave + if (shape1->getCollisionShape()->isConvex()) { + convexProxyShape = shape1; + convexShape = static_cast(shape1->getCollisionShape()); + concaveProxyShape = shape2; + concaveShape = static_cast(shape2->getCollisionShape()); + } + else { // Collision shape 2 is convex, collision shape 1 is concave + convexProxyShape = shape2; + convexShape = static_cast(shape2->getCollisionShape()); + concaveProxyShape = shape1; + concaveShape = static_cast(shape1->getCollisionShape()); + } + + // Set the parameters of the callback object + MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape, + concaveShape, allocator); + +#ifdef IS_PROFILING_ACTIVE + + // Set the profiler + middlePhaseCallback.setProfiler(mProfiler); + +#endif + + // Compute the convex shape AABB in the local-space of the convex shape + const Transform convexToConcaveTransform = concaveProxyShape->getLocalToWorldTransform().getInverse() * + convexProxyShape->getLocalToWorldTransform(); + AABB aabb; + convexShape->computeAABB(aabb, convexToConcaveTransform); + + // Call the convex vs triangle callback for each triangle of the concave shape + concaveShape->testAllTriangles(middlePhaseCallback, aabb); + + // Add all the narrow-phase info object reported by the callback into the + // list of all the narrow-phase info object + *firstNarrowPhaseInfo = middlePhaseCallback.narrowPhaseInfoList; +} + +// Compute the narrow-phase collision detection +void CollisionDetection::computeNarrowPhase() { + + RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); + + List narrowPhaseInfos(mMemoryManager.getSingleFrameAllocator()); + + NarrowPhaseInfo* currentNarrowPhaseInfo = mNarrowPhaseInfoList; + while (currentNarrowPhaseInfo != nullptr) { + + // Select the narrow phase algorithm to use according to the two collision shapes + const CollisionShapeType shape1Type = currentNarrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = currentNarrowPhaseInfo->collisionShape2->getType(); + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is no collision algorithm between those two kinds of shapes, skip it + if (narrowPhaseAlgorithm != nullptr) { + + LastFrameCollisionInfo* lastCollisionFrameInfo = currentNarrowPhaseInfo->getLastFrameCollisionInfo(); + + narrowPhaseInfos.add(currentNarrowPhaseInfo); + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + if (narrowPhaseAlgorithm->testCollision(currentNarrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) { + + lastCollisionFrameInfo->wasColliding = true; + } + else { + lastCollisionFrameInfo->wasColliding = false; + } + + // The previous frame collision info is now valid + lastCollisionFrameInfo->isValid = true; + } + + currentNarrowPhaseInfo = currentNarrowPhaseInfo->next; + } + + // Convert the potential contact into actual contacts + processAllPotentialContacts(narrowPhaseInfos, mMemoryManager.getSingleFrameAllocator()); + + // Add all the contact manifolds (between colliding bodies) to the bodies + addAllContactManifoldsToBodies(); + + // Report contacts to the user + reportAllContacts(); + + // Destroy the narrow phase infos + for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Frame, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } +} + +// Allow the broadphase to notify the collision detection about an overlapping pair. +/// This method is called by the broad-phase collision detection algorithm +void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2) { + + assert(shape1->getBroadPhaseId() != -1); + assert(shape2->getBroadPhaseId() != -1); + assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); + + // Check if the collision filtering allows collision between the two shapes + if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 || + (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return; + + // Compute the overlapping pair ID + Pair pairID = OverlappingPair::computeID(shape1, shape2); + + // Check if the overlapping pair already exists + if (mOverlappingPairs.containsKey(pairID)) return; + + // Create the overlapping pair and add it into the set of overlapping pairs + OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), + mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); + assert(newPair != nullptr); + + mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); + + // Wake up the two bodies + shape1->getBody()->setIsSleeping(false); + shape2->getBody()->setIsSleeping(false); +} + +// Remove a body from the collision detection +void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { + + assert(proxyShape->getBroadPhaseId() != -1); + + // Remove all the overlapping pairs involving this proxy shape + Map, OverlappingPair*>::Iterator it; + for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + if (it->second->getShape1()->getBroadPhaseId() == proxyShape->getBroadPhaseId()|| + it->second->getShape2()->getBroadPhaseId() == proxyShape->getBroadPhaseId()) { + + // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved + + // Destroy the overlapping pair + it->second->~OverlappingPair(); + mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, it->second, sizeof(OverlappingPair)); + it = mOverlappingPairs.remove(it); + } + else { + ++it; + } + } + + // Remove the body from the broad-phase + mBroadPhaseAlgorithm.removeProxyCollisionShape(proxyShape); +} + +void CollisionDetection::addAllContactManifoldsToBodies() { + + RP3D_PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler); + + // For each overlapping pairs in contact during the narrow-phase + Map, OverlappingPair*>::Iterator it; + for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + + // Add all the contact manifolds of the pair into the list of contact manifolds + // of the two bodies involved in the contact + addContactManifoldToBody(it->second); + } +} + +// Ray casting method +void CollisionDetection::raycast(RaycastCallback* raycastCallback, + const Ray& ray, + unsigned short raycastWithCategoryMaskBits) const { + + RP3D_PROFILE("CollisionDetection::raycast()", mProfiler); + + RaycastTest rayCastTest(raycastCallback); + + // Ask the broad-phase algorithm to call the testRaycastAgainstShape() + // callback method for each proxy shape hit by the ray in the broad-phase + mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); +} + +// Add a contact manifold to the linked list of contact manifolds of the two bodies involved +// in the corresponding contact +void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { + + assert(pair != nullptr); + + CollisionBody* body1 = pair->getShape1()->getBody(); + CollisionBody* body2 = pair->getShape2()->getBody(); + const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet(); + + // For each contact manifold in the set of manifolds in the pair + ContactManifold* contactManifold = manifoldSet.getContactManifolds(); + while (contactManifold != nullptr) { + + assert(contactManifold->getNbContactPoints() > 0); + + // Add the contact manifold at the beginning of the linked + // list of contact manifolds of the first body + ContactManifoldListElement* listElement1 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + sizeof(ContactManifoldListElement))) + ContactManifoldListElement(contactManifold, + body1->mContactManifoldsList); + body1->mContactManifoldsList = listElement1; + + // Add the contact manifold at the beginning of the linked + // list of the contact manifolds of the second body + ContactManifoldListElement* listElement2 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + sizeof(ContactManifoldListElement))) + ContactManifoldListElement(contactManifold, + body2->mContactManifoldsList); + body2->mContactManifoldsList = listElement2; + + contactManifold = contactManifold->getNext(); + } +} + +/// Convert the potential contact into actual contacts +void CollisionDetection::processAllPotentialContacts(const List& narrowPhaseInfos, + MemoryAllocator& tempMemoryAllocator) { + + RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); + + Set collidingPairs(tempMemoryAllocator); + + // For each narrow phase info object + for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + assert(narrowPhaseInfo != nullptr); + + if (narrowPhaseInfo->contactPoints != nullptr) { + + // Transfer the contact points from the narrow phase info to the overlapping pair + narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); + + // Store the colliding pair + collidingPairs.add(narrowPhaseInfo->overlappingPair); + } + } + + // For each overlapping pairs in contact during the narrow-phase + for (auto it = collidingPairs.begin(); it != collidingPairs.end(); ++it) { + + OverlappingPair* pair = *it; + + // Clear the obsolete contact manifolds and contact points + pair->clearObsoleteManifoldsAndContactPoints(); + + // Reduce the contact manifolds and contact points if there are too many of them + pair->reduceContactManifolds(); + + // Reset the potential contacts of the pair + pair->clearPotentialContactManifolds(); + } +} + +// Report contacts for all the colliding overlapping pairs +void CollisionDetection::reportAllContacts() { + + RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); + + // For each overlapping pairs in contact during the narrow-phase + Map, OverlappingPair*>::Iterator it; + for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + + // If there is a user callback + if (mWorld->mEventListener != nullptr && it->second->hasContacts()) { + + CollisionCallback::CollisionCallbackInfo collisionInfo(it->second, mMemoryManager); + + // Trigger a callback event to report the new contact to the user + mWorld->mEventListener->newContact(collisionInfo); + } + } +} + +// Compute the middle-phase collision detection between two proxy shapes +NarrowPhaseInfo* CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair) { + + ProxyShape* shape1 = pair->getShape1(); + ProxyShape* shape2 = pair->getShape2(); + + // ------------------------------------------------------- + + const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); + const bool isShape2Convex = shape2->getCollisionShape()->isConvex(); + + NarrowPhaseInfo* narrowPhaseInfo = nullptr; + + pair->makeLastFrameCollisionInfosObsolete(); + + // If both shapes are convex + if ((isShape1Convex && isShape2Convex)) { + + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + sizeof(NarrowPhaseInfo))) NarrowPhaseInfo(pair, shape1->getCollisionShape(), + shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), + shape2->getLocalToWorldTransform(), mMemoryManager.getPoolAllocator()); + + } + // Concave vs Convex algorithm + else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { + + // Run the middle-phase collision detection algorithm to find the triangles of the concave + // shape we need to use during the narrow-phase collision detection + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), &narrowPhaseInfo); + } + + pair->clearObsoleteLastFrameCollisionInfos(); + + return narrowPhaseInfo; +} + +// Report all the bodies that overlap with the aabb in parameter +void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, + unsigned short categoryMaskBits) { + assert(overlapCallback != nullptr); + + Set reportedBodies(mMemoryManager.getPoolAllocator()); + + // Ask the broad-phase to get all the overlapping shapes + LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); + mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); + + // For each overlaping proxy shape + LinkedList::ListElement* element = overlappingNodes.getListHead(); + while (element != nullptr) { + + // Get the overlapping proxy shape + int broadPhaseId = element->data; + ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); + + CollisionBody* overlapBody = proxyShape->getBody(); + + // If the proxy shape is from a body that we have not already reported collision + if (reportedBodies.find(overlapBody->getId()) == reportedBodies.end()) { + + // Check if the collision filtering allows collision between the two shapes + if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { + + // Add the body into the set of reported bodies + reportedBodies.add(overlapBody->getId()); + + // Notify the overlap to the user + overlapCallback->notifyOverlap(overlapBody); + } + } + + // Go to the next overlapping proxy shape + element = element->next; + } +} + +// Return true if two bodies overlap +bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { + + // For each proxy shape proxy shape of the first body + ProxyShape* body1ProxyShape = body1->getProxyShapesList(); + while (body1ProxyShape != nullptr) { + + AABB aabb1 = body1ProxyShape->getWorldAABB(); + + // For each proxy shape of the second body + ProxyShape* body2ProxyShape = body2->getProxyShapesList(); + while (body2ProxyShape != nullptr) { + + AABB aabb2 = body2ProxyShape->getWorldAABB(); + + // Test if the AABBs of the two proxy shapes overlap + if (aabb1.testCollision(aabb2)) { + + // Create a temporary overlapping pair + OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + // Compute the middle-phase collision detection between the two shapes + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + + bool isColliding = false; + + // For each narrow-phase info object + while (narrowPhaseInfo != nullptr) { + + // If we have not found a collision yet + if (!isColliding) { + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + isColliding |= narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, false, mMemoryManager.getPoolAllocator()); + } + } + + NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; + narrowPhaseInfo = narrowPhaseInfo->next; + + // Call the destructor + currentNarrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory + mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } + + // Return if we have found a narrow-phase collision + if (isColliding) return true; + } + + // Go to the next proxy shape + body2ProxyShape = body2ProxyShape->getNext(); + } + + // Go to the next proxy shape + body1ProxyShape = body1ProxyShape->getNext(); + } + + // No overlap has been found + return false; +} + +// Report all the bodies that overlap with the body in parameter +void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, + unsigned short categoryMaskBits) { + + assert(overlapCallback != nullptr); + + Set reportedBodies(mMemoryManager.getPoolAllocator()); + + // For each proxy shape proxy shape of the body + ProxyShape* bodyProxyShape = body->getProxyShapesList(); + while (bodyProxyShape != nullptr) { + + if (bodyProxyShape->getBroadPhaseId() != -1) { + + // Get the AABB of the shape + const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId()); + + // Ask the broad-phase to get all the overlapping shapes + LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); + mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); + + const bodyindex bodyId = body->getId(); + + // For each overlaping proxy shape + LinkedList::ListElement* element = overlappingNodes.getListHead(); + while (element != nullptr) { + + // Get the overlapping proxy shape + int broadPhaseId = element->data; + ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); + + // If the proxy shape is from a body that we have not already reported collision and the + // two proxy collision shapes are not from the same body + if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() && + proxyShape->getBody()->getId() != bodyId) { + + // Check if the collision filtering allows collision between the two shapes + if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { + + // Create a temporary overlapping pair + OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + // Compute the middle-phase collision detection between the two shapes + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + + bool isColliding = false; + + // For each narrow-phase info object + while (narrowPhaseInfo != nullptr) { + + // If we have not found a collision yet + if (!isColliding) { + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + isColliding |= narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, false, mMemoryManager.getPoolAllocator()); + } + } + + NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; + narrowPhaseInfo = narrowPhaseInfo->next; + + // Call the destructor + currentNarrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory + mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } + + // Return if we have found a narrow-phase collision + if (isColliding) { + + CollisionBody* overlapBody = proxyShape->getBody(); + + // Add the body into the set of reported bodies + reportedBodies.add(overlapBody->getId()); + + // Notify the overlap to the user + overlapCallback->notifyOverlap(overlapBody); + } + } + } + + // Go to the next overlapping proxy shape + element = element->next; + } + } + + // Go to the next proxy shape + bodyProxyShape = bodyProxyShape->getNext(); + } +} + +// Test and report collisions between two bodies +void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* collisionCallback) { + + assert(collisionCallback != nullptr); + + List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + Set collidingPairs(mMemoryManager.getPoolAllocator()); + + // For each proxy shape proxy shape of the first body + ProxyShape* body1ProxyShape = body1->getProxyShapesList(); + while (body1ProxyShape != nullptr) { + + AABB aabb1 = body1ProxyShape->getWorldAABB(); + + // For each proxy shape of the second body + ProxyShape* body2ProxyShape = body2->getProxyShapesList(); + while (body2ProxyShape != nullptr) { + + AABB aabb2 = body2ProxyShape->getWorldAABB(); + + // Test if the AABBs of the two proxy shapes overlap + if (aabb1.testCollision(aabb2)) { + + // Create a temporary overlapping pair + OverlappingPair* pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + // Compute the middle-phase collision detection between the two shapes + NarrowPhaseInfo* allNarrowPhaseInfos = computeMiddlePhaseForProxyShapes(pair); + + // For each narrow-phase info object + NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos; + while (narrowPhaseInfo != nullptr) { + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + + collidingNarrowPhaseInfos.add(narrowPhaseInfo); + collidingPairs.add(pair); + } + } + + narrowPhaseInfo = narrowPhaseInfo->next; + } + } + + // Go to the next proxy shape + body2ProxyShape = body2ProxyShape->getNext(); + } + + // Go to the next proxy shape + body1ProxyShape = body1ProxyShape->getNext(); + } + + // Process the potential contacts + processAllPotentialContacts(collidingNarrowPhaseInfos, mMemoryManager.getPoolAllocator()); + + // For each colliding pair + for (auto it = collidingPairs.begin(); it != collidingPairs.end(); ++it) { + + OverlappingPair* pair = *it; + + assert(pair->hasContacts()); + + // Report the contacts to the user + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); + collisionCallback->notifyContact(collisionInfo); + + // Destroy the temporary overlapping pair + pair->~OverlappingPair(); + mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + } + + // Destroy the narrow phase infos + NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfoList; + while (narrowPhaseInfo != nullptr) { + + NarrowPhaseInfo* narrowPhaseInfoToDelete = narrowPhaseInfo; + narrowPhaseInfo = narrowPhaseInfo->next; + + // Call the destructor + narrowPhaseInfoToDelete->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfoToDelete, sizeof(NarrowPhaseInfo)); + } +} + +// Test and report collisions between a body and all the others bodies of the world +void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits) { + + assert(callback != nullptr); + + List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); + Set overlappingPairs(mMemoryManager.getPoolAllocator()); + + // For each proxy shape proxy shape of the body + ProxyShape* bodyProxyShape = body->getProxyShapesList(); + while (bodyProxyShape != nullptr) { + + if (bodyProxyShape->getBroadPhaseId() != -1) { + + // Get the AABB of the shape + const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId()); + + // Ask the broad-phase to get all the overlapping shapes + LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); + mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); + + const bodyindex bodyId = body->getId(); + + // For each overlaping proxy shape + LinkedList::ListElement* element = overlappingNodes.getListHead(); + while (element != nullptr) { + + // Get the overlapping proxy shape + int broadPhaseId = element->data; + ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); + + // If the two proxy collision shapes are not from the same body + if (proxyShape->getBody()->getId() != bodyId) { + + // Check if the collision filtering allows collision between the two shapes + if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { + + // Create a temporary overlapping pair + OverlappingPair* pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + overlappingPairs.add(pair); + + // Compute the middle-phase collision detection between the two shapes + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); + + // For each narrow-phase info object + while (narrowPhaseInfo != nullptr) { + + narrowPhaseInfos.add(narrowPhaseInfo); + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator()); + } + + narrowPhaseInfo = narrowPhaseInfo->next; + } + } + } + + // Go to the next overlapping proxy shape + element = element->next; + } + + // Go to the next proxy shape + bodyProxyShape = bodyProxyShape->getNext(); + } + } + + // Process the potential contacts + processAllPotentialContacts(narrowPhaseInfos, mMemoryManager.getPoolAllocator()); + + // For each overlapping pair + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + + OverlappingPair* pair = *it; + + if (pair->hasContacts()) { + + // Report the contacts to the user + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); + callback->notifyContact(collisionInfo); + } + + // Destroy the temporary overlapping pair + pair->~OverlappingPair(); + mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + } + + // Destroy the narrow phase infos + for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } +} + +// Test and report collisions between all shapes of the world +void CollisionDetection::testCollision(CollisionCallback* callback) { + + assert(callback != nullptr); + + // Compute the broad-phase collision detection + computeBroadPhase(); + + List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); + Set overlappingPairs(mMemoryManager.getPoolAllocator()); + + // For each possible collision pair of bodies + Map, OverlappingPair*>::Iterator it; + for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + + OverlappingPair* originalPair = it->second; + + // Create a temporary overlapping pair + OverlappingPair* pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(originalPair->getShape1(), originalPair->getShape2(), mMemoryManager.getPoolAllocator(), + mMemoryManager.getPoolAllocator(), mWorld->mConfig); + overlappingPairs.add(pair); + + ProxyShape* shape1 = pair.getShape1(); + ProxyShape* shape2 = pair.getShape2(); + + // Check if the collision filtering allows collision between the two shapes and + // that the two shapes are still overlapping. + if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && + (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0) && + mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { + + // Compute the middle-phase collision detection between the two shapes + NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + + // For each narrow-phase info object + while (narrowPhaseInfo != nullptr) { + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + narrowPhaseInfos.add(narrowPhaseInfo); + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator()); + } + + narrowPhaseInfo = narrowPhaseInfo->next; + } + } + } + + // Process the potential contacts + processAllPotentialContacts(narrowPhaseInfos, mMemoryManager.getPoolAllocator()); + + // For each overlapping pair + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + + OverlappingPair* pair = *it; + + if (pair->hasContacts()) { + + // Report the contacts to the user + CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); + callback->notifyContact(collisionInfo); + } + + // Destroy the temporary overlapping pair + pair->~OverlappingPair(); + mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + } + + // Destroy the narrow phase infos + for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + // Call the destructor + narrowPhaseInfo->~NarrowPhaseInfo(); + + // Release the allocated memory for the narrow phase info + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); + } +} + +// Fill-in the collision detection matrix +void CollisionDetection::fillInCollisionMatrix() { + + // For each possible type of collision shape + for (int i=0; iselectAlgorithm(i, j); + } + } +} + +// Return the world event listener +EventListener* CollisionDetection::getWorldEventListener() { + return mWorld->mEventListener; +} + +// Return the world-space AABB of a given proxy shape +const AABB CollisionDetection::getWorldAABB(const ProxyShape* proxyShape) const { + assert(proxyShape->getBroadPhaseId() > -1); + return mBroadPhaseAlgorithm.getFatAABB(proxyShape->getBroadPhaseId()); +} diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 8530697c..4e80a625 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -26,12 +26,11 @@ // Libraries #include "ContactManifold.h" #include "constraint/ContactPoint.h" -#include "collision/ContactManifoldInfo.h" using namespace reactphysics3d; // Constructor -ContactManifold::ContactManifold(const ContactManifoldInfo* manifoldInfo, ProxyShape* shape1, ProxyShape* shape2, +ContactManifold::ContactManifold(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings) : mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0), @@ -39,18 +38,6 @@ ContactManifold::ContactManifold(const ContactManifoldInfo* manifoldInfo, ProxyS mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), mWorldSettings(worldSettings) { - // For each contact point info in the manifold - const ContactPointInfo* pointInfo = manifoldInfo->getFirstContactPointInfo(); - while(pointInfo != nullptr) { - - // Add the new contact point - addContactPoint(pointInfo); - - pointInfo = pointInfo->next; - } - - assert(mNbContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD); - assert(mNbContactPoints > 0); } // Destructor @@ -121,20 +108,45 @@ decimal ContactManifold::getLargestContactDepth() const { // Add a contact point void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo) { - assert(contactPointInfo != nullptr); + // For each contact point in the manifold + bool isSimilarPointFound = false; + ContactPoint* oldContactPoint = mContactPoints; + while (oldContactPoint != nullptr) { - // Create the new contact point - ContactPoint* contactPoint = new (mMemoryAllocator.allocate(sizeof(ContactPoint))) ContactPoint(contactPointInfo, mWorldSettings); + assert(oldContactPoint != nullptr); - // Add the new contact point into the manifold - contactPoint->setNext(mContactPoints); - contactPoint->setPrevious(nullptr); - if (mContactPoints != nullptr) { - mContactPoints->setPrevious(contactPoint); - } - mContactPoints = contactPoint; + // If the new contact point is similar (very close) to the old contact point + if (oldContactPoint->isSimilarWithContactPoint(contactPointInfo)) { - mNbContactPoints++; + // Replace (update) the old contact point with the new one + oldContactPoint->update(contactPointInfo); + isSimilarPointFound = true; + break; + } + + oldContactPoint = oldContactPoint->getNext(); + } + + // If we have not found a similar contact point + if (!isSimilarPointFound) { + + // Create the new contact point + ContactPoint* contactPoint = new (mMemoryAllocator.allocate(sizeof(ContactPoint))) ContactPoint(contactPointInfo, mWorldSettings); + + // Add the new contact point into the manifold + contactPoint->setNext(mContactPoints); + contactPoint->setPrevious(nullptr); + if (mContactPoints != nullptr) { + mContactPoints->setPrevious(contactPoint); + } + + mContactPoints = contactPoint; + + mNbContactPoints++; + } + + // The old manifold is no longer obsolete + mIsObsolete = false; } // Set to true to make the manifold obsolete @@ -176,49 +188,202 @@ void ContactManifold::clearObsoleteContactPoints() { assert(mContactPoints != nullptr); } -// Make sure we do not have too much contact points by keeping only the best -// contact points of the manifold (with largest penetration depth) -void ContactManifold::reduce() { +// Reduce the number of contact points of the currently computed manifold +// This is based on the technique described by Dirk Gregorius in his +// "Contacts Creation" GDC presentation. This method will reduce the number of +// contact points to a maximum of 4 points (but it can be less). +void ContactManifold::reduce(const Transform& shape1ToWorldTransform) { assert(mContactPoints != nullptr); - // Remove contact points while there is too much contact points - while (mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD) { - removeNonOptimalContactPoint(); - } + // The following algorithm only works to reduce to a maximum of 4 contact points + assert(MAX_CONTACT_POINTS_IN_MANIFOLD == 4); - assert(mNbContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD && mNbContactPoints > 0); - assert(mContactPoints != nullptr); -} + // If there are too many contact points in the manifold + if (mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD) { -// Remove a contact point that is not optimal (with a small penetration depth) -void ContactManifold::removeNonOptimalContactPoint() { + uint nbReducedPoints = 0; - assert(mContactPoints != nullptr); - assert(mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD); - - // Get the contact point with the minimum penetration depth among all points - ContactPoint* contactPoint = mContactPoints; - ContactPoint* minContactPoint = nullptr; - decimal minPenetrationDepth = DECIMAL_LARGEST; - while (contactPoint != nullptr) { - - ContactPoint* nextContactPoint = contactPoint->getNext(); - - if (contactPoint->getPenetrationDepth() < minPenetrationDepth) { - - minContactPoint = contactPoint; - minPenetrationDepth = contactPoint->getPenetrationDepth(); + ContactPoint* pointsToKeep[MAX_CONTACT_POINTS_IN_MANIFOLD]; + for (int i=0; igetNormal(); + + // Compute a search direction + const Vector3 searchDirection(1, 1, 1); + ContactPoint* element = mContactPoints; + pointsToKeep[0] = element; + decimal maxDotProduct = searchDirection.dot(element->getLocalPointOnShape1()); + element = element->getNext(); + nbReducedPoints = 1; + while(element != nullptr) { + + decimal dotProduct = searchDirection.dot(element->getLocalPointOnShape1()); + if (dotProduct > maxDotProduct) { + maxDotProduct = dotProduct; + pointsToKeep[0] = element; + } + element = element->getNext(); + } + assert(pointsToKeep[0] != nullptr); + assert(nbReducedPoints == 1); + + // Compute the second contact point we need to keep. + // The second point we keep is the one farthest away from the first point. + + decimal maxDistance = decimal(0.0); + element = mContactPoints; + while(element != nullptr) { + + if (element == pointsToKeep[0]) { + element = element->getNext(); + continue; + } + + decimal distance = (pointsToKeep[0]->getLocalPointOnShape1() - element->getLocalPointOnShape1()).lengthSquare(); + if (distance >= maxDistance) { + maxDistance = distance; + pointsToKeep[1] = element; + nbReducedPoints = 2; + } + element = element->getNext(); + } + assert(pointsToKeep[1] != nullptr); + assert(nbReducedPoints == 2); + + // Compute the third contact point we need to keep. + // The second point is the one producing the triangle with the larger area + // with first and second point. + + // We compute the most positive or most negative triangle area (depending on winding) + ContactPoint* thirdPointMaxArea = nullptr; + ContactPoint* thirdPointMinArea = nullptr; + decimal minArea = decimal(0.0); + decimal maxArea = decimal(0.0); + bool isPreviousAreaPositive = true; + element = mContactPoints; + while(element != nullptr) { + + if (element == pointsToKeep[0] || element == pointsToKeep[1]) { + element = element->getNext(); + continue; + } + + const Vector3 newToFirst = pointsToKeep[0]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); + const Vector3 newToSecond = pointsToKeep[1]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); + + // Compute the triangle area + decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); + + if (area >= maxArea) { + maxArea = area; + thirdPointMaxArea = element; + } + if (area <= minArea) { + minArea = area; + thirdPointMinArea = element; + } + element = element->getNext(); + } + assert(minArea <= decimal(0.0)); + assert(maxArea >= decimal(0.0)); + if (maxArea > (-minArea)) { + isPreviousAreaPositive = true; + pointsToKeep[2] = thirdPointMaxArea; + nbReducedPoints = 3; + } + else { + isPreviousAreaPositive = false; + pointsToKeep[2] = thirdPointMinArea; + nbReducedPoints = 3; + } + + // Compute the 4th point by choosing the triangle that add the most + // triangle area to the previous triangle and has opposite sign area (opposite winding) + + decimal largestArea = decimal(0.0); // Largest area (positive or negative) + element = mContactPoints; + + if (nbReducedPoints == 3) { + + // For each remaining point + while(element != nullptr) { + + if (element == pointsToKeep[0] || element == pointsToKeep[1] || element == pointsToKeep[2]) { + element = element->getNext(); + continue; + } + + // For each edge of the triangle made by the first three points + for (uint i=0; i<3; i++) { + + uint edgeVertex1Index = i; + uint edgeVertex2Index = i < 2 ? i + 1 : 0; + + const Vector3 newToFirst = pointsToKeep[edgeVertex1Index]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); + const Vector3 newToSecond = pointsToKeep[edgeVertex2Index]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); + + // Compute the triangle area + decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); + + // We are looking at the triangle with maximal area (positive or negative). + // If the previous area is positive, we are looking at negative area now. + // If the previous area is negative, we are looking at the positive area now. + if (isPreviousAreaPositive && area <= largestArea) { + largestArea = area; + pointsToKeep[3] = element; + nbReducedPoints = 4; + } + else if (!isPreviousAreaPositive && area >= largestArea) { + largestArea = area; + pointsToKeep[3] = element; + nbReducedPoints = 4; + } + } + + element = element->getNext(); + } + } + + // Delete the contact points we do not want to keep from the linked list + element = mContactPoints; + ContactPoint* previousElement = nullptr; + while(element != nullptr) { + + bool deletePoint = true; + + // Skip the points we want to keep + for (uint i=0; igetNext(); + deletePoint = false; + } + } + + if (deletePoint) { + + ContactPoint* contactPointToDelete = element; + element = element->getNext(); + + removeContactPoint(contactPointToDelete); + } + } + + assert(nbReducedPoints > 0 && nbReducedPoints <= 4); + mNbContactPoints = nbReducedPoints; } - - assert(minContactPoint != nullptr); - - // Remove the non optimal contact point - removeContactPoint(minContactPoint); - - assert(mNbContactPoints > 0); - assert(mContactPoints != nullptr); } diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index 3c2207e3..4b368660 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -93,6 +93,11 @@ class ContactManifold { private: + // -------------------- Constants -------------------- // + + /// Maximum number of contact points in a reduced contact manifold + const int MAX_CONTACT_POINTS_IN_MANIFOLD = 4; + // -------------------- Attributes -------------------- // /// Pointer to the first proxy shape of the contact @@ -181,11 +186,8 @@ class ContactManifold { /// Add a contact point void addContactPoint(const ContactPointInfo* contactPointInfo); - /// Make sure we do not have too much contact points by keeping only the best ones - void reduce(); - - /// Remove a contact point that is not optimal (with a small penetration depth) - void removeNonOptimalContactPoint(); + /// Reduce the number of contact points of the currently computed manifold + void reduce(const Transform& shape1ToWorldTransform); /// Remove a contact point void removeContactPoint(ContactPoint* contactPoint); @@ -219,8 +221,8 @@ class ContactManifold { // -------------------- Methods -------------------- // /// Constructor - ContactManifold(const ContactManifoldInfo* manifoldInfo, ProxyShape* shape1, ProxyShape* shape2, - MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings); + ContactManifold(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& memoryAllocator, + const WorldSettings& worldSettings); /// Destructor ~ContactManifold(); diff --git a/src/collision/ContactManifoldInfo.cpp b/src/collision/ContactManifoldInfo.cpp deleted file mode 100644 index 852af781..00000000 --- a/src/collision/ContactManifoldInfo.cpp +++ /dev/null @@ -1,305 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "ContactManifoldInfo.h" -#include "collision/ContactPointInfo.h" - -using namespace reactphysics3d; - -// Constructor -ContactManifoldInfo::ContactManifoldInfo(MemoryAllocator& allocator) - : mContactPointsList(nullptr), mNbContactPoints(0), mNext(nullptr), mAllocator(allocator) { - -} - -// Destructor -ContactManifoldInfo::~ContactManifoldInfo() { - - // Remove all the contact points - reset(); -} - -// Add a new contact point into the manifold -void ContactManifoldInfo::addContactPoint(ContactPointInfo* contactPointInfo) { - - assert(contactPointInfo->penetrationDepth > decimal(0.0)); - - // Add it into the linked list of contact points - contactPointInfo->next = mContactPointsList; - mContactPointsList = contactPointInfo; - - mNbContactPoints++; -} - -// Remove all the contact points -void ContactManifoldInfo::reset() { - - // Delete all the contact points in the linked list - ContactPointInfo* element = mContactPointsList; - while(element != nullptr) { - ContactPointInfo* elementToDelete = element; - element = element->next; - - // Call the constructor - elementToDelete->~ContactPointInfo(); - - // Delete the current element - mAllocator.release(elementToDelete, sizeof(ContactPointInfo)); - } - - mContactPointsList = nullptr; - mNbContactPoints = 0; -} - -// Return the largest penetration depth among its contact points -decimal ContactManifoldInfo::getLargestPenetrationDepth() const { - - ContactPointInfo* contactPoint = mContactPointsList; - assert(contactPoint != nullptr); - decimal maxDepth = decimal(0.0); - while (contactPoint != nullptr) { - - if (contactPoint->penetrationDepth > maxDepth) { - maxDepth = contactPoint->penetrationDepth; - } - - contactPoint = contactPoint->next; - } - - return maxDepth; -} - -// Reduce the number of contact points of the currently computed manifold -// This is based on the technique described by Dirk Gregorius in his -// "Contacts Creation" GDC presentation. This method will reduce the number of -// contact points to a maximum of 4 points (but it can be less). -void ContactManifoldInfo::reduce(const Transform& shape1ToWorldTransform) { - - assert(mContactPointsList != nullptr); - - // The following algorithm only works to reduce to a maximum of 4 contact points - assert(MAX_CONTACT_POINTS_IN_MANIFOLD == 4); - - // If there are too many contact points in the manifold - if (mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD) { - - uint nbReducedPoints = 0; - - ContactPointInfo* pointsToKeep[MAX_CONTACT_POINTS_IN_MANIFOLD]; - for (int i=0; inormal; - - // Compute a search direction - const Vector3 searchDirection(1, 1, 1); - ContactPointInfo* element = mContactPointsList; - pointsToKeep[0] = element; - decimal maxDotProduct = searchDirection.dot(element->localPoint1); - element = element->next; - nbReducedPoints = 1; - while(element != nullptr) { - - decimal dotProduct = searchDirection.dot(element->localPoint1); - if (dotProduct > maxDotProduct) { - maxDotProduct = dotProduct; - pointsToKeep[0] = element; - } - element = element->next; - } - assert(pointsToKeep[0] != nullptr); - assert(nbReducedPoints == 1); - - // Compute the second contact point we need to keep. - // The second point we keep is the one farthest away from the first point. - - decimal maxDistance = decimal(0.0); - element = mContactPointsList; - while(element != nullptr) { - - if (element == pointsToKeep[0]) { - element = element->next; - continue; - } - - decimal distance = (pointsToKeep[0]->localPoint1 - element->localPoint1).lengthSquare(); - if (distance >= maxDistance) { - maxDistance = distance; - pointsToKeep[1] = element; - nbReducedPoints = 2; - } - element = element->next; - } - assert(pointsToKeep[1] != nullptr); - assert(nbReducedPoints == 2); - - // Compute the third contact point we need to keep. - // The second point is the one producing the triangle with the larger area - // with first and second point. - - // We compute the most positive or most negative triangle area (depending on winding) - ContactPointInfo* thirdPointMaxArea = nullptr; - ContactPointInfo* thirdPointMinArea = nullptr; - decimal minArea = decimal(0.0); - decimal maxArea = decimal(0.0); - bool isPreviousAreaPositive = true; - element = mContactPointsList; - while(element != nullptr) { - - if (element == pointsToKeep[0] || element == pointsToKeep[1]) { - element = element->next; - continue; - } - - const Vector3 newToFirst = pointsToKeep[0]->localPoint1 - element->localPoint1; - const Vector3 newToSecond = pointsToKeep[1]->localPoint1 - element->localPoint1; - - // Compute the triangle area - decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); - - if (area >= maxArea) { - maxArea = area; - thirdPointMaxArea = element; - } - if (area <= minArea) { - minArea = area; - thirdPointMinArea = element; - } - element = element->next; - } - assert(minArea <= decimal(0.0)); - assert(maxArea >= decimal(0.0)); - if (maxArea > (-minArea)) { - isPreviousAreaPositive = true; - pointsToKeep[2] = thirdPointMaxArea; - nbReducedPoints = 3; - } - else { - isPreviousAreaPositive = false; - pointsToKeep[2] = thirdPointMinArea; - nbReducedPoints = 3; - } - - // Compute the 4th point by choosing the triangle that add the most - // triangle area to the previous triangle and has opposite sign area (opposite winding) - - decimal largestArea = decimal(0.0); // Largest area (positive or negative) - element = mContactPointsList; - - if (nbReducedPoints == 3) { - - // For each remaining point - while(element != nullptr) { - - if (element == pointsToKeep[0] || element == pointsToKeep[1] || element == pointsToKeep[2]) { - element = element->next; - continue; - } - - // For each edge of the triangle made by the first three points - for (uint i=0; i<3; i++) { - - uint edgeVertex1Index = i; - uint edgeVertex2Index = i < 2 ? i + 1 : 0; - - const Vector3 newToFirst = pointsToKeep[edgeVertex1Index]->localPoint1 - element->localPoint1; - const Vector3 newToSecond = pointsToKeep[edgeVertex2Index]->localPoint1 - element->localPoint1; - - // Compute the triangle area - decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); - - // We are looking at the triangle with maximal area (positive or negative). - // If the previous area is positive, we are looking at negative area now. - // If the previous area is negative, we are looking at the positive area now. - if (isPreviousAreaPositive && area <= largestArea) { - largestArea = area; - pointsToKeep[3] = element; - nbReducedPoints = 4; - } - else if (!isPreviousAreaPositive && area >= largestArea) { - largestArea = area; - pointsToKeep[3] = element; - nbReducedPoints = 4; - } - } - - element = element->next; - } - } - - // Delete the contact points we do not want to keep from the linked list - element = mContactPointsList; - ContactPointInfo* previousElement = nullptr; - while(element != nullptr) { - - bool deletePoint = true; - - // Skip the points we want to keep - for (uint i=0; inext; - deletePoint = false; - } - } - - if (deletePoint) { - - ContactPointInfo* elementToDelete = element; - if (previousElement != nullptr) { - previousElement->next = elementToDelete->next; - } - else { - mContactPointsList = elementToDelete->next; - } - element = element->next; - - // Call the destructor - elementToDelete->~ContactPointInfo(); - - // Delete the current element - mAllocator.release(elementToDelete, sizeof(ContactPointInfo)); - } - } - - assert(nbReducedPoints > 0 && nbReducedPoints <= 4); - mNbContactPoints = nbReducedPoints; - } -} - - diff --git a/src/collision/ContactManifoldInfo.h b/src/collision/ContactManifoldInfo.h deleted file mode 100644 index a6907f93..00000000 --- a/src/collision/ContactManifoldInfo.h +++ /dev/null @@ -1,117 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_CONTACT_MANIFOLD_INFO_H -#define REACTPHYSICS3D_CONTACT_MANIFOLD_INFO_H - -// Libraries -#include "configuration.h" - -/// ReactPhysics3D namespace -namespace reactphysics3d { - -// Declarations -class MemoryAllocator; -struct ContactPointInfo; -class Transform; - -// Constants -const int8 MAX_CONTACT_POINTS_IN_MANIFOLD = 4; // Maximum number of contacts in the manifold - -// Class ContactManifoldInfo -/** - * This class is used to collect the list of ContactPointInfo that come - * from a collision test between two shapes. - */ -class ContactManifoldInfo { - - private: - - // -------------------- Attributes -------------------- // - - /// Linked list with all the contact points - ContactPointInfo* mContactPointsList; - - /// Number of contact points in the manifold - uint mNbContactPoints; - - /// Next element in the linked-list of contact manifold info - ContactManifoldInfo* mNext; - - /// Reference the the memory allocator where the contact point infos have been allocated - MemoryAllocator& mAllocator; - - public: - - // -------------------- Methods -------------------- // - - /// Constructor - ContactManifoldInfo(MemoryAllocator& allocator); - - /// Destructor - ~ContactManifoldInfo(); - - /// Deleted Copy-constructor - ContactManifoldInfo(const ContactManifoldInfo& contactManifold) = delete; - - /// Deleted assignment operator - ContactManifoldInfo& operator=(const ContactManifoldInfo& contactManifold) = delete; - - /// Add a new contact point into the manifold - void addContactPoint(ContactPointInfo* contactPointInfo); - - /// Remove all the contact points - void reset(); - - /// Get the first contact point info of the linked list of contact points - ContactPointInfo* getFirstContactPointInfo() const; - - /// Return the largest penetration depth among its contact points - decimal getLargestPenetrationDepth() const; - - /// Return the pointer to the next manifold info in the linked-list - ContactManifoldInfo* getNext(); - - /// Reduce the number of contact points of the currently computed manifold - void reduce(const Transform& shape1ToWorldTransform); - - // Friendship - friend class OverlappingPair; - friend class CollisionDetection; -}; - -// Get the first contact point info of the linked list of contact points -inline ContactPointInfo* ContactManifoldInfo::getFirstContactPointInfo() const { - return mContactPointsList; -} - -// Return the pointer to the next manifold info in the linked-list -inline ContactManifoldInfo* ContactManifoldInfo::getNext() { - return mNext; -} - -} -#endif - diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index 8712bf08..2cbfc409 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -25,8 +25,8 @@ // Libraries #include "ContactManifoldSet.h" +#include "NarrowPhaseInfo.h" #include "constraint/ContactPoint.h" -#include "collision/ContactManifoldInfo.h" #include "ProxyShape.h" #include "collision/ContactManifold.h" @@ -49,24 +49,56 @@ ContactManifoldSet::~ContactManifoldSet() { clear(); } -void ContactManifoldSet::addContactManifold(const ContactManifoldInfo* contactManifoldInfo) { +void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { - assert(contactManifoldInfo->getFirstContactPointInfo() != nullptr); + assert(narrowPhaseInfo->contactPoints != nullptr); - // Try to find an existing contact manifold with similar contact normal - ContactManifold* similarManifold = selectManifoldWithSimilarNormal(contactManifoldInfo); + // For each potential contact point to add + ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints; + while (contactPoint != nullptr) { - // If a similar manifold has been found - if (similarManifold != nullptr) { + // Look if the contact point correspond to an existing potential manifold + // (if the contact point normal is similar to the normal of an existing manifold) + ContactManifold* manifold = mManifolds; + bool similarManifoldFound = false; + while(manifold != nullptr) { - // Update the old manifold with the new one - updateManifoldWithNewOne(similarManifold, contactManifoldInfo); + // Get the first contact point + const ContactPoint* point = manifold->getContactPoints(); + assert(point != nullptr); + + // If we have found a corresponding manifold for the new contact point + // (a manifold with a similar contact normal direction) + if (point->getNormal().dot(contactPoint->normal) >= mWorldSettings.cosAngleSimilarContactManifold) { + + // Add the contact point to the manifold + manifold->addContactPoint(contactPoint); + + similarManifoldFound = true; + + break; + } + + manifold = manifold->getNext(); + } + + // If we have not found an existing manifold with a similar contact normal + if (!similarManifoldFound) { + + // Create a new contact manifold + ContactManifold* manifold = createManifold(); + + // Add the contact point to the manifold + manifold->addContactPoint(contactPoint); + } + + contactPoint = contactPoint->next; } - else { - // Create a new contact manifold - createManifold(contactManifoldInfo); - } + // All the contact point info of the narrow-phase info have been moved + // into the potential contacts of the overlapping pair. We can now + // remove the contacts points from the narrow phase info object. + narrowPhaseInfo->resetContactPoints(); } // Return the total number of contact points in the set of manifolds @@ -96,51 +128,6 @@ int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape* shape } } - -// Update a previous similar manifold with a new one -void ContactManifoldSet::updateManifoldWithNewOne(ContactManifold* oldManifold, const ContactManifoldInfo* newManifold) { - - assert(oldManifold != nullptr); - assert(newManifold != nullptr); - - // For each contact point of the new manifold - ContactPointInfo* contactPointInfo = newManifold->getFirstContactPointInfo(); - assert(contactPointInfo != nullptr); - while (contactPointInfo != nullptr) { - - // For each contact point in the old manifold - bool isSimilarPointFound = false; - ContactPoint* oldContactPoint = oldManifold->getContactPoints(); - while (oldContactPoint != nullptr) { - - assert(oldContactPoint != nullptr); - - // If the new contact point is similar (very close) to the old contact point - if (oldContactPoint->isSimilarWithContactPoint(contactPointInfo)) { - - // Replace (update) the old contact point with the new one - oldContactPoint->update(contactPointInfo); - isSimilarPointFound = true; - break; - } - - oldContactPoint = oldContactPoint->getNext(); - } - - // If we have not found a similar contact point - if (!isSimilarPointFound) { - - // Add the contact point to the manifold - oldManifold->addContactPoint(contactPointInfo); - } - - contactPointInfo = contactPointInfo->next; - } - - // The old manifold is no longer obsolete - oldManifold->setIsObsolete(false, false); -} - // Remove a contact manifold that is the least optimal (smaller penetration depth) void ContactManifoldSet::removeNonOptimalManifold() { @@ -171,13 +158,26 @@ void ContactManifoldSet::removeNonOptimalManifold() { removeManifold(minDepthManifold); } +// Create a new contact manifold and add it to the set +ContactManifold* ContactManifoldSet::createManifold() { + + ContactManifold* manifold = new (mMemoryAllocator.allocate(sizeof(ContactManifold))) + ContactManifold(mShape1, mShape2, mMemoryAllocator, mWorldSettings); + manifold->setPrevious(nullptr); + manifold->setNext(mManifolds); + if (mManifolds != nullptr) { + mManifolds->setPrevious(manifold); + } + mManifolds = manifold; + + mNbManifolds++; + + return manifold; +} + // Return the contact manifold with a similar contact normal. // If no manifold has close enough contact normal, it returns nullptr -ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(const ContactManifoldInfo* contactManifold) const { - - // Get the contact normal of the first point of the manifold - const ContactPointInfo* contactPoint = contactManifold->getFirstContactPointInfo(); - assert(contactPoint != nullptr); +ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(const Vector3& contactNormal) const { ContactManifold* manifold = mManifolds; @@ -189,7 +189,7 @@ ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(const Conta assert(point != nullptr); // If the contact normal of the two manifolds are close enough - if (contactPoint->normal.dot(point->getNormal()) >= mWorldSettings.cosAngleSimilarContactManifold) { + if (contactNormal.dot(point->getNormal()) >= mWorldSettings.cosAngleSimilarContactManifold) { return manifold; } @@ -216,24 +216,11 @@ void ContactManifoldSet::clear() { mNbManifolds--; } + mManifolds = nullptr; + assert(mNbManifolds == 0); } -// Create a new contact manifold and add it to the set -void ContactManifoldSet::createManifold(const ContactManifoldInfo* manifoldInfo) { - - ContactManifold* manifold = new (mMemoryAllocator.allocate(sizeof(ContactManifold))) - ContactManifold(manifoldInfo, mShape1, mShape2, mMemoryAllocator, mWorldSettings); - manifold->setPrevious(nullptr); - manifold->setNext(mManifolds); - if (mManifolds != nullptr) { - mManifolds->setPrevious(manifold); - } - mManifolds = manifold; - - mNbManifolds++; -} - // Remove a contact manifold from the set void ContactManifoldSet::removeManifold(ContactManifold* manifold) { @@ -309,7 +296,7 @@ void ContactManifoldSet::reduce() { // Reduce all the contact manifolds in case they have too many contact points ContactManifold* manifold = mManifolds; while (manifold != nullptr) { - manifold->reduce(); + manifold->reduce(mShape1->getLocalToWorldTransform()); manifold = manifold->getNext(); } } diff --git a/src/collision/ContactManifoldSet.h b/src/collision/ContactManifoldSet.h index 6e12b42e..ac22715c 100644 --- a/src/collision/ContactManifoldSet.h +++ b/src/collision/ContactManifoldSet.h @@ -34,7 +34,11 @@ class ContactManifoldInfo; class ProxyShape; class MemoryAllocator; struct WorldSettings; +struct NarrowPhaseInfo; +struct Vector3; class CollisionShape; +class Transform; + // Constants const int MAX_MANIFOLDS_IN_CONTACT_MANIFOLD_SET = 3; // Maximum number of contact manifolds in the set @@ -77,17 +81,14 @@ class ContactManifoldSet { // -------------------- Methods -------------------- // /// Create a new contact manifold and add it to the set - void createManifold(const ContactManifoldInfo* manifoldInfo); + ContactManifold* createManifold(); // Return the contact manifold with a similar contact normal. - ContactManifold* selectManifoldWithSimilarNormal(const ContactManifoldInfo* contactManifold) const; + ContactManifold* selectManifoldWithSimilarNormal(const Vector3& contactNormal) const; /// Remove a contact manifold that is the least optimal (smaller penetration depth) void removeNonOptimalManifold(); - /// Update a previous similar manifold with a new one - void updateManifoldWithNewOne(ContactManifold* oldManifold, const ContactManifoldInfo* newManifold); - /// Return the maximum number of contact manifolds allowed between to collision shapes int computeNbMaxContactManifolds(const CollisionShape* shape1, const CollisionShape* shape2); @@ -108,8 +109,8 @@ class ContactManifoldSet { /// Destructor ~ContactManifoldSet(); - /// Add a contact manifold in the set - void addContactManifold(const ContactManifoldInfo* contactManifoldInfo); + /// Add the contact points from the narrow phase + void addContactPoints(NarrowPhaseInfo* narrowPhaseInfo); /// Return the first proxy shape ProxyShape* getShape1() const; diff --git a/src/collision/NarrowPhaseInfo.cpp b/src/collision/NarrowPhaseInfo.cpp index 10a29332..be4c6ab4 100644 --- a/src/collision/NarrowPhaseInfo.cpp +++ b/src/collision/NarrowPhaseInfo.cpp @@ -78,12 +78,6 @@ void NarrowPhaseInfo::addContactPoint(const Vector3& contactNormal, decimal penD contactPoints = contactPointInfo; } -/// Take all the generated contact points and create a new potential -/// contact manifold into the overlapping pair -void NarrowPhaseInfo::addContactPointsAsPotentialContactManifold() { - overlappingPair->addPotentialContactPoints(this); -} - // Reset the remaining contact points void NarrowPhaseInfo::resetContactPoints() { diff --git a/src/collision/NarrowPhaseInfo.h b/src/collision/NarrowPhaseInfo.h index c95d7ccb..99f9ffc7 100644 --- a/src/collision/NarrowPhaseInfo.h +++ b/src/collision/NarrowPhaseInfo.h @@ -83,9 +83,6 @@ struct NarrowPhaseInfo { void addContactPoint(const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2); - /// Create a new potential contact manifold into the overlapping pair using current contact points - void addContactPointsAsPotentialContactManifold(); - /// Reset the remaining contact points void resetContactPoints(); diff --git a/src/containers/Set.h b/src/containers/Set.h index dee9e9bd..fce0a051 100755 --- a/src/containers/Set.h +++ b/src/containers/Set.h @@ -42,7 +42,7 @@ namespace reactphysics3d { * This class represents a simple generic set. This set is implemented * with a hash table. */ -template +template, class KeyEqual = std::equal_to> class Set { private: @@ -94,6 +94,12 @@ class Set { // -------------------- Attributes -------------------- // + /// Object with hash operator + const Hash mHash; + + /// Object with equality operator + const KeyEqual mEqual; + /// Current number of used entries in the set int mNbUsedEntries; @@ -206,11 +212,11 @@ class Set { if (mCapacity > 0) { - size_t hashCode = std::hash()(value); + size_t hashCode = mHash(value); int bucket = hashCode % mCapacity; for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && (*mEntries[i].value) == value) { + if (mEntries[i].hashCode == hashCode && mEqual(*mEntries[i].value, value)) { return i; } } @@ -373,8 +379,9 @@ class Set { // -------------------- Methods -------------------- // /// Constructor - Set(MemoryAllocator& allocator, size_t capacity = 0) - : mNbUsedEntries(0), mNbFreeEntries(0), mCapacity(0), mBuckets(nullptr), + Set(MemoryAllocator& allocator, size_t capacity = 0, const Hash& hash = Hash(), + const KeyEqual& equal = KeyEqual()) + : mHash(hash), mEqual(equal), mNbUsedEntries(0), mNbFreeEntries(0), mCapacity(0), mBuckets(nullptr), mEntries(nullptr), mAllocator(allocator), mFreeIndex(-1) { // If the largest prime has not been computed yet @@ -391,8 +398,8 @@ class Set { } /// Copy constructor - Set(const Set& set) - :mNbUsedEntries(set.mNbUsedEntries), mNbFreeEntries(set.mNbFreeEntries), mCapacity(set.mCapacity), + Set(const Set& set) + :mHash(set.mHash), mEqual(set.mEqual), mNbUsedEntries(set.mNbUsedEntries), mNbFreeEntries(set.mNbFreeEntries), mCapacity(set.mCapacity), mBuckets(nullptr), mEntries(nullptr), mAllocator(set.mAllocator), mFreeIndex(set.mFreeIndex) { if (mCapacity > 0) { @@ -445,15 +452,16 @@ class Set { return findEntry(value) != -1; } - /// Add a value into the set - void add(const V& value) { + /// Add a value into the set. + /// Returns true if the item has been inserted and false otherwise. + bool add(const V& value) { if (mCapacity == 0) { initialize(0); } // Compute the hash code of the value - size_t hashCode = std::hash()(value); + size_t hashCode = mHash(value); // Compute the corresponding bucket index int bucket = hashCode % mCapacity; @@ -462,9 +470,9 @@ class Set { for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { // If there is already an item with the same value in the set - if (mEntries[i].hashCode == hashCode && (*mEntries[i].value) == value) { + if (mEntries[i].hashCode == hashCode && mEqual(*mEntries[i].value, value)) { - return; + return false; } } @@ -500,6 +508,8 @@ class Set { assert(mEntries[entryIndex].value != nullptr); new (mEntries[entryIndex].value) V(value); mBuckets[bucket] = entryIndex; + + return true; } /// Remove the element pointed by some iterator @@ -517,12 +527,12 @@ class Set { if (mCapacity > 0) { - size_t hashcode = std::hash()(value); + size_t hashcode = mHash(value); int bucket = hashcode % mCapacity; int last = -1; for (int i = mBuckets[bucket]; i >= 0; last = i, i = mEntries[i].next) { - if (mEntries[i].hashCode == hashcode && (*mEntries[i].value) == value) { + if (mEntries[i].hashCode == hashcode && mEqual(*mEntries[i].value, value)) { if (last < 0 ) { mBuckets[bucket] = mEntries[i].next; @@ -604,11 +614,11 @@ class Set { if (mCapacity > 0) { - size_t hashCode = std::hash()(value); + size_t hashCode = mHash(value); bucket = hashCode % mCapacity; for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && *(mEntries[i].value) == value) { + if (mEntries[i].hashCode == hashCode && mEqual(*(mEntries[i].value), value)) { entry = i; break; } @@ -715,15 +725,15 @@ class Set { } }; -template -const int Set::PRIMES[NB_PRIMES] = {3, 7, 11, 17, 23, 29, 37, 47, 59, 71, 89, 107, 131, 163, 197, 239, 293, 353, 431, 521, 631, 761, 919, +template +const int Set::PRIMES[NB_PRIMES] = {3, 7, 11, 17, 23, 29, 37, 47, 59, 71, 89, 107, 131, 163, 197, 239, 293, 353, 431, 521, 631, 761, 919, 1103, 1327, 1597, 1931, 2333, 2801, 3371, 4049, 4861, 5839, 7013, 8419, 10103, 12143, 14591, 17519, 21023, 25229, 30293, 36353, 43627, 52361, 62851, 75431, 90523, 108631, 130363, 156437, 187751, 225307, 270371, 324449, 389357, 467237, 560689, 672827, 807403, 968897, 1162687, 1395263, 1674319, 2009191, 2411033, 2893249, 3471899, 4166287, 4999559}; -template -int Set::LARGEST_PRIME = -1; +template +int Set::LARGEST_PRIME = -1; } diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 91112d74..2e9af682 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -894,8 +894,7 @@ List DynamicsWorld::getContactsList() { List contactManifolds(mMemoryManager.getPoolAllocator()); // For each currently overlapping pair of bodies - Map, OverlappingPair*>::Iterator it; - for (it = mCollisionDetection.mOverlappingPairs.begin(); + for (auto it = mCollisionDetection.mOverlappingPairs.begin(); it != mCollisionDetection.mOverlappingPairs.end(); ++it) { OverlappingPair* pair = it->second; diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index c0ae6957..863bd1a8 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -26,7 +26,6 @@ // Libraries #include #include "OverlappingPair.h" -#include "collision/ContactManifoldInfo.h" #include "collision/NarrowPhaseInfo.h" #include "containers/containers_common.h" #include "collision/ContactPointInfo.h" @@ -37,7 +36,7 @@ using namespace reactphysics3d; OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, const WorldSettings& worldSettings) - : mContactManifoldSet(shape1, shape2, persistentMemoryAllocator, worldSettings), mPotentialContactManifolds(nullptr), + : mPairID(computeID(shape1, shape2)), mContactManifoldSet(shape1, shape2, persistentMemoryAllocator, worldSettings), mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings) { @@ -45,7 +44,6 @@ OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, // Destructor OverlappingPair::~OverlappingPair() { - assert(mPotentialContactManifolds == nullptr); // Remove all the remaining last frame collision info for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ++it) { @@ -58,98 +56,6 @@ OverlappingPair::~OverlappingPair() { } } -// Create a new potential contact manifold using contact-points from narrow-phase -void OverlappingPair::addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { - - assert(narrowPhaseInfo->contactPoints != nullptr); - - // For each potential contact point to add - ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints; - while (contactPoint != nullptr) { - - ContactPointInfo* nextContactPoint = contactPoint->next; - - // Look if the contact point correspond to an existing potential manifold - // (if the contact point normal is similar to the normal of an existing manifold) - ContactManifoldInfo* manifold = mPotentialContactManifolds; - bool similarManifoldFound = false; - while(manifold != nullptr) { - - // Get the first contact point - const ContactPointInfo* point = manifold->getFirstContactPointInfo(); - assert(point != nullptr); - - // If we have found a corresponding manifold for the new contact point - // (a manifold with a similar contact normal direction) - if (point->normal.dot(contactPoint->normal) >= mWorldSettings.cosAngleSimilarContactManifold) { - - // Add the contact point to the manifold - manifold->addContactPoint(contactPoint); - - similarManifoldFound = true; - - break; - } - - manifold = manifold->getNext(); - } - - // If we have not found an existing manifold with a similar contact normal - if (!similarManifoldFound) { - - // Create a new potential contact manifold - ContactManifoldInfo* manifoldInfo = new (mTempMemoryAllocator.allocate(sizeof(ContactManifoldInfo))) - ContactManifoldInfo(mTempMemoryAllocator); - - // Add the manifold into the linked-list of potential contact manifolds - manifoldInfo->mNext = mPotentialContactManifolds; - mPotentialContactManifolds = manifoldInfo; - - // Add the contact point to the manifold - manifoldInfo->addContactPoint(contactPoint); - } - - contactPoint = nextContactPoint; - } - - // All the contact point info of the narrow-phase info have been moved - // into the potential contacts of the overlapping pair - narrowPhaseInfo->contactPoints = nullptr; -} - -// Clear all the potential contact manifolds -void OverlappingPair::clearPotentialContactManifolds() { - - ContactManifoldInfo* element = mPotentialContactManifolds; - while(element != nullptr) { - - // Remove the proxy collision shape - ContactManifoldInfo* elementToRemove = element; - element = element->getNext(); - - // Delete the element - elementToRemove->~ContactManifoldInfo(); - mTempMemoryAllocator.release(elementToRemove, sizeof(ContactManifoldInfo)); - } - - mPotentialContactManifolds = nullptr; -} - -// Reduce the number of contact points of all the potential contact manifolds -void OverlappingPair::reducePotentialContactManifolds() { - - // For each potential contact manifold - ContactManifoldInfo* manifold = mPotentialContactManifolds; - while (manifold != nullptr) { - - // Reduce the number of contact points of the manifold - manifold->reduce(mContactManifoldSet.getShape1()->getLocalToWorldTransform()); - - manifold = manifold->getNext(); - } -} - - // Add a new last frame collision info if it does not exist for the given shapes already void OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) { diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index debec3bc..30d1ab94 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -32,6 +32,7 @@ #include "containers/Map.h" #include "containers/Pair.h" #include "containers/containers_common.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -106,12 +107,12 @@ class OverlappingPair { // -------------------- Attributes -------------------- // + /// Pair ID + OverlappingPairId mPairID; + /// Set of persistent contact manifolds ContactManifoldSet mContactManifoldSet; - /// Linked-list of potential contact manifold - ContactManifoldInfo* mPotentialContactManifolds; - /// Persistent memory allocator MemoryAllocator& mPersistentAllocator; @@ -144,7 +145,7 @@ class OverlappingPair { /// Deleted assignment operator OverlappingPair& operator=(const OverlappingPair& pair) = delete; - + /// Return the pointer to first proxy collision shape ProxyShape* getShape1() const; @@ -157,15 +158,9 @@ class OverlappingPair { /// Return the a reference to the contact manifold set const ContactManifoldSet& getContactManifoldSet(); - /// Clear all the potential contact manifolds - void clearPotentialContactManifolds(); - /// Add potential contact-points from narrow-phase into potential contact manifolds void addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo); - /// Add a contact to the contact manifold - void addContactManifold(const ContactManifoldInfo* contactManifoldInfo); - /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); @@ -175,12 +170,6 @@ class OverlappingPair { /// Return true if the overlapping pair has contact manifolds with contacts bool hasContacts() const; - /// Return a pointer to the first potential contact manifold in the linked-list - ContactManifoldInfo* getPotentialContactManifolds(); - - /// Reduce the number of contact points of all the potential contact manifolds - void reducePotentialContactManifolds(); - /// Make the contact manifolds and contact points obsolete void makeContactsObsolete(); @@ -223,11 +212,6 @@ inline ProxyShape* OverlappingPair::getShape2() const { return mContactManifoldSet.getShape2(); } -// Add a contact to the contact manifold -inline void OverlappingPair::addContactManifold(const ContactManifoldInfo* contactManifoldInfo) { - mContactManifoldSet.addContactManifold(contactManifoldInfo); -} - // Return the last frame collision info for a given shape id or nullptr if none is found inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeIdPair& shapeIds) { Map::Iterator it = mLastFrameCollisionInfos.find(shapeIds); @@ -289,11 +273,6 @@ inline bool OverlappingPair::hasContacts() const { return mContactManifoldSet.getContactManifolds() != nullptr; } -// Return a pointer to the first potential contact manifold in the linked-list -inline ContactManifoldInfo* OverlappingPair::getPotentialContactManifolds() { - return mPotentialContactManifolds; -} - // Clear the obsolete contact manifold and contact points inline void OverlappingPair::clearObsoleteManifoldsAndContactPoints() { mContactManifoldSet.clearObsoleteManifoldsAndContactPoints(); @@ -309,6 +288,11 @@ inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint s return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)]; } +// Create a new potential contact manifold using contact-points from narrow-phase +inline void OverlappingPair::addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { + mContactManifoldSet.addContactPoints(narrowPhaseInfo); +} + } #endif diff --git a/test/tests/containers/TestSet.h b/test/tests/containers/TestSet.h index ddf2c245..23f7663b 100644 --- a/test/tests/containers/TestSet.h +++ b/test/tests/containers/TestSet.h @@ -149,14 +149,22 @@ class TestSet : public Test { // ----- Test add() ----- // Set set1(mAllocator); - set1.add(10); - set1.add(80); - set1.add(130); + bool add1 = set1.add(10); + bool add2 = set1.add(80); + bool add3 = set1.add(130); + test(add1); + test(add2); + test(add3); test(set1.contains(10)); test(set1.contains(80)); test(set1.contains(130)); test(set1.size() == 3); + bool add4 = set1.add(80); + test(!add4); + test(set1.contains(80)); + test(set1.size() == 3); + Set set2(mAllocator, 15); for (int i = 0; i < 1000000; i++) { set2.add(i); @@ -168,7 +176,8 @@ class TestSet : public Test { test(isValid); set1.remove(10); - set1.add(10); + bool add = set1.add(10); + test(add); test(set1.size() == 3); test(set1.contains(10)); From ea523e47d33b6ca030b92b1f70fea86f95035637 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 15 Sep 2018 10:14:26 +0200 Subject: [PATCH 003/197] Use List instead of linked lists for narrow phase infos during collision detection --- src/collision/CollisionDetection.cpp | 275 ++++++++---------- src/collision/CollisionDetection.h | 10 +- src/collision/ContactManifoldSet.cpp | 5 - src/collision/MiddlePhaseTriangleCallback.cpp | 5 +- src/collision/MiddlePhaseTriangleCallback.h | 9 +- src/collision/NarrowPhaseInfo.cpp | 2 +- src/collision/NarrowPhaseInfo.h | 3 - 7 files changed, 142 insertions(+), 167 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index c835c4e7..d47b6691 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -49,7 +49,7 @@ using namespace std; // Constructor CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoList(nullptr), + : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfos(mMemoryManager.getPoolAllocator()), mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false) { @@ -80,9 +80,6 @@ void CollisionDetection::computeCollisionDetection() { // Compute the narrow-phase collision detection computeNarrowPhase(); - - // Reset the linked list of narrow-phase info - mNarrowPhaseInfoList = nullptr; } // Compute the broad-phase collision detection @@ -162,29 +159,17 @@ void CollisionDetection::computeMiddlePhase() { // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - NarrowPhaseInfo* firstNarrowPhaseInfo = mNarrowPhaseInfoList; - mNarrowPhaseInfoList = new (mMemoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(NarrowPhaseInfo))) + NarrowPhaseInfo* narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(NarrowPhaseInfo))) NarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), mMemoryManager.getSingleFrameAllocator()); - mNarrowPhaseInfoList->next = firstNarrowPhaseInfo; + mNarrowPhaseInfos.add(narrowPhaseInfo); } // Concave vs Convex algorithm else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - NarrowPhaseInfo* narrowPhaseInfo = nullptr; - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), &narrowPhaseInfo); - - // Add all the narrow-phase info object reported by the callback into the - // list of all the narrow-phase info object - while (narrowPhaseInfo != nullptr) { - NarrowPhaseInfo* next = narrowPhaseInfo->next; - narrowPhaseInfo->next = mNarrowPhaseInfoList; - mNarrowPhaseInfoList = narrowPhaseInfo; - - narrowPhaseInfo = next; - } + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInfos); } // Concave vs Concave shape else { @@ -200,7 +185,7 @@ void CollisionDetection::computeMiddlePhase() { // Compute the concave vs convex middle-phase algorithm for a given pair of bodies void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - NarrowPhaseInfo** firstNarrowPhaseInfo) { + List& narrowPhaseInfos) { ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -226,7 +211,7 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair // Set the parameters of the callback object MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape, - concaveShape, allocator); + concaveShape, narrowPhaseInfos, allocator); #ifdef IS_PROFILING_ACTIVE @@ -243,10 +228,6 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair // Call the convex vs triangle callback for each triangle of the concave shape concaveShape->testAllTriangles(middlePhaseCallback, aabb); - - // Add all the narrow-phase info object reported by the callback into the - // list of all the narrow-phase info object - *firstNarrowPhaseInfo = middlePhaseCallback.narrowPhaseInfoList; } // Compute the narrow-phase collision detection @@ -254,29 +235,33 @@ void CollisionDetection::computeNarrowPhase() { RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); - List narrowPhaseInfos(mMemoryManager.getSingleFrameAllocator()); + List collidingNarrowPhaseInfos(mMemoryManager.getSingleFrameAllocator()); - NarrowPhaseInfo* currentNarrowPhaseInfo = mNarrowPhaseInfoList; - while (currentNarrowPhaseInfo != nullptr) { + // For each narrow phase info to process + for(uint i=0; i < mNarrowPhaseInfos.size(); i++) { + + NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfos[i]; + + assert(narrowPhaseInfo->contactPoints == nullptr); // Select the narrow phase algorithm to use according to the two collision shapes - const CollisionShapeType shape1Type = currentNarrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = currentNarrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); // If there is no collision algorithm between those two kinds of shapes, skip it if (narrowPhaseAlgorithm != nullptr) { - LastFrameCollisionInfo* lastCollisionFrameInfo = currentNarrowPhaseInfo->getLastFrameCollisionInfo(); - - narrowPhaseInfos.add(currentNarrowPhaseInfo); + LastFrameCollisionInfo* lastCollisionFrameInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(currentNarrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) { + if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) { lastCollisionFrameInfo->wasColliding = true; + + collidingNarrowPhaseInfos.add(narrowPhaseInfo); } else { lastCollisionFrameInfo->wasColliding = false; @@ -285,12 +270,10 @@ void CollisionDetection::computeNarrowPhase() { // The previous frame collision info is now valid lastCollisionFrameInfo->isValid = true; } - - currentNarrowPhaseInfo = currentNarrowPhaseInfo->next; } // Convert the potential contact into actual contacts - processAllPotentialContacts(narrowPhaseInfos, mOverlappingPairs); + processAllPotentialContacts(collidingNarrowPhaseInfos, mOverlappingPairs); // Add all the contact manifolds (between colliding bodies) to the bodies addAllContactManifoldsToBodies(); @@ -299,9 +282,9 @@ void CollisionDetection::computeNarrowPhase() { reportAllContacts(); // Destroy the narrow phase infos - for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + for(uint i=0; i < mNarrowPhaseInfos.size(); i++) { - NarrowPhaseInfo* narrowPhaseInfo = *it; + NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfos[i]; // Call the destructor narrowPhaseInfo->~NarrowPhaseInfo(); @@ -309,6 +292,9 @@ void CollisionDetection::computeNarrowPhase() { // Release the allocated memory for the narrow phase info mMemoryManager.release(MemoryManager::AllocationType::Frame, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); } + + // Clear the list of narrow-phase infos + mNarrowPhaseInfos.clear(); } // Allow the broadphase to notify the collision detection about an overlapping pair. @@ -437,23 +423,24 @@ void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { } /// Convert the potential contact into actual contacts -void CollisionDetection::processAllPotentialContacts(const List& narrowPhaseInfos, +void CollisionDetection::processAllPotentialContacts(const List& collidingNarrowPhaseInfos, const OverlappingPairMap& overlappingPairs) { RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); // For each narrow phase info object - for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { + for(uint i=0; i < collidingNarrowPhaseInfos.size(); i++) { - NarrowPhaseInfo* narrowPhaseInfo = *it; + NarrowPhaseInfo* narrowPhaseInfo = collidingNarrowPhaseInfos[i]; assert(narrowPhaseInfo != nullptr); + assert(narrowPhaseInfo->contactPoints != nullptr); - if (narrowPhaseInfo->contactPoints != nullptr) { + // Transfer the contact points from the narrow phase info to the overlapping pair + narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); - // Transfer the contact points from the narrow phase info to the overlapping pair - narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); - } + // Remove the contacts points from the narrow phase info object. + narrowPhaseInfo->resetContactPoints(); } // For each overlapping pairs in contact during the narrow-phase @@ -491,7 +478,7 @@ void CollisionDetection::reportAllContacts() { } // Compute the middle-phase collision detection between two proxy shapes -NarrowPhaseInfo* CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair) { +void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, List& outNarrowPhaseInfos) { ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -501,8 +488,6 @@ NarrowPhaseInfo* CollisionDetection::computeMiddlePhaseForProxyShapes(Overlappin const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); const bool isShape2Convex = shape2->getCollisionShape()->isConvex(); - NarrowPhaseInfo* narrowPhaseInfo = nullptr; - pair->makeLastFrameCollisionInfosObsolete(); // If both shapes are convex @@ -510,10 +495,11 @@ NarrowPhaseInfo* CollisionDetection::computeMiddlePhaseForProxyShapes(Overlappin // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + NarrowPhaseInfo* narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(NarrowPhaseInfo))) NarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), mMemoryManager.getPoolAllocator()); + outNarrowPhaseInfos.add(narrowPhaseInfo); } // Concave vs Convex algorithm @@ -521,12 +507,10 @@ NarrowPhaseInfo* CollisionDetection::computeMiddlePhaseForProxyShapes(Overlappin // Run the middle-phase collision detection algorithm to find the triangles of the concave // shape we need to use during the narrow-phase collision detection - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), &narrowPhaseInfo); + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInfos); } pair->clearObsoleteLastFrameCollisionInfos(); - - return narrowPhaseInfo; } // Report all the bodies that overlap with the aabb in parameter @@ -572,6 +556,8 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over // Return true if two bodies overlap bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { + List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); + // For each proxy shape proxy shape of the first body ProxyShape* body1ProxyShape = body1->getProxyShapesList(); while (body1ProxyShape != nullptr) { @@ -591,13 +577,17 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), mMemoryManager.getPoolAllocator(), mWorld->mConfig); + narrowPhaseInfos.clear(); + // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfos); bool isColliding = false; // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { + for(uint i=0; i < narrowPhaseInfos.size(); i++) { + + NarrowPhaseInfo* narrowPhaseInfo = narrowPhaseInfos[i]; // If we have not found a collision yet if (!isColliding) { @@ -618,14 +608,11 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) } } - NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; - narrowPhaseInfo = narrowPhaseInfo->next; - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); + narrowPhaseInfo->~NarrowPhaseInfo(); // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); } // Return if we have found a narrow-phase collision @@ -651,6 +638,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl assert(overlapCallback != nullptr); Set reportedBodies(mMemoryManager.getPoolAllocator()); + List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body ProxyShape* bodyProxyShape = body->getProxyShapesList(); @@ -687,13 +675,17 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), mMemoryManager.getPoolAllocator(), mWorld->mConfig); + narrowPhaseInfos.clear(); + // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); + computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfos); bool isColliding = false; // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { + for (uint i=0; inext; - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); + narrowPhaseInfo->~NarrowPhaseInfo(); // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); + mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); } // Return if we have found a narrow-phase collision @@ -795,33 +784,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body } // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); - - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { - - allNarrowPhaseInfos.add(narrowPhaseInfo); - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - - collidingNarrowPhaseInfos.add(narrowPhaseInfo); - } - } - - narrowPhaseInfo = narrowPhaseInfo->next; - } + computeMiddlePhaseForProxyShapes(pair, allNarrowPhaseInfos); } // Go to the next proxy shape @@ -832,6 +795,30 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body body1ProxyShape = body1ProxyShape->getNext(); } + // For each narrow-phase info object + for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { + + NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + + collidingNarrowPhaseInfos.add(narrowPhaseInfo); + } + } + } + // Process the potential contacts processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); @@ -853,9 +840,9 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body } // Destroy the narrow phase infos - for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - NarrowPhaseInfo* narrowPhaseInfo = *it; + NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; // Call the destructor narrowPhaseInfo->~NarrowPhaseInfo(); @@ -926,33 +913,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); - - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { - - allNarrowPhaseInfos.add(narrowPhaseInfo); - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - - collidingNarrowPhaseInfos.add(narrowPhaseInfo); - } - } - - narrowPhaseInfo = narrowPhaseInfo->next; - } + computeMiddlePhaseForProxyShapes(pair, allNarrowPhaseInfos); } } @@ -965,6 +926,30 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } } + // For each narrow-phase info object + for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + + NarrowPhaseInfo* narrowPhaseInfo = *it; + + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { + + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + + collidingNarrowPhaseInfos.add(narrowPhaseInfo); + } + } + } + // Process the potential contacts processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); @@ -986,9 +971,9 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } // Destroy the narrow phase infos - for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - NarrowPhaseInfo* narrowPhaseInfo = *it; + NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; // Call the destructor narrowPhaseInfo->~NarrowPhaseInfo(); @@ -1047,32 +1032,30 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); + computeMiddlePhaseForProxyShapes(pair, allNarrowPhaseInfos); + } + } - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { + // For each narrow-phase info object + for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - allNarrowPhaseInfos.add(narrowPhaseInfo); + NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { + // If there is a collision algorithm for those two kinds of shapes + if (narrowPhaseAlgorithm != nullptr) { - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + // Use the narrow-phase collision detection algorithm to check + // if there really is a collision. If a collision occurs, the + // notifyContact() callback method will be called. + if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - collidingNarrowPhaseInfos.add(narrowPhaseInfo); - } - } - - narrowPhaseInfo = narrowPhaseInfo->next; + collidingNarrowPhaseInfos.add(narrowPhaseInfo); } } } @@ -1098,9 +1081,9 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { } // Destroy the narrow phase infos - for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - NarrowPhaseInfo* narrowPhaseInfo = *it; + NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; // Call the destructor narrowPhaseInfo->~NarrowPhaseInfo(); diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 958d14b1..bd49f10f 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -78,8 +78,8 @@ class CollisionDetection { /// Pointer to the physics world CollisionWorld* mWorld; - /// Pointer to the first narrow-phase info of the linked list - NarrowPhaseInfo* mNarrowPhaseInfoList; + /// List of narrow phase infos + List mNarrowPhaseInfos; /// Broad-phase overlapping pairs OverlappingPairMap mOverlappingPairs; @@ -127,13 +127,13 @@ class CollisionDetection { /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - NarrowPhaseInfo** firstNarrowPhaseInfo); + List& narrowPhaseInfos); /// Compute the middle-phase collision detection between two proxy shapes - NarrowPhaseInfo* computeMiddlePhaseForProxyShapes(OverlappingPair* pair); + void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, List& outNarrowPhaseInfos); /// Convert the potential contact into actual contacts - void processAllPotentialContacts(const List& narrowPhaseInfos, + void processAllPotentialContacts(const List& collidingNarrowPhaseInfos, const OverlappingPairMap& overlappingPairs); /// Report contacts for all the colliding overlapping pairs diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index 2cbfc409..0dc40ebd 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -94,11 +94,6 @@ void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { contactPoint = contactPoint->next; } - - // All the contact point info of the narrow-phase info have been moved - // into the potential contacts of the overlapping pair. We can now - // remove the contacts points from the narrow phase info object. - narrowPhaseInfo->resetContactPoints(); } // Return the total number of contact points in the set of manifolds diff --git a/src/collision/MiddlePhaseTriangleCallback.cpp b/src/collision/MiddlePhaseTriangleCallback.cpp index b1583f25..7520fbae 100644 --- a/src/collision/MiddlePhaseTriangleCallback.cpp +++ b/src/collision/MiddlePhaseTriangleCallback.cpp @@ -51,13 +51,12 @@ void MiddlePhaseTriangleCallback::testTriangle(const Vector3* trianglePoints, co ProxyShape* shape2 = isShape1Convex ? mConcaveProxyShape : mConvexProxyShape; // Create a narrow phase info for the narrow-phase collision detection - NarrowPhaseInfo* firstNarrowPhaseInfo = narrowPhaseInfoList; - narrowPhaseInfoList = new (mAllocator.allocate(sizeof(NarrowPhaseInfo))) + NarrowPhaseInfo* narrowPhaseInfo = new (mAllocator.allocate(sizeof(NarrowPhaseInfo))) NarrowPhaseInfo(mOverlappingPair, isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape, isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(), shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), mAllocator); - narrowPhaseInfoList->next = firstNarrowPhaseInfo; + mOutNarrowPhaseInfos.add(narrowPhaseInfo); } diff --git a/src/collision/MiddlePhaseTriangleCallback.h b/src/collision/MiddlePhaseTriangleCallback.h index 51408715..a952d7b3 100644 --- a/src/collision/MiddlePhaseTriangleCallback.h +++ b/src/collision/MiddlePhaseTriangleCallback.h @@ -66,6 +66,9 @@ class MiddlePhaseTriangleCallback : public TriangleCallback { /// Pointer to the concave collision shape const ConcaveShape* mConcaveShape; + /// Reference to the list of narrow-phase infos + List& mOutNarrowPhaseInfos; + /// Reference to the single-frame memory allocator MemoryAllocator& mAllocator; @@ -78,17 +81,15 @@ class MiddlePhaseTriangleCallback : public TriangleCallback { public: - /// Pointer to the first element of the linked-list of narrow-phase info - NarrowPhaseInfo* narrowPhaseInfoList; - /// Constructor MiddlePhaseTriangleCallback(OverlappingPair* overlappingPair, ProxyShape* concaveProxyShape, ProxyShape* convexProxyShape, const ConcaveShape* concaveShape, + List& outNarrowPhaseInfos, MemoryAllocator& allocator) :mOverlappingPair(overlappingPair), mConcaveProxyShape(concaveProxyShape), mConvexProxyShape(convexProxyShape), mConcaveShape(concaveShape), - mAllocator(allocator), narrowPhaseInfoList(nullptr) { + mOutNarrowPhaseInfos(outNarrowPhaseInfos), mAllocator(allocator) { } diff --git a/src/collision/NarrowPhaseInfo.cpp b/src/collision/NarrowPhaseInfo.cpp index be4c6ab4..0ee63d0a 100644 --- a/src/collision/NarrowPhaseInfo.cpp +++ b/src/collision/NarrowPhaseInfo.cpp @@ -37,7 +37,7 @@ NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, const Transform& shape2Transform, MemoryAllocator& shapeAllocator) : overlappingPair(pair), collisionShape1(shape1), collisionShape2(shape2), shape1ToWorldTransform(shape1Transform), shape2ToWorldTransform(shape2Transform), - contactPoints(nullptr), next(nullptr), collisionShapeAllocator(shapeAllocator) { + contactPoints(nullptr), collisionShapeAllocator(shapeAllocator) { // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) overlappingPair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); diff --git a/src/collision/NarrowPhaseInfo.h b/src/collision/NarrowPhaseInfo.h index 99f9ffc7..38aa6af6 100644 --- a/src/collision/NarrowPhaseInfo.h +++ b/src/collision/NarrowPhaseInfo.h @@ -65,9 +65,6 @@ struct NarrowPhaseInfo { /// Linked-list of contact points created during the narrow-phase ContactPointInfo* contactPoints; - /// Pointer to the next element in the linked list - NarrowPhaseInfo* next; - /// Memory allocator for the collision shape (Used to release TriangleShape memory in destructor) MemoryAllocator& collisionShapeAllocator; From cf3d76ce453e6ff1dcb83ac77b36b88790c2bcac Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 18 Sep 2018 07:35:11 +0200 Subject: [PATCH 004/197] Replace linked-list by rp3d::List for contactPoints of NarrowPhaseInfo --- src/collision/CollisionDetection.cpp | 4 ++-- src/collision/ContactManifoldSet.cpp | 9 ++++---- src/collision/NarrowPhaseInfo.cpp | 22 ++++++++----------- src/collision/NarrowPhaseInfo.h | 4 ++-- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 4 ++-- 5 files changed, 19 insertions(+), 24 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index d47b6691..9ef9078e 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -242,7 +242,7 @@ void CollisionDetection::computeNarrowPhase() { NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfos[i]; - assert(narrowPhaseInfo->contactPoints == nullptr); + assert(narrowPhaseInfo->contactPoints.size() == 0); // Select the narrow phase algorithm to use according to the two collision shapes const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); @@ -434,7 +434,7 @@ void CollisionDetection::processAllPotentialContacts(const ListcontactPoints != nullptr); + assert(narrowPhaseInfo->contactPoints.size() > 0); // Transfer the contact points from the narrow phase info to the overlapping pair narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index 0dc40ebd..8c3b43fa 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -51,11 +51,12 @@ ContactManifoldSet::~ContactManifoldSet() { void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { - assert(narrowPhaseInfo->contactPoints != nullptr); + assert(narrowPhaseInfo->contactPoints.size() > 0); // For each potential contact point to add - ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints; - while (contactPoint != nullptr) { + for (uint i=0; i < narrowPhaseInfo->contactPoints.size(); i++) { + + ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints[i]; // Look if the contact point correspond to an existing potential manifold // (if the contact point normal is similar to the normal of an existing manifold) @@ -91,8 +92,6 @@ void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { // Add the contact point to the manifold manifold->addContactPoint(contactPoint); } - - contactPoint = contactPoint->next; } } diff --git a/src/collision/NarrowPhaseInfo.cpp b/src/collision/NarrowPhaseInfo.cpp index 0ee63d0a..b1394c98 100644 --- a/src/collision/NarrowPhaseInfo.cpp +++ b/src/collision/NarrowPhaseInfo.cpp @@ -37,7 +37,7 @@ NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, const Transform& shape2Transform, MemoryAllocator& shapeAllocator) : overlappingPair(pair), collisionShape1(shape1), collisionShape2(shape2), shape1ToWorldTransform(shape1Transform), shape2ToWorldTransform(shape2Transform), - contactPoints(nullptr), collisionShapeAllocator(shapeAllocator) { + contactPoints(overlappingPair->getTemporaryAllocator()), collisionShapeAllocator(shapeAllocator) { // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) overlappingPair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); @@ -46,7 +46,7 @@ NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, // Destructor NarrowPhaseInfo::~NarrowPhaseInfo() { - assert(contactPoints == nullptr); + assert(contactPoints.size() == 0); // Release the memory of the TriangleShape (this memory was allocated in the // MiddlePhaseTriangleCallback::testTriangle() method) @@ -73,9 +73,8 @@ void NarrowPhaseInfo::addContactPoint(const Vector3& contactNormal, decimal penD ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo))) ContactPointInfo(contactNormal, penDepth, localPt1, localPt2); - // Add it into the linked list of contact points - contactPointInfo->next = contactPoints; - contactPoints = contactPointInfo; + // Add it into the list of contact points + contactPoints.add(contactPointInfo); } // Reset the remaining contact points @@ -85,19 +84,16 @@ void NarrowPhaseInfo::resetContactPoints() { MemoryAllocator& allocator = overlappingPair->getTemporaryAllocator(); // For each remaining contact point info - ContactPointInfo* element = contactPoints; - while(element != nullptr) { + for (uint i=0; i < contactPoints.size(); i++) { - ContactPointInfo* elementToDelete = element; - - element = element->next; + ContactPointInfo* contactPoint = contactPoints[i]; // Call the destructor - elementToDelete->~ContactPointInfo(); + contactPoint->~ContactPointInfo(); // Delete the current element - allocator.release(elementToDelete, sizeof(ContactPointInfo)); + allocator.release(contactPoint, sizeof(ContactPointInfo)); } - contactPoints = nullptr; + contactPoints.clear(); } diff --git a/src/collision/NarrowPhaseInfo.h b/src/collision/NarrowPhaseInfo.h index 38aa6af6..ff2cf5a0 100644 --- a/src/collision/NarrowPhaseInfo.h +++ b/src/collision/NarrowPhaseInfo.h @@ -62,8 +62,8 @@ struct NarrowPhaseInfo { /// Transform that maps from collision shape 2 local-space to world-space Transform shape2ToWorldTransform; - /// Linked-list of contact points created during the narrow-phase - ContactPointInfo* contactPoints; + /// List of contact points created during the narrow-phase + List contactPoints; /// Memory allocator for the collision shape (Used to release TriangleShape memory in destructor) MemoryAllocator& collisionShapeAllocator; diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index cb3ee5b8..5751578e 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -76,8 +76,8 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPh // two contact points instead of a single one (as in the deep contact case with SAT algorithm) // Get the contact point created by GJK - ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints; - assert(contactPoint != nullptr); + assert(narrowPhaseInfo->contactPoints.size() > 0); + ContactPointInfo*& contactPoint = narrowPhaseInfo->contactPoints[0]; bool isCapsuleShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE; From e8ed10314a035e3048502282ac8d9d5c25564b8d Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 3 Oct 2018 22:10:05 +0200 Subject: [PATCH 005/197] Refactor narrow-phase algorithms to iterate over batches of narrow-phase infos --- CMakeLists.txt | 4 +- src/collision/CollisionDetection.cpp | 227 ++--- src/collision/CollisionDetection.h | 10 +- src/collision/ContactManifoldSet.cpp | 10 +- src/collision/ContactManifoldSet.h | 7 +- src/collision/MiddlePhaseTriangleCallback.cpp | 14 +- src/collision/MiddlePhaseTriangleCallback.h | 10 +- ...PhaseInfo.cpp => NarrowPhaseInfoBatch.cpp} | 87 +- ...rrowPhaseInfo.h => NarrowPhaseInfoBatch.h} | 80 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 324 +++---- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 6 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 184 ++-- .../CapsuleVsConvexPolyhedronAlgorithm.h | 4 +- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 19 +- ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/GJK/GJKAlgorithm.cpp | 275 +++--- src/collision/narrowphase/GJK/GJKAlgorithm.h | 7 +- .../narrowphase/NarrowPhaseAlgorithm.h | 6 +- .../narrowphase/SAT/SATAlgorithm.cpp | 833 +++++++++--------- src/collision/narrowphase/SAT/SATAlgorithm.h | 14 +- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 151 ++-- .../narrowphase/SphereVsCapsuleAlgorithm.h | 4 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 71 +- .../SphereVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 96 +- .../narrowphase/SphereVsSphereAlgorithm.h | 4 +- src/constraint/ContactPoint.h | 2 - src/containers/List.h | 2 +- src/engine/OverlappingPair.cpp | 1 - src/engine/OverlappingPair.h | 8 +- 30 files changed, 1279 insertions(+), 1189 deletions(-) rename src/collision/{NarrowPhaseInfo.cpp => NarrowPhaseInfoBatch.cpp} (51%) rename src/collision/{NarrowPhaseInfo.h => NarrowPhaseInfoBatch.h} (52%) diff --git a/CMakeLists.txt b/CMakeLists.txt index decf32b2..dceef275 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -115,7 +115,7 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/PolyhedronMesh.h" "src/collision/HalfEdgeStructure.h" "src/collision/CollisionDetection.h" - "src/collision/NarrowPhaseInfo.h" + "src/collision/NarrowPhaseInfoBatch.h" "src/collision/ContactManifold.h" "src/collision/ContactManifoldSet.h" "src/collision/MiddlePhaseTriangleCallback.h" @@ -198,7 +198,7 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/PolyhedronMesh.cpp" "src/collision/HalfEdgeStructure.cpp" "src/collision/CollisionDetection.cpp" - "src/collision/NarrowPhaseInfo.cpp" + "src/collision/NarrowPhaseInfoBatch.cpp" "src/collision/ContactManifold.cpp" "src/collision/ContactManifoldSet.cpp" "src/collision/MiddlePhaseTriangleCallback.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 9ef9078e..00f38793 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -35,7 +35,7 @@ #include "collision/CollisionCallback.h" #include "collision/MiddlePhaseTriangleCallback.h" #include "collision/OverlapCallback.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" #include "collision/ContactManifold.h" #include "utils/Profiler.h" #include "engine/EventListener.h" @@ -49,7 +49,7 @@ using namespace std; // Constructor CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfos(mMemoryManager.getPoolAllocator()), + : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()), mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false) { @@ -159,17 +159,15 @@ void CollisionDetection::computeMiddlePhase() { // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - NarrowPhaseInfo* narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(NarrowPhaseInfo))) - NarrowPhaseInfo(pair, shape1->getCollisionShape(), - shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), - shape2->getLocalToWorldTransform(), mMemoryManager.getSingleFrameAllocator()); - mNarrowPhaseInfos.add(narrowPhaseInfo); + mNarrowPhaseInfoBatch.addNarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), + shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), + mMemoryManager.getSingleFrameAllocator()); } // Concave vs Convex algorithm else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInfos); + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInfoBatch); } // Concave vs Concave shape else { @@ -185,7 +183,7 @@ void CollisionDetection::computeMiddlePhase() { // Compute the concave vs convex middle-phase algorithm for a given pair of bodies void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - List& narrowPhaseInfos) { + NarrowPhaseInfoBatch& narrowPhaseInfoBatch) { ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -211,7 +209,7 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair // Set the parameters of the callback object MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape, - concaveShape, narrowPhaseInfos, allocator); + concaveShape, narrowPhaseInfoBatch, allocator); #ifdef IS_PROFILING_ACTIVE @@ -235,33 +233,32 @@ void CollisionDetection::computeNarrowPhase() { RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); - List collidingNarrowPhaseInfos(mMemoryManager.getSingleFrameAllocator()); + List collidingBatchIndices(mMemoryManager.getSingleFrameAllocator()); // For each narrow phase info to process - for(uint i=0; i < mNarrowPhaseInfos.size(); i++) { + for(uint batchIndex=0; batchIndex < mNarrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfos[i]; - - assert(narrowPhaseInfo->contactPoints.size() == 0); + assert(mNarrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); // Select the narrow phase algorithm to use according to the two collision shapes - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = mNarrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); + const CollisionShapeType shape2Type = mNarrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); // If there is no collision algorithm between those two kinds of shapes, skip it if (narrowPhaseAlgorithm != nullptr) { - LastFrameCollisionInfo* lastCollisionFrameInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); + LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) { + narrowPhaseAlgorithm->testCollision(mNarrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getSingleFrameAllocator()); + if (mNarrowPhaseInfoBatch.isColliding[batchIndex]) { lastCollisionFrameInfo->wasColliding = true; - collidingNarrowPhaseInfos.add(narrowPhaseInfo); + collidingBatchIndices.add(batchIndex); } else { lastCollisionFrameInfo->wasColliding = false; @@ -273,7 +270,7 @@ void CollisionDetection::computeNarrowPhase() { } // Convert the potential contact into actual contacts - processAllPotentialContacts(collidingNarrowPhaseInfos, mOverlappingPairs); + processAllPotentialContacts(mNarrowPhaseInfoBatch, collidingBatchIndices, mOverlappingPairs); // Add all the contact manifolds (between colliding bodies) to the bodies addAllContactManifoldsToBodies(); @@ -281,20 +278,8 @@ void CollisionDetection::computeNarrowPhase() { // Report contacts to the user reportAllContacts(); - // Destroy the narrow phase infos - for(uint i=0; i < mNarrowPhaseInfos.size(); i++) { - - NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfos[i]; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Frame, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } - // Clear the list of narrow-phase infos - mNarrowPhaseInfos.clear(); + mNarrowPhaseInfoBatch.clear(); } // Allow the broadphase to notify the collision detection about an overlapping pair. @@ -423,24 +408,23 @@ void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { } /// Convert the potential contact into actual contacts -void CollisionDetection::processAllPotentialContacts(const List& collidingNarrowPhaseInfos, +void CollisionDetection::processAllPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, const List& collidingBatchIndex, const OverlappingPairMap& overlappingPairs) { RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); // For each narrow phase info object - for(uint i=0; i < collidingNarrowPhaseInfos.size(); i++) { + for(uint i=0; i < collidingBatchIndex.size(); i++) { - NarrowPhaseInfo* narrowPhaseInfo = collidingNarrowPhaseInfos[i]; + uint batchIndex = collidingBatchIndex[i]; - assert(narrowPhaseInfo != nullptr); - assert(narrowPhaseInfo->contactPoints.size() > 0); + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0); // Transfer the contact points from the narrow phase info to the overlapping pair - narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); + narrowPhaseInfoBatch.overlappingPairs[batchIndex]->addPotentialContactPoints(narrowPhaseInfoBatch, batchIndex); // Remove the contacts points from the narrow phase info object. - narrowPhaseInfo->resetContactPoints(); + narrowPhaseInfoBatch.resetContactPoints(batchIndex); } // For each overlapping pairs in contact during the narrow-phase @@ -478,7 +462,7 @@ void CollisionDetection::reportAllContacts() { } // Compute the middle-phase collision detection between two proxy shapes -void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, List& outNarrowPhaseInfos) { +void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch) { ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -495,11 +479,9 @@ void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - NarrowPhaseInfo* narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(NarrowPhaseInfo))) NarrowPhaseInfo(pair, shape1->getCollisionShape(), - shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), - shape2->getLocalToWorldTransform(), mMemoryManager.getPoolAllocator()); - outNarrowPhaseInfos.add(narrowPhaseInfo); + outNarrowPhaseInfoBatch.addNarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), + shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), + mMemoryManager.getPoolAllocator()); } // Concave vs Convex algorithm @@ -507,7 +489,7 @@ void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, // Run the middle-phase collision detection algorithm to find the triangles of the concave // shape we need to use during the narrow-phase collision detection - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInfos); + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInfoBatch); } pair->clearObsoleteLastFrameCollisionInfos(); @@ -556,7 +538,7 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over // Return true if two bodies overlap bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { - List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); + NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the first body ProxyShape* body1ProxyShape = body1->getProxyShapesList(); @@ -577,23 +559,19 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), mMemoryManager.getPoolAllocator(), mWorld->mConfig); - narrowPhaseInfos.clear(); - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfos); + computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfoBatch); bool isColliding = false; // For each narrow-phase info object - for(uint i=0; i < narrowPhaseInfos.size(); i++) { - - NarrowPhaseInfo* narrowPhaseInfo = narrowPhaseInfos[i]; + for(uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { // If we have not found a collision yet if (!isColliding) { - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); // Select the narrow phase algorithm to use according to the two collision shapes NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); @@ -604,17 +582,14 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - isColliding |= narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, false, mMemoryManager.getPoolAllocator()); + narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, false, mMemoryManager.getPoolAllocator()); + isColliding |= narrowPhaseInfoBatch.isColliding[batchIndex]; } } - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); } + narrowPhaseInfoBatch.clear(); + // Return if we have found a narrow-phase collision if (isColliding) return true; } @@ -638,7 +613,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl assert(overlapCallback != nullptr); Set reportedBodies(mMemoryManager.getPoolAllocator()); - List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); + NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body ProxyShape* bodyProxyShape = body->getProxyShapesList(); @@ -675,23 +650,19 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), mMemoryManager.getPoolAllocator(), mWorld->mConfig); - narrowPhaseInfos.clear(); - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfos); + computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfoBatch); bool isColliding = false; // For each narrow-phase info object - for (uint i=0; icollisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); // Select the narrow phase algorithm to use according to the two collision shapes NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); @@ -702,17 +673,14 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - isColliding |= narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, false, mMemoryManager.getPoolAllocator()); + narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, false, mMemoryManager.getPoolAllocator()); + isColliding |= narrowPhaseInfoBatch.isColliding[batchIndex]; } } - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); } + narrowPhaseInfoBatch.clear(); + // Return if we have found a narrow-phase collision if (isColliding) { @@ -742,8 +710,8 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body assert(collisionCallback != nullptr); - List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); - List allNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the first body @@ -784,7 +752,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body } // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, allNarrowPhaseInfos); + computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch); } // Go to the next proxy shape @@ -796,12 +764,10 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body } // For each narrow-phase info object - for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { + for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); // Select the narrow phase algorithm to use according to the two collision shapes NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); @@ -812,15 +778,16 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator()); + if (narrowPhaseInfoBatch.isColliding[batchIndex]) { - collidingNarrowPhaseInfos.add(narrowPhaseInfo); + collidingNarrowPhaseInfos.add(batchIndex); } } } // Process the potential contacts - processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); + processAllPotentialContacts(narrowPhaseInfoBatch, collidingNarrowPhaseInfos, overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -838,18 +805,6 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body pair->~OverlappingPair(); mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } - - // Destroy the narrow phase infos - for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - - NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } } // Test and report collisions between a body and all the others bodies of the world @@ -857,8 +812,8 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c assert(callback != nullptr); - List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); - List allNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + List collidingBatchIndices(mMemoryManager.getPoolAllocator()); + NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body @@ -913,7 +868,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, allNarrowPhaseInfos); + computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch); } } @@ -927,12 +882,10 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } // For each narrow-phase info object - for (auto it = allNarrowPhaseInfos.begin(); it != allNarrowPhaseInfos.end(); ++it) { + for (uint batchIndex = 0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - NarrowPhaseInfo* narrowPhaseInfo = *it; - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); // Select the narrow phase algorithm to use according to the two collision shapes NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); @@ -943,15 +896,16 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator()); + if (narrowPhaseInfoBatch.isColliding[batchIndex]) { - collidingNarrowPhaseInfos.add(narrowPhaseInfo); + collidingBatchIndices.add(batchIndex); } } } // Process the potential contacts - processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); + processAllPotentialContacts(narrowPhaseInfoBatch, collidingBatchIndices, overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -969,18 +923,6 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c pair->~OverlappingPair(); mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } - - // Destroy the narrow phase infos - for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - - NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } } // Test and report collisions between all shapes of the world @@ -991,8 +933,8 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // Compute the broad-phase collision detection computeBroadPhase(); - List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); - List allNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); + List collidingBatchIndices(mMemoryManager.getPoolAllocator()); + NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each possible collision pair of bodies @@ -1032,17 +974,15 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, allNarrowPhaseInfos); + computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch); } } // For each narrow-phase info object - for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { + for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); + const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); + const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); // Select the narrow phase algorithm to use according to the two collision shapes NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); @@ -1053,15 +993,16 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { + narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator()); + if (narrowPhaseInfoBatch.isColliding[batchIndex]) { - collidingNarrowPhaseInfos.add(narrowPhaseInfo); + collidingBatchIndices.add(batchIndex); } } } // Process the potential contacts - processAllPotentialContacts(collidingNarrowPhaseInfos, overlappingPairs); + processAllPotentialContacts(narrowPhaseInfoBatch, collidingBatchIndices, overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -1079,18 +1020,6 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { pair->~OverlappingPair(); mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } - - // Destroy the narrow phase infos - for (uint i=0; i < allNarrowPhaseInfos.size(); i++) { - - NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos[i]; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } } // Fill-in the collision detection matrix diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index bd49f10f..31f6de81 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -32,6 +32,7 @@ #include "collision/shapes/CollisionShape.h" #include "engine/OverlappingPair.h" #include "collision/narrowphase/DefaultCollisionDispatch.h" +#include "collision/NarrowPhaseInfoBatch.h" #include "containers/Map.h" #include "containers/Set.h" @@ -79,7 +80,7 @@ class CollisionDetection { CollisionWorld* mWorld; /// List of narrow phase infos - List mNarrowPhaseInfos; + NarrowPhaseInfoBatch mNarrowPhaseInfoBatch; /// Broad-phase overlapping pairs OverlappingPairMap mOverlappingPairs; @@ -127,13 +128,14 @@ class CollisionDetection { /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - List& narrowPhaseInfos); + NarrowPhaseInfoBatch& narrowPhaseInfoBatch); /// Compute the middle-phase collision detection between two proxy shapes - void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, List& outNarrowPhaseInfos); + void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch); /// Convert the potential contact into actual contacts - void processAllPotentialContacts(const List& collidingNarrowPhaseInfos, + void processAllPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + const List& collidingBatchIndex, const OverlappingPairMap& overlappingPairs); /// Report contacts for all the colliding overlapping pairs diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index 8c3b43fa..7ced9552 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -25,7 +25,7 @@ // Libraries #include "ContactManifoldSet.h" -#include "NarrowPhaseInfo.h" +#include "NarrowPhaseInfoBatch.h" #include "constraint/ContactPoint.h" #include "ProxyShape.h" #include "collision/ContactManifold.h" @@ -49,14 +49,14 @@ ContactManifoldSet::~ContactManifoldSet() { clear(); } -void ContactManifoldSet::addContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { +void ContactManifoldSet::addContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) { - assert(narrowPhaseInfo->contactPoints.size() > 0); + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0); // For each potential contact point to add - for (uint i=0; i < narrowPhaseInfo->contactPoints.size(); i++) { + for (uint i=0; i < narrowPhaseInfoBatch.contactPoints[batchIndex].size(); i++) { - ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints[i]; + ContactPointInfo* contactPoint = narrowPhaseInfoBatch.contactPoints[batchIndex][i]; // Look if the contact point correspond to an existing potential manifold // (if the contact point normal is similar to the normal of an existing manifold) diff --git a/src/collision/ContactManifoldSet.h b/src/collision/ContactManifoldSet.h index ac22715c..8ba5017d 100644 --- a/src/collision/ContactManifoldSet.h +++ b/src/collision/ContactManifoldSet.h @@ -26,6 +26,9 @@ #ifndef REACTPHYSICS3D_CONTACT_MANIFOLD_SET_H #define REACTPHYSICS3D_CONTACT_MANIFOLD_SET_H +// Libraries +#include "configuration.h" + namespace reactphysics3d { // Declarations @@ -34,7 +37,7 @@ class ContactManifoldInfo; class ProxyShape; class MemoryAllocator; struct WorldSettings; -struct NarrowPhaseInfo; +struct NarrowPhaseInfoBatch; struct Vector3; class CollisionShape; class Transform; @@ -110,7 +113,7 @@ class ContactManifoldSet { ~ContactManifoldSet(); /// Add the contact points from the narrow phase - void addContactPoints(NarrowPhaseInfo* narrowPhaseInfo); + void addContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex); /// Return the first proxy shape ProxyShape* getShape1() const; diff --git a/src/collision/MiddlePhaseTriangleCallback.cpp b/src/collision/MiddlePhaseTriangleCallback.cpp index 7520fbae..9930bc98 100644 --- a/src/collision/MiddlePhaseTriangleCallback.cpp +++ b/src/collision/MiddlePhaseTriangleCallback.cpp @@ -26,8 +26,8 @@ // Libraries #include "collision/MiddlePhaseTriangleCallback.h" #include "engine/OverlappingPair.h" -#include "collision/NarrowPhaseInfo.h" #include "collision/shapes/TriangleShape.h" +#include "collision/NarrowPhaseInfoBatch.h" using namespace reactphysics3d; @@ -51,12 +51,8 @@ void MiddlePhaseTriangleCallback::testTriangle(const Vector3* trianglePoints, co ProxyShape* shape2 = isShape1Convex ? mConcaveProxyShape : mConvexProxyShape; // Create a narrow phase info for the narrow-phase collision detection - NarrowPhaseInfo* narrowPhaseInfo = new (mAllocator.allocate(sizeof(NarrowPhaseInfo))) - NarrowPhaseInfo(mOverlappingPair, - isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape, - isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(), - shape1->getLocalToWorldTransform(), - shape2->getLocalToWorldTransform(), - mAllocator); - mOutNarrowPhaseInfos.add(narrowPhaseInfo); + mOutNarrowPhaseInfoBatch.addNarrowPhaseInfo(mOverlappingPair, + isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape, + isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(), + shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), mAllocator); } diff --git a/src/collision/MiddlePhaseTriangleCallback.h b/src/collision/MiddlePhaseTriangleCallback.h index a952d7b3..abe624fd 100644 --- a/src/collision/MiddlePhaseTriangleCallback.h +++ b/src/collision/MiddlePhaseTriangleCallback.h @@ -41,7 +41,7 @@ class NarrowPhaseAlgorithm; class ProxyShape; class MemoryAllocator; class Profiler; -struct NarrowPhaseInfo; +struct NarrowPhaseInfoBatch; struct Vector3; // Class ConvexVsTriangleCallback @@ -66,8 +66,8 @@ class MiddlePhaseTriangleCallback : public TriangleCallback { /// Pointer to the concave collision shape const ConcaveShape* mConcaveShape; - /// Reference to the list of narrow-phase infos - List& mOutNarrowPhaseInfos; + /// Reference to the narrow phase info batch + NarrowPhaseInfoBatch& mOutNarrowPhaseInfoBatch; /// Reference to the single-frame memory allocator MemoryAllocator& mAllocator; @@ -85,11 +85,11 @@ class MiddlePhaseTriangleCallback : public TriangleCallback { MiddlePhaseTriangleCallback(OverlappingPair* overlappingPair, ProxyShape* concaveProxyShape, ProxyShape* convexProxyShape, const ConcaveShape* concaveShape, - List& outNarrowPhaseInfos, + NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch, MemoryAllocator& allocator) :mOverlappingPair(overlappingPair), mConcaveProxyShape(concaveProxyShape), mConvexProxyShape(convexProxyShape), mConcaveShape(concaveShape), - mOutNarrowPhaseInfos(outNarrowPhaseInfos), mAllocator(allocator) { + mOutNarrowPhaseInfoBatch(outNarrowPhaseInfoBatch), mAllocator(allocator) { } diff --git a/src/collision/NarrowPhaseInfo.cpp b/src/collision/NarrowPhaseInfoBatch.cpp similarity index 51% rename from src/collision/NarrowPhaseInfo.cpp rename to src/collision/NarrowPhaseInfoBatch.cpp index b1394c98..932b99ed 100644 --- a/src/collision/NarrowPhaseInfo.cpp +++ b/src/collision/NarrowPhaseInfoBatch.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "NarrowPhaseInfo.h" +#include "NarrowPhaseInfoBatch.h" #include "ContactPointInfo.h" #include "collision/shapes/TriangleShape.h" #include "engine/OverlappingPair.h" @@ -32,61 +32,63 @@ using namespace reactphysics3d; // Constructor -NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, - CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, MemoryAllocator& shapeAllocator) - : overlappingPair(pair), collisionShape1(shape1), collisionShape2(shape2), - shape1ToWorldTransform(shape1Transform), shape2ToWorldTransform(shape2Transform), - contactPoints(overlappingPair->getTemporaryAllocator()), collisionShapeAllocator(shapeAllocator) { +NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator) + : mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator), + shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), + isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator) { - // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - overlappingPair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); } // Destructor -NarrowPhaseInfo::~NarrowPhaseInfo() { +NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() { + clear(); +} - assert(contactPoints.size() == 0); +// Add shapes to be tested during narrow-phase collision detection into the batch +void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, + const Transform& shape1Transform, const Transform& shape2Transform, + MemoryAllocator& shapeAllocator) { - // Release the memory of the TriangleShape (this memory was allocated in the - // MiddlePhaseTriangleCallback::testTriangle() method) - if (collisionShape1->getName() == CollisionShapeName::TRIANGLE) { - collisionShape1->~CollisionShape(); - collisionShapeAllocator.release(collisionShape1, sizeof(TriangleShape)); - } - if (collisionShape2->getName() == CollisionShapeName::TRIANGLE) { - collisionShape2->~CollisionShape(); - collisionShapeAllocator.release(collisionShape2, sizeof(TriangleShape)); - } + overlappingPairs.add(pair); + collisionShapes1.add(shape1); + collisionShapes2.add(shape2); + shape1ToWorldTransforms.add(shape1Transform); + shape2ToWorldTransforms.add(shape2Transform); + collisionShapeAllocators.add(&shapeAllocator); + contactPoints.add(List(mMemoryAllocator)); + isColliding.add(false); + + // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) + pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); } // Add a new contact point -void NarrowPhaseInfo::addContactPoint(const Vector3& contactNormal, decimal penDepth, +void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2) { assert(penDepth > decimal(0.0)); // Get the memory allocator - MemoryAllocator& allocator = overlappingPair->getTemporaryAllocator(); + MemoryAllocator& allocator = overlappingPairs[index]->getTemporaryAllocator(); // Create the contact point info ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo))) ContactPointInfo(contactNormal, penDepth, localPt1, localPt2); // Add it into the list of contact points - contactPoints.add(contactPointInfo); + contactPoints[index].add(contactPointInfo); } // Reset the remaining contact points -void NarrowPhaseInfo::resetContactPoints() { +void NarrowPhaseInfoBatch::resetContactPoints(uint index) { // Get the memory allocator - MemoryAllocator& allocator = overlappingPair->getTemporaryAllocator(); + MemoryAllocator& allocator = overlappingPairs[index]->getTemporaryAllocator(); // For each remaining contact point info - for (uint i=0; i < contactPoints.size(); i++) { + for (uint i=0; i < contactPoints[index].size(); i++) { - ContactPointInfo* contactPoint = contactPoints[i]; + ContactPointInfo* contactPoint = contactPoints[index][i]; // Call the destructor contactPoint->~ContactPointInfo(); @@ -95,5 +97,34 @@ void NarrowPhaseInfo::resetContactPoints() { allocator.release(contactPoint, sizeof(ContactPointInfo)); } + contactPoints[index].clear(); +} + +// Clear all the objects in the batch +void NarrowPhaseInfoBatch::clear() { + + for (uint i=0; i < overlappingPairs.size(); i++) { + + assert(contactPoints[i].size() == 0); + + // Release the memory of the TriangleShape (this memory was allocated in the + // MiddlePhaseTriangleCallback::testTriangle() method) + if (collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) { + collisionShapes1[i]->~CollisionShape(); + collisionShapeAllocators[i]->release(collisionShapes1[i], sizeof(TriangleShape)); + } + if (collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) { + collisionShapes2[i]->~CollisionShape(); + collisionShapeAllocators[i]->release(collisionShapes2[i], sizeof(TriangleShape)); + } + } + + overlappingPairs.clear(); + collisionShapes1.clear(); + collisionShapes2.clear(); + shape1ToWorldTransforms.clear(); + shape2ToWorldTransforms.clear(); + collisionShapeAllocators.clear(); + isColliding.clear(); contactPoints.clear(); } diff --git a/src/collision/NarrowPhaseInfo.h b/src/collision/NarrowPhaseInfoBatch.h similarity index 52% rename from src/collision/NarrowPhaseInfo.h rename to src/collision/NarrowPhaseInfoBatch.h index ff2cf5a0..6ccff688 100644 --- a/src/collision/NarrowPhaseInfo.h +++ b/src/collision/NarrowPhaseInfoBatch.h @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_NARROW_PHASE_INFO_H -#define REACTPHYSICS3D_NARROW_PHASE_INFO_H +#ifndef REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H +#define REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H // Libraries #include "engine/OverlappingPair.h" @@ -38,58 +38,82 @@ struct LastFrameCollisionInfo; class ContactManifoldInfo; struct ContactPointInfo; -// Class NarrowPhaseInfo +// Struct NarrowPhaseInfoBatch /** - * This structure regroups different things about a collision shape. This is - * used to pass information about a collision shape to a collision algorithm. + * This abstract structure collects all the potential collisions from the middle-phase algorithm + * that have to be tested during narrow-phase collision detection. There is an implementation of + * this class for each kind of collision detection test. For instance, one for sphere vs sphere, + * one for sphere vs capsule, ... */ -struct NarrowPhaseInfo { +struct NarrowPhaseInfoBatch { + + private: + + /// Memory allocator + MemoryAllocator& mMemoryAllocator; public: - /// Broadphase overlapping pair - OverlappingPair* overlappingPair; + /// List of Broadphase overlapping pairs + List overlappingPairs; - /// Pointer to the first collision shape to test collision with - CollisionShape* collisionShape1; + /// List of pointers to the first collision shapes to test collision with + List collisionShapes1; - /// Pointer to the second collision shape to test collision with - CollisionShape* collisionShape2; + /// List of pointers to the second collision shapes to test collision with + List collisionShapes2; - /// Transform that maps from collision shape 1 local-space to world-space - Transform shape1ToWorldTransform; + /// List of transforms that maps from collision shape 1 local-space to world-space + List shape1ToWorldTransforms; - /// Transform that maps from collision shape 2 local-space to world-space - Transform shape2ToWorldTransform; + /// List of transforms that maps from collision shape 2 local-space to world-space + List shape2ToWorldTransforms; + + /// Result of the narrow-phase collision detection test + List isColliding; /// List of contact points created during the narrow-phase - List contactPoints; + List> contactPoints; - /// Memory allocator for the collision shape (Used to release TriangleShape memory in destructor) - MemoryAllocator& collisionShapeAllocator; + /// Memory allocators for the collision shape (Used to release TriangleShape memory in destructor) + List collisionShapeAllocators; /// Constructor - NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + NarrowPhaseInfoBatch(MemoryAllocator& allocator); + + /// Destructor + ~NarrowPhaseInfoBatch(); + + /// Return the number of objects in the batch + uint getNbObjects() const; + + /// Add shapes to be tested during narrow-phase collision detection into the batch + void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator); - /// Destructor - ~NarrowPhaseInfo(); - /// Add a new contact point - void addContactPoint(const Vector3& contactNormal, decimal penDepth, + void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2); /// Reset the remaining contact points - void resetContactPoints(); + void resetContactPoints(uint index); + + /// Clear all the objects in the batch + void clear(); /// Get the last collision frame info for temporal coherence - LastFrameCollisionInfo* getLastFrameCollisionInfo() const; + LastFrameCollisionInfo* getLastFrameCollisionInfo(uint index) const; }; +/// Return the number of objects in the batch +inline uint NarrowPhaseInfoBatch::getNbObjects() const { + return overlappingPairs.size(); +} + // Get the last collision frame info for temporal coherence -inline LastFrameCollisionInfo* NarrowPhaseInfo::getLastFrameCollisionInfo() const { - return overlappingPair->getLastFrameCollisionInfo(collisionShape1->getId(), collisionShape2->getId()); +inline LastFrameCollisionInfo* NarrowPhaseInfoBatch::getLastFrameCollisionInfo(uint index) const { + return overlappingPairs[index]->getLastFrameCollisionInfo(collisionShapes1[index]->getId(), collisionShapes2[index]->getId()); } } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index 51e3e88e..f7075fcd 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -26,7 +26,7 @@ // Libraries #include "CapsuleVsCapsuleAlgorithm.h" #include "collision/shapes/CapsuleShape.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -34,195 +34,199 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two capsules // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, +void CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator) { - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE); - assert(narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CAPSULE); + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - // Get the capsule collision shapes - const CapsuleShape* capsuleShape1 = static_cast(narrowPhaseInfo->collisionShape1); - const CapsuleShape* capsuleShape2 = static_cast(narrowPhaseInfo->collisionShape2); + assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE); + assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); - // Get the transform from capsule 1 local-space to capsule 2 local-space - const Transform capsule1ToCapsule2SpaceTransform = narrowPhaseInfo->shape2ToWorldTransform.getInverse() * narrowPhaseInfo->shape1ToWorldTransform; + // Get the capsule collision shapes + const CapsuleShape* capsuleShape1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const CapsuleShape* capsuleShape2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - // Compute the end-points of the inner segment of the first capsule - Vector3 capsule1SegA(0, -capsuleShape1->getHeight() * decimal(0.5), 0); - Vector3 capsule1SegB(0, capsuleShape1->getHeight() * decimal(0.5), 0); - capsule1SegA = capsule1ToCapsule2SpaceTransform * capsule1SegA; - capsule1SegB = capsule1ToCapsule2SpaceTransform * capsule1SegB; + // Get the transform from capsule 1 local-space to capsule 2 local-space + const Transform capsule1ToCapsule2SpaceTransform = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getInverse() * + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; - // Compute the end-points of the inner segment of the second capsule - const Vector3 capsule2SegA(0, -capsuleShape2->getHeight() * decimal(0.5), 0); - const Vector3 capsule2SegB(0, capsuleShape2->getHeight() * decimal(0.5), 0); - - // The two inner capsule segments - const Vector3 seg1 = capsule1SegB - capsule1SegA; - const Vector3 seg2 = capsule2SegB - capsule2SegA; + // Compute the end-points of the inner segment of the first capsule + Vector3 capsule1SegA(0, -capsuleShape1->getHeight() * decimal(0.5), 0); + Vector3 capsule1SegB(0, capsuleShape1->getHeight() * decimal(0.5), 0); + capsule1SegA = capsule1ToCapsule2SpaceTransform * capsule1SegA; + capsule1SegB = capsule1ToCapsule2SpaceTransform * capsule1SegB; - // Compute the sum of the radius of the two capsules (virtual spheres) - decimal sumRadius = capsuleShape2->getRadius() + capsuleShape1->getRadius(); + // Compute the end-points of the inner segment of the second capsule + const Vector3 capsule2SegA(0, -capsuleShape2->getHeight() * decimal(0.5), 0); + const Vector3 capsule2SegB(0, capsuleShape2->getHeight() * decimal(0.5), 0); - // If the two capsules are parallel (we create two contact points) - bool areCapsuleInnerSegmentsParralel = areParallelVectors(seg1, seg2); - if (areCapsuleInnerSegmentsParralel) { + // The two inner capsule segments + const Vector3 seg1 = capsule1SegB - capsule1SegA; + const Vector3 seg2 = capsule2SegB - capsule2SegA; - // If the distance between the two segments is larger than the sum of the capsules radius (we do not have overlapping) - const decimal segmentsPerpendicularDistance = computePointToLineDistance(capsule1SegA, capsule1SegB, capsule2SegA); - if (segmentsPerpendicularDistance >= sumRadius) { + // Compute the sum of the radius of the two capsules (virtual spheres) + decimal sumRadius = capsuleShape2->getRadius() + capsuleShape1->getRadius(); - // The capsule are parallel but their inner segment distance is larger than the sum of the capsules radius. - // Therefore, we do not have overlap. If the inner segments overlap, we do not report any collision. - return false; - } + // If the two capsules are parallel (we create two contact points) + bool areCapsuleInnerSegmentsParralel = areParallelVectors(seg1, seg2); + if (areCapsuleInnerSegmentsParralel) { - // Compute the planes that goes through the extreme points of the inner segment of capsule 1 - decimal d1 = seg1.dot(capsule1SegA); - decimal d2 = -seg1.dot(capsule1SegB); + // If the distance between the two segments is larger than the sum of the capsules radius (we do not have overlapping) + const decimal segmentsPerpendicularDistance = computePointToLineDistance(capsule1SegA, capsule1SegB, capsule2SegA); + if (segmentsPerpendicularDistance >= sumRadius) { - // Clip the inner segment of capsule 2 with the two planes that go through extreme points of inner - // segment of capsule 1 - decimal t1 = computePlaneSegmentIntersection(capsule2SegB, capsule2SegA, d1, seg1); - decimal t2 = computePlaneSegmentIntersection(capsule2SegA, capsule2SegB, d2, -seg1); + // The capsule are parallel but their inner segment distance is larger than the sum of the capsules radius. + // Therefore, we do not have overlap. If the inner segments overlap, we do not report any collision. + continue; + } - // If the segments were overlapping (the clip segment is valid) - if (t1 > decimal(0.0) && t2 > decimal(0.0)) { + // Compute the planes that goes through the extreme points of the inner segment of capsule 1 + decimal d1 = seg1.dot(capsule1SegA); + decimal d2 = -seg1.dot(capsule1SegB); + + // Clip the inner segment of capsule 2 with the two planes that go through extreme points of inner + // segment of capsule 1 + decimal t1 = computePlaneSegmentIntersection(capsule2SegB, capsule2SegA, d1, seg1); + decimal t2 = computePlaneSegmentIntersection(capsule2SegA, capsule2SegB, d2, -seg1); + + // If the segments were overlapping (the clip segment is valid) + if (t1 > decimal(0.0) && t2 > decimal(0.0)) { + + if (reportContacts) { + + // Clip the inner segment of capsule 2 + if (t1 > decimal(1.0)) t1 = decimal(1.0); + const Vector3 clipPointA = capsule2SegB - t1 * seg2; + if (t2 > decimal(1.0)) t2 = decimal(1.0); + const Vector3 clipPointB = capsule2SegA + t2 * seg2; + + // Project point capsule2SegA onto line of innner segment of capsule 1 + const Vector3 seg1Normalized = seg1.getUnit(); + Vector3 pointOnInnerSegCapsule1 = capsule1SegA + seg1Normalized.dot(capsule2SegA - capsule1SegA) * seg1Normalized; + + Vector3 normalCapsule2SpaceNormalized; + Vector3 segment1ToSegment2; + + // If the inner capsule segments perpendicular distance is not zero (the inner segments are not overlapping) + if (segmentsPerpendicularDistance > MACHINE_EPSILON) { + + // Compute a perpendicular vector from segment 1 to segment 2 + segment1ToSegment2 = (capsule2SegA - pointOnInnerSegCapsule1); + normalCapsule2SpaceNormalized = segment1ToSegment2.getUnit(); + } + else { // If the capsule inner segments are overlapping (degenerate case) + + // We cannot use the vector between segments as a contact normal. To generate a contact normal, we take + // any vector that is orthogonal to the inner capsule segments. + + Vector3 vec1(1, 0, 0); + Vector3 vec2(0, 1, 0); + + Vector3 seg2Normalized = seg2.getUnit(); + + // Get the vectors (among vec1 and vec2) that is the most orthogonal to the capsule 2 inner segment (smallest absolute dot product) + decimal cosA1 = std::abs(seg2Normalized.x); // abs(vec1.dot(seg2)) + decimal cosA2 = std::abs(seg2Normalized.y); // abs(vec2.dot(seg2)) + + segment1ToSegment2.setToZero(); + + // We choose as a contact normal, any direction that is perpendicular to the inner capsules segments + normalCapsule2SpaceNormalized = cosA1 < cosA2 ? seg2Normalized.cross(vec1) : seg2Normalized.cross(vec2); + } + + Transform capsule2ToCapsule1SpaceTransform = capsule1ToCapsule2SpaceTransform.getInverse(); + const Vector3 contactPointACapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointA - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius()); + const Vector3 contactPointBCapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointB - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius()); + const Vector3 contactPointACapsule2Local = clipPointA - normalCapsule2SpaceNormalized * capsuleShape2->getRadius(); + const Vector3 contactPointBCapsule2Local = clipPointB - normalCapsule2SpaceNormalized * capsuleShape2->getRadius(); + + decimal penetrationDepth = sumRadius - segmentsPerpendicularDistance; + + const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsule2SpaceNormalized; + + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointACapsule1Local, contactPointACapsule2Local); + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointBCapsule1Local, contactPointBCapsule2Local); + } + + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; + } + } + + // Compute the closest points between the two inner capsule segments + Vector3 closestPointCapsule1Seg; + Vector3 closestPointCapsule2Seg; + computeClosestPointBetweenTwoSegments(capsule1SegA, capsule1SegB, capsule2SegA, capsule2SegB, + closestPointCapsule1Seg, closestPointCapsule2Seg); + + // Compute the distance between the sphere center and the closest point on the segment + Vector3 closestPointsSeg1ToSeg2 = (closestPointCapsule2Seg - closestPointCapsule1Seg); + const decimal closestPointsDistanceSquare = closestPointsSeg1ToSeg2.lengthSquare(); + + // If the collision shapes overlap + if (closestPointsDistanceSquare < sumRadius * sumRadius) { if (reportContacts) { - // Clip the inner segment of capsule 2 - if (t1 > decimal(1.0)) t1 = decimal(1.0); - const Vector3 clipPointA = capsule2SegB - t1 * seg2; - if (t2 > decimal(1.0)) t2 = decimal(1.0); - const Vector3 clipPointB = capsule2SegA + t2 * seg2; + // If the distance between the inner segments is not zero + if (closestPointsDistanceSquare > MACHINE_EPSILON) { - // Project point capsule2SegA onto line of innner segment of capsule 1 - const Vector3 seg1Normalized = seg1.getUnit(); - Vector3 pointOnInnerSegCapsule1 = capsule1SegA + seg1Normalized.dot(capsule2SegA - capsule1SegA) * seg1Normalized; + decimal closestPointsDistance = std::sqrt(closestPointsDistanceSquare); + closestPointsSeg1ToSeg2 /= closestPointsDistance; - Vector3 normalCapsule2SpaceNormalized; - Vector3 segment1ToSegment2; + const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsuleShape1->getRadius()); + const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsuleShape2->getRadius(); - // If the inner capsule segments perpendicular distance is not zero (the inner segments are not overlapping) - if (segmentsPerpendicularDistance > MACHINE_EPSILON) { + const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * closestPointsSeg1ToSeg2; - // Compute a perpendicular vector from segment 1 to segment 2 - segment1ToSegment2 = (capsule2SegA - pointOnInnerSegCapsule1); - normalCapsule2SpaceNormalized = segment1ToSegment2.getUnit(); - } - else { // If the capsule inner segments are overlapping (degenerate case) + decimal penetrationDepth = sumRadius - closestPointsDistance; - // We cannot use the vector between segments as a contact normal. To generate a contact normal, we take - // any vector that is orthogonal to the inner capsule segments. + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, contactPointCapsule1Local, contactPointCapsule2Local); + } + else { // The segment are overlapping (degenerate case) - Vector3 vec1(1, 0, 0); - Vector3 vec2(0, 1, 0); + // If the capsule segments are parralel + if (areCapsuleInnerSegmentsParralel) { - Vector3 seg2Normalized = seg2.getUnit(); + // The segment are parallel, not overlapping and their distance is zero. + // Therefore, the capsules are just touching at the top of their inner segments + decimal squareDistCapsule2PointToCapsuleSegA = (capsule1SegA - closestPointCapsule2Seg).lengthSquare(); - // Get the vectors (among vec1 and vec2) that is the most orthogonal to the capsule 2 inner segment (smallest absolute dot product) - decimal cosA1 = std::abs(seg2Normalized.x); // abs(vec1.dot(seg2)) - decimal cosA2 = std::abs(seg2Normalized.y); // abs(vec2.dot(seg2)) + Vector3 capsule1SegmentMostExtremePoint = squareDistCapsule2PointToCapsuleSegA > MACHINE_EPSILON ? capsule1SegA : capsule1SegB; + Vector3 normalCapsuleSpace2 = (closestPointCapsule2Seg - capsule1SegmentMostExtremePoint); + normalCapsuleSpace2.normalize(); - segment1ToSegment2.setToZero(); + const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius()); + const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius(); - // We choose as a contact normal, any direction that is perpendicular to the inner capsules segments - normalCapsule2SpaceNormalized = cosA1 < cosA2 ? seg2Normalized.cross(vec1) : seg2Normalized.cross(vec2); - } + const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2; - Transform capsule2ToCapsule1SpaceTransform = capsule1ToCapsule2SpaceTransform.getInverse(); - const Vector3 contactPointACapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointA - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius()); - const Vector3 contactPointBCapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointB - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius()); - const Vector3 contactPointACapsule2Local = clipPointA - normalCapsule2SpaceNormalized * capsuleShape2->getRadius(); - const Vector3 contactPointBCapsule2Local = clipPointB - normalCapsule2SpaceNormalized * capsuleShape2->getRadius(); + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local); + } + else { // If the capsules inner segments are not parallel - decimal penetrationDepth = sumRadius - segmentsPerpendicularDistance; + // We cannot use a vector between the segments as contact normal. We need to compute a new contact normal with the cross + // product between the two segments. + Vector3 normalCapsuleSpace2 = seg1.cross(seg2); + normalCapsuleSpace2.normalize(); - const Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * normalCapsule2SpaceNormalized; + // Compute the contact points on both shapes + const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius()); + const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius(); - // Create the contact info object - narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth, contactPointACapsule1Local, contactPointACapsule2Local); - narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth, contactPointBCapsule1Local, contactPointBCapsule2Local); + const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2; + + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local); + } + } } - return true; - } - } - - // Compute the closest points between the two inner capsule segments - Vector3 closestPointCapsule1Seg; - Vector3 closestPointCapsule2Seg; - computeClosestPointBetweenTwoSegments(capsule1SegA, capsule1SegB, capsule2SegA, capsule2SegB, - closestPointCapsule1Seg, closestPointCapsule2Seg); - - // Compute the distance between the sphere center and the closest point on the segment - Vector3 closestPointsSeg1ToSeg2 = (closestPointCapsule2Seg - closestPointCapsule1Seg); - const decimal closestPointsDistanceSquare = closestPointsSeg1ToSeg2.lengthSquare(); - - // If the collision shapes overlap - if (closestPointsDistanceSquare < sumRadius * sumRadius) { - - if (reportContacts) { - - // If the distance between the inner segments is not zero - if (closestPointsDistanceSquare > MACHINE_EPSILON) { - - decimal closestPointsDistance = std::sqrt(closestPointsDistanceSquare); - closestPointsSeg1ToSeg2 /= closestPointsDistance; - - const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsuleShape1->getRadius()); - const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsuleShape2->getRadius(); - - const Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * closestPointsSeg1ToSeg2; - - decimal penetrationDepth = sumRadius - closestPointsDistance; - - // Create the contact info object - narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth, contactPointCapsule1Local, contactPointCapsule2Local); - } - else { // The segment are overlapping (degenerate case) - - // If the capsule segments are parralel - if (areCapsuleInnerSegmentsParralel) { - - // The segment are parallel, not overlapping and their distance is zero. - // Therefore, the capsules are just touching at the top of their inner segments - decimal squareDistCapsule2PointToCapsuleSegA = (capsule1SegA - closestPointCapsule2Seg).lengthSquare(); - - Vector3 capsule1SegmentMostExtremePoint = squareDistCapsule2PointToCapsuleSegA > MACHINE_EPSILON ? capsule1SegA : capsule1SegB; - Vector3 normalCapsuleSpace2 = (closestPointCapsule2Seg - capsule1SegmentMostExtremePoint); - normalCapsuleSpace2.normalize(); - - const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius()); - const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius(); - - const Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * normalCapsuleSpace2; - - // Create the contact info object - narrowPhaseInfo->addContactPoint(normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local); - } - else { // If the capsules inner segments are not parallel - - // We cannot use a vector between the segments as contact normal. We need to compute a new contact normal with the cross - // product between the two segments. - Vector3 normalCapsuleSpace2 = seg1.cross(seg2); - normalCapsuleSpace2.normalize(); - - // Compute the contact points on both shapes - const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius()); - const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius(); - - const Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * normalCapsuleSpace2; - - // Create the contact info object - narrowPhaseInfo->addContactPoint(normalWorld, sumRadius, contactPointCapsule1Local, contactPointCapsule2Local); - } - } - } - - return true; - } - - return false; + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + } + } } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index a178a2a8..3e1a5871 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -28,11 +28,13 @@ // Libraries #include "NarrowPhaseAlgorithm.h" +#include "configuration.h" /// Namespace ReactPhysics3D namespace reactphysics3d { // Declarations +struct NarrowPhaseInfoBatch; class Body; class ContactPoint; @@ -65,7 +67,9 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two capsules - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override; + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator) override; }; } diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index 5751578e..c34aa031 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -29,7 +29,7 @@ #include "GJK/GJKAlgorithm.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConvexPolyhedronShape.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" #include "collision/ContactPointInfo.h" #include @@ -39,7 +39,9 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a capsule and a polyhedron // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, +void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + uint batchStartIndex, uint batchNbItems, + bool reportContacts, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm @@ -53,114 +55,128 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPh #endif - // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); + // Run the GJK algorithm + List gjkResults(memoryAllocator); + gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults, reportContacts); + assert(gjkResults.size() == batchNbItems); - GJKAlgorithm::GJKResult result = gjkAlgorithm.testCollision(narrowPhaseInfo, reportContacts); + uint resultIndex = 0; + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - lastFrameCollisionInfo->wasUsingGJK = true; - lastFrameCollisionInfo->wasUsingSAT = false; + // Get the last frame collision info + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CAPSULE); + lastFrameCollisionInfo->wasUsingGJK = true; + lastFrameCollisionInfo->wasUsingSAT = false; - // If we have found a contact point inside the margins (shallow penetration) - if (result == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); - if (reportContacts) { + // If we have found a contact point inside the margins (shallow penetration) + if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { - // GJK has found a shallow contact. If the face of the polyhedron mesh is orthogonal to the - // capsule inner segment and parallel to the contact point normal, we would like to create - // two contact points instead of a single one (as in the deep contact case with SAT algorithm) + if (reportContacts) { - // Get the contact point created by GJK - assert(narrowPhaseInfo->contactPoints.size() > 0); - ContactPointInfo*& contactPoint = narrowPhaseInfo->contactPoints[0]; + bool noContact = false; - bool isCapsuleShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE; + // GJK has found a shallow contact. If the face of the polyhedron mesh is orthogonal to the + // capsule inner segment and parallel to the contact point normal, we would like to create + // two contact points instead of a single one (as in the deep contact case with SAT algorithm) - // Get the collision shapes - const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfo->collisionShape1 : narrowPhaseInfo->collisionShape2); - const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfo->collisionShape2 : narrowPhaseInfo->collisionShape1); + // Get the contact point created by GJK + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0); + ContactPointInfo*& contactPoint = narrowPhaseInfoBatch.contactPoints[batchIndex][0]; - // For each face of the polyhedron - for (uint f = 0; f < polyhedron->getNbFaces(); f++) { + bool isCapsuleShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE; - const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfo->shape2ToWorldTransform : narrowPhaseInfo->shape1ToWorldTransform; - const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfo->shape1ToWorldTransform : narrowPhaseInfo->shape2ToWorldTransform; + // Get the collision shapes + const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); + const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - // Get the face normal - const Vector3 faceNormal = polyhedron->getFaceNormal(f); - Vector3 faceNormalWorld = polyhedronToWorld.getOrientation() * faceNormal; + // For each face of the polyhedron + for (uint f = 0; f < polyhedron->getNbFaces(); f++) { - const Vector3 capsuleSegA(0, -capsuleShape->getHeight() * decimal(0.5), 0); - const Vector3 capsuleSegB(0, capsuleShape->getHeight() * decimal(0.5), 0); - Vector3 capsuleInnerSegmentDirection = capsuleToWorld.getOrientation() * (capsuleSegB - capsuleSegA); - capsuleInnerSegmentDirection.normalize(); + const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; - bool isFaceNormalInDirectionOfContactNormal = faceNormalWorld.dot(contactPoint->normal) > decimal(0.0); - bool isFaceNormalInContactDirection = (isCapsuleShape1 && !isFaceNormalInDirectionOfContactNormal) || (!isCapsuleShape1 && isFaceNormalInDirectionOfContactNormal); + // Get the face normal + const Vector3 faceNormal = polyhedron->getFaceNormal(f); + Vector3 faceNormalWorld = polyhedronToWorld.getOrientation() * faceNormal; - // If the polyhedron face normal is orthogonal to the capsule inner segment and parallel to the contact point normal and the face normal - // is in direction of the contact normal (from the polyhedron point of view). - if (isFaceNormalInContactDirection && areOrthogonalVectors(faceNormalWorld, capsuleInnerSegmentDirection) - && areParallelVectors(faceNormalWorld, contactPoint->normal)) { - - // Remove the previous contact point computed by GJK - narrowPhaseInfo->resetContactPoints(); - - const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfo->shape1ToWorldTransform : narrowPhaseInfo->shape2ToWorldTransform; - const Transform polyhedronToCapsuleTransform = capsuleToWorld.getInverse() * polyhedronToWorld; - - // Compute the end-points of the inner segment of the capsule const Vector3 capsuleSegA(0, -capsuleShape->getHeight() * decimal(0.5), 0); const Vector3 capsuleSegB(0, capsuleShape->getHeight() * decimal(0.5), 0); + Vector3 capsuleInnerSegmentDirection = capsuleToWorld.getOrientation() * (capsuleSegB - capsuleSegA); + capsuleInnerSegmentDirection.normalize(); - // Convert the inner capsule segment points into the polyhedron local-space - const Transform capsuleToPolyhedronTransform = polyhedronToCapsuleTransform.getInverse(); - const Vector3 capsuleSegAPolyhedronSpace = capsuleToPolyhedronTransform * capsuleSegA; - const Vector3 capsuleSegBPolyhedronSpace = capsuleToPolyhedronTransform * capsuleSegB; + bool isFaceNormalInDirectionOfContactNormal = faceNormalWorld.dot(contactPoint->normal) > decimal(0.0); + bool isFaceNormalInContactDirection = (isCapsuleShape1 && !isFaceNormalInDirectionOfContactNormal) || (!isCapsuleShape1 && isFaceNormalInDirectionOfContactNormal); - const Vector3 separatingAxisCapsuleSpace = polyhedronToCapsuleTransform.getOrientation() * faceNormal; + // If the polyhedron face normal is orthogonal to the capsule inner segment and parallel to the contact point normal and the face normal + // is in direction of the contact normal (from the polyhedron point of view). + if (isFaceNormalInContactDirection && areOrthogonalVectors(faceNormalWorld, capsuleInnerSegmentDirection) + && areParallelVectors(faceNormalWorld, contactPoint->normal)) { - if (isCapsuleShape1) { - faceNormalWorld = -faceNormalWorld; + // Remove the previous contact point computed by GJK + narrowPhaseInfoBatch.resetContactPoints(batchIndex); + + const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform polyhedronToCapsuleTransform = capsuleToWorld.getInverse() * polyhedronToWorld; + + // Compute the end-points of the inner segment of the capsule + const Vector3 capsuleSegA(0, -capsuleShape->getHeight() * decimal(0.5), 0); + const Vector3 capsuleSegB(0, capsuleShape->getHeight() * decimal(0.5), 0); + + // Convert the inner capsule segment points into the polyhedron local-space + const Transform capsuleToPolyhedronTransform = polyhedronToCapsuleTransform.getInverse(); + const Vector3 capsuleSegAPolyhedronSpace = capsuleToPolyhedronTransform * capsuleSegA; + const Vector3 capsuleSegBPolyhedronSpace = capsuleToPolyhedronTransform * capsuleSegB; + + const Vector3 separatingAxisCapsuleSpace = polyhedronToCapsuleTransform.getOrientation() * faceNormal; + + if (isCapsuleShape1) { + faceNormalWorld = -faceNormalWorld; + } + + // Compute and create two contact points + bool contactsFound = satAlgorithm.computeCapsulePolyhedronFaceContactPoints(f, capsuleShape->getRadius(), polyhedron, contactPoint->penetrationDepth, + polyhedronToCapsuleTransform, faceNormalWorld, separatingAxisCapsuleSpace, + capsuleSegAPolyhedronSpace, capsuleSegBPolyhedronSpace, + narrowPhaseInfoBatch, batchIndex, isCapsuleShape1); + if (!contactsFound) { + noContact = true; + narrowPhaseInfoBatch.isColliding[batchIndex] = false; + break; + } + + break; } + } - // Compute and create two contact points - bool contactsFound = satAlgorithm.computeCapsulePolyhedronFaceContactPoints(f, capsuleShape->getRadius(), polyhedron, contactPoint->penetrationDepth, - polyhedronToCapsuleTransform, faceNormalWorld, separatingAxisCapsuleSpace, - capsuleSegAPolyhedronSpace, capsuleSegBPolyhedronSpace, - narrowPhaseInfo, isCapsuleShape1); - if (!contactsFound) { - return false; - } - - break; + if (noContact) { + continue; } } + + lastFrameCollisionInfo->wasUsingSAT = false; + lastFrameCollisionInfo->wasUsingGJK = false; + + // Return true + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; } - lastFrameCollisionInfo->wasUsingSAT = false; - lastFrameCollisionInfo->wasUsingGJK = false; + // If we have overlap even without the margins (deep penetration) + if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { - // Return true - return true; + // Run the SAT algorithm to find the separating axis and compute contact point + narrowPhaseInfoBatch.isColliding[batchIndex] = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, reportContacts); + + lastFrameCollisionInfo->wasUsingGJK = false; + lastFrameCollisionInfo->wasUsingSAT = true; + } + + resultIndex++; } - - // If we have overlap even without the margins (deep penetration) - if (result == GJKAlgorithm::GJKResult::INTERPENETRATE) { - - // Run the SAT algorithm to find the separating axis and compute contact point - bool isColliding = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfo, reportContacts); - - lastFrameCollisionInfo->wasUsingGJK = false; - lastFrameCollisionInfo->wasUsingSAT = true; - - return isColliding; - } - - return false; } diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index 7f6b0453..3ccfc932 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -70,7 +70,9 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsConvexPolyhedronAlgorithm& operator=(const CapsuleVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a capsule and a polyhedron - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override; + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator) override; }; } diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index 4f8676fa..eb8cd159 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -27,7 +27,7 @@ #include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" #include "GJK/GJKAlgorithm.h" #include "SAT/SATAlgorithm.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -35,7 +35,9 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two convex polyhedra // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, +void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + uint batchStartIndex, uint batchNbItems, + bool reportContacts, MemoryAllocator& memoryAllocator) { // Run the SAT algorithm to find the separating axis and compute contact point @@ -47,13 +49,14 @@ bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* #endif - // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); + satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, reportContacts); - bool isColliding = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfo, reportContacts); + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - lastFrameCollisionInfo->wasUsingSAT = true; - lastFrameCollisionInfo->wasUsingGJK = false; + // Get the last frame collision info + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); - return isColliding; + lastFrameCollisionInfo->wasUsingSAT = true; + lastFrameCollisionInfo->wasUsingGJK = false; + } } diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index c4bc5e23..9cf47689 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -65,7 +65,9 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm ConvexPolyhedronVsConvexPolyhedronAlgorithm& operator=(const ConvexPolyhedronVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two convex polyhedra - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override; + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator) override; }; } diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index c40ba7ed..e046fcfd 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -30,7 +30,8 @@ #include "collision/shapes/TriangleShape.h" #include "configuration.h" #include "utils/Profiler.h" -#include "collision/NarrowPhaseInfo.h" +#include "containers/List.h" +#include "collision/NarrowPhaseInfoBatch.h" #include "collision/narrowphase/GJK/VoronoiSimplex.h" #include @@ -46,168 +47,184 @@ using namespace reactphysics3d; /// algorithm on the enlarged object to obtain a simplex polytope that contains the /// origin, they we give that simplex polytope to the EPA algorithm which will compute /// the correct penetration depth and contact points between the enlarged objects. -GJKAlgorithm::GJKResult GJKAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) { +void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, List& gjkResults, bool reportContacts) { RP3D_PROFILE("GJKAlgorithm::testCollision()", mProfiler); - Vector3 suppA; // Support point of object A - Vector3 suppB; // Support point of object B - Vector3 w; // Support point of Minkowski difference A-B - Vector3 pA; // Closest point of object A - Vector3 pB; // Closest point of object B - decimal vDotw; - decimal prevDistSquare; - bool contactFound = false; + // For each item in the batch + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(narrowPhaseInfo->collisionShape1->isConvex()); - assert(narrowPhaseInfo->collisionShape2->isConvex()); + Vector3 suppA; // Support point of object A + Vector3 suppB; // Support point of object B + Vector3 w; // Support point of Minkowski difference A-B + Vector3 pA; // Closest point of object A + Vector3 pB; // Closest point of object B + decimal vDotw; + decimal prevDistSquare; + bool contactFound = false; - const ConvexShape* shape1 = static_cast(narrowPhaseInfo->collisionShape1); - const ConvexShape* shape2 = static_cast(narrowPhaseInfo->collisionShape2); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->isConvex()); + assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->isConvex()); - // Get the local-space to world-space transforms - const Transform& transform1 = narrowPhaseInfo->shape1ToWorldTransform; - const Transform& transform2 = narrowPhaseInfo->shape2ToWorldTransform; + const ConvexShape* shape1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const ConvexShape* shape2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - // Transform a point from local space of body 2 to local - // space of body 1 (the GJK algorithm is done in local space of body 1) - Transform transform1Inverse = transform1.getInverse(); - Transform body2Tobody1 = transform1Inverse * transform2; + // Get the local-space to world-space transforms + const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; - // Quaternion that transform a direction from local - // space of body 1 into local space of body 2 - Quaternion rotateToBody2 = transform2.getOrientation().getInverse() * transform1.getOrientation(); + // Transform a point from local space of body 2 to local + // space of body 1 (the GJK algorithm is done in local space of body 1) + Transform transform1Inverse = transform1.getInverse(); + Transform body2Tobody1 = transform1Inverse * transform2; - // Initialize the margin (sum of margins of both objects) - decimal margin = shape1->getMargin() + shape2->getMargin(); - decimal marginSquare = margin * margin; - assert(margin > decimal(0.0)); + // Quaternion that transform a direction from local + // space of body 1 into local space of body 2 + Quaternion rotateToBody2 = transform2.getOrientation().getInverse() * transform1.getOrientation(); - // Create a simplex set - VoronoiSimplex simplex; + // Initialize the margin (sum of margins of both objects) + decimal margin = shape1->getMargin() + shape2->getMargin(); + decimal marginSquare = margin * margin; + assert(margin > decimal(0.0)); - // Get the last collision frame info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); + // Create a simplex set + VoronoiSimplex simplex; - // Get the previous point V (last cached separating axis) - Vector3 v; - if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingGJK) { - v = lastFrameCollisionInfo->gjkSeparatingAxis; - assert(v.lengthSquare() > decimal(0.000001)); - } - else { - v.setAllValues(0, 1, 0); - } + // Get the last collision frame info + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); - // Initialize the upper bound for the square distance - decimal distSquare = DECIMAL_LARGEST; - - do { - - // Compute the support points for original objects (without margins) A and B - suppA = shape1->getLocalSupportPointWithoutMargin(-v); - suppB = body2Tobody1 * shape2->getLocalSupportPointWithoutMargin(rotateToBody2 * v); - - // Compute the support point for the Minkowski difference A-B - w = suppA - suppB; - - vDotw = v.dot(w); - - // If the enlarge objects (with margins) do not intersect - if (vDotw > decimal(0.0) && vDotw * vDotw > distSquare * marginSquare) { - - // Cache the current separating axis for frame coherence - lastFrameCollisionInfo->gjkSeparatingAxis = v; - - // No intersection, we return - return GJKResult::SEPARATED; + // Get the previous point V (last cached separating axis) + Vector3 v; + if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingGJK) { + v = lastFrameCollisionInfo->gjkSeparatingAxis; + assert(v.lengthSquare() > decimal(0.000001)); + } + else { + v.setAllValues(0, 1, 0); } - // If the objects intersect only in the margins - if (simplex.isPointInSimplex(w) || distSquare - vDotw <= distSquare * REL_ERROR_SQUARE) { + // Initialize the upper bound for the square distance + decimal distSquare = DECIMAL_LARGEST; - // Contact point has been found - contactFound = true; - break; - } + bool noIntersection = false; - // Add the new support point to the simplex - simplex.addPoint(w, suppA, suppB); + do { - // If the simplex is affinely dependent - if (simplex.isAffinelyDependent()) { + // Compute the support points for original objects (without margins) A and B + suppA = shape1->getLocalSupportPointWithoutMargin(-v); + suppB = body2Tobody1 * shape2->getLocalSupportPointWithoutMargin(rotateToBody2 * v); - // Contact point has been found - contactFound = true; - break; - } + // Compute the support point for the Minkowski difference A-B + w = suppA - suppB; - // Compute the point of the simplex closest to the origin - // If the computation of the closest point fails - if (!simplex.computeClosestPoint(v)) { + vDotw = v.dot(w); - // Contact point has been found - contactFound = true; - break; - } + // If the enlarge objects (with margins) do not intersect + if (vDotw > decimal(0.0) && vDotw * vDotw > distSquare * marginSquare) { - // Store and update the squared distance of the closest point - prevDistSquare = distSquare; - distSquare = v.lengthSquare(); + // Cache the current separating axis for frame coherence + lastFrameCollisionInfo->gjkSeparatingAxis = v; - // If the distance to the closest point doesn't improve a lot - if (prevDistSquare - distSquare <= MACHINE_EPSILON * prevDistSquare) { + // No intersection, we return + gjkResults.add(GJKResult::SEPARATED); + noIntersection = true; + break; + } - simplex.backupClosestPointInSimplex(v); - - // Get the new squared distance + // If the objects intersect only in the margins + if (simplex.isPointInSimplex(w) || distSquare - vDotw <= distSquare * REL_ERROR_SQUARE) { + + // Contact point has been found + contactFound = true; + break; + } + + // Add the new support point to the simplex + simplex.addPoint(w, suppA, suppB); + + // If the simplex is affinely dependent + if (simplex.isAffinelyDependent()) { + + // Contact point has been found + contactFound = true; + break; + } + + // Compute the point of the simplex closest to the origin + // If the computation of the closest point fails + if (!simplex.computeClosestPoint(v)) { + + // Contact point has been found + contactFound = true; + break; + } + + // Store and update the squared distance of the closest point + prevDistSquare = distSquare; distSquare = v.lengthSquare(); - // Contact point has been found - contactFound = true; - break; + // If the distance to the closest point doesn't improve a lot + if (prevDistSquare - distSquare <= MACHINE_EPSILON * prevDistSquare) { + + simplex.backupClosestPointInSimplex(v); + + // Get the new squared distance + distSquare = v.lengthSquare(); + + // Contact point has been found + contactFound = true; + break; + } + + } while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint()); + + if (noIntersection) { + continue; } - } while(!simplex.isFull() && distSquare > MACHINE_EPSILON * simplex.getMaxLengthSquareOfAPoint()); + if (contactFound && distSquare > MACHINE_EPSILON) { - if (contactFound && distSquare > MACHINE_EPSILON) { + // Compute the closet points of both objects (without the margins) + simplex.computeClosestPointsOfAandB(pA, pB); - // Compute the closet points of both objects (without the margins) - simplex.computeClosestPointsOfAandB(pA, pB); + // Project those two points on the margins to have the closest points of both + // object with the margins + decimal dist = std::sqrt(distSquare); + assert(dist > decimal(0.0)); + pA = (pA - (shape1->getMargin() / dist) * v); + pB = body2Tobody1.getInverse() * (pB + (shape2->getMargin() / dist) * v); - // Project those two points on the margins to have the closest points of both - // object with the margins - decimal dist = std::sqrt(distSquare); - assert(dist > decimal(0.0)); - pA = (pA - (shape1->getMargin() / dist) * v); - pB = body2Tobody1.getInverse() * (pB + (shape2->getMargin() / dist) * v); + // Compute the contact info + Vector3 normal = transform1.getOrientation() * (-v.getUnit()); + decimal penetrationDepth = margin - dist; - // Compute the contact info - Vector3 normal = transform1.getOrientation() * (-v.getUnit()); - decimal penetrationDepth = margin - dist; + // If the penetration depth is negative (due too numerical errors), there is no contact + if (penetrationDepth <= decimal(0.0)) { + gjkResults.add(GJKResult::SEPARATED); + continue; + } - // If the penetration depth is negative (due too numerical errors), there is no contact - if (penetrationDepth <= decimal(0.0)) { - return GJKResult::SEPARATED; + // Do not generate a contact point with zero normal length + if (normal.lengthSquare() < MACHINE_EPSILON) { + gjkResults.add(GJKResult::SEPARATED); + continue; + } + + if (reportContacts) { + + // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle + TriangleShape::computeSmoothTriangleMeshContact(shape1, shape2, pA, pB, transform1, transform2, + penetrationDepth, normal); + + // Add a new contact point + narrowPhaseInfoBatch.addContactPoint(batchIndex, normal, penetrationDepth, pA, pB); + } + + gjkResults.add(GJKResult::COLLIDE_IN_MARGIN); + continue; } - // Do not generate a contact point with zero normal length - if (normal.lengthSquare() < MACHINE_EPSILON) { - return GJKResult::SEPARATED; - } - - if (reportContacts) { - - // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(shape1, shape2, pA, pB, transform1, transform2, - penetrationDepth, normal); - - // Add a new contact point - narrowPhaseInfo->addContactPoint(normal, penetrationDepth, pA, pB); - } - - return GJKResult::COLLIDE_IN_MARGIN; + gjkResults.add(GJKResult::INTERPENETRATE); } - - return GJKResult::INTERPENETRATE; } diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.h b/src/collision/narrowphase/GJK/GJKAlgorithm.h index 48b75c5c..5404f1c1 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.h +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.h @@ -28,16 +28,18 @@ // Libraries #include "decimal.h" +#include "configuration.h" /// ReactPhysics3D namespace namespace reactphysics3d { // Declarations class ContactManifoldInfo; -struct NarrowPhaseInfo; +struct NarrowPhaseInfoBatch; class ConvexShape; class Profiler; class VoronoiSimplex; +template class List; // Constants constexpr decimal REL_ERROR = decimal(1.0e-3); @@ -95,7 +97,8 @@ class GJKAlgorithm { GJKAlgorithm& operator=(const GJKAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volumes collide. - GJKResult testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts); + void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, List& gjkResults, bool reportContacts); #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index e7cdff25..6d376172 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -27,6 +27,7 @@ #define REACTPHYSICS3D_NARROW_PHASE_ALGORITHM_H // Libraries +#include "configuration.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -36,7 +37,7 @@ class Body; class ContactManifoldInfo; class PoolAllocator; class OverlappingPair; -struct NarrowPhaseInfo; +struct NarrowPhaseInfoBatch; struct ContactPointInfo; class Profiler; class MemoryAllocator; @@ -94,7 +95,8 @@ class NarrowPhaseAlgorithm { NarrowPhaseAlgorithm& operator=(const NarrowPhaseAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volumes collide - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator)=0; #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 374a812a..d88911e6 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -30,8 +30,8 @@ #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/SphereShape.h" #include "engine/OverlappingPair.h" +#include "collision/NarrowPhaseInfoBatch.h" #include "collision/shapes/TriangleShape.h" -#include "collision/NarrowPhaseInfo.h" #include "configuration.h" #include "utils/Profiler.h" #include @@ -52,77 +52,88 @@ SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator( } // Test collision between a sphere and a convex mesh -bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const { +void SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + uint batchStartIndex, uint batchNbItems, + bool reportContacts) const { RP3D_PROFILE("SATAlgorithm::testCollisionSphereVsConvexPolyhedron()", mProfiler); - bool isSphereShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE; + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::SPHERE); + bool isSphereShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE; - // Get the capsule collision shapes - const SphereShape* sphere = static_cast(isSphereShape1 ? narrowPhaseInfo->collisionShape1 : narrowPhaseInfo->collisionShape2); - const ConvexPolyhedronShape* polyhedron = static_cast(isSphereShape1 ? narrowPhaseInfo->collisionShape2 : narrowPhaseInfo->collisionShape1); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); - const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfo->shape1ToWorldTransform : narrowPhaseInfo->shape2ToWorldTransform; - const Transform& polyhedronToWorldTransform = isSphereShape1 ? narrowPhaseInfo->shape2ToWorldTransform : narrowPhaseInfo->shape1ToWorldTransform; + // Get the capsule collision shapes + const SphereShape* sphere = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); + const ConvexPolyhedronShape* polyhedron = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - // Get the transform from sphere local-space to polyhedron local-space - const Transform worldToPolyhedronTransform = polyhedronToWorldTransform.getInverse(); - const Transform sphereToPolyhedronSpaceTransform = worldToPolyhedronTransform * sphereToWorldTransform; + const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform& polyhedronToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; - // Transform the center of the sphere into the local-space of the convex polyhedron - const Vector3 sphereCenter = sphereToPolyhedronSpaceTransform.getPosition(); + // Get the transform from sphere local-space to polyhedron local-space + const Transform worldToPolyhedronTransform = polyhedronToWorldTransform.getInverse(); + const Transform sphereToPolyhedronSpaceTransform = worldToPolyhedronTransform * sphereToWorldTransform; - // Minimum penetration depth - decimal minPenetrationDepth = DECIMAL_LARGEST; - uint minFaceIndex = 0; + // Transform the center of the sphere into the local-space of the convex polyhedron + const Vector3 sphereCenter = sphereToPolyhedronSpaceTransform.getPosition(); - // For each face of the convex mesh - for (uint f = 0; f < polyhedron->getNbFaces(); f++) { + // Minimum penetration depth + decimal minPenetrationDepth = DECIMAL_LARGEST; + uint minFaceIndex = 0; + bool noContact = false; - // Compute the penetration depth of the shapes along the face normal direction - decimal penetrationDepth = computePolyhedronFaceVsSpherePenetrationDepth(f, polyhedron, sphere, sphereCenter); + // For each face of the convex mesh + for (uint f = 0; f < polyhedron->getNbFaces(); f++) { - // If the penetration depth is negative, we have found a separating axis - if (penetrationDepth <= decimal(0.0)) { + // Compute the penetration depth of the shapes along the face normal direction + decimal penetrationDepth = computePolyhedronFaceVsSpherePenetrationDepth(f, polyhedron, sphere, sphereCenter); - return false; + // If the penetration depth is negative, we have found a separating axis + if (penetrationDepth <= decimal(0.0)) { + + noContact = true; + break; + } + + // Check if we have found a new minimum penetration axis + if (penetrationDepth < minPenetrationDepth) { + minPenetrationDepth = penetrationDepth; + minFaceIndex = f; + } } - // Check if we have found a new minimum penetration axis - if (penetrationDepth < minPenetrationDepth) { - minPenetrationDepth = penetrationDepth; - minFaceIndex = f; + if (noContact) { + continue; } + + if (reportContacts) { + + const Vector3 minFaceNormal = polyhedron->getFaceNormal(minFaceIndex); + Vector3 minFaceNormalWorld = polyhedronToWorldTransform.getOrientation() * minFaceNormal; + Vector3 contactPointSphereLocal = sphereToWorldTransform.getInverse().getOrientation() * (-minFaceNormalWorld * sphere->getRadius()); + Vector3 contactPointPolyhedronLocal = sphereCenter + minFaceNormal * (minPenetrationDepth - sphere->getRadius()); + + Vector3 normalWorld = isSphereShape1 ? -minFaceNormalWorld : minFaceNormalWorld; + + // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + isSphereShape1 ? contactPointSphereLocal : contactPointPolyhedronLocal, + isSphereShape1 ? contactPointPolyhedronLocal : contactPointSphereLocal, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + minPenetrationDepth, normalWorld); + + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, minPenetrationDepth, + isSphereShape1 ? contactPointSphereLocal : contactPointPolyhedronLocal, + isSphereShape1 ? contactPointPolyhedronLocal : contactPointSphereLocal); + } + + narrowPhaseInfoBatch.isColliding[batchIndex] = true; } - - if (reportContacts) { - - const Vector3 minFaceNormal = polyhedron->getFaceNormal(minFaceIndex); - Vector3 minFaceNormalWorld = polyhedronToWorldTransform.getOrientation() * minFaceNormal; - Vector3 contactPointSphereLocal = sphereToWorldTransform.getInverse().getOrientation() * (-minFaceNormalWorld * sphere->getRadius()); - Vector3 contactPointPolyhedronLocal = sphereCenter + minFaceNormal * (minPenetrationDepth - sphere->getRadius()); - - Vector3 normalWorld = isSphereShape1 ? -minFaceNormalWorld : minFaceNormalWorld; - - // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, - isSphereShape1 ? contactPointSphereLocal : contactPointPolyhedronLocal, - isSphereShape1 ? contactPointPolyhedronLocal : contactPointSphereLocal, - narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, - minPenetrationDepth, normalWorld); - - // Create the contact info object - narrowPhaseInfo->addContactPoint(normalWorld, minPenetrationDepth, - isSphereShape1 ? contactPointSphereLocal : contactPointPolyhedronLocal, - isSphereShape1 ? contactPointPolyhedronLocal : contactPointSphereLocal); - } - - return true; } // Compute the penetration depth between a face of the polyhedron and a sphere along the polyhedron face normal direction @@ -144,23 +155,23 @@ decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint faceInd } // Test collision between a capsule and a convex mesh -bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const { +bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool reportContacts) const { RP3D_PROFILE("SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron()", mProfiler); - bool isCapsuleShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE; + bool isCapsuleShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE; - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CAPSULE); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); // Get the collision shapes - const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfo->collisionShape1 : narrowPhaseInfo->collisionShape2); - const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfo->collisionShape2 : narrowPhaseInfo->collisionShape1); + const CapsuleShape* capsuleShape = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); + const ConvexPolyhedronShape* polyhedron = static_cast(isCapsuleShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfo->shape1ToWorldTransform : narrowPhaseInfo->shape2ToWorldTransform; - const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfo->shape2ToWorldTransform : narrowPhaseInfo->shape1ToWorldTransform; + const Transform capsuleToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform polyhedronToWorld = isCapsuleShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; const Transform polyhedronToCapsuleTransform = capsuleToWorld.getInverse() * polyhedronToWorld; @@ -264,7 +275,7 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfo* narro return computeCapsulePolyhedronFaceContactPoints(minFaceIndex, capsuleRadius, polyhedron, minPenetrationDepth, polyhedronToCapsuleTransform, normalWorld, separatingAxisCapsuleSpace, capsuleSegAPolyhedronSpace, capsuleSegBPolyhedronSpace, - narrowPhaseInfo, isCapsuleShape1); + narrowPhaseInfoBatch, batchIndex, isCapsuleShape1); } } else { // The separating axis is the cross product of a polyhedron edge and the inner capsule segment @@ -282,14 +293,14 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfo* narro Vector3 contactPointCapsule = (polyhedronToCapsuleTransform * closestPointCapsuleInnerSegment) - separatingAxisCapsuleSpace * capsuleRadius; // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], isCapsuleShape1 ? contactPointCapsule : closestPointPolyhedronEdge, isCapsuleShape1 ? closestPointPolyhedronEdge : contactPointCapsule, - narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], minPenetrationDepth, normalWorld); // Create the contact point - narrowPhaseInfo->addContactPoint(normalWorld, minPenetrationDepth, + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, minPenetrationDepth, isCapsuleShape1 ? contactPointCapsule : closestPointPolyhedronEdge, isCapsuleShape1 ? closestPointPolyhedronEdge : contactPointCapsule); } @@ -362,7 +373,7 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI decimal penetrationDepth, const Transform& polyhedronToCapsuleTransform, Vector3& normalWorld, const Vector3& separatingAxisCapsuleSpace, const Vector3& capsuleSegAPolyhedronSpace, const Vector3& capsuleSegBPolyhedronSpace, - NarrowPhaseInfo* narrowPhaseInfo, bool isCapsuleShape1) const { + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool isCapsuleShape1) const { RP3D_PROFILE("SATAlgorithm::computeCapsulePolyhedronFaceContactPoints", mProfiler); @@ -427,15 +438,15 @@ bool SATAlgorithm::computeCapsulePolyhedronFaceContactPoints(uint referenceFaceI // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], isCapsuleShape1 ? contactPointCapsule : contactPointPolyhedron, isCapsuleShape1 ? contactPointPolyhedron : contactPointCapsule, - narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], penetrationDepth, normalWorld); // Create the contact point - narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth, + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, isCapsuleShape1 ? contactPointCapsule : contactPointPolyhedron, isCapsuleShape1 ? contactPointPolyhedron : contactPointCapsule); } @@ -457,377 +468,394 @@ bool SATAlgorithm::isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, c } // Test collision between two convex polyhedrons -bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const { +void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts) const { RP3D_PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - const ConvexPolyhedronShape* polyhedron1 = static_cast(narrowPhaseInfo->collisionShape1); - const ConvexPolyhedronShape* polyhedron2 = static_cast(narrowPhaseInfo->collisionShape2); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - const Transform polyhedron1ToPolyhedron2 = narrowPhaseInfo->shape2ToWorldTransform.getInverse() * narrowPhaseInfo->shape1ToWorldTransform; - const Transform polyhedron2ToPolyhedron1 = polyhedron1ToPolyhedron2.getInverse(); + const ConvexPolyhedronShape* polyhedron1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const ConvexPolyhedronShape* polyhedron2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - decimal minPenetrationDepth = DECIMAL_LARGEST; - uint minFaceIndex = 0; - bool isMinPenetrationFaceNormal = false; - bool isMinPenetrationFaceNormalPolyhedron1 = false; - uint minSeparatingEdge1Index = 0; - uint minSeparatingEdge2Index = 0; - Vector3 separatingEdge1A, separatingEdge1B; - Vector3 separatingEdge2A, separatingEdge2B; - Vector3 minEdgeVsEdgeSeparatingAxisPolyhedron2Space; - bool isShape1Triangle = polyhedron1->getName() == CollisionShapeName::TRIANGLE; + const Transform polyhedron1ToPolyhedron2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getInverse() * narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform polyhedron2ToPolyhedron1 = polyhedron1ToPolyhedron2.getInverse(); - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); + decimal minPenetrationDepth = DECIMAL_LARGEST; + uint minFaceIndex = 0; + bool isMinPenetrationFaceNormal = false; + bool isMinPenetrationFaceNormalPolyhedron1 = false; + uint minSeparatingEdge1Index = 0; + uint minSeparatingEdge2Index = 0; + Vector3 separatingEdge1A, separatingEdge1B; + Vector3 separatingEdge2A, separatingEdge2B; + Vector3 minEdgeVsEdgeSeparatingAxisPolyhedron2Space; + bool isShape1Triangle = polyhedron1->getName() == CollisionShapeName::TRIANGLE; - // If the last frame collision info is valid and was also using SAT algorithm - if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingSAT) { + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); - // We perform temporal coherence, we check if there is still an overlapping along the previous minimum separating - // axis. If it is the case, we directly report the collision without executing the whole SAT algorithm again. If - // the shapes are still separated along this axis, we directly exit with no collision. + // If the last frame collision info is valid and was also using SAT algorithm + if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingSAT) { - // If the previous separating axis (or axis with minimum penetration depth) - // was a face normal of polyhedron 1 - if (lastFrameCollisionInfo->satIsAxisFacePolyhedron1) { + // We perform temporal coherence, we check if there is still an overlapping along the previous minimum separating + // axis. If it is the case, we directly report the collision without executing the whole SAT algorithm again. If + // the shapes are still separated along this axis, we directly exit with no collision. - decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, - lastFrameCollisionInfo->satMinAxisFaceIndex); + // If the previous separating axis (or axis with minimum penetration depth) + // was a face normal of polyhedron 1 + if (lastFrameCollisionInfo->satIsAxisFacePolyhedron1) { - // If the previous axis was a separating axis and is still a separating axis in this frame - if (!lastFrameCollisionInfo->wasColliding && penetrationDepth <= decimal(0.0)) { + decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, + lastFrameCollisionInfo->satMinAxisFaceIndex); - // Return no collision without running the whole SAT algorithm - return false; - } - - // The two shapes were overlapping in the previous frame and still seem to overlap in this one - if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { - - minPenetrationDepth = penetrationDepth; - minFaceIndex = lastFrameCollisionInfo->satMinAxisFaceIndex; - isMinPenetrationFaceNormal = true; - isMinPenetrationFaceNormalPolyhedron1 = true; - - // Compute the contact points between two faces of two convex polyhedra. - if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, - polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex, - narrowPhaseInfo, minPenetrationDepth)) { - - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - - // The shapes are still overlapping in the previous axis (the contact manifold is not empty). - // Therefore, we can return without running the whole SAT algorithm - return true; - } - - // The contact manifold is empty. Therefore, we have to run the whole SAT algorithm again - } - } - else if (lastFrameCollisionInfo->satIsAxisFacePolyhedron2) { // If the previous separating axis (or axis with minimum penetration depth) - // was a face normal of polyhedron 2 - - decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron2, polyhedron1, polyhedron2ToPolyhedron1, - lastFrameCollisionInfo->satMinAxisFaceIndex); - - // If the previous axis was a separating axis and is still a separating axis in this frame - if (!lastFrameCollisionInfo->wasColliding && penetrationDepth <= decimal(0.0)) { - - // Return no collision without running the whole SAT algorithm - return false; - } - - // The two shapes were overlapping in the previous frame and still seem to overlap in this one - if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { - - minPenetrationDepth = penetrationDepth; - minFaceIndex = lastFrameCollisionInfo->satMinAxisFaceIndex; - isMinPenetrationFaceNormal = true; - isMinPenetrationFaceNormalPolyhedron1 = false; - - // Compute the contact points between two faces of two convex polyhedra. - if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, - polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex, - narrowPhaseInfo, minPenetrationDepth)) { - - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - - // The shapes are still overlapping in the previous axis (the contact manifold is not empty). - // Therefore, we can return without running the whole SAT algorithm - return true; - } - - // The contact manifold is empty. Therefore, we have to run the whole SAT algorithm again - } - } - else { // If the previous separating axis (or axis with minimum penetration depth) was the cross product of two edges - - const HalfEdgeStructure::Edge& edge1 = polyhedron1->getHalfEdge(lastFrameCollisionInfo->satMinEdge1Index); - const HalfEdgeStructure::Edge& edge2 = polyhedron2->getHalfEdge(lastFrameCollisionInfo->satMinEdge2Index); - - const Vector3 edge1A = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(edge1.vertexIndex); - const Vector3 edge1B = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(polyhedron1->getHalfEdge(edge1.nextEdgeIndex).vertexIndex); - const Vector3 edge1Direction = edge1B - edge1A; - const Vector3 edge2A = polyhedron2->getVertexPosition(edge2.vertexIndex); - const Vector3 edge2B = polyhedron2->getVertexPosition(polyhedron2->getHalfEdge(edge2.nextEdgeIndex).vertexIndex); - const Vector3 edge2Direction = edge2B - edge2A; - - // If the two edges build a minkowski face (and the cross product is - // therefore a candidate for separating axis - if (testEdgesBuildMinkowskiFace(polyhedron1, edge1, polyhedron2, edge2, polyhedron1ToPolyhedron2)) { - - Vector3 separatingAxisPolyhedron2Space; - - // Compute the penetration depth along the previous axis - const Vector3 polyhedron1Centroid = polyhedron1ToPolyhedron2 * polyhedron1->getCentroid(); - decimal penetrationDepth = computeDistanceBetweenEdges(edge1A, edge2A, polyhedron1Centroid, polyhedron2->getCentroid(), - edge1Direction, edge2Direction, isShape1Triangle, separatingAxisPolyhedron2Space); - - // If the shapes were not overlapping in the previous frame and are still not - // overlapping in the current one + // If the previous axis was a separating axis and is still a separating axis in this frame if (!lastFrameCollisionInfo->wasColliding && penetrationDepth <= decimal(0.0)) { - // We have found a separating axis without running the whole SAT algorithm - return false; + // Return no collision without running the whole SAT algorithm + continue; } - // If the shapes were overlapping on the previous axis and still seem to overlap in this frame + // The two shapes were overlapping in the previous frame and still seem to overlap in this one if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { - // Compute the closest points between the two edges (in the local-space of poylhedron 2) - Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; - computeClosestPointBetweenTwoSegments(edge1A, edge1B, edge2A, edge2B, - closestPointPolyhedron1Edge, closestPointPolyhedron2Edge); + minPenetrationDepth = penetrationDepth; + minFaceIndex = lastFrameCollisionInfo->satMinAxisFaceIndex; + isMinPenetrationFaceNormal = true; + isMinPenetrationFaceNormalPolyhedron1 = true; - // Here we try to project the closest point on edge1 onto the segment of edge 2 to see if - // the projected point falls onto the segment. We also try to project the closest point - // on edge 2 to see if it falls onto the segment of edge 1. If one of the point does not - // fall onto the opposite segment, it means the edges are not colliding (the contact manifold - // is empty). Therefore, we need to run the whole SAT algorithm again. - const Vector3 vec1 = closestPointPolyhedron1Edge - edge2A; - const Vector3 vec2 = closestPointPolyhedron2Edge - edge1A; - const decimal edge1LengthSquare = edge1Direction.lengthSquare(); - const decimal edge2LengthSquare = edge2Direction.lengthSquare(); - decimal t1 = vec1.dot(edge2Direction) / edge2LengthSquare; - decimal t2 = vec2.dot(edge1Direction) / edge1LengthSquare; - if (t1 >= decimal(0.0) && t1 <= decimal(1) && t2 >= decimal(0.0) && t2 <= decimal(1.0)) { + // Compute the contact points between two faces of two convex polyhedra. + if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, + polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex, + narrowPhaseInfoBatch, batchIndex, minPenetrationDepth)) { - // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 - Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - // Compute the world normal - // We use the direction from the centroid to the edge of the shape that is not a triangle - // to avoid possible degeneracies when axis direction is orthogonal to triangle normal - Vector3 normal; - if (isShape1Triangle) { - normal = polyhedron2->getCentroid() - closestPointPolyhedron2Edge; - } - else { - normal = polyhedron1ToPolyhedron2.getOrientation() * ((polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge) - polyhedron1->getCentroid()); - } - - //Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; - Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * normal.getUnit(); - - // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, - closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, - narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, - penetrationDepth, normalWorld); - - // Create the contact point - narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth, - closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge); - - // The shapes are overlapping on the previous axis (the contact manifold is not empty). Therefore - // we return without running the whole SAT algorithm - return true; + // The shapes are still overlapping in the previous axis (the contact manifold is not empty). + // Therefore, we can return without running the whole SAT algorithm + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; } // The contact manifold is empty. Therefore, we have to run the whole SAT algorithm again } } - } - } + else if (lastFrameCollisionInfo->satIsAxisFacePolyhedron2) { // If the previous separating axis (or axis with minimum penetration depth) + // was a face normal of polyhedron 2 - // Test all the face normals of the polyhedron 1 for separating axis - uint faceIndex; - decimal penetrationDepth = testFacesDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, faceIndex); - if (penetrationDepth <= decimal(0.0)) { + decimal penetrationDepth = testSingleFaceDirectionPolyhedronVsPolyhedron(polyhedron2, polyhedron1, polyhedron2ToPolyhedron1, + lastFrameCollisionInfo->satMinAxisFaceIndex); - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = true; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = false; - lastFrameCollisionInfo->satMinAxisFaceIndex = faceIndex; + // If the previous axis was a separating axis and is still a separating axis in this frame + if (!lastFrameCollisionInfo->wasColliding && penetrationDepth <= decimal(0.0)) { - // We have found a separating axis - return false; - } - if (penetrationDepth < minPenetrationDepth - SAME_SEPARATING_AXIS_BIAS) { - isMinPenetrationFaceNormal = true; - minPenetrationDepth = penetrationDepth; - minFaceIndex = faceIndex; - isMinPenetrationFaceNormalPolyhedron1 = true; - } - - // Test all the face normals of the polyhedron 2 for separating axis - penetrationDepth = testFacesDirectionPolyhedronVsPolyhedron(polyhedron2, polyhedron1, polyhedron2ToPolyhedron1, faceIndex); - if (penetrationDepth <= decimal(0.0)) { - - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = false; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = true; - lastFrameCollisionInfo->satMinAxisFaceIndex = faceIndex; - - // We have found a separating axis - return false; - } - if (penetrationDepth < minPenetrationDepth - SAME_SEPARATING_AXIS_BIAS) { - isMinPenetrationFaceNormal = true; - minPenetrationDepth = penetrationDepth; - minFaceIndex = faceIndex; - isMinPenetrationFaceNormalPolyhedron1 = false; - } - - // Test the cross products of edges of polyhedron 1 with edges of polyhedron 2 for separating axis - for (uint i=0; i < polyhedron1->getNbHalfEdges(); i += 2) { - - // Get an edge of polyhedron 1 - const HalfEdgeStructure::Edge& edge1 = polyhedron1->getHalfEdge(i); - - const Vector3 edge1A = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(edge1.vertexIndex); - const Vector3 edge1B = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(polyhedron1->getHalfEdge(edge1.nextEdgeIndex).vertexIndex); - const Vector3 edge1Direction = edge1B - edge1A; - - for (uint j=0; j < polyhedron2->getNbHalfEdges(); j += 2) { - - // Get an edge of polyhedron 2 - const HalfEdgeStructure::Edge& edge2 = polyhedron2->getHalfEdge(j); - - const Vector3 edge2A = polyhedron2->getVertexPosition(edge2.vertexIndex); - const Vector3 edge2B = polyhedron2->getVertexPosition(polyhedron2->getHalfEdge(edge2.nextEdgeIndex).vertexIndex); - const Vector3 edge2Direction = edge2B - edge2A; - - // If the two edges build a minkowski face (and the cross product is - // therefore a candidate for separating axis - if (testEdgesBuildMinkowskiFace(polyhedron1, edge1, polyhedron2, edge2, polyhedron1ToPolyhedron2)) { - - Vector3 separatingAxisPolyhedron2Space; - - // Compute the penetration depth - const Vector3 polyhedron1Centroid = polyhedron1ToPolyhedron2 * polyhedron1->getCentroid(); - decimal penetrationDepth = computeDistanceBetweenEdges(edge1A, edge2A, polyhedron1Centroid, polyhedron2->getCentroid(), - edge1Direction, edge2Direction, isShape1Triangle, separatingAxisPolyhedron2Space); - - if (penetrationDepth <= decimal(0.0)) { - - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = false; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = false; - lastFrameCollisionInfo->satMinEdge1Index = i; - lastFrameCollisionInfo->satMinEdge2Index = j; - - // We have found a separating axis - return false; + // Return no collision without running the whole SAT algorithm + continue; } - if (penetrationDepth < minPenetrationDepth - SAME_SEPARATING_AXIS_BIAS) { + // The two shapes were overlapping in the previous frame and still seem to overlap in this one + if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { minPenetrationDepth = penetrationDepth; + minFaceIndex = lastFrameCollisionInfo->satMinAxisFaceIndex; + isMinPenetrationFaceNormal = true; isMinPenetrationFaceNormalPolyhedron1 = false; - isMinPenetrationFaceNormal = false; - minSeparatingEdge1Index = i; - minSeparatingEdge2Index = j; - separatingEdge1A = edge1A; - separatingEdge1B = edge1B; - separatingEdge2A = edge2A; - separatingEdge2B = edge2B; - minEdgeVsEdgeSeparatingAxisPolyhedron2Space = separatingAxisPolyhedron2Space; + + // Compute the contact points between two faces of two convex polyhedra. + if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, + polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex, + narrowPhaseInfoBatch, batchIndex, minPenetrationDepth)) { + + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; + + // The shapes are still overlapping in the previous axis (the contact manifold is not empty). + // Therefore, we can return without running the whole SAT algorithm + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; + } + + // The contact manifold is empty. Therefore, we have to run the whole SAT algorithm again + } + } + else { // If the previous separating axis (or axis with minimum penetration depth) was the cross product of two edges + + const HalfEdgeStructure::Edge& edge1 = polyhedron1->getHalfEdge(lastFrameCollisionInfo->satMinEdge1Index); + const HalfEdgeStructure::Edge& edge2 = polyhedron2->getHalfEdge(lastFrameCollisionInfo->satMinEdge2Index); + + const Vector3 edge1A = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(edge1.vertexIndex); + const Vector3 edge1B = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(polyhedron1->getHalfEdge(edge1.nextEdgeIndex).vertexIndex); + const Vector3 edge1Direction = edge1B - edge1A; + const Vector3 edge2A = polyhedron2->getVertexPosition(edge2.vertexIndex); + const Vector3 edge2B = polyhedron2->getVertexPosition(polyhedron2->getHalfEdge(edge2.nextEdgeIndex).vertexIndex); + const Vector3 edge2Direction = edge2B - edge2A; + + // If the two edges build a minkowski face (and the cross product is + // therefore a candidate for separating axis + if (testEdgesBuildMinkowskiFace(polyhedron1, edge1, polyhedron2, edge2, polyhedron1ToPolyhedron2)) { + + Vector3 separatingAxisPolyhedron2Space; + + // Compute the penetration depth along the previous axis + const Vector3 polyhedron1Centroid = polyhedron1ToPolyhedron2 * polyhedron1->getCentroid(); + decimal penetrationDepth = computeDistanceBetweenEdges(edge1A, edge2A, polyhedron1Centroid, polyhedron2->getCentroid(), + edge1Direction, edge2Direction, isShape1Triangle, separatingAxisPolyhedron2Space); + + // If the shapes were not overlapping in the previous frame and are still not + // overlapping in the current one + if (!lastFrameCollisionInfo->wasColliding && penetrationDepth <= decimal(0.0)) { + + // We have found a separating axis without running the whole SAT algorithm + continue; + } + + // If the shapes were overlapping on the previous axis and still seem to overlap in this frame + if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { + + // Compute the closest points between the two edges (in the local-space of poylhedron 2) + Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; + computeClosestPointBetweenTwoSegments(edge1A, edge1B, edge2A, edge2B, + closestPointPolyhedron1Edge, closestPointPolyhedron2Edge); + + // Here we try to project the closest point on edge1 onto the segment of edge 2 to see if + // the projected point falls onto the segment. We also try to project the closest point + // on edge 2 to see if it falls onto the segment of edge 1. If one of the point does not + // fall onto the opposite segment, it means the edges are not colliding (the contact manifold + // is empty). Therefore, we need to run the whole SAT algorithm again. + const Vector3 vec1 = closestPointPolyhedron1Edge - edge2A; + const Vector3 vec2 = closestPointPolyhedron2Edge - edge1A; + const decimal edge1LengthSquare = edge1Direction.lengthSquare(); + const decimal edge2LengthSquare = edge2Direction.lengthSquare(); + decimal t1 = vec1.dot(edge2Direction) / edge2LengthSquare; + decimal t2 = vec2.dot(edge1Direction) / edge1LengthSquare; + if (t1 >= decimal(0.0) && t1 <= decimal(1) && t2 >= decimal(0.0) && t2 <= decimal(1.0)) { + + // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 + Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; + + // Compute the world normal + // We use the direction from the centroid to the edge of the shape that is not a triangle + // to avoid possible degeneracies when axis direction is orthogonal to triangle normal + Vector3 normal; + if (isShape1Triangle) { + normal = polyhedron2->getCentroid() - closestPointPolyhedron2Edge; + } + else { + normal = polyhedron1ToPolyhedron2.getOrientation() * ((polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge) - polyhedron1->getCentroid()); + } + + //Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; + Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normal.getUnit(); + + // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + penetrationDepth, normalWorld); + + // Create the contact point + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, + closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge); + + // The shapes are overlapping on the previous axis (the contact manifold is not empty). Therefore + // we return without running the whole SAT algorithm + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; + } + + // The contact manifold is empty. Therefore, we have to run the whole SAT algorithm again + } } } } - } - // Here we know the shapes are overlapping on a given minimum separating axis. - // Now, we will clip the shapes along this axis to find the contact points + // Test all the face normals of the polyhedron 1 for separating axis + uint faceIndex; + decimal penetrationDepth = testFacesDirectionPolyhedronVsPolyhedron(polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, faceIndex); + if (penetrationDepth <= decimal(0.0)) { - assert(minPenetrationDepth > decimal(0.0)); - assert((isMinPenetrationFaceNormal && minFaceIndex >= 0) || !isMinPenetrationFaceNormal); + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = true; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = false; + lastFrameCollisionInfo->satMinAxisFaceIndex = faceIndex; - // If the minimum separating axis is a face normal - if (isMinPenetrationFaceNormal) { - - if (reportContacts) { - - // Compute the contact points between two faces of two convex polyhedra. - bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, - polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, - minFaceIndex, narrowPhaseInfo, minPenetrationDepth); - - // There should be clipping points here. If it is not the case, it might be - // because of a numerical issue - if (!contactsFound) { - - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - - // Return no collision - return false; - } + // We have found a separating axis + continue; + } + if (penetrationDepth < minPenetrationDepth - SAME_SEPARATING_AXIS_BIAS) { + isMinPenetrationFaceNormal = true; + minPenetrationDepth = penetrationDepth; + minFaceIndex = faceIndex; + isMinPenetrationFaceNormalPolyhedron1 = true; } - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - } - else { // If we have an edge vs edge contact + // Test all the face normals of the polyhedron 2 for separating axis + penetrationDepth = testFacesDirectionPolyhedronVsPolyhedron(polyhedron2, polyhedron1, polyhedron2ToPolyhedron1, faceIndex); + if (penetrationDepth <= decimal(0.0)) { - if (reportContacts) { + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = false; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = true; + lastFrameCollisionInfo->satMinAxisFaceIndex = faceIndex; - // Compute the closest points between the two edges (in the local-space of poylhedron 2) - Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; - computeClosestPointBetweenTwoSegments(separatingEdge1A, separatingEdge1B, separatingEdge2A, separatingEdge2B, - closestPointPolyhedron1Edge, closestPointPolyhedron2Edge); - - // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 - Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; - - // Compute the world normal - // We use the direction from the centroid to the edge of the shape that is not a triangle - // to avoid possible degeneracies when axis direction is orthogonal to triangle normal - Vector3 normal; - if (isShape1Triangle) { - normal = polyhedron2->getCentroid() - closestPointPolyhedron2Edge; - } - else { - normal = polyhedron1ToPolyhedron2.getOrientation() * ((polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge) - polyhedron1->getCentroid()); - } - //Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; - Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * normal.getUnit(); - - // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, - closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, - narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, - minPenetrationDepth, normalWorld); - - // Create the contact point - narrowPhaseInfo->addContactPoint(normalWorld, minPenetrationDepth, - closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge); + // We have found a separating axis + continue; + } + if (penetrationDepth < minPenetrationDepth - SAME_SEPARATING_AXIS_BIAS) { + isMinPenetrationFaceNormal = true; + minPenetrationDepth = penetrationDepth; + minFaceIndex = faceIndex; + isMinPenetrationFaceNormalPolyhedron1 = false; } - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = false; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = false; - lastFrameCollisionInfo->satMinEdge1Index = minSeparatingEdge1Index; - lastFrameCollisionInfo->satMinEdge2Index = minSeparatingEdge2Index; - } + bool separatingAxisFound = false; - return true; + // Test the cross products of edges of polyhedron 1 with edges of polyhedron 2 for separating axis + for (uint i=0; i < polyhedron1->getNbHalfEdges(); i += 2) { + + // Get an edge of polyhedron 1 + const HalfEdgeStructure::Edge& edge1 = polyhedron1->getHalfEdge(i); + + const Vector3 edge1A = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(edge1.vertexIndex); + const Vector3 edge1B = polyhedron1ToPolyhedron2 * polyhedron1->getVertexPosition(polyhedron1->getHalfEdge(edge1.nextEdgeIndex).vertexIndex); + const Vector3 edge1Direction = edge1B - edge1A; + + for (uint j=0; j < polyhedron2->getNbHalfEdges(); j += 2) { + + // Get an edge of polyhedron 2 + const HalfEdgeStructure::Edge& edge2 = polyhedron2->getHalfEdge(j); + + const Vector3 edge2A = polyhedron2->getVertexPosition(edge2.vertexIndex); + const Vector3 edge2B = polyhedron2->getVertexPosition(polyhedron2->getHalfEdge(edge2.nextEdgeIndex).vertexIndex); + const Vector3 edge2Direction = edge2B - edge2A; + + // If the two edges build a minkowski face (and the cross product is + // therefore a candidate for separating axis + if (testEdgesBuildMinkowskiFace(polyhedron1, edge1, polyhedron2, edge2, polyhedron1ToPolyhedron2)) { + + Vector3 separatingAxisPolyhedron2Space; + + // Compute the penetration depth + const Vector3 polyhedron1Centroid = polyhedron1ToPolyhedron2 * polyhedron1->getCentroid(); + decimal penetrationDepth = computeDistanceBetweenEdges(edge1A, edge2A, polyhedron1Centroid, polyhedron2->getCentroid(), + edge1Direction, edge2Direction, isShape1Triangle, separatingAxisPolyhedron2Space); + + if (penetrationDepth <= decimal(0.0)) { + + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = false; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = false; + lastFrameCollisionInfo->satMinEdge1Index = i; + lastFrameCollisionInfo->satMinEdge2Index = j; + + // We have found a separating axis + separatingAxisFound = true; + break; + } + + if (penetrationDepth < minPenetrationDepth - SAME_SEPARATING_AXIS_BIAS) { + + minPenetrationDepth = penetrationDepth; + isMinPenetrationFaceNormalPolyhedron1 = false; + isMinPenetrationFaceNormal = false; + minSeparatingEdge1Index = i; + minSeparatingEdge2Index = j; + separatingEdge1A = edge1A; + separatingEdge1B = edge1B; + separatingEdge2A = edge2A; + separatingEdge2B = edge2B; + minEdgeVsEdgeSeparatingAxisPolyhedron2Space = separatingAxisPolyhedron2Space; + } + } + } + + if (separatingAxisFound) { + break; + } + } + + if (separatingAxisFound) { + continue; + } + + // Here we know the shapes are overlapping on a given minimum separating axis. + // Now, we will clip the shapes along this axis to find the contact points + + assert(minPenetrationDepth > decimal(0.0)); + assert((isMinPenetrationFaceNormal && minFaceIndex >= 0) || !isMinPenetrationFaceNormal); + + // If the minimum separating axis is a face normal + if (isMinPenetrationFaceNormal) { + + if (reportContacts) { + + // Compute the contact points between two faces of two convex polyhedra. + bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, + polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, + minFaceIndex, narrowPhaseInfoBatch, batchIndex, minPenetrationDepth); + + // There should be clipping points here. If it is not the case, it might be + // because of a numerical issue + if (!contactsFound) { + + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; + + // Return no collision + continue; + } + } + + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; + } + else { // If we have an edge vs edge contact + + if (reportContacts) { + + // Compute the closest points between the two edges (in the local-space of poylhedron 2) + Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; + computeClosestPointBetweenTwoSegments(separatingEdge1A, separatingEdge1B, separatingEdge2A, separatingEdge2B, + closestPointPolyhedron1Edge, closestPointPolyhedron2Edge); + + // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 + Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; + + // Compute the world normal + // We use the direction from the centroid to the edge of the shape that is not a triangle + // to avoid possible degeneracies when axis direction is orthogonal to triangle normal + Vector3 normal; + if (isShape1Triangle) { + normal = polyhedron2->getCentroid() - closestPointPolyhedron2Edge; + } + else { + normal = polyhedron1ToPolyhedron2.getOrientation() * ((polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge) - polyhedron1->getCentroid()); + } + //Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; + Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normal.getUnit(); + + // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + minPenetrationDepth, normalWorld); + + // Create the contact point + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, minPenetrationDepth, + closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge); + } + + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = false; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = false; + lastFrameCollisionInfo->satMinEdge1Index = minSeparatingEdge1Index; + lastFrameCollisionInfo->satMinEdge2Index = minSeparatingEdge2Index; + } + + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + } } // Compute the contact points between two faces of two convex polyhedra. @@ -835,7 +863,8 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1, - uint minFaceIndex, NarrowPhaseInfo* narrowPhaseInfo, decimal minPenetrationDepth) const { + uint minFaceIndex, NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, + decimal minPenetrationDepth) const { RP3D_PROFILE("SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints", mProfiler); @@ -850,8 +879,8 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene const Vector3 axisIncidentSpace = referenceToIncidentTransform.getOrientation() * axisReferenceSpace; // Compute the world normal - Vector3 normalWorld = isMinPenetrationFaceNormalPolyhedron1 ? narrowPhaseInfo->shape1ToWorldTransform.getOrientation() * axisReferenceSpace : - -(narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * axisReferenceSpace); + Vector3 normalWorld = isMinPenetrationFaceNormalPolyhedron1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex].getOrientation() * axisReferenceSpace : + -(narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * axisReferenceSpace); // Get the reference face const HalfEdgeStructure::Face& referenceFace = referencePolyhedron->getFace(minFaceIndex); @@ -930,14 +959,14 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(clipPolygonVertices[i], axisReferenceSpace, referenceFaceVertex); // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2, + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron, - narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], penetrationDepth, outWorldNormal); // Create a new contact point - narrowPhaseInfo->addContactPoint(outWorldNormal, penetrationDepth, + narrowPhaseInfoBatch.addContactPoint(batchIndex, outWorldNormal, penetrationDepth, isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron); } diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.h b/src/collision/narrowphase/SAT/SATAlgorithm.h index 5be84220..82bd680c 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.h +++ b/src/collision/narrowphase/SAT/SATAlgorithm.h @@ -37,7 +37,7 @@ namespace reactphysics3d { class CapsuleShape; class SphereShape; class ContactManifoldInfo; -struct NarrowPhaseInfo; +struct NarrowPhaseInfoBatch; class ConvexPolyhedronShape; class MemoryAllocator; class Profiler; @@ -118,7 +118,7 @@ class SATAlgorithm { bool computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1, uint minFaceIndex, - NarrowPhaseInfo* narrowPhaseInfo, decimal minPenetrationDepth) const; + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, decimal minPenetrationDepth) const; public : @@ -138,24 +138,26 @@ class SATAlgorithm { SATAlgorithm& operator=(const SATAlgorithm& algorithm) = delete; /// Test collision between a sphere and a convex mesh - bool testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const; + void testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + uint batchStartIndex, uint batchNbItems, + bool reportContacts) const; /// Test collision between a capsule and a convex mesh - bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const; + bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool reportContacts) const; /// Compute the two contact points between a polyhedron and a capsule when the separating axis is a face normal of the polyhedron bool computeCapsulePolyhedronFaceContactPoints(uint referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron, decimal penetrationDepth, const Transform& polyhedronToCapsuleTransform, Vector3& normalWorld, const Vector3& separatingAxisCapsuleSpace, const Vector3& capsuleSegAPolyhedronSpace, const Vector3& capsuleSegBPolyhedronSpace, - NarrowPhaseInfo* narrowPhaseInfo, bool isCapsuleShape1) const; + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool isCapsuleShape1) const; // This method returns true if an edge of a polyhedron and a capsule forms a face of the Minkowski Difference bool isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, const Vector3& edgeAdjacentFace1Normal, const Vector3& edgeAdjacentFace2Normal) const; /// Test collision between two convex meshes - bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts) const; + void testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts) const; #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index d1a00f66..c2bf193a 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -27,7 +27,7 @@ #include "SphereVsCapsuleAlgorithm.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -35,105 +35,110 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a capsule // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, - MemoryAllocator& memoryAllocator) { +void SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, MemoryAllocator& memoryAllocator) { - bool isSphereShape1 = narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE; + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(isSphereShape1 || narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CAPSULE); + bool isSphereShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE; - // Get the collision shapes - const SphereShape* sphereShape = static_cast(isSphereShape1 ? narrowPhaseInfo->collisionShape1 : narrowPhaseInfo->collisionShape2); - const CapsuleShape* capsuleShape = static_cast(isSphereShape1 ? narrowPhaseInfo->collisionShape2 : narrowPhaseInfo->collisionShape1); + assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); + assert(isSphereShape1 || narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE); - // Get the transform from sphere local-space to capsule local-space - const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfo->shape1ToWorldTransform : narrowPhaseInfo->shape2ToWorldTransform; - const Transform& capsuleToWorldTransform = isSphereShape1 ? narrowPhaseInfo->shape2ToWorldTransform : narrowPhaseInfo->shape1ToWorldTransform; - const Transform worldToCapsuleTransform = capsuleToWorldTransform.getInverse(); - const Transform sphereToCapsuleSpaceTransform = worldToCapsuleTransform * sphereToWorldTransform; + // Get the collision shapes + const SphereShape* sphereShape = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); + const CapsuleShape* capsuleShape = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - // Transform the center of the sphere into the local-space of the capsule shape - const Vector3 sphereCenter = sphereToCapsuleSpaceTransform.getPosition(); + // Get the transform from sphere local-space to capsule local-space + const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform& capsuleToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform worldToCapsuleTransform = capsuleToWorldTransform.getInverse(); + const Transform sphereToCapsuleSpaceTransform = worldToCapsuleTransform * sphereToWorldTransform; - // Compute the end-points of the inner segment of the capsule - const decimal capsuleHalfHeight = capsuleShape->getHeight() * decimal(0.5); - const Vector3 capsuleSegA(0, -capsuleHalfHeight, 0); - const Vector3 capsuleSegB(0, capsuleHalfHeight, 0); + // Transform the center of the sphere into the local-space of the capsule shape + const Vector3 sphereCenter = sphereToCapsuleSpaceTransform.getPosition(); - // Compute the point on the inner capsule segment that is the closes to center of sphere - const Vector3 closestPointOnSegment = computeClosestPointOnSegment(capsuleSegA, capsuleSegB, sphereCenter); + // Compute the end-points of the inner segment of the capsule + const decimal capsuleHalfHeight = capsuleShape->getHeight() * decimal(0.5); + const Vector3 capsuleSegA(0, -capsuleHalfHeight, 0); + const Vector3 capsuleSegB(0, capsuleHalfHeight, 0); - // Compute the distance between the sphere center and the closest point on the segment - Vector3 sphereCenterToSegment = (closestPointOnSegment - sphereCenter); - const decimal sphereSegmentDistanceSquare = sphereCenterToSegment.lengthSquare(); + // Compute the point on the inner capsule segment that is the closes to center of sphere + const Vector3 closestPointOnSegment = computeClosestPointOnSegment(capsuleSegA, capsuleSegB, sphereCenter); - // Compute the sum of the radius of the sphere and the capsule (virtual sphere) - decimal sumRadius = sphereShape->getRadius() + capsuleShape->getRadius(); - - // If the collision shapes overlap - if (sphereSegmentDistanceSquare < sumRadius * sumRadius) { + // Compute the distance between the sphere center and the closest point on the segment + Vector3 sphereCenterToSegment = (closestPointOnSegment - sphereCenter); + const decimal sphereSegmentDistanceSquare = sphereCenterToSegment.lengthSquare(); - decimal penetrationDepth; - Vector3 normalWorld; - Vector3 contactPointSphereLocal; - Vector3 contactPointCapsuleLocal; + // Compute the sum of the radius of the sphere and the capsule (virtual sphere) + decimal sumRadius = sphereShape->getRadius() + capsuleShape->getRadius(); - if (reportContacts) { + // If the collision shapes overlap + if (sphereSegmentDistanceSquare < sumRadius * sumRadius) { - // If the sphere center is not on the capsule inner segment - if (sphereSegmentDistanceSquare > MACHINE_EPSILON) { + decimal penetrationDepth; + Vector3 normalWorld; + Vector3 contactPointSphereLocal; + Vector3 contactPointCapsuleLocal; - decimal sphereSegmentDistance = std::sqrt(sphereSegmentDistanceSquare); - sphereCenterToSegment /= sphereSegmentDistance; + if (reportContacts) { - contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + sphereCenterToSegment * sphereShape->getRadius()); - contactPointCapsuleLocal = closestPointOnSegment - sphereCenterToSegment * capsuleShape->getRadius(); + // If the sphere center is not on the capsule inner segment + if (sphereSegmentDistanceSquare > MACHINE_EPSILON) { - normalWorld = capsuleToWorldTransform.getOrientation() * sphereCenterToSegment; + decimal sphereSegmentDistance = std::sqrt(sphereSegmentDistanceSquare); + sphereCenterToSegment /= sphereSegmentDistance; - penetrationDepth = sumRadius - sphereSegmentDistance; + contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + sphereCenterToSegment * sphereShape->getRadius()); + contactPointCapsuleLocal = closestPointOnSegment - sphereCenterToSegment * capsuleShape->getRadius(); - if (!isSphereShape1) { - normalWorld = -normalWorld; - } - } - else { // If the sphere center is on the capsule inner segment (degenerate case) + normalWorld = capsuleToWorldTransform.getOrientation() * sphereCenterToSegment; - // We take any direction that is orthogonal to the inner capsule segment as a contact normal + penetrationDepth = sumRadius - sphereSegmentDistance; - // Capsule inner segment - Vector3 capsuleSegment = (capsuleSegB - capsuleSegA).getUnit(); + if (!isSphereShape1) { + normalWorld = -normalWorld; + } + } + else { // If the sphere center is on the capsule inner segment (degenerate case) - Vector3 vec1(1, 0, 0); - Vector3 vec2(0, 1, 0); + // We take any direction that is orthogonal to the inner capsule segment as a contact normal - // Get the vectors (among vec1 and vec2) that is the most orthogonal to the capsule inner segment (smallest absolute dot product) - decimal cosA1 = std::abs(capsuleSegment.x); // abs(vec1.dot(seg2)) - decimal cosA2 = std::abs(capsuleSegment.y); // abs(vec2.dot(seg2)) + // Capsule inner segment + Vector3 capsuleSegment = (capsuleSegB - capsuleSegA).getUnit(); - penetrationDepth = sumRadius; + Vector3 vec1(1, 0, 0); + Vector3 vec2(0, 1, 0); - // We choose as a contact normal, any direction that is perpendicular to the inner capsule segment - Vector3 normalCapsuleSpace = cosA1 < cosA2 ? capsuleSegment.cross(vec1) : capsuleSegment.cross(vec2); - normalWorld = capsuleToWorldTransform.getOrientation() * normalCapsuleSpace; + // Get the vectors (among vec1 and vec2) that is the most orthogonal to the capsule inner segment (smallest absolute dot product) + decimal cosA1 = std::abs(capsuleSegment.x); // abs(vec1.dot(seg2)) + decimal cosA2 = std::abs(capsuleSegment.y); // abs(vec2.dot(seg2)) - // Compute the two local contact points - contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + normalCapsuleSpace * sphereShape->getRadius()); - contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * capsuleShape->getRadius(); - } + penetrationDepth = sumRadius; - if (penetrationDepth <= decimal(0.0)) { - return false; + // We choose as a contact normal, any direction that is perpendicular to the inner capsule segment + Vector3 normalCapsuleSpace = cosA1 < cosA2 ? capsuleSegment.cross(vec1) : capsuleSegment.cross(vec2); + normalWorld = capsuleToWorldTransform.getOrientation() * normalCapsuleSpace; + + // Compute the two local contact points + contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + normalCapsuleSpace * sphereShape->getRadius()); + contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * capsuleShape->getRadius(); + } + + if (penetrationDepth <= decimal(0.0)) { + + // No collision + continue; + } + + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, + isSphereShape1 ? contactPointSphereLocal : contactPointCapsuleLocal, + isSphereShape1 ? contactPointCapsuleLocal : contactPointSphereLocal); } - // Create the contact info object - narrowPhaseInfo->addContactPoint(normalWorld, penetrationDepth, - isSphereShape1 ? contactPointSphereLocal : contactPointCapsuleLocal, - isSphereShape1 ? contactPointCapsuleLocal : contactPointSphereLocal); + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; } - - return true; } - - return false; } diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h index 97bfc1ce..85abc219 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -66,7 +66,9 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { SphereVsCapsuleAlgorithm& operator=(const SphereVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a capsule - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override; + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator) override; }; } diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index f6f4ab0f..fac9baf9 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -27,7 +27,7 @@ #include "SphereVsConvexPolyhedronAlgorithm.h" #include "GJK/GJKAlgorithm.h" #include "SAT/SATAlgorithm.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -35,57 +35,66 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a convex polyhedron // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, - MemoryAllocator& memoryAllocator) { - - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON); - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE || - narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::SPHERE); - - // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfo->getLastFrameCollisionInfo(); +void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; #ifdef IS_PROFILING_ACTIVE - gjkAlgorithm.setProfiler(mProfiler); + gjkAlgorithm.setProfiler(mProfiler); #endif - GJKAlgorithm::GJKResult result = gjkAlgorithm.testCollision(narrowPhaseInfo, reportContacts); + List gjkResults(memoryAllocator); + gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults, reportContacts); - lastFrameCollisionInfo->wasUsingGJK = true; - lastFrameCollisionInfo->wasUsingSAT = false; + // For each item in the batch + uint resultIndex=0; + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - // If we have found a contact point inside the margins (shallow penetration) - if (result == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { + assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - // Return true - return true; - } + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE || + narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); - // If we have overlap even without the margins (deep penetration) - if (result == GJKAlgorithm::GJKResult::INTERPENETRATE) { + // Get the last frame collision info + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); - // Run the SAT algorithm to find the separating axis and compute contact point - SATAlgorithm satAlgorithm(memoryAllocator); + lastFrameCollisionInfo->wasUsingGJK = true; + lastFrameCollisionInfo->wasUsingSAT = false; + + // If we have found a contact point inside the margins (shallow penetration) + if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { + + // Return true + narrowPhaseInfoBatch.isColliding[batchIndex] = true; + continue; + } + + // If we have overlap even without the margins (deep penetration) + if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { + + // Run the SAT algorithm to find the separating axis and compute contact point + SATAlgorithm satAlgorithm(memoryAllocator); #ifdef IS_PROFILING_ACTIVE - satAlgorithm.setProfiler(mProfiler); + satAlgorithm.setProfiler(mProfiler); #endif - bool isColliding = satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfo, reportContacts); + satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1, reportContacts); - lastFrameCollisionInfo->wasUsingGJK = false; - lastFrameCollisionInfo->wasUsingSAT = true; + lastFrameCollisionInfo->wasUsingGJK = false; + lastFrameCollisionInfo->wasUsingSAT = true; - return isColliding; + continue; + } + + resultIndex++; } - - return false; } diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index c4782f9a..378255e0 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -71,7 +71,9 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override; + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator) override; }; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index f187bd1d..2c8704c7 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -26,66 +26,70 @@ // Libraries #include "SphereVsSphereAlgorithm.h" #include "collision/shapes/SphereShape.h" -#include "collision/NarrowPhaseInfo.h" +#include "collision/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; -bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, - MemoryAllocator& memoryAllocator) { - - assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE); - assert(narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::SPHERE); +void SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, MemoryAllocator& memoryAllocator) { - // Get the sphere collision shapes - const SphereShape* sphereShape1 = static_cast(narrowPhaseInfo->collisionShape1); - const SphereShape* sphereShape2 = static_cast(narrowPhaseInfo->collisionShape2); + // For each item in the batch + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - // Get the local-space to world-space transforms - const Transform& transform1 = narrowPhaseInfo->shape1ToWorldTransform; - const Transform& transform2 = narrowPhaseInfo->shape2ToWorldTransform; + assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - // Compute the distance between the centers - Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition(); - decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare(); + assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE); + assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); - // Compute the sum of the radius - decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius(); - - // If the sphere collision shapes intersect - if (squaredDistanceBetweenCenters < sumRadius * sumRadius) { + // Get the sphere collision shapes + const SphereShape* sphereShape1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const SphereShape* sphereShape2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - if (reportContacts) { + // Get the local-space to world-space transforms + const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; - Vector3 centerSphere2InBody1LocalSpace = transform1.getInverse() * transform2.getPosition(); - Vector3 centerSphere1InBody2LocalSpace = transform2.getInverse() * transform1.getPosition(); - decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters); - Vector3 intersectionOnBody1; - Vector3 intersectionOnBody2; - Vector3 normal; + // Compute the distance between the centers + Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition(); + decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare(); - // If the two sphere centers are not at the same position - if (squaredDistanceBetweenCenters > MACHINE_EPSILON) { + // Compute the sum of the radius + decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius(); - intersectionOnBody1 = sphereShape1->getRadius() * centerSphere2InBody1LocalSpace.getUnit(); - intersectionOnBody2 = sphereShape2->getRadius() * centerSphere1InBody2LocalSpace.getUnit(); - normal = vectorBetweenCenters.getUnit(); - } - else { // If the sphere centers are at the same position (degenerate case) + // If the sphere collision shapes intersect + if (squaredDistanceBetweenCenters < sumRadius * sumRadius) { - // Take any contact normal direction - normal.setAllValues(0, 1, 0); + if (reportContacts) { - intersectionOnBody1 = sphereShape1->getRadius() * (transform1.getInverse().getOrientation() * normal); - intersectionOnBody2 = sphereShape2->getRadius() * (transform2.getInverse().getOrientation() * normal); - } - - // Create the contact info object - narrowPhaseInfo->addContactPoint(normal, penetrationDepth, intersectionOnBody1, intersectionOnBody2); + Vector3 centerSphere2InBody1LocalSpace = transform1.getInverse() * transform2.getPosition(); + Vector3 centerSphere1InBody2LocalSpace = transform2.getInverse() * transform1.getPosition(); + decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters); + Vector3 intersectionOnBody1; + Vector3 intersectionOnBody2; + Vector3 normal; + + // If the two sphere centers are not at the same position + if (squaredDistanceBetweenCenters > MACHINE_EPSILON) { + + intersectionOnBody1 = sphereShape1->getRadius() * centerSphere2InBody1LocalSpace.getUnit(); + intersectionOnBody2 = sphereShape2->getRadius() * centerSphere1InBody2LocalSpace.getUnit(); + normal = vectorBetweenCenters.getUnit(); + } + else { // If the sphere centers are at the same position (degenerate case) + + // Take any contact normal direction + normal.setAllValues(0, 1, 0); + + intersectionOnBody1 = sphereShape1->getRadius() * (transform1.getInverse().getOrientation() * normal); + intersectionOnBody2 = sphereShape2->getRadius() * (transform2.getInverse().getOrientation() * normal); + } + + // Create the contact info object + narrowPhaseInfoBatch.addContactPoint(batchIndex, normal, penetrationDepth, intersectionOnBody1, intersectionOnBody2); + } + + narrowPhaseInfoBatch.isColliding[batchIndex] = true; } - - return true; } - - return false; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/src/collision/narrowphase/SphereVsSphereAlgorithm.h index 3f1384ce..d5c7128f 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -65,7 +65,9 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volume collide - virtual bool testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts, MemoryAllocator& memoryAllocator) override; + virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator) override; }; } diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index 0c1193fc..e705c7bf 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -37,8 +37,6 @@ namespace reactphysics3d { // Declarations class CollisionBody; -struct NarrowPhaseInfo; - // Class ContactPoint /** * This class represents a collision contact point between two diff --git a/src/containers/List.h b/src/containers/List.h index 9a7b1a3a..2e09887f 100755 --- a/src/containers/List.h +++ b/src/containers/List.h @@ -39,7 +39,7 @@ namespace reactphysics3d { // Class List /** * This class represents a simple generic list with custom memory allocator. - */ + */ template class List { diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index 863bd1a8..4498cbf4 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -26,7 +26,6 @@ // Libraries #include #include "OverlappingPair.h" -#include "collision/NarrowPhaseInfo.h" #include "containers/containers_common.h" #include "collision/ContactPointInfo.h" diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 30d1ab94..2671edfd 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -38,7 +38,7 @@ namespace reactphysics3d { // Declarations -struct NarrowPhaseInfo; +struct NarrowPhaseInfoBatch; class CollisionShape; // Structure LastFrameCollisionInfo @@ -159,7 +159,7 @@ class OverlappingPair { const ContactManifoldSet& getContactManifoldSet(); /// Add potential contact-points from narrow-phase into potential contact manifolds - void addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo); + void addPotentialContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex); /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); @@ -289,8 +289,8 @@ inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint s } // Create a new potential contact manifold using contact-points from narrow-phase -inline void OverlappingPair::addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo) { - mContactManifoldSet.addContactPoints(narrowPhaseInfo); +inline void OverlappingPair::addPotentialContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) { + mContactManifoldSet.addContactPoints(narrowPhaseInfoBatch, batchIndex); } } From e8a5d2ceba311a44aca2e32a35ec356bfe1b3dc8 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 3 Oct 2018 22:14:59 +0200 Subject: [PATCH 006/197] Edit .gitignore file --- .gitignore | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/.gitignore b/.gitignore index ccb0c7fc..bf6b5205 100644 --- a/.gitignore +++ b/.gitignore @@ -25,3 +25,21 @@ Thumbs.db # vim swap files ##################### *.*sw* + +# documentation +##################### +documentation/API/html/ +documentation/UserManual/html/ +documentation/UserManual/*.4ct +documentation/UserManual/*.4tc +documentation/UserManual/*.aux +documentation/UserManual/*.dvi +documentation/UserManual/*.css +documentation/UserManual/*.html +documentation/UserManual/*.idv +documentation/UserManual/*.lg +documentation/UserManual/*.out +documentation/UserManual/*.tmp +documentation/UserManual/*.toc +documentation/UserManual/*.xref +documentation/UserManual/*.xref From b62c0cf100b4a7497452e54bcb9a9d6acbde92de Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 10 Oct 2018 20:24:51 +0200 Subject: [PATCH 007/197] Fix issue in PoolAllocator: Use default base allocator instead of free() --- src/memory/PoolAllocator.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/memory/PoolAllocator.cpp b/src/memory/PoolAllocator.cpp index f73ab150..7e9c0a93 100644 --- a/src/memory/PoolAllocator.cpp +++ b/src/memory/PoolAllocator.cpp @@ -135,9 +135,9 @@ void* PoolAllocator::allocate(size_t size) { MemoryBlock* currentMemoryBlocks = mMemoryBlocks; mNbAllocatedMemoryBlocks += 64; mMemoryBlocks = static_cast(MemoryManager::getBaseAllocator().allocate(mNbAllocatedMemoryBlocks * sizeof(MemoryBlock))); - memcpy(mMemoryBlocks, currentMemoryBlocks,mNbCurrentMemoryBlocks * sizeof(MemoryBlock)); + memcpy(mMemoryBlocks, currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock)); memset(mMemoryBlocks + mNbCurrentMemoryBlocks, 0, 64 * sizeof(MemoryBlock)); - free(currentMemoryBlocks); + MemoryManager::getBaseAllocator().release(currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock)); } // Allocate a new memory blocks for the corresponding heap and divide it in many From f0fe97a41b37807a4d4d3dc7b0da066929640f8b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 10 Oct 2018 20:33:42 +0200 Subject: [PATCH 008/197] Remove method to get last frame info from NarrowPhaseInfoBatch class --- src/collision/CollisionDetection.cpp | 2 +- src/collision/NarrowPhaseInfoBatch.cpp | 5 ++++- src/collision/NarrowPhaseInfoBatch.h | 11 +++-------- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 2 +- .../ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp | 2 +- src/collision/narrowphase/GJK/GJKAlgorithm.cpp | 2 +- src/collision/narrowphase/SAT/SATAlgorithm.cpp | 2 +- .../narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp | 2 +- 8 files changed, 13 insertions(+), 15 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 00f38793..cfcce432 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -248,7 +248,7 @@ void CollisionDetection::computeNarrowPhase() { // If there is no collision algorithm between those two kinds of shapes, skip it if (narrowPhaseAlgorithm != nullptr) { - LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); + LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; // Use the narrow-phase collision detection algorithm to check // if there really is a collision. If a collision occurs, the diff --git a/src/collision/NarrowPhaseInfoBatch.cpp b/src/collision/NarrowPhaseInfoBatch.cpp index 932b99ed..3888fc29 100644 --- a/src/collision/NarrowPhaseInfoBatch.cpp +++ b/src/collision/NarrowPhaseInfoBatch.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator) : mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator), shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), - isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator) { + isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) { } @@ -60,6 +60,8 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionSh // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + + lastFrameCollisionInfos.add(pair->getLastFrameCollisionInfo(shape1->getId(), shape2->getId())); } // Add a new contact point @@ -125,6 +127,7 @@ void NarrowPhaseInfoBatch::clear() { shape1ToWorldTransforms.clear(); shape2ToWorldTransforms.clear(); collisionShapeAllocators.clear(); + lastFrameCollisionInfos.clear(); isColliding.clear(); contactPoints.clear(); } diff --git a/src/collision/NarrowPhaseInfoBatch.h b/src/collision/NarrowPhaseInfoBatch.h index 6ccff688..0a9c0ae0 100644 --- a/src/collision/NarrowPhaseInfoBatch.h +++ b/src/collision/NarrowPhaseInfoBatch.h @@ -78,6 +78,9 @@ struct NarrowPhaseInfoBatch { /// Memory allocators for the collision shape (Used to release TriangleShape memory in destructor) List collisionShapeAllocators; + /// Collision infos of the previous frame + List lastFrameCollisionInfos; + /// Constructor NarrowPhaseInfoBatch(MemoryAllocator& allocator); @@ -101,9 +104,6 @@ struct NarrowPhaseInfoBatch { /// Clear all the objects in the batch void clear(); - - /// Get the last collision frame info for temporal coherence - LastFrameCollisionInfo* getLastFrameCollisionInfo(uint index) const; }; /// Return the number of objects in the batch @@ -111,11 +111,6 @@ inline uint NarrowPhaseInfoBatch::getNbObjects() const { return overlappingPairs.size(); } -// Get the last collision frame info for temporal coherence -inline LastFrameCollisionInfo* NarrowPhaseInfoBatch::getLastFrameCollisionInfo(uint index) const { - return overlappingPairs[index]->getLastFrameCollisionInfo(collisionShapes1[index]->getId(), collisionShapes2[index]->getId()); -} - } #endif diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index c34aa031..54797d86 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -64,7 +64,7 @@ void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; lastFrameCollisionInfo->wasUsingGJK = true; lastFrameCollisionInfo->wasUsingSAT = false; diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index eb8cd159..c20d0390 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -54,7 +54,7 @@ void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; lastFrameCollisionInfo->wasUsingSAT = true; lastFrameCollisionInfo->wasUsingGJK = false; diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index e046fcfd..64b9ac87 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -92,7 +92,7 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin VoronoiSimplex simplex; // Get the last collision frame info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; // Get the previous point V (last cached separating axis) Vector3 v; diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index d88911e6..8ef648ef 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -494,7 +494,7 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn Vector3 minEdgeVsEdgeSeparatingAxisPolyhedron2Space; bool isShape1Triangle = polyhedron1->getName() == CollisionShapeName::TRIANGLE; - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; // If the last frame collision info is valid and was also using SAT algorithm if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingSAT) { diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index fac9baf9..11574330 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -62,7 +62,7 @@ void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); // Get the last frame collision info - LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex); + LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; lastFrameCollisionInfo->wasUsingGJK = true; lastFrameCollisionInfo->wasUsingSAT = false; From bfffdb4879a22a85f716643560ba2fd0ba7b380a Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 27 Oct 2018 17:25:40 +0200 Subject: [PATCH 009/197] Edit user manual --- documentation/UserManual/ReactPhysics3D-UserManual.tex | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/documentation/UserManual/ReactPhysics3D-UserManual.tex b/documentation/UserManual/ReactPhysics3D-UserManual.tex index 46fefaa8..e0a63d07 100644 --- a/documentation/UserManual/ReactPhysics3D-UserManual.tex +++ b/documentation/UserManual/ReactPhysics3D-UserManual.tex @@ -1516,7 +1516,8 @@ world.destroyJoint(joint); \label{sec:raycasting} You can use ReactPhysics3D to test intersection between a ray and the bodies of the world you have created. Ray casting can be performed against multiple bodies, a single body or - any proxy shape of a given body. \\ + any proxy shape of a given body. Note that ray casting only works from the outside of the bodies. If the origin of a ray is inside a collision + shape, no hit will be reported. \\ The first thing you need to do is to create a ray using the \texttt{Ray} class of ReactPhysics3D. As you can see in the following example, this is very easy. You simply need to specify the point where the ray starts and the point where the ray ends (in world-space coordinates). \\ From 5cdf66d009c8ca6a06fea8f5dbbacef16990edcf Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 5 Nov 2018 18:34:46 +0100 Subject: [PATCH 010/197] Directly call narrrow-phase collision detection tests on narrow phase batches --- CHANGELOG.md | 6 + CMakeLists.txt | 7 +- src/collision/CollisionDetection.cpp | 380 ++++++++---------- src/collision/CollisionDetection.h | 83 ++-- src/collision/MiddlePhaseTriangleCallback.cpp | 11 +- src/collision/MiddlePhaseTriangleCallback.h | 16 +- src/collision/NarrowPhaseInfoBatch.cpp | 8 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 18 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 4 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 28 +- .../CapsuleVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/CollisionDispatch.cpp | 215 ++++++++++ src/collision/narrowphase/CollisionDispatch.h | 163 +++++++- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 13 +- ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/DefaultCollisionDispatch.cpp | 69 ---- .../narrowphase/DefaultCollisionDispatch.h | 111 ----- .../narrowphase/GJK/GJKAlgorithm.cpp | 6 + .../narrowphase/NarrowPhaseAlgorithm.h | 9 +- .../narrowphase/NarrowPhaseInput.cpp | 80 ++++ src/collision/narrowphase/NarrowPhaseInput.h | 127 ++++++ .../narrowphase/SAT/SATAlgorithm.cpp | 34 +- src/collision/narrowphase/SAT/SATAlgorithm.h | 7 +- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 14 +- .../narrowphase/SphereVsCapsuleAlgorithm.h | 4 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 28 +- .../SphereVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 13 +- .../narrowphase/SphereVsSphereAlgorithm.h | 4 +- src/engine/CollisionWorld.h | 8 +- src/engine/OverlappingPair.cpp | 6 +- src/engine/OverlappingPair.h | 2 +- 32 files changed, 947 insertions(+), 539 deletions(-) create mode 100644 src/collision/narrowphase/CollisionDispatch.cpp delete mode 100644 src/collision/narrowphase/DefaultCollisionDispatch.cpp delete mode 100644 src/collision/narrowphase/DefaultCollisionDispatch.h create mode 100644 src/collision/narrowphase/NarrowPhaseInput.cpp create mode 100644 src/collision/narrowphase/NarrowPhaseInput.h diff --git a/CHANGELOG.md b/CHANGELOG.md index 0c667fb2..eaaa6771 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -17,6 +17,12 @@ - Bug [#62](https://github.com/DanielChappuis/reactphysics3d/issues/62) has been fixed. - Bug [#63](https://github.com/DanielChappuis/reactphysics3d/issues/63) has been fixed. +### Removed + + - The CollisionWorld::setCollisionDispatch() method has been removed. In order to use a custom collision + algorithm, you must not get the collision dispatch object with the + CollisionWorld::getCollisionDispatch() method and set a collision algorithm to this object. + ## Version 0.7.0 (May 1, 2018) ### Added diff --git a/CMakeLists.txt b/CMakeLists.txt index dceef275..ce20060a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -84,7 +84,6 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/broadphase/BroadPhaseAlgorithm.h" "src/collision/broadphase/DynamicAABBTree.h" "src/collision/narrowphase/CollisionDispatch.h" - "src/collision/narrowphase/DefaultCollisionDispatch.h" "src/collision/narrowphase/GJK/VoronoiSimplex.h" "src/collision/narrowphase/GJK/GJKAlgorithm.h" "src/collision/narrowphase/SAT/SATAlgorithm.h" @@ -95,6 +94,8 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h" "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h" "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" + "src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.h" + "src/collision/narrowphase/NarrowPhaseInput.h" "src/collision/shapes/AABB.h" "src/collision/shapes/ConvexShape.h" "src/collision/shapes/ConvexPolyhedronShape.h" @@ -168,7 +169,7 @@ SET (REACTPHYSICS3D_SOURCES "src/body/RigidBody.cpp" "src/collision/broadphase/BroadPhaseAlgorithm.cpp" "src/collision/broadphase/DynamicAABBTree.cpp" - "src/collision/narrowphase/DefaultCollisionDispatch.cpp" + "src/collision/narrowphase/CollisionDispatch.cpp" "src/collision/narrowphase/GJK/VoronoiSimplex.cpp" "src/collision/narrowphase/GJK/GJKAlgorithm.cpp" "src/collision/narrowphase/SAT/SATAlgorithm.cpp" @@ -178,6 +179,8 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp" "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp" "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp" + "src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.cpp" + "src/collision/narrowphase/NarrowPhaseInput.cpp" "src/collision/shapes/AABB.cpp" "src/collision/shapes/ConvexShape.cpp" "src/collision/shapes/ConvexPolyhedronShape.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index cfcce432..70e5e0ad 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -49,19 +49,15 @@ using namespace std; // Constructor CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()), + : mMemoryManager(memoryManager), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), - mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false) { - - // Set the default collision dispatch configuration - setCollisionDispatch(&mDefaultCollisionDispatch); - - // Fill-in the collision detection matrix with algorithms - fillInCollisionMatrix(); + mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), + mNarrowPhaseInput(mMemoryManager.getPoolAllocator()) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; + mCollisionDispatch.setProfiler(mProfiler); #endif @@ -157,17 +153,21 @@ void CollisionDetection::computeMiddlePhase() { // If both shapes are convex if (isShape1Convex && isShape2Convex) { + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(shape1->getCollisionShape()->getType(), + shape2->getCollisionShape()->getType()); + // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - mNarrowPhaseInfoBatch.addNarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), + mNarrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), - mMemoryManager.getSingleFrameAllocator()); + algorithmType, mMemoryManager.getSingleFrameAllocator()); } // Concave vs Convex algorithm else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInfoBatch); + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInput); } // Concave vs Concave shape else { @@ -183,7 +183,7 @@ void CollisionDetection::computeMiddlePhase() { // Compute the concave vs convex middle-phase algorithm for a given pair of bodies void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - NarrowPhaseInfoBatch& narrowPhaseInfoBatch) { + NarrowPhaseInput& narrowPhaseInput) { ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -207,9 +207,15 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair concaveShape = static_cast(shape1->getCollisionShape()); } + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(convexShape->getType(), + CollisionShapeType::CONVEX_POLYHEDRON); + + assert(algorithmType != NarrowPhaseAlgorithmType::None); + // Set the parameters of the callback object MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape, - concaveShape, narrowPhaseInfoBatch, allocator); + concaveShape, narrowPhaseInput, algorithmType, allocator); #ifdef IS_PROFILING_ACTIVE @@ -228,49 +234,92 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair concaveShape->testAllTriangles(middlePhaseCallback, aabb); } +// Execute the narrow-phase collision detection algorithm on batches +bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, + bool reportContacts, MemoryAllocator& allocator) { + + bool contactFound = false; + + // Get the narrow-phase collision detection algorithms for each kind of collision shapes + SphereVsSphereAlgorithm* sphereVsSphereAlgo = mCollisionDispatch.getSphereVsSphereAlgorithm(); + SphereVsCapsuleAlgorithm* sphereVsCapsuleAlgo = mCollisionDispatch.getSphereVsCapsuleAlgorithm(); + CapsuleVsCapsuleAlgorithm* capsuleVsCapsuleAlgo = mCollisionDispatch.getCapsuleVsCapsuleAlgorithm(); + SphereVsConvexPolyhedronAlgorithm* sphereVsConvexPolyAlgo = mCollisionDispatch.getSphereVsConvexPolyhedronAlgorithm(); + CapsuleVsConvexPolyhedronAlgorithm* capsuleVsConvexPolyAlgo = mCollisionDispatch.getCapsuleVsConvexPolyhedronAlgorithm(); + ConvexPolyhedronVsConvexPolyhedronAlgorithm* convexPolyVsConvexPolyAlgo = mCollisionDispatch.getConvexPolyhedronVsConvexPolyhedronAlgorithm(); + + // get the narrow-phase batches to test for collision + NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); + NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); + NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); + NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); + + // Compute the narrow-phase collision detection for each kind of collision shapes + if (sphereVsSphereBatch.getNbObjects() > 0) { + contactFound |= sphereVsSphereAlgo->testCollision(sphereVsSphereBatch, 0, sphereVsSphereBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); + if (stopFirstContactFound && contactFound) return true; + } + if (sphereVsCapsuleBatch.getNbObjects() > 0) { + contactFound |= sphereVsCapsuleAlgo->testCollision(sphereVsCapsuleBatch, 0, sphereVsCapsuleBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); + if (stopFirstContactFound && contactFound) return true; + } + if (capsuleVsCapsuleBatch.getNbObjects() > 0) { + contactFound |= capsuleVsCapsuleAlgo->testCollision(capsuleVsCapsuleBatch, 0, capsuleVsCapsuleBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); + if (stopFirstContactFound && contactFound) return true; + } + if (sphereVsConvexPolyhedronBatch.getNbObjects() > 0) { + contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatch, 0, sphereVsConvexPolyhedronBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); + if (stopFirstContactFound && contactFound) return true; + } + if (capsuleVsConvexPolyhedronBatch.getNbObjects() > 0) { + contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatch, 0, capsuleVsConvexPolyhedronBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); + if (stopFirstContactFound && contactFound) return true; + } + if (convexPolyhedronVsConvexPolyhedronBatch.getNbObjects() > 0) { + contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatch, 0, convexPolyhedronVsConvexPolyhedronBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); + if (stopFirstContactFound && contactFound) return true; + } + + return contactFound; +} + +// Process the potential contacts after narrow-phase collision detection +void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo) { + + // get the narrow-phase batches to test for collision + NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); + NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); + NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); + NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); + + // Process the potential contacts + processPotentialContacts(sphereVsSphereBatch, updateLastFrameInfo); + processPotentialContacts(sphereVsCapsuleBatch, updateLastFrameInfo); + processPotentialContacts(capsuleVsCapsuleBatch, updateLastFrameInfo); + processPotentialContacts(sphereVsConvexPolyhedronBatch, updateLastFrameInfo); + processPotentialContacts(capsuleVsConvexPolyhedronBatch, updateLastFrameInfo); + processPotentialContacts(convexPolyhedronVsConvexPolyhedronBatch, updateLastFrameInfo); +} + // Compute the narrow-phase collision detection void CollisionDetection::computeNarrowPhase() { RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); - List collidingBatchIndices(mMemoryManager.getSingleFrameAllocator()); + MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator(); - // For each narrow phase info to process - for(uint batchIndex=0; batchIndex < mNarrowPhaseInfoBatch.getNbObjects(); batchIndex++) { + // Test the narrow-phase collision detection on the batches to be tested + testNarrowPhaseCollision(mNarrowPhaseInput, false, true, allocator); - assert(mNarrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); + // Process all the potential contacts after narrow-phase collision + processAllPotentialContacts(mNarrowPhaseInput, true); - // Select the narrow phase algorithm to use according to the two collision shapes - const CollisionShapeType shape1Type = mNarrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); - const CollisionShapeType shape2Type = mNarrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is no collision algorithm between those two kinds of shapes, skip it - if (narrowPhaseAlgorithm != nullptr) { - - LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex]; - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(mNarrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getSingleFrameAllocator()); - if (mNarrowPhaseInfoBatch.isColliding[batchIndex]) { - - lastCollisionFrameInfo->wasColliding = true; - - collidingBatchIndices.add(batchIndex); - } - else { - lastCollisionFrameInfo->wasColliding = false; - } - - // The previous frame collision info is now valid - lastCollisionFrameInfo->isValid = true; - } - } - - // Convert the potential contact into actual contacts - processAllPotentialContacts(mNarrowPhaseInfoBatch, collidingBatchIndices, mOverlappingPairs); + // Reduce the number of contact points in the manifolds + reduceContactManifolds(mOverlappingPairs); // Add all the contact manifolds (between colliding bodies) to the bodies addAllContactManifoldsToBodies(); @@ -279,7 +328,7 @@ void CollisionDetection::computeNarrowPhase() { reportAllContacts(); // Clear the list of narrow-phase infos - mNarrowPhaseInfoBatch.clear(); + mNarrowPhaseInput.clear(); } // Allow the broadphase to notify the collision detection about an overlapping pair. @@ -408,24 +457,35 @@ void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { } /// Convert the potential contact into actual contacts -void CollisionDetection::processAllPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, const List& collidingBatchIndex, - const OverlappingPairMap& overlappingPairs) { +void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo) { RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); // For each narrow phase info object - for(uint i=0; i < collidingBatchIndex.size(); i++) { + for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { - uint batchIndex = collidingBatchIndex[i]; + if (updateLastFrameInfo) { + narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->wasColliding = narrowPhaseInfoBatch.isColliding[i]; - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0); + // The previous frame collision info is now valid + narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->isValid = true; + } - // Transfer the contact points from the narrow phase info to the overlapping pair - narrowPhaseInfoBatch.overlappingPairs[batchIndex]->addPotentialContactPoints(narrowPhaseInfoBatch, batchIndex); + if (narrowPhaseInfoBatch.isColliding[i]) { - // Remove the contacts points from the narrow phase info object. - narrowPhaseInfoBatch.resetContactPoints(batchIndex); + assert(narrowPhaseInfoBatch.contactPoints[i].size() > 0); + + // Transfer the contact points from the narrow phase info to the overlapping pair + narrowPhaseInfoBatch.overlappingPairs[i]->addPotentialContactPoints(narrowPhaseInfoBatch, i); + + // Remove the contacts points from the narrow phase info object. + narrowPhaseInfoBatch.resetContactPoints(i); + } } +} + +// Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds +void CollisionDetection::reduceContactManifolds(const OverlappingPairMap& overlappingPairs) { // For each overlapping pairs in contact during the narrow-phase for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -438,6 +498,7 @@ void CollisionDetection::processAllPotentialContacts(NarrowPhaseInfoBatch& narro // Reduce the contact manifolds and contact points if there are too many of them pair->reduceContactManifolds(); } + } // Report contacts for all the colliding overlapping pairs @@ -462,7 +523,7 @@ void CollisionDetection::reportAllContacts() { } // Compute the middle-phase collision detection between two proxy shapes -void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch) { +void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInput& outNarrowPhaseInput) { ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -477,11 +538,14 @@ void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, // If both shapes are convex if ((isShape1Convex && isShape2Convex)) { + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(shape1->getCollisionShape()->getType(), + shape2->getCollisionShape()->getType()); // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - outNarrowPhaseInfoBatch.addNarrowPhaseInfo(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), + outNarrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), - mMemoryManager.getPoolAllocator()); + algorithmType, mMemoryManager.getPoolAllocator()); } // Concave vs Convex algorithm @@ -489,7 +553,7 @@ void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, // Run the middle-phase collision detection algorithm to find the triangles of the concave // shape we need to use during the narrow-phase collision detection - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInfoBatch); + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInput); } pair->clearObsoleteLastFrameCollisionInfos(); @@ -538,7 +602,7 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over // Return true if two bodies overlap bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { - NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the first body ProxyShape* body1ProxyShape = body1->getProxyShapesList(); @@ -560,38 +624,8 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) mMemoryManager.getPoolAllocator(), mWorld->mConfig); // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfoBatch); + computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInput); - bool isColliding = false; - - // For each narrow-phase info object - for(uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - - // If we have not found a collision yet - if (!isColliding) { - - const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, false, mMemoryManager.getPoolAllocator()); - isColliding |= narrowPhaseInfoBatch.isColliding[batchIndex]; - } - } - } - - narrowPhaseInfoBatch.clear(); - - // Return if we have found a narrow-phase collision - if (isColliding) return true; } // Go to the next proxy shape @@ -602,8 +636,13 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) body1ProxyShape = body1ProxyShape->getNext(); } + // Test narrow-phase collision + bool isCollisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, false, mMemoryManager.getPoolAllocator()); + + narrowPhaseInput.clear(); + // No overlap has been found - return false; + return isCollisionFound; } // Report all the bodies that overlap with the body in parameter @@ -613,7 +652,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl assert(overlapCallback != nullptr); Set reportedBodies(mMemoryManager.getPoolAllocator()); - NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body ProxyShape* bodyProxyShape = body->getProxyShapesList(); @@ -651,38 +690,10 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl mMemoryManager.getPoolAllocator(), mWorld->mConfig); // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInfoBatch); + computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInput); - bool isColliding = false; - - // For each narrow-phase info object - for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - - // If we have not found a collision yet - if (!isColliding) { - - const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, false, mMemoryManager.getPoolAllocator()); - isColliding |= narrowPhaseInfoBatch.isColliding[batchIndex]; - } - } - } - - narrowPhaseInfoBatch.clear(); - - // Return if we have found a narrow-phase collision - if (isColliding) { + // Test narrow-phase collision + if (testNarrowPhaseCollision(narrowPhaseInput, true, false, mMemoryManager.getPoolAllocator())) { CollisionBody* overlapBody = proxyShape->getBody(); @@ -692,6 +703,8 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl // Notify the overlap to the user overlapCallback->notifyOverlap(overlapBody); } + + narrowPhaseInput.clear(); } } @@ -710,8 +723,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body assert(collisionCallback != nullptr); - List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); - NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the first body @@ -752,7 +764,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body } // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch); + computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); } // Go to the next proxy shape @@ -763,31 +775,14 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body body1ProxyShape = body1ProxyShape->getNext(); } - // For each narrow-phase info object - for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - - const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator()); - if (narrowPhaseInfoBatch.isColliding[batchIndex]) { - - collidingNarrowPhaseInfos.add(batchIndex); - } - } - } + // Test narrow-phase collision + testNarrowPhaseCollision(narrowPhaseInput, false, true, mMemoryManager.getPoolAllocator()); // Process the potential contacts - processAllPotentialContacts(narrowPhaseInfoBatch, collidingNarrowPhaseInfos, overlappingPairs); + processAllPotentialContacts(narrowPhaseInput, false); + + // Reduce the number of contact points in the manifolds + reduceContactManifolds(overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -812,8 +807,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c assert(callback != nullptr); - List collidingBatchIndices(mMemoryManager.getPoolAllocator()); - NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body @@ -868,7 +862,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch); + computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); } } @@ -881,31 +875,14 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c } } - // For each narrow-phase info object - for (uint batchIndex = 0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - - const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator()); - if (narrowPhaseInfoBatch.isColliding[batchIndex]) { - - collidingBatchIndices.add(batchIndex); - } - } - } + // Test narrow-phase collision + testNarrowPhaseCollision(narrowPhaseInput, false, true, mMemoryManager.getPoolAllocator()); // Process the potential contacts - processAllPotentialContacts(narrowPhaseInfoBatch, collidingBatchIndices, overlappingPairs); + processAllPotentialContacts(narrowPhaseInput, false); + + // Reduce the number of contact points in the manifolds + reduceContactManifolds(overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -933,8 +910,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // Compute the broad-phase collision detection computeBroadPhase(); - List collidingBatchIndices(mMemoryManager.getPoolAllocator()); - NarrowPhaseInfoBatch narrowPhaseInfoBatch(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each possible collision pair of bodies @@ -974,35 +950,18 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, narrowPhaseInfoBatch); + computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); } } - // For each narrow-phase info object - for (uint batchIndex=0; batchIndex < narrowPhaseInfoBatch.getNbObjects(); batchIndex++) { - - const CollisionShapeType shape1Type = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfoBatch, batchIndex, 1, true, mMemoryManager.getPoolAllocator()); - if (narrowPhaseInfoBatch.isColliding[batchIndex]) { - - collidingBatchIndices.add(batchIndex); - } - } - } + // Test narrow-phase collision + testNarrowPhaseCollision(narrowPhaseInput, false, true, mMemoryManager.getPoolAllocator()); // Process the potential contacts - processAllPotentialContacts(narrowPhaseInfoBatch, collidingBatchIndices, overlappingPairs); + processAllPotentialContacts(narrowPhaseInput, false); + + // Reduce the number of contact points in the manifolds + reduceContactManifolds(overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -1022,17 +981,6 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { } } -// Fill-in the collision detection matrix -void CollisionDetection::fillInCollisionMatrix() { - - // For each possible type of collision shape - for (int i=0; iselectAlgorithm(i, j); - } - } -} - // Return the world event listener EventListener* CollisionDetection::getWorldEventListener() { return mWorld->mEventListener; diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 31f6de81..b10c83e3 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -31,8 +31,8 @@ #include "broadphase/BroadPhaseAlgorithm.h" #include "collision/shapes/CollisionShape.h" #include "engine/OverlappingPair.h" -#include "collision/narrowphase/DefaultCollisionDispatch.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInput.h" +#include "collision/narrowphase/CollisionDispatch.h" #include "containers/Map.h" #include "containers/Set.h" @@ -68,20 +68,11 @@ class CollisionDetection { MemoryManager& mMemoryManager; /// Collision Detection Dispatch configuration - CollisionDispatch* mCollisionDispatch; - - /// Default collision dispatch configuration - DefaultCollisionDispatch mDefaultCollisionDispatch; - - /// Collision detection matrix (algorithms to use) - NarrowPhaseAlgorithm* mCollisionMatrix[NB_COLLISION_SHAPE_TYPES][NB_COLLISION_SHAPE_TYPES]; + CollisionDispatch mCollisionDispatch; /// Pointer to the physics world CollisionWorld* mWorld; - /// List of narrow phase infos - NarrowPhaseInfoBatch mNarrowPhaseInfoBatch; - /// Broad-phase overlapping pairs OverlappingPairMap mOverlappingPairs; @@ -94,6 +85,9 @@ class CollisionDetection { /// True if some collision shapes have been added previously bool mIsCollisionShapesAdded; + /// Narrow-phase collision detection input + NarrowPhaseInput mNarrowPhaseInput; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -112,31 +106,33 @@ class CollisionDetection { /// Compute the narrow-phase collision detection void computeNarrowPhase(); + /// Execute the narrow-phase collision detection algorithm on batches + bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, + bool reportContacts, MemoryAllocator& allocator); + /// Add a contact manifold to the linked list of contact manifolds of the two bodies /// involved in the corresponding contact. void addContactManifoldToBody(OverlappingPair* pair); - /// Fill-in the collision detection matrix - void fillInCollisionMatrix(); - - /// Return the corresponding narrow-phase algorithm - NarrowPhaseAlgorithm* selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type, - const CollisionShapeType& shape2Type) const; - /// Add all the contact manifold of colliding pairs to their bodies void addAllContactManifoldsToBodies(); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - NarrowPhaseInfoBatch& narrowPhaseInfoBatch); + NarrowPhaseInput& narrowPhaseInput); /// Compute the middle-phase collision detection between two proxy shapes - void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch); + void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInput& outNarrowPhaseInput); /// Convert the potential contact into actual contacts - void processAllPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - const List& collidingBatchIndex, - const OverlappingPairMap& overlappingPairs); + void processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + bool updateLastFrameInfo); + + /// Process the potential contacts after narrow-phase collision detection + void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo); + + /// Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds + void reduceContactManifolds(const OverlappingPairMap& overlappingPairs); /// Report contacts for all the colliding overlapping pairs void reportAllContacts(); @@ -161,7 +157,7 @@ class CollisionDetection { CollisionDetection& operator=(const CollisionDetection& collisionDetection) = delete; /// Set the collision dispatch configuration - void setCollisionDispatch(CollisionDispatch* collisionDispatch); + CollisionDispatch& getCollisionDispatch(); /// Add a proxy collision shape to the collision detection void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb); @@ -235,20 +231,9 @@ class CollisionDetection { friend class ConvexMeshShape; }; -// Set the collision dispatch configuration -inline void CollisionDetection::setCollisionDispatch(CollisionDispatch* collisionDispatch) { - mCollisionDispatch = collisionDispatch; - - // Fill-in the collision matrix with the new algorithms to use - fillInCollisionMatrix(); - -#ifdef IS_PROFILING_ACTIVE - - // Set the profiler - mCollisionDispatch->setProfiler(mProfiler); - -#endif - +// Return a reference to the collision dispatch configuration +inline CollisionDispatch& CollisionDetection::getCollisionDispatch() { + return mCollisionDispatch; } // Add a body to the collision detection @@ -289,24 +274,6 @@ inline void CollisionDetection::updateProxyCollisionShape(ProxyShape* shape, con mBroadPhaseAlgorithm.updateProxyCollisionShape(shape, aabb, displacement); } -// Return the corresponding narrow-phase algorithm -inline NarrowPhaseAlgorithm* CollisionDetection::selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type, - const CollisionShapeType& shape2Type) const { - - uint shape1Index = static_cast(shape1Type); - uint shape2Index = static_cast(shape2Type); - - // Swap the shape types if necessary - if (shape1Index > shape2Index) { - const uint tempIndex = shape1Index; - shape1Index = shape2Index; - shape2Index = tempIndex; - } - - assert(shape1Index <= shape2Index); - - return mCollisionMatrix[shape1Index][shape2Index]; -} // Return a pointer to the world inline CollisionWorld* CollisionDetection::getWorld() { @@ -324,7 +291,7 @@ inline MemoryManager& CollisionDetection::getMemoryManager() const { inline void CollisionDetection::setProfiler(Profiler* profiler) { mProfiler = profiler; mBroadPhaseAlgorithm.setProfiler(profiler); - mCollisionDispatch->setProfiler(profiler); + mCollisionDispatch.setProfiler(profiler); } #endif diff --git a/src/collision/MiddlePhaseTriangleCallback.cpp b/src/collision/MiddlePhaseTriangleCallback.cpp index 9930bc98..c363ef1b 100644 --- a/src/collision/MiddlePhaseTriangleCallback.cpp +++ b/src/collision/MiddlePhaseTriangleCallback.cpp @@ -27,7 +27,7 @@ #include "collision/MiddlePhaseTriangleCallback.h" #include "engine/OverlappingPair.h" #include "collision/shapes/TriangleShape.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInput.h" using namespace reactphysics3d; @@ -51,8 +51,9 @@ void MiddlePhaseTriangleCallback::testTriangle(const Vector3* trianglePoints, co ProxyShape* shape2 = isShape1Convex ? mConcaveProxyShape : mConvexProxyShape; // Create a narrow phase info for the narrow-phase collision detection - mOutNarrowPhaseInfoBatch.addNarrowPhaseInfo(mOverlappingPair, - isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape, - isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(), - shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), mAllocator); + mOutNarrowPhaseInput.addNarrowPhaseTest(mOverlappingPair, + isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape, + isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(), + shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), + mNarrowPhaseAlgorithmType, mAllocator); } diff --git a/src/collision/MiddlePhaseTriangleCallback.h b/src/collision/MiddlePhaseTriangleCallback.h index abe624fd..1c417a60 100644 --- a/src/collision/MiddlePhaseTriangleCallback.h +++ b/src/collision/MiddlePhaseTriangleCallback.h @@ -41,7 +41,8 @@ class NarrowPhaseAlgorithm; class ProxyShape; class MemoryAllocator; class Profiler; -struct NarrowPhaseInfoBatch; +class NarrowPhaseInput; +enum class NarrowPhaseAlgorithmType; struct Vector3; // Class ConvexVsTriangleCallback @@ -66,8 +67,11 @@ class MiddlePhaseTriangleCallback : public TriangleCallback { /// Pointer to the concave collision shape const ConcaveShape* mConcaveShape; - /// Reference to the narrow phase info batch - NarrowPhaseInfoBatch& mOutNarrowPhaseInfoBatch; + /// Reference to the narrow phase input + NarrowPhaseInput& mOutNarrowPhaseInput; + + /// Type of narrow-phase algorithm to use + NarrowPhaseAlgorithmType mNarrowPhaseAlgorithmType; /// Reference to the single-frame memory allocator MemoryAllocator& mAllocator; @@ -85,11 +89,13 @@ class MiddlePhaseTriangleCallback : public TriangleCallback { MiddlePhaseTriangleCallback(OverlappingPair* overlappingPair, ProxyShape* concaveProxyShape, ProxyShape* convexProxyShape, const ConcaveShape* concaveShape, - NarrowPhaseInfoBatch& outNarrowPhaseInfoBatch, + NarrowPhaseInput& outNarrowPhaseInput, + NarrowPhaseAlgorithmType algorithmType, MemoryAllocator& allocator) :mOverlappingPair(overlappingPair), mConcaveProxyShape(concaveProxyShape), mConvexProxyShape(convexProxyShape), mConcaveShape(concaveShape), - mOutNarrowPhaseInfoBatch(outNarrowPhaseInfoBatch), mAllocator(allocator) { + mOutNarrowPhaseInput(outNarrowPhaseInput), mNarrowPhaseAlgorithmType(algorithmType), + mAllocator(allocator) { } diff --git a/src/collision/NarrowPhaseInfoBatch.cpp b/src/collision/NarrowPhaseInfoBatch.cpp index 3888fc29..1e8807eb 100644 --- a/src/collision/NarrowPhaseInfoBatch.cpp +++ b/src/collision/NarrowPhaseInfoBatch.cpp @@ -35,7 +35,8 @@ using namespace reactphysics3d; NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator) : mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator), shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), - isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) { + isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), + lastFrameCollisionInfos(allocator) { } @@ -59,9 +60,8 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionSh isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); - - lastFrameCollisionInfos.add(pair->getLastFrameCollisionInfo(shape1->getId(), shape2->getId())); + LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + lastFrameCollisionInfos.add(lastFrameInfo); } // Add a new contact point diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index f7075fcd..3412a4ca 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -34,11 +34,15 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two capsules // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -void CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, - MemoryAllocator& memoryAllocator) { +bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + bool isCollisionFound = false; + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); + assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE); assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); @@ -151,6 +155,10 @@ void CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI } narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } } @@ -227,6 +235,12 @@ void CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI } narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } } } + + return isCollisionFound; } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index 3e1a5871..8612c9ed 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -67,8 +67,8 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two capsules - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) override; }; diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index 54797d86..e611109b 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -39,11 +39,13 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a capsule and a polyhedron // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, +bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, + bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + bool isCollisionFound = false; + // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; SATAlgorithm satAlgorithm(memoryAllocator); @@ -60,7 +62,6 @@ void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults, reportContacts); assert(gjkResults.size() == batchNbItems); - uint resultIndex = 0; for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { // Get the last frame collision info @@ -75,7 +76,7 @@ void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); // If we have found a contact point inside the margins (shallow penetration) - if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { + if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { if (reportContacts) { @@ -162,21 +163,32 @@ void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar lastFrameCollisionInfo->wasUsingSAT = false; lastFrameCollisionInfo->wasUsingGJK = false; - // Return true + // Colision found narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } // If we have overlap even without the margins (deep penetration) - if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { + if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { // Run the SAT algorithm to find the separating axis and compute contact point narrowPhaseInfoBatch.isColliding[batchIndex] = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, reportContacts); lastFrameCollisionInfo->wasUsingGJK = false; lastFrameCollisionInfo->wasUsingSAT = true; - } - resultIndex++; + if (narrowPhaseInfoBatch.isColliding[batchIndex]) { + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } + } + } } + + return isCollisionFound; } diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index 3ccfc932..c69225c8 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -70,8 +70,8 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsConvexPolyhedronAlgorithm& operator=(const CapsuleVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a capsule and a polyhedron - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) override; }; diff --git a/src/collision/narrowphase/CollisionDispatch.cpp b/src/collision/narrowphase/CollisionDispatch.cpp new file mode 100644 index 00000000..f1a4c607 --- /dev/null +++ b/src/collision/narrowphase/CollisionDispatch.cpp @@ -0,0 +1,215 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "CollisionDispatch.h" + +using namespace reactphysics3d; + +// Constructor +CollisionDispatch::CollisionDispatch(MemoryAllocator& allocator) : mAllocator(allocator) { + + // Create the default narrow-phase algorithms + mSphereVsSphereAlgorithm = new (allocator.allocate(sizeof(SphereVsSphereAlgorithm))) SphereVsSphereAlgorithm(); + mSphereVsCapsuleAlgorithm = new (allocator.allocate(sizeof(SphereVsCapsuleAlgorithm))) SphereVsCapsuleAlgorithm(); + mCapsuleVsCapsuleAlgorithm = new (allocator.allocate(sizeof(CapsuleVsCapsuleAlgorithm))) CapsuleVsCapsuleAlgorithm(); + mSphereVsConvexPolyhedronAlgorithm = new (allocator.allocate(sizeof(SphereVsConvexPolyhedronAlgorithm))) SphereVsConvexPolyhedronAlgorithm(); + mCapsuleVsConvexPolyhedronAlgorithm = new (allocator.allocate(sizeof(CapsuleVsConvexPolyhedronAlgorithm))) CapsuleVsConvexPolyhedronAlgorithm(); + mConvexPolyhedronVsConvexPolyhedronAlgorithm = new (allocator.allocate(sizeof(ConvexPolyhedronVsConvexPolyhedronAlgorithm))) ConvexPolyhedronVsConvexPolyhedronAlgorithm(); + + // Fill in the collision matrix + fillInCollisionMatrix(); +} + +// Destructor +CollisionDispatch::~CollisionDispatch() { + + // Release allocated memory + if (mIsSphereVsSphereDefault) { + mAllocator.release(mSphereVsSphereAlgorithm, sizeof(SphereVsSphereAlgorithm)); + } + if (mIsSphereVsCapsuleDefault) { + mAllocator.release(mSphereVsCapsuleAlgorithm, sizeof(SphereVsCapsuleAlgorithm)); + } + if (mIsCapsuleVsCapsuleDefault) { + mAllocator.release(mCapsuleVsCapsuleAlgorithm, sizeof(CapsuleVsCapsuleAlgorithm)); + } + if (mIsSphereVsConvexPolyhedronDefault) { + mAllocator.release(mSphereVsConvexPolyhedronAlgorithm, sizeof(SphereVsConvexPolyhedronAlgorithm)); + } + if (mIsCapsuleVsConvexPolyhedronDefault) { + mAllocator.release(mCapsuleVsConvexPolyhedronAlgorithm, sizeof(CapsuleVsConvexPolyhedronAlgorithm)); + } + if (mIsConvexPolyhedronVsConvexPolyhedronDefault) { + mAllocator.release(mConvexPolyhedronVsConvexPolyhedronAlgorithm, sizeof(ConvexPolyhedronVsConvexPolyhedronAlgorithm)); + } +} + +// Select and return the narrow-phase collision detection algorithm to +// use between two types of collision shapes. +NarrowPhaseAlgorithmType CollisionDispatch::selectAlgorithm(int type1, int type2) { + + CollisionShapeType shape1Type = static_cast(type1); + CollisionShapeType shape2Type = static_cast(type2); + + if (type1 > type2) { + return NarrowPhaseAlgorithmType::None; + } + // Sphere vs Sphere algorithm + if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::SPHERE) { + return NarrowPhaseAlgorithmType::SphereVsSphere; + } + // Sphere vs Capsule algorithm + if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::CAPSULE) { + return NarrowPhaseAlgorithmType::SphereVsCapsule; + } + // Capsule vs Capsule algorithm + if (shape1Type == CollisionShapeType::CAPSULE && shape2Type == CollisionShapeType::CAPSULE) { + return NarrowPhaseAlgorithmType::CapsuleVsCapsule; + } + // Sphere vs Convex Polyhedron algorithm + if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::CONVEX_POLYHEDRON) { + return NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron; + } + // Capsule vs Convex Polyhedron algorithm + if (shape1Type == CollisionShapeType::CAPSULE && shape2Type == CollisionShapeType::CONVEX_POLYHEDRON) { + return NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron; + } + // Convex Polyhedron vs Convex Polyhedron algorithm + if (shape1Type == CollisionShapeType::CONVEX_POLYHEDRON && + shape2Type == CollisionShapeType::CONVEX_POLYHEDRON) { + return NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron; + } + + return NarrowPhaseAlgorithmType::None; +} + +// Set the Sphere vs Sphere narrow-phase collision detection algorithm +void CollisionDispatch::setSphereVsSphereAlgorithm(SphereVsSphereAlgorithm* algorithm) { + + if (mIsSphereVsSphereDefault) { + mAllocator.release(mSphereVsSphereAlgorithm, sizeof(SphereVsSphereAlgorithm)); + mIsSphereVsSphereDefault = false; + } + + mSphereVsSphereAlgorithm = algorithm; + + fillInCollisionMatrix(); +} + +// Set the Sphere vs Capsule narrow-phase collision detection algorithm +void CollisionDispatch::setSphereVsCapsuleAlgorithm(SphereVsCapsuleAlgorithm* algorithm) { + + if (mIsSphereVsCapsuleDefault) { + mAllocator.release(mSphereVsCapsuleAlgorithm, sizeof(SphereVsCapsuleAlgorithm)); + mIsSphereVsCapsuleDefault = false; + } + + mSphereVsCapsuleAlgorithm = algorithm; + + fillInCollisionMatrix(); +} + +// Set the Capsule vs Capsule narrow-phase collision detection algorithm +void CollisionDispatch::setCapsuleVsCapsuleAlgorithm(CapsuleVsCapsuleAlgorithm* algorithm) { + + if (mIsCapsuleVsCapsuleDefault) { + mAllocator.release(mCapsuleVsCapsuleAlgorithm, sizeof(CapsuleVsCapsuleAlgorithm)); + mIsCapsuleVsCapsuleDefault = false; + } + + mCapsuleVsCapsuleAlgorithm = algorithm; + + fillInCollisionMatrix(); +} + +// Set the Sphere vs Convex Polyhedron narrow-phase collision detection algorithm +void CollisionDispatch::setSphereVsConvexPolyhedronAlgorithm(SphereVsConvexPolyhedronAlgorithm* algorithm) { + + if (mIsSphereVsConvexPolyhedronDefault) { + mAllocator.release(mSphereVsConvexPolyhedronAlgorithm, sizeof(SphereVsConvexPolyhedronAlgorithm)); + mIsSphereVsConvexPolyhedronDefault = false; + } + + mSphereVsConvexPolyhedronAlgorithm = algorithm; + + fillInCollisionMatrix(); +} + +// Set the Capsule vs Convex Polyhedron narrow-phase collision detection algorithm +void CollisionDispatch::setCapsuleVsConvexPolyhedronAlgorithm(CapsuleVsConvexPolyhedronAlgorithm* algorithm) { + + if (mIsCapsuleVsConvexPolyhedronDefault) { + mAllocator.release(mCapsuleVsConvexPolyhedronAlgorithm, sizeof(CapsuleVsConvexPolyhedronAlgorithm)); + mIsCapsuleVsConvexPolyhedronDefault = false; + } + + mCapsuleVsConvexPolyhedronAlgorithm = algorithm; + + fillInCollisionMatrix(); +} + +// Set the Convex Polyhedron vs Convex Polyhedron narrow-phase collision detection algorithm +void CollisionDispatch::setConvexPolyhedronVsConvexPolyhedronAlgorithm(ConvexPolyhedronVsConvexPolyhedronAlgorithm* algorithm) { + + if (mIsConvexPolyhedronVsConvexPolyhedronDefault) { + mAllocator.release(mConvexPolyhedronVsConvexPolyhedronAlgorithm, sizeof(ConvexPolyhedronVsConvexPolyhedronAlgorithm)); + mIsConvexPolyhedronVsConvexPolyhedronDefault = false; + } + + mConvexPolyhedronVsConvexPolyhedronAlgorithm = algorithm; + + fillInCollisionMatrix(); +} + + +// Fill-in the collision detection matrix +void CollisionDispatch::fillInCollisionMatrix() { + + // For each possible type of collision shape + for (int i=0; i(shape1Type); + uint shape2Index = static_cast(shape2Type); + + // Swap the shape types if necessary + if (shape1Index > shape2Index) { + return mCollisionMatrix[shape2Index][shape1Index]; + } + + return mCollisionMatrix[shape1Index][shape2Index]; +} + + + diff --git a/src/collision/narrowphase/CollisionDispatch.h b/src/collision/narrowphase/CollisionDispatch.h index 363d25b3..58309c00 100644 --- a/src/collision/narrowphase/CollisionDispatch.h +++ b/src/collision/narrowphase/CollisionDispatch.h @@ -27,57 +27,186 @@ #define REACTPHYSICS3D_COLLISION_DISPATCH_H // Libraries +#include "CollisionDispatch.h" +#include "SphereVsSphereAlgorithm.h" +#include "SphereVsConvexPolyhedronAlgorithm.h" +#include "SphereVsCapsuleAlgorithm.h" +#include "CapsuleVsCapsuleAlgorithm.h" +#include "CapsuleVsConvexPolyhedronAlgorithm.h" +#include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" +#include "collision/shapes/CollisionShape.h" namespace reactphysics3d { -// Declarations -class NarrowPhaseAlgorithm; -class Profiler; +/// Enumeration for the type of narrow-phase +/// collision detection algorithm +enum class NarrowPhaseAlgorithmType { + None, + SphereVsSphere, + SphereVsCapsule, + CapsuleVsCapsule, + SphereVsConvexPolyhedron, + CapsuleVsConvexPolyhedron, + ConvexPolyhedronVsConvexPolyhedron +}; // Class CollisionDispatch /** - * This is the abstract base class for dispatching the narrow-phase - * collision detection algorithm. Collision dispatching decides which collision + * This is the collision dispatch configuration use in ReactPhysics3D. + * Collision dispatching decides which collision * algorithm to use given two types of proxy collision shapes. */ class CollisionDispatch { protected: -#ifdef IS_PROFILING_ACTIVE + /// Memory allocator + MemoryAllocator& mAllocator; - /// Pointer to the profiler - Profiler* mProfiler; + /// True if the sphere vs sphere algorithm is the default one + bool mIsSphereVsSphereDefault = true; -#endif + /// True if the capsule vs capsule algorithm is the default one + bool mIsCapsuleVsCapsuleDefault = true; + + /// True if the sphere vs capsule algorithm is the default one + bool mIsSphereVsCapsuleDefault = true; + + /// True if the sphere vs convex polyhedron algorithm is the default one + bool mIsSphereVsConvexPolyhedronDefault = true; + + /// True if the capsule vs convex polyhedron algorithm is the default one + bool mIsCapsuleVsConvexPolyhedronDefault = true; + + /// True if the convex polyhedron vs convex polyhedron algorithm is the default one + bool mIsConvexPolyhedronVsConvexPolyhedronDefault = true; + + /// Sphere vs Sphere collision algorithm + SphereVsSphereAlgorithm* mSphereVsSphereAlgorithm; + + /// Capsule vs Capsule collision algorithm + CapsuleVsCapsuleAlgorithm* mCapsuleVsCapsuleAlgorithm; + + /// Sphere vs Capsule collision algorithm + SphereVsCapsuleAlgorithm* mSphereVsCapsuleAlgorithm; + + /// Sphere vs Convex Polyhedron collision algorithm + SphereVsConvexPolyhedronAlgorithm* mSphereVsConvexPolyhedronAlgorithm; + + /// Capsule vs Convex Polyhedron collision algorithm + CapsuleVsConvexPolyhedronAlgorithm* mCapsuleVsConvexPolyhedronAlgorithm; + + /// Convex Polyhedron vs Convex Polyhedron collision algorithm + ConvexPolyhedronVsConvexPolyhedronAlgorithm* mConvexPolyhedronVsConvexPolyhedronAlgorithm; + + /// Collision detection matrix (algorithms to use) + NarrowPhaseAlgorithmType mCollisionMatrix[NB_COLLISION_SHAPE_TYPES][NB_COLLISION_SHAPE_TYPES]; + + /// Select and return the narrow-phase collision detection algorithm to + /// use between two types of collision shapes. + NarrowPhaseAlgorithmType selectAlgorithm(int type1, int type2); public: /// Constructor - CollisionDispatch() = default; + CollisionDispatch(MemoryAllocator& allocator); /// Destructor - virtual ~CollisionDispatch() = default; + ~CollisionDispatch(); - /// Select and return the narrow-phase collision detection algorithm to - /// use between two types of collision shapes. - virtual NarrowPhaseAlgorithm* selectAlgorithm(int shape1Type, int shape2Type)=0; + /// Set the Sphere vs Sphere narrow-phase collision detection algorithm + void setSphereVsSphereAlgorithm(SphereVsSphereAlgorithm* algorithm); + + /// Get the Sphere vs Sphere narrow-phase collision detection algorithm + SphereVsSphereAlgorithm* getSphereVsSphereAlgorithm(); + + /// Set the Sphere vs Capsule narrow-phase collision detection algorithm + void setSphereVsCapsuleAlgorithm(SphereVsCapsuleAlgorithm* algorithm); + + /// Get the Sphere vs Capsule narrow-phase collision detection algorithm + SphereVsCapsuleAlgorithm* getSphereVsCapsuleAlgorithm(); + + /// Set the Capsule vs Capsule narrow-phase collision detection algorithm + void setCapsuleVsCapsuleAlgorithm(CapsuleVsCapsuleAlgorithm* algorithm); + + /// Get the Capsule vs Capsule narrow-phase collision detection algorithm + CapsuleVsCapsuleAlgorithm* getCapsuleVsCapsuleAlgorithm(); + + /// Set the Sphere vs Convex Polyhedron narrow-phase collision detection algorithm + void setSphereVsConvexPolyhedronAlgorithm(SphereVsConvexPolyhedronAlgorithm* algorithm); + + /// Get the Sphere vs Convex Polyhedron narrow-phase collision detection algorithm + SphereVsConvexPolyhedronAlgorithm* getSphereVsConvexPolyhedronAlgorithm(); + + /// Set the Capsule vs Convex Polyhedron narrow-phase collision detection algorithm + void setCapsuleVsConvexPolyhedronAlgorithm(CapsuleVsConvexPolyhedronAlgorithm* algorithm); + + /// Get the Capsule vs Convex Polyhedron narrow-phase collision detection algorithm + CapsuleVsConvexPolyhedronAlgorithm* getCapsuleVsConvexPolyhedronAlgorithm(); + + /// Set the Convex Polyhedron vs Convex Polyhedron narrow-phase collision detection algorithm + void setConvexPolyhedronVsConvexPolyhedronAlgorithm(ConvexPolyhedronVsConvexPolyhedronAlgorithm* algorithm); + + /// Get the Convex Polyhedron vs Convex Polyhedron narrow-phase collision detection algorithm + ConvexPolyhedronVsConvexPolyhedronAlgorithm* getConvexPolyhedronVsConvexPolyhedronAlgorithm(); + + /// Fill-in the collision detection matrix + void fillInCollisionMatrix(); + + /// Return the corresponding narrow-phase algorithm type to use for two collision shapes + NarrowPhaseAlgorithmType selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type, + const CollisionShapeType& shape2Type) const; #ifdef IS_PROFILING_ACTIVE /// Set the profiler - virtual void setProfiler(Profiler* profiler); + void setProfiler(Profiler* profiler); #endif }; +// Get the Sphere vs Sphere narrow-phase collision detection algorithm +inline SphereVsSphereAlgorithm* CollisionDispatch::getSphereVsSphereAlgorithm() { + return mSphereVsSphereAlgorithm; +} + +// Get the Sphere vs Capsule narrow-phase collision detection algorithm +inline SphereVsCapsuleAlgorithm* CollisionDispatch::getSphereVsCapsuleAlgorithm() { + return mSphereVsCapsuleAlgorithm; +} + +// Get the Capsule vs Capsule narrow-phase collision detection algorithm +inline CapsuleVsCapsuleAlgorithm* CollisionDispatch::getCapsuleVsCapsuleAlgorithm() { + return mCapsuleVsCapsuleAlgorithm; +} + +// Get the Sphere vs Convex Polyhedron narrow-phase collision detection algorithm +inline SphereVsConvexPolyhedronAlgorithm* CollisionDispatch::getSphereVsConvexPolyhedronAlgorithm() { + return mSphereVsConvexPolyhedronAlgorithm; +} + +// Get the Capsule vs Convex Polyhedron narrow-phase collision detection algorithm +inline CapsuleVsConvexPolyhedronAlgorithm* CollisionDispatch::getCapsuleVsConvexPolyhedronAlgorithm() { + return mCapsuleVsConvexPolyhedronAlgorithm; +} + +// Get the Convex Polyhedron vs Convex Polyhedron narrow-phase collision detection algorithm +inline ConvexPolyhedronVsConvexPolyhedronAlgorithm* CollisionDispatch::getConvexPolyhedronVsConvexPolyhedronAlgorithm() { + return mConvexPolyhedronVsConvexPolyhedronAlgorithm; +} + #ifdef IS_PROFILING_ACTIVE // Set the profiler inline void CollisionDispatch::setProfiler(Profiler* profiler) { - mProfiler = profiler; + mSphereVsSphereAlgorithm->setProfiler(profiler); + mCapsuleVsCapsuleAlgorithm->setProfiler(profiler); + mSphereVsCapsuleAlgorithm->setProfiler(profiler); + mSphereVsConvexPolyhedronAlgorithm->setProfiler(profiler); + mCapsuleVsConvexPolyhedronAlgorithm->setProfiler(profiler); + mConvexPolyhedronVsConvexPolyhedronAlgorithm->setProfiler(profiler); } #endif @@ -86,3 +215,5 @@ inline void CollisionDispatch::setProfiler(Profiler* profiler) { #endif + + diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index c20d0390..fe47ac3e 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -35,9 +35,9 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two convex polyhedra // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, +bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, + bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { // Run the SAT algorithm to find the separating axis and compute contact point @@ -49,7 +49,8 @@ void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB #endif - satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, reportContacts); + bool isCollisionFound = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, + batchNbItems, reportContacts, stopFirstContactFound); for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { @@ -58,5 +59,11 @@ void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB lastFrameCollisionInfo->wasUsingSAT = true; lastFrameCollisionInfo->wasUsingGJK = false; + + if (isCollisionFound && stopFirstContactFound) { + return isCollisionFound; + } } + + return isCollisionFound; } diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index 9cf47689..b63fb53e 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -65,8 +65,8 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm ConvexPolyhedronVsConvexPolyhedronAlgorithm& operator=(const ConvexPolyhedronVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two convex polyhedra - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) override; }; diff --git a/src/collision/narrowphase/DefaultCollisionDispatch.cpp b/src/collision/narrowphase/DefaultCollisionDispatch.cpp deleted file mode 100644 index 1c71aa50..00000000 --- a/src/collision/narrowphase/DefaultCollisionDispatch.cpp +++ /dev/null @@ -1,69 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "DefaultCollisionDispatch.h" -#include "collision/shapes/CollisionShape.h" - -using namespace reactphysics3d; - -// Select and return the narrow-phase collision detection algorithm to -// use between two types of collision shapes. -NarrowPhaseAlgorithm* DefaultCollisionDispatch::selectAlgorithm(int type1, int type2) { - - CollisionShapeType shape1Type = static_cast(type1); - CollisionShapeType shape2Type = static_cast(type2); - - if (type1 > type2) { - return nullptr; - } - // Sphere vs Sphere algorithm - if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::SPHERE) { - return &mSphereVsSphereAlgorithm; - } - // Sphere vs Capsule algorithm - if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::CAPSULE) { - return &mSphereVsCapsuleAlgorithm; - } - // Capsule vs Capsule algorithm - if (shape1Type == CollisionShapeType::CAPSULE && shape2Type == CollisionShapeType::CAPSULE) { - return &mCapsuleVsCapsuleAlgorithm; - } - // Sphere vs Convex Polyhedron algorithm - if (shape1Type == CollisionShapeType::SPHERE && shape2Type == CollisionShapeType::CONVEX_POLYHEDRON) { - return &mSphereVsConvexPolyhedronAlgorithm; - } - // Capsule vs Convex Polyhedron algorithm - if (shape1Type == CollisionShapeType::CAPSULE && shape2Type == CollisionShapeType::CONVEX_POLYHEDRON) { - return &mCapsuleVsConvexPolyhedronAlgorithm; - } - // Convex Polyhedron vs Convex Polyhedron algorithm - if (shape1Type == CollisionShapeType::CONVEX_POLYHEDRON && - shape2Type == CollisionShapeType::CONVEX_POLYHEDRON) { - return &mConvexPolyhedronVsConvexPolyhedronAlgorithm; - } - - return nullptr; -} diff --git a/src/collision/narrowphase/DefaultCollisionDispatch.h b/src/collision/narrowphase/DefaultCollisionDispatch.h deleted file mode 100644 index 348d474a..00000000 --- a/src/collision/narrowphase/DefaultCollisionDispatch.h +++ /dev/null @@ -1,111 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_DEFAULT_COLLISION_DISPATCH_H -#define REACTPHYSICS3D_DEFAULT_COLLISION_DISPATCH_H - -// Libraries -#include "CollisionDispatch.h" -#include "SphereVsSphereAlgorithm.h" -#include "SphereVsConvexPolyhedronAlgorithm.h" -#include "SphereVsCapsuleAlgorithm.h" -#include "CapsuleVsCapsuleAlgorithm.h" -#include "CapsuleVsConvexPolyhedronAlgorithm.h" -#include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" - -namespace reactphysics3d { - -// Class DefaultCollisionDispatch -/** - * This is the default collision dispatch configuration use in ReactPhysics3D. - * Collision dispatching decides which collision - * algorithm to use given two types of proxy collision shapes. - */ -class DefaultCollisionDispatch : public CollisionDispatch { - - protected: - - /// Sphere vs Sphere collision algorithm - SphereVsSphereAlgorithm mSphereVsSphereAlgorithm; - - /// Capsule vs Capsule collision algorithm - CapsuleVsCapsuleAlgorithm mCapsuleVsCapsuleAlgorithm; - - /// Sphere vs Capsule collision algorithm - SphereVsCapsuleAlgorithm mSphereVsCapsuleAlgorithm; - - /// Sphere vs Convex Polyhedron collision algorithm - SphereVsConvexPolyhedronAlgorithm mSphereVsConvexPolyhedronAlgorithm; - - /// Capsule vs Convex Polyhedron collision algorithm - CapsuleVsConvexPolyhedronAlgorithm mCapsuleVsConvexPolyhedronAlgorithm; - - /// Convex Polyhedron vs Convex Polyhedron collision algorithm - ConvexPolyhedronVsConvexPolyhedronAlgorithm mConvexPolyhedronVsConvexPolyhedronAlgorithm; - - public: - - /// Constructor - DefaultCollisionDispatch() = default; - - /// Destructor - virtual ~DefaultCollisionDispatch() override = default; - - /// Select and return the narrow-phase collision detection algorithm to - /// use between two types of collision shapes. - virtual NarrowPhaseAlgorithm* selectAlgorithm(int type1, int type2) override; - -#ifdef IS_PROFILING_ACTIVE - - /// Set the profiler - virtual void setProfiler(Profiler* profiler) override; - -#endif - -}; - -#ifdef IS_PROFILING_ACTIVE - -// Set the profiler -inline void DefaultCollisionDispatch::setProfiler(Profiler* profiler) { - - CollisionDispatch::setProfiler(profiler); - - mSphereVsSphereAlgorithm.setProfiler(profiler); - mCapsuleVsCapsuleAlgorithm.setProfiler(profiler); - mSphereVsCapsuleAlgorithm.setProfiler(profiler); - mSphereVsConvexPolyhedronAlgorithm.setProfiler(profiler); - mCapsuleVsConvexPolyhedronAlgorithm.setProfiler(profiler); - mConvexPolyhedronVsConvexPolyhedronAlgorithm.setProfiler(profiler); -} - -#endif - -} - -#endif - - - diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index 64b9ac87..bbda9a62 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -127,6 +127,7 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin lastFrameCollisionInfo->gjkSeparatingAxis = v; // No intersection, we return + assert(gjkResults.size() == batchIndex); gjkResults.add(GJKResult::SEPARATED); noIntersection = true; break; @@ -201,12 +202,14 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin // If the penetration depth is negative (due too numerical errors), there is no contact if (penetrationDepth <= decimal(0.0)) { + assert(gjkResults.size() == batchIndex); gjkResults.add(GJKResult::SEPARATED); continue; } // Do not generate a contact point with zero normal length if (normal.lengthSquare() < MACHINE_EPSILON) { + assert(gjkResults.size() == batchIndex); gjkResults.add(GJKResult::SEPARATED); continue; } @@ -221,10 +224,13 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin narrowPhaseInfoBatch.addContactPoint(batchIndex, normal, penetrationDepth, pA, pB); } + assert(gjkResults.size() == batchIndex); gjkResults.add(GJKResult::COLLIDE_IN_MARGIN); + continue; } + assert(gjkResults.size() == batchIndex); gjkResults.add(GJKResult::INTERPENETRATE); } } diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index 6d376172..608651c9 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -59,6 +59,7 @@ class NarrowPhaseCallback { }; +// TODO DOD : Try to delete this class // Class NarrowPhaseAlgorithm /** * This abstract class is the base class for a narrow-phase collision @@ -71,6 +72,9 @@ class NarrowPhaseAlgorithm { // -------------------- Attributes -------------------- // + // Id of the algorithm (computed by hasing the algorithm name) + size_t mId; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -80,6 +84,7 @@ class NarrowPhaseAlgorithm { public : + // -------------------- Methods -------------------- // /// Constructor @@ -95,8 +100,8 @@ class NarrowPhaseAlgorithm { NarrowPhaseAlgorithm& operator=(const NarrowPhaseAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volumes collide - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator)=0; #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp new file mode 100644 index 00000000..da08213c --- /dev/null +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -0,0 +1,80 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "collision/narrowphase/NarrowPhaseInput.h" +#include "collision/narrowphase/CollisionDispatch.h" + +using namespace reactphysics3d; + +/// Constructor +NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator) + :mSphereVsSphereBatch(allocator), mSphereVsCapsuleBatch(allocator), mCapsuleVsCapsuleBatch(allocator), + mSphereVsConvexPolyhedronBatch(allocator), mCapsuleVsConvexPolyhedronBatch(allocator), + mConvexPolyhedronVsConvexPolyhedronBatch(allocator) { + +} + +// Add shapes to be tested during narrow-phase collision detection into the batch +void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, + const Transform& shape1Transform, const Transform& shape2Transform, + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) { + + switch (narrowPhaseAlgorithmType) { + case NarrowPhaseAlgorithmType::SphereVsSphere: + mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::SphereVsCapsule: + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::CapsuleVsCapsule: + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: + mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: + mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: + mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + break; + case NarrowPhaseAlgorithmType::None: + // Must never happen + assert(false); + break; + } +} + +// Clear +void NarrowPhaseInput::clear() { + + mSphereVsSphereBatch.clear(); + mSphereVsCapsuleBatch.clear(); + mCapsuleVsCapsuleBatch.clear(); + mSphereVsConvexPolyhedronBatch.clear(); + mCapsuleVsConvexPolyhedronBatch.clear(); + mConvexPolyhedronVsConvexPolyhedronBatch.clear(); +} diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h new file mode 100644 index 00000000..32200f11 --- /dev/null +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -0,0 +1,127 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_NARROW_PHASE_INPUT_H +#define REACTPHYSICS3D_NARROW_PHASE_INPUT_H + +// Libraries +#include "containers/List.h" +#include "collision/NarrowPhaseInfoBatch.h" + +/// Namespace ReactPhysics3D +namespace reactphysics3d { + +// Declarations +class OverlappingPair; +class CollisionShape; +struct LastFrameCollisionInfo; +struct ContactPointInfo; +class NarrowPhaseAlgorithm; +enum class NarrowPhaseAlgorithmType; +class Transform; +struct Vector3; + +// Class NarrowPhaseInput +/** + * This structure contains everything that is needed to perform the narrow-phase + * collision detection. + */ +class NarrowPhaseInput { + + private: + + NarrowPhaseInfoBatch mSphereVsSphereBatch; + NarrowPhaseInfoBatch mSphereVsCapsuleBatch; + NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; + NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; + NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch; + NarrowPhaseInfoBatch mConvexPolyhedronVsConvexPolyhedronBatch; + + public: + + /// Constructor + NarrowPhaseInput(MemoryAllocator& allocator); + + /// Add shapes to be tested during narrow-phase collision detection into the batch + void addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, + const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, + MemoryAllocator& shapeAllocator); + + /// Get a reference to the sphere vs sphere batch + NarrowPhaseInfoBatch& getSphereVsSphereBatch(); + + /// Get a reference to the sphere vs capsule batch + NarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); + + /// Get a reference to the capsule vs capsule batch + NarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch(); + + /// Get a reference to the sphere vs convex polyhedron batch + NarrowPhaseInfoBatch& getSphereVsConvexPolyhedronBatch(); + + /// Get a reference to the capsule vs convex polyhedron batch + NarrowPhaseInfoBatch& getCapsuleVsConvexPolyhedronBatch(); + + /// Get a reference to the convex polyhedron vs convex polyhedron batch + NarrowPhaseInfoBatch& getConvexPolyhedronVsConvexPolyhedronBatch(); + + /// Clear + void clear(); +}; + + +// Get a reference to the sphere vs sphere batch +inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() { + return mSphereVsSphereBatch; +} + +// Get a reference to the sphere vs capsule batch +inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { + return mSphereVsCapsuleBatch; +} + +// Get a reference to the capsule vs capsule batch +inline NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() { + return mCapsuleVsCapsuleBatch; +} + +// Get a reference to the sphere vs convex polyhedron batch +inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsConvexPolyhedronBatch() { + return mSphereVsConvexPolyhedronBatch; +} + +// Get a reference to the capsule vs convex polyhedron batch +inline NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsConvexPolyhedronBatch() { + return mCapsuleVsConvexPolyhedronBatch; +} + +// Get a reference to the convex polyhedron vs convex polyhedron batch +inline NarrowPhaseInfoBatch& NarrowPhaseInput::getConvexPolyhedronVsConvexPolyhedronBatch() { + return mConvexPolyhedronVsConvexPolyhedronBatch; +} + +} +#endif diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 8ef648ef..9224290a 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -52,9 +52,11 @@ SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator( } // Test collision between a sphere and a convex mesh -void SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, +bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts) const { + bool reportContacts, bool stopFirstContactFound) const { + + bool isCollisionFound = false; RP3D_PROFILE("SATAlgorithm::testCollisionSphereVsConvexPolyhedron()", mProfiler); @@ -133,7 +135,13 @@ void SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n } narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } } + + return isCollisionFound; } // Compute the penetration depth between a face of the polyhedron and a sphere along the polyhedron face normal direction @@ -468,10 +476,12 @@ bool SATAlgorithm::isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, c } // Test collision between two convex polyhedrons -void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts) const { +bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound) const { RP3D_PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); + bool isCollisionFound = false; + for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); @@ -537,6 +547,10 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // The shapes are still overlapping in the previous axis (the contact manifold is not empty). // Therefore, we can return without running the whole SAT algorithm narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } @@ -576,6 +590,10 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // The shapes are still overlapping in the previous axis (the contact manifold is not empty). // Therefore, we can return without running the whole SAT algorithm narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } @@ -664,6 +682,10 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // The shapes are overlapping on the previous axis (the contact manifold is not empty). Therefore // we return without running the whole SAT algorithm narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } @@ -855,7 +877,13 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn } narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } } + + return isCollisionFound; } // Compute the contact points between two faces of two convex polyhedra. diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.h b/src/collision/narrowphase/SAT/SATAlgorithm.h index 82bd680c..1eb1b923 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.h +++ b/src/collision/narrowphase/SAT/SATAlgorithm.h @@ -138,9 +138,9 @@ class SATAlgorithm { SATAlgorithm& operator=(const SATAlgorithm& algorithm) = delete; /// Test collision between a sphere and a convex mesh - void testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, + bool testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts) const; + bool reportContacts, bool stopFirstContactFound) const; /// Test collision between a capsule and a convex mesh bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool reportContacts) const; @@ -157,7 +157,8 @@ class SATAlgorithm { const Vector3& edgeAdjacentFace2Normal) const; /// Test collision between two convex meshes - void testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts) const; + bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound) const; #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index c2bf193a..0f98cd27 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -35,11 +35,15 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a capsule // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -void SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { +bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + + bool isCollisionFound = false; for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); + bool isSphereShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE; assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); @@ -138,7 +142,13 @@ void SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseIn } narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } } + + return isCollisionFound; } diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h index 85abc219..eab8153a 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -66,8 +66,8 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { SphereVsCapsuleAlgorithm& operator=(const SphereVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a capsule - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) override; }; diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index 11574330..b1416afd 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -35,12 +35,14 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a convex polyhedron // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { +bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; + bool isCollisionFound = false; + #ifdef IS_PROFILING_ACTIVE gjkAlgorithm.setProfiler(mProfiler); @@ -49,13 +51,11 @@ void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr List gjkResults(memoryAllocator); gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults, reportContacts); + assert(gjkResults.size() == batchNbItems); // For each item in the batch - uint resultIndex=0; for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { - assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON || narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE || @@ -68,15 +68,19 @@ void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr lastFrameCollisionInfo->wasUsingSAT = false; // If we have found a contact point inside the margins (shallow penetration) - if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { + if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { // Return true narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } continue; } // If we have overlap even without the margins (deep penetration) - if (gjkResults[resultIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { + if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { // Run the SAT algorithm to find the separating axis and compute contact point SATAlgorithm satAlgorithm(memoryAllocator); @@ -87,14 +91,18 @@ void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr #endif - satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1, reportContacts); + isCollisionFound |= satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1, reportContacts, stopFirstContactFound); lastFrameCollisionInfo->wasUsingGJK = false; lastFrameCollisionInfo->wasUsingSAT = true; + if (isCollisionFound && stopFirstContactFound) { + return isCollisionFound; + } + continue; } - - resultIndex++; } + + return isCollisionFound; } diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 378255e0..73251daa 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -71,8 +71,8 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) override; }; diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index 2c8704c7..fa042687 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -31,12 +31,15 @@ // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; -void SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { +bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, + bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + + bool isCollisionFound = false; // For each item in the batch for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE); @@ -90,6 +93,12 @@ void SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf } narrowPhaseInfoBatch.isColliding[batchIndex] = true; + isCollisionFound = true; + if (stopFirstContactFound) { + return isCollisionFound; + } } } + + return isCollisionFound; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/src/collision/narrowphase/SphereVsSphereAlgorithm.h index d5c7128f..ab68f5eb 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -65,8 +65,8 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volume collide - virtual void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, + virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) override; }; diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 1d359a9c..3a7fb87a 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -136,8 +136,8 @@ class CollisionWorld { /// Destroy a collision body void destroyCollisionBody(CollisionBody* collisionBody); - /// Set the collision dispatch configuration - void setCollisionDispatch(CollisionDispatch* collisionDispatch); + /// Get the collision dispatch configuration + CollisionDispatch& getCollisionDispatch(); /// Ray cast method void raycast(const Ray& ray, RaycastCallback* raycastCallback, @@ -200,8 +200,8 @@ class CollisionWorld { * @param CollisionDispatch Pointer to a collision dispatch object describing * which collision detection algorithm to use for two given collision shapes */ -inline void CollisionWorld::setCollisionDispatch(CollisionDispatch* collisionDispatch) { - mCollisionDetection.setCollisionDispatch(collisionDispatch); +inline CollisionDispatch& CollisionWorld::getCollisionDispatch() { + return mCollisionDetection.getCollisionDispatch(); } // Ray cast method diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index 4498cbf4..99f8152a 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -56,7 +56,7 @@ OverlappingPair::~OverlappingPair() { } // Add a new last frame collision info if it does not exist for the given shapes already -void OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) { +LastFrameCollisionInfo* OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) { // Try to get the corresponding last frame collision info const ShapeIdPair shapeIdPair(shapeId1, shapeId2); @@ -71,11 +71,15 @@ void OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) // Add it into the map of collision infos mLastFrameCollisionInfos.add(Pair(shapeIdPair, collisionInfo)); + + return collisionInfo; } else { // The existing collision info is not obsolete it->second->isObsolete = false; + + return it->second; } } diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 2671edfd..d25d20af 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -180,7 +180,7 @@ class OverlappingPair { void reduceContactManifolds(); /// Add a new last frame collision info if it does not exist for the given shapes already - void addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2); + LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2); /// Return the last frame collision info for a given pair of shape ids LastFrameCollisionInfo* getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const; From 62a72eadac8eddefb1db6d80ad243a898a2bcf50 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 9 Nov 2018 17:17:27 +0100 Subject: [PATCH 011/197] Make possible to release allocated memory when clearing containers --- src/containers/List.h | 17 ++++++++++---- src/containers/Map.h | 53 +++++++++++++++++++------------------------ src/containers/Set.h | 50 ++++++++++++++++------------------------ 3 files changed, 55 insertions(+), 65 deletions(-) diff --git a/src/containers/List.h b/src/containers/List.h index 2e09887f..1b1f40aa 100755 --- a/src/containers/List.h +++ b/src/containers/List.h @@ -243,10 +243,7 @@ class List { if (mCapacity > 0) { // Clear the list - clear(); - - // Release the memory allocated on the heap - mAllocator.release(mBuffer, mCapacity * sizeof(T)); + clear(true); } } @@ -365,7 +362,7 @@ class List { } /// Clear the list - void clear() { + void clear(bool releaseMemory = false) { // Call the destructor of each element for (uint i=0; i < mSize; i++) { @@ -373,6 +370,16 @@ class List { } mSize = 0; + + // If we need to release all the allocated memory + if (releaseMemory && mCapacity > 0) { + + // Release the memory allocated on the heap + mAllocator.release(mBuffer, mCapacity * sizeof(T)); + + mBuffer = nullptr; + mCapacity = 0; + } } /// Return the number of elements in the list diff --git a/src/containers/Map.h b/src/containers/Map.h index ff20b4a3..d341954c 100755 --- a/src/containers/Map.h +++ b/src/containers/Map.h @@ -240,32 +240,6 @@ class Map { return number; } - /// Clear and reset the map - void reset() { - - // If elements have been allocated - if (mCapacity > 0) { - - // Clear the map - clear(); - - // Destroy the entries - for (int i=0; i < mCapacity; i++) { - mEntries[i].~Entry(); - } - - mAllocator.release(mBuckets, mCapacity * sizeof(int)); - mAllocator.release(mEntries, mCapacity * sizeof(Entry)); - - mNbUsedEntries = 0; - mNbFreeEntries = 0; - mCapacity = 0; - mBuckets = nullptr; - mEntries = nullptr; - mFreeIndex = -1; - } - } - public: /// Class Iterator @@ -423,7 +397,7 @@ class Map { /// Destructor ~Map() { - reset(); + clear(true); } /// Allocate memory for a given number of elements @@ -577,11 +551,13 @@ class Map { } /// Clear the map - void clear() { + void clear(bool releaseMemory = false) { if (mNbUsedEntries > 0) { + // Remove the key/value pair of each entry for (int i=0; i < mCapacity; i++) { + mBuckets[i] = -1; mEntries[i].next = -1; if (mEntries[i].keyValue != nullptr) { @@ -596,6 +572,23 @@ class Map { mNbFreeEntries = 0; } + // If elements have been allocated + if (releaseMemory && mCapacity > 0) { + + // Destroy the entries + for (int i=0; i < mCapacity; i++) { + mEntries[i].~Entry(); + } + + // Release memory + mAllocator.release(mBuckets, mCapacity * sizeof(int)); + mAllocator.release(mEntries, mCapacity * sizeof(Entry)); + + mCapacity = 0; + mBuckets = nullptr; + mEntries = nullptr; + } + assert(size() == 0); } @@ -709,8 +702,8 @@ class Map { // Check for self assignment if (this != &map) { - // Reset the map - reset(); + // Clear the map + clear(true); if (map.mCapacity > 0) { diff --git a/src/containers/Set.h b/src/containers/Set.h index fce0a051..77279fdb 100755 --- a/src/containers/Set.h +++ b/src/containers/Set.h @@ -245,32 +245,6 @@ class Set { return number; } - /// Clear and reset the set - void reset() { - - // If elements have been allocated - if (mCapacity > 0) { - - // Clear the list - clear(); - - // Destroy the entries - for (int i=0; i < mCapacity; i++) { - mEntries[i].~Entry(); - } - - mAllocator.release(mBuckets, mCapacity * sizeof(int)); - mAllocator.release(mEntries, mCapacity * sizeof(Entry)); - - mNbUsedEntries = 0; - mNbFreeEntries = 0; - mCapacity = 0; - mBuckets = nullptr; - mEntries = nullptr; - mFreeIndex = -1; - } - } - public: /// Class Iterator @@ -429,7 +403,7 @@ class Set { /// Destructor ~Set() { - reset(); + clear(true); } /// Allocate memory for a given number of elements @@ -572,7 +546,7 @@ class Set { } /// Clear the set - void clear() { + void clear(bool releaseMemory = false) { if (mNbUsedEntries > 0) { @@ -591,6 +565,22 @@ class Set { mNbFreeEntries = 0; } + // If elements have been allocated + if (releaseMemory && mCapacity > 0) { + + // Destroy the entries + for (int i=0; i < mCapacity; i++) { + mEntries[i].~Entry(); + } + + mAllocator.release(mBuckets, mCapacity * sizeof(int)); + mAllocator.release(mEntries, mCapacity * sizeof(Entry)); + + mCapacity = 0; + mBuckets = nullptr; + mEntries = nullptr; + } + assert(size() == 0); } @@ -660,8 +650,8 @@ class Set { // Check for self assignment if (this != &set) { - // Reset the set - reset(); + // Clear the set + clear(true); if (set.mCapacity > 0) { From 5e57ea896a7dcc3ffecd1f85b5556b9e189c883e Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 9 Nov 2018 17:19:28 +0100 Subject: [PATCH 012/197] Refactor NarrowPhaseAlgorithm and make possible to use single frame allocator for NarrowPhaseInput memory allocation --- src/collision/CollisionDetection.cpp | 7 ++-- src/collision/NarrowPhaseInfoBatch.cpp | 39 ++++++++++++++----- src/collision/NarrowPhaseInfoBatch.h | 6 +++ .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 4 +- .../CapsuleVsConvexPolyhedronAlgorithm.h | 4 +- ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/NarrowPhaseAlgorithm.h | 8 ---- .../narrowphase/NarrowPhaseInput.cpp | 11 ++++++ src/collision/narrowphase/NarrowPhaseInput.h | 4 +- .../narrowphase/SphereVsCapsuleAlgorithm.h | 4 +- .../SphereVsConvexPolyhedronAlgorithm.h | 4 +- .../narrowphase/SphereVsSphereAlgorithm.h | 4 +- 12 files changed, 66 insertions(+), 33 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 70e5e0ad..8d7d29b5 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -52,7 +52,7 @@ CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& mem : mMemoryManager(memoryManager), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), - mNarrowPhaseInput(mMemoryManager.getPoolAllocator()) { + mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { #ifdef IS_PROFILING_ACTIVE @@ -98,6 +98,9 @@ void CollisionDetection::computeMiddlePhase() { RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); + // Reserve memory for the narrow-phase input using cached capacity from previous frame + mNarrowPhaseInput.reserveMemory(); + // For each possible collision pair of bodies for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { @@ -639,8 +642,6 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) // Test narrow-phase collision bool isCollisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, false, mMemoryManager.getPoolAllocator()); - narrowPhaseInput.clear(); - // No overlap has been found return isCollisionFound; } diff --git a/src/collision/NarrowPhaseInfoBatch.cpp b/src/collision/NarrowPhaseInfoBatch.cpp index 1e8807eb..08466945 100644 --- a/src/collision/NarrowPhaseInfoBatch.cpp +++ b/src/collision/NarrowPhaseInfoBatch.cpp @@ -102,6 +102,20 @@ void NarrowPhaseInfoBatch::resetContactPoints(uint index) { contactPoints[index].clear(); } +// Initialize the containers using cached capacity +void NarrowPhaseInfoBatch::reserveMemory() { + + overlappingPairs.reserve(mCachedCapacity); + collisionShapes1.reserve(mCachedCapacity); + collisionShapes2.reserve(mCachedCapacity); + shape1ToWorldTransforms.reserve(mCachedCapacity); + shape2ToWorldTransforms.reserve(mCachedCapacity); + collisionShapeAllocators.reserve(mCachedCapacity); + lastFrameCollisionInfos.reserve(mCachedCapacity); + isColliding.reserve(mCachedCapacity); + contactPoints.reserve(mCachedCapacity); +} + // Clear all the objects in the batch void NarrowPhaseInfoBatch::clear() { @@ -121,13 +135,20 @@ void NarrowPhaseInfoBatch::clear() { } } - overlappingPairs.clear(); - collisionShapes1.clear(); - collisionShapes2.clear(); - shape1ToWorldTransforms.clear(); - shape2ToWorldTransforms.clear(); - collisionShapeAllocators.clear(); - lastFrameCollisionInfos.clear(); - isColliding.clear(); - contactPoints.clear(); + // Note that we clear the following containers and we release their allocated memory. Therefore, + // if the memory allocator is a single frame allocator, the memory is deallocated and will be + // allocated in the next frame at a possibly different location in memory (remember that the + // location of the allocated memory of a single frame allocator might change between two frames) + + mCachedCapacity = overlappingPairs.size(); + + overlappingPairs.clear(true); + collisionShapes1.clear(true); + collisionShapes2.clear(true); + shape1ToWorldTransforms.clear(true); + shape2ToWorldTransforms.clear(true); + collisionShapeAllocators.clear(true); + lastFrameCollisionInfos.clear(true); + isColliding.clear(true); + contactPoints.clear(true); } diff --git a/src/collision/NarrowPhaseInfoBatch.h b/src/collision/NarrowPhaseInfoBatch.h index 0a9c0ae0..48c23221 100644 --- a/src/collision/NarrowPhaseInfoBatch.h +++ b/src/collision/NarrowPhaseInfoBatch.h @@ -52,6 +52,9 @@ struct NarrowPhaseInfoBatch { /// Memory allocator MemoryAllocator& mMemoryAllocator; + /// Cached capacity + uint mCachedCapacity = 0; + public: /// List of Broadphase overlapping pairs @@ -102,6 +105,9 @@ struct NarrowPhaseInfoBatch { /// Reset the remaining contact points void resetContactPoints(uint index); + // Initialize the containers using cached capacity + void reserveMemory(); + /// Clear all the objects in the batch void clear(); }; diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index 8612c9ed..8587316e 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -67,9 +67,9 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two capsules - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) override; + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index c69225c8..70f223b5 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -70,9 +70,9 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsConvexPolyhedronAlgorithm& operator=(const CapsuleVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a capsule and a polyhedron - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) override; + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index b63fb53e..7f9fccd2 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -65,9 +65,9 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm ConvexPolyhedronVsConvexPolyhedronAlgorithm& operator=(const ConvexPolyhedronVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two convex polyhedra - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) override; + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index 608651c9..3d61edb9 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -72,9 +72,6 @@ class NarrowPhaseAlgorithm { // -------------------- Attributes -------------------- // - // Id of the algorithm (computed by hasing the algorithm name) - size_t mId; - #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -99,11 +96,6 @@ class NarrowPhaseAlgorithm { /// Deleted assignment operator NarrowPhaseAlgorithm& operator=(const NarrowPhaseAlgorithm& algorithm) = delete; - /// Compute a contact info if the two bounding volumes collide - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator)=0; - #ifdef IS_PROFILING_ACTIVE /// Set the profiler diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index da08213c..88d6cb14 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -68,6 +68,17 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* } } +/// Reserve memory for the containers with cached capacity +void NarrowPhaseInput::reserveMemory() { + + mSphereVsSphereBatch.reserveMemory(); + mSphereVsCapsuleBatch.reserveMemory(); + mCapsuleVsCapsuleBatch.reserveMemory(); + mSphereVsConvexPolyhedronBatch.reserveMemory(); + mCapsuleVsConvexPolyhedronBatch.reserveMemory(); + mConvexPolyhedronVsConvexPolyhedronBatch.reserveMemory(); +} + // Clear void NarrowPhaseInput::clear() { diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index 32200f11..e71e327e 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -58,7 +58,6 @@ class NarrowPhaseInput { NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mConvexPolyhedronVsConvexPolyhedronBatch; - public: /// Constructor @@ -88,6 +87,9 @@ class NarrowPhaseInput { /// Get a reference to the convex polyhedron vs convex polyhedron batch NarrowPhaseInfoBatch& getConvexPolyhedronVsConvexPolyhedronBatch(); + /// Reserve memory for the containers with cached capacity + void reserveMemory(); + /// Clear void clear(); }; diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h index eab8153a..573e5756 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -66,9 +66,9 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { SphereVsCapsuleAlgorithm& operator=(const SphereVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a capsule - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) override; + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 73251daa..040caec6 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -71,9 +71,9 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) override; + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/src/collision/narrowphase/SphereVsSphereAlgorithm.h index ab68f5eb..8099b608 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -65,9 +65,9 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volume collide - virtual bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) override; + MemoryAllocator& memoryAllocator); }; } From 6413d479ad95e4e083cf5701c5c09d133ca3355a Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 27 Nov 2018 07:27:38 +0100 Subject: [PATCH 013/197] Create SphereVsSphereNarrowPhaseInfoBatch class --- CMakeLists.txt | 8 +- src/collision/CollisionDetection.cpp | 4 +- src/collision/ContactManifoldSet.cpp | 2 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 2 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 2 +- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 2 +- .../narrowphase/GJK/GJKAlgorithm.cpp | 2 +- .../NarrowPhaseInfoBatch.cpp | 7 +- .../{ => narrowphase}/NarrowPhaseInfoBatch.h | 9 +- .../narrowphase/NarrowPhaseInput.cpp | 2 +- src/collision/narrowphase/NarrowPhaseInput.h | 9 +- .../narrowphase/SAT/SATAlgorithm.cpp | 2 +- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 2 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 2 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 40 ++++----- .../narrowphase/SphereVsSphereAlgorithm.h | 3 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 88 +++++++++++++++++++ .../SphereVsSphereNarrowPhaseInfoBatch.h | 78 ++++++++++++++++ 18 files changed, 218 insertions(+), 46 deletions(-) rename src/collision/{ => narrowphase}/NarrowPhaseInfoBatch.cpp (95%) rename src/collision/{ => narrowphase}/NarrowPhaseInfoBatch.h (95%) create mode 100644 src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp create mode 100644 src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h diff --git a/CMakeLists.txt b/CMakeLists.txt index ce20060a..e17e0e35 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -94,8 +94,9 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h" "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h" "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" - "src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.h" "src/collision/narrowphase/NarrowPhaseInput.h" + "src/collision/narrowphase/NarrowPhaseInfoBatch.h" + "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" "src/collision/shapes/AABB.h" "src/collision/shapes/ConvexShape.h" "src/collision/shapes/ConvexPolyhedronShape.h" @@ -116,7 +117,6 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/PolyhedronMesh.h" "src/collision/HalfEdgeStructure.h" "src/collision/CollisionDetection.h" - "src/collision/NarrowPhaseInfoBatch.h" "src/collision/ContactManifold.h" "src/collision/ContactManifoldSet.h" "src/collision/MiddlePhaseTriangleCallback.h" @@ -179,8 +179,9 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp" "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp" "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp" - "src/collision/narrowphase/SphereVsSphereNarrowPhaseInputBatch.cpp" "src/collision/narrowphase/NarrowPhaseInput.cpp" + "src/collision/narrowphase/NarrowPhaseInfoBatch.cpp" + "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp" "src/collision/shapes/AABB.cpp" "src/collision/shapes/ConvexShape.cpp" "src/collision/shapes/ConvexPolyhedronShape.cpp" @@ -201,7 +202,6 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/PolyhedronMesh.cpp" "src/collision/HalfEdgeStructure.cpp" "src/collision/CollisionDetection.cpp" - "src/collision/NarrowPhaseInfoBatch.cpp" "src/collision/ContactManifold.cpp" "src/collision/ContactManifoldSet.cpp" "src/collision/MiddlePhaseTriangleCallback.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 8d7d29b5..f8d82082 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -35,7 +35,7 @@ #include "collision/CollisionCallback.h" #include "collision/MiddlePhaseTriangleCallback.h" #include "collision/OverlapCallback.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/ContactManifold.h" #include "utils/Profiler.h" #include "engine/EventListener.h" @@ -252,7 +252,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI ConvexPolyhedronVsConvexPolyhedronAlgorithm* convexPolyVsConvexPolyAlgo = mCollisionDispatch.getConvexPolyhedronVsConvexPolyhedronAlgorithm(); // get the narrow-phase batches to test for collision - NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); + SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index 7ced9552..5c6f8d7f 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -25,7 +25,7 @@ // Libraries #include "ContactManifoldSet.h" -#include "NarrowPhaseInfoBatch.h" +#include "narrowphase/NarrowPhaseInfoBatch.h" #include "constraint/ContactPoint.h" #include "ProxyShape.h" #include "collision/ContactManifold.h" diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index 3412a4ca..af26f26a 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -26,7 +26,7 @@ // Libraries #include "CapsuleVsCapsuleAlgorithm.h" #include "collision/shapes/CapsuleShape.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index e611109b..d425b80e 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -29,7 +29,7 @@ #include "GJK/GJKAlgorithm.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConvexPolyhedronShape.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/ContactPointInfo.h" #include diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index fe47ac3e..3ed15c74 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -27,7 +27,7 @@ #include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" #include "GJK/GJKAlgorithm.h" #include "SAT/SATAlgorithm.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index bbda9a62..317145b9 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -31,7 +31,7 @@ #include "configuration.h" #include "utils/Profiler.h" #include "containers/List.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/narrowphase/GJK/VoronoiSimplex.h" #include diff --git a/src/collision/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp similarity index 95% rename from src/collision/NarrowPhaseInfoBatch.cpp rename to src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index 08466945..bb7c0d7e 100644 --- a/src/collision/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -25,7 +25,7 @@ // Libraries #include "NarrowPhaseInfoBatch.h" -#include "ContactPointInfo.h" +#include "collision/ContactPointInfo.h" #include "collision/shapes/TriangleShape.h" #include "engine/OverlappingPair.h" @@ -125,11 +125,12 @@ void NarrowPhaseInfoBatch::clear() { // Release the memory of the TriangleShape (this memory was allocated in the // MiddlePhaseTriangleCallback::testTriangle() method) - if (collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) { + // TODO DOD : Try to move this code + if (collisionShapes1.size() > 0 && collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) { collisionShapes1[i]->~CollisionShape(); collisionShapeAllocators[i]->release(collisionShapes1[i], sizeof(TriangleShape)); } - if (collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) { + if (collisionShapes2.size() > 0 && collisionShapes2[i]->getName() == CollisionShapeName::TRIANGLE) { collisionShapes2[i]->~CollisionShape(); collisionShapeAllocators[i]->release(collisionShapes2[i], sizeof(TriangleShape)); } diff --git a/src/collision/NarrowPhaseInfoBatch.h b/src/collision/narrowphase/NarrowPhaseInfoBatch.h similarity index 95% rename from src/collision/NarrowPhaseInfoBatch.h rename to src/collision/narrowphase/NarrowPhaseInfoBatch.h index 48c23221..abf5d7b0 100644 --- a/src/collision/NarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -47,7 +47,7 @@ struct ContactPointInfo; */ struct NarrowPhaseInfoBatch { - private: + protected: /// Memory allocator MemoryAllocator& mMemoryAllocator; @@ -57,6 +57,8 @@ struct NarrowPhaseInfoBatch { public: + // TODO DOD : Try to remove most of the following lists + /// List of Broadphase overlapping pairs List overlappingPairs; @@ -88,12 +90,13 @@ struct NarrowPhaseInfoBatch { NarrowPhaseInfoBatch(MemoryAllocator& allocator); /// Destructor - ~NarrowPhaseInfoBatch(); + virtual ~NarrowPhaseInfoBatch(); /// Return the number of objects in the batch uint getNbObjects() const; /// Add shapes to be tested during narrow-phase collision detection into the batch + // TODO DOD : Remove this method (only use the one in specialized classed) void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator); @@ -109,7 +112,7 @@ struct NarrowPhaseInfoBatch { void reserveMemory(); /// Clear all the objects in the batch - void clear(); + virtual void clear(); }; /// Return the number of objects in the batch diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index 88d6cb14..19e85925 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -44,7 +44,7 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* switch (narrowPhaseAlgorithmType) { case NarrowPhaseAlgorithmType::SphereVsSphere: - mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsCapsule: mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index e71e327e..da9e34fa 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -28,7 +28,8 @@ // Libraries #include "containers/List.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -52,7 +53,7 @@ class NarrowPhaseInput { private: - NarrowPhaseInfoBatch mSphereVsSphereBatch; + SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch; NarrowPhaseInfoBatch mSphereVsCapsuleBatch; NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; @@ -70,7 +71,7 @@ class NarrowPhaseInput { MemoryAllocator& shapeAllocator); /// Get a reference to the sphere vs sphere batch - NarrowPhaseInfoBatch& getSphereVsSphereBatch(); + SphereVsSphereNarrowPhaseInfoBatch& getSphereVsSphereBatch(); /// Get a reference to the sphere vs capsule batch NarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); @@ -96,7 +97,7 @@ class NarrowPhaseInput { // Get a reference to the sphere vs sphere batch -inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() { +inline SphereVsSphereNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() { return mSphereVsSphereBatch; } diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 9224290a..3c467ea3 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -30,7 +30,7 @@ #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/SphereShape.h" #include "engine/OverlappingPair.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/shapes/TriangleShape.h" #include "configuration.h" #include "utils/Profiler.h" diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index 0f98cd27..8b6f9165 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -27,7 +27,7 @@ #include "SphereVsCapsuleAlgorithm.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index b1416afd..a8e638be 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -27,7 +27,7 @@ #include "SphereVsConvexPolyhedronAlgorithm.h" #include "GJK/GJKAlgorithm.h" #include "SAT/SATAlgorithm.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index fa042687..03b8a393 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -26,12 +26,12 @@ // Libraries #include "SphereVsSphereAlgorithm.h" #include "collision/shapes/SphereShape.h" -#include "collision/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; -bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, +bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -42,32 +42,29 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE); - assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE); - - // Get the sphere collision shapes - const SphereShape* sphereShape1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - const SphereShape* sphereShape2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - // Get the local-space to world-space transforms - const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; - const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; + const Transform& transform1 = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex]; + const Transform& transform2 = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex]; // Compute the distance between the centers Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition(); decimal squaredDistanceBetweenCenters = vectorBetweenCenters.lengthSquare(); // Compute the sum of the radius - decimal sumRadius = sphereShape1->getRadius() + sphereShape2->getRadius(); + decimal sumRadiuses = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] + narrowPhaseInfoBatch.sphere2Radiuses[batchIndex]; + + // Compute the product of the sum of the radius + decimal sumRadiusesProducts = sumRadiuses * sumRadiuses; // If the sphere collision shapes intersect - if (squaredDistanceBetweenCenters < sumRadius * sumRadius) { + if (squaredDistanceBetweenCenters < sumRadiusesProducts) { if (reportContacts) { - Vector3 centerSphere2InBody1LocalSpace = transform1.getInverse() * transform2.getPosition(); - Vector3 centerSphere1InBody2LocalSpace = transform2.getInverse() * transform1.getPosition(); - decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters); + Transform transform1Inverse = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getInverse(); + Transform transform2Inverse = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getInverse(); + + decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters); Vector3 intersectionOnBody1; Vector3 intersectionOnBody2; Vector3 normal; @@ -75,8 +72,11 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf // If the two sphere centers are not at the same position if (squaredDistanceBetweenCenters > MACHINE_EPSILON) { - intersectionOnBody1 = sphereShape1->getRadius() * centerSphere2InBody1LocalSpace.getUnit(); - intersectionOnBody2 = sphereShape2->getRadius() * centerSphere1InBody2LocalSpace.getUnit(); + Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getPosition(); + Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getPosition(); + + intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * centerSphere2InBody1LocalSpace.getUnit(); + intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * centerSphere1InBody2LocalSpace.getUnit(); normal = vectorBetweenCenters.getUnit(); } else { // If the sphere centers are at the same position (degenerate case) @@ -84,8 +84,8 @@ bool SphereVsSphereAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInf // Take any contact normal direction normal.setAllValues(0, 1, 0); - intersectionOnBody1 = sphereShape1->getRadius() * (transform1.getInverse().getOrientation() * normal); - intersectionOnBody2 = sphereShape2->getRadius() * (transform2.getInverse().getOrientation() * normal); + intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * (transform1Inverse.getOrientation() * normal); + intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * (transform2Inverse.getOrientation() * normal); } // Create the contact info object diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/src/collision/narrowphase/SphereVsSphereAlgorithm.h index 8099b608..e0f4c5be 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -34,6 +34,7 @@ namespace reactphysics3d { // Declarations class ContactPoint; +struct SphereVsSphereNarrowPhaseInfoBatch; class Body; // Class SphereVsSphereAlgorithm @@ -65,7 +66,7 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { SphereVsSphereAlgorithm& operator=(const SphereVsSphereAlgorithm& algorithm) = delete; /// Compute a contact info if the two bounding volume collide - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator); }; diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp new file mode 100644 index 00000000..3b9d2fc1 --- /dev/null +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -0,0 +1,88 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "SphereVsSphereNarrowPhaseInfoBatch.h" +#include "collision/shapes/SphereShape.h" + +using namespace reactphysics3d; + +// Constructor +SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator) + : NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator), + sphere1WorldTransforms(allocator), sphere2WorldTransforms(allocator) { + +} + +// Add shapes to be tested during narrow-phase collision detection into the batch +void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, + const Transform& shape1Transform, const Transform& shape2Transform) { + + assert(shape1->getType() == CollisionShapeType::SPHERE); + assert(shape2->getType() == CollisionShapeType::SPHERE); + + const SphereShape* sphere1 = static_cast(shape1); + const SphereShape* sphere2 = static_cast(shape2); + + sphere1Radiuses.add(sphere1->getRadius()); + sphere2Radiuses.add(sphere2->getRadius()); + sphere1WorldTransforms.add(shape1Transform); + sphere2WorldTransforms.add(shape2Transform); + overlappingPairs.add(pair); + contactPoints.add(List(mMemoryAllocator)); + isColliding.add(false); + + // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) + LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + lastFrameCollisionInfos.add(lastFrameInfo); +} + +// Initialize the containers using cached capacity +void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { + + NarrowPhaseInfoBatch::reserveMemory(); + + sphere1Radiuses.reserve(mCachedCapacity); + sphere2Radiuses.reserve(mCachedCapacity); + sphere1WorldTransforms.reserve(mCachedCapacity); + sphere2WorldTransforms.reserve(mCachedCapacity); +} + +// Clear all the objects in the batch +void SphereVsSphereNarrowPhaseInfoBatch::clear() { + + NarrowPhaseInfoBatch::clear(); + + // Note that we clear the following containers and we release their allocated memory. Therefore, + // if the memory allocator is a single frame allocator, the memory is deallocated and will be + // allocated in the next frame at a possibly different location in memory (remember that the + // location of the allocated memory of a single frame allocator might change between two frames) + + sphere1Radiuses.clear(true); + sphere2Radiuses.clear(true); + sphere1WorldTransforms.clear(true); + sphere2WorldTransforms.clear(true); +} + diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h new file mode 100644 index 00000000..ac0a37c9 --- /dev/null +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -0,0 +1,78 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H +#define REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H + +// Libraries +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" + +/// Namespace ReactPhysics3D +namespace reactphysics3d { + +// Struct SphereVsSphereNarrowPhaseInfoBatch +/** + * This structure collects all the potential collisions from the middle-phase algorithm + * that have to be tested during narrow-phase collision detection. This class collects all the + * sphere vs sphere collision detection tests. + */ +struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { + + public: + + /// List of radiuses for the first spheres + List sphere1Radiuses; + + /// List of radiuses for the second spheres + List sphere2Radiuses; + + /// List of the world-space positions for the center of the first spheres + List sphere1WorldTransforms; + + /// List of the world-space positions for the center of the second spheres + List sphere2WorldTransforms; + + /// Constructor + SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator); + + /// Destructor + virtual ~SphereVsSphereNarrowPhaseInfoBatch() = default; + + /// Add shapes to be tested during narrow-phase collision detection into the batch + virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, + const Transform& shape2Transform); + + // Initialize the containers using cached capacity + void reserveMemory(); + + /// Clear all the objects in the batch + virtual void clear(); +}; + +} + +#endif + From 11ddc3f07930a7bb64b856105e3aae6b27a70a3f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 29 Nov 2018 07:08:39 +0100 Subject: [PATCH 014/197] Create CapsuleVsCapsuleNarrowPhaseInfoBatch class --- CMakeLists.txt | 2 + src/collision/CollisionDetection.cpp | 2 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 44 +++++---- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 4 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 89 +++++++++++++++++++ .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 78 ++++++++++++++++ .../narrowphase/NarrowPhaseInput.cpp | 2 +- src/collision/narrowphase/NarrowPhaseInput.h | 7 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 12 +-- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 11 +-- .../SphereVsSphereNarrowPhaseInfoBatch.h | 6 -- 11 files changed, 207 insertions(+), 50 deletions(-) create mode 100644 src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp create mode 100644 src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h diff --git a/CMakeLists.txt b/CMakeLists.txt index e17e0e35..e28ff41f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -97,6 +97,7 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/narrowphase/NarrowPhaseInput.h" "src/collision/narrowphase/NarrowPhaseInfoBatch.h" "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" + "src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" "src/collision/shapes/AABB.h" "src/collision/shapes/ConvexShape.h" "src/collision/shapes/ConvexPolyhedronShape.h" @@ -182,6 +183,7 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/narrowphase/NarrowPhaseInput.cpp" "src/collision/narrowphase/NarrowPhaseInfoBatch.cpp" "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp" + "src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp" "src/collision/shapes/AABB.cpp" "src/collision/shapes/ConvexShape.cpp" "src/collision/shapes/ConvexPolyhedronShape.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index f8d82082..f3e4f6d5 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -254,7 +254,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI // get the narrow-phase batches to test for collision SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); - NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); + CapsuleVsCapsuleNarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index af26f26a..ecf69ee1 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -26,7 +26,7 @@ // Libraries #include "CapsuleVsCapsuleAlgorithm.h" #include "collision/shapes/CapsuleShape.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -34,7 +34,7 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between two capsules // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, +bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -44,33 +44,31 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE); - assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CAPSULE); - - // Get the capsule collision shapes - const CapsuleShape* capsuleShape1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); - const CapsuleShape* capsuleShape2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); // Get the transform from capsule 1 local-space to capsule 2 local-space const Transform capsule1ToCapsule2SpaceTransform = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getInverse() * narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; // Compute the end-points of the inner segment of the first capsule - Vector3 capsule1SegA(0, -capsuleShape1->getHeight() * decimal(0.5), 0); - Vector3 capsule1SegB(0, capsuleShape1->getHeight() * decimal(0.5), 0); + const decimal capsule1HalfHeight = narrowPhaseInfoBatch.capsule1Heights[batchIndex] * decimal(0.5); + Vector3 capsule1SegA(0, -capsule1HalfHeight, 0); + Vector3 capsule1SegB(0, capsule1HalfHeight, 0); capsule1SegA = capsule1ToCapsule2SpaceTransform * capsule1SegA; capsule1SegB = capsule1ToCapsule2SpaceTransform * capsule1SegB; // Compute the end-points of the inner segment of the second capsule - const Vector3 capsule2SegA(0, -capsuleShape2->getHeight() * decimal(0.5), 0); - const Vector3 capsule2SegB(0, capsuleShape2->getHeight() * decimal(0.5), 0); + const decimal capsule2HalfHeight = narrowPhaseInfoBatch.capsule2Heights[batchIndex] * decimal(0.5); + const Vector3 capsule2SegA(0, -capsule2HalfHeight, 0); + const Vector3 capsule2SegB(0, capsule2HalfHeight, 0); // The two inner capsule segments const Vector3 seg1 = capsule1SegB - capsule1SegA; const Vector3 seg2 = capsule2SegB - capsule2SegA; // Compute the sum of the radius of the two capsules (virtual spheres) - decimal sumRadius = capsuleShape2->getRadius() + capsuleShape1->getRadius(); + const decimal capsule1Radius = narrowPhaseInfoBatch.capsule1Radiuses[batchIndex]; + const decimal capsule2Radius = narrowPhaseInfoBatch.capsule2Radiuses[batchIndex]; + const decimal sumRadius = capsule1Radius + capsule2Radius; // If the two capsules are parallel (we create two contact points) bool areCapsuleInnerSegmentsParralel = areParallelVectors(seg1, seg2); @@ -140,10 +138,10 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI } Transform capsule2ToCapsule1SpaceTransform = capsule1ToCapsule2SpaceTransform.getInverse(); - const Vector3 contactPointACapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointA - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius()); - const Vector3 contactPointBCapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointB - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsuleShape1->getRadius()); - const Vector3 contactPointACapsule2Local = clipPointA - normalCapsule2SpaceNormalized * capsuleShape2->getRadius(); - const Vector3 contactPointBCapsule2Local = clipPointB - normalCapsule2SpaceNormalized * capsuleShape2->getRadius(); + const Vector3 contactPointACapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointA - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsule1Radius); + const Vector3 contactPointBCapsule1Local = capsule2ToCapsule1SpaceTransform * (clipPointB - segment1ToSegment2 + normalCapsule2SpaceNormalized * capsule1Radius); + const Vector3 contactPointACapsule2Local = clipPointA - normalCapsule2SpaceNormalized * capsule2Radius; + const Vector3 contactPointBCapsule2Local = clipPointB - normalCapsule2SpaceNormalized * capsule2Radius; decimal penetrationDepth = sumRadius - segmentsPerpendicularDistance; @@ -184,8 +182,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI decimal closestPointsDistance = std::sqrt(closestPointsDistanceSquare); closestPointsSeg1ToSeg2 /= closestPointsDistance; - const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsuleShape1->getRadius()); - const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsuleShape2->getRadius(); + const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + closestPointsSeg1ToSeg2 * capsule1Radius); + const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - closestPointsSeg1ToSeg2 * capsule2Radius; const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * closestPointsSeg1ToSeg2; @@ -207,8 +205,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI Vector3 normalCapsuleSpace2 = (closestPointCapsule2Seg - capsule1SegmentMostExtremePoint); normalCapsuleSpace2.normalize(); - const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius()); - const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius(); + const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsule1Radius); + const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsule2Radius; const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2; @@ -223,8 +221,8 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseI normalCapsuleSpace2.normalize(); // Compute the contact points on both shapes - const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsuleShape1->getRadius()); - const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsuleShape2->getRadius(); + const Vector3 contactPointCapsule1Local = capsule1ToCapsule2SpaceTransform.getInverse() * (closestPointCapsule1Seg + normalCapsuleSpace2 * capsule1Radius); + const Vector3 contactPointCapsule2Local = closestPointCapsule2Seg - normalCapsuleSpace2 * capsule2Radius; const Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normalCapsuleSpace2; diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index 8587316e..32f76abe 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations -struct NarrowPhaseInfoBatch; +struct CapsuleVsCapsuleNarrowPhaseInfoBatch; class Body; class ContactPoint; @@ -67,7 +67,7 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two capsules - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator); }; diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp new file mode 100644 index 00000000..1034e13d --- /dev/null +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -0,0 +1,89 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "CapsuleVsCapsuleNarrowPhaseInfoBatch.h" +#include "collision/shapes/CapsuleShape.h" + +using namespace reactphysics3d; + +// Constructor +CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator) + : NarrowPhaseInfoBatch(allocator), capsule1Radiuses(allocator), capsule2Radiuses(allocator), + capsule1Heights(allocator), capsule2Heights(allocator) { + +} + +// Add shapes to be tested during narrow-phase collision detection into the batch +void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, + const Transform& shape1Transform, const Transform& shape2Transform) { + + assert(shape1->getType() == CollisionShapeType::CAPSULE); + assert(shape2->getType() == CollisionShapeType::CAPSULE); + + const CapsuleShape* capsule1 = static_cast(shape1); + const CapsuleShape* capsule2 = static_cast(shape2); + + capsule1Radiuses.add(capsule1->getRadius()); + capsule2Radiuses.add(capsule2->getRadius()); + capsule1Heights.add(capsule1->getHeight()); + capsule2Heights.add(capsule2->getHeight()); + shape1ToWorldTransforms.add(shape1Transform); + shape2ToWorldTransforms.add(shape2Transform); + overlappingPairs.add(pair); + contactPoints.add(List(mMemoryAllocator)); + isColliding.add(false); + + // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) + LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + lastFrameCollisionInfos.add(lastFrameInfo); +} + +// Initialize the containers using cached capacity +void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { + + NarrowPhaseInfoBatch::reserveMemory(); + + capsule1Radiuses.reserve(mCachedCapacity); + capsule2Radiuses.reserve(mCachedCapacity); + capsule1Heights.reserve(mCachedCapacity); + capsule2Heights.reserve(mCachedCapacity); +} + +// Clear all the objects in the batch +void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() { + + NarrowPhaseInfoBatch::clear(); + + // Note that we clear the following containers and we release their allocated memory. Therefore, + // if the memory allocator is a single frame allocator, the memory is deallocated and will be + // allocated in the next frame at a possibly different location in memory (remember that the + // location of the allocated memory of a single frame allocator might change between two frames) + + capsule1Radiuses.clear(true); + capsule2Radiuses.clear(true); + capsule1Heights.clear(true); + capsule2Heights.clear(true); +} diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h new file mode 100644 index 00000000..7bb061fb --- /dev/null +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -0,0 +1,78 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H +#define REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H + +// Libraries +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" + +/// Namespace ReactPhysics3D +namespace reactphysics3d { + +// Struct SphereVsSphereNarrowPhaseInfoBatch +/** + * This structure collects all the potential collisions from the middle-phase algorithm + * that have to be tested during narrow-phase collision detection. This class collects all the + * sphere vs sphere collision detection tests. + */ +struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { + + public: + + /// List of radiuses for the first capsules + List capsule1Radiuses; + + /// List of radiuses for the second capsules + List capsule2Radiuses; + + /// List of heights for the first capsules + List capsule1Heights; + + /// List of heights for the second capsules + List capsule2Heights; + + /// Constructor + CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator); + + /// Destructor + virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default; + + /// Add shapes to be tested during narrow-phase collision detection into the batch + virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, + const Transform& shape2Transform); + + // Initialize the containers using cached capacity + void reserveMemory(); + + /// Clear all the objects in the batch + virtual void clear(); +}; + +} + +#endif + diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index 19e85925..a595abcf 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -50,7 +50,7 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::CapsuleVsCapsule: - mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index da9e34fa..0ececc74 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -30,6 +30,7 @@ #include "containers/List.h" #include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" +#include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -55,7 +56,7 @@ class NarrowPhaseInput { SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch; NarrowPhaseInfoBatch mSphereVsCapsuleBatch; - NarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; + CapsuleVsCapsuleNarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mConvexPolyhedronVsConvexPolyhedronBatch; @@ -77,7 +78,7 @@ class NarrowPhaseInput { NarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); /// Get a reference to the capsule vs capsule batch - NarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch(); + CapsuleVsCapsuleNarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch(); /// Get a reference to the sphere vs convex polyhedron batch NarrowPhaseInfoBatch& getSphereVsConvexPolyhedronBatch(); @@ -107,7 +108,7 @@ inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { } // Get a reference to the capsule vs capsule batch -inline NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() { +inline CapsuleVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() { return mCapsuleVsCapsuleBatch; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index 03b8a393..52bf5d96 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -43,8 +43,8 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); // Get the local-space to world-space transforms - const Transform& transform1 = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex]; - const Transform& transform2 = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex]; + const Transform& transform1 = narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex]; + const Transform& transform2 = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; // Compute the distance between the centers Vector3 vectorBetweenCenters = transform2.getPosition() - transform1.getPosition(); @@ -61,8 +61,8 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& if (reportContacts) { - Transform transform1Inverse = narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getInverse(); - Transform transform2Inverse = narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getInverse(); + Transform transform1Inverse = transform1.getInverse(); + Transform transform2Inverse = transform2.getInverse(); decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters); Vector3 intersectionOnBody1; @@ -72,8 +72,8 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& // If the two sphere centers are not at the same position if (squaredDistanceBetweenCenters > MACHINE_EPSILON) { - Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * narrowPhaseInfoBatch.sphere1WorldTransforms[batchIndex].getPosition(); - Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * narrowPhaseInfoBatch.sphere2WorldTransforms[batchIndex].getPosition(); + Vector3 centerSphere2InBody1LocalSpace = transform1Inverse * transform2.getPosition(); + Vector3 centerSphere1InBody2LocalSpace = transform2Inverse * transform1.getPosition(); intersectionOnBody1 = narrowPhaseInfoBatch.sphere1Radiuses[batchIndex] * centerSphere2InBody1LocalSpace.getUnit(); intersectionOnBody2 = narrowPhaseInfoBatch.sphere2Radiuses[batchIndex] * centerSphere1InBody2LocalSpace.getUnit(); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index 3b9d2fc1..d0891389 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -31,8 +31,7 @@ using namespace reactphysics3d; // Constructor SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator) - : NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator), - sphere1WorldTransforms(allocator), sphere2WorldTransforms(allocator) { + : NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator) { } @@ -48,8 +47,8 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pai sphere1Radiuses.add(sphere1->getRadius()); sphere2Radiuses.add(sphere2->getRadius()); - sphere1WorldTransforms.add(shape1Transform); - sphere2WorldTransforms.add(shape2Transform); + shape1ToWorldTransforms.add(shape1Transform); + shape2ToWorldTransforms.add(shape2Transform); overlappingPairs.add(pair); contactPoints.add(List(mMemoryAllocator)); isColliding.add(false); @@ -66,8 +65,6 @@ void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { sphere1Radiuses.reserve(mCachedCapacity); sphere2Radiuses.reserve(mCachedCapacity); - sphere1WorldTransforms.reserve(mCachedCapacity); - sphere2WorldTransforms.reserve(mCachedCapacity); } // Clear all the objects in the batch @@ -82,7 +79,5 @@ void SphereVsSphereNarrowPhaseInfoBatch::clear() { sphere1Radiuses.clear(true); sphere2Radiuses.clear(true); - sphere1WorldTransforms.clear(true); - sphere2WorldTransforms.clear(true); } diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index ac0a37c9..71d5ec5e 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -48,12 +48,6 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { /// List of radiuses for the second spheres List sphere2Radiuses; - /// List of the world-space positions for the center of the first spheres - List sphere1WorldTransforms; - - /// List of the world-space positions for the center of the second spheres - List sphere2WorldTransforms; - /// Constructor SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator); From 05d05c3fd88b0293c5e5551a505bed9b97ae5c58 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 29 Nov 2018 17:33:27 +0100 Subject: [PATCH 015/197] Create SphereVsCapsuleNarrowPhaseInfoBatch --- CMakeLists.txt | 2 + src/collision/CollisionDetection.cpp | 2 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 4 +- .../narrowphase/NarrowPhaseInput.cpp | 2 +- src/collision/narrowphase/NarrowPhaseInput.h | 7 +- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 26 ++---- .../narrowphase/SphereVsCapsuleAlgorithm.h | 3 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 92 +++++++++++++++++++ .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 78 ++++++++++++++++ 9 files changed, 192 insertions(+), 24 deletions(-) create mode 100644 src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp create mode 100644 src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h diff --git a/CMakeLists.txt b/CMakeLists.txt index e28ff41f..9b5e9bb4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -98,6 +98,7 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/narrowphase/NarrowPhaseInfoBatch.h" "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" "src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" + "src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" "src/collision/shapes/AABB.h" "src/collision/shapes/ConvexShape.h" "src/collision/shapes/ConvexPolyhedronShape.h" @@ -184,6 +185,7 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/narrowphase/NarrowPhaseInfoBatch.cpp" "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp" "src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp" + "src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp" "src/collision/shapes/AABB.cpp" "src/collision/shapes/ConvexShape.cpp" "src/collision/shapes/ConvexPolyhedronShape.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index f3e4f6d5..b1e80bda 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -253,7 +253,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI // get the narrow-phase batches to test for collision SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); - NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); + SphereVsCapsuleNarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); CapsuleVsCapsuleNarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 7bb061fb..914e02b9 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -32,11 +32,11 @@ /// Namespace ReactPhysics3D namespace reactphysics3d { -// Struct SphereVsSphereNarrowPhaseInfoBatch +// Struct CapsuleVsCapsuleNarrowPhaseInfoBatch /** * This structure collects all the potential collisions from the middle-phase algorithm * that have to be tested during narrow-phase collision detection. This class collects all the - * sphere vs sphere collision detection tests. + * capsule vs capsule collision detection tests. */ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index a595abcf..b5004c93 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -47,7 +47,7 @@ void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsCapsule: - mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::CapsuleVsCapsule: mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index 0ececc74..ee1c3906 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -31,6 +31,7 @@ #include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" #include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" +#include "collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -55,7 +56,7 @@ class NarrowPhaseInput { private: SphereVsSphereNarrowPhaseInfoBatch mSphereVsSphereBatch; - NarrowPhaseInfoBatch mSphereVsCapsuleBatch; + SphereVsCapsuleNarrowPhaseInfoBatch mSphereVsCapsuleBatch; CapsuleVsCapsuleNarrowPhaseInfoBatch mCapsuleVsCapsuleBatch; NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch; @@ -75,7 +76,7 @@ class NarrowPhaseInput { SphereVsSphereNarrowPhaseInfoBatch& getSphereVsSphereBatch(); /// Get a reference to the sphere vs capsule batch - NarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); + SphereVsCapsuleNarrowPhaseInfoBatch& getSphereVsCapsuleBatch(); /// Get a reference to the capsule vs capsule batch CapsuleVsCapsuleNarrowPhaseInfoBatch& getCapsuleVsCapsuleBatch(); @@ -103,7 +104,7 @@ inline SphereVsSphereNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBa } // Get a reference to the sphere vs capsule batch -inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { +inline SphereVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { return mSphereVsCapsuleBatch; } diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index 8b6f9165..68a02509 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -27,7 +27,7 @@ #include "SphereVsCapsuleAlgorithm.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include "collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -35,23 +35,17 @@ using namespace reactphysics3d; // Compute the narrow-phase collision detection between a sphere and a capsule // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. -bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, +bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { + assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); - bool isSphereShape1 = narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::SPHERE; - - assert(!narrowPhaseInfoBatch.isColliding[batchIndex]); - assert(isSphereShape1 || narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CAPSULE); - - // Get the collision shapes - const SphereShape* sphereShape = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes1[batchIndex] : narrowPhaseInfoBatch.collisionShapes2[batchIndex]); - const CapsuleShape* capsuleShape = static_cast(isSphereShape1 ? narrowPhaseInfoBatch.collisionShapes2[batchIndex] : narrowPhaseInfoBatch.collisionShapes1[batchIndex]); + const bool isSphereShape1 = narrowPhaseInfoBatch.isSpheresShape1[batchIndex]; // Get the transform from sphere local-space to capsule local-space const Transform& sphereToWorldTransform = isSphereShape1 ? narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex] : narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex]; @@ -63,7 +57,7 @@ bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseIn const Vector3 sphereCenter = sphereToCapsuleSpaceTransform.getPosition(); // Compute the end-points of the inner segment of the capsule - const decimal capsuleHalfHeight = capsuleShape->getHeight() * decimal(0.5); + const decimal capsuleHalfHeight = narrowPhaseInfoBatch.capsuleHeights[batchIndex] * decimal(0.5); const Vector3 capsuleSegA(0, -capsuleHalfHeight, 0); const Vector3 capsuleSegB(0, capsuleHalfHeight, 0); @@ -75,7 +69,7 @@ bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseIn const decimal sphereSegmentDistanceSquare = sphereCenterToSegment.lengthSquare(); // Compute the sum of the radius of the sphere and the capsule (virtual sphere) - decimal sumRadius = sphereShape->getRadius() + capsuleShape->getRadius(); + decimal sumRadius = narrowPhaseInfoBatch.sphereRadiuses[batchIndex] + narrowPhaseInfoBatch.capsuleRadiuses[batchIndex]; // If the collision shapes overlap if (sphereSegmentDistanceSquare < sumRadius * sumRadius) { @@ -93,8 +87,8 @@ bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseIn decimal sphereSegmentDistance = std::sqrt(sphereSegmentDistanceSquare); sphereCenterToSegment /= sphereSegmentDistance; - contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + sphereCenterToSegment * sphereShape->getRadius()); - contactPointCapsuleLocal = closestPointOnSegment - sphereCenterToSegment * capsuleShape->getRadius(); + contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + sphereCenterToSegment * narrowPhaseInfoBatch.sphereRadiuses[batchIndex]); + contactPointCapsuleLocal = closestPointOnSegment - sphereCenterToSegment * narrowPhaseInfoBatch.capsuleRadiuses[batchIndex]; normalWorld = capsuleToWorldTransform.getOrientation() * sphereCenterToSegment; @@ -125,8 +119,8 @@ bool SphereVsCapsuleAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseIn normalWorld = capsuleToWorldTransform.getOrientation() * normalCapsuleSpace; // Compute the two local contact points - contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + normalCapsuleSpace * sphereShape->getRadius()); - contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * capsuleShape->getRadius(); + contactPointSphereLocal = sphereToCapsuleSpaceTransform.getInverse() * (sphereCenter + normalCapsuleSpace * narrowPhaseInfoBatch.sphereRadiuses[batchIndex]); + contactPointCapsuleLocal = sphereCenter - normalCapsuleSpace * narrowPhaseInfoBatch.capsuleRadiuses[batchIndex]; } if (penetrationDepth <= decimal(0.0)) { diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h index 573e5756..7394bfb2 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -36,6 +36,7 @@ namespace reactphysics3d { // Declarations class Body; class ContactPoint; +struct SphereVsCapsuleNarrowPhaseInfoBatch; // Class SphereVsCapsuleAlgorithm /** @@ -66,7 +67,7 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { SphereVsCapsuleAlgorithm& operator=(const SphereVsCapsuleAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a capsule - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, + bool testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator); }; diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp new file mode 100644 index 00000000..ec8ac168 --- /dev/null +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -0,0 +1,92 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "SphereVsCapsuleNarrowPhaseInfoBatch.h" +#include "collision/shapes/SphereShape.h" +#include "collision/shapes/CapsuleShape.h" + +using namespace reactphysics3d; + +// Constructor +SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator) + : NarrowPhaseInfoBatch(allocator), isSpheresShape1(allocator), sphereRadiuses(allocator), capsuleRadiuses(allocator), + capsuleHeights(allocator) { + +} + +// Add shapes to be tested during narrow-phase collision detection into the batch +void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, + const Transform& shape1Transform, const Transform& shape2Transform) { + + bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE; + isSpheresShape1.add(isSphereShape1); + + assert(isSphereShape1 || shape1->getType() == CollisionShapeType::CAPSULE); + + // Get the collision shapes + const SphereShape* sphereShape = static_cast(isSphereShape1 ? shape1 : shape2); + const CapsuleShape* capsuleShape = static_cast(isSphereShape1 ? shape2 : shape1); + + sphereRadiuses.add(sphereShape->getRadius()); + capsuleRadiuses.add(capsuleShape->getRadius()); + capsuleHeights.add(capsuleShape->getHeight()); + shape1ToWorldTransforms.add(shape1Transform); + shape2ToWorldTransforms.add(shape2Transform); + overlappingPairs.add(pair); + contactPoints.add(List(mMemoryAllocator)); + isColliding.add(false); + + // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) + LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + lastFrameCollisionInfos.add(lastFrameInfo); +} + +// Initialize the containers using cached capacity +void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { + + NarrowPhaseInfoBatch::reserveMemory(); + + isSpheresShape1.reserve(mCachedCapacity); + sphereRadiuses.reserve(mCachedCapacity); + capsuleRadiuses.reserve(mCachedCapacity); + capsuleHeights.reserve(mCachedCapacity); +} + +// Clear all the objects in the batch +void SphereVsCapsuleNarrowPhaseInfoBatch::clear() { + + NarrowPhaseInfoBatch::clear(); + + // Note that we clear the following containers and we release their allocated memory. Therefore, + // if the memory allocator is a single frame allocator, the memory is deallocated and will be + // allocated in the next frame at a possibly different location in memory (remember that the + // location of the allocated memory of a single frame allocator might change between two frames) + + isSpheresShape1.clear(true); + sphereRadiuses.clear(true); + capsuleRadiuses.clear(true); + capsuleHeights.clear(true); +} diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h new file mode 100644 index 00000000..beaa9bf1 --- /dev/null +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -0,0 +1,78 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SPHERE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H +#define REACTPHYSICS3D_SPHERE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H + +// Libraries +#include "collision/narrowphase/NarrowPhaseInfoBatch.h" + +/// Namespace ReactPhysics3D +namespace reactphysics3d { + +// Struct SphereVsCapsuleNarrowPhaseInfoBatch +/** + * This structure collects all the potential collisions from the middle-phase algorithm + * that have to be tested during narrow-phase collision detection. This class collects all the + * sphere vs capsule collision detection tests. + */ +struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { + + public: + + /// List of boolean values to know if the the sphere is the first or second shape + List isSpheresShape1; + + /// List of radiuses for the spheres + List sphereRadiuses; + + /// List of radiuses for the capsules + List capsuleRadiuses; + + /// List of heights for the capsules + List capsuleHeights; + + /// Constructor + SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator); + + /// Destructor + virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() = default; + + /// Add shapes to be tested during narrow-phase collision detection into the batch + virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, + const Transform& shape2Transform); + + // Initialize the containers using cached capacity + void reserveMemory(); + + /// Clear all the objects in the batch + virtual void clear(); +}; + +} + +#endif + From 6e67b83ca4f0b98e6d89e586457dec0d835a2791 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 1 Dec 2018 13:17:32 +0100 Subject: [PATCH 016/197] Modifs in NarrowPhaseBatch info classes --- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 18 +++++++++++++++--- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../narrowphase/NarrowPhaseAlgorithm.h | 1 - .../narrowphase/NarrowPhaseInfoBatch.cpp | 1 - .../narrowphase/NarrowPhaseInfoBatch.h | 7 ++----- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 18 +++++++++++++++--- .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 18 +++++++++++++++--- .../SphereVsSphereNarrowPhaseInfoBatch.h | 6 +++--- 9 files changed, 52 insertions(+), 21 deletions(-) diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp index 1034e13d..d90e9e8f 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -64,7 +64,12 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* p // Initialize the containers using cached capacity void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - NarrowPhaseInfoBatch::reserveMemory(); + overlappingPairs.reserve(mCachedCapacity); + shape1ToWorldTransforms.reserve(mCachedCapacity); + shape2ToWorldTransforms.reserve(mCachedCapacity); + lastFrameCollisionInfos.reserve(mCachedCapacity); + isColliding.reserve(mCachedCapacity); + contactPoints.reserve(mCachedCapacity); capsule1Radiuses.reserve(mCachedCapacity); capsule2Radiuses.reserve(mCachedCapacity); @@ -75,13 +80,20 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { // Clear all the objects in the batch void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() { - NarrowPhaseInfoBatch::clear(); - // Note that we clear the following containers and we release their allocated memory. Therefore, // if the memory allocator is a single frame allocator, the memory is deallocated and will be // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) + mCachedCapacity = overlappingPairs.size(); + + overlappingPairs.clear(true); + shape1ToWorldTransforms.clear(true); + shape2ToWorldTransforms.clear(true); + lastFrameCollisionInfos.clear(true); + isColliding.clear(true); + contactPoints.clear(true); + capsule1Radiuses.clear(true); capsule2Radiuses.clear(true); capsule1Heights.clear(true); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 914e02b9..1cdc2c70 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -66,7 +66,7 @@ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { const Transform& shape2Transform); // Initialize the containers using cached capacity - void reserveMemory(); + virtual void reserveMemory(); /// Clear all the objects in the batch virtual void clear(); diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index 3d61edb9..3b7f68a2 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -59,7 +59,6 @@ class NarrowPhaseCallback { }; -// TODO DOD : Try to delete this class // Class NarrowPhaseAlgorithm /** * This abstract class is the base class for a narrow-phase collision diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index bb7c0d7e..61b2fb5b 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -125,7 +125,6 @@ void NarrowPhaseInfoBatch::clear() { // Release the memory of the TriangleShape (this memory was allocated in the // MiddlePhaseTriangleCallback::testTriangle() method) - // TODO DOD : Try to move this code if (collisionShapes1.size() > 0 && collisionShapes1[i]->getName() == CollisionShapeName::TRIANGLE) { collisionShapes1[i]->~CollisionShape(); collisionShapeAllocators[i]->release(collisionShapes1[i], sizeof(TriangleShape)); diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.h b/src/collision/narrowphase/NarrowPhaseInfoBatch.h index abf5d7b0..f42c41e5 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -57,8 +57,6 @@ struct NarrowPhaseInfoBatch { public: - // TODO DOD : Try to remove most of the following lists - /// List of Broadphase overlapping pairs List overlappingPairs; @@ -96,20 +94,19 @@ struct NarrowPhaseInfoBatch { uint getNbObjects() const; /// Add shapes to be tested during narrow-phase collision detection into the batch - // TODO DOD : Remove this method (only use the one in specialized classed) void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator); /// Add a new contact point - void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, + virtual void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2); /// Reset the remaining contact points void resetContactPoints(uint index); // Initialize the containers using cached capacity - void reserveMemory(); + virtual void reserveMemory(); /// Clear all the objects in the batch virtual void clear(); diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp index ec8ac168..de617979 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -67,7 +67,12 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pa // Initialize the containers using cached capacity void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - NarrowPhaseInfoBatch::reserveMemory(); + overlappingPairs.reserve(mCachedCapacity); + shape1ToWorldTransforms.reserve(mCachedCapacity); + shape2ToWorldTransforms.reserve(mCachedCapacity); + lastFrameCollisionInfos.reserve(mCachedCapacity); + isColliding.reserve(mCachedCapacity); + contactPoints.reserve(mCachedCapacity); isSpheresShape1.reserve(mCachedCapacity); sphereRadiuses.reserve(mCachedCapacity); @@ -78,13 +83,20 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { // Clear all the objects in the batch void SphereVsCapsuleNarrowPhaseInfoBatch::clear() { - NarrowPhaseInfoBatch::clear(); - // Note that we clear the following containers and we release their allocated memory. Therefore, // if the memory allocator is a single frame allocator, the memory is deallocated and will be // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) + mCachedCapacity = overlappingPairs.size(); + + overlappingPairs.clear(true); + shape1ToWorldTransforms.clear(true); + shape2ToWorldTransforms.clear(true); + lastFrameCollisionInfos.clear(true); + isColliding.clear(true); + contactPoints.clear(true); + isSpheresShape1.clear(true); sphereRadiuses.clear(true); capsuleRadiuses.clear(true); diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h index beaa9bf1..54923b41 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -66,7 +66,7 @@ struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { const Transform& shape2Transform); // Initialize the containers using cached capacity - void reserveMemory(); + virtual void reserveMemory(); /// Clear all the objects in the batch virtual void clear(); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index d0891389..e9ab2b67 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -61,7 +61,12 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pai // Initialize the containers using cached capacity void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { - NarrowPhaseInfoBatch::reserveMemory(); + overlappingPairs.reserve(mCachedCapacity); + shape1ToWorldTransforms.reserve(mCachedCapacity); + shape2ToWorldTransforms.reserve(mCachedCapacity); + lastFrameCollisionInfos.reserve(mCachedCapacity); + isColliding.reserve(mCachedCapacity); + contactPoints.reserve(mCachedCapacity); sphere1Radiuses.reserve(mCachedCapacity); sphere2Radiuses.reserve(mCachedCapacity); @@ -70,13 +75,20 @@ void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { // Clear all the objects in the batch void SphereVsSphereNarrowPhaseInfoBatch::clear() { - NarrowPhaseInfoBatch::clear(); - // Note that we clear the following containers and we release their allocated memory. Therefore, // if the memory allocator is a single frame allocator, the memory is deallocated and will be // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) + mCachedCapacity = overlappingPairs.size(); + + overlappingPairs.clear(true); + shape1ToWorldTransforms.clear(true); + shape2ToWorldTransforms.clear(true); + lastFrameCollisionInfos.clear(true); + isColliding.clear(true); + contactPoints.clear(true); + sphere1Radiuses.clear(true); sphere2Radiuses.clear(true); } diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index 71d5ec5e..953cd01e 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -52,7 +52,7 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator); /// Destructor - virtual ~SphereVsSphereNarrowPhaseInfoBatch() = default; + virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, @@ -60,10 +60,10 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { const Transform& shape2Transform); // Initialize the containers using cached capacity - void reserveMemory(); + virtual void reserveMemory() override; /// Clear all the objects in the batch - virtual void clear(); + virtual void clear() override; }; } From 0c3f5ae5e698b2e492ac6595a34e51ca023a438f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 14 Dec 2018 00:02:40 +0100 Subject: [PATCH 017/197] Add Deque container --- CMakeLists.txt | 1 + src/containers/Deque.h | 673 ++++++++++++++++++++++++++++++ test/CMakeLists.txt | 1 + test/main.cpp | 2 + test/tests/containers/TestDeque.h | 338 +++++++++++++++ 5 files changed, 1015 insertions(+) create mode 100644 src/containers/Deque.h create mode 100644 test/tests/containers/TestDeque.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 9b5e9bb4..873f78e5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -160,6 +160,7 @@ SET (REACTPHYSICS3D_HEADERS "src/containers/Map.h" "src/containers/Set.h" "src/containers/Pair.h" + "src/containers/Deque.h" "src/utils/Profiler.h" "src/utils/Logger.h" ) diff --git a/src/containers/Deque.h b/src/containers/Deque.h new file mode 100644 index 00000000..a17c50fd --- /dev/null +++ b/src/containers/Deque.h @@ -0,0 +1,673 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_DEQUE_H +#define REACTPHYSICS3D_DEQUE_H + +// Libraries +#include "configuration.h" +#include "memory/MemoryAllocator.h" +#include +#include +#include +#include +#include + +namespace reactphysics3d { + +// Class Deque +/** + * This class represents a Deque. A Deque is a double ended queue. It is possible to + * push and pop items at both ends of the queue. Note that in the following code, the + * virtualIndex is the index of the items in the deque in range [0, mSize-1] where + * 0 is always the front item and mSize-1 the back item. There is a virtual index for + * each item that is in the deque. The allocatedIndex is the index of a allocated slot in the + * deque in range [0, (mNbChunks * CHUNK_NB_ITEMS)-1]. A given allocatedIndex corresponds to a slot + * in the deque that can be empty or contains an item. + */ +template +class Deque { + + private: + + // -------------------- Constants -------------------- // + + /// Number of items in a chunk + const uint CHUNK_NB_ITEMS = 17; + + /// First item index in a chunk + const uint CHUNK_FIRST_ITEM_INDEX = CHUNK_NB_ITEMS / 2; + + // -------------------- Attributes -------------------- // + + /// Array of chunks + T** mChunks; + + /// Number of current elements in the deque + size_t mSize; + + /// Number of chunks + size_t mNbChunks; + + /// Index of the chunk with the first element of the deque + size_t mFirstChunkIndex; + + /// Index of the chunk with the last element of the deque + size_t mLastChunkIndex; + + /// Index of the first element in the first chunk + uint8 mFirstItemIndex; + + /// Index of the last element in the last chunk + uint8 mLastItemIndex; + + /// Memory allocator + MemoryAllocator& mAllocator; + + // -------------------- Methods -------------------- // + + /// Return a reference to an item at the given virtual index in range [0; mSize-1] + T& getItem(size_t virtualIndex) const { + + // If the virtual index is valid + if (virtualIndex < mSize) { + + size_t chunkIndex = mFirstChunkIndex; + size_t itemIndex = mFirstItemIndex; + + const size_t nbItemsFirstChunk = CHUNK_NB_ITEMS - mFirstItemIndex; + if (virtualIndex < nbItemsFirstChunk) { + itemIndex += virtualIndex; + } + else { + + virtualIndex -= nbItemsFirstChunk; + chunkIndex++; + + chunkIndex += virtualIndex / CHUNK_NB_ITEMS; + itemIndex = virtualIndex % CHUNK_NB_ITEMS; + } + + return mChunks[chunkIndex][itemIndex]; + } + else { + assert(false); + } + } + + /// Add more chunks + void expandChunks(size_t atLeastNbChunks = 0) { + + // If it is not necessary to expand the chunks + if (atLeastNbChunks > 0 && atLeastNbChunks <= mNbChunks) { + return; + } + + size_t newNbChunks = mNbChunks == 0 ? 3 : 2 * mNbChunks - 1; + if (atLeastNbChunks > 0 && newNbChunks < atLeastNbChunks) { + newNbChunks = size_t(atLeastNbChunks / 2) * 2 + 1; + } + const size_t halfNbChunksToAdd = mNbChunks == 0 ? 1 : (mNbChunks - 1) / 2; + + // Allocate memory for the new array of pointers to chunk + void* newMemory = mAllocator.allocate(newNbChunks * sizeof(T*)); + assert(newMemory != nullptr); + T** newChunks = static_cast(newMemory); + + // If chunks have already been allocated + if (mNbChunks > 0) { + + // Copy the pointers to the previous chunks to the new allocated memory location + std::uninitialized_copy(mChunks, mChunks + mNbChunks, newChunks + halfNbChunksToAdd); + + // Release the previously allocated memory + mAllocator.release(mChunks, mNbChunks * sizeof(T*)); + } + + mChunks = newChunks; + + // If we need to allocate the first chunk (in the middle of the chunks array) + if (mNbChunks == 0) { + mChunks[newNbChunks / 2] = static_cast(mAllocator.allocate(sizeof(T) * CHUNK_NB_ITEMS)); + assert(mChunks[newNbChunks / 2] != nullptr); + } + + mNbChunks = newNbChunks; + + // Allocate memory for each new chunk + for (size_t i=0; i < halfNbChunksToAdd; i++) { + + // Allocate memory for the new chunk + mChunks[i] = static_cast(mAllocator.allocate(sizeof(T) * CHUNK_NB_ITEMS)); + assert(mChunks[i] != nullptr); + + mChunks[mNbChunks - 1 - i] = static_cast(mAllocator.allocate(sizeof(T) * CHUNK_NB_ITEMS)); + assert(mChunks[mNbChunks - 1 -i] != nullptr); + } + + // Update the first and last chunk index + mFirstChunkIndex += halfNbChunksToAdd; + mLastChunkIndex += halfNbChunksToAdd; + } + + /* + /// Get the next item in the deque (return false if we have reached the end) + bool getNextItem(size_t& chunkIndex, size_t& itemIndex) const { + + bool isValid = true; + + // If we have reached the last item + if (chunkIndex == mLastChunkIndex && itemIndex == mLastItemIndex) { + isValid = false; + } + + // If we were at the last item of the chunk + if (itemIndex == CHUNK_NB_ITEMS - 1) { + + // Move to the next chunk + chunkIndex++; + itemIndex = 0; + } + else { + + itemIndex++; + } + + return isValid; + } + + /// Get the previous item in the deque (return false if we have reached the front) + bool getPreviousItem(size_t& chunkIndex, size_t& itemIndex) const { + + // If we have reached the first item + if (chunkIndex == mFirstChunkIndex && itemIndex == mFirstItemIndex) { + return false; + } + + // If we were at the first item of the chunk + if (itemIndex == 0) { + + // Move to the previous chunk + chunkIndex--; + itemIndex = CHUNK_NB_ITEMS - 1; + } + else { + + itemIndex--; + } + + return true; + } + /// Return true if the two chunk/item indices are currently valid for the state of the deque + bool areValidIndices(size_t chunkIndex, size_t itemIndex) const { + + return chunkIndex >= mFirstChunkIndex && chunkIndex <= mLastChunkIndex && + itemIndex >= mFirstItemIndex && itemIndex <= mLastItemIndex; + } + */ + + public: + + /// Class Iterator + /** + * This class represents an iterator for the Deque + */ + class Iterator { + + private: + + size_t mVirtualIndex; + const Deque* mDeque; + + public: + + // Iterator traits + using value_type = T; + using difference_type = std::ptrdiff_t; + using pointer = T*; + using const_pointer = T const*; + using reference = T&; + using const_reference = const T&; + using iterator_category = std::random_access_iterator_tag; + + /// Constructor + Iterator() = default; + + /// Constructor + Iterator(const Deque* deque, size_t virtualIndex) : mVirtualIndex(virtualIndex), mDeque(deque) { + + } + + /// Copy constructor + Iterator(const Iterator& it) : mVirtualIndex(it.mVirtualIndex), mDeque(it.mDeque) { + + } + + /// Deferencable + reference operator*() { + assert(mVirtualIndex < mDeque->mSize); + return mDeque->getItem(mVirtualIndex); + } + + /// Const Deferencable + const_reference operator*() const { + assert(mVirtualIndex < mDeque->mSize); + return mDeque->getItem(mVirtualIndex); + } + + /// Deferencable + const_pointer operator->() const { + assert(mVirtualIndex < mDeque->mSize); + return &(mDeque->getItem(mVirtualIndex)); + } + + /// Post increment (it++) + Iterator& operator++() { + assert(mVirtualIndex < mDeque->mSize); + mVirtualIndex++; + return *this; + } + + /// Pre increment (++it) + Iterator operator++(int number) { + assert(mVirtualIndex < mDeque->mSize); + Iterator tmp = *this; + mVirtualIndex++; + return tmp; + } + + /// Post decrement (it--) + Iterator& operator--() { + mVirtualIndex--; + return *this; + } + + /// Pre decrement (--it) + Iterator operator--(int number) { + Iterator tmp = *this; + mVirtualIndex--; + return tmp; + } + + /// Plus operator + Iterator operator+(const difference_type& n) { + return Iterator(mDeque, mVirtualIndex + n); + } + + /// Plus operator + Iterator& operator+=(const difference_type& n) { + mVirtualIndex += n; + return *this; + } + + /// Minus operator + Iterator operator-(const difference_type& n) { + return Iterator(mDeque, mVirtualIndex - n); + } + + /// Minus operator + Iterator& operator-=(const difference_type& n) { + mVirtualIndex -= n; + return *this; + } + + /// Difference operator + difference_type operator-(const Iterator& iterator) const { + return mVirtualIndex - iterator.mVirtualIndex; + } + + /// Comparison operator + bool operator<(const Iterator& other) const { + + return mVirtualIndex < other.mVirtualIndex; + } + + /// Comparison operator + bool operator>(const Iterator& other) const { + + return mVirtualIndex > other.mVirtualIndex; + } + + /// Comparison operator + bool operator<=(const Iterator& other) const { + + return mVirtualIndex <= other.mVirtualIndex; + } + + /// Comparison operator + bool operator>=(const Iterator& other) const { + + return mVirtualIndex >= other.mVirtualIndex; + } + + /// Equality operator (it == end()) + bool operator==(const Iterator& iterator) const { + + return mVirtualIndex == iterator.mVirtualIndex; + } + + /// Inequality operator (it != end()) + bool operator!=(const Iterator& iterator) const { + return !(*this == iterator); + } + + /// Frienship + friend class Deque; + + }; + + // -------------------- Methods -------------------- // + + /// Constructor + Deque(MemoryAllocator& allocator) + : mChunks(nullptr), mSize(0), mNbChunks(0), mFirstChunkIndex(1), + mLastChunkIndex(1), mFirstItemIndex(CHUNK_FIRST_ITEM_INDEX), + mLastItemIndex(CHUNK_FIRST_ITEM_INDEX), mAllocator(allocator) { + + // Allocate memory for the chunks array + expandChunks(); + } + + /// Copy constructor + Deque(const Deque& deque) + : mSize(0), mNbChunks(0), mFirstChunkIndex(1), + mLastChunkIndex(1), mFirstItemIndex(CHUNK_FIRST_ITEM_INDEX), + mLastItemIndex(CHUNK_FIRST_ITEM_INDEX), mAllocator(deque.mAllocator) { + + // Allocate memory for the array of chunks + expandChunks(deque.mNbChunks); + + if (deque.mSize > 0) { + + const size_t dequeHalfSize1 = std::ceil(deque.mSize / 2.0f); + const size_t dequeHalfSize2 = deque.mSize - dequeHalfSize1; + + // Add the items into the deque + for(size_t i=0; i < dequeHalfSize1; i++) { + addFront(deque[dequeHalfSize1 - 1 - i]); + } + for(size_t i=0; i < dequeHalfSize2; i++) { + addBack(deque[dequeHalfSize1 + i]); + } + } + } + + /// Destructor + ~Deque() { + + clear(); + + // Release each chunk + for (size_t i=0; i < mNbChunks; i++) { + + mAllocator.release(static_cast(mChunks[i]), sizeof(T) * CHUNK_NB_ITEMS); + } + + // Release the chunks array + mAllocator.release(static_cast(mChunks), sizeof(T*) * mNbChunks); + } + + /// Add an element at the end of the deque + void addBack(const T& element) { + + // If we need to add the item in a another chunk + if (mLastItemIndex == CHUNK_NB_ITEMS - 1) { + + // If we need to add more chunks + if (mLastChunkIndex == mNbChunks - 1) { + + // Add more chunks + expandChunks(); + } + + mLastItemIndex = 0; + mLastChunkIndex++; + } + else if (mSize != 0) { + mLastItemIndex++; + } + + // Construct the element at its location in the chunk + new (static_cast(&(mChunks[mLastChunkIndex][mLastItemIndex]))) T(element); + + mSize++; + + assert(mFirstChunkIndex >= 0 && mLastChunkIndex < mNbChunks); + assert(mFirstItemIndex >= 0 && mFirstItemIndex < CHUNK_NB_ITEMS); + assert(mLastItemIndex >= 0 && mLastItemIndex < CHUNK_NB_ITEMS); + assert(mFirstChunkIndex <= mLastChunkIndex); + } + + /// Add an element at the front of the deque + void addFront(const T& element) { + + // If we need to add the item in another chunk + if (mFirstItemIndex == 0) { + + // If we need to add more chunks + if (mFirstChunkIndex == 0) { + + // Add more chunks + expandChunks(); + } + + mFirstItemIndex = CHUNK_NB_ITEMS - 1; + mFirstChunkIndex--; + } + else if (mSize != 0) { + mFirstItemIndex--; + } + + // Construct the element at its location in the chunk + new (static_cast(&(mChunks[mFirstChunkIndex][mFirstItemIndex]))) T(element); + + mSize++; + + assert(mFirstChunkIndex >= 0 && mLastChunkIndex < mNbChunks); + assert(mFirstItemIndex >= 0 && mFirstItemIndex < CHUNK_NB_ITEMS); + assert(mLastItemIndex >= 0 && mLastItemIndex < CHUNK_NB_ITEMS); + assert(mFirstChunkIndex <= mLastChunkIndex); + } + + /// Remove the first element of the deque + void popFront() { + + if (mSize > 0) { + + // Call the destructor of the first element + mChunks[mFirstChunkIndex][mFirstItemIndex].~T(); + + mSize--; + + if (mSize == 0) { + mFirstChunkIndex = mNbChunks / 2; + mFirstItemIndex = CHUNK_FIRST_ITEM_INDEX; + mLastChunkIndex = mFirstChunkIndex; + mLastItemIndex = CHUNK_FIRST_ITEM_INDEX; + } + else if (mFirstItemIndex == CHUNK_NB_ITEMS - 1){ + mFirstChunkIndex++; + mFirstItemIndex = 0; + } + else { + mFirstItemIndex++; + } + + assert(mFirstChunkIndex >= 0 && mLastChunkIndex < mNbChunks); + assert(mFirstItemIndex >= 0 && mFirstItemIndex < CHUNK_NB_ITEMS); + assert(mLastItemIndex >= 0 && mLastItemIndex < CHUNK_NB_ITEMS); + assert(mFirstChunkIndex <= mLastChunkIndex); + } + } + + /// Remove the last element of the deque + void popBack() { + + if (mSize > 0) { + + // Call the destructor of the last element + mChunks[mLastChunkIndex][mLastItemIndex].~T(); + + mSize--; + + if (mSize == 0) { + mFirstChunkIndex = mNbChunks / 2; + mFirstItemIndex = CHUNK_FIRST_ITEM_INDEX; + mLastChunkIndex = mFirstChunkIndex; + mLastItemIndex = CHUNK_FIRST_ITEM_INDEX; + } + else if (mLastItemIndex == 0){ + mLastChunkIndex--; + mLastItemIndex = CHUNK_NB_ITEMS - 1; + } + else { + mLastItemIndex--; + } + + assert(mFirstChunkIndex >= 0 && mLastChunkIndex < mNbChunks); + assert(mFirstItemIndex >= 0 && mFirstItemIndex < CHUNK_NB_ITEMS); + assert(mLastItemIndex >= 0 && mLastItemIndex < CHUNK_NB_ITEMS); + assert(mFirstChunkIndex <= mLastChunkIndex); + } + } + + /// Return a reference to the first item of the deque + const T& getFront() const { + if (mSize > 0) { + return mChunks[mFirstChunkIndex][mFirstItemIndex]; + } + assert(false); + } + + /// Return a reference to the last item of the deque + const T& getBack() const { + if (mSize > 0) { + return mChunks[mLastChunkIndex][mLastItemIndex]; + } + assert(false); + } + + /// Clear the elements of the deque + void clear() { + + if (mSize > 0) { + + // Call the destructor of every items + for (size_t i=0; i < mSize; i++) { + getItem(i).~T(); + } + + mSize = 0; + + mFirstChunkIndex = mNbChunks / 2; + mLastChunkIndex = mFirstChunkIndex; + mFirstItemIndex = CHUNK_FIRST_ITEM_INDEX; + mLastItemIndex = CHUNK_FIRST_ITEM_INDEX; + } + } + + /// Return the number of elements in the deque + size_t size() const { + return mSize; + } + + /// Overloaded index operator + T& operator[](const uint index) { + assert(index < mSize); + return getItem(index); + } + + /// Overloaded const index operator + const T& operator[](const uint index) const { + assert(index < mSize); + return getItem(index); + } + + /// Overloaded equality operator + bool operator==(const Deque& deque) const { + + if (mSize != deque.mSize) return false; + + for (size_t i=0; i < mSize; i++) { + if (getItem(i) != deque.getItem(i)) { + return false; + } + } + + return true; + } + + /// Overloaded not equal operator + bool operator!=(const Deque& deque) const { + + return !((*this) == deque); + } + + /// Overloaded assignment operator + Deque& operator=(const Deque& deque) { + + if (this != &deque) { + + // Clear all the elements + clear(); + + if (deque.mSize > 0) { + + // Number of used chunks + const size_t nbUsedChunks = deque.mLastChunkIndex - deque.mFirstChunkIndex + 1; + + // Expand the chunk if necessary + expandChunks(nbUsedChunks); + + const size_t dequeHalfSize1 = std::ceil(deque.mSize / 2.0f); + const size_t dequeHalfSize2 = deque.mSize - dequeHalfSize1; + + // Add the items into the deque + for(size_t i=0; i < dequeHalfSize1; i++) { + addFront(deque[dequeHalfSize1 - 1 - i]); + } + for(size_t i=0; i < dequeHalfSize2; i++) { + addBack(deque[dequeHalfSize1 + i]); + } + } + } + + return *this; + } + + /// Return a begin iterator + Iterator begin() const { + return Iterator(this, 0); + } + + /// Return a end iterator + Iterator end() const { + return Iterator(this, mSize); + } +}; + +} + +#endif diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 02a7ec9b..15f42bc6 100755 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -18,6 +18,7 @@ SET (RP3D_TESTS_HEADERS "tests/containers/TestList.h" "tests/containers/TestMap.h" "tests/containers/TestSet.h" + "tests/containers/TestDeque.h" "tests/mathematics/TestMathematicsFunctions.h" "tests/mathematics/TestMatrix2x2.h" "tests/mathematics/TestMatrix3x3.h" diff --git a/test/main.cpp b/test/main.cpp index 24b9f003..95b73296 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -42,6 +42,7 @@ #include "tests/containers/TestList.h" #include "tests/containers/TestMap.h" #include "tests/containers/TestSet.h" +#include "tests/containers/TestDeque.h" using namespace reactphysics3d; @@ -54,6 +55,7 @@ int main() { testSuite.addTest(new TestList("List")); testSuite.addTest(new TestMap("Map")); testSuite.addTest(new TestSet("Set")); + testSuite.addTest(new TestDeque("Deque")); // ---------- Mathematics tests ---------- // diff --git a/test/tests/containers/TestDeque.h b/test/tests/containers/TestDeque.h new file mode 100644 index 00000000..8f3c9709 --- /dev/null +++ b/test/tests/containers/TestDeque.h @@ -0,0 +1,338 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef TEST_DEQUE_H +#define TEST_DEQUE_H + +// Libraries +#include "Test.h" +#include "containers/Deque.h" +#include "memory/DefaultAllocator.h" + +/// Reactphysics3D namespace +namespace reactphysics3d { + +// Class TestDeque +/** + * Unit test for the Deque class + */ +class TestDeque : public Test { + + private : + + // ---------- Atributes ---------- // + + DefaultAllocator mAllocator; + + public : + + // ---------- Methods ---------- // + + /// Constructor + TestDeque(const std::string& name) : Test(name) { + + } + + /// Run the tests + void run() { + + testConstructors(); + testAddPopClear(); + testAssignment(); + testEquality(); + testIterators(); + } + + void testConstructors() { + + // ----- Constructors ----- // + + Deque deque1(mAllocator); + rp3d_test(deque1.size() == 0); + + Deque deque2(mAllocator); + deque2.addBack(1); + deque2.addBack(2); + deque2.addBack(3); + rp3d_test(deque2.size() == 3); + + // ----- Copy Constructors ----- // + + Deque deque3(deque1); + rp3d_test(deque3.size() == 0); + + Deque deque4(deque2); + rp3d_test(deque4.size() == deque2.size()); + Deque::Iterator it3 = deque2.begin(); + Deque::Iterator it5 = deque4.begin(); + for (uint i=0; i deque5(mAllocator); + for (uint i=0; i<300; i++) { + deque5.addBack("test"); + } + + // ----- Test [] operator ----- // + Deque deque6(deque2); + deque6.addBack(1); + rp3d_test(deque6[0] == 1); + deque6.addBack(2); + rp3d_test(deque6[0] == 1); + rp3d_test(deque6[1] == 2); + deque6.addFront(5); + rp3d_test(deque6[0] == 5); + rp3d_test(deque6[1] == 1); + rp3d_test(deque6[2] == 2); + deque6.addFront(7); + rp3d_test(deque6[0] == 7); + rp3d_test(deque6[1] == 5); + rp3d_test(deque6[2] == 1); + rp3d_test(deque6[3] == 2); + deque6.popFront(); + rp3d_test(deque6[0] == 5); + rp3d_test(deque6[1] == 1); + rp3d_test(deque6[2] == 2); + } + + void testAddPopClear() { + + // ----- Test addBack() ----- // + + Deque deque1(mAllocator); + deque1.addBack(4); + rp3d_test(deque1.size() == 1); + rp3d_test(deque1.getBack() == 4); + rp3d_test(deque1.getFront() == 4); + deque1.addBack(9); + rp3d_test(deque1.size() == 2); + rp3d_test(deque1.getBack() == 9); + rp3d_test(deque1.getFront() == 4); + deque1.addBack(1); + rp3d_test(deque1.size() == 3); + rp3d_test(deque1.getBack() == 1); + rp3d_test(deque1.getFront() == 4); + + // ----- Test addFront() ----- // + + Deque deque2(mAllocator); + deque2.addFront(4); + rp3d_test(deque2.size() == 1); + rp3d_test(deque2.getBack() == 4); + rp3d_test(deque2.getFront() == 4); + deque2.addFront(9); + rp3d_test(deque2.size() == 2); + rp3d_test(deque2.getBack() == 4); + rp3d_test(deque2.getFront() == 9); + deque2.addFront(1); + rp3d_test(deque2.size() == 3); + rp3d_test(deque2.getBack() == 4); + rp3d_test(deque2.getFront() == 1); + + // ----- Test popFront() ----- // + + deque1.popFront(); + rp3d_test(deque1.size() == 2); + rp3d_test(deque1.getFront() == 9); + deque1.popFront(); + rp3d_test(deque1.size() == 1); + rp3d_test(deque1.getFront() == 1); + deque1.popFront(); + rp3d_test(deque1.size() == 0); + + // ----- Test popBack() ----- // + + deque2.popBack(); + rp3d_test(deque2.size() == 2); + rp3d_test(deque2.getBack() == 9); + deque2.popBack(); + rp3d_test(deque2.size() == 1); + rp3d_test(deque2.getBack() == 1); + deque2.popBack(); + rp3d_test(deque2.size() == 0); + + deque2.addBack(1); + deque2.addFront(2); + rp3d_test(deque2.getBack() == 1); + rp3d_test(deque2.getFront() == 2); + deque2.addBack(3); + deque2.addFront(4); + rp3d_test(deque2.getBack() == 3); + rp3d_test(deque2.getFront() == 4); + deque2.popBack(); + deque2.popFront(); + rp3d_test(deque2.getBack() == 1); + rp3d_test(deque2.getFront() == 2); + + // ----- Test clear() ----- // + + deque1.clear(); + deque2.clear(); + rp3d_test(deque1.size() == 0); + rp3d_test(deque2.size() == 0); + + deque1.addBack(1); + deque1.addFront(2); + deque1.addBack(3); + deque1.addFront(4); + rp3d_test(deque1.getBack() == 3); + rp3d_test(deque1.getFront() == 4); + deque1.clear(); + rp3d_test(deque1.size() == 0); + + } + + void testAssignment() { + + Deque deque1(mAllocator); + deque1.addBack(1); + deque1.addBack(2); + deque1.addBack(3); + + Deque deque2(mAllocator); + deque2.addFront(5); + deque2.addBack(6); + + Deque deque3(mAllocator); + Deque deque4(mAllocator); + deque4.addBack(7); + deque4.addBack(9); + + deque3 = deque2; + rp3d_test(deque2.size() == deque3.size()); + rp3d_test(deque2.size() == 2); + rp3d_test(deque2.getBack() == deque3.getBack()); + rp3d_test(deque2.getFront() == deque3.getFront()); + + deque4 = deque1; + rp3d_test(deque4.size() == deque1.size()) + rp3d_test(deque4.size() == 3) + rp3d_test(deque4.getFront() == 1); + rp3d_test(deque4.getBack() == 3); + } + + void testEquality() { + + Deque deque1(mAllocator); + deque1.addFront(1); + deque1.addBack(2); + deque1.addBack(3); + + Deque deque2(mAllocator); + deque2.addBack(1); + deque2.addBack(2); + + Deque deque3(mAllocator); + deque3.addBack(1); + deque3.addBack(2); + deque3.addBack(3); + + Deque deque4(mAllocator); + deque4.addFront(1); + deque4.addFront(5); + deque4.addFront(3); + + Deque deque5(mAllocator); + deque5.addFront(3); + deque5.addFront(2); + deque5.addFront(1); + + rp3d_test(deque1 == deque1); + rp3d_test(deque1 != deque2); + rp3d_test(deque1 == deque3); + rp3d_test(deque1 != deque4); + rp3d_test(deque2 != deque4); + rp3d_test(deque1 == deque5); + } + + void testIterators() { + + Deque deque1(mAllocator); + + rp3d_test(deque1.begin() == deque1.end()); + + deque1.addBack(5); + deque1.addBack(6); + deque1.addBack(8); + deque1.addBack(-1); + + Deque::Iterator itBegin = deque1.begin(); + Deque::Iterator itEnd = deque1.end(); + Deque::Iterator it = deque1.begin(); + + rp3d_test(itBegin < itEnd); + rp3d_test(itBegin <= itEnd); + rp3d_test(itEnd > itBegin); + rp3d_test(itEnd >= itBegin); + + rp3d_test(itBegin == it); + rp3d_test(*it == 5); + rp3d_test(*(it++) == 5); + rp3d_test(*it == 6); + rp3d_test(*(it--) == 6); + rp3d_test(*it == 5); + rp3d_test(*(++it) == 6); + rp3d_test(*it == 6); + rp3d_test(*(--it) == 5); + rp3d_test(*it == 5); + rp3d_test(it == itBegin); + + it = deque1.end(); + rp3d_test(it == itEnd); + it--; + rp3d_test(*it == -1); + it++; + rp3d_test(it == itEnd); + + Deque deque2(mAllocator); + for (auto it = deque1.begin(); it != deque1.end(); ++it) { + deque2.addBack(*it); + } + + rp3d_test(deque1 == deque2); + + it = itBegin; + rp3d_test(*(it + 2) == 8); + it += 2; + rp3d_test(*it == 8); + rp3d_test(*(it - 2) == 5); + it -= 2; + rp3d_test(*it == 5); + rp3d_test((itEnd - itBegin) == 4); + + it = itBegin; + *it = 19; + rp3d_test(*it == 19); + } + + }; + +} + +#endif From d905ff5c7fb216522e1c50022c8afae5d9d0210b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 23 Dec 2018 23:15:39 +0100 Subject: [PATCH 018/197] Small changes in Deque and Pair --- src/containers/Deque.h | 60 ++---------------------------------------- src/containers/Pair.h | 1 - 2 files changed, 2 insertions(+), 59 deletions(-) diff --git a/src/containers/Deque.h b/src/containers/Deque.h index a17c50fd..7c4f47d6 100644 --- a/src/containers/Deque.h +++ b/src/containers/Deque.h @@ -172,62 +172,6 @@ class Deque { mLastChunkIndex += halfNbChunksToAdd; } - /* - /// Get the next item in the deque (return false if we have reached the end) - bool getNextItem(size_t& chunkIndex, size_t& itemIndex) const { - - bool isValid = true; - - // If we have reached the last item - if (chunkIndex == mLastChunkIndex && itemIndex == mLastItemIndex) { - isValid = false; - } - - // If we were at the last item of the chunk - if (itemIndex == CHUNK_NB_ITEMS - 1) { - - // Move to the next chunk - chunkIndex++; - itemIndex = 0; - } - else { - - itemIndex++; - } - - return isValid; - } - - /// Get the previous item in the deque (return false if we have reached the front) - bool getPreviousItem(size_t& chunkIndex, size_t& itemIndex) const { - - // If we have reached the first item - if (chunkIndex == mFirstChunkIndex && itemIndex == mFirstItemIndex) { - return false; - } - - // If we were at the first item of the chunk - if (itemIndex == 0) { - - // Move to the previous chunk - chunkIndex--; - itemIndex = CHUNK_NB_ITEMS - 1; - } - else { - - itemIndex--; - } - - return true; - } - /// Return true if the two chunk/item indices are currently valid for the state of the deque - bool areValidIndices(size_t chunkIndex, size_t itemIndex) const { - - return chunkIndex >= mFirstChunkIndex && chunkIndex <= mLastChunkIndex && - itemIndex >= mFirstItemIndex && itemIndex <= mLastItemIndex; - } - */ - public: /// Class Iterator @@ -422,11 +366,11 @@ class Deque { // Release each chunk for (size_t i=0; i < mNbChunks; i++) { - mAllocator.release(static_cast(mChunks[i]), sizeof(T) * CHUNK_NB_ITEMS); + mAllocator.release(mChunks[i], sizeof(T) * CHUNK_NB_ITEMS); } // Release the chunks array - mAllocator.release(static_cast(mChunks), sizeof(T*) * mNbChunks); + mAllocator.release(mChunks, sizeof(T*) * mNbChunks); } /// Add an element at the end of the deque diff --git a/src/containers/Pair.h b/src/containers/Pair.h index c9cb36dc..ddfd4cd2 100644 --- a/src/containers/Pair.h +++ b/src/containers/Pair.h @@ -103,5 +103,4 @@ namespace std { }; } - #endif From fa9b1817fe4977268fb1e5de261d3634cdd76708 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 23 Dec 2018 23:18:05 +0100 Subject: [PATCH 019/197] Start working on ECS --- CMakeLists.txt | 6 + src/body/Body.cpp | 4 +- src/body/Body.h | 18 ++- src/body/CollisionBody.cpp | 4 +- src/body/CollisionBody.h | 2 +- src/body/RigidBody.cpp | 4 +- src/body/RigidBody.h | 2 +- src/components/TransformComponents.cpp | 190 +++++++++++++++++++++++++ src/components/TransformComponents.h | 140 ++++++++++++++++++ src/configuration.h | 6 +- src/engine/CollisionWorld.cpp | 15 +- src/engine/CollisionWorld.h | 9 ++ src/engine/DynamicsWorld.cpp | 11 +- src/engine/Entity.cpp | 60 ++++++++ src/engine/Entity.h | 144 +++++++++++++++++++ src/engine/EntityManager.cpp | 75 ++++++++++ src/engine/EntityManager.h | 80 +++++++++++ 17 files changed, 756 insertions(+), 14 deletions(-) create mode 100644 src/components/TransformComponents.cpp create mode 100644 src/components/TransformComponents.h create mode 100644 src/engine/Entity.cpp create mode 100644 src/engine/Entity.h create mode 100644 src/engine/EntityManager.cpp create mode 100644 src/engine/EntityManager.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 873f78e5..0df07e6f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -128,6 +128,8 @@ SET (REACTPHYSICS3D_HEADERS "src/constraint/HingeJoint.h" "src/constraint/Joint.h" "src/constraint/SliderJoint.h" + "src/engine/Entity.h" + "src/engine/EntityManager.h" "src/engine/CollisionWorld.h" "src/engine/ConstraintSolver.h" "src/engine/ContactSolver.h" @@ -138,6 +140,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/OverlappingPair.h" "src/engine/Timer.h" "src/engine/Timer.cpp" + "src/components/TransformComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -224,6 +227,9 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/Material.cpp" "src/engine/OverlappingPair.cpp" "src/engine/Timer.cpp" + "src/engine/Entity.cpp" + "src/engine/EntityManager.cpp" + "src/components/TransformComponents.cpp" "src/collision/CollisionCallback.cpp" "src/mathematics/mathematics_functions.cpp" "src/mathematics/Matrix2x2.cpp" diff --git a/src/body/Body.cpp b/src/body/Body.cpp index 34ebe067..a9b1d0eb 100644 --- a/src/body/Body.cpp +++ b/src/body/Body.cpp @@ -35,8 +35,8 @@ using namespace reactphysics3d; /** * @param id ID of the new body */ -Body::Body(bodyindex id) - : mID(id), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true), +Body::Body(Entity entity, bodyindex id) + : mID(id), mEntity(entity), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true), mIsSleeping(false), mSleepTime(0), mUserData(nullptr) { #ifdef IS_LOGGING_ACTIVE diff --git a/src/body/Body.h b/src/body/Body.h index 8c17fd08..00cccac7 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -29,6 +29,7 @@ // Libraries #include #include "configuration.h" +#include "engine/Entity.h" /// Namespace reactphysics3d namespace reactphysics3d { @@ -50,8 +51,12 @@ class Body { // -------------------- Attributes -------------------- // /// ID of the body + // TODO : Remove this bodyindex mID; + /// Identifier of the entity in the ECS + Entity mEntity; + /// True if the body has already been added in an island (for sleeping technique) bool mIsAlreadyInIsland; @@ -88,7 +93,7 @@ class Body { // -------------------- Methods -------------------- // /// Constructor - Body(bodyindex id); + Body(Entity entity, bodyindex id); /// Deleted copy-constructor Body(const Body& body) = delete; @@ -102,6 +107,9 @@ class Body { /// Return the ID of the body bodyindex getId() const; + /// Return the corresponding entity of the body + Entity getEntity() const; + /// Return whether or not the body is allowed to sleep bool isAllowedToSleep() const; @@ -157,6 +165,14 @@ inline bodyindex Body::getId() const { return mID; } +// Return the corresponding entity of the body +/** + * @return The entity of the body + */ +inline Entity Body::getEntity() const { + return mEntity; +} + // Return whether or not the body is allowed to sleep /** * @return True if the body is allowed to sleep and false otherwise diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 855869d5..642264fe 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param world The physics world where the body is created * @param id ID of the body */ -CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, bodyindex id) - : Body(id), mType(BodyType::DYNAMIC), mTransform(transform), mProxyCollisionShapes(nullptr), +CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) + : Body(entity, id), mType(BodyType::DYNAMIC), mTransform(transform), mProxyCollisionShapes(nullptr), mNbCollisionShapes(0), mContactManifoldsList(nullptr), mWorld(world) { #ifdef IS_PROFILING_ACTIVE diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 4123a055..19f55594 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -118,7 +118,7 @@ class CollisionBody : public Body { // -------------------- Methods -------------------- // /// Constructor - CollisionBody(const Transform& transform, CollisionWorld& world, bodyindex id); + CollisionBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id); /// Destructor virtual ~CollisionBody() override; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 27fd75d5..a9d31746 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param world The world where the body has been added * @param id The ID of the body */ -RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, bodyindex id) - : CollisionBody(transform, world, id), mArrayIndex(0), mInitMass(decimal(1.0)), +RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) + : CollisionBody(transform, world, entity, id), mArrayIndex(0), mInitMass(decimal(1.0)), mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()), mIsGravityEnabled(true), mMaterial(world.mConfig), mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index e9e78eee..8ab06b13 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -134,7 +134,7 @@ class RigidBody : public CollisionBody { // -------------------- Methods -------------------- // /// Constructor - RigidBody(const Transform& transform, CollisionWorld& world, bodyindex id); + RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id); /// Destructor virtual ~RigidBody() override; diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp new file mode 100644 index 00000000..3c702ead --- /dev/null +++ b/src/components/TransformComponents.cpp @@ -0,0 +1,190 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "TransformComponents.h" +#include "engine/EntityManager.h" +#include +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + + +// Constructor +TransformComponents::TransformComponents(MemoryAllocator& allocator) + :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), + mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { + + // Allocate memory for the components data + allocate(INIT_ALLOCATED_COMPONENTS); +} + +// Destructor +TransformComponents::~TransformComponents() { + + if (mNbAllocatedComponents > 0) { + + // Destroy all the remaining components + for (uint32 i = 0; i < mNbComponents; i++) { + destroyComponent(i); + } + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE; + + // Release the allocated memory + mMemoryAllocator.release(mBuffer, totalSizeBytes); + } +} + +// Allocate memory for a given number of components +void TransformComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newEntities = static_cast(newBuffer); + Transform* newTransforms = reinterpret_cast(newEntities + mNbAllocatedComponents); + + // If there was already components before + if (mNbAllocatedComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newTransforms, mTransforms, mNbComponents * sizeof(Transform)); + memcpy(newEntities, mEntities, mNbComponents * sizeof(Entity)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); + } + + mBuffer = newBuffer; + mEntities = newEntities; + mTransforms = newTransforms; + mNbAllocatedComponents = nbComponentsToAllocate; +} + +// Add a component +void TransformComponents::addComponent(Entity entity, const TransformComponent& component) { + + // If we need to allocate more components + if (mNbComponents == mNbAllocatedComponents) { + allocate(mNbAllocatedComponents * 2); + } + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(entity, mNbComponents)); + + // Insert the new component data + new (mEntities + mNbComponents) Entity(entity); + new (mTransforms + mNbComponents) Transform(component.transform); + + mNbComponents++; +} + +// Perform garbage collection to remove unused components +void TransformComponents::garbageCollection(const EntityManager& entityManager) { + + // TODO : Make sure we call this method each frame + + // We use lazy garbage collection. The idea is to pick random components and destroy + // them if their corresponding entities have been destroyed. We do this until we hit + // GARBAGE_COLLECTION_MAX_VALID_ENTITIES in a row. Therefore, it cost almost nothing + // if there are no destroyed entities and it very quickly destroys components where there + // are a lot of destroyed entities. + + uint32 nbHitValidEntitiesInARow = 0; + + // For random number generation + std::random_device rd; + std::mt19937 eng(rd()); + + while (mNbComponents > 0 && nbHitValidEntitiesInARow < GARBAGE_COLLECTION_MAX_VALID_ENTITIES) { + + // Select a random index in the components array + std::uniform_int_distribution distr(0, mNbComponents - 1); + uint32 i = distr(eng); + + // If the corresponding entity is valid + if (entityManager.isValid(mEntities[i])) { + nbHitValidEntitiesInARow++; + + continue; + } + + nbHitValidEntitiesInARow = 0; + + // Destroy the component + removeComponent(i); + } +} + +// Remove a component at a given index +void TransformComponents::removeComponent(uint32 index) { + + assert(index < mNbComponents); + + // We want to keep the arrays tightly packed. Therefore, when a component is removed, + // we replace it with the last element of the array + + const uint32 lastIndex = mNbComponents - 1; + + Entity entity = mEntities[index]; + Entity lastEntity = mEntities[lastIndex]; + + if (mNbComponents > 1 && index != lastIndex) { + + // Replace the data of the component to destroy by the data of the last component + mEntities[index] = mEntities[lastIndex]; + mTransforms[index] = mTransforms[lastIndex]; + + // Update the entity to component index mapping + mMapEntityToComponentIndex[lastEntity] = index; + } + else { + + // Call the destructors on the component values + destroyComponent(index); + } + + // Update the entity to component index mapping + mMapEntityToComponentIndex.remove(entity); + + mNbComponents--; +} + +// Destroy a component at a given index +void TransformComponents::destroyComponent(uint32 index) { + + mEntities[index].~Entity(); + mTransforms[index].~Transform(); +} diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h new file mode 100644 index 00000000..3212c846 --- /dev/null +++ b/src/components/TransformComponents.h @@ -0,0 +1,140 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_TRANSFORM_COMPONENTS_H +#define REACTPHYSICS3D_TRANSFORM_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; + +// Class TransformComponents +/** + * This class represent the component of the ECS that contains the transforms of the + * different entities. The position and orientation of the bodies are stored there. + */ +class TransformComponents { + + private: + + // -------------------- Constants -------------------- // + + /// Number of components to allocated at the beginning + const uint32 INIT_ALLOCATED_COMPONENTS = 10; + + /// Number of valid entities to hit before stopping garbage collection + const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; + + const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Transform); + + // -------------------- Attributes -------------------- // + + /// Memory allocator + MemoryAllocator& mMemoryAllocator; + + /// Current number of components + uint32 mNbComponents; + + /// Number of allocated components + uint32 mNbAllocatedComponents; + + /// Allocated memory for all the data of the components + void* mBuffer; + + /// Map an entity to the index of its component in the array + Map mMapEntityToComponentIndex; + + /// Array of entities of each component + Entity* mEntities; + + /// Array of transform of each component + Transform* mTransforms; + + // -------------------- Methods -------------------- // + + /// Remove a component at a given index + void removeComponent(uint32 index); + + /// Destroy a component at a given index + void destroyComponent(uint32 index); + + public: + + /// Structure for the data of a transform component + struct TransformComponent { + + const Transform& transform; + + /// Constructor + TransformComponent(const Transform& transform) : transform(transform) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + TransformComponents(MemoryAllocator& allocator); + + /// Destructor + ~TransformComponents(); + + /// Allocate memory for a given number of components + void allocate(uint32 nbComponentsToAllocate); + + /// Add a component + void addComponent(Entity entity, const TransformComponent& component); + + /// Perform garbage collection to remove unused components + void garbageCollection(const EntityManager& entityManager); + + /// Return the transform of an entity + Transform& getTransform(Entity entity) const; + + /// Set the transform of an entity + void setTransform(Entity entity, const Transform& transform); +}; + +// Return the transform of an entity +inline Transform& TransformComponents::getTransform(Entity entity) const { + return mTransforms[mMapEntityToComponentIndex[entity]]; +} + +// Set the transform of an entity +inline void TransformComponents::setTransform(Entity entity, const Transform& transform) { + mTransforms[mMapEntityToComponentIndex[entity]] = transform; +} + +} + +#endif diff --git a/src/configuration.h b/src/configuration.h index 60b670e7..2686635a 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -53,8 +53,6 @@ using uint = unsigned int; using uchar = unsigned char; using ushort = unsigned short; using luint = long unsigned int; -using bodyindex = luint; -using bodyindexpair = Pair; using int8 = std::int8_t; using uint8 = std::uint8_t; @@ -63,6 +61,10 @@ using uint16 = std::uint16_t; using int32 = std::int32_t; using uint32 = std::uint32_t; +// TODO : Delete this +using bodyindex = luint; +using bodyindexpair = Pair; + // ------------------- Enumerations ------------------- // /// Position correction technique used in the constraint solver (for joints). diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 0dcab550..15530583 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -37,7 +37,9 @@ uint CollisionWorld::mNbWorlds = 0; // Constructor CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) - : mConfig(worldSettings), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), + : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), + mTransformComponents(mMemoryManager.getBaseAllocator()), + mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { @@ -138,16 +140,22 @@ CollisionWorld::~CollisionWorld() { */ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { + // Create a new entity for the body + Entity entity = mEntityManager.createEntity(); + // Get the next available body ID bodyindex bodyID = computeNextAvailableBodyId(); // Largest index cannot be used (it is used for invalid index) assert(bodyID < std::numeric_limits::max()); + // Add a transform component + mTransformComponents.addComponent(entity, TransformComponents::TransformComponent(transform)); + // Create the collision body CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CollisionBody))) - CollisionBody(transform, *this, bodyID); + CollisionBody(transform, *this, entity, bodyID); assert(collisionBody != nullptr); @@ -189,6 +197,9 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Reset the contact manifold list of the body collisionBody->resetContactManifoldsList(); + // Destroy the corresponding entity + mEntityManager.destroyEntity(collisionBody->getEntity()); + // Call the destructor of the collision body collisionBody->~CollisionBody(); diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 3a7fb87a..932a3739 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -32,6 +32,8 @@ #include "collision/CollisionDetection.h" #include "constraint/Joint.h" #include "memory/MemoryManager.h" +#include "engine/EntityManager.h" +#include "components/TransformComponents.h" /// Namespace reactphysics3d namespace reactphysics3d { @@ -66,6 +68,12 @@ class CollisionWorld { /// Configuration of the physics world WorldSettings mConfig; + /// Entity Manager for the ECS + EntityManager mEntityManager; + + /// Transform Components + TransformComponents mTransformComponents; + /// Reference to the collision detection CollisionDetection mCollisionDetection; @@ -190,6 +198,7 @@ class CollisionWorld { friend class CollisionDetection; friend class CollisionBody; friend class RigidBody; + friend class ProxyShape; friend class ConvexMeshShape; }; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 7b078677..a9615d51 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -417,15 +417,21 @@ void DynamicsWorld::solvePositionCorrection() { */ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { + // Create a new entity for the body + Entity entity = mEntityManager.createEntity(); + // Compute the body ID bodyindex bodyID = computeNextAvailableBodyId(); // Largest index cannot be used (it is used for invalid index) assert(bodyID < std::numeric_limits::max()); + // Add a transform component + mTransformComponents.addComponent(entity, TransformComponents::TransformComponent(transform)); + // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(RigidBody))) RigidBody(transform, *this, bodyID); + sizeof(RigidBody))) RigidBody(transform, *this, entity, bodyID); assert(rigidBody != nullptr); // Add the rigid body to the physics world @@ -471,6 +477,9 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { // Reset the contact manifold list of the body rigidBody->resetContactManifoldsList(); + // Destroy the corresponding entity + mEntityManager.destroyEntity(rigidBody->getEntity()); + // Call the destructor of the rigid body rigidBody->~RigidBody(); diff --git a/src/engine/Entity.cpp b/src/engine/Entity.cpp new file mode 100644 index 00000000..aa5e2401 --- /dev/null +++ b/src/engine/Entity.cpp @@ -0,0 +1,60 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "Entity.h" +#include + +using namespace reactphysics3d; + +// Static members initialization +const uint32 Entity::ENTITY_INDEX_BITS = 24; +const uint32 Entity::ENTITY_INDEX_MASK = (1 << Entity::ENTITY_INDEX_BITS) - 1; +const uint32 Entity::ENTITY_GENERATION_BITS = 8; +const uint32 Entity::ENTITY_GENERATION_MASK = (1 << Entity::ENTITY_GENERATION_BITS) - 1; +const uint32 Entity::MINIMUM_FREE_INDICES = 1024; + +// Constructor +Entity::Entity(uint32 index, uint32 generation) + :id((index & ENTITY_INDEX_MASK) | ((generation & ENTITY_GENERATION_MASK) << ENTITY_INDEX_BITS)) { + + uint32 test1 = index & ENTITY_INDEX_MASK; + uint32 test2 = (generation & ENTITY_INDEX_MASK) << ENTITY_INDEX_BITS; + uint32 test3 = test1 | test2; + uint32 test = getIndex(); + assert(getIndex() == index); + assert(getGeneration() == generation); +} + +// Assignment operator +Entity& Entity::operator=(const Entity& entity) { + + if (&entity != this) { + + id = entity.id; + } + + return *this; +} diff --git a/src/engine/Entity.h b/src/engine/Entity.h new file mode 100644 index 00000000..85f3d0a9 --- /dev/null +++ b/src/engine/Entity.h @@ -0,0 +1,144 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_ENTITY_H +#define REACTPHYSICS3D_ENTITY_H + +// Libraries +#include "configuration.h" + +/// Namespace reactphysics3d +namespace reactphysics3d { + +// Structure Entity +/** + * This class is used to identify an entity in the Entity-Component-System. + * Entities are used for bodies in the physics engine. The id of an entity is + * a 32 bits integer that is separated in two parts. The index and the generation + * parts. The idea is that the index part directly gives us the index of the entity + * in a lookup array. However, we want to support deletion of the entities. That's why + * we have the generation part. This number is used to distinguish the entities created + * at the same index in the array. If it is the case, we will increase the generation number + * each time. + * + * We use 24 bits for the index. Therefore, we support 16 millions simultaneous entries. + * We use 8 bits for the generation. Therefore, we support 256 entries created at the same index. + * To prevent reaching the 256 entries too fast, we make sure that we do not reuse the same index + * slot too ofen. To do that, we put recycled indices in a queue and only reuse values from that + * queue when it contains at least MINIMUM_FREE_INDICES values. It means, an id will reappear until + * its index has run 256 laps through the queue. It means that we must create and destroy at least + * 256 * MINIMUM_FREE_INDICES entities until an id can reappear. This seems reasonably safe. + * + * This implementation is based on the following article: + * http://bitsquid.blogspot.com/2014/08/building-data-oriented-entity-system.html + */ +struct Entity { + + private: + + /// Number of bits reserved for the index + static const uint32 ENTITY_INDEX_BITS; + + /// Mask for the index part of the id + static const uint32 ENTITY_INDEX_MASK; + + /// Number of bits reserved for the generation number + static const uint32 ENTITY_GENERATION_BITS; + + /// Mask for the generation part of the id + static const uint32 ENTITY_GENERATION_MASK; + + /// Minimum of free indices in the queue before we reuse one from the queue + static const uint32 MINIMUM_FREE_INDICES; + + public: + + // -------------------- Attributes -------------------- // + + /// Id of the entity + uint32 id; + + // -------------------- Methods -------------------- // + + /// Constructor + Entity(uint32 index, uint32 generation); + + /// Return the lookup index of the entity in a array + uint32 getIndex() const; + + /// Return the generation number of the entity + uint32 getGeneration() const; + + /// Assignment operator + Entity& operator=(const Entity& entity); + + /// Equality operator + bool operator==(const Entity& entity) const; + + /// Inequality operator (it != end()) + bool operator!=(const Entity& entity) const; + + // -------------------- Friendship -------------------- // + + friend class EntityManager; + +}; + +// Return the lookup index of the entity in a array +inline uint32 Entity::getIndex() const { + return id & ENTITY_INDEX_MASK; +} + +// Return the generation number of the entity +inline uint32 Entity::getGeneration() const { + return (id >> ENTITY_INDEX_BITS) & ENTITY_GENERATION_MASK; +} + +// Equality operator +inline bool Entity::operator==(const Entity& entity) const { + + return entity.id == id; +} + +// Inequality operator (it != end()) +inline bool Entity::operator!=(const Entity& entity) const { + return entity.id != id; +} + +} + +// Hash function for a reactphysics3d Entity +namespace std { + + template <> struct hash { + + size_t operator()(const reactphysics3d::Entity& entity) const { + + return entity.id; + } + }; +} + +#endif diff --git a/src/engine/EntityManager.cpp b/src/engine/EntityManager.cpp new file mode 100644 index 00000000..f2653ad6 --- /dev/null +++ b/src/engine/EntityManager.cpp @@ -0,0 +1,75 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "EntityManager.h" +#include "Entity.h" + +using namespace reactphysics3d; + +// Constructor +EntityManager::EntityManager(MemoryAllocator& allocator) + :mGenerations(allocator), mFreeIndices(allocator) { + +} + +// Create a new entity +Entity EntityManager::createEntity() { + + uint32 index; + + // If there are already enough free indices to start using them + if (mFreeIndices.size() > Entity::MINIMUM_FREE_INDICES) { + + // Recycle an index from the free indices + index = mFreeIndices.getFront(); + mFreeIndices.popFront(); + } + else { + + // We start at generation 0 + mGenerations.add(0); + + // Create a new indice + index = static_cast(mGenerations.size()) - 1; + + assert(index < (1 << Entity::ENTITY_INDEX_BITS)); + } + + // Return a new entity + return Entity(index, mGenerations[index]); +} + +// Destroy an entity +void EntityManager::destroyEntity(Entity entity) { + + const uint32 index = entity.getIndex(); + + // Increment the generation of this index + mGenerations[index]++; + + // Add the index into the deque of free indices + mFreeIndices.addBack(index); +} diff --git a/src/engine/EntityManager.h b/src/engine/EntityManager.h new file mode 100644 index 00000000..9c1bacc3 --- /dev/null +++ b/src/engine/EntityManager.h @@ -0,0 +1,80 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_ENTITY_MANAGER_H +#define REACTPHYSICS3D_ENTITY_MANAGER_H + +// Libraries +#include "configuration.h" +#include "containers/List.h" +#include "containers/Deque.h" +#include "engine/Entity.h" + +/// Namespace reactphysics3d +namespace reactphysics3d { + +// Class EntityManager +/** + * This class is responsible to manage the entities of the ECS. + */ +class EntityManager { + + private: + + // -------------------- Attributes -------------------- // + + /// List storing the generations of the created entities + List mGenerations; + + /// Deque with the indices of destroyed entities that can be reused + Deque mFreeIndices; + + // -------------------- Methods -------------------- // + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + EntityManager(MemoryAllocator& allocator); + + /// Create a new entity + Entity createEntity(); + + /// Destroy an entity + void destroyEntity(Entity entity); + + /// Return true if the entity is still valid (not destroyed) + bool isValid(Entity entity) const; +}; + +// Return true if the entity is still valid (not destroyed) +inline bool EntityManager::isValid(Entity entity) const { + return mGenerations[entity.getIndex()] == entity.getGeneration(); +} + +} + +#endif From 8b6249829a6bf1faad10bb88d2f8bcc3c321a59c Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 26 Dec 2018 23:33:36 +0100 Subject: [PATCH 020/197] Add Transform component --- src/body/CollisionBody.cpp | 74 +- src/body/CollisionBody.h | 50 +- src/body/RigidBody.cpp | 50 +- src/body/RigidBody.h | 18 - ....sync-conflict-20180707-081346-ARAT43F.cpp | 1084 ----------------- src/collision/ProxyShape.cpp | 13 +- src/collision/ProxyShape.h | 9 - src/components/TransformComponents.cpp | 4 +- src/engine/CollisionWorld.cpp | 2 +- src/engine/DynamicsWorld.cpp | 6 +- 10 files changed, 125 insertions(+), 1185 deletions(-) delete mode 100644 src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 642264fe..67806187 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param world The physics world where the body is created * @param id ID of the body */ -CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) - : Body(entity, id), mType(BodyType::DYNAMIC), mTransform(transform), mProxyCollisionShapes(nullptr), +CollisionBody::CollisionBody(CollisionWorld& world, Entity entity, bodyindex id) + : Body(entity, id), mType(BodyType::DYNAMIC), mProxyCollisionShapes(nullptr), mNbCollisionShapes(0), mContactManifoldsList(nullptr), mWorld(world) { #ifdef IS_PROFILING_ACTIVE @@ -105,7 +105,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, // Compute the world-space AABB of the new collision shape AABB aabb; - collisionShape->computeAABB(aabb, mTransform * transform); + collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform); // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); @@ -218,6 +218,18 @@ void CollisionBody::resetContactManifoldsList() { mContactManifoldsList = nullptr; } +// Return the current position and orientation +/** + * @return The current transformation of the body that transforms the local-space + * of the body into world-space + */ +const Transform& CollisionBody::getTransform() const { + + // TODO : Make sure we do not call this method from the internal physics engine + + return mWorld.mTransformComponents.getTransform(mEntity); +} + // Update the broad-phase state for this body (because it has moved for instance) void CollisionBody::updateBroadPhaseState() const { @@ -232,11 +244,13 @@ void CollisionBody::updateBroadPhaseState() const { // Update the broad-phase state of a proxy collision shape of the body void CollisionBody::updateProxyShapeInBroadPhase(ProxyShape* proxyShape, bool forceReinsert) const { + const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); + if (proxyShape->getBroadPhaseId() != -1) { // Recompute the world-space AABB of the collision shape AABB aabb; - proxyShape->getCollisionShape()->computeAABB(aabb, mTransform * proxyShape->getLocalToBodyTransform()); + proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform()); // Update the broad-phase state for the proxy collision shape mWorld.mCollisionDetection.updateProxyCollisionShape(proxyShape, aabb, Vector3(0, 0, 0), forceReinsert) ; @@ -257,12 +271,14 @@ void CollisionBody::setIsActive(bool isActive) { // If we have to activate the body if (isActive) { + const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); + // For each proxy shape of the body for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { // Compute the world-space AABB of the new collision shape AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, mTransform * shape->mLocalToBodyTransform); + shape->getCollisionShape()->computeAABB(aabb, transform * shape->mLocalToBodyTransform); // Add the proxy shape to the collision detection mWorld.mCollisionDetection.addProxyCollisionShape(shape, aabb); @@ -377,14 +393,18 @@ AABB CollisionBody::getAABB() const { if (mProxyCollisionShapes == nullptr) return bodyAABB; - mProxyCollisionShapes->getCollisionShape()->computeAABB(bodyAABB, mTransform * mProxyCollisionShapes->getLocalToBodyTransform()); + // TODO : Make sure we compute this in a system + + const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); + + mProxyCollisionShapes->getCollisionShape()->computeAABB(bodyAABB, transform * mProxyCollisionShapes->getLocalToBodyTransform()); // For each proxy shape of the body for (ProxyShape* shape = mProxyCollisionShapes->mNext; shape != nullptr; shape = shape->mNext) { // Compute the world-space AABB of the collision shape AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, mTransform * shape->getLocalToBodyTransform()); + shape->getCollisionShape()->computeAABB(aabb, transform * shape->getLocalToBodyTransform()); // Merge the proxy shape AABB with the current body AABB bodyAABB.mergeWithAABB(aabb); @@ -401,16 +421,52 @@ AABB CollisionBody::getAABB() const { void CollisionBody::setTransform(const Transform& transform) { // Update the transform of the body - mTransform = transform; + mWorld.mTransformComponents.setTransform(mEntity, transform); // Update the broad-phase state of the body updateBroadPhaseState(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set transform=" + mTransform.to_string()); + "Body " + std::to_string(mID) + ": Set transform=" + transform.to_string()); } +// Return the world-space coordinates of a point given the local-space coordinates of the body +/** +* @param localPoint A point in the local-space coordinates of the body +* @return The point in world-space coordinates +*/ +Vector3 CollisionBody::getWorldPoint(const Vector3& localPoint) const { + return mWorld.mTransformComponents.getTransform(mEntity) * localPoint; +} + +// Return the world-space vector of a vector given in local-space coordinates of the body +/** +* @param localVector A vector in the local-space coordinates of the body +* @return The vector in world-space coordinates +*/ +Vector3 CollisionBody::getWorldVector(const Vector3& localVector) const { + return mWorld.mTransformComponents.getTransform(mEntity).getOrientation() * localVector; +} + +// Return the body local-space coordinates of a point given in the world-space coordinates +/** +* @param worldPoint A point in world-space coordinates +* @return The point in the local-space coordinates of the body +*/ +Vector3 CollisionBody::getLocalPoint(const Vector3& worldPoint) const { + return mWorld.mTransformComponents.getTransform(mEntity).getInverse() * worldPoint; +} + +// Return the body local-space coordinates of a vector given in the world-space coordinates +/** +* @param worldVector A vector in world-space coordinates +* @return The vector in the local-space coordinates of the body +*/ +Vector3 CollisionBody::getLocalVector(const Vector3& worldVector) const { + return mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getInverse() * worldVector; +} + // Set the type of the body /// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow: /// STATIC : A static body has infinite mass, zero velocity but the position can be diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 19f55594..c298999d 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -70,9 +70,6 @@ class CollisionBody : public Body { /// Type of body (static, kinematic or dynamic) BodyType mType; - /// Position and orientation of the body - Transform mTransform; - /// First element of the linked list of proxy collision shapes of this body ProxyShape* mProxyCollisionShapes; @@ -118,7 +115,7 @@ class CollisionBody : public Body { // -------------------- Methods -------------------- // /// Constructor - CollisionBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id); + CollisionBody(CollisionWorld& world, Entity entity, bodyindex id); /// Destructor virtual ~CollisionBody() override; @@ -209,15 +206,6 @@ inline BodyType CollisionBody::getType() const { return mType; } -// Return the current position and orientation -/** - * @return The current transformation of the body that transforms the local-space - * of the body into world-space - */ -inline const Transform& CollisionBody::getTransform() const { - return mTransform; -} - // Return the first element of the linked list of contact manifolds involving this body /** * @return A pointer to the first element of the linked-list with the contact @@ -245,42 +233,6 @@ inline const ProxyShape* CollisionBody::getProxyShapesList() const { return mProxyCollisionShapes; } -// Return the world-space coordinates of a point given the local-space coordinates of the body -/** -* @param localPoint A point in the local-space coordinates of the body -* @return The point in world-space coordinates -*/ -inline Vector3 CollisionBody::getWorldPoint(const Vector3& localPoint) const { - return mTransform * localPoint; -} - -// Return the world-space vector of a vector given in local-space coordinates of the body -/** -* @param localVector A vector in the local-space coordinates of the body -* @return The vector in world-space coordinates -*/ -inline Vector3 CollisionBody::getWorldVector(const Vector3& localVector) const { - return mTransform.getOrientation() * localVector; -} - -// Return the body local-space coordinates of a point given in the world-space coordinates -/** -* @param worldPoint A point in world-space coordinates -* @return The point in the local-space coordinates of the body -*/ -inline Vector3 CollisionBody::getLocalPoint(const Vector3& worldPoint) const { - return mTransform.getInverse() * worldPoint; -} - -// Return the body local-space coordinates of a vector given in the world-space coordinates -/** -* @param worldVector A vector in world-space coordinates -* @return The vector in the local-space coordinates of the body -*/ -inline Vector3 CollisionBody::getLocalVector(const Vector3& worldVector) const { - return mTransform.getOrientation().getInverse() * worldVector; -} - /// Test if the collision body overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index a9d31746..92eabbf0 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -40,7 +40,7 @@ using namespace reactphysics3d; * @param id The ID of the body */ RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) - : CollisionBody(transform, world, entity, id), mArrayIndex(0), mInitMass(decimal(1.0)), + : CollisionBody(world, entity, id), mArrayIndex(0), mInitMass(decimal(1.0)), mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()), mIsGravityEnabled(true), mMaterial(world.mConfig), mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { @@ -186,7 +186,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mCenterOfMassLocal = centerOfMassLocal; // Compute the center of mass in world-space coordinates - mCenterOfMassWorld = mTransform * mCenterOfMassLocal; + mCenterOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * mCenterOfMassLocal; // Update the linear velocity of the center of mass mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); @@ -247,6 +247,20 @@ void RigidBody::removeJointFromJointsList(MemoryManager& memoryManager, const Jo } } +// Update the world inverse inertia tensor of the body +/// The inertia tensor I_w in world coordinates is computed with the +/// local inverse inertia tensor I_b^-1 in body coordinates +/// by I_w = R * I_b^-1 * R^T +/// where R is the rotation matrix (and R^T its transpose) of the +/// current orientation quaternion of the body +void RigidBody::updateInertiaTensorInverseWorld() { + + // TODO : Make sure we do this in a system + + Matrix3x3 orientation = mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getMatrix(); + mInertiaTensorInverseWorld = orientation * mInertiaTensorLocalInverse * orientation.getTranspose(); +} + // Add a collision shape to the body. /// When you add a collision shape to the body, an internal copy of this /// collision shape will be created internally. Therefore, you can delete it @@ -297,7 +311,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // Compute the world-space AABB of the new collision shape AABB aabb; - collisionShape->computeAABB(aabb, mTransform * transform); + collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform); // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); @@ -373,6 +387,16 @@ void RigidBody::setAngularDamping(decimal angularDamping) { "Body " + std::to_string(mID) + ": Set angularDamping=" + std::to_string(mAngularDamping)); } +/// Update the transform of the body after a change of the center of mass +void RigidBody::updateTransformWithCenterOfMass() { + + // TODO : Make sure we compute this in a system + + // Translate the body according to the translation of the center of mass position + Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); + transform.setPosition(mCenterOfMassWorld - transform.getOrientation() * mCenterOfMassLocal); +} + // Set a new material for this rigid body /** * @param material The material you want to set to the body @@ -434,12 +458,12 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { void RigidBody::setTransform(const Transform& transform) { // Update the transform of the body - mTransform = transform; + mWorld.mTransformComponents.setTransform(mEntity, transform); const Vector3 oldCenterOfMass = mCenterOfMassWorld; // Compute the new center of mass in world-space coordinates - mCenterOfMassWorld = mTransform * mCenterOfMassLocal; + mCenterOfMassWorld = transform * mCenterOfMassLocal; // Update the linear velocity of the center of mass mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); @@ -451,7 +475,7 @@ void RigidBody::setTransform(const Transform& transform) { updateBroadPhaseState(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set transform=" + mTransform.to_string()); + "Body " + std::to_string(mID) + ": Set transform=" + transform.to_string()); } // Recompute the center of mass, total mass and inertia tensor of the body using all @@ -466,9 +490,11 @@ void RigidBody::recomputeMassInformation() { Matrix3x3 inertiaTensorLocal; inertiaTensorLocal.setToZero(); + const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); + // If it is a STATIC or a KINEMATIC body if (mType == BodyType::STATIC || mType == BodyType::KINEMATIC) { - mCenterOfMassWorld = mTransform.getPosition(); + mCenterOfMassWorld = transform.getPosition(); return; } @@ -487,7 +513,7 @@ void RigidBody::recomputeMassInformation() { mMassInverse = decimal(1.0) / mInitMass; } else { - mCenterOfMassWorld = mTransform.getPosition(); + mCenterOfMassWorld = transform.getPosition(); return; } @@ -498,7 +524,7 @@ void RigidBody::recomputeMassInformation() { mCenterOfMassLocal *= mMassInverse; } - mCenterOfMassWorld = mTransform * mCenterOfMassLocal; + mCenterOfMassWorld = transform * mCenterOfMassLocal; if (!mIsInertiaTensorSetByUser) { @@ -546,6 +572,10 @@ void RigidBody::updateBroadPhaseState() const { RP3D_PROFILE("RigidBody::updateBroadPhaseState()", mProfiler); + // TODO : Make sure we compute this in a system + + const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); + DynamicsWorld& world = static_cast(mWorld); const Vector3 displacement = world.mTimeStep * mLinearVelocity; @@ -554,7 +584,7 @@ void RigidBody::updateBroadPhaseState() const { // Recompute the world-space AABB of the collision shape AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, mTransform * shape->getLocalToBodyTransform()); + shape->getCollisionShape()->computeAABB(aabb, transform * shape->getLocalToBodyTransform()); // Update the broad-phase state for the proxy collision shape mWorld.mCollisionDetection.updateProxyCollisionShape(shape, aabb, displacement); diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 8ab06b13..9e0b9829 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -300,17 +300,6 @@ inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { return mInertiaTensorInverseWorld; } -// Update the world inverse inertia tensor of the body -/// The inertia tensor I_w in world coordinates is computed with the -/// local inverse inertia tensor I_b^-1 in body coordinates -/// by I_w = R * I_b^-1 * R^T -/// where R is the rotation matrix (and R^T its transpose) of the -/// current orientation quaternion of the body -inline void RigidBody::updateInertiaTensorInverseWorld() { - Matrix3x3 orientation = mTransform.getOrientation().getMatrix(); - mInertiaTensorInverseWorld = orientation * mInertiaTensorLocalInverse * orientation.getTranspose(); -} - // Return true if the gravity needs to be applied to this rigid body /** * @return True if the gravity is applied to the body @@ -442,13 +431,6 @@ inline void RigidBody::applyTorque(const Vector3& torque) { mExternalTorque += torque; } -/// Update the transform of the body after a change of the center of mass -inline void RigidBody::updateTransformWithCenterOfMass() { - - // Translate the body according to the translation of the center of mass position - mTransform.setPosition(mCenterOfMassWorld - mTransform.getOrientation() * mCenterOfMassLocal); -} - } #endif diff --git a/src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp b/src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp deleted file mode 100644 index 7dfb2f72..00000000 --- a/src/collision/CollisionDetection.sync-conflict-20180707-081346-ARAT43F.cpp +++ /dev/null @@ -1,1084 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "CollisionDetection.h" -#include "engine/CollisionWorld.h" -#include "collision/OverlapCallback.h" -#include "body/Body.h" -#include "collision/shapes/BoxShape.h" -#include "collision/shapes/ConcaveShape.h" -#include "body/RigidBody.h" -#include "configuration.h" -#include "collision/CollisionCallback.h" -#include "collision/MiddlePhaseTriangleCallback.h" -#include "collision/OverlapCallback.h" -#include "collision/NarrowPhaseInfo.h" -#include "collision/ContactManifold.h" -#include "collision/ContactManifoldInfo.h" -#include "utils/Profiler.h" -#include "engine/EventListener.h" -#include "collision/RaycastInfo.h" -#include - -// We want to use the ReactPhysics3D namespace -using namespace reactphysics3d; -using namespace std; - - -// Constructor -CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoList(nullptr), - mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), - mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false) { - - // Set the default collision dispatch configuration - setCollisionDispatch(&mDefaultCollisionDispatch); - - // Fill-in the collision detection matrix with algorithms - fillInCollisionMatrix(); - -#ifdef IS_PROFILING_ACTIVE - - mProfiler = nullptr; - -#endif - -} - -// Compute the collision detection -void CollisionDetection::computeCollisionDetection() { - - RP3D_PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler); - - // Compute the broad-phase collision detection - computeBroadPhase(); - - // Compute the middle-phase collision detection - computeMiddlePhase(); - - // Compute the narrow-phase collision detection - computeNarrowPhase(); - - // Reset the linked list of narrow-phase info - mNarrowPhaseInfoList = nullptr; -} - -// Compute the broad-phase collision detection -void CollisionDetection::computeBroadPhase() { - - RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); - - // If new collision shapes have been added to bodies - if (mIsCollisionShapesAdded) { - - // Ask the broad-phase to recompute the overlapping pairs of collision - // shapes. This call can only add new overlapping pairs in the collision - // detection. - mBroadPhaseAlgorithm.computeOverlappingPairs(mMemoryManager); - } -} - -// Compute the middle-phase collision detection -void CollisionDetection::computeMiddlePhase() { - - RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); - - // For each possible collision pair of bodies - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { - - OverlappingPair* pair = it->second; - - // Make all the contact manifolds and contact points of the pair obsolete - pair->makeContactsObsolete(); - - // Make all the last frame collision info obsolete - pair->makeLastFrameCollisionInfosObsolete(); - - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); - - assert(shape1->getBroadPhaseId() != -1); - assert(shape2->getBroadPhaseId() != -1); - assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); - - // Check if the two shapes are still overlapping. Otherwise, we destroy the - // overlapping pair - if (!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { - - // Destroy the overlapping pair - it->second->~OverlappingPair(); - - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, it->second, sizeof(OverlappingPair)); - it = mOverlappingPairs.remove(it); - continue; - } - else { - ++it; - } - - // Check if the collision filtering allows collision between the two shapes - if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0)) { - - CollisionBody* const body1 = shape1->getBody(); - CollisionBody* const body2 = shape2->getBody(); - - // Check that at least one body is awake and not static - bool isBody1Active = !body1->isSleeping() && body1->getType() != BodyType::STATIC; - bool isBody2Active = !body2->isSleeping() && body2->getType() != BodyType::STATIC; - if (!isBody1Active && !isBody2Active) continue; - - // Check if the bodies are in the set of bodies that cannot collide between each other - bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - - bool isShape1Convex = shape1->getCollisionShape()->isConvex(); - bool isShape2Convex = shape2->getCollisionShape()->isConvex(); - - // If both shapes are convex - if (isShape1Convex && isShape2Convex) { - - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - NarrowPhaseInfo* firstNarrowPhaseInfo = mNarrowPhaseInfoList; - mNarrowPhaseInfoList = new (mMemoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(NarrowPhaseInfo))) - NarrowPhaseInfo(pair, shape1->getCollisionShape(), - shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), - shape2->getLocalToWorldTransform(), mMemoryManager.getSingleFrameAllocator()); - mNarrowPhaseInfoList->next = firstNarrowPhaseInfo; - - } - // Concave vs Convex algorithm - else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - - NarrowPhaseInfo* narrowPhaseInfo = nullptr; - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), &narrowPhaseInfo); - - // Add all the narrow-phase info object reported by the callback into the - // list of all the narrow-phase info object - while (narrowPhaseInfo != nullptr) { - NarrowPhaseInfo* next = narrowPhaseInfo->next; - narrowPhaseInfo->next = mNarrowPhaseInfoList; - mNarrowPhaseInfoList = narrowPhaseInfo; - - narrowPhaseInfo = next; - } - } - // Concave vs Concave shape - else { - // Not handled - continue; - } - - // Remove the obsolete last frame collision infos - pair->clearObsoleteLastFrameCollisionInfos(); - } - } -} - -// Compute the concave vs convex middle-phase algorithm for a given pair of bodies -void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - NarrowPhaseInfo** firstNarrowPhaseInfo) { - - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); - - ProxyShape* convexProxyShape; - ProxyShape* concaveProxyShape; - const ConvexShape* convexShape; - const ConcaveShape* concaveShape; - - // Collision shape 1 is convex, collision shape 2 is concave - if (shape1->getCollisionShape()->isConvex()) { - convexProxyShape = shape1; - convexShape = static_cast(shape1->getCollisionShape()); - concaveProxyShape = shape2; - concaveShape = static_cast(shape2->getCollisionShape()); - } - else { // Collision shape 2 is convex, collision shape 1 is concave - convexProxyShape = shape2; - convexShape = static_cast(shape2->getCollisionShape()); - concaveProxyShape = shape1; - concaveShape = static_cast(shape1->getCollisionShape()); - } - - // Set the parameters of the callback object - MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape, - concaveShape, allocator); - -#ifdef IS_PROFILING_ACTIVE - - // Set the profiler - middlePhaseCallback.setProfiler(mProfiler); - -#endif - - // Compute the convex shape AABB in the local-space of the convex shape - const Transform convexToConcaveTransform = concaveProxyShape->getLocalToWorldTransform().getInverse() * - convexProxyShape->getLocalToWorldTransform(); - AABB aabb; - convexShape->computeAABB(aabb, convexToConcaveTransform); - - // Call the convex vs triangle callback for each triangle of the concave shape - concaveShape->testAllTriangles(middlePhaseCallback, aabb); - - // Add all the narrow-phase info object reported by the callback into the - // list of all the narrow-phase info object - *firstNarrowPhaseInfo = middlePhaseCallback.narrowPhaseInfoList; -} - -// Compute the narrow-phase collision detection -void CollisionDetection::computeNarrowPhase() { - - RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); - - List narrowPhaseInfos(mMemoryManager.getSingleFrameAllocator()); - - NarrowPhaseInfo* currentNarrowPhaseInfo = mNarrowPhaseInfoList; - while (currentNarrowPhaseInfo != nullptr) { - - // Select the narrow phase algorithm to use according to the two collision shapes - const CollisionShapeType shape1Type = currentNarrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = currentNarrowPhaseInfo->collisionShape2->getType(); - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is no collision algorithm between those two kinds of shapes, skip it - if (narrowPhaseAlgorithm != nullptr) { - - LastFrameCollisionInfo* lastCollisionFrameInfo = currentNarrowPhaseInfo->getLastFrameCollisionInfo(); - - narrowPhaseInfos.add(currentNarrowPhaseInfo); - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(currentNarrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) { - - lastCollisionFrameInfo->wasColliding = true; - } - else { - lastCollisionFrameInfo->wasColliding = false; - } - - // The previous frame collision info is now valid - lastCollisionFrameInfo->isValid = true; - } - - currentNarrowPhaseInfo = currentNarrowPhaseInfo->next; - } - - // Convert the potential contact into actual contacts - processAllPotentialContacts(narrowPhaseInfos, mMemoryManager.getSingleFrameAllocator()); - - // Add all the contact manifolds (between colliding bodies) to the bodies - addAllContactManifoldsToBodies(); - - // Report contacts to the user - reportAllContacts(); - - // Destroy the narrow phase infos - for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { - - NarrowPhaseInfo* narrowPhaseInfo = *it; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Frame, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } -} - -// Allow the broadphase to notify the collision detection about an overlapping pair. -/// This method is called by the broad-phase collision detection algorithm -void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2) { - - assert(shape1->getBroadPhaseId() != -1); - assert(shape2->getBroadPhaseId() != -1); - assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); - - // Check if the collision filtering allows collision between the two shapes - if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 || - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return; - - // Compute the overlapping pair ID - Pair pairID = OverlappingPair::computeID(shape1, shape2); - - // Check if the overlapping pair already exists - if (mOverlappingPairs.containsKey(pairID)) return; - - // Create the overlapping pair and add it into the set of overlapping pairs - OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), - mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); - assert(newPair != nullptr); - - mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); - - // Wake up the two bodies - shape1->getBody()->setIsSleeping(false); - shape2->getBody()->setIsSleeping(false); -} - -// Remove a body from the collision detection -void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { - - assert(proxyShape->getBroadPhaseId() != -1); - - // Remove all the overlapping pairs involving this proxy shape - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { - if (it->second->getShape1()->getBroadPhaseId() == proxyShape->getBroadPhaseId()|| - it->second->getShape2()->getBroadPhaseId() == proxyShape->getBroadPhaseId()) { - - // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved - - // Destroy the overlapping pair - it->second->~OverlappingPair(); - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, it->second, sizeof(OverlappingPair)); - it = mOverlappingPairs.remove(it); - } - else { - ++it; - } - } - - // Remove the body from the broad-phase - mBroadPhaseAlgorithm.removeProxyCollisionShape(proxyShape); -} - -void CollisionDetection::addAllContactManifoldsToBodies() { - - RP3D_PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler); - - // For each overlapping pairs in contact during the narrow-phase - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - - // Add all the contact manifolds of the pair into the list of contact manifolds - // of the two bodies involved in the contact - addContactManifoldToBody(it->second); - } -} - -// Ray casting method -void CollisionDetection::raycast(RaycastCallback* raycastCallback, - const Ray& ray, - unsigned short raycastWithCategoryMaskBits) const { - - RP3D_PROFILE("CollisionDetection::raycast()", mProfiler); - - RaycastTest rayCastTest(raycastCallback); - - // Ask the broad-phase algorithm to call the testRaycastAgainstShape() - // callback method for each proxy shape hit by the ray in the broad-phase - mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); -} - -// Add a contact manifold to the linked list of contact manifolds of the two bodies involved -// in the corresponding contact -void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { - - assert(pair != nullptr); - - CollisionBody* body1 = pair->getShape1()->getBody(); - CollisionBody* body2 = pair->getShape2()->getBody(); - const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet(); - - // For each contact manifold in the set of manifolds in the pair - ContactManifold* contactManifold = manifoldSet.getContactManifolds(); - while (contactManifold != nullptr) { - - assert(contactManifold->getNbContactPoints() > 0); - - // Add the contact manifold at the beginning of the linked - // list of contact manifolds of the first body - ContactManifoldListElement* listElement1 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ContactManifoldListElement))) - ContactManifoldListElement(contactManifold, - body1->mContactManifoldsList); - body1->mContactManifoldsList = listElement1; - - // Add the contact manifold at the beginning of the linked - // list of the contact manifolds of the second body - ContactManifoldListElement* listElement2 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ContactManifoldListElement))) - ContactManifoldListElement(contactManifold, - body2->mContactManifoldsList); - body2->mContactManifoldsList = listElement2; - - contactManifold = contactManifold->getNext(); - } -} - -/// Convert the potential contact into actual contacts -void CollisionDetection::processAllPotentialContacts(const List& narrowPhaseInfos, - MemoryAllocator& tempMemoryAllocator) { - - RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); - - Set collidingPairs(tempMemoryAllocator); - - // For each narrow phase info object - for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { - - NarrowPhaseInfo* narrowPhaseInfo = *it; - - assert(narrowPhaseInfo != nullptr); - - if (narrowPhaseInfo->contactPoints != nullptr) { - - // Transfer the contact points from the narrow phase info to the overlapping pair - narrowPhaseInfo->overlappingPair->addPotentialContactPoints(narrowPhaseInfo); - - // Store the colliding pair - collidingPairs.add(narrowPhaseInfo->overlappingPair); - } - } - - // For each overlapping pairs in contact during the narrow-phase - for (auto it = collidingPairs.begin(); it != collidingPairs.end(); ++it) { - - OverlappingPair* pair = *it; - - // Clear the obsolete contact manifolds and contact points - pair->clearObsoleteManifoldsAndContactPoints(); - - // Reduce the contact manifolds and contact points if there are too many of them - pair->reduceContactManifolds(); - - // Reset the potential contacts of the pair - pair->clearPotentialContactManifolds(); - } -} - -// Report contacts for all the colliding overlapping pairs -void CollisionDetection::reportAllContacts() { - - RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); - - // For each overlapping pairs in contact during the narrow-phase - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - - // If there is a user callback - if (mWorld->mEventListener != nullptr && it->second->hasContacts()) { - - CollisionCallback::CollisionCallbackInfo collisionInfo(it->second, mMemoryManager); - - // Trigger a callback event to report the new contact to the user - mWorld->mEventListener->newContact(collisionInfo); - } - } -} - -// Compute the middle-phase collision detection between two proxy shapes -NarrowPhaseInfo* CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair) { - - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); - - // ------------------------------------------------------- - - const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); - const bool isShape2Convex = shape2->getCollisionShape()->isConvex(); - - NarrowPhaseInfo* narrowPhaseInfo = nullptr; - - pair->makeLastFrameCollisionInfosObsolete(); - - // If both shapes are convex - if ((isShape1Convex && isShape2Convex)) { - - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - narrowPhaseInfo = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(NarrowPhaseInfo))) NarrowPhaseInfo(pair, shape1->getCollisionShape(), - shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), - shape2->getLocalToWorldTransform(), mMemoryManager.getPoolAllocator()); - - } - // Concave vs Convex algorithm - else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - - // Run the middle-phase collision detection algorithm to find the triangles of the concave - // shape we need to use during the narrow-phase collision detection - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), &narrowPhaseInfo); - } - - pair->clearObsoleteLastFrameCollisionInfos(); - - return narrowPhaseInfo; -} - -// Report all the bodies that overlap with the aabb in parameter -void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, - unsigned short categoryMaskBits) { - assert(overlapCallback != nullptr); - - Set reportedBodies(mMemoryManager.getPoolAllocator()); - - // Ask the broad-phase to get all the overlapping shapes - LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); - - // For each overlaping proxy shape - LinkedList::ListElement* element = overlappingNodes.getListHead(); - while (element != nullptr) { - - // Get the overlapping proxy shape - int broadPhaseId = element->data; - ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); - - CollisionBody* overlapBody = proxyShape->getBody(); - - // If the proxy shape is from a body that we have not already reported collision - if (reportedBodies.find(overlapBody->getId()) == reportedBodies.end()) { - - // Check if the collision filtering allows collision between the two shapes - if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - - // Add the body into the set of reported bodies - reportedBodies.add(overlapBody->getId()); - - // Notify the overlap to the user - overlapCallback->notifyOverlap(overlapBody); - } - } - - // Go to the next overlapping proxy shape - element = element->next; - } -} - -// Return true if two bodies overlap -bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { - - // For each proxy shape proxy shape of the first body - ProxyShape* body1ProxyShape = body1->getProxyShapesList(); - while (body1ProxyShape != nullptr) { - - AABB aabb1 = body1ProxyShape->getWorldAABB(); - - // For each proxy shape of the second body - ProxyShape* body2ProxyShape = body2->getProxyShapesList(); - while (body2ProxyShape != nullptr) { - - AABB aabb2 = body2ProxyShape->getWorldAABB(); - - // Test if the AABBs of the two proxy shapes overlap - if (aabb1.testCollision(aabb2)) { - - // Create a temporary overlapping pair - OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); - - bool isColliding = false; - - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { - - // If we have not found a collision yet - if (!isColliding) { - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - isColliding |= narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, false, mMemoryManager.getPoolAllocator()); - } - } - - NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; - narrowPhaseInfo = narrowPhaseInfo->next; - - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } - - // Return if we have found a narrow-phase collision - if (isColliding) return true; - } - - // Go to the next proxy shape - body2ProxyShape = body2ProxyShape->getNext(); - } - - // Go to the next proxy shape - body1ProxyShape = body1ProxyShape->getNext(); - } - - // No overlap has been found - return false; -} - -// Report all the bodies that overlap with the body in parameter -void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, - unsigned short categoryMaskBits) { - - assert(overlapCallback != nullptr); - - Set reportedBodies(mMemoryManager.getPoolAllocator()); - - // For each proxy shape proxy shape of the body - ProxyShape* bodyProxyShape = body->getProxyShapesList(); - while (bodyProxyShape != nullptr) { - - if (bodyProxyShape->getBroadPhaseId() != -1) { - - // Get the AABB of the shape - const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId()); - - // Ask the broad-phase to get all the overlapping shapes - LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); - - const bodyindex bodyId = body->getId(); - - // For each overlaping proxy shape - LinkedList::ListElement* element = overlappingNodes.getListHead(); - while (element != nullptr) { - - // Get the overlapping proxy shape - int broadPhaseId = element->data; - ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); - - // If the proxy shape is from a body that we have not already reported collision and the - // two proxy collision shapes are not from the same body - if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() && - proxyShape->getBody()->getId() != bodyId) { - - // Check if the collision filtering allows collision between the two shapes - if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - - // Create a temporary overlapping pair - OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); - - bool isColliding = false; - - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { - - // If we have not found a collision yet - if (!isColliding) { - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - isColliding |= narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, false, mMemoryManager.getPoolAllocator()); - } - } - - NarrowPhaseInfo* currentNarrowPhaseInfo = narrowPhaseInfo; - narrowPhaseInfo = narrowPhaseInfo->next; - - // Call the destructor - currentNarrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, currentNarrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } - - // Return if we have found a narrow-phase collision - if (isColliding) { - - CollisionBody* overlapBody = proxyShape->getBody(); - - // Add the body into the set of reported bodies - reportedBodies.add(overlapBody->getId()); - - // Notify the overlap to the user - overlapCallback->notifyOverlap(overlapBody); - } - } - } - - // Go to the next overlapping proxy shape - element = element->next; - } - } - - // Go to the next proxy shape - bodyProxyShape = bodyProxyShape->getNext(); - } -} - -// Test and report collisions between two bodies -void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* collisionCallback) { - - assert(collisionCallback != nullptr); - - List collidingNarrowPhaseInfos(mMemoryManager.getPoolAllocator()); - Set collidingPairs(mMemoryManager.getPoolAllocator()); - - // For each proxy shape proxy shape of the first body - ProxyShape* body1ProxyShape = body1->getProxyShapesList(); - while (body1ProxyShape != nullptr) { - - AABB aabb1 = body1ProxyShape->getWorldAABB(); - - // For each proxy shape of the second body - ProxyShape* body2ProxyShape = body2->getProxyShapesList(); - while (body2ProxyShape != nullptr) { - - AABB aabb2 = body2ProxyShape->getWorldAABB(); - - // Test if the AABBs of the two proxy shapes overlap - if (aabb1.testCollision(aabb2)) { - - // Create a temporary overlapping pair - OverlappingPair* pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* allNarrowPhaseInfos = computeMiddlePhaseForProxyShapes(pair); - - // For each narrow-phase info object - NarrowPhaseInfo* narrowPhaseInfo = allNarrowPhaseInfos; - while (narrowPhaseInfo != nullptr) { - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - if (narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator())) { - - collidingNarrowPhaseInfos.add(narrowPhaseInfo); - collidingPairs.add(pair); - } - } - - narrowPhaseInfo = narrowPhaseInfo->next; - } - } - - // Go to the next proxy shape - body2ProxyShape = body2ProxyShape->getNext(); - } - - // Go to the next proxy shape - body1ProxyShape = body1ProxyShape->getNext(); - } - - // Process the potential contacts - processAllPotentialContacts(collidingNarrowPhaseInfos, mMemoryManager.getPoolAllocator()); - - // For each colliding pair - for (auto it = collidingPairs.begin(); it != collidingPairs.end(); ++it) { - - OverlappingPair* pair = *it; - - assert(pair->hasContacts()); - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - collisionCallback->notifyContact(collisionInfo); - - // Destroy the temporary overlapping pair - pair->~OverlappingPair(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - } - - // Destroy the narrow phase infos - NarrowPhaseInfo* narrowPhaseInfo = mNarrowPhaseInfoList; - while (narrowPhaseInfo != nullptr) { - - NarrowPhaseInfo* narrowPhaseInfoToDelete = narrowPhaseInfo; - narrowPhaseInfo = narrowPhaseInfo->next; - - // Call the destructor - narrowPhaseInfoToDelete->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfoToDelete, sizeof(NarrowPhaseInfo)); - } -} - -// Test and report collisions between a body and all the others bodies of the world -void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits) { - - assert(callback != nullptr); - - List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); - Set overlappingPairs(mMemoryManager.getPoolAllocator()); - - // For each proxy shape proxy shape of the body - ProxyShape* bodyProxyShape = body->getProxyShapesList(); - while (bodyProxyShape != nullptr) { - - if (bodyProxyShape->getBroadPhaseId() != -1) { - - // Get the AABB of the shape - const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId()); - - // Ask the broad-phase to get all the overlapping shapes - LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); - - const bodyindex bodyId = body->getId(); - - // For each overlaping proxy shape - LinkedList::ListElement* element = overlappingNodes.getListHead(); - while (element != nullptr) { - - // Get the overlapping proxy shape - int broadPhaseId = element->data; - ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); - - // If the two proxy collision shapes are not from the same body - if (proxyShape->getBody()->getId() != bodyId) { - - // Check if the collision filtering allows collision between the two shapes - if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - - // Create a temporary overlapping pair - OverlappingPair* pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - overlappingPairs.add(pair); - - // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(pair); - - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { - - narrowPhaseInfos.add(narrowPhaseInfo); - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator()); - } - - narrowPhaseInfo = narrowPhaseInfo->next; - } - } - } - - // Go to the next overlapping proxy shape - element = element->next; - } - - // Go to the next proxy shape - bodyProxyShape = bodyProxyShape->getNext(); - } - } - - // Process the potential contacts - processAllPotentialContacts(narrowPhaseInfos, mMemoryManager.getPoolAllocator()); - - // For each overlapping pair - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { - - OverlappingPair* pair = *it; - - if (pair->hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - callback->notifyContact(collisionInfo); - } - - // Destroy the temporary overlapping pair - pair->~OverlappingPair(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - } - - // Destroy the narrow phase infos - for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { - - NarrowPhaseInfo* narrowPhaseInfo = *it; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } -} - -// Test and report collisions between all shapes of the world -void CollisionDetection::testCollision(CollisionCallback* callback) { - - assert(callback != nullptr); - - // Compute the broad-phase collision detection - computeBroadPhase(); - - List narrowPhaseInfos(mMemoryManager.getPoolAllocator()); - Set overlappingPairs(mMemoryManager.getPoolAllocator()); - - // For each possible collision pair of bodies - Map, OverlappingPair*>::Iterator it; - for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - - OverlappingPair* originalPair = it->second; - - // Create a temporary overlapping pair - OverlappingPair* pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(originalPair->getShape1(), originalPair->getShape2(), mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - overlappingPairs.add(pair); - - ProxyShape* shape1 = pair.getShape1(); - ProxyShape* shape2 = pair.getShape2(); - - // Check if the collision filtering allows collision between the two shapes and - // that the two shapes are still overlapping. - if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0) && - mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { - - // Compute the middle-phase collision detection between the two shapes - NarrowPhaseInfo* narrowPhaseInfo = computeMiddlePhaseForProxyShapes(&pair); - - // For each narrow-phase info object - while (narrowPhaseInfo != nullptr) { - - const CollisionShapeType shape1Type = narrowPhaseInfo->collisionShape1->getType(); - const CollisionShapeType shape2Type = narrowPhaseInfo->collisionShape2->getType(); - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithm* narrowPhaseAlgorithm = selectNarrowPhaseAlgorithm(shape1Type, shape2Type); - - // If there is a collision algorithm for those two kinds of shapes - if (narrowPhaseAlgorithm != nullptr) { - - narrowPhaseInfos.add(narrowPhaseInfo); - - // Use the narrow-phase collision detection algorithm to check - // if there really is a collision. If a collision occurs, the - // notifyContact() callback method will be called. - narrowPhaseAlgorithm->testCollision(narrowPhaseInfo, true, mMemoryManager.getPoolAllocator()); - } - - narrowPhaseInfo = narrowPhaseInfo->next; - } - } - } - - // Process the potential contacts - processAllPotentialContacts(narrowPhaseInfos, mMemoryManager.getPoolAllocator()); - - // For each overlapping pair - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { - - OverlappingPair* pair = *it; - - if (pair->hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - callback->notifyContact(collisionInfo); - } - - // Destroy the temporary overlapping pair - pair->~OverlappingPair(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - } - - // Destroy the narrow phase infos - for (auto it = narrowPhaseInfos.begin(); it != narrowPhaseInfos.end(); ++it) { - - NarrowPhaseInfo* narrowPhaseInfo = *it; - - // Call the destructor - narrowPhaseInfo->~NarrowPhaseInfo(); - - // Release the allocated memory for the narrow phase info - mMemoryManager.release(MemoryManager::AllocationType::Pool, narrowPhaseInfo, sizeof(NarrowPhaseInfo)); - } -} - -// Fill-in the collision detection matrix -void CollisionDetection::fillInCollisionMatrix() { - - // For each possible type of collision shape - for (int i=0; iselectAlgorithm(i, j); - } - } -} - -// Return the world event listener -EventListener* CollisionDetection::getWorldEventListener() { - return mWorld->mEventListener; -} - -// Return the world-space AABB of a given proxy shape -const AABB CollisionDetection::getWorldAABB(const ProxyShape* proxyShape) const { - assert(proxyShape->getBroadPhaseId() > -1); - return mBroadPhaseAlgorithm.getFatAABB(proxyShape->getBroadPhaseId()); -} diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index f83da44b..66bc0540 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -28,6 +28,7 @@ #include "utils/Logger.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" +#include "engine/CollisionWorld.h" using namespace reactphysics3d; @@ -55,7 +56,7 @@ ProxyShape::~ProxyShape() { * @return True if the point is inside the collision shape */ bool ProxyShape::testPointInside(const Vector3& worldPoint) { - const Transform localToWorld = mBody->getTransform() * mLocalToBodyTransform; + const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mLocalToBodyTransform; const Vector3 localPoint = localToWorld.getInverse() * worldPoint; return mCollisionShape->testPointInside(localPoint, this); } @@ -127,3 +128,13 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { return isHit; } + +// Return the local to world transform +/** + * @return The transformation that transforms the local-space of the collision + * shape to the world-space + */ +const Transform ProxyShape::getLocalToWorldTransform() const { + return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mLocalToBodyTransform; +} + diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index 17bbebbf..48e82565 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -267,15 +267,6 @@ inline const Transform& ProxyShape::getLocalToBodyTransform() const { return mLocalToBodyTransform; } -// Return the local to world transform -/** - * @return The transformation that transforms the local-space of the collision - * shape to the world-space - */ -inline const Transform ProxyShape::getLocalToWorldTransform() const { - return mBody->mTransform * mLocalToBodyTransform; -} - // Return the AABB of the proxy shape in world-space /** * @return The AABB of the proxy shape in world-space diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index 3c702ead..57652fa7 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -74,10 +74,10 @@ void TransformComponents::allocate(uint32 nbComponentsToAllocate) { // New pointers to components data Entity* newEntities = static_cast(newBuffer); - Transform* newTransforms = reinterpret_cast(newEntities + mNbAllocatedComponents); + Transform* newTransforms = reinterpret_cast(newEntities + nbComponentsToAllocate); // If there was already components before - if (mNbAllocatedComponents > 0) { + if (mNbComponents > 0) { // Copy component data from the previous buffer to the new one memcpy(newTransforms, mTransforms, mNbComponents * sizeof(Transform)); diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 15530583..72d5a9f0 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -155,7 +155,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { // Create the collision body CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CollisionBody))) - CollisionBody(transform, *this, entity, bodyID); + CollisionBody(*this, entity, bodyID); assert(collisionBody != nullptr); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index a9615d51..e53df768 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -185,7 +185,7 @@ void DynamicsWorld::integrateRigidBodiesPositions() { // Get current position and orientation of the body const Vector3& currentPosition = bodies[b]->mCenterOfMassWorld; - const Quaternion& currentOrientation = bodies[b]->getTransform().getOrientation(); + const Quaternion& currentOrientation = mTransformComponents.getTransform(bodies[b]->getEntity()).getOrientation(); // Update the new constrained position and orientation of the body mConstrainedPositions[indexArray] = currentPosition + newLinVelocity * mTimeStep; @@ -201,6 +201,8 @@ void DynamicsWorld::updateBodiesState() { RP3D_PROFILE("DynamicsWorld::updateBodiesState()", mProfiler); + // TODO : Make sure we compute this in a system + // For each island of the world for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) { @@ -219,7 +221,7 @@ void DynamicsWorld::updateBodiesState() { bodies[b]->mCenterOfMassWorld = mConstrainedPositions[index]; // Update the orientation of the body - bodies[b]->mTransform.setOrientation(mConstrainedOrientations[index].getUnit()); + mTransformComponents.getTransform(bodies[b]->getEntity()).setOrientation(mConstrainedOrientations[index].getUnit()); // Update the transform of the body (using the new center of mass and new orientation) bodies[b]->updateTransformWithCenterOfMass(); From 3d892a6689cc5e8ed8491c95f50733d68005641b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 28 Dec 2018 22:15:34 +0100 Subject: [PATCH 021/197] Handle sleeping bodies in TransformComponents --- src/body/CollisionBody.cpp | 9 ++ src/body/CollisionBody.h | 3 + src/body/RigidBody.h | 2 +- src/components/TransformComponents.cpp | 177 +++++++++++++++++++++---- src/components/TransformComponents.h | 15 ++- src/engine/CollisionWorld.cpp | 11 +- src/engine/CollisionWorld.h | 3 + src/engine/DynamicsWorld.cpp | 2 +- 8 files changed, 194 insertions(+), 28 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 67806187..fa0d45f4 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -431,6 +431,15 @@ void CollisionBody::setTransform(const Transform& transform) { } +// Set the variable to know whether or not the body is sleeping +void CollisionBody::setIsSleeping(bool isSleeping) { + + Body::setIsSleeping(isSleeping); + + // Notify all the components + mWorld.notifyBodySleeping(mEntity, isSleeping); +} + // Return the world-space coordinates of a point given the local-space coordinates of the body /** * @param localPoint A point in the local-space coordinates of the body diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index c298999d..2a5e3b52 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -141,6 +141,9 @@ class CollisionBody : public Body { /// Set the current position and orientation virtual void setTransform(const Transform& transform); + /// Set the variable to know whether or not the body is sleeping + virtual void setIsSleeping(bool isSleeping) override; + /// Add a collision shape to the body. virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, const Transform& transform); diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 9e0b9829..4ce9da2f 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -358,7 +358,7 @@ inline void RigidBody::setIsSleeping(bool isSleeping) { mExternalTorque.setToZero(); } - Body::setIsSleeping(isSleeping); + CollisionBody::setIsSleeping(isSleeping); } // Apply an external force to the body at its center of mass. diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index 57652fa7..f478f9bf 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // Constructor TransformComponents::TransformComponents(MemoryAllocator& allocator) :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), - mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { + mSleepingStartIndex(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { // Allocate memory for the components data allocate(INIT_ALLOCATED_COMPONENTS); @@ -94,21 +94,53 @@ void TransformComponents::allocate(uint32 nbComponentsToAllocate) { } // Add a component -void TransformComponents::addComponent(Entity entity, const TransformComponent& component) { +void TransformComponents::addComponent(Entity entity, bool isSleeping, const TransformComponent& component) { // If we need to allocate more components if (mNbComponents == mNbAllocatedComponents) { allocate(mNbAllocatedComponents * 2); } - // Map the entity with the new component lookup index - mMapEntityToComponentIndex.add(Pair(entity, mNbComponents)); + // If the component to add is part of a sleeping entity or there are no sleeping entity + if (isSleeping || mSleepingStartIndex == mNbComponents) { - // Insert the new component data - new (mEntities + mNbComponents) Entity(entity); - new (mTransforms + mNbComponents) Transform(component.transform); + // Add the component at the end of the array + uint32 index = mNbComponents; + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(entity, index)); + + if (isSleeping) { + mSleepingStartIndex = index; + } + + // Insert the new component data + new (mEntities + index) Entity(entity); + new (mTransforms + index) Transform(component.transform); + } + // If the component to add is not part of a sleeping entity and there are others sleeping components + else { + + // Copy the first sleeping component to the end of the array + new (mEntities + mNbComponents) Entity(mEntities[mSleepingStartIndex]); + new (mTransforms + mNbComponents) Transform(mTransforms[mSleepingStartIndex]); + + mMapEntityToComponentIndex[mEntities[mSleepingStartIndex]] = mNbComponents; + + // Copy the new component to the previous location of the fist sleeping component + mEntities[mSleepingStartIndex] = entity; + mTransforms[mSleepingStartIndex] = component.transform; + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(entity, mSleepingStartIndex)); + + mSleepingStartIndex++; + } mNbComponents++; + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } // Perform garbage collection to remove unused components @@ -146,6 +178,8 @@ void TransformComponents::garbageCollection(const EntityManager& entityManager) // Destroy the component removeComponent(i); } + + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } // Remove a component at a given index @@ -154,37 +188,132 @@ void TransformComponents::removeComponent(uint32 index) { assert(index < mNbComponents); // We want to keep the arrays tightly packed. Therefore, when a component is removed, - // we replace it with the last element of the array + // we replace it with the last element of the array. But we need to make sure that sleeping + // and non-sleeping components stay grouped together. - const uint32 lastIndex = mNbComponents - 1; + // Destroy the component + destroyComponent(index); - Entity entity = mEntities[index]; - Entity lastEntity = mEntities[lastIndex]; + // If the component to remove is sleeping + if (index >= mSleepingStartIndex) { - if (mNbComponents > 1 && index != lastIndex) { + // If the component is not the last one + if (index != mNbComponents - 1) { - // Replace the data of the component to destroy by the data of the last component - mEntities[index] = mEntities[lastIndex]; - mTransforms[index] = mTransforms[lastIndex]; - - // Update the entity to component index mapping - mMapEntityToComponentIndex[lastEntity] = index; + // We replace it by the last sleeping component + moveComponentToIndex(mNbComponents - 1, index); + } } - else { + else { // If the component to remove is not sleeping - // Call the destructors on the component values - destroyComponent(index); + // If it not the last awake component + if (index != mSleepingStartIndex - 1) { + + // We replace it by the last awake component + moveComponentToIndex(mSleepingStartIndex - 1, index); + } + + // If there are sleeping components at the end + if (mSleepingStartIndex != mNbComponents) { + + // We replace the last awake component by the last sleeping component + moveComponentToIndex(mNbComponents - 1, index); + + mSleepingStartIndex--; + } } - // Update the entity to component index mapping - mMapEntityToComponentIndex.remove(entity); - mNbComponents--; + + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Notify if a given entity is sleeping or not +void TransformComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { + + const uint32 index = mMapEntityToComponentIndex[entity]; + + // If the component was sleeping and is not sleeping anymore + if (!isSleeping && index >= mSleepingStartIndex) { + + assert(mSleepingStartIndex < mNbComponents); + + // If the sleeping component is not the first sleeping component + if (mSleepingStartIndex != index) { + + // Swap the first sleeping component with the one we need to wake up + swapComponents(index, mSleepingStartIndex); + } + + mSleepingStartIndex++; + } + // If the component was awake and must now go to sleep + else if (isSleeping && index < mSleepingStartIndex) { + + assert(mSleepingStartIndex > 0); + + // If the awake component is not the only awake component + if (index != mSleepingStartIndex - 1) { + + // Swap the last awake component with the one we need to put to sleep + swapComponents(index, mSleepingStartIndex - 1); + } + + mSleepingStartIndex--; + } + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void TransformComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + // Copy the data of the source component to the destination location + new (mEntities + destIndex) Entity(mEntities[srcIndex]); + new (mTransforms + destIndex) Transform(mTransforms[srcIndex]); + + const Entity entity = mEntities[srcIndex]; + + // Destroy the source component + destroyComponent(srcIndex); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void TransformComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity entity1(mEntities[index1]); + Transform transform1(mTransforms[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mEntities + index2) Entity(entity1); + new (mTransforms + index2) Transform(transform1); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity1, index2)); + + assert(mMapEntityToComponentIndex[mEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } // Destroy a component at a given index void TransformComponents::destroyComponent(uint32 index) { + mMapEntityToComponentIndex.remove(mEntities[index]); + mEntities[index].~Entity(); mTransforms[index].~Transform(); } diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index 3212c846..3f7ec1a2 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -42,6 +42,7 @@ class EntityManager; /** * This class represent the component of the ECS that contains the transforms of the * different entities. The position and orientation of the bodies are stored there. + * The components of the sleeping entities (bodies) are always stored at the end of the array. */ class TransformComponents { @@ -68,6 +69,9 @@ class TransformComponents { /// Number of allocated components uint32 mNbAllocatedComponents; + /// Index of the first component of a sleeping entity (sleeping components are stored at the end) + uint32 mSleepingStartIndex; + /// Allocated memory for all the data of the components void* mBuffer; @@ -88,6 +92,12 @@ class TransformComponents { /// Destroy a component at a given index void destroyComponent(uint32 index); + // Move a component from a source to a destination index in the components array + void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); + + /// Swap two components in the array + void swapComponents(uint32 index1, uint32 index2); + public: /// Structure for the data of a transform component @@ -113,7 +123,7 @@ class TransformComponents { void allocate(uint32 nbComponentsToAllocate); /// Add a component - void addComponent(Entity entity, const TransformComponent& component); + void addComponent(Entity entity, bool isSleeping, const TransformComponent& component); /// Perform garbage collection to remove unused components void garbageCollection(const EntityManager& entityManager); @@ -123,6 +133,9 @@ class TransformComponents { /// Set the transform of an entity void setTransform(Entity entity, const Transform& transform); + + /// Notify if a given entity is sleeping or not + void setIsEntitySleeping(Entity entity, bool isSleeping); }; // Return the transform of an entity diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 72d5a9f0..e8076ad6 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -150,7 +150,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { assert(bodyID < std::numeric_limits::max()); // Add a transform component - mTransformComponents.addComponent(entity, TransformComponents::TransformComponent(transform)); + mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); // Create the collision body CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, @@ -238,6 +238,15 @@ void CollisionWorld::resetContactManifoldListsOfBodies() { } } +// Notify the world if a body is sleeping or not +void CollisionWorld::notifyBodySleeping(Entity entity, bool isSleeping) { + + // TODO : Make sure we notify all the components here ... + + // Notify all the components + mTransformComponents.setIsEntitySleeping(entity, isSleeping); +} + // Test if the AABBs of two bodies overlap /** * @param body1 Pointer to the first body to test diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 932a3739..58dc91d5 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -121,6 +121,9 @@ class CollisionWorld { /// Reset all the contact manifolds linked list of each body void resetContactManifoldListsOfBodies(); + /// Notify the world if a body is sleeping or not + void notifyBodySleeping(Entity entity, bool isSleeping); + public : // -------------------- Methods -------------------- // diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index e53df768..50c199c1 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -429,7 +429,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { assert(bodyID < std::numeric_limits::max()); // Add a transform component - mTransformComponents.addComponent(entity, TransformComponents::TransformComponent(transform)); + mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, From 96b02cfcca24d121a0f4d350793b9710682ed520 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 3 Jan 2019 14:01:11 +0100 Subject: [PATCH 022/197] Modifs in TransformComponents --- src/components/TransformComponents.cpp | 35 +++++++++++--------------- src/components/TransformComponents.h | 28 +++------------------ 2 files changed, 18 insertions(+), 45 deletions(-) diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index f478f9bf..0d20f4b3 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -35,8 +35,7 @@ using namespace reactphysics3d; // Constructor TransformComponents::TransformComponents(MemoryAllocator& allocator) - :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), - mSleepingStartIndex(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { + :Components(allocator), mSleepingStartIndex(0){ // Allocate memory for the components data allocate(INIT_ALLOCATED_COMPONENTS); @@ -101,42 +100,36 @@ void TransformComponents::addComponent(Entity entity, bool isSleeping, const Tra allocate(mNbAllocatedComponents * 2); } + uint32 index; + // If the component to add is part of a sleeping entity or there are no sleeping entity if (isSleeping || mSleepingStartIndex == mNbComponents) { // Add the component at the end of the array - uint32 index = mNbComponents; - - // Map the entity with the new component lookup index - mMapEntityToComponentIndex.add(Pair(entity, index)); + index = mNbComponents; if (isSleeping) { mSleepingStartIndex = index; } - - // Insert the new component data - new (mEntities + index) Entity(entity); - new (mTransforms + index) Transform(component.transform); } // If the component to add is not part of a sleeping entity and there are others sleeping components else { - // Copy the first sleeping component to the end of the array - new (mEntities + mNbComponents) Entity(mEntities[mSleepingStartIndex]); - new (mTransforms + mNbComponents) Transform(mTransforms[mSleepingStartIndex]); + // Move the first sleeping component to the end of the array + moveComponentToIndex(mSleepingStartIndex, mNbComponents); - mMapEntityToComponentIndex[mEntities[mSleepingStartIndex]] = mNbComponents; - - // Copy the new component to the previous location of the fist sleeping component - mEntities[mSleepingStartIndex] = entity; - mTransforms[mSleepingStartIndex] = component.transform; - - // Map the entity with the new component lookup index - mMapEntityToComponentIndex.add(Pair(entity, mSleepingStartIndex)); + index = mSleepingStartIndex; mSleepingStartIndex++; } + // Insert the new component data + new (mEntities + index) Entity(entity); + new (mTransforms + index) Transform(component.transform); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(entity, index)); + mNbComponents++; assert(mSleepingStartIndex <= mNbComponents); diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index 3f7ec1a2..5df79c65 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -29,6 +29,7 @@ // Libraries #include "mathematics/Transform.h" #include "engine/Entity.h" +#include "components/Components.h" #include "containers/Map.h" // ReactPhysics3D namespace @@ -44,40 +45,19 @@ class EntityManager; * different entities. The position and orientation of the bodies are stored there. * The components of the sleeping entities (bodies) are always stored at the end of the array. */ -class TransformComponents { +class TransformComponents : public Components { private: // -------------------- Constants -------------------- // - /// Number of components to allocated at the beginning - const uint32 INIT_ALLOCATED_COMPONENTS = 10; - - /// Number of valid entities to hit before stopping garbage collection - const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Transform); // -------------------- Attributes -------------------- // - /// Memory allocator - MemoryAllocator& mMemoryAllocator; - - /// Current number of components - uint32 mNbComponents; - - /// Number of allocated components - uint32 mNbAllocatedComponents; - /// Index of the first component of a sleeping entity (sleeping components are stored at the end) uint32 mSleepingStartIndex; - /// Allocated memory for all the data of the components - void* mBuffer; - - /// Map an entity to the index of its component in the array - Map mMapEntityToComponentIndex; - /// Array of entities of each component Entity* mEntities; @@ -92,7 +72,7 @@ class TransformComponents { /// Destroy a component at a given index void destroyComponent(uint32 index); - // Move a component from a source to a destination index in the components array + /// Move a component from a source to a destination index in the components array void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); /// Swap two components in the array @@ -117,7 +97,7 @@ class TransformComponents { TransformComponents(MemoryAllocator& allocator); /// Destructor - ~TransformComponents(); + virtual ~TransformComponents(); /// Allocate memory for a given number of components void allocate(uint32 nbComponentsToAllocate); From 4e438d3cccf8606b70b75119f4b85ab14893f025 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 8 Jan 2019 18:39:36 +0100 Subject: [PATCH 023/197] Add ProxyShapesComponents --- CMakeLists.txt | 3 + src/body/CollisionBody.cpp | 11 + src/body/RigidBody.cpp | 11 + src/components/Components.h | 93 +++++ src/components/ProxyShapesComponents.cpp | 502 +++++++++++++++++++++++ src/components/ProxyShapesComponents.h | 181 ++++++++ src/components/TransformComponents.cpp | 18 +- src/engine/CollisionWorld.cpp | 3 +- src/engine/CollisionWorld.h | 4 + 9 files changed, 818 insertions(+), 8 deletions(-) create mode 100644 src/components/Components.h create mode 100644 src/components/ProxyShapesComponents.cpp create mode 100644 src/components/ProxyShapesComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 0df07e6f..f23c134a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -140,7 +140,9 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/OverlappingPair.h" "src/engine/Timer.h" "src/engine/Timer.cpp" + "src/components/Components.h" "src/components/TransformComponents.h" + "src/components/ProxyShapesComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -230,6 +232,7 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/Entity.cpp" "src/engine/EntityManager.cpp" "src/components/TransformComponents.cpp" + "src/components/ProxyShapesComponents.cpp" "src/collision/CollisionCallback.cpp" "src/mathematics/mathematics_functions.cpp" "src/mathematics/Matrix2x2.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index fa0d45f4..65724b16 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -80,6 +80,17 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, sizeof(ProxyShape))) ProxyShape(this, collisionShape, transform, decimal(1), mWorld.mMemoryManager); + // Add the proxy-shape component to the entity of the body + Vector3 localBoundsMin; + Vector3 localBoundsMax; + // TODO : Maybe this method can directly returns an AABB + proxyShape->getCollisionShape()->getLocalBounds(localBoundsMin, localBoundsMax); + + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape->getBroadPhaseId(), + AABB(localBoundsMin, localBoundsMax), + transform, collisionShape, decimal(1)); + mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 92eabbf0..40b43c6d 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -286,6 +286,17 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, sizeof(ProxyShape))) ProxyShape(this, collisionShape, transform, mass, mWorld.mMemoryManager); + // Add the proxy-shape component to the entity of the body + Vector3 localBoundsMin; + Vector3 localBoundsMax; + // TODO : Maybe this method can directly returns an AABB + proxyShape->getCollisionShape()->getLocalBounds(localBoundsMin, localBoundsMax); + + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape->getBroadPhaseId(), + AABB(localBoundsMin, localBoundsMax), + transform, collisionShape, mass); + mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/components/Components.h b/src/components/Components.h new file mode 100644 index 00000000..409cd8f8 --- /dev/null +++ b/src/components/Components.h @@ -0,0 +1,93 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_COMPONENTS_H +#define REACTPHYSICS3D_COMPONENTS_H + +// Libraries +#include "configuration.h" +#include "engine/Entity.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; + +// Class Components +/** + * This class represent the abstract class to store components of the ECS. + */ +class Components { + + protected: + + // -------------------- Constants -------------------- // + + /// Number of components to allocated at the beginning + const uint32 INIT_ALLOCATED_COMPONENTS = 10; + + /// Number of valid entities to hit before stopping garbage collection + const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; + + // -------------------- Attributes -------------------- // + + /// Memory allocator + MemoryAllocator& mMemoryAllocator; + + /// Current number of components + uint32 mNbComponents; + + /// Number of allocated components + uint32 mNbAllocatedComponents; + + /// Allocated memory for all the data of the components + void* mBuffer; + + /// Map an entity to the index of its component in the array + Map mMapEntityToComponentIndex; + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + Components(MemoryAllocator& allocator) + : mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), + mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { + + } + + /// Destructor + virtual ~Components() { + + } +}; + +} + +#endif diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp new file mode 100644 index 00000000..e7ce310e --- /dev/null +++ b/src/components/ProxyShapesComponents.cpp @@ -0,0 +1,502 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "ProxyShapesComponents.h" +#include "engine/EntityManager.h" +#include +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) + :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), + mSleepingStartIndex(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { + + // Allocate memory for the components data + allocate(INIT_ALLOCATED_COMPONENTS); +} + +// Destructor +ProxyShapesComponents::~ProxyShapesComponents() { + + if (mNbAllocatedComponents > 0) { + + // Destroy all the remaining components + for (uint32 i = 0; i < mNbComponents; i++) { + + // TODO : MAke sure we do not delete already deleted components + destroyComponent(i); + } + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE; + + // Release the allocated memory + mMemoryAllocator.release(mBuffer, totalSizeBytes); + } +} + +// Allocate memory for a given number of components +void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newEntities = static_cast(newBuffer); + int* newBroadPhaseIds = reinterpret_cast(newEntities + nbComponentsToAllocate); + AABB* newLocalBounds = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); + Transform* newLocalToBodyTransforms = reinterpret_cast(newLocalBounds + nbComponentsToAllocate); + CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); + decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); + uint32* newPreviousBodyProxyShapes = reinterpret_cast(newMasses + nbComponentsToAllocate); + uint32* newNextBodyProxyShapes = reinterpret_cast(newPreviousBodyProxyShapes + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newEntities, mEntities, mNbComponents * sizeof(Entity)); + memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int)); + memcpy(newLocalBounds, mLocalBounds, mNbComponents * sizeof(AABB)); + memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); + memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*)); + memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); + memcpy(newPreviousBodyProxyShapes, mPreviousBodyProxyShapes, mNbComponents * sizeof(uint32)); + memcpy(newNextBodyProxyShapes, mNextBodyProxyShapes, mNbComponents * sizeof(uint32)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); + } + + mBuffer = newBuffer; + mEntities = newEntities; + mBroadPhaseIds = newBroadPhaseIds; + mLocalBounds = newLocalBounds; + mLocalToBodyTransforms = newLocalToBodyTransforms; + mCollisionShapes = newCollisionShapes; + mMasses = newMasses; + mPreviousBodyProxyShapes = newPreviousBodyProxyShapes; + mNextBodyProxyShapes = newNextBodyProxyShapes; + + mNbAllocatedComponents = nbComponentsToAllocate; +} + +// Add a new proxy-shape at the beginning of the linked-list of proxy-shapes of a given entity +// If it is the first proxy-shape for the entity, it will create the first item of the linked-list +void ProxyShapesComponents::linkProxyShapeWithEntity(Entity entity, uint32 proxyShapeComponentIndex) { + + auto it = mMapEntityToComponentIndex.find(entity); + if (it != mMapEntityToComponentIndex.end()) { + + // Get the first proxy-shape of the linked-list + uint32 firstProxyShapeIndex = (*it).second; + + assert(!hasPreviousProxyShape(firstProxyShapeIndex)); + + // Update the previous index of the first item of the list + mPreviousBodyProxyShapes[firstProxyShapeIndex] = proxyShapeComponentIndex; + + // Map the entity to the new head of the linked-list + mMapEntityToComponentIndex[entity] = proxyShapeComponentIndex; + + // Add the new proxy-shape at the beginning of the linked-list + const uint32 nextIndex = firstProxyShapeIndex; + const uint32 previousIndex = proxyShapeComponentIndex; + new (mNextBodyProxyShapes + proxyShapeComponentIndex) uint32(nextIndex); + new (mPreviousBodyProxyShapes + proxyShapeComponentIndex) uint32(previousIndex); + + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[proxyShapeComponentIndex]] == proxyShapeComponentIndex); + } + else { // If the entity does not have a proxy-shape yet + + mMapEntityToComponentIndex.add(Pair(entity, proxyShapeComponentIndex)); + + // The new proxy-shape has no previous/next components in the linked-list + new (mNextBodyProxyShapes + proxyShapeComponentIndex) uint32(proxyShapeComponentIndex); + new (mPreviousBodyProxyShapes + proxyShapeComponentIndex) uint32(proxyShapeComponentIndex); + + assert(!hasNextProxyShape(proxyShapeComponentIndex)); + } + + assert(!hasPreviousProxyShape(proxyShapeComponentIndex)); +} + +// Add a component +void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const ProxyShapeComponent& component) { + + // If we need to allocate more components + if (mNbComponents == mNbAllocatedComponents) { + allocate(mNbAllocatedComponents * 2); + } + + uint32 index; + + // If the component to add is part of a sleeping entity + if (isSleeping) { + + // Add the component at the end of the array + index = mNbComponents; + + mSleepingStartIndex = index; + } + // If the component to add is not part of a sleeping entity + else { + + // If there already are sleeping components + if (mSleepingStartIndex != mNbComponents) { + + // Move the first sleeping component to the end of the array + moveComponentToIndex(mSleepingStartIndex, mNbComponents); + } + + index = mSleepingStartIndex; + + mSleepingStartIndex++; + } + + // Insert the new component data + new (mEntities + index) Entity(entity); + new (mBroadPhaseIds + index) int(component.broadPhaseId); + new (mLocalBounds + index) AABB(component.localBounds); + new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); + mCollisionShapes[index] = component.collisionShape; + new (mMasses + index) decimal(component.mass); + + mNbComponents++; + + // Map the entity with the new component lookup index + linkProxyShapeWithEntity(entity, index); + + assert(mSleepingStartIndex <= mNbComponents); + + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index || !hasNextProxyShape(index)); + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index || !hasPreviousProxyShape(index)); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mEntities[srcIndex]; + + const bool isFirstProxyShapeOfBody = mMapEntityToComponentIndex[entity] == srcIndex; + + assert(isFirstProxyShapeOfBody || hasPreviousProxyShape(srcIndex)); + + // Copy the data of the source component to the destination location + new (mEntities + destIndex) Entity(mEntities[srcIndex]); + new (mBroadPhaseIds + destIndex) int(mBroadPhaseIds[srcIndex]); + new (mLocalBounds + destIndex) AABB(mLocalBounds[srcIndex]); + new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); + mCollisionShapes[destIndex] = mCollisionShapes[srcIndex]; + new (mMasses + destIndex) decimal(mMasses[srcIndex]); + new (mPreviousBodyProxyShapes + destIndex) uint32(hasPreviousProxyShape(srcIndex) ? mPreviousBodyProxyShapes[srcIndex] : destIndex); + new (mNextBodyProxyShapes + destIndex) uint32(hasNextProxyShape(srcIndex) ? mNextBodyProxyShapes[srcIndex] : destIndex); + + // Update the the next proxy-shape index of the previous proxy-shape + if (hasPreviousProxyShape(destIndex)) { + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == srcIndex); + mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] = destIndex; + } + + // Update the the previous proxy-shape index of the next proxy-shape + if (hasNextProxyShape(destIndex)) { + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == srcIndex); + mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] = destIndex; + } + + // Destroy the source component + destroyComponent(srcIndex); + + // Update the entity to component index mapping if it is the first proxy-shape of the body + if (isFirstProxyShapeOfBody) { + + mMapEntityToComponentIndex[entity] = destIndex; + assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex); + } + + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == destIndex || !hasNextProxyShape(destIndex)); + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == destIndex || !hasPreviousProxyShape(destIndex)); +} + +// Swap two components in the array +void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity entity1(mEntities[index1]); + int broadPhaseId1 = mBroadPhaseIds[index1]; + AABB localBounds1 = mLocalBounds[index1]; + Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; + CollisionShape* collisionShape1 = mCollisionShapes[index1]; + decimal mass1 = mMasses[index1]; + uint32 previousProxyShape1 = hasPreviousProxyShape(index1) ? mPreviousBodyProxyShapes[index1] : index2; + uint32 nextProxyShape1 = hasNextProxyShape(index1) ? mNextBodyProxyShapes[index1] : index2; + + const bool isFirstBodyProxyShape1 = mMapEntityToComponentIndex[mEntities[index1]] == index1; + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mEntities + index2) Entity(entity1); + new (mBroadPhaseIds + index2) int(broadPhaseId1); + new (mLocalBounds + index2) AABB(localBounds1); + new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); + mCollisionShapes[index2] = collisionShape1; + new (mMasses + index2) decimal(mass1); + new (mPreviousBodyProxyShapes + index2) uint32(previousProxyShape1); + new (mNextBodyProxyShapes + index2) uint32(nextProxyShape1); + + // Update the the next proxy-shape index of the previous proxy-shape + if (hasPreviousProxyShape(index2)) { + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] == index1); + mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] = index2; + } + + // Update the the previous proxy-shape index of the next proxy-shape + if (hasNextProxyShape(index2)) { + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] == index1); + mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] = index2; + } + + // Update the entity to component index mapping if it is the first body proxy-shape + if (isFirstBodyProxyShape1) { + assert(!hasPreviousProxyShape(index2)); + mMapEntityToComponentIndex[entity1] = index2; + } + + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index1]] == index1 || !hasNextProxyShape(index1)); + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] == index2 || !hasNextProxyShape(index2)); + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index1]] == index1 || !hasPreviousProxyShape(index1)); + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] == index2 || !hasPreviousProxyShape(index2)); +} + +// Perform garbage collection to remove unused components +void ProxyShapesComponents::garbageCollection(const EntityManager& entityManager) { + + // TODO : Make sure we call this method each frame + + // We use lazy garbage collection. The idea is to pick random components and destroy + // them if their corresponding entities have been destroyed. We do this until we hit + // GARBAGE_COLLECTION_MAX_VALID_ENTITIES in a row. Therefore, it cost almost nothing + // if there are no destroyed entities and it very quickly destroys components where there + // are a lot of destroyed entities. + + uint32 nbHitValidEntitiesInARow = 0; + + // For random number generation + std::random_device rd; + std::mt19937 eng(rd()); + + while (mNbComponents > 0 && nbHitValidEntitiesInARow < GARBAGE_COLLECTION_MAX_VALID_ENTITIES) { + + // Select a random index in the components array + std::uniform_int_distribution distr(0, mNbComponents - 1); + uint32 i = distr(eng); + + // If the corresponding entity is valid + if (entityManager.isValid(mEntities[i])) { + nbHitValidEntitiesInARow++; + + continue; + } + + nbHitValidEntitiesInARow = 0; + + // Destroy the component + removeComponent(i); + } +} + +// Remove a component at a given index +void ProxyShapesComponents::removeComponent(uint32 index) { + + assert(index < mNbComponents); + + // We want to keep the arrays tightly packed. Therefore, when a component is removed, + // we replace it with the last element of the array. But we need to make sure that sleeping + // and non-sleeping components stay grouped together. + + // If the proxy-shape to destroy does not have a previous proxy-shape in the linked-list of proxy-shapes of its body + if (!hasPreviousProxyShape(index)) { + + // Remove the mapping from entity to component index + mMapEntityToComponentIndex.remove(mEntities[index]); + + // If the proxy-shape has a next proxy-shape in the linked-list + if (hasNextProxyShape(index)) { + + assert(mEntities[index] == mEntities[mNextBodyProxyShapes[index]]); + + mMapEntityToComponentIndex.add(Pair(mEntities[mNextBodyProxyShapes[index]], mNextBodyProxyShapes[index])); + } + } + + // Update the linked-list of proxy-shapes of a body when a proxy-shape is removed + if (hasPreviousProxyShape(index)) { + + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index); + assert(mEntities[index] == mEntities[mPreviousBodyProxyShapes[index]]); + + // If the current proxy-shape to remove has a next proxy-shape in the linked-list + if (hasNextProxyShape(index)) { + + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index); + + // Make sure the next proxy-shape will follow the previous proxy-shape in the linked-list + mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] = mNextBodyProxyShapes[index]; + } + else { + + mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] = mPreviousBodyProxyShapes[index]; + } + } + + // Update the linked-list of proxy-shapes of a body when a proxy-shape is removed + if (hasNextProxyShape(index)) { + + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index); + assert(mEntities[index] == mEntities[mNextBodyProxyShapes[index]]); + + // If the current proxy-shape to remove has a previous proxy-shape in the linked-list + if (hasPreviousProxyShape(index)) { + + // Make sure the previous proxy-shape will precede the next proxy-shape in the linked-list + mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] = mPreviousBodyProxyShapes[index]; + } + else { + + mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] = mNextBodyProxyShapes[index]; + } + } + + // Destroy the component + destroyComponent(index); + + // If the component to remove is sleeping + if (index >= mSleepingStartIndex) { + + // If the component is not the last one + if (index != mNbComponents - 1) { + + // We replace it by the last sleeping component + moveComponentToIndex(mNbComponents - 1, index); + } + } + else { // If the component to remove is not sleeping + + // If it not the last awake component + if (index != mSleepingStartIndex - 1) { + + // We replace it by the last awake component + moveComponentToIndex(mSleepingStartIndex - 1, index); + } + + // If there are sleeping components at the end + if (mSleepingStartIndex != mNbComponents) { + + // We replace the last awake component by the last sleeping component + moveComponentToIndex(mNbComponents - 1, index); + + mSleepingStartIndex--; + } + } + + mNbComponents--; +} + +// Return true if a given proxy-shape component has a previous proxy-shape in the linked-list of proxy-shapes of a body +bool ProxyShapesComponents::hasPreviousProxyShape(uint32 index) const { + assert(index < mNbComponents); + return mPreviousBodyProxyShapes[index] != index; +} + +// Return true if a given proxy-shape component has a next proxy-shape in the linked-list of proxy-shapes of a body +bool ProxyShapesComponents::hasNextProxyShape(uint32 index) const { + assert(index < mNbComponents); + return mNextBodyProxyShapes[index] != index; +} + +// Destroy a component at a given index +void ProxyShapesComponents::destroyComponent(uint32 index) { + + + mEntities[index].~Entity(); + mLocalBounds[index].~AABB(); + mLocalToBodyTransforms[index].~Transform(); + mCollisionShapes[index] = nullptr; +} + +// Notify if a given entity is sleeping or not +void ProxyShapesComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { + + const uint32 index = mMapEntityToComponentIndex[entity]; + + // If the component was sleeping and is not sleeping anymore + if (!isSleeping && index >= mSleepingStartIndex) { + + assert(mSleepingStartIndex < mNbComponents); + + // If the sleeping component is not the first sleeping component + if (mSleepingStartIndex != index) { + + // Swap the first sleeping component with the one we need to wake up + swapComponents(index, mSleepingStartIndex); + } + + mSleepingStartIndex++; + } + // If the component was awake and must now go to sleep + else if (isSleeping && index < mSleepingStartIndex) { + + assert(mSleepingStartIndex > 0); + + // If the awake component is not the only awake component + if (index != mSleepingStartIndex - 1) { + + // Swap the last awake component with the one we need to put to sleep + swapComponents(index, mSleepingStartIndex - 1); + } + + mSleepingStartIndex--; + } + + assert(mSleepingStartIndex <= mNbComponents); + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index || !hasNextProxyShape(index)); + assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index || !hasPreviousProxyShape(index)); +} + diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h new file mode 100644 index 00000000..8360f256 --- /dev/null +++ b/src/components/ProxyShapesComponents.h @@ -0,0 +1,181 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_PROXY_SHAPES_COMPONENTS_H +#define REACTPHYSICS3D_PROXY_SHAPES_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "containers/Map.h" +#include "collision/shapes/AABB.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class AABB; +class CollisionShape; + +// Class ProxyShapesComponents +/** + * This class represent the component of the ECS that contains the proxy-shapes of the + * different entities. There can be several proxy shapes for each entity (body). We store + * the proxy shapes in a flat array but we keep two arrays with previous/next proxy shapes + * link information to quickly know all the proxy shapes of a given entity (body). We also make + * sure that proxy shapes of sleeping entities (bodies) are always stored at the end of the array. + */ +class ProxyShapesComponents { + + private: + + // -------------------- Constants -------------------- // + + /// Number of components to allocated at the beginning + const uint32 INIT_ALLOCATED_COMPONENTS = 10; + + /// Number of valid entities to hit before stopping garbage collection + const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; + + const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(int) + sizeof(AABB) + + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(uint32) + + sizeof(uint32); + + // -------------------- Attributes -------------------- // + + /// Memory allocator + MemoryAllocator& mMemoryAllocator; + + /// Current number of components + uint32 mNbComponents; + + /// Number of allocated components + uint32 mNbAllocatedComponents; + + /// Index of the first component of a sleeping entity (sleeping components are stored at the end) + uint32 mSleepingStartIndex; + + /// Allocated memory for all the data of the components + void* mBuffer; + + /// Map an entity to the index of its component in the array + Map mMapEntityToComponentIndex; + + /// Array of entities of each component + Entity* mEntities; + + /// Ids of the proxy-shapes for the broad-phase algorithm + // TODO : Try to change type to uint32 + int* mBroadPhaseIds; + + /// Local-space bounds of a proxy-shape + AABB* mLocalBounds; + + /// Transform from local-space of the proxy-shape to the body-space of its body + Transform* mLocalToBodyTransforms; + + /// Pointers to the collision shapes of the proxy-shapes + CollisionShape** mCollisionShapes; + + /// Masses of the proxy-shapes + decimal* mMasses; + + /// Index of the previous proxy-shape in the same body + /// mPreviousBodyProxyShapes[i] == i means that the proxy-shape component has no previous proxy-shape + uint32* mPreviousBodyProxyShapes; + + /// Index of the next proxy-shape in the same body + /// mNextBodyProxyShapes[i] == i means that the proxy-shape component has no next proxy-shape + uint32* mNextBodyProxyShapes; + + // -------------------- Methods -------------------- // + + /// Remove a component at a given index + void removeComponent(uint32 index); + + /// Destroy a component at a given index + void destroyComponent(uint32 index); + + /// Move a component from a source to a destination index in the components array + void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); + + /// Swap two components in the array + void swapComponents(uint32 index1, uint32 index2); + + /// Add a new proxy-shape at the end of the linked-list of proxy-shapes of a given entity + void linkProxyShapeWithEntity(Entity entity, uint32 proxyShapeComponentIndex); + + /// Return true if a given proxy-shape component has a previous proxy-shape in the linked-list of proxy-shapes of a body + bool hasPreviousProxyShape(uint32 index) const; + + /// Return true if a given proxy-shape component has a next proxy-shape in the linked-list of proxy-shapes of a body + bool hasNextProxyShape(uint32 index) const; + + public: + + /// Structure for the data of a proxy shape component + struct ProxyShapeComponent { + + int broadPhaseId; + AABB localBounds; + Transform localToBodyTransform; + CollisionShape* collisionShape; + decimal mass; + + /// Constructor + ProxyShapeComponent(int broadPhaseId, AABB localBounds, Transform localToBodyTransform, + CollisionShape* collisionShape, decimal mass) + :broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), + collisionShape(collisionShape), mass(mass) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + ProxyShapesComponents(MemoryAllocator& allocator); + + /// Destructor + ~ProxyShapesComponents(); + + /// Allocate memory for a given number of components + void allocate(uint32 nbComponentsToAllocate); + + /// Add a component + void addComponent(Entity entity, bool isSleeping, const ProxyShapeComponent& component); + + /// Notify if a given entity is sleeping or not + void setIsEntitySleeping(Entity entity, bool isSleeping); + + /// Perform garbage collection to remove unused components + void garbageCollection(const EntityManager& entityManager); +}; + +} + +#endif diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index 0d20f4b3..dbe026c8 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -48,6 +48,8 @@ TransformComponents::~TransformComponents() { // Destroy all the remaining components for (uint32 i = 0; i < mNbComponents; i++) { + + // TODO : MAke sure we do not delete already deleted components destroyComponent(i); } @@ -103,20 +105,22 @@ void TransformComponents::addComponent(Entity entity, bool isSleeping, const Tra uint32 index; // If the component to add is part of a sleeping entity or there are no sleeping entity - if (isSleeping || mSleepingStartIndex == mNbComponents) { + if (isSleeping) { // Add the component at the end of the array index = mNbComponents; - if (isSleeping) { - mSleepingStartIndex = index; - } + mSleepingStartIndex = index; } - // If the component to add is not part of a sleeping entity and there are others sleeping components + // If the component to add is not part of a sleeping entity else { - // Move the first sleeping component to the end of the array - moveComponentToIndex(mSleepingStartIndex, mNbComponents); + // If there already are sleeping components + if (mSleepingStartIndex != mNbComponents) { + + // Move the first sleeping component to the end of the array + moveComponentToIndex(mSleepingStartIndex, mNbComponents); + } index = mSleepingStartIndex; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index e8076ad6..1d73fe9a 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -38,7 +38,7 @@ uint CollisionWorld::mNbWorlds = 0; // Constructor CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), - mTransformComponents(mMemoryManager.getBaseAllocator()), + mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -245,6 +245,7 @@ void CollisionWorld::notifyBodySleeping(Entity entity, bool isSleeping) { // Notify all the components mTransformComponents.setIsEntitySleeping(entity, isSleeping); + mProxyShapesComponents.setIsEntitySleeping(entity, isSleeping); } // Test if the AABBs of two bodies overlap diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 58dc91d5..5b44c073 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -34,6 +34,7 @@ #include "memory/MemoryManager.h" #include "engine/EntityManager.h" #include "components/TransformComponents.h" +#include "components/ProxyShapesComponents.h" /// Namespace reactphysics3d namespace reactphysics3d { @@ -74,6 +75,9 @@ class CollisionWorld { /// Transform Components TransformComponents mTransformComponents; + /// Proxy-Shapes Components + ProxyShapesComponents mProxyShapesComponents; + /// Reference to the collision detection CollisionDetection mCollisionDetection; From d8d490bff9c399bb41b7810d3406492088a894df Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 9 Jan 2019 12:19:58 +0100 Subject: [PATCH 024/197] Fix issues with components and remove components when entities are destroyed --- src/components/ProxyShapesComponents.cpp | 62 ++++++++--------------- src/components/ProxyShapesComponents.h | 6 +-- src/components/TransformComponents.cpp | 64 ++++++++---------------- src/components/TransformComponents.h | 4 +- src/engine/CollisionWorld.cpp | 17 ++++++- src/engine/CollisionWorld.h | 3 ++ src/engine/DynamicsWorld.cpp | 4 +- 7 files changed, 68 insertions(+), 92 deletions(-) diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index e7ce310e..ddbb773b 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -200,7 +200,6 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P linkProxyShapeWithEntity(entity, index); assert(mSleepingStartIndex <= mNbComponents); - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index || !hasNextProxyShape(index)); assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index || !hasPreviousProxyShape(index)); } @@ -305,43 +304,6 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] == index2 || !hasPreviousProxyShape(index2)); } -// Perform garbage collection to remove unused components -void ProxyShapesComponents::garbageCollection(const EntityManager& entityManager) { - - // TODO : Make sure we call this method each frame - - // We use lazy garbage collection. The idea is to pick random components and destroy - // them if their corresponding entities have been destroyed. We do this until we hit - // GARBAGE_COLLECTION_MAX_VALID_ENTITIES in a row. Therefore, it cost almost nothing - // if there are no destroyed entities and it very quickly destroys components where there - // are a lot of destroyed entities. - - uint32 nbHitValidEntitiesInARow = 0; - - // For random number generation - std::random_device rd; - std::mt19937 eng(rd()); - - while (mNbComponents > 0 && nbHitValidEntitiesInARow < GARBAGE_COLLECTION_MAX_VALID_ENTITIES) { - - // Select a random index in the components array - std::uniform_int_distribution distr(0, mNbComponents - 1); - uint32 i = distr(eng); - - // If the corresponding entity is valid - if (entityManager.isValid(mEntities[i])) { - nbHitValidEntitiesInARow++; - - continue; - } - - nbHitValidEntitiesInARow = 0; - - // Destroy the component - removeComponent(i); - } -} - // Remove a component at a given index void ProxyShapesComponents::removeComponent(uint32 index) { @@ -430,12 +392,13 @@ void ProxyShapesComponents::removeComponent(uint32 index) { if (mSleepingStartIndex != mNbComponents) { // We replace the last awake component by the last sleeping component - moveComponentToIndex(mNbComponents - 1, index); - - mSleepingStartIndex--; + moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); } + + mSleepingStartIndex--; } + assert(mSleepingStartIndex <= mNbComponents); mNbComponents--; } @@ -454,6 +417,7 @@ bool ProxyShapesComponents::hasNextProxyShape(uint32 index) const { // Destroy a component at a given index void ProxyShapesComponents::destroyComponent(uint32 index) { + assert(index < mNbComponents); mEntities[index].~Entity(); mLocalBounds[index].~AABB(); @@ -500,3 +464,19 @@ void ProxyShapesComponents::setIsEntitySleeping(Entity entity, bool isSleeping) assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index || !hasPreviousProxyShape(index)); } +// Remove all the components of a given entity +void ProxyShapesComponents::removeComponents(Entity entity) { + + auto it = mMapEntityToComponentIndex.find(entity); + + // While there are components for this entity + while (it != mMapEntityToComponentIndex.end()) { + + // Remove the component + removeComponent(it->second); + + it = mMapEntityToComponentIndex.find(entity); + } + + assert(!mMapEntityToComponentIndex.containsKey(entity)); +} diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 8360f256..7d481699 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -169,11 +169,11 @@ class ProxyShapesComponents { /// Add a component void addComponent(Entity entity, bool isSleeping, const ProxyShapeComponent& component); + /// Remove all the components of a given entity + void removeComponents(Entity entity); + /// Notify if a given entity is sleeping or not void setIsEntitySleeping(Entity entity, bool isSleeping); - - /// Perform garbage collection to remove unused components - void garbageCollection(const EntityManager& entityManager); }; } diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index dbe026c8..526f36a2 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -140,45 +140,6 @@ void TransformComponents::addComponent(Entity entity, bool isSleeping, const Tra assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } -// Perform garbage collection to remove unused components -void TransformComponents::garbageCollection(const EntityManager& entityManager) { - - // TODO : Make sure we call this method each frame - - // We use lazy garbage collection. The idea is to pick random components and destroy - // them if their corresponding entities have been destroyed. We do this until we hit - // GARBAGE_COLLECTION_MAX_VALID_ENTITIES in a row. Therefore, it cost almost nothing - // if there are no destroyed entities and it very quickly destroys components where there - // are a lot of destroyed entities. - - uint32 nbHitValidEntitiesInARow = 0; - - // For random number generation - std::random_device rd; - std::mt19937 eng(rd()); - - while (mNbComponents > 0 && nbHitValidEntitiesInARow < GARBAGE_COLLECTION_MAX_VALID_ENTITIES) { - - // Select a random index in the components array - std::uniform_int_distribution distr(0, mNbComponents - 1); - uint32 i = distr(eng); - - // If the corresponding entity is valid - if (entityManager.isValid(mEntities[i])) { - nbHitValidEntitiesInARow++; - - continue; - } - - nbHitValidEntitiesInARow = 0; - - // Destroy the component - removeComponent(i); - } - - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - // Remove a component at a given index void TransformComponents::removeComponent(uint32 index) { @@ -214,14 +175,15 @@ void TransformComponents::removeComponent(uint32 index) { if (mSleepingStartIndex != mNbComponents) { // We replace the last awake component by the last sleeping component - moveComponentToIndex(mNbComponents - 1, index); - - mSleepingStartIndex--; + moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); } + + mSleepingStartIndex--; } mNbComponents--; + assert(mSleepingStartIndex <= mNbComponents); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } @@ -309,8 +271,26 @@ void TransformComponents::swapComponents(uint32 index1, uint32 index2) { // Destroy a component at a given index void TransformComponents::destroyComponent(uint32 index) { + assert(index < mNbComponents); + assert(mMapEntityToComponentIndex[mEntities[index]] == index); + mMapEntityToComponentIndex.remove(mEntities[index]); mEntities[index].~Entity(); mTransforms[index].~Transform(); } + +// Remove all the components of a given entity +void TransformComponents::removeComponents(Entity entity) { + + auto it = mMapEntityToComponentIndex.find(entity); + + // If there is a component for this entity + if (it != mMapEntityToComponentIndex.end()) { + + // Remove the component + removeComponent(it->second); + } + + assert(!mMapEntityToComponentIndex.containsKey(entity)); +} diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index 5df79c65..da5cf0a4 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -105,8 +105,8 @@ class TransformComponents : public Components { /// Add a component void addComponent(Entity entity, bool isSleeping, const TransformComponent& component); - /// Perform garbage collection to remove unused components - void garbageCollection(const EntityManager& entityManager); + /// Remove all the components of a given entity + void removeComponents(Entity entity); /// Return the transform of an entity Transform& getTransform(Entity entity) const; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 1d73fe9a..8c5967ba 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -197,8 +197,8 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Reset the contact manifold list of the body collisionBody->resetContactManifoldsList(); - // Destroy the corresponding entity - mEntityManager.destroyEntity(collisionBody->getEntity()); + // Destroy the entity and its components + destroyEntity(collisionBody->getEntity()); // Call the destructor of the collision body collisionBody->~CollisionBody(); @@ -248,6 +248,19 @@ void CollisionWorld::notifyBodySleeping(Entity entity, bool isSleeping) { mProxyShapesComponents.setIsEntitySleeping(entity, isSleeping); } +// Destroy an entity and all the associated components +void CollisionWorld::destroyEntity(Entity entity) { + + // Destroy the corresponding entity + mEntityManager.destroyEntity(entity); + + // TODO : Make sure we notify all the components here ... + + // Notify all the components + mTransformComponents.removeComponents(entity); + mProxyShapesComponents.removeComponents(entity); +} + // Test if the AABBs of two bodies overlap /** * @param body1 Pointer to the first body to test diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 5b44c073..a3b2922b 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -128,6 +128,9 @@ class CollisionWorld { /// Notify the world if a body is sleeping or not void notifyBodySleeping(Entity entity, bool isSleeping); + /// Destroy an entity and all the associated components + void destroyEntity(Entity entity); + public : // -------------------- Methods -------------------- // diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 50c199c1..22ad2914 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -479,8 +479,8 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { // Reset the contact manifold list of the body rigidBody->resetContactManifoldsList(); - // Destroy the corresponding entity - mEntityManager.destroyEntity(rigidBody->getEntity()); + // Destroy the corresponding entity and its components + destroyEntity(rigidBody->getEntity()); // Call the destructor of the rigid body rigidBody->~RigidBody(); From 5a1d10a9916b73e4b0b330db25c920c19f57a0f8 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 10 Jan 2019 07:41:10 +0100 Subject: [PATCH 025/197] Add proxy-shapes mapping in ProxyShapesComponents --- src/body/CollisionBody.cpp | 2 +- src/body/RigidBody.cpp | 2 +- src/components/ProxyShapesComponents.cpp | 22 ++++++++++++++++++++-- src/components/ProxyShapesComponents.h | 14 +++++++++++--- src/engine/Entity.cpp | 4 ---- 5 files changed, 33 insertions(+), 11 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 65724b16..b2e0d860 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -86,7 +86,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB proxyShape->getCollisionShape()->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape->getBroadPhaseId(), + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, proxyShape->getBroadPhaseId(), AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1)); mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 40b43c6d..fc7fea1b 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -292,7 +292,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB proxyShape->getCollisionShape()->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape->getBroadPhaseId(), + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, proxyShape->getBroadPhaseId(), AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass); mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index ddbb773b..ca3122ab 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -26,6 +26,7 @@ // Libraries #include "ProxyShapesComponents.h" #include "engine/EntityManager.h" +#include "collision/ProxyShape.h" #include #include @@ -35,7 +36,8 @@ using namespace reactphysics3d; // Constructor ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), - mSleepingStartIndex(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { + mSleepingStartIndex(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator), + mMapProxyShapeToComponentIndex(allocator) { // Allocate memory for the components data allocate(INIT_ALLOCATED_COMPONENTS); @@ -75,7 +77,8 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { // New pointers to components data Entity* newEntities = static_cast(newBuffer); - int* newBroadPhaseIds = reinterpret_cast(newEntities + nbComponentsToAllocate); + ProxyShape** newProxyShapes = reinterpret_cast(newEntities + nbComponentsToAllocate); + int* newBroadPhaseIds = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); AABB* newLocalBounds = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); Transform* newLocalToBodyTransforms = reinterpret_cast(newLocalBounds + nbComponentsToAllocate); CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); @@ -88,6 +91,7 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { // Copy component data from the previous buffer to the new one memcpy(newEntities, mEntities, mNbComponents * sizeof(Entity)); + memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(ProxyShape*)); memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int)); memcpy(newLocalBounds, mLocalBounds, mNbComponents * sizeof(AABB)); memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); @@ -102,6 +106,7 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { mBuffer = newBuffer; mEntities = newEntities; + mProxyShapes = newProxyShapes; mBroadPhaseIds = newBroadPhaseIds; mLocalBounds = newLocalBounds; mLocalToBodyTransforms = newLocalToBodyTransforms; @@ -188,12 +193,15 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P // Insert the new component data new (mEntities + index) Entity(entity); + mProxyShapes[index] = (component.proxyShape); new (mBroadPhaseIds + index) int(component.broadPhaseId); new (mLocalBounds + index) AABB(component.localBounds); new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); mCollisionShapes[index] = component.collisionShape; new (mMasses + index) decimal(component.mass); + mMapProxyShapeToComponentIndex.add(Pair(component.proxyShape, index)); + mNbComponents++; // Map the entity with the new component lookup index @@ -216,6 +224,7 @@ void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd // Copy the data of the source component to the destination location new (mEntities + destIndex) Entity(mEntities[srcIndex]); + mProxyShapes[destIndex] = mProxyShapes[srcIndex]; new (mBroadPhaseIds + destIndex) int(mBroadPhaseIds[srcIndex]); new (mLocalBounds + destIndex) AABB(mLocalBounds[srcIndex]); new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); @@ -246,6 +255,8 @@ void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex); } + mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[destIndex], destIndex)); + assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == destIndex || !hasNextProxyShape(destIndex)); assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == destIndex || !hasPreviousProxyShape(destIndex)); } @@ -255,6 +266,7 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity entity1(mEntities[index1]); + ProxyShape* proxyShape1 = mProxyShapes[index1]; int broadPhaseId1 = mBroadPhaseIds[index1]; AABB localBounds1 = mLocalBounds[index1]; Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; @@ -272,6 +284,7 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { // Reconstruct component 1 at component 2 location new (mEntities + index2) Entity(entity1); + mProxyShapes[index2] = proxyShape1; new (mBroadPhaseIds + index2) int(broadPhaseId1); new (mLocalBounds + index2) AABB(localBounds1); new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); @@ -292,6 +305,8 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] = index2; } + mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[index2], index2)); + // Update the entity to component index mapping if it is the first body proxy-shape if (isFirstBodyProxyShape1) { assert(!hasPreviousProxyShape(index2)); @@ -419,7 +434,10 @@ void ProxyShapesComponents::destroyComponent(uint32 index) { assert(index < mNbComponents); + mMapProxyShapeToComponentIndex.remove(mProxyShapes[index]); + mEntities[index].~Entity(); + mProxyShapes[index] = nullptr; mLocalBounds[index].~AABB(); mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 7d481699..41f7a065 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -40,6 +40,7 @@ class MemoryAllocator; class EntityManager; class AABB; class CollisionShape; +class ProxyShape; // Class ProxyShapesComponents /** @@ -61,7 +62,7 @@ class ProxyShapesComponents { /// Number of valid entities to hit before stopping garbage collection const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(int) + sizeof(AABB) + + const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(uint32) + sizeof(uint32); @@ -85,9 +86,15 @@ class ProxyShapesComponents { /// Map an entity to the index of its component in the array Map mMapEntityToComponentIndex; + /// Map a proxy shape to the index of the corresponding component in the array + Map mMapProxyShapeToComponentIndex; + /// Array of entities of each component Entity* mEntities; + /// Array of pointers to the proxy-shapes + ProxyShape** mProxyShapes; + /// Ids of the proxy-shapes for the broad-phase algorithm // TODO : Try to change type to uint32 int* mBroadPhaseIds; @@ -140,6 +147,7 @@ class ProxyShapesComponents { /// Structure for the data of a proxy shape component struct ProxyShapeComponent { + ProxyShape* proxyShape; int broadPhaseId; AABB localBounds; Transform localToBodyTransform; @@ -147,9 +155,9 @@ class ProxyShapesComponents { decimal mass; /// Constructor - ProxyShapeComponent(int broadPhaseId, AABB localBounds, Transform localToBodyTransform, + ProxyShapeComponent(ProxyShape* proxyShape, int broadPhaseId, AABB localBounds, Transform localToBodyTransform, CollisionShape* collisionShape, decimal mass) - :broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), + :proxyShape(proxyShape), broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), collisionShape(collisionShape), mass(mass) { } diff --git a/src/engine/Entity.cpp b/src/engine/Entity.cpp index aa5e2401..68f9f3f8 100644 --- a/src/engine/Entity.cpp +++ b/src/engine/Entity.cpp @@ -40,10 +40,6 @@ const uint32 Entity::MINIMUM_FREE_INDICES = 1024; Entity::Entity(uint32 index, uint32 generation) :id((index & ENTITY_INDEX_MASK) | ((generation & ENTITY_GENERATION_MASK) << ENTITY_INDEX_BITS)) { - uint32 test1 = index & ENTITY_INDEX_MASK; - uint32 test2 = (generation & ENTITY_INDEX_MASK) << ENTITY_INDEX_BITS; - uint32 test3 = test1 | test2; - uint32 test = getIndex(); assert(getIndex() == index); assert(getGeneration() == generation); } From 176186e12670f0c8656eab0edd2ddeb38f451069 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 11 Jan 2019 07:25:35 +0100 Subject: [PATCH 026/197] Replacing ProxyShape data by corresponding component data --- src/body/CollisionBody.cpp | 4 +-- src/body/RigidBody.cpp | 2 +- src/collision/ProxyShape.cpp | 33 +++++++++++++++++---- src/collision/ProxyShape.h | 24 ++------------- src/components/ProxyShapesComponents.cpp | 6 ++-- src/components/ProxyShapesComponents.h | 37 ++++++++++++++++++++++-- 6 files changed, 71 insertions(+), 35 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index b2e0d860..812ae47c 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -78,7 +78,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ProxyShape))) ProxyShape(this, collisionShape, - transform, decimal(1), mWorld.mMemoryManager); + mWorld.mMemoryManager); // Add the proxy-shape component to the entity of the body Vector3 localBoundsMin; @@ -289,7 +289,7 @@ void CollisionBody::setIsActive(bool isActive) { // Compute the world-space AABB of the new collision shape AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, transform * shape->mLocalToBodyTransform); + shape->getCollisionShape()->computeAABB(aabb, transform * mWorld.mProxyShapesComponents.getLocalToBodyTransform(shape)); // Add the proxy shape to the collision detection mWorld.mCollisionDetection.addProxyCollisionShape(shape, aabb); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index fc7fea1b..44dc2fa1 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -284,7 +284,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ProxyShape))) ProxyShape(this, collisionShape, - transform, mass, mWorld.mMemoryManager); + mWorld.mMemoryManager); // Add the proxy-shape component to the entity of the body Vector3 localBoundsMin; diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 66bc0540..c2ddbfd8 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param transform Transformation from collision shape local-space to body local-space * @param mass Mass of the collision shape (in kilograms) */ -ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, const Transform& transform, decimal mass, MemoryManager& memoryManager) - :mMemoryManager(memoryManager), mBody(body), mCollisionShape(shape), mLocalToBodyTransform(transform), mMass(mass), +ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, MemoryManager& memoryManager) + :mMemoryManager(memoryManager), mBody(body), mCollisionShape(shape), mNext(nullptr), mBroadPhaseID(-1), mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { } @@ -50,13 +50,23 @@ ProxyShape::~ProxyShape() { } +// Return the mass of the collision shape +/** + * @return Mass of the collision shape (in kilograms) + */ +decimal ProxyShape::getMass() const { + return mBody->mWorld.mProxyShapesComponents.getMass(this); +} + + // Return true if a point is inside the collision shape /** * @param worldPoint Point to test in world-space coordinates * @return True if the point is inside the collision shape */ bool ProxyShape::testPointInside(const Vector3& worldPoint) { - const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mLocalToBodyTransform; + const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * + mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); const Vector3 localPoint = localToWorld.getInverse() * worldPoint; return mCollisionShape->testPointInside(localPoint, this); } @@ -88,7 +98,8 @@ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { // Set the local to parent body transform void ProxyShape::setLocalToBodyTransform(const Transform& transform) { - mLocalToBodyTransform = transform; + //mLocalToBodyTransform = transform; + mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(this, transform); mBody->setIsSleeping(false); @@ -97,7 +108,16 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set localToBodyTransform=" + - mLocalToBodyTransform.to_string()); + transform.to_string()); +} + +// Return the local to parent body transform +/** + * @return The transformation that transforms the local-space of the collision shape + * to the local-space of the parent body + */ +const Transform& ProxyShape::getLocalToBodyTransform() const { + return mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); } // Raycast method with feedback information @@ -135,6 +155,7 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { * shape to the world-space */ const Transform ProxyShape::getLocalToWorldTransform() const { - return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mLocalToBodyTransform; + return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * + mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); } diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index 48e82565..397a8d1f 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -61,10 +61,10 @@ class ProxyShape { CollisionShape* mCollisionShape; /// Local-space to parent body-space transform (does not change over time) - Transform mLocalToBodyTransform; + //Transform mLocalToBodyTransform; /// Mass (in kilogramms) of the corresponding collision shape - decimal mMass; + //decimal mMass; /// Pointer to the next proxy shape of the body (linked list) ProxyShape* mNext; @@ -111,8 +111,7 @@ class ProxyShape { // -------------------- Methods -------------------- // /// Constructor - ProxyShape(CollisionBody* body, CollisionShape* shape, - const Transform& transform, decimal mass, MemoryManager& memoryManager); + ProxyShape(CollisionBody* body, CollisionShape* shape, MemoryManager& memoryManager); /// Destructor virtual ~ProxyShape(); @@ -234,14 +233,6 @@ inline CollisionBody* ProxyShape::getBody() const { return mBody; } -// Return the mass of the collision shape -/** - * @return Mass of the collision shape (in kilograms) - */ -inline decimal ProxyShape::getMass() const { - return mMass; -} - // Return a pointer to the user data attached to this body /** * @return A pointer to the user data stored into the proxy shape @@ -258,15 +249,6 @@ inline void ProxyShape::setUserData(void* userData) { mUserData = userData; } -// Return the local to parent body transform -/** - * @return The transformation that transforms the local-space of the collision shape - * to the local-space of the parent body - */ -inline const Transform& ProxyShape::getLocalToBodyTransform() const { - return mLocalToBodyTransform; -} - // Return the AABB of the proxy shape in world-space /** * @return The AABB of the proxy shape in world-space diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index ca3122ab..3d38be19 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -200,7 +200,7 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P mCollisionShapes[index] = component.collisionShape; new (mMasses + index) decimal(component.mass); - mMapProxyShapeToComponentIndex.add(Pair(component.proxyShape, index)); + mMapProxyShapeToComponentIndex.add(Pair(component.proxyShape, index)); mNbComponents++; @@ -255,7 +255,7 @@ void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex); } - mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[destIndex], destIndex)); + mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[destIndex], destIndex)); assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == destIndex || !hasNextProxyShape(destIndex)); assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == destIndex || !hasPreviousProxyShape(destIndex)); @@ -305,7 +305,7 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] = index2; } - mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[index2], index2)); + mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[index2], index2)); // Update the entity to component index mapping if it is the first body proxy-shape if (isFirstBodyProxyShape1) { diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 41f7a065..e596a1c5 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -87,7 +87,7 @@ class ProxyShapesComponents { Map mMapEntityToComponentIndex; /// Map a proxy shape to the index of the corresponding component in the array - Map mMapProxyShapeToComponentIndex; + Map mMapProxyShapeToComponentIndex; /// Array of entities of each component Entity* mEntities; @@ -108,7 +108,7 @@ class ProxyShapesComponents { /// Pointers to the collision shapes of the proxy-shapes CollisionShape** mCollisionShapes; - /// Masses of the proxy-shapes + /// Masses (in kilogramms) of the proxy-shapes decimal* mMasses; /// Index of the previous proxy-shape in the same body @@ -182,8 +182,41 @@ class ProxyShapesComponents { /// Notify if a given entity is sleeping or not void setIsEntitySleeping(Entity entity, bool isSleeping); + + /// Return the mass of a proxy-shape + decimal getMass(const ProxyShape* proxyShape) const; + + /// Return the local-to-body transform of a proxy-shape + const Transform& getLocalToBodyTransform(const ProxyShape* proxyShape) const; + + /// Set the local-to-body transform of a proxy-shape + void setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform); }; +// Return the mass of a proxy-shape +inline decimal ProxyShapesComponents::getMass(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + return mMasses[mMapProxyShapeToComponentIndex[proxyShape]]; +} + +// Return the local-to-body transform of a proxy-shape +inline const Transform& ProxyShapesComponents::getLocalToBodyTransform(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + return mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]]; +} + +// Set the local-to-body transform of a proxy-shape +inline void ProxyShapesComponents::setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform) { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]] = transform; +} + } #endif From 9fb858083039a130565103e4ffe82ee80e71bec5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 11 Jan 2019 07:38:55 +0100 Subject: [PATCH 027/197] Replacing ProxyShape data by corresponding component data --- src/body/CollisionBody.cpp | 5 ++- src/body/RigidBody.cpp | 5 ++- src/collision/ProxyShape.cpp | 50 +++++++++++++++++++++++--- src/collision/ProxyShape.h | 42 ++-------------------- src/components/ProxyShapesComponents.h | 10 ++++++ 5 files changed, 62 insertions(+), 50 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 812ae47c..89998a9b 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -77,14 +77,13 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ProxyShape))) ProxyShape(this, collisionShape, - mWorld.mMemoryManager); + sizeof(ProxyShape))) ProxyShape(this, mWorld.mMemoryManager); // Add the proxy-shape component to the entity of the body Vector3 localBoundsMin; Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB - proxyShape->getCollisionShape()->getLocalBounds(localBoundsMin, localBoundsMax); + collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, proxyShape->getBroadPhaseId(), AABB(localBoundsMin, localBoundsMax), diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 44dc2fa1..593ce715 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -283,14 +283,13 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ProxyShape))) ProxyShape(this, collisionShape, - mWorld.mMemoryManager); + sizeof(ProxyShape))) ProxyShape(this, mWorld.mMemoryManager); // Add the proxy-shape component to the entity of the body Vector3 localBoundsMin; Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB - proxyShape->getCollisionShape()->getLocalBounds(localBoundsMin, localBoundsMax); + collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, proxyShape->getBroadPhaseId(), AABB(localBoundsMin, localBoundsMax), diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index c2ddbfd8..5acb2e71 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param transform Transformation from collision shape local-space to body local-space * @param mass Mass of the collision shape (in kilograms) */ -ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, MemoryManager& memoryManager) - :mMemoryManager(memoryManager), mBody(body), mCollisionShape(shape), +ProxyShape::ProxyShape(CollisionBody* body, MemoryManager& memoryManager) + :mMemoryManager(memoryManager), mBody(body), mNext(nullptr), mBroadPhaseID(-1), mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { } @@ -68,7 +68,8 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) { const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); const Vector3 localPoint = localToWorld.getInverse() * worldPoint; - return mCollisionShape->testPointInside(localPoint, this); + const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + return collisionShape->testPointInside(localPoint, this); } // Set the collision category bits @@ -111,6 +112,33 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { transform.to_string()); } +// Return the AABB of the proxy shape in world-space +/** + * @return The AABB of the proxy shape in world-space + */ +const AABB ProxyShape::getWorldAABB() const { + AABB aabb; + CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + collisionShape->computeAABB(aabb, getLocalToWorldTransform()); + return aabb; +} + +// Return the collision shape +/** + * @return Pointer to the internal collision shape + */ +const CollisionShape* ProxyShape::getCollisionShape() const { + return mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); +} + +// Return the collision shape +/** +* @return Pointer to the internal collision shape +*/ +CollisionShape* ProxyShape::getCollisionShape() { + return mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); +} + // Return the local to parent body transform /** * @return The transformation that transforms the local-space of the collision shape @@ -139,7 +167,8 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { worldToLocalTransform * ray.point2, ray.maxFraction); - bool isHit = mCollisionShape->raycast(rayLocal, raycastInfo, this, mMemoryManager.getPoolAllocator()); + const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + bool isHit = collisionShape->raycast(rayLocal, raycastInfo, this, mMemoryManager.getPoolAllocator()); // Convert the raycast info into world-space raycastInfo.worldPoint = localToWorldTransform * raycastInfo.worldPoint; @@ -159,3 +188,16 @@ const Transform ProxyShape::getLocalToWorldTransform() const { mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); } +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +void ProxyShape::setProfiler(Profiler* profiler) { + + mProfiler = profiler; + + CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + collisionShape->setProfiler(profiler); +} + +#endif + diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index 397a8d1f..deba0332 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -58,7 +58,7 @@ class ProxyShape { CollisionBody* mBody; /// Internal collision shape - CollisionShape* mCollisionShape; + //CollisionShape* mCollisionShape; /// Local-space to parent body-space transform (does not change over time) //Transform mLocalToBodyTransform; @@ -111,7 +111,7 @@ class ProxyShape { // -------------------- Methods -------------------- // /// Constructor - ProxyShape(CollisionBody* body, CollisionShape* shape, MemoryManager& memoryManager); + ProxyShape(CollisionBody* body, MemoryManager& memoryManager); /// Destructor virtual ~ProxyShape(); @@ -209,22 +209,6 @@ class ProxyShape { }; -// Return the collision shape -/** - * @return Pointer to the internal collision shape - */ -inline const CollisionShape* ProxyShape::getCollisionShape() const { - return mCollisionShape; -} - -// Return the collision shape -/** -* @return Pointer to the internal collision shape -*/ -inline CollisionShape* ProxyShape::getCollisionShape() { - return mCollisionShape; -} - // Return the parent body /** * @return Pointer to the parent body @@ -249,16 +233,6 @@ inline void ProxyShape::setUserData(void* userData) { mUserData = userData; } -// Return the AABB of the proxy shape in world-space -/** - * @return The AABB of the proxy shape in world-space - */ -inline const AABB ProxyShape::getWorldAABB() const { - AABB aabb; - mCollisionShape->computeAABB(aabb, getLocalToWorldTransform()); - return aabb; -} - // Return the next proxy shape in the linked list of proxy shapes /** * @return Pointer to the next proxy shape in the linked list of proxy shapes @@ -305,18 +279,6 @@ inline bool ProxyShape::testAABBOverlap(const AABB& worldAABB) const { return worldAABB.testCollision(getWorldAABB()); } -#ifdef IS_PROFILING_ACTIVE - -// Set the profiler -inline void ProxyShape::setProfiler(Profiler* profiler) { - - mProfiler = profiler; - - mCollisionShape->setProfiler(profiler); -} - -#endif - #ifdef IS_LOGGING_ACTIVE // Set the logger diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index e596a1c5..1e081fb0 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -191,6 +191,9 @@ class ProxyShapesComponents { /// Set the local-to-body transform of a proxy-shape void setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform); + + /// Return a pointer to the collision shape of a proxy-shape + CollisionShape* getCollisionShape(const ProxyShape* proxyShape) const; }; // Return the mass of a proxy-shape @@ -217,6 +220,13 @@ inline void ProxyShapesComponents::setLocalToBodyTransform(const ProxyShape* pro mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]] = transform; } +// Return a pointer to the collision shape of a proxy-shape +inline CollisionShape* ProxyShapesComponents::getCollisionShape(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + return mCollisionShapes[mMapProxyShapeToComponentIndex[proxyShape]]; +} } #endif From 449beaf7a660025f610751594f2bd368661b4ffc Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 11 Jan 2019 17:34:30 +0100 Subject: [PATCH 028/197] Replacing ProxyShape data by corresponding component data --- src/body/CollisionBody.cpp | 2 +- src/body/RigidBody.cpp | 2 +- src/collision/CollisionDetection.cpp | 6 ++--- src/collision/CollisionDetection.h | 6 ++++- src/collision/ProxyShape.cpp | 19 +++++++++++---- src/collision/ProxyShape.h | 7 +----- .../broadphase/BroadPhaseAlgorithm.cpp | 8 ++++--- .../broadphase/BroadPhaseAlgorithm.h | 6 ++++- src/components/ProxyShapesComponents.h | 23 +++++++++++++++++++ src/engine/CollisionWorld.cpp | 2 +- 10 files changed, 60 insertions(+), 21 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 89998a9b..33a70b27 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -85,7 +85,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, proxyShape->getBroadPhaseId(), + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1)); mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 593ce715..7b175c38 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -291,7 +291,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, proxyShape->getBroadPhaseId(), + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass); mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index b1e80bda..0c62e7b3 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -48,9 +48,9 @@ using namespace std; // Constructor -CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), - mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this), +CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapesComponents& proxyShapesComponents, MemoryManager& memoryManager) + : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), + mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this, mProxyShapesComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index b10c83e3..bf499c9d 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -35,6 +35,7 @@ #include "collision/narrowphase/CollisionDispatch.h" #include "containers/Map.h" #include "containers/Set.h" +#include "components/ProxyShapesComponents.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -67,6 +68,9 @@ class CollisionDetection { /// Memory manager MemoryManager& mMemoryManager; + /// Reference the the proxy-shapes components + ProxyShapesComponents& mProxyShapesComponents; + /// Collision Detection Dispatch configuration CollisionDispatch mCollisionDispatch; @@ -145,7 +149,7 @@ class CollisionDetection { // -------------------- Methods -------------------- // /// Constructor - CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager); + CollisionDetection(CollisionWorld* world, ProxyShapesComponents& proxyShapesComponents, MemoryManager& memoryManager); /// Destructor ~CollisionDetection() = default; diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 5acb2e71..2d7fe5da 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -41,7 +41,7 @@ using namespace reactphysics3d; */ ProxyShape::ProxyShape(CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mBody(body), - mNext(nullptr), mBroadPhaseID(-1), mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { + mNext(nullptr), mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { } @@ -79,8 +79,10 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) { void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) { mCollisionCategoryBits = collisionCategoryBits; + int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set collisionCategoryBits=" + + "ProxyShape " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + std::to_string(mCollisionCategoryBits)); } @@ -91,8 +93,10 @@ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { mCollideWithMaskBits = collideWithMaskBits; + int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set collideWithMaskBits=" + + "ProxyShape " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + std::to_string(mCollideWithMaskBits)); } @@ -107,8 +111,10 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { // Notify the body that the proxy shape has to be updated in the broad-phase mBody->updateProxyShapeInBroadPhase(this, true); + int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set localToBodyTransform=" + + "ProxyShape " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" + transform.to_string()); } @@ -139,6 +145,11 @@ CollisionShape* ProxyShape::getCollisionShape() { return mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); } +// Return the broad-phase id +int ProxyShape::getBroadPhaseId() const { + return mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); +} + // Return the local to parent body transform /** * @return The transformation that transforms the local-space of the collision shape diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index deba0332..bd2bb8bf 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -70,7 +70,7 @@ class ProxyShape { ProxyShape* mNext; /// Broad-phase ID (node ID in the dynamic AABB tree) - int mBroadPhaseID; + //int mBroadPhaseID; /// Pointer to user data void* mUserData; @@ -265,11 +265,6 @@ inline unsigned short ProxyShape::getCollideWithMaskBits() const { return mCollideWithMaskBits; } -// Return the broad-phase id -inline int ProxyShape::getBroadPhaseId() const { - return mBroadPhaseID; -} - /// Test if the proxy shape overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/collision/broadphase/BroadPhaseAlgorithm.cpp index fe577490..43b9a5d2 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp +++ b/src/collision/broadphase/BroadPhaseAlgorithm.cpp @@ -29,13 +29,15 @@ #include "utils/Profiler.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" +#include "engine/CollisionWorld.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; // Constructor -BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection) +BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), + mProxyShapesComponents(proxyShapesComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mPotentialPairs(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { @@ -82,7 +84,7 @@ void BroadPhaseAlgorithm::addProxyCollisionShape(ProxyShape* proxyShape, const A int nodeId = mDynamicAABBTree.addObject(aabb, proxyShape); // Set the broad-phase ID of the proxy shape - proxyShape->mBroadPhaseID = nodeId; + mProxyShapesComponents.setBroadPhaseId(proxyShape, nodeId); // Add the collision shape into the array of bodies that have moved (or have been created) // during the last simulation step @@ -96,7 +98,7 @@ void BroadPhaseAlgorithm::removeProxyCollisionShape(ProxyShape* proxyShape) { int broadPhaseID = proxyShape->getBroadPhaseId(); - proxyShape->mBroadPhaseID = -1; + mProxyShapesComponents.setBroadPhaseId(proxyShape, -1); // Remove the collision shape from the dynamic AABB tree mDynamicAABBTree.removeObject(broadPhaseID); diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.h b/src/collision/broadphase/BroadPhaseAlgorithm.h index 037edb4c..df3e2b7c 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.h +++ b/src/collision/broadphase/BroadPhaseAlgorithm.h @@ -30,6 +30,7 @@ #include "DynamicAABBTree.h" #include "containers/LinkedList.h" #include "containers/Set.h" +#include "components/ProxyShapesComponents.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -140,6 +141,9 @@ class BroadPhaseAlgorithm { /// Dynamic AABB tree DynamicAABBTree mDynamicAABBTree; + /// Reference to the proxy-shapes components + ProxyShapesComponents& mProxyShapesComponents; + /// Set with the broad-phase IDs of all collision shapes that have moved (or have been /// created) during the last simulation step. Those are the shapes that need to be tested /// for overlapping in the next simulation step. @@ -163,7 +167,7 @@ class BroadPhaseAlgorithm { // -------------------- Methods -------------------- // /// Constructor - BroadPhaseAlgorithm(CollisionDetection& collisionDetection); + BroadPhaseAlgorithm(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents); /// Destructor ~BroadPhaseAlgorithm() = default; diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 1e081fb0..92d7b795 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -194,6 +194,12 @@ class ProxyShapesComponents { /// Return a pointer to the collision shape of a proxy-shape CollisionShape* getCollisionShape(const ProxyShape* proxyShape) const; + + /// Return the broad-phase id of a given proxy shape + int getBroadPhaseId(const ProxyShape* proxyShape) const; + + /// Set the broad-phase id of a given proxy shape + void setBroadPhaseId(const ProxyShape* proxyShape, int broadPhaseId); }; // Return the mass of a proxy-shape @@ -227,6 +233,23 @@ inline CollisionShape* ProxyShapesComponents::getCollisionShape(const ProxyShape return mCollisionShapes[mMapProxyShapeToComponentIndex[proxyShape]]; } + +// Return the broad-phase id of a given proxy shape +inline int ProxyShapesComponents::getBroadPhaseId(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + return mBroadPhaseIds[mMapProxyShapeToComponentIndex[proxyShape]]; +} + +// Set the broad-phase id of a given proxy shape +inline void ProxyShapesComponents::setBroadPhaseId(const ProxyShape* proxyShape, int broadPhaseId) { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + mBroadPhaseIds[mMapProxyShapeToComponentIndex[proxyShape]] = broadPhaseId; +} + } #endif diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 8c5967ba..ef711c1c 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -39,7 +39,7 @@ uint CollisionWorld::mNbWorlds = 0; CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), - mCollisionDetection(this, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), + mCollisionDetection(this, mProxyShapesComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { From 7d8f043cdb50cf6dd95456eb90d16ab37c4e0c94 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 12 Jan 2019 18:56:55 +0100 Subject: [PATCH 029/197] Replacing ProxyShape data by corresponding component data --- src/body/Body.h | 1 + src/body/CollisionBody.cpp | 122 ++++++++++------------- src/body/CollisionBody.h | 24 +---- src/body/RigidBody.cpp | 19 +--- src/body/RigidBody.h | 2 +- src/collision/ProxyShape.cpp | 20 +++- src/collision/ProxyShape.h | 18 +--- src/components/ProxyShapesComponents.cpp | 8 ++ src/components/ProxyShapesComponents.h | 37 +++++++ 9 files changed, 125 insertions(+), 126 deletions(-) diff --git a/src/body/Body.h b/src/body/Body.h index 00cccac7..bdee42c6 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -71,6 +71,7 @@ class Body { /// removed from the broad-phase. If you set this value to "true", /// all the proxy shapes will be added to the broad-phase. A joint /// connected to an inactive body will also be inactive. + // TODO : Make sure we correctly use this field with ECS bool mIsActive; /// True if the body is sleeping (for sleeping technique) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 33a70b27..912ceeb6 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -40,8 +40,8 @@ using namespace reactphysics3d; * @param id ID of the body */ CollisionBody::CollisionBody(CollisionWorld& world, Entity entity, bodyindex id) - : Body(entity, id), mType(BodyType::DYNAMIC), mProxyCollisionShapes(nullptr), - mNbCollisionShapes(0), mContactManifoldsList(nullptr), mWorld(world) { + : Body(entity, id), mType(BodyType::DYNAMIC), + mContactManifoldsList(nullptr), mWorld(world) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -52,9 +52,6 @@ CollisionBody::CollisionBody(CollisionWorld& world, Entity entity, bodyindex id) // Destructor CollisionBody::~CollisionBody() { assert(mContactManifoldsList == nullptr); - - // Remove all the proxy collision shapes of the body - removeAllCollisionShapes(); } // Add a collision shape to the body. Note that you can share a collision @@ -104,15 +101,6 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, #endif - // Add it to the list of proxy collision shapes of the body - if (mProxyCollisionShapes == nullptr) { - mProxyCollisionShapes = proxyShape; - } - else { - proxyShape->mNext = mProxyCollisionShapes; - mProxyCollisionShapes = proxyShape; - } - // Compute the world-space AABB of the new collision shape AABB aabb; collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform); @@ -120,8 +108,6 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); - mNbCollisionShapes++; - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); @@ -133,6 +119,24 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, return proxyShape; } +// Return the linked list of proxy shapes of that body +/** +* @return The pointer of the first proxy shape of the linked-list of all the +* proxy shapes of the body +*/ +ProxyShape* CollisionBody::getProxyShapesList() { + return mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); +} + +// Return the linked list of proxy shapes of that body +/** +* @return The pointer of the first proxy shape of the linked-list of all the +* proxy shapes of the body +*/ +const ProxyShape* CollisionBody::getProxyShapesList() const { + return mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); +} + // Remove a collision shape from the body /// To remove a collision shape, you need to specify the pointer to the proxy /// shape that has been returned when you have added the collision shape to the @@ -140,75 +144,50 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, /** * @param proxyShape The pointer of the proxy shape you want to remove */ -void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) { - - ProxyShape* current = mProxyCollisionShapes; +void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " removed from body"); - // If the the first proxy shape is the one to remove - if (current == proxyShape) { - mProxyCollisionShapes = current->mNext; + // Remove the proxy-shape component + mWorld.mProxyShapesComponents.removeComponent(proxyShape); - if (mIsActive && proxyShape->getBroadPhaseId() != -1) { - mWorld.mCollisionDetection.removeProxyCollisionShape(current); - } - - current->~ProxyShape(); - mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, current, sizeof(ProxyShape)); - mNbCollisionShapes--; - return; + // Remove the proxy-shape from the broad-phase + if (mIsActive && proxyShape->getBroadPhaseId() != -1) { + mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); } - // Look for the proxy shape that contains the collision shape in parameter - while(current->mNext != nullptr) { + // Call the constructor of the proxy-shape + proxyShape->~ProxyShape(); - // If we have found the collision shape to remove - if (current->mNext == proxyShape) { - - // Remove the proxy collision shape - ProxyShape* elementToRemove = current->mNext; - current->mNext = elementToRemove->mNext; - - if (mIsActive && proxyShape->getBroadPhaseId() != -1) { - mWorld.mCollisionDetection.removeProxyCollisionShape(elementToRemove); - } - - elementToRemove->~ProxyShape(); - mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, elementToRemove, sizeof(ProxyShape)); - mNbCollisionShapes--; - return; - } - - // Get the next element in the list - current = current->mNext; - } + // Release allocated memory for the proxy-shape + mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, proxyShape, sizeof(ProxyShape)); } // Remove all the collision shapes void CollisionBody::removeAllCollisionShapes() { - ProxyShape* current = mProxyCollisionShapes; + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); // Look for the proxy shape that contains the collision shape in parameter - while(current != nullptr) { + while(proxyShape != nullptr) { - // Remove the proxy collision shape - ProxyShape* nextElement = current->mNext; + if (mIsActive && proxyShape->getBroadPhaseId() != -1) { - if (mIsActive && current->getBroadPhaseId() != -1) { - mWorld.mCollisionDetection.removeProxyCollisionShape(current); + mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); } - current->~ProxyShape(); - mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, current, sizeof(ProxyShape)); + // Destroy the proxy-shape + proxyShape->~ProxyShape(); + + mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, proxyShape, sizeof(ProxyShape)); // Get the next element in the list - current = nextElement; + proxyShape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(proxyShape); } - mProxyCollisionShapes = nullptr; + // Remove all the proxy-shapes components + mWorld.mProxyShapesComponents.removeComponents(mEntity); } // Reset the contact manifold lists @@ -244,7 +223,7 @@ const Transform& CollisionBody::getTransform() const { void CollisionBody::updateBroadPhaseState() const { // For all the proxy collision shapes of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Update the proxy updateProxyShapeInBroadPhase(shape); @@ -284,7 +263,7 @@ void CollisionBody::setIsActive(bool isActive) { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); // For each proxy shape of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Compute the world-space AABB of the new collision shape AABB aabb; @@ -297,7 +276,7 @@ void CollisionBody::setIsActive(bool isActive) { else { // If we have to deactivate the body // For each proxy shape of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { if (shape->getBroadPhaseId() != -1) { @@ -320,7 +299,7 @@ void CollisionBody::setIsActive(bool isActive) { void CollisionBody::askForBroadPhaseCollisionCheck() const { // For all the proxy collision shapes of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(shape); } @@ -355,7 +334,7 @@ int CollisionBody::resetIsAlreadyInIslandAndCountManifolds() { bool CollisionBody::testPointInside(const Vector3& worldPoint) const { // For each collision shape of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Test if the point is inside the collision shape if (shape->testPointInside(worldPoint)) return true; @@ -381,7 +360,7 @@ bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { Ray rayTemp(ray); // For each collision shape of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Test if the ray hits the collision shape if (shape->raycast(rayTemp, raycastInfo)) { @@ -401,16 +380,17 @@ AABB CollisionBody::getAABB() const { AABB bodyAABB; - if (mProxyCollisionShapes == nullptr) return bodyAABB; + if (mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity) == nullptr) return bodyAABB; // TODO : Make sure we compute this in a system const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - mProxyCollisionShapes->getCollisionShape()->computeAABB(bodyAABB, transform * mProxyCollisionShapes->getLocalToBodyTransform()); + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); + proxyShape->getCollisionShape()->computeAABB(bodyAABB, transform * proxyShape->getLocalToBodyTransform()); // For each proxy shape of the body - for (ProxyShape* shape = mProxyCollisionShapes->mNext; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Compute the world-space AABB of the collision shape AABB aabb; diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 2a5e3b52..6d6d35df 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -71,10 +71,10 @@ class CollisionBody : public Body { BodyType mType; /// First element of the linked list of proxy collision shapes of this body - ProxyShape* mProxyCollisionShapes; + //ProxyShape* mProxyCollisionShapes; /// Number of collision shapes - uint mNbCollisionShapes; + //uint mNbCollisionShapes; /// First element of the linked list of contact manifolds involving this body ContactManifoldListElement* mContactManifoldsList; @@ -149,7 +149,7 @@ class CollisionBody : public Body { const Transform& transform); /// Remove a collision shape from the body - virtual void removeCollisionShape(const ProxyShape* proxyShape); + virtual void removeCollisionShape(ProxyShape *proxyShape); /// Return the first element of the linked list of contact manifolds involving this body const ContactManifoldListElement* getContactManifoldsList() const; @@ -218,24 +218,6 @@ inline const ContactManifoldListElement* CollisionBody::getContactManifoldsList( return mContactManifoldsList; } -// Return the linked list of proxy shapes of that body -/** -* @return The pointer of the first proxy shape of the linked-list of all the -* proxy shapes of the body -*/ -inline ProxyShape* CollisionBody::getProxyShapesList() { - return mProxyCollisionShapes; -} - -// Return the linked list of proxy shapes of that body -/** -* @return The pointer of the first proxy shape of the linked-list of all the -* proxy shapes of the body -*/ -inline const ProxyShape* CollisionBody::getProxyShapesList() const { - return mProxyCollisionShapes; -} - /// Test if the collision body overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 7b175c38..6f62dc8b 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -310,15 +310,6 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, #endif - // Add it to the list of proxy collision shapes of the body - if (mProxyCollisionShapes == nullptr) { - mProxyCollisionShapes = proxyShape; - } - else { - proxyShape->mNext = mProxyCollisionShapes; - mProxyCollisionShapes = proxyShape; - } - // Compute the world-space AABB of the new collision shape AABB aabb; collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform); @@ -326,8 +317,6 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); - mNbCollisionShapes++; - // Recompute the center of mass, total mass and inertia tensor of the body with the new // collision shape recomputeMassInformation(); @@ -350,7 +339,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, /** * @param proxyShape The pointer of the proxy shape you want to remove */ -void RigidBody::removeCollisionShape(const ProxyShape* proxyShape) { +void RigidBody::removeCollisionShape(ProxyShape* proxyShape) { // Remove the collision shape CollisionBody::removeCollisionShape(proxyShape); @@ -511,7 +500,7 @@ void RigidBody::recomputeMassInformation() { assert(mType == BodyType::DYNAMIC); // Compute the total mass of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { mInitMass += shape->getMass(); if (!mIsCenterOfMassSetByUser) { @@ -539,7 +528,7 @@ void RigidBody::recomputeMassInformation() { if (!mIsInertiaTensorSetByUser) { // Compute the inertia tensor using all the collision shapes - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Get the inertia tensor of the collision shape in its local-space Matrix3x3 inertiaTensor; @@ -590,7 +579,7 @@ void RigidBody::updateBroadPhaseState() const { const Vector3 displacement = world.mTimeStep * mLinearVelocity; // For all the proxy collision shapes of the body - for (ProxyShape* shape = mProxyCollisionShapes; shape != nullptr; shape = shape->mNext) { + for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { // Recompute the world-space AABB of the collision shape AABB aabb; diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 4ce9da2f..0491a3b3 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -232,7 +232,7 @@ class RigidBody : public CollisionBody { decimal mass); /// Remove a collision shape from the body - virtual void removeCollisionShape(const ProxyShape* proxyShape) override; + virtual void removeCollisionShape(ProxyShape* proxyShape) override; /// Recompute the center of mass, total mass and inertia tensor of the body using all /// the collision shapes attached to the body. diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 2d7fe5da..658555cc 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -41,7 +41,7 @@ using namespace reactphysics3d; */ ProxyShape::ProxyShape(CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mBody(body), - mNext(nullptr), mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { + mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { } @@ -159,6 +159,24 @@ const Transform& ProxyShape::getLocalToBodyTransform() const { return mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); } +// Return the next proxy shape in the linked list of proxy shapes +/** + * @return Pointer to the next proxy shape in the linked list of proxy shapes + */ +ProxyShape* ProxyShape::getNext() { + // TODO : Delete this method + return mBody->mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(this); +} + +// Return the next proxy shape in the linked list of proxy shapes +/** + * @return Pointer to the next proxy shape in the linked list of proxy shapes + */ +const ProxyShape* ProxyShape::getNext() const { + // TODO : Delete this method + return mBody->mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(this); +} + // Raycast method with feedback information /** * @param ray Ray to use for the raycasting diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index bd2bb8bf..17ee0c72 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -67,7 +67,7 @@ class ProxyShape { //decimal mMass; /// Pointer to the next proxy shape of the body (linked list) - ProxyShape* mNext; + //ProxyShape* mNext; /// Broad-phase ID (node ID in the dynamic AABB tree) //int mBroadPhaseID; @@ -233,22 +233,6 @@ inline void ProxyShape::setUserData(void* userData) { mUserData = userData; } -// Return the next proxy shape in the linked list of proxy shapes -/** - * @return Pointer to the next proxy shape in the linked list of proxy shapes - */ -inline ProxyShape* ProxyShape::getNext() { - return mNext; -} - -// Return the next proxy shape in the linked list of proxy shapes -/** - * @return Pointer to the next proxy shape in the linked list of proxy shapes - */ -inline const ProxyShape* ProxyShape::getNext() const { - return mNext; -} - // Return the collision category bits /** * @return The collision category bits mask of the proxy shape diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index 3d38be19..627690d5 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -498,3 +498,11 @@ void ProxyShapesComponents::removeComponents(Entity entity) { assert(!mMapEntityToComponentIndex.containsKey(entity)); } + +// Remove a given proxy-shape +void ProxyShapesComponents::removeComponent(const ProxyShape* proxyShape) { + + uint32 index = mMapProxyShapeToComponentIndex[proxyShape]; + + removeComponent(index); +} diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 92d7b795..98368627 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -180,6 +180,9 @@ class ProxyShapesComponents { /// Remove all the components of a given entity void removeComponents(Entity entity); + /// Remove a given proxy-shape + void removeComponent(const ProxyShape* proxyShape); + /// Notify if a given entity is sleeping or not void setIsEntitySleeping(Entity entity, bool isSleeping); @@ -200,6 +203,12 @@ class ProxyShapesComponents { /// Set the broad-phase id of a given proxy shape void setBroadPhaseId(const ProxyShape* proxyShape, int broadPhaseId); + + /// Return the next proxy-shape in the linked-list of all proxy-shapes of a body + ProxyShape* getNextProxyShapeOfBody(const ProxyShape* proxyShape) const; + + /// Return the first proxy-shape in the linked-list of all proxy-shapes of a body + ProxyShape* getFirstProxyShapeOfBody(Entity entity) const; }; // Return the mass of a proxy-shape @@ -250,6 +259,34 @@ inline void ProxyShapesComponents::setBroadPhaseId(const ProxyShape* proxyShape, mBroadPhaseIds[mMapProxyShapeToComponentIndex[proxyShape]] = broadPhaseId; } +// Return the next proxy-shape in the linked-list of all proxy-shapes of a body +inline ProxyShape* ProxyShapesComponents::getNextProxyShapeOfBody(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + uint32 proxyShapeIndex = mMapProxyShapeToComponentIndex[proxyShape]; + uint32 nextProxyShapeIndex = mNextBodyProxyShapes[proxyShapeIndex]; + + // If the current proxy-shape has a next one + if (proxyShapeIndex != nextProxyShapeIndex) { + return mProxyShapes[nextProxyShapeIndex]; + } + + return nullptr; +} + +// Return the first proxy-shape in the linked-list of all proxy-shapes of a body +inline ProxyShape* ProxyShapesComponents::getFirstProxyShapeOfBody(Entity entity) const { + + auto it = mMapEntityToComponentIndex.find(entity); + + if (it != mMapEntityToComponentIndex.end()) { + return mProxyShapes[it->second]; + } + + return nullptr; +} + } #endif From c5c7e8126061556c00a42ad76d4c04ea5413c48d Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 14 Jan 2019 18:35:51 +0100 Subject: [PATCH 030/197] Add fields to ProxyShapesComponents --- src/body/CollisionBody.cpp | 3 +- src/body/RigidBody.cpp | 2 +- src/collision/ProxyShape.cpp | 28 ++++++++-- src/collision/ProxyShape.h | 20 +------ src/components/ProxyShapesComponents.cpp | 14 +++++ src/components/ProxyShapesComponents.h | 66 ++++++++++++++++++++++-- 6 files changed, 104 insertions(+), 29 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 912ceeb6..eda0523c 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -81,10 +81,9 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, -1, AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, decimal(1)); + transform, collisionShape, decimal(1), 0x0001, 0xFFFF); mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); #ifdef IS_PROFILING_ACTIVE diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 6f62dc8b..e2072f81 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -293,7 +293,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, -1, AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, mass); + transform, collisionShape, mass, 0x0001, 0xFFFF); mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 658555cc..37b63376 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -41,7 +41,7 @@ using namespace reactphysics3d; */ ProxyShape::ProxyShape(CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mBody(body), - mUserData(nullptr), mCollisionCategoryBits(0x0001), mCollideWithMaskBits(0xFFFF) { + mUserData(nullptr) { } @@ -77,13 +77,14 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) { * @param collisionCategoryBits The collision category bits mask of the proxy shape */ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) { - mCollisionCategoryBits = collisionCategoryBits; + + mBody->mWorld.mProxyShapesComponents.setCollisionCategoryBits(this, collisionCategoryBits); int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + - std::to_string(mCollisionCategoryBits)); + std::to_string(collisionCategoryBits)); } // Set the collision bits mask @@ -91,13 +92,14 @@ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) * @param collideWithMaskBits The bits mask that specifies with which collision category this shape will collide */ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { - mCollideWithMaskBits = collideWithMaskBits; + + mBody->mWorld.mProxyShapesComponents.setCollideWithMaskBits(this, collideWithMaskBits); int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + - std::to_string(mCollideWithMaskBits)); + std::to_string(collideWithMaskBits)); } // Set the local to parent body transform @@ -207,6 +209,22 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { return isHit; } +// Return the collision category bits +/** + * @return The collision category bits mask of the proxy shape + */ +unsigned short ProxyShape::getCollisionCategoryBits() const { + return mBody->mWorld.mProxyShapesComponents.getCollisionCategoryBits(this); +} + +// Return the collision bits mask +/** + * @return The bits mask that specifies with which collision category this shape will collide + */ +unsigned short ProxyShape::getCollideWithMaskBits() const { + return mBody->mWorld.mProxyShapesComponents.getCollideWithMaskBits(this); +} + // Return the local to world transform /** * @return The transformation that transforms the local-space of the collision diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index 17ee0c72..7381c01c 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -81,12 +81,12 @@ class ProxyShape { /// together with the mCollideWithMaskBits variable so that given /// categories of shapes collide with each other and do not collide with /// other categories. - unsigned short mCollisionCategoryBits; + //unsigned short mCollisionCategoryBits; /// Bits mask used to state which collision categories this shape can /// collide with. This value is 0xFFFF by default. It means that this /// proxy shape will collide with every collision categories by default. - unsigned short mCollideWithMaskBits; + //unsigned short mCollideWithMaskBits; #ifdef IS_PROFILING_ACTIVE @@ -233,22 +233,6 @@ inline void ProxyShape::setUserData(void* userData) { mUserData = userData; } -// Return the collision category bits -/** - * @return The collision category bits mask of the proxy shape - */ -inline unsigned short ProxyShape::getCollisionCategoryBits() const { - return mCollisionCategoryBits; -} - -// Return the collision bits mask -/** - * @return The bits mask that specifies with which collision category this shape will collide - */ -inline unsigned short ProxyShape::getCollideWithMaskBits() const { - return mCollideWithMaskBits; -} - /// Test if the proxy shape overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index 627690d5..f2284582 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -85,6 +85,8 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); uint32* newPreviousBodyProxyShapes = reinterpret_cast(newMasses + nbComponentsToAllocate); uint32* newNextBodyProxyShapes = reinterpret_cast(newPreviousBodyProxyShapes + nbComponentsToAllocate); + unsigned short* newCollisionCategoryBits = reinterpret_cast(newNextBodyProxyShapes + nbComponentsToAllocate); + unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -99,6 +101,8 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); memcpy(newPreviousBodyProxyShapes, mPreviousBodyProxyShapes, mNbComponents * sizeof(uint32)); memcpy(newNextBodyProxyShapes, mNextBodyProxyShapes, mNbComponents * sizeof(uint32)); + memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short)); + memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); @@ -114,6 +118,8 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { mMasses = newMasses; mPreviousBodyProxyShapes = newPreviousBodyProxyShapes; mNextBodyProxyShapes = newNextBodyProxyShapes; + mCollisionCategoryBits = newCollisionCategoryBits; + mCollideWithMaskBits = newCollideWithMaskBits; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -199,6 +205,8 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); mCollisionShapes[index] = component.collisionShape; new (mMasses + index) decimal(component.mass); + new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits); + new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); mMapProxyShapeToComponentIndex.add(Pair(component.proxyShape, index)); @@ -232,6 +240,8 @@ void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd new (mMasses + destIndex) decimal(mMasses[srcIndex]); new (mPreviousBodyProxyShapes + destIndex) uint32(hasPreviousProxyShape(srcIndex) ? mPreviousBodyProxyShapes[srcIndex] : destIndex); new (mNextBodyProxyShapes + destIndex) uint32(hasNextProxyShape(srcIndex) ? mNextBodyProxyShapes[srcIndex] : destIndex); + new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]); + new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); // Update the the next proxy-shape index of the previous proxy-shape if (hasPreviousProxyShape(destIndex)) { @@ -274,6 +284,8 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { decimal mass1 = mMasses[index1]; uint32 previousProxyShape1 = hasPreviousProxyShape(index1) ? mPreviousBodyProxyShapes[index1] : index2; uint32 nextProxyShape1 = hasNextProxyShape(index1) ? mNextBodyProxyShapes[index1] : index2; + unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1]; + unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; const bool isFirstBodyProxyShape1 = mMapEntityToComponentIndex[mEntities[index1]] == index1; @@ -292,6 +304,8 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { new (mMasses + index2) decimal(mass1); new (mPreviousBodyProxyShapes + index2) uint32(previousProxyShape1); new (mNextBodyProxyShapes + index2) uint32(nextProxyShape1); + new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1); + new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); // Update the the next proxy-shape index of the previous proxy-shape if (hasPreviousProxyShape(index2)) { diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 98368627..7ba0e0e6 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -64,7 +64,7 @@ class ProxyShapesComponents { const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(uint32) + - sizeof(uint32); + sizeof(uint32) + sizeof(unsigned short) + sizeof(unsigned short); // -------------------- Attributes -------------------- // @@ -119,6 +119,19 @@ class ProxyShapesComponents { /// mNextBodyProxyShapes[i] == i means that the proxy-shape component has no next proxy-shape uint32* mNextBodyProxyShapes; + /// Array of bits used to define the collision category of this shape. + /// You can set a single bit to one to define a category value for this + /// shape. This value is one (0x0001) by default. This variable can be used + /// together with the mCollideWithMaskBits variable so that given + /// categories of shapes collide with each other and do not collide with + /// other categories. + unsigned short* mCollisionCategoryBits; + + /// Array of bits mask used to state which collision categories this shape can + /// collide with. This value is 0xFFFF by default. It means that this + /// proxy shape will collide with every collision categories by default. + unsigned short* mCollideWithMaskBits; + // -------------------- Methods -------------------- // /// Remove a component at a given index @@ -153,12 +166,15 @@ class ProxyShapesComponents { Transform localToBodyTransform; CollisionShape* collisionShape; decimal mass; + unsigned short collisionCategoryBits; + unsigned short collideWithMaskBits; /// Constructor ProxyShapeComponent(ProxyShape* proxyShape, int broadPhaseId, AABB localBounds, Transform localToBodyTransform, - CollisionShape* collisionShape, decimal mass) + CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, + unsigned short collideWithMaskBits) :proxyShape(proxyShape), broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), - collisionShape(collisionShape), mass(mass) { + collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits) { } }; @@ -209,6 +225,18 @@ class ProxyShapesComponents { /// Return the first proxy-shape in the linked-list of all proxy-shapes of a body ProxyShape* getFirstProxyShapeOfBody(Entity entity) const; + + /// Return the collision category bits of a given proxy-shape + unsigned short getCollisionCategoryBits(const ProxyShape* proxyShape) const; + + /// Set the collision category bits of a given proxy-shape + void setCollisionCategoryBits(const ProxyShape* proxyShape, unsigned short collisionCategoryBits); + + /// Return the "collide with" mask bits of a given proxy-shape + unsigned short getCollideWithMaskBits(const ProxyShape* proxyShape) const; + + /// Set the "collide with" mask bits of a given proxy-shape + void setCollideWithMaskBits(const ProxyShape* proxyShape, unsigned short collideWithMaskBits); }; // Return the mass of a proxy-shape @@ -287,6 +315,38 @@ inline ProxyShape* ProxyShapesComponents::getFirstProxyShapeOfBody(Entity entity return nullptr; } +// Return the collision category bits of a given proxy-shape +inline unsigned short ProxyShapesComponents::getCollisionCategoryBits(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + return mCollisionCategoryBits[mMapProxyShapeToComponentIndex[proxyShape]]; +} + +// Return the "collide with" mask bits of a given proxy-shape +inline unsigned short ProxyShapesComponents::getCollideWithMaskBits(const ProxyShape* proxyShape) const { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + return mCollideWithMaskBits[mMapProxyShapeToComponentIndex[proxyShape]]; +} + +// Set the collision category bits of a given proxy-shape +inline void ProxyShapesComponents::setCollisionCategoryBits(const ProxyShape* proxyShape, unsigned short collisionCategoryBits) { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + mCollisionCategoryBits[mMapProxyShapeToComponentIndex[proxyShape]] = collisionCategoryBits; +} + +// Set the "collide with" mask bits of a given proxy-shape +inline void ProxyShapesComponents::setCollideWithMaskBits(const ProxyShape* proxyShape, unsigned short collideWithMaskBits) { + + assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + + mCollideWithMaskBits[mMapProxyShapeToComponentIndex[proxyShape]] = collideWithMaskBits; +} + } #endif From 827b14f1b0faf6f2e02a216e02ad8984ea137ce5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 18 Jan 2019 17:46:19 +0100 Subject: [PATCH 031/197] Small modifs in ECS --- src/collision/ContactManifoldSet.cpp | 1 - .../broadphase/BroadPhaseAlgorithm.cpp | 5 ++-- src/components/ProxyShapesComponents.cpp | 4 ++-- src/components/ProxyShapesComponents.h | 24 ++----------------- 4 files changed, 6 insertions(+), 28 deletions(-) diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index 5c6f8d7f..a842fe64 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -278,7 +278,6 @@ void ContactManifoldSet::clearObsoleteManifoldsAndContactPoints() { } } - // Remove some contact manifolds and contact points if there are too many of them void ContactManifoldSet::reduce() { diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/collision/broadphase/BroadPhaseAlgorithm.cpp index 43b9a5d2..ebd6912b 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp +++ b/src/collision/broadphase/BroadPhaseAlgorithm.cpp @@ -148,8 +148,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) LinkedList overlappingNodes(memoryManager.getPoolAllocator()); - // For all collision shapes that have moved (or have been created) during the - // last simulation step + // For all collision shapes that have moved (or have been created) during the last simulation step for (auto it = mMovedShapes.begin(); it != mMovedShapes.end(); ++it) { int shapeID = *it; @@ -224,7 +223,7 @@ void BroadPhaseAlgorithm::addOverlappingNodes(int referenceNodeId, const LinkedL LinkedList::ListElement* elem = overlappingNodes.getListHead(); while (elem != nullptr) { - // If both the nodes are the same, we do not create store the overlapping pair + // If both the nodes are the same, we do not create the overlapping pair if (referenceNodeId != elem->data) { // Add the new potential pair into the array of potential overlapping pairs diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index f2284582..f623d006 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -35,8 +35,8 @@ using namespace reactphysics3d; // Constructor ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) - :mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), - mSleepingStartIndex(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator), + :Components(allocator), + mSleepingStartIndex(0), mMapProxyShapeToComponentIndex(allocator) { // Allocate memory for the components data diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 7ba0e0e6..d2e58233 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -31,6 +31,7 @@ #include "engine/Entity.h" #include "containers/Map.h" #include "collision/shapes/AABB.h" +#include "components/Components.h" // ReactPhysics3D namespace namespace reactphysics3d { @@ -50,42 +51,21 @@ class ProxyShape; * link information to quickly know all the proxy shapes of a given entity (body). We also make * sure that proxy shapes of sleeping entities (bodies) are always stored at the end of the array. */ -class ProxyShapesComponents { +class ProxyShapesComponents : public Components { private: // -------------------- Constants -------------------- // - /// Number of components to allocated at the beginning - const uint32 INIT_ALLOCATED_COMPONENTS = 10; - - /// Number of valid entities to hit before stopping garbage collection - const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(uint32) + sizeof(uint32) + sizeof(unsigned short) + sizeof(unsigned short); // -------------------- Attributes -------------------- // - /// Memory allocator - MemoryAllocator& mMemoryAllocator; - - /// Current number of components - uint32 mNbComponents; - - /// Number of allocated components - uint32 mNbAllocatedComponents; - /// Index of the first component of a sleeping entity (sleeping components are stored at the end) uint32 mSleepingStartIndex; - /// Allocated memory for all the data of the components - void* mBuffer; - - /// Map an entity to the index of its component in the array - Map mMapEntityToComponentIndex; - /// Map a proxy shape to the index of the corresponding component in the array Map mMapProxyShapeToComponentIndex; From 2ce0f8d76f28130307a2cfdf5af3ffd0514a8d37 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 22 Feb 2019 07:27:47 +0100 Subject: [PATCH 032/197] Make memory allocators thread-safe --- src/memory/DefaultAllocator.h | 14 ++++++++++++++ src/memory/DefaultPoolAllocator.cpp | 6 ++++++ src/memory/DefaultPoolAllocator.h | 4 ++++ src/memory/DefaultSingleFrameAllocator.cpp | 6 ++++++ src/memory/DefaultSingleFrameAllocator.h | 7 ++++++- 5 files changed, 36 insertions(+), 1 deletion(-) diff --git a/src/memory/DefaultAllocator.h b/src/memory/DefaultAllocator.h index 5ff94895..c8432438 100644 --- a/src/memory/DefaultAllocator.h +++ b/src/memory/DefaultAllocator.h @@ -29,6 +29,7 @@ // Libraries #include "memory/MemoryAllocator.h" #include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -39,6 +40,11 @@ namespace reactphysics3d { */ class DefaultAllocator : public MemoryAllocator { + protected: + + /// Mutex + std::mutex mMutex; + public: /// Destructor @@ -50,11 +56,19 @@ class DefaultAllocator : public MemoryAllocator { /// Allocate memory of a given size (in bytes) and return a pointer to the /// allocated memory. virtual void* allocate(size_t size) override { + + // Lock the method with a mutex + std::lock_guard lock(mMutex); + return malloc(size); } /// Release previously allocated memory. virtual void release(void* pointer, size_t size) override { + + // Lock the method with a mutex + std::lock_guard lock(mMutex); + free(pointer); } }; diff --git a/src/memory/DefaultPoolAllocator.cpp b/src/memory/DefaultPoolAllocator.cpp index 39f84eee..fddcc2f8 100644 --- a/src/memory/DefaultPoolAllocator.cpp +++ b/src/memory/DefaultPoolAllocator.cpp @@ -100,6 +100,9 @@ DefaultPoolAllocator::~DefaultPoolAllocator() { // allocated memory. void* DefaultPoolAllocator::allocate(size_t size) { + // Lock the method with a mutex + std::lock_guard lock(mMutex); + // We cannot allocate zero bytes if (size == 0) return nullptr; @@ -173,6 +176,9 @@ void* DefaultPoolAllocator::allocate(size_t size) { // Release previously allocated memory. void DefaultPoolAllocator::release(void* pointer, size_t size) { + // Lock the method with a mutex + std::lock_guard lock(mMutex); + // Cannot release a 0-byte allocated memory if (size == 0) return; diff --git a/src/memory/DefaultPoolAllocator.h b/src/memory/DefaultPoolAllocator.h index 172a3c6c..8610da0c 100644 --- a/src/memory/DefaultPoolAllocator.h +++ b/src/memory/DefaultPoolAllocator.h @@ -29,6 +29,7 @@ // Libraries #include "configuration.h" #include "MemoryAllocator.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -101,6 +102,9 @@ class DefaultPoolAllocator : public MemoryAllocator { /// True if the mMapSizeToHeapIndex array has already been initialized static bool isMapSizeToHeadIndexInitialized; + /// Mutex + std::mutex mMutex; + /// Pointers to the first free memory unit for each heap MemoryUnit* mFreeMemoryUnits[NB_HEAPS]; diff --git a/src/memory/DefaultSingleFrameAllocator.cpp b/src/memory/DefaultSingleFrameAllocator.cpp index de76ce57..3037488e 100644 --- a/src/memory/DefaultSingleFrameAllocator.cpp +++ b/src/memory/DefaultSingleFrameAllocator.cpp @@ -54,6 +54,9 @@ DefaultSingleFrameAllocator::~DefaultSingleFrameAllocator() { // allocated memory. void* DefaultSingleFrameAllocator::allocate(size_t size) { + // Lock the method with a mutex + std::lock_guard lock(mMutex); + // Check that there is enough remaining memory in the buffer if (mCurrentOffset + size > mTotalSizeBytes) { @@ -77,6 +80,9 @@ void* DefaultSingleFrameAllocator::allocate(size_t size) { // Release previously allocated memory. void DefaultSingleFrameAllocator::release(void* pointer, size_t size) { + // Lock the method with a mutex + std::lock_guard lock(mMutex); + // If allocated memory is not within the single frame allocation range char* p = static_cast(pointer); if (p < mMemoryBufferStart || p > mMemoryBufferStart + mTotalSizeBytes) { diff --git a/src/memory/DefaultSingleFrameAllocator.h b/src/memory/DefaultSingleFrameAllocator.h index 65641129..1ad98769 100644 --- a/src/memory/DefaultSingleFrameAllocator.h +++ b/src/memory/DefaultSingleFrameAllocator.h @@ -29,6 +29,7 @@ // Libraries #include "MemoryAllocator.h" #include "configuration.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -52,7 +53,11 @@ class DefaultSingleFrameAllocator : public SingleFrameAllocator { static const size_t INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES = 1048576; // 1Mb // -------------------- Attributes -------------------- // - /// Cached memory allocator used on construction + + /// Mutex + std::mutex mMutex; + + /// Cached memory allocator used on construction MemoryAllocator* mBaseMemoryAllocator; /// Total size (in bytes) of memory of the allocator From ca87fb624d78c7e84a55e22c228a6dbcf4e517fe Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 28 Feb 2019 17:25:37 +0100 Subject: [PATCH 033/197] Remove mutexes and do not use static pool and single frame memory allocators --- src/engine/CollisionWorld.h | 8 ++++++++ src/memory/DefaultAllocator.h | 10 ---------- src/memory/DefaultPoolAllocator.cpp | 6 ------ src/memory/DefaultPoolAllocator.h | 4 ---- src/memory/DefaultSingleFrameAllocator.cpp | 6 ------ src/memory/DefaultSingleFrameAllocator.h | 4 ---- src/memory/MemoryManager.cpp | 10 ++++++---- src/memory/MemoryManager.h | 14 +++++++------- 8 files changed, 21 insertions(+), 41 deletions(-) diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 1d359a9c..d292c728 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -165,6 +165,9 @@ class CollisionWorld { /// Test and report collisions between all shapes of the world void testCollision(CollisionCallback* callback); + /// Return a reference to the memory manager of the world + MemoryManager& getMemoryManager(); + #ifdef IS_PROFILING_ACTIVE /// Return a reference to the profiler @@ -255,6 +258,11 @@ inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* ov mCollisionDetection.testOverlap(body, overlapCallback, categoryMaskBits); } +// Return a reference to the memory manager of the world +inline MemoryManager& CollisionWorld::getMemoryManager() { + return mMemoryManager; +} + // Return the name of the world /** * @return Name of the world diff --git a/src/memory/DefaultAllocator.h b/src/memory/DefaultAllocator.h index c8432438..fcfb8e15 100644 --- a/src/memory/DefaultAllocator.h +++ b/src/memory/DefaultAllocator.h @@ -29,7 +29,6 @@ // Libraries #include "memory/MemoryAllocator.h" #include -#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -42,9 +41,6 @@ class DefaultAllocator : public MemoryAllocator { protected: - /// Mutex - std::mutex mMutex; - public: /// Destructor @@ -57,18 +53,12 @@ class DefaultAllocator : public MemoryAllocator { /// allocated memory. virtual void* allocate(size_t size) override { - // Lock the method with a mutex - std::lock_guard lock(mMutex); - return malloc(size); } /// Release previously allocated memory. virtual void release(void* pointer, size_t size) override { - // Lock the method with a mutex - std::lock_guard lock(mMutex); - free(pointer); } }; diff --git a/src/memory/DefaultPoolAllocator.cpp b/src/memory/DefaultPoolAllocator.cpp index fddcc2f8..39f84eee 100644 --- a/src/memory/DefaultPoolAllocator.cpp +++ b/src/memory/DefaultPoolAllocator.cpp @@ -100,9 +100,6 @@ DefaultPoolAllocator::~DefaultPoolAllocator() { // allocated memory. void* DefaultPoolAllocator::allocate(size_t size) { - // Lock the method with a mutex - std::lock_guard lock(mMutex); - // We cannot allocate zero bytes if (size == 0) return nullptr; @@ -176,9 +173,6 @@ void* DefaultPoolAllocator::allocate(size_t size) { // Release previously allocated memory. void DefaultPoolAllocator::release(void* pointer, size_t size) { - // Lock the method with a mutex - std::lock_guard lock(mMutex); - // Cannot release a 0-byte allocated memory if (size == 0) return; diff --git a/src/memory/DefaultPoolAllocator.h b/src/memory/DefaultPoolAllocator.h index 8610da0c..172a3c6c 100644 --- a/src/memory/DefaultPoolAllocator.h +++ b/src/memory/DefaultPoolAllocator.h @@ -29,7 +29,6 @@ // Libraries #include "configuration.h" #include "MemoryAllocator.h" -#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -102,9 +101,6 @@ class DefaultPoolAllocator : public MemoryAllocator { /// True if the mMapSizeToHeapIndex array has already been initialized static bool isMapSizeToHeadIndexInitialized; - /// Mutex - std::mutex mMutex; - /// Pointers to the first free memory unit for each heap MemoryUnit* mFreeMemoryUnits[NB_HEAPS]; diff --git a/src/memory/DefaultSingleFrameAllocator.cpp b/src/memory/DefaultSingleFrameAllocator.cpp index 3037488e..de76ce57 100644 --- a/src/memory/DefaultSingleFrameAllocator.cpp +++ b/src/memory/DefaultSingleFrameAllocator.cpp @@ -54,9 +54,6 @@ DefaultSingleFrameAllocator::~DefaultSingleFrameAllocator() { // allocated memory. void* DefaultSingleFrameAllocator::allocate(size_t size) { - // Lock the method with a mutex - std::lock_guard lock(mMutex); - // Check that there is enough remaining memory in the buffer if (mCurrentOffset + size > mTotalSizeBytes) { @@ -80,9 +77,6 @@ void* DefaultSingleFrameAllocator::allocate(size_t size) { // Release previously allocated memory. void DefaultSingleFrameAllocator::release(void* pointer, size_t size) { - // Lock the method with a mutex - std::lock_guard lock(mMutex); - // If allocated memory is not within the single frame allocation range char* p = static_cast(pointer); if (p < mMemoryBufferStart || p > mMemoryBufferStart + mTotalSizeBytes) { diff --git a/src/memory/DefaultSingleFrameAllocator.h b/src/memory/DefaultSingleFrameAllocator.h index 1ad98769..5e4c736a 100644 --- a/src/memory/DefaultSingleFrameAllocator.h +++ b/src/memory/DefaultSingleFrameAllocator.h @@ -29,7 +29,6 @@ // Libraries #include "MemoryAllocator.h" #include "configuration.h" -#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -54,9 +53,6 @@ class DefaultSingleFrameAllocator : public SingleFrameAllocator { // -------------------- Attributes -------------------- // - /// Mutex - std::mutex mMutex; - /// Cached memory allocator used on construction MemoryAllocator* mBaseMemoryAllocator; diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index 7427bcdd..e9954f55 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -30,9 +30,11 @@ using namespace reactphysics3d; // Static variables DefaultAllocator MemoryManager::mDefaultAllocator; -DefaultSingleFrameAllocator MemoryManager::mDefaultSingleFrameAllocator; -DefaultPoolAllocator MemoryManager::mDefaultPoolAllocator; MemoryAllocator* MemoryManager::mBaseAllocator = &mDefaultAllocator; -MemoryAllocator* MemoryManager::mPoolAllocator = &mDefaultPoolAllocator; -SingleFrameAllocator* MemoryManager::mSingleFrameAllocator = &mDefaultSingleFrameAllocator; +// Constructor +MemoryManager::MemoryManager() { + + mSingleFrameAllocator = &mDefaultSingleFrameAllocator; + mPoolAllocator = &mDefaultPoolAllocator; +} diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h index b4269cbb..d0495543 100644 --- a/src/memory/MemoryManager.h +++ b/src/memory/MemoryManager.h @@ -51,19 +51,19 @@ class MemoryManager { static DefaultAllocator mDefaultAllocator; /// Default single frame memory allocator - static DefaultSingleFrameAllocator mDefaultSingleFrameAllocator; + DefaultSingleFrameAllocator mDefaultSingleFrameAllocator; /// Default pool memory allocator - static DefaultPoolAllocator mDefaultPoolAllocator; + DefaultPoolAllocator mDefaultPoolAllocator; /// Pointer to the base memory allocator to use static MemoryAllocator* mBaseAllocator; /// Single frame stack allocator - static SingleFrameAllocator* mSingleFrameAllocator; + SingleFrameAllocator* mSingleFrameAllocator; /// Memory pool allocator - static MemoryAllocator* mPoolAllocator; + MemoryAllocator* mPoolAllocator; public: @@ -75,7 +75,7 @@ class MemoryManager { }; /// Constructor - MemoryManager() = default; + MemoryManager(); /// Destructor ~MemoryManager() = default; @@ -99,10 +99,10 @@ class MemoryManager { static void setBaseAllocator(MemoryAllocator* memoryAllocator); /// Set the single frame memory allocator - static void setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator); + void setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator); /// Set the pool memory allocator - static void setPoolAllocator(MemoryAllocator* poolAllocator); + void setPoolAllocator(MemoryAllocator* poolAllocator); /// Reset the single frame allocator void resetFrameAllocator(); From 4b919fb4fc139309fcb813bdc4818e91d88ca6cb Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 4 Mar 2019 17:29:27 +0100 Subject: [PATCH 034/197] Make BroadPhaseAlgorithm a system --- CMakeLists.txt | 5 ++-- src/collision/CollisionDetection.cpp | 30 +++++++++---------- src/collision/CollisionDetection.h | 14 ++++----- src/collision/broadphase/DynamicAABBTree.cpp | 2 +- src/collision/broadphase/DynamicAABBTree.h | 2 +- .../BroadPhaseSystem.cpp} | 20 ++++++------- .../BroadPhaseSystem.h} | 24 +++++++-------- 7 files changed, 48 insertions(+), 49 deletions(-) rename src/{collision/broadphase/BroadPhaseAlgorithm.cpp => systems/BroadPhaseSystem.cpp} (92%) rename src/{collision/broadphase/BroadPhaseAlgorithm.h => systems/BroadPhaseSystem.h} (92%) diff --git a/CMakeLists.txt b/CMakeLists.txt index f23c134a..7933c812 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -81,7 +81,6 @@ SET (REACTPHYSICS3D_HEADERS "src/body/CollisionBody.h" "src/body/RigidBody.h" "src/collision/ContactPointInfo.h" - "src/collision/broadphase/BroadPhaseAlgorithm.h" "src/collision/broadphase/DynamicAABBTree.h" "src/collision/narrowphase/CollisionDispatch.h" "src/collision/narrowphase/GJK/VoronoiSimplex.h" @@ -139,7 +138,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/Material.h" "src/engine/OverlappingPair.h" "src/engine/Timer.h" - "src/engine/Timer.cpp" + "src/systems/BroadPhaseSystem.h" "src/components/Components.h" "src/components/TransformComponents.h" "src/components/ProxyShapesComponents.h" @@ -175,7 +174,6 @@ SET (REACTPHYSICS3D_SOURCES "src/body/Body.cpp" "src/body/CollisionBody.cpp" "src/body/RigidBody.cpp" - "src/collision/broadphase/BroadPhaseAlgorithm.cpp" "src/collision/broadphase/DynamicAABBTree.cpp" "src/collision/narrowphase/CollisionDispatch.cpp" "src/collision/narrowphase/GJK/VoronoiSimplex.cpp" @@ -231,6 +229,7 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/Timer.cpp" "src/engine/Entity.cpp" "src/engine/EntityManager.cpp" + "src/systems/BroadPhaseSystem.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapesComponents.cpp" "src/collision/CollisionCallback.cpp" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 0c62e7b3..698883fd 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -50,7 +50,7 @@ using namespace std; // Constructor CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapesComponents& proxyShapesComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), - mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this, mProxyShapesComponents), + mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseSystem(*this, mProxyShapesComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { @@ -89,7 +89,7 @@ void CollisionDetection::computeBroadPhase() { // Ask the broad-phase to recompute the overlapping pairs of collision // shapes. This call can only add new overlapping pairs in the collision // detection. - mBroadPhaseAlgorithm.computeOverlappingPairs(mMemoryManager); + mBroadPhaseSystem.computeOverlappingPairs(mMemoryManager); } } @@ -121,7 +121,7 @@ void CollisionDetection::computeMiddlePhase() { // Check if the two shapes are still overlapping. Otherwise, we destroy the // overlapping pair - if (!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { + if (!mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) { // Destroy the overlapping pair pair->~OverlappingPair(); @@ -393,7 +393,7 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { } // Remove the body from the broad-phase - mBroadPhaseAlgorithm.removeProxyCollisionShape(proxyShape); + mBroadPhaseSystem.removeProxyCollisionShape(proxyShape); } void CollisionDetection::addAllContactManifoldsToBodies() { @@ -420,7 +420,7 @@ void CollisionDetection::raycast(RaycastCallback* raycastCallback, // Ask the broad-phase algorithm to call the testRaycastAgainstShape() // callback method for each proxy shape hit by the ray in the broad-phase - mBroadPhaseAlgorithm.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); + mBroadPhaseSystem.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); } // Add a contact manifold to the linked list of contact manifolds of the two bodies involved @@ -571,7 +571,7 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over // Ask the broad-phase to get all the overlapping shapes LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); + mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); // For each overlaping proxy shape LinkedList::ListElement* element = overlappingNodes.getListHead(); @@ -579,7 +579,7 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over // Get the overlapping proxy shape int broadPhaseId = element->data; - ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); + ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); CollisionBody* overlapBody = proxyShape->getBody(); @@ -662,11 +662,11 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl if (bodyProxyShape->getBroadPhaseId() != -1) { // Get the AABB of the shape - const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId()); + const AABB& shapeAABB = mBroadPhaseSystem.getFatAABB(bodyProxyShape->getBroadPhaseId()); // Ask the broad-phase to get all the overlapping shapes LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); + mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); const bodyindex bodyId = body->getId(); @@ -676,7 +676,7 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl // Get the overlapping proxy shape int broadPhaseId = element->data; - ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); + ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); // If the proxy shape is from a body that we have not already reported collision and the // two proxy collision shapes are not from the same body @@ -818,11 +818,11 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c if (bodyProxyShape->getBroadPhaseId() != -1) { // Get the AABB of the shape - const AABB& shapeAABB = mBroadPhaseAlgorithm.getFatAABB(bodyProxyShape->getBroadPhaseId()); + const AABB& shapeAABB = mBroadPhaseSystem.getFatAABB(bodyProxyShape->getBroadPhaseId()); // Ask the broad-phase to get all the overlapping shapes LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseAlgorithm.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); + mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); const bodyindex bodyId = body->getId(); @@ -832,7 +832,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // Get the overlapping proxy shape int broadPhaseId = element->data; - ProxyShape* proxyShape = mBroadPhaseAlgorithm.getProxyShapeForBroadPhaseId(broadPhaseId); + ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); // If the two proxy collision shapes are not from the same body if (proxyShape->getBody()->getId() != bodyId) { @@ -948,7 +948,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // that the two shapes are still overlapping. if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0) && - mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) { + mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) { // Compute the middle-phase collision detection between the two shapes computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); @@ -990,5 +990,5 @@ EventListener* CollisionDetection::getWorldEventListener() { // Return the world-space AABB of a given proxy shape const AABB CollisionDetection::getWorldAABB(const ProxyShape* proxyShape) const { assert(proxyShape->getBroadPhaseId() > -1); - return mBroadPhaseAlgorithm.getFatAABB(proxyShape->getBroadPhaseId()); + return mBroadPhaseSystem.getFatAABB(proxyShape->getBroadPhaseId()); } diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index bf499c9d..976932ef 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -28,7 +28,7 @@ // Libraries #include "body/CollisionBody.h" -#include "broadphase/BroadPhaseAlgorithm.h" +#include "systems/BroadPhaseSystem.h" #include "collision/shapes/CollisionShape.h" #include "engine/OverlappingPair.h" #include "collision/narrowphase/NarrowPhaseInput.h" @@ -80,8 +80,8 @@ class CollisionDetection { /// Broad-phase overlapping pairs OverlappingPairMap mOverlappingPairs; - /// Broad-phase algorithm - BroadPhaseAlgorithm mBroadPhaseAlgorithm; + /// Broad-phase system + BroadPhaseSystem mBroadPhaseSystem; /// Set of pair of bodies that cannot collide between each other Set mNoCollisionPairs; @@ -245,7 +245,7 @@ inline void CollisionDetection::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { // Add the body to the broad-phase - mBroadPhaseAlgorithm.addProxyCollisionShape(proxyShape, aabb); + mBroadPhaseSystem.addProxyCollisionShape(proxyShape, aabb); mIsCollisionShapesAdded = true; } @@ -268,14 +268,14 @@ inline void CollisionDetection::removeNoCollisionPair(CollisionBody* body1, inline void CollisionDetection::askForBroadPhaseCollisionCheck(ProxyShape* shape) { if (shape->getBroadPhaseId() != -1) { - mBroadPhaseAlgorithm.addMovedCollisionShape(shape->getBroadPhaseId()); + mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId()); } } // Update a proxy collision shape (that has moved for instance) inline void CollisionDetection::updateProxyCollisionShape(ProxyShape* shape, const AABB& aabb, const Vector3& displacement, bool forceReinsert) { - mBroadPhaseAlgorithm.updateProxyCollisionShape(shape, aabb, displacement); + mBroadPhaseSystem.updateProxyCollisionShape(shape, aabb, displacement); } @@ -294,7 +294,7 @@ inline MemoryManager& CollisionDetection::getMemoryManager() const { // Set the profiler inline void CollisionDetection::setProfiler(Profiler* profiler) { mProfiler = profiler; - mBroadPhaseAlgorithm.setProfiler(profiler); + mBroadPhaseSystem.setProfiler(profiler); mCollisionDispatch.setProfiler(profiler); } diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 61f347d2..58639fc9 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -25,7 +25,7 @@ // Libraries #include "DynamicAABBTree.h" -#include "BroadPhaseAlgorithm.h" +#include "systems/BroadPhaseSystem.h" #include "containers/Stack.h" #include "utils/Profiler.h" diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 7619bca8..1939594f 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations -class BroadPhaseAlgorithm; +class BroadPhaseSystem; class BroadPhaseRaycastTestCallback; class DynamicAABBTreeOverlapCallback; class CollisionBody; diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/systems/BroadPhaseSystem.cpp similarity index 92% rename from src/collision/broadphase/BroadPhaseAlgorithm.cpp rename to src/systems/BroadPhaseSystem.cpp index ebd6912b..0a75b5dd 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "BroadPhaseAlgorithm.h" +#include "BroadPhaseSystem.h" #include "collision/CollisionDetection.h" #include "utils/Profiler.h" #include "collision/RaycastInfo.h" @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor -BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents) +BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), mProxyShapesComponents(proxyShapesComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), @@ -51,7 +51,7 @@ BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection, } // Return true if the two broad-phase collision shapes are overlapping -bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1, +bool BroadPhaseSystem::testOverlappingShapes(const ProxyShape* shape1, const ProxyShape* shape2) const { if (shape1->getBroadPhaseId() == -1 || shape2->getBroadPhaseId() == -1) return false; @@ -65,7 +65,7 @@ bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1, } // Ray casting method -void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest, +void BroadPhaseSystem::raycast(const Ray& ray, RaycastTest& raycastTest, unsigned short raycastWithCategoryMaskBits) const { RP3D_PROFILE("BroadPhaseAlgorithm::raycast()", mProfiler); @@ -76,7 +76,7 @@ void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest, } // Add a proxy collision shape into the broad-phase collision detection -void BroadPhaseAlgorithm::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { +void BroadPhaseSystem::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { assert(proxyShape->getBroadPhaseId() == -1); @@ -92,7 +92,7 @@ void BroadPhaseAlgorithm::addProxyCollisionShape(ProxyShape* proxyShape, const A } // Remove a proxy collision shape from the broad-phase collision detection -void BroadPhaseAlgorithm::removeProxyCollisionShape(ProxyShape* proxyShape) { +void BroadPhaseSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { assert(proxyShape->getBroadPhaseId() != -1); @@ -109,7 +109,7 @@ void BroadPhaseAlgorithm::removeProxyCollisionShape(ProxyShape* proxyShape) { } // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseAlgorithm::updateProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb, +void BroadPhaseSystem::updateProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb, const Vector3& displacement, bool forceReinsert) { int broadPhaseID = proxyShape->getBroadPhaseId(); @@ -129,7 +129,7 @@ void BroadPhaseAlgorithm::updateProxyCollisionShape(ProxyShape* proxyShape, cons } } -void BroadPhaseAlgorithm::reportAllShapesOverlappingWithAABB(const AABB& aabb, +void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, LinkedList& overlappingNodes) const { AABBOverlapCallback callback(overlappingNodes); @@ -139,7 +139,7 @@ void BroadPhaseAlgorithm::reportAllShapesOverlappingWithAABB(const AABB& aabb, } // Compute all the overlapping pairs of collision shapes -void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) { +void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { // TODO : Try to see if we can allocate potential pairs in single frame allocator @@ -217,7 +217,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) } // Notify the broad-phase about a potential overlapping pair in the dynamic AABB tree -void BroadPhaseAlgorithm::addOverlappingNodes(int referenceNodeId, const LinkedList& overlappingNodes) { +void BroadPhaseSystem::addOverlappingNodes(int referenceNodeId, const LinkedList& overlappingNodes) { // For each overlapping node in the linked list LinkedList::ListElement* elem = overlappingNodes.getListHead(); diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.h b/src/systems/BroadPhaseSystem.h similarity index 92% rename from src/collision/broadphase/BroadPhaseAlgorithm.h rename to src/systems/BroadPhaseSystem.h index df3e2b7c..4d2bbd5b 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.h +++ b/src/systems/BroadPhaseSystem.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H // Libraries -#include "DynamicAABBTree.h" +#include "collision/broadphase/DynamicAABBTree.h" #include "containers/LinkedList.h" #include "containers/Set.h" #include "components/ProxyShapesComponents.h" @@ -37,7 +37,7 @@ namespace reactphysics3d { // Declarations class CollisionDetection; -class BroadPhaseAlgorithm; +class BroadPhaseSystem; class CollisionBody; class ProxyShape; class MemoryManager; @@ -132,7 +132,7 @@ class BroadPhaseRaycastCallback : public DynamicAABBTreeRaycastCallback { * later for collision during the narrow-phase collision detection. A dynamic AABB * tree data structure is used for fast broad-phase collision detection. */ -class BroadPhaseAlgorithm { +class BroadPhaseSystem { protected : @@ -167,16 +167,16 @@ class BroadPhaseAlgorithm { // -------------------- Methods -------------------- // /// Constructor - BroadPhaseAlgorithm(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents); + BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents); /// Destructor - ~BroadPhaseAlgorithm() = default; + ~BroadPhaseSystem() = default; /// Deleted copy-constructor - BroadPhaseAlgorithm(const BroadPhaseAlgorithm& algorithm) = delete; + BroadPhaseSystem(const BroadPhaseSystem& algorithm) = delete; /// Deleted assignment operator - BroadPhaseAlgorithm& operator=(const BroadPhaseAlgorithm& algorithm) = delete; + BroadPhaseSystem& operator=(const BroadPhaseSystem& algorithm) = delete; /// Add a proxy collision shape into the broad-phase collision detection void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb); @@ -238,13 +238,13 @@ inline bool BroadPhasePair::smallerThan(const BroadPhasePair& pair1, } // Return the fat AABB of a given broad-phase shape -inline const AABB& BroadPhaseAlgorithm::getFatAABB(int broadPhaseId) const { +inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { return mDynamicAABBTree.getFatAABB(broadPhaseId); } // Add a collision shape in the array of shapes that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. -inline void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) { +inline void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID) { // Store the broad-phase ID into the array of shapes that have moved mMovedShapes.add(broadPhaseID); @@ -252,21 +252,21 @@ inline void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) { // Remove a collision shape from the array of shapes that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. -inline void BroadPhaseAlgorithm::removeMovedCollisionShape(int broadPhaseID) { +inline void BroadPhaseSystem::removeMovedCollisionShape(int broadPhaseID) { // Remove the broad-phase ID from the set mMovedShapes.remove(broadPhaseID); } // Return the proxy shape corresponding to the broad-phase node id in parameter -inline ProxyShape* BroadPhaseAlgorithm::getProxyShapeForBroadPhaseId(int broadPhaseId) const { +inline ProxyShape* BroadPhaseSystem::getProxyShapeForBroadPhaseId(int broadPhaseId) const { return static_cast(mDynamicAABBTree.getNodeDataPointer(broadPhaseId)); } #ifdef IS_PROFILING_ACTIVE // Set the profiler -inline void BroadPhaseAlgorithm::setProfiler(Profiler* profiler) { +inline void BroadPhaseSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mDynamicAABBTree.setProfiler(profiler); } From d02b25d32a083b3dbeaacc8d2dc24aad13661eb5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 15 Mar 2019 17:27:11 +0100 Subject: [PATCH 035/197] The proxy-shapes are now entities --- CHANGELOG.md | 3 + CMakeLists.txt | 2 + src/body/CollisionBody.cpp | 138 ++++++----- src/body/CollisionBody.h | 10 +- src/body/RigidBody.cpp | 56 +++-- src/collision/CollisionDetection.cpp | 54 ++--- src/collision/ProxyShape.cpp | 60 ++--- src/collision/ProxyShape.h | 22 +- src/components/BodyComponents.cpp | 294 +++++++++++++++++++++++ src/components/BodyComponents.h | 161 +++++++++++++ src/components/Components.h | 5 + src/components/ProxyShapesComponents.cpp | 260 ++++---------------- src/components/ProxyShapesComponents.h | 183 ++++++-------- src/components/TransformComponents.cpp | 57 ++--- src/components/TransformComponents.h | 27 +-- src/engine/CollisionWorld.cpp | 41 ++-- src/engine/CollisionWorld.h | 7 +- src/engine/DynamicsWorld.cpp | 8 +- src/systems/BroadPhaseSystem.cpp | 4 +- testbed/src/SceneDemo.cpp | 7 +- 20 files changed, 836 insertions(+), 563 deletions(-) create mode 100644 src/components/BodyComponents.cpp create mode 100644 src/components/BodyComponents.h diff --git a/CHANGELOG.md b/CHANGELOG.md index eaaa6771..cedb3ff7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -22,6 +22,9 @@ - The CollisionWorld::setCollisionDispatch() method has been removed. In order to use a custom collision algorithm, you must not get the collision dispatch object with the CollisionWorld::getCollisionDispatch() method and set a collision algorithm to this object. + - The methods CollisionBody::getProxyShapesList() has been remove. You can now use the + CollisionBody::getNbProxyShapes() method to know the number of proxy-shapes of a body and the + CollisionBody::getProxyShape(uint proxyShapeIndex) method to get a given proxy-shape of the body. ## Version 0.7.0 (May 1, 2018) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7933c812..b773f621 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -140,6 +140,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/Timer.h" "src/systems/BroadPhaseSystem.h" "src/components/Components.h" + "src/components/BodyComponents.h" "src/components/TransformComponents.h" "src/components/ProxyShapesComponents.h" "src/collision/CollisionCallback.h" @@ -230,6 +231,7 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/Entity.cpp" "src/engine/EntityManager.cpp" "src/systems/BroadPhaseSystem.cpp" + "src/components/BodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapesComponents.cpp" "src/collision/CollisionCallback.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index eda0523c..013bee26 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -72,19 +72,24 @@ CollisionBody::~CollisionBody() { ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, const Transform& transform) { + // Create a new entity for the proxy-shape + Entity proxyShapeEntity = mWorld.mEntityManager.createEntity(); + // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ProxyShape))) ProxyShape(this, mWorld.mMemoryManager); + sizeof(ProxyShape))) ProxyShape(proxyShapeEntity, this, mWorld.mMemoryManager); // Add the proxy-shape component to the entity of the body Vector3 localBoundsMin; Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, -1, + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1), 0x0001, 0xFFFF); - mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); + mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, mIsSleeping, proxyShapeComponent); + + mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); #ifdef IS_PROFILING_ACTIVE @@ -118,22 +123,38 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, return proxyShape; } -// Return the linked list of proxy shapes of that body +// Return the number of proxy-shapes associated with this body /** -* @return The pointer of the first proxy shape of the linked-list of all the -* proxy shapes of the body +* @return The number of proxy-shapes associated with this body */ -ProxyShape* CollisionBody::getProxyShapesList() { - return mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); +uint CollisionBody::getNbProxyShapes() const { + return static_cast(mWorld.mBodyComponents.getProxyShapes(mEntity).size()); } -// Return the linked list of proxy shapes of that body +// Return a const pointer to a given proxy-shape of the body /** -* @return The pointer of the first proxy shape of the linked-list of all the -* proxy shapes of the body +* @return The const pointer of a given proxy-shape of the body */ -const ProxyShape* CollisionBody::getProxyShapesList() const { - return mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); +const ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) const { + + assert(proxyShapeIndex < getNbProxyShapes()); + + Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; + + return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity); +} + +// Return a pointer to a given proxy-shape of the body +/** +* @return The pointer of a given proxy-shape of the body +*/ +ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) { + + assert(proxyShapeIndex < getNbProxyShapes()); + + Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; + + return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity); } // Remove a collision shape from the body @@ -148,14 +169,16 @@ void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " removed from body"); - // Remove the proxy-shape component - mWorld.mProxyShapesComponents.removeComponent(proxyShape); - // Remove the proxy-shape from the broad-phase - if (mIsActive && proxyShape->getBroadPhaseId() != -1) { + if (proxyShape->getBroadPhaseId() != -1) { mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); } + mWorld.mBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity()); + + // Remove the proxy-shape component + mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity()); + // Call the constructor of the proxy-shape proxyShape->~ProxyShape(); @@ -166,27 +189,13 @@ void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { // Remove all the collision shapes void CollisionBody::removeAllCollisionShapes() { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); + // Look for the proxy shape that contains the collision shape in parameter. + // Note that we need to copy the list of proxy shapes entities because we are deleting them in a loop. + const List proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { - // Look for the proxy shape that contains the collision shape in parameter - while(proxyShape != nullptr) { - - if (mIsActive && proxyShape->getBroadPhaseId() != -1) { - - mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); - } - - // Destroy the proxy-shape - proxyShape->~ProxyShape(); - - mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, proxyShape, sizeof(ProxyShape)); - - // Get the next element in the list - proxyShape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(proxyShape); + removeCollisionShape(mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i])); } - - // Remove all the proxy-shapes components - mWorld.mProxyShapesComponents.removeComponents(mEntity); } // Reset the contact manifold lists @@ -222,10 +231,13 @@ const Transform& CollisionBody::getTransform() const { void CollisionBody::updateBroadPhaseState() const { // For all the proxy collision shapes of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); // Update the proxy - updateProxyShapeInBroadPhase(shape); + updateProxyShapeInBroadPhase(proxyShape); } } @@ -262,25 +274,31 @@ void CollisionBody::setIsActive(bool isActive) { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); // For each proxy shape of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); // Compute the world-space AABB of the new collision shape AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, transform * mWorld.mProxyShapesComponents.getLocalToBodyTransform(shape)); + proxyShape->getCollisionShape()->computeAABB(aabb, transform * mWorld.mProxyShapesComponents.getLocalToBodyTransform(proxyShape->getEntity())); // Add the proxy shape to the collision detection - mWorld.mCollisionDetection.addProxyCollisionShape(shape, aabb); + mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); } } else { // If we have to deactivate the body // For each proxy shape of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { - if (shape->getBroadPhaseId() != -1) { + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + + if (proxyShape->getBroadPhaseId() != -1) { // Remove the proxy shape from the collision detection - mWorld.mCollisionDetection.removeProxyCollisionShape(shape); + mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); } } @@ -298,9 +316,12 @@ void CollisionBody::setIsActive(bool isActive) { void CollisionBody::askForBroadPhaseCollisionCheck() const { // For all the proxy collision shapes of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { - mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(shape); + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + + mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(proxyShape); } } @@ -333,10 +354,13 @@ int CollisionBody::resetIsAlreadyInIslandAndCountManifolds() { bool CollisionBody::testPointInside(const Vector3& worldPoint) const { // For each collision shape of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); // Test if the point is inside the collision shape - if (shape->testPointInside(worldPoint)) return true; + if (proxyShape->testPointInside(worldPoint)) return true; } return false; @@ -359,10 +383,13 @@ bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { Ray rayTemp(ray); // For each collision shape of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); // Test if the ray hits the collision shape - if (shape->raycast(rayTemp, raycastInfo)) { + if (proxyShape->raycast(rayTemp, raycastInfo)) { rayTemp.maxFraction = raycastInfo.hitFraction; isHit = true; } @@ -379,21 +406,24 @@ AABB CollisionBody::getAABB() const { AABB bodyAABB; - if (mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity) == nullptr) return bodyAABB; + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + if (proxyShapesEntities.size() == 0) return bodyAABB; // TODO : Make sure we compute this in a system const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[0]); proxyShape->getCollisionShape()->computeAABB(bodyAABB, transform * proxyShape->getLocalToBodyTransform()); // For each proxy shape of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + for (uint i=1; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); // Compute the world-space AABB of the collision shape AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, transform * shape->getLocalToBodyTransform()); + proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform()); // Merge the proxy shape AABB with the current body AABB bodyAABB.mergeWithAABB(aabb); diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 6d6d35df..a9bbd729 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -166,12 +166,18 @@ class CollisionBody : public Body { /// Compute and return the AABB of the body by merging all proxy shapes AABBs AABB getAABB() const; - /// Return the linked list of proxy shapes of that body - ProxyShape* getProxyShapesList(); + /// Return a const pointer to a given proxy-shape of the body + const ProxyShape* getProxyShape(uint proxyShapeIndex) const; + + /// Return a pointer to a given proxy-shape of the body + ProxyShape* getProxyShape(uint proxyShapeIndex); /// Return the linked list of proxy shapes of that body const ProxyShape* getProxyShapesList() const; + /// Return the number of proxy-shapes associated with this body + uint getNbProxyShapes() const; + /// Return the world-space coordinates of a point given the local-space coordinates of the body Vector3 getWorldPoint(const Vector3& localPoint) const; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index e2072f81..384682d1 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -281,9 +281,12 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, const Transform& transform, decimal mass) { + // Create a new entity for the proxy-shape + Entity proxyShapeEntity = mWorld.mEntityManager.createEntity(); + // Create a new proxy collision shape to attach the collision shape to the body ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ProxyShape))) ProxyShape(this, mWorld.mMemoryManager); + sizeof(ProxyShape))) ProxyShape(proxyShapeEntity, this, mWorld.mMemoryManager); // Add the proxy-shape component to the entity of the body Vector3 localBoundsMin; @@ -291,10 +294,12 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(proxyShape, -1, + ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass, 0x0001, 0xFFFF); - mWorld.mProxyShapesComponents.addComponent(mEntity, mIsSleeping, proxyShapeComponent); + mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, mIsSleeping, proxyShapeComponent); + + mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); #ifdef IS_PROFILING_ACTIVE @@ -500,11 +505,13 @@ void RigidBody::recomputeMassInformation() { assert(mType == BodyType::DYNAMIC); // Compute the total mass of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { - mInitMass += shape->getMass(); + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + mInitMass += proxyShape->getMass(); if (!mIsCenterOfMassSetByUser) { - mCenterOfMassLocal += shape->getLocalToBodyTransform().getPosition() * shape->getMass(); + mCenterOfMassLocal += proxyShape->getLocalToBodyTransform().getPosition() * proxyShape->getMass(); } } @@ -528,14 +535,17 @@ void RigidBody::recomputeMassInformation() { if (!mIsInertiaTensorSetByUser) { // Compute the inertia tensor using all the collision shapes - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); // Get the inertia tensor of the collision shape in its local-space Matrix3x3 inertiaTensor; - shape->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, shape->getMass()); + proxyShape->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, proxyShape->getMass()); // Convert the collision shape inertia tensor into the local-space of the body - const Transform& shapeTransform = shape->getLocalToBodyTransform(); + const Transform& shapeTransform = proxyShape->getLocalToBodyTransform(); Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix(); inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose(); @@ -550,7 +560,7 @@ void RigidBody::recomputeMassInformation() { offsetMatrix[0] += offset * (-offset.x); offsetMatrix[1] += offset * (-offset.y); offsetMatrix[2] += offset * (-offset.z); - offsetMatrix *= shape->getMass(); + offsetMatrix *= proxyShape->getMass(); inertiaTensorLocal += inertiaTensor + offsetMatrix; } @@ -579,14 +589,20 @@ void RigidBody::updateBroadPhaseState() const { const Vector3 displacement = world.mTimeStep * mLinearVelocity; // For all the proxy collision shapes of the body - for (ProxyShape* shape = mWorld.mProxyShapesComponents.getFirstProxyShapeOfBody(mEntity); shape != nullptr; shape = mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(shape)) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { - // Recompute the world-space AABB of the collision shape - AABB aabb; - shape->getCollisionShape()->computeAABB(aabb, transform * shape->getLocalToBodyTransform()); + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - // Update the broad-phase state for the proxy collision shape - mWorld.mCollisionDetection.updateProxyCollisionShape(shape, aabb, displacement); + if (proxyShape->getBroadPhaseId() != -1) { + + // Recompute the world-space AABB of the collision shape + AABB aabb; + proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform()); + + // Update the broad-phase state for the proxy collision shape + mWorld.mCollisionDetection.updateProxyCollisionShape(proxyShape, aabb, displacement); + } } } @@ -598,12 +614,12 @@ void RigidBody::setProfiler(Profiler* profiler) { CollisionBody::setProfiler(profiler); // Set the profiler for each proxy shape - ProxyShape* proxyShape = getProxyShapesList(); - while (proxyShape != nullptr) { + const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); proxyShape->setProfiler(profiler); - - proxyShape = proxyShape->getNext(); } } diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 698883fd..dd541c44 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -608,14 +608,18 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the first body - ProxyShape* body1ProxyShape = body1->getProxyShapesList(); - while (body1ProxyShape != nullptr) { + const List& body1ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body1->getEntity()); + const List& body2ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body2->getEntity()); + for (uint i=0; i < body1ProxyShapesEntities.size(); i++) { + + ProxyShape* body1ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body1ProxyShapesEntities[i]); AABB aabb1 = body1ProxyShape->getWorldAABB(); // For each proxy shape of the second body - ProxyShape* body2ProxyShape = body2->getProxyShapesList(); - while (body2ProxyShape != nullptr) { + for (uint j=0; j < body2ProxyShapesEntities.size(); j++) { + + ProxyShape* body2ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body2ProxyShapesEntities[j]); AABB aabb2 = body2ProxyShape->getWorldAABB(); @@ -630,13 +634,7 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInput); } - - // Go to the next proxy shape - body2ProxyShape = body2ProxyShape->getNext(); } - - // Go to the next proxy shape - body1ProxyShape = body1ProxyShape->getNext(); } // Test narrow-phase collision @@ -656,8 +654,10 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body - ProxyShape* bodyProxyShape = body->getProxyShapesList(); - while (bodyProxyShape != nullptr) { + const List& proxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body->getEntity()); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* bodyProxyShape = mWorld->mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); if (bodyProxyShape->getBroadPhaseId() != -1) { @@ -713,9 +713,6 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl element = element->next; } } - - // Go to the next proxy shape - bodyProxyShape = bodyProxyShape->getNext(); } } @@ -728,14 +725,18 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the first body - ProxyShape* body1ProxyShape = body1->getProxyShapesList(); - while (body1ProxyShape != nullptr) { + const List& body1ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body1->getEntity()); + const List& body2ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body2->getEntity()); + for (uint i=0; i < body1ProxyShapesEntities.size(); i++) { + + ProxyShape* body1ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body1ProxyShapesEntities[i]); AABB aabb1 = body1ProxyShape->getWorldAABB(); // For each proxy shape of the second body - ProxyShape* body2ProxyShape = body2->getProxyShapesList(); - while (body2ProxyShape != nullptr) { + for (uint j=0; j < body2ProxyShapesEntities.size(); j++) { + + ProxyShape* body2ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body2ProxyShapesEntities[i]); AABB aabb2 = body2ProxyShape->getWorldAABB(); @@ -767,13 +768,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // Compute the middle-phase collision detection between the two shapes computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); } - - // Go to the next proxy shape - body2ProxyShape = body2ProxyShape->getNext(); } - - // Go to the next proxy shape - body1ProxyShape = body1ProxyShape->getNext(); } // Test narrow-phase collision @@ -812,8 +807,10 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); // For each proxy shape proxy shape of the body - ProxyShape* bodyProxyShape = body->getProxyShapesList(); - while (bodyProxyShape != nullptr) { + const List& proxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body->getEntity()); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + ProxyShape* bodyProxyShape = mWorld->mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); if (bodyProxyShape->getBroadPhaseId() != -1) { @@ -870,9 +867,6 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // Go to the next overlapping proxy shape element = element->next; } - - // Go to the next proxy shape - bodyProxyShape = bodyProxyShape->getNext(); } } diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 37b63376..df3a2fe0 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param transform Transformation from collision shape local-space to body local-space * @param mass Mass of the collision shape (in kilograms) */ -ProxyShape::ProxyShape(CollisionBody* body, MemoryManager& memoryManager) - :mMemoryManager(memoryManager), mBody(body), +ProxyShape::ProxyShape(Entity entity, CollisionBody* body, MemoryManager& memoryManager) + :mMemoryManager(memoryManager), mEntity(entity), mBody(body), mUserData(nullptr) { } @@ -55,7 +55,7 @@ ProxyShape::~ProxyShape() { * @return Mass of the collision shape (in kilograms) */ decimal ProxyShape::getMass() const { - return mBody->mWorld.mProxyShapesComponents.getMass(this); + return mBody->mWorld.mProxyShapesComponents.getMass(mEntity); } @@ -66,9 +66,9 @@ decimal ProxyShape::getMass() const { */ bool ProxyShape::testPointInside(const Vector3& worldPoint) { const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * - mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); + mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(mEntity); const Vector3 localPoint = localToWorld.getInverse() * worldPoint; - const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); return collisionShape->testPointInside(localPoint, this); } @@ -78,9 +78,9 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) { */ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) { - mBody->mWorld.mProxyShapesComponents.setCollisionCategoryBits(this, collisionCategoryBits); + mBody->mWorld.mProxyShapesComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits); - int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + @@ -93,9 +93,9 @@ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) */ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { - mBody->mWorld.mProxyShapesComponents.setCollideWithMaskBits(this, collideWithMaskBits); + mBody->mWorld.mProxyShapesComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits); - int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + @@ -106,14 +106,14 @@ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { void ProxyShape::setLocalToBodyTransform(const Transform& transform) { //mLocalToBodyTransform = transform; - mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(this, transform); + mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform); mBody->setIsSleeping(false); // Notify the body that the proxy shape has to be updated in the broad-phase mBody->updateProxyShapeInBroadPhase(this, true); - int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" + @@ -126,7 +126,7 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { */ const AABB ProxyShape::getWorldAABB() const { AABB aabb; - CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); collisionShape->computeAABB(aabb, getLocalToWorldTransform()); return aabb; } @@ -136,7 +136,7 @@ const AABB ProxyShape::getWorldAABB() const { * @return Pointer to the internal collision shape */ const CollisionShape* ProxyShape::getCollisionShape() const { - return mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + return mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); } // Return the collision shape @@ -144,12 +144,12 @@ const CollisionShape* ProxyShape::getCollisionShape() const { * @return Pointer to the internal collision shape */ CollisionShape* ProxyShape::getCollisionShape() { - return mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + return mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); } // Return the broad-phase id int ProxyShape::getBroadPhaseId() const { - return mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(this); + return mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); } // Return the local to parent body transform @@ -158,25 +158,7 @@ int ProxyShape::getBroadPhaseId() const { * to the local-space of the parent body */ const Transform& ProxyShape::getLocalToBodyTransform() const { - return mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); -} - -// Return the next proxy shape in the linked list of proxy shapes -/** - * @return Pointer to the next proxy shape in the linked list of proxy shapes - */ -ProxyShape* ProxyShape::getNext() { - // TODO : Delete this method - return mBody->mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(this); -} - -// Return the next proxy shape in the linked list of proxy shapes -/** - * @return Pointer to the next proxy shape in the linked list of proxy shapes - */ -const ProxyShape* ProxyShape::getNext() const { - // TODO : Delete this method - return mBody->mWorld.mProxyShapesComponents.getNextProxyShapeOfBody(this); + return mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(mEntity); } // Raycast method with feedback information @@ -198,7 +180,7 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { worldToLocalTransform * ray.point2, ray.maxFraction); - const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); bool isHit = collisionShape->raycast(rayLocal, raycastInfo, this, mMemoryManager.getPoolAllocator()); // Convert the raycast info into world-space @@ -214,7 +196,7 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { * @return The collision category bits mask of the proxy shape */ unsigned short ProxyShape::getCollisionCategoryBits() const { - return mBody->mWorld.mProxyShapesComponents.getCollisionCategoryBits(this); + return mBody->mWorld.mProxyShapesComponents.getCollisionCategoryBits(mEntity); } // Return the collision bits mask @@ -222,7 +204,7 @@ unsigned short ProxyShape::getCollisionCategoryBits() const { * @return The bits mask that specifies with which collision category this shape will collide */ unsigned short ProxyShape::getCollideWithMaskBits() const { - return mBody->mWorld.mProxyShapesComponents.getCollideWithMaskBits(this); + return mBody->mWorld.mProxyShapesComponents.getCollideWithMaskBits(mEntity); } // Return the local to world transform @@ -232,7 +214,7 @@ unsigned short ProxyShape::getCollideWithMaskBits() const { */ const Transform ProxyShape::getLocalToWorldTransform() const { return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * - mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(this); + mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(mEntity); } #ifdef IS_PROFILING_ACTIVE @@ -242,7 +224,7 @@ void ProxyShape::setProfiler(Profiler* profiler) { mProfiler = profiler; - CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(this); + CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); collisionShape->setProfiler(profiler); } diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index 7381c01c..743ed443 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -54,6 +54,9 @@ class ProxyShape { /// Reference to the memory manager MemoryManager& mMemoryManager; + /// Identifier of the entity in the ECS + Entity mEntity; + /// Pointer to the parent body CollisionBody* mBody; @@ -111,7 +114,7 @@ class ProxyShape { // -------------------- Methods -------------------- // /// Constructor - ProxyShape(CollisionBody* body, MemoryManager& memoryManager); + ProxyShape(Entity entity, CollisionBody* body, MemoryManager& memoryManager); /// Destructor virtual ~ProxyShape(); @@ -122,6 +125,9 @@ class ProxyShape { /// Deleted assignment operator ProxyShape& operator=(const ProxyShape& proxyShape) = delete; + /// Return the corresponding entity of the proxy-shape + Entity getEntity() const; + /// Return the collision shape const CollisionShape* getCollisionShape() const; @@ -170,12 +176,6 @@ class ProxyShape { /// Set the collision category bits void setCollisionCategoryBits(unsigned short collisionCategoryBits); - /// Return the next proxy shape in the linked list of proxy shapes - ProxyShape* getNext(); - - /// Return the next proxy shape in the linked list of proxy shapes - const ProxyShape* getNext() const; - /// Return the broad-phase id int getBroadPhaseId() const; @@ -209,6 +209,14 @@ class ProxyShape { }; +// Return the corresponding entity of the proxy-shape +/** + * @return The entity of the proxy-shape + */ +inline Entity ProxyShape::getEntity() const { + return mEntity; +} + // Return the parent body /** * @return Pointer to the parent body diff --git a/src/components/BodyComponents.cpp b/src/components/BodyComponents.cpp new file mode 100644 index 00000000..41b7577b --- /dev/null +++ b/src/components/BodyComponents.cpp @@ -0,0 +1,294 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BodyComponents.h" +#include "engine/EntityManager.h" +#include +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +BodyComponents::BodyComponents(MemoryAllocator& allocator) + :Components(allocator), mSleepingStartIndex(0){ + + // Allocate memory for the components data + allocate(INIT_ALLOCATED_COMPONENTS); +} + +// Destructor +BodyComponents::~BodyComponents() { + + if (mNbAllocatedComponents > 0) { + + // Destroy all the remaining components + for (uint32 i = 0; i < mNbComponents; i++) { + + // TODO : MAke sure we do not delete already deleted components + destroyComponent(i); + } + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE; + + // Release the allocated memory + mMemoryAllocator.release(mBuffer, totalSizeBytes); + } +} + +// Allocate memory for a given number of components +void BodyComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newBodiesEntities = static_cast(newBuffer); + Body** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); + List* newProxyShapes = reinterpret_cast*>(newBodies + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); + memcpy(newBodies, mBodies, mNbComponents * sizeof(Body*)); + memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); + } + + mBuffer = newBuffer; + mBodiesEntities = newBodiesEntities; + mBodies = newBodies; + mProxyShapes = newProxyShapes; + mNbAllocatedComponents = nbComponentsToAllocate; +} + +// Add a component +void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) { + + // If we need to allocate more components + if (mNbComponents == mNbAllocatedComponents) { + allocate(mNbAllocatedComponents * 2); + } + + uint32 index; + + // If the component to add is part of a sleeping entity or there are no sleeping entity + if (isSleeping) { + + // Add the component at the end of the array + index = mNbComponents; + + mSleepingStartIndex = index; + } + // If the component to add is not part of a sleeping entity + else { + + // If there already are sleeping components + if (mSleepingStartIndex != mNbComponents) { + + // Move the first sleeping component to the end of the array + moveComponentToIndex(mSleepingStartIndex, mNbComponents); + } + + index = mSleepingStartIndex; + + mSleepingStartIndex++; + } + + // Insert the new component data + new (mBodiesEntities + index) Entity(bodyEntity); + mBodies[index] = component.body; + new (mProxyShapes + index) List(mMemoryAllocator); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); + + mNbComponents++; + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Remove a component at a given index +void BodyComponents::removeComponent(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + uint index = mMapEntityToComponentIndex[bodyEntity]; + + assert(index < mNbComponents); + + // We want to keep the arrays tightly packed. Therefore, when a component is removed, + // we replace it with the last element of the array. But we need to make sure that sleeping + // and non-sleeping components stay grouped together. + + // Destroy the component + destroyComponent(index); + + // If the component to remove is sleeping + if (index >= mSleepingStartIndex) { + + // If the component is not the last one + if (index != mNbComponents - 1) { + + // We replace it by the last sleeping component + moveComponentToIndex(mNbComponents - 1, index); + } + } + else { // If the component to remove is not sleeping + + // If it not the last awake component + if (index != mSleepingStartIndex - 1) { + + // We replace it by the last awake component + moveComponentToIndex(mSleepingStartIndex - 1, index); + } + + // If there are sleeping components at the end + if (mSleepingStartIndex != mNbComponents) { + + // We replace the last awake component by the last sleeping component + moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); + } + + mSleepingStartIndex--; + } + + mNbComponents--; + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Notify if a given entity is sleeping or not +void BodyComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { + + const uint32 index = mMapEntityToComponentIndex[entity]; + + // If the component was sleeping and is not sleeping anymore + if (!isSleeping && index >= mSleepingStartIndex) { + + assert(mSleepingStartIndex < mNbComponents); + + // If the sleeping component is not the first sleeping component + if (mSleepingStartIndex != index) { + + // Swap the first sleeping component with the one we need to wake up + swapComponents(index, mSleepingStartIndex); + } + + mSleepingStartIndex++; + } + // If the component was awake and must now go to sleep + else if (isSleeping && index < mSleepingStartIndex) { + + assert(mSleepingStartIndex > 0); + + // If the awake component is not the only awake component + if (index != mSleepingStartIndex - 1) { + + // Swap the last awake component with the one we need to put to sleep + swapComponents(index, mSleepingStartIndex - 1); + } + + mSleepingStartIndex--; + } + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mBodiesEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); + mBodies[destIndex] = mBodies[srcIndex]; + new (mProxyShapes + destIndex) List(mProxyShapes[srcIndex]); + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mBodiesEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void BodyComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity entity1(mBodiesEntities[index1]); + Body* body1 = mBodies[index1]; + List proxyShapes1(mProxyShapes[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mBodiesEntities + index2) Entity(entity1); + new (mProxyShapes + index2) List(proxyShapes1); + mBodies[index2] = body1; + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity1, index2)); + + assert(mMapEntityToComponentIndex[mBodiesEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mBodiesEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void BodyComponents::destroyComponent(uint32 index) { + + assert(index < mNbComponents); + assert(mMapEntityToComponentIndex[mBodiesEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mBodiesEntities[index]); + + mBodiesEntities[index].~Entity(); + mBodies[index] = nullptr; + mProxyShapes[index].~List(); +} diff --git a/src/components/BodyComponents.h b/src/components/BodyComponents.h new file mode 100644 index 00000000..0af35206 --- /dev/null +++ b/src/components/BodyComponents.h @@ -0,0 +1,161 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_BODY_COMPONENTS_H +#define REACTPHYSICS3D_BODY_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class Body; + +// Class BodyComponents +/** + * This class represent the component of the ECS that contains data about a physics body. + * The components of the sleeping entities (bodies) are always stored at the end of the array. + */ +class BodyComponents : public Components { + + private: + + // -------------------- Constants -------------------- // + + const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Body*) + sizeof(List); + + // -------------------- Attributes -------------------- // + + /// Index of the first component of a sleeping entity (sleeping components are stored at the end) + uint32 mSleepingStartIndex; + + /// Array of body entities of each component + Entity* mBodiesEntities; + + /// Array of pointers to the corresponding bodies + Body** mBodies; + + /// Array with the list of proxy-shapes of each body + List* mProxyShapes; + + // -------------------- Methods -------------------- // + + /// Destroy a component at a given index + void destroyComponent(uint32 index); + + /// Move a component from a source to a destination index in the components array + void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); + + /// Swap two components in the array + void swapComponents(uint32 index1, uint32 index2); + + public: + + /// Structure for the data of a body component + struct BodyComponent { + + Body* body; + + /// Constructor + BodyComponent(Body* body) : body(body) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + BodyComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~BodyComponents(); + + /// Allocate memory for a given number of components + void allocate(uint32 nbComponentsToAllocate); + + /// Add a component + void addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component); + + /// Remove a component at a given index + void removeComponent(Entity bodyEntity); + + /// Add a proxy-shape to a body component + void addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity); + + /// Set the transform of an entity + void removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity); + + /// Return a pointer to a body + Body* getBody(Entity bodyEntity); + + /// Return the list of proxy-shapes of a body + const List& getProxyShapes(Entity bodyEntity) const; + + /// Notify if a given entity is sleeping or not + void setIsEntitySleeping(Entity bodyEntity, bool isSleeping); +}; + +// Add a proxy-shape to a body component +inline void BodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mProxyShapes[mMapEntityToComponentIndex[bodyEntity]].add(proxyShapeEntity); +} + +// Set the transform of an entity +inline void BodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mProxyShapes[mMapEntityToComponentIndex[bodyEntity]].remove(proxyShapeEntity); +} + +// Return a pointer to a body +inline Body* BodyComponents::getBody(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mBodies[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the list of proxy-shapes of a body +inline const List& BodyComponents::getProxyShapes(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mProxyShapes[mMapEntityToComponentIndex[bodyEntity]]; +} + +} + +#endif diff --git a/src/components/Components.h b/src/components/Components.h index 409cd8f8..9a7b4b54 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -86,6 +86,11 @@ class Components { virtual ~Components() { } + + /// Return the number of components + uint32 getNbComponents() const { + return mNbComponents; + } }; } diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index f623d006..4464f7f8 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -36,8 +36,7 @@ using namespace reactphysics3d; // Constructor ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) :Components(allocator), - mSleepingStartIndex(0), - mMapProxyShapeToComponentIndex(allocator) { + mSleepingStartIndex(0) { // Allocate memory for the components data allocate(INIT_ALLOCATED_COMPONENTS); @@ -76,31 +75,29 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { assert(newBuffer != nullptr); // New pointers to components data - Entity* newEntities = static_cast(newBuffer); - ProxyShape** newProxyShapes = reinterpret_cast(newEntities + nbComponentsToAllocate); + Entity* newProxyShapesEntities = static_cast(newBuffer); + Entity* newBodiesEntities = reinterpret_cast(newProxyShapesEntities + nbComponentsToAllocate); + ProxyShape** newProxyShapes = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); int* newBroadPhaseIds = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); AABB* newLocalBounds = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); Transform* newLocalToBodyTransforms = reinterpret_cast(newLocalBounds + nbComponentsToAllocate); CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); - uint32* newPreviousBodyProxyShapes = reinterpret_cast(newMasses + nbComponentsToAllocate); - uint32* newNextBodyProxyShapes = reinterpret_cast(newPreviousBodyProxyShapes + nbComponentsToAllocate); - unsigned short* newCollisionCategoryBits = reinterpret_cast(newNextBodyProxyShapes + nbComponentsToAllocate); + unsigned short* newCollisionCategoryBits = reinterpret_cast(newMasses + nbComponentsToAllocate); unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { // Copy component data from the previous buffer to the new one - memcpy(newEntities, mEntities, mNbComponents * sizeof(Entity)); + memcpy(newProxyShapesEntities, mProxyShapesEntities, mNbComponents * sizeof(Entity)); + memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(ProxyShape*)); memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int)); memcpy(newLocalBounds, mLocalBounds, mNbComponents * sizeof(AABB)); memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*)); memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); - memcpy(newPreviousBodyProxyShapes, mPreviousBodyProxyShapes, mNbComponents * sizeof(uint32)); - memcpy(newNextBodyProxyShapes, mNextBodyProxyShapes, mNbComponents * sizeof(uint32)); memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short)); memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); @@ -109,63 +106,23 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { } mBuffer = newBuffer; - mEntities = newEntities; + mProxyShapesEntities = newProxyShapesEntities; + mBodiesEntities = newBodiesEntities; + mProxyShapesEntities = newProxyShapesEntities; mProxyShapes = newProxyShapes; mBroadPhaseIds = newBroadPhaseIds; mLocalBounds = newLocalBounds; mLocalToBodyTransforms = newLocalToBodyTransforms; mCollisionShapes = newCollisionShapes; mMasses = newMasses; - mPreviousBodyProxyShapes = newPreviousBodyProxyShapes; - mNextBodyProxyShapes = newNextBodyProxyShapes; mCollisionCategoryBits = newCollisionCategoryBits; mCollideWithMaskBits = newCollideWithMaskBits; mNbAllocatedComponents = nbComponentsToAllocate; } -// Add a new proxy-shape at the beginning of the linked-list of proxy-shapes of a given entity -// If it is the first proxy-shape for the entity, it will create the first item of the linked-list -void ProxyShapesComponents::linkProxyShapeWithEntity(Entity entity, uint32 proxyShapeComponentIndex) { - - auto it = mMapEntityToComponentIndex.find(entity); - if (it != mMapEntityToComponentIndex.end()) { - - // Get the first proxy-shape of the linked-list - uint32 firstProxyShapeIndex = (*it).second; - - assert(!hasPreviousProxyShape(firstProxyShapeIndex)); - - // Update the previous index of the first item of the list - mPreviousBodyProxyShapes[firstProxyShapeIndex] = proxyShapeComponentIndex; - - // Map the entity to the new head of the linked-list - mMapEntityToComponentIndex[entity] = proxyShapeComponentIndex; - - // Add the new proxy-shape at the beginning of the linked-list - const uint32 nextIndex = firstProxyShapeIndex; - const uint32 previousIndex = proxyShapeComponentIndex; - new (mNextBodyProxyShapes + proxyShapeComponentIndex) uint32(nextIndex); - new (mPreviousBodyProxyShapes + proxyShapeComponentIndex) uint32(previousIndex); - - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[proxyShapeComponentIndex]] == proxyShapeComponentIndex); - } - else { // If the entity does not have a proxy-shape yet - - mMapEntityToComponentIndex.add(Pair(entity, proxyShapeComponentIndex)); - - // The new proxy-shape has no previous/next components in the linked-list - new (mNextBodyProxyShapes + proxyShapeComponentIndex) uint32(proxyShapeComponentIndex); - new (mPreviousBodyProxyShapes + proxyShapeComponentIndex) uint32(proxyShapeComponentIndex); - - assert(!hasNextProxyShape(proxyShapeComponentIndex)); - } - - assert(!hasPreviousProxyShape(proxyShapeComponentIndex)); -} - // Add a component -void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const ProxyShapeComponent& component) { +void ProxyShapesComponents::addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component) { // If we need to allocate more components if (mNbComponents == mNbAllocatedComponents) { @@ -198,8 +155,9 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P } // Insert the new component data - new (mEntities + index) Entity(entity); - mProxyShapes[index] = (component.proxyShape); + new (mProxyShapesEntities + index) Entity(proxyShapeEntity); + new (mBodiesEntities + index) Entity(component.bodyEntity); + mProxyShapes[index] = component.proxyShape; new (mBroadPhaseIds + index) int(component.broadPhaseId); new (mLocalBounds + index) AABB(component.localBounds); new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); @@ -208,133 +166,89 @@ void ProxyShapesComponents::addComponent(Entity entity, bool isSleeping, const P new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits); new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); - mMapProxyShapeToComponentIndex.add(Pair(component.proxyShape, index)); + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(proxyShapeEntity, index)); mNbComponents++; - // Map the entity with the new component lookup index - linkProxyShapeWithEntity(entity, index); - assert(mSleepingStartIndex <= mNbComponents); - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index || !hasNextProxyShape(index)); - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index || !hasPreviousProxyShape(index)); } // Move a component from a source to a destination index in the components array // The destination location must contain a constructed object void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { - const Entity entity = mEntities[srcIndex]; - - const bool isFirstProxyShapeOfBody = mMapEntityToComponentIndex[entity] == srcIndex; - - assert(isFirstProxyShapeOfBody || hasPreviousProxyShape(srcIndex)); + const Entity proxyShapeEntity = mProxyShapesEntities[srcIndex]; // Copy the data of the source component to the destination location - new (mEntities + destIndex) Entity(mEntities[srcIndex]); + new (mProxyShapesEntities + destIndex) Entity(mProxyShapesEntities[srcIndex]); + new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mProxyShapes[destIndex] = mProxyShapes[srcIndex]; new (mBroadPhaseIds + destIndex) int(mBroadPhaseIds[srcIndex]); new (mLocalBounds + destIndex) AABB(mLocalBounds[srcIndex]); new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); mCollisionShapes[destIndex] = mCollisionShapes[srcIndex]; new (mMasses + destIndex) decimal(mMasses[srcIndex]); - new (mPreviousBodyProxyShapes + destIndex) uint32(hasPreviousProxyShape(srcIndex) ? mPreviousBodyProxyShapes[srcIndex] : destIndex); - new (mNextBodyProxyShapes + destIndex) uint32(hasNextProxyShape(srcIndex) ? mNextBodyProxyShapes[srcIndex] : destIndex); new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]); new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); - // Update the the next proxy-shape index of the previous proxy-shape - if (hasPreviousProxyShape(destIndex)) { - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == srcIndex); - mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] = destIndex; - } - - // Update the the previous proxy-shape index of the next proxy-shape - if (hasNextProxyShape(destIndex)) { - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == srcIndex); - mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] = destIndex; - } - // Destroy the source component destroyComponent(srcIndex); - // Update the entity to component index mapping if it is the first proxy-shape of the body - if (isFirstProxyShapeOfBody) { + assert(!mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - mMapEntityToComponentIndex[entity] = destIndex; - assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex); - } + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(proxyShapeEntity, destIndex)); - mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[destIndex], destIndex)); - - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[destIndex]] == destIndex || !hasNextProxyShape(destIndex)); - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[destIndex]] == destIndex || !hasPreviousProxyShape(destIndex)); + assert(mMapEntityToComponentIndex[mProxyShapesEntities[destIndex]] == destIndex); } // Swap two components in the array void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data - Entity entity1(mEntities[index1]); + Entity proxyShapeEntity1(mProxyShapesEntities[index1]); + Entity bodyEntity1(mBodiesEntities[index1]); ProxyShape* proxyShape1 = mProxyShapes[index1]; int broadPhaseId1 = mBroadPhaseIds[index1]; AABB localBounds1 = mLocalBounds[index1]; Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; CollisionShape* collisionShape1 = mCollisionShapes[index1]; decimal mass1 = mMasses[index1]; - uint32 previousProxyShape1 = hasPreviousProxyShape(index1) ? mPreviousBodyProxyShapes[index1] : index2; - uint32 nextProxyShape1 = hasNextProxyShape(index1) ? mNextBodyProxyShapes[index1] : index2; unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1]; unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; - const bool isFirstBodyProxyShape1 = mMapEntityToComponentIndex[mEntities[index1]] == index1; - // Destroy component 1 destroyComponent(index1); moveComponentToIndex(index2, index1); // Reconstruct component 1 at component 2 location - new (mEntities + index2) Entity(entity1); + new (mProxyShapesEntities + index2) Entity(proxyShapeEntity1); + new (mBodiesEntities + index2) Entity(bodyEntity1); mProxyShapes[index2] = proxyShape1; new (mBroadPhaseIds + index2) int(broadPhaseId1); new (mLocalBounds + index2) AABB(localBounds1); new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); mCollisionShapes[index2] = collisionShape1; new (mMasses + index2) decimal(mass1); - new (mPreviousBodyProxyShapes + index2) uint32(previousProxyShape1); - new (mNextBodyProxyShapes + index2) uint32(nextProxyShape1); new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1); new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); - // Update the the next proxy-shape index of the previous proxy-shape - if (hasPreviousProxyShape(index2)) { - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] == index1); - mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] = index2; - } + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(proxyShapeEntity1, index2)); - // Update the the previous proxy-shape index of the next proxy-shape - if (hasNextProxyShape(index2)) { - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] == index1); - mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] = index2; - } - - mMapProxyShapeToComponentIndex.add(Pair(mProxyShapes[index2], index2)); - - // Update the entity to component index mapping if it is the first body proxy-shape - if (isFirstBodyProxyShape1) { - assert(!hasPreviousProxyShape(index2)); - mMapEntityToComponentIndex[entity1] = index2; - } - - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index1]] == index1 || !hasNextProxyShape(index1)); - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index2]] == index2 || !hasNextProxyShape(index2)); - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index1]] == index1 || !hasPreviousProxyShape(index1)); - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index2]] == index2 || !hasPreviousProxyShape(index2)); + assert(mMapEntityToComponentIndex[mProxyShapesEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mProxyShapesEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } // Remove a component at a given index -void ProxyShapesComponents::removeComponent(uint32 index) { +void ProxyShapesComponents::removeComponent(Entity proxyShapeEntity) { + + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + uint index = mMapEntityToComponentIndex[proxyShapeEntity]; assert(index < mNbComponents); @@ -342,59 +256,6 @@ void ProxyShapesComponents::removeComponent(uint32 index) { // we replace it with the last element of the array. But we need to make sure that sleeping // and non-sleeping components stay grouped together. - // If the proxy-shape to destroy does not have a previous proxy-shape in the linked-list of proxy-shapes of its body - if (!hasPreviousProxyShape(index)) { - - // Remove the mapping from entity to component index - mMapEntityToComponentIndex.remove(mEntities[index]); - - // If the proxy-shape has a next proxy-shape in the linked-list - if (hasNextProxyShape(index)) { - - assert(mEntities[index] == mEntities[mNextBodyProxyShapes[index]]); - - mMapEntityToComponentIndex.add(Pair(mEntities[mNextBodyProxyShapes[index]], mNextBodyProxyShapes[index])); - } - } - - // Update the linked-list of proxy-shapes of a body when a proxy-shape is removed - if (hasPreviousProxyShape(index)) { - - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index); - assert(mEntities[index] == mEntities[mPreviousBodyProxyShapes[index]]); - - // If the current proxy-shape to remove has a next proxy-shape in the linked-list - if (hasNextProxyShape(index)) { - - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index); - - // Make sure the next proxy-shape will follow the previous proxy-shape in the linked-list - mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] = mNextBodyProxyShapes[index]; - } - else { - - mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] = mPreviousBodyProxyShapes[index]; - } - } - - // Update the linked-list of proxy-shapes of a body when a proxy-shape is removed - if (hasNextProxyShape(index)) { - - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index); - assert(mEntities[index] == mEntities[mNextBodyProxyShapes[index]]); - - // If the current proxy-shape to remove has a previous proxy-shape in the linked-list - if (hasPreviousProxyShape(index)) { - - // Make sure the previous proxy-shape will precede the next proxy-shape in the linked-list - mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] = mPreviousBodyProxyShapes[index]; - } - else { - - mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] = mNextBodyProxyShapes[index]; - } - } - // Destroy the component destroyComponent(index); @@ -427,30 +288,22 @@ void ProxyShapesComponents::removeComponent(uint32 index) { mSleepingStartIndex--; } - assert(mSleepingStartIndex <= mNbComponents); mNbComponents--; -} -// Return true if a given proxy-shape component has a previous proxy-shape in the linked-list of proxy-shapes of a body -bool ProxyShapesComponents::hasPreviousProxyShape(uint32 index) const { - assert(index < mNbComponents); - return mPreviousBodyProxyShapes[index] != index; -} - -// Return true if a given proxy-shape component has a next proxy-shape in the linked-list of proxy-shapes of a body -bool ProxyShapesComponents::hasNextProxyShape(uint32 index) const { - assert(index < mNbComponents); - return mNextBodyProxyShapes[index] != index; + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } // Destroy a component at a given index void ProxyShapesComponents::destroyComponent(uint32 index) { assert(index < mNbComponents); + assert(mMapEntityToComponentIndex[mProxyShapesEntities[index]] == index); - mMapProxyShapeToComponentIndex.remove(mProxyShapes[index]); + mMapEntityToComponentIndex.remove(mProxyShapesEntities[index]); - mEntities[index].~Entity(); + mProxyShapesEntities[index].~Entity(); + mBodiesEntities[index].~Entity(); mProxyShapes[index] = nullptr; mLocalBounds[index].~AABB(); mLocalToBodyTransforms[index].~Transform(); @@ -492,31 +345,4 @@ void ProxyShapesComponents::setIsEntitySleeping(Entity entity, bool isSleeping) } assert(mSleepingStartIndex <= mNbComponents); - assert(mPreviousBodyProxyShapes[mNextBodyProxyShapes[index]] == index || !hasNextProxyShape(index)); - assert(mNextBodyProxyShapes[mPreviousBodyProxyShapes[index]] == index || !hasPreviousProxyShape(index)); -} - -// Remove all the components of a given entity -void ProxyShapesComponents::removeComponents(Entity entity) { - - auto it = mMapEntityToComponentIndex.find(entity); - - // While there are components for this entity - while (it != mMapEntityToComponentIndex.end()) { - - // Remove the component - removeComponent(it->second); - - it = mMapEntityToComponentIndex.find(entity); - } - - assert(!mMapEntityToComponentIndex.containsKey(entity)); -} - -// Remove a given proxy-shape -void ProxyShapesComponents::removeComponent(const ProxyShape* proxyShape) { - - uint32 index = mMapProxyShapeToComponentIndex[proxyShape]; - - removeComponent(index); } diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index d2e58233..017c775a 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -45,11 +45,9 @@ class ProxyShape; // Class ProxyShapesComponents /** - * This class represent the component of the ECS that contains the proxy-shapes of the - * different entities. There can be several proxy shapes for each entity (body). We store - * the proxy shapes in a flat array but we keep two arrays with previous/next proxy shapes - * link information to quickly know all the proxy shapes of a given entity (body). We also make - * sure that proxy shapes of sleeping entities (bodies) are always stored at the end of the array. + * This class represent the component of the ECS that contains data about the the proxy-shapes of the + * different bodies. We also make sure that proxy shapes of sleeping entities (bodies) are + * always stored at the end of the array. */ class ProxyShapesComponents : public Components { @@ -57,22 +55,22 @@ class ProxyShapesComponents : public Components { // -------------------- Constants -------------------- // - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + - sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(uint32) + - sizeof(uint32) + sizeof(unsigned short) + sizeof(unsigned short); + const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + + sizeof(unsigned short); // -------------------- Attributes -------------------- // /// Index of the first component of a sleeping entity (sleeping components are stored at the end) uint32 mSleepingStartIndex; - /// Map a proxy shape to the index of the corresponding component in the array - Map mMapProxyShapeToComponentIndex; + /// Array of entities of each component + Entity* mBodiesEntities; /// Array of entities of each component - Entity* mEntities; + Entity* mProxyShapesEntities; - /// Array of pointers to the proxy-shapes + /// Array of pointer to the proxy-shapes ProxyShape** mProxyShapes; /// Ids of the proxy-shapes for the broad-phase algorithm @@ -91,14 +89,6 @@ class ProxyShapesComponents : public Components { /// Masses (in kilogramms) of the proxy-shapes decimal* mMasses; - /// Index of the previous proxy-shape in the same body - /// mPreviousBodyProxyShapes[i] == i means that the proxy-shape component has no previous proxy-shape - uint32* mPreviousBodyProxyShapes; - - /// Index of the next proxy-shape in the same body - /// mNextBodyProxyShapes[i] == i means that the proxy-shape component has no next proxy-shape - uint32* mNextBodyProxyShapes; - /// Array of bits used to define the collision category of this shape. /// You can set a single bit to one to define a category value for this /// shape. This value is one (0x0001) by default. This variable can be used @@ -114,9 +104,6 @@ class ProxyShapesComponents : public Components { // -------------------- Methods -------------------- // - /// Remove a component at a given index - void removeComponent(uint32 index); - /// Destroy a component at a given index void destroyComponent(uint32 index); @@ -126,20 +113,12 @@ class ProxyShapesComponents : public Components { /// Swap two components in the array void swapComponents(uint32 index1, uint32 index2); - /// Add a new proxy-shape at the end of the linked-list of proxy-shapes of a given entity - void linkProxyShapeWithEntity(Entity entity, uint32 proxyShapeComponentIndex); - - /// Return true if a given proxy-shape component has a previous proxy-shape in the linked-list of proxy-shapes of a body - bool hasPreviousProxyShape(uint32 index) const; - - /// Return true if a given proxy-shape component has a next proxy-shape in the linked-list of proxy-shapes of a body - bool hasNextProxyShape(uint32 index) const; - public: /// Structure for the data of a proxy shape component struct ProxyShapeComponent { + Entity bodyEntity; ProxyShape* proxyShape; int broadPhaseId; AABB localBounds; @@ -150,10 +129,10 @@ class ProxyShapesComponents : public Components { unsigned short collideWithMaskBits; /// Constructor - ProxyShapeComponent(ProxyShape* proxyShape, int broadPhaseId, AABB localBounds, Transform localToBodyTransform, + ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, int broadPhaseId, AABB localBounds, Transform localToBodyTransform, CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, unsigned short collideWithMaskBits) - :proxyShape(proxyShape), broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), + :bodyEntity(bodyEntity), proxyShape(proxyShape), broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits) { } @@ -165,166 +144,140 @@ class ProxyShapesComponents : public Components { ProxyShapesComponents(MemoryAllocator& allocator); /// Destructor - ~ProxyShapesComponents(); + virtual ~ProxyShapesComponents(); /// Allocate memory for a given number of components void allocate(uint32 nbComponentsToAllocate); /// Add a component - void addComponent(Entity entity, bool isSleeping, const ProxyShapeComponent& component); + void addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component); - /// Remove all the components of a given entity - void removeComponents(Entity entity); - - /// Remove a given proxy-shape - void removeComponent(const ProxyShape* proxyShape); + /// Remove a component at a given index + void removeComponent(Entity proxyShapeEntity); /// Notify if a given entity is sleeping or not void setIsEntitySleeping(Entity entity, bool isSleeping); /// Return the mass of a proxy-shape - decimal getMass(const ProxyShape* proxyShape) const; + decimal getMass(Entity proxyShapeEntity) const; + + /// Return a pointer to a given proxy-shape + ProxyShape* getProxyShape(Entity proxyShapeEntity) const; /// Return the local-to-body transform of a proxy-shape - const Transform& getLocalToBodyTransform(const ProxyShape* proxyShape) const; + const Transform& getLocalToBodyTransform(Entity proxyShapeEntity) const; /// Set the local-to-body transform of a proxy-shape - void setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform); + void setLocalToBodyTransform(Entity proxyShapeEntity, const Transform& transform); /// Return a pointer to the collision shape of a proxy-shape - CollisionShape* getCollisionShape(const ProxyShape* proxyShape) const; + CollisionShape* getCollisionShape(Entity proxyShapeEntity) const; /// Return the broad-phase id of a given proxy shape - int getBroadPhaseId(const ProxyShape* proxyShape) const; + int getBroadPhaseId(Entity proxyShapeEntity) const; /// Set the broad-phase id of a given proxy shape - void setBroadPhaseId(const ProxyShape* proxyShape, int broadPhaseId); - - /// Return the next proxy-shape in the linked-list of all proxy-shapes of a body - ProxyShape* getNextProxyShapeOfBody(const ProxyShape* proxyShape) const; - - /// Return the first proxy-shape in the linked-list of all proxy-shapes of a body - ProxyShape* getFirstProxyShapeOfBody(Entity entity) const; + void setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId); /// Return the collision category bits of a given proxy-shape - unsigned short getCollisionCategoryBits(const ProxyShape* proxyShape) const; + unsigned short getCollisionCategoryBits(Entity proxyShapeEntity) const; /// Set the collision category bits of a given proxy-shape - void setCollisionCategoryBits(const ProxyShape* proxyShape, unsigned short collisionCategoryBits); + void setCollisionCategoryBits(Entity proxyShapeEntity, unsigned short collisionCategoryBits); /// Return the "collide with" mask bits of a given proxy-shape - unsigned short getCollideWithMaskBits(const ProxyShape* proxyShape) const; + unsigned short getCollideWithMaskBits(Entity proxyShapeEntity) const; /// Set the "collide with" mask bits of a given proxy-shape - void setCollideWithMaskBits(const ProxyShape* proxyShape, unsigned short collideWithMaskBits); + void setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits); }; // Return the mass of a proxy-shape -inline decimal ProxyShapesComponents::getMass(const ProxyShape* proxyShape) const { +inline decimal ProxyShapesComponents::getMass(Entity proxyShapeEntity) const { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - return mMasses[mMapProxyShapeToComponentIndex[proxyShape]]; + return mMasses[mMapEntityToComponentIndex[proxyShapeEntity]]; +} + +// Return a pointer to a given proxy-shape +inline ProxyShape* ProxyShapesComponents::getProxyShape(Entity proxyShapeEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + return mProxyShapes[mMapEntityToComponentIndex[proxyShapeEntity]]; } // Return the local-to-body transform of a proxy-shape -inline const Transform& ProxyShapesComponents::getLocalToBodyTransform(const ProxyShape* proxyShape) const { +inline const Transform& ProxyShapesComponents::getLocalToBodyTransform(Entity proxyShapeEntity) const { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - return mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]]; + return mLocalToBodyTransforms[mMapEntityToComponentIndex[proxyShapeEntity]]; } // Set the local-to-body transform of a proxy-shape -inline void ProxyShapesComponents::setLocalToBodyTransform(const ProxyShape* proxyShape, const Transform& transform) { +inline void ProxyShapesComponents::setLocalToBodyTransform(Entity proxyShapeEntity, const Transform& transform) { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - mLocalToBodyTransforms[mMapProxyShapeToComponentIndex[proxyShape]] = transform; + mLocalToBodyTransforms[mMapEntityToComponentIndex[proxyShapeEntity]] = transform; } // Return a pointer to the collision shape of a proxy-shape -inline CollisionShape* ProxyShapesComponents::getCollisionShape(const ProxyShape* proxyShape) const { +inline CollisionShape* ProxyShapesComponents::getCollisionShape(Entity proxyShapeEntity) const { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - return mCollisionShapes[mMapProxyShapeToComponentIndex[proxyShape]]; + return mCollisionShapes[mMapEntityToComponentIndex[proxyShapeEntity]]; } // Return the broad-phase id of a given proxy shape -inline int ProxyShapesComponents::getBroadPhaseId(const ProxyShape* proxyShape) const { +inline int ProxyShapesComponents::getBroadPhaseId(Entity proxyShapeEntity) const { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - return mBroadPhaseIds[mMapProxyShapeToComponentIndex[proxyShape]]; + return mBroadPhaseIds[mMapEntityToComponentIndex[proxyShapeEntity]]; } // Set the broad-phase id of a given proxy shape -inline void ProxyShapesComponents::setBroadPhaseId(const ProxyShape* proxyShape, int broadPhaseId) { +inline void ProxyShapesComponents::setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId) { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - mBroadPhaseIds[mMapProxyShapeToComponentIndex[proxyShape]] = broadPhaseId; -} - -// Return the next proxy-shape in the linked-list of all proxy-shapes of a body -inline ProxyShape* ProxyShapesComponents::getNextProxyShapeOfBody(const ProxyShape* proxyShape) const { - - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); - - uint32 proxyShapeIndex = mMapProxyShapeToComponentIndex[proxyShape]; - uint32 nextProxyShapeIndex = mNextBodyProxyShapes[proxyShapeIndex]; - - // If the current proxy-shape has a next one - if (proxyShapeIndex != nextProxyShapeIndex) { - return mProxyShapes[nextProxyShapeIndex]; - } - - return nullptr; -} - -// Return the first proxy-shape in the linked-list of all proxy-shapes of a body -inline ProxyShape* ProxyShapesComponents::getFirstProxyShapeOfBody(Entity entity) const { - - auto it = mMapEntityToComponentIndex.find(entity); - - if (it != mMapEntityToComponentIndex.end()) { - return mProxyShapes[it->second]; - } - - return nullptr; + mBroadPhaseIds[mMapEntityToComponentIndex[proxyShapeEntity]] = broadPhaseId; } // Return the collision category bits of a given proxy-shape -inline unsigned short ProxyShapesComponents::getCollisionCategoryBits(const ProxyShape* proxyShape) const { +inline unsigned short ProxyShapesComponents::getCollisionCategoryBits(Entity proxyShapeEntity) const { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - return mCollisionCategoryBits[mMapProxyShapeToComponentIndex[proxyShape]]; + return mCollisionCategoryBits[mMapEntityToComponentIndex[proxyShapeEntity]]; } // Return the "collide with" mask bits of a given proxy-shape -inline unsigned short ProxyShapesComponents::getCollideWithMaskBits(const ProxyShape* proxyShape) const { +inline unsigned short ProxyShapesComponents::getCollideWithMaskBits(Entity proxyShapeEntity) const { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - return mCollideWithMaskBits[mMapProxyShapeToComponentIndex[proxyShape]]; + return mCollideWithMaskBits[mMapEntityToComponentIndex[proxyShapeEntity]]; } // Set the collision category bits of a given proxy-shape -inline void ProxyShapesComponents::setCollisionCategoryBits(const ProxyShape* proxyShape, unsigned short collisionCategoryBits) { +inline void ProxyShapesComponents::setCollisionCategoryBits(Entity proxyShapeEntity, unsigned short collisionCategoryBits) { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - mCollisionCategoryBits[mMapProxyShapeToComponentIndex[proxyShape]] = collisionCategoryBits; + mCollisionCategoryBits[mMapEntityToComponentIndex[proxyShapeEntity]] = collisionCategoryBits; } // Set the "collide with" mask bits of a given proxy-shape -inline void ProxyShapesComponents::setCollideWithMaskBits(const ProxyShape* proxyShape, unsigned short collideWithMaskBits) { +inline void ProxyShapesComponents::setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits) { - assert(mMapProxyShapeToComponentIndex.containsKey(proxyShape)); + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - mCollideWithMaskBits[mMapProxyShapeToComponentIndex[proxyShape]] = collideWithMaskBits; + mCollideWithMaskBits[mMapEntityToComponentIndex[proxyShapeEntity]] = collideWithMaskBits; } } diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index 526f36a2..038fea97 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -82,20 +82,20 @@ void TransformComponents::allocate(uint32 nbComponentsToAllocate) { // Copy component data from the previous buffer to the new one memcpy(newTransforms, mTransforms, mNbComponents * sizeof(Transform)); - memcpy(newEntities, mEntities, mNbComponents * sizeof(Entity)); + memcpy(newEntities, mBodies, mNbComponents * sizeof(Entity)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); } mBuffer = newBuffer; - mEntities = newEntities; + mBodies = newEntities; mTransforms = newTransforms; mNbAllocatedComponents = nbComponentsToAllocate; } // Add a component -void TransformComponents::addComponent(Entity entity, bool isSleeping, const TransformComponent& component) { +void TransformComponents::addComponent(Entity bodyEntity, bool isSleeping, const TransformComponent& component) { // If we need to allocate more components if (mNbComponents == mNbAllocatedComponents) { @@ -128,11 +128,11 @@ void TransformComponents::addComponent(Entity entity, bool isSleeping, const Tra } // Insert the new component data - new (mEntities + index) Entity(entity); + new (mBodies + index) Entity(bodyEntity); new (mTransforms + index) Transform(component.transform); // Map the entity with the new component lookup index - mMapEntityToComponentIndex.add(Pair(entity, index)); + mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); mNbComponents++; @@ -141,7 +141,11 @@ void TransformComponents::addComponent(Entity entity, bool isSleeping, const Tra } // Remove a component at a given index -void TransformComponents::removeComponent(uint32 index) { +void TransformComponents::removeComponent(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + uint index = mMapEntityToComponentIndex[bodyEntity]; assert(index < mNbComponents); @@ -229,26 +233,28 @@ void TransformComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { // The destination location must contain a constructed object void TransformComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { - // Copy the data of the source component to the destination location - new (mEntities + destIndex) Entity(mEntities[srcIndex]); - new (mTransforms + destIndex) Transform(mTransforms[srcIndex]); + const Entity entity = mBodies[srcIndex]; - const Entity entity = mEntities[srcIndex]; + // Copy the data of the source component to the destination location + new (mBodies + destIndex) Entity(mBodies[srcIndex]); + new (mTransforms + destIndex) Transform(mTransforms[srcIndex]); // Destroy the source component destroyComponent(srcIndex); + assert(!mMapEntityToComponentIndex.containsKey(entity)); + // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity, destIndex)); - assert(mMapEntityToComponentIndex[mEntities[destIndex]] == destIndex); + assert(mMapEntityToComponentIndex[mBodies[destIndex]] == destIndex); } // Swap two components in the array void TransformComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data - Entity entity1(mEntities[index1]); + Entity entity1(mBodies[index1]); Transform transform1(mTransforms[index1]); // Destroy component 1 @@ -257,14 +263,14 @@ void TransformComponents::swapComponents(uint32 index1, uint32 index2) { moveComponentToIndex(index2, index1); // Reconstruct component 1 at component 2 location - new (mEntities + index2) Entity(entity1); + new (mBodies + index2) Entity(entity1); new (mTransforms + index2) Transform(transform1); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); - assert(mMapEntityToComponentIndex[mEntities[index1]] == index1); - assert(mMapEntityToComponentIndex[mEntities[index2]] == index2); + assert(mMapEntityToComponentIndex[mBodies[index1]] == index1); + assert(mMapEntityToComponentIndex[mBodies[index2]] == index2); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } @@ -272,25 +278,10 @@ void TransformComponents::swapComponents(uint32 index1, uint32 index2) { void TransformComponents::destroyComponent(uint32 index) { assert(index < mNbComponents); - assert(mMapEntityToComponentIndex[mEntities[index]] == index); + assert(mMapEntityToComponentIndex[mBodies[index]] == index); - mMapEntityToComponentIndex.remove(mEntities[index]); + mMapEntityToComponentIndex.remove(mBodies[index]); - mEntities[index].~Entity(); + mBodies[index].~Entity(); mTransforms[index].~Transform(); } - -// Remove all the components of a given entity -void TransformComponents::removeComponents(Entity entity) { - - auto it = mMapEntityToComponentIndex.find(entity); - - // If there is a component for this entity - if (it != mMapEntityToComponentIndex.end()) { - - // Remove the component - removeComponent(it->second); - } - - assert(!mMapEntityToComponentIndex.containsKey(entity)); -} diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index da5cf0a4..10d14e6b 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -58,17 +58,14 @@ class TransformComponents : public Components { /// Index of the first component of a sleeping entity (sleeping components are stored at the end) uint32 mSleepingStartIndex; - /// Array of entities of each component - Entity* mEntities; + /// Array of body entities of each component + Entity* mBodies; /// Array of transform of each component Transform* mTransforms; // -------------------- Methods -------------------- // - /// Remove a component at a given index - void removeComponent(uint32 index); - /// Destroy a component at a given index void destroyComponent(uint32 index); @@ -103,29 +100,29 @@ class TransformComponents : public Components { void allocate(uint32 nbComponentsToAllocate); /// Add a component - void addComponent(Entity entity, bool isSleeping, const TransformComponent& component); + void addComponent(Entity bodyEntity, bool isSleeping, const TransformComponent& component); - /// Remove all the components of a given entity - void removeComponents(Entity entity); + /// Remove a component at a given index + void removeComponent(Entity bodyEntity); /// Return the transform of an entity - Transform& getTransform(Entity entity) const; + Transform& getTransform(Entity bodyEntity) const; /// Set the transform of an entity - void setTransform(Entity entity, const Transform& transform); + void setTransform(Entity bodyEntity, const Transform& transform); /// Notify if a given entity is sleeping or not - void setIsEntitySleeping(Entity entity, bool isSleeping); + void setIsEntitySleeping(Entity bodyEntity, bool isSleeping); }; // Return the transform of an entity -inline Transform& TransformComponents::getTransform(Entity entity) const { - return mTransforms[mMapEntityToComponentIndex[entity]]; +inline Transform& TransformComponents::getTransform(Entity bodyEntity) const { + return mTransforms[mMapEntityToComponentIndex[bodyEntity]]; } // Set the transform of an entity -inline void TransformComponents::setTransform(Entity entity, const Transform& transform) { - mTransforms[mMapEntityToComponentIndex[entity]] = transform; +inline void TransformComponents::setTransform(Entity bodyEntity, const Transform& transform) { + mTransforms[mMapEntityToComponentIndex[bodyEntity]] = transform; } } diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index ef711c1c..cbc5e897 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -38,9 +38,10 @@ uint CollisionWorld::mNbWorlds = 0; // Constructor CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), - mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), - mCollisionDetection(this, mProxyShapesComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), - mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), + mBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), + mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mMemoryManager), + mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), + mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { @@ -131,6 +132,9 @@ CollisionWorld::~CollisionWorld() { #endif assert(mBodies.size() == 0); + assert(mBodyComponents.getNbComponents() == 0); + assert(mTransformComponents.getNbComponents() == 0); + assert(mProxyShapesComponents.getNbComponents() == 0); } // Create a collision body and add it to the world @@ -149,7 +153,6 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { // Largest index cannot be used (it is used for invalid index) assert(bodyID < std::numeric_limits::max()); - // Add a transform component mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); // Create the collision body @@ -159,6 +162,10 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { assert(collisionBody != nullptr); + // Add the components + BodyComponents::BodyComponent bodyComponent(collisionBody); + mBodyComponents.addComponent(entity, false, bodyComponent); + // Add the collision body to the world mBodies.add(collisionBody); @@ -197,8 +204,9 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Reset the contact manifold list of the body collisionBody->resetContactManifoldsList(); - // Destroy the entity and its components - destroyEntity(collisionBody->getEntity()); + mBodyComponents.removeComponent(collisionBody->getEntity()); + mTransformComponents.removeComponent(collisionBody->getEntity()); + mEntityManager.destroyEntity(collisionBody->getEntity()); // Call the destructor of the collision body collisionBody->~CollisionBody(); @@ -239,26 +247,19 @@ void CollisionWorld::resetContactManifoldListsOfBodies() { } // Notify the world if a body is sleeping or not -void CollisionWorld::notifyBodySleeping(Entity entity, bool isSleeping) { +void CollisionWorld::notifyBodySleeping(Entity bodyEntity, bool isSleeping) { // TODO : Make sure we notify all the components here ... // Notify all the components - mTransformComponents.setIsEntitySleeping(entity, isSleeping); - mProxyShapesComponents.setIsEntitySleeping(entity, isSleeping); -} + mTransformComponents.setIsEntitySleeping(bodyEntity, isSleeping); -// Destroy an entity and all the associated components -void CollisionWorld::destroyEntity(Entity entity) { + // For each proxy-shape of the body + const List& proxyShapesEntities = mBodyComponents.getProxyShapes(bodyEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { - // Destroy the corresponding entity - mEntityManager.destroyEntity(entity); - - // TODO : Make sure we notify all the components here ... - - // Notify all the components - mTransformComponents.removeComponents(entity); - mProxyShapesComponents.removeComponents(entity); + mProxyShapesComponents.setIsEntitySleeping(proxyShapesEntities[i], isSleeping); + } } // Test if the AABBs of two bodies overlap diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index a3b2922b..c29f8c34 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -33,6 +33,7 @@ #include "constraint/Joint.h" #include "memory/MemoryManager.h" #include "engine/EntityManager.h" +#include "components/BodyComponents.h" #include "components/TransformComponents.h" #include "components/ProxyShapesComponents.h" @@ -72,6 +73,9 @@ class CollisionWorld { /// Entity Manager for the ECS EntityManager mEntityManager; + /// Body Components + BodyComponents mBodyComponents; + /// Transform Components TransformComponents mTransformComponents; @@ -128,9 +132,6 @@ class CollisionWorld { /// Notify the world if a body is sleeping or not void notifyBodySleeping(Entity entity, bool isSleeping); - /// Destroy an entity and all the associated components - void destroyEntity(Entity entity); - public : // -------------------- Methods -------------------- // diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 22ad2914..2025e461 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -428,7 +428,6 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { // Largest index cannot be used (it is used for invalid index) assert(bodyID < std::numeric_limits::max()); - // Add a transform component mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); // Create the rigid body @@ -436,6 +435,9 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { sizeof(RigidBody))) RigidBody(transform, *this, entity, bodyID); assert(rigidBody != nullptr); + BodyComponents::BodyComponent bodyComponent(rigidBody); + mBodyComponents.addComponent(entity, false, bodyComponent); + // Add the rigid body to the physics world mBodies.add(rigidBody); mRigidBodies.add(rigidBody); @@ -480,7 +482,9 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { rigidBody->resetContactManifoldsList(); // Destroy the corresponding entity and its components - destroyEntity(rigidBody->getEntity()); + mBodyComponents.removeComponent(rigidBody->getEntity()); + mTransformComponents.removeComponent(rigidBody->getEntity()); + mEntityManager.destroyEntity(rigidBody->getEntity()); // Call the destructor of the rigid body rigidBody->~RigidBody(); diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 0a75b5dd..9c47fd95 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -84,7 +84,7 @@ void BroadPhaseSystem::addProxyCollisionShape(ProxyShape* proxyShape, const AABB int nodeId = mDynamicAABBTree.addObject(aabb, proxyShape); // Set the broad-phase ID of the proxy shape - mProxyShapesComponents.setBroadPhaseId(proxyShape, nodeId); + mProxyShapesComponents.setBroadPhaseId(proxyShape->getEntity(), nodeId); // Add the collision shape into the array of bodies that have moved (or have been created) // during the last simulation step @@ -98,7 +98,7 @@ void BroadPhaseSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { int broadPhaseID = proxyShape->getBroadPhaseId(); - mProxyShapesComponents.setBroadPhaseId(proxyShape, -1); + mProxyShapesComponents.setBroadPhaseId(proxyShape->getEntity(), -1); // Remove the collision shape from the dynamic AABB tree mDynamicAABBTree.removeObject(broadPhaseID); diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 97d0779e..3ecaee92 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -380,8 +380,9 @@ void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { // For each proxy shape of the object - rp3d::ProxyShape* proxyShape = (*it)->getCollisionBody()->getProxyShapesList(); - while (proxyShape != nullptr) { + for (uint i=0; i < (*it)->getCollisionBody()->getNbProxyShapes(); i++) { + + rp3d::ProxyShape* proxyShape = (*it)->getCollisionBody()->getProxyShape(i); // Get the broad-phase AABB corresponding to the proxy shape rp3d::AABB aabb = mPhysicsWorld->getWorldAABB(proxyShape); @@ -392,8 +393,6 @@ void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) // Render the AABB AABB::render(aabbCenter, aabbMax - aabbMin, Color::green(), mColorShader, worldToCameraMatrix); - - proxyShape = proxyShape->getNext(); } } } From 91416ae5ba1d23db211186ca5ce44c9ddd93f86a Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 16 Mar 2019 07:50:34 +0100 Subject: [PATCH 036/197] Refactor components --- CMakeLists.txt | 1 + src/components/BodyComponents.cpp | 151 +----------------- src/components/BodyComponents.h | 24 +-- src/components/Components.cpp | 189 +++++++++++++++++++++++ src/components/Components.h | 47 ++++-- src/components/ProxyShapesComponents.cpp | 153 ++---------------- src/components/ProxyShapesComponents.h | 29 +--- src/components/TransformComponents.cpp | 151 +----------------- src/components/TransformComponents.h | 27 +--- 9 files changed, 273 insertions(+), 499 deletions(-) create mode 100644 src/components/Components.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index b773f621..7850396b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -231,6 +231,7 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/Entity.cpp" "src/engine/EntityManager.cpp" "src/systems/BroadPhaseSystem.cpp" + "src/components/Components.cpp" "src/components/BodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapesComponents.cpp" diff --git a/src/components/BodyComponents.cpp b/src/components/BodyComponents.cpp index 41b7577b..b5f38609 100644 --- a/src/components/BodyComponents.cpp +++ b/src/components/BodyComponents.cpp @@ -34,30 +34,10 @@ using namespace reactphysics3d; // Constructor BodyComponents::BodyComponents(MemoryAllocator& allocator) - :Components(allocator), mSleepingStartIndex(0){ + :Components(allocator, sizeof(Entity) + sizeof(Body*) + sizeof(List)) { // Allocate memory for the components data - allocate(INIT_ALLOCATED_COMPONENTS); -} - -// Destructor -BodyComponents::~BodyComponents() { - - if (mNbAllocatedComponents > 0) { - - // Destroy all the remaining components - for (uint32 i = 0; i < mNbComponents; i++) { - - // TODO : MAke sure we do not delete already deleted components - destroyComponent(i); - } - - // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE; - - // Release the allocated memory - mMemoryAllocator.release(mBuffer, totalSizeBytes); - } + allocate(INIT_NB_ALLOCATED_COMPONENTS); } // Allocate memory for a given number of components @@ -66,7 +46,7 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { assert(nbComponentsToAllocate > mNbAllocatedComponents); // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE; + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; // Allocate memory void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); @@ -86,7 +66,7 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List)); // Deallocate previous memory - mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); } mBuffer = newBuffer; @@ -99,35 +79,8 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { // Add a component void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) { - // If we need to allocate more components - if (mNbComponents == mNbAllocatedComponents) { - allocate(mNbAllocatedComponents * 2); - } - - uint32 index; - - // If the component to add is part of a sleeping entity or there are no sleeping entity - if (isSleeping) { - - // Add the component at the end of the array - index = mNbComponents; - - mSleepingStartIndex = index; - } - // If the component to add is not part of a sleeping entity - else { - - // If there already are sleeping components - if (mSleepingStartIndex != mNbComponents) { - - // Move the first sleeping component to the end of the array - moveComponentToIndex(mSleepingStartIndex, mNbComponents); - } - - index = mSleepingStartIndex; - - mSleepingStartIndex++; - } + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); // Insert the new component data new (mBodiesEntities + index) Entity(bodyEntity); @@ -143,95 +96,6 @@ void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const Body assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } -// Remove a component at a given index -void BodyComponents::removeComponent(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - uint index = mMapEntityToComponentIndex[bodyEntity]; - - assert(index < mNbComponents); - - // We want to keep the arrays tightly packed. Therefore, when a component is removed, - // we replace it with the last element of the array. But we need to make sure that sleeping - // and non-sleeping components stay grouped together. - - // Destroy the component - destroyComponent(index); - - // If the component to remove is sleeping - if (index >= mSleepingStartIndex) { - - // If the component is not the last one - if (index != mNbComponents - 1) { - - // We replace it by the last sleeping component - moveComponentToIndex(mNbComponents - 1, index); - } - } - else { // If the component to remove is not sleeping - - // If it not the last awake component - if (index != mSleepingStartIndex - 1) { - - // We replace it by the last awake component - moveComponentToIndex(mSleepingStartIndex - 1, index); - } - - // If there are sleeping components at the end - if (mSleepingStartIndex != mNbComponents) { - - // We replace the last awake component by the last sleeping component - moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); - } - - mSleepingStartIndex--; - } - - mNbComponents--; - - assert(mSleepingStartIndex <= mNbComponents); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - -// Notify if a given entity is sleeping or not -void BodyComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { - - const uint32 index = mMapEntityToComponentIndex[entity]; - - // If the component was sleeping and is not sleeping anymore - if (!isSleeping && index >= mSleepingStartIndex) { - - assert(mSleepingStartIndex < mNbComponents); - - // If the sleeping component is not the first sleeping component - if (mSleepingStartIndex != index) { - - // Swap the first sleeping component with the one we need to wake up - swapComponents(index, mSleepingStartIndex); - } - - mSleepingStartIndex++; - } - // If the component was awake and must now go to sleep - else if (isSleeping && index < mSleepingStartIndex) { - - assert(mSleepingStartIndex > 0); - - // If the awake component is not the only awake component - if (index != mSleepingStartIndex - 1) { - - // Swap the last awake component with the one we need to put to sleep - swapComponents(index, mSleepingStartIndex - 1); - } - - mSleepingStartIndex--; - } - - assert(mSleepingStartIndex <= mNbComponents); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - // Move a component from a source to a destination index in the components array // The destination location must contain a constructed object void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { @@ -283,7 +147,8 @@ void BodyComponents::swapComponents(uint32 index1, uint32 index2) { // Destroy a component at a given index void BodyComponents::destroyComponent(uint32 index) { - assert(index < mNbComponents); + Components::destroyComponent(index); + assert(mMapEntityToComponentIndex[mBodiesEntities[index]] == index); mMapEntityToComponentIndex.remove(mBodiesEntities[index]); diff --git a/src/components/BodyComponents.h b/src/components/BodyComponents.h index 0af35206..e04d44a4 100644 --- a/src/components/BodyComponents.h +++ b/src/components/BodyComponents.h @@ -49,15 +49,8 @@ class BodyComponents : public Components { private: - // -------------------- Constants -------------------- // - - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Body*) + sizeof(List); - // -------------------- Attributes -------------------- // - /// Index of the first component of a sleeping entity (sleeping components are stored at the end) - uint32 mSleepingStartIndex; - /// Array of body entities of each component Entity* mBodiesEntities; @@ -69,14 +62,17 @@ class BodyComponents : public Components { // -------------------- Methods -------------------- // + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + /// Destroy a component at a given index - void destroyComponent(uint32 index); + virtual void destroyComponent(uint32 index) override; /// Move a component from a source to a destination index in the components array - void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; /// Swap two components in the array - void swapComponents(uint32 index1, uint32 index2); + virtual void swapComponents(uint32 index1, uint32 index2) override; public: @@ -97,17 +93,11 @@ class BodyComponents : public Components { BodyComponents(MemoryAllocator& allocator); /// Destructor - virtual ~BodyComponents(); - - /// Allocate memory for a given number of components - void allocate(uint32 nbComponentsToAllocate); + virtual ~BodyComponents() override = default; /// Add a component void addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component); - /// Remove a component at a given index - void removeComponent(Entity bodyEntity); - /// Add a proxy-shape to a body component void addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity); diff --git a/src/components/Components.cpp b/src/components/Components.cpp new file mode 100644 index 00000000..5faa85ce --- /dev/null +++ b/src/components/Components.cpp @@ -0,0 +1,189 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "Components.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +Components::Components(MemoryAllocator& allocator, size_t componentDataSize) + : mMemoryAllocator(allocator), mNbComponents(0), mComponentDataSize(componentDataSize), + mNbAllocatedComponents(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator), + mSleepingStartIndex(0) { + +} + +Components::~Components() { + + // If there are allocated components + if (mNbAllocatedComponents > 0) { + + // Destroy all the remaining components + for (uint32 i = 0; i < mNbComponents; i++) { + + destroyComponent(i); + } + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = mNbAllocatedComponents * mComponentDataSize; + + // Release the allocated memory + mMemoryAllocator.release(mBuffer, totalSizeBytes); + } +} + +// Compute the index where we need to insert the new component +uint32 Components::prepareAddComponent(bool isSleeping) { + + // If we need to allocate more components + if (mNbComponents == mNbAllocatedComponents) { + allocate(mNbAllocatedComponents * 2); + } + + uint32 index; + + // If the component to add is part of a sleeping entity or there are no sleeping entity + if (isSleeping) { + + // Add the component at the end of the array + index = mNbComponents; + + mSleepingStartIndex = index; + } + // If the component to add is not part of a sleeping entity + else { + + // If there already are sleeping components + if (mSleepingStartIndex != mNbComponents) { + + // Move the first sleeping component to the end of the array + moveComponentToIndex(mSleepingStartIndex, mNbComponents); + } + + index = mSleepingStartIndex; + + mSleepingStartIndex++; + } + + return index; +} + +// Destroy a component at a given index +void Components::destroyComponent(uint32 index) { + + assert(index < mNbComponents); +} + +// Remove a component at a given index +void Components::removeComponent(Entity entity) { + + assert(mMapEntityToComponentIndex.containsKey(entity)); + + uint index = mMapEntityToComponentIndex[entity]; + + assert(index < mNbComponents); + + // We want to keep the arrays tightly packed. Therefore, when a component is removed, + // we replace it with the last element of the array. But we need to make sure that sleeping + // and non-sleeping components stay grouped together. + + // Destroy the component + destroyComponent(index); + + // If the component to remove is sleeping + if (index >= mSleepingStartIndex) { + + // If the component is not the last one + if (index != mNbComponents - 1) { + + // We replace it by the last sleeping component + moveComponentToIndex(mNbComponents - 1, index); + } + } + else { // If the component to remove is not sleeping + + // If it not the last awake component + if (index != mSleepingStartIndex - 1) { + + // We replace it by the last awake component + moveComponentToIndex(mSleepingStartIndex - 1, index); + } + + // If there are sleeping components at the end + if (mSleepingStartIndex != mNbComponents) { + + // We replace the last awake component by the last sleeping component + moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); + } + + mSleepingStartIndex--; + } + + mNbComponents--; + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Notify if a given entity is sleeping or not +void Components::setIsEntitySleeping(Entity entity, bool isSleeping) { + + const uint32 index = mMapEntityToComponentIndex[entity]; + + // If the component was sleeping and is not sleeping anymore + if (!isSleeping && index >= mSleepingStartIndex) { + + assert(mSleepingStartIndex < mNbComponents); + + // If the sleeping component is not the first sleeping component + if (mSleepingStartIndex != index) { + + // Swap the first sleeping component with the one we need to wake up + swapComponents(index, mSleepingStartIndex); + } + + mSleepingStartIndex++; + } + // If the component was awake and must now go to sleep + else if (isSleeping && index < mSleepingStartIndex) { + + assert(mSleepingStartIndex > 0); + + // If the awake component is not the only awake component + if (index != mSleepingStartIndex - 1) { + + // Swap the last awake component with the one we need to put to sleep + swapComponents(index, mSleepingStartIndex - 1); + } + + mSleepingStartIndex--; + } + + assert(mSleepingStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} diff --git a/src/components/Components.h b/src/components/Components.h index 9a7b4b54..ab235321 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -48,8 +48,9 @@ class Components { // -------------------- Constants -------------------- // + /// Number of components to allocated at the beginning - const uint32 INIT_ALLOCATED_COMPONENTS = 10; + const uint32 INIT_NB_ALLOCATED_COMPONENTS = 10; /// Number of valid entities to hit before stopping garbage collection const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; @@ -62,6 +63,9 @@ class Components { /// Current number of components uint32 mNbComponents; + // Size (in bytes) of a single component + size_t mComponentDataSize; + /// Number of allocated components uint32 mNbAllocatedComponents; @@ -71,28 +75,49 @@ class Components { /// Map an entity to the index of its component in the array Map mMapEntityToComponentIndex; + /// Index of the first component of a sleeping entity (sleeping components are stored at the end) + uint32 mSleepingStartIndex; + + /// Compute the index where we need to insert the new component + uint32 prepareAddComponent(bool isSleeping); + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate)=0; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index); + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex)=0; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2)=0; + public: // -------------------- Methods -------------------- // /// Constructor - Components(MemoryAllocator& allocator) - : mMemoryAllocator(allocator), mNbComponents(0), mNbAllocatedComponents(0), - mBuffer(nullptr), mMapEntityToComponentIndex(allocator) { - - } + Components(MemoryAllocator& allocator, size_t componentDataSize); /// Destructor - virtual ~Components() { + virtual ~Components(); - } + /// Remove a component + void removeComponent(Entity entity); + + // Notify if a given entity is sleeping or not + void setIsEntitySleeping(Entity entity, bool isSleeping); /// Return the number of components - uint32 getNbComponents() const { - return mNbComponents; - } + uint32 getNbComponents() const; }; +// Return the number of components +inline uint32 Components::getNbComponents() const { + return mNbComponents; +} + } #endif diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index 4464f7f8..eb49ce2f 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -35,31 +35,12 @@ using namespace reactphysics3d; // Constructor ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) - :Components(allocator), - mSleepingStartIndex(0) { + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + + sizeof(unsigned short)) { // Allocate memory for the components data - allocate(INIT_ALLOCATED_COMPONENTS); -} - -// Destructor -ProxyShapesComponents::~ProxyShapesComponents() { - - if (mNbAllocatedComponents > 0) { - - // Destroy all the remaining components - for (uint32 i = 0; i < mNbComponents; i++) { - - // TODO : MAke sure we do not delete already deleted components - destroyComponent(i); - } - - // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE; - - // Release the allocated memory - mMemoryAllocator.release(mBuffer, totalSizeBytes); - } + allocate(INIT_NB_ALLOCATED_COMPONENTS); } // Allocate memory for a given number of components @@ -68,7 +49,7 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { assert(nbComponentsToAllocate > mNbAllocatedComponents); // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE; + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; // Allocate memory void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); @@ -102,7 +83,7 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); // Deallocate previous memory - mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); } mBuffer = newBuffer; @@ -124,35 +105,8 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { // Add a component void ProxyShapesComponents::addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component) { - // If we need to allocate more components - if (mNbComponents == mNbAllocatedComponents) { - allocate(mNbAllocatedComponents * 2); - } - - uint32 index; - - // If the component to add is part of a sleeping entity - if (isSleeping) { - - // Add the component at the end of the array - index = mNbComponents; - - mSleepingStartIndex = index; - } - // If the component to add is not part of a sleeping entity - else { - - // If there already are sleeping components - if (mSleepingStartIndex != mNbComponents) { - - // Move the first sleeping component to the end of the array - moveComponentToIndex(mSleepingStartIndex, mNbComponents); - } - - index = mSleepingStartIndex; - - mSleepingStartIndex++; - } + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); // Insert the new component data new (mProxyShapesEntities + index) Entity(proxyShapeEntity); @@ -243,61 +197,11 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } -// Remove a component at a given index -void ProxyShapesComponents::removeComponent(Entity proxyShapeEntity) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - uint index = mMapEntityToComponentIndex[proxyShapeEntity]; - - assert(index < mNbComponents); - - // We want to keep the arrays tightly packed. Therefore, when a component is removed, - // we replace it with the last element of the array. But we need to make sure that sleeping - // and non-sleeping components stay grouped together. - - // Destroy the component - destroyComponent(index); - - // If the component to remove is sleeping - if (index >= mSleepingStartIndex) { - - // If the component is not the last one - if (index != mNbComponents - 1) { - - // We replace it by the last sleeping component - moveComponentToIndex(mNbComponents - 1, index); - } - } - else { // If the component to remove is not sleeping - - // If it not the last awake component - if (index != mSleepingStartIndex - 1) { - - // We replace it by the last awake component - moveComponentToIndex(mSleepingStartIndex - 1, index); - } - - // If there are sleeping components at the end - if (mSleepingStartIndex != mNbComponents) { - - // We replace the last awake component by the last sleeping component - moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); - } - - mSleepingStartIndex--; - } - - mNbComponents--; - - assert(mSleepingStartIndex <= mNbComponents); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - // Destroy a component at a given index void ProxyShapesComponents::destroyComponent(uint32 index) { - assert(index < mNbComponents); + Components::destroyComponent(index); + assert(mMapEntityToComponentIndex[mProxyShapesEntities[index]] == index); mMapEntityToComponentIndex.remove(mProxyShapesEntities[index]); @@ -309,40 +213,3 @@ void ProxyShapesComponents::destroyComponent(uint32 index) { mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; } - -// Notify if a given entity is sleeping or not -void ProxyShapesComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { - - const uint32 index = mMapEntityToComponentIndex[entity]; - - // If the component was sleeping and is not sleeping anymore - if (!isSleeping && index >= mSleepingStartIndex) { - - assert(mSleepingStartIndex < mNbComponents); - - // If the sleeping component is not the first sleeping component - if (mSleepingStartIndex != index) { - - // Swap the first sleeping component with the one we need to wake up - swapComponents(index, mSleepingStartIndex); - } - - mSleepingStartIndex++; - } - // If the component was awake and must now go to sleep - else if (isSleeping && index < mSleepingStartIndex) { - - assert(mSleepingStartIndex > 0); - - // If the awake component is not the only awake component - if (index != mSleepingStartIndex - 1) { - - // Swap the last awake component with the one we need to put to sleep - swapComponents(index, mSleepingStartIndex - 1); - } - - mSleepingStartIndex--; - } - - assert(mSleepingStartIndex <= mNbComponents); -} diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapesComponents.h index 017c775a..add72c28 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapesComponents.h @@ -53,17 +53,8 @@ class ProxyShapesComponents : public Components { private: - // -------------------- Constants -------------------- // - - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + - sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + - sizeof(unsigned short); - // -------------------- Attributes -------------------- // - /// Index of the first component of a sleeping entity (sleeping components are stored at the end) - uint32 mSleepingStartIndex; - /// Array of entities of each component Entity* mBodiesEntities; @@ -104,14 +95,17 @@ class ProxyShapesComponents : public Components { // -------------------- Methods -------------------- // + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + /// Destroy a component at a given index - void destroyComponent(uint32 index); + virtual void destroyComponent(uint32 index) override; /// Move a component from a source to a destination index in the components array - void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; /// Swap two components in the array - void swapComponents(uint32 index1, uint32 index2); + virtual void swapComponents(uint32 index1, uint32 index2) override; public: @@ -144,20 +138,11 @@ class ProxyShapesComponents : public Components { ProxyShapesComponents(MemoryAllocator& allocator); /// Destructor - virtual ~ProxyShapesComponents(); - - /// Allocate memory for a given number of components - void allocate(uint32 nbComponentsToAllocate); + virtual ~ProxyShapesComponents() override = default; /// Add a component void addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component); - /// Remove a component at a given index - void removeComponent(Entity proxyShapeEntity); - - /// Notify if a given entity is sleeping or not - void setIsEntitySleeping(Entity entity, bool isSleeping); - /// Return the mass of a proxy-shape decimal getMass(Entity proxyShapeEntity) const; diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index 038fea97..aefeb0ba 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -35,30 +35,10 @@ using namespace reactphysics3d; // Constructor TransformComponents::TransformComponents(MemoryAllocator& allocator) - :Components(allocator), mSleepingStartIndex(0){ + :Components(allocator, sizeof(Entity) + sizeof(Transform)) { // Allocate memory for the components data - allocate(INIT_ALLOCATED_COMPONENTS); -} - -// Destructor -TransformComponents::~TransformComponents() { - - if (mNbAllocatedComponents > 0) { - - // Destroy all the remaining components - for (uint32 i = 0; i < mNbComponents; i++) { - - // TODO : MAke sure we do not delete already deleted components - destroyComponent(i); - } - - // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = mNbAllocatedComponents * COMPONENT_DATA_SIZE; - - // Release the allocated memory - mMemoryAllocator.release(mBuffer, totalSizeBytes); - } + allocate(INIT_NB_ALLOCATED_COMPONENTS); } // Allocate memory for a given number of components @@ -67,7 +47,7 @@ void TransformComponents::allocate(uint32 nbComponentsToAllocate) { assert(nbComponentsToAllocate > mNbAllocatedComponents); // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = nbComponentsToAllocate * COMPONENT_DATA_SIZE; + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; // Allocate memory void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); @@ -85,7 +65,7 @@ void TransformComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newEntities, mBodies, mNbComponents * sizeof(Entity)); // Deallocate previous memory - mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * COMPONENT_DATA_SIZE); + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); } mBuffer = newBuffer; @@ -97,35 +77,8 @@ void TransformComponents::allocate(uint32 nbComponentsToAllocate) { // Add a component void TransformComponents::addComponent(Entity bodyEntity, bool isSleeping, const TransformComponent& component) { - // If we need to allocate more components - if (mNbComponents == mNbAllocatedComponents) { - allocate(mNbAllocatedComponents * 2); - } - - uint32 index; - - // If the component to add is part of a sleeping entity or there are no sleeping entity - if (isSleeping) { - - // Add the component at the end of the array - index = mNbComponents; - - mSleepingStartIndex = index; - } - // If the component to add is not part of a sleeping entity - else { - - // If there already are sleeping components - if (mSleepingStartIndex != mNbComponents) { - - // Move the first sleeping component to the end of the array - moveComponentToIndex(mSleepingStartIndex, mNbComponents); - } - - index = mSleepingStartIndex; - - mSleepingStartIndex++; - } + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); // Insert the new component data new (mBodies + index) Entity(bodyEntity); @@ -140,95 +93,6 @@ void TransformComponents::addComponent(Entity bodyEntity, bool isSleeping, const assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } -// Remove a component at a given index -void TransformComponents::removeComponent(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - uint index = mMapEntityToComponentIndex[bodyEntity]; - - assert(index < mNbComponents); - - // We want to keep the arrays tightly packed. Therefore, when a component is removed, - // we replace it with the last element of the array. But we need to make sure that sleeping - // and non-sleeping components stay grouped together. - - // Destroy the component - destroyComponent(index); - - // If the component to remove is sleeping - if (index >= mSleepingStartIndex) { - - // If the component is not the last one - if (index != mNbComponents - 1) { - - // We replace it by the last sleeping component - moveComponentToIndex(mNbComponents - 1, index); - } - } - else { // If the component to remove is not sleeping - - // If it not the last awake component - if (index != mSleepingStartIndex - 1) { - - // We replace it by the last awake component - moveComponentToIndex(mSleepingStartIndex - 1, index); - } - - // If there are sleeping components at the end - if (mSleepingStartIndex != mNbComponents) { - - // We replace the last awake component by the last sleeping component - moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); - } - - mSleepingStartIndex--; - } - - mNbComponents--; - - assert(mSleepingStartIndex <= mNbComponents); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - -// Notify if a given entity is sleeping or not -void TransformComponents::setIsEntitySleeping(Entity entity, bool isSleeping) { - - const uint32 index = mMapEntityToComponentIndex[entity]; - - // If the component was sleeping and is not sleeping anymore - if (!isSleeping && index >= mSleepingStartIndex) { - - assert(mSleepingStartIndex < mNbComponents); - - // If the sleeping component is not the first sleeping component - if (mSleepingStartIndex != index) { - - // Swap the first sleeping component with the one we need to wake up - swapComponents(index, mSleepingStartIndex); - } - - mSleepingStartIndex++; - } - // If the component was awake and must now go to sleep - else if (isSleeping && index < mSleepingStartIndex) { - - assert(mSleepingStartIndex > 0); - - // If the awake component is not the only awake component - if (index != mSleepingStartIndex - 1) { - - // Swap the last awake component with the one we need to put to sleep - swapComponents(index, mSleepingStartIndex - 1); - } - - mSleepingStartIndex--; - } - - assert(mSleepingStartIndex <= mNbComponents); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - // Move a component from a source to a destination index in the components array // The destination location must contain a constructed object void TransformComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { @@ -277,7 +141,8 @@ void TransformComponents::swapComponents(uint32 index1, uint32 index2) { // Destroy a component at a given index void TransformComponents::destroyComponent(uint32 index) { - assert(index < mNbComponents); + Components::destroyComponent(index); + assert(mMapEntityToComponentIndex[mBodies[index]] == index); mMapEntityToComponentIndex.remove(mBodies[index]); diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index 10d14e6b..925a2ab7 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -49,15 +49,8 @@ class TransformComponents : public Components { private: - // -------------------- Constants -------------------- // - - const size_t COMPONENT_DATA_SIZE = sizeof(Entity) + sizeof(Transform); - // -------------------- Attributes -------------------- // - /// Index of the first component of a sleeping entity (sleeping components are stored at the end) - uint32 mSleepingStartIndex; - /// Array of body entities of each component Entity* mBodies; @@ -66,14 +59,17 @@ class TransformComponents : public Components { // -------------------- Methods -------------------- // + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + /// Destroy a component at a given index - void destroyComponent(uint32 index); + virtual void destroyComponent(uint32 index) override; /// Move a component from a source to a destination index in the components array - void moveComponentToIndex(uint32 srcIndex, uint32 destIndex); + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; /// Swap two components in the array - void swapComponents(uint32 index1, uint32 index2); + virtual void swapComponents(uint32 index1, uint32 index2) override; public: @@ -94,25 +90,16 @@ class TransformComponents : public Components { TransformComponents(MemoryAllocator& allocator); /// Destructor - virtual ~TransformComponents(); - - /// Allocate memory for a given number of components - void allocate(uint32 nbComponentsToAllocate); + virtual ~TransformComponents() override = default; /// Add a component void addComponent(Entity bodyEntity, bool isSleeping, const TransformComponent& component); - /// Remove a component at a given index - void removeComponent(Entity bodyEntity); - /// Return the transform of an entity Transform& getTransform(Entity bodyEntity) const; /// Set the transform of an entity void setTransform(Entity bodyEntity, const Transform& transform); - - /// Notify if a given entity is sleeping or not - void setIsEntitySleeping(Entity bodyEntity, bool isSleeping); }; // Return the transform of an entity From ae076ad8150028664158837867fbb82d772f6f96 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 16 Mar 2019 08:40:50 +0100 Subject: [PATCH 037/197] Handle disabled components --- src/body/CollisionBody.cpp | 7 +- src/body/CollisionBody.h | 6 -- src/components/BodyComponents.cpp | 2 +- src/components/BodyComponents.h | 3 - src/components/Components.cpp | 90 ++++++++++++------------ src/components/Components.h | 9 +-- src/components/ProxyShapesComponents.cpp | 2 +- src/components/TransformComponents.cpp | 2 +- src/engine/CollisionWorld.cpp | 9 +-- src/engine/CollisionWorld.h | 4 +- 10 files changed, 66 insertions(+), 68 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 013bee26..84397665 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -268,6 +268,9 @@ void CollisionBody::setIsActive(bool isActive) { Body::setIsActive(isActive); + // Enable the components + mWorld.notifyBodyDisabled(mEntity, !isActive); + // If we have to activate the body if (isActive) { @@ -453,10 +456,12 @@ void CollisionBody::setTransform(const Transform& transform) { // Set the variable to know whether or not the body is sleeping void CollisionBody::setIsSleeping(bool isSleeping) { + if (mIsSleeping == isSleeping) return; + Body::setIsSleeping(isSleeping); // Notify all the components - mWorld.notifyBodySleeping(mEntity, isSleeping); + mWorld.notifyBodyDisabled(mEntity, isSleeping); } // Return the world-space coordinates of a point given the local-space coordinates of the body diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index a9bbd729..461062ad 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -70,12 +70,6 @@ class CollisionBody : public Body { /// Type of body (static, kinematic or dynamic) BodyType mType; - /// First element of the linked list of proxy collision shapes of this body - //ProxyShape* mProxyCollisionShapes; - - /// Number of collision shapes - //uint mNbCollisionShapes; - /// First element of the linked list of contact manifolds involving this body ContactManifoldListElement* mContactManifoldsList; diff --git a/src/components/BodyComponents.cpp b/src/components/BodyComponents.cpp index b5f38609..8187492c 100644 --- a/src/components/BodyComponents.cpp +++ b/src/components/BodyComponents.cpp @@ -92,7 +92,7 @@ void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const Body mNbComponents++; - assert(mSleepingStartIndex <= mNbComponents); + assert(mDisabledStartIndex <= mNbComponents); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } diff --git a/src/components/BodyComponents.h b/src/components/BodyComponents.h index e04d44a4..88edaa57 100644 --- a/src/components/BodyComponents.h +++ b/src/components/BodyComponents.h @@ -109,9 +109,6 @@ class BodyComponents : public Components { /// Return the list of proxy-shapes of a body const List& getProxyShapes(Entity bodyEntity) const; - - /// Notify if a given entity is sleeping or not - void setIsEntitySleeping(Entity bodyEntity, bool isSleeping); }; // Add a proxy-shape to a body component diff --git a/src/components/Components.cpp b/src/components/Components.cpp index 5faa85ce..87e06e80 100644 --- a/src/components/Components.cpp +++ b/src/components/Components.cpp @@ -34,7 +34,7 @@ using namespace reactphysics3d; Components::Components(MemoryAllocator& allocator, size_t componentDataSize) : mMemoryAllocator(allocator), mNbComponents(0), mComponentDataSize(componentDataSize), mNbAllocatedComponents(0), mBuffer(nullptr), mMapEntityToComponentIndex(allocator), - mSleepingStartIndex(0) { + mDisabledStartIndex(0) { } @@ -67,27 +67,27 @@ uint32 Components::prepareAddComponent(bool isSleeping) { uint32 index; - // If the component to add is part of a sleeping entity or there are no sleeping entity + // If the component to add is part of a disabled entity or there are no disabled entity if (isSleeping) { // Add the component at the end of the array index = mNbComponents; - mSleepingStartIndex = index; + mDisabledStartIndex = index; } - // If the component to add is not part of a sleeping entity + // If the component to add is not part of a disabled entity else { - // If there already are sleeping components - if (mSleepingStartIndex != mNbComponents) { + // If there already are disabled components + if (mDisabledStartIndex != mNbComponents) { - // Move the first sleeping component to the end of the array - moveComponentToIndex(mSleepingStartIndex, mNbComponents); + // Move the first disabled component to the end of the array + moveComponentToIndex(mDisabledStartIndex, mNbComponents); } - index = mSleepingStartIndex; + index = mDisabledStartIndex; - mSleepingStartIndex++; + mDisabledStartIndex++; } return index; @@ -109,81 +109,81 @@ void Components::removeComponent(Entity entity) { assert(index < mNbComponents); // We want to keep the arrays tightly packed. Therefore, when a component is removed, - // we replace it with the last element of the array. But we need to make sure that sleeping - // and non-sleeping components stay grouped together. + // we replace it with the last element of the array. But we need to make sure that enabled + // and disabled components stay grouped together. // Destroy the component destroyComponent(index); - // If the component to remove is sleeping - if (index >= mSleepingStartIndex) { + // If the component to remove is disabled + if (index >= mDisabledStartIndex) { // If the component is not the last one if (index != mNbComponents - 1) { - // We replace it by the last sleeping component + // We replace it by the last disabled component moveComponentToIndex(mNbComponents - 1, index); } } - else { // If the component to remove is not sleeping + else { // If the component to remove is enabled - // If it not the last awake component - if (index != mSleepingStartIndex - 1) { + // If it not the last enabled component + if (index != mDisabledStartIndex - 1) { - // We replace it by the last awake component - moveComponentToIndex(mSleepingStartIndex - 1, index); + // We replace it by the last enabled component + moveComponentToIndex(mDisabledStartIndex - 1, index); } - // If there are sleeping components at the end - if (mSleepingStartIndex != mNbComponents) { + // If there are disabled components at the end + if (mDisabledStartIndex != mNbComponents) { - // We replace the last awake component by the last sleeping component - moveComponentToIndex(mNbComponents - 1, mSleepingStartIndex - 1); + // We replace the last enabled component by the last disabled component + moveComponentToIndex(mNbComponents - 1, mDisabledStartIndex - 1); } - mSleepingStartIndex--; + mDisabledStartIndex--; } mNbComponents--; - assert(mSleepingStartIndex <= mNbComponents); + assert(mDisabledStartIndex <= mNbComponents); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } -// Notify if a given entity is sleeping or not -void Components::setIsEntitySleeping(Entity entity, bool isSleeping) { +// Notify if a given entity is disabled (sleeping or inactive) or not +void Components::setIsEntityDisabled(Entity entity, bool isDisabled) { const uint32 index = mMapEntityToComponentIndex[entity]; - // If the component was sleeping and is not sleeping anymore - if (!isSleeping && index >= mSleepingStartIndex) { + // If the component was disabled and is not disabled anymore + if (!isDisabled && index >= mDisabledStartIndex) { - assert(mSleepingStartIndex < mNbComponents); + assert(mDisabledStartIndex < mNbComponents); - // If the sleeping component is not the first sleeping component - if (mSleepingStartIndex != index) { + // If the disabled component is not the first disabled component + if (mDisabledStartIndex != index) { - // Swap the first sleeping component with the one we need to wake up - swapComponents(index, mSleepingStartIndex); + // Swap the first disabled component with the one we need to enable it + swapComponents(index, mDisabledStartIndex); } - mSleepingStartIndex++; + mDisabledStartIndex++; } - // If the component was awake and must now go to sleep - else if (isSleeping && index < mSleepingStartIndex) { + // If the component was enabled and must now be disabled + else if (isDisabled && index < mDisabledStartIndex) { - assert(mSleepingStartIndex > 0); + assert(mDisabledStartIndex > 0); - // If the awake component is not the only awake component - if (index != mSleepingStartIndex - 1) { + // If the enabled component is not the only enabled component + if (index != mDisabledStartIndex - 1) { - // Swap the last awake component with the one we need to put to sleep - swapComponents(index, mSleepingStartIndex - 1); + // Swap the last enabled component with the one we need to disable + swapComponents(index, mDisabledStartIndex - 1); } - mSleepingStartIndex--; + mDisabledStartIndex--; } - assert(mSleepingStartIndex <= mNbComponents); + assert(mDisabledStartIndex <= mNbComponents); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } diff --git a/src/components/Components.h b/src/components/Components.h index ab235321..4eb40ffe 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -75,8 +75,9 @@ class Components { /// Map an entity to the index of its component in the array Map mMapEntityToComponentIndex; - /// Index of the first component of a sleeping entity (sleeping components are stored at the end) - uint32 mSleepingStartIndex; + /// Index of the first component of a disabled (sleeping or inactive) entity + /// Disabled components are stored at the end of the components array + uint32 mDisabledStartIndex; /// Compute the index where we need to insert the new component uint32 prepareAddComponent(bool isSleeping); @@ -106,8 +107,8 @@ class Components { /// Remove a component void removeComponent(Entity entity); - // Notify if a given entity is sleeping or not - void setIsEntitySleeping(Entity entity, bool isSleeping); + // Notify if a given entity is disabled (sleeping or inactive) or not + void setIsEntityDisabled(Entity entity, bool isDisabled); /// Return the number of components uint32 getNbComponents() const; diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapesComponents.cpp index eb49ce2f..62915c8b 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapesComponents.cpp @@ -125,7 +125,7 @@ void ProxyShapesComponents::addComponent(Entity proxyShapeEntity, bool isSleepin mNbComponents++; - assert(mSleepingStartIndex <= mNbComponents); + assert(mDisabledStartIndex <= mNbComponents); } // Move a component from a source to a destination index in the components array diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index aefeb0ba..b705e130 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -89,7 +89,7 @@ void TransformComponents::addComponent(Entity bodyEntity, bool isSleeping, const mNbComponents++; - assert(mSleepingStartIndex <= mNbComponents); + assert(mDisabledStartIndex <= mNbComponents); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index cbc5e897..b3ad3864 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -246,19 +246,20 @@ void CollisionWorld::resetContactManifoldListsOfBodies() { } } -// Notify the world if a body is sleeping or not -void CollisionWorld::notifyBodySleeping(Entity bodyEntity, bool isSleeping) { +// Notify the world if a body is disabled (sleeping or inactive) or not +void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { // TODO : Make sure we notify all the components here ... // Notify all the components - mTransformComponents.setIsEntitySleeping(bodyEntity, isSleeping); + mBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); + mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); // For each proxy-shape of the body const List& proxyShapesEntities = mBodyComponents.getProxyShapes(bodyEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { - mProxyShapesComponents.setIsEntitySleeping(proxyShapesEntities[i], isSleeping); + mProxyShapesComponents.setIsEntityDisabled(proxyShapesEntities[i], isDisabled); } } diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index c29f8c34..910cbaee 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -129,8 +129,8 @@ class CollisionWorld { /// Reset all the contact manifolds linked list of each body void resetContactManifoldListsOfBodies(); - /// Notify the world if a body is sleeping or not - void notifyBodySleeping(Entity entity, bool isSleeping); + /// Notify the world if a body is disabled (slepping or inactive) or not + void notifyBodyDisabled(Entity entity, bool isDisabled); public : From 1d6155aa6c6c8f47c477702bd60b69bcac871a38 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 17 Mar 2019 22:50:10 +0100 Subject: [PATCH 038/197] Remove code to update proxy-shape broad-phase state from proxy-shape, move it to broad-phase system --- CMakeLists.txt | 4 +- src/body/CollisionBody.cpp | 24 ++----- src/body/CollisionBody.h | 5 +- src/body/RigidBody.cpp | 32 +-------- src/body/RigidBody.h | 3 - src/collision/CollisionDetection.cpp | 8 ++- src/collision/CollisionDetection.h | 38 ++++++---- src/collision/ProxyShape.cpp | 5 +- src/collision/broadphase/DynamicAABBTree.cpp | 7 +- src/collision/broadphase/DynamicAABBTree.h | 2 +- src/components/Components.h | 8 +++ ...omponents.cpp => ProxyShapeComponents.cpp} | 14 ++-- ...pesComponents.h => ProxyShapeComponents.h} | 32 +++++---- src/components/TransformComponents.h | 4 ++ src/engine/CollisionWorld.cpp | 2 +- src/engine/CollisionWorld.h | 4 +- src/engine/DynamicsWorld.cpp | 6 +- src/systems/BroadPhaseSystem.cpp | 69 ++++++++++++++++--- src/systems/BroadPhaseSystem.h | 26 +++++-- test/tests/collision/TestDynamicAABBTree.h | 32 ++++----- 20 files changed, 184 insertions(+), 141 deletions(-) rename src/components/{ProxyShapesComponents.cpp => ProxyShapeComponents.cpp} (95%) rename src/components/{ProxyShapesComponents.h => ProxyShapeComponents.h} (88%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7850396b..b52047ab 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -142,7 +142,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/Components.h" "src/components/BodyComponents.h" "src/components/TransformComponents.h" - "src/components/ProxyShapesComponents.h" + "src/components/ProxyShapeComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -234,7 +234,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/Components.cpp" "src/components/BodyComponents.cpp" "src/components/TransformComponents.cpp" - "src/components/ProxyShapesComponents.cpp" + "src/components/ProxyShapeComponents.cpp" "src/collision/CollisionCallback.cpp" "src/mathematics/mathematics_functions.cpp" "src/mathematics/Matrix2x2.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 84397665..0af2cd25 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -84,7 +84,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, + ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1), 0x0001, 0xFFFF); mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, mIsSleeping, proxyShapeComponent); @@ -234,26 +234,8 @@ void CollisionBody::updateBroadPhaseState() const { const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - // Update the proxy - updateProxyShapeInBroadPhase(proxyShape); - } -} - -// Update the broad-phase state of a proxy collision shape of the body -void CollisionBody::updateProxyShapeInBroadPhase(ProxyShape* proxyShape, bool forceReinsert) const { - - const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - - if (proxyShape->getBroadPhaseId() != -1) { - - // Recompute the world-space AABB of the collision shape - AABB aabb; - proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform()); - - // Update the broad-phase state for the proxy collision shape - mWorld.mCollisionDetection.updateProxyCollisionShape(proxyShape, aabb, Vector3(0, 0, 0), forceReinsert) ; + mWorld.mCollisionDetection.updateProxyShape(proxyShapesEntities[i]); } } @@ -442,6 +424,8 @@ AABB CollisionBody::getAABB() const { */ void CollisionBody::setTransform(const Transform& transform) { + // TODO : Make sure this method is never called from the internal physics engine + // Update the transform of the body mWorld.mTransformComponents.setTransform(mEntity, transform); diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 461062ad..9f20de8b 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -92,10 +92,7 @@ class CollisionBody : public Body { void removeAllCollisionShapes(); /// Update the broad-phase state for this body (because it has moved for instance) - virtual void updateBroadPhaseState() const; - - /// Update the broad-phase state of a proxy collision shape of the body - void updateProxyShapeInBroadPhase(ProxyShape* proxyShape, bool forceReinsert = false) const; + void updateBroadPhaseState() const; /// Ask the broad-phase to test again the collision shapes of the body for collision /// (as if the body has moved). diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 384682d1..ad47335d 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -294,7 +294,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapesComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, + ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass, 0x0001, 0xFFFF); mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, mIsSleeping, proxyShapeComponent); @@ -576,36 +576,6 @@ void RigidBody::recomputeMassInformation() { mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); } -// Update the broad-phase state for this body (because it has moved for instance) -void RigidBody::updateBroadPhaseState() const { - - RP3D_PROFILE("RigidBody::updateBroadPhaseState()", mProfiler); - - // TODO : Make sure we compute this in a system - - const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - - DynamicsWorld& world = static_cast(mWorld); - const Vector3 displacement = world.mTimeStep * mLinearVelocity; - - // For all the proxy collision shapes of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { - - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - - if (proxyShape->getBroadPhaseId() != -1) { - - // Recompute the world-space AABB of the collision shape - AABB aabb; - proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform()); - - // Update the broad-phase state for the proxy collision shape - mWorld.mCollisionDetection.updateProxyCollisionShape(proxyShape, aabb, displacement); - } - } -} - #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 0491a3b3..c23d0356 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -123,9 +123,6 @@ class RigidBody : public CollisionBody { /// Update the transform of the body after a change of the center of mass void updateTransformWithCenterOfMass(); - /// Update the broad-phase state for this body (because it has moved for instance) - virtual void updateBroadPhaseState() const override; - /// Update the world inverse inertia tensor of the body void updateInertiaTensorInverseWorld(); diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index dd541c44..af17bd42 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -48,9 +48,11 @@ using namespace std; // Constructor -CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapesComponents& proxyShapesComponents, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), - mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseSystem(*this, mProxyShapesComponents), +CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents &transformComponents, + MemoryManager& memoryManager) + : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mTransformComponents(transformComponents), + mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), + mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseSystem(*this, mProxyShapesComponents, mTransformComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 976932ef..9357c0fe 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -35,7 +35,8 @@ #include "collision/narrowphase/CollisionDispatch.h" #include "containers/Map.h" #include "containers/Set.h" -#include "components/ProxyShapesComponents.h" +#include "components/ProxyShapeComponents.h" +#include "components/TransformComponents.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -68,8 +69,11 @@ class CollisionDetection { /// Memory manager MemoryManager& mMemoryManager; - /// Reference the the proxy-shapes components - ProxyShapesComponents& mProxyShapesComponents; + /// Reference the proxy-shape components + ProxyShapeComponents& mProxyShapesComponents; + + /// Reference the transform components + TransformComponents& mTransformComponents; /// Collision Detection Dispatch configuration CollisionDispatch mCollisionDispatch; @@ -149,7 +153,8 @@ class CollisionDetection { // -------------------- Methods -------------------- // /// Constructor - CollisionDetection(CollisionWorld* world, ProxyShapesComponents& proxyShapesComponents, MemoryManager& memoryManager); + CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, + TransformComponents& transformComponents, MemoryManager& memoryManager); /// Destructor ~CollisionDetection() = default; @@ -170,8 +175,10 @@ class CollisionDetection { void removeProxyCollisionShape(ProxyShape* proxyShape); /// Update a proxy collision shape (that has moved for instance) - void updateProxyCollisionShape(ProxyShape* shape, const AABB& aabb, - const Vector3& displacement = Vector3(0, 0, 0), bool forceReinsert = false); + void updateProxyShape(Entity proxyShapeEntity); + + /// Update all the enabled proxy-shapes + void updateProxyShapes(); /// Add a pair of bodies that cannot collide with each other void addNoCollisionPair(CollisionBody* body1, CollisionBody* body2); @@ -272,13 +279,6 @@ inline void CollisionDetection::askForBroadPhaseCollisionCheck(ProxyShape* shape } } -// Update a proxy collision shape (that has moved for instance) -inline void CollisionDetection::updateProxyCollisionShape(ProxyShape* shape, const AABB& aabb, - const Vector3& displacement, bool forceReinsert) { - mBroadPhaseSystem.updateProxyCollisionShape(shape, aabb, displacement); -} - - // Return a pointer to the world inline CollisionWorld* CollisionDetection::getWorld() { return mWorld; @@ -289,6 +289,18 @@ inline MemoryManager& CollisionDetection::getMemoryManager() const { return mMemoryManager; } +// Update a proxy collision shape (that has moved for instance) +inline void CollisionDetection::updateProxyShape(Entity proxyShapeEntity) { + + // Update the proxy-shape component + mBroadPhaseSystem.updateProxyShape(proxyShapeEntity); +} + +// Update all the enabled proxy-shapes +inline void CollisionDetection::updateProxyShapes() { + mBroadPhaseSystem.updateProxyShapes(); +} + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index df3a2fe0..d8dbeacd 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -105,13 +105,14 @@ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { // Set the local to parent body transform void ProxyShape::setLocalToBodyTransform(const Transform& transform) { + // TODO : Make sure this method is never called by the internal physics engine + //mLocalToBodyTransform = transform; mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform); mBody->setIsSleeping(false); - // Notify the body that the proxy shape has to be updated in the broad-phase - mBody->updateProxyShapeInBroadPhase(this, true); + mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity); int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 58639fc9..bdc85b5e 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -169,9 +169,8 @@ void DynamicAABBTree::removeObject(int nodeID) { /// nothing is done. Otherwise, the corresponding node is removed and reinserted into the tree. /// The method returns true if the object has been reinserted into the tree. The "displacement" /// argument is the linear velocity of the AABB multiplied by the elapsed time between two -/// frames. If the "forceReinsert" parameter is true, we force a removal and reinsertion of the node -/// (this can be useful if the shape AABB has become much smaller than the previous one for instance). -bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement, bool forceReinsert) { +/// frames. +bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement) { RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler); @@ -180,7 +179,7 @@ bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector assert(mNodes[nodeID].height >= 0); // If the new AABB is still inside the fat AABB of the node - if (!forceReinsert && mNodes[nodeID].aabb.contains(newAABB)) { + if (mNodes[nodeID].aabb.contains(newAABB)) { return false; } diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 1939594f..0b0a5828 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -225,7 +225,7 @@ class DynamicAABBTree { void removeObject(int nodeID); /// Update the dynamic tree after an object has moved. - bool updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement, bool forceReinsert = false); + bool updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement); /// Return the fat AABB corresponding to a given node ID const AABB& getFatAABB(int nodeID) const; diff --git a/src/components/Components.h b/src/components/Components.h index 4eb40ffe..cd5dcc56 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -112,6 +112,9 @@ class Components { /// Return the number of components uint32 getNbComponents() const; + + /// Return the number of enabled components + uint32 getNbEnabledComponents() const; }; // Return the number of components @@ -119,6 +122,11 @@ inline uint32 Components::getNbComponents() const { return mNbComponents; } +// Return the number of enabled components +inline uint32 Components::getNbEnabledComponents() const { + return mDisabledStartIndex; +} + } #endif diff --git a/src/components/ProxyShapesComponents.cpp b/src/components/ProxyShapeComponents.cpp similarity index 95% rename from src/components/ProxyShapesComponents.cpp rename to src/components/ProxyShapeComponents.cpp index 62915c8b..965d0bde 100644 --- a/src/components/ProxyShapesComponents.cpp +++ b/src/components/ProxyShapeComponents.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "ProxyShapesComponents.h" +#include "ProxyShapeComponents.h" #include "engine/EntityManager.h" #include "collision/ProxyShape.h" #include @@ -34,7 +34,7 @@ using namespace reactphysics3d; // Constructor -ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) +ProxyShapeComponents::ProxyShapeComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + sizeof(unsigned short)) { @@ -44,7 +44,7 @@ ProxyShapesComponents::ProxyShapesComponents(MemoryAllocator& allocator) } // Allocate memory for a given number of components -void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { +void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { assert(nbComponentsToAllocate > mNbAllocatedComponents); @@ -103,7 +103,7 @@ void ProxyShapesComponents::allocate(uint32 nbComponentsToAllocate) { } // Add a component -void ProxyShapesComponents::addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component) { +void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component) { // Prepare to add new component (allocate memory if necessary and compute insertion index) uint32 index = prepareAddComponent(isSleeping); @@ -130,7 +130,7 @@ void ProxyShapesComponents::addComponent(Entity proxyShapeEntity, bool isSleepin // Move a component from a source to a destination index in the components array // The destination location must contain a constructed object -void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { +void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { const Entity proxyShapeEntity = mProxyShapesEntities[srcIndex]; @@ -158,7 +158,7 @@ void ProxyShapesComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd } // Swap two components in the array -void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { +void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity proxyShapeEntity1(mProxyShapesEntities[index1]); @@ -198,7 +198,7 @@ void ProxyShapesComponents::swapComponents(uint32 index1, uint32 index2) { } // Destroy a component at a given index -void ProxyShapesComponents::destroyComponent(uint32 index) { +void ProxyShapeComponents::destroyComponent(uint32 index) { Components::destroyComponent(index); diff --git a/src/components/ProxyShapesComponents.h b/src/components/ProxyShapeComponents.h similarity index 88% rename from src/components/ProxyShapesComponents.h rename to src/components/ProxyShapeComponents.h index add72c28..5282e2fc 100644 --- a/src/components/ProxyShapesComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -49,7 +49,7 @@ class ProxyShape; * different bodies. We also make sure that proxy shapes of sleeping entities (bodies) are * always stored at the end of the array. */ -class ProxyShapesComponents : public Components { +class ProxyShapeComponents : public Components { private: @@ -135,10 +135,10 @@ class ProxyShapesComponents : public Components { // -------------------- Methods -------------------- // /// Constructor - ProxyShapesComponents(MemoryAllocator& allocator); + ProxyShapeComponents(MemoryAllocator& allocator); /// Destructor - virtual ~ProxyShapesComponents() override = default; + virtual ~ProxyShapeComponents() override = default; /// Add a component void addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component); @@ -175,10 +175,14 @@ class ProxyShapesComponents : public Components { /// Set the "collide with" mask bits of a given proxy-shape void setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; }; // Return the mass of a proxy-shape -inline decimal ProxyShapesComponents::getMass(Entity proxyShapeEntity) const { +inline decimal ProxyShapeComponents::getMass(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -186,7 +190,7 @@ inline decimal ProxyShapesComponents::getMass(Entity proxyShapeEntity) const { } // Return a pointer to a given proxy-shape -inline ProxyShape* ProxyShapesComponents::getProxyShape(Entity proxyShapeEntity) const { +inline ProxyShape* ProxyShapeComponents::getProxyShape(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -194,7 +198,7 @@ inline ProxyShape* ProxyShapesComponents::getProxyShape(Entity proxyShapeEntity) } // Return the local-to-body transform of a proxy-shape -inline const Transform& ProxyShapesComponents::getLocalToBodyTransform(Entity proxyShapeEntity) const { +inline const Transform& ProxyShapeComponents::getLocalToBodyTransform(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -202,7 +206,7 @@ inline const Transform& ProxyShapesComponents::getLocalToBodyTransform(Entity pr } // Set the local-to-body transform of a proxy-shape -inline void ProxyShapesComponents::setLocalToBodyTransform(Entity proxyShapeEntity, const Transform& transform) { +inline void ProxyShapeComponents::setLocalToBodyTransform(Entity proxyShapeEntity, const Transform& transform) { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -210,7 +214,7 @@ inline void ProxyShapesComponents::setLocalToBodyTransform(Entity proxyShapeEnti } // Return a pointer to the collision shape of a proxy-shape -inline CollisionShape* ProxyShapesComponents::getCollisionShape(Entity proxyShapeEntity) const { +inline CollisionShape* ProxyShapeComponents::getCollisionShape(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -218,7 +222,7 @@ inline CollisionShape* ProxyShapesComponents::getCollisionShape(Entity proxyShap } // Return the broad-phase id of a given proxy shape -inline int ProxyShapesComponents::getBroadPhaseId(Entity proxyShapeEntity) const { +inline int ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -226,7 +230,7 @@ inline int ProxyShapesComponents::getBroadPhaseId(Entity proxyShapeEntity) const } // Set the broad-phase id of a given proxy shape -inline void ProxyShapesComponents::setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId) { +inline void ProxyShapeComponents::setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId) { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -234,7 +238,7 @@ inline void ProxyShapesComponents::setBroadPhaseId(Entity proxyShapeEntity, int } // Return the collision category bits of a given proxy-shape -inline unsigned short ProxyShapesComponents::getCollisionCategoryBits(Entity proxyShapeEntity) const { +inline unsigned short ProxyShapeComponents::getCollisionCategoryBits(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -242,7 +246,7 @@ inline unsigned short ProxyShapesComponents::getCollisionCategoryBits(Entity pro } // Return the "collide with" mask bits of a given proxy-shape -inline unsigned short ProxyShapesComponents::getCollideWithMaskBits(Entity proxyShapeEntity) const { +inline unsigned short ProxyShapeComponents::getCollideWithMaskBits(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -250,7 +254,7 @@ inline unsigned short ProxyShapesComponents::getCollideWithMaskBits(Entity proxy } // Set the collision category bits of a given proxy-shape -inline void ProxyShapesComponents::setCollisionCategoryBits(Entity proxyShapeEntity, unsigned short collisionCategoryBits) { +inline void ProxyShapeComponents::setCollisionCategoryBits(Entity proxyShapeEntity, unsigned short collisionCategoryBits) { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -258,7 +262,7 @@ inline void ProxyShapesComponents::setCollisionCategoryBits(Entity proxyShapeEnt } // Set the "collide with" mask bits of a given proxy-shape -inline void ProxyShapesComponents::setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits) { +inline void ProxyShapeComponents::setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits) { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index 925a2ab7..f50c52b5 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -100,6 +100,10 @@ class TransformComponents : public Components { /// Set the transform of an entity void setTransform(Entity bodyEntity, const Transform& transform); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; }; // Return the transform of an entity diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index b3ad3864..36ef4b33 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -39,7 +39,7 @@ uint CollisionWorld::mNbWorlds = 0; CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), - mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mMemoryManager), + mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 910cbaee..87ebebce 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -35,7 +35,7 @@ #include "engine/EntityManager.h" #include "components/BodyComponents.h" #include "components/TransformComponents.h" -#include "components/ProxyShapesComponents.h" +#include "components/ProxyShapeComponents.h" /// Namespace reactphysics3d namespace reactphysics3d { @@ -80,7 +80,7 @@ class CollisionWorld { TransformComponents mTransformComponents; /// Proxy-Shapes Components - ProxyShapesComponents mProxyShapesComponents; + ProxyShapeComponents mProxyShapesComponents; /// Reference to the collision detection CollisionDetection mCollisionDetection; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 2025e461..b14d250a 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -228,11 +228,11 @@ void DynamicsWorld::updateBodiesState() { // Update the world inverse inertia tensor of the body bodies[b]->updateInertiaTensorInverseWorld(); - - // Update the broad-phase state of the body - bodies[b]->updateBroadPhaseState(); } } + + // Update the proxy-shapes components + mCollisionDetection.updateProxyShapes(); } // Initialize the bodies velocities arrays for the next simulation step. diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 9c47fd95..51c986f3 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -35,9 +35,10 @@ using namespace reactphysics3d; // Constructor -BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents) +BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, + TransformComponents& transformComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), - mProxyShapesComponents(proxyShapesComponents), + mProxyShapesComponents(proxyShapesComponents), mTransformsComponents(transformComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mPotentialPairs(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { @@ -108,16 +109,32 @@ void BroadPhaseSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { removeMovedCollisionShape(broadPhaseID); } +// Update the broad-phase state of a single proxy-shape +void BroadPhaseSystem::updateProxyShape(Entity proxyShapeEntity) { + + assert(mProxyShapesComponents.mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + // Get the index of the proxy-shape component in the array + uint32 index = mProxyShapesComponents.mMapEntityToComponentIndex[proxyShapeEntity]; + + // Update the proxy-shape component + updateProxyShapesComponents(index, index + 1); +} + +// Update the broad-phase state of all the enabled proxy-shapes +void BroadPhaseSystem::updateProxyShapes() { + + // Update all the enabled proxy-shape components + updateProxyShapesComponents(0, mProxyShapesComponents.getNbEnabledComponents()); +} + // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseSystem::updateProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb, - const Vector3& displacement, bool forceReinsert) { +void BroadPhaseSystem::updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement) { - int broadPhaseID = proxyShape->getBroadPhaseId(); - - assert(broadPhaseID >= 0); + assert(broadPhaseId >= 0); // Update the dynamic AABB tree according to the movement of the collision shape - bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseID, aabb, displacement, forceReinsert); + bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, displacement); // If the collision shape has moved out of its fat AABB (and therefore has been reinserted // into the tree). @@ -125,7 +142,41 @@ void BroadPhaseSystem::updateProxyCollisionShape(ProxyShape* proxyShape, const A // Add the collision shape into the array of shapes that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(broadPhaseID); + addMovedCollisionShape(broadPhaseId); + } +} + +// Update the broad-phase state of some proxy-shapes components +void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 endIndex) { + + assert(startIndex <= endIndex); + assert(startIndex < mProxyShapesComponents.getNbComponents()); + assert(endIndex <= mProxyShapesComponents.getNbComponents()); + + // Make sure we do not update disabled components + startIndex = std::min(startIndex, mProxyShapesComponents.getNbEnabledComponents()); + endIndex = std::min(endIndex, mProxyShapesComponents.getNbEnabledComponents()); + + // For each proxy-shape component to update + for (uint32 i = startIndex; i < endIndex; i++) { + + const int broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i]; + if (broadPhaseId != -1) { + + const Entity& bodyEntity = mProxyShapesComponents.mBodiesEntities[i]; + const Transform& transform = mTransformsComponents.getTransform(bodyEntity); + + // TODO : Use body linear velocity and compute displacement + const Vector3 displacement = Vector3::zero(); + //const Vector3 displacement = world.mTimeStep * mLinearVelocity; + + // Recompute the world-space AABB of the collision shape + AABB aabb; + mProxyShapesComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mProxyShapesComponents.mLocalToBodyTransforms[i]); + + // Update the broad-phase state for the proxy collision shape + updateProxyShapeInternal(broadPhaseId, aabb, displacement); + } } } diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 4d2bbd5b..e4ca273a 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -30,7 +30,8 @@ #include "collision/broadphase/DynamicAABBTree.h" #include "containers/LinkedList.h" #include "containers/Set.h" -#include "components/ProxyShapesComponents.h" +#include "components/ProxyShapeComponents.h" +#include "components/TransformComponents.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -142,7 +143,10 @@ class BroadPhaseSystem { DynamicAABBTree mDynamicAABBTree; /// Reference to the proxy-shapes components - ProxyShapesComponents& mProxyShapesComponents; + ProxyShapeComponents& mProxyShapesComponents; + + /// Reference to the transform components + TransformComponents& mTransformsComponents; /// Set with the broad-phase IDs of all collision shapes that have moved (or have been /// created) during the last simulation step. Those are the shapes that need to be tested @@ -161,13 +165,21 @@ class BroadPhaseSystem { Profiler* mProfiler; #endif + // -------------------- Methods -------------------- // + + /// Notify the Dynamic AABB tree that a proxy-shape needs to be updated + void updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement); + + /// Update the broad-phase state of some proxy-shapes components + void updateProxyShapesComponents(uint32 startIndex, uint32 endIndex); public : // -------------------- Methods -------------------- // /// Constructor - BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapesComponents& proxyShapesComponents); + BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, + TransformComponents &transformComponents); /// Destructor ~BroadPhaseSystem() = default; @@ -184,9 +196,11 @@ class BroadPhaseSystem { /// Remove a proxy collision shape from the broad-phase collision detection void removeProxyCollisionShape(ProxyShape* proxyShape); - /// Notify the broad-phase that a collision shape has moved and need to be updated - void updateProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb, - const Vector3& displacement, bool forceReinsert = false); + /// Update the broad-phase state of a single proxy-shape + void updateProxyShape(Entity proxyShapeEntity); + + /// Update the broad-phase state of all the enabled proxy-shapes + void updateProxyShapes(); /// Add a collision shape in the array of shapes that have moved in the last simulation step /// and that need to be tested again for broad-phase overlapping. diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index d7912630..6878955d 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -243,10 +243,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero(), false); - tree.updateObject(object2Id, aabb2, Vector3::zero(), false); - tree.updateObject(object3Id, aabb3, Vector3::zero(), false); - tree.updateObject(object4Id, aabb4, Vector3::zero(), false); + tree.updateObject(object1Id, aabb1, Vector3::zero()); + tree.updateObject(object2Id, aabb2, Vector3::zero()); + tree.updateObject(object3Id, aabb3, Vector3::zero()); + tree.updateObject(object4Id, aabb4, Vector3::zero()); // AABB overlapping nothing mOverlapCallback.reset(); @@ -290,10 +290,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero(), true); - tree.updateObject(object2Id, aabb2, Vector3::zero(), true); - tree.updateObject(object3Id, aabb3, Vector3::zero(), true); - tree.updateObject(object4Id, aabb4, Vector3::zero(), true); + tree.updateObject(object1Id, aabb1, Vector3::zero()); + tree.updateObject(object2Id, aabb2, Vector3::zero()); + tree.updateObject(object3Id, aabb3, Vector3::zero()); + tree.updateObject(object4Id, aabb4, Vector3::zero()); // AABB overlapping nothing mOverlapCallback.reset(); @@ -438,10 +438,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero(), false); - tree.updateObject(object2Id, aabb2, Vector3::zero(), false); - tree.updateObject(object3Id, aabb3, Vector3::zero(), false); - tree.updateObject(object4Id, aabb4, Vector3::zero(), false); + tree.updateObject(object1Id, aabb1, Vector3::zero()); + tree.updateObject(object2Id, aabb2, Vector3::zero()); + tree.updateObject(object3Id, aabb3, Vector3::zero()); + tree.updateObject(object4Id, aabb4, Vector3::zero()); // Ray with no hits mRaycastCallback.reset(); @@ -477,10 +477,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero(), true); - tree.updateObject(object2Id, aabb2, Vector3::zero(), true); - tree.updateObject(object3Id, aabb3, Vector3::zero(), true); - tree.updateObject(object4Id, aabb4, Vector3::zero(), true); + tree.updateObject(object1Id, aabb1, Vector3::zero()); + tree.updateObject(object2Id, aabb2, Vector3::zero()); + tree.updateObject(object3Id, aabb3, Vector3::zero()); + tree.updateObject(object4Id, aabb4, Vector3::zero()); // Ray with no hits mRaycastCallback.reset(); From fe81c3fd6e017c1afb3943e837b3bf24f082762f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 21 Mar 2019 07:29:59 +0100 Subject: [PATCH 039/197] =?UTF-8?q?Add=C2=A0DynamicsComponents=20class?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 2 + src/body/RigidBody.cpp | 62 ++++++++-- src/body/RigidBody.h | 33 +----- src/collision/CollisionDetection.cpp | 7 +- src/collision/CollisionDetection.h | 3 +- src/components/Components.h | 10 +- src/components/DynamicsComponents.cpp | 159 ++++++++++++++++++++++++++ src/components/DynamicsComponents.h | 153 +++++++++++++++++++++++++ src/engine/CollisionWorld.cpp | 3 +- src/engine/CollisionWorld.h | 4 + src/engine/DynamicsWorld.cpp | 7 +- src/engine/DynamicsWorld.h | 12 ++ src/systems/BroadPhaseSystem.cpp | 26 ++++- src/systems/BroadPhaseSystem.h | 6 +- 14 files changed, 430 insertions(+), 57 deletions(-) create mode 100644 src/components/DynamicsComponents.cpp create mode 100644 src/components/DynamicsComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index b52047ab..63cc8a17 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -143,6 +143,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/BodyComponents.h" "src/components/TransformComponents.h" "src/components/ProxyShapeComponents.h" + "src/components/DynamicsComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -235,6 +236,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/BodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapeComponents.cpp" + "src/components/DynamicsComponents.cpp" "src/collision/CollisionCallback.cpp" "src/mathematics/mathematics_functions.cpp" "src/mathematics/Matrix2x2.cpp" diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index ad47335d..a456bdbe 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -83,8 +83,8 @@ void RigidBody::setType(BodyType type) { if (mType == BodyType::STATIC) { // Reset the velocity to zero - mLinearVelocity.setToZero(); - mAngularVelocity.setToZero(); + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); + mWorld.mDynamicsComponents.setAngularVelocity(mEntity, Vector3::zero()); } // If it is a static or a kinematic body @@ -189,7 +189,10 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mCenterOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * mCenterOfMassLocal; // Update the linear velocity of the center of mass - mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + Vector3 linearVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mID) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); @@ -422,15 +425,15 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { if (mType == BodyType::STATIC) return; // Update the linear velocity of the current body state - mLinearVelocity = linearVelocity; + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); // If the linear velocity is not zero, awake the body - if (mLinearVelocity.lengthSquare() > decimal(0.0)) { + if (linearVelocity.lengthSquare() > decimal(0.0)) { setIsSleeping(false); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set linearVelocity=" + mLinearVelocity.to_string()); + "Body " + std::to_string(mID) + ": Set linearVelocity=" + linearVelocity.to_string()); } // Set the angular velocity. @@ -439,19 +442,21 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { */ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { + // TODO : Make sure this method is not called from the internal physics engine + // If it is a static body, we do nothing if (mType == BodyType::STATIC) return; // Set the angular velocity - mAngularVelocity = angularVelocity; + mWorld.mDynamicsComponents.setAngularVelocity(mEntity, angularVelocity); // If the velocity is not zero, awake the body - if (mAngularVelocity.lengthSquare() > decimal(0.0)) { + if (angularVelocity.lengthSquare() > decimal(0.0)) { setIsSleeping(false); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set angularVelocity=" + mAngularVelocity.to_string()); + "Body " + std::to_string(mID) + ": Set angularVelocity=" + angularVelocity.to_string()); } // Set the current position and orientation @@ -470,7 +475,10 @@ void RigidBody::setTransform(const Transform& transform) { mCenterOfMassWorld = transform * mCenterOfMassLocal; // Update the linear velocity of the center of mass - mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + Vector3 linearVelocity = mWorld.mDynamicsComponents.getLinearVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); @@ -573,7 +581,39 @@ void RigidBody::recomputeMassInformation() { updateInertiaTensorInverseWorld(); // Update the linear velocity of the center of mass - mLinearVelocity += mAngularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + Vector3 linearVelocity = mWorld.mDynamicsComponents.getLinearVelocity(mEntity); + Vector3 angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); +} + +// Return the linear velocity +/** + * @return The linear velocity vector of the body + */ +Vector3 RigidBody::getLinearVelocity() const { + return mWorld.mDynamicsComponents.getLinearVelocity(mEntity); +} + +// Return the angular velocity of the body +/** + * @return The angular velocity vector of the body + */ +Vector3 RigidBody::getAngularVelocity() const { + return mWorld.mDynamicsComponents.getAngularVelocity(mEntity); +} + +// Set the variable to know whether or not the body is sleeping +void RigidBody::setIsSleeping(bool isSleeping) { + + if (isSleeping) { + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); + mWorld.mDynamicsComponents.setAngularVelocity(mEntity, Vector3::zero()); + mExternalForce.setToZero(); + mExternalTorque.setToZero(); + } + + CollisionBody::setIsSleeping(isSleeping); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index c23d0356..5946e990 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -70,10 +70,10 @@ class RigidBody : public CollisionBody { Vector3 mCenterOfMassWorld; /// Linear velocity of the body - Vector3 mLinearVelocity; + //Vector3 mLinearVelocity; /// Angular velocity of the body - Vector3 mAngularVelocity; + //Vector3 mAngularVelocity; /// Current external force on the body Vector3 mExternalForce; @@ -260,22 +260,6 @@ inline decimal RigidBody::getMass() const { return mInitMass; } -// Return the linear velocity -/** - * @return The linear velocity vector of the body - */ -inline Vector3 RigidBody::getLinearVelocity() const { - return mLinearVelocity; -} - -// Return the angular velocity of the body -/** - * @return The angular velocity vector of the body - */ -inline Vector3 RigidBody::getAngularVelocity() const { - return mAngularVelocity; -} - // Get the inverse local inertia tensor of the body (in body coordinates) inline const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { return mInertiaTensorLocalInverse; @@ -345,19 +329,6 @@ inline JointListElement* RigidBody::getJointsList() { return mJointsList; } -// Set the variable to know whether or not the body is sleeping -inline void RigidBody::setIsSleeping(bool isSleeping) { - - if (isSleeping) { - mLinearVelocity.setToZero(); - mAngularVelocity.setToZero(); - mExternalForce.setToZero(); - mExternalTorque.setToZero(); - } - - CollisionBody::setIsSleeping(isSleeping); -} - // Apply an external force to the body at its center of mass. /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied forces and that this sum will be diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index af17bd42..92c5e36c 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -48,11 +48,12 @@ using namespace std; // Constructor -CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents &transformComponents, - MemoryManager& memoryManager) +CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, + DynamicsComponents& dynamicsComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mTransformComponents(transformComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), - mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseSystem(*this, mProxyShapesComponents, mTransformComponents), + mOverlappingPairs(mMemoryManager.getPoolAllocator()), + mBroadPhaseSystem(*this, mProxyShapesComponents, mTransformComponents, dynamicsComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 9357c0fe..b9c7e249 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -154,7 +154,8 @@ class CollisionDetection { /// Constructor CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, - TransformComponents& transformComponents, MemoryManager& memoryManager); + TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents, + MemoryManager& memoryManager); /// Destructor ~CollisionDetection() = default; diff --git a/src/components/Components.h b/src/components/Components.h index cd5dcc56..d0bdf129 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -107,9 +107,12 @@ class Components { /// Remove a component void removeComponent(Entity entity); - // Notify if a given entity is disabled (sleeping or inactive) or not + /// Notify if a given entity is disabled (sleeping or inactive) or not void setIsEntityDisabled(Entity entity, bool isDisabled); + /// Return true if there is a component for a given entity + bool hasComponent(Entity entity) const; + /// Return the number of components uint32 getNbComponents() const; @@ -117,6 +120,11 @@ class Components { uint32 getNbEnabledComponents() const; }; +// Return true if there is a component for a given entity +inline bool Components::hasComponent(Entity entity) const { + return mMapEntityToComponentIndex.containsKey(entity); +} + // Return the number of components inline uint32 Components::getNbComponents() const { return mNbComponents; diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp new file mode 100644 index 00000000..effe55d6 --- /dev/null +++ b/src/components/DynamicsComponents.cpp @@ -0,0 +1,159 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "DynamicsComponents.h" +#include "engine/EntityManager.h" +#include +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + + +// Constructor +DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof (Vector3)) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newEntities = static_cast(newBuffer); + Vector3* newLinearVelocities = reinterpret_cast(newEntities + nbComponentsToAllocate); + Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Transform)); + memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Entity)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mBodies = newEntities; + mLinearVelocities = newLinearVelocities; + mAngularVelocities = newAngularVelocities; + mNbAllocatedComponents = nbComponentsToAllocate; +} + +// Add a component +void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const DynamicsComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mBodies + index) Entity(bodyEntity); + new (mLinearVelocities + index) Vector3(component.linearVelocity); + new (mAngularVelocities + index) Vector3(component.angularVelocity); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mBodies[srcIndex]; + + // Copy the data of the source component to the destination location + new (mBodies + destIndex) Entity(mBodies[srcIndex]); + new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]); + new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mBodies[destIndex]] == destIndex); +} + +// Swap two components in the array +void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity entity1(mBodies[index1]); + Vector3 linearVelocity1(mLinearVelocities[index1]); + Vector3 angularVelocity1(mAngularVelocities[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mBodies + index2) Entity(entity1); + new (mLinearVelocities + index2) Vector3(linearVelocity1); + new (mAngularVelocities + index2) Vector3(angularVelocity1); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity1, index2)); + + assert(mMapEntityToComponentIndex[mBodies[index1]] == index1); + assert(mMapEntityToComponentIndex[mBodies[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void DynamicsComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mBodies[index]] == index); + + mMapEntityToComponentIndex.remove(mBodies[index]); + + mBodies[index].~Entity(); + mLinearVelocities[index].~Vector3(); + mAngularVelocities[index].~Vector3(); +} diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h new file mode 100644 index 00000000..7c81e61b --- /dev/null +++ b/src/components/DynamicsComponents.h @@ -0,0 +1,153 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_DYNAMICS_COMPONENTS_H +#define REACTPHYSICS3D_DYNAMICS_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; + +// Class DynamicsComponents +/** + * This class represent the component of the ECS that contains the variables concerning dynamics + * like velocities. + */ +class DynamicsComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of body entities of each component + Entity* mBodies; + + /// Array with the linear velocity of each component + Vector3* mLinearVelocities; + + /// Array with the angular velocity of each component + Vector3* mAngularVelocities; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a transform component + struct DynamicsComponent { + + const Vector3& linearVelocity; + const Vector3& angularVelocity; + + /// Constructor + DynamicsComponent(const Vector3& linearVelocity, const Vector3& angularVelocity) + : linearVelocity(linearVelocity), angularVelocity(angularVelocity) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + DynamicsComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~DynamicsComponents() override = default; + + /// Add a component + void addComponent(Entity bodyEntity, bool isSleeping, const DynamicsComponent& component); + + /// Return the linear velocity of an entity + Vector3& getLinearVelocity(Entity bodyEntity) const; + + /// Return the angular velocity of an entity + Vector3& getAngularVelocity(Entity bodyEntity) const; + + /// Set the linear velocity of an entity + void setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity); + + /// Set the angular velocity of an entity + void setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; +}; + +// Return the linear velocity of an entity +inline Vector3& DynamicsComponents::getLinearVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the angular velocity of an entity +inline Vector3& DynamicsComponents::getAngularVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the linear velocity of an entity +inline void DynamicsComponents::setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = linearVelocity; +} + +// Set the angular velocity of an entity +inline void DynamicsComponents::setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = angularVelocity; +} + +} + +#endif diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 36ef4b33..5ae61e12 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -39,7 +39,8 @@ uint CollisionWorld::mNbWorlds = 0; CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), - mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mMemoryManager), + mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mDynamicsComponents(mMemoryManager.getBaseAllocator()), + mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mDynamicsComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 87ebebce..3bf33372 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -36,6 +36,7 @@ #include "components/BodyComponents.h" #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" +#include "components/DynamicsComponents.h" /// Namespace reactphysics3d namespace reactphysics3d { @@ -82,6 +83,9 @@ class CollisionWorld { /// Proxy-Shapes Components ProxyShapeComponents mProxyShapesComponents; + /// Dynamics components of the bodies (linear, angular velocities) + DynamicsComponents mDynamicsComponents; + /// Reference to the collision detection CollisionDetection mCollisionDetection; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index b14d250a..15524353 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -50,7 +50,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS : CollisionWorld(worldSettings, logger, profiler), mContactSolver(mMemoryManager, mConfig), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), - mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), + mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mTimeStep(decimal(1.0f / 60.0f)), mIsGravityEnabled(true), mConstrainedLinearVelocities(nullptr), @@ -214,8 +214,8 @@ void DynamicsWorld::updateBodiesState() { uint index = bodies[b]->mArrayIndex; // Update the linear and angular velocity of the body - bodies[b]->mLinearVelocity = mConstrainedLinearVelocities[index]; - bodies[b]->mAngularVelocity = mConstrainedAngularVelocities[index]; + mDynamicsComponents.setLinearVelocity(bodies[b]->getEntity(), mConstrainedLinearVelocities[index]); + mDynamicsComponents.setAngularVelocity(bodies[b]->getEntity(), mConstrainedAngularVelocities[index]); // Update the position of the center of mass of the body bodies[b]->mCenterOfMassWorld = mConstrainedPositions[index]; @@ -429,6 +429,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { assert(bodyID < std::numeric_limits::max()); mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); + mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(Vector3::zero(), Vector3::zero())); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 49ded681..f17aaefd 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -32,6 +32,7 @@ #include "configuration.h" #include "utils/Logger.h" #include "engine/ContactSolver.h" +#include "components/DynamicsComponents.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -216,6 +217,9 @@ class DynamicsWorld : public CollisionWorld { /// Set the gravity vector of the world void setGravity(Vector3& gravity); + /// Return the current time step + decimal getTimeStep() const; + /// Return if the gravity is on bool isGravityEnabled() const; @@ -359,6 +363,14 @@ inline void DynamicsWorld::setGravity(Vector3& gravity) { "Dynamics World: Set gravity vector to " + gravity.to_string()); } +// Return the current time step +/** + * @return The current time step (in seconds) + */ +inline decimal DynamicsWorld::getTimeStep() const { + return mTimeStep; +} + // Return if the gravity is enaled /** * @return True if the gravity is enabled in the world diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 51c986f3..9c0dbf2e 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -29,16 +29,17 @@ #include "utils/Profiler.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" -#include "engine/CollisionWorld.h" +#include "engine/DynamicsWorld.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; // Constructor BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, - TransformComponents& transformComponents) + TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), mProxyShapesComponents(proxyShapesComponents), mTransformsComponents(transformComponents), + mDynamicsComponents(dynamicsComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mPotentialPairs(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { @@ -157,6 +158,13 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end startIndex = std::min(startIndex, mProxyShapesComponents.getNbEnabledComponents()); endIndex = std::min(endIndex, mProxyShapesComponents.getNbEnabledComponents()); + // Get the time step if we are in a dynamics world + DynamicsWorld* dynamicsWorld = dynamic_cast(mCollisionDetection.getWorld()); + decimal timeStep = decimal(0.0); + if (dynamicsWorld != nullptr) { + timeStep = dynamicsWorld->getTimeStep(); + } + // For each proxy-shape component to update for (uint32 i = startIndex; i < endIndex; i++) { @@ -166,9 +174,17 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end const Entity& bodyEntity = mProxyShapesComponents.mBodiesEntities[i]; const Transform& transform = mTransformsComponents.getTransform(bodyEntity); - // TODO : Use body linear velocity and compute displacement - const Vector3 displacement = Vector3::zero(); - //const Vector3 displacement = world.mTimeStep * mLinearVelocity; + Vector3 displacement(0, 0, 0); + + // If there is a dynamics component for the current entity + if (mDynamicsComponents.hasComponent(bodyEntity)) { + + // Get the linear velocity from the dynamics component + const Vector3& linearVelocity = mDynamicsComponents.getLinearVelocity(bodyEntity); + + // TODO : Use body linear velocity and compute displacement + displacement = timeStep * linearVelocity; + } // Recompute the world-space AABB of the collision shape AABB aabb; diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index e4ca273a..94047e36 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -32,6 +32,7 @@ #include "containers/Set.h" #include "components/ProxyShapeComponents.h" #include "components/TransformComponents.h" +#include "components/DynamicsComponents.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -148,6 +149,9 @@ class BroadPhaseSystem { /// Reference to the transform components TransformComponents& mTransformsComponents; + /// Reference to the dynamics components + DynamicsComponents& mDynamicsComponents; + /// Set with the broad-phase IDs of all collision shapes that have moved (or have been /// created) during the last simulation step. Those are the shapes that need to be tested /// for overlapping in the next simulation step. @@ -179,7 +183,7 @@ class BroadPhaseSystem { /// Constructor BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, - TransformComponents &transformComponents); + TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents); /// Destructor ~BroadPhaseSystem() = default; From dcc07447a8cc67106cf65dbd64243c948d73890b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 21 Mar 2019 17:36:35 +0100 Subject: [PATCH 040/197] Remove localBoundsAABB from ProxyShapesComponents --- src/components/ProxyShapeComponents.cpp | 12 ++---------- src/components/ProxyShapeComponents.h | 3 --- src/systems/BroadPhaseSystem.cpp | 3 +-- 3 files changed, 3 insertions(+), 15 deletions(-) diff --git a/src/components/ProxyShapeComponents.cpp b/src/components/ProxyShapeComponents.cpp index 965d0bde..198b80da 100644 --- a/src/components/ProxyShapeComponents.cpp +++ b/src/components/ProxyShapeComponents.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor ProxyShapeComponents::ProxyShapeComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(AABB) + + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + sizeof(unsigned short)) { @@ -60,8 +60,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newBodiesEntities = reinterpret_cast(newProxyShapesEntities + nbComponentsToAllocate); ProxyShape** newProxyShapes = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); int* newBroadPhaseIds = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); - AABB* newLocalBounds = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); - Transform* newLocalToBodyTransforms = reinterpret_cast(newLocalBounds + nbComponentsToAllocate); + Transform* newLocalToBodyTransforms = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); unsigned short* newCollisionCategoryBits = reinterpret_cast(newMasses + nbComponentsToAllocate); @@ -75,7 +74,6 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(ProxyShape*)); memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int)); - memcpy(newLocalBounds, mLocalBounds, mNbComponents * sizeof(AABB)); memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*)); memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); @@ -92,7 +90,6 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { mProxyShapesEntities = newProxyShapesEntities; mProxyShapes = newProxyShapes; mBroadPhaseIds = newBroadPhaseIds; - mLocalBounds = newLocalBounds; mLocalToBodyTransforms = newLocalToBodyTransforms; mCollisionShapes = newCollisionShapes; mMasses = newMasses; @@ -113,7 +110,6 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping new (mBodiesEntities + index) Entity(component.bodyEntity); mProxyShapes[index] = component.proxyShape; new (mBroadPhaseIds + index) int(component.broadPhaseId); - new (mLocalBounds + index) AABB(component.localBounds); new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); mCollisionShapes[index] = component.collisionShape; new (mMasses + index) decimal(component.mass); @@ -139,7 +135,6 @@ void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mProxyShapes[destIndex] = mProxyShapes[srcIndex]; new (mBroadPhaseIds + destIndex) int(mBroadPhaseIds[srcIndex]); - new (mLocalBounds + destIndex) AABB(mLocalBounds[srcIndex]); new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); mCollisionShapes[destIndex] = mCollisionShapes[srcIndex]; new (mMasses + destIndex) decimal(mMasses[srcIndex]); @@ -165,7 +160,6 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { Entity bodyEntity1(mBodiesEntities[index1]); ProxyShape* proxyShape1 = mProxyShapes[index1]; int broadPhaseId1 = mBroadPhaseIds[index1]; - AABB localBounds1 = mLocalBounds[index1]; Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; CollisionShape* collisionShape1 = mCollisionShapes[index1]; decimal mass1 = mMasses[index1]; @@ -182,7 +176,6 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { new (mBodiesEntities + index2) Entity(bodyEntity1); mProxyShapes[index2] = proxyShape1; new (mBroadPhaseIds + index2) int(broadPhaseId1); - new (mLocalBounds + index2) AABB(localBounds1); new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); mCollisionShapes[index2] = collisionShape1; new (mMasses + index2) decimal(mass1); @@ -209,7 +202,6 @@ void ProxyShapeComponents::destroyComponent(uint32 index) { mProxyShapesEntities[index].~Entity(); mBodiesEntities[index].~Entity(); mProxyShapes[index] = nullptr; - mLocalBounds[index].~AABB(); mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; } diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index 5282e2fc..d56eed49 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -68,9 +68,6 @@ class ProxyShapeComponents : public Components { // TODO : Try to change type to uint32 int* mBroadPhaseIds; - /// Local-space bounds of a proxy-shape - AABB* mLocalBounds; - /// Transform from local-space of the proxy-shape to the body-space of its body Transform* mLocalToBodyTransforms; diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 9c0dbf2e..f9cdfa92 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -174,9 +174,8 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end const Entity& bodyEntity = mProxyShapesComponents.mBodiesEntities[i]; const Transform& transform = mTransformsComponents.getTransform(bodyEntity); - Vector3 displacement(0, 0, 0); - // If there is a dynamics component for the current entity + Vector3 displacement(0, 0, 0); if (mDynamicsComponents.hasComponent(bodyEntity)) { // Get the linear velocity from the dynamics component From 703f91b4d30a2e8c14d9ec95ba10e98c1ded4e55 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 25 Mar 2019 07:35:40 +0100 Subject: [PATCH 041/197] Modifs in Map and Set containers --- src/containers/Map.h | 33 ++++++++++++++++++++------------- src/containers/Set.h | 36 +++++++++++++++++------------------- 2 files changed, 37 insertions(+), 32 deletions(-) diff --git a/src/containers/Map.h b/src/containers/Map.h index d341954c..c07fbb95 100755 --- a/src/containers/Map.h +++ b/src/containers/Map.h @@ -43,7 +43,7 @@ namespace reactphysics3d { * This class represents a simple generic associative map. This map is * implemented with a hash table. */ -template +template, class KeyEqual = std::equal_to> class Map { private: @@ -207,11 +207,12 @@ class Map { if (mCapacity > 0) { - size_t hashCode = std::hash()(key); + const size_t hashCode = Hash()(key); int bucket = hashCode % mCapacity; + auto keyEqual = KeyEqual(); for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && mEntries[i].keyValue->first == key) { + if (mEntries[i].hashCode == hashCode && keyEqual(mEntries[i].keyValue->first, key)) { return i; } } @@ -428,16 +429,18 @@ class Map { } // Compute the hash code of the key - size_t hashCode = std::hash()(keyValue.first); + const size_t hashCode = Hash()(keyValue.first); // Compute the corresponding bucket index int bucket = hashCode % mCapacity; + auto keyEqual = KeyEqual(); + // Check if the item is already in the map for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { // If there is already an item with the same key in the map - if (mEntries[i].hashCode == hashCode && mEntries[i].keyValue->first == keyValue.first) { + if (mEntries[i].hashCode == hashCode && keyEqual(mEntries[i].keyValue->first, keyValue.first)) { if (insertIfAlreadyPresent) { @@ -505,12 +508,14 @@ class Map { if (mCapacity > 0) { - size_t hashcode = std::hash()(key); + const size_t hashcode = Hash()(key); int bucket = hashcode % mCapacity; int last = -1; + auto keyEqual = KeyEqual(); + for (int i = mBuckets[bucket]; i >= 0; last = i, i = mEntries[i].next) { - if (mEntries[i].hashCode == hashcode && mEntries[i].keyValue->first == key) { + if (mEntries[i].hashCode == hashcode && keyEqual(mEntries[i].keyValue->first, key)) { if (last < 0 ) { mBuckets[bucket] = mEntries[i].next; @@ -612,11 +617,13 @@ class Map { if (mCapacity > 0) { - size_t hashCode = std::hash()(key); + const size_t hashCode = Hash()(key); bucket = hashCode % mCapacity; + auto keyEqual = KeyEqual(); + for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && mEntries[i].keyValue->first == key) { + if (mEntries[i].hashCode == hashCode && keyEqual(mEntries[i].keyValue->first, key)) { entry = i; break; } @@ -767,15 +774,15 @@ class Map { } }; -template -const int Map::PRIMES[NB_PRIMES] = {3, 7, 11, 17, 23, 29, 37, 47, 59, 71, 89, 107, 131, 163, 197, 239, 293, 353, 431, 521, 631, 761, 919, +template +const int Map::PRIMES[NB_PRIMES] = {3, 7, 11, 17, 23, 29, 37, 47, 59, 71, 89, 107, 131, 163, 197, 239, 293, 353, 431, 521, 631, 761, 919, 1103, 1327, 1597, 1931, 2333, 2801, 3371, 4049, 4861, 5839, 7013, 8419, 10103, 12143, 14591, 17519, 21023, 25229, 30293, 36353, 43627, 52361, 62851, 75431, 90523, 108631, 130363, 156437, 187751, 225307, 270371, 324449, 389357, 467237, 560689, 672827, 807403, 968897, 1162687, 1395263, 1674319, 2009191, 2411033, 2893249, 3471899, 4166287, 4999559}; -template -int Map::LARGEST_PRIME = -1; +template +int Map::LARGEST_PRIME = -1; } diff --git a/src/containers/Set.h b/src/containers/Set.h index 77279fdb..71dd1fc1 100755 --- a/src/containers/Set.h +++ b/src/containers/Set.h @@ -94,12 +94,6 @@ class Set { // -------------------- Attributes -------------------- // - /// Object with hash operator - const Hash mHash; - - /// Object with equality operator - const KeyEqual mEqual; - /// Current number of used entries in the set int mNbUsedEntries; @@ -212,11 +206,12 @@ class Set { if (mCapacity > 0) { - size_t hashCode = mHash(value); + size_t hashCode = Hash()(value); int bucket = hashCode % mCapacity; + auto keyEqual = KeyEqual(); for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && mEqual(*mEntries[i].value, value)) { + if (mEntries[i].hashCode == hashCode && keyEqual(*mEntries[i].value, value)) { return i; } } @@ -332,7 +327,7 @@ class Set { } /// Pre increment (++it) - Iterator operator++(int number) { + Iterator operator++(int) { Iterator tmp = *this; advance(); return tmp; @@ -353,9 +348,8 @@ class Set { // -------------------- Methods -------------------- // /// Constructor - Set(MemoryAllocator& allocator, size_t capacity = 0, const Hash& hash = Hash(), - const KeyEqual& equal = KeyEqual()) - : mHash(hash), mEqual(equal), mNbUsedEntries(0), mNbFreeEntries(0), mCapacity(0), mBuckets(nullptr), + Set(MemoryAllocator& allocator, size_t capacity = 0) + : mNbUsedEntries(0), mNbFreeEntries(0), mCapacity(0), mBuckets(nullptr), mEntries(nullptr), mAllocator(allocator), mFreeIndex(-1) { // If the largest prime has not been computed yet @@ -373,7 +367,7 @@ class Set { /// Copy constructor Set(const Set& set) - :mHash(set.mHash), mEqual(set.mEqual), mNbUsedEntries(set.mNbUsedEntries), mNbFreeEntries(set.mNbFreeEntries), mCapacity(set.mCapacity), + :mNbUsedEntries(set.mNbUsedEntries), mNbFreeEntries(set.mNbFreeEntries), mCapacity(set.mCapacity), mBuckets(nullptr), mEntries(nullptr), mAllocator(set.mAllocator), mFreeIndex(set.mFreeIndex) { if (mCapacity > 0) { @@ -435,16 +429,18 @@ class Set { } // Compute the hash code of the value - size_t hashCode = mHash(value); + size_t hashCode = Hash()(value); // Compute the corresponding bucket index int bucket = hashCode % mCapacity; + auto keyEqual = KeyEqual(); + // Check if the item is already in the set for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { // If there is already an item with the same value in the set - if (mEntries[i].hashCode == hashCode && mEqual(*mEntries[i].value, value)) { + if (mEntries[i].hashCode == hashCode && keyEqual(*mEntries[i].value, value)) { return false; } @@ -501,12 +497,13 @@ class Set { if (mCapacity > 0) { - size_t hashcode = mHash(value); + size_t hashcode = Hash()(value); + auto keyEqual = KeyEqual(); int bucket = hashcode % mCapacity; int last = -1; for (int i = mBuckets[bucket]; i >= 0; last = i, i = mEntries[i].next) { - if (mEntries[i].hashCode == hashcode && mEqual(*mEntries[i].value, value)) { + if (mEntries[i].hashCode == hashcode && keyEqual(*mEntries[i].value, value)) { if (last < 0 ) { mBuckets[bucket] = mEntries[i].next; @@ -604,11 +601,12 @@ class Set { if (mCapacity > 0) { - size_t hashCode = mHash(value); + size_t hashCode = Hash()(value); bucket = hashCode % mCapacity; + auto keyEqual = KeyEqual(); for (int i = mBuckets[bucket]; i >= 0; i = mEntries[i].next) { - if (mEntries[i].hashCode == hashCode && mEqual(*(mEntries[i].value), value)) { + if (mEntries[i].hashCode == hashCode && keyEqual(*(mEntries[i].value), value)) { entry = i; break; } From 102651832a4a9f20434f6b951761d3162972b11e Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 25 Mar 2019 18:47:42 +0100 Subject: [PATCH 042/197] Simplify broad-phase collision detection --- CMakeLists.txt | 1 + src/collision/CollisionDetection.cpp | 30 ++---- src/collision/broadphase/BroadPhasePair.cpp | 31 ++++++ src/collision/broadphase/BroadPhasePair.h | 104 +++++++++++++++++++ src/collision/broadphase/DynamicAABBTree.cpp | 3 +- src/collision/broadphase/DynamicAABBTree.h | 3 +- src/engine/Entity.h | 4 +- src/systems/BroadPhaseSystem.cpp | 39 +++---- src/systems/BroadPhaseSystem.h | 53 ++-------- 9 files changed, 170 insertions(+), 98 deletions(-) create mode 100644 src/collision/broadphase/BroadPhasePair.cpp create mode 100644 src/collision/broadphase/BroadPhasePair.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 63cc8a17..445b8a70 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -82,6 +82,7 @@ SET (REACTPHYSICS3D_HEADERS "src/body/RigidBody.h" "src/collision/ContactPointInfo.h" "src/collision/broadphase/DynamicAABBTree.h" + "src/collision/broadphase/BroadPhasePair.h" "src/collision/narrowphase/CollisionDispatch.h" "src/collision/narrowphase/GJK/VoronoiSimplex.h" "src/collision/narrowphase/GJK/GJKAlgorithm.h" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 92c5e36c..caabf756 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -573,15 +573,14 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over Set reportedBodies(mMemoryManager.getPoolAllocator()); // Ask the broad-phase to get all the overlapping shapes - LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); + List overlappingNodes(mMemoryManager.getPoolAllocator()); mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); // For each overlaping proxy shape - LinkedList::ListElement* element = overlappingNodes.getListHead(); - while (element != nullptr) { + for (uint i=0; i < overlappingNodes.size(); i++) { // Get the overlapping proxy shape - int broadPhaseId = element->data; + const int broadPhaseId = overlappingNodes[i]; ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); CollisionBody* overlapBody = proxyShape->getBody(); @@ -599,9 +598,6 @@ void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* over overlapCallback->notifyOverlap(overlapBody); } } - - // Go to the next overlapping proxy shape - element = element->next; } } @@ -668,17 +664,16 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl const AABB& shapeAABB = mBroadPhaseSystem.getFatAABB(bodyProxyShape->getBroadPhaseId()); // Ask the broad-phase to get all the overlapping shapes - LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); + List overlappingNodes(mMemoryManager.getPoolAllocator()); mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); const bodyindex bodyId = body->getId(); // For each overlaping proxy shape - LinkedList::ListElement* element = overlappingNodes.getListHead(); - while (element != nullptr) { + for (uint i=0; i < overlappingNodes.size(); i++) { // Get the overlapping proxy shape - int broadPhaseId = element->data; + const int broadPhaseId = overlappingNodes[i]; ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); // If the proxy shape is from a body that we have not already reported collision and the @@ -711,9 +706,6 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overl narrowPhaseInput.clear(); } } - - // Go to the next overlapping proxy shape - element = element->next; } } } @@ -821,17 +813,16 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c const AABB& shapeAABB = mBroadPhaseSystem.getFatAABB(bodyProxyShape->getBroadPhaseId()); // Ask the broad-phase to get all the overlapping shapes - LinkedList overlappingNodes(mMemoryManager.getPoolAllocator()); + List overlappingNodes(mMemoryManager.getPoolAllocator()); mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); const bodyindex bodyId = body->getId(); // For each overlaping proxy shape - LinkedList::ListElement* element = overlappingNodes.getListHead(); - while (element != nullptr) { + for (uint i=0; i < overlappingNodes.size(); i++) { // Get the overlapping proxy shape - int broadPhaseId = element->data; + const int broadPhaseId = overlappingNodes[i]; ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); // If the two proxy collision shapes are not from the same body @@ -866,9 +857,6 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); } } - - // Go to the next overlapping proxy shape - element = element->next; } } } diff --git a/src/collision/broadphase/BroadPhasePair.cpp b/src/collision/broadphase/BroadPhasePair.cpp new file mode 100644 index 00000000..ba590031 --- /dev/null +++ b/src/collision/broadphase/BroadPhasePair.cpp @@ -0,0 +1,31 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BroadPhasePair.h" + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + diff --git a/src/collision/broadphase/BroadPhasePair.h b/src/collision/broadphase/BroadPhasePair.h new file mode 100644 index 00000000..7379365f --- /dev/null +++ b/src/collision/broadphase/BroadPhasePair.h @@ -0,0 +1,104 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_BROAD_PHASE_PAIR_H +#define REACTPHYSICS3D_BROAD_PHASE_PAIR_H + +// Libraries +#include +#include +#include"containers/Pair.h" + + +/// Namespace ReactPhysics3D +namespace reactphysics3d { + +// Structure BroadPhasePair +/** + * This structure represent a potential overlapping pair during the + * broad-phase collision detection. + */ +struct BroadPhasePair { + + public: + + // -------------------- Attributes -------------------- // + + // Broad-phase id of the first collision shape + int shape1BroadPhaseId; + + // Broad-phase id of the second collision shape + int shape2BroadPhaseId; + + // -------------------- Methods -------------------- // + + /// Constructor + BroadPhasePair(int shapeId1, int shapeId2) + : shape1BroadPhaseId(std::min(shapeId1, shapeId2)), + shape2BroadPhaseId(std::max(shapeId1, shapeId2)) { + + assert(shape1BroadPhaseId != -1); + assert(shape2BroadPhaseId != -1); + } + + /// Equality operator + bool operator==(const BroadPhasePair& pair) const; + + /// Inequality operator + bool operator!=(const BroadPhasePair& pair) const; +}; + +// Equality operator +inline bool BroadPhasePair::operator==(const BroadPhasePair& pair) const { + + return shape1BroadPhaseId == pair.shape1BroadPhaseId && shape2BroadPhaseId == pair.shape2BroadPhaseId; +} + +// Inequality operator +inline bool BroadPhasePair::operator!=(const BroadPhasePair& pair) const { + return shape1BroadPhaseId != pair.shape1BroadPhaseId || shape2BroadPhaseId != pair.shape2BroadPhaseId; +} + +} + +// Hash function for a reactphysics3d BroadPhasePair +namespace std { + + template <> struct hash { + + size_t operator()(const reactphysics3d::BroadPhasePair& pair) const { + + assert(pair.shape1BroadPhaseId <= pair.shape2BroadPhaseId); + + std::size_t seed = 0; + reactphysics3d::hash_combine(seed, pair.shape1BroadPhaseId); + reactphysics3d::hash_combine(seed, pair.shape2BroadPhaseId); + + return seed; + } + }; +} + +#endif diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index bdc85b5e..f693ab79 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -593,8 +593,7 @@ int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) { } /// Report all shapes overlapping with the AABB given in parameter. -void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, - DynamicAABBTreeOverlapCallback& callback) const { +void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const { // Create a stack with the nodes to visit Stack stack(mAllocator); diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 0b0a5828..1876b396 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -237,8 +237,7 @@ class DynamicAABBTree { void* getNodeDataPointer(int nodeID) const; /// Report all shapes overlapping with the AABB given in parameter. - void reportAllShapesOverlappingWithAABB(const AABB& aabb, - DynamicAABBTreeOverlapCallback& callback) const; + void reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const; /// Ray casting method void raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& callback) const; diff --git a/src/engine/Entity.h b/src/engine/Entity.h index 85f3d0a9..222195fd 100644 --- a/src/engine/Entity.h +++ b/src/engine/Entity.h @@ -97,7 +97,7 @@ struct Entity { /// Equality operator bool operator==(const Entity& entity) const; - /// Inequality operator (it != end()) + /// Inequality operator bool operator!=(const Entity& entity) const; // -------------------- Friendship -------------------- // @@ -122,7 +122,7 @@ inline bool Entity::operator==(const Entity& entity) const { return entity.id == id; } -// Inequality operator (it != end()) +// Inequality operator inline bool Entity::operator!=(const Entity& entity) const { return entity.id != id; } diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index f9cdfa92..8d9a0174 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -195,8 +195,7 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end } } -void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, - LinkedList& overlappingNodes) const { +void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { AABBOverlapCallback callback(overlappingNodes); @@ -207,12 +206,10 @@ void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, // Compute all the overlapping pairs of collision shapes void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { - // TODO : Try to see if we can allocate potential pairs in single frame allocator - // Reset the potential overlapping pairs mPotentialPairs.clear(); - LinkedList overlappingNodes(memoryManager.getPoolAllocator()); + List overlappingNodes(memoryManager.getPoolAllocator()); // For all collision shapes that have moved (or have been created) during the last simulation step for (auto it = mMovedShapes.begin(); it != mMovedShapes.end(); ++it) { @@ -234,18 +231,14 @@ void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { addOverlappingNodes(shapeID, overlappingNodes); // Remove all the elements of the linked list of overlapping nodes - overlappingNodes.reset(); + overlappingNodes.clear(); } // Reset the array of collision shapes that have move (or have been created) during the // last simulation step mMovedShapes.clear(); - // Sort the array of potential overlapping pairs in order to remove duplicate pairs - std::sort(mPotentialPairs.begin(), mPotentialPairs.end(), BroadPhasePair::smallerThan); - - // Check all the potential overlapping pairs avoiding duplicates to report unique - // overlapping pairs + // Check all the potential overlapping pairs avoiding duplicates to report unique overlapping pairs auto it = mPotentialPairs.begin(); while (it != mPotentialPairs.end()) { @@ -253,11 +246,11 @@ void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { BroadPhasePair& pair = *it; ++it; - assert(pair.collisionShape1ID != pair.collisionShape2ID); + assert(pair.shape1BroadPhaseId != pair.shape2BroadPhaseId); // Get the two collision shapes of the pair - ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.collisionShape1ID)); - ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.collisionShape2ID)); + ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.shape1BroadPhaseId)); + ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.shape2BroadPhaseId)); // If the two proxy collision shapes are from the same body, skip it if (shape1->getBody()->getId() != shape2->getBody()->getId()) { @@ -273,8 +266,8 @@ void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { BroadPhasePair& nextPair = *it; // If the next pair is different from the previous one, we stop skipping pairs - if (nextPair.collisionShape1ID != pair.collisionShape1ID || - nextPair.collisionShape2ID != pair.collisionShape2ID) { + if (nextPair.shape1BroadPhaseId != pair.shape1BroadPhaseId || + nextPair.shape2BroadPhaseId != pair.shape2BroadPhaseId) { break; } ++it; @@ -283,28 +276,24 @@ void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { } // Notify the broad-phase about a potential overlapping pair in the dynamic AABB tree -void BroadPhaseSystem::addOverlappingNodes(int referenceNodeId, const LinkedList& overlappingNodes) { +void BroadPhaseSystem::addOverlappingNodes(int referenceNodeId, const List& overlappingNodes) { // For each overlapping node in the linked list - LinkedList::ListElement* elem = overlappingNodes.getListHead(); - while (elem != nullptr) { + for (uint i=0; i < overlappingNodes.size(); i++) { // If both the nodes are the same, we do not create the overlapping pair - if (referenceNodeId != elem->data) { + if (referenceNodeId != overlappingNodes[i]) { // Add the new potential pair into the array of potential overlapping pairs - mPotentialPairs.add(BroadPhasePair(std::min(referenceNodeId, elem->data), - std::max(referenceNodeId, elem->data))); + mPotentialPairs.add(BroadPhasePair(referenceNodeId, overlappingNodes[i])); } - - elem = elem->next; } } // Called when a overlapping node has been found during the call to // DynamicAABBTree:reportAllShapesOverlappingWithAABB() void AABBOverlapCallback::notifyOverlappingNode(int nodeId) { - mOverlappingNodes.insert(nodeId); + mOverlappingNodes.add(nodeId); } // Called for a broad-phase shape that has to be tested for raycast diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 94047e36..d57a0ac8 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -33,6 +33,8 @@ #include "components/ProxyShapeComponents.h" #include "components/TransformComponents.h" #include "components/DynamicsComponents.h" +#include "collision/broadphase/BroadPhasePair.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -45,45 +47,15 @@ class ProxyShape; class MemoryManager; class Profiler; -// Structure BroadPhasePair -/** - * This structure represent a potential overlapping pair during the - * broad-phase collision detection. - */ -struct BroadPhasePair { - - // -------------------- Attributes -------------------- // - - /// Broad-phase ID of the first collision shape - int collisionShape1ID; - - /// Broad-phase ID of the second collision shape - int collisionShape2ID; - - // -------------------- Methods -------------------- // - - /// Constructor - BroadPhasePair(int shapeId1, int shapeId2) { - collisionShape1ID = shapeId1; - collisionShape2ID = shapeId2; - } - - /// Method used to compare two pairs for sorting algorithm - static bool smallerThan(const BroadPhasePair &pair1, const BroadPhasePair &pair2); -}; - // class AABBOverlapCallback class AABBOverlapCallback : public DynamicAABBTreeOverlapCallback { - private: - public: - LinkedList& mOverlappingNodes; + List& mOverlappingNodes; // Constructor - AABBOverlapCallback(LinkedList& overlappingNodes) - : mOverlappingNodes(overlappingNodes) { + AABBOverlapCallback(List& overlappingNodes) : mOverlappingNodes(overlappingNodes) { } @@ -158,7 +130,7 @@ class BroadPhaseSystem { Set mMovedShapes; /// Temporary array of potential overlapping pairs (with potential duplicates) - List mPotentialPairs; + Set mPotentialPairs; /// Reference to the collision detection object CollisionDetection& mCollisionDetection; @@ -215,10 +187,10 @@ class BroadPhaseSystem { void removeMovedCollisionShape(int broadPhaseID); /// Add potential overlapping pairs in the dynamic AABB tree - void addOverlappingNodes(int broadPhaseId1, const LinkedList& overlappingNodes); + void addOverlappingNodes(int broadPhaseId1, const List& overlappingNodes); /// Report all the shapes that are overlapping with a given AABB - void reportAllShapesOverlappingWithAABB(const AABB& aabb, LinkedList& overlappingNodes) const; + void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; /// Compute all the overlapping pairs of collision shapes void computeOverlappingPairs(MemoryManager& memoryManager); @@ -244,17 +216,6 @@ class BroadPhaseSystem { }; -// Method used to compare two pairs for sorting algorithm -inline bool BroadPhasePair::smallerThan(const BroadPhasePair& pair1, - const BroadPhasePair& pair2) { - - if (pair1.collisionShape1ID < pair2.collisionShape1ID) return true; - if (pair1.collisionShape1ID == pair2.collisionShape1ID) { - return pair1.collisionShape2ID < pair2.collisionShape2ID; - } - return false; -} - // Return the fat AABB of a given broad-phase shape inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { return mDynamicAABBTree.getFatAABB(broadPhaseId); From 8911351c8f3af47a577b2a59117787f48a6dd57e Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 26 Mar 2019 22:55:32 +0100 Subject: [PATCH 043/197] Fix issue in DynamicsComponents --- CMakeLists.txt | 1 - src/collision/broadphase/BroadPhasePair.cpp | 31 ------ src/collision/broadphase/BroadPhasePair.h | 104 -------------------- src/components/DynamicsComponents.cpp | 14 ++- 4 files changed, 9 insertions(+), 141 deletions(-) delete mode 100644 src/collision/broadphase/BroadPhasePair.cpp delete mode 100644 src/collision/broadphase/BroadPhasePair.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 445b8a70..63cc8a17 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -82,7 +82,6 @@ SET (REACTPHYSICS3D_HEADERS "src/body/RigidBody.h" "src/collision/ContactPointInfo.h" "src/collision/broadphase/DynamicAABBTree.h" - "src/collision/broadphase/BroadPhasePair.h" "src/collision/narrowphase/CollisionDispatch.h" "src/collision/narrowphase/GJK/VoronoiSimplex.h" "src/collision/narrowphase/GJK/GJKAlgorithm.h" diff --git a/src/collision/broadphase/BroadPhasePair.cpp b/src/collision/broadphase/BroadPhasePair.cpp deleted file mode 100644 index ba590031..00000000 --- a/src/collision/broadphase/BroadPhasePair.cpp +++ /dev/null @@ -1,31 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "BroadPhasePair.h" - -// We want to use the ReactPhysics3D namespace -using namespace reactphysics3d; - diff --git a/src/collision/broadphase/BroadPhasePair.h b/src/collision/broadphase/BroadPhasePair.h deleted file mode 100644 index 7379365f..00000000 --- a/src/collision/broadphase/BroadPhasePair.h +++ /dev/null @@ -1,104 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_BROAD_PHASE_PAIR_H -#define REACTPHYSICS3D_BROAD_PHASE_PAIR_H - -// Libraries -#include -#include -#include"containers/Pair.h" - - -/// Namespace ReactPhysics3D -namespace reactphysics3d { - -// Structure BroadPhasePair -/** - * This structure represent a potential overlapping pair during the - * broad-phase collision detection. - */ -struct BroadPhasePair { - - public: - - // -------------------- Attributes -------------------- // - - // Broad-phase id of the first collision shape - int shape1BroadPhaseId; - - // Broad-phase id of the second collision shape - int shape2BroadPhaseId; - - // -------------------- Methods -------------------- // - - /// Constructor - BroadPhasePair(int shapeId1, int shapeId2) - : shape1BroadPhaseId(std::min(shapeId1, shapeId2)), - shape2BroadPhaseId(std::max(shapeId1, shapeId2)) { - - assert(shape1BroadPhaseId != -1); - assert(shape2BroadPhaseId != -1); - } - - /// Equality operator - bool operator==(const BroadPhasePair& pair) const; - - /// Inequality operator - bool operator!=(const BroadPhasePair& pair) const; -}; - -// Equality operator -inline bool BroadPhasePair::operator==(const BroadPhasePair& pair) const { - - return shape1BroadPhaseId == pair.shape1BroadPhaseId && shape2BroadPhaseId == pair.shape2BroadPhaseId; -} - -// Inequality operator -inline bool BroadPhasePair::operator!=(const BroadPhasePair& pair) const { - return shape1BroadPhaseId != pair.shape1BroadPhaseId || shape2BroadPhaseId != pair.shape2BroadPhaseId; -} - -} - -// Hash function for a reactphysics3d BroadPhasePair -namespace std { - - template <> struct hash { - - size_t operator()(const reactphysics3d::BroadPhasePair& pair) const { - - assert(pair.shape1BroadPhaseId <= pair.shape2BroadPhaseId); - - std::size_t seed = 0; - reactphysics3d::hash_combine(seed, pair.shape1BroadPhaseId); - reactphysics3d::hash_combine(seed, pair.shape2BroadPhaseId); - - return seed; - } - }; -} - -#endif diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index effe55d6..e23b3cfb 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -54,23 +54,24 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { assert(newBuffer != nullptr); // New pointers to components data - Entity* newEntities = static_cast(newBuffer); - Vector3* newLinearVelocities = reinterpret_cast(newEntities + nbComponentsToAllocate); + Entity* newBodies = static_cast(newBuffer); + Vector3* newLinearVelocities = reinterpret_cast(newBodies + nbComponentsToAllocate); Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { // Copy component data from the previous buffer to the new one - memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Transform)); - memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Entity)); + memcpy(newBodies, mBodies, mNbComponents * sizeof(Entity)); + memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); } mBuffer = newBuffer; - mBodies = newEntities; + mBodies = newBodies; mLinearVelocities = newLinearVelocities; mAngularVelocities = newAngularVelocities; mNbAllocatedComponents = nbComponentsToAllocate; @@ -121,6 +122,9 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) // Swap two components in the array void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { + assert(mMapEntityToComponentIndex[mBodies[index1]] == index1); + assert(mMapEntityToComponentIndex[mBodies[index2]] == index2); + // Copy component 1 data Entity entity1(mBodies[index1]); Vector3 linearVelocity1(mLinearVelocities[index1]); From d0fbab77ce7e5b913a98bad459ae665be9aa0cb5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 26 Mar 2019 22:57:38 +0100 Subject: [PATCH 044/197] Simplify broad-phase --- src/body/Body.cpp | 8 +++ src/body/CollisionBody.cpp | 7 ++- src/body/CollisionBody.h | 9 ++-- src/body/RigidBody.cpp | 4 +- src/collision/CollisionDetection.cpp | 8 +-- src/collision/broadphase/DynamicAABBTree.cpp | 2 +- src/engine/CollisionWorld.cpp | 4 ++ src/systems/BroadPhaseSystem.cpp | 55 ++++---------------- src/systems/BroadPhaseSystem.h | 4 -- test/tests/collision/TestDynamicAABBTree.h | 1 + testbed/common/PhysicsObject.cpp | 2 - 11 files changed, 37 insertions(+), 67 deletions(-) diff --git a/src/body/Body.cpp b/src/body/Body.cpp index a9b1d0eb..c322c53e 100644 --- a/src/body/Body.cpp +++ b/src/body/Body.cpp @@ -52,6 +52,8 @@ Body::Body(Entity entity, bodyindex id) void Body::setIsActive(bool isActive) { mIsActive = isActive; + setIsSleeping(isActive); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mID) + ": Set isActive=" + (mIsActive ? "true" : "false")); @@ -60,6 +62,12 @@ void Body::setIsActive(bool isActive) { // Set the variable to know whether or not the body is sleeping void Body::setIsSleeping(bool isSleeping) { + // If the body is not active, do nothing (it is sleeping) + if (!mIsActive) { + assert(mIsSleeping); + return; + } + if (isSleeping) { mSleepTime = decimal(0.0); } diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 0af2cd25..5ff628e4 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -250,9 +250,6 @@ void CollisionBody::setIsActive(bool isActive) { Body::setIsActive(isActive); - // Enable the components - mWorld.notifyBodyDisabled(mEntity, !isActive); - // If we have to activate the body if (isActive) { @@ -426,6 +423,9 @@ void CollisionBody::setTransform(const Transform& transform) { // TODO : Make sure this method is never called from the internal physics engine + // Awake the body if it is sleeping + setIsSleeping(false); + // Update the transform of the body mWorld.mTransformComponents.setTransform(mEntity, transform); @@ -436,7 +436,6 @@ void CollisionBody::setTransform(const Transform& transform) { "Body " + std::to_string(mID) + ": Set transform=" + transform.to_string()); } - // Set the variable to know whether or not the body is sleeping void CollisionBody::setIsSleeping(bool isSleeping) { diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 9f20de8b..018eb87e 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -101,6 +101,9 @@ class CollisionBody : public Body { /// Reset the mIsAlreadyInIsland variable of the body and contact manifolds int resetIsAlreadyInIslandAndCountManifolds(); + /// Set the variable to know whether or not the body is sleeping + virtual void setIsSleeping(bool isSleeping) override; + public : // -------------------- Methods -------------------- // @@ -132,9 +135,6 @@ class CollisionBody : public Body { /// Set the current position and orientation virtual void setTransform(const Transform& transform); - /// Set the variable to know whether or not the body is sleeping - virtual void setIsSleeping(bool isSleeping) override; - /// Add a collision shape to the body. virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, const Transform& transform); @@ -163,9 +163,6 @@ class CollisionBody : public Body { /// Return a pointer to a given proxy-shape of the body ProxyShape* getProxyShape(uint proxyShapeIndex); - /// Return the linked list of proxy shapes of that body - const ProxyShape* getProxyShapesList() const; - /// Return the number of proxy-shapes associated with this body uint getNbProxyShapes() const; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index a456bdbe..d637d0a7 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -606,14 +606,14 @@ Vector3 RigidBody::getAngularVelocity() const { // Set the variable to know whether or not the body is sleeping void RigidBody::setIsSleeping(bool isSleeping) { + CollisionBody::setIsSleeping(isSleeping); + if (isSleeping) { mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); mWorld.mDynamicsComponents.setAngularVelocity(mEntity, Vector3::zero()); mExternalForce.setToZero(); mExternalTorque.setToZero(); } - - CollisionBody::setIsSleeping(isSleeping); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index caabf756..5d09b87d 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -345,16 +345,16 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro assert(shape2->getBroadPhaseId() != -1); assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); - // Check if the collision filtering allows collision between the two shapes - if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 || - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return; - // Compute the overlapping pair ID Pair pairID = OverlappingPair::computeID(shape1, shape2); // Check if the overlapping pair already exists if (mOverlappingPairs.containsKey(pairID)) return; + // Check if the collision filtering allows collision between the two shapes + if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 || + (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return; + // Create the overlapping pair and add it into the set of overlapping pairs OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index f693ab79..80635721 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -603,7 +603,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, Dynam while(stack.getNbElements() > 0) { // Get the next node ID to visit - int nodeIDToVisit = stack.pop(); + const int nodeIDToVisit = stack.pop(); // Skip it if it is a null node if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 5ae61e12..977030b8 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -256,6 +256,10 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { mBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); + if (mDynamicsComponents.hasComponent(bodyEntity)) { + mDynamicsComponents.setIsEntityDisabled(bodyEntity, isDisabled); + } + // For each proxy-shape of the body const List& proxyShapesEntities = mBodyComponents.getProxyShapes(bodyEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 8d9a0174..d9b0480e 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -41,7 +41,6 @@ BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, Proxy mProxyShapesComponents(proxyShapesComponents), mTransformsComponents(transformComponents), mDynamicsComponents(dynamicsComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), - mPotentialPairs(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { #ifdef IS_PROFILING_ACTIVE @@ -206,9 +205,6 @@ void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, List // Compute all the overlapping pairs of collision shapes void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { - // Reset the potential overlapping pairs - mPotentialPairs.clear(); - List overlappingNodes(memoryManager.getPoolAllocator()); // For all collision shapes that have moved (or have been created) during the last simulation step @@ -237,55 +233,26 @@ void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { // Reset the array of collision shapes that have move (or have been created) during the // last simulation step mMovedShapes.clear(); - - // Check all the potential overlapping pairs avoiding duplicates to report unique overlapping pairs - auto it = mPotentialPairs.begin(); - while (it != mPotentialPairs.end()) { - - // Get a potential overlapping pair - BroadPhasePair& pair = *it; - ++it; - - assert(pair.shape1BroadPhaseId != pair.shape2BroadPhaseId); - - // Get the two collision shapes of the pair - ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.shape1BroadPhaseId)); - ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(pair.shape2BroadPhaseId)); - - // If the two proxy collision shapes are from the same body, skip it - if (shape1->getBody()->getId() != shape2->getBody()->getId()) { - - // Notify the collision detection about the overlapping pair - mCollisionDetection.broadPhaseNotifyOverlappingPair(shape1, shape2); - } - - // Skip the duplicate overlapping pairs - while (it != mPotentialPairs.end()) { - - // Get the next pair - BroadPhasePair& nextPair = *it; - - // If the next pair is different from the previous one, we stop skipping pairs - if (nextPair.shape1BroadPhaseId != pair.shape1BroadPhaseId || - nextPair.shape2BroadPhaseId != pair.shape2BroadPhaseId) { - break; - } - ++it; - } - } } // Notify the broad-phase about a potential overlapping pair in the dynamic AABB tree void BroadPhaseSystem::addOverlappingNodes(int referenceNodeId, const List& overlappingNodes) { - // For each overlapping node in the linked list + // For each overlapping node in the list for (uint i=0; i < overlappingNodes.size(); i++) { - // If both the nodes are the same, we do not create the overlapping pair if (referenceNodeId != overlappingNodes[i]) { - // Add the new potential pair into the array of potential overlapping pairs - mPotentialPairs.add(BroadPhasePair(referenceNodeId, overlappingNodes[i])); + // Get the two collision shapes of the pair + ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(referenceNodeId)); + ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(overlappingNodes[i])); + + // If the two proxy collision shapes are from the same body, skip it + if (shape1->getBody()->getId() != shape2->getBody()->getId()) { + + // Notify the collision detection about the overlapping pair + mCollisionDetection.broadPhaseNotifyOverlappingPair(shape1, shape2); + } } } } diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index d57a0ac8..7f991bbd 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -33,7 +33,6 @@ #include "components/ProxyShapeComponents.h" #include "components/TransformComponents.h" #include "components/DynamicsComponents.h" -#include "collision/broadphase/BroadPhasePair.h" #include /// Namespace ReactPhysics3D @@ -129,9 +128,6 @@ class BroadPhaseSystem { /// for overlapping in the next simulation step. Set mMovedShapes; - /// Temporary array of potential overlapping pairs (with potential duplicates) - Set mPotentialPairs; - /// Reference to the collision detection object CollisionDetection& mCollisionDetection; diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 6878955d..dd453bd4 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -39,6 +39,7 @@ class TestOverlapCallback : public DynamicAABBTreeOverlapCallback { public : + // TODO : Replace this by rp3d::List std::vector mOverlapNodes; // Called when a overlapping node has been found during the call to diff --git a/testbed/common/PhysicsObject.cpp b/testbed/common/PhysicsObject.cpp index ca23caef..7f5a8ba2 100644 --- a/testbed/common/PhysicsObject.cpp +++ b/testbed/common/PhysicsObject.cpp @@ -75,8 +75,6 @@ void PhysicsObject::setTransform(const rp3d::Transform& transform) { // Reset the transform mBody->setTransform(transform); - mBody->setIsSleeping(false); - // Reset the velocity of the rigid body rp3d::RigidBody* rigidBody = dynamic_cast(mBody); if (rigidBody != nullptr) { From f9451e1fe1584381b784df5ae256d98751066108 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 31 Mar 2019 00:48:05 +0100 Subject: [PATCH 045/197] Refactor Stack class and add Set::toList() method in Set --- src/containers/Set.h | 14 +++ src/containers/Stack.h | 150 ++++++++++++++++++++---------- test/CMakeLists.txt | 1 + test/main.cpp | 2 + test/tests/containers/TestSet.h | 26 ++++++ test/tests/containers/TestStack.h | 133 ++++++++++++++++++++++++++ 6 files changed, 276 insertions(+), 50 deletions(-) create mode 100644 test/tests/containers/TestStack.h diff --git a/src/containers/Set.h b/src/containers/Set.h index 71dd1fc1..93cba1ca 100755 --- a/src/containers/Set.h +++ b/src/containers/Set.h @@ -542,6 +542,20 @@ class Set { return end(); } + /// Return a list with all the values of the set + List toList(MemoryAllocator& listAllocator) { + + List list(listAllocator); + + for (int i=0; i < mCapacity; i++) { + if (mEntries[i].value != nullptr) { + list.add(*(mEntries[i].value)); + } + } + + return list; + } + /// Clear the set void clear(bool releaseMemory = false) { diff --git a/src/containers/Stack.h b/src/containers/Stack.h index 4fb6e518..29b81576 100644 --- a/src/containers/Stack.h +++ b/src/containers/Stack.h @@ -27,6 +27,7 @@ #define REACTPHYSICS3D_STACK_H // Libraries +#include #include "configuration.h" #include "memory/MemoryAllocator.h" @@ -34,10 +35,9 @@ namespace reactphysics3d { // Class Stack /** - * This class represents a simple generic stack with an initial capacity. If the number - * of elements exceeds the capacity, the heap will be used to allocated more memory. + * This class represents a simple generic stack. */ -template +template class Stack { private: @@ -47,84 +47,134 @@ class Stack { /// Reference to the memory allocator MemoryAllocator& mAllocator; - /// Initial array that contains the elements of the stack - T mInitArray[capacity]; - - /// Pointer to the first element of the stack - T* mElements; + /// Array that contains the elements of the stack + T* mArray; /// Number of elements in the stack uint mNbElements; /// Number of allocated elements in the stack - uint mNbAllocatedElements; + uint mCapacity; + + // -------------------- Methods -------------------- // + + /// Allocate more memory + void allocate(size_t capacity) { + + T* newArray = static_cast(mAllocator.allocate(capacity * sizeof(T))); + assert(newArray != nullptr); + + // If there + if (mCapacity > 0) { + + if (mNbElements > 0) { + + // Copy the previous items in the new array + std::uninitialized_copy(mArray, mArray + mNbElements, newArray); + } + + // Release memory of the previous array + mAllocator.release(mArray, mCapacity * sizeof(T)); + } + + mArray = newArray; + + mCapacity = capacity; + } public: // -------------------- Methods -------------------- // /// Constructor - Stack(MemoryAllocator& allocator) - :mAllocator(allocator), mElements(mInitArray), mNbElements(0), mNbAllocatedElements(capacity) { + Stack(MemoryAllocator& allocator, size_t capacity = 0) + :mAllocator(allocator), mArray(nullptr), mNbElements(0), mCapacity(0) { + if (capacity > 0) { + allocate(capacity); + } + } + + /// Copy constructor + Stack(const Stack& stack) + :mAllocator(stack.mAllocator), mArray(nullptr), + mNbElements(stack.mNbElements), mCapacity(stack.mCapacity) { + + if (mCapacity > 0) { + + // Allocate memory for the buckets + mArray = static_cast(mAllocator.allocate(mCapacity * sizeof(T))); + assert(mArray != nullptr); + + if (mNbElements > 0) { + + // Copy the items + std::uninitialized_copy(stack.mArray, stack.mArray + mNbElements, mArray); + } + } } /// Destructor ~Stack() { - // If elements have been allocated on the heap - if (mInitArray != mElements) { + clear(); - // Release the memory allocated on the heap - mAllocator.release(mElements, mNbAllocatedElements * sizeof(T)); + // Release the memory allocated on the heap + mAllocator.release(mArray, mCapacity * sizeof(T)); + } + + /// Remove all the items from the stack + void clear() { + + // Destruct the items + for (size_t i = 0; i < mNbElements; i++) { + mArray[i].~T(); } + + mNbElements = 0; } /// Push an element into the stack - void push(const T& element); + void push(const T& element) { + + // If we need to allocate more elements + if (mNbElements == mCapacity) { + + allocate(mCapacity > 0 ? mCapacity * 2 : 1); + } + + // Copy the item into the array + new (mArray + mNbElements) T(element); + + mNbElements++; + } /// Pop an element from the stack (remove it from the stack and return it) - T pop(); + T pop() { - /// Return the number of elments in the stack - uint getNbElements() const; + assert(mNbElements > 0); -}; + mNbElements--; -// Push an element into the stack -template -inline void Stack::push(const T& element) { + // Copy the item + T item = mArray[mNbElements]; - // If we need to allocate more elements - if (mNbElements == mNbAllocatedElements) { - T* oldElements = mElements; - uint oldNbAllocatedElements = mNbAllocatedElements; - mNbAllocatedElements *= 2; - mElements = static_cast(mAllocator.allocate(mNbAllocatedElements * sizeof(T))); - assert(mElements); - memcpy(mElements, oldElements, mNbElements * sizeof(T)); - if (oldElements != mInitArray) { - mAllocator.release(oldElements, oldNbAllocatedElements * sizeof(T)); + // Call the destructor + mArray[mNbElements].~T(); + + return item; } - } - mElements[mNbElements] = element; - mNbElements++; -} + /// Return the number of items in the stack + size_t size() const { + return mNbElements; + } -// Pop an element from the stack (remove it from the stack and return it) -template -inline T Stack::pop() { - assert(mNbElements > 0); - mNbElements--; - return mElements[mNbElements]; -} - -// Return the number of elments in the stack -template -inline uint Stack::getNbElements() const { - return mNbElements; -} + /// Return the capacity of the stack + size_t capacity() const { + return mCapacity; + } +}; } diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 15f42bc6..69e5c45e 100755 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -18,6 +18,7 @@ SET (RP3D_TESTS_HEADERS "tests/containers/TestList.h" "tests/containers/TestMap.h" "tests/containers/TestSet.h" + "tests/containers/TestStack.h" "tests/containers/TestDeque.h" "tests/mathematics/TestMathematicsFunctions.h" "tests/mathematics/TestMatrix2x2.h" diff --git a/test/main.cpp b/test/main.cpp index 95b73296..6a965039 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -43,6 +43,7 @@ #include "tests/containers/TestMap.h" #include "tests/containers/TestSet.h" #include "tests/containers/TestDeque.h" +#include "tests/containers/TestStack.h" using namespace reactphysics3d; @@ -56,6 +57,7 @@ int main() { testSuite.addTest(new TestMap("Map")); testSuite.addTest(new TestSet("Set")); testSuite.addTest(new TestDeque("Deque")); + testSuite.addTest(new TestStack("Stack")); // ---------- Mathematics tests ---------- // diff --git a/test/tests/containers/TestSet.h b/test/tests/containers/TestSet.h index b6cf1b54..5b75cd71 100644 --- a/test/tests/containers/TestSet.h +++ b/test/tests/containers/TestSet.h @@ -90,6 +90,7 @@ class TestSet : public Test { testEquality(); testAssignment(); testIterators(); + testConverters(); } void testConstructors() { @@ -419,6 +420,31 @@ class TestSet : public Test { } rp3d_test(set1.size() == size); } + + void testConverters() { + + Set set1(mAllocator); + + rp3d_test(set1.begin() == set1.end()); + + set1.add(1); + set1.add(2); + set1.add(3); + set1.add(4); + + List list1 = set1.toList(mAllocator); + rp3d_test(list1.size() == 4); + rp3d_test(list1.find(1) != list1.end()); + rp3d_test(list1.find(2) != list1.end()); + rp3d_test(list1.find(3) != list1.end()); + rp3d_test(list1.find(4) != list1.end()); + rp3d_test(list1.find(5) == list1.end()); + rp3d_test(list1.find(6) == list1.end()); + + Set set2(mAllocator); + List list2 = set2.toList(mAllocator); + rp3d_test(list2.size() == 0); + } }; } diff --git a/test/tests/containers/TestStack.h b/test/tests/containers/TestStack.h new file mode 100644 index 00000000..e014fc4b --- /dev/null +++ b/test/tests/containers/TestStack.h @@ -0,0 +1,133 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef TEST_STACK_H +#define TEST_STACK_H + +// Libraries +#include "Test.h" +#include "containers/Stack.h" +#include "memory/DefaultAllocator.h" + +/// Reactphysics3D namespace +namespace reactphysics3d { + +// Class TestStack +/** + * Unit test for the Stack class + */ +class TestStack : public Test { + + private : + + // ---------- Atributes ---------- // + + DefaultAllocator mAllocator; + + public : + + // ---------- Methods ---------- // + + /// Constructor + TestStack(const std::string& name) : Test(name) { + + } + + /// Run the tests + void run() { + + testConstructor(); + testPushPop(); + } + + void testConstructor() { + + // ----- Constructors ----- // + + Stack stack1(mAllocator); + rp3d_test(stack1.capacity() == 0); + rp3d_test(stack1.size() == 0); + + Stack stack2(mAllocator, 100); + rp3d_test(stack2.capacity() >= 100); + rp3d_test(stack2.size() == 0); + + // ----- Copy Constructors ----- // + Stack stack3(stack2); + rp3d_test(stack3.capacity() == stack2.capacity()); + rp3d_test(stack3.size() == stack2.size()); + + Stack stack4(mAllocator); + stack4.push(10); + stack4.push(20); + stack4.push(30); + rp3d_test(stack4.capacity() >= 3); + rp3d_test(stack4.size() == 3); + stack4.push(40); + rp3d_test(stack4.size() == 4); + + Stack set5(stack4); + rp3d_test(set5.capacity() == stack4.capacity()); + rp3d_test(set5.size() == stack4.size()); + rp3d_test(set5.pop() == 40); + rp3d_test(set5.size() == 3); + rp3d_test(set5.pop() == 30); + rp3d_test(set5.pop() == 20); + rp3d_test(set5.pop() == 10); + rp3d_test(set5.size() == 0); + } + + void testPushPop() { + + Stack stack1(mAllocator); + stack1.push(10); + stack1.push(80); + stack1.push(130); + rp3d_test(stack1.size() == 3); + rp3d_test(stack1.pop() == 130); + rp3d_test(stack1.pop() == 80); + rp3d_test(stack1.pop() == 10); + rp3d_test(stack1.size() == 0); + stack1.push(10); + rp3d_test(stack1.pop() == 10); + stack1.push(10); + stack1.push(80); + stack1.pop(); + rp3d_test(stack1.pop() == 10); + rp3d_test(stack1.size() == 0); + stack1.push(10); + stack1.push(80); + stack1.push(130); + stack1.push(56); + stack1.push(89); + stack1.push(131); + stack1.clear(); + rp3d_test(stack1.size() == 0); + } + }; + +} + +#endif From d8e9f15339be8256209dae9abe3c4920a39063f5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 31 Mar 2019 00:48:46 +0100 Subject: [PATCH 046/197] Simplify broad-phase --- src/body/RigidBody.cpp | 14 +- src/collision/CollisionDetection.cpp | 127 ++++++++++++------- src/collision/CollisionDetection.h | 24 ++-- src/collision/broadphase/DynamicAABBTree.cpp | 59 ++++++++- src/collision/broadphase/DynamicAABBTree.h | 5 + src/components/Components.h | 11 +- src/components/ProxyShapeComponents.h | 15 ++- src/engine/CollisionWorld.cpp | 2 + src/engine/OverlappingPair.cpp | 2 +- src/engine/OverlappingPair.h | 12 +- src/systems/BroadPhaseSystem.cpp | 53 +------- src/systems/BroadPhaseSystem.h | 7 +- 12 files changed, 204 insertions(+), 127 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index d637d0a7..393481d0 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -466,9 +466,6 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { */ void RigidBody::setTransform(const Transform& transform) { - // Update the transform of the body - mWorld.mTransformComponents.setTransform(mEntity, transform); - const Vector3 oldCenterOfMass = mCenterOfMassWorld; // Compute the new center of mass in world-space coordinates @@ -480,14 +477,13 @@ void RigidBody::setTransform(const Transform& transform) { linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); + CollisionBody::setTransform(transform); + + // Update the transform of the body + mWorld.mTransformComponents.setTransform(mEntity, transform); + // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); - - // Update the broad-phase state of the body - updateBroadPhaseState(); - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set transform=" + transform.to_string()); } // Recompute the center of mass, total mass and inertia tensor of the body using all diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 5d09b87d..6738cae0 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -54,7 +54,7 @@ CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponen mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseSystem(*this, mProxyShapesComponents, mTransformComponents, dynamicsComponents), - mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mIsCollisionShapesAdded(false), + mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { #ifdef IS_PROFILING_ACTIVE @@ -86,13 +86,84 @@ void CollisionDetection::computeBroadPhase() { RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); - // If new collision shapes have been added to bodies - if (mIsCollisionShapesAdded) { + // Ask the broad-phase to compute all the shapes overlapping the shapes that + // have moved or have been added in the last frame. This call can only add new + // overlapping pairs in the collision detection. + List> overlappingNodes(mMemoryManager.getPoolAllocator(), 32); + mBroadPhaseSystem.computeOverlappingPairs(mMemoryManager, overlappingNodes); - // Ask the broad-phase to recompute the overlapping pairs of collision - // shapes. This call can only add new overlapping pairs in the collision - // detection. - mBroadPhaseSystem.computeOverlappingPairs(mMemoryManager); + // Create new overlapping pairs if necessary + updateOverlappingPairs(overlappingNodes); +} + +// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary +void CollisionDetection::updateOverlappingPairs(List>& overlappingNodes) { + + List newOverlappingPairs(mMemoryManager.getPoolAllocator(), overlappingNodes.size()); + + // For each overlapping pair of nodes + for (uint i=0; i < overlappingNodes.size(); i++) { + + Pair nodePair = overlappingNodes[i]; + + assert(nodePair.first != -1); + assert(nodePair.second != -1); + + // Skip pairs with same overlapping nodes + if (nodePair.first != nodePair.second) { + + // Get the two proxy-shapes + Entity proxyShape1Entity = mMapBroadPhaseIdToProxyShapeEntity[nodePair.first]; + Entity proxyShape2Entity = mMapBroadPhaseIdToProxyShapeEntity[nodePair.second]; + + // Get the two bodies + Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + + // If the two proxy collision shapes are from the same body, skip it + if (body1Entity != body2Entity) { + + // Compute the overlapping pair ID + Pair pairID = OverlappingPair::computeID(nodePair.first, nodePair.second); + + // Check if the overlapping pair already exists + if (!mOverlappingPairs.containsKey(pairID)) { + + unsigned short shape1CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity); + unsigned short shape2CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity); + + unsigned short shape1CollisionCategoryBits = mProxyShapesComponents.getCollisionCategoryBits(proxyShape1Entity); + unsigned short shape2CollisionCategoryBits = mProxyShapesComponents.getCollisionCategoryBits(proxyShape2Entity); + + // Check if the collision filtering allows collision between the two shapes + if ((shape1CollideWithMaskBits & shape2CollisionCategoryBits) != 0 && + (shape1CollisionCategoryBits & shape2CollideWithMaskBits) != 0) { + + ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(proxyShape1Entity); + ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(proxyShape2Entity); + + // Create the overlapping pair and add it into the set of overlapping pairs + OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) + OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), + mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); + + assert(newPair != nullptr); + + // Add the new overlapping pair + mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); + newOverlappingPairs.add(newPair); + } + } + } + } + } + + // For each new overlapping pair + for (uint i=0; i < newOverlappingPairs.size(); i++) { + + // Wake up the two bodies of the new overlapping pair + mWorld->notifyBodyDisabled(newOverlappingPairs[i]->getShape1()->getBody()->getEntity(), false); + mWorld->notifyBodyDisabled(newOverlappingPairs[i]->getShape1()->getBody()->getEntity(), false); } } @@ -337,43 +408,11 @@ void CollisionDetection::computeNarrowPhase() { mNarrowPhaseInput.clear(); } -// Allow the broadphase to notify the collision detection about an overlapping pair. -/// This method is called by the broad-phase collision detection algorithm -void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2) { - - assert(shape1->getBroadPhaseId() != -1); - assert(shape2->getBroadPhaseId() != -1); - assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); - - // Compute the overlapping pair ID - Pair pairID = OverlappingPair::computeID(shape1, shape2); - - // Check if the overlapping pair already exists - if (mOverlappingPairs.containsKey(pairID)) return; - - // Check if the collision filtering allows collision between the two shapes - if ((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) == 0 || - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return; - - // Create the overlapping pair and add it into the set of overlapping pairs - OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), - mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); - - assert(newPair != nullptr); - - // Add the new overlapping pair - mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); - - // Wake up the two bodies - shape1->getBody()->setIsSleeping(false); - shape2->getBody()->setIsSleeping(false); -} - // Remove a body from the collision detection void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { assert(proxyShape->getBroadPhaseId() != -1); + assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShape->getBroadPhaseId())); // Remove all the overlapping pairs involving this proxy shape for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { @@ -395,6 +434,8 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { } } + mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShape->getBroadPhaseId()); + // Remove the body from the broad-phase mBroadPhaseSystem.removeProxyCollisionShape(proxyShape); } @@ -739,7 +780,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body if (aabb1.testCollision(aabb2)) { OverlappingPair* pair; - const Pair pairID = OverlappingPair::computeID(body1ProxyShape, body2ProxyShape); + const Pair pairID = OverlappingPair::computeID(body1ProxyShape->getBroadPhaseId(), body2ProxyShape->getBroadPhaseId()); // Try to retrieve a corresponding copy of the overlapping pair (if it exists) auto itPair = overlappingPairs.find(pairID); @@ -832,7 +873,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { OverlappingPair* pair; - const Pair pairID = OverlappingPair::computeID(bodyProxyShape, proxyShape); + const Pair pairID = OverlappingPair::computeID(bodyProxyShape->getBroadPhaseId(), proxyShape->getBroadPhaseId()); // Try to retrieve a corresponding copy of the overlapping pair (if it exists) auto itPair = overlappingPairs.find(pairID); @@ -905,7 +946,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { OverlappingPair* originalPair = it->second; OverlappingPair* pair; - const Pair pairID = OverlappingPair::computeID(originalPair->getShape1(), originalPair->getShape2()); + const Pair pairID = OverlappingPair::computeID(originalPair->getShape1()->getBroadPhaseId(), originalPair->getShape2()->getBroadPhaseId()); // Try to retrieve a corresponding copy of the overlapping pair (if it exists) auto itPair = overlappingPairs.find(pairID); diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index b9c7e249..8c1104ef 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -90,8 +90,8 @@ class CollisionDetection { /// Set of pair of bodies that cannot collide between each other Set mNoCollisionPairs; - /// True if some collision shapes have been added previously - bool mIsCollisionShapesAdded; + /// Map a broad-phase id with the corresponding entity of the proxy-shape + Map mMapBroadPhaseIdToProxyShapeEntity; /// Narrow-phase collision detection input NarrowPhaseInput mNarrowPhaseInput; @@ -114,6 +114,9 @@ class CollisionDetection { /// Compute the narrow-phase collision detection void computeNarrowPhase(); + /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary + void updateOverlappingPairs(List >& overlappingNodes); + /// Execute the narrow-phase collision detection algorithm on batches bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, bool reportContacts, MemoryAllocator& allocator); @@ -215,9 +218,6 @@ class CollisionDetection { /// Test and report collisions between all shapes of the world void testCollision(CollisionCallback* callback); - /// Allow the broadphase to notify the collision detection about an overlapping pair. - void broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2); - /// Return a reference to the memory manager MemoryManager& getMemoryManager() const; @@ -249,14 +249,18 @@ inline CollisionDispatch& CollisionDetection::getCollisionDispatch() { } // Add a body to the collision detection -inline void CollisionDetection::addProxyCollisionShape(ProxyShape* proxyShape, - const AABB& aabb) { - +inline void CollisionDetection::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { + // Add the body to the broad-phase mBroadPhaseSystem.addProxyCollisionShape(proxyShape, aabb); - mIsCollisionShapesAdded = true; -} + int broadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape->getEntity()); + + assert(!mMapBroadPhaseIdToProxyShapeEntity.containsKey(broadPhaseId)); + + // Add the mapping between the proxy-shape broad-phase id and its entity + mMapBroadPhaseIdToProxyShapeEntity.add(Pair(broadPhaseId, proxyShape->getEntity())); +} // Add a pair of bodies that cannot collide with each other inline void CollisionDetection::addNoCollisionPair(CollisionBody* body1, diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 80635721..dbf09e3b 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -592,15 +592,66 @@ int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) { return nodeID; } +/// Take a list of shapes to be tested for broad-phase overlap and return a list of pair of overlapping shapes +void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, + size_t endIndex, List>& outOverlappingNodes) const { + + // Create a stack with the nodes to visit + Stack stack(mAllocator, 64); + + // For each shape to be tested for overlap + for (uint i=startIndex; i < endIndex; i++) { + + assert(nodesToTest[i] != -1); + + stack.push(mRootNodeID); + + const AABB& shapeAABB = getFatAABB(nodesToTest[i]); + + // While there are still nodes to visit + while(stack.size() > 0) { + + // Get the next node ID to visit + const int nodeIDToVisit = stack.pop(); + + // Skip it if it is a null node + if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue; + + // Get the corresponding node + const TreeNode* nodeToVisit = mNodes + nodeIDToVisit; + + // If the AABB in parameter overlaps with the AABB of the node to visit + if (shapeAABB.testCollision(nodeToVisit->aabb)) { + + // If the node is a leaf + if (nodeToVisit->isLeaf()) { + + // Add the node in the list of overlapping nodes + outOverlappingNodes.add(Pair(nodesToTest[i], nodeIDToVisit)); + } + else { // If the node is not a leaf + + // We need to visit its children + stack.push(nodeToVisit->children[0]); + stack.push(nodeToVisit->children[1]); + } + } + } + + stack.clear(); + } +} + /// Report all shapes overlapping with the AABB given in parameter. +// TODO : Do not use this method anymore. Use void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const { // Create a stack with the nodes to visit - Stack stack(mAllocator); + Stack stack(mAllocator, 64); stack.push(mRootNodeID); // While there are still nodes to visit - while(stack.getNbElements() > 0) { + while(stack.size() > 0) { // Get the next node ID to visit const int nodeIDToVisit = stack.pop(); @@ -637,12 +688,12 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback &ca decimal maxFraction = ray.maxFraction; - Stack stack(mAllocator); + Stack stack(mAllocator, 128); stack.push(mRootNodeID); // Walk through the tree from the root looking for proxy shapes // that overlap with the ray AABB - while (stack.getNbElements() > 0) { + while (stack.size() > 0) { // Get the next node in the stack int nodeID = stack.pop(); diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 1876b396..8a09a1db 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -29,6 +29,7 @@ // Libraries #include "configuration.h" #include "collision/shapes/AABB.h" +#include "containers/Set.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -236,6 +237,10 @@ class DynamicAABBTree { /// Return the data pointer of a given leaf node of the tree void* getNodeDataPointer(int nodeID) const; + /// Report all shapes overlapping with all the shapes in the map in parameter + void reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, + size_t endIndex, List>& outOverlappingNodes) const; + /// Report all shapes overlapping with the AABB given in parameter. void reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const; diff --git a/src/components/Components.h b/src/components/Components.h index d0bdf129..e4dc213e 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -107,7 +107,10 @@ class Components { /// Remove a component void removeComponent(Entity entity); - /// Notify if a given entity is disabled (sleeping or inactive) or not + /// Return true if an entity is sleeping + bool getIsEntityDisabled(Entity entity) const; + + /// Notify if a given entity is sleeping void setIsEntityDisabled(Entity entity, bool isDisabled); /// Return true if there is a component for a given entity @@ -120,6 +123,12 @@ class Components { uint32 getNbEnabledComponents() const; }; +// Return true if an entity is sleeping +inline bool Components::getIsEntityDisabled(Entity entity) const { + assert(hasComponent(entity)); + return mMapEntityToComponentIndex[entity] >= mDisabledStartIndex; +} + // Return true if there is a component for a given entity inline bool Components::hasComponent(Entity entity) const { return mMapEntityToComponentIndex.containsKey(entity); diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index d56eed49..7c9c8364 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -55,10 +55,10 @@ class ProxyShapeComponents : public Components { // -------------------- Attributes -------------------- // - /// Array of entities of each component + /// Array of body entity of each component Entity* mBodiesEntities; - /// Array of entities of each component + /// Array of proxy-shape entity of each component Entity* mProxyShapesEntities; /// Array of pointer to the proxy-shapes @@ -140,6 +140,9 @@ class ProxyShapeComponents : public Components { /// Add a component void addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component); + /// Return the body entity of a given proxy-shape + Entity getBody(Entity proxyShapeEntity) const; + /// Return the mass of a proxy-shape decimal getMass(Entity proxyShapeEntity) const; @@ -178,6 +181,14 @@ class ProxyShapeComponents : public Components { friend class BroadPhaseSystem; }; +// Return the body entity of a given proxy-shape +inline Entity ProxyShapeComponents::getBody(Entity proxyShapeEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + return mBodiesEntities[mMapEntityToComponentIndex[proxyShapeEntity]]; +} + // Return the mass of a proxy-shape inline decimal ProxyShapeComponents::getMass(Entity proxyShapeEntity) const { diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 977030b8..09809a17 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -250,6 +250,8 @@ void CollisionWorld::resetContactManifoldListsOfBodies() { // Notify the world if a body is disabled (sleeping or inactive) or not void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { + if (isDisabled == mBodyComponents.getIsEntityDisabled(bodyEntity)) return; + // TODO : Make sure we notify all the components here ... // Notify all the components diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index 99f8152a..67d0bb18 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, const WorldSettings& worldSettings) - : mPairID(computeID(shape1, shape2)), mContactManifoldSet(shape1, shape2, persistentMemoryAllocator, worldSettings), + : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mContactManifoldSet(shape1, shape2, persistentMemoryAllocator, worldSettings), mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings) { diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index d25d20af..1fae4fb1 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -192,7 +192,7 @@ class OverlappingPair { void makeLastFrameCollisionInfosObsolete(); /// Return the pair of bodies index - static OverlappingPairId computeID(ProxyShape* shape1, ProxyShape* shape2); + static OverlappingPairId computeID(int shape1BroadPhaseId, int shape2BroadPhaseId); /// Return the pair of bodies index of the pair static bodyindexpair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2); @@ -234,13 +234,13 @@ inline void OverlappingPair::makeContactsObsolete() { } // Return the pair of bodies index -inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(ProxyShape* shape1, ProxyShape* shape2) { - assert(shape1->getBroadPhaseId() >= 0 && shape2->getBroadPhaseId() >= 0); +inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(int shape1BroadPhaseId, int shape2BroadPhaseId) { + assert(shape1BroadPhaseId >= 0 && shape2BroadPhaseId >= 0); // Construct the pair of body index - OverlappingPairId pairID = shape1->getBroadPhaseId() < shape2->getBroadPhaseId() ? - OverlappingPairId(shape1->getBroadPhaseId(), shape2->getBroadPhaseId()) : - OverlappingPairId(shape2->getBroadPhaseId(), shape1->getBroadPhaseId()); + OverlappingPairId pairID = shape1BroadPhaseId < shape2BroadPhaseId ? + OverlappingPairId(shape1BroadPhaseId, shape2BroadPhaseId) : + OverlappingPairId(shape2BroadPhaseId, shape1BroadPhaseId); assert(pairID.first != pairID.second); return pairID; } diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index d9b0480e..448df4f1 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -69,7 +69,7 @@ bool BroadPhaseSystem::testOverlappingShapes(const ProxyShape* shape1, void BroadPhaseSystem::raycast(const Ray& ray, RaycastTest& raycastTest, unsigned short raycastWithCategoryMaskBits) const { - RP3D_PROFILE("BroadPhaseAlgorithm::raycast()", mProfiler); + RP3D_PROFILE("BroadPhaseSystem::raycast()", mProfiler); BroadPhaseRaycastCallback broadPhaseRaycastCallback(mDynamicAABBTree, raycastWithCategoryMaskBits, raycastTest); @@ -203,60 +203,19 @@ void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, List } // Compute all the overlapping pairs of collision shapes -void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager) { +void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes) { - List overlappingNodes(memoryManager.getPoolAllocator()); + // Get the list of the proxy-shapes that have moved or have been created in the last frame + List shapesToTest = mMovedShapes.toList(memoryManager.getPoolAllocator()); - // For all collision shapes that have moved (or have been created) during the last simulation step - for (auto it = mMovedShapes.begin(); it != mMovedShapes.end(); ++it) { - int shapeID = *it; - - if (shapeID == -1) continue; - - AABBOverlapCallback callback(overlappingNodes); - - // Get the AABB of the shape - const AABB& shapeAABB = mDynamicAABBTree.getFatAABB(shapeID); - - // Ask the dynamic AABB tree to report all collision shapes that overlap with - // this AABB. The method BroadPhase::notifiyOverlappingPair() will be called - // by the dynamic AABB tree for each potential overlapping pair. - mDynamicAABBTree.reportAllShapesOverlappingWithAABB(shapeAABB, callback); - - // Add the potential overlapping pairs - addOverlappingNodes(shapeID, overlappingNodes); - - // Remove all the elements of the linked list of overlapping nodes - overlappingNodes.clear(); - } + // Ask the dynamic AABB tree to report all collision shapes that overlap with the shapes to test + mDynamicAABBTree.reportAllShapesOverlappingWithShapes(shapesToTest, 0, shapesToTest.size(), overlappingNodes); // Reset the array of collision shapes that have move (or have been created) during the // last simulation step mMovedShapes.clear(); } -// Notify the broad-phase about a potential overlapping pair in the dynamic AABB tree -void BroadPhaseSystem::addOverlappingNodes(int referenceNodeId, const List& overlappingNodes) { - - // For each overlapping node in the list - for (uint i=0; i < overlappingNodes.size(); i++) { - - if (referenceNodeId != overlappingNodes[i]) { - - // Get the two collision shapes of the pair - ProxyShape* shape1 = static_cast(mDynamicAABBTree.getNodeDataPointer(referenceNodeId)); - ProxyShape* shape2 = static_cast(mDynamicAABBTree.getNodeDataPointer(overlappingNodes[i])); - - // If the two proxy collision shapes are from the same body, skip it - if (shape1->getBody()->getId() != shape2->getBody()->getId()) { - - // Notify the collision detection about the overlapping pair - mCollisionDetection.broadPhaseNotifyOverlappingPair(shape1, shape2); - } - } - } -} - // Called when a overlapping node has been found during the call to // DynamicAABBTree:reportAllShapesOverlappingWithAABB() void AABBOverlapCallback::notifyOverlappingNode(int nodeId) { diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 7f991bbd..140486c3 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -182,14 +182,11 @@ class BroadPhaseSystem { /// step and that need to be tested again for broad-phase overlapping. void removeMovedCollisionShape(int broadPhaseID); - /// Add potential overlapping pairs in the dynamic AABB tree - void addOverlappingNodes(int broadPhaseId1, const List& overlappingNodes); - /// Report all the shapes that are overlapping with a given AABB void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; /// Compute all the overlapping pairs of collision shapes - void computeOverlappingPairs(MemoryManager& memoryManager); + void computeOverlappingPairs(MemoryManager& memoryManager, List >& overlappingNodes); /// Return the proxy shape corresponding to the broad-phase node id in parameter ProxyShape* getProxyShapeForBroadPhaseId(int broadPhaseId) const; @@ -221,6 +218,8 @@ inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { // and that need to be tested again for broad-phase overlapping. inline void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID) { + assert(broadPhaseID != -1); + // Store the broad-phase ID into the array of shapes that have moved mMovedShapes.add(broadPhaseID); } From bf3ca2c4d699b223ef1c775b8bac7d0bd300fdb0 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 19 Apr 2019 11:20:21 +0200 Subject: [PATCH 047/197] Refactor contacts management --- CMakeLists.txt | 2 + src/collision/CollisionDetection.cpp | 578 ++++++++++++++++++++++++++- src/collision/CollisionDetection.h | 85 +++- src/collision/ContactManifold.cpp | 20 +- src/collision/ContactManifold.h | 23 +- src/collision/ContactManifoldInfo.h | 67 ++++ src/collision/ContactManifoldSet.cpp | 5 + src/collision/ContactManifoldSet.h | 1 - src/collision/ContactPair.h | 77 ++++ src/collision/ContactPointInfo.h | 2 + src/configuration.h | 12 +- src/constraint/ContactPoint.cpp | 15 + src/constraint/ContactPoint.h | 16 +- src/engine/OverlappingPair.h | 8 + src/memory/DefaultAllocator.h | 4 + 15 files changed, 879 insertions(+), 36 deletions(-) create mode 100644 src/collision/ContactManifoldInfo.h create mode 100644 src/collision/ContactPair.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 63cc8a17..26fcf030 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -81,6 +81,8 @@ SET (REACTPHYSICS3D_HEADERS "src/body/CollisionBody.h" "src/body/RigidBody.h" "src/collision/ContactPointInfo.h" + "src/collision/ContactManifoldInfo.h" + "src/collision/ContactPair.h" "src/collision/broadphase/DynamicAABBTree.h" "src/collision/narrowphase/CollisionDispatch.h" "src/collision/narrowphase/GJK/VoronoiSimplex.h" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 6738cae0..552eb542 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -1,4 +1,4 @@ -/******************************************************************************** +/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* @@ -30,6 +30,8 @@ #include "body/Body.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/ConcaveShape.h" +#include "collision/ContactManifoldInfo.h" +#include "constraint/ContactPoint.h" #include "body/RigidBody.h" #include "configuration.h" #include "collision/CollisionCallback.h" @@ -55,7 +57,17 @@ CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponen mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseSystem(*this, mProxyShapesComponents, mTransformComponents, dynamicsComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), - mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()) { + mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()), mPotentialContactPoints(mMemoryManager.getPoolAllocator()), + // TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts + mPotentialContactManifolds(mMemoryManager.getPoolAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), + mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), + mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), + mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2), + mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()), + mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), + mContactPoints1(mMemoryManager.getPoolAllocator()), + mContactPoints2(mMemoryManager.getPoolAllocator()), mPreviousContactPoints(&mContactPoints1), + mCurrentContactPoints(&mContactPoints2) { #ifdef IS_PROFILING_ACTIVE @@ -365,6 +377,9 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI // Process the potential contacts after narrow-phase collision detection void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo) { + assert(mCurrentContactPairs->size() == 0); + assert(mCurrentMapPairIdToContactPairIndex->size() == 0); + // get the narrow-phase batches to test for collision NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); @@ -389,6 +404,9 @@ void CollisionDetection::computeNarrowPhase() { MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator(); + // Swap the previous and current contacts lists + swapPreviousAndCurrentContacts(); + // Test the narrow-phase collision detection on the batches to be tested testNarrowPhaseCollision(mNarrowPhaseInput, false, true, allocator); @@ -396,7 +414,13 @@ void CollisionDetection::computeNarrowPhase() { processAllPotentialContacts(mNarrowPhaseInput, true); // Reduce the number of contact points in the manifolds - reduceContactManifolds(mOverlappingPairs); + reducePotentialContactManifolds(mOverlappingPairs); + + // Create the actual contact manifolds and contacts (from potential contacts) + createContacts(); + + // Initialize the current contacts with the contacts from the previous frame (for warmstarting) + initContactsWithPreviousOnes(); // Add all the contact manifolds (between colliding bodies) to the bodies addAllContactManifoldsToBodies(); @@ -406,6 +430,193 @@ void CollisionDetection::computeNarrowPhase() { // Clear the list of narrow-phase infos mNarrowPhaseInput.clear(); + + // TODO : Do not forget to clear all the contact pair, contact manifolds and contact points lists +} + +// Swap the previous and current contacts lists +void CollisionDetection::swapPreviousAndCurrentContacts() { + + if (mPreviousContactPairs == &mContactPairs1) { + + mPreviousContactPairs = &mContactPairs2; + mPreviousContactManifolds = &mContactManifolds2; + mPreviousContactPoints = &mContactPoints2; + mPreviousMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex2; + + mCurrentContactPairs = &mContactPairs1; + mCurrentContactManifolds = &mContactManifolds1; + mCurrentContactPoints = &mContactPoints1; + mCurrentMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex1; + } + else { + + mPreviousContactPairs = &mContactPairs1; + mPreviousContactManifolds = &mContactManifolds1; + mPreviousContactPoints = &mContactPoints1; + mPreviousMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex1; + + mCurrentContactPairs = &mContactPairs2; + mCurrentContactManifolds = &mContactManifolds2; + mCurrentContactPoints = &mContactPoints2; + mCurrentMapPairIdToContactPairIndex = &mMapPairIdToContactPairIndex2; + } +} + +// Create the actual contact manifolds and contacts (from potential contacts) +void CollisionDetection::createContacts() { + + RP3D_PROFILE("CollisionDetection::createContacts()", mProfiler); + + assert(mCurrentContactManifolds->size() == 0); + assert(mCurrentContactPoints->size() == 0); + + // For each contact pair + for (auto it = mCurrentMapPairIdToContactPairIndex->begin(); it != mCurrentMapPairIdToContactPairIndex->end(); ++it) { + + const uint contactPairIndex = it->second; + assert(contactPairIndex < mCurrentContactPairs->size()); + ContactPair& contactPair = (*mCurrentContactPairs)[contactPairIndex]; + + assert(contactPair.potentialContactManifoldsIndices.size() > 0); + + // Start index and numnber of contact manifolds for this contact pair + contactPair.contactManifoldsIndex = mCurrentContactManifolds->size(); + contactPair.nbContactManifolds = contactPair.potentialContactManifoldsIndices.size(); + contactPair.contactPointsIndex = mCurrentContactPoints->size(); + + // For each potential contact manifold of the pair + for (uint m=0; m < contactPair.potentialContactManifoldsIndices.size(); m++) { + + ContactManifoldInfo& potentialManifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[m]]; + + // Start index and number of contact points for this manifold + const uint contactPointsIndex = mCurrentContactPoints->size(); + const int8 nbContactPoints = potentialManifold.potentialContactPointsIndices.size(); + + // We create a new contact manifold + ContactManifold contactManifold(contactPointsIndex, nbContactPoints, mMemoryManager.getPoolAllocator(), mWorld->mConfig); + + // Add the contact manifold + mCurrentContactManifolds->add(contactManifold); + + // Increase the number of total contact point of the contact pair + contactPair.nbToTalContactPoints += potentialManifold.potentialContactPointsIndices.size(); + + assert(potentialManifold.potentialContactPointsIndices.size() > 0); + + // For each contact point of the manifold + for (uint c=0; c < potentialManifold.potentialContactPointsIndices.size(); c++) { + + ContactPointInfo& potentialContactPoint = mPotentialContactPoints[potentialManifold.potentialContactPointsIndices[c]]; + + // Create a new contact point + ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig); + + // Add the contact point + mCurrentContactPoints->add(contactPoint); + } + } + } + + // Reset the potential contacts + mPotentialContactPoints.clear(); + mPotentialContactManifolds.clear(); +} + +// Initialize the current contacts with the contacts from the previous frame (for warmstarting) +void CollisionDetection::initContactsWithPreviousOnes() { + + // For each contact pair of the current frame + for (uint i=0; i < mCurrentContactPairs->size(); i++) { + + ContactPair& currentContactPair = (*mCurrentContactPairs)[i]; + + // Find the corresponding contact pair in the previous frame (if any) + auto itPrevContactPair = mPreviousMapPairIdToContactPairIndex->find(currentContactPair.pairId); + + // If we have found a corresponding contact pair in the previous frame + if (itPrevContactPair != mPreviousMapPairIdToContactPairIndex->end()) { + + const uint previousContactPairIndex = itPrevContactPair->second; + ContactPair& previousContactPair = (*mPreviousContactPairs)[previousContactPairIndex]; + + // --------------------- Contact Manifolds --------------------- // + + const uint contactManifoldsIndex = currentContactPair.contactManifoldsIndex; + const uint nbContactManifolds = currentContactPair.nbContactManifolds; + + // For each current contact manifold of the contact pair + for (uint m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { + + assert(m < mCurrentContactManifolds->size()); + ContactManifold& currentContactManifold = (*mCurrentContactManifolds)[m]; + assert(currentContactManifold.mNbContactPoints > 0); + ContactPoint& currentContactPoint = (*mCurrentContactPoints)[currentContactManifold.mContactPointsIndex]; + const Vector3& currentContactPointNormal = currentContactPoint.getNormal(); + + // Find a similar contact manifold among the contact manifolds from the previous frame (for warmstarting) + const uint previousContactManifoldIndex = previousContactPair.contactManifoldsIndex; + const uint previousNbContactManifolds = previousContactPair.nbContactManifolds; + for (uint p=previousContactManifoldIndex; p < previousContactManifoldIndex + previousNbContactManifolds; p++) { + + ContactManifold& previousContactManifold = (*mPreviousContactManifolds)[p]; + assert(previousContactManifold.mNbContactPoints > 0); + ContactPoint& previousContactPoint = (*mPreviousContactPoints)[previousContactManifold.mContactPointsIndex]; + + // If the previous contact manifold has a similar contact normal with the current manifold + if (previousContactPoint.getNormal().dot(currentContactPointNormal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { + + // Transfer data from the previous contact manifold to the current one + currentContactManifold.mFrictionVector1 = previousContactManifold.mFrictionVector1; + currentContactManifold.mFrictionVector2 = previousContactManifold.mFrictionVector2; + currentContactManifold.mFrictionImpulse1 = previousContactManifold.mFrictionImpulse1; + currentContactManifold.mFrictionImpulse2 = previousContactManifold.mFrictionImpulse2; + currentContactManifold.mFrictionTwistImpulse = previousContactManifold.mFrictionTwistImpulse; + currentContactManifold.mRollingResistanceImpulse = previousContactManifold.mRollingResistanceImpulse; + + break; + } + } + } + + // --------------------- Contact Points --------------------- // + + const uint contactPointsIndex = currentContactPair.contactPointsIndex; + const uint nbTotalContactPoints = currentContactPair.nbToTalContactPoints; + + // For each current contact point of the contact pair + for (uint c=contactPointsIndex; c < contactPointsIndex + nbTotalContactPoints; c++) { + + assert(c < mCurrentContactPoints->size()); + ContactPoint& currentContactPoint = (*mCurrentContactPoints)[c]; + + // Find a similar contact point among the contact points from the previous frame (for warmstarting) + const uint previousContactPointsIndex = previousContactPair.contactPointsIndex; + const uint previousNbContactPoints = previousContactPair.nbToTalContactPoints; + for (uint p=previousContactPointsIndex; p < previousContactPointsIndex + previousNbContactPoints; p++) { + + ContactPoint& previousContactPoint = (*mPreviousContactPoints)[p]; + + // If the previous contact point is very close to th current one + const decimal distSquare = (currentContactPoint.getLocalPointOnShape1() - previousContactPoint.getLocalPointOnShape1()).lengthSquare(); + if (distSquare <= mWorld->mConfig.persistentContactDistanceThreshold * mWorld->mConfig.persistentContactDistanceThreshold) { + + // Transfer data from the previous contact point to the current one + currentContactPoint.setPenetrationImpulse(previousContactPoint.getPenetrationImpulse()); + currentContactPoint.setIsRestingContact(previousContactPoint.getIsRestingContact()); + + break; + } + } + } + } + } + + mPreviousContactPoints->clear(); + mPreviousContactManifolds->clear(); + mPreviousContactPairs->clear(); + mPreviousMapPairIdToContactPairIndex->clear(); } // Remove a body from the collision detection @@ -506,7 +717,7 @@ void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { /// Convert the potential contact into actual contacts void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo) { - RP3D_PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler); + RP3D_PROFILE("CollisionDetection::processPotentialContacts()", mProfiler); // For each narrow phase info object for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { @@ -518,21 +729,116 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->isValid = true; } + // ----- START OLD ----- // + if (narrowPhaseInfoBatch.isColliding[i]) { assert(narrowPhaseInfoBatch.contactPoints[i].size() > 0); // Transfer the contact points from the narrow phase info to the overlapping pair + // TOOD : COMMENT THIS narrowPhaseInfoBatch.overlappingPairs[i]->addPotentialContactPoints(narrowPhaseInfoBatch, i); // Remove the contacts points from the narrow phase info object. - narrowPhaseInfoBatch.resetContactPoints(i); + //narrowPhaseInfoBatch.resetContactPoints(i); } + + // ----- END OLD ----- // + + // Add the potential contacts + for (uint j=0; j < narrowPhaseInfoBatch.contactPoints[i].size(); j++) { + + if (narrowPhaseInfoBatch.isColliding[i]) { + + const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); + + // Add the contact point to the list of potential contact points + const uint contactPointIndex = static_cast(mPotentialContactPoints.size()); + + // TODO : We should probably use single frame allocator here for mPotentialContactPoints + mPotentialContactPoints.add(contactPoint); + + bool similarManifoldFound = false; + + // If there are already potential contact manifolds for this overlapping pair + OverlappingPair::OverlappingPairId pairId = narrowPhaseInfoBatch.overlappingPairs[i]->getId(); + auto it = mCurrentMapPairIdToContactPairIndex->find(pairId); + ContactPair* pairContact = nullptr; + if (it != mCurrentMapPairIdToContactPairIndex->end()) { + + const uint pairContactIndex = it->second; + pairContact = &((*mCurrentContactPairs)[pairContactIndex]); + + assert(pairContact->potentialContactManifoldsIndices.size() > 0); + + // For each contact manifold of the overlapping pair + for (uint m=0; m < pairContact->potentialContactManifoldsIndices.size(); m++) { + uint contactManifoldIndex = pairContact->potentialContactManifoldsIndices[m]; + + // Get the first contact point of the current manifold + assert(mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.size() > 0); + const uint manifoldContactPointIndex = mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; + const ContactPointInfo& manifoldContactPoint = mPotentialContactPoints[manifoldContactPointIndex]; + + // If we have found a corresponding manifold for the new contact point + // (a manifold with a similar contact normal direction) + if (manifoldContactPoint.normal.dot(contactPoint.normal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { + + // Add the contact point to the manifold + mPotentialContactManifolds[m].potentialContactPointsIndices.add(contactPointIndex); + + similarManifoldFound = true; + + break; + } + } + } + + // If we have not found a manifold with a similar contact normal for the contact point + if (!similarManifoldFound) { + + // Create a new contact manifold for the overlapping pair + // TODO : We should probably use single frame allocator here + ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); + + // Add the contact point to the manifold + contactManifoldInfo.potentialContactPointsIndices.add(contactPointIndex); + + // If the overlapping pair contact does not exists yet + if (pairContact == nullptr) { + + // TODO : We should probably use a single frame allocator here + ContactPair overlappingPairContact(pairId, mMemoryManager.getPoolAllocator()); + const uint newContactPairIndex = mCurrentContactPairs->size(); + mCurrentContactPairs->add(overlappingPairContact); + pairContact = &((*mCurrentContactPairs)[newContactPairIndex]); + mCurrentMapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); + } + + assert(pairContact != nullptr); + + // Add the potential contact manifold + uint contactManifoldIndex = static_cast(mPotentialContactManifolds.size()); + mPotentialContactManifolds.add(contactManifoldInfo); + + // Add the contact manifold to the overlapping pair contact + pairContact->potentialContactManifoldsIndices.add(contactManifoldIndex); + } + + assert(pairContact->potentialContactManifoldsIndices.size() > 0); + } + } + + narrowPhaseInfoBatch.resetContactPoints(i); } } // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds -void CollisionDetection::reduceContactManifolds(const OverlappingPairMap& overlappingPairs) { +void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs) { + + RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler); + + // ----- OLD ----- // // For each overlapping pairs in contact during the narrow-phase for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -546,6 +852,260 @@ void CollisionDetection::reduceContactManifolds(const OverlappingPairMap& overla pair->reduceContactManifolds(); } + // ----- OLD ----- // + + // Reduce the number of potential contact manifolds in a contact pair + for (uint i=0; i < mCurrentContactPairs->size(); i++) { + + ContactPair& contactPair = (*mCurrentContactPairs)[i]; + + assert(contactPair.potentialContactManifoldsIndices.size() > 0); + + // While there are too many manifolds + while(contactPair.potentialContactManifoldsIndices.size() > mWorld->mConfig.nbMaxContactManifolds) { + + // Look for a manifold with the smallest contact penetration depth. + decimal minDepth = DECIMAL_LARGEST; + int minDepthManifoldIndex = -1; + for (uint i=0; i < contactPair.potentialContactManifoldsIndices.size(); i++) { + + ContactManifoldInfo& manifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[i]]; + + // Get the largest contact point penetration depth of the manifold + const decimal depth = computePotentialManifoldLargestContactDepth(manifold); + + if (depth < minDepth) { + minDepth = depth; + minDepthManifoldIndex = static_cast(i); + } + } + + // Remove the non optimal manifold + assert(minDepthManifoldIndex >= 0); + contactPair.potentialContactManifoldsIndices.removeAt(minDepthManifoldIndex); + } + } + + // Reduce the number of potential contact points in the manifolds + for (uint i=0; i < mCurrentContactPairs->size(); i++) { + + const ContactPair& pairContact = (*mCurrentContactPairs)[i]; + + // For each potential contact manifold + for (uint i=0; i < pairContact.potentialContactManifoldsIndices.size(); i++) { + + ContactManifoldInfo& manifold = mPotentialContactManifolds[pairContact.potentialContactManifoldsIndices[i]]; + + // If there are two many contact points in the manifold + if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { + + Transform shape1LocalToWorldTransoform = mOverlappingPairs[manifold.pairId]->getShape1()->getLocalToWorldTransform(); + + // Reduce the number of contact points in the manifold + reduceContactPoints(manifold, shape1LocalToWorldTransoform); + } + + assert(manifold.potentialContactPointsIndices.size() <= MAX_CONTACT_POINTS_IN_MANIFOLD); + } + } +} + +// Return the largest depth of all the contact points of a potential manifold +decimal CollisionDetection::computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold) const { + + decimal largestDepth = 0.0f; + + assert(manifold.potentialContactPointsIndices.size() > 0); + + for (uint i=0; i < manifold.potentialContactPointsIndices.size(); i++) { + decimal depth = mPotentialContactPoints[manifold.potentialContactPointsIndices[i]].penetrationDepth; + + if (depth > largestDepth) { + largestDepth = depth; + } + } + + return largestDepth; +} + +// Reduce the number of contact points of a potential contact manifold +// This is based on the technique described by Dirk Gregorius in his +// "Contacts Creation" GDC presentation. This method will reduce the number of +// contact points to a maximum of 4 points (but it can be less). +void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform) { + + assert(manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD); + + // The following algorithm only works to reduce to a maximum of 4 contact points + assert(MAX_CONTACT_POINTS_IN_MANIFOLD == 4); + + // List of the candidate contact points indices in the manifold. Every time that we have found a + // point we want to keep, we will remove it from this list + List candidatePointsIndices(manifold.potentialContactPointsIndices); + + int8 nbReducedPoints = 0; + + uint pointsToKeepIndices[MAX_CONTACT_POINTS_IN_MANIFOLD]; + for (int8 i=0; i maxDotProduct) { + maxDotProduct = dotProduct; + elementIndexToKeep = i; + nbReducedPoints = 1; + } + } + pointsToKeepIndices[0] = candidatePointsIndices[elementIndexToKeep]; + candidatePointsIndices.removeAt(elementIndexToKeep); + assert(nbReducedPoints == 1); + + // Compute the second contact point we need to keep. + // The second point we keep is the one farthest away from the first point. + + decimal maxDistance = decimal(0.0); + elementIndexToKeep = 0; + for (uint i=0; i < candidatePointsIndices.size(); i++) { + + const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; + const ContactPointInfo& pointToKeep0 = mPotentialContactPoints[pointsToKeepIndices[0]]; + + assert(candidatePointsIndices[i] != pointsToKeepIndices[0]); + + const decimal distance = (pointToKeep0.localPoint1 - element.localPoint1).lengthSquare(); + if (distance >= maxDistance) { + maxDistance = distance; + elementIndexToKeep = i; + nbReducedPoints = 2; + } + + } + pointsToKeepIndices[1] = candidatePointsIndices[elementIndexToKeep]; + candidatePointsIndices.removeAt(elementIndexToKeep); + assert(nbReducedPoints == 2); + + // Compute the third contact point we need to keep. + // The third point is the one producing the triangle with the larger area + // with first and second point. + + // We compute the most positive or most negative triangle area (depending on winding) + uint thirdPointMaxAreaIndex = 0; + uint thirdPointMinAreaIndex = 0; + decimal minArea = decimal(0.0); + decimal maxArea = decimal(0.0); + bool isPreviousAreaPositive = true; + for (uint i=0; i < candidatePointsIndices.size(); i++) { + + const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; + const ContactPointInfo& pointToKeep0 = mPotentialContactPoints[pointsToKeepIndices[0]]; + const ContactPointInfo& pointToKeep1 = mPotentialContactPoints[pointsToKeepIndices[1]]; + + assert(candidatePointsIndices[i] != pointsToKeepIndices[0]); + assert(candidatePointsIndices[i] != pointsToKeepIndices[1]); + + const Vector3 newToFirst = pointToKeep0.localPoint1 - element.localPoint1; + const Vector3 newToSecond = pointToKeep1.localPoint1 - element.localPoint1; + + // Compute the triangle area + decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); + + if (area >= maxArea) { + maxArea = area; + thirdPointMaxAreaIndex = i; + } + if (area <= minArea) { + minArea = area; + thirdPointMinAreaIndex = i; + } + } + assert(minArea <= decimal(0.0)); + assert(maxArea >= decimal(0.0)); + if (maxArea > (-minArea)) { + isPreviousAreaPositive = true; + pointsToKeepIndices[2] = candidatePointsIndices[thirdPointMaxAreaIndex]; + candidatePointsIndices.removeAt(thirdPointMaxAreaIndex); + } + else { + isPreviousAreaPositive = false; + pointsToKeepIndices[2] = candidatePointsIndices[thirdPointMinAreaIndex]; + candidatePointsIndices.removeAt(thirdPointMinAreaIndex); + } + nbReducedPoints = 3; + + // Compute the 4th point by choosing the triangle that add the most + // triangle area to the previous triangle and has opposite sign area (opposite winding) + + decimal largestArea = decimal(0.0); // Largest area (positive or negative) + elementIndexToKeep = 0; + + // For each remaining candidate points + for (uint i=0; i < candidatePointsIndices.size(); i++) { + + const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; + + assert(candidatePointsIndices[i] != pointsToKeepIndices[0]); + assert(candidatePointsIndices[i] != pointsToKeepIndices[1]); + assert(candidatePointsIndices[i] != pointsToKeepIndices[2]); + + // For each edge of the triangle made by the first three points + for (uint i=0; i<3; i++) { + + uint edgeVertex1Index = i; + uint edgeVertex2Index = i < 2 ? i + 1 : 0; + + const ContactPointInfo& pointToKeepEdgeV1 = mPotentialContactPoints[pointsToKeepIndices[edgeVertex1Index]]; + const ContactPointInfo& pointToKeepEdgeV2 = mPotentialContactPoints[pointsToKeepIndices[edgeVertex2Index]]; + + const Vector3 newToFirst = pointToKeepEdgeV1.localPoint1 - element.localPoint1; + const Vector3 newToSecond = pointToKeepEdgeV2.localPoint1 - element.localPoint1; + + // Compute the triangle area + const decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); + + // We are looking at the triangle with maximal area (positive or negative). + // If the previous area is positive, we are looking at negative area now. + // If the previous area is negative, we are looking at the positive area now. + if (isPreviousAreaPositive && area <= largestArea) { + largestArea = area; + elementIndexToKeep = i; + nbReducedPoints = 4; + } + else if (!isPreviousAreaPositive && area >= largestArea) { + largestArea = area; + elementIndexToKeep = i; + nbReducedPoints = 4; + } + } + } + pointsToKeepIndices[3] = candidatePointsIndices[elementIndexToKeep]; + candidatePointsIndices.removeAt(elementIndexToKeep); + assert(nbReducedPoints == 4); + + // Only keep the four selected contact points in the manifold + manifold.potentialContactPointsIndices.clear(); + manifold.potentialContactPointsIndices.add(pointsToKeepIndices[0]); + manifold.potentialContactPointsIndices.add(pointsToKeepIndices[1]); + manifold.potentialContactPointsIndices.add(pointsToKeepIndices[2]); + manifold.potentialContactPointsIndices.add(pointsToKeepIndices[3]); } // Report contacts for all the colliding overlapping pairs @@ -814,7 +1374,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body processAllPotentialContacts(narrowPhaseInput, false); // Reduce the number of contact points in the manifolds - reduceContactManifolds(overlappingPairs); + reducePotentialContactManifolds(overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -909,7 +1469,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c processAllPotentialContacts(narrowPhaseInput, false); // Reduce the number of contact points in the manifolds - reduceContactManifolds(overlappingPairs); + reducePotentialContactManifolds(overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -988,7 +1548,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { processAllPotentialContacts(narrowPhaseInput, false); // Reduce the number of contact points in the manifolds - reduceContactManifolds(overlappingPairs); + reducePotentialContactManifolds(overlappingPairs); // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 8c1104ef..ed2d4ff6 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -30,6 +30,11 @@ #include "body/CollisionBody.h" #include "systems/BroadPhaseSystem.h" #include "collision/shapes/CollisionShape.h" +#include "collision/ContactPointInfo.h" +#include "constraint/ContactPoint.h" +#include "collision/ContactManifoldInfo.h" +#include "collision/ContactManifold.h" +#include "collision/ContactPair.h" #include "engine/OverlappingPair.h" #include "collision/narrowphase/NarrowPhaseInput.h" #include "collision/narrowphase/CollisionDispatch.h" @@ -64,6 +69,11 @@ class CollisionDetection { using OverlappingPairMap = Map, OverlappingPair*>; + // -------------------- Constants -------------------- // + + /// Maximum number of contact points in a reduced contact manifold + const int8 MAX_CONTACT_POINTS_IN_MANIFOLD = 4; + // -------------------- Attributes -------------------- // /// Memory manager @@ -96,6 +106,62 @@ class CollisionDetection { /// Narrow-phase collision detection input NarrowPhaseInput mNarrowPhaseInput; + /// List of the potential contact points + List mPotentialContactPoints; + + /// List of the potential contact manifolds + List mPotentialContactManifolds; + + /// First list of narrow-phase pair contacts + List mContactPairs1; + + /// Second list of narrow-phase pair contacts + List mContactPairs2; + + /// Pointer to the list of contact pairs of the previous frame (either mContactPairs1 or mContactPairs2) + List* mPreviousContactPairs; + + /// Pointer to the list of contact pairs of the current frame (either mContactPairs1 or mContactPairs2) + List* mCurrentContactPairs; + + /// First map of overlapping pair id to the index of the corresponding pair contact + Map mMapPairIdToContactPairIndex1; + + /// Second map of overlapping pair id to the index of the corresponding pair contact + Map mMapPairIdToContactPairIndex2; + + /// Pointer to the map of overlappingPairId to the index of contact pair of the previous frame + /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) + Map* mPreviousMapPairIdToContactPairIndex; + + /// Pointer to the map of overlappingPairId to the index of contact pair of the current frame + /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) + Map* mCurrentMapPairIdToContactPairIndex; + + /// First list with the contact manifolds + List mContactManifolds1; + + /// Second list with the contact manifolds + List mContactManifolds2; + + /// Pointer to the list of contact manifolds from the previous frame (either mContactManifolds1 or mContactManifolds2) + List* mPreviousContactManifolds; + + /// Pointer to the list of contact manifolds from the current frame (either mContactManifolds1 or mContactManifolds2) + List* mCurrentContactManifolds; + + /// Second list of contact points (contact points from either the current frame of the previous frame) + List mContactPoints1; + + /// Second list of contact points (contact points from either the current frame of the previous frame) + List mContactPoints2; + + /// Pointer to the contact points of the previous frame (either mContactPoints1 or mContactPoints2) + List* mPreviousContactPoints; + + /// Pointer to the contact points of the current frame (either mContactPoints1 or mContactPoints2) + List* mCurrentContactPoints; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -135,6 +201,9 @@ class CollisionDetection { /// Compute the middle-phase collision detection between two proxy shapes void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInput& outNarrowPhaseInput); + /// Swap the previous and current contacts lists + void swapPreviousAndCurrentContacts(); + /// Convert the potential contact into actual contacts void processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo); @@ -142,12 +211,24 @@ class CollisionDetection { /// Process the potential contacts after narrow-phase collision detection void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo); - /// Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds - void reduceContactManifolds(const OverlappingPairMap& overlappingPairs); + /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts + void reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs); + + /// Create the actual contact manifolds and contacts (from potential contacts) + void createContacts(); + + /// Initialize the current contacts with the contacts from the previous frame (for warmstarting) + void initContactsWithPreviousOnes(); + + /// Reduce the number of contact points of a potential contact manifold + void reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform); /// Report contacts for all the colliding overlapping pairs void reportAllContacts(); + /// Return the largest depth of all the contact points of a potential manifold + decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold) const; + /// Process the potential contacts where one collion is a concave shape void processSmoothMeshContacts(OverlappingPair* pair); diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 4e80a625..e77a1102 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -26,20 +26,35 @@ // Libraries #include "ContactManifold.h" #include "constraint/ContactPoint.h" +#include "collision/ContactManifoldInfo.h" using namespace reactphysics3d; // Constructor +// TODO : REMOVE THIS CONSTRUCTOR ContactManifold::ContactManifold(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings) - : mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), + : mMemoryAllocator(memoryAllocator), mContactPointsIndex(0), mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0), mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false), - mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), + mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), mWorldSettings(worldSettings) { } +// Constructor +// TODO : REMOVE worldSettings from this constructor +ContactManifold::ContactManifold(uint contactPointsIndex, int8 nbContactPoints, MemoryAllocator& allocator, const WorldSettings& worldSettings) + :mMemoryAllocator(allocator), mContactPointsIndex(0), mWorldSettings(worldSettings) { + + + mContactPoints = nullptr; + mNext = nullptr; + mPrevious = nullptr; + mContactPointsIndex = contactPointsIndex; + mNbContactPoints = nbContactPoints; +} + // Destructor ContactManifold::~ContactManifold() { @@ -192,6 +207,7 @@ void ContactManifold::clearObsoleteContactPoints() { // This is based on the technique described by Dirk Gregorius in his // "Contacts Creation" GDC presentation. This method will reduce the number of // contact points to a maximum of 4 points (but it can be less). +// TODO : REMOVE THIS METHOD void ContactManifold::reduce(const Transform& shape1ToWorldTransform) { assert(mContactPoints != nullptr); diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index 4b368660..8b8490c4 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -100,6 +100,14 @@ class ContactManifold { // -------------------- Attributes -------------------- // + // TODO : For each of the attributes, check if we need to keep it or not + + /// Reference to the memory allocator + MemoryAllocator& mMemoryAllocator; + + /// Index of the first contact point of the manifold in the list of contact points + uint mContactPointsIndex; + /// Pointer to the first proxy shape of the contact ProxyShape* mShape1; @@ -133,9 +141,6 @@ class ContactManifold { /// True if the contact manifold has already been added into an island bool mIsAlreadyInIsland; - /// Reference to the memory allocator - MemoryAllocator& mMemoryAllocator; - /// Pointer to the next contact manifold in the linked-list ContactManifold* mNext; @@ -224,14 +229,17 @@ class ContactManifold { ContactManifold(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings); + /// Constructor + ContactManifold(uint contactPointsIndex, int8 nbContactPoints, MemoryAllocator& allocator, const WorldSettings& worldSettings); + /// Destructor ~ContactManifold(); - /// Deleted copy-constructor - ContactManifold(const ContactManifold& contactManifold) = delete; + /// Copy-constructor + ContactManifold(const ContactManifold& contactManifold) = default; - /// Deleted assignment operator - ContactManifold& operator=(const ContactManifold& contactManifold) = delete; + /// Assignment operator + ContactManifold& operator=(const ContactManifold& contactManifold) = default; /// Return a pointer to the first proxy shape of the contact ProxyShape* getShape1() const; @@ -264,6 +272,7 @@ class ContactManifold { friend class CollisionBody; friend class ContactManifoldSet; friend class ContactSolver; + friend class CollisionDetection; }; // Return a pointer to the first proxy shape of the contact diff --git a/src/collision/ContactManifoldInfo.h b/src/collision/ContactManifoldInfo.h new file mode 100644 index 00000000..9d3fed31 --- /dev/null +++ b/src/collision/ContactManifoldInfo.h @@ -0,0 +1,67 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_CONTACT_MANIFOLD_INFO_H +#define REACTPHYSICS3D_CONTACT_MANIFOLD_INFO_H + +// Libraries +#include "mathematics/mathematics.h" +#include "configuration.h" +#include "engine/OverlappingPair.h" + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Structure ContactManifoldInfo +/** + * This structure contains informations about a collision contact + * manifold computed during the narrow-phase collision detection. + */ +struct ContactManifoldInfo { + + public: + + // -------------------- Attributes -------------------- // + + /// Indices of the contact points in the mPotentialContactPoints array + List potentialContactPointsIndices; + + /// Overlapping pair id + OverlappingPair::OverlappingPairId pairId; + + // -------------------- Methods -------------------- // + + /// Constructor + ContactManifoldInfo(OverlappingPair::OverlappingPairId pairId, MemoryAllocator& allocator) + : potentialContactPointsIndices(allocator), pairId(pairId) { + + } + + +}; + +} + +#endif diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp index a842fe64..b9b21cbb 100644 --- a/src/collision/ContactManifoldSet.cpp +++ b/src/collision/ContactManifoldSet.cpp @@ -110,8 +110,12 @@ int ContactManifoldSet::getTotalNbContactPoints() const { } // Return the maximum number of contact manifolds allowed between to collision shapes +// TODO : Remove this method int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape* shape1, const CollisionShape* shape2) { + return mWorldSettings.nbMaxContactManifolds; + + /* // If both shapes are convex if (shape1->isConvex() && shape2->isConvex()) { return mWorldSettings.nbMaxContactManifoldsConvexShape; @@ -120,6 +124,7 @@ int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape* shape else { return mWorldSettings.nbMaxContactManifoldsConcaveShape; } + */ } // Remove a contact manifold that is the least optimal (smaller penetration depth) diff --git a/src/collision/ContactManifoldSet.h b/src/collision/ContactManifoldSet.h index 8ba5017d..e34473b2 100644 --- a/src/collision/ContactManifoldSet.h +++ b/src/collision/ContactManifoldSet.h @@ -33,7 +33,6 @@ namespace reactphysics3d { // Declarations class ContactManifold; -class ContactManifoldInfo; class ProxyShape; class MemoryAllocator; struct WorldSettings; diff --git a/src/collision/ContactPair.h b/src/collision/ContactPair.h new file mode 100644 index 00000000..abcc14e1 --- /dev/null +++ b/src/collision/ContactPair.h @@ -0,0 +1,77 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_OVERLAPPING_PAIR_CONTACT_H +#define REACTPHYSICS3D_OVERLAPPING_PAIR_CONTACT_H + +// Libraries +#include "mathematics/mathematics.h" +#include "configuration.h" +#include "engine/OverlappingPair.h" + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Structure ContactPair +/** + * This structure represents a pair of shapes that are in contact during narrow-phase. + */ +struct ContactPair { + + public: + + // -------------------- Attributes -------------------- // + + /// Overlapping pair Id + OverlappingPair::OverlappingPairId pairId; + + /// Indices of the potential contact manifolds + List potentialContactManifoldsIndices; + + /// Index of the first contact manifold in the array + uint contactManifoldsIndex; + + /// Number of contact manifolds + int8 nbContactManifolds; + + /// Index of the first contact point in the array of contact points + uint contactPointsIndex; + + /// Total number of contact points in all the manifolds of the contact pair + uint nbToTalContactPoints; + + // -------------------- Methods -------------------- // + + /// Constructor + ContactPair(OverlappingPair::OverlappingPairId pairId, MemoryAllocator& allocator) + : pairId(pairId), potentialContactManifoldsIndices(allocator), contactManifoldsIndex(0), nbContactManifolds(0), + contactPointsIndex(0), nbToTalContactPoints(0) { + + } +}; + +} + +#endif diff --git a/src/collision/ContactPointInfo.h b/src/collision/ContactPointInfo.h index c672e208..6e81783c 100644 --- a/src/collision/ContactPointInfo.h +++ b/src/collision/ContactPointInfo.h @@ -65,9 +65,11 @@ struct ContactPointInfo { /// Contact point of body 2 in local space of body 2 Vector3 localPoint2; + // TODO : Remove this field /// Pointer to the next contact point info ContactPointInfo* next; + // TODO : Remove this field /// True if the contact point has already been inserted into a manifold bool isUsed; diff --git a/src/configuration.h b/src/configuration.h index 2686635a..958de50a 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -154,13 +154,8 @@ struct WorldSettings { /// might enter sleeping mode decimal defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0)); - /// Maximum number of contact manifolds in an overlapping pair that involves two - /// convex collision shapes. - int nbMaxContactManifoldsConvexShape = 1; - - /// Maximum number of contact manifolds in an overlapping pair that involves at - /// least one concave collision shape. - int nbMaxContactManifoldsConcaveShape = 3; + /// Maximum number of contact manifolds in an overlapping pair + uint nbMaxContactManifolds = 3; /// This is used to test if two contact manifold are similar (same contact normal) in order to /// merge them. If the cosine of the angle between the normals of the two manifold are larger @@ -184,8 +179,7 @@ struct WorldSettings { ss << "defaultTimeBeforeSleep=" << defaultTimeBeforeSleep << std::endl; ss << "defaultSleepLinearVelocity=" << defaultSleepLinearVelocity << std::endl; ss << "defaultSleepAngularVelocity=" << defaultSleepAngularVelocity << std::endl; - ss << "nbMaxContactManifoldsConvexShape=" << nbMaxContactManifoldsConvexShape << std::endl; - ss << "nbMaxContactManifoldsConcaveShape=" << nbMaxContactManifoldsConcaveShape << std::endl; + ss << "nbMaxContactManifolds=" << nbMaxContactManifolds << std::endl; ss << "cosAngleSimilarContactManifold=" << cosAngleSimilarContactManifold << std::endl; return ss.str(); diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp index 9be0f1d0..7bf228c6 100644 --- a/src/constraint/ContactPoint.cpp +++ b/src/constraint/ContactPoint.cpp @@ -45,6 +45,21 @@ ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, const WorldSetti mIsObsolete = false; } +// Constructor +ContactPoint::ContactPoint(const ContactPointInfo& contactInfo, const WorldSettings& worldSettings) + : mNormal(contactInfo.normal), + mPenetrationDepth(contactInfo.penetrationDepth), + mLocalPointOnShape1(contactInfo.localPoint1), + mLocalPointOnShape2(contactInfo.localPoint2), + mIsRestingContact(false), mIsObsolete(false), + mWorldSettings(worldSettings) { + + assert(mPenetrationDepth > decimal(0.0)); + assert(mNormal.lengthSquare() > decimal(0.8)); + + mIsObsolete = false; +} + // Update the contact point with a new one that is similar (very close) /// The idea is to keep the cache impulse (for warm starting the contact solver) void ContactPoint::update(const ContactPointInfo* contactInfo) { diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index e705c7bf..f4c72ca2 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -112,17 +112,20 @@ class ContactPoint { /// Constructor ContactPoint(const ContactPointInfo* contactInfo, const WorldSettings& worldSettings); + /// Constructor + ContactPoint(const ContactPointInfo& contactInfo, const WorldSettings& worldSettings); + /// Destructor ~ContactPoint() = default; - /// Deleted copy-constructor - ContactPoint(const ContactPoint& contact) = delete; + /// Copy-constructor + ContactPoint(const ContactPoint& contact) = default; - /// Deleted assignment operator - ContactPoint& operator=(const ContactPoint& contact) = delete; + /// Assignment operator + ContactPoint& operator=(const ContactPoint& contact) = default; /// Return the normal vector of the contact - Vector3 getNormal() const; + const Vector3& getNormal() const; /// Return the contact point on the first proxy shape in the local-space of the proxy shape const Vector3& getLocalPointOnShape1() const; @@ -152,13 +155,14 @@ class ContactPoint { friend class ContactManifold; friend class ContactManifoldSet; friend class ContactSolver; + friend class CollisionDetection; }; // Return the normal vector of the contact /** * @return The contact normal */ -inline Vector3 ContactPoint::getNormal() const { +inline const Vector3& ContactPoint::getNormal() const { return mNormal; } diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 1fae4fb1..98766bf3 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -146,6 +146,9 @@ class OverlappingPair { /// Deleted assignment operator OverlappingPair& operator=(const OverlappingPair& pair) = delete; + /// Return the Id of the pair + OverlappingPairId getId() const; + /// Return the pointer to first proxy collision shape ProxyShape* getShape1() const; @@ -202,6 +205,11 @@ class OverlappingPair { friend class DynamicsWorld; }; +// Return the Id of the pair +inline OverlappingPair::OverlappingPairId OverlappingPair::getId() const { + return mPairID; +} + // Return the pointer to first body inline ProxyShape* OverlappingPair::getShape1() const { return mContactManifoldSet.getShape1(); diff --git a/src/memory/DefaultAllocator.h b/src/memory/DefaultAllocator.h index 5ff94895..ce4d1741 100644 --- a/src/memory/DefaultAllocator.h +++ b/src/memory/DefaultAllocator.h @@ -50,6 +50,10 @@ class DefaultAllocator : public MemoryAllocator { /// Allocate memory of a given size (in bytes) and return a pointer to the /// allocated memory. virtual void* allocate(size_t size) override { + + // TODO : Make sure to reduce the calls to default allocator is not called within a frame. For instance by a call + // to a pool allocator with size too large + return malloc(size); } From d9342c55f5e729672f1692a93f957429a3c0800c Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 22 Apr 2019 16:15:47 +0200 Subject: [PATCH 048/197] Working on contacts refactoring --- src/collision/CollisionDetection.cpp | 254 ++++++++++++------ .../narrowphase/NarrowPhaseInfoBatch.cpp | 5 + 2 files changed, 178 insertions(+), 81 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 552eb542..66b93a11 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -43,6 +43,7 @@ #include "engine/EventListener.h" #include "collision/RaycastInfo.h" #include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -400,6 +401,9 @@ void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPha // Compute the narrow-phase collision detection void CollisionDetection::computeNarrowPhase() { + // TODO : DELETE THIS + //std::cout << "---------------------- NARROW PHASE ----------------------------------------" << std::endl; + RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator(); @@ -617,6 +621,46 @@ void CollisionDetection::initContactsWithPreviousOnes() { mPreviousContactManifolds->clear(); mPreviousContactPairs->clear(); mPreviousMapPairIdToContactPairIndex->clear(); + + /* + // TODO : DELETE THIS + std::cout << "_______________ RECAP ACTUAL CONTACTS___________________" << std::endl; + std::cout << "ContactPairs :" << std::endl; + for (uint i=0; i < mCurrentContactPairs->size(); i++) { + + ContactPair& pair = (*mCurrentContactPairs)[i]; + std::cout << " PairId : (" << pair.pairId.first << ", " << pair.pairId.second << std::endl; + std::cout << " Index : " << i << std::endl; + std::cout << " ContactManifoldsIndex : " << pair.contactManifoldsIndex << std::endl; + std::cout << " nbManifolds : " << pair.nbContactManifolds << std::endl; + std::cout << " ContactPointsIndex : " << pair.contactPointsIndex << std::endl; + std::cout << " nbTotalPoints : " << pair.nbToTalContactPoints << std::endl; + + } + std::cout << "ContactManifolds :" << std::endl; + for (uint i=0; i < mCurrentContactManifolds->size(); i++) { + + ContactManifold& manifold = (*mCurrentContactManifolds)[i]; + std::cout << " Index : " << i << std::endl; + std::cout << " >>ContactPointsIndex : " << manifold.mContactPointsIndex << std::endl; + std::cout << " >>Nb Contact Points : " << manifold.mNbContactPoints << std::endl; + } + std::cout << "ContactPoints :" << std::endl; + for (uint i=0; i < mCurrentContactPoints->size(); i++) { + + ContactPoint& contactPoint = (*mCurrentContactPoints)[i]; + std::cout << " Index : " << i << std::endl; + std::cout << " Point : (" << contactPoint.getLocalPointOnShape1().x << ", " << contactPoint.getLocalPointOnShape1().y << ", " << contactPoint.getLocalPointOnShape1().z << std::endl; + } + std::cout << "mCurrentMapPairIdToContactPairIndex :" << std::endl; + for (auto it = mCurrentMapPairIdToContactPairIndex->begin(); it != mCurrentMapPairIdToContactPairIndex->end(); ++it) { + + OverlappingPair::OverlappingPairId pairId = it->first; + uint index = it->second; + std::cout << " PairId : " << pairId.first << ", " << pairId.second << std::endl; + std::cout << " ContactPair Index : " << index << std::endl; + } + */ } // Remove a body from the collision detection @@ -748,85 +792,88 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh // Add the potential contacts for (uint j=0; j < narrowPhaseInfoBatch.contactPoints[i].size(); j++) { - if (narrowPhaseInfoBatch.isColliding[i]) { + assert(narrowPhaseInfoBatch.isColliding[i]); - const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); + const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); - // Add the contact point to the list of potential contact points - const uint contactPointIndex = static_cast(mPotentialContactPoints.size()); + // Add the contact point to the list of potential contact points + const uint contactPointIndex = static_cast(mPotentialContactPoints.size()); - // TODO : We should probably use single frame allocator here for mPotentialContactPoints - mPotentialContactPoints.add(contactPoint); + // TODO : We should probably use single frame allocator here for mPotentialContactPoints + mPotentialContactPoints.add(contactPoint); - bool similarManifoldFound = false; + bool similarManifoldFound = false; - // If there are already potential contact manifolds for this overlapping pair - OverlappingPair::OverlappingPairId pairId = narrowPhaseInfoBatch.overlappingPairs[i]->getId(); - auto it = mCurrentMapPairIdToContactPairIndex->find(pairId); - ContactPair* pairContact = nullptr; - if (it != mCurrentMapPairIdToContactPairIndex->end()) { + // If there is already a contact pair for this overlapping pair + OverlappingPair::OverlappingPairId pairId = narrowPhaseInfoBatch.overlappingPairs[i]->getId(); + auto it = mCurrentMapPairIdToContactPairIndex->find(pairId); + ContactPair* pairContact = nullptr; + if (it != mCurrentMapPairIdToContactPairIndex->end()) { - const uint pairContactIndex = it->second; - pairContact = &((*mCurrentContactPairs)[pairContactIndex]); + assert(it->first == pairId); - assert(pairContact->potentialContactManifoldsIndices.size() > 0); - - // For each contact manifold of the overlapping pair - for (uint m=0; m < pairContact->potentialContactManifoldsIndices.size(); m++) { - uint contactManifoldIndex = pairContact->potentialContactManifoldsIndices[m]; - - // Get the first contact point of the current manifold - assert(mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.size() > 0); - const uint manifoldContactPointIndex = mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; - const ContactPointInfo& manifoldContactPoint = mPotentialContactPoints[manifoldContactPointIndex]; - - // If we have found a corresponding manifold for the new contact point - // (a manifold with a similar contact normal direction) - if (manifoldContactPoint.normal.dot(contactPoint.normal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { - - // Add the contact point to the manifold - mPotentialContactManifolds[m].potentialContactPointsIndices.add(contactPointIndex); - - similarManifoldFound = true; - - break; - } - } - } - - // If we have not found a manifold with a similar contact normal for the contact point - if (!similarManifoldFound) { - - // Create a new contact manifold for the overlapping pair - // TODO : We should probably use single frame allocator here - ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); - - // Add the contact point to the manifold - contactManifoldInfo.potentialContactPointsIndices.add(contactPointIndex); - - // If the overlapping pair contact does not exists yet - if (pairContact == nullptr) { - - // TODO : We should probably use a single frame allocator here - ContactPair overlappingPairContact(pairId, mMemoryManager.getPoolAllocator()); - const uint newContactPairIndex = mCurrentContactPairs->size(); - mCurrentContactPairs->add(overlappingPairContact); - pairContact = &((*mCurrentContactPairs)[newContactPairIndex]); - mCurrentMapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); - } - - assert(pairContact != nullptr); - - // Add the potential contact manifold - uint contactManifoldIndex = static_cast(mPotentialContactManifolds.size()); - mPotentialContactManifolds.add(contactManifoldInfo); - - // Add the contact manifold to the overlapping pair contact - pairContact->potentialContactManifoldsIndices.add(contactManifoldIndex); - } + const uint pairContactIndex = it->second; + pairContact = &((*mCurrentContactPairs)[pairContactIndex]); assert(pairContact->potentialContactManifoldsIndices.size() > 0); + + // For each contact manifold of the overlapping pair + for (uint m=0; m < pairContact->potentialContactManifoldsIndices.size(); m++) { + + uint contactManifoldIndex = pairContact->potentialContactManifoldsIndices[m]; + + // Get the first contact point of the current manifold + assert(mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.size() > 0); + const uint manifoldContactPointIndex = mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; + const ContactPointInfo& manifoldContactPoint = mPotentialContactPoints[manifoldContactPointIndex]; + + // If we have found a corresponding manifold for the new contact point + // (a manifold with a similar contact normal direction) + if (manifoldContactPoint.normal.dot(contactPoint.normal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { + + // Add the contact point to the manifold + mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.add(contactPointIndex); + + similarManifoldFound = true; + + break; + } + } } + + // If we have not found a manifold with a similar contact normal for the contact point + if (!similarManifoldFound) { + + // Create a new contact manifold for the overlapping pair + // TODO : We should probably use single frame allocator here + ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); + + // Add the contact point to the manifold + contactManifoldInfo.potentialContactPointsIndices.add(contactPointIndex); + + // If the overlapping pair contact does not exists yet + if (pairContact == nullptr) { + + // TODO : We should probably use a single frame allocator here + ContactPair overlappingPairContact(pairId, mMemoryManager.getPoolAllocator()); + const uint newContactPairIndex = mCurrentContactPairs->size(); + mCurrentContactPairs->add(overlappingPairContact); + pairContact = &((*mCurrentContactPairs)[newContactPairIndex]); + mCurrentMapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); + } + + assert(pairContact != nullptr); + + // Add the potential contact manifold + uint contactManifoldIndex = static_cast(mPotentialContactManifolds.size()); + mPotentialContactManifolds.add(contactManifoldInfo); + + // Add the contact manifold to the overlapping pair contact + assert(pairContact->pairId == contactManifoldInfo.pairId); + pairContact->potentialContactManifoldsIndices.add(contactManifoldIndex); + } + + assert(pairContact->potentialContactManifoldsIndices.size() > 0); } narrowPhaseInfoBatch.resetContactPoints(i); @@ -836,6 +883,49 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs) { + /* + // TODO : DELETE THIS + std::cout << "_______________ RECAP POTENTIAL CONTACTS___________________" << std::endl; + std::cout << "ContactPairs :" << std::endl; + for (uint i=0; i < mCurrentContactPairs->size(); i++) { + + ContactPair& pair = (*mCurrentContactPairs)[i]; + std::cout << " PairId : (" << pair.pairId.first << ", " << pair.pairId.second << std::endl; + std::cout << " Index : " << i << std::endl; + std::cout << " >>Manifolds : " << std::endl; + for (uint j=0; j < pair.potentialContactManifoldsIndices.size(); j++) { + + std::cout << " >>Manifold Index : " << pair.potentialContactManifoldsIndices[j] << std::endl; + } + } + std::cout << "PotentialContactManifolds :" << std::endl; + for (uint i=0; i < mPotentialContactManifolds.size(); i++) { + + ContactManifoldInfo& manifold = mPotentialContactManifolds[i]; + std::cout << " PairId : (" << manifold.pairId.first << ", " << manifold.pairId.second << std::endl; + std::cout << " Index : " << i << std::endl; + std::cout << " >>PotentialContactPoints : " << std::endl; + for (uint j=0; j < manifold.potentialContactPointsIndices.size(); j++) { + std::cout << " >>Contact Point Index : " << manifold.potentialContactPointsIndices[j] << std::endl; + } + } + std::cout << "PotentialContactPoints :" << std::endl; + for (uint i=0; i < mPotentialContactPoints.size(); i++) { + + ContactPointInfo& contactPoint = mPotentialContactPoints[i]; + std::cout << " Index : " << i << std::endl; + std::cout << " Point : (" << contactPoint.localPoint1.x << ", " << contactPoint.localPoint1.y << ", " << contactPoint.localPoint1.z << std::endl; + } + std::cout << "PotentialContactPoints :" << std::endl; + for (auto it = mCurrentMapPairIdToContactPairIndex->begin(); it != mCurrentMapPairIdToContactPairIndex->end(); ++it) { + + OverlappingPair::OverlappingPairId pairId = it->first; + uint index = it->second; + std::cout << " PairId : " << pairId.first << ", " << pairId.second << std::endl; + std::cout << " ContactPair Index : " << index << std::endl; + } + */ + RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler); // ----- OLD ----- // @@ -867,16 +957,16 @@ void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMa // Look for a manifold with the smallest contact penetration depth. decimal minDepth = DECIMAL_LARGEST; int minDepthManifoldIndex = -1; - for (uint i=0; i < contactPair.potentialContactManifoldsIndices.size(); i++) { + for (uint j=0; j < contactPair.potentialContactManifoldsIndices.size(); j++) { - ContactManifoldInfo& manifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[i]]; + ContactManifoldInfo& manifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[j]]; // Get the largest contact point penetration depth of the manifold const decimal depth = computePotentialManifoldLargestContactDepth(manifold); if (depth < minDepth) { minDepth = depth; - minDepthManifoldIndex = static_cast(i); + minDepthManifoldIndex = static_cast(j); } } @@ -892,9 +982,9 @@ void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMa const ContactPair& pairContact = (*mCurrentContactPairs)[i]; // For each potential contact manifold - for (uint i=0; i < pairContact.potentialContactManifoldsIndices.size(); i++) { + for (uint j=0; j < pairContact.potentialContactManifoldsIndices.size(); j++) { - ContactManifoldInfo& manifold = mPotentialContactManifolds[pairContact.potentialContactManifoldsIndices[i]]; + ContactManifoldInfo& manifold = mPotentialContactManifolds[pairContact.potentialContactManifoldsIndices[j]]; // If there are two many contact points in the manifold if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { @@ -943,6 +1033,9 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons // point we want to keep, we will remove it from this list List candidatePointsIndices(manifold.potentialContactPointsIndices); + // TODO : DELETE THIS + uint nbPoints = candidatePointsIndices.size(); + int8 nbReducedPoints = 0; uint pointsToKeepIndices[MAX_CONTACT_POINTS_IN_MANIFOLD]; @@ -1056,6 +1149,8 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons decimal largestArea = decimal(0.0); // Largest area (positive or negative) elementIndexToKeep = 0; + nbReducedPoints = 4; + decimal area; // For each remaining candidate points for (uint i=0; i < candidatePointsIndices.size(); i++) { @@ -1067,10 +1162,10 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons assert(candidatePointsIndices[i] != pointsToKeepIndices[2]); // For each edge of the triangle made by the first three points - for (uint i=0; i<3; i++) { + for (uint j=0; j<3; j++) { - uint edgeVertex1Index = i; - uint edgeVertex2Index = i < 2 ? i + 1 : 0; + uint edgeVertex1Index = j; + uint edgeVertex2Index = j < 2 ? j + 1 : 0; const ContactPointInfo& pointToKeepEdgeV1 = mPotentialContactPoints[pointsToKeepIndices[edgeVertex1Index]]; const ContactPointInfo& pointToKeepEdgeV2 = mPotentialContactPoints[pointsToKeepIndices[edgeVertex2Index]]; @@ -1079,7 +1174,7 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons const Vector3 newToSecond = pointToKeepEdgeV2.localPoint1 - element.localPoint1; // Compute the triangle area - const decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); + area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); // We are looking at the triangle with maximal area (positive or negative). // If the previous area is positive, we are looking at negative area now. @@ -1087,18 +1182,15 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons if (isPreviousAreaPositive && area <= largestArea) { largestArea = area; elementIndexToKeep = i; - nbReducedPoints = 4; } else if (!isPreviousAreaPositive && area >= largestArea) { largestArea = area; elementIndexToKeep = i; - nbReducedPoints = 4; } } } pointsToKeepIndices[3] = candidatePointsIndices[elementIndexToKeep]; candidatePointsIndices.removeAt(elementIndexToKeep); - assert(nbReducedPoints == 4); // Only keep the four selected contact points in the manifold manifold.potentialContactPointsIndices.clear(); diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index 61b2fb5b..a75b1f16 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -28,6 +28,7 @@ #include "collision/ContactPointInfo.h" #include "collision/shapes/TriangleShape.h" #include "engine/OverlappingPair.h" +#include using namespace reactphysics3d; @@ -77,6 +78,10 @@ void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNor ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo))) ContactPointInfo(contactNormal, penDepth, localPt1, localPt2); + // TODO : DELETE THIS + //std::cout << "Pair: " << overlappingPairs[index]->getId().first << ", " << overlappingPairs[index]->getId().second << std::endl; + //std::cout << ">> Contact Point: " << localPt1.x << ", " << localPt1.y << ", " << localPt1.z << std::endl; + // Add it into the list of contact points contactPoints[index].add(contactPointInfo); } From 1c91ef7d48922f1402a669820e190bed58221036 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 27 Apr 2019 15:02:21 +0200 Subject: [PATCH 049/197] Refactor islands creation --- CMakeLists.txt | 1 + src/collision/CollisionDetection.cpp | 86 +++++++---- src/collision/CollisionDetection.h | 14 +- src/collision/ContactPair.h | 17 ++- src/components/DynamicsComponents.cpp | 9 +- src/components/DynamicsComponents.h | 26 ++++ src/engine/DynamicsWorld.cpp | 208 +++++++++++++++++++++++++- src/engine/DynamicsWorld.h | 7 + 8 files changed, 330 insertions(+), 38 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 26fcf030..4dcdce53 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -137,6 +137,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" + "src/engine/Islands.h" "src/engine/Material.h" "src/engine/OverlappingPair.h" "src/engine/Timer.h" diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 66b93a11..7c4e8964 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -42,6 +42,7 @@ #include "utils/Profiler.h" #include "engine/EventListener.h" #include "collision/RaycastInfo.h" +#include "engine/Islands.h" #include #include @@ -53,22 +54,23 @@ using namespace std; // Constructor CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mTransformComponents(transformComponents), + : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mOverlappingPairs(mMemoryManager.getPoolAllocator()), - mBroadPhaseSystem(*this, mProxyShapesComponents, mTransformComponents, dynamicsComponents), + mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, dynamicsComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), - mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()), mPotentialContactPoints(mMemoryManager.getPoolAllocator()), + mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), // TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts - mPotentialContactManifolds(mMemoryManager.getPoolAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), + mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2), + mContactPairsIndicesOrderingForContacts(memoryManager.getSingleFrameAllocator()), mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()), mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), mContactPoints1(mMemoryManager.getPoolAllocator()), mContactPoints2(mMemoryManager.getPoolAllocator()), mPreviousContactPoints(&mContactPoints1), - mCurrentContactPoints(&mContactPoints2) { + mCurrentContactPoints(&mContactPoints2), mMapBodyToContactPairs(mMemoryManager.getSingleFrameAllocator()) { #ifdef IS_PROFILING_ACTIVE @@ -420,22 +422,18 @@ void CollisionDetection::computeNarrowPhase() { // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(mOverlappingPairs); - // Create the actual contact manifolds and contacts (from potential contacts) - createContacts(); - - // Initialize the current contacts with the contacts from the previous frame (for warmstarting) - initContactsWithPreviousOnes(); - // Add all the contact manifolds (between colliding bodies) to the bodies addAllContactManifoldsToBodies(); // Report contacts to the user reportAllContacts(); - // Clear the list of narrow-phase infos - mNarrowPhaseInput.clear(); + assert(mCurrentContactManifolds->size() == 0); + assert(mCurrentContactPoints->size() == 0); - // TODO : Do not forget to clear all the contact pair, contact manifolds and contact points lists + mContactPairsIndicesOrderingForContacts.reserve(mCurrentContactPairs->size()); + + mNarrowPhaseInput.clear(); } // Swap the previous and current contacts lists @@ -467,24 +465,26 @@ void CollisionDetection::swapPreviousAndCurrentContacts() { } } -// Create the actual contact manifolds and contacts (from potential contacts) +// Create the actual contact manifolds and contacts points +/// List of the indices of the contact pairs (in mCurrentContacPairs array) with contact pairs of +/// same islands packed together linearly and contact pairs that are not part of islands at the end. +/// This is used when we create contact manifolds and contact points so that there are also packed +/// together linearly if they are part of the same island. void CollisionDetection::createContacts() { RP3D_PROFILE("CollisionDetection::createContacts()", mProfiler); - assert(mCurrentContactManifolds->size() == 0); - assert(mCurrentContactPoints->size() == 0); + assert(mCurrentContactPairs->size() == mContactPairsIndicesOrderingForContacts.size()); + + mCurrentContactManifolds->reserve(mCurrentContactPairs->size()); + mCurrentContactPoints->reserve(mCurrentContactManifolds->size()); // For each contact pair - for (auto it = mCurrentMapPairIdToContactPairIndex->begin(); it != mCurrentMapPairIdToContactPairIndex->end(); ++it) { - - const uint contactPairIndex = it->second; - assert(contactPairIndex < mCurrentContactPairs->size()); - ContactPair& contactPair = (*mCurrentContactPairs)[contactPairIndex]; + for (uint p=0; p < mContactPairsIndicesOrderingForContacts.size(); p++) { + ContactPair& contactPair = (*mCurrentContactPairs)[mContactPairsIndicesOrderingForContacts[p]]; assert(contactPair.potentialContactManifoldsIndices.size() > 0); - // Start index and numnber of contact manifolds for this contact pair contactPair.contactManifoldsIndex = mCurrentContactManifolds->size(); contactPair.nbContactManifolds = contactPair.potentialContactManifoldsIndices.size(); contactPair.contactPointsIndex = mCurrentContactPoints->size(); @@ -496,7 +496,8 @@ void CollisionDetection::createContacts() { // Start index and number of contact points for this manifold const uint contactPointsIndex = mCurrentContactPoints->size(); - const int8 nbContactPoints = potentialManifold.potentialContactPointsIndices.size(); + const int8 nbContactPoints = static_cast(potentialManifold.potentialContactPointsIndices.size()); + contactPair.nbToTalContactPoints += nbContactPoints; // We create a new contact manifold ContactManifold contactManifold(contactPointsIndex, nbContactPoints, mMemoryManager.getPoolAllocator(), mWorld->mConfig); @@ -504,9 +505,6 @@ void CollisionDetection::createContacts() { // Add the contact manifold mCurrentContactManifolds->add(contactManifold); - // Increase the number of total contact point of the contact pair - contactPair.nbToTalContactPoints += potentialManifold.potentialContactPointsIndices.size(); - assert(potentialManifold.potentialContactPointsIndices.size() > 0); // For each contact point of the manifold @@ -523,9 +521,13 @@ void CollisionDetection::createContacts() { } } + // Initialize the current contacts with the contacts from the previous frame (for warmstarting) + initContactsWithPreviousOnes(); + // Reset the potential contacts - mPotentialContactPoints.clear(); - mPotentialContactManifolds.clear(); + mPotentialContactPoints.clear(true); + mPotentialContactManifolds.clear(true); + mContactPairsIndicesOrderingForContacts.clear(true); } // Initialize the current contacts with the contacts from the previous frame (for warmstarting) @@ -800,6 +802,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh const uint contactPointIndex = static_cast(mPotentialContactPoints.size()); // TODO : We should probably use single frame allocator here for mPotentialContactPoints + // If so, do not forget to call mPotentialContactPoints.clear(true) at the end of frame mPotentialContactPoints.add(contactPoint); bool similarManifoldFound = false; @@ -846,6 +849,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh // Create a new contact manifold for the overlapping pair // TODO : We should probably use single frame allocator here + // If so, do not forget to call mPotentialContactPoints.clear(true) at the end of frame ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); // Add the contact point to the manifold @@ -854,12 +858,34 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh // If the overlapping pair contact does not exists yet if (pairContact == nullptr) { + Entity body1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity(); + Entity body2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity(); + // TODO : We should probably use a single frame allocator here - ContactPair overlappingPairContact(pairId, mMemoryManager.getPoolAllocator()); const uint newContactPairIndex = mCurrentContactPairs->size(); + ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, newContactPairIndex, mMemoryManager.getPoolAllocator()); mCurrentContactPairs->add(overlappingPairContact); pairContact = &((*mCurrentContactPairs)[newContactPairIndex]); mCurrentMapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); + + auto itbodyContactPairs = mMapBodyToContactPairs.find(body1Entity); + if (itbodyContactPairs != mMapBodyToContactPairs.end()) { + itbodyContactPairs->second.add(newContactPairIndex); + } + else { + List contactPairs(mMemoryManager.getSingleFrameAllocator(), 1); + contactPairs.add(newContactPairIndex); + mMapBodyToContactPairs.add(Pair>(body1Entity, contactPairs)); + } + itbodyContactPairs = mMapBodyToContactPairs.find(body2Entity); + if (itbodyContactPairs != mMapBodyToContactPairs.end()) { + itbodyContactPairs->second.add(newContactPairIndex); + } + else { + List contactPairs(mMemoryManager.getSingleFrameAllocator(), 1); + contactPairs.add(newContactPairIndex); + mMapBodyToContactPairs.add(Pair>(body2Entity, contactPairs)); + } } assert(pairContact != nullptr); diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index ed2d4ff6..8f950e67 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -82,9 +82,6 @@ class CollisionDetection { /// Reference the proxy-shape components ProxyShapeComponents& mProxyShapesComponents; - /// Reference the transform components - TransformComponents& mTransformComponents; - /// Collision Detection Dispatch configuration CollisionDispatch mCollisionDispatch; @@ -138,6 +135,12 @@ class CollisionDetection { /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) Map* mCurrentMapPairIdToContactPairIndex; + /// List of the indices of the contact pairs (in mCurrentContacPairs array) with contact pairs of + /// same islands packed together linearly and contact pairs that are not part of islands at the end. + /// This is used when we create contact manifolds and contact points so that there are also packed + /// together linearly if they are part of the same island. + List mContactPairsIndicesOrderingForContacts; + /// First list with the contact manifolds List mContactManifolds1; @@ -162,6 +165,9 @@ class CollisionDetection { /// Pointer to the contact points of the current frame (either mContactPoints1 or mContactPoints2) List* mCurrentContactPoints; + /// Map a body entity to the list of contact pairs in which it is involved + Map> mMapBodyToContactPairs; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -214,7 +220,7 @@ class CollisionDetection { /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts void reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs); - /// Create the actual contact manifolds and contacts (from potential contacts) + /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair void createContacts(); /// Initialize the current contacts with the contacts from the previous frame (for warmstarting) diff --git a/src/collision/ContactPair.h b/src/collision/ContactPair.h index abcc14e1..816302d7 100644 --- a/src/collision/ContactPair.h +++ b/src/collision/ContactPair.h @@ -50,6 +50,18 @@ struct ContactPair { /// Indices of the potential contact manifolds List potentialContactManifoldsIndices; + /// Entity of the first body of the manifold + Entity body1Entity; + + /// Entity of the second body of the manifold + Entity body2Entity; + + /// True if the manifold is already in an island + bool isAlreadyInIsland; + + /// Index of the contact pair in the array of pairs + uint contactPairIndex; + /// Index of the first contact manifold in the array uint contactManifoldsIndex; @@ -65,8 +77,9 @@ struct ContactPair { // -------------------- Methods -------------------- // /// Constructor - ContactPair(OverlappingPair::OverlappingPairId pairId, MemoryAllocator& allocator) - : pairId(pairId), potentialContactManifoldsIndices(allocator), contactManifoldsIndex(0), nbContactManifolds(0), + ContactPair(OverlappingPair::OverlappingPairId pairId, Entity body1Entity, Entity body2Entity, uint contactPairIndex, MemoryAllocator& allocator) + : pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity), + isAlreadyInIsland(false), contactPairIndex(contactPairIndex), contactManifoldsIndex(0), nbContactManifolds(0), contactPointsIndex(0), nbToTalContactPoints(0) { } diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index e23b3cfb..838584a4 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof (Vector3)) { + :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof (Vector3) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -57,6 +57,7 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newBodies = static_cast(newBuffer); Vector3* newLinearVelocities = reinterpret_cast(newBodies + nbComponentsToAllocate); Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newAngularVelocities + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -65,6 +66,7 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodies, mBodies, mNbComponents * sizeof(Entity)); memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -74,6 +76,7 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mBodies = newBodies; mLinearVelocities = newLinearVelocities; mAngularVelocities = newAngularVelocities; + mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -87,6 +90,7 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mBodies + index) Entity(bodyEntity); new (mLinearVelocities + index) Vector3(component.linearVelocity); new (mAngularVelocities + index) Vector3(component.angularVelocity); + mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -107,6 +111,7 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mBodies + destIndex) Entity(mBodies[srcIndex]); new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]); new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); + mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -129,6 +134,7 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Entity entity1(mBodies[index1]); Vector3 linearVelocity1(mLinearVelocities[index1]); Vector3 angularVelocity1(mAngularVelocities[index1]); + bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 destroyComponent(index1); @@ -139,6 +145,7 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { new (mBodies + index2) Entity(entity1); new (mLinearVelocities + index2) Vector3(linearVelocity1); new (mAngularVelocities + index2) Vector3(angularVelocity1); + mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 7c81e61b..696208bf 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -59,6 +59,9 @@ class DynamicsComponents : public Components { /// Array with the angular velocity of each component Vector3* mAngularVelocities; + /// Array with the boolean value to know if the body has already been added into an island + bool* mIsAlreadyInIsland; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -105,15 +108,22 @@ class DynamicsComponents : public Components { /// Return the angular velocity of an entity Vector3& getAngularVelocity(Entity bodyEntity) const; + /// Return true if the entity is already in an island + bool getIsAlreadyInIsland(Entity bodyEntity) const; + /// Set the linear velocity of an entity void setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity); /// Set the angular velocity of an entity void setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity); + /// Set the value to know if the entity is already in an island + bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class DynamicsWorld; }; // Return the linear velocity of an entity @@ -148,6 +158,22 @@ inline void DynamicsComponents::setAngularVelocity(Entity bodyEntity, const Vect mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = angularVelocity; } +// Return true if the entity is already in an island +inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]]; +} + +/// Set the value to know if the entity is already in an island +inline bool DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; +} + } #endif diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 15524353..70488265 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -32,7 +32,9 @@ #include "utils/Profiler.h" #include "engine/EventListener.h" #include "engine/Island.h" +#include "engine/Islands.h" #include "collision/ContactManifold.h" +#include "containers/Stack.h" // Namespaces using namespace reactphysics3d; @@ -60,7 +62,8 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), - mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { + mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0), + mIslands2(mMemoryManager.getSingleFrameAllocator()) { #ifdef IS_PROFILING_ACTIVE @@ -128,6 +131,32 @@ void DynamicsWorld::update(decimal timeStep) { // Compute the islands (separate groups of bodies with constraints between each others) computeIslands(); + // Create the islands + createIslands(); + + // TODO : DELETE THIS + /* + std::cout << "--------------------- FRAME ------------------------ " << std::endl; + std::cout << " ---- OLD ISLANDS -----" << std::endl; + for (uint i=0; i < mNbIslands; i++) { + std::cout << "Island " << i << std::endl; + for (uint b=0; b < mIslands[i]->getNbBodies(); b++) { + std::cout << "Body Id : " << mIslands[i]->getBodies()[b]->getId() << std::endl; + } + } + + std::cout << " ---- NEW ISLANDS -----" << std::endl; + for (uint i=0; i < mIslands2.getNbIslands(); i++) { + std::cout << "Island " << i << std::endl; + for (uint b=0; b < mIslands2.bodyEntities[i].size(); b++) { + std::cout << "Body Id : " << mBodyComponents.getBody(mIslands2.bodyEntities[i][b])->getId() << std::endl; + } + } + */ + + // Create the actual narrow-phase contacts + mCollisionDetection.createContacts(); + // Integrate the velocities integrateRigidBodiesVelocities(); @@ -151,6 +180,9 @@ void DynamicsWorld::update(decimal timeStep) { // Reset the external force and torque applied to the bodies resetBodiesForceAndTorque(); + // Reset the islands + mIslands2.clear(); + // Reset the single frame memory allocator mMemoryManager.resetFrameAllocator(); } @@ -672,6 +704,7 @@ uint DynamicsWorld::computeNextAvailableJointId() { return jointId; } +// TODO : DELETE THIS // Compute the islands of awake bodies. /// An island is an isolated group of rigid bodies that have constraints (joints or contacts) /// between each other. This method computes the islands at each time step as follows: For each @@ -828,6 +861,179 @@ void DynamicsWorld::computeIslands() { } } +// Compute the islands using potential contacts and joints +/// We compute the islands before creating the actual contacts here because we want all +/// the contact manifolds and contact points of the same island +/// to be packed together into linear arrays of manifolds and contacts for better caching. +/// An island is an isolated group of rigid bodies that have constraints (joints or contacts) +/// between each other. This method computes the islands at each time step as follows: For each +/// awake rigid body, we run a Depth First Search (DFS) through the constraint graph of that body +/// (graph where nodes are the bodies and where the edges are the constraints between the bodies) to +/// find all the bodies that are connected with it (the bodies that share joints or contacts with +/// it). Then, we create an island with this group of connected bodies. +void DynamicsWorld::createIslands() { + + // TODO : Check if we handle kinematic bodies correctly in islands creation + + // list of contact pairs involving a non-rigid body + List nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator()); + + RP3D_PROFILE("DynamicsWorld::createIslandsAndContacts()", mProfiler); + + // Reset all the isAlreadyInIsland variables of bodies and joints + for (uint b=0; b < mDynamicsComponents.getNbEnabledComponents(); b++) { + mDynamicsComponents.mIsAlreadyInIsland[b] = false; + } + for (List::Iterator it = mJoints.begin(); it != mJoints.end(); ++it) { + (*it)->mIsAlreadyInIsland = false; + } + + // Create a stack for the bodies to visit during the Depth First Search + Stack bodyEntityIndicesToVisit(mMemoryManager.getSingleFrameAllocator()); + + uint nbTotalManifolds = 0; + + // For each dynamic component + // TODO : Here we iterate on dynamic component where we can have static, kinematic and dynamic bodies. Maybe we should + // not use a dynamic component for a static body. + for (uint b=0; b < mDynamicsComponents.getNbEnabledComponents(); b++) { + + // If the body has already been added to an island, we go to the next body + if (mDynamicsComponents.mIsAlreadyInIsland[b]) continue; + + // If the body is static, we go to the next body + // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) + CollisionBody* body = static_cast(mBodyComponents.getBody(mDynamicsComponents.mBodies[b])); + if (body->getType() == BodyType::STATIC) continue; + + // Reset the stack of bodies to visit + bodyEntityIndicesToVisit.clear(); + + // Add the body into the stack of bodies to visit + mDynamicsComponents.mIsAlreadyInIsland[b] = true; + bodyEntityIndicesToVisit.push(mDynamicsComponents.mBodies[b]); + + // Create the new island + uint32 islandIndex = mIslands2.addIsland(nbTotalManifolds); + + // While there are still some bodies to visit in the stack + while (bodyEntityIndicesToVisit.size() > 0) { + + // Get the next body to visit from the stack + const Entity bodyToVisitEntity = bodyEntityIndicesToVisit.pop(); + + // Awake the body if it is sleeping + notifyBodyDisabled(bodyToVisitEntity, false); + + // Add the body into the island + mIslands2.bodyEntities[islandIndex].add(bodyToVisitEntity); + + // If the current body is static, we do not want to perform the DFS + // search across that body + // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) + RigidBody* rigidBodyToVisit = static_cast(mBodyComponents.getBody(bodyToVisitEntity)); + if (rigidBodyToVisit->getType() == BodyType::STATIC) continue; + + // If the body is involved in contacts with other bodies + auto itBodyContactPairs = mCollisionDetection.mMapBodyToContactPairs.find(bodyToVisitEntity); + if (itBodyContactPairs != mCollisionDetection.mMapBodyToContactPairs.end()) { + + // For each contact pair in which the current body is involded + List& contactPairs = itBodyContactPairs->second; + for (uint p=0; p < contactPairs.size(); p++) { + + ContactPair& pair = (*mCollisionDetection.mCurrentContactPairs)[contactPairs[p]]; + assert(pair.potentialContactManifoldsIndices.size() > 0); + + // Check if the current contact pair has already been added into an island + if (pair.isAlreadyInIsland) continue; + + // Get the other body of the contact manifold + // TODO : Maybe avoid those casts here + RigidBody* body1 = dynamic_cast(mBodyComponents.getBody(pair.body1Entity)); + RigidBody* body2 = dynamic_cast(mBodyComponents.getBody(pair.body2Entity)); + + // If the colliding body is a RigidBody (and not a CollisionBody instead) + if (body1 != nullptr && body2 != nullptr) { + + nbTotalManifolds += pair.potentialContactManifoldsIndices.size(); + + // Add the pair into the list of pair to process to create contacts + mCollisionDetection.mContactPairsIndicesOrderingForContacts.add(pair.contactPairIndex); + + // Add the contact manifold into the island + mIslands2.nbContactManifolds[islandIndex] += pair.potentialContactManifoldsIndices.size(); + pair.isAlreadyInIsland = true; + + const Entity otherBodyEntity = pair.body1Entity == bodyToVisitEntity ? pair.body2Entity : pair.body1Entity; + + // Check if the other body has already been added to the island + if (mDynamicsComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; + + // Insert the other body into the stack of bodies to visit + bodyEntityIndicesToVisit.push(otherBodyEntity); + mDynamicsComponents.setIsAlreadyInIsland(otherBodyEntity, true); + } + else { + + // Add the contact pair index in the list of contact pairs that won't be part of islands + nonRigidBodiesContactPairs.add(pair.contactPairIndex); + } + } + } + + // For each joint in which the current body is involved + JointListElement* jointElement; + for (jointElement = rigidBodyToVisit->mJointsList; jointElement != nullptr; + jointElement = jointElement->next) { + + Joint* joint = jointElement->joint; + + // Check if the current joint has already been added into an island + if (joint->isAlreadyInIsland()) continue; + + // Add the joint into the island + mIslands2.joints.add(joint); + joint->mIsAlreadyInIsland = true; + + const Entity body1Entity = joint->getBody1()->getEntity(); + const Entity body2Entity = joint->getBody2()->getEntity(); + const Entity otherBodyEntity = body1Entity == bodyToVisitEntity ? body2Entity : body1Entity; + + // TODO : Maybe avoid those casts here + // Get the other body of the contact manifold + RigidBody* body1 = static_cast(joint->getBody1()); + RigidBody* body2 = static_cast(joint->getBody2()); + RigidBody* otherBody = (body1->getId() == rigidBodyToVisit->getId()) ? body2 : body1; + + // Check if the other body has already been added to the island + if (otherBody->mIsAlreadyInIsland) continue; + + // Insert the other body into the stack of bodies to visit + bodyEntityIndicesToVisit.push(otherBodyEntity); + otherBody->mIsAlreadyInIsland = true; + } + } + + // Reset the isAlreadyIsland variable of the static bodies so that they + // can also be included in the other islands + for (uint b=0; b < mDynamicsComponents.getNbEnabledComponents(); b++) { + + // If the body is static, we go to the next body + // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) + CollisionBody* body = static_cast(mBodyComponents.getBody(mDynamicsComponents.mBodies[b])); + if (body->getType() == BodyType::STATIC) { + mDynamicsComponents.mIsAlreadyInIsland[b] = false; + } + } + } + + // Add the contact pairs that are not part of islands at the end of the array of pairs for contacts creations + mCollisionDetection.mContactPairsIndicesOrderingForContacts.addRange(nonRigidBodiesContactPairs); + + mCollisionDetection.mMapBodyToContactPairs.clear(true); +} + // Put bodies to sleep if needed. /// For each island, if all the bodies have been almost still for a long enough period of /// time, we put all the bodies of the island to sleep. diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index f17aaefd..5256063a 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -33,6 +33,7 @@ #include "utils/Logger.h" #include "engine/ContactSolver.h" #include "components/DynamicsComponents.h" +#include "engine/Islands.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -126,6 +127,9 @@ class DynamicsWorld : public CollisionWorld { /// Current joint id uint mCurrentJointId; + /// All the islands of bodies of the current frame + Islands mIslands2; + // -------------------- Methods -------------------- // /// Integrate the positions and orientations of rigid bodies. @@ -149,6 +153,9 @@ class DynamicsWorld : public CollisionWorld { /// Compute the islands of awake bodies. void computeIslands(); + /// Compute the islands using potential contacts and joints and create the actual contacts. + void createIslands(); + /// Update the postion/orientation of the bodies void updateBodiesState(); From e672c0d6179c5c99157f63f96305b3aaa41e0795 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 10 May 2019 17:37:11 +0200 Subject: [PATCH 050/197] Refactor contacts and islands --- src/body/Body.cpp | 2 +- src/body/Body.h | 5 +- src/body/CollisionBody.cpp | 20 -- src/body/CollisionBody.h | 4 +- src/body/RigidBody.cpp | 2 + src/collision/CollisionDetection.cpp | 39 +-- src/collision/ContactManifold.cpp | 9 +- src/collision/ContactManifold.h | 21 +- src/collision/ContactPair.h | 14 +- src/constraint/ContactPoint.cpp | 2 +- src/engine/CollisionWorld.h | 6 +- src/engine/ConstraintSolver.cpp | 36 ++- src/engine/ConstraintSolver.h | 12 +- src/engine/ContactSolver.cpp | 99 +++---- src/engine/ContactSolver.h | 32 ++- src/engine/DynamicsWorld.cpp | 374 ++++++++------------------- src/engine/DynamicsWorld.h | 16 +- src/engine/Islands.h | 120 +++++++++ src/systems/BroadPhaseSystem.cpp | 4 +- 19 files changed, 408 insertions(+), 409 deletions(-) create mode 100644 src/engine/Islands.h diff --git a/src/body/Body.cpp b/src/body/Body.cpp index c322c53e..1117572f 100644 --- a/src/body/Body.cpp +++ b/src/body/Body.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; * @param id ID of the new body */ Body::Body(Entity entity, bodyindex id) - : mID(id), mEntity(entity), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true), + : mID(id), mEntity(entity), mIsAllowedToSleep(true), mIsActive(true), mIsSleeping(false), mSleepTime(0), mUserData(nullptr) { #ifdef IS_LOGGING_ACTIVE diff --git a/src/body/Body.h b/src/body/Body.h index bdee42c6..3da721a0 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -57,9 +57,6 @@ class Body { /// Identifier of the entity in the ECS Entity mEntity; - /// True if the body has already been added in an island (for sleeping technique) - bool mIsAlreadyInIsland; - /// True if the body is allowed to go to sleep for better efficiency bool mIsAllowedToSleep; @@ -75,8 +72,10 @@ class Body { bool mIsActive; /// True if the body is sleeping (for sleeping technique) + // TODO : DELETE THIS bool mIsSleeping; + // TODO : Move this into the body components /// Elapsed time since the body velocity was bellow the sleep velocity decimal mSleepTime; diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 5ff628e4..7b5e4d1c 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -307,26 +307,6 @@ void CollisionBody::askForBroadPhaseCollisionCheck() const { } } -// Reset the mIsAlreadyInIsland variable of the body and contact manifolds. -/// This method also returns the number of contact manifolds of the body. -int CollisionBody::resetIsAlreadyInIslandAndCountManifolds() { - - mIsAlreadyInIsland = false; - - int nbManifolds = 0; - - // Reset the mIsAlreadyInIsland variable of the contact manifolds for - // this body - ContactManifoldListElement* currentElement = mContactManifoldsList; - while (currentElement != nullptr) { - currentElement->getContactManifold()->mIsAlreadyInIsland = false; - currentElement = currentElement->getNext(); - nbManifolds++; - } - - return nbManifolds; -} - // Return true if a point is inside the collision body /// This method returns true if a point is inside any collision shape of the body /** diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 018eb87e..44b338f2 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -67,6 +67,7 @@ class CollisionBody : public Body { // -------------------- Attributes -------------------- // + // TODO : Move this into the dynamics components /// Type of body (static, kinematic or dynamic) BodyType mType; @@ -98,9 +99,6 @@ class CollisionBody : public Body { /// (as if the body has moved). void askForBroadPhaseCollisionCheck() const; - /// Reset the mIsAlreadyInIsland variable of the body and contact manifolds - int resetIsAlreadyInIslandAndCountManifolds(); - /// Set the variable to know whether or not the body is sleeping virtual void setIsSleeping(bool isSleeping) override; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 393481d0..0595bd2e 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -178,6 +178,8 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens */ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { + // TODO : Check if we need to update the postion of the body here at the end (transform of the body) + if (mType != BodyType::DYNAMIC) return; mIsCenterOfMassSetByUser = true; diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 7c4e8964..9587f6cb 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -172,14 +172,6 @@ void CollisionDetection::updateOverlappingPairs(List>& overlappin } } } - - // For each new overlapping pair - for (uint i=0; i < newOverlappingPairs.size(); i++) { - - // Wake up the two bodies of the new overlapping pair - mWorld->notifyBodyDisabled(newOverlappingPairs[i]->getShape1()->getBody()->getEntity(), false); - mWorld->notifyBodyDisabled(newOverlappingPairs[i]->getShape1()->getBody()->getEntity(), false); - } } // Compute the middle-phase collision detection @@ -201,12 +193,15 @@ void CollisionDetection::computeMiddlePhase() { // Make all the last frame collision info obsolete pair->makeLastFrameCollisionInfosObsolete(); + const Entity proxyShape1Entity = pair->getShape1()->getEntity(); + const Entity proxyShape2Entity = pair->getShape2()->getEntity(); + ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); - assert(shape1->getBroadPhaseId() != -1); - assert(shape2->getBroadPhaseId() != -1); - assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); // Check if the two shapes are still overlapping. Otherwise, we destroy the // overlapping pair @@ -224,15 +219,18 @@ void CollisionDetection::computeMiddlePhase() { } // Check if the collision filtering allows collision between the two shapes - if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0)) { + if ((mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity) & mProxyShapesComponents.getCollisionCategoryBits(proxyShape2Entity)) != 0 && + (mProxyShapesComponents.getCollisionCategoryBits(proxyShape1Entity) & mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity)) != 0) { CollisionBody* const body1 = shape1->getBody(); CollisionBody* const body2 = shape2->getBody(); + const Entity body1Entity = body1->getEntity(); + const Entity body2Entity = body2->getEntity(); + // Check that at least one body is awake and not static - bool isBody1Active = !body1->isSleeping() && body1->getType() != BodyType::STATIC; - bool isBody2Active = !body2->isSleeping() && body2->getType() != BodyType::STATIC; + bool isBody1Active = !mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) && body1->getType() != BodyType::STATIC; + bool isBody2Active = !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity) && body2->getType() != BodyType::STATIC; if (!isBody1Active && !isBody2Active) continue; // Check if the bodies are in the set of bodies that cannot collide between each other @@ -500,7 +498,9 @@ void CollisionDetection::createContacts() { contactPair.nbToTalContactPoints += nbContactPoints; // We create a new contact manifold - ContactManifold contactManifold(contactPointsIndex, nbContactPoints, mMemoryManager.getPoolAllocator(), mWorld->mConfig); + ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.proxyShape1Entity, + contactPair.proxyShape2Entity, contactPointsIndex, nbContactPoints, + mMemoryManager.getPoolAllocator(), mWorld->mConfig); // Add the contact manifold mCurrentContactManifolds->add(contactManifold); @@ -861,9 +861,14 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh Entity body1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity(); Entity body2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity(); + assert(!mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity)); + // TODO : We should probably use a single frame allocator here const uint newContactPairIndex = mCurrentContactPairs->size(); - ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, newContactPairIndex, mMemoryManager.getPoolAllocator()); + ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, + narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getEntity(), + narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getEntity(), + newContactPairIndex, mMemoryManager.getPoolAllocator()); mCurrentContactPairs->add(overlappingPairContact); pairContact = &((*mCurrentContactPairs)[newContactPairIndex]); mCurrentMapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index e77a1102..8a69ed7d 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -38,14 +38,17 @@ ContactManifold::ContactManifold(ProxyShape* shape1, ProxyShape* shape2, mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0), mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), - mWorldSettings(worldSettings) { + mWorldSettings(worldSettings), bodyEntity1(0, 0), bodyEntity2(0, 0), proxyShapeEntity1(0, 0), proxyShapeEntity2(0, 0) { } // Constructor // TODO : REMOVE worldSettings from this constructor -ContactManifold::ContactManifold(uint contactPointsIndex, int8 nbContactPoints, MemoryAllocator& allocator, const WorldSettings& worldSettings) - :mMemoryAllocator(allocator), mContactPointsIndex(0), mWorldSettings(worldSettings) { +ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, + uint contactPointsIndex, int8 nbContactPoints, MemoryAllocator& allocator, const WorldSettings& worldSettings) + :mMemoryAllocator(allocator), mContactPointsIndex(0), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), + proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), mFrictionImpulse1(0), mFrictionImpulse2(0), + mFrictionTwistImpulse(0), mIsAlreadyInIsland(false), mWorldSettings(worldSettings) { mContactPoints = nullptr; diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index 8b8490c4..e124e34f 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -91,6 +91,7 @@ struct ContactManifoldListElement { */ class ContactManifold { + // TODO : Check if we can use public fields in this class (maybe this class is used by users directly) private: // -------------------- Constants -------------------- // @@ -108,6 +109,18 @@ class ContactManifold { /// Index of the first contact point of the manifold in the list of contact points uint mContactPointsIndex; + /// Entity of the first body in contact + Entity bodyEntity1; + + /// Entity of the second body in contact + Entity bodyEntity2; + + /// Entity of the first proxy-shape in contact + Entity proxyShapeEntity1; + + /// Entity of the second proxy-shape in contact + Entity proxyShapeEntity2; + /// Pointer to the first proxy shape of the contact ProxyShape* mShape1; @@ -230,7 +243,9 @@ class ContactManifold { const WorldSettings& worldSettings); /// Constructor - ContactManifold(uint contactPointsIndex, int8 nbContactPoints, MemoryAllocator& allocator, const WorldSettings& worldSettings); + ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, + uint contactPointsIndex, int8 nbContactPoints, + MemoryAllocator& allocator, const WorldSettings& worldSettings); /// Destructor ~ContactManifold(); @@ -241,6 +256,7 @@ class ContactManifold { /// Assignment operator ContactManifold& operator=(const ContactManifold& contactManifold) = default; + /* /// Return a pointer to the first proxy shape of the contact ProxyShape* getShape1() const; @@ -252,6 +268,7 @@ class ContactManifold { /// Return a pointer to the second body of the contact manifold CollisionBody* getBody2() const; + */ /// Return the number of contact points in the manifold int8 getNbContactPoints() const; @@ -275,6 +292,7 @@ class ContactManifold { friend class CollisionDetection; }; +/* // Return a pointer to the first proxy shape of the contact inline ProxyShape* ContactManifold::getShape1() const { return mShape1; @@ -294,6 +312,7 @@ inline CollisionBody* ContactManifold::getBody1() const { inline CollisionBody* ContactManifold::getBody2() const { return mShape2->getBody(); } +*/ // Return the number of contact points in the manifold inline int8 ContactManifold::getNbContactPoints() const { diff --git a/src/collision/ContactPair.h b/src/collision/ContactPair.h index 816302d7..d8fbf46c 100644 --- a/src/collision/ContactPair.h +++ b/src/collision/ContactPair.h @@ -50,12 +50,18 @@ struct ContactPair { /// Indices of the potential contact manifolds List potentialContactManifoldsIndices; - /// Entity of the first body of the manifold + /// Entity of the first body of the contact Entity body1Entity; - /// Entity of the second body of the manifold + /// Entity of the second body of the contact Entity body2Entity; + /// Entity of the first proxy-shape of the contact + Entity proxyShape1Entity; + + /// Entity of the second proxy-shape of the contact + Entity proxyShape2Entity; + /// True if the manifold is already in an island bool isAlreadyInIsland; @@ -77,8 +83,10 @@ struct ContactPair { // -------------------- Methods -------------------- // /// Constructor - ContactPair(OverlappingPair::OverlappingPairId pairId, Entity body1Entity, Entity body2Entity, uint contactPairIndex, MemoryAllocator& allocator) + ContactPair(OverlappingPair::OverlappingPairId pairId, Entity body1Entity, Entity body2Entity, Entity proxyShape1Entity, + Entity proxyShape2Entity, uint contactPairIndex, MemoryAllocator& allocator) : pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity), + proxyShape1Entity(proxyShape1Entity), proxyShape2Entity(proxyShape2Entity), isAlreadyInIsland(false), contactPairIndex(contactPairIndex), contactManifoldsIndex(0), nbContactManifolds(0), contactPointsIndex(0), nbToTalContactPoints(0) { diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp index 7bf228c6..e3290b4b 100644 --- a/src/constraint/ContactPoint.cpp +++ b/src/constraint/ContactPoint.cpp @@ -51,7 +51,7 @@ ContactPoint::ContactPoint(const ContactPointInfo& contactInfo, const WorldSetti mPenetrationDepth(contactInfo.penetrationDepth), mLocalPointOnShape1(contactInfo.localPoint1), mLocalPointOnShape2(contactInfo.localPoint2), - mIsRestingContact(false), mIsObsolete(false), + mIsRestingContact(false), mPenetrationImpulse(0), mIsObsolete(false), mWorldSettings(worldSettings) { assert(mPenetrationDepth > decimal(0.0)); diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 3bf33372..857bd092 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -163,12 +163,10 @@ class CollisionWorld { CollisionDispatch& getCollisionDispatch(); /// Ray cast method - void raycast(const Ray& ray, RaycastCallback* raycastCallback, - unsigned short raycastWithCategoryMaskBits = 0xFFFF) const; + void raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits = 0xFFFF) const; /// Test if the AABBs of two bodies overlap - bool testAABBOverlap(const CollisionBody* body1, - const CollisionBody* body2) const; + bool testAABBOverlap(const CollisionBody* body1, const CollisionBody* body2) const; /// Report all the bodies which have an AABB that overlaps with the AABB in parameter void testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF); diff --git a/src/engine/ConstraintSolver.cpp b/src/engine/ConstraintSolver.cpp index 58844faa..5409d318 100644 --- a/src/engine/ConstraintSolver.cpp +++ b/src/engine/ConstraintSolver.cpp @@ -31,7 +31,7 @@ using namespace reactphysics3d; // Constructor -ConstraintSolver::ConstraintSolver() : mIsWarmStartingActive(true) { +ConstraintSolver::ConstraintSolver(Islands& islands) : mIsWarmStartingActive(true), mIslands(islands) { #ifdef IS_PROFILING_ACTIVE @@ -42,13 +42,12 @@ ConstraintSolver::ConstraintSolver() : mIsWarmStartingActive(true) { } // Initialize the constraint solver for a given island -void ConstraintSolver::initializeForIsland(decimal dt, Island* island) { +void ConstraintSolver::initializeForIsland(decimal dt, uint islandIndex) { RP3D_PROFILE("ConstraintSolver::initializeForIsland()", mProfiler); - assert(island != nullptr); - assert(island->getNbBodies() > 0); - assert(island->getNbJoints() > 0); + assert(mIslands.bodyEntities[islandIndex].size() > 0); + assert(mIslands.joints[islandIndex].size() > 0); // Set the current time step mTimeStep = dt; @@ -58,49 +57,44 @@ void ConstraintSolver::initializeForIsland(decimal dt, Island* island) { mConstraintSolverData.isWarmStartingActive = mIsWarmStartingActive; // For each joint of the island - Joint** joints = island->getJoints(); - for (uint i=0; igetNbJoints(); i++) { + for (uint i=0; iinitBeforeSolve(mConstraintSolverData); + mIslands.joints[islandIndex][i]->initBeforeSolve(mConstraintSolverData); // Warm-start the constraint if warm-starting is enabled if (mIsWarmStartingActive) { - joints[i]->warmstart(mConstraintSolverData); + mIslands.joints[islandIndex][i]->warmstart(mConstraintSolverData); } } } // Solve the velocity constraints -void ConstraintSolver::solveVelocityConstraints(Island* island) { +void ConstraintSolver::solveVelocityConstraints(uint islandIndex) { RP3D_PROFILE("ConstraintSolver::solveVelocityConstraints()", mProfiler); - assert(island != nullptr); - assert(island->getNbJoints() > 0); + assert(mIslands.joints[islandIndex].size() > 0); // For each joint of the island - Joint** joints = island->getJoints(); - for (uint i=0; igetNbJoints(); i++) { + for (uint i=0; isolveVelocityConstraint(mConstraintSolverData); + mIslands.joints[islandIndex][i]->solveVelocityConstraint(mConstraintSolverData); } } // Solve the position constraints -void ConstraintSolver::solvePositionConstraints(Island* island) { +void ConstraintSolver::solvePositionConstraints(uint islandIndex) { RP3D_PROFILE("ConstraintSolver::solvePositionConstraints()", mProfiler); - assert(island != nullptr); - assert(island->getNbJoints() > 0); + assert(mIslands.joints[islandIndex].size() > 0); // For each joint of the island - Joint** joints = island->getJoints(); - for (uint i=0; i < island->getNbJoints(); i++) { + for (uint i=0; isolvePositionConstraint(mConstraintSolverData); + mIslands.joints[islandIndex][i]->solvePositionConstraint(mConstraintSolverData); } } diff --git a/src/engine/ConstraintSolver.h b/src/engine/ConstraintSolver.h index 829d6e32..d9678323 100644 --- a/src/engine/ConstraintSolver.h +++ b/src/engine/ConstraintSolver.h @@ -29,6 +29,7 @@ // Libraries #include "configuration.h" #include "mathematics/mathematics.h" +#include "engine/Islands.h" namespace reactphysics3d { @@ -153,6 +154,9 @@ class ConstraintSolver { /// True if the warm starting of the solver is active bool mIsWarmStartingActive; + /// Reference to the islands + Islands& mIslands; + /// Constraint solver data used to initialize and solve the constraints ConstraintSolverData mConstraintSolverData; @@ -167,19 +171,19 @@ class ConstraintSolver { // -------------------- Methods -------------------- // /// Constructor - ConstraintSolver(); + ConstraintSolver(Islands& islands); /// Destructor ~ConstraintSolver() = default; /// Initialize the constraint solver for a given island - void initializeForIsland(decimal dt, Island* island); + void initializeForIsland(decimal dt, uint islandIndex); /// Solve the constraints - void solveVelocityConstraints(Island* island); + void solveVelocityConstraints(uint islandIndex); /// Solve the position constraints - void solvePositionConstraints(Island* island); + void solvePositionConstraints(uint islandIndex); /// Return true if the Non-Linear-Gauss-Seidel position correction technique is active bool getIsNonLinearGaussSeidelPositionCorrectionActive() const; diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index 385cbe5e..133827e2 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -30,6 +30,8 @@ #include "constraint/ContactPoint.h" #include "utils/Profiler.h" #include "engine/Island.h" +#include "components/BodyComponents.h" +#include "components/ProxyShapeComponents.h" #include "collision/ContactManifold.h" using namespace reactphysics3d; @@ -41,11 +43,13 @@ const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2); const decimal ContactSolver::SLOP = decimal(0.01); // Constructor -ContactSolver::ContactSolver(MemoryManager& memoryManager, const WorldSettings& worldSettings) +ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, + ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mSplitLinearVelocities(nullptr), mSplitAngularVelocities(nullptr), mContactConstraints(nullptr), mContactPoints(nullptr), mLinearVelocities(nullptr), mAngularVelocities(nullptr), - mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { + mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), + mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -54,23 +58,18 @@ ContactSolver::ContactSolver(MemoryManager& memoryManager, const WorldSettings& } // Initialize the contact constraints -void ContactSolver::init(Island** islands, uint nbIslands, decimal timeStep) { +void ContactSolver::init(List* contactManifolds, List* contactPoints, decimal timeStep) { + + mAllContactManifolds = contactManifolds; + mAllContactPoints = contactPoints; RP3D_PROFILE("ContactSolver::init()", mProfiler); mTimeStep = timeStep; // TODO : Try not to count manifolds and contact points here - uint nbContactManifolds = 0; - uint nbContactPoints = 0; - for (uint i = 0; i < nbIslands; i++) { - uint nbManifoldsInIsland = islands[i]->getNbContactManifolds(); - nbContactManifolds += nbManifoldsInIsland; - - for (uint j=0; j < nbManifoldsInIsland; j++) { - nbContactPoints += islands[i]->getContactManifolds()[j]->getNbContactPoints(); - } - } + uint nbContactManifolds = mAllContactManifolds->size(); + uint nbContactPoints = mAllContactPoints->size(); mNbContactManifolds = 0; mNbContactPoints = 0; @@ -90,10 +89,10 @@ void ContactSolver::init(Island** islands, uint nbIslands, decimal timeStep) { assert(mContactConstraints != nullptr); // For each island of the world - for (uint islandIndex = 0; islandIndex < nbIslands; islandIndex++) { + for (uint i = 0; i < mIslands.getNbIslands(); i++) { - if (islands[islandIndex]->getNbContactManifolds() > 0) { - initializeForIsland(islands[islandIndex]); + if (mIslands.nbContactManifolds[i] > 0) { + initializeForIsland(i); } } @@ -102,33 +101,36 @@ void ContactSolver::init(Island** islands, uint nbIslands, decimal timeStep) { } // Initialize the constraint solver for a given island -void ContactSolver::initializeForIsland(Island* island) { +void ContactSolver::initializeForIsland(uint islandIndex) { RP3D_PROFILE("ContactSolver::initializeForIsland()", mProfiler); - assert(island != nullptr); - assert(island->getNbBodies() > 0); - assert(island->getNbContactManifolds() > 0); + assert(mIslands.bodyEntities[islandIndex].size() > 0); + assert(mIslands.nbContactManifolds[islandIndex] > 0); assert(mSplitLinearVelocities != nullptr); assert(mSplitAngularVelocities != nullptr); // For each contact manifold of the island - ContactManifold** contactManifolds = island->getContactManifolds(); - for (uint i=0; igetNbContactManifolds(); i++) { + uint contactManifoldsIndex = mIslands.contactManifoldsIndices[islandIndex]; + uint nbContactManifolds = mIslands.nbContactManifolds[islandIndex]; + for (uint m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { - ContactManifold* externalManifold = contactManifolds[i]; + ContactManifold& externalManifold = (*mAllContactManifolds)[m]; - assert(externalManifold->getNbContactPoints() > 0); + assert(externalManifold.getNbContactPoints() > 0); // Get the two bodies of the contact - RigidBody* body1 = static_cast(externalManifold->getBody1()); - RigidBody* body2 = static_cast(externalManifold->getBody2()); + RigidBody* body1 = static_cast(mBodyComponents.getBody(externalManifold.bodyEntity1)); + RigidBody* body2 = static_cast(mBodyComponents.getBody(externalManifold.bodyEntity2)); assert(body1 != nullptr); assert(body2 != nullptr); + assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1)); + assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2)); // Get the two contact shapes - const ProxyShape* shape1 = externalManifold->getShape1(); - const ProxyShape* shape2 = externalManifold->getShape2(); + // TODO : Do we really need to get the proxy-shape here + const ProxyShape* shape1 = mProxyShapeComponents.getProxyShape(externalManifold.proxyShapeEntity1); + const ProxyShape* shape2 = mProxyShapeComponents.getProxyShape(externalManifold.proxyShapeEntity2); // Get the position of the two bodies const Vector3& x1 = body1->mCenterOfMassWorld; @@ -143,10 +145,10 @@ void ContactSolver::initializeForIsland(Island* island) { mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld(); mContactConstraints[mNbContactManifolds].massInverseBody1 = body1->mMassInverse; mContactConstraints[mNbContactManifolds].massInverseBody2 = body2->mMassInverse; - mContactConstraints[mNbContactManifolds].nbContacts = externalManifold->getNbContactPoints(); + mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.getNbContactPoints(); mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); - mContactConstraints[mNbContactManifolds].externalContactManifold = externalManifold; + mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold; mContactConstraints[mNbContactManifolds].normal.setToZero(); mContactConstraints[mNbContactManifolds].frictionPointBody1.setToZero(); mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero(); @@ -158,27 +160,30 @@ void ContactSolver::initializeForIsland(Island* island) { const Vector3& w2 = mAngularVelocities[mContactConstraints[mNbContactManifolds].indexBody2]; // For each contact point of the contact manifold - ContactPoint* externalContact = externalManifold->getContactPoints(); - assert(externalContact != nullptr); - while (externalContact != nullptr) { + assert(externalManifold.getNbContactPoints() > 0); + uint contactPointsStartIndex = externalManifold.mContactPointsIndex; + uint nbContactPoints = externalManifold.mNbContactPoints; + for (uint c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) { + + ContactPoint& externalContact = (*mAllContactPoints)[c]; // Get the contact point on the two bodies - Vector3 p1 = shape1->getLocalToWorldTransform() * externalContact->getLocalPointOnShape1(); - Vector3 p2 = shape2->getLocalToWorldTransform() * externalContact->getLocalPointOnShape2(); + Vector3 p1 = shape1->getLocalToWorldTransform() * externalContact.getLocalPointOnShape1(); + Vector3 p2 = shape2->getLocalToWorldTransform() * externalContact.getLocalPointOnShape2(); new (mContactPoints + mNbContactPoints) ContactPointSolver(); - mContactPoints[mNbContactPoints].externalContact = externalContact; - mContactPoints[mNbContactPoints].normal = externalContact->getNormal(); + mContactPoints[mNbContactPoints].externalContact = &externalContact; + mContactPoints[mNbContactPoints].normal = externalContact.getNormal(); mContactPoints[mNbContactPoints].r1.x = p1.x - x1.x; mContactPoints[mNbContactPoints].r1.y = p1.y - x1.y; mContactPoints[mNbContactPoints].r1.z = p1.z - x1.z; mContactPoints[mNbContactPoints].r2.x = p2.x - x2.x; mContactPoints[mNbContactPoints].r2.y = p2.y - x2.y; mContactPoints[mNbContactPoints].r2.z = p2.z - x2.z; - mContactPoints[mNbContactPoints].penetrationDepth = externalContact->getPenetrationDepth(); - mContactPoints[mNbContactPoints].isRestingContact = externalContact->getIsRestingContact(); - externalContact->setIsRestingContact(true); - mContactPoints[mNbContactPoints].penetrationImpulse = externalContact->getPenetrationImpulse(); + mContactPoints[mNbContactPoints].penetrationDepth = externalContact.getPenetrationDepth(); + mContactPoints[mNbContactPoints].isRestingContact = externalContact.getIsRestingContact(); + externalContact.setIsRestingContact(true); + mContactPoints[mNbContactPoints].penetrationImpulse = externalContact.getPenetrationImpulse(); mContactPoints[mNbContactPoints].penetrationSplitImpulse = 0.0; mContactConstraints[mNbContactManifolds].frictionPointBody1.x += p1.x; @@ -240,8 +245,6 @@ void ContactSolver::initializeForIsland(Island* island) { mContactConstraints[mNbContactManifolds].normal.z += mContactPoints[mNbContactPoints].normal.z; mNbContactPoints++; - - externalContact = externalContact->getNext(); } mContactConstraints[mNbContactManifolds].frictionPointBody1 /=static_cast(mContactConstraints[mNbContactManifolds].nbContacts); @@ -252,13 +255,13 @@ void ContactSolver::initializeForIsland(Island* island) { mContactConstraints[mNbContactManifolds].r2Friction.x = mContactConstraints[mNbContactManifolds].frictionPointBody2.x - x2.x; mContactConstraints[mNbContactManifolds].r2Friction.y = mContactConstraints[mNbContactManifolds].frictionPointBody2.y - x2.y; mContactConstraints[mNbContactManifolds].r2Friction.z = mContactConstraints[mNbContactManifolds].frictionPointBody2.z - x2.z; - mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold->getFrictionVector1(); - mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold->getFrictionVector2(); + mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold.getFrictionVector1(); + mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold.getFrictionVector2(); // Initialize the accumulated impulses with the previous step accumulated impulses - mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold->getFrictionImpulse1(); - mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold->getFrictionImpulse2(); - mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold->getFrictionTwistImpulse(); + mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold.getFrictionImpulse1(); + mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.getFrictionImpulse2(); + mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.getFrictionTwistImpulse(); // Compute the inverse K matrix for the rolling resistance constraint bool isBody1DynamicType = body1->getType() == BodyType::DYNAMIC; diff --git a/src/engine/ContactSolver.h b/src/engine/ContactSolver.h index 26260c0c..e4797bb4 100644 --- a/src/engine/ContactSolver.h +++ b/src/engine/ContactSolver.h @@ -30,6 +30,7 @@ #include "configuration.h" #include "mathematics/Vector3.h" #include "mathematics/Matrix3x3.h" +#include "engine/Islands.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -42,6 +43,8 @@ class MemoryManager; class Profiler; class Island; class RigidBody; +class BodyComponents; +class ProxyShapeComponents; // Class Contact Solver /** @@ -280,18 +283,22 @@ class ContactSolver { MemoryManager& mMemoryManager; /// Split linear velocities for the position contact solver (split impulse) + // TODO : Use List<> here Vector3* mSplitLinearVelocities; /// Split angular velocities for the position contact solver (split impulse) + // TODO : Use List<> here Vector3* mSplitAngularVelocities; /// Current time step decimal mTimeStep; /// Contact constraints + // TODO : Use List<> here ContactManifoldSolver* mContactConstraints; /// Contact points + // TODO : Use List<> here ContactPointSolver* mContactPoints; /// Number of contact point constraints @@ -301,11 +308,29 @@ class ContactSolver { uint mNbContactManifolds; /// Array of linear velocities + // TODO : Use List<> here Vector3* mLinearVelocities; /// Array of angular velocities + // TODO : Use List<> here Vector3* mAngularVelocities; + /// Reference to the islands + Islands& mIslands; + + /// Pointer to the list of contact manifolds from narrow-phase + List* mAllContactManifolds; + + /// Pointer to the list of contact points from narrow-phase + List* mAllContactPoints; + + /// Reference to the body components + BodyComponents& mBodyComponents; + + /// Reference to the proxy-shapes components + // TODO : Do we really need to use this ? + ProxyShapeComponents& mProxyShapeComponents; + /// True if the split impulse position correction is active bool mIsSplitImpulseActive; @@ -346,16 +371,17 @@ class ContactSolver { // -------------------- Methods -------------------- // /// Constructor - ContactSolver(MemoryManager& memoryManager, const WorldSettings& worldSettings); + ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, + ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings); /// Destructor ~ContactSolver() = default; /// Initialize the contact constraints - void init(Island** islands, uint nbIslands, decimal timeStep); + void init(List* contactManifolds, List* contactPoints, decimal timeStep); /// Initialize the constraint solver for a given island - void initializeForIsland(Island* island); + void initializeForIsland(uint islandIndex); /// Set the split velocities arrays void setSplitVelocitiesArrays(Vector3* splitLinearVelocities, diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 70488265..2dcfc881 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -47,10 +47,11 @@ using namespace std; * @param logger Pointer to the logger * @param profiler Pointer to the profiler */ -DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, - Logger* logger, Profiler* profiler) +DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : CollisionWorld(worldSettings, logger, profiler), - mContactSolver(mMemoryManager, mConfig), + mIslands(mMemoryManager.getSingleFrameAllocator()), + mContactSolver(mMemoryManager, mIslands, mBodyComponents, mProxyShapesComponents, mConfig), + mConstraintSolver(mIslands), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), @@ -58,12 +59,11 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mIsGravityEnabled(true), mConstrainedLinearVelocities(nullptr), mConstrainedAngularVelocities(nullptr), mSplitLinearVelocities(nullptr), mSplitAngularVelocities(nullptr), mConstrainedPositions(nullptr), - mConstrainedOrientations(nullptr), mNbIslands(0), mIslands(nullptr), + mConstrainedOrientations(nullptr), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), - mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0), - mIslands2(mMemoryManager.getSingleFrameAllocator()) { + mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { #ifdef IS_PROFILING_ACTIVE @@ -128,32 +128,9 @@ void DynamicsWorld::update(decimal timeStep) { // Compute the collision detection mCollisionDetection.computeCollisionDetection(); - // Compute the islands (separate groups of bodies with constraints between each others) - computeIslands(); - // Create the islands createIslands(); - // TODO : DELETE THIS - /* - std::cout << "--------------------- FRAME ------------------------ " << std::endl; - std::cout << " ---- OLD ISLANDS -----" << std::endl; - for (uint i=0; i < mNbIslands; i++) { - std::cout << "Island " << i << std::endl; - for (uint b=0; b < mIslands[i]->getNbBodies(); b++) { - std::cout << "Body Id : " << mIslands[i]->getBodies()[b]->getId() << std::endl; - } - } - - std::cout << " ---- NEW ISLANDS -----" << std::endl; - for (uint i=0; i < mIslands2.getNbIslands(); i++) { - std::cout << "Island " << i << std::endl; - for (uint b=0; b < mIslands2.bodyEntities[i].size(); b++) { - std::cout << "Body Id : " << mBodyComponents.getBody(mIslands2.bodyEntities[i][b])->getId() << std::endl; - } - } - */ - // Create the actual narrow-phase contacts mCollisionDetection.createContacts(); @@ -181,7 +158,7 @@ void DynamicsWorld::update(decimal timeStep) { resetBodiesForceAndTorque(); // Reset the islands - mIslands2.clear(); + mIslands.clear(); // Reset the single frame memory allocator mMemoryManager.resetFrameAllocator(); @@ -194,19 +171,25 @@ void DynamicsWorld::integrateRigidBodiesPositions() { RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", mProfiler); - // For each island of the world - for (uint i=0; i < mNbIslands; i++) { + // TODO : We should loop over non-sleeping dynamic components here and not over islands - RigidBody** bodies = mIslands[i]->getBodies(); + // For each island of the world + for (uint i=0; i < mIslands.getNbIslands(); i++) { // For each body of the island - for (uint b=0; b < mIslands[i]->getNbBodies(); b++) { + for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + + const Entity bodyEntity = mIslands.bodyEntities[i][b]; + RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); // Get the constrained velocity - uint indexArray = bodies[b]->mArrayIndex; + uint indexArray = body->mArrayIndex; Vector3 newLinVelocity = mConstrainedLinearVelocities[indexArray]; Vector3 newAngVelocity = mConstrainedAngularVelocities[indexArray]; + // TODO : Remove this + Vector3 testLinVel = newLinVelocity; + // Add the split impulse velocity from Contact Solver (only used // to update the position) if (mContactSolver.isSplitImpulseActive()) { @@ -216,8 +199,8 @@ void DynamicsWorld::integrateRigidBodiesPositions() { } // Get current position and orientation of the body - const Vector3& currentPosition = bodies[b]->mCenterOfMassWorld; - const Quaternion& currentOrientation = mTransformComponents.getTransform(bodies[b]->getEntity()).getOrientation(); + const Vector3& currentPosition = body->mCenterOfMassWorld; + const Quaternion& currentOrientation = mTransformComponents.getTransform(body->getEntity()).getOrientation(); // Update the new constrained position and orientation of the body mConstrainedPositions[indexArray] = currentPosition + newLinVelocity * mTimeStep; @@ -235,31 +218,37 @@ void DynamicsWorld::updateBodiesState() { // TODO : Make sure we compute this in a system + // TODO : We should loop over non-sleeping dynamic components here and not over islands + // For each island of the world - for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) { + for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { // For each body of the island - RigidBody** bodies = mIslands[islandIndex]->getBodies(); + for (uint b=0; b < mIslands.bodyEntities[islandIndex].size(); b++) { - for (uint b=0; b < mIslands[islandIndex]->getNbBodies(); b++) { + Entity bodyEntity = mIslands.bodyEntities[islandIndex][b]; + RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); - uint index = bodies[b]->mArrayIndex; + uint index = body->mArrayIndex; // Update the linear and angular velocity of the body - mDynamicsComponents.setLinearVelocity(bodies[b]->getEntity(), mConstrainedLinearVelocities[index]); - mDynamicsComponents.setAngularVelocity(bodies[b]->getEntity(), mConstrainedAngularVelocities[index]); + mDynamicsComponents.setLinearVelocity(bodyEntity, mConstrainedLinearVelocities[index]); + mDynamicsComponents.setAngularVelocity(bodyEntity, mConstrainedAngularVelocities[index]); // Update the position of the center of mass of the body - bodies[b]->mCenterOfMassWorld = mConstrainedPositions[index]; + body->mCenterOfMassWorld = mConstrainedPositions[index]; // Update the orientation of the body - mTransformComponents.getTransform(bodies[b]->getEntity()).setOrientation(mConstrainedOrientations[index].getUnit()); + mTransformComponents.getTransform(bodyEntity).setOrientation(mConstrainedOrientations[index].getUnit()); + + // TODO : REMOVE THIS + assert(mConstrainedOrientations[index].lengthSquare() < 1.5 * 1.5); // Update the transform of the body (using the new center of mass and new orientation) - bodies[b]->updateTransformWithCenterOfMass(); + body->updateTransformWithCenterOfMass(); // Update the world inverse inertia tensor of the body - bodies[b]->updateInertiaTensorInverseWorld(); + body->updateInertiaTensorInverseWorld(); } } @@ -275,6 +264,8 @@ void DynamicsWorld::initVelocityArrays() { // Allocate memory for the bodies velocity arrays uint nbBodies = mRigidBodies.size(); + assert(mDynamicsComponents.getNbComponents() == nbBodies); + mSplitLinearVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, nbBodies * sizeof(Vector3))); mSplitAngularVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, @@ -317,33 +308,37 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Initialize the bodies velocity arrays initVelocityArrays(); - // For each island of the world - for (uint i=0; i < mNbIslands; i++) { + // TODO : We should loop over non-sleeping dynamic components here and not over islands - RigidBody** bodies = mIslands[i]->getBodies(); + // For each island of the world + for (uint i=0; i < mIslands.getNbIslands(); i++) { // For each body of the island - for (uint b=0; b < mIslands[i]->getNbBodies(); b++) { + for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { - // Insert the body into the map of constrained velocities - uint indexBody = bodies[b]->mArrayIndex; + const Entity bodyEntity = mIslands.bodyEntities[i][b]; + + RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + + const uint indexBody = body->mArrayIndex; assert(mSplitLinearVelocities[indexBody] == Vector3(0, 0, 0)); assert(mSplitAngularVelocities[indexBody] == Vector3(0, 0, 0)); + assert(indexBody < mRigidBodies.size()); // Integrate the external force to get the new velocity of the body - mConstrainedLinearVelocities[indexBody] = bodies[b]->getLinearVelocity() + - mTimeStep * bodies[b]->mMassInverse * bodies[b]->mExternalForce; - mConstrainedAngularVelocities[indexBody] = bodies[b]->getAngularVelocity() + - mTimeStep * bodies[b]->getInertiaTensorInverseWorld() * - bodies[b]->mExternalTorque; + mConstrainedLinearVelocities[indexBody] = body->getLinearVelocity() + + mTimeStep * body->mMassInverse * body->mExternalForce; + mConstrainedAngularVelocities[indexBody] = body->getAngularVelocity() + + mTimeStep * body->getInertiaTensorInverseWorld() * + body->mExternalTorque; // If the gravity has to be applied to this rigid body - if (bodies[b]->isGravityEnabled() && mIsGravityEnabled) { + if (body->isGravityEnabled() && mIsGravityEnabled) { // Integrate the gravity force - mConstrainedLinearVelocities[indexBody] += mTimeStep * bodies[b]->mMassInverse * - bodies[b]->getMass() * mGravity; + mConstrainedLinearVelocities[indexBody] += mTimeStep * body->mMassInverse * + body->getMass() * mGravity; } // Apply the velocity damping @@ -359,14 +354,12 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... // => e^(-x) ~ 1 - x // => v2 = v1 * (1 - c * dt) - decimal linDampingFactor = bodies[b]->getLinearDamping(); - decimal angDampingFactor = bodies[b]->getAngularDamping(); + decimal linDampingFactor = body->getLinearDamping(); + decimal angDampingFactor = body->getAngularDamping(); decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); mConstrainedLinearVelocities[indexBody] *= linearDamping; mConstrainedAngularVelocities[indexBody] *= angularDamping; - - indexBody++; } } } @@ -388,28 +381,28 @@ void DynamicsWorld::solveContactsAndConstraints() { // ---------- Solve velocity constraints for joints and contacts ---------- // // Initialize the contact solver - mContactSolver.init(mIslands, mNbIslands, mTimeStep); + mContactSolver.init(mCollisionDetection.mCurrentContactManifolds, mCollisionDetection.mCurrentContactPoints, mTimeStep); // For each island of the world - for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) { + for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { // If there are constraints to solve - if (mIslands[islandIndex]->getNbJoints() > 0) { + if (mIslands.joints[islandIndex].size() > 0) { // Initialize the constraint solver - mConstraintSolver.initializeForIsland(mTimeStep, mIslands[islandIndex]); + mConstraintSolver.initializeForIsland(mTimeStep, islandIndex); } } // For each iteration of the velocity solver for (uint i=0; igetNbJoints() > 0) { + if (mIslands.joints[islandIndex].size() > 0) { - mConstraintSolver.solveVelocityConstraints(mIslands[islandIndex]); + mConstraintSolver.solveVelocityConstraints(islandIndex); } } @@ -428,17 +421,17 @@ void DynamicsWorld::solvePositionCorrection() { if (mJoints.size() == 0) return; // For each island of the world - for (uint islandIndex = 0; islandIndex < mNbIslands; islandIndex++) { + for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { // ---------- Solve the position error correction for the constraints ---------- // - if (mIslands[islandIndex]->getNbJoints() > 0) { + if (mIslands.joints[islandIndex].size() > 0) { // For each iteration of the position (error correction) solver for (uint i=0; i(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - sizeof(Island*) * nbBodies)); - mNbIslands = 0; - - int nbContactManifolds = 0; - - // Reset all the isAlreadyInIsland variables of bodies, joints and contact manifolds - for (List::Iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { - int nbBodyManifolds = (*it)->resetIsAlreadyInIslandAndCountManifolds(); - nbContactManifolds += nbBodyManifolds; - } - for (List::Iterator it = mJoints.begin(); it != mJoints.end(); ++it) { - (*it)->mIsAlreadyInIsland = false; - } - - // Create a stack (using an array) for the rigid bodies to visit during the Depth First Search - size_t nbBytesStack = sizeof(RigidBody*) * nbBodies; - RigidBody** stackBodiesToVisit = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBytesStack)); - - // For each rigid body of the world - for (List::Iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { - - RigidBody* body = *it; - - // If the body has already been added to an island, we go to the next body - if (body->mIsAlreadyInIsland) continue; - - // If the body is static, we go to the next body - if (body->getType() == BodyType::STATIC) continue; - - // If the body is sleeping or inactive, we go to the next body - if (body->isSleeping() || !body->isActive()) continue; - - // Reset the stack of bodies to visit - uint stackIndex = 0; - stackBodiesToVisit[stackIndex] = body; - stackIndex++; - body->mIsAlreadyInIsland = true; - - // Create the new island - void* allocatedMemoryIsland = mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - sizeof(Island)); - mIslands[mNbIslands] = new (allocatedMemoryIsland) Island(nbBodies, nbContactManifolds, mJoints.size(), - mMemoryManager); - - // While there are still some bodies to visit in the stack - while (stackIndex > 0) { - - // Get the next body to visit from the stack - stackIndex--; - RigidBody* bodyToVisit = stackBodiesToVisit[stackIndex]; - assert(bodyToVisit->isActive()); - - // Awake the body if it is sleeping - bodyToVisit->setIsSleeping(false); - - // Add the body into the island - mIslands[mNbIslands]->addBody(bodyToVisit); - - // If the current body is static, we do not want to perform the DFS - // search across that body - if (bodyToVisit->getType() == BodyType::STATIC) continue; - - // For each contact manifold in which the current body is involded - ContactManifoldListElement* contactElement; - for (contactElement = bodyToVisit->mContactManifoldsList; contactElement != nullptr; - contactElement = contactElement->getNext()) { - - ContactManifold* contactManifold = contactElement->getContactManifold(); - - assert(contactManifold->getNbContactPoints() > 0); - - // Check if the current contact manifold has already been added into an island - if (contactManifold->isAlreadyInIsland()) continue; - - // Get the other body of the contact manifold - RigidBody* body1 = dynamic_cast(contactManifold->getBody1()); - RigidBody* body2 = dynamic_cast(contactManifold->getBody2()); - - // If the colliding body is a RigidBody (and not a CollisionBody instead) - if (body1 != nullptr && body2 != nullptr) { - - // Add the contact manifold into the island - mIslands[mNbIslands]->addContactManifold(contactManifold); - contactManifold->mIsAlreadyInIsland = true; - - RigidBody* otherBody = (body1->getId() == bodyToVisit->getId()) ? body2 : body1; - - // Check if the other body has already been added to the island - if (otherBody->mIsAlreadyInIsland) continue; - - // Insert the other body into the stack of bodies to visit - stackBodiesToVisit[stackIndex] = otherBody; - stackIndex++; - otherBody->mIsAlreadyInIsland = true; - } - } - - // For each joint in which the current body is involved - JointListElement* jointElement; - for (jointElement = bodyToVisit->mJointsList; jointElement != nullptr; - jointElement = jointElement->next) { - - Joint* joint = jointElement->joint; - - // Check if the current joint has already been added into an island - if (joint->isAlreadyInIsland()) continue; - - // Add the joint into the island - mIslands[mNbIslands]->addJoint(joint); - joint->mIsAlreadyInIsland = true; - - // Get the other body of the contact manifold - RigidBody* body1 = static_cast(joint->getBody1()); - RigidBody* body2 = static_cast(joint->getBody2()); - RigidBody* otherBody = (body1->getId() == bodyToVisit->getId()) ? body2 : body1; - - // Check if the other body has already been added to the island - if (otherBody->mIsAlreadyInIsland) continue; - - // Insert the other body into the stack of bodies to visit - stackBodiesToVisit[stackIndex] = otherBody; - stackIndex++; - otherBody->mIsAlreadyInIsland = true; - } - } - - // Reset the isAlreadyIsland variable of the static bodies so that they - // can also be included in the other islands - for (uint i=0; i < mIslands[mNbIslands]->mNbBodies; i++) { - - if (mIslands[mNbIslands]->mBodies[i]->getType() == BodyType::STATIC) { - mIslands[mNbIslands]->mBodies[i]->mIsAlreadyInIsland = false; - } - } - - mNbIslands++; - } -} - // Compute the islands using potential contacts and joints /// We compute the islands before creating the actual contacts here because we want all /// the contact manifolds and contact points of the same island @@ -878,10 +714,11 @@ void DynamicsWorld::createIslands() { // list of contact pairs involving a non-rigid body List nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator()); - RP3D_PROFILE("DynamicsWorld::createIslandsAndContacts()", mProfiler); + RP3D_PROFILE("DynamicsWorld::createIslands()", mProfiler); // Reset all the isAlreadyInIsland variables of bodies and joints - for (uint b=0; b < mDynamicsComponents.getNbEnabledComponents(); b++) { + for (uint b=0; b < mDynamicsComponents.getNbComponents(); b++) { + mDynamicsComponents.mIsAlreadyInIsland[b] = false; } for (List::Iterator it = mJoints.begin(); it != mJoints.end(); ++it) { @@ -914,7 +751,7 @@ void DynamicsWorld::createIslands() { bodyEntityIndicesToVisit.push(mDynamicsComponents.mBodies[b]); // Create the new island - uint32 islandIndex = mIslands2.addIsland(nbTotalManifolds); + uint32 islandIndex = mIslands.addIsland(nbTotalManifolds); // While there are still some bodies to visit in the stack while (bodyEntityIndicesToVisit.size() > 0) { @@ -922,16 +759,17 @@ void DynamicsWorld::createIslands() { // Get the next body to visit from the stack const Entity bodyToVisitEntity = bodyEntityIndicesToVisit.pop(); - // Awake the body if it is sleeping - notifyBodyDisabled(bodyToVisitEntity, false); - // Add the body into the island - mIslands2.bodyEntities[islandIndex].add(bodyToVisitEntity); + mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity); // If the current body is static, we do not want to perform the DFS // search across that body // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) RigidBody* rigidBodyToVisit = static_cast(mBodyComponents.getBody(bodyToVisitEntity)); + + // Awake the body if it is sleeping + rigidBodyToVisit->setIsSleeping(false); + if (rigidBodyToVisit->getType() == BodyType::STATIC) continue; // If the body is involved in contacts with other bodies @@ -962,7 +800,7 @@ void DynamicsWorld::createIslands() { mCollisionDetection.mContactPairsIndicesOrderingForContacts.add(pair.contactPairIndex); // Add the contact manifold into the island - mIslands2.nbContactManifolds[islandIndex] += pair.potentialContactManifoldsIndices.size(); + mIslands.nbContactManifolds[islandIndex] += pair.potentialContactManifoldsIndices.size(); pair.isAlreadyInIsland = true; const Entity otherBodyEntity = pair.body1Entity == bodyToVisitEntity ? pair.body2Entity : pair.body1Entity; @@ -978,6 +816,7 @@ void DynamicsWorld::createIslands() { // Add the contact pair index in the list of contact pairs that won't be part of islands nonRigidBodiesContactPairs.add(pair.contactPairIndex); + pair.isAlreadyInIsland = true; } } } @@ -993,37 +832,31 @@ void DynamicsWorld::createIslands() { if (joint->isAlreadyInIsland()) continue; // Add the joint into the island - mIslands2.joints.add(joint); + mIslands.joints[islandIndex].add(joint); joint->mIsAlreadyInIsland = true; const Entity body1Entity = joint->getBody1()->getEntity(); const Entity body2Entity = joint->getBody2()->getEntity(); const Entity otherBodyEntity = body1Entity == bodyToVisitEntity ? body2Entity : body1Entity; - // TODO : Maybe avoid those casts here - // Get the other body of the contact manifold - RigidBody* body1 = static_cast(joint->getBody1()); - RigidBody* body2 = static_cast(joint->getBody2()); - RigidBody* otherBody = (body1->getId() == rigidBodyToVisit->getId()) ? body2 : body1; - // Check if the other body has already been added to the island - if (otherBody->mIsAlreadyInIsland) continue; + if (mDynamicsComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; // Insert the other body into the stack of bodies to visit bodyEntityIndicesToVisit.push(otherBodyEntity); - otherBody->mIsAlreadyInIsland = true; + mDynamicsComponents.setIsAlreadyInIsland(otherBodyEntity, true); } } // Reset the isAlreadyIsland variable of the static bodies so that they // can also be included in the other islands - for (uint b=0; b < mDynamicsComponents.getNbEnabledComponents(); b++) { + for (uint j=0; j < mDynamicsComponents.getNbEnabledComponents(); j++) { // If the body is static, we go to the next body // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) - CollisionBody* body = static_cast(mBodyComponents.getBody(mDynamicsComponents.mBodies[b])); + CollisionBody* body = static_cast(mBodyComponents.getBody(mDynamicsComponents.mBodies[j])); if (body->getType() == BodyType::STATIC) { - mDynamicsComponents.mIsAlreadyInIsland[b] = false; + mDynamicsComponents.mIsAlreadyInIsland[j] = false; } } } @@ -1031,6 +864,8 @@ void DynamicsWorld::createIslands() { // Add the contact pairs that are not part of islands at the end of the array of pairs for contacts creations mCollisionDetection.mContactPairsIndicesOrderingForContacts.addRange(nonRigidBodiesContactPairs); + assert(mCollisionDetection.mCurrentContactPairs->size() == mCollisionDetection.mContactPairsIndicesOrderingForContacts.size()); + mCollisionDetection.mMapBodyToContactPairs.clear(true); } @@ -1045,32 +880,36 @@ void DynamicsWorld::updateSleepingBodies() { const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity; // For each island of the world - for (uint i=0; igetBodies(); - for (uint b=0; b < mIslands[i]->getNbBodies(); b++) { + for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + + const Entity bodyEntity = mIslands.bodyEntities[i][b]; + + // TODO : We should not have to do this cast here to get type of body + CollisionBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); // Skip static bodies - if (bodies[b]->getType() == BodyType::STATIC) continue; + if (body->getType() == BodyType::STATIC) continue; // If the body is velocity is large enough to stay awake - if (bodies[b]->getLinearVelocity().lengthSquare() > sleepLinearVelocitySquare || - bodies[b]->getAngularVelocity().lengthSquare() > sleepAngularVelocitySquare || - !bodies[b]->isAllowedToSleep()) { + if (mDynamicsComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare || + mDynamicsComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare || + !body->isAllowedToSleep()) { // Reset the sleep time of the body - bodies[b]->mSleepTime = decimal(0.0); + body->mSleepTime = decimal(0.0); minSleepTime = decimal(0.0); } - else { // If the body velocity is bellow the sleeping velocity threshold + else { // If the body velocity is below the sleeping velocity threshold // Increase the sleep time - bodies[b]->mSleepTime += mTimeStep; - if (bodies[b]->mSleepTime < minSleepTime) { - minSleepTime = bodies[b]->mSleepTime; + body->mSleepTime += mTimeStep; + if (body->mSleepTime < minSleepTime) { + minSleepTime = body->mSleepTime; } } } @@ -1081,8 +920,11 @@ void DynamicsWorld::updateSleepingBodies() { if (minSleepTime >= mTimeBeforeSleep) { // Put all the bodies of the island to sleep - for (uint b=0; b < mIslands[i]->getNbBodies(); b++) { - bodies[b]->setIsSleeping(true); + for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + + const Entity bodyEntity = mIslands.bodyEntities[i][b]; + CollisionBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + body->setIsSleeping(true); } } } diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 5256063a..36f3924e 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -55,6 +55,9 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Attributes -------------------- // + /// All the islands of bodies of the current frame + Islands mIslands; + /// Contact solver ContactSolver mContactSolver; @@ -85,17 +88,21 @@ class DynamicsWorld : public CollisionWorld { /// True if the gravity force is on bool mIsGravityEnabled; + // TODO : Move this into dynamic components /// Array of constrained linear velocities (state of the linear velocities /// after solving the constraints) Vector3* mConstrainedLinearVelocities; + // TODO : Move this into dynamic components /// Array of constrained angular velocities (state of the angular velocities /// after solving the constraints) Vector3* mConstrainedAngularVelocities; + // TODO : Move this into dynamic components /// Split linear velocities for the position contact solver (split impulse) Vector3* mSplitLinearVelocities; + // TODO : Move this into dynamic components /// Split angular velocities for the position contact solver (split impulse) Vector3* mSplitAngularVelocities; @@ -105,12 +112,6 @@ class DynamicsWorld : public CollisionWorld { /// Array of constrained rigid bodies orientation (for position error correction) Quaternion* mConstrainedOrientations; - /// Number of islands in the world - uint mNbIslands; - - /// Array with all the islands of awaken bodies - Island** mIslands; - /// Sleep linear velocity threshold decimal mSleepLinearVelocity; @@ -127,9 +128,6 @@ class DynamicsWorld : public CollisionWorld { /// Current joint id uint mCurrentJointId; - /// All the islands of bodies of the current frame - Islands mIslands2; - // -------------------- Methods -------------------- // /// Integrate the positions and orientations of rigid bodies. diff --git a/src/engine/Islands.h b/src/engine/Islands.h new file mode 100644 index 00000000..dec4e49e --- /dev/null +++ b/src/engine/Islands.h @@ -0,0 +1,120 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_ISLANDS_H +#define REACTPHYSICS3D_ISLANDS_H + +// Libraries +#include "configuration.h" +#include "containers/List.h" +#include "engine/Entity.h" +#include "constraint/Joint.h" + +namespace reactphysics3d { + +// Declarations + +// Structure Islands +/** + * This class contains all the islands of bodies during a frame. + * An island represent an isolated group of awake bodies that are connected with each other by + * some contraints (contacts or joints). + */ +struct Islands { + + private: + + // -------------------- Attributes -------------------- // + + /// Reference to the memory allocator + MemoryAllocator& memoryAllocator; + + public: + + // -------------------- Attributes -------------------- // + + + /// For each island, index of the first contact manifold of the island in the array of contact manifolds + List contactManifoldsIndices; + + /// For each island, number of contact manifolds in the island + List nbContactManifolds; + + /// For each island, list of all the entities of the bodies in the island + List> bodyEntities; + + // TODO : Use joints entities here and not pointers + /// For each island, list of the joints that are part of the island + List> joints; + + // -------------------- Methods -------------------- // + + /// Constructor + Islands(MemoryAllocator& allocator) + :memoryAllocator(allocator), contactManifoldsIndices(allocator), nbContactManifolds(allocator), bodyEntities(allocator), + joints(allocator) { + + } + + /// Destructor + ~Islands() = default; + + /// Assignment operator + Islands& operator=(const Islands& island) = default; + + /// Copy-constructor + Islands(const Islands& island) = default; + + /// Return the number of islands + uint32 getNbIslands() const { + return static_cast(contactManifoldsIndices.size()); + } + + /// Add an island and return its index + uint32 addIsland(uint32 contactManifoldStartIndex) { + + uint32 islandIndex = contactManifoldsIndices.size(); + + contactManifoldsIndices.add(contactManifoldStartIndex); + nbContactManifolds.add(0); + bodyEntities.add(List(memoryAllocator)); + joints.add(List(memoryAllocator)); + + return islandIndex; + } + + /// Clear all the islands + void clear() { + + contactManifoldsIndices.clear(true); + nbContactManifolds.clear(true); + bodyEntities.clear(true); + joints.clear(true); + } +}; + +} + +#endif diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 448df4f1..3b7ec9dc 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -52,8 +52,8 @@ BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, Proxy } // Return true if the two broad-phase collision shapes are overlapping -bool BroadPhaseSystem::testOverlappingShapes(const ProxyShape* shape1, - const ProxyShape* shape2) const { +// TODO : Use proxy-shape entities in parameters +bool BroadPhaseSystem::testOverlappingShapes(const ProxyShape* shape1, const ProxyShape* shape2) const { if (shape1->getBroadPhaseId() == -1 || shape2->getBroadPhaseId() == -1) return false; From ac0e620f028c7962ccf81938028c6ef3ba9faa1f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 12 May 2019 14:26:55 +0200 Subject: [PATCH 051/197] Remove old code --- CMakeLists.txt | 2 - src/body/CollisionBody.cpp | 25 +- src/body/CollisionBody.h | 18 - src/body/RigidBody.cpp | 3 - src/collision/CollisionCallback.cpp | 7 + src/collision/CollisionDetection.cpp | 145 +------ src/collision/CollisionDetection.h | 7 - src/collision/ContactManifold.cpp | 365 +----------------- src/collision/ContactManifold.h | 171 +------- src/collision/ContactManifoldSet.cpp | 300 -------------- src/collision/ContactManifoldSet.h | 165 -------- src/engine/CollisionWorld.cpp | 14 - src/engine/CollisionWorld.h | 3 - src/engine/DynamicsWorld.cpp | 9 +- src/engine/OverlappingPair.cpp | 2 +- src/engine/OverlappingPair.h | 61 +-- test/tests/collision/TestCollisionWorld.h | 38 +- .../CollisionDetectionScene.cpp | 3 + testbed/src/SceneDemo.cpp | 4 +- 19 files changed, 79 insertions(+), 1263 deletions(-) delete mode 100644 src/collision/ContactManifoldSet.cpp delete mode 100644 src/collision/ContactManifoldSet.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 4dcdce53..f492ada6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -121,7 +121,6 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/HalfEdgeStructure.h" "src/collision/CollisionDetection.h" "src/collision/ContactManifold.h" - "src/collision/ContactManifoldSet.h" "src/collision/MiddlePhaseTriangleCallback.h" "src/constraint/BallAndSocketJoint.h" "src/constraint/ContactPoint.h" @@ -216,7 +215,6 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/HalfEdgeStructure.cpp" "src/collision/CollisionDetection.cpp" "src/collision/ContactManifold.cpp" - "src/collision/ContactManifoldSet.cpp" "src/collision/MiddlePhaseTriangleCallback.cpp" "src/constraint/BallAndSocketJoint.cpp" "src/constraint/ContactPoint.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 7b5e4d1c..e7023f3a 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -40,8 +40,7 @@ using namespace reactphysics3d; * @param id ID of the body */ CollisionBody::CollisionBody(CollisionWorld& world, Entity entity, bodyindex id) - : Body(entity, id), mType(BodyType::DYNAMIC), - mContactManifoldsList(nullptr), mWorld(world) { + : Body(entity, id), mType(BodyType::DYNAMIC), mWorld(world) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -51,7 +50,7 @@ CollisionBody::CollisionBody(CollisionWorld& world, Entity entity, bodyindex id) // Destructor CollisionBody::~CollisionBody() { - assert(mContactManifoldsList == nullptr); + } // Add a collision shape to the body. Note that you can share a collision @@ -198,23 +197,6 @@ void CollisionBody::removeAllCollisionShapes() { } } -// Reset the contact manifold lists -void CollisionBody::resetContactManifoldsList() { - - // Delete the linked list of contact manifolds of that body - ContactManifoldListElement* currentElement = mContactManifoldsList; - while (currentElement != nullptr) { - ContactManifoldListElement* nextElement = currentElement->getNext(); - - // Delete the current element - currentElement->~ContactManifoldListElement(); - mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, currentElement, sizeof(ContactManifoldListElement)); - - currentElement = nextElement; - } - mContactManifoldsList = nullptr; -} - // Return the current position and orientation /** * @return The current transformation of the body that transforms the local-space @@ -283,9 +265,6 @@ void CollisionBody::setIsActive(bool isActive) { mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); } } - - // Reset the contact manifold list of the body - resetContactManifoldsList(); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 44b338f2..152b3ec9 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -71,9 +71,6 @@ class CollisionBody : public Body { /// Type of body (static, kinematic or dynamic) BodyType mType; - /// First element of the linked list of contact manifolds involving this body - ContactManifoldListElement* mContactManifoldsList; - /// Reference to the world the body belongs to CollisionWorld& mWorld; @@ -86,9 +83,6 @@ class CollisionBody : public Body { // -------------------- Methods -------------------- // - /// Reset the contact manifold lists - void resetContactManifoldsList(); - /// Remove all the collision shapes void removeAllCollisionShapes(); @@ -140,9 +134,6 @@ class CollisionBody : public Body { /// Remove a collision shape from the body virtual void removeCollisionShape(ProxyShape *proxyShape); - /// Return the first element of the linked list of contact manifolds involving this body - const ContactManifoldListElement* getContactManifoldsList() const; - /// Return true if a point is inside the collision body bool testPointInside(const Vector3& worldPoint) const; @@ -201,15 +192,6 @@ inline BodyType CollisionBody::getType() const { return mType; } -// Return the first element of the linked list of contact manifolds involving this body -/** - * @return A pointer to the first element of the linked-list with the contact - * manifolds of this body - */ -inline const ContactManifoldListElement* CollisionBody::getContactManifoldsList() const { - return mContactManifoldsList; -} - /// Test if the collision body overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 0595bd2e..43eea1ab 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -109,9 +109,6 @@ void RigidBody::setType(BodyType type) { // Awake the body setIsSleeping(false); - // Remove all the contacts with this body - resetContactManifoldsList(); - // Ask the broad-phase to test again the collision shapes of the body for collision // detection (as if the body has moved) askForBroadPhaseCollisionCheck(); diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index e6ee5ba3..aa7bab8a 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -42,6 +42,9 @@ CollisionCallback::CollisionCallbackInfo::CollisionCallbackInfo(OverlappingPair* assert(pair != nullptr); + + // TODO : Rework how to report contacts + /* const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet(); // For each contact manifold in the set of manifolds in the pair @@ -61,11 +64,14 @@ CollisionCallback::CollisionCallbackInfo::CollisionCallbackInfo(OverlappingPair* contactManifold = contactManifold->getNext(); } + */ } // Destructor CollisionCallback::CollisionCallbackInfo::~CollisionCallbackInfo() { + // TODO : Rework how to report contacts + /* // Release memory allocator for the contact manifold list elements ContactManifoldListElement* element = contactManifoldElements; while (element != nullptr) { @@ -79,5 +85,6 @@ CollisionCallback::CollisionCallbackInfo::~CollisionCallbackInfo() { element = nextElement; } + */ } diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 9587f6cb..9f2e588b 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -187,9 +187,6 @@ void CollisionDetection::computeMiddlePhase() { OverlappingPair* pair = it->second; - // Make all the contact manifolds and contact points of the pair obsolete - pair->makeContactsObsolete(); - // Make all the last frame collision info obsolete pair->makeLastFrameCollisionInfosObsolete(); @@ -420,9 +417,6 @@ void CollisionDetection::computeNarrowPhase() { // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(mOverlappingPairs); - // Add all the contact manifolds (between colliding bodies) to the bodies - addAllContactManifoldsToBodies(); - // Report contacts to the user reportAllContacts(); @@ -499,8 +493,7 @@ void CollisionDetection::createContacts() { // We create a new contact manifold ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.proxyShape1Entity, - contactPair.proxyShape2Entity, contactPointsIndex, nbContactPoints, - mMemoryManager.getPoolAllocator(), mWorld->mConfig); + contactPair.proxyShape2Entity, contactPointsIndex, nbContactPoints); // Add the contact manifold mCurrentContactManifolds->add(contactManifold); @@ -697,19 +690,6 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { mBroadPhaseSystem.removeProxyCollisionShape(proxyShape); } -void CollisionDetection::addAllContactManifoldsToBodies() { - - RP3D_PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler); - - // For each overlapping pairs in contact during the narrow-phase - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - - // Add all the contact manifolds of the pair into the list of contact manifolds - // of the two bodies involved in the contact - addContactManifoldToBody(it->second); - } -} - // Ray casting method void CollisionDetection::raycast(RaycastCallback* raycastCallback, const Ray& ray, @@ -724,42 +704,6 @@ void CollisionDetection::raycast(RaycastCallback* raycastCallback, mBroadPhaseSystem.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); } -// Add a contact manifold to the linked list of contact manifolds of the two bodies involved -// in the corresponding contact -void CollisionDetection::addContactManifoldToBody(OverlappingPair* pair) { - - assert(pair != nullptr); - - CollisionBody* body1 = pair->getShape1()->getBody(); - CollisionBody* body2 = pair->getShape2()->getBody(); - const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet(); - - // For each contact manifold in the set of manifolds in the pair - ContactManifold* contactManifold = manifoldSet.getContactManifolds(); - while (contactManifold != nullptr) { - - assert(contactManifold->getNbContactPoints() > 0); - - // Add the contact manifold at the beginning of the linked - // list of contact manifolds of the first body - ContactManifoldListElement* listElement1 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ContactManifoldListElement))) - ContactManifoldListElement(contactManifold, - body1->mContactManifoldsList); - body1->mContactManifoldsList = listElement1; - - // Add the contact manifold at the beginning of the linked - // list of the contact manifolds of the second body - ContactManifoldListElement* listElement2 = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ContactManifoldListElement))) - ContactManifoldListElement(contactManifold, - body2->mContactManifoldsList); - body2->mContactManifoldsList = listElement2; - - contactManifold = contactManifold->getNext(); - } -} - /// Convert the potential contact into actual contacts void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo) { @@ -775,22 +719,6 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->isValid = true; } - // ----- START OLD ----- // - - if (narrowPhaseInfoBatch.isColliding[i]) { - - assert(narrowPhaseInfoBatch.contactPoints[i].size() > 0); - - // Transfer the contact points from the narrow phase info to the overlapping pair - // TOOD : COMMENT THIS - narrowPhaseInfoBatch.overlappingPairs[i]->addPotentialContactPoints(narrowPhaseInfoBatch, i); - - // Remove the contacts points from the narrow phase info object. - //narrowPhaseInfoBatch.resetContactPoints(i); - } - - // ----- END OLD ----- // - // Add the potential contacts for (uint j=0; j < narrowPhaseInfoBatch.contactPoints[i].size(); j++) { @@ -914,67 +842,8 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs) { - /* - // TODO : DELETE THIS - std::cout << "_______________ RECAP POTENTIAL CONTACTS___________________" << std::endl; - std::cout << "ContactPairs :" << std::endl; - for (uint i=0; i < mCurrentContactPairs->size(); i++) { - - ContactPair& pair = (*mCurrentContactPairs)[i]; - std::cout << " PairId : (" << pair.pairId.first << ", " << pair.pairId.second << std::endl; - std::cout << " Index : " << i << std::endl; - std::cout << " >>Manifolds : " << std::endl; - for (uint j=0; j < pair.potentialContactManifoldsIndices.size(); j++) { - - std::cout << " >>Manifold Index : " << pair.potentialContactManifoldsIndices[j] << std::endl; - } - } - std::cout << "PotentialContactManifolds :" << std::endl; - for (uint i=0; i < mPotentialContactManifolds.size(); i++) { - - ContactManifoldInfo& manifold = mPotentialContactManifolds[i]; - std::cout << " PairId : (" << manifold.pairId.first << ", " << manifold.pairId.second << std::endl; - std::cout << " Index : " << i << std::endl; - std::cout << " >>PotentialContactPoints : " << std::endl; - for (uint j=0; j < manifold.potentialContactPointsIndices.size(); j++) { - std::cout << " >>Contact Point Index : " << manifold.potentialContactPointsIndices[j] << std::endl; - } - } - std::cout << "PotentialContactPoints :" << std::endl; - for (uint i=0; i < mPotentialContactPoints.size(); i++) { - - ContactPointInfo& contactPoint = mPotentialContactPoints[i]; - std::cout << " Index : " << i << std::endl; - std::cout << " Point : (" << contactPoint.localPoint1.x << ", " << contactPoint.localPoint1.y << ", " << contactPoint.localPoint1.z << std::endl; - } - std::cout << "PotentialContactPoints :" << std::endl; - for (auto it = mCurrentMapPairIdToContactPairIndex->begin(); it != mCurrentMapPairIdToContactPairIndex->end(); ++it) { - - OverlappingPair::OverlappingPairId pairId = it->first; - uint index = it->second; - std::cout << " PairId : " << pairId.first << ", " << pairId.second << std::endl; - std::cout << " ContactPair Index : " << index << std::endl; - } - */ - RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler); - // ----- OLD ----- // - - // For each overlapping pairs in contact during the narrow-phase - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { - - OverlappingPair* pair = it->second; - - // Clear the obsolete contact manifolds and contact points - pair->clearObsoleteManifoldsAndContactPoints(); - - // Reduce the contact manifolds and contact points if there are too many of them - pair->reduceContactManifolds(); - } - - // ----- OLD ----- // - // Reduce the number of potential contact manifolds in a contact pair for (uint i=0; i < mCurrentContactPairs->size(); i++) { @@ -1236,6 +1105,8 @@ void CollisionDetection::reportAllContacts() { RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); + // TODO : Rework how we report contacts + /* // For each overlapping pairs in contact during the narrow-phase for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { @@ -1250,6 +1121,7 @@ void CollisionDetection::reportAllContacts() { mWorld->mEventListener->newContact(collisionInfo); } } + */ } // Compute the middle-phase collision detection between two proxy shapes @@ -1499,6 +1371,8 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(overlappingPairs); + // TODO : Rework how we report contacts + /* // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -1515,6 +1389,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body pair->~OverlappingPair(); mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } + */ } // Test and report collisions between a body and all the others bodies of the world @@ -1594,6 +1469,8 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(overlappingPairs); + // TODO : Rework how we report contacts + /* // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -1610,6 +1487,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c pair->~OverlappingPair(); mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } + */ } // Test and report collisions between all shapes of the world @@ -1673,6 +1551,8 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(overlappingPairs); + // TODO : Rework how we report contacts + /* // For each overlapping pair for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { @@ -1689,6 +1569,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { pair->~OverlappingPair(); mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } + */ } // Return the world event listener diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 8f950e67..4829db37 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -193,13 +193,6 @@ class CollisionDetection { bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, bool reportContacts, MemoryAllocator& allocator); - /// Add a contact manifold to the linked list of contact manifolds of the two bodies - /// involved in the corresponding contact. - void addContactManifoldToBody(OverlappingPair* pair); - - /// Add all the contact manifold of colliding pairs to their bodies - void addAllContactManifoldsToBodies(); - /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput); diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 8a69ed7d..4c4d7526 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -30,30 +30,15 @@ using namespace reactphysics3d; -// Constructor -// TODO : REMOVE THIS CONSTRUCTOR -ContactManifold::ContactManifold(ProxyShape* shape1, ProxyShape* shape2, - MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings) - : mMemoryAllocator(memoryAllocator), mContactPointsIndex(0), mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), - mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0), - mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false), - mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), - mWorldSettings(worldSettings), bodyEntity1(0, 0), bodyEntity2(0, 0), proxyShapeEntity1(0, 0), proxyShapeEntity2(0, 0) { - -} - // Constructor // TODO : REMOVE worldSettings from this constructor ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, - uint contactPointsIndex, int8 nbContactPoints, MemoryAllocator& allocator, const WorldSettings& worldSettings) - :mMemoryAllocator(allocator), mContactPointsIndex(0), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), + uint contactPointsIndex, int8 nbContactPoints) + :mContactPointsIndex(0), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), mFrictionImpulse1(0), mFrictionImpulse2(0), - mFrictionTwistImpulse(0), mIsAlreadyInIsland(false), mWorldSettings(worldSettings) { + mFrictionTwistImpulse(0), mIsAlreadyInIsland(false) { - mContactPoints = nullptr; - mNext = nullptr; - mPrevious = nullptr; mContactPointsIndex = contactPointsIndex; mNbContactPoints = nbContactPoints; } @@ -61,348 +46,4 @@ ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity // Destructor ContactManifold::~ContactManifold() { - // Delete all the contact points - ContactPoint* contactPoint = mContactPoints; - while(contactPoint != nullptr) { - - ContactPoint* nextContactPoint = contactPoint->getNext(); - - // Delete the contact point - contactPoint->~ContactPoint(); - mMemoryAllocator.release(contactPoint, sizeof(ContactPoint)); - - contactPoint = nextContactPoint; - } -} - -// Remove a contact point -void ContactManifold::removeContactPoint(ContactPoint* contactPoint) { - - assert(mNbContactPoints > 0); - assert(mContactPoints != nullptr); - assert(contactPoint != nullptr); - - ContactPoint* previous = contactPoint->getPrevious(); - ContactPoint* next = contactPoint->getNext(); - - if (previous != nullptr) { - previous->setNext(next); - } - else { - mContactPoints = next; - } - - if (next != nullptr) { - next->setPrevious(previous); - } - - // Delete the contact point - contactPoint->~ContactPoint(); - mMemoryAllocator.release(contactPoint, sizeof(ContactPoint)); - - mNbContactPoints--; - assert(mNbContactPoints >= 0); -} - -// Return the largest depth of all the contact points -decimal ContactManifold::getLargestContactDepth() const { - decimal largestDepth = 0.0f; - - assert(mNbContactPoints > 0); - - ContactPoint* contactPoint = mContactPoints; - while(contactPoint != nullptr){ - decimal depth = contactPoint->getPenetrationDepth(); - if (depth > largestDepth) { - largestDepth = depth; - } - - contactPoint = contactPoint->getNext(); - } - - return largestDepth; -} - -// Add a contact point -void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo) { - - // For each contact point in the manifold - bool isSimilarPointFound = false; - ContactPoint* oldContactPoint = mContactPoints; - while (oldContactPoint != nullptr) { - - assert(oldContactPoint != nullptr); - - // If the new contact point is similar (very close) to the old contact point - if (oldContactPoint->isSimilarWithContactPoint(contactPointInfo)) { - - // Replace (update) the old contact point with the new one - oldContactPoint->update(contactPointInfo); - isSimilarPointFound = true; - break; - } - - oldContactPoint = oldContactPoint->getNext(); - } - - // If we have not found a similar contact point - if (!isSimilarPointFound) { - - // Create the new contact point - ContactPoint* contactPoint = new (mMemoryAllocator.allocate(sizeof(ContactPoint))) ContactPoint(contactPointInfo, mWorldSettings); - - // Add the new contact point into the manifold - contactPoint->setNext(mContactPoints); - contactPoint->setPrevious(nullptr); - if (mContactPoints != nullptr) { - mContactPoints->setPrevious(contactPoint); - } - - mContactPoints = contactPoint; - - mNbContactPoints++; - } - - // The old manifold is no longer obsolete - mIsObsolete = false; -} - -// Set to true to make the manifold obsolete -void ContactManifold::setIsObsolete(bool isObsolete, bool setContactPoints) { - mIsObsolete = isObsolete; - - if (setContactPoints) { - ContactPoint* contactPoint = mContactPoints; - while (contactPoint != nullptr) { - contactPoint->setIsObsolete(isObsolete); - - contactPoint = contactPoint->getNext(); - } - } -} - -// Clear the obsolete contact points -void ContactManifold::clearObsoleteContactPoints() { - - assert(mContactPoints != nullptr); - - // For each contact point of the manifold - ContactPoint* contactPoint = mContactPoints; - while (contactPoint != nullptr) { - - ContactPoint* nextContactPoint = contactPoint->getNext(); - - // If the contact point is obsolete - if (contactPoint->getIsObsolete()) { - - // Remove the contact point - removeContactPoint(contactPoint); - } - - contactPoint = nextContactPoint; - } - - assert(mNbContactPoints > 0); - assert(mContactPoints != nullptr); -} - -// Reduce the number of contact points of the currently computed manifold -// This is based on the technique described by Dirk Gregorius in his -// "Contacts Creation" GDC presentation. This method will reduce the number of -// contact points to a maximum of 4 points (but it can be less). -// TODO : REMOVE THIS METHOD -void ContactManifold::reduce(const Transform& shape1ToWorldTransform) { - - assert(mContactPoints != nullptr); - - // The following algorithm only works to reduce to a maximum of 4 contact points - assert(MAX_CONTACT_POINTS_IN_MANIFOLD == 4); - - // If there are too many contact points in the manifold - if (mNbContactPoints > MAX_CONTACT_POINTS_IN_MANIFOLD) { - - uint nbReducedPoints = 0; - - ContactPoint* pointsToKeep[MAX_CONTACT_POINTS_IN_MANIFOLD]; - for (int i=0; igetNormal(); - - // Compute a search direction - const Vector3 searchDirection(1, 1, 1); - ContactPoint* element = mContactPoints; - pointsToKeep[0] = element; - decimal maxDotProduct = searchDirection.dot(element->getLocalPointOnShape1()); - element = element->getNext(); - nbReducedPoints = 1; - while(element != nullptr) { - - decimal dotProduct = searchDirection.dot(element->getLocalPointOnShape1()); - if (dotProduct > maxDotProduct) { - maxDotProduct = dotProduct; - pointsToKeep[0] = element; - } - element = element->getNext(); - } - assert(pointsToKeep[0] != nullptr); - assert(nbReducedPoints == 1); - - // Compute the second contact point we need to keep. - // The second point we keep is the one farthest away from the first point. - - decimal maxDistance = decimal(0.0); - element = mContactPoints; - while(element != nullptr) { - - if (element == pointsToKeep[0]) { - element = element->getNext(); - continue; - } - - decimal distance = (pointsToKeep[0]->getLocalPointOnShape1() - element->getLocalPointOnShape1()).lengthSquare(); - if (distance >= maxDistance) { - maxDistance = distance; - pointsToKeep[1] = element; - nbReducedPoints = 2; - } - element = element->getNext(); - } - assert(pointsToKeep[1] != nullptr); - assert(nbReducedPoints == 2); - - // Compute the third contact point we need to keep. - // The second point is the one producing the triangle with the larger area - // with first and second point. - - // We compute the most positive or most negative triangle area (depending on winding) - ContactPoint* thirdPointMaxArea = nullptr; - ContactPoint* thirdPointMinArea = nullptr; - decimal minArea = decimal(0.0); - decimal maxArea = decimal(0.0); - bool isPreviousAreaPositive = true; - element = mContactPoints; - while(element != nullptr) { - - if (element == pointsToKeep[0] || element == pointsToKeep[1]) { - element = element->getNext(); - continue; - } - - const Vector3 newToFirst = pointsToKeep[0]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); - const Vector3 newToSecond = pointsToKeep[1]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); - - // Compute the triangle area - decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); - - if (area >= maxArea) { - maxArea = area; - thirdPointMaxArea = element; - } - if (area <= minArea) { - minArea = area; - thirdPointMinArea = element; - } - element = element->getNext(); - } - assert(minArea <= decimal(0.0)); - assert(maxArea >= decimal(0.0)); - if (maxArea > (-minArea)) { - isPreviousAreaPositive = true; - pointsToKeep[2] = thirdPointMaxArea; - nbReducedPoints = 3; - } - else { - isPreviousAreaPositive = false; - pointsToKeep[2] = thirdPointMinArea; - nbReducedPoints = 3; - } - - // Compute the 4th point by choosing the triangle that add the most - // triangle area to the previous triangle and has opposite sign area (opposite winding) - - decimal largestArea = decimal(0.0); // Largest area (positive or negative) - element = mContactPoints; - - if (nbReducedPoints == 3) { - - // For each remaining point - while(element != nullptr) { - - if (element == pointsToKeep[0] || element == pointsToKeep[1] || element == pointsToKeep[2]) { - element = element->getNext(); - continue; - } - - // For each edge of the triangle made by the first three points - for (uint i=0; i<3; i++) { - - uint edgeVertex1Index = i; - uint edgeVertex2Index = i < 2 ? i + 1 : 0; - - const Vector3 newToFirst = pointsToKeep[edgeVertex1Index]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); - const Vector3 newToSecond = pointsToKeep[edgeVertex2Index]->getLocalPointOnShape1() - element->getLocalPointOnShape1(); - - // Compute the triangle area - decimal area = newToFirst.cross(newToSecond).dot(contactNormalShape1Space); - - // We are looking at the triangle with maximal area (positive or negative). - // If the previous area is positive, we are looking at negative area now. - // If the previous area is negative, we are looking at the positive area now. - if (isPreviousAreaPositive && area <= largestArea) { - largestArea = area; - pointsToKeep[3] = element; - nbReducedPoints = 4; - } - else if (!isPreviousAreaPositive && area >= largestArea) { - largestArea = area; - pointsToKeep[3] = element; - nbReducedPoints = 4; - } - } - - element = element->getNext(); - } - } - - // Delete the contact points we do not want to keep from the linked list - element = mContactPoints; - ContactPoint* previousElement = nullptr; - while(element != nullptr) { - - bool deletePoint = true; - - // Skip the points we want to keep - for (uint i=0; igetNext(); - deletePoint = false; - } - } - - if (deletePoint) { - - ContactPoint* contactPointToDelete = element; - element = element->getNext(); - - removeContactPoint(contactPointToDelete); - } - } - - assert(nbReducedPoints > 0 && nbReducedPoints <= 4); - mNbContactPoints = nbReducedPoints; - } } diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index e124e34f..f72f65dc 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -40,44 +40,6 @@ class CollisionBody; class ContactPoint; class PoolAllocator; -// Structure ContactManifoldListElement -/** - * This structure represents a single element of a linked list of contact manifolds - */ -struct ContactManifoldListElement { - - private: - - // -------------------- Attributes -------------------- // - - /// Pointer to a contact manifold with contact points - ContactManifold* mContactManifold; - - /// Next element of the list - ContactManifoldListElement* mNext; - - public: - - // -------------------- Methods -------------------- // - - /// Constructor - ContactManifoldListElement(ContactManifold* contactManifold, - ContactManifoldListElement* next) - :mContactManifold(contactManifold), mNext(next) { - - } - - /// Return the contact manifold - ContactManifold* getContactManifold() { - return mContactManifold; - } - - /// Return the next element in the linked-list - ContactManifoldListElement* getNext() { - return mNext; - } -}; - // Class ContactManifold /** * This class represents a set of contact points between two bodies that @@ -103,9 +65,6 @@ class ContactManifold { // TODO : For each of the attributes, check if we need to keep it or not - /// Reference to the memory allocator - MemoryAllocator& mMemoryAllocator; - /// Index of the first contact point of the manifold in the list of contact points uint mContactPointsIndex; @@ -121,15 +80,6 @@ class ContactManifold { /// Entity of the second proxy-shape in contact Entity proxyShapeEntity2; - /// Pointer to the first proxy shape of the contact - ProxyShape* mShape1; - - /// Pointer to the second proxy shape of the contact - ProxyShape* mShape2; - - /// Contact points in the manifold - ContactPoint* mContactPoints; - /// Number of contacts in the cache int8 mNbContactPoints; @@ -154,41 +104,11 @@ class ContactManifold { /// True if the contact manifold has already been added into an island bool mIsAlreadyInIsland; - /// Pointer to the next contact manifold in the linked-list - ContactManifold* mNext; - - /// Pointer to the previous contact manifold in linked-list - ContactManifold* mPrevious; - - /// True if the contact manifold is obsolete - bool mIsObsolete; - - /// World settings - const WorldSettings& mWorldSettings; - // -------------------- Methods -------------------- // /// Return true if the contact manifold has already been added into an island bool isAlreadyInIsland() const; - /// Set the pointer to the next element in the linked-list - void setNext(ContactManifold* nextManifold); - - /// Return true if the manifold is obsolete - bool getIsObsolete() const; - - /// Set to true to make the manifold obsolete - void setIsObsolete(bool isObselete, bool setContactPoints); - - /// Clear the obsolete contact points - void clearObsoleteContactPoints(); - - /// Return the contact normal direction Id of the manifold - short getContactNormalId() const; - - /// Return the largest depth of all the contact points - decimal getLargestContactDepth() const; - /// set the first friction vector at the center of the contact manifold void setFrictionVector1(const Vector3& mFrictionVector1); @@ -201,24 +121,12 @@ class ContactManifold { /// Set the second friction accumulated impulse void setFrictionImpulse2(decimal frictionImpulse2); - /// Add a contact point - void addContactPoint(const ContactPointInfo* contactPointInfo); - - /// Reduce the number of contact points of the currently computed manifold - void reduce(const Transform& shape1ToWorldTransform); - - /// Remove a contact point - void removeContactPoint(ContactPoint* contactPoint); - /// Set the friction twist accumulated impulse void setFrictionTwistImpulse(decimal frictionTwistImpulse); /// Set the accumulated rolling resistance impulse void setRollingResistanceImpulse(const Vector3& rollingResistanceImpulse); - /// Set the pointer to the previous element in the linked-list - void setPrevious(ContactManifold* previousManifold); - /// Return the first friction vector at the center of the contact manifold const Vector3& getFrictionVector1() const; @@ -238,14 +146,9 @@ class ContactManifold { // -------------------- Methods -------------------- // - /// Constructor - ContactManifold(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& memoryAllocator, - const WorldSettings& worldSettings); - /// Constructor ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, - uint contactPointsIndex, int8 nbContactPoints, - MemoryAllocator& allocator, const WorldSettings& worldSettings); + uint contactPointsIndex, int8 nbContactPoints); /// Destructor ~ContactManifold(); @@ -256,32 +159,12 @@ class ContactManifold { /// Assignment operator ContactManifold& operator=(const ContactManifold& contactManifold) = default; - /* - /// Return a pointer to the first proxy shape of the contact - ProxyShape* getShape1() const; - - /// Return a pointer to the second proxy shape of the contact - ProxyShape* getShape2() const; - - /// Return a pointer to the first body of the contact manifold - CollisionBody* getBody1() const; - - /// Return a pointer to the second body of the contact manifold - CollisionBody* getBody2() const; - */ - /// Return the number of contact points in the manifold int8 getNbContactPoints() const; /// Return a pointer to the first contact point of the manifold ContactPoint* getContactPoints() const; - /// Return a pointer to the previous element in the linked-list - ContactManifold* getPrevious() const; - - /// Return a pointer to the next element in the linked-list - ContactManifold* getNext() const; - // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -292,28 +175,6 @@ class ContactManifold { friend class CollisionDetection; }; -/* -// Return a pointer to the first proxy shape of the contact -inline ProxyShape* ContactManifold::getShape1() const { - return mShape1; -} - -// Return a pointer to the second proxy shape of the contact -inline ProxyShape* ContactManifold::getShape2() const { - return mShape2; -} - -// Return a pointer to the first body of the contact manifold -inline CollisionBody* ContactManifold::getBody1() const { - return mShape1->getBody(); -} - -// Return a pointer to the second body of the contact manifold -inline CollisionBody* ContactManifold::getBody2() const { - return mShape2->getBody(); -} -*/ - // Return the number of contact points in the manifold inline int8 ContactManifold::getNbContactPoints() const { return mNbContactPoints; @@ -374,41 +235,11 @@ inline void ContactManifold::setRollingResistanceImpulse(const Vector3& rollingR mRollingResistanceImpulse = rollingResistanceImpulse; } -// Return a pointer to the first contact point of the manifold -inline ContactPoint* ContactManifold::getContactPoints() const { - return mContactPoints; -} - // Return true if the contact manifold has already been added into an island inline bool ContactManifold::isAlreadyInIsland() const { return mIsAlreadyInIsland; } -// Return a pointer to the previous element in the linked-list -inline ContactManifold* ContactManifold::getPrevious() const { - return mPrevious; -} - -// Set the pointer to the previous element in the linked-list -inline void ContactManifold::setPrevious(ContactManifold* previousManifold) { - mPrevious = previousManifold; -} - -// Return a pointer to the next element in the linked-list -inline ContactManifold* ContactManifold::getNext() const { - return mNext; -} - -// Set the pointer to the next element in the linked-list -inline void ContactManifold::setNext(ContactManifold* nextManifold) { - mNext = nextManifold; -} - -// Return true if the manifold is obsolete -inline bool ContactManifold::getIsObsolete() const { - return mIsObsolete; -} - } #endif diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp deleted file mode 100644 index b9b21cbb..00000000 --- a/src/collision/ContactManifoldSet.cpp +++ /dev/null @@ -1,300 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "ContactManifoldSet.h" -#include "narrowphase/NarrowPhaseInfoBatch.h" -#include "constraint/ContactPoint.h" -#include "ProxyShape.h" -#include "collision/ContactManifold.h" - -using namespace reactphysics3d; - -// Constructor -ContactManifoldSet::ContactManifoldSet(ProxyShape* shape1, ProxyShape* shape2, - MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings) - : mNbManifolds(0), mShape1(shape1), - mShape2(shape2), mMemoryAllocator(memoryAllocator), mManifolds(nullptr), mWorldSettings(worldSettings) { - - // Compute the maximum number of manifolds allowed between the two shapes - mNbMaxManifolds = computeNbMaxContactManifolds(shape1->getCollisionShape(), shape2->getCollisionShape()); -} - -// Destructor -ContactManifoldSet::~ContactManifoldSet() { - - // Clear all the contact manifolds - clear(); -} - -void ContactManifoldSet::addContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) { - - assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() > 0); - - // For each potential contact point to add - for (uint i=0; i < narrowPhaseInfoBatch.contactPoints[batchIndex].size(); i++) { - - ContactPointInfo* contactPoint = narrowPhaseInfoBatch.contactPoints[batchIndex][i]; - - // Look if the contact point correspond to an existing potential manifold - // (if the contact point normal is similar to the normal of an existing manifold) - ContactManifold* manifold = mManifolds; - bool similarManifoldFound = false; - while(manifold != nullptr) { - - // Get the first contact point - const ContactPoint* point = manifold->getContactPoints(); - assert(point != nullptr); - - // If we have found a corresponding manifold for the new contact point - // (a manifold with a similar contact normal direction) - if (point->getNormal().dot(contactPoint->normal) >= mWorldSettings.cosAngleSimilarContactManifold) { - - // Add the contact point to the manifold - manifold->addContactPoint(contactPoint); - - similarManifoldFound = true; - - break; - } - - manifold = manifold->getNext(); - } - - // If we have not found an existing manifold with a similar contact normal - if (!similarManifoldFound) { - - // Create a new contact manifold - ContactManifold* manifold = createManifold(); - - // Add the contact point to the manifold - manifold->addContactPoint(contactPoint); - } - } -} - -// Return the total number of contact points in the set of manifolds -int ContactManifoldSet::getTotalNbContactPoints() const { - int nbPoints = 0; - - ContactManifold* manifold = mManifolds; - while (manifold != nullptr) { - nbPoints += manifold->getNbContactPoints(); - - manifold = manifold->getNext(); - } - - return nbPoints; -} - -// Return the maximum number of contact manifolds allowed between to collision shapes -// TODO : Remove this method -int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape* shape1, const CollisionShape* shape2) { - - return mWorldSettings.nbMaxContactManifolds; - - /* - // If both shapes are convex - if (shape1->isConvex() && shape2->isConvex()) { - return mWorldSettings.nbMaxContactManifoldsConvexShape; - - } // If there is at least one concave shape - else { - return mWorldSettings.nbMaxContactManifoldsConcaveShape; - } - */ -} - -// Remove a contact manifold that is the least optimal (smaller penetration depth) -void ContactManifoldSet::removeNonOptimalManifold() { - - assert(mNbManifolds > mNbMaxManifolds); - assert(mManifolds != nullptr); - - // Look for a manifold that is not new and with the smallest contact penetration depth. - // At the same time, we also look for a new manifold with the smallest contact penetration depth - // in case no old manifold exists. - ContactManifold* minDepthManifold = nullptr; - decimal minDepth = DECIMAL_LARGEST; - ContactManifold* manifold = mManifolds; - while (manifold != nullptr) { - - // Get the largest contact point penetration depth of the manifold - const decimal depth = manifold->getLargestContactDepth(); - - if (depth < minDepth) { - minDepth = depth; - minDepthManifold = manifold; - } - - manifold = manifold->getNext(); - } - - // Remove the non optimal manifold - assert(minDepthManifold != nullptr); - removeManifold(minDepthManifold); -} - -// Create a new contact manifold and add it to the set -ContactManifold* ContactManifoldSet::createManifold() { - - ContactManifold* manifold = new (mMemoryAllocator.allocate(sizeof(ContactManifold))) - ContactManifold(mShape1, mShape2, mMemoryAllocator, mWorldSettings); - manifold->setPrevious(nullptr); - manifold->setNext(mManifolds); - if (mManifolds != nullptr) { - mManifolds->setPrevious(manifold); - } - mManifolds = manifold; - - mNbManifolds++; - - return manifold; -} - -// Return the contact manifold with a similar contact normal. -// If no manifold has close enough contact normal, it returns nullptr -ContactManifold* ContactManifoldSet::selectManifoldWithSimilarNormal(const Vector3& contactNormal) const { - - ContactManifold* manifold = mManifolds; - - // Return the Id of the manifold with the same normal direction id (if exists) - while (manifold != nullptr) { - - // Get the first contact point of the current manifold - const ContactPoint* point = manifold->getContactPoints(); - assert(point != nullptr); - - // If the contact normal of the two manifolds are close enough - if (contactNormal.dot(point->getNormal()) >= mWorldSettings.cosAngleSimilarContactManifold) { - return manifold; - } - - manifold = manifold->getNext(); - } - - return nullptr; -} - -// Clear the contact manifold set -void ContactManifoldSet::clear() { - - ContactManifold* manifold = mManifolds; - while(manifold != nullptr) { - - ContactManifold* nextManifold = manifold->getNext(); - - // Delete the contact manifold - manifold->~ContactManifold(); - mMemoryAllocator.release(manifold, sizeof(ContactManifold)); - - manifold = nextManifold; - - mNbManifolds--; - } - - mManifolds = nullptr; - - assert(mNbManifolds == 0); -} - -// Remove a contact manifold from the set -void ContactManifoldSet::removeManifold(ContactManifold* manifold) { - - assert(mNbManifolds > 0); - assert(manifold != nullptr); - - ContactManifold* previous = manifold->getPrevious(); - ContactManifold* next = manifold->getNext(); - - if (previous != nullptr) { - previous->setNext(next); - } - else { - mManifolds = next; - } - - if (next != nullptr) { - next->setPrevious(previous); - } - - // Delete the contact manifold - manifold->~ContactManifold(); - mMemoryAllocator.release(manifold, sizeof(ContactManifold)); - mNbManifolds--; -} - -// Make all the contact manifolds and contact points obsolete -void ContactManifoldSet::makeContactsObsolete() { - - ContactManifold* manifold = mManifolds; - while (manifold != nullptr) { - - manifold->setIsObsolete(true, true); - - manifold = manifold->getNext(); - } -} - -// Clear the obsolete contact manifolds and contact points -void ContactManifoldSet::clearObsoleteManifoldsAndContactPoints() { - - ContactManifold* manifold = mManifolds; - while (manifold != nullptr) { - - // Get the next manifold in the linked-list - ContactManifold* nextManifold = manifold->getNext(); - - // If the manifold is obsolete - if (manifold->getIsObsolete()) { - - // Delete the contact manifold - removeManifold(manifold); - } - else { - - // Clear the obsolete contact points of the manifold - manifold->clearObsoleteContactPoints(); - } - - manifold = nextManifold; - } -} - -// Remove some contact manifolds and contact points if there are too many of them -void ContactManifoldSet::reduce() { - - // Remove non optimal contact manifold while there are too many manifolds in the set - while (mNbManifolds > mNbMaxManifolds) { - removeNonOptimalManifold(); - } - - // Reduce all the contact manifolds in case they have too many contact points - ContactManifold* manifold = mManifolds; - while (manifold != nullptr) { - manifold->reduce(mShape1->getLocalToWorldTransform()); - manifold = manifold->getNext(); - } -} diff --git a/src/collision/ContactManifoldSet.h b/src/collision/ContactManifoldSet.h deleted file mode 100644 index e34473b2..00000000 --- a/src/collision/ContactManifoldSet.h +++ /dev/null @@ -1,165 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_CONTACT_MANIFOLD_SET_H -#define REACTPHYSICS3D_CONTACT_MANIFOLD_SET_H - -// Libraries -#include "configuration.h" - -namespace reactphysics3d { - -// Declarations -class ContactManifold; -class ProxyShape; -class MemoryAllocator; -struct WorldSettings; -struct NarrowPhaseInfoBatch; -struct Vector3; -class CollisionShape; -class Transform; - - -// Constants -const int MAX_MANIFOLDS_IN_CONTACT_MANIFOLD_SET = 3; // Maximum number of contact manifolds in the set -const int CONTACT_CUBEMAP_FACE_NB_SUBDIVISIONS = 3; // N Number for the N x N subdivisions of the cubemap - -// Class ContactManifoldSet -/** - * This class represents a set of one or several contact manifolds. Typically a - * convex/convex collision will have a set with a single manifold and a convex-concave - * collision can have more than one manifolds. Note that a contact manifold can - * contains several contact points. - */ -class ContactManifoldSet { - - private: - - // -------------------- Attributes -------------------- // - - /// Maximum number of contact manifolds in the set - int mNbMaxManifolds; - - /// Current number of contact manifolds in the set - int mNbManifolds; - - /// Pointer to the first proxy shape of the contact - ProxyShape* mShape1; - - /// Pointer to the second proxy shape of the contact - ProxyShape* mShape2; - - /// Reference to the memory allocator for the contact manifolds - MemoryAllocator& mMemoryAllocator; - - /// Contact manifolds of the set - ContactManifold* mManifolds; - - /// World settings - const WorldSettings& mWorldSettings; - - // -------------------- Methods -------------------- // - - /// Create a new contact manifold and add it to the set - ContactManifold* createManifold(); - - // Return the contact manifold with a similar contact normal. - ContactManifold* selectManifoldWithSimilarNormal(const Vector3& contactNormal) const; - - /// Remove a contact manifold that is the least optimal (smaller penetration depth) - void removeNonOptimalManifold(); - - /// Return the maximum number of contact manifolds allowed between to collision shapes - int computeNbMaxContactManifolds(const CollisionShape* shape1, const CollisionShape* shape2); - - /// Clear the contact manifold set - void clear(); - - /// Delete a contact manifold - void removeManifold(ContactManifold* manifold); - - public: - - // -------------------- Methods -------------------- // - - /// Constructor - ContactManifoldSet(ProxyShape* shape1, ProxyShape* shape2, - MemoryAllocator& memoryAllocator, const WorldSettings& worldSettings); - - /// Destructor - ~ContactManifoldSet(); - - /// Add the contact points from the narrow phase - void addContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex); - - /// Return the first proxy shape - ProxyShape* getShape1() const; - - /// Return the second proxy shape - ProxyShape* getShape2() const; - - /// Return the number of manifolds in the set - int getNbContactManifolds() const; - - /// Return a pointer to the first element of the linked-list of contact manifolds - ContactManifold* getContactManifolds() const; - - /// Make all the contact manifolds and contact points obsolete - void makeContactsObsolete(); - - /// Return the total number of contact points in the set of manifolds - int getTotalNbContactPoints() const; - - /// Clear the obsolete contact manifolds and contact points - void clearObsoleteManifoldsAndContactPoints(); - - // Remove some contact manifolds and contact points if there are too many of them - void reduce(); -}; - -// Return the first proxy shape -inline ProxyShape* ContactManifoldSet::getShape1() const { - return mShape1; -} - -// Return the second proxy shape -inline ProxyShape* ContactManifoldSet::getShape2() const { - return mShape2; -} - -// Return the number of manifolds in the set -inline int ContactManifoldSet::getNbContactManifolds() const { - return mNbManifolds; -} - -// Return a pointer to the first element of the linked-list of contact manifolds -inline ContactManifold* ContactManifoldSet::getContactManifolds() const { - return mManifolds; -} - -} - -#endif - diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 09809a17..55ee9861 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -202,9 +202,6 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Add the body ID to the list of free IDs mFreeBodiesIds.add(collisionBody->getId()); - // Reset the contact manifold list of the body - collisionBody->resetContactManifoldsList(); - mBodyComponents.removeComponent(collisionBody->getEntity()); mTransformComponents.removeComponent(collisionBody->getEntity()); mEntityManager.destroyEntity(collisionBody->getEntity()); @@ -236,17 +233,6 @@ bodyindex CollisionWorld::computeNextAvailableBodyId() { return bodyID; } -// Reset all the contact manifolds linked list of each body -void CollisionWorld::resetContactManifoldListsOfBodies() { - - // For each rigid body of the world - for (List::Iterator it = mBodies.begin(); it != mBodies.end(); ++it) { - - // Reset the contact manifold list of the body - (*it)->resetContactManifoldsList(); - } -} - // Notify the world if a body is disabled (sleeping or inactive) or not void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 857bd092..ac407bff 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -130,9 +130,6 @@ class CollisionWorld { /// Return the next available body id bodyindex computeNextAvailableBodyId(); - /// Reset all the contact manifolds linked list of each body - void resetContactManifoldListsOfBodies(); - /// Notify the world if a body is disabled (slepping or inactive) or not void notifyBodyDisabled(Entity entity, bool isDisabled); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 2dcfc881..68e64dc6 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -122,9 +122,6 @@ void DynamicsWorld::update(decimal timeStep) { // Notify the event listener about the beginning of an internal tick if (mEventListener != nullptr) mEventListener->beginInternalTick(); - // Reset all the contact manifolds lists of each body - resetContactManifoldListsOfBodies(); - // Compute the collision detection mCollisionDetection.computeCollisionDetection(); @@ -504,9 +501,6 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { destroyJoint(element->joint); } - // Reset the contact manifold list of the body - rigidBody->resetContactManifoldsList(); - // Destroy the corresponding entity and its components mBodyComponents.removeComponent(rigidBody->getEntity()); mTransformComponents.removeComponent(rigidBody->getEntity()); @@ -963,6 +957,8 @@ List DynamicsWorld::getContactsList() { List contactManifolds(mMemoryManager.getPoolAllocator()); + // TODO : Rework how to report contacts + /* // For each currently overlapping pair of bodies for (auto it = mCollisionDetection.mOverlappingPairs.begin(); it != mCollisionDetection.mOverlappingPairs.end(); ++it) { @@ -980,6 +976,7 @@ List DynamicsWorld::getContactsList() { manifold = manifold->getNext(); } } + */ // Return all the contact manifold return contactManifolds; diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index 67d0bb18..6dacb6dd 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, const WorldSettings& worldSettings) - : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mContactManifoldSet(shape1, shape2, persistentMemoryAllocator, worldSettings), + : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mProxyShape1(shape1), mProxyShape2(shape2), mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings) { diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 98766bf3..2062a499 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -27,7 +27,6 @@ #define REACTPHYSICS3D_OVERLAPPING_PAIR_H // Libraries -#include "collision/ContactManifoldSet.h" #include "collision/ProxyShape.h" #include "containers/Map.h" #include "containers/Pair.h" @@ -110,8 +109,9 @@ class OverlappingPair { /// Pair ID OverlappingPairId mPairID; - /// Set of persistent contact manifolds - ContactManifoldSet mContactManifoldSet; + // TODO : Replace this by entities + ProxyShape* mProxyShape1; + ProxyShape* mProxyShape2; /// Persistent memory allocator MemoryAllocator& mPersistentAllocator; @@ -158,30 +158,12 @@ class OverlappingPair { /// Return the last frame collision info LastFrameCollisionInfo* getLastFrameCollisionInfo(ShapeIdPair& shapeIds); - /// Return the a reference to the contact manifold set - const ContactManifoldSet& getContactManifoldSet(); - - /// Add potential contact-points from narrow-phase into potential contact manifolds - void addPotentialContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex); - /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); /// Return true if one of the shapes of the pair is a concave shape bool hasConcaveShape() const; - /// Return true if the overlapping pair has contact manifolds with contacts - bool hasContacts() const; - - /// Make the contact manifolds and contact points obsolete - void makeContactsObsolete(); - - /// Clear the obsolete contact manifold and contact points - void clearObsoleteManifoldsAndContactPoints(); - - /// Reduce the contact manifolds that have too many contact points - void reduceContactManifolds(); - /// Add a new last frame collision info if it does not exist for the given shapes already LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2); @@ -212,12 +194,12 @@ inline OverlappingPair::OverlappingPairId OverlappingPair::getId() const { // Return the pointer to first body inline ProxyShape* OverlappingPair::getShape1() const { - return mContactManifoldSet.getShape1(); -} + return mProxyShape1; +} // Return the pointer to second body inline ProxyShape* OverlappingPair::getShape2() const { - return mContactManifoldSet.getShape2(); + return mProxyShape2; } // Return the last frame collision info for a given shape id or nullptr if none is found @@ -230,17 +212,6 @@ inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeI return nullptr; } -// Return the contact manifold -inline const ContactManifoldSet& OverlappingPair::getContactManifoldSet() { - return mContactManifoldSet; -} - -// Make the contact manifolds and contact points obsolete -inline void OverlappingPair::makeContactsObsolete() { - - mContactManifoldSet.makeContactsObsolete(); -} - // Return the pair of bodies index inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(int shape1BroadPhaseId, int shape2BroadPhaseId) { assert(shape1BroadPhaseId >= 0 && shape2BroadPhaseId >= 0); @@ -276,31 +247,11 @@ inline bool OverlappingPair::hasConcaveShape() const { !getShape2()->getCollisionShape()->isConvex(); } -// Return true if the overlapping pair has contact manifolds with contacts -inline bool OverlappingPair::hasContacts() const { - return mContactManifoldSet.getContactManifolds() != nullptr; -} - -// Clear the obsolete contact manifold and contact points -inline void OverlappingPair::clearObsoleteManifoldsAndContactPoints() { - mContactManifoldSet.clearObsoleteManifoldsAndContactPoints(); -} - -// Reduce the contact manifolds that have too many contact points -inline void OverlappingPair::reduceContactManifolds() { - mContactManifoldSet.reduce(); -} - // Return the last frame collision info for a given pair of shape ids inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const { return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)]; } -// Create a new potential contact manifold using contact-points from narrow-phase -inline void OverlappingPair::addPotentialContactPoints(const NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) { - mContactManifoldSet.addContactPoints(narrowPhaseInfoBatch, batchIndex); -} - } #endif diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index affb678e..63ea12f1 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -189,7 +189,9 @@ class WorldCollisionCallback : public CollisionCallback collisionData.bodies = std::make_pair(collisionCallbackInfo.body1, collisionCallbackInfo.body2); collisionData.proxyShapes = std::make_pair(collisionCallbackInfo.proxyShape1, collisionCallbackInfo.proxyShape2); - ContactManifoldListElement* element = collisionCallbackInfo.contactManifoldElements; + // TODO : Rework how to report contacts + /* + ContactManifoldListElement* element = collisionCallbackInfo.contactManifoldElements; while (element != nullptr) { ContactManifold* contactManifold = element->getContactManifold(); @@ -210,6 +212,7 @@ class WorldCollisionCallback : public CollisionCallback element = element->getNext(); } + */ } }; @@ -508,51 +511,84 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(&mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ // ---------- Single body test ---------- // mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mBoxBody2, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mSphereBody2, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ // Two bodies test mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mBoxBody2, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mSphereBody2, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mSphereBody1, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mSphereBody2, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mBoxBody2, mSphereBody1, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ mCollisionCallback.reset(); mWorld->testCollision(mBoxBody2, mSphereBody2, &mCollisionCallback); + // TODO : Rework how to report contacts + /* rp3d_test(!mCollisionCallback.hasContacts()); + */ } void testNoOverlap() { diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index ea57959c..03284bfa 100755 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -316,6 +316,8 @@ bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, i // This method will be called for each reported contact point void ContactManager::notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) { + // TODO : Rework how to report contacts + /* // For each contact manifold rp3d::ContactManifoldListElement* manifoldElement = collisionCallbackInfo.contactManifoldElements; while (manifoldElement != nullptr) { @@ -347,4 +349,5 @@ void ContactManager::notifyContact(const CollisionCallbackInfo& collisionCallbac manifoldElement = manifoldElement->getNext(); } + */ } diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 3ecaee92..c2d37455 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -415,6 +415,8 @@ std::vector SceneDemo::computeContactPointsOfWorld(rp3d::DynamicsW // Get the list of contact manifolds from the world rp3d::List manifolds = world->getContactsList(); + // TODO : Uncomment and fix this + /* // For each contact manifold rp3d::List::Iterator it; for (it = manifolds.begin(); it != manifolds.end(); ++it) { @@ -433,8 +435,8 @@ std::vector SceneDemo::computeContactPointsOfWorld(rp3d::DynamicsW contactPoint = contactPoint->getNext(); } - } + */ return contactPoints; } From 9afedae1a7a973a33942dc140fe610675f21013b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 16 May 2019 17:46:26 +0200 Subject: [PATCH 052/197] Use DynamicsComponents for constrained linear/angular velocities in solvers --- src/body/RigidBody.h | 1 + src/components/Components.h | 8 ++ src/components/DynamicsComponents.cpp | 20 +++- src/components/DynamicsComponents.h | 69 +++++++++++- src/constraint/BallAndSocketJoint.cpp | 23 ++-- src/constraint/FixedJoint.cpp | 23 ++-- src/constraint/HingeJoint.cpp | 23 ++-- src/constraint/Joint.cpp | 3 +- src/constraint/Joint.h | 8 ++ src/constraint/SliderJoint.cpp | 23 ++-- src/engine/ConstraintSolver.cpp | 3 +- src/engine/ConstraintSolver.h | 29 ++--- src/engine/ContactSolver.cpp | 147 +++++++++++++------------- src/engine/ContactSolver.h | 38 +++---- src/engine/DynamicsWorld.cpp | 49 +++------ src/engine/DynamicsWorld.h | 10 -- 16 files changed, 277 insertions(+), 200 deletions(-) diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 5946e990..49e087a4 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -53,6 +53,7 @@ class RigidBody : public CollisionBody { private : /// Index of the body in arrays for contact/constraint solver + // TODO : REMOVE THIS uint mArrayIndex; protected : diff --git a/src/components/Components.h b/src/components/Components.h index e4dc213e..320104a3 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -121,6 +121,9 @@ class Components { /// Return the number of enabled components uint32 getNbEnabledComponents() const; + + /// Return the index in the arrays for a given entity + uint32 getEntityIndex(Entity entity) const; }; // Return true if an entity is sleeping @@ -144,6 +147,11 @@ inline uint32 Components::getNbEnabledComponents() const { return mDisabledStartIndex; } +// Return the index in the arrays for a given entity +inline uint32 Components::getEntityIndex(Entity entity) const { + assert(hasComponent(entity)); + return mMapEntityToComponentIndex[entity]; +} } #endif diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 838584a4..f02a0728 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof (Vector3) + sizeof(bool)) { + :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -57,7 +57,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newBodies = static_cast(newBuffer); Vector3* newLinearVelocities = reinterpret_cast(newBodies + nbComponentsToAllocate); Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newAngularVelocities + nbComponentsToAllocate); + Vector3* newConstrainedLinearVelocities = reinterpret_cast(newAngularVelocities + nbComponentsToAllocate); + Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -66,6 +68,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodies, mBodies, mNbComponents * sizeof(Entity)); memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory @@ -76,6 +80,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mBodies = newBodies; mLinearVelocities = newLinearVelocities; mAngularVelocities = newAngularVelocities; + mConstrainedLinearVelocities = newConstrainedLinearVelocities; + mConstrainedAngularVelocities = newConstrainedAngularVelocities; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -90,6 +96,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mBodies + index) Entity(bodyEntity); new (mLinearVelocities + index) Vector3(component.linearVelocity); new (mAngularVelocities + index) Vector3(component.angularVelocity); + new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); + new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index @@ -111,6 +119,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mBodies + destIndex) Entity(mBodies[srcIndex]); new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]); new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); + new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); + new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component @@ -134,6 +144,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Entity entity1(mBodies[index1]); Vector3 linearVelocity1(mLinearVelocities[index1]); Vector3 angularVelocity1(mAngularVelocities[index1]); + Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); + Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 @@ -145,6 +157,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { new (mBodies + index2) Entity(entity1); new (mLinearVelocities + index2) Vector3(linearVelocity1); new (mAngularVelocities + index2) Vector3(angularVelocity1); + new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); + new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping @@ -167,4 +181,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mBodies[index].~Entity(); mLinearVelocities[index].~Vector3(); mAngularVelocities[index].~Vector3(); + mConstrainedLinearVelocities[index].~Vector3(); + mConstrainedAngularVelocities[index].~Vector3(); } diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 696208bf..715e5607 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -59,6 +59,12 @@ class DynamicsComponents : public Components { /// Array with the angular velocity of each component Vector3* mAngularVelocities; + /// Array with the constrained linear velocity of each component + Vector3* mConstrainedLinearVelocities; + + /// Array with the constrained angular velocity of each component + Vector3* mConstrainedAngularVelocities; + /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; @@ -103,10 +109,16 @@ class DynamicsComponents : public Components { void addComponent(Entity bodyEntity, bool isSleeping, const DynamicsComponent& component); /// Return the linear velocity of an entity - Vector3& getLinearVelocity(Entity bodyEntity) const; + const Vector3& getLinearVelocity(Entity bodyEntity) const; /// Return the angular velocity of an entity - Vector3& getAngularVelocity(Entity bodyEntity) const; + const Vector3& getAngularVelocity(Entity bodyEntity) const; + + /// Return the constrained linear velocity of an entity + const Vector3& getConstrainedLinearVelocity(Entity bodyEntity) const; + + /// Return the constrained angular velocity of an entity + const Vector3& getConstrainedAngularVelocity(Entity bodyEntity) const; /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; @@ -117,17 +129,31 @@ class DynamicsComponents : public Components { /// Set the angular velocity of an entity void setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity); + /// Set the constrained linear velocity of an entity + void setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity); + + /// Set the constrained angular velocity of an entity + void setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity); + /// Set the value to know if the entity is already in an island bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); + + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; friend class DynamicsWorld; + friend class ContactSolver; + friend class BallAndSocketJoint; + friend class FixedJoint; + friend class HingeJoint; + friend class SliderJoint; + }; // Return the linear velocity of an entity -inline Vector3& DynamicsComponents::getLinearVelocity(Entity bodyEntity) const { +inline const Vector3& DynamicsComponents::getLinearVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -135,7 +161,7 @@ inline Vector3& DynamicsComponents::getLinearVelocity(Entity bodyEntity) const { } // Return the angular velocity of an entity -inline Vector3& DynamicsComponents::getAngularVelocity(Entity bodyEntity) const { +inline const Vector3 &DynamicsComponents::getAngularVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -158,6 +184,41 @@ inline void DynamicsComponents::setAngularVelocity(Entity bodyEntity, const Vect mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = angularVelocity; } +// Return the constrained linear velocity of an entity +inline const Vector3 &DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + // TODO : DELETE THIS + uint testIndex = mMapEntityToComponentIndex[bodyEntity]; + + return mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the constrained angular velocity of an entity +inline const Vector3 &DynamicsComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the constrained linear velocity of an entity +inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedLinearVelocity; +} + +// Set the constrained angular velocity of an entity +inline void DynamicsComponents::setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedAngularVelocity; +} + // Return true if the entity is already in an island inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 0da68185..fbf1c6b6 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -26,6 +26,7 @@ // Libraries #include "BallAndSocketJoint.h" #include "engine/ConstraintSolver.h" +#include "components/DynamicsComponents.h" using namespace reactphysics3d; @@ -98,11 +99,14 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS // Warm start the constraint (apply the previous impulse at the beginning of the step) void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Compute the impulse P=J^T * lambda for the body 1 const Vector3 linearImpulseBody1 = -mImpulse; @@ -123,11 +127,14 @@ void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverD // Solve the velocity constraint void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Compute J*v const Vector3 Jv = v2 + w2.cross(mR2World) - v1 - w1.cross(mR1World); diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 99fca6c2..022984ea 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -26,6 +26,7 @@ // Libraries #include "FixedJoint.h" #include "engine/ConstraintSolver.h" +#include "components/DynamicsComponents.h" using namespace reactphysics3d; @@ -129,11 +130,14 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Warm start the constraint (apply the previous impulse at the beginning of the step) void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies const decimal inverseMassBody1 = mBody1->mMassInverse; @@ -164,11 +168,14 @@ void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies decimal inverseMassBody1 = mBody1->mMassInverse; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 50106d13..41b22a83 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -26,6 +26,7 @@ // Libraries #include "HingeJoint.h" #include "engine/ConstraintSolver.h" +#include "components/DynamicsComponents.h" using namespace reactphysics3d; @@ -198,11 +199,14 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Warm start the constraint (apply the previous impulse at the beginning of the step) void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies const decimal inverseMassBody1 = mBody1->mMassInverse; @@ -254,11 +258,14 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = mBody1->mMassInverse; diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index a24b1f2e..f1ca34eb 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -30,7 +30,8 @@ using namespace reactphysics3d; // Constructor Joint::Joint(uint id, const JointInfo& jointInfo) - :mId(id), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mType(jointInfo.type), + :mId(id), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mBody1Entity(jointInfo.body1->getEntity()), + mBody2Entity(jointInfo.body2->getEntity()), mType(jointInfo.type), mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique), mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) { diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 1c89d464..880ace90 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -124,11 +124,19 @@ class Joint { uint mId; /// Pointer to the first body of the joint + // TODO : Use Entities instead RigidBody* const mBody1; /// Pointer to the second body of the joint + // TODO : Use Entities instead RigidBody* const mBody2; + /// Entity of the first body of the joint + Entity mBody1Entity; + + /// Entity of the second body of the joint + Entity mBody2Entity; + /// Type of the joint const JointType mType; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index b01fb410..51501827 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -26,6 +26,7 @@ // Libraries #include "SliderJoint.h" #include "engine/ConstraintSolver.h" +#include "components/DynamicsComponents.h" using namespace reactphysics3d; @@ -216,11 +217,14 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Warm start the constraint (apply the previous impulse at the beginning of the step) void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies const decimal inverseMassBody1 = mBody1->mMassInverse; @@ -275,11 +279,14 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { + uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + // Get the velocities - Vector3& v1 = constraintSolverData.linearVelocities[mIndexBody1]; - Vector3& v2 = constraintSolverData.linearVelocities[mIndexBody2]; - Vector3& w1 = constraintSolverData.angularVelocities[mIndexBody1]; - Vector3& w2 = constraintSolverData.angularVelocities[mIndexBody2]; + Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = mBody1->mMassInverse; diff --git a/src/engine/ConstraintSolver.cpp b/src/engine/ConstraintSolver.cpp index 5409d318..2d95e041 100644 --- a/src/engine/ConstraintSolver.cpp +++ b/src/engine/ConstraintSolver.cpp @@ -31,7 +31,8 @@ using namespace reactphysics3d; // Constructor -ConstraintSolver::ConstraintSolver(Islands& islands) : mIsWarmStartingActive(true), mIslands(islands) { +ConstraintSolver::ConstraintSolver(Islands& islands, DynamicsComponents& dynamicsComponents) + : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(dynamicsComponents) { #ifdef IS_PROFILING_ACTIVE diff --git a/src/engine/ConstraintSolver.h b/src/engine/ConstraintSolver.h index d9678323..d051daf2 100644 --- a/src/engine/ConstraintSolver.h +++ b/src/engine/ConstraintSolver.h @@ -37,6 +37,7 @@ namespace reactphysics3d { class Joint; class Island; class Profiler; +class DynamicsComponents; // Structure ConstraintSolverData /** @@ -50,11 +51,8 @@ struct ConstraintSolverData { /// Current time step of the simulation decimal timeStep; - /// Array with the bodies linear velocities - Vector3* linearVelocities; - - /// Array with the bodies angular velocities - Vector3* angularVelocities; + /// Reference to the dynamics components + DynamicsComponents& dynamicsComponents; /// Reference to the bodies positions Vector3* positions; @@ -66,8 +64,8 @@ struct ConstraintSolverData { bool isWarmStartingActive; /// Constructor - ConstraintSolverData() :linearVelocities(nullptr), angularVelocities(nullptr), - positions(nullptr), orientations(nullptr) { + ConstraintSolverData(DynamicsComponents& dynamicsComponents) + :dynamicsComponents(dynamicsComponents), positions(nullptr), orientations(nullptr) { } @@ -171,7 +169,7 @@ class ConstraintSolver { // -------------------- Methods -------------------- // /// Constructor - ConstraintSolver(Islands& islands); + ConstraintSolver(Islands& islands, DynamicsComponents& dynamicsComponents); /// Destructor ~ConstraintSolver() = default; @@ -191,10 +189,6 @@ class ConstraintSolver { /// Enable/Disable the Non-Linear-Gauss-Seidel position correction technique. void setIsNonLinearGaussSeidelPositionCorrectionActive(bool isActive); - /// Set the constrained velocities arrays - void setConstrainedVelocitiesArrays(Vector3* constrainedLinearVelocities, - Vector3* constrainedAngularVelocities); - /// Set the constrained positions/orientations arrays void setConstrainedPositionsArrays(Vector3* constrainedPositions, Quaternion* constrainedOrientations); @@ -208,17 +202,6 @@ class ConstraintSolver { }; -// Set the constrained velocities arrays -inline void ConstraintSolver::setConstrainedVelocitiesArrays(Vector3* constrainedLinearVelocities, - Vector3* constrainedAngularVelocities) { - - assert(constrainedLinearVelocities != nullptr); - assert(constrainedAngularVelocities != nullptr); - - mConstraintSolverData.linearVelocities = constrainedLinearVelocities; - mConstraintSolverData.angularVelocities = constrainedAngularVelocities; -} - // Set the constrained positions/orientations arrays inline void ConstraintSolver::setConstrainedPositionsArrays(Vector3* constrainedPositions, Quaternion* constrainedOrientations) { diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index 133827e2..c95b6ffd 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -31,6 +31,7 @@ #include "utils/Profiler.h" #include "engine/Island.h" #include "components/BodyComponents.h" +#include "components/DynamicsComponents.h" #include "components/ProxyShapeComponents.h" #include "collision/ContactManifold.h" @@ -43,13 +44,14 @@ const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2); const decimal ContactSolver::SLOP = decimal(0.01); // Constructor -ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, +ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mSplitLinearVelocities(nullptr), mSplitAngularVelocities(nullptr), mContactConstraints(nullptr), - mContactPoints(nullptr), mLinearVelocities(nullptr), mAngularVelocities(nullptr), + mContactPoints(nullptr), mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), - mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { + mDynamicsComponents(dynamicsComponents), mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), + mWorldSettings(worldSettings) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -141,6 +143,8 @@ void ContactSolver::initializeForIsland(uint islandIndex) { new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); mContactConstraints[mNbContactManifolds].indexBody1 = body1->mArrayIndex; mContactConstraints[mNbContactManifolds].indexBody2 = body2->mArrayIndex; + mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mDynamicsComponents.getEntityIndex(body1->getEntity()); + mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mDynamicsComponents.getEntityIndex(body2->getEntity()); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld(); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld(); mContactConstraints[mNbContactManifolds].massInverseBody1 = body1->mMassInverse; @@ -154,10 +158,10 @@ void ContactSolver::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero(); // Get the velocities of the bodies - const Vector3& v1 = mLinearVelocities[mContactConstraints[mNbContactManifolds].indexBody1]; - const Vector3& w1 = mAngularVelocities[mContactConstraints[mNbContactManifolds].indexBody1]; - const Vector3& v2 = mLinearVelocities[mContactConstraints[mNbContactManifolds].indexBody2]; - const Vector3& w2 = mAngularVelocities[mContactConstraints[mNbContactManifolds].indexBody2]; + const Vector3& v1 = mDynamicsComponents.getLinearVelocity(externalManifold.bodyEntity1); + const Vector3& w1 = mDynamicsComponents.getAngularVelocity(externalManifold.bodyEntity1); + const Vector3& v2 = mDynamicsComponents.getLinearVelocity(externalManifold.bodyEntity2); + const Vector3& w2 = mDynamicsComponents.getAngularVelocity(externalManifold.bodyEntity2); // For each contact point of the contact manifold assert(externalManifold.getNbContactPoints() > 0); @@ -346,6 +350,7 @@ void ContactSolver::warmStart() { for (short int i=0; i here - Vector3* mLinearVelocities; - - /// Array of angular velocities - // TODO : Use List<> here - Vector3* mAngularVelocities; - /// Reference to the islands Islands& mIslands; @@ -327,6 +328,9 @@ class ContactSolver { /// Reference to the body components BodyComponents& mBodyComponents; + /// Reference to the dynamics components + DynamicsComponents& mDynamicsComponents; + /// Reference to the proxy-shapes components // TODO : Do we really need to use this ? ProxyShapeComponents& mProxyShapeComponents; @@ -372,7 +376,8 @@ class ContactSolver { /// Constructor ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, - ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings); + DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, + const WorldSettings& worldSettings); /// Destructor ~ContactSolver() = default; @@ -387,10 +392,6 @@ class ContactSolver { void setSplitVelocitiesArrays(Vector3* splitLinearVelocities, Vector3* splitAngularVelocities); - /// Set the constrained velocities arrays - void setConstrainedVelocitiesArrays(Vector3* constrainedLinearVelocities, - Vector3* constrainedAngularVelocities); - /// Store the computed impulses to use them to /// warm start the solver at the next iteration void storeImpulses(); @@ -423,17 +424,6 @@ inline void ContactSolver::setSplitVelocitiesArrays(Vector3* splitLinearVelociti mSplitAngularVelocities = splitAngularVelocities; } -// Set the constrained velocities arrays -inline void ContactSolver::setConstrainedVelocitiesArrays(Vector3* constrainedLinearVelocities, - Vector3* constrainedAngularVelocities) { - - assert(constrainedLinearVelocities != nullptr); - assert(constrainedAngularVelocities != nullptr); - - mLinearVelocities = constrainedLinearVelocities; - mAngularVelocities = constrainedAngularVelocities; -} - // Return true if the split impulses position correction technique is used for contacts inline bool ContactSolver::isSplitImpulseActive() const { return mIsSplitImpulseActive; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 68e64dc6..2f95d942 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -50,19 +50,15 @@ using namespace std; DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : CollisionWorld(worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), - mContactSolver(mMemoryManager, mIslands, mBodyComponents, mProxyShapesComponents, mConfig), - mConstraintSolver(mIslands), + mContactSolver(mMemoryManager, mIslands, mBodyComponents, mDynamicsComponents, mProxyShapesComponents, mConfig), + mConstraintSolver(mIslands, mDynamicsComponents), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mTimeStep(decimal(1.0f / 60.0f)), - mIsGravityEnabled(true), mConstrainedLinearVelocities(nullptr), - mConstrainedAngularVelocities(nullptr), mSplitLinearVelocities(nullptr), - mSplitAngularVelocities(nullptr), mConstrainedPositions(nullptr), - mConstrainedOrientations(nullptr), - mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), - mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), - mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), + mIsGravityEnabled(true), mSplitLinearVelocities(nullptr), mSplitAngularVelocities(nullptr), mConstrainedPositions(nullptr), + mConstrainedOrientations(nullptr), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), + mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { #ifdef IS_PROFILING_ACTIVE @@ -181,8 +177,8 @@ void DynamicsWorld::integrateRigidBodiesPositions() { // Get the constrained velocity uint indexArray = body->mArrayIndex; - Vector3 newLinVelocity = mConstrainedLinearVelocities[indexArray]; - Vector3 newAngVelocity = mConstrainedAngularVelocities[indexArray]; + Vector3 newLinVelocity = mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity); + Vector3 newAngVelocity = mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity); // TODO : Remove this Vector3 testLinVel = newLinVelocity; @@ -229,8 +225,8 @@ void DynamicsWorld::updateBodiesState() { uint index = body->mArrayIndex; // Update the linear and angular velocity of the body - mDynamicsComponents.setLinearVelocity(bodyEntity, mConstrainedLinearVelocities[index]); - mDynamicsComponents.setAngularVelocity(bodyEntity, mConstrainedAngularVelocities[index]); + mDynamicsComponents.setLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity)); + mDynamicsComponents.setAngularVelocity(bodyEntity, mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity)); // Update the position of the center of mass of the body body->mCenterOfMassWorld = mConstrainedPositions[index]; @@ -267,18 +263,12 @@ void DynamicsWorld::initVelocityArrays() { nbBodies * sizeof(Vector3))); mSplitAngularVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, nbBodies * sizeof(Vector3))); - mConstrainedLinearVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBodies * sizeof(Vector3))); - mConstrainedAngularVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBodies * sizeof(Vector3))); mConstrainedPositions = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, nbBodies * sizeof(Vector3))); mConstrainedOrientations = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, nbBodies * sizeof(Quaternion))); assert(mSplitLinearVelocities != nullptr); assert(mSplitAngularVelocities != nullptr); - assert(mConstrainedLinearVelocities != nullptr); - assert(mConstrainedAngularVelocities != nullptr); assert(mConstrainedPositions != nullptr); assert(mConstrainedOrientations != nullptr); @@ -324,18 +314,17 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { assert(indexBody < mRigidBodies.size()); // Integrate the external force to get the new velocity of the body - mConstrainedLinearVelocities[indexBody] = body->getLinearVelocity() + - mTimeStep * body->mMassInverse * body->mExternalForce; - mConstrainedAngularVelocities[indexBody] = body->getAngularVelocity() + - mTimeStep * body->getInertiaTensorInverseWorld() * - body->mExternalTorque; + mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, body->getLinearVelocity() + + mTimeStep * body->mMassInverse * body->mExternalForce); + mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, body->getAngularVelocity() + + mTimeStep * body->getInertiaTensorInverseWorld() * body->mExternalTorque); // If the gravity has to be applied to this rigid body if (body->isGravityEnabled() && mIsGravityEnabled) { // Integrate the gravity force - mConstrainedLinearVelocities[indexBody] += mTimeStep * body->mMassInverse * - body->getMass() * mGravity; + mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) + mTimeStep * body->mMassInverse * + body->getMass() * mGravity); } // Apply the velocity damping @@ -355,8 +344,8 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { decimal angDampingFactor = body->getAngularDamping(); decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); - mConstrainedLinearVelocities[indexBody] *= linearDamping; - mConstrainedAngularVelocities[indexBody] *= angularDamping; + mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) * linearDamping); + mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity) * angularDamping); } } } @@ -368,10 +357,6 @@ void DynamicsWorld::solveContactsAndConstraints() { // Set the velocities arrays mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities); - mContactSolver.setConstrainedVelocitiesArrays(mConstrainedLinearVelocities, - mConstrainedAngularVelocities); - mConstraintSolver.setConstrainedVelocitiesArrays(mConstrainedLinearVelocities, - mConstrainedAngularVelocities); mConstraintSolver.setConstrainedPositionsArrays(mConstrainedPositions, mConstrainedOrientations); diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 36f3924e..a76c15ca 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -88,16 +88,6 @@ class DynamicsWorld : public CollisionWorld { /// True if the gravity force is on bool mIsGravityEnabled; - // TODO : Move this into dynamic components - /// Array of constrained linear velocities (state of the linear velocities - /// after solving the constraints) - Vector3* mConstrainedLinearVelocities; - - // TODO : Move this into dynamic components - /// Array of constrained angular velocities (state of the angular velocities - /// after solving the constraints) - Vector3* mConstrainedAngularVelocities; - // TODO : Move this into dynamic components /// Split linear velocities for the position contact solver (split impulse) Vector3* mSplitLinearVelocities; From 81303fbaebc97683325cca119a8afc165ffcbb0d Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 17 May 2019 07:29:54 +0200 Subject: [PATCH 053/197] Add split velocities into the DynamicsComponents --- src/components/DynamicsComponents.cpp | 21 +++++++++- src/components/DynamicsComponents.h | 57 ++++++++++++++++++++++++--- src/engine/ContactSolver.cpp | 38 ++++++++---------- src/engine/ContactSolver.h | 23 ----------- src/engine/DynamicsWorld.cpp | 32 ++++++++------- src/engine/DynamicsWorld.h | 11 ++---- 6 files changed, 108 insertions(+), 74 deletions(-) diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index f02a0728..9a1cbe28 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -35,7 +35,8 @@ using namespace reactphysics3d; // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) { + :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -59,7 +60,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); Vector3* newConstrainedLinearVelocities = reinterpret_cast(newAngularVelocities + nbComponentsToAllocate); Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); + Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); + Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newSplitAngularVelocities + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -70,6 +73,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory @@ -82,6 +87,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mAngularVelocities = newAngularVelocities; mConstrainedLinearVelocities = newConstrainedLinearVelocities; mConstrainedAngularVelocities = newConstrainedAngularVelocities; + mSplitLinearVelocities = newSplitLinearVelocities; + mSplitAngularVelocities = newSplitAngularVelocities; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -98,6 +105,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mAngularVelocities + index) Vector3(component.angularVelocity); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); + new (mSplitLinearVelocities + index) Vector3(0, 0, 0); + new (mSplitAngularVelocities + index) Vector3(0, 0, 0); mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index @@ -121,6 +130,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); + new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); + new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]); mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component @@ -146,6 +157,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 angularVelocity1(mAngularVelocities[index1]); Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); + Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); + Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]); bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 @@ -159,6 +172,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { new (mAngularVelocities + index2) Vector3(angularVelocity1); new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); + new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); + new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1); mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping @@ -183,4 +198,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mAngularVelocities[index].~Vector3(); mConstrainedLinearVelocities[index].~Vector3(); mConstrainedAngularVelocities[index].~Vector3(); + mSplitLinearVelocities[index].~Vector3(); + mSplitAngularVelocities[index].~Vector3(); } diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 715e5607..adb23497 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -65,6 +65,12 @@ class DynamicsComponents : public Components { /// Array with the constrained angular velocity of each component Vector3* mConstrainedAngularVelocities; + /// Array with the split linear velocity of each component + Vector3* mSplitLinearVelocities; + + /// Array with the split angular velocity of each component + Vector3* mSplitAngularVelocities; + /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; @@ -120,6 +126,12 @@ class DynamicsComponents : public Components { /// Return the constrained angular velocity of an entity const Vector3& getConstrainedAngularVelocity(Entity bodyEntity) const; + /// Return the split linear velocity of an entity + const Vector3& getSplitLinearVelocity(Entity bodyEntity) const; + + /// Return the split angular velocity of an entity + const Vector3& getSplitAngularVelocity(Entity bodyEntity) const; + /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; @@ -135,6 +147,12 @@ class DynamicsComponents : public Components { /// Set the constrained angular velocity of an entity void setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity); + /// Set the split linear velocity of an entity + void setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity); + + /// Set the split angular velocity of an entity + void setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity); + /// Set the value to know if the entity is already in an island bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); @@ -185,24 +203,37 @@ inline void DynamicsComponents::setAngularVelocity(Entity bodyEntity, const Vect } // Return the constrained linear velocity of an entity -inline const Vector3 &DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { +inline const Vector3& DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - // TODO : DELETE THIS - uint testIndex = mMapEntityToComponentIndex[bodyEntity]; - return mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; } // Return the constrained angular velocity of an entity -inline const Vector3 &DynamicsComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { +inline const Vector3& DynamicsComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the split linear velocity of an entity +inline const Vector3& DynamicsComponents::getSplitLinearVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the split angular velocity of an entity +inline const Vector3& DynamicsComponents::getSplitAngularVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -219,6 +250,22 @@ inline void DynamicsComponents::setConstrainedAngularVelocity(Entity bodyEntity, mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedAngularVelocity; } +// Set the split linear velocity of an entity +inline void DynamicsComponents::setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitLinearVelocity; +} + +// Set the split angular velocity of an entity +inline void DynamicsComponents::setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitAngularVelocity; +} + // Return true if the entity is already in an island inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index c95b6ffd..20e31f5b 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -46,9 +46,7 @@ const decimal ContactSolver::SLOP = decimal(0.01); // Constructor ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) - :mMemoryManager(memoryManager), mSplitLinearVelocities(nullptr), - mSplitAngularVelocities(nullptr), mContactConstraints(nullptr), - mContactPoints(nullptr), + :mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr), mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), mDynamicsComponents(dynamicsComponents), mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { @@ -109,8 +107,6 @@ void ContactSolver::initializeForIsland(uint islandIndex) { assert(mIslands.bodyEntities[islandIndex].size() > 0); assert(mIslands.nbContactManifolds[islandIndex] > 0); - assert(mSplitLinearVelocities != nullptr); - assert(mSplitAngularVelocities != nullptr); // For each contact manifold of the island uint contactManifoldsIndex = mIslands.contactManifoldsIndices[islandIndex]; @@ -574,10 +570,10 @@ void ContactSolver::solve() { if (mIsSplitImpulseActive) { // Split impulse (position correction) - const Vector3& v1Split = mSplitLinearVelocities[mContactConstraints[c].indexBody1]; - const Vector3& w1Split = mSplitAngularVelocities[mContactConstraints[c].indexBody1]; - const Vector3& v2Split = mSplitLinearVelocities[mContactConstraints[c].indexBody2]; - const Vector3& w2Split = mSplitAngularVelocities[mContactConstraints[c].indexBody2]; + const Vector3& v1Split = mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; + const Vector3& w1Split = mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; + const Vector3& v2Split = mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; + const Vector3& w2Split = mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; //Vector3 deltaVSplit = v2Split + w2Split.cross(mContactPoints[contactPointIndex].r2) - v1Split - w1Split.cross(mContactPoints[contactPointIndex].r1); Vector3 deltaVSplit(v2Split.x + w2Split.y * mContactPoints[contactPointIndex].r2.z - w2Split.z * mContactPoints[contactPointIndex].r2.y - v1Split.x - @@ -602,22 +598,22 @@ void ContactSolver::solve() { mContactPoints[contactPointIndex].normal.z * deltaLambdaSplit); // Update the velocities of the body 1 by applying the impulse P - mSplitLinearVelocities[mContactConstraints[c].indexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x; - mSplitLinearVelocities[mContactConstraints[c].indexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y; - mSplitLinearVelocities[mContactConstraints[c].indexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z; + mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x; + mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y; + mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z; - mSplitAngularVelocities[mContactConstraints[c].indexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambdaSplit; - mSplitAngularVelocities[mContactConstraints[c].indexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambdaSplit; - mSplitAngularVelocities[mContactConstraints[c].indexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambdaSplit; + mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambdaSplit; + mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambdaSplit; + mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambdaSplit; // Update the velocities of the body 1 by applying the impulse P - mSplitLinearVelocities[mContactConstraints[c].indexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x; - mSplitLinearVelocities[mContactConstraints[c].indexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y; - mSplitLinearVelocities[mContactConstraints[c].indexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z; + mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x; + mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y; + mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z; - mSplitAngularVelocities[mContactConstraints[c].indexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambdaSplit; - mSplitAngularVelocities[mContactConstraints[c].indexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambdaSplit; - mSplitAngularVelocities[mContactConstraints[c].indexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambdaSplit; + mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambdaSplit; + mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambdaSplit; + mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambdaSplit; } contactPointIndex++; diff --git a/src/engine/ContactSolver.h b/src/engine/ContactSolver.h index d39976d2..e130a4ea 100644 --- a/src/engine/ContactSolver.h +++ b/src/engine/ContactSolver.h @@ -291,14 +291,6 @@ class ContactSolver { /// Memory manager MemoryManager& mMemoryManager; - /// Split linear velocities for the position contact solver (split impulse) - // TODO : Use List<> here - Vector3* mSplitLinearVelocities; - - /// Split angular velocities for the position contact solver (split impulse) - // TODO : Use List<> here - Vector3* mSplitAngularVelocities; - /// Current time step decimal mTimeStep; @@ -388,10 +380,6 @@ class ContactSolver { /// Initialize the constraint solver for a given island void initializeForIsland(uint islandIndex); - /// Set the split velocities arrays - void setSplitVelocitiesArrays(Vector3* splitLinearVelocities, - Vector3* splitAngularVelocities); - /// Store the computed impulses to use them to /// warm start the solver at the next iteration void storeImpulses(); @@ -413,17 +401,6 @@ class ContactSolver { #endif }; -// Set the split velocities arrays -inline void ContactSolver::setSplitVelocitiesArrays(Vector3* splitLinearVelocities, - Vector3* splitAngularVelocities) { - - assert(splitLinearVelocities != nullptr); - assert(splitAngularVelocities != nullptr); - - mSplitLinearVelocities = splitLinearVelocities; - mSplitAngularVelocities = splitAngularVelocities; -} - // Return true if the split impulses position correction technique is used for contacts inline bool ContactSolver::isSplitImpulseActive() const { return mIsSplitImpulseActive; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 2f95d942..dd9903f6 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -56,7 +56,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mTimeStep(decimal(1.0f / 60.0f)), - mIsGravityEnabled(true), mSplitLinearVelocities(nullptr), mSplitAngularVelocities(nullptr), mConstrainedPositions(nullptr), + mIsGravityEnabled(true), mConstrainedPositions(nullptr), mConstrainedOrientations(nullptr), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { @@ -187,8 +187,8 @@ void DynamicsWorld::integrateRigidBodiesPositions() { // to update the position) if (mContactSolver.isSplitImpulseActive()) { - newLinVelocity += mSplitLinearVelocities[indexArray]; - newAngVelocity += mSplitAngularVelocities[indexArray]; + newLinVelocity += mDynamicsComponents.getSplitLinearVelocity(bodyEntity); + newAngVelocity += mDynamicsComponents.getSplitAngularVelocity(bodyEntity); } // Get current position and orientation of the body @@ -259,16 +259,10 @@ void DynamicsWorld::initVelocityArrays() { assert(mDynamicsComponents.getNbComponents() == nbBodies); - mSplitLinearVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBodies * sizeof(Vector3))); - mSplitAngularVelocities = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBodies * sizeof(Vector3))); mConstrainedPositions = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, nbBodies * sizeof(Vector3))); mConstrainedOrientations = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, nbBodies * sizeof(Quaternion))); - assert(mSplitLinearVelocities != nullptr); - assert(mSplitAngularVelocities != nullptr); assert(mConstrainedPositions != nullptr); assert(mConstrainedOrientations != nullptr); @@ -276,13 +270,19 @@ void DynamicsWorld::initVelocityArrays() { uint i = 0; for (List::Iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { - mSplitLinearVelocities[i].setToZero(); - mSplitAngularVelocities[i].setToZero(); - (*it)->mArrayIndex = i++; } } +// Reset the split velocities of the bodies +void DynamicsWorld::resetSplitVelocities() { + + for(uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { + mDynamicsComponents.mSplitLinearVelocities[i].setToZero(); + mDynamicsComponents.mSplitAngularVelocities[i].setToZero(); + } +} + // Integrate the velocities of rigid bodies. /// This method only set the temporary velocities but does not update /// the actual velocitiy of the bodies. The velocities updated in this method @@ -295,6 +295,9 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Initialize the bodies velocity arrays initVelocityArrays(); + // Reset the split velocities of the bodies + resetSplitVelocities(); + // TODO : We should loop over non-sleeping dynamic components here and not over islands // For each island of the world @@ -309,8 +312,8 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { const uint indexBody = body->mArrayIndex; - assert(mSplitLinearVelocities[indexBody] == Vector3(0, 0, 0)); - assert(mSplitAngularVelocities[indexBody] == Vector3(0, 0, 0)); + assert(mDynamicsComponents.getSplitLinearVelocity(bodyEntity) == Vector3(0, 0, 0)); + assert(mDynamicsComponents.getSplitAngularVelocity(bodyEntity) == Vector3(0, 0, 0)); assert(indexBody < mRigidBodies.size()); // Integrate the external force to get the new velocity of the body @@ -356,7 +359,6 @@ void DynamicsWorld::solveContactsAndConstraints() { RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler); // Set the velocities arrays - mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities); mConstraintSolver.setConstrainedPositionsArrays(mConstrainedPositions, mConstrainedOrientations); diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index a76c15ca..a1fa3717 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -88,14 +88,6 @@ class DynamicsWorld : public CollisionWorld { /// True if the gravity force is on bool mIsGravityEnabled; - // TODO : Move this into dynamic components - /// Split linear velocities for the position contact solver (split impulse) - Vector3* mSplitLinearVelocities; - - // TODO : Move this into dynamic components - /// Split angular velocities for the position contact solver (split impulse) - Vector3* mSplitAngularVelocities; - /// Array of constrained rigid bodies position (for position error correction) Vector3* mConstrainedPositions; @@ -129,6 +121,9 @@ class DynamicsWorld : public CollisionWorld { /// Initialize the bodies velocities arrays for the next simulation step. void initVelocityArrays(); + /// Reset the split velocities of the bodies + void resetSplitVelocities(); + /// Integrate the velocities of rigid bodies. void integrateRigidBodiesVelocities(); From aa4935f39695a0bf0a3192e13fcec1ffbb19cd18 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 17 May 2019 17:39:30 +0200 Subject: [PATCH 054/197] Add external force/torque in DynamicsComponents --- src/body/RigidBody.cpp | 85 +++++++++++++++++++++++++-- src/body/RigidBody.h | 82 -------------------------- src/components/DynamicsComponents.cpp | 20 ++++++- src/components/DynamicsComponents.h | 50 ++++++++++++++++ src/engine/DynamicsWorld.cpp | 7 +-- src/engine/DynamicsWorld.h | 7 +-- 6 files changed, 154 insertions(+), 97 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 43eea1ab..906dbc70 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -114,8 +114,38 @@ void RigidBody::setType(BodyType type) { askForBroadPhaseCollisionCheck(); // Reset the force and torque on the body - mExternalForce.setToZero(); - mExternalTorque.setToZero(); + mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); + mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); +} + +// Apply an external force to the body at a given point (in world-space coordinates). +/// If the point is not at the center of mass of the body, it will also +/// generate some torque and therefore, change the angular velocity of the body. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied forces and that this sum will be +/// reset to zero at the end of each call of the DynamicsWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param force The force to apply on the body + * @param point The point where the force is applied (in world-space coordinates) + */ +inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) { + + // If it is not a dynamic body, we do nothing + if (mType != BodyType::DYNAMIC) return; + + // Awake the body if it was sleeping + if (mIsSleeping) { + setIsSleeping(false); + } + + // Add the force + const Vector3& externalForce = mWorld.mDynamicsComponents.getExternalForce(mEntity); + mWorld.mDynamicsComponents.setExternalForce(mEntity, externalForce + force); + + // Add the torque + const Vector3& externalTorque = mWorld.mDynamicsComponents.getExternalTorque(mEntity); + mWorld.mDynamicsComponents.setExternalTorque(mEntity, externalTorque + (point - mCenterOfMassWorld).cross(force)); } // Set the local inertia tensor of the body (in local-space coordinates) @@ -142,6 +172,29 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { "Body " + std::to_string(mID) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); } +// Apply an external force to the body at its center of mass. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied forces and that this sum will be +/// reset to zero at the end of each call of the DynamicsWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param force The external force to apply on the center of mass of the body + */ +inline void RigidBody::applyForceToCenterOfMass(const Vector3& force) { + + // If it is not a dynamic body, we do nothing + if (mType != BodyType::DYNAMIC) return; + + // Awake the body if it was sleeping + if (mIsSleeping) { + setIsSleeping(false); + } + + // Add the force + const Vector3& externalForce = mWorld.mDynamicsComponents.getExternalForce(mEntity); + mWorld.mDynamicsComponents.setExternalForce(mEntity, externalForce + force); +} + // Set the inverse local inertia tensor of the body (in local-space coordinates) /// If the inverse inertia tensor is set with this method, it will not be computed /// using the collision shapes of the body. @@ -598,16 +651,40 @@ Vector3 RigidBody::getAngularVelocity() const { return mWorld.mDynamicsComponents.getAngularVelocity(mEntity); } +// Apply an external torque to the body. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied torques and that this sum will be +/// reset to zero at the end of each call of the DynamicsWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param torque The external torque to apply on the body + */ +inline void RigidBody::applyTorque(const Vector3& torque) { + + // If it is not a dynamic body, we do nothing + if (mType != BodyType::DYNAMIC) return; + + // Awake the body if it was sleeping + if (mIsSleeping) { + setIsSleeping(false); + } + + // Add the torque + const Vector3& externalTorque = mWorld.mDynamicsComponents.getExternalTorque(mEntity); + mWorld.mDynamicsComponents.setExternalTorque(mEntity, externalTorque + torque); +} + // Set the variable to know whether or not the body is sleeping void RigidBody::setIsSleeping(bool isSleeping) { CollisionBody::setIsSleeping(isSleeping); if (isSleeping) { + mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); mWorld.mDynamicsComponents.setAngularVelocity(mEntity, Vector3::zero()); - mExternalForce.setToZero(); - mExternalTorque.setToZero(); + mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); + mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); } } diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 49e087a4..7c96bb78 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -70,18 +70,6 @@ class RigidBody : public CollisionBody { /// Center of mass of the body in world-space coordinates Vector3 mCenterOfMassWorld; - /// Linear velocity of the body - //Vector3 mLinearVelocity; - - /// Angular velocity of the body - //Vector3 mAngularVelocity; - - /// Current external force on the body - Vector3 mExternalForce; - - /// Current external torque on the body - Vector3 mExternalTorque; - /// Inverse Local inertia tensor of the body (in local-space) set /// by the user with respect to the center of mass of the body Matrix3x3 mUserInertiaTensorLocalInverse; @@ -330,76 +318,6 @@ inline JointListElement* RigidBody::getJointsList() { return mJointsList; } -// Apply an external force to the body at its center of mass. -/// If the body is sleeping, calling this method will wake it up. Note that the -/// force will we added to the sum of the applied forces and that this sum will be -/// reset to zero at the end of each call of the DynamicsWorld::update() method. -/// You can only apply a force to a dynamic body otherwise, this method will do nothing. -/** - * @param force The external force to apply on the center of mass of the body - */ -inline void RigidBody::applyForceToCenterOfMass(const Vector3& force) { - - // If it is not a dynamic body, we do nothing - if (mType != BodyType::DYNAMIC) return; - - // Awake the body if it was sleeping - if (mIsSleeping) { - setIsSleeping(false); - } - - // Add the force - mExternalForce += force; -} - -// Apply an external force to the body at a given point (in world-space coordinates). -/// If the point is not at the center of mass of the body, it will also -/// generate some torque and therefore, change the angular velocity of the body. -/// If the body is sleeping, calling this method will wake it up. Note that the -/// force will we added to the sum of the applied forces and that this sum will be -/// reset to zero at the end of each call of the DynamicsWorld::update() method. -/// You can only apply a force to a dynamic body otherwise, this method will do nothing. -/** - * @param force The force to apply on the body - * @param point The point where the force is applied (in world-space coordinates) - */ -inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) { - - // If it is not a dynamic body, we do nothing - if (mType != BodyType::DYNAMIC) return; - - // Awake the body if it was sleeping - if (mIsSleeping) { - setIsSleeping(false); - } - - // Add the force and torque - mExternalForce += force; - mExternalTorque += (point - mCenterOfMassWorld).cross(force); -} - -// Apply an external torque to the body. -/// If the body is sleeping, calling this method will wake it up. Note that the -/// force will we added to the sum of the applied torques and that this sum will be -/// reset to zero at the end of each call of the DynamicsWorld::update() method. -/// You can only apply a force to a dynamic body otherwise, this method will do nothing. -/** - * @param torque The external torque to apply on the body - */ -inline void RigidBody::applyTorque(const Vector3& torque) { - - // If it is not a dynamic body, we do nothing - if (mType != BodyType::DYNAMIC) return; - - // Awake the body if it was sleeping - if (mIsSleeping) { - setIsSleeping(false); - } - - // Add the torque - mExternalTorque += torque; -} - } #endif diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 9a1cbe28..ac9b32dc 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) { + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -62,7 +62,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newSplitAngularVelocities + nbComponentsToAllocate); + Vector3* newExternalForces = reinterpret_cast(newSplitAngularVelocities + nbComponentsToAllocate); + Vector3* newExternalTorques = reinterpret_cast(newExternalForces + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -75,6 +77,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newExternalForces, mExternalForces, mNbComponents * sizeof(Vector3)); + memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory @@ -89,6 +93,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mConstrainedAngularVelocities = newConstrainedAngularVelocities; mSplitLinearVelocities = newSplitLinearVelocities; mSplitAngularVelocities = newSplitAngularVelocities; + mExternalForces = newExternalForces; + mExternalTorques = newExternalTorques; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -107,6 +113,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); new (mSplitLinearVelocities + index) Vector3(0, 0, 0); new (mSplitAngularVelocities + index) Vector3(0, 0, 0); + new (mExternalForces + index) Vector3(0, 0, 0); + new (mExternalTorques + index) Vector3(0, 0, 0); mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index @@ -132,6 +140,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]); + new (mExternalForces + destIndex) Vector3(mExternalForces[srcIndex]); + new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]); mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component @@ -159,6 +169,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]); + Vector3 externalForce1(mExternalForces[index1]); + Vector3 externalTorque1(mExternalTorques[index1]); bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 @@ -174,6 +186,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1); + new (mExternalForces + index2) Vector3(externalForce1); + new (mExternalTorques + index2) Vector3(externalTorque1); mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping @@ -200,4 +214,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mConstrainedAngularVelocities[index].~Vector3(); mSplitLinearVelocities[index].~Vector3(); mSplitAngularVelocities[index].~Vector3(); + mExternalForces[index].~Vector3(); + mExternalTorques[index].~Vector3(); } diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index adb23497..57737807 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -71,6 +71,12 @@ class DynamicsComponents : public Components { /// Array with the split angular velocity of each component Vector3* mSplitAngularVelocities; + /// Array with the external force of each component + Vector3* mExternalForces; + + /// Array with the external torque of each component + Vector3* mExternalTorques; + /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; @@ -132,6 +138,12 @@ class DynamicsComponents : public Components { /// Return the split angular velocity of an entity const Vector3& getSplitAngularVelocity(Entity bodyEntity) const; + /// Return the external force of an entity + const Vector3& getExternalForce(Entity bodyEntity) const; + + /// Return the external torque of an entity + const Vector3& getExternalTorque(Entity bodyEntity) const; + /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; @@ -153,6 +165,12 @@ class DynamicsComponents : public Components { /// Set the split angular velocity of an entity void setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity); + /// Set the external force of an entity + void setExternalForce(Entity bodyEntity, const Vector3& externalForce); + + /// Set the external force of an entity + void setExternalTorque(Entity bodyEntity, const Vector3& externalTorque); + /// Set the value to know if the entity is already in an island bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); @@ -234,6 +252,22 @@ inline const Vector3& DynamicsComponents::getSplitAngularVelocity(Entity bodyEnt return mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the external force of an entity +inline const Vector3& DynamicsComponents::getExternalForce(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mExternalForces[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the external torque of an entity +inline const Vector3& DynamicsComponents::getExternalTorque(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mExternalTorques[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -266,6 +300,22 @@ inline void DynamicsComponents::setSplitAngularVelocity(Entity bodyEntity, const mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitAngularVelocity; } +// Set the external force of an entity +inline void DynamicsComponents::setExternalForce(Entity bodyEntity, const Vector3& externalForce) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mExternalForces[mMapEntityToComponentIndex[bodyEntity]] = externalForce; +} + +// Set the external force of an entity +inline void DynamicsComponents::setExternalTorque(Entity bodyEntity, const Vector3& externalTorque) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mExternalTorques[mMapEntityToComponentIndex[bodyEntity]] = externalTorque; +} + // Return true if the entity is already in an island inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index dd9903f6..5f9d1700 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -234,9 +234,6 @@ void DynamicsWorld::updateBodiesState() { // Update the orientation of the body mTransformComponents.getTransform(bodyEntity).setOrientation(mConstrainedOrientations[index].getUnit()); - // TODO : REMOVE THIS - assert(mConstrainedOrientations[index].lengthSquare() < 1.5 * 1.5); - // Update the transform of the body (using the new center of mass and new orientation) body->updateTransformWithCenterOfMass(); @@ -318,9 +315,9 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Integrate the external force to get the new velocity of the body mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, body->getLinearVelocity() + - mTimeStep * body->mMassInverse * body->mExternalForce); + mTimeStep * body->mMassInverse * mDynamicsComponents.getExternalForce(bodyEntity)); mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, body->getAngularVelocity() + - mTimeStep * body->getInertiaTensorInverseWorld() * body->mExternalTorque); + mTimeStep * body->getInertiaTensorInverseWorld() * mDynamicsComponents.getExternalTorque(bodyEntity)); // If the gravity has to be applied to this rigid body if (body->isGravityEnabled() && mIsGravityEnabled) { diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index a1fa3717..45f8f9dd 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -261,10 +261,9 @@ class DynamicsWorld : public CollisionWorld { inline void DynamicsWorld::resetBodiesForceAndTorque() { // For each body of the world - List::Iterator it; - for (it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { - (*it)->mExternalForce.setToZero(); - (*it)->mExternalTorque.setToZero(); + for (uint32 i=0; i < mDynamicsComponents.getNbComponents(); i++) { + mDynamicsComponents.mExternalForces[i].setToZero(); + mDynamicsComponents.mExternalTorques[i].setToZero(); } } From 29c8587c8548babcae74c509aebc2e13c17b8bee Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 18 May 2019 14:00:25 +0200 Subject: [PATCH 055/197] Add linear/angular damping into DynamicsComponents --- src/body/RigidBody.cpp | 26 +++++++++++--- src/body/RigidBody.h | 22 ------------ src/components/DynamicsComponents.cpp | 19 ++++++++-- src/components/DynamicsComponents.h | 52 +++++++++++++++++++++++++-- src/engine/DynamicsWorld.cpp | 4 +-- 5 files changed, 90 insertions(+), 33 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 906dbc70..c7f6a878 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -42,7 +42,7 @@ using namespace reactphysics3d; RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) : CollisionBody(world, entity, id), mArrayIndex(0), mInitMass(decimal(1.0)), mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()), - mIsGravityEnabled(true), mMaterial(world.mConfig), mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)), + mIsGravityEnabled(true), mMaterial(world.mConfig), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { // Compute the inverse mass @@ -195,6 +195,22 @@ inline void RigidBody::applyForceToCenterOfMass(const Vector3& force) { mWorld.mDynamicsComponents.setExternalForce(mEntity, externalForce + force); } +// Return the linear velocity damping factor +/** + * @return The linear damping factor of this body + */ +decimal RigidBody::getLinearDamping() const { + return mWorld.mDynamicsComponents.getLinearDamping(mEntity); +} + +// Return the angular velocity damping factor +/** + * @return The angular damping factor of this body + */ +decimal RigidBody::getAngularDamping() const { + return mWorld.mDynamicsComponents.getAngularDamping(mEntity); +} + // Set the inverse local inertia tensor of the body (in local-space coordinates) /// If the inverse inertia tensor is set with this method, it will not be computed /// using the collision shapes of the body. @@ -427,10 +443,10 @@ void RigidBody::enableGravity(bool isEnabled) { */ void RigidBody::setLinearDamping(decimal linearDamping) { assert(linearDamping >= decimal(0.0)); - mLinearDamping = linearDamping; + mWorld.mDynamicsComponents.setLinearDamping(mEntity, linearDamping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set linearDamping=" + std::to_string(mLinearDamping)); + "Body " + std::to_string(mID) + ": Set linearDamping=" + std::to_string(linearDamping)); } // Set the angular damping factor. This is the ratio of the angular velocity @@ -440,10 +456,10 @@ void RigidBody::setLinearDamping(decimal linearDamping) { */ void RigidBody::setAngularDamping(decimal angularDamping) { assert(angularDamping >= decimal(0.0)); - mAngularDamping = angularDamping; + mWorld.mDynamicsComponents.setAngularDamping(mEntity, angularDamping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set angularDamping=" + std::to_string(mAngularDamping)); + "Body " + std::to_string(mID) + ": Set angularDamping=" + std::to_string(angularDamping)); } /// Update the transform of the body after a change of the center of mass diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 7c96bb78..c9a072b5 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -89,12 +89,6 @@ class RigidBody : public CollisionBody { /// Material properties of the rigid body Material mMaterial; - /// Linear velocity damping factor - decimal mLinearDamping; - - /// Angular velocity damping factor - decimal mAngularDamping; - /// First element of the linked list of joints involving this body JointListElement* mJointsList; @@ -286,22 +280,6 @@ inline Material& RigidBody::getMaterial() { return mMaterial; } -// Return the linear velocity damping factor -/** - * @return The linear damping factor of this body - */ -inline decimal RigidBody::getLinearDamping() const { - return mLinearDamping; -} - -// Return the angular velocity damping factor -/** - * @return The angular damping factor of this body - */ -inline decimal RigidBody::getAngularDamping() const { - return mAngularDamping; -} - // Return the first element of the linked list of joints involving this body /** * @return The first element of the linked-list of all the joints involving this body diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index ac9b32dc..7f3b71d8 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -36,7 +36,8 @@ using namespace reactphysics3d; // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) { + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -64,7 +65,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); Vector3* newExternalForces = reinterpret_cast(newSplitAngularVelocities + nbComponentsToAllocate); Vector3* newExternalTorques = reinterpret_cast(newExternalForces + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); + decimal* newLinearDampings = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); + decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -79,6 +82,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newExternalForces, mExternalForces, mNbComponents * sizeof(Vector3)); memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3)); + memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal)); + memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory @@ -95,6 +100,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mSplitAngularVelocities = newSplitAngularVelocities; mExternalForces = newExternalForces; mExternalTorques = newExternalTorques; + mLinearDampings = newLinearDampings; + mAngularDampings = newAngularDampings; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -115,6 +122,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mSplitAngularVelocities + index) Vector3(0, 0, 0); new (mExternalForces + index) Vector3(0, 0, 0); new (mExternalTorques + index) Vector3(0, 0, 0); + mLinearDampings[index] = decimal(0.0); + mAngularDampings[index] = decimal(0.0); mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index @@ -142,6 +151,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]); new (mExternalForces + destIndex) Vector3(mExternalForces[srcIndex]); new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]); + mLinearDampings[destIndex] = mLinearDampings[srcIndex]; + mAngularDampings[destIndex] = mAngularDampings[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component @@ -171,6 +182,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]); Vector3 externalForce1(mExternalForces[index1]); Vector3 externalTorque1(mExternalTorques[index1]); + decimal linearDamping1 = mLinearDampings[index1]; + decimal angularDamping1 = mAngularDampings[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 @@ -188,6 +201,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1); new (mExternalForces + index2) Vector3(externalForce1); new (mExternalTorques + index2) Vector3(externalTorque1); + mLinearDampings[index2] = linearDamping1; + mAngularDampings[index2] = angularDamping1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 57737807..a655f578 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -77,6 +77,12 @@ class DynamicsComponents : public Components { /// Array with the external torque of each component Vector3* mExternalTorques; + /// Array with the linear damping factor of each component + decimal* mLinearDampings; + + /// Array with the angular damping factor of each component + decimal* mAngularDampings; + /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; @@ -144,6 +150,12 @@ class DynamicsComponents : public Components { /// Return the external torque of an entity const Vector3& getExternalTorque(Entity bodyEntity) const; + /// Return the linear damping factor of an entity + decimal getLinearDamping(Entity bodyEntity) const; + + /// Return the angular damping factor of an entity + decimal getAngularDamping(Entity bodyEntity) const; + /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; @@ -171,11 +183,15 @@ class DynamicsComponents : public Components { /// Set the external force of an entity void setExternalTorque(Entity bodyEntity, const Vector3& externalTorque); + /// Set the linear damping factor of an entity + void setLinearDamping(Entity bodyEntity, decimal linearDamping); + + /// Set the angular damping factor of an entity + void setAngularDamping(Entity bodyEntity, decimal angularDamping); + /// Set the value to know if the entity is already in an island bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); - - // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -268,6 +284,22 @@ inline const Vector3& DynamicsComponents::getExternalTorque(Entity bodyEntity) c return mExternalTorques[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the linear damping factor of an entity +inline decimal DynamicsComponents::getLinearDamping(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mLinearDampings[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the angular damping factor of an entity +inline decimal DynamicsComponents::getAngularDamping(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mAngularDampings[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -316,6 +348,22 @@ inline void DynamicsComponents::setExternalTorque(Entity bodyEntity, const Vecto mExternalTorques[mMapEntityToComponentIndex[bodyEntity]] = externalTorque; } +// Set the linear damping factor of an entity +inline void DynamicsComponents::setLinearDamping(Entity bodyEntity, decimal linearDamping) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mLinearDampings[mMapEntityToComponentIndex[bodyEntity]] = linearDamping; +} + +// Set the angular damping factor of an entity +inline void DynamicsComponents::setAngularDamping(Entity bodyEntity, decimal angularDamping) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mAngularDampings[mMapEntityToComponentIndex[bodyEntity]] = angularDamping; +} + // Return true if the entity is already in an island inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 5f9d1700..7d09fae3 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -340,8 +340,8 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... // => e^(-x) ~ 1 - x // => v2 = v1 * (1 - c * dt) - decimal linDampingFactor = body->getLinearDamping(); - decimal angDampingFactor = body->getAngularDamping(); + decimal linDampingFactor = mDynamicsComponents.getLinearDamping(bodyEntity); + decimal angDampingFactor = mDynamicsComponents.getAngularDamping(bodyEntity); decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) * linearDamping); From ed4f76f7c6e2dca819530a08faf4eac2f3083131 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 18 May 2019 21:52:51 +0200 Subject: [PATCH 056/197] Add initMass and massInverse to DynamicsComponents --- src/body/RigidBody.cpp | 38 ++++++++++++-------- src/body/RigidBody.h | 14 -------- src/components/DynamicsComponents.cpp | 20 +++++++++-- src/components/DynamicsComponents.h | 50 +++++++++++++++++++++++++++ src/constraint/BallAndSocketJoint.cpp | 16 +++++---- src/constraint/FixedJoint.cpp | 18 +++++----- src/constraint/HingeJoint.cpp | 20 ++++++----- src/constraint/SliderJoint.cpp | 28 +++++++++------ src/engine/ContactSolver.cpp | 4 +-- src/engine/DynamicsWorld.cpp | 9 ++--- 10 files changed, 145 insertions(+), 72 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index c7f6a878..aa2d6f7f 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -40,13 +40,13 @@ using namespace reactphysics3d; * @param id The ID of the body */ RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) - : CollisionBody(world, entity, id), mArrayIndex(0), mInitMass(decimal(1.0)), + : CollisionBody(world, entity, id), mArrayIndex(0), mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()), mIsGravityEnabled(true), mMaterial(world.mConfig), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { // Compute the inverse mass - mMassInverse = decimal(1.0) / mInitMass; + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); @@ -91,12 +91,12 @@ void RigidBody::setType(BodyType type) { if (mType == BodyType::STATIC || mType == BodyType::KINEMATIC) { // Reset the inverse mass and inverse inertia tensor to zero - mMassInverse = decimal(0.0); + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0)); mInertiaTensorLocalInverse.setToZero(); mInertiaTensorInverseWorld.setToZero(); } else { // If it is a dynamic body - mMassInverse = decimal(1.0) / mInitMass; + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); if (mIsInertiaTensorSetByUser) { mInertiaTensorLocalInverse = mUserInertiaTensorLocalInverse; @@ -118,6 +118,14 @@ void RigidBody::setType(BodyType type) { mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); } +// Method that return the mass of the body +/** + * @return The mass (in kilograms) of the body + */ +decimal RigidBody::getMass() const { + return mWorld.mDynamicsComponents.getInitMass(mEntity); +} + // Apply an external force to the body at a given point (in world-space coordinates). /// If the point is not at the center of mass of the body, it will also /// generate some torque and therefore, change the angular velocity of the body. @@ -274,14 +282,14 @@ void RigidBody::setMass(decimal mass) { if (mType != BodyType::DYNAMIC) return; - mInitMass = mass; + mWorld.mDynamicsComponents.setInitMass(mEntity, mass); - if (mInitMass > decimal(0.0)) { - mMassInverse = decimal(1.0) / mInitMass; + if (mWorld.mDynamicsComponents.getInitMass(mEntity) > decimal(0.0)) { + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); } else { - mInitMass = decimal(1.0); - mMassInverse = decimal(1.0); + mWorld.mDynamicsComponents.setInitMass(mEntity, decimal(1.0)); + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0)); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, @@ -558,8 +566,8 @@ void RigidBody::setTransform(const Transform& transform) { // the collision shapes attached to the body. void RigidBody::recomputeMassInformation() { - mInitMass = decimal(0.0); - mMassInverse = decimal(0.0); + mWorld.mDynamicsComponents.setInitMass(mEntity, decimal(0.0)); + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0.0)); if (!mIsInertiaTensorSetByUser) mInertiaTensorLocalInverse.setToZero(); if (!mIsInertiaTensorSetByUser) mInertiaTensorInverseWorld.setToZero(); if (!mIsCenterOfMassSetByUser) mCenterOfMassLocal.setToZero(); @@ -580,15 +588,15 @@ void RigidBody::recomputeMassInformation() { const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - mInitMass += proxyShape->getMass(); + mWorld.mDynamicsComponents.setInitMass(mEntity, mWorld.mDynamicsComponents.getInitMass(mEntity) + proxyShape->getMass()); if (!mIsCenterOfMassSetByUser) { mCenterOfMassLocal += proxyShape->getLocalToBodyTransform().getPosition() * proxyShape->getMass(); } } - if (mInitMass > decimal(0.0)) { - mMassInverse = decimal(1.0) / mInitMass; + if (mWorld.mDynamicsComponents.getInitMass(mEntity) > decimal(0.0)) { + mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); } else { mCenterOfMassWorld = transform.getPosition(); @@ -599,7 +607,7 @@ void RigidBody::recomputeMassInformation() { const Vector3 oldCenterOfMass = mCenterOfMassWorld; if (!mIsCenterOfMassSetByUser) { - mCenterOfMassLocal *= mMassInverse; + mCenterOfMassLocal *= mWorld.mDynamicsComponents.getMassInverse(mEntity); } mCenterOfMassWorld = transform * mCenterOfMassLocal; diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index c9a072b5..27789cd2 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -60,9 +60,6 @@ class RigidBody : public CollisionBody { // -------------------- Attributes -------------------- // - /// Intial mass of the body - decimal mInitMass; - /// Center of mass of the body in local-space coordinates. /// The center of mass can therefore be different from the body origin Vector3 mCenterOfMassLocal; @@ -80,9 +77,6 @@ class RigidBody : public CollisionBody { /// Inverse of the world inertia tensor of the body Matrix3x3 mInertiaTensorInverseWorld; - /// Inverse of the mass of the body - decimal mMassInverse; - /// True if the gravity needs to be applied to this rigid body bool mIsGravityEnabled; @@ -235,14 +229,6 @@ class RigidBody : public CollisionBody { friend class FixedJoint; }; -// Method that return the mass of the body -/** - * @return The mass (in kilograms) of the body - */ -inline decimal RigidBody::getMass() const { - return mInitMass; -} - // Get the inverse local inertia tensor of the body (in body coordinates) inline const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { return mInertiaTensorLocalInverse; diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 7f3b71d8..7a0b5333 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -36,8 +36,8 @@ using namespace reactphysics3d; // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(bool)) { + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -67,7 +67,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newExternalTorques = reinterpret_cast(newExternalForces + nbComponentsToAllocate); decimal* newLinearDampings = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); + decimal* newInitMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); + decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -84,6 +86,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3)); memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal)); memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); + memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal)); + memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory @@ -102,6 +106,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mExternalTorques = newExternalTorques; mLinearDampings = newLinearDampings; mAngularDampings = newAngularDampings; + mInitMasses = newInitMasses; + mInverseMasses = newInverseMasses; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -124,6 +130,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mExternalTorques + index) Vector3(0, 0, 0); mLinearDampings[index] = decimal(0.0); mAngularDampings[index] = decimal(0.0); + mInitMasses[index] = decimal(1.0); + mInverseMasses[index] = decimal(1.0); mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index @@ -153,6 +161,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]); mLinearDampings[destIndex] = mLinearDampings[srcIndex]; mAngularDampings[destIndex] = mAngularDampings[srcIndex]; + mInitMasses[destIndex] = mInitMasses[srcIndex]; + mInverseMasses[destIndex] = mInverseMasses[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component @@ -184,6 +194,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 externalTorque1(mExternalTorques[index1]); decimal linearDamping1 = mLinearDampings[index1]; decimal angularDamping1 = mAngularDampings[index1]; + decimal initMass1 = mInitMasses[index1]; + decimal inverseMass1 = mInverseMasses[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 @@ -203,6 +215,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { new (mExternalTorques + index2) Vector3(externalTorque1); mLinearDampings[index2] = linearDamping1; mAngularDampings[index2] = angularDamping1; + mInitMasses[index2] = initMass1; + mInverseMasses[index2] = inverseMass1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index a655f578..65527710 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -83,6 +83,12 @@ class DynamicsComponents : public Components { /// Array with the angular damping factor of each component decimal* mAngularDampings; + /// Array with the initial mass of each component + decimal* mInitMasses; + + /// Array with the inverse mass of each component + decimal* mInverseMasses; + /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; @@ -156,6 +162,12 @@ class DynamicsComponents : public Components { /// Return the angular damping factor of an entity decimal getAngularDamping(Entity bodyEntity) const; + /// Return the initial mass of an entity + decimal getInitMass(Entity bodyEntity) const; + + /// Return the mass inverse of an entity + decimal getMassInverse(Entity bodyEntity) const; + /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; @@ -189,6 +201,12 @@ class DynamicsComponents : public Components { /// Set the angular damping factor of an entity void setAngularDamping(Entity bodyEntity, decimal angularDamping); + /// Set the initial mass of an entity + void setInitMass(Entity bodyEntity, decimal initMass); + + /// Set the inverse mass of an entity + void setMassInverse(Entity bodyEntity, decimal inverseMass); + /// Set the value to know if the entity is already in an island bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); @@ -300,6 +318,22 @@ inline decimal DynamicsComponents::getAngularDamping(Entity bodyEntity) const { return mAngularDampings[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the initial mass of an entity +inline decimal DynamicsComponents::getInitMass(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInitMasses[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the inverse mass of an entity +inline decimal DynamicsComponents::getMassInverse(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseMasses[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -364,6 +398,22 @@ inline void DynamicsComponents::setAngularDamping(Entity bodyEntity, decimal ang mAngularDampings[mMapEntityToComponentIndex[bodyEntity]] = angularDamping; } +// Set the initial mass of an entity +inline void DynamicsComponents::setInitMass(Entity bodyEntity, decimal initMass) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInitMasses[mMapEntityToComponentIndex[bodyEntity]] = initMass; +} + +// Set the mass inverse of an entity +inline void DynamicsComponents::setMassInverse(Entity bodyEntity, decimal inverseMass) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInverseMasses[mMapEntityToComponentIndex[bodyEntity]] = inverseMass; +} + // Return true if the entity is already in an island inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index fbf1c6b6..3304d52a 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -68,7 +68,9 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) - decimal inverseMassBodies = mBody1->mMassInverse + mBody2->mMassInverse; + decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); + decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + @@ -113,14 +115,14 @@ void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverD const Vector3 angularImpulseBody1 = mImpulse.cross(mR1World); // Apply the impulse to the body 1 - v1 += mBody1->mMassInverse * linearImpulseBody1; + v1 += constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; w1 += mI1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -mImpulse.cross(mR2World); // Apply the impulse to the body to the body 2 - v2 += mBody2->mMassInverse * mImpulse; + v2 += constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity) * mImpulse; w2 += mI2 * angularImpulseBody2; } @@ -148,14 +150,14 @@ void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& con const Vector3 angularImpulseBody1 = deltaLambda.cross(mR1World); // Apply the impulse to the body 1 - v1 += mBody1->mMassInverse * linearImpulseBody1; + v1 += constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; w1 += mI1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -deltaLambda.cross(mR2World); // Apply the impulse to the body 2 - v2 += mBody2->mMassInverse * deltaLambda; + v2 += constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity) * deltaLambda; w2 += mI2 * angularImpulseBody2; } @@ -173,8 +175,8 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Recompute the inverse inertia tensors mI1 = mBody1->getInertiaTensorInverseWorld(); diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 022984ea..552f77d2 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -83,7 +83,9 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - decimal inverseMassBodies = mBody1->mMassInverse + mBody2->mMassInverse; + const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); + const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + const decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + @@ -140,8 +142,8 @@ void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies - const decimal inverseMassBody1 = mBody1->mMassInverse; - const decimal inverseMassBody2 = mBody2->mMassInverse; + const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 1 Vector3 linearImpulseBody1 = -mImpulseTranslation; @@ -178,8 +180,8 @@ void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // --------------- Translation Constraints --------------- // @@ -239,8 +241,8 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Recompute the inverse inertia tensors mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -257,7 +259,7 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // --------------- Translation Constraints --------------- // // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - decimal inverseMassBodies = mBody1->mMassInverse + mBody2->mMassInverse; + decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 41b22a83..ab61f639 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -117,7 +117,9 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) - decimal inverseMassBodies = mBody1->mMassInverse + mBody2->mMassInverse; + decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); + decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + @@ -209,8 +211,8 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = mBody1->mMassInverse; - const decimal inverseMassBody2 = mBody2->mMassInverse; + const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Compute the impulse P=J^T * lambda for the 2 rotation constraints Vector3 rotationImpulse = -mB2CrossA1 * mImpulseRotation.x - mC2CrossA1 * mImpulseRotation.y; @@ -268,8 +270,8 @@ void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // --------------- Translation Constraints --------------- // @@ -418,8 +420,8 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Recompute the inverse inertia tensors mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -455,7 +457,9 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // --------------- Translation Constraints --------------- // // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - decimal inverseMassBodies = mBody1->mMassInverse + mBody2->mMassInverse; + const decimal body1InverseMass = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal body2InverseMass = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal inverseMassBodies = body1InverseMass + body2InverseMass; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 51501827..a46cf7f6 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -128,7 +128,9 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) - decimal sumInverseMass = mBody1->mMassInverse + mBody2->mMassInverse; + const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); + const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + const decimal sumInverseMass = body1MassInverse + body2MassInverse; Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; Vector3 I2R2CrossN1 = mI2 * mR2CrossN1; @@ -174,7 +176,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa if (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated)) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - mInverseMassMatrixLimit = mBody1->mMassInverse + mBody2->mMassInverse + + mInverseMassMatrixLimit = sumInverseMass + mR1PlusUCrossSliderAxis.dot(mI1 * mR1PlusUCrossSliderAxis) + mR2CrossSliderAxis.dot(mI2 * mR2CrossSliderAxis); mInverseMassMatrixLimit = (mInverseMassMatrixLimit > 0.0) ? @@ -197,7 +199,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa if (mIsMotorEnabled) { // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix) - mInverseMassMatrixMotor = mBody1->mMassInverse + mBody2->mMassInverse; + mInverseMassMatrixMotor = sumInverseMass; mInverseMassMatrixMotor = (mInverseMassMatrixMotor > 0.0) ? decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0); } @@ -227,8 +229,8 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = mBody1->mMassInverse; - const decimal inverseMassBody2 = mBody2->mMassInverse; + const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 decimal impulseLimits = mImpulseUpperLimit - mImpulseLowerLimit; @@ -289,8 +291,8 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // --------------- Translation Constraints --------------- // @@ -450,8 +452,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = mBody1->mMassInverse; - decimal inverseMassBody2 = mBody2->mMassInverse; + const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); // Recompute the inertia tensor of bodies mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -490,7 +492,9 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) - decimal sumInverseMass = mBody1->mMassInverse + mBody2->mMassInverse; + const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal sumInverseMass = body1MassInverse + body2MassInverse; Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; Vector3 I2R2CrossN1 = mI2 * mR2CrossN1; @@ -610,7 +614,9 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint if (mIsLowerLimitViolated || mIsUpperLimitViolated) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - mInverseMassMatrixLimit = mBody1->mMassInverse + mBody2->mMassInverse + + const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); + const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + mInverseMassMatrixLimit = body1MassInverse + body2MassInverse + mR1PlusUCrossSliderAxis.dot(mI1 * mR1PlusUCrossSliderAxis) + mR2CrossSliderAxis.dot(mI2 * mR2CrossSliderAxis); mInverseMassMatrixLimit = (mInverseMassMatrixLimit > 0.0) ? diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index 20e31f5b..4f510b7f 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -143,8 +143,8 @@ void ContactSolver::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mDynamicsComponents.getEntityIndex(body2->getEntity()); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld(); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld(); - mContactConstraints[mNbContactManifolds].massInverseBody1 = body1->mMassInverse; - mContactConstraints[mNbContactManifolds].massInverseBody2 = body2->mMassInverse; + mContactConstraints[mNbContactManifolds].massInverseBody1 = mDynamicsComponents.getMassInverse(body1->getEntity()); + mContactConstraints[mNbContactManifolds].massInverseBody2 = mDynamicsComponents.getMassInverse(body2->getEntity()); mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.getNbContactPoints(); mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 7d09fae3..26e3ddf2 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -314,16 +314,17 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { assert(indexBody < mRigidBodies.size()); // Integrate the external force to get the new velocity of the body - mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, body->getLinearVelocity() + - mTimeStep * body->mMassInverse * mDynamicsComponents.getExternalForce(bodyEntity)); - mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, body->getAngularVelocity() + + mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getLinearVelocity(bodyEntity) + + mTimeStep * mDynamicsComponents.getMassInverse(bodyEntity) * mDynamicsComponents.getExternalForce(bodyEntity)); + mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, mDynamicsComponents.getAngularVelocity(bodyEntity) + mTimeStep * body->getInertiaTensorInverseWorld() * mDynamicsComponents.getExternalTorque(bodyEntity)); // If the gravity has to be applied to this rigid body if (body->isGravityEnabled() && mIsGravityEnabled) { // Integrate the gravity force - mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) + mTimeStep * body->mMassInverse * + mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) + + mTimeStep * mDynamicsComponents.getMassInverse(bodyEntity) * body->getMass() * mGravity); } From a11d884ce1f5c56bcc1018fcfc0ba4a86defd5bf Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 20 May 2019 07:12:09 +0200 Subject: [PATCH 057/197] Move isGravityEnabled and inertia tensors in DynamicsComponents --- src/body/RigidBody.cpp | 55 +++++++++++++---- src/body/RigidBody.h | 38 ------------ src/components/DynamicsComponents.cpp | 28 ++++++++- src/components/DynamicsComponents.h | 76 +++++++++++++++++++++++ src/engine/DynamicsWorld.cpp | 88 ++++++++++++--------------- 5 files changed, 184 insertions(+), 101 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index aa2d6f7f..2948f9be 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -42,8 +42,7 @@ using namespace reactphysics3d; RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) : CollisionBody(world, entity, id), mArrayIndex(0), mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()), - mIsGravityEnabled(true), mMaterial(world.mConfig), - mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { + mMaterial(world.mConfig), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { // Compute the inverse mass mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); @@ -92,14 +91,14 @@ void RigidBody::setType(BodyType type) { // Reset the inverse mass and inverse inertia tensor to zero mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0)); - mInertiaTensorLocalInverse.setToZero(); - mInertiaTensorInverseWorld.setToZero(); + mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); } else { // If it is a dynamic body mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); if (mIsInertiaTensorSetByUser) { - mInertiaTensorLocalInverse = mUserInertiaTensorLocalInverse; + mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); } } @@ -118,6 +117,27 @@ void RigidBody::setType(BodyType type) { mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); } +// Get the inverse local inertia tensor of the body (in body coordinates) +const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { + return mWorld.mDynamicsComponents.getInertiaTensorLocalInverse(mEntity); +} + +// Return the inverse of the inertia tensor in world coordinates. +/// The inertia tensor I_w in world coordinates is computed with the +/// local inverse inertia tensor I_b^-1 in body coordinates +/// by I_w = R * I_b^-1 * R^T +/// where R is the rotation matrix (and R^T its transpose) of the +/// current orientation quaternion of the body +/** + * @return The 3x3 inverse inertia tensor matrix of the body in world-space + * coordinates + */ +Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { + + // Compute and return the inertia tensor in world coordinates + return mWorld.mDynamicsComponents.getInertiaTensorWorldInverse(mEntity); +} + // Method that return the mass of the body /** * @return The mass (in kilograms) of the body @@ -171,7 +191,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { if (mType != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor - mInertiaTensorLocalInverse = mUserInertiaTensorLocalInverse; + mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); @@ -234,7 +254,7 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens if (mType != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor - mInertiaTensorLocalInverse = mUserInertiaTensorLocalInverse; + mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); @@ -337,7 +357,8 @@ void RigidBody::updateInertiaTensorInverseWorld() { // TODO : Make sure we do this in a system Matrix3x3 orientation = mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getMatrix(); - mInertiaTensorInverseWorld = orientation * mInertiaTensorLocalInverse * orientation.getTranspose(); + const Matrix3x3& inverseInertiaLocalTensor = mWorld.mDynamicsComponents.getInertiaTensorLocalInverse(mEntity); + mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, orientation * inverseInertiaLocalTensor * orientation.getTranspose()); } // Add a collision shape to the body. @@ -437,11 +458,11 @@ void RigidBody::removeCollisionShape(ProxyShape* proxyShape) { * @param isEnabled True if you want the gravity to be applied to this body */ void RigidBody::enableGravity(bool isEnabled) { - mIsGravityEnabled = isEnabled; + mWorld.mDynamicsComponents.setIsGravityEnabled(mEntity, isEnabled); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mID) + ": Set isGravityEnabled=" + - (mIsGravityEnabled ? "true" : "false")); + (isEnabled ? "true" : "false")); } // Set the linear damping factor. This is the ratio of the linear velocity @@ -568,8 +589,8 @@ void RigidBody::recomputeMassInformation() { mWorld.mDynamicsComponents.setInitMass(mEntity, decimal(0.0)); mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0.0)); - if (!mIsInertiaTensorSetByUser) mInertiaTensorLocalInverse.setToZero(); - if (!mIsInertiaTensorSetByUser) mInertiaTensorInverseWorld.setToZero(); + if (!mIsInertiaTensorSetByUser) mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + if (!mIsInertiaTensorSetByUser) mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); if (!mIsCenterOfMassSetByUser) mCenterOfMassLocal.setToZero(); Matrix3x3 inertiaTensorLocal; inertiaTensorLocal.setToZero(); @@ -646,7 +667,7 @@ void RigidBody::recomputeMassInformation() { } // Compute the local inverse inertia tensor - mInertiaTensorLocalInverse = inertiaTensorLocal.getInverse(); + mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); } // Update the world inverse inertia tensor @@ -675,6 +696,14 @@ Vector3 RigidBody::getAngularVelocity() const { return mWorld.mDynamicsComponents.getAngularVelocity(mEntity); } +// Return true if the gravity needs to be applied to this rigid body +/** + * @return True if the gravity is applied to the body + */ +bool RigidBody::isGravityEnabled() const { + return mWorld.mDynamicsComponents.getIsGravityEnabled(mEntity); +} + // Apply an external torque to the body. /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied torques and that this sum will be diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 27789cd2..d5bd92cc 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -71,15 +71,6 @@ class RigidBody : public CollisionBody { /// by the user with respect to the center of mass of the body Matrix3x3 mUserInertiaTensorLocalInverse; - /// Inverse of the inertia tensor of the body - Matrix3x3 mInertiaTensorLocalInverse; - - /// Inverse of the world inertia tensor of the body - Matrix3x3 mInertiaTensorInverseWorld; - - /// True if the gravity needs to be applied to this rigid body - bool mIsGravityEnabled; - /// Material properties of the rigid body Material mMaterial; @@ -229,35 +220,6 @@ class RigidBody : public CollisionBody { friend class FixedJoint; }; -// Get the inverse local inertia tensor of the body (in body coordinates) -inline const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { - return mInertiaTensorLocalInverse; -} - -// Return the inverse of the inertia tensor in world coordinates. -/// The inertia tensor I_w in world coordinates is computed with the -/// local inverse inertia tensor I_b^-1 in body coordinates -/// by I_w = R * I_b^-1 * R^T -/// where R is the rotation matrix (and R^T its transpose) of the -/// current orientation quaternion of the body -/** - * @return The 3x3 inverse inertia tensor matrix of the body in world-space - * coordinates - */ -inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { - - // Compute and return the inertia tensor in world coordinates - return mInertiaTensorInverseWorld; -} - -// Return true if the gravity needs to be applied to this rigid body -/** - * @return True if the gravity is applied to the body - */ -inline bool RigidBody::isGravityEnabled() const { - return mIsGravityEnabled; -} - // Return a reference to the material properties of the rigid body /** * @return A reference to the material of the body diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 7a0b5333..7dc8764b 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -37,7 +37,8 @@ using namespace reactphysics3d; DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + - sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(bool)) { + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + + sizeof(bool) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -69,7 +70,10 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); decimal* newInitMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); + bool* newIsGravityEnabled = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -88,6 +92,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal)); memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); + memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); + memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); + memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory @@ -108,6 +115,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mAngularDampings = newAngularDampings; mInitMasses = newInitMasses; mInverseMasses = newInverseMasses; + mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; + mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; + mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -132,6 +142,9 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const mAngularDampings[index] = decimal(0.0); mInitMasses[index] = decimal(1.0); mInverseMasses[index] = decimal(1.0); + new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); + new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); + mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index @@ -163,6 +176,9 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) mAngularDampings[destIndex] = mAngularDampings[srcIndex]; mInitMasses[destIndex] = mInitMasses[srcIndex]; mInverseMasses[destIndex] = mInverseMasses[srcIndex]; + mInverseInertiaTensorsLocal[destIndex] = mInverseInertiaTensorsLocal[srcIndex]; + mInverseInertiaTensorsWorld[destIndex] = mInverseInertiaTensorsWorld[srcIndex]; + mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component @@ -196,6 +212,9 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { decimal angularDamping1 = mAngularDampings[index1]; decimal initMass1 = mInitMasses[index1]; decimal inverseMass1 = mInverseMasses[index1]; + Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; + Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; + bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 @@ -217,6 +236,9 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { mAngularDampings[index2] = angularDamping1; mInitMasses[index2] = initMass1; mInverseMasses[index2] = inverseMass1; + mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; + mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; + mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping @@ -245,4 +267,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mSplitAngularVelocities[index].~Vector3(); mExternalForces[index].~Vector3(); mExternalTorques[index].~Vector3(); + mInverseInertiaTensorsLocal[index].~Matrix3x3(); + mInverseInertiaTensorsWorld[index].~Matrix3x3(); } diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 65527710..96f9bb0e 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -30,6 +30,7 @@ #include "mathematics/Transform.h" #include "engine/Entity.h" #include "components/Components.h" +#include "mathematics/Matrix3x3.h" #include "containers/Map.h" // ReactPhysics3D namespace @@ -89,6 +90,15 @@ class DynamicsComponents : public Components { /// Array with the inverse mass of each component decimal* mInverseMasses; + /// Array with the inverse of the inertia tensor of each component + Matrix3x3* mInverseInertiaTensorsLocal; + + /// Array with the inverse of the world inertia tensor of each component + Matrix3x3* mInverseInertiaTensorsWorld; + + /// True if the gravity needs to be applied to this component + bool* mIsGravityEnabled; + /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; @@ -168,6 +178,15 @@ class DynamicsComponents : public Components { /// Return the mass inverse of an entity decimal getMassInverse(Entity bodyEntity) const; + /// Return the inverse local inertia tensor of an entity + const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity); + + /// Return the inverse world inertia tensor of an entity + const Matrix3x3& getInertiaTensorWorldInverse(Entity bodyEntity); + + /// Return true if gravity is enabled for this entity + bool getIsGravityEnabled(Entity bodyEntity) const; + /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; @@ -207,6 +226,15 @@ class DynamicsComponents : public Components { /// Set the inverse mass of an entity void setMassInverse(Entity bodyEntity, decimal inverseMass); + /// Set the inverse local inertia tensor of an entity + void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse); + + /// Set the inverse world inertia tensor of an entity + void setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse); + + /// Set the value to know if the gravity is enabled for this entity + bool setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); + /// Set the value to know if the entity is already in an island bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); @@ -334,6 +362,22 @@ inline decimal DynamicsComponents::getMassInverse(Entity bodyEntity) const { return mInverseMasses[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the inverse local inertia tensor of an entity +inline const Matrix3x3& DynamicsComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the inverse world inertia tensor of an entity +inline const Matrix3x3& DynamicsComponents::getInertiaTensorWorldInverse(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -414,6 +458,30 @@ inline void DynamicsComponents::setMassInverse(Entity bodyEntity, decimal invers mInverseMasses[mMapEntityToComponentIndex[bodyEntity]] = inverseMass; } +// Set the inverse local inertia tensor of an entity +inline void DynamicsComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorLocalInverse; +} + +// Set the inverse world inertia tensor of an entity +inline void DynamicsComponents::setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorWorldInverse; +} + +// Return true if gravity is enabled for this entity +inline bool DynamicsComponents::getIsGravityEnabled(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]]; +} + // Return true if the entity is already in an island inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { @@ -422,6 +490,14 @@ inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { return mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]]; } +// Set the value to know if the gravity is enabled for this entity +inline bool DynamicsComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]] = isGravityEnabled; +} + /// Set the value to know if the entity is already in an island inline bool DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 26e3ddf2..901ca014 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -295,60 +295,52 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Reset the split velocities of the bodies resetSplitVelocities(); - // TODO : We should loop over non-sleeping dynamic components here and not over islands + // Integration component velocities using force/torque + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { - // For each island of the world - for (uint i=0; i < mIslands.getNbIslands(); i++) { + assert(mDynamicsComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0)); + assert(mDynamicsComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0)); - // For each body of the island - for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + // Integrate the external force to get the new velocity of the body + mDynamicsComponents.mConstrainedLinearVelocities[i] = mDynamicsComponents.mLinearVelocities[i] + mTimeStep * + mDynamicsComponents.mInverseMasses[i] * mDynamicsComponents.mExternalForces[i]; + mDynamicsComponents.mConstrainedAngularVelocities[i] = mDynamicsComponents.mAngularVelocities[i] + + mTimeStep * mDynamicsComponents.mInverseInertiaTensorsWorld[i] * mDynamicsComponents.mExternalTorques[i]; + } - const Entity bodyEntity = mIslands.bodyEntities[i][b]; + // Apply gravity force + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { + // If the gravity has to be applied to this rigid body + if (mDynamicsComponents.mIsGravityEnabled[i] && mIsGravityEnabled) { - RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); - - const uint indexBody = body->mArrayIndex; - - assert(mDynamicsComponents.getSplitLinearVelocity(bodyEntity) == Vector3(0, 0, 0)); - assert(mDynamicsComponents.getSplitAngularVelocity(bodyEntity) == Vector3(0, 0, 0)); - assert(indexBody < mRigidBodies.size()); - - // Integrate the external force to get the new velocity of the body - mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getLinearVelocity(bodyEntity) + - mTimeStep * mDynamicsComponents.getMassInverse(bodyEntity) * mDynamicsComponents.getExternalForce(bodyEntity)); - mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, mDynamicsComponents.getAngularVelocity(bodyEntity) + - mTimeStep * body->getInertiaTensorInverseWorld() * mDynamicsComponents.getExternalTorque(bodyEntity)); - - // If the gravity has to be applied to this rigid body - if (body->isGravityEnabled() && mIsGravityEnabled) { - - // Integrate the gravity force - mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) + - mTimeStep * mDynamicsComponents.getMassInverse(bodyEntity) * - body->getMass() * mGravity); - } - - // Apply the velocity damping - // Damping force : F_c = -c' * v (c=damping factor) - // Equation : m * dv/dt = -c' * v - // => dv/dt = -c * v (with c=c'/m) - // => dv/dt + c * v = 0 - // Solution : v(t) = v0 * e^(-c * t) - // => v(t + dt) = v0 * e^(-c(t + dt)) - // = v0 * e^(-ct) * e^(-c * dt) - // = v(t) * e^(-c * dt) - // => v2 = v1 * e^(-c * dt) - // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... - // => e^(-x) ~ 1 - x - // => v2 = v1 * (1 - c * dt) - decimal linDampingFactor = mDynamicsComponents.getLinearDamping(bodyEntity); - decimal angDampingFactor = mDynamicsComponents.getAngularDamping(bodyEntity); - decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); - decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); - mDynamicsComponents.setConstrainedLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity) * linearDamping); - mDynamicsComponents.setConstrainedAngularVelocity(bodyEntity, mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity) * angularDamping); + // Integrate the gravity force + mDynamicsComponents.mConstrainedLinearVelocities[i] = mDynamicsComponents.mConstrainedLinearVelocities[i] + mTimeStep * + mDynamicsComponents.mInverseMasses[i] * mDynamicsComponents.mInitMasses[i] * mGravity; } } + + // Apply the velocity damping + // Damping force : F_c = -c' * v (c=damping factor) + // Equation : m * dv/dt = -c' * v + // => dv/dt = -c * v (with c=c'/m) + // => dv/dt + c * v = 0 + // Solution : v(t) = v0 * e^(-c * t) + // => v(t + dt) = v0 * e^(-c(t + dt)) + // = v0 * e^(-ct) * e^(-c * dt) + // = v(t) * e^(-c * dt) + // => v2 = v1 * e^(-c * dt) + // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... + // => e^(-x) ~ 1 - x + // => v2 = v1 * (1 - c * dt) + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { + + const decimal linDampingFactor = mDynamicsComponents.mLinearDampings[i]; + const decimal angDampingFactor = mDynamicsComponents.mAngularDampings[i]; + const decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); + const decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); + mDynamicsComponents.mConstrainedLinearVelocities[i] = mDynamicsComponents.mConstrainedLinearVelocities[i] * linearDamping; + mDynamicsComponents.mConstrainedAngularVelocities[i] = mDynamicsComponents.mConstrainedAngularVelocities[i] * angularDamping; + } } // Solve the contacts and constraints From 1bc7e0710ba5ee9e7a90af9a53919211ae439c5d Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 20 May 2019 07:42:24 +0200 Subject: [PATCH 058/197] Add constrained position/orientation to DynamicsComponents --- src/components/DynamicsComponents.cpp | 20 +++++++++-- src/components/DynamicsComponents.h | 50 +++++++++++++++++++++++++++ src/constraint/BallAndSocketJoint.cpp | 13 ++++--- src/constraint/FixedJoint.cpp | 13 ++++--- src/constraint/HingeJoint.cpp | 13 ++++--- src/constraint/SliderJoint.cpp | 13 ++++--- src/engine/ConstraintSolver.h | 23 +----------- src/engine/DynamicsWorld.cpp | 26 ++++---------- src/engine/DynamicsWorld.h | 6 ---- 9 files changed, 112 insertions(+), 65 deletions(-) diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 7dc8764b..372feb1f 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -38,7 +38,7 @@ DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + - sizeof(bool) + sizeof(bool)) { + sizeof(Vector3) + sizeof(Quaternion) + sizeof(bool) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -72,7 +72,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); - bool* newIsGravityEnabled = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); + Vector3* newConstrainedPositions = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); + Quaternion* newConstrainedOrientations = reinterpret_cast(newConstrainedPositions + nbComponentsToAllocate); + bool* newIsGravityEnabled = reinterpret_cast(newConstrainedOrientations + nbComponentsToAllocate); bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); // If there was already components before @@ -94,6 +96,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); + memcpy(newConstrainedPositions, mConstrainedPositions, mNbComponents * sizeof(Vector3)); + memcpy(newConstrainedOrientations, mConstrainedOrientations, mNbComponents * sizeof(Quaternion)); memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); @@ -117,6 +121,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mInverseMasses = newInverseMasses; mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; + mConstrainedPositions = newConstrainedPositions; + mConstrainedOrientations = newConstrainedOrientations; mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; @@ -144,6 +150,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const mInverseMasses[index] = decimal(1.0); new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); + new (mConstrainedPositions + index) Vector3(0, 0, 0); + new (mConstrainedOrientations + index) Quaternion(0, 0, 0, 1); mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; @@ -178,6 +186,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) mInverseMasses[destIndex] = mInverseMasses[srcIndex]; mInverseInertiaTensorsLocal[destIndex] = mInverseInertiaTensorsLocal[srcIndex]; mInverseInertiaTensorsWorld[destIndex] = mInverseInertiaTensorsWorld[srcIndex]; + mConstrainedPositions[destIndex] = mConstrainedPositions[srcIndex]; + mConstrainedOrientations[destIndex] = mConstrainedOrientations[srcIndex]; mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; @@ -214,6 +224,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { decimal inverseMass1 = mInverseMasses[index1]; Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; + Vector3 constrainedPosition1 = mConstrainedPositions[index1]; + Quaternion constrainedOrientation1 = mConstrainedOrientations[index1]; bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; @@ -238,6 +250,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { mInverseMasses[index2] = inverseMass1; mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; + mConstrainedPositions[index2] = constrainedPosition1; + mConstrainedOrientations[index2] = constrainedOrientation1; mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; @@ -269,4 +283,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mExternalTorques[index].~Vector3(); mInverseInertiaTensorsLocal[index].~Matrix3x3(); mInverseInertiaTensorsWorld[index].~Matrix3x3(); + mConstrainedPositions[index].~Vector3(); + mConstrainedOrientations[index].~Quaternion(); } diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 96f9bb0e..bcb25018 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -96,6 +96,12 @@ class DynamicsComponents : public Components { /// Array with the inverse of the world inertia tensor of each component Matrix3x3* mInverseInertiaTensorsWorld; + /// Array with the constrained position of each component (for position error correction) + Vector3* mConstrainedPositions; + + /// Array of constrained orientation for each component (for position error correction) + Quaternion* mConstrainedOrientations; + /// True if the gravity needs to be applied to this component bool* mIsGravityEnabled; @@ -184,6 +190,12 @@ class DynamicsComponents : public Components { /// Return the inverse world inertia tensor of an entity const Matrix3x3& getInertiaTensorWorldInverse(Entity bodyEntity); + /// Return the constrained position of an entity + const Vector3& getConstrainedPosition(Entity bodyEntity); + + /// Return the constrained orientation of an entity + const Quaternion& getConstrainedOrientation(Entity bodyEntity); + /// Return true if gravity is enabled for this entity bool getIsGravityEnabled(Entity bodyEntity) const; @@ -232,6 +244,12 @@ class DynamicsComponents : public Components { /// Set the inverse world inertia tensor of an entity void setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse); + /// Set the constrained position of an entity + void setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition); + + /// Set the constrained orientation of an entity + void setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation); + /// Set the value to know if the gravity is enabled for this entity bool setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); @@ -378,6 +396,22 @@ inline const Matrix3x3& DynamicsComponents::getInertiaTensorWorldInverse(Entity return mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the constrained position of an entity +inline const Vector3& DynamicsComponents::getConstrainedPosition(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedPositions[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the constrained orientation of an entity +inline const Quaternion& DynamicsComponents::getConstrainedOrientation(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -474,6 +508,22 @@ inline void DynamicsComponents::setInverseInertiaTensorWorld(Entity bodyEntity, mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorWorldInverse; } +// Set the constrained position of an entity +inline void DynamicsComponents::setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedPositions[mMapEntityToComponentIndex[bodyEntity]] = constrainedPosition; +} + +// Set the constrained orientation of an entity +inline void DynamicsComponents::setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]] = constrainedOrientation; +} + // Return true if gravity is enabled for this entity inline bool DynamicsComponents::getIsGravityEnabled(Entity bodyEntity) const { diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 3304d52a..be218be7 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -169,10 +169,10 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies center of mass and orientations - Vector3& x1 = constraintSolverData.positions[mIndexBody1]; - Vector3& x2 = constraintSolverData.positions[mIndexBody2]; - Quaternion& q1 = constraintSolverData.orientations[mIndexBody1]; - Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; + Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); @@ -234,5 +234,10 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con x2 += v2; q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); + + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); } diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 552f77d2..f16ba568 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -235,10 +235,10 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3& x1 = constraintSolverData.positions[mIndexBody1]; - Vector3& x2 = constraintSolverData.positions[mIndexBody2]; - Quaternion& q1 = constraintSolverData.orientations[mIndexBody1]; - Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; + Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); @@ -357,5 +357,10 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); + + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); } diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index ab61f639..af5a540e 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -414,10 +414,10 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3& x1 = constraintSolverData.positions[mIndexBody1]; - Vector3& x2 = constraintSolverData.positions[mIndexBody2]; - Quaternion& q1 = constraintSolverData.orientations[mIndexBody1]; - Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; + Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); @@ -614,6 +614,11 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS q2.normalize(); } } + + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); } diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index a46cf7f6..0d1cf8d1 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -446,10 +446,10 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3& x1 = constraintSolverData.positions[mIndexBody1]; - Vector3& x2 = constraintSolverData.positions[mIndexBody2]; - Quaternion& q1 = constraintSolverData.orientations[mIndexBody1]; - Quaternion& q2 = constraintSolverData.orientations[mIndexBody2]; + Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); @@ -689,6 +689,11 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint q2.normalize(); } } + + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); } // Enable/Disable the limits of the joint diff --git a/src/engine/ConstraintSolver.h b/src/engine/ConstraintSolver.h index d051daf2..0a4ae48c 100644 --- a/src/engine/ConstraintSolver.h +++ b/src/engine/ConstraintSolver.h @@ -54,18 +54,12 @@ struct ConstraintSolverData { /// Reference to the dynamics components DynamicsComponents& dynamicsComponents; - /// Reference to the bodies positions - Vector3* positions; - - /// Reference to the bodies orientations - Quaternion* orientations; - /// True if warm starting of the solver is active bool isWarmStartingActive; /// Constructor ConstraintSolverData(DynamicsComponents& dynamicsComponents) - :dynamicsComponents(dynamicsComponents), positions(nullptr), orientations(nullptr) { + :dynamicsComponents(dynamicsComponents) { } @@ -189,10 +183,6 @@ class ConstraintSolver { /// Enable/Disable the Non-Linear-Gauss-Seidel position correction technique. void setIsNonLinearGaussSeidelPositionCorrectionActive(bool isActive); - /// Set the constrained positions/orientations arrays - void setConstrainedPositionsArrays(Vector3* constrainedPositions, - Quaternion* constrainedOrientations); - #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -202,17 +192,6 @@ class ConstraintSolver { }; -// Set the constrained positions/orientations arrays -inline void ConstraintSolver::setConstrainedPositionsArrays(Vector3* constrainedPositions, - Quaternion* constrainedOrientations) { - - assert(constrainedPositions != nullptr); - assert(constrainedOrientations != nullptr); - - mConstraintSolverData.positions = constrainedPositions; - mConstraintSolverData.orientations = constrainedOrientations; -} - #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 901ca014..a2f7789d 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -56,8 +56,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mTimeStep(decimal(1.0f / 60.0f)), - mIsGravityEnabled(true), mConstrainedPositions(nullptr), - mConstrainedOrientations(nullptr), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), + mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { @@ -176,7 +175,6 @@ void DynamicsWorld::integrateRigidBodiesPositions() { RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); // Get the constrained velocity - uint indexArray = body->mArrayIndex; Vector3 newLinVelocity = mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity); Vector3 newAngVelocity = mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity); @@ -196,10 +194,10 @@ void DynamicsWorld::integrateRigidBodiesPositions() { const Quaternion& currentOrientation = mTransformComponents.getTransform(body->getEntity()).getOrientation(); // Update the new constrained position and orientation of the body - mConstrainedPositions[indexArray] = currentPosition + newLinVelocity * mTimeStep; - mConstrainedOrientations[indexArray] = currentOrientation + + mDynamicsComponents.setConstrainedPosition(bodyEntity, currentPosition + newLinVelocity * mTimeStep); + mDynamicsComponents.setConstrainedOrientation(bodyEntity, currentOrientation + Quaternion(0, newAngVelocity) * - currentOrientation * decimal(0.5) * mTimeStep; + currentOrientation * decimal(0.5) * mTimeStep); } } } @@ -229,10 +227,11 @@ void DynamicsWorld::updateBodiesState() { mDynamicsComponents.setAngularVelocity(bodyEntity, mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity)); // Update the position of the center of mass of the body - body->mCenterOfMassWorld = mConstrainedPositions[index]; + body->mCenterOfMassWorld = mDynamicsComponents.getConstrainedPosition(bodyEntity); // Update the orientation of the body - mTransformComponents.getTransform(bodyEntity).setOrientation(mConstrainedOrientations[index].getUnit()); + const Quaternion& constrainedOrientation = mDynamicsComponents.getConstrainedOrientation(bodyEntity); + mTransformComponents.getTransform(bodyEntity).setOrientation(constrainedOrientation.getUnit()); // Update the transform of the body (using the new center of mass and new orientation) body->updateTransformWithCenterOfMass(); @@ -256,13 +255,6 @@ void DynamicsWorld::initVelocityArrays() { assert(mDynamicsComponents.getNbComponents() == nbBodies); - mConstrainedPositions = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBodies * sizeof(Vector3))); - mConstrainedOrientations = static_cast(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, - nbBodies * sizeof(Quaternion))); - assert(mConstrainedPositions != nullptr); - assert(mConstrainedOrientations != nullptr); - // Initialize the map of body indexes in the velocity arrays uint i = 0; for (List::Iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { @@ -348,10 +340,6 @@ void DynamicsWorld::solveContactsAndConstraints() { RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler); - // Set the velocities arrays - mConstraintSolver.setConstrainedPositionsArrays(mConstrainedPositions, - mConstrainedOrientations); - // ---------- Solve velocity constraints for joints and contacts ---------- // // Initialize the contact solver diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 45f8f9dd..da5a5129 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -88,12 +88,6 @@ class DynamicsWorld : public CollisionWorld { /// True if the gravity force is on bool mIsGravityEnabled; - /// Array of constrained rigid bodies position (for position error correction) - Vector3* mConstrainedPositions; - - /// Array of constrained rigid bodies orientation (for position error correction) - Quaternion* mConstrainedOrientations; - /// Sleep linear velocity threshold decimal mSleepLinearVelocity; From 669e74d528f2f624a737e8643f78dd4bda860c98 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 21 May 2019 20:40:11 +0200 Subject: [PATCH 059/197] Clean code --- src/body/RigidBody.cpp | 49 ++++++----- src/body/RigidBody.h | 13 --- src/components/DynamicsComponents.cpp | 33 ++++++-- src/components/DynamicsComponents.h | 57 ++++++++++++- src/constraint/BallAndSocketJoint.cpp | 8 +- src/constraint/FixedJoint.cpp | 8 +- src/constraint/HingeJoint.cpp | 8 +- src/constraint/Joint.h | 6 -- src/constraint/SliderJoint.cpp | 8 +- src/engine/ContactSolver.cpp | 6 +- src/engine/ContactSolver.h | 8 -- src/engine/DynamicsWorld.cpp | 115 +++++++++----------------- src/engine/DynamicsWorld.h | 3 - 13 files changed, 155 insertions(+), 167 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 2948f9be..b02abbf2 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -40,9 +40,8 @@ using namespace reactphysics3d; * @param id The ID of the body */ RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) - : CollisionBody(world, entity, id), mArrayIndex(0), - mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()), - mMaterial(world.mConfig), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { + : CollisionBody(world, entity, id), mMaterial(world.mConfig), mJointsList(nullptr), + mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { // Compute the inverse mass mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); @@ -173,7 +172,8 @@ inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) { // Add the torque const Vector3& externalTorque = mWorld.mDynamicsComponents.getExternalTorque(mEntity); - mWorld.mDynamicsComponents.setExternalTorque(mEntity, externalTorque + (point - mCenterOfMassWorld).cross(force)); + const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + mWorld.mDynamicsComponents.setExternalTorque(mEntity, externalTorque + (point - centerOfMassWorld).cross(force)); } // Set the local inertia tensor of the body (in local-space coordinates) @@ -278,16 +278,18 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mIsCenterOfMassSetByUser = true; - const Vector3 oldCenterOfMass = mCenterOfMassWorld; - mCenterOfMassLocal = centerOfMassLocal; + const Vector3 oldCenterOfMass = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); // Compute the center of mass in world-space coordinates - mCenterOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * mCenterOfMassLocal; + const Vector3& updatedCenterOfMassLocal = mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); + mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * updatedCenterOfMassLocal); // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); const Vector3& angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); - linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, @@ -498,7 +500,9 @@ void RigidBody::updateTransformWithCenterOfMass() { // Translate the body according to the translation of the center of mass position Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - transform.setPosition(mCenterOfMassWorld - transform.getOrientation() * mCenterOfMassLocal); + const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + const Vector3& centerOfMassLocal = mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); + transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); } // Set a new material for this rigid body @@ -563,15 +567,17 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { */ void RigidBody::setTransform(const Transform& transform) { - const Vector3 oldCenterOfMass = mCenterOfMassWorld; + const Vector3 oldCenterOfMass = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); // Compute the new center of mass in world-space coordinates - mCenterOfMassWorld = transform * mCenterOfMassLocal; + const Vector3& centerOfMassLocal = mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); + mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform * centerOfMassLocal); // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mDynamicsComponents.getLinearVelocity(mEntity); const Vector3& angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); - linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); CollisionBody::setTransform(transform); @@ -591,7 +597,7 @@ void RigidBody::recomputeMassInformation() { mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0.0)); if (!mIsInertiaTensorSetByUser) mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); if (!mIsInertiaTensorSetByUser) mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); - if (!mIsCenterOfMassSetByUser) mCenterOfMassLocal.setToZero(); + if (!mIsCenterOfMassSetByUser) mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, Vector3::zero()); Matrix3x3 inertiaTensorLocal; inertiaTensorLocal.setToZero(); @@ -599,7 +605,7 @@ void RigidBody::recomputeMassInformation() { // If it is a STATIC or a KINEMATIC body if (mType == BodyType::STATIC || mType == BodyType::KINEMATIC) { - mCenterOfMassWorld = transform.getPosition(); + mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); return; } @@ -612,7 +618,8 @@ void RigidBody::recomputeMassInformation() { mWorld.mDynamicsComponents.setInitMass(mEntity, mWorld.mDynamicsComponents.getInitMass(mEntity) + proxyShape->getMass()); if (!mIsCenterOfMassSetByUser) { - mCenterOfMassLocal += proxyShape->getLocalToBodyTransform().getPosition() * proxyShape->getMass(); + mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity) + + proxyShape->getLocalToBodyTransform().getPosition() * proxyShape->getMass()); } } @@ -620,18 +627,18 @@ void RigidBody::recomputeMassInformation() { mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); } else { - mCenterOfMassWorld = transform.getPosition(); + mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); return; } // Compute the center of mass - const Vector3 oldCenterOfMass = mCenterOfMassWorld; + const Vector3 oldCenterOfMass = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); if (!mIsCenterOfMassSetByUser) { - mCenterOfMassLocal *= mWorld.mDynamicsComponents.getMassInverse(mEntity); + mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity) * mWorld.mDynamicsComponents.getMassInverse(mEntity)); } - mCenterOfMassWorld = transform * mCenterOfMassLocal; + mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform * mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity)); if (!mIsInertiaTensorSetByUser) { @@ -652,7 +659,7 @@ void RigidBody::recomputeMassInformation() { // Use the parallel axis theorem to convert the inertia tensor w.r.t the collision shape // center into a inertia tensor w.r.t to the body origin. - Vector3 offset = shapeTransform.getPosition() - mCenterOfMassLocal; + Vector3 offset = shapeTransform.getPosition() - mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); decimal offsetSquare = offset.lengthSquare(); Matrix3x3 offsetMatrix; offsetMatrix[0].setAllValues(offsetSquare, decimal(0.0), decimal(0.0)); @@ -676,7 +683,7 @@ void RigidBody::recomputeMassInformation() { // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mDynamicsComponents.getLinearVelocity(mEntity); Vector3 angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); - linearVelocity += angularVelocity.cross(mCenterOfMassWorld - oldCenterOfMass); + linearVelocity += angularVelocity.cross(mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity) - oldCenterOfMass); mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); } diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index d5bd92cc..1f8e16bb 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -50,23 +50,10 @@ class MemoryManager; */ class RigidBody : public CollisionBody { - private : - - /// Index of the body in arrays for contact/constraint solver - // TODO : REMOVE THIS - uint mArrayIndex; - protected : // -------------------- Attributes -------------------- // - /// Center of mass of the body in local-space coordinates. - /// The center of mass can therefore be different from the body origin - Vector3 mCenterOfMassLocal; - - /// Center of mass of the body in world-space coordinates - Vector3 mCenterOfMassWorld; - /// Inverse Local inertia tensor of the body (in local-space) set /// by the user with respect to the center of mass of the body Matrix3x3 mUserInertiaTensorLocalInverse; diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 372feb1f..8350ae2f 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -38,7 +38,8 @@ DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + - sizeof(Vector3) + sizeof(Quaternion) + sizeof(bool) + sizeof(bool)) { + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -74,7 +75,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); Vector3* newConstrainedPositions = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); Quaternion* newConstrainedOrientations = reinterpret_cast(newConstrainedPositions + nbComponentsToAllocate); - bool* newIsGravityEnabled = reinterpret_cast(newConstrainedOrientations + nbComponentsToAllocate); + Vector3* newCentersOfMassLocal = reinterpret_cast(newConstrainedOrientations + nbComponentsToAllocate); + Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); + bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); // If there was already components before @@ -98,6 +101,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); memcpy(newConstrainedPositions, mConstrainedPositions, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedOrientations, mConstrainedOrientations, mNbComponents * sizeof(Quaternion)); + memcpy(newCentersOfMassLocal, mCentersOfMassLocal, mNbComponents * sizeof(Vector3)); + memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); @@ -123,6 +128,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; mConstrainedPositions = newConstrainedPositions; mConstrainedOrientations = newConstrainedOrientations; + mCentersOfMassLocal = newCentersOfMassLocal; + mCentersOfMassWorld = newCentersOfMassWorld; mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; mNbAllocatedComponents = nbComponentsToAllocate; @@ -136,8 +143,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const // Insert the new component data new (mBodies + index) Entity(bodyEntity); - new (mLinearVelocities + index) Vector3(component.linearVelocity); - new (mAngularVelocities + index) Vector3(component.angularVelocity); + new (mLinearVelocities + index) Vector3(0, 0, 0); + new (mAngularVelocities + index) Vector3(0, 0, 0); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); new (mSplitLinearVelocities + index) Vector3(0, 0, 0); @@ -152,6 +159,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); new (mConstrainedPositions + index) Vector3(0, 0, 0); new (mConstrainedOrientations + index) Quaternion(0, 0, 0, 1); + new (mCentersOfMassLocal + index) Vector3(0, 0, 0); + new (mCentersOfMassWorld + index) Vector3(component.worldPosition); mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; @@ -184,10 +193,12 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) mAngularDampings[destIndex] = mAngularDampings[srcIndex]; mInitMasses[destIndex] = mInitMasses[srcIndex]; mInverseMasses[destIndex] = mInverseMasses[srcIndex]; - mInverseInertiaTensorsLocal[destIndex] = mInverseInertiaTensorsLocal[srcIndex]; - mInverseInertiaTensorsWorld[destIndex] = mInverseInertiaTensorsWorld[srcIndex]; - mConstrainedPositions[destIndex] = mConstrainedPositions[srcIndex]; - mConstrainedOrientations[destIndex] = mConstrainedOrientations[srcIndex]; + new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]); + new (mInverseInertiaTensorsWorld + destIndex) Matrix3x3(mInverseInertiaTensorsWorld[srcIndex]); + new (mConstrainedPositions + destIndex) Vector3(mConstrainedPositions[srcIndex]); + new (mConstrainedOrientations + destIndex) Quaternion(mConstrainedOrientations[srcIndex]); + new (mCentersOfMassLocal + destIndex) Vector3(mCentersOfMassLocal[srcIndex]); + new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; @@ -226,6 +237,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; Vector3 constrainedPosition1 = mConstrainedPositions[index1]; Quaternion constrainedOrientation1 = mConstrainedOrientations[index1]; + Vector3 centerOfMassLocal1 = mCentersOfMassLocal[index1]; + Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; @@ -252,6 +265,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; mConstrainedPositions[index2] = constrainedPosition1; mConstrainedOrientations[index2] = constrainedOrientation1; + mCentersOfMassLocal[index2] = centerOfMassLocal1; + mCentersOfMassWorld[index2] = centerOfMassWorld1; mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; @@ -285,4 +300,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mInverseInertiaTensorsWorld[index].~Matrix3x3(); mConstrainedPositions[index].~Vector3(); mConstrainedOrientations[index].~Quaternion(); + mCentersOfMassLocal[index].~Vector3(); + mCentersOfMassWorld[index].~Vector3(); } diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index bcb25018..8cbe2135 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -102,6 +102,12 @@ class DynamicsComponents : public Components { /// Array of constrained orientation for each component (for position error correction) Quaternion* mConstrainedOrientations; + /// Array of center of mass of each component (in local-space coordinates) + Vector3* mCentersOfMassLocal; + + /// Array of center of mass of each component (in world-space coordinates) + Vector3* mCentersOfMassWorld; + /// True if the gravity needs to be applied to this component bool* mIsGravityEnabled; @@ -127,12 +133,11 @@ class DynamicsComponents : public Components { /// Structure for the data of a transform component struct DynamicsComponent { - const Vector3& linearVelocity; - const Vector3& angularVelocity; + const Vector3& worldPosition; /// Constructor - DynamicsComponent(const Vector3& linearVelocity, const Vector3& angularVelocity) - : linearVelocity(linearVelocity), angularVelocity(angularVelocity) { + DynamicsComponent(const Vector3& worldPosition) + : worldPosition(worldPosition) { } }; @@ -196,6 +201,12 @@ class DynamicsComponents : public Components { /// Return the constrained orientation of an entity const Quaternion& getConstrainedOrientation(Entity bodyEntity); + /// Return the local center of mass of an entity + const Vector3& getCenterOfMassLocal(Entity bodyEntity); + + /// Return the world center of mass of an entity + const Vector3& getCenterOfMassWorld(Entity bodyEntity); + /// Return true if gravity is enabled for this entity bool getIsGravityEnabled(Entity bodyEntity) const; @@ -250,6 +261,12 @@ class DynamicsComponents : public Components { /// Set the constrained orientation of an entity void setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation); + /// Set the local center of mass of an entity + void setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal); + + /// Set the world center of mass of an entity + void setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld); + /// Set the value to know if the gravity is enabled for this entity bool setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); @@ -412,6 +429,22 @@ inline const Quaternion& DynamicsComponents::getConstrainedOrientation(Entity bo return mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]]; } +// Return the local center of mass of an entity +inline const Vector3& DynamicsComponents::getCenterOfMassLocal(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mCentersOfMassLocal[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the world center of mass of an entity +inline const Vector3& DynamicsComponents::getCenterOfMassWorld(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mCentersOfMassWorld[mMapEntityToComponentIndex[bodyEntity]]; +} + // Set the constrained linear velocity of an entity inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { @@ -524,6 +557,22 @@ inline void DynamicsComponents::setConstrainedOrientation(Entity bodyEntity, con mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]] = constrainedOrientation; } +// Set the local center of mass of an entity +inline void DynamicsComponents::setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mCentersOfMassLocal[mMapEntityToComponentIndex[bodyEntity]] = centerOfMassLocal; +} + +// Set the world center of mass of an entity +inline void DynamicsComponents::setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mCentersOfMassWorld[mMapEntityToComponentIndex[bodyEntity]] = centerOfMassWorld; +} + // Return true if gravity is enabled for this entity inline bool DynamicsComponents::getIsGravityEnabled(Entity bodyEntity) const { diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index be218be7..b795560d 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -45,13 +45,9 @@ BallAndSocketJoint::BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jo // Initialize before solving the constraint void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - // Initialize the bodies index in the velocity array - mIndexBody1 = mBody1->mArrayIndex; - mIndexBody2 = mBody2->mArrayIndex; - // Get the bodies center of mass and orientations - const Vector3& x1 = mBody1->mCenterOfMassWorld; - const Vector3& x2 = mBody2->mCenterOfMassWorld; + const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index f16ba568..a195e974 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -60,13 +60,9 @@ FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo) // Initialize before solving the constraint void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - // Initialize the bodies index in the velocity array - mIndexBody1 = mBody1->mArrayIndex; - mIndexBody2 = mBody2->mArrayIndex; - // Get the bodies positions and orientations - const Vector3& x1 = mBody1->mCenterOfMassWorld; - const Vector3& x2 = mBody2->mCenterOfMassWorld; + const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index af5a540e..a1651027 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -67,13 +67,9 @@ HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo) // Initialize before solving the constraint void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - // Initialize the bodies index in the velocity array - mIndexBody1 = mBody1->mArrayIndex; - mIndexBody2 = mBody2->mArrayIndex; - // Get the bodies positions and orientations - const Vector3& x1 = mBody1->mCenterOfMassWorld; - const Vector3& x2 = mBody2->mCenterOfMassWorld; + const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 880ace90..38e26b5d 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -140,12 +140,6 @@ class Joint { /// Type of the joint const JointType mType; - /// Body 1 index in the velocity array to solve the constraint - uint mIndexBody1; - - /// Body 2 index in the velocity array to solve the constraint - uint mIndexBody2; - /// Position correction technique used for the constraint (used for joints) JointsPositionCorrectionTechnique mPositionCorrectionTechnique; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 0d1cf8d1..48be0755 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -75,13 +75,9 @@ SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo) // Initialize before solving the constraint void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - // Initialize the bodies index in the veloc ity array - mIndexBody1 = mBody1->mArrayIndex; - mIndexBody2 = mBody2->mArrayIndex; - // Get the bodies positions and orientations - const Vector3& x1 = mBody1->mCenterOfMassWorld; - const Vector3& x2 = mBody2->mCenterOfMassWorld; + const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index 4f510b7f..a290a9d0 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -131,14 +131,12 @@ void ContactSolver::initializeForIsland(uint islandIndex) { const ProxyShape* shape2 = mProxyShapeComponents.getProxyShape(externalManifold.proxyShapeEntity2); // Get the position of the two bodies - const Vector3& x1 = body1->mCenterOfMassWorld; - const Vector3& x2 = body2->mCenterOfMassWorld; + const Vector3& x1 = mDynamicsComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); + const Vector3& x2 = mDynamicsComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); // Initialize the internal contact manifold structure using the external // contact manifold new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); - mContactConstraints[mNbContactManifolds].indexBody1 = body1->mArrayIndex; - mContactConstraints[mNbContactManifolds].indexBody2 = body2->mArrayIndex; mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mDynamicsComponents.getEntityIndex(body1->getEntity()); mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mDynamicsComponents.getEntityIndex(body2->getEntity()); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld(); diff --git a/src/engine/ContactSolver.h b/src/engine/ContactSolver.h index e130a4ea..5edfc38c 100644 --- a/src/engine/ContactSolver.h +++ b/src/engine/ContactSolver.h @@ -174,14 +174,6 @@ class ContactSolver { /// Pointer to the external contact manifold ContactManifold* externalContactManifold; - /// Index of body 1 in the constraint solver - // TODO : Remove this - int32 indexBody1; - - /// Index of body 2 in the constraint solver - // TODO : Remove this - int32 indexBody2; - /// Index of body 1 in the dynamics components arrays uint32 dynamicsComponentIndexBody1; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index a2f7789d..fc65a54f 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -163,42 +163,27 @@ void DynamicsWorld::integrateRigidBodiesPositions() { RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", mProfiler); - // TODO : We should loop over non-sleeping dynamic components here and not over islands + const decimal isSplitImpulseActive = mContactSolver.isSplitImpulseActive() ? decimal(1.0) : decimal(0.0); - // For each island of the world - for (uint i=0; i < mIslands.getNbIslands(); i++) { + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { - // For each body of the island - for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + // Get the constrained velocity + Vector3 newLinVelocity = mDynamicsComponents.mConstrainedLinearVelocities[i]; + Vector3 newAngVelocity = mDynamicsComponents.mConstrainedAngularVelocities[i]; - const Entity bodyEntity = mIslands.bodyEntities[i][b]; - RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + // Add the split impulse velocity from Contact Solver (only used + // to update the position) + newLinVelocity += isSplitImpulseActive * mDynamicsComponents.mSplitLinearVelocities[i]; + newAngVelocity += isSplitImpulseActive * mDynamicsComponents.mSplitAngularVelocities[i]; - // Get the constrained velocity - Vector3 newLinVelocity = mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity); - Vector3 newAngVelocity = mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity); + // Get current position and orientation of the body + const Vector3& currentPosition = mDynamicsComponents.mCentersOfMassWorld[i]; + const Quaternion& currentOrientation = mTransformComponents.getTransform(mDynamicsComponents.mBodies[i]).getOrientation(); - // TODO : Remove this - Vector3 testLinVel = newLinVelocity; - - // Add the split impulse velocity from Contact Solver (only used - // to update the position) - if (mContactSolver.isSplitImpulseActive()) { - - newLinVelocity += mDynamicsComponents.getSplitLinearVelocity(bodyEntity); - newAngVelocity += mDynamicsComponents.getSplitAngularVelocity(bodyEntity); - } - - // Get current position and orientation of the body - const Vector3& currentPosition = body->mCenterOfMassWorld; - const Quaternion& currentOrientation = mTransformComponents.getTransform(body->getEntity()).getOrientation(); - - // Update the new constrained position and orientation of the body - mDynamicsComponents.setConstrainedPosition(bodyEntity, currentPosition + newLinVelocity * mTimeStep); - mDynamicsComponents.setConstrainedOrientation(bodyEntity, currentOrientation + - Quaternion(0, newAngVelocity) * - currentOrientation * decimal(0.5) * mTimeStep); - } + // Update the new constrained position and orientation of the body + mDynamicsComponents.mConstrainedPositions[i] = currentPosition + newLinVelocity * mTimeStep; + mDynamicsComponents.mConstrainedOrientations[i] = currentOrientation + Quaternion(0, newAngVelocity) * + currentOrientation * decimal(0.5) * mTimeStep; } } @@ -209,60 +194,41 @@ void DynamicsWorld::updateBodiesState() { // TODO : Make sure we compute this in a system - // TODO : We should loop over non-sleeping dynamic components here and not over islands + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { - // For each island of the world - for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { + // Update the linear and angular velocity of the body + mDynamicsComponents.mLinearVelocities[i] = mDynamicsComponents.mConstrainedLinearVelocities[i]; + mDynamicsComponents.mAngularVelocities[i] = mDynamicsComponents.mConstrainedAngularVelocities[i]; - // For each body of the island - for (uint b=0; b < mIslands.bodyEntities[islandIndex].size(); b++) { + // Update the position of the center of mass of the body + mDynamicsComponents.mCentersOfMassWorld[i] = mDynamicsComponents.mConstrainedPositions[i]; - Entity bodyEntity = mIslands.bodyEntities[islandIndex][b]; - RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + // Update the orientation of the body + const Quaternion& constrainedOrientation = mDynamicsComponents.mConstrainedOrientations[i]; + mTransformComponents.getTransform(mDynamicsComponents.mBodies[i]).setOrientation(constrainedOrientation.getUnit()); + } - uint index = body->mArrayIndex; + // Update the transform of the body (using the new center of mass and new orientation) + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { - // Update the linear and angular velocity of the body - mDynamicsComponents.setLinearVelocity(bodyEntity, mDynamicsComponents.getConstrainedLinearVelocity(bodyEntity)); - mDynamicsComponents.setAngularVelocity(bodyEntity, mDynamicsComponents.getConstrainedAngularVelocity(bodyEntity)); + Transform& transform = mTransformComponents.getTransform(mDynamicsComponents.mBodies[i]); + const Vector3& centerOfMassWorld = mDynamicsComponents.mCentersOfMassWorld[i]; + const Vector3& centerOfMassLocal = mDynamicsComponents.mCentersOfMassLocal[i]; + transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); + } - // Update the position of the center of mass of the body - body->mCenterOfMassWorld = mDynamicsComponents.getConstrainedPosition(bodyEntity); + // Update the world inverse inertia tensor of the body + for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { - // Update the orientation of the body - const Quaternion& constrainedOrientation = mDynamicsComponents.getConstrainedOrientation(bodyEntity); - mTransformComponents.getTransform(bodyEntity).setOrientation(constrainedOrientation.getUnit()); - - // Update the transform of the body (using the new center of mass and new orientation) - body->updateTransformWithCenterOfMass(); - - // Update the world inverse inertia tensor of the body - body->updateInertiaTensorInverseWorld(); - } + Matrix3x3 orientation = mTransformComponents.getTransform(mDynamicsComponents.mBodies[i]).getOrientation().getMatrix(); + const Matrix3x3& inverseInertiaLocalTensor = mDynamicsComponents.mInverseInertiaTensorsLocal[i]; + mDynamicsComponents.mInverseInertiaTensorsWorld[i] = orientation * inverseInertiaLocalTensor * orientation.getTranspose(); } // Update the proxy-shapes components mCollisionDetection.updateProxyShapes(); } -// Initialize the bodies velocities arrays for the next simulation step. -void DynamicsWorld::initVelocityArrays() { - - RP3D_PROFILE("DynamicsWorld::initVelocityArrays()", mProfiler); - - // Allocate memory for the bodies velocity arrays - uint nbBodies = mRigidBodies.size(); - - assert(mDynamicsComponents.getNbComponents() == nbBodies); - - // Initialize the map of body indexes in the velocity arrays - uint i = 0; - for (List::Iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { - - (*it)->mArrayIndex = i++; - } -} - // Reset the split velocities of the bodies void DynamicsWorld::resetSplitVelocities() { @@ -281,9 +247,6 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", mProfiler); - // Initialize the bodies velocity arrays - initVelocityArrays(); - // Reset the split velocities of the bodies resetSplitVelocities(); @@ -416,7 +379,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { assert(bodyID < std::numeric_limits::max()); mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); - mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(Vector3::zero(), Vector3::zero())); + mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition())); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index da5a5129..c04c9ccd 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -112,9 +112,6 @@ class DynamicsWorld : public CollisionWorld { /// Reset the external force and torque applied to the bodies void resetBodiesForceAndTorque(); - /// Initialize the bodies velocities arrays for the next simulation step. - void initVelocityArrays(); - /// Reset the split velocities of the bodies void resetSplitVelocities(); From 251333a6ef299e0167a857092dc2eceb4edebfde Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 24 May 2019 07:15:31 +0200 Subject: [PATCH 060/197] Working on contacts --- src/collision/CollisionDetection.cpp | 60 +++++++++++++++++----------- src/collision/CollisionDetection.h | 5 ++- src/collision/ProxyShape.cpp | 8 ++++ 3 files changed, 48 insertions(+), 25 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 9f2e588b..04d266ba 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -109,6 +109,36 @@ void CollisionDetection::computeBroadPhase() { // Create new overlapping pairs if necessary updateOverlappingPairs(overlappingNodes); + + // Remove non overlapping pairs + removeNonOverlappingPairs(); +} + +// Remove pairs that are not overlapping anymore +void CollisionDetection::removeNonOverlappingPairs() { + + // For each possible collision pair of bodies + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + + OverlappingPair* pair = it->second; + + ProxyShape* shape1 = pair->getShape1(); + ProxyShape* shape2 = pair->getShape2(); + + // Check if the two shapes are still overlapping. Otherwise, we destroy the overlapping pair + if (!mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) { + + // Destroy the overlapping pair + pair->~OverlappingPair(); + + mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); + it = mOverlappingPairs.remove(it); + continue; + } + else { + ++it; + } + } } // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary @@ -183,7 +213,7 @@ void CollisionDetection::computeMiddlePhase() { mNarrowPhaseInput.reserveMemory(); // For each possible collision pair of bodies - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { OverlappingPair* pair = it->second; @@ -200,21 +230,6 @@ void CollisionDetection::computeMiddlePhase() { assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); - // Check if the two shapes are still overlapping. Otherwise, we destroy the - // overlapping pair - if (!mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) { - - // Destroy the overlapping pair - pair->~OverlappingPair(); - - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - it = mOverlappingPairs.remove(it); - continue; - } - else { - ++it; - } - // Check if the collision filtering allows collision between the two shapes if ((mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity) & mProxyShapesComponents.getCollisionCategoryBits(proxyShape2Entity)) != 0 && (mProxyShapesComponents.getCollisionCategoryBits(proxyShape1Entity) & mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity)) != 0) { @@ -398,9 +413,6 @@ void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPha // Compute the narrow-phase collision detection void CollisionDetection::computeNarrowPhase() { - // TODO : DELETE THIS - //std::cout << "---------------------- NARROW PHASE ----------------------------------------" << std::endl; - RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator(); @@ -415,7 +427,7 @@ void CollisionDetection::computeNarrowPhase() { processAllPotentialContacts(mNarrowPhaseInput, true); // Reduce the number of contact points in the manifolds - reducePotentialContactManifolds(mOverlappingPairs); + reducePotentialContactManifolds(); // Report contacts to the user reportAllContacts(); @@ -840,7 +852,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh } // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds -void CollisionDetection::reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs) { +void CollisionDetection::reducePotentialContactManifolds() { RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler); @@ -1369,7 +1381,7 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body processAllPotentialContacts(narrowPhaseInput, false); // Reduce the number of contact points in the manifolds - reducePotentialContactManifolds(overlappingPairs); + //reducePotentialContactManifolds(overlappingPairs); // TODO : Rework how we report contacts /* @@ -1467,7 +1479,7 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c processAllPotentialContacts(narrowPhaseInput, false); // Reduce the number of contact points in the manifolds - reducePotentialContactManifolds(overlappingPairs); + //reducePotentialContactManifolds(overlappingPairs); // TODO : Rework how we report contacts /* @@ -1549,7 +1561,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { processAllPotentialContacts(narrowPhaseInput, false); // Reduce the number of contact points in the manifolds - reducePotentialContactManifolds(overlappingPairs); + //reducePotentialContactManifolds(overlappingPairs); // TODO : Rework how we report contacts /* diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 4829db37..a0d52357 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -189,6 +189,9 @@ class CollisionDetection { /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary void updateOverlappingPairs(List >& overlappingNodes); + /// Remove pairs that are not overlapping anymore + void removeNonOverlappingPairs(); + /// Execute the narrow-phase collision detection algorithm on batches bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, bool reportContacts, MemoryAllocator& allocator); @@ -211,7 +214,7 @@ class CollisionDetection { void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo); /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts - void reducePotentialContactManifolds(const OverlappingPairMap& overlappingPairs); + void reducePotentialContactManifolds(); /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair void createContacts(); diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index d8dbeacd..cbb34788 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -78,6 +78,10 @@ bool ProxyShape::testPointInside(const Vector3& worldPoint) { */ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) { + // TODO : Here we should probably remove all overlapping pairs with this shape in the + // broad-phase and add the shape in the "has moved" shape list so it is reevaluated + // with the new mask bits + mBody->mWorld.mProxyShapesComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits); int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); @@ -93,6 +97,10 @@ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) */ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { + // TODO : Here we should probably remove all overlapping pairs with this shape in the + // broad-phase and add the shape in the "has moved" shape list so it is reevaluated + // with the new mask bits + mBody->mWorld.mProxyShapesComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits); int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); From 3f5916a280c5efceec541076b0d564d9fb7901e2 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 3 Jun 2019 07:12:50 +0200 Subject: [PATCH 061/197] Working on testOverlap() and testCollisionMethods --- CHANGELOG.md | 8 + src/collision/CollisionDetection.cpp | 754 ++++++------------ src/collision/CollisionDetection.h | 58 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 8 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 3 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 9 +- .../CapsuleVsConvexPolyhedronAlgorithm.h | 3 +- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 9 +- ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 5 +- .../narrowphase/SAT/SATAlgorithm.cpp | 19 +- src/collision/narrowphase/SAT/SATAlgorithm.h | 4 +- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 5 +- .../narrowphase/SphereVsCapsuleAlgorithm.h | 3 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 11 +- .../SphereVsConvexPolyhedronAlgorithm.h | 5 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 5 +- .../narrowphase/SphereVsSphereAlgorithm.h | 3 +- src/containers/Set.h | 2 +- src/engine/CollisionWorld.cpp | 33 +- src/engine/CollisionWorld.h | 64 +- src/systems/BroadPhaseSystem.h | 2 +- test/tests/collision/TestCollisionWorld.h | 97 +-- 22 files changed, 370 insertions(+), 740 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index cedb3ff7..619ba311 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,12 @@ # Changelog +## Develop + +### Changed + + - The CollisionWorld::testCollision() methods do not have the 'categoryMaskBits' parameter anymore. + - The CollisionWorld::testOverlap() methods do not have the 'categoryMaskBits' parameter anymore. + ## Release Candidate ### Fixed @@ -25,6 +32,7 @@ - The methods CollisionBody::getProxyShapesList() has been remove. You can now use the CollisionBody::getNbProxyShapes() method to know the number of proxy-shapes of a body and the CollisionBody::getProxyShape(uint proxyShapeIndex) method to get a given proxy-shape of the body. + - The CollisionWorld::testAABBOverlap() methods have been removed. ## Version 0.7.0 (May 1, 2018) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 04d266ba..f38c4982 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -90,7 +90,7 @@ void CollisionDetection::computeCollisionDetection() { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(); + computeMiddlePhase(mOverlappingPairs, mNarrowPhaseInput); // Compute the narrow-phase collision detection computeNarrowPhase(); @@ -142,9 +142,7 @@ void CollisionDetection::removeNonOverlappingPairs() { } // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary -void CollisionDetection::updateOverlappingPairs(List>& overlappingNodes) { - - List newOverlappingPairs(mMemoryManager.getPoolAllocator(), overlappingNodes.size()); +void CollisionDetection::updateOverlappingPairs(const List>& overlappingNodes) { // For each overlapping pair of nodes for (uint i=0; i < overlappingNodes.size(); i++) { @@ -196,7 +194,6 @@ void CollisionDetection::updateOverlappingPairs(List>& overlappin // Add the new overlapping pair mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); - newOverlappingPairs.add(newPair); } } } @@ -205,15 +202,15 @@ void CollisionDetection::updateOverlappingPairs(List>& overlappin } // Compute the middle-phase collision detection -void CollisionDetection::computeMiddlePhase() { +void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) { RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); // Reserve memory for the narrow-phase input using cached capacity from previous frame - mNarrowPhaseInput.reserveMemory(); + narrowPhaseInput.reserveMemory(); // For each possible collision pair of bodies - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { OverlappingPair* pair = it->second; @@ -240,7 +237,7 @@ void CollisionDetection::computeMiddlePhase() { const Entity body1Entity = body1->getEntity(); const Entity body2Entity = body2->getEntity(); - // Check that at least one body is awake and not static + // Check that at least one body is enabled (active and awake) and not static bool isBody1Active = !mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) && body1->getType() != BodyType::STATIC; bool isBody2Active = !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity) && body2->getType() != BodyType::STATIC; if (!isBody1Active && !isBody2Active) continue; @@ -261,7 +258,7 @@ void CollisionDetection::computeMiddlePhase() { // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - mNarrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), + narrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), algorithmType, mMemoryManager.getSingleFrameAllocator()); @@ -269,7 +266,7 @@ void CollisionDetection::computeMiddlePhase() { // Concave vs Convex algorithm else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), mNarrowPhaseInput); + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); } // Concave vs Concave shape else { @@ -337,8 +334,7 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair } // Execute the narrow-phase collision detection algorithm on batches -bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, - bool reportContacts, MemoryAllocator& allocator) { +bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, MemoryAllocator& allocator) { bool contactFound = false; @@ -360,38 +356,37 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI // Compute the narrow-phase collision detection for each kind of collision shapes if (sphereVsSphereBatch.getNbObjects() > 0) { - contactFound |= sphereVsSphereAlgo->testCollision(sphereVsSphereBatch, 0, sphereVsSphereBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); - if (stopFirstContactFound && contactFound) return true; + contactFound |= sphereVsSphereAlgo->testCollision(sphereVsSphereBatch, 0, sphereVsSphereBatch.getNbObjects(), reportContacts, allocator); } if (sphereVsCapsuleBatch.getNbObjects() > 0) { - contactFound |= sphereVsCapsuleAlgo->testCollision(sphereVsCapsuleBatch, 0, sphereVsCapsuleBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); - if (stopFirstContactFound && contactFound) return true; + contactFound |= sphereVsCapsuleAlgo->testCollision(sphereVsCapsuleBatch, 0, sphereVsCapsuleBatch.getNbObjects(), reportContacts, allocator); } if (capsuleVsCapsuleBatch.getNbObjects() > 0) { - contactFound |= capsuleVsCapsuleAlgo->testCollision(capsuleVsCapsuleBatch, 0, capsuleVsCapsuleBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); - if (stopFirstContactFound && contactFound) return true; + contactFound |= capsuleVsCapsuleAlgo->testCollision(capsuleVsCapsuleBatch, 0, capsuleVsCapsuleBatch.getNbObjects(), reportContacts, allocator); } if (sphereVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatch, 0, sphereVsConvexPolyhedronBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); - if (stopFirstContactFound && contactFound) return true; + contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatch, 0, sphereVsConvexPolyhedronBatch.getNbObjects(), reportContacts, allocator); } if (capsuleVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatch, 0, capsuleVsConvexPolyhedronBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); - if (stopFirstContactFound && contactFound) return true; + contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatch, 0, capsuleVsConvexPolyhedronBatch.getNbObjects(), reportContacts, allocator); } if (convexPolyhedronVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatch, 0, convexPolyhedronVsConvexPolyhedronBatch.getNbObjects(), reportContacts, stopFirstContactFound, allocator); - if (stopFirstContactFound && contactFound) return true; + contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatch, 0, convexPolyhedronVsConvexPolyhedronBatch.getNbObjects(), reportContacts, allocator); } return contactFound; } // Process the potential contacts after narrow-phase collision detection -void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo) { +void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, + List& potentialContactPoints, + Map* mapPairIdToContactPairIndex, + List& potentialContactManifolds, + List* contactPairs, + Map>& mapBodyToContactPairs) { - assert(mCurrentContactPairs->size() == 0); - assert(mCurrentMapPairIdToContactPairIndex->size() == 0); + assert(contactPairs->size() == 0); + assert(mapPairIdToContactPairIndex->size() == 0); // get the narrow-phase batches to test for collision NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); @@ -402,12 +397,18 @@ void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPha NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); // Process the potential contacts - processPotentialContacts(sphereVsSphereBatch, updateLastFrameInfo); - processPotentialContacts(sphereVsCapsuleBatch, updateLastFrameInfo); - processPotentialContacts(capsuleVsCapsuleBatch, updateLastFrameInfo); - processPotentialContacts(sphereVsConvexPolyhedronBatch, updateLastFrameInfo); - processPotentialContacts(capsuleVsConvexPolyhedronBatch, updateLastFrameInfo); - processPotentialContacts(convexPolyhedronVsConvexPolyhedronBatch, updateLastFrameInfo); + processPotentialContacts(sphereVsSphereBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, + potentialContactManifolds, contactPairs, mapBodyToContactPairs); + processPotentialContacts(sphereVsCapsuleBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, + potentialContactManifolds, contactPairs, mapBodyToContactPairs); + processPotentialContacts(capsuleVsCapsuleBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, + potentialContactManifolds, contactPairs, mapBodyToContactPairs); + processPotentialContacts(sphereVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, + potentialContactManifolds, contactPairs, mapBodyToContactPairs); + processPotentialContacts(capsuleVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, + potentialContactManifolds, contactPairs, mapBodyToContactPairs); + processPotentialContacts(convexPolyhedronVsConvexPolyhedronBatch, updateLastFrameInfo, potentialContactPoints, mapPairIdToContactPairIndex, + potentialContactManifolds, contactPairs, mapBodyToContactPairs); } // Compute the narrow-phase collision detection @@ -421,13 +422,14 @@ void CollisionDetection::computeNarrowPhase() { swapPreviousAndCurrentContacts(); // Test the narrow-phase collision detection on the batches to be tested - testNarrowPhaseCollision(mNarrowPhaseInput, false, true, allocator); + testNarrowPhaseCollision(mNarrowPhaseInput, true, allocator); // Process all the potential contacts after narrow-phase collision - processAllPotentialContacts(mNarrowPhaseInput, true); + processAllPotentialContacts(mNarrowPhaseInput, true, mPotentialContactPoints, mCurrentMapPairIdToContactPairIndex, + mPotentialContactManifolds, mCurrentContactPairs, mMapBodyToContactPairs); // Reduce the number of contact points in the manifolds - reducePotentialContactManifolds(); + reducePotentialContactManifolds(mCurrentContactPairs, mPotentialContactManifolds, mPotentialContactPoints); // Report contacts to the user reportAllContacts(); @@ -440,6 +442,36 @@ void CollisionDetection::computeNarrowPhase() { mNarrowPhaseInput.clear(); } +// Compute the narrow-phase collision detection for the testCollision() methods. +// This method returns true if contacts are found. +bool CollisionDetection::computeNarrowPhaseSnapshot(NarrowPhaseInput& narrowPhaseInput, bool reportContacts) { + + RP3D_PROFILE("CollisionDetection::computeNarrowPhaseSnapshot()", mProfiler); + + MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); + + // Test the narrow-phase collision detection on the batches to be tested + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, reportContacts, allocator); + if (!reportContacts) { + return collisionFound; + } + + List potentialContactPoints(allocator); + List potentialContactManifolds(allocator); + Map mapPairIdToContactPairIndex(allocator); + List contactPairs(allocator); + Map> mapBodyToContactPairs(allocator); + + // Process all the potential contacts after narrow-phase collision + processAllPotentialContacts(narrowPhaseInput, true, potentialContactPoints, &mapPairIdToContactPairIndex, potentialContactManifolds, + &contactPairs, mapBodyToContactPairs); + + // Reduce the number of contact points in the manifolds + reducePotentialContactManifolds(&contactPairs, potentialContactManifolds, potentialContactPoints); + + return collisionFound; +} + // Swap the previous and current contacts lists void CollisionDetection::swapPreviousAndCurrentContacts() { @@ -716,8 +748,13 @@ void CollisionDetection::raycast(RaycastCallback* raycastCallback, mBroadPhaseSystem.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); } -/// Convert the potential contact into actual contacts -void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo) { +// Convert the potential contact into actual contacts +void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, + List& potentialContactPoints, + Map* mapPairIdToContactPairIndex, + List& potentialContactManifolds, + List* contactPairs, + Map>& mapBodyToContactPairs) { RP3D_PROFILE("CollisionDetection::processPotentialContacts()", mProfiler); @@ -739,24 +776,24 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); // Add the contact point to the list of potential contact points - const uint contactPointIndex = static_cast(mPotentialContactPoints.size()); + const uint contactPointIndex = static_cast(potentialContactPoints.size()); - // TODO : We should probably use single frame allocator here for mPotentialContactPoints - // If so, do not forget to call mPotentialContactPoints.clear(true) at the end of frame - mPotentialContactPoints.add(contactPoint); + // TODO : We should probably use single frame allocator here for potentialContactPoints + // If so, do not forget to call potentialContactPoints.clear(true) at the end of frame + potentialContactPoints.add(contactPoint); bool similarManifoldFound = false; // If there is already a contact pair for this overlapping pair OverlappingPair::OverlappingPairId pairId = narrowPhaseInfoBatch.overlappingPairs[i]->getId(); - auto it = mCurrentMapPairIdToContactPairIndex->find(pairId); + auto it = mapPairIdToContactPairIndex->find(pairId); ContactPair* pairContact = nullptr; - if (it != mCurrentMapPairIdToContactPairIndex->end()) { + if (it != mapPairIdToContactPairIndex->end()) { assert(it->first == pairId); const uint pairContactIndex = it->second; - pairContact = &((*mCurrentContactPairs)[pairContactIndex]); + pairContact = &((*contactPairs)[pairContactIndex]); assert(pairContact->potentialContactManifoldsIndices.size() > 0); @@ -766,16 +803,16 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh uint contactManifoldIndex = pairContact->potentialContactManifoldsIndices[m]; // Get the first contact point of the current manifold - assert(mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.size() > 0); - const uint manifoldContactPointIndex = mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; - const ContactPointInfo& manifoldContactPoint = mPotentialContactPoints[manifoldContactPointIndex]; + assert(potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.size() > 0); + const uint manifoldContactPointIndex = potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices[0]; + const ContactPointInfo& manifoldContactPoint = potentialContactPoints[manifoldContactPointIndex]; // If we have found a corresponding manifold for the new contact point // (a manifold with a similar contact normal direction) if (manifoldContactPoint.normal.dot(contactPoint.normal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { // Add the contact point to the manifold - mPotentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.add(contactPointIndex); + potentialContactManifolds[contactManifoldIndex].potentialContactPointsIndices.add(contactPointIndex); similarManifoldFound = true; @@ -789,7 +826,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh // Create a new contact manifold for the overlapping pair // TODO : We should probably use single frame allocator here - // If so, do not forget to call mPotentialContactPoints.clear(true) at the end of frame + // If so, do not forget to call potentialContactPoints.clear(true) at the end of frame ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); // Add the contact point to the manifold @@ -804,40 +841,40 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh assert(!mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity)); // TODO : We should probably use a single frame allocator here - const uint newContactPairIndex = mCurrentContactPairs->size(); + const uint newContactPairIndex = contactPairs->size(); ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getEntity(), narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getEntity(), newContactPairIndex, mMemoryManager.getPoolAllocator()); - mCurrentContactPairs->add(overlappingPairContact); - pairContact = &((*mCurrentContactPairs)[newContactPairIndex]); - mCurrentMapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); + contactPairs->add(overlappingPairContact); + pairContact = &((*contactPairs)[newContactPairIndex]); + mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); - auto itbodyContactPairs = mMapBodyToContactPairs.find(body1Entity); - if (itbodyContactPairs != mMapBodyToContactPairs.end()) { + auto itbodyContactPairs = mapBodyToContactPairs.find(body1Entity); + if (itbodyContactPairs != mapBodyToContactPairs.end()) { itbodyContactPairs->second.add(newContactPairIndex); } else { - List contactPairs(mMemoryManager.getSingleFrameAllocator(), 1); + List contactPairs(mMemoryManager.getPoolAllocator(), 1); contactPairs.add(newContactPairIndex); - mMapBodyToContactPairs.add(Pair>(body1Entity, contactPairs)); + mapBodyToContactPairs.add(Pair>(body1Entity, contactPairs)); } - itbodyContactPairs = mMapBodyToContactPairs.find(body2Entity); - if (itbodyContactPairs != mMapBodyToContactPairs.end()) { + itbodyContactPairs = mapBodyToContactPairs.find(body2Entity); + if (itbodyContactPairs != mapBodyToContactPairs.end()) { itbodyContactPairs->second.add(newContactPairIndex); } else { - List contactPairs(mMemoryManager.getSingleFrameAllocator(), 1); + List contactPairs(mMemoryManager.getPoolAllocator(), 1); contactPairs.add(newContactPairIndex); - mMapBodyToContactPairs.add(Pair>(body2Entity, contactPairs)); + mapBodyToContactPairs.add(Pair>(body2Entity, contactPairs)); } } assert(pairContact != nullptr); // Add the potential contact manifold - uint contactManifoldIndex = static_cast(mPotentialContactManifolds.size()); - mPotentialContactManifolds.add(contactManifoldInfo); + uint contactManifoldIndex = static_cast(potentialContactManifolds.size()); + potentialContactManifolds.add(contactManifoldInfo); // Add the contact manifold to the overlapping pair contact assert(pairContact->pairId == contactManifoldInfo.pairId); @@ -852,14 +889,16 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh } // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds -void CollisionDetection::reducePotentialContactManifolds() { +void CollisionDetection::reducePotentialContactManifolds(List* contactPairs, + List& potentialContactManifolds, + const List& potentialContactPoints) const { RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler); // Reduce the number of potential contact manifolds in a contact pair - for (uint i=0; i < mCurrentContactPairs->size(); i++) { + for (uint i=0; i < contactPairs->size(); i++) { - ContactPair& contactPair = (*mCurrentContactPairs)[i]; + ContactPair& contactPair = (*contactPairs)[i]; assert(contactPair.potentialContactManifoldsIndices.size() > 0); @@ -871,10 +910,10 @@ void CollisionDetection::reducePotentialContactManifolds() { int minDepthManifoldIndex = -1; for (uint j=0; j < contactPair.potentialContactManifoldsIndices.size(); j++) { - ContactManifoldInfo& manifold = mPotentialContactManifolds[contactPair.potentialContactManifoldsIndices[j]]; + ContactManifoldInfo& manifold = potentialContactManifolds[contactPair.potentialContactManifoldsIndices[j]]; // Get the largest contact point penetration depth of the manifold - const decimal depth = computePotentialManifoldLargestContactDepth(manifold); + const decimal depth = computePotentialManifoldLargestContactDepth(manifold, potentialContactPoints); if (depth < minDepth) { minDepth = depth; @@ -889,14 +928,14 @@ void CollisionDetection::reducePotentialContactManifolds() { } // Reduce the number of potential contact points in the manifolds - for (uint i=0; i < mCurrentContactPairs->size(); i++) { + for (uint i=0; i < contactPairs->size(); i++) { - const ContactPair& pairContact = (*mCurrentContactPairs)[i]; + const ContactPair& pairContact = (*contactPairs)[i]; // For each potential contact manifold for (uint j=0; j < pairContact.potentialContactManifoldsIndices.size(); j++) { - ContactManifoldInfo& manifold = mPotentialContactManifolds[pairContact.potentialContactManifoldsIndices[j]]; + ContactManifoldInfo& manifold = potentialContactManifolds[pairContact.potentialContactManifoldsIndices[j]]; // If there are two many contact points in the manifold if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { @@ -904,7 +943,7 @@ void CollisionDetection::reducePotentialContactManifolds() { Transform shape1LocalToWorldTransoform = mOverlappingPairs[manifold.pairId]->getShape1()->getLocalToWorldTransform(); // Reduce the number of contact points in the manifold - reduceContactPoints(manifold, shape1LocalToWorldTransoform); + reduceContactPoints(manifold, shape1LocalToWorldTransoform, potentialContactPoints); } assert(manifold.potentialContactPointsIndices.size() <= MAX_CONTACT_POINTS_IN_MANIFOLD); @@ -913,14 +952,15 @@ void CollisionDetection::reducePotentialContactManifolds() { } // Return the largest depth of all the contact points of a potential manifold -decimal CollisionDetection::computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold) const { +decimal CollisionDetection::computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, + const List& potentialContactPoints) const { decimal largestDepth = 0.0f; assert(manifold.potentialContactPointsIndices.size() > 0); for (uint i=0; i < manifold.potentialContactPointsIndices.size(); i++) { - decimal depth = mPotentialContactPoints[manifold.potentialContactPointsIndices[i]].penetrationDepth; + decimal depth = potentialContactPoints[manifold.potentialContactPointsIndices[i]].penetrationDepth; if (depth > largestDepth) { largestDepth = depth; @@ -934,7 +974,8 @@ decimal CollisionDetection::computePotentialManifoldLargestContactDepth(const Co // This is based on the technique described by Dirk Gregorius in his // "Contacts Creation" GDC presentation. This method will reduce the number of // contact points to a maximum of 4 points (but it can be less). -void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform) { +void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, + const List& potentialContactPoints) const { assert(manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD); @@ -945,9 +986,6 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons // point we want to keep, we will remove it from this list List candidatePointsIndices(manifold.potentialContactPointsIndices); - // TODO : DELETE THIS - uint nbPoints = candidatePointsIndices.size(); - int8 nbReducedPoints = 0; uint pointsToKeepIndices[MAX_CONTACT_POINTS_IN_MANIFOLD]; @@ -964,7 +1002,7 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons // Compute the contact normal of the manifold (we use the first contact point) // in the local-space of the first collision shape - const Vector3 contactNormalShape1Space = worldToShape1Transform.getOrientation() * mPotentialContactPoints[candidatePointsIndices[0]].normal; + const Vector3 contactNormalShape1Space = worldToShape1Transform.getOrientation() * potentialContactPoints[candidatePointsIndices[0]].normal; // Compute a search direction const Vector3 searchDirection(1, 1, 1); @@ -972,7 +1010,7 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons uint elementIndexToKeep = 0; for (uint i=0; i < candidatePointsIndices.size(); i++) { - const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; + const ContactPointInfo& element = potentialContactPoints[candidatePointsIndices[i]]; decimal dotProduct = searchDirection.dot(element.localPoint1); if (dotProduct > maxDotProduct) { maxDotProduct = dotProduct; @@ -991,8 +1029,8 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons elementIndexToKeep = 0; for (uint i=0; i < candidatePointsIndices.size(); i++) { - const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; - const ContactPointInfo& pointToKeep0 = mPotentialContactPoints[pointsToKeepIndices[0]]; + const ContactPointInfo& element = potentialContactPoints[candidatePointsIndices[i]]; + const ContactPointInfo& pointToKeep0 = potentialContactPoints[pointsToKeepIndices[0]]; assert(candidatePointsIndices[i] != pointsToKeepIndices[0]); @@ -1020,9 +1058,9 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons bool isPreviousAreaPositive = true; for (uint i=0; i < candidatePointsIndices.size(); i++) { - const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; - const ContactPointInfo& pointToKeep0 = mPotentialContactPoints[pointsToKeepIndices[0]]; - const ContactPointInfo& pointToKeep1 = mPotentialContactPoints[pointsToKeepIndices[1]]; + const ContactPointInfo& element = potentialContactPoints[candidatePointsIndices[i]]; + const ContactPointInfo& pointToKeep0 = potentialContactPoints[pointsToKeepIndices[0]]; + const ContactPointInfo& pointToKeep1 = potentialContactPoints[pointsToKeepIndices[1]]; assert(candidatePointsIndices[i] != pointsToKeepIndices[0]); assert(candidatePointsIndices[i] != pointsToKeepIndices[1]); @@ -1067,7 +1105,7 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons // For each remaining candidate points for (uint i=0; i < candidatePointsIndices.size(); i++) { - const ContactPointInfo& element = mPotentialContactPoints[candidatePointsIndices[i]]; + const ContactPointInfo& element = potentialContactPoints[candidatePointsIndices[i]]; assert(candidatePointsIndices[i] != pointsToKeepIndices[0]); assert(candidatePointsIndices[i] != pointsToKeepIndices[1]); @@ -1079,8 +1117,8 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons uint edgeVertex1Index = j; uint edgeVertex2Index = j < 2 ? j + 1 : 0; - const ContactPointInfo& pointToKeepEdgeV1 = mPotentialContactPoints[pointsToKeepIndices[edgeVertex1Index]]; - const ContactPointInfo& pointToKeepEdgeV2 = mPotentialContactPoints[pointsToKeepIndices[edgeVertex2Index]]; + const ContactPointInfo& pointToKeepEdgeV1 = potentialContactPoints[pointsToKeepIndices[edgeVertex1Index]]; + const ContactPointInfo& pointToKeepEdgeV2 = potentialContactPoints[pointsToKeepIndices[edgeVertex2Index]]; const Vector3 newToFirst = pointToKeepEdgeV1.localPoint1 - element.localPoint1; const Vector3 newToSecond = pointToKeepEdgeV2.localPoint1 - element.localPoint1; @@ -1113,6 +1151,7 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons } // Report contacts for all the colliding overlapping pairs +// TODO : What do we do with this method void CollisionDetection::reportAllContacts() { RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); @@ -1136,452 +1175,177 @@ void CollisionDetection::reportAllContacts() { */ } -// Compute the middle-phase collision detection between two proxy shapes -void CollisionDetection::computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInput& outNarrowPhaseInput) { - - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); - - // ------------------------------------------------------- - - const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); - const bool isShape2Convex = shape2->getCollisionShape()->isConvex(); - - pair->makeLastFrameCollisionInfosObsolete(); - - // If both shapes are convex - if ((isShape1Convex && isShape2Convex)) { - - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(shape1->getCollisionShape()->getType(), - shape2->getCollisionShape()->getType()); - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - outNarrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), - shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), - algorithmType, mMemoryManager.getPoolAllocator()); - - } - // Concave vs Convex algorithm - else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - - // Run the middle-phase collision detection algorithm to find the triangles of the concave - // shape we need to use during the narrow-phase collision detection - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getPoolAllocator(), outNarrowPhaseInput); - } - - pair->clearObsoleteLastFrameCollisionInfos(); -} - -// Report all the bodies that overlap with the aabb in parameter -void CollisionDetection::testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, - unsigned short categoryMaskBits) { - assert(overlapCallback != nullptr); - - Set reportedBodies(mMemoryManager.getPoolAllocator()); - - // Ask the broad-phase to get all the overlapping shapes - List overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); - - // For each overlaping proxy shape - for (uint i=0; i < overlappingNodes.size(); i++) { - - // Get the overlapping proxy shape - const int broadPhaseId = overlappingNodes[i]; - ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); - - CollisionBody* overlapBody = proxyShape->getBody(); - - // If the proxy shape is from a body that we have not already reported collision - if (reportedBodies.find(overlapBody->getId()) == reportedBodies.end()) { - - // Check if the collision filtering allows collision between the two shapes - if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - - // Add the body into the set of reported bodies - reportedBodies.add(overlapBody->getId()); - - // Notify the overlap to the user - overlapCallback->notifyOverlap(overlapBody); - } - } - } -} - // Return true if two bodies overlap bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); - // For each proxy shape proxy shape of the first body - const List& body1ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body1->getEntity()); - const List& body2ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body2->getEntity()); - for (uint i=0; i < body1ProxyShapesEntities.size(); i++) { + // Compute the broad-phase collision detection + computeBroadPhase(); - ProxyShape* body1ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body1ProxyShapesEntities[i]); - - AABB aabb1 = body1ProxyShape->getWorldAABB(); - - // For each proxy shape of the second body - for (uint j=0; j < body2ProxyShapesEntities.size(); j++) { - - ProxyShape* body2ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body2ProxyShapesEntities[j]); - - AABB aabb2 = body2ProxyShape->getWorldAABB(); - - // Test if the AABBs of the two proxy shapes overlap - if (aabb1.testCollision(aabb2)) { - - // Create a temporary overlapping pair - OverlappingPair pair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInput); - - } - } - } - - // Test narrow-phase collision - bool isCollisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, false, mMemoryManager.getPoolAllocator()); - - // No overlap has been found - return isCollisionFound; -} - -// Report all the bodies that overlap with the body in parameter -void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, - unsigned short categoryMaskBits) { - - assert(overlapCallback != nullptr); - - Set reportedBodies(mMemoryManager.getPoolAllocator()); - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); - - // For each proxy shape proxy shape of the body - const List& proxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body->getEntity()); - for (uint i=0; i < proxyShapesEntities.size(); i++) { - - ProxyShape* bodyProxyShape = mWorld->mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - - if (bodyProxyShape->getBroadPhaseId() != -1) { - - // Get the AABB of the shape - const AABB& shapeAABB = mBroadPhaseSystem.getFatAABB(bodyProxyShape->getBroadPhaseId()); - - // Ask the broad-phase to get all the overlapping shapes - List overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); - - const bodyindex bodyId = body->getId(); - - // For each overlaping proxy shape - for (uint i=0; i < overlappingNodes.size(); i++) { - - // Get the overlapping proxy shape - const int broadPhaseId = overlappingNodes[i]; - ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); - - // If the proxy shape is from a body that we have not already reported collision and the - // two proxy collision shapes are not from the same body - if (reportedBodies.find(proxyShape->getBody()->getId()) == reportedBodies.end() && - proxyShape->getBody()->getId() != bodyId) { - - // Check if the collision filtering allows collision between the two shapes - if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - - // Create a temporary overlapping pair - OverlappingPair pair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(&pair, narrowPhaseInput); - - // Test narrow-phase collision - if (testNarrowPhaseCollision(narrowPhaseInput, true, false, mMemoryManager.getPoolAllocator())) { - - CollisionBody* overlapBody = proxyShape->getBody(); - - // Add the body into the set of reported bodies - reportedBodies.add(overlapBody->getId()); - - // Notify the overlap to the user - overlapCallback->notifyOverlap(overlapBody); - } - - narrowPhaseInput.clear(); - } - } - } - } - } -} - -// Test and report collisions between two bodies -void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* collisionCallback) { - - assert(collisionCallback != nullptr); - - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + // Filter the overlapping pairs to get only the ones with the selected body involved OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body1->getEntity(), body2->getEntity(), overlappingPairs); - // For each proxy shape proxy shape of the first body - const List& body1ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body1->getEntity()); - const List& body2ProxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body2->getEntity()); - for (uint i=0; i < body1ProxyShapesEntities.size(); i++) { + if (overlappingPairs.size() > 0) { - ProxyShape* body1ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body1ProxyShapesEntities[i]); + // Compute the middle-phase collision detection + computeMiddlePhase(overlappingPairs, narrowPhaseInput); - AABB aabb1 = body1ProxyShape->getWorldAABB(); - - // For each proxy shape of the second body - for (uint j=0; j < body2ProxyShapesEntities.size(); j++) { - - ProxyShape* body2ProxyShape = mWorld->mProxyShapesComponents.getProxyShape(body2ProxyShapesEntities[i]); - - AABB aabb2 = body2ProxyShape->getWorldAABB(); - - // Test if the AABBs of the two proxy shapes overlap - if (aabb1.testCollision(aabb2)) { - - OverlappingPair* pair; - const Pair pairID = OverlappingPair::computeID(body1ProxyShape->getBroadPhaseId(), body2ProxyShape->getBroadPhaseId()); - - // Try to retrieve a corresponding copy of the overlapping pair (if it exists) - auto itPair = overlappingPairs.find(pairID); - - // If a copy of the overlapping pair does not exist yet - if (itPair == overlappingPairs.end()) { - - // Create a temporary copy of the overlapping pair - pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(body1ProxyShape, body2ProxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - overlappingPairs.add(Pair, OverlappingPair*>(pairID, pair)); - } - else { // If a temporary copy of this overlapping pair already exists - - // Retrieve the existing copy of the overlapping pair - pair = itPair->second; - } - - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); - } - } + // Compute the narrow-phase collision detection + return computeNarrowPhaseSnapshot(narrowPhaseInput, true); } - // Test narrow-phase collision - testNarrowPhaseCollision(narrowPhaseInput, false, true, mMemoryManager.getPoolAllocator()); - - // Process the potential contacts - processAllPotentialContacts(narrowPhaseInput, false); - - // Reduce the number of contact points in the manifolds - //reducePotentialContactManifolds(overlappingPairs); - - // TODO : Rework how we report contacts - /* - // For each overlapping pair - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { - - OverlappingPair* pair = it->second; - - if (pair->hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - collisionCallback->notifyContact(collisionInfo); - } - - // Destroy the temporary overlapping pair - pair->~OverlappingPair(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - } - */ + return false; } -// Test and report collisions between a body and all the others bodies of the world -void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits) { +// Report all the bodies that overlap in the world +void CollisionDetection::testOverlap(OverlapCallback* callback) { assert(callback != nullptr); NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); - OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); - - // For each proxy shape proxy shape of the body - const List& proxyShapesEntities = mWorld->mBodyComponents.getProxyShapes(body->getEntity()); - for (uint i=0; i < proxyShapesEntities.size(); i++) { - - ProxyShape* bodyProxyShape = mWorld->mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - - if (bodyProxyShape->getBroadPhaseId() != -1) { - - // Get the AABB of the shape - const AABB& shapeAABB = mBroadPhaseSystem.getFatAABB(bodyProxyShape->getBroadPhaseId()); - - // Ask the broad-phase to get all the overlapping shapes - List overlappingNodes(mMemoryManager.getPoolAllocator()); - mBroadPhaseSystem.reportAllShapesOverlappingWithAABB(shapeAABB, overlappingNodes); - - const bodyindex bodyId = body->getId(); - - // For each overlaping proxy shape - for (uint i=0; i < overlappingNodes.size(); i++) { - - // Get the overlapping proxy shape - const int broadPhaseId = overlappingNodes[i]; - ProxyShape* proxyShape = mBroadPhaseSystem.getProxyShapeForBroadPhaseId(broadPhaseId); - - // If the two proxy collision shapes are not from the same body - if (proxyShape->getBody()->getId() != bodyId) { - - // Check if the collision filtering allows collision between the two shapes - if ((proxyShape->getCollisionCategoryBits() & categoryMaskBits) != 0) { - - OverlappingPair* pair; - const Pair pairID = OverlappingPair::computeID(bodyProxyShape->getBroadPhaseId(), proxyShape->getBroadPhaseId()); - - // Try to retrieve a corresponding copy of the overlapping pair (if it exists) - auto itPair = overlappingPairs.find(pairID); - - // If a copy of the overlapping pair does not exist yet - if (itPair == overlappingPairs.end()) { - - // Create a temporary overlapping pair - pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(bodyProxyShape, proxyShape, mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - overlappingPairs.add(Pair, OverlappingPair*>(pairID, pair)); - } - else { // If a temporary copy of this overlapping pair already exists - - // Retrieve the existing copy of the overlapping pair - pair = itPair->second; - } - - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); - } - } - } - } - } - - // Test narrow-phase collision - testNarrowPhaseCollision(narrowPhaseInput, false, true, mMemoryManager.getPoolAllocator()); - - // Process the potential contacts - processAllPotentialContacts(narrowPhaseInput, false); - - // Reduce the number of contact points in the manifolds - //reducePotentialContactManifolds(overlappingPairs); - - // TODO : Rework how we report contacts - /* - // For each overlapping pair - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { - - OverlappingPair* pair = it->second; - - if (pair->hasContacts()) { - - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - callback->notifyContact(collisionInfo); - } - - // Destroy the temporary overlapping pair - pair->~OverlappingPair(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - } - */ -} - -// Test and report collisions between all shapes of the world -void CollisionDetection::testCollision(CollisionCallback* callback) { - - assert(callback != nullptr); // Compute the broad-phase collision detection computeBroadPhase(); + // Compute the middle-phase collision detection + computeMiddlePhase(mOverlappingPairs, narrowPhaseInput); + + // Compute the narrow-phase collision detection + computeNarrowPhaseSnapshot(narrowPhaseInput, false); + + // TODO : Report overlaps +} + +// Report all the bodies that overlap with the body in parameter +void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* callback) { + + assert(callback != nullptr); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + + // Compute the broad-phase collision detection + computeBroadPhase(); + + // Filter the overlapping pairs to get only the ones with the selected body involved OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body->getEntity(), overlappingPairs); + + if (overlappingPairs.size() > 0) { + + // Compute the middle-phase collision detection + computeMiddlePhase(overlappingPairs, narrowPhaseInput); + + // Compute the narrow-phase collision detection + computeNarrowPhaseSnapshot(narrowPhaseInput, false); + + // TODO : Report contacts + } +} + +// Test collision and report contacts between two bodies. +void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback) { + + assert(callback != nullptr); + + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + + // Compute the broad-phase collision detection + computeBroadPhase(); + + // Filter the overlapping pairs to get only the ones with the selected body involved + OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body1->getEntity(), body2->getEntity(), overlappingPairs); + + if (overlappingPairs.size() > 0) { + + // Compute the middle-phase collision detection + computeMiddlePhase(overlappingPairs, narrowPhaseInput); + + // Compute the narrow-phase collision detection + computeNarrowPhaseSnapshot(narrowPhaseInput, true); + + // TODO : Report contacts + } +} + +// Test collision and report all the contacts involving the body in parameter +void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* callback) { + + assert(callback != nullptr); + + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + + // Compute the broad-phase collision detection + computeBroadPhase(); + + // Filter the overlapping pairs to get only the ones with the selected body involved + OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body->getEntity(), overlappingPairs); + + if (overlappingPairs.size() > 0) { + + // Compute the middle-phase collision detection + computeMiddlePhase(overlappingPairs, narrowPhaseInput); + + // Compute the narrow-phase collision detection + computeNarrowPhaseSnapshot(narrowPhaseInput, true); + + // TODO : Report contacts + } +} + +// Test collision and report contacts between each colliding bodies in the world +void CollisionDetection::testCollision(CollisionCallback* callback) { + + assert(callback != nullptr); + + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + + // Compute the broad-phase collision detection + computeBroadPhase(); + + // Compute the middle-phase collision detection + computeMiddlePhase(mOverlappingPairs, narrowPhaseInput); + + // Compute the narrow-phase collision detection + computeNarrowPhaseSnapshot(narrowPhaseInput, true); + + // TODO : Report contacts +} + +// Filter the overlapping pairs to keep only the pairs where a given body is involved +void CollisionDetection::filterOverlappingPairs(Entity bodyEntity, OverlappingPairMap& outFilteredPairs) const { // For each possible collision pair of bodies for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - OverlappingPair* originalPair = it->second; + OverlappingPair* pair = it->second; - OverlappingPair* pair; - const Pair pairID = OverlappingPair::computeID(originalPair->getShape1()->getBroadPhaseId(), originalPair->getShape2()->getBroadPhaseId()); + if (pair->getShape1()->getBody()->getEntity() == bodyEntity || pair->getShape2()->getBody()->getEntity() == bodyEntity) { - // Try to retrieve a corresponding copy of the overlapping pair (if it exists) - auto itPair = overlappingPairs.find(pairID); - - // If a copy of the overlapping pair does not exist yet - if (itPair == overlappingPairs.end()) { - - // Create a temporary overlapping pair - pair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(originalPair->getShape1(), originalPair->getShape2(), mMemoryManager.getPoolAllocator(), - mMemoryManager.getPoolAllocator(), mWorld->mConfig); - - overlappingPairs.add(Pair, OverlappingPair*>(pairID, pair)); - } - else { // If a temporary copy of this overlapping pair already exists - - // Retrieve the existing copy of the overlapping pair - pair = itPair->second; - } - - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); - - // Check if the collision filtering allows collision between the two shapes and - // that the two shapes are still overlapping. - if (((shape1->getCollideWithMaskBits() & shape2->getCollisionCategoryBits()) != 0 && - (shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) != 0) && - mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) { - - // Compute the middle-phase collision detection between the two shapes - computeMiddlePhaseForProxyShapes(pair, narrowPhaseInput); + outFilteredPairs.add(Pair, OverlappingPair*>(it->first, pair)); } } - // Test narrow-phase collision - testNarrowPhaseCollision(narrowPhaseInput, false, true, mMemoryManager.getPoolAllocator()); +} - // Process the potential contacts - processAllPotentialContacts(narrowPhaseInput, false); +// Filter the overlapping pairs to keep only the pairs where two given bodies are involved +void CollisionDetection::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, OverlappingPairMap& outFilteredPairs) const { - // Reduce the number of contact points in the manifolds - //reducePotentialContactManifolds(overlappingPairs); - - // TODO : Rework how we report contacts - /* - // For each overlapping pair - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + // For each possible collision pair of bodies + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { OverlappingPair* pair = it->second; - if (pair->hasContacts()) { + if ((pair->getShape1()->getBody()->getEntity() == body1Entity && pair->getShape2()->getBody()->getEntity() == body2Entity) || + (pair->getShape1()->getBody()->getEntity() == body2Entity && pair->getShape2()->getBody()->getEntity() == body1Entity)) { - // Report the contacts to the user - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - callback->notifyContact(collisionInfo); + outFilteredPairs.add(Pair, OverlappingPair*>(it->first, pair)); } - - // Destroy the temporary overlapping pair - pair->~OverlappingPair(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); } - */ + } // Return the world event listener diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index a0d52357..fdba64b4 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -181,40 +181,46 @@ class CollisionDetection { void computeBroadPhase(); /// Compute the middle-phase collision detection - void computeMiddlePhase(); + void computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput); /// Compute the narrow-phase collision detection void computeNarrowPhase(); + /// Compute the narrow-phase collision detection for the testCollision() methods + bool computeNarrowPhaseSnapshot(NarrowPhaseInput& narrowPhaseInput, bool reportContacts); + /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary - void updateOverlappingPairs(List >& overlappingNodes); + void updateOverlappingPairs(const List>& overlappingNodes); /// Remove pairs that are not overlapping anymore void removeNonOverlappingPairs(); /// Execute the narrow-phase collision detection algorithm on batches - bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool stopFirstContactFound, - bool reportContacts, MemoryAllocator& allocator); + bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, MemoryAllocator& allocator); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput); - /// Compute the middle-phase collision detection between two proxy shapes - void computeMiddlePhaseForProxyShapes(OverlappingPair* pair, NarrowPhaseInput& outNarrowPhaseInput); - /// Swap the previous and current contacts lists void swapPreviousAndCurrentContacts(); /// Convert the potential contact into actual contacts void processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - bool updateLastFrameInfo); + bool updateLastFrameInfo, List& potentialContactPoints, + Map* mapPairIdToContactPairIndex, + List& potentialContactManifolds, List* contactPairs, + Map>& mapBodyToContactPairs); /// Process the potential contacts after narrow-phase collision detection - void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo); + void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List& potentialContactPoints, + Map* mapPairIdToContactPairIndex, + List &potentialContactManifolds, List* contactPairs, + Map>& mapBodyToContactPairs); /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts - void reducePotentialContactManifolds(); + void reducePotentialContactManifolds(List* contactPairs, List& potentialContactManifolds, + const List& potentialContactPoints) const; /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair void createContacts(); @@ -223,17 +229,25 @@ class CollisionDetection { void initContactsWithPreviousOnes(); /// Reduce the number of contact points of a potential contact manifold - void reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform); + void reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, + const List& potentialContactPoints) const; /// Report contacts for all the colliding overlapping pairs void reportAllContacts(); /// Return the largest depth of all the contact points of a potential manifold - decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold) const; + decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, + const List& potentialContactPoints) const; /// Process the potential contacts where one collion is a concave shape void processSmoothMeshContacts(OverlappingPair* pair); + /// Filter the overlapping pairs to keep only the pairs where a given body is involved + void filterOverlappingPairs(Entity bodyEntity, OverlappingPairMap& outFilteredPairs) const; + + /// Filter the overlapping pairs to keep only the pairs where two given bodies are involved + void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, OverlappingPairMap& outFilteredPairs) const; + public : // -------------------- Methods -------------------- // @@ -283,22 +297,22 @@ class CollisionDetection { void raycast(RaycastCallback* raycastCallback, const Ray& ray, unsigned short raycastWithCategoryMaskBits) const; - /// Report all the bodies that overlap with the aabb in parameter - void testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF); - - /// Return true if two bodies overlap + /// Return true if two bodies (collide) overlap bool testOverlap(CollisionBody* body1, CollisionBody* body2); - /// Report all the bodies that overlap with the body in parameter - void testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF); + /// Report all the bodies that overlap (collide) with the body in parameter + void testOverlap(CollisionBody* body, OverlapCallback* callback); - /// Test and report collisions between two bodies + /// Report all the bodies that overlap (collide) in the world + void testOverlap(OverlapCallback* overlapCallback); + + /// Test collision and report contacts between two bodies. void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback); - /// Test and report collisions between a body and all the others bodies of the world - void testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits = 0xFFFF); + /// Test collision and report all the contacts involving the body in parameter + void testCollision(CollisionBody* body, CollisionCallback* callback); - /// Test and report collisions between all shapes of the world + /// Test collision and report contacts between each colliding bodies in the world void testCollision(CollisionCallback* callback); /// Return a reference to the memory manager diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index ecf69ee1..7b4831fc 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + bool reportContacts, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -154,9 +154,6 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } } @@ -234,9 +231,6 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } } } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index 32f76abe..d8b69bca 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -68,8 +68,7 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between two capsules bool testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator); + uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index d425b80e..ff02fa38 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -41,8 +41,7 @@ using namespace reactphysics3d; // by Dirk Gregorius. bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) { + bool reportContacts, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -166,9 +165,6 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar // Colision found narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } @@ -183,9 +179,6 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar if (narrowPhaseInfoBatch.isColliding[batchIndex]) { isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } } } } diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index 70f223b5..42d8ada2 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -71,8 +71,7 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between a capsule and a polyhedron bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator); + uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index 3ed15c74..08d9e9f7 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -37,8 +37,7 @@ using namespace reactphysics3d; // by Dirk Gregorius. bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator) { + bool reportContacts, MemoryAllocator& memoryAllocator) { // Run the SAT algorithm to find the separating axis and compute contact point SATAlgorithm satAlgorithm(memoryAllocator); @@ -50,7 +49,7 @@ bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB #endif bool isCollisionFound = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, - batchNbItems, reportContacts, stopFirstContactFound); + batchNbItems, reportContacts); for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { @@ -59,10 +58,6 @@ bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB lastFrameCollisionInfo->wasUsingSAT = true; lastFrameCollisionInfo->wasUsingGJK = false; - - if (isCollisionFound && stopFirstContactFound) { - return isCollisionFound; - } } return isCollisionFound; diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index 7f9fccd2..b4bd70e6 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -65,9 +65,8 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm ConvexPolyhedronVsConvexPolyhedronAlgorithm& operator=(const ConvexPolyhedronVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two convex polyhedra - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator); + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 3c467ea3..42d77256 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -54,7 +54,7 @@ SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator( // Test collision between a sphere and a convex mesh bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound) const { + bool reportContacts) const { bool isCollisionFound = false; @@ -136,9 +136,6 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } } return isCollisionFound; @@ -476,7 +473,7 @@ bool SATAlgorithm::isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, c } // Test collision between two convex polyhedrons -bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, bool stopFirstContactFound) const { +bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts) const { RP3D_PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); @@ -548,9 +545,6 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // Therefore, we can return without running the whole SAT algorithm narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } @@ -591,9 +585,6 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // Therefore, we can return without running the whole SAT algorithm narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } @@ -683,9 +674,6 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // we return without running the whole SAT algorithm narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } @@ -878,9 +866,6 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } } return isCollisionFound; diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.h b/src/collision/narrowphase/SAT/SATAlgorithm.h index 1eb1b923..4ed5e821 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.h +++ b/src/collision/narrowphase/SAT/SATAlgorithm.h @@ -140,7 +140,7 @@ class SATAlgorithm { /// Test collision between a sphere and a convex mesh bool testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound) const; + bool reportContacts) const; /// Test collision between a capsule and a convex mesh bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool reportContacts) const; @@ -158,7 +158,7 @@ class SATAlgorithm { /// Test collision between two convex meshes bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound) const; + uint batchNbItems, bool reportContacts) const; #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index 68a02509..3abb1f09 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + bool reportContacts, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -137,9 +137,6 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } } diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h index 7394bfb2..25926fce 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -68,8 +68,7 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between a sphere and a capsule bool testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator); + uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index a8e638be..48e5390b 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + bool reportContacts, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; @@ -73,9 +73,6 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr // Return true narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } continue; } @@ -91,15 +88,11 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr #endif - isCollisionFound |= satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1, reportContacts, stopFirstContactFound); + isCollisionFound |= satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1, reportContacts); lastFrameCollisionInfo->wasUsingGJK = false; lastFrameCollisionInfo->wasUsingSAT = true; - if (isCollisionFound && stopFirstContactFound) { - return isCollisionFound; - } - continue; } } diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 040caec6..e0d6ea0a 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -71,9 +71,8 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator); + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index 52bf5d96..a6d5a61d 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -32,7 +32,7 @@ using namespace reactphysics3d; bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool stopFirstContactFound, MemoryAllocator& memoryAllocator) { + bool reportContacts, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -94,9 +94,6 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch.isColliding[batchIndex] = true; isCollisionFound = true; - if (stopFirstContactFound) { - return isCollisionFound; - } } } diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/src/collision/narrowphase/SphereVsSphereAlgorithm.h index e0f4c5be..5e9554b4 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -67,8 +67,7 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { /// Compute a contact info if the two bounding volume collide bool testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool stopFirstContactFound, - MemoryAllocator& memoryAllocator); + uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); }; } diff --git a/src/containers/Set.h b/src/containers/Set.h index 93cba1ca..c6162c44 100755 --- a/src/containers/Set.h +++ b/src/containers/Set.h @@ -543,7 +543,7 @@ class Set { } /// Return a list with all the values of the set - List toList(MemoryAllocator& listAllocator) { + List toList(MemoryAllocator& listAllocator) const { List list(listAllocator); diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 55ee9861..c63d017a 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -256,37 +256,10 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { } } -// Test if the AABBs of two bodies overlap -/** - * @param body1 Pointer to the first body to test - * @param body2 Pointer to the second body to test - * @return True if the AABBs of the two bodies overlap and false otherwise - */ -bool CollisionWorld::testAABBOverlap(const CollisionBody* body1, - const CollisionBody* body2) const { - - // If one of the body is not active, we return no overlap - if (!body1->isActive() || !body2->isActive()) return false; - - // Compute the AABBs of both bodies - AABB body1AABB = body1->getAABB(); - AABB body2AABB = body2->getAABB(); - - // Return true if the two AABBs overlap - return body1AABB.testCollision(body2AABB); -} - -// Report all the bodies which have an AABB that overlaps with the AABB in parameter -/** - * @param aabb AABB used to test for overlap - * @param overlapCallback Pointer to the callback class to report overlap - * @param categoryMaskBits bits mask used to filter the bodies to test overlap with - */ -void CollisionWorld::testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, unsigned short categoryMaskBits) { - mCollisionDetection.testAABBOverlap(aabb, overlapCallback, categoryMaskBits); -} - // Return true if two bodies overlap +/// Use this method if you are not interested in contacts but if you simply want to know +/// if the two bodies overlap. If you want to get the contacts, you need to use the +/// testCollision() method instead. /** * @param body1 Pointer to the first body * @param body2 Pointer to a second body diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index ac407bff..8f513ef1 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -162,25 +162,22 @@ class CollisionWorld { /// Ray cast method void raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits = 0xFFFF) const; - /// Test if the AABBs of two bodies overlap - bool testAABBOverlap(const CollisionBody* body1, const CollisionBody* body2) const; - - /// Report all the bodies which have an AABB that overlaps with the AABB in parameter - void testAABBOverlap(const AABB& aabb, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF); - - /// Return true if two bodies overlap + /// Return true if two bodies overlap (collide) bool testOverlap(CollisionBody* body1, CollisionBody* body2); - /// Report all the bodies that overlap with the body in parameter - void testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, unsigned short categoryMaskBits = 0xFFFF); + /// Report all the bodies that overlap (collide) with the body in parameter + void testOverlap(CollisionBody* body, OverlapCallback* overlapCallback); - /// Test and report collisions between two bodies + /// Report all the bodies that overlap (collide) in the world + void testOverlap(OverlapCallback* overlapCallback); + + /// Test collision and report contacts between two bodies. void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback); - /// Test and report collisions between a body and all the others bodies of the world - void testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits = 0xFFFF); + /// Test collision and report all the contacts involving the body in parameter + void testCollision(CollisionBody* body, CollisionCallback* callback); - /// Test and report collisions between all shapes of the world + /// Test collision and report contacts between each colliding bodies in the world void testCollision(CollisionCallback* callback); #ifdef IS_PROFILING_ACTIVE @@ -236,7 +233,11 @@ inline void CollisionWorld::raycast(const Ray& ray, mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits); } -// Test and report collisions between two bodies +// Test collision and report contacts between two bodies. +/// Use this method if you only want to get all the contacts between two bodies. +/// All the contacts will be reported using the callback object in paramater. +/// If you are not interested in the contacts but you only want to know if the bodies collide, +/// you can use the testOverlap() method instead. /** * @param body1 Pointer to the first body to test * @param body2 Pointer to the second body to test @@ -246,17 +247,24 @@ inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* b mCollisionDetection.testCollision(body1, body2, callback); } -// Test and report collisions between a body and all the others bodies of the world +// Test collision and report all the contacts involving the body in parameter +/// Use this method if you only want to get all the contacts involving a given body. +/// All the contacts will be reported using the callback object in paramater. +/// If you are not interested in the contacts but you only want to know if the bodies collide, +/// you can use the testOverlap() method instead. /** * @param body Pointer to the body against which we need to test collision * @param callback Pointer to the object with the callback method to report contacts - * @param categoryMaskBits Bits mask corresponding to the category of bodies we need to test collision with */ -inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback* callback, unsigned short categoryMaskBits) { - mCollisionDetection.testCollision(body, callback, categoryMaskBits); +inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback* callback) { + mCollisionDetection.testCollision(body, callback); } -// Test and report collisions between all bodies of the world +// Test collision and report contacts between each colliding bodies in the world +/// Use this method if you want to get all the contacts between colliding bodies in the world. +/// All the contacts will be reported using the callback object in paramater. +/// If you are not interested in the contacts but you only want to know if the bodies collide, +/// you can use the testOverlap() method instead. /** * @param callback Pointer to the object with the callback method to report contacts */ @@ -264,14 +272,24 @@ inline void CollisionWorld::testCollision(CollisionCallback* callback) { mCollisionDetection.testCollision(callback); } -// Report all the bodies that overlap with the body in parameter +// Report all the bodies that overlap (collide) with the body in parameter +/// Use this method if you are not interested in contacts but if you simply want to know +/// which bodies overlap with the body in parameter. If you want to get the contacts, you need to use the +/// testCollision() method instead. /** * @param body Pointer to the collision body to test overlap with * @param overlapCallback Pointer to the callback class to report overlap - * @param categoryMaskBits bits mask used to filter the bodies to test overlap with */ -inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback, unsigned short categoryMaskBits) { - mCollisionDetection.testOverlap(body, overlapCallback, categoryMaskBits); +inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback) { + mCollisionDetection.testOverlap(body, overlapCallback); +} + +// Report all the bodies that overlap (collide) in the world +/// Use this method if you are not interested in contacts but if you simply want to know +/// which bodies overlap. If you want to get the contacts, you need to use the +/// testCollision() method instead. +inline void CollisionWorld::testOverlap(OverlapCallback* overlapCallback) { + mCollisionDetection.testOverlap(overlapCallback); } // Return the name of the world diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 140486c3..7931da92 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -186,7 +186,7 @@ class BroadPhaseSystem { void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; /// Compute all the overlapping pairs of collision shapes - void computeOverlappingPairs(MemoryManager& memoryManager, List >& overlappingNodes); + void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); /// Return the proxy shape corresponding to the broad-phase node id in parameter ProxyShape* getProxyShapeForBroadPhaseId(int broadPhaseId) const; diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 63ea12f1..185dcf47 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -32,6 +32,7 @@ #include "constraint/ContactPoint.h" #include "collision/ContactManifold.h" #include +#include /// Reactphysics3D namespace namespace reactphysics3d { @@ -481,7 +482,6 @@ class TestCollisionWorld : public Test { testNoCollisions(); testNoOverlap(); - testNoAABBOverlap(); testSphereVsSphereCollision(); testSphereVsBoxCollision(); @@ -624,21 +624,6 @@ class TestCollisionWorld : public Test { rp3d_test(!mWorld->testOverlap(mBoxBody2, mSphereBody2)); } - void testNoAABBOverlap() { - - // All the shapes of the world are not touching when they are created. - // Here we test that at the beginning, there is no AABB overlap at all. - - // Two bodies test - - rp3d_test(!mWorld->testAABBOverlap(mBoxBody1, mBoxBody2)); - rp3d_test(!mWorld->testAABBOverlap(mSphereBody1, mSphereBody2)); - rp3d_test(!mWorld->testAABBOverlap(mBoxBody1, mSphereBody1)); - rp3d_test(!mWorld->testAABBOverlap(mBoxBody1, mSphereBody2)); - rp3d_test(!mWorld->testAABBOverlap(mBoxBody2, mSphereBody1)); - rp3d_test(!mWorld->testAABBOverlap(mBoxBody2, mSphereBody2)); - } - void testSphereVsSphereCollision() { Transform initTransform1 = mSphereBody1->getTransform(); @@ -651,10 +636,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mSphereBody2->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mSphereBody2)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -771,10 +752,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mBoxBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mBoxBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -881,10 +858,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mBoxBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mBoxBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -991,10 +964,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mBoxBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mBoxBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1111,10 +1080,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mCapsuleBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mCapsuleBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1221,10 +1186,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mCapsuleBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mCapsuleBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1341,10 +1302,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mConvexMeshBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mConvexMeshBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1451,10 +1408,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mConvexMeshBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mConvexMeshBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1561,10 +1514,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mConvexMeshBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mConvexMeshBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1681,10 +1630,6 @@ class TestCollisionWorld : public Test { mSphereBody1->setTransform(transform1); mConcaveMeshBody->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mSphereBody1, mConcaveMeshBody)); - mOverlapCallback.reset(); mWorld->testOverlap(mSphereBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1801,10 +1746,6 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform1); mBoxBody2->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mBoxBody1, mBoxBody2)); - mOverlapCallback.reset(); mWorld->testOverlap(mBoxBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -1965,10 +1906,6 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform1); mConvexMeshBody2->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mBoxBody1, mConvexMeshBody2)); - mOverlapCallback.reset(); mWorld->testOverlap(mBoxBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2129,10 +2066,6 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(transform1); mConvexMeshBody2->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mConvexMeshBody1, mConvexMeshBody2)); - mOverlapCallback.reset(); mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2293,10 +2226,6 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform1); mCapsuleBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mBoxBody1, mCapsuleBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mBoxBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2412,10 +2341,6 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(transform1); mCapsuleBody1->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mConvexMeshBody1, mCapsuleBody1)); - mOverlapCallback.reset(); mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2531,10 +2456,6 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform1); mConcaveMeshBody->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mBoxBody1, mConcaveMeshBody)); - mOverlapCallback.reset(); mWorld->testOverlap(mBoxBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2633,10 +2554,6 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(transform1); mConcaveMeshBody->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mConvexMeshBody1, mConcaveMeshBody)); - mOverlapCallback.reset(); mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2735,10 +2652,6 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform1); mCapsuleBody2->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mCapsuleBody1, mCapsuleBody2)); - mOverlapCallback.reset(); mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2845,10 +2758,6 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform1); mCapsuleBody2->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mCapsuleBody1, mCapsuleBody2)); - mOverlapCallback.reset(); mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); @@ -2965,10 +2874,6 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform1); mConcaveMeshBody->setTransform(transform2); - // ----- Test AABB overlap ----- // - - rp3d_test(mWorld->testAABBOverlap(mCapsuleBody1, mConcaveMeshBody)); - mOverlapCallback.reset(); mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); rp3d_test(mOverlapCallback.hasOverlap()); From 74b442077fa99e5bf6c32a1bc95ae3f705c7b6d1 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 25 Jun 2019 23:26:06 +0200 Subject: [PATCH 062/197] Working on testCollision() and testOverlap() methods --- CHANGELOG.md | 6 + CMakeLists.txt | 1 + src/body/Body.h | 2 + src/collision/CollisionCallback.cpp | 109 +-- src/collision/CollisionCallback.h | 226 +++++- src/collision/CollisionDetection.cpp | 316 +++++---- src/collision/CollisionDetection.h | 35 +- src/collision/ContactManifold.cpp | 1 - src/collision/ContactManifold.h | 3 - src/collision/OverlapCallback.cpp | 53 ++ src/collision/OverlapCallback.h | 121 +++- .../narrowphase/NarrowPhaseInfoBatch.cpp | 4 - src/constraint/ContactPoint.h | 66 -- src/engine/CollisionWorld.h | 24 +- src/engine/DynamicsWorld.cpp | 36 +- src/engine/DynamicsWorld.h | 3 - src/engine/EventListener.h | 12 +- test/tests/collision/TestCollisionWorld.h | 671 +++++++++--------- .../CollisionDetectionScene.cpp | 58 +- .../CollisionDetectionScene.h | 32 +- .../collisionshapes/CollisionShapesScene.cpp | 6 +- .../collisionshapes/CollisionShapesScene.h | 8 - .../scenes/concavemesh/ConcaveMeshScene.cpp | 6 +- testbed/scenes/concavemesh/ConcaveMeshScene.h | 8 - testbed/scenes/cubes/CubesScene.cpp | 6 +- testbed/scenes/cubes/CubesScene.h | 8 - testbed/scenes/cubestack/CubeStackScene.cpp | 6 +- testbed/scenes/cubestack/CubeStackScene.h | 8 - .../scenes/heightfield/HeightFieldScene.cpp | 6 +- testbed/scenes/heightfield/HeightFieldScene.h | 8 - testbed/scenes/joints/JointsScene.cpp | 6 +- testbed/scenes/joints/JointsScene.h | 8 - testbed/scenes/raycast/RaycastScene.cpp | 2 + testbed/scenes/raycast/RaycastScene.h | 14 +- testbed/src/Scene.cpp | 25 + testbed/src/Scene.h | 33 +- testbed/src/SceneDemo.cpp | 59 +- testbed/src/SceneDemo.h | 18 +- 38 files changed, 1136 insertions(+), 878 deletions(-) create mode 100644 src/collision/OverlapCallback.cpp diff --git a/CHANGELOG.md b/CHANGELOG.md index 619ba311..7ff8f1d9 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,12 @@ - The CollisionWorld::testCollision() methods do not have the 'categoryMaskBits' parameter anymore. - The CollisionWorld::testOverlap() methods do not have the 'categoryMaskBits' parameter anymore. + - Many methods in the EventListener class have changed. Check the user manual for more information. + - The way to retrieve contacts from a CollisionCallbackInfo object has changed. Check the user manual for more information. + +### Removed + + - DynamicsWorld::getContactsList(). You need to use the EventListener class to retrieve contacts now. ## Release Candidate diff --git a/CMakeLists.txt b/CMakeLists.txt index f492ada6..2057916f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -239,6 +239,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/ProxyShapeComponents.cpp" "src/components/DynamicsComponents.cpp" "src/collision/CollisionCallback.cpp" + "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" "src/mathematics/Matrix2x2.cpp" "src/mathematics/Matrix3x3.cpp" diff --git a/src/body/Body.h b/src/body/Body.h index 3da721a0..4c7513a5 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -140,6 +140,8 @@ class Body { void setLogger(Logger* logger); #endif + // TODO : Check if those operators are still used + /// Smaller than operator bool operator<(const Body& body2) const; diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index aa7bab8a..0162edfa 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -25,66 +25,71 @@ // Libraries #include "collision/CollisionCallback.h" -#include "engine/OverlappingPair.h" -#include "memory/MemoryAllocator.h" -#include "collision/ContactManifold.h" -#include "memory/MemoryManager.h" +#include "collision/ContactPair.h" +#include "constraint/ContactPoint.h" +#include "engine/CollisionWorld.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; // Constructor -CollisionCallback::CollisionCallbackInfo::CollisionCallbackInfo(OverlappingPair* pair, MemoryManager& memoryManager) : - contactManifoldElements(nullptr), body1(pair->getShape1()->getBody()), - body2(pair->getShape2()->getBody()), - proxyShape1(pair->getShape1()), proxyShape2(pair->getShape2()), - mMemoryManager(memoryManager) { +CollisionCallback::ContactPoint::ContactPoint(const reactphysics3d::ContactPoint& contactPoint) : mContactPoint(contactPoint) { - assert(pair != nullptr); - - - // TODO : Rework how to report contacts - /* - const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet(); - - // For each contact manifold in the set of manifolds in the pair - ContactManifold* contactManifold = manifoldSet.getContactManifolds(); - assert(contactManifold != nullptr); - while (contactManifold != nullptr) { - - assert(contactManifold->getNbContactPoints() > 0); - - // Add the contact manifold at the beginning of the linked - // list of contact manifolds of the first body - ContactManifoldListElement* element = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ContactManifoldListElement))) - ContactManifoldListElement(contactManifold, - contactManifoldElements); - contactManifoldElements = element; - - contactManifold = contactManifold->getNext(); - } - */ } -// Destructor -CollisionCallback::CollisionCallbackInfo::~CollisionCallbackInfo() { +// Contact Pair Constructor +CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& contactPair, + List* contactPoints, CollisionWorld& world) + :mContactPair(contactPair), mContactPoints(contactPoints), + mWorld(world) { - // TODO : Rework how to report contacts - /* - // Release memory allocator for the contact manifold list elements - ContactManifoldListElement* element = contactManifoldElements; - while (element != nullptr) { - - ContactManifoldListElement* nextElement = element->getNext(); - - // Delete and release memory - element->~ContactManifoldListElement(); - mMemoryManager.release(MemoryManager::AllocationType::Pool, element, - sizeof(ContactManifoldListElement)); - - element = nextElement; - } - */ } +// Return a pointer to the first body in contact +CollisionBody* CollisionCallback::ContactPair::getBody1() const { + return static_cast(mWorld.mBodyComponents.getBody(mContactPair.body1Entity)); +} + +// Return a pointer to the second body in contact +CollisionBody* CollisionCallback::ContactPair::getBody2() const { + return static_cast(mWorld.mBodyComponents.getBody(mContactPair.body2Entity)); +} + +// Return a pointer to the first proxy-shape in contact (in body 1) +ProxyShape* CollisionCallback::ContactPair::getProxyShape1() const { + return mWorld.mProxyShapesComponents.getProxyShape(mContactPair.proxyShape1Entity); +} + +// Return a pointer to the second proxy-shape in contact (in body 1) +ProxyShape* CollisionCallback::ContactPair::getProxyShape2() const { + return mWorld.mProxyShapesComponents.getProxyShape(mContactPair.proxyShape2Entity); +} + +// CollisionCallbackInfo Constructor +CollisionCallback::CallbackData::CallbackData(List* contactPairs, List* manifolds, + List* contactPoints, CollisionWorld& world) + :mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mWorld(world) { + +} + +// Return a given contact point of the contact pair +/// Note that the returned ContactPoint object is only valid during the call of the CollisionCallback::onContact() +/// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the ContactPoint +/// object itself because it won't be valid after the CollisionCallback::onContact() call. +CollisionCallback::ContactPoint CollisionCallback::ContactPair::getContactPoint(uint index) const { + + assert(index < getNbContactPoints()); + + return CollisionCallback::ContactPoint((*mContactPoints)[mContactPair.contactPointsIndex + index]); +} + +// Return a given contact pair +/// Note that the returned ContactPair object is only valid during the call of the CollisionCallback::onContact() +/// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the ContactPair +/// object itself because it won't be valid after the CollisionCallback::onContact() call. +CollisionCallback::ContactPair CollisionCallback::CallbackData::getContactPair(uint index) const { + + assert(index < getNbContactPairs()); + + return CollisionCallback::ContactPair((*mContactPairs)[index], mContactPoints, mWorld); +} diff --git a/src/collision/CollisionCallback.h b/src/collision/CollisionCallback.h index bd9e7703..87e416ff 100644 --- a/src/collision/CollisionCallback.h +++ b/src/collision/CollisionCallback.h @@ -26,6 +26,11 @@ #ifndef REACTPHYSICS3D_COLLISION_CALLBACK_H #define REACTPHYSICS3D_COLLISION_CALLBACK_H +// Libraries +#include "containers/List.h" +#include "collision/ContactPair.h" +#include "constraint/ContactPoint.h" + /// ReactPhysics3D namespace namespace reactphysics3d { @@ -36,10 +41,11 @@ struct ContactManifoldListElement; class CollisionBody; class ProxyShape; class MemoryManager; +class CollisionCallbackInfo; // Class CollisionCallback /** - * This class can be used to register a callback for collision test queries. + * This abstract class can be used to register a callback for collision test queries. * You should implement your own class inherited from this one and implement * the notifyContact() method. This method will called each time a contact * point is reported. @@ -48,47 +54,221 @@ class CollisionCallback { public: - // Structure CollisionCallbackInfo + // Class ContactPoint /** - * This structure represents the contact information between two collision - * shapes of two bodies + * This class represents a contact point between two bodies of the physics world. */ - struct CollisionCallbackInfo { + class ContactPoint { + + private: + + // -------------------- Attributes -------------------- // + + const reactphysics3d::ContactPoint& mContactPoint; + + // -------------------- Methods -------------------- // + + /// Constructor + ContactPoint(const reactphysics3d::ContactPoint& contactPoint); public: - /// Pointer to the first element of the linked-list that contains contact manifolds - ContactManifoldListElement* contactManifoldElements; + // -------------------- Methods -------------------- // - /// Pointer to the first body of the contact - CollisionBody* body1; + /// Copy constructor + ContactPoint(const ContactPoint& contactPoint) = default; - /// Pointer to the second body of the contact - CollisionBody* body2; + /// Assignment operator + ContactPoint& operator=(const ContactPoint& contactPoint) = default; - /// Pointer to the proxy shape of first body - const ProxyShape* proxyShape1; + /// Destructor + ~ContactPoint() = default; - /// Pointer to the proxy shape of second body - const ProxyShape* proxyShape2; + /// Return the penetration depth + decimal getPenetrationDepth() const; - /// Memory manager - MemoryManager& mMemoryManager; + /// Return the world-space contact normal + const Vector3& getWorldNormal() const; - // Constructor - CollisionCallbackInfo(OverlappingPair* pair, MemoryManager& memoryManager); + /// Return the contact point on the first proxy shape in the local-space of the first proxy shape + const Vector3& getLocalPointOnShape1() const; - // Destructor - ~CollisionCallbackInfo(); + /// Return the contact point on the second proxy shape in the local-space of the second proxy shape + const Vector3& getLocalPointOnShape2() const; + + // -------------------- Friendship -------------------- // + + friend class CollisionCallback; + }; + + // Class ContactPair + /** + * This class represents the contact between two bodies of the physics world. + * A contact pair contains a list of contact points. + */ + class ContactPair { + + private: + + // -------------------- Attributes -------------------- // + + const reactphysics3d::ContactPair& mContactPair; + + /// Pointer to the contact points + List* mContactPoints; + + /// Reference to the physics world + CollisionWorld& mWorld; + + // -------------------- Methods -------------------- // + + /// Constructor + ContactPair(const reactphysics3d::ContactPair& contactPair, List* contactPoints, + CollisionWorld& world); + + public: + + // -------------------- Methods -------------------- // + + /// Copy constructor + ContactPair(const ContactPair& contactPair) = default; + + /// Assignment operator + ContactPair& operator=(const ContactPair& contactPair) = default; + + /// Destructor + ~ContactPair() = default; + + /// Return the number of contact points in the contact pair + uint getNbContactPoints() const; + + /// Return a given contact point + ContactPoint getContactPoint(uint index) const; + + /// Return a pointer to the first body in contact + CollisionBody* getBody1() const; + + /// Return a pointer to the second body in contact + CollisionBody* getBody2() const; + + /// Return a pointer to the first proxy-shape in contact (in body 1) + ProxyShape* getProxyShape1() const; + + /// Return a pointer to the second proxy-shape in contact (in body 2) + ProxyShape* getProxyShape2() const; + + // -------------------- Friendship -------------------- // + + friend class CollisionCallback; + }; + + // Class CallbackData + /** + * This class contains data about contacts between bodies + */ + class CallbackData { + + private: + + // -------------------- Attributes -------------------- // + + /// Pointer to the list of contact pairs + List* mContactPairs; + + /// Pointer to the list of contact manifolds + List* mContactManifolds; + + /// Pointer to the contact points + List* mContactPoints; + + /// Reference to the physics world + CollisionWorld& mWorld; + + // -------------------- Methods -------------------- // + + /// Constructor + CallbackData(List* contactPairs, List* manifolds, + List* contactPoints, CollisionWorld& world); + + /// Deleted copy constructor + CallbackData(const CallbackData& callbackData) = delete; + + /// Deleted assignment operator + CallbackData& operator=(const CallbackData& callbackData) = delete; + + /// Destructor + ~CallbackData() = default; + + public: + + // -------------------- Methods -------------------- // + + /// Return the number of contact pairs + uint getNbContactPairs() const; + + /// Return a given contact pair + ContactPair getContactPair(uint index) const; + + // -------------------- Friendship -------------------- // + + friend class CollisionDetection; }; /// Destructor virtual ~CollisionCallback() = default; - /// This method will be called for each reported contact point - virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo)=0; + /// This method is called when some contacts occur + virtual void onContact(const CallbackData& callbackData)=0; }; +// Return the number of contact pairs (there is a single contact pair between two bodies in contact) +/** + * @return The number of contact pairs + */ +inline uint CollisionCallback::CallbackData::getNbContactPairs() const { + return mContactPairs->size(); +} + +// Return the number of contact points in the contact pair +/** + * @return The number of contact points + */ +inline uint CollisionCallback::ContactPair::getNbContactPoints() const { + return mContactPair.nbToTalContactPoints; +} + +// Return the penetration depth between the two bodies in contact +/** + * @return The penetration depth (larger than zero) + */ +inline decimal CollisionCallback::ContactPoint::getPenetrationDepth() const { + return mContactPoint.getPenetrationDepth(); +} + +// Return the world-space contact normal (vector from first body toward second body) +/** + * @return The contact normal direction at the contact point (in world-space) + */ +inline const Vector3& CollisionCallback::ContactPoint::getWorldNormal() const { + return mContactPoint.getNormal(); +} + +// Return the contact point on the first proxy shape in the local-space of the first proxy shape +/** + * @return The contact point in the local-space of the first proxy-shape (from body1) in contact + */ +inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape1() const { + return mContactPoint.getLocalPointOnShape1(); +} + +// Return the contact point on the second proxy shape in the local-space of the second proxy shape +/** + * @return The contact point in the local-space of the second proxy-shape (from body2) in contact + */ +inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape2() const { + return mContactPoint.getLocalPointOnShape2(); +} + } #endif diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index f38c4982..a8012f9b 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -43,6 +43,7 @@ #include "engine/EventListener.h" #include "collision/RaycastInfo.h" #include "engine/Islands.h" +#include "containers/Pair.h" #include #include @@ -431,9 +432,6 @@ void CollisionDetection::computeNarrowPhase() { // Reduce the number of contact points in the manifolds reducePotentialContactManifolds(mCurrentContactPairs, mPotentialContactManifolds, mPotentialContactPoints); - // Report contacts to the user - reportAllContacts(); - assert(mCurrentContactManifolds->size() == 0); assert(mCurrentContactPoints->size() == 0); @@ -442,32 +440,105 @@ void CollisionDetection::computeNarrowPhase() { mNarrowPhaseInput.clear(); } -// Compute the narrow-phase collision detection for the testCollision() methods. -// This method returns true if contacts are found. -bool CollisionDetection::computeNarrowPhaseSnapshot(NarrowPhaseInput& narrowPhaseInput, bool reportContacts) { +// Compute the narrow-phase collision detection for the testOverlap() methods. +/// This method returns true if contacts are found. +bool CollisionDetection::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& narrowPhaseInput, OverlapCallback* callback) { - RP3D_PROFILE("CollisionDetection::computeNarrowPhaseSnapshot()", mProfiler); + RP3D_PROFILE("CollisionDetection::computeNarrowPhaseOverlapSnapshot()", mProfiler); MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); // Test the narrow-phase collision detection on the batches to be tested - bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, reportContacts, allocator); - if (!reportContacts) { - return collisionFound; + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, false, allocator); + if (collisionFound && callback != nullptr) { + + // Compute the overlapping bodies + List> overlapBodies(allocator); + computeSnapshotContactPairs(narrowPhaseInput, overlapBodies); + + // Report overlapping bodies + OverlapCallback::CallbackData callbackData(overlapBodies, *mWorld); + (*callback).onOverlap(callbackData); } - List potentialContactPoints(allocator); - List potentialContactManifolds(allocator); - Map mapPairIdToContactPairIndex(allocator); - List contactPairs(allocator); - Map> mapBodyToContactPairs(allocator); + return collisionFound; +} - // Process all the potential contacts after narrow-phase collision - processAllPotentialContacts(narrowPhaseInput, true, potentialContactPoints, &mapPairIdToContactPairIndex, potentialContactManifolds, - &contactPairs, mapBodyToContactPairs); +// Process the potential overlapping bodies for the testOverlap() methods +void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List>& overlapPairs) const { - // Reduce the number of contact points in the manifolds - reducePotentialContactManifolds(&contactPairs, potentialContactManifolds, potentialContactPoints); + // get the narrow-phase batches to test for collision + NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); + NarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); + NarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); + NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); + + // Process the potential contacts + computeSnapshotContactPairs(sphereVsSphereBatch, overlapPairs); + computeSnapshotContactPairs(sphereVsCapsuleBatch, overlapPairs); + computeSnapshotContactPairs(capsuleVsCapsuleBatch, overlapPairs); + computeSnapshotContactPairs(sphereVsConvexPolyhedronBatch, overlapPairs); + computeSnapshotContactPairs(capsuleVsConvexPolyhedronBatch, overlapPairs); + computeSnapshotContactPairs(convexPolyhedronVsConvexPolyhedronBatch, overlapPairs); +} + +// Convert the potential overlapping bodies for the testOverlap() methods +void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const { + + RP3D_PROFILE("CollisionDetection::computeSnapshotContactPairs()", mProfiler); + + // For each narrow phase info object + for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { + + // If there is a contact + if (narrowPhaseInfoBatch.isColliding[i]) { + + // Add the pair of bodies in contact into the list + overlapPairs.add(Pair(narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity(), + narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity())); + } + + narrowPhaseInfoBatch.resetContactPoints(i); + } +} +// Compute the narrow-phase collision detection for the testCollision() methods. +// This method returns true if contacts are found. +bool CollisionDetection::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback) { + + RP3D_PROFILE("CollisionDetection::computeNarrowPhaseCollisionSnapshot()", mProfiler); + + MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); + + // Test the narrow-phase collision detection on the batches to be tested + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, allocator); + + // If collision has been found, create contacts + if (collisionFound) { + + List potentialContactPoints(allocator); + List potentialContactManifolds(allocator); + Map mapPairIdToContactPairIndex(allocator); + List contactPairs(allocator); + List contactManifolds(allocator); + List contactPoints(allocator); + Map> mapBodyToContactPairs(allocator); + + // Process all the potential contacts after narrow-phase collision + processAllPotentialContacts(narrowPhaseInput, true, potentialContactPoints, &mapPairIdToContactPairIndex, potentialContactManifolds, + &contactPairs, mapBodyToContactPairs); + + // Reduce the number of contact points in the manifolds + reducePotentialContactManifolds(&contactPairs, potentialContactManifolds, potentialContactPoints); + + // Create the actual contact manifolds and contact points + createSnapshotContacts(contactPairs, contactManifolds, contactPoints, potentialContactManifolds, + potentialContactPoints); + + // Report the contacts to the user + reportContacts(callback, &contactPairs, &contactManifolds, &contactPoints); + } return collisionFound; } @@ -502,10 +573,6 @@ void CollisionDetection::swapPreviousAndCurrentContacts() { } // Create the actual contact manifolds and contacts points -/// List of the indices of the contact pairs (in mCurrentContacPairs array) with contact pairs of -/// same islands packed together linearly and contact pairs that are not part of islands at the end. -/// This is used when we create contact manifolds and contact points so that there are also packed -/// together linearly if they are part of the same island. void CollisionDetection::createContacts() { RP3D_PROFILE("CollisionDetection::createContacts()", mProfiler); @@ -561,12 +628,73 @@ void CollisionDetection::createContacts() { // Initialize the current contacts with the contacts from the previous frame (for warmstarting) initContactsWithPreviousOnes(); + // Report contacts to the user + if (mWorld->mEventListener != nullptr) { + reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, mCurrentContactPoints); + } + // Reset the potential contacts mPotentialContactPoints.clear(true); mPotentialContactManifolds.clear(true); mContactPairsIndicesOrderingForContacts.clear(true); } +// Create the actual contact manifolds and contacts points for testCollision() methods +void CollisionDetection::createSnapshotContacts(List& contactPairs, + List& contactManifolds, + List& contactPoints, + List& potentialContactManifolds, + List& potentialContactPoints) { + + RP3D_PROFILE("CollisionDetection::createSnapshotContacts()", mProfiler); + + contactManifolds.reserve(contactPairs.size()); + contactPoints.reserve(contactManifolds.size()); + + // For each contact pair + for (uint p=0; p < contactPairs.size(); p++) { + + ContactPair& contactPair = contactPairs[p]; + assert(contactPair.potentialContactManifoldsIndices.size() > 0); + + contactPair.contactManifoldsIndex = contactManifolds.size(); + contactPair.nbContactManifolds = contactPair.potentialContactManifoldsIndices.size(); + contactPair.contactPointsIndex = contactPoints.size(); + + // For each potential contact manifold of the pair + for (uint m=0; m < contactPair.potentialContactManifoldsIndices.size(); m++) { + + ContactManifoldInfo& potentialManifold = potentialContactManifolds[contactPair.potentialContactManifoldsIndices[m]]; + + // Start index and number of contact points for this manifold + const uint contactPointsIndex = contactPoints.size(); + const int8 nbContactPoints = static_cast(potentialManifold.potentialContactPointsIndices.size()); + contactPair.nbToTalContactPoints += nbContactPoints; + + // We create a new contact manifold + ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.proxyShape1Entity, + contactPair.proxyShape2Entity, contactPointsIndex, nbContactPoints); + + // Add the contact manifold + contactManifolds.add(contactManifold); + + assert(potentialManifold.potentialContactPointsIndices.size() > 0); + + // For each contact point of the manifold + for (uint c=0; c < potentialManifold.potentialContactPointsIndices.size(); c++) { + + ContactPointInfo& potentialContactPoint = potentialContactPoints[potentialManifold.potentialContactPointsIndices[c]]; + + // Create a new contact point + ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig); + + // Add the contact point + contactPoints.add(contactPoint); + } + } + } +} + // Initialize the current contacts with the contacts from the previous frame (for warmstarting) void CollisionDetection::initContactsWithPreviousOnes() { @@ -660,46 +788,6 @@ void CollisionDetection::initContactsWithPreviousOnes() { mPreviousContactManifolds->clear(); mPreviousContactPairs->clear(); mPreviousMapPairIdToContactPairIndex->clear(); - - /* - // TODO : DELETE THIS - std::cout << "_______________ RECAP ACTUAL CONTACTS___________________" << std::endl; - std::cout << "ContactPairs :" << std::endl; - for (uint i=0; i < mCurrentContactPairs->size(); i++) { - - ContactPair& pair = (*mCurrentContactPairs)[i]; - std::cout << " PairId : (" << pair.pairId.first << ", " << pair.pairId.second << std::endl; - std::cout << " Index : " << i << std::endl; - std::cout << " ContactManifoldsIndex : " << pair.contactManifoldsIndex << std::endl; - std::cout << " nbManifolds : " << pair.nbContactManifolds << std::endl; - std::cout << " ContactPointsIndex : " << pair.contactPointsIndex << std::endl; - std::cout << " nbTotalPoints : " << pair.nbToTalContactPoints << std::endl; - - } - std::cout << "ContactManifolds :" << std::endl; - for (uint i=0; i < mCurrentContactManifolds->size(); i++) { - - ContactManifold& manifold = (*mCurrentContactManifolds)[i]; - std::cout << " Index : " << i << std::endl; - std::cout << " >>ContactPointsIndex : " << manifold.mContactPointsIndex << std::endl; - std::cout << " >>Nb Contact Points : " << manifold.mNbContactPoints << std::endl; - } - std::cout << "ContactPoints :" << std::endl; - for (uint i=0; i < mCurrentContactPoints->size(); i++) { - - ContactPoint& contactPoint = (*mCurrentContactPoints)[i]; - std::cout << " Index : " << i << std::endl; - std::cout << " Point : (" << contactPoint.getLocalPointOnShape1().x << ", " << contactPoint.getLocalPointOnShape1().y << ", " << contactPoint.getLocalPointOnShape1().z << std::endl; - } - std::cout << "mCurrentMapPairIdToContactPairIndex :" << std::endl; - for (auto it = mCurrentMapPairIdToContactPairIndex->begin(); it != mCurrentMapPairIdToContactPairIndex->end(); ++it) { - - OverlappingPair::OverlappingPairId pairId = it->first; - uint index = it->second; - std::cout << " PairId : " << pairId.first << ", " << pairId.second << std::endl; - std::cout << " ContactPair Index : " << index << std::endl; - } - */ } // Remove a body from the collision detection @@ -902,7 +990,7 @@ void CollisionDetection::reducePotentialContactManifolds(List* cont assert(contactPair.potentialContactManifoldsIndices.size() > 0); - // While there are too many manifolds + // While there are too many manifolds in the contact pair while(contactPair.potentialContactManifoldsIndices.size() > mWorld->mConfig.nbMaxContactManifolds) { // Look for a manifold with the smallest contact penetration depth. @@ -1150,32 +1238,32 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons manifold.potentialContactPointsIndices.add(pointsToKeepIndices[3]); } -// Report contacts for all the colliding overlapping pairs -// TODO : What do we do with this method -void CollisionDetection::reportAllContacts() { +// Report contacts +void CollisionDetection::reportContacts() { - RP3D_PROFILE("CollisionDetection::reportAllContacts()", mProfiler); - - // TODO : Rework how we report contacts - /* - // For each overlapping pairs in contact during the narrow-phase - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - - OverlappingPair* pair = it->second; - - // If there is a user callback - if (mWorld->mEventListener != nullptr && pair->hasContacts()) { - - CollisionCallback::CollisionCallbackInfo collisionInfo(pair, mMemoryManager); - - // Trigger a callback event to report the new contact to the user - mWorld->mEventListener->newContact(collisionInfo); - } + if (mWorld->mEventListener != nullptr) { + reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, + mCurrentContactPoints); } - */ } -// Return true if two bodies overlap +// Report all contacts +void CollisionDetection::reportContacts(CollisionCallback& callback, List* contactPairs, + List* manifolds, List* contactPoints) { + + RP3D_PROFILE("CollisionDetection::reportContacts()", mProfiler); + + // If there are contacts + if (contactPairs->size() > 0) { + + CollisionCallback::CallbackData callbackData(contactPairs, manifolds, contactPoints, *mWorld); + + // Call the callback method to report the contacts + callback.onContact(callbackData); + } +} + +// Return true if two bodies overlap (collide) bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); @@ -1193,16 +1281,14 @@ bool CollisionDetection::testOverlap(CollisionBody* body1, CollisionBody* body2) computeMiddlePhase(overlappingPairs, narrowPhaseInput); // Compute the narrow-phase collision detection - return computeNarrowPhaseSnapshot(narrowPhaseInput, true); + return computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, nullptr); } return false; } -// Report all the bodies that overlap in the world -void CollisionDetection::testOverlap(OverlapCallback* callback) { - - assert(callback != nullptr); +// Report all the bodies that overlap (collide) in the world +void CollisionDetection::testOverlap(OverlapCallback& callback) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); @@ -1212,16 +1298,12 @@ void CollisionDetection::testOverlap(OverlapCallback* callback) { // Compute the middle-phase collision detection computeMiddlePhase(mOverlappingPairs, narrowPhaseInput); - // Compute the narrow-phase collision detection - computeNarrowPhaseSnapshot(narrowPhaseInput, false); - - // TODO : Report overlaps + // Compute the narrow-phase collision detection and report overlapping shapes + computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback); } -// Report all the bodies that overlap with the body in parameter -void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* callback) { - - assert(callback != nullptr); +// Report all the bodies that overlap (collide) with the body in parameter +void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback& callback) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); @@ -1238,16 +1320,12 @@ void CollisionDetection::testOverlap(CollisionBody* body, OverlapCallback* callb computeMiddlePhase(overlappingPairs, narrowPhaseInput); // Compute the narrow-phase collision detection - computeNarrowPhaseSnapshot(narrowPhaseInput, false); - - // TODO : Report contacts + computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback); } } // Test collision and report contacts between two bodies. -void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback) { - - assert(callback != nullptr); +void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); @@ -1263,17 +1341,13 @@ void CollisionDetection::testCollision(CollisionBody* body1, CollisionBody* body // Compute the middle-phase collision detection computeMiddlePhase(overlappingPairs, narrowPhaseInput); - // Compute the narrow-phase collision detection - computeNarrowPhaseSnapshot(narrowPhaseInput, true); - - // TODO : Report contacts + // Compute the narrow-phase collision detection and report contacts + computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); } } // Test collision and report all the contacts involving the body in parameter -void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* callback) { - - assert(callback != nullptr); +void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback& callback) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); @@ -1289,17 +1363,13 @@ void CollisionDetection::testCollision(CollisionBody* body, CollisionCallback* c // Compute the middle-phase collision detection computeMiddlePhase(overlappingPairs, narrowPhaseInput); - // Compute the narrow-phase collision detection - computeNarrowPhaseSnapshot(narrowPhaseInput, true); - - // TODO : Report contacts + // Compute the narrow-phase collision detection and report contacts + computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); } } // Test collision and report contacts between each colliding bodies in the world -void CollisionDetection::testCollision(CollisionCallback* callback) { - - assert(callback != nullptr); +void CollisionDetection::testCollision(CollisionCallback& callback) { NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); @@ -1309,10 +1379,8 @@ void CollisionDetection::testCollision(CollisionCallback* callback) { // Compute the middle-phase collision detection computeMiddlePhase(mOverlappingPairs, narrowPhaseInput); - // Compute the narrow-phase collision detection - computeNarrowPhaseSnapshot(narrowPhaseInput, true); - - // TODO : Report contacts + // Compute the narrow-phase collision detection and report contacts + computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); } // Filter the overlapping pairs to keep only the pairs where a given body is involved diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index fdba64b4..17383def 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -186,8 +186,17 @@ class CollisionDetection { /// Compute the narrow-phase collision detection void computeNarrowPhase(); + /// Compute the narrow-phase collision detection for the testOverlap() methods. + bool computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& narrowPhaseInput, OverlapCallback* callback); + /// Compute the narrow-phase collision detection for the testCollision() methods - bool computeNarrowPhaseSnapshot(NarrowPhaseInput& narrowPhaseInput, bool reportContacts); + bool computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback); + + /// Process the potential contacts after narrow-phase collision detection + void computeSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List>& overlapPairs) const; + + /// Convert the potential contact into actual contacts + void computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const; /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary void updateOverlappingPairs(const List>& overlappingNodes); @@ -225,6 +234,12 @@ class CollisionDetection { /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair void createContacts(); + /// Create the actual contact manifolds and contacts points for testCollision() methods + void createSnapshotContacts(List& contactPairs, List &contactManifolds, + List& contactPoints, + List& potentialContactManifolds, + List& potentialContactPoints); + /// Initialize the current contacts with the contacts from the previous frame (for warmstarting) void initContactsWithPreviousOnes(); @@ -232,8 +247,9 @@ class CollisionDetection { void reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, const List& potentialContactPoints) const; - /// Report contacts for all the colliding overlapping pairs - void reportAllContacts(); + /// Report contacts + void reportContacts(CollisionCallback& callback, List* contactPairs, + List* manifolds, List* contactPoints); /// Return the largest depth of all the contact points of a potential manifold decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, @@ -290,6 +306,9 @@ class CollisionDetection { /// Ask for a collision shape to be tested again during broad-phase. void askForBroadPhaseCollisionCheck(ProxyShape* shape); + /// Report contacts + void reportContacts(); + /// Compute the collision detection void computeCollisionDetection(); @@ -301,19 +320,19 @@ class CollisionDetection { bool testOverlap(CollisionBody* body1, CollisionBody* body2); /// Report all the bodies that overlap (collide) with the body in parameter - void testOverlap(CollisionBody* body, OverlapCallback* callback); + void testOverlap(CollisionBody* body, OverlapCallback& callback); /// Report all the bodies that overlap (collide) in the world - void testOverlap(OverlapCallback* overlapCallback); + void testOverlap(OverlapCallback& overlapCallback); /// Test collision and report contacts between two bodies. - void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback); + void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback); /// Test collision and report all the contacts involving the body in parameter - void testCollision(CollisionBody* body, CollisionCallback* callback); + void testCollision(CollisionBody* body, CollisionCallback& callback); /// Test collision and report contacts between each colliding bodies in the world - void testCollision(CollisionCallback* callback); + void testCollision(CollisionCallback& callback); /// Return a reference to the memory manager MemoryManager& getMemoryManager() const; diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 4c4d7526..05232626 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -31,7 +31,6 @@ using namespace reactphysics3d; // Constructor -// TODO : REMOVE worldSettings from this constructor ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, uint contactPointsIndex, int8 nbContactPoints) :mContactPointsIndex(0), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index f72f65dc..e0c86f19 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -162,9 +162,6 @@ class ContactManifold { /// Return the number of contact points in the manifold int8 getNbContactPoints() const; - /// Return a pointer to the first contact point of the manifold - ContactPoint* getContactPoints() const; - // -------------------- Friendship -------------------- // friend class DynamicsWorld; diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp new file mode 100644 index 00000000..096f9421 --- /dev/null +++ b/src/collision/OverlapCallback.cpp @@ -0,0 +1,53 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "collision/OverlapCallback.h" +#include "engine/CollisionWorld.h" + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Contact Pair Constructor +OverlapCallback::OverlapPair::OverlapPair(Pair& overlapPair, CollisionWorld& world) + : mOverlapPair(overlapPair), mWorld(world) { + +} + +// Return a pointer to the first body in contact +CollisionBody* OverlapCallback::OverlapPair::getBody1() const { + return static_cast(mWorld.mBodyComponents.getBody(mOverlapPair.first)); +} + +// Return a pointer to the second body in contact +CollisionBody* OverlapCallback::OverlapPair::getBody2() const { + return static_cast(mWorld.mBodyComponents.getBody(mOverlapPair.second)); +} + +// CollisionCallbackData Constructor +OverlapCallback::CallbackData::CallbackData(List>& overlapBodies, CollisionWorld& world) + :mOverlapBodies(overlapBodies), mWorld(world) { + +} diff --git a/src/collision/OverlapCallback.h b/src/collision/OverlapCallback.h index dd128394..c9e83250 100644 --- a/src/collision/OverlapCallback.h +++ b/src/collision/OverlapCallback.h @@ -26,32 +26,141 @@ #ifndef REACTPHYSICS3D_OVERLAP_CALLBACK_H #define REACTPHYSICS3D_OVERLAP_CALLBACK_H +// Libraries +#include "containers/List.h" + /// ReactPhysics3D namespace namespace reactphysics3d { // Declarations class CollisionBody; +class CollisionWorld; +class ProxyShape; +struct Entity; // Class OverlapCallback /** - * This class can be used to register a callback for collision overlap queries. - * You should implement your own class inherited from this one and implement - * the notifyOverlap() method. This method will called each time a contact - * point is reported. + * This class can be used to register a callback for collision overlap queries between bodies. + * You should implement your own class inherited from this one and implement the onOverlap() method. */ class OverlapCallback { public: + // Class OverlapPair + /** + * This class represents the contact between two proxy-shapes of the physics world. + */ + class OverlapPair { + + private: + + // -------------------- Attributes -------------------- // + + /// Pair of overlapping body entities + Pair& mOverlapPair; + + /// Reference to the physics world + CollisionWorld& mWorld; + + // -------------------- Methods -------------------- // + + /// Constructor + OverlapPair(Pair& overlapPair, CollisionWorld& world); + + public: + + // -------------------- Methods -------------------- // + + /// Copy constructor + OverlapPair(const OverlapPair& contactPair) = default; + + /// Assignment operator + OverlapPair& operator=(const OverlapPair& contactPair) = default; + + /// Destructor + ~OverlapPair() = default; + + /// Return a pointer to the first body in contact + CollisionBody* getBody1() const; + + /// Return a pointer to the second body in contact + CollisionBody* getBody2() const; + + // -------------------- Friendship -------------------- // + + friend class OverlapCallback; + }; + + // Class CallbackData + /** + * This class contains data about overlap between bodies + */ + class CallbackData { + + private: + + // -------------------- Attributes -------------------- // + + List>& mOverlapBodies; + + /// Reference to the physics world + CollisionWorld& mWorld; + + // -------------------- Methods -------------------- // + + /// Constructor + CallbackData(List>& overlapProxyShapes, CollisionWorld& world); + + /// Deleted copy constructor + CallbackData(const CallbackData& callbackData) = delete; + + /// Deleted assignment operator + CallbackData& operator=(const CallbackData& callbackData) = delete; + + /// Destructor + ~CallbackData() = default; + + public: + + // -------------------- Methods -------------------- // + + /// Return the number of overlapping pairs of bodies + uint getNbOverlappingPairs() const; + + /// Return a given overlapping pair of bodies + OverlapPair getOverlappingPair(uint index) const; + + // -------------------- Friendship -------------------- // + + friend class CollisionDetection; + }; + /// Destructor virtual ~OverlapCallback() { } - /// This method will be called for each reported overlapping bodies - virtual void notifyOverlap(CollisionBody* collisionBody)=0; + /// This method will be called to report bodies that overlap + virtual void onOverlap(CallbackData& callbackData)=0; }; +// Return the number of overlapping pairs of bodies +inline uint OverlapCallback::CallbackData::getNbOverlappingPairs() const { + return mOverlapBodies.size(); +} + +// Return a given overlapping pair of bodies +/// Note that the returned OverlapPair object is only valid during the call of the CollisionCallback::onOverlap() +/// method. Therefore, you need to get contact data from it and make a copy. Do not make a copy of the OverlapPair +/// object itself because it won't be valid after the CollisionCallback::onOverlap() call. +inline OverlapCallback::OverlapPair OverlapCallback::CallbackData::getOverlappingPair(uint index) const { + + assert(index < getNbOverlappingPairs()); + + return OverlapPair(mOverlapBodies[index], mWorld); +} + } #endif diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index a75b1f16..ed989870 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -78,10 +78,6 @@ void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNor ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo))) ContactPointInfo(contactNormal, penDepth, localPt1, localPt2); - // TODO : DELETE THIS - //std::cout << "Pair: " << overlappingPairs[index]->getId().first << ", " << overlappingPairs[index]->getId().second << std::endl; - //std::cout << ">> Contact Point: " << localPt1.x << ", " << localPt1.y << ", " << localPt1.z << std::endl; - // Add it into the list of contact points contactPoints[index].add(contactPointInfo); } diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index f4c72ca2..c681396d 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -93,18 +93,6 @@ class ContactPoint { /// Set the mIsRestingContact variable void setIsRestingContact(bool isRestingContact); - /// Set to true to make the contact point obsolete - void setIsObsolete(bool isObselete); - - /// Set the next contact point in the linked list - void setNext(ContactPoint* next); - - /// Set the previous contact point in the linked list - void setPrevious(ContactPoint* previous); - - /// Return true if the contact point is obsolete - bool getIsObsolete() const; - public : // -------------------- Methods -------------------- // @@ -139,12 +127,6 @@ class ContactPoint { /// Return true if the contact is a resting contact bool getIsRestingContact() const; - /// Return the previous contact point in the linked list - inline ContactPoint* getPrevious() const; - - /// Return the next contact point in the linked list - ContactPoint* getNext() const; - /// Return the penetration depth decimal getPenetrationDepth() const; @@ -220,54 +202,6 @@ inline void ContactPoint::setIsRestingContact(bool isRestingContact) { mIsRestingContact = isRestingContact; } -// Return true if the contact point is obsolete -/** - * @return True if the contact is obsolete - */ -inline bool ContactPoint::getIsObsolete() const { - return mIsObsolete; -} - -// Set to true to make the contact point obsolete -/** - * @param isObsolete True if the contact is obsolete - */ -inline void ContactPoint::setIsObsolete(bool isObsolete) { - mIsObsolete = isObsolete; -} - -// Return the next contact point in the linked list -/** - * @return A pointer to the next contact point in the linked-list of points - */ -inline ContactPoint* ContactPoint::getNext() const { - return mNext; -} - -// Set the next contact point in the linked list -/** - * @param next Pointer to the next contact point in the linked-list of points - */ -inline void ContactPoint::setNext(ContactPoint* next) { - mNext = next; -} - -// Return the previous contact point in the linked list -/** - * @return A pointer to the previous contact point in the linked-list of points - */ -inline ContactPoint* ContactPoint::getPrevious() const { - return mPrevious; -} - -// Set the previous contact point in the linked list -/** - * @param previous Pointer to the previous contact point in the linked-list of points - */ -inline void ContactPoint::setPrevious(ContactPoint* previous) { - mPrevious = previous; -} - // Return the penetration depth of the contact /** * @return the penetration depth (in meters) diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 8f513ef1..f9d0b5d8 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -37,6 +37,8 @@ #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" #include "components/DynamicsComponents.h" +#include "collision/CollisionCallback.h" +#include "collision/OverlapCallback.h" /// Namespace reactphysics3d namespace reactphysics3d { @@ -166,19 +168,19 @@ class CollisionWorld { bool testOverlap(CollisionBody* body1, CollisionBody* body2); /// Report all the bodies that overlap (collide) with the body in parameter - void testOverlap(CollisionBody* body, OverlapCallback* overlapCallback); + void testOverlap(CollisionBody* body, OverlapCallback& overlapCallback); /// Report all the bodies that overlap (collide) in the world - void testOverlap(OverlapCallback* overlapCallback); + void testOverlap(OverlapCallback& overlapCallback); /// Test collision and report contacts between two bodies. - void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback); + void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback); /// Test collision and report all the contacts involving the body in parameter - void testCollision(CollisionBody* body, CollisionCallback* callback); + void testCollision(CollisionBody* body, CollisionCallback& callback); /// Test collision and report contacts between each colliding bodies in the world - void testCollision(CollisionCallback* callback); + void testCollision(CollisionCallback& callback); #ifdef IS_PROFILING_ACTIVE @@ -207,6 +209,8 @@ class CollisionWorld { friend class RigidBody; friend class ProxyShape; friend class ConvexMeshShape; + friend class CollisionCallback::ContactPair; + friend class OverlapCallback::OverlapPair; }; // Set the collision dispatch configuration @@ -243,7 +247,7 @@ inline void CollisionWorld::raycast(const Ray& ray, * @param body2 Pointer to the second body to test * @param callback Pointer to the object with the callback method */ -inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback* callback) { +inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { mCollisionDetection.testCollision(body1, body2, callback); } @@ -256,7 +260,7 @@ inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* b * @param body Pointer to the body against which we need to test collision * @param callback Pointer to the object with the callback method to report contacts */ -inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback* callback) { +inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback& callback) { mCollisionDetection.testCollision(body, callback); } @@ -268,7 +272,7 @@ inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback /** * @param callback Pointer to the object with the callback method to report contacts */ -inline void CollisionWorld::testCollision(CollisionCallback* callback) { +inline void CollisionWorld::testCollision(CollisionCallback& callback) { mCollisionDetection.testCollision(callback); } @@ -280,7 +284,7 @@ inline void CollisionWorld::testCollision(CollisionCallback* callback) { * @param body Pointer to the collision body to test overlap with * @param overlapCallback Pointer to the callback class to report overlap */ -inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* overlapCallback) { +inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) { mCollisionDetection.testOverlap(body, overlapCallback); } @@ -288,7 +292,7 @@ inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* ov /// Use this method if you are not interested in contacts but if you simply want to know /// which bodies overlap. If you want to get the contacts, you need to use the /// testCollision() method instead. -inline void CollisionWorld::testOverlap(OverlapCallback* overlapCallback) { +inline void CollisionWorld::testOverlap(OverlapCallback& overlapCallback) { mCollisionDetection.testOverlap(overlapCallback); } diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index fc65a54f..d3d18d06 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -126,6 +126,9 @@ void DynamicsWorld::update(decimal timeStep) { // Create the actual narrow-phase contacts mCollisionDetection.createContacts(); + // Report the contacts to the user + mCollisionDetection.reportContacts(); + // Integrate the velocities integrateRigidBodiesVelocities(); @@ -876,36 +879,3 @@ void DynamicsWorld::enableSleeping(bool isSleepingEnabled) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, "Dynamics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) ); } - -// Return the list of all contacts of the world -/** - * @return A pointer to the first contact manifold in the linked-list of manifolds - */ -List DynamicsWorld::getContactsList() { - - List contactManifolds(mMemoryManager.getPoolAllocator()); - - // TODO : Rework how to report contacts - /* - // For each currently overlapping pair of bodies - for (auto it = mCollisionDetection.mOverlappingPairs.begin(); - it != mCollisionDetection.mOverlappingPairs.end(); ++it) { - - OverlappingPair* pair = it->second; - - // For each contact manifold of the pair - const ContactManifoldSet& manifoldSet = pair->getContactManifoldSet(); - ContactManifold* manifold = manifoldSet.getContactManifolds(); - while (manifold != nullptr) { - - // Get the contact manifold - contactManifolds.add(manifold); - - manifold = manifold->getNext(); - } - } - */ - - // Return all the contact manifold - return contactManifolds; -} diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index c04c9ccd..b6d95ff8 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -240,9 +240,6 @@ class DynamicsWorld : public CollisionWorld { /// Set an event listener object to receive events callbacks. void setEventListener(EventListener* eventListener); - /// Return the list of all contacts of the world - List getContactsList(); - // -------------------- Friendship -------------------- // friend class RigidBody; diff --git a/src/engine/EventListener.h b/src/engine/EventListener.h index 16408a1a..e0ee9e80 100644 --- a/src/engine/EventListener.h +++ b/src/engine/EventListener.h @@ -39,7 +39,7 @@ namespace reactphysics3d { * new event listener class to the physics world using the DynamicsWorld::setEventListener() * method. */ -class EventListener { +class EventListener : public CollisionCallback { public : @@ -47,20 +47,22 @@ class EventListener { EventListener() = default; /// Destructor - virtual ~EventListener() = default; + virtual ~EventListener() override = default; - /// Called when a new contact point is found between two bodies + /// Called when some contacts occur /** - * @param contact Information about the contact + * @param collisionInfo Information about the contacts */ - virtual void newContact(const CollisionCallback::CollisionCallbackInfo& collisionInfo) {} + virtual void onContact(const CollisionCallback::CallbackData& callbackData) override {} + // TODO : Remove this method (no internal steps anymore) /// Called at the beginning of an internal tick of the simulation step. /// Each time the DynamicsWorld::update() method is called, the physics /// engine will do several internal simulation steps. This method is /// called at the beginning of each internal simulation step. virtual void beginInternalTick() {} + // TODO : Remove this method (no internal steps anymore) /// Called at the end of an internal tick of the simulation step. /// Each time the DynamicsWorld::update() metho is called, the physics /// engine will do several internal simulation steps. This method is diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 185dcf47..c7e78a07 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -65,12 +65,12 @@ struct CollisionPointData { } }; -// Contact manifold collision data -struct CollisionManifoldData { +// Contact pair collision data +struct ContactPairData { std::vector contactPoints; - int getNbContactPoints() const { + uint getNbContactPoints() const { return contactPoints.size(); } @@ -95,18 +95,18 @@ struct CollisionData { std::pair proxyShapes; std::pair bodies; - std::vector contactManifolds; + std::vector contactPairs; - int getNbContactManifolds() const { - return contactManifolds.size(); + int getNbContactPairs() const { + return contactPairs.size(); } int getTotalNbContactPoints() const { int nbPoints = 0; - std::vector::const_iterator it; - for (it = contactManifolds.begin(); it != contactManifolds.end(); ++it) { + std::vector::const_iterator it; + for (it = contactPairs.begin(); it != contactPairs.end(); ++it) { nbPoints += it->getNbContactPoints(); } @@ -124,8 +124,8 @@ struct CollisionData { bool hasContactPointSimilarTo(const Vector3& localPointBody1, const Vector3& localPointBody2, decimal penetrationDepth, decimal epsilon = 0.001) const { - std::vector::const_iterator it; - for (it = contactManifolds.cbegin(); it != contactManifolds.cend(); ++it) { + std::vector::const_iterator it; + for (it = contactPairs.cbegin(); it != contactPairs.cend(); ++it) { if (it->hasContactPointSimilarTo(localPointBody1, localPointBody2, penetrationDepth)) { return true; @@ -183,37 +183,33 @@ class WorldCollisionCallback : public CollisionCallback } } - // This method will be called for each contact - virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) override { + // This method is called when some contacts occur + virtual void onContact(const CallbackData& callbackData) override { - CollisionData collisionData; - collisionData.bodies = std::make_pair(collisionCallbackInfo.body1, collisionCallbackInfo.body2); - collisionData.proxyShapes = std::make_pair(collisionCallbackInfo.proxyShape1, collisionCallbackInfo.proxyShape2); + CollisionData collisionData; - // TODO : Rework how to report contacts - /* - ContactManifoldListElement* element = collisionCallbackInfo.contactManifoldElements; - while (element != nullptr) { + // For each contact pair + for (uint p=0; p < callbackData.getNbContactPairs(); p++) { - ContactManifold* contactManifold = element->getContactManifold(); + ContactPairData contactPairData; + ContactPair contactPair = callbackData.getContactPair(p); - CollisionManifoldData collisionManifold; + collisionData.bodies = std::make_pair(contactPair.getBody1(), contactPair.getBody2()); + collisionData.proxyShapes = std::make_pair(contactPair.getProxyShape1(), contactPair.getProxyShape2()); - ContactPoint* contactPoint = contactManifold->getContactPoints(); - while (contactPoint != nullptr) { + // For each contact point + for (uint c=0; c < contactPair.getNbContactPoints(); c++) { - CollisionPointData collisionPoint(contactPoint->getLocalPointOnShape1(), contactPoint->getLocalPointOnShape2(), contactPoint->getPenetrationDepth()); - collisionManifold.contactPoints.push_back(collisionPoint); + ContactPoint contactPoint = contactPair.getContactPoint(c); - contactPoint = contactPoint->getNext(); - } + CollisionPointData collisionPoint(contactPoint.getLocalPointOnShape1(), contactPoint.getLocalPointOnShape2(), contactPoint.getPenetrationDepth()); + contactPairData.contactPoints.push_back(collisionPoint); + } - collisionData.contactManifolds.push_back(collisionManifold); - mCollisionDatas.insert(std::make_pair(getCollisionKeyPair(collisionData.proxyShapes), collisionData)); + collisionData.contactPairs.push_back(contactPairData); + } - element = element->getNext(); - } - */ + mCollisionDatas.insert(std::make_pair(getCollisionKeyPair(collisionData.proxyShapes), collisionData)); } }; @@ -222,30 +218,40 @@ class WorldOverlapCallback : public OverlapCallback { private: - std::vector mOverlapBodies; + std::vector> mOverlapBodies; public: /// Destructor - virtual ~WorldOverlapCallback() { + virtual ~WorldOverlapCallback() override { reset(); } /// This method will be called for each reported overlapping bodies - virtual void notifyOverlap(CollisionBody* collisionBody) override { - mOverlapBodies.push_back(collisionBody); + virtual void onOverlap(CallbackData& callbackData) override { + + // For each overlapping pair + for (uint i=0; i < callbackData.getNbOverlappingPairs(); i++) { + + OverlapPair overlapPair = callbackData.getOverlappingPair(i); + mOverlapBodies.push_back(std::make_pair(overlapPair.getBody1(), overlapPair.getBody2())); + } } void reset() { mOverlapBodies.clear(); } - bool hasOverlap() const { - return !mOverlapBodies.empty(); - } + bool hasOverlapWithBody(CollisionBody* collisionBody) const { - std::vector& getOverlapBodies() { - return mOverlapBodies; + for (uint i=0; i < mOverlapBodies.size(); i++) { + + if (mOverlapBodies[i].first == collisionBody || mOverlapBodies[i].second == collisionBody) { + return true; + } + } + + return false; } }; @@ -510,85 +516,52 @@ class TestCollisionWorld : public Test { // ---------- Global test ---------- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ // ---------- Single body test ---------- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody2, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody2, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody2, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mSphereBody2, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ // Two bodies test mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mBoxBody2, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody1, mBoxBody2, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mSphereBody2, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mSphereBody1, mSphereBody2, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mSphereBody1, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody1, mSphereBody1, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mSphereBody2, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody1, mSphereBody2, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody2, mSphereBody1, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody2, mSphereBody1, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody2, mSphereBody2, &mCollisionCallback); - // TODO : Rework how to report contacts - /* + mWorld->testCollision(mBoxBody2, mSphereBody2, mCollisionCallback); rp3d_test(!mCollisionCallback.hasContacts()); - */ } void testNoOverlap() { @@ -599,20 +572,20 @@ class TestCollisionWorld : public Test { // ---------- Single body test ---------- // mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(!mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(!mOverlapCallback.hasOverlapWithBody(mBoxBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody2, &mOverlapCallback); - rp3d_test(!mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody2, mOverlapCallback); + rp3d_test(!mOverlapCallback.hasOverlapWithBody(mBoxBody2)); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(!mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(!mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody2, &mOverlapCallback); - rp3d_test(!mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody2, mOverlapCallback); + rp3d_test(!mOverlapCallback.hasOverlapWithBody(mSphereBody2)); // Two bodies test @@ -637,24 +610,24 @@ class TestCollisionWorld : public Test { mSphereBody2->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody2, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody2, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody2)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -671,14 +644,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -692,14 +665,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody2, &mCollisionCallback); + mWorld->testCollision(mSphereBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -713,14 +686,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mSphereBody2, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mSphereBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -753,24 +726,24 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -787,14 +760,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -808,14 +781,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -829,14 +802,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -859,24 +832,24 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -893,14 +866,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -914,14 +887,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -935,14 +908,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -965,24 +938,24 @@ class TestCollisionWorld : public Test { mBoxBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -999,14 +972,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1020,14 +993,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1041,14 +1014,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1081,24 +1054,24 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1115,14 +1088,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1136,14 +1109,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1157,14 +1130,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1187,24 +1160,24 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1221,14 +1194,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1242,14 +1215,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1263,14 +1236,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1303,24 +1276,24 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1337,14 +1310,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1358,14 +1331,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1379,14 +1352,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1409,24 +1382,24 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1443,14 +1416,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1464,14 +1437,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1485,14 +1458,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1515,24 +1488,24 @@ class TestCollisionWorld : public Test { mConvexMeshBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1549,14 +1522,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1570,14 +1543,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1591,14 +1564,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1631,24 +1604,24 @@ class TestCollisionWorld : public Test { mConcaveMeshBody->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mSphereBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mSphereBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mSphereBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConcaveMeshBody, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConcaveMeshBody, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConcaveMeshBody)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1665,14 +1638,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1686,14 +1659,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1707,14 +1680,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mSphereBody1, mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mSphereBody1, mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -1747,24 +1720,24 @@ class TestCollisionWorld : public Test { mBoxBody2->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody2, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody2, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody2)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -1799,14 +1772,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -1828,14 +1801,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody2, &mCollisionCallback); + mWorld->testCollision(mBoxBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -1858,14 +1831,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mBoxBody2, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mBoxBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -1907,24 +1880,24 @@ class TestCollisionWorld : public Test { mConvexMeshBody2->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody2, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody2, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody2)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -1959,14 +1932,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -1988,14 +1961,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody2, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -2018,14 +1991,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mConvexMeshBody2, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mConvexMeshBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -2067,24 +2040,24 @@ class TestCollisionWorld : public Test { mConvexMeshBody2->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody2, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody2, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody2)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -2119,14 +2092,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -2148,14 +2121,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody2, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -2178,14 +2151,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, mConvexMeshBody2, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mConvexMeshBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response @@ -2227,24 +2200,24 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2260,14 +2233,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2281,14 +2254,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2302,14 +2275,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2342,24 +2315,24 @@ class TestCollisionWorld : public Test { mCapsuleBody1->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2375,14 +2348,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2396,14 +2369,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2417,14 +2390,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2457,80 +2430,80 @@ class TestCollisionWorld : public Test { mConcaveMeshBody->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mBoxBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mBoxBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mBoxBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConcaveMeshBody, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConcaveMeshBody, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConcaveMeshBody)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mBoxBody1, mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mBoxBody1, mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // Test contact points - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // Reset the init transforms @@ -2555,80 +2528,80 @@ class TestCollisionWorld : public Test { mConcaveMeshBody->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mConvexMeshBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConvexMeshBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConvexMeshBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConcaveMeshBody, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConcaveMeshBody, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConcaveMeshBody)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConvexMeshBody1, mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mConvexMeshBody1, mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); // Test contact points - for (size_t i=0; icontactManifolds[0].contactPoints.size(); i++) { - rp3d_test(approxEqual(collisionData->contactManifolds[0].contactPoints[i].penetrationDepth, 1.0f)); + for (size_t i=0; icontactPairs[0].contactPoints.size(); i++) { + rp3d_test(approxEqual(collisionData->contactPairs[0].contactPoints[i].penetrationDepth, 1.0f)); } // Reset the init transforms @@ -2653,24 +2626,24 @@ class TestCollisionWorld : public Test { mCapsuleBody2->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody2, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody2, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody2)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2687,14 +2660,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2708,14 +2681,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody2, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2729,14 +2702,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, mCapsuleBody2, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCapsuleBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2759,24 +2732,24 @@ class TestCollisionWorld : public Test { mCapsuleBody2->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody2, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody2, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody2)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2793,14 +2766,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2814,14 +2787,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody2, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2835,14 +2808,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, mCapsuleBody2, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCapsuleBody2, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2875,24 +2848,24 @@ class TestCollisionWorld : public Test { mConcaveMeshBody->setTransform(transform2); mOverlapCallback.reset(); - mWorld->testOverlap(mCapsuleBody1, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mCapsuleBody1, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mCapsuleBody1)); mOverlapCallback.reset(); - mWorld->testOverlap(mConcaveMeshBody, &mOverlapCallback); - rp3d_test(mOverlapCallback.hasOverlap()); + mWorld->testOverlap(mConcaveMeshBody, mOverlapCallback); + rp3d_test(mOverlapCallback.hasOverlapWithBody(mConcaveMeshBody)); // ----- Test global collision test ----- // mCollisionCallback.reset(); - mWorld->testCollision(&mCollisionCallback); + mWorld->testCollision(mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); // Get collision data const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2909,14 +2882,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 1 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2930,14 +2903,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against body 2 only ----- // mCollisionCallback.reset(); - mWorld->testCollision(mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response @@ -2951,14 +2924,14 @@ class TestCollisionWorld : public Test { // ----- Test collision against selected body 1 and 2 ----- // mCollisionCallback.reset(); - mWorld->testCollision(mCapsuleBody1, mConcaveMeshBody, &mCollisionCallback); + mWorld->testCollision(mCapsuleBody1, mConcaveMeshBody, mCollisionCallback); rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); // Get collision data collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); rp3d_test(collisionData != nullptr); - rp3d_test(collisionData->getNbContactManifolds() == 1); + rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 03284bfa..ecff6b94 100755 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -35,7 +35,7 @@ using namespace collisiondetectionscene; // Constructor CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings) : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), - mContactManager(mPhongShader, mMeshFolderPath), + mContactManager(mPhongShader, mMeshFolderPath, mContactPoints), mAreNormalsDisplayed(false) { mSelectedShapeIndex = 0; @@ -160,6 +160,8 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // Reset the scene void CollisionDetectionScene::reset() { + SceneDemo::reset(); + mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity())); mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity())); mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity())); @@ -206,8 +208,6 @@ CollisionDetectionScene::~CollisionDetectionScene() { mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); delete mHeightField; - mContactManager.resetPoints(); - // Destroy the static data for the visual contact points VisualContactPoint::destroyStaticData(); @@ -218,9 +218,9 @@ CollisionDetectionScene::~CollisionDetectionScene() { // Take a step for the simulation void CollisionDetectionScene::update() { - mContactManager.resetPoints(); + mContactPoints.clear(); - mPhysicsWorld->testCollision(&mContactManager); + mPhysicsWorld->testCollision(mContactManager); SceneDemo::update(); } @@ -313,41 +313,33 @@ bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, i return false; } -// This method will be called for each reported contact point -void ContactManager::notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) { +// This method is called when some contacts occur +void ContactManager::onContact(const CallbackData& callbackData) { - // TODO : Rework how to report contacts - /* - // For each contact manifold - rp3d::ContactManifoldListElement* manifoldElement = collisionCallbackInfo.contactManifoldElements; - while (manifoldElement != nullptr) { + // For each contact pair + for (uint p=0; p < callbackData.getNbContactPairs(); p++) { - // Get the contact manifold - rp3d::ContactManifold* contactManifold = manifoldElement->getContactManifold(); + ContactPair contactPair = callbackData.getContactPair(p); - // For each contact point - rp3d::ContactPoint* contactPoint = contactManifold->getContactPoints(); - while (contactPoint != nullptr) { + // For each contact point of the contact pair + for (uint c=0; c < contactPair.getNbContactPoints(); c++) { - // Contact normal - rp3d::Vector3 normal = contactPoint->getNormal(); - openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z); + ContactPoint contactPoint = contactPair.getContactPoint(c); - rp3d::Vector3 point1 = contactPoint->getLocalPointOnShape1(); - point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1; + // Contact normal + rp3d::Vector3 normal = contactPoint.getWorldNormal(); + openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z); - openglframework::Vector3 position1(point1.x, point1.y, point1.z); - mContactPoints.push_back(ContactPoint(position1, contactNormal, openglframework::Color::red())); + rp3d::Vector3 point1 = contactPoint.getLocalPointOnShape1(); + point1 = contactPair.getProxyShape1()->getLocalToWorldTransform() * point1; - rp3d::Vector3 point2 = contactPoint->getLocalPointOnShape2(); - point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2; - openglframework::Vector3 position2(point2.x, point2.y, point2.z); - mContactPoints.push_back(ContactPoint(position2, contactNormal, openglframework::Color::blue())); + openglframework::Vector3 position1(point1.x, point1.y, point1.z); + mContactPoints.push_back(SceneContactPoint(position1, contactNormal, openglframework::Color::red())); - contactPoint = contactPoint->getNext(); + rp3d::Vector3 point2 = contactPoint.getLocalPointOnShape2(); + point2 = contactPair.getProxyShape2()->getLocalToWorldTransform() * point2; + openglframework::Vector3 position2(point2.x, point2.y, point2.z); + mContactPoints.push_back(SceneContactPoint(position2, contactNormal, openglframework::Color::blue())); + } } - - manifoldElement = manifoldElement->getNext(); - } - */ } diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.h b/testbed/scenes/collisiondetection/CollisionDetectionScene.h index 2e134567..27ab3419 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.h +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.h @@ -63,30 +63,22 @@ class ContactManager : public rp3d::CollisionCallback { private: - /// All the visual contact points - std::vector mContactPoints; - /// Contact point mesh folder path std::string mMeshFolderPath; + /// Reference to the list of all the visual contact points + std::vector& mContactPoints; + public: - ContactManager(openglframework::Shader& shader, const std::string& meshFolderPath) - : mMeshFolderPath(meshFolderPath) { + ContactManager(openglframework::Shader& shader, const std::string& meshFolderPath, + std::vector& contactPoints) + : mMeshFolderPath(meshFolderPath), mContactPoints(contactPoints) { } - /// This method will be called for each reported contact point - virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) override; - - void resetPoints() { - - mContactPoints.clear(); - } - - std::vector getContactPoints() const { - return mContactPoints; - } + /// This method is called when some contacts occur + virtual void onContact(const CallbackData& callbackData) override; }; // Class CollisionDetectionScene @@ -151,9 +143,6 @@ class CollisionDetectionScene : public SceneDemo { /// Display/Hide the contact points virtual void setIsContactPointsDisplayed(bool display) override; - - /// Return all the contact points of the scene - virtual std::vector getContactPoints() override; }; // Display or not the surface normals at hit points @@ -171,11 +160,6 @@ inline void CollisionDetectionScene::setIsContactPointsDisplayed(bool display) { SceneDemo::setIsContactPointsDisplayed(true); } -// Return all the contact points of the scene -inline std::vector CollisionDetectionScene::getContactPoints() { - return mContactManager.getContactPoints(); -} - } #endif diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index cffe7b50..12021ca7 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -49,7 +49,9 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + dynamicsWorld->setEventListener(this); + mPhysicsWorld = dynamicsWorld; for (int i=0; i getContactPoints() override; }; -// Return all the contact points of the scene -inline std::vector CollisionShapesScene::getContactPoints() { - return computeContactPointsOfWorld(getDynamicsWorld()); -} - } #endif diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 31a06c0f..7b73dec4 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -49,7 +49,9 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + dynamicsWorld->setEventListener(this); + mPhysicsWorld = dynamicsWorld; // ---------- Create the boxes ----------- // for (int i = 0; i getContactPoints() override; }; -// Return all the contact points of the scene -inline std::vector ConcaveMeshScene::getContactPoints() { - return computeContactPointsOfWorld(getDynamicsWorld()); -} - } #endif diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index ab363c0b..66a59215 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -47,7 +47,9 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + dynamicsWorld->setEventListener(this); + mPhysicsWorld = dynamicsWorld; // Create all the cubes of the scene for (int i=0; i getContactPoints() override; }; -// Return all the contact points of the scene -inline std::vector CubesScene::getContactPoints() { - return computeContactPointsOfWorld(getDynamicsWorld()); -} - } #endif diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index c30674b3..56fb3c35 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -47,7 +47,9 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + dynamicsWorld->setEventListener(this); + mPhysicsWorld = dynamicsWorld; // Create all the cubes of the scene for (int i=1; i<=NB_FLOORS; i++) { @@ -120,6 +122,8 @@ CubeStackScene::~CubeStackScene() { // Reset the scene void CubeStackScene::reset() { + SceneDemo::reset(); + int index = 0; for (int i=NB_FLOORS; i > 0; i--) { diff --git a/testbed/scenes/cubestack/CubeStackScene.h b/testbed/scenes/cubestack/CubeStackScene.h index d4a4dace..3e3abd2e 100644 --- a/testbed/scenes/cubestack/CubeStackScene.h +++ b/testbed/scenes/cubestack/CubeStackScene.h @@ -67,16 +67,8 @@ class CubeStackScene : public SceneDemo { /// Reset the scene virtual void reset() override; - - /// Return all the contact points of the scene - virtual std::vector getContactPoints() override; }; -// Return all the contact points of the scene -inline std::vector CubeStackScene::getContactPoints() { - return computeContactPointsOfWorld(getDynamicsWorld()); -} - } #endif diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 8b8d489c..d2734bbc 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -49,7 +49,9 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + dynamicsWorld->setEventListener(this); + mPhysicsWorld = dynamicsWorld; for (int i = 0; i getContactPoints() override ; }; -// Return all the contact points of the scene -inline std::vector HeightFieldScene::getContactPoints() { - return computeContactPointsOfWorld(getDynamicsWorld()); -} - } #endif diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index 736e0252..6c6a2bfc 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -48,7 +48,9 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings) worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + dynamicsWorld->setEventListener(this); + mPhysicsWorld = dynamicsWorld; // Create the Ball-and-Socket joint createBallAndSocketJoints(); @@ -129,6 +131,8 @@ void JointsScene::updatePhysics() { // Reset the scene void JointsScene::reset() { + SceneDemo::reset(); + openglframework::Vector3 positionBox(0, 15, 5); openglframework::Vector3 boxDimension(1, 1, 1); diff --git a/testbed/scenes/joints/JointsScene.h b/testbed/scenes/joints/JointsScene.h index f101bf32..4a4d1c2d 100644 --- a/testbed/scenes/joints/JointsScene.h +++ b/testbed/scenes/joints/JointsScene.h @@ -125,16 +125,8 @@ class JointsScene : public SceneDemo { /// Reset the scene virtual void reset() override; - - /// Return all the contact points of the scene - virtual std::vector getContactPoints() override; }; -// Return all the contact points of the scene -inline std::vector JointsScene::getContactPoints() { - return computeContactPointsOfWorld(getDynamicsWorld()); -} - } #endif diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 018c28e4..02133dcb 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -196,6 +196,8 @@ void RaycastScene::changeBody() { // Reset the scene void RaycastScene::reset() { + SceneDemo::reset(); + std::vector::iterator it; for (it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { (*it)->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity())); diff --git a/testbed/scenes/raycast/RaycastScene.h b/testbed/scenes/raycast/RaycastScene.h index 1d413995..fe17297c 100644 --- a/testbed/scenes/raycast/RaycastScene.h +++ b/testbed/scenes/raycast/RaycastScene.h @@ -65,7 +65,7 @@ class RaycastManager : public rp3d::RaycastCallback { private: /// All the visual contact points - std::vector mHitPoints; + std::vector mHitPoints; /// Contact point mesh folder path std::string mMeshFolderPath; @@ -85,7 +85,7 @@ class RaycastManager : public rp3d::RaycastCallback { rp3d::Vector3 hitPos = raycastInfo.worldPoint; openglframework::Vector3 position(hitPos.x, hitPos.y, hitPos.z); - mHitPoints.push_back(ContactPoint(position, normal, openglframework::Color::red())); + mHitPoints.push_back(SceneContactPoint(position, normal, openglframework::Color::red())); return raycastInfo.hitFraction; } @@ -95,7 +95,7 @@ class RaycastManager : public rp3d::RaycastCallback { mHitPoints.clear(); } - std::vector getHitPoints() const { + std::vector getHitPoints() const { return mHitPoints; } }; @@ -181,9 +181,6 @@ class RaycastScene : public SceneDemo { /// Display/Hide the contact points virtual void setIsContactPointsDisplayed(bool display) override; - - /// Return all the contact points of the scene - virtual std::vector getContactPoints() override; }; // Display or not the surface normals at hit points @@ -201,11 +198,6 @@ inline void RaycastScene::setIsContactPointsDisplayed(bool display) { SceneDemo::setIsContactPointsDisplayed(true); } -// Return all the contact points of the scene -inline std::vector RaycastScene::getContactPoints() { - return mRaycastManager.getHitPoints(); -} - } #endif diff --git a/testbed/src/Scene.cpp b/testbed/src/Scene.cpp index 2c45b934..a89fa7c9 100644 --- a/testbed/src/Scene.cpp +++ b/testbed/src/Scene.cpp @@ -185,3 +185,28 @@ void Scene::rotate(int xMouse, int yMouse) { } } } + +// Called when some contacts occur +void Scene::onContact(const rp3d::CollisionCallback::CallbackData& callbackData) { + + // Clear contacts points + mContactPoints.clear(); + + // For each contact pair + for (uint p=0; p < callbackData.getNbContactPairs(); p++) { + + rp3d::CollisionCallback::ContactPair contactPair = callbackData.getContactPair(p); + + // For each contact point of the contact pair + for (uint c=0; c < contactPair.getNbContactPoints(); c++) { + + rp3d::CollisionCallback::ContactPoint contactPoint = contactPair.getContactPoint(c); + + rp3d::Vector3 point = contactPair.getProxyShape1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1(); + rp3d::Vector3 normalWorld = contactPoint.getWorldNormal(); + openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z); + SceneContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red()); + mContactPoints.push_back(contact); + } + } +} diff --git a/testbed/src/Scene.h b/testbed/src/Scene.h index 8fffff2a..a014a3a1 100644 --- a/testbed/src/Scene.h +++ b/testbed/src/Scene.h @@ -31,7 +31,7 @@ #include "reactphysics3d.h" // Structure ContactPoint -struct ContactPoint { +struct SceneContactPoint { public: openglframework::Vector3 point; @@ -39,7 +39,7 @@ struct ContactPoint { openglframework::Color color; /// Constructor - ContactPoint(const openglframework::Vector3& pointWorld, const openglframework::Vector3& normalWorld, const openglframework::Color colorPoint) + SceneContactPoint(const openglframework::Vector3& pointWorld, const openglframework::Vector3& normalWorld, const openglframework::Color colorPoint) : point(pointWorld), normal(normalWorld), color(colorPoint) { } @@ -88,7 +88,7 @@ struct EngineSettings { // Class Scene // Abstract class that represents a 3D scene. -class Scene { +class Scene : public rp3d::EventListener { protected: @@ -130,12 +130,15 @@ class Scene { /// True if contact points are displayed bool mIsContactPointsDisplayed; - /// True if the AABBs of the phycis objects are displayed + /// True if the AABBs of the physics objects are displayed bool mIsAABBsDisplayed; /// True if we render shapes in wireframe mode bool mIsWireframeEnabled; + /// Contact points + std::vector mContactPoints; + // -------------------- Methods -------------------- // /// Set the scene position (where the camera needs to look at) @@ -165,7 +168,7 @@ class Scene { Scene(const std::string& name, EngineSettings& engineSettings, bool isShadowMappingEnabled = false); /// Destructor - virtual ~Scene(); + virtual ~Scene() override; /// Reshape the view virtual void reshape(int width, int height); @@ -181,7 +184,7 @@ class Scene { virtual void render()=0; /// Reset the scene - virtual void reset()=0; + virtual void reset(); /// Called when a keyboard event occurs virtual bool keyboardEvent(int key, int scancode, int action, int mods); @@ -230,11 +233,11 @@ class Scene { /// Enable/disbale wireframe rendering void setIsWireframeEnabled(bool isEnabled); - /// Return all the contact points of the scene - std::vector virtual getContactPoints(); - /// Update the engine settings virtual void updateEngineSettings() = 0; + + /// Called when some contacts occur + virtual void onContact(const rp3d::CollisionCallback::CallbackData& callbackData) override; }; // Called when a keyboard event occurs @@ -247,6 +250,11 @@ inline void Scene::reshape(int width, int height) { mCamera.setDimensions(width, height); } +// Reset the scene +inline void Scene::reset() { + mContactPoints.clear(); +} + // Return a reference to the camera inline const openglframework::Camera& Scene::getCamera() const { return mCamera; @@ -306,11 +314,4 @@ inline void Scene::setIsWireframeEnabled(bool isEnabled) { mIsWireframeEnabled = isEnabled; } -// Return all the contact points of the scene -inline std::vector Scene::getContactPoints() { - - // Return an empty list of contact points - return std::vector(); -} - #endif diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index c2d37455..97e4a2e9 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -98,7 +98,7 @@ SceneDemo::~SceneDemo() { mColorShader.destroy(); // Destroy the contact points - removeAllContactPoints(); + removeAllVisualContactPoints(); // Destroy rendering data for the AABB AABB::destroy(); @@ -345,20 +345,17 @@ void SceneDemo::drawTextureQuad() { void SceneDemo::updateContactPoints() { // Remove the previous contact points - removeAllContactPoints(); + removeAllVisualContactPoints(); if (mIsContactPointsDisplayed) { - // Get the current contact points of the scene - std::vector contactPoints = getContactPoints(); - // For each contact point - std::vector::const_iterator it; - for (it = contactPoints.begin(); it != contactPoints.end(); ++it) { + std::vector::const_iterator it; + for (it = mContactPoints.begin(); it != mContactPoints.end(); ++it) { // Create a visual contact point for rendering VisualContactPoint* point = new VisualContactPoint(it->point, mMeshFolderPath, it->point + it->normal, it->color); - mContactPoints.push_back(point); + mVisualContactPoints.push_back(point); } } } @@ -367,8 +364,8 @@ void SceneDemo::updateContactPoints() { void SceneDemo::renderContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Render all the contact points - for (std::vector::iterator it = mContactPoints.begin(); - it != mContactPoints.end(); ++it) { + for (std::vector::iterator it = mVisualContactPoints.begin(); + it != mVisualContactPoints.end(); ++it) { (*it)->render(mColorShader, worldToCameraMatrix); } } @@ -397,48 +394,14 @@ void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) } } -void SceneDemo::removeAllContactPoints() { +void SceneDemo::removeAllVisualContactPoints() { // Destroy all the visual contact points - for (std::vector::iterator it = mContactPoints.begin(); - it != mContactPoints.end(); ++it) { + for (std::vector::iterator it = mVisualContactPoints.begin(); + it != mVisualContactPoints.end(); ++it) { delete (*it); } - mContactPoints.clear(); -} - -// Return all the contact points of the scene -std::vector SceneDemo::computeContactPointsOfWorld(rp3d::DynamicsWorld* world) { - - std::vector contactPoints; - - // Get the list of contact manifolds from the world - rp3d::List manifolds = world->getContactsList(); - - // TODO : Uncomment and fix this - /* - // For each contact manifold - rp3d::List::Iterator it; - for (it = manifolds.begin(); it != manifolds.end(); ++it) { - - const rp3d::ContactManifold* manifold = *it; - - // For each contact point of the manifold - rp3d::ContactPoint* contactPoint = manifold->getContactPoints(); - while (contactPoint != nullptr) { - - rp3d::Vector3 point = manifold->getShape1()->getLocalToWorldTransform() * contactPoint->getLocalPointOnShape1(); - rp3d::Vector3 normalWorld = contactPoint->getNormal(); - openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z); - ContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red()); - contactPoints.push_back(contact); - - contactPoint = contactPoint->getNext(); - } - } - */ - - return contactPoints; + mVisualContactPoints.clear(); } // Update the engine settings diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 95e1ece0..31b832c0 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -60,7 +60,7 @@ class SceneDemo : public Scene { static int shadowMapTextureLevel; /// All the visual contact points - std::vector mContactPoints; + std::vector mVisualContactPoints; /// Shadow map bias matrix openglframework::Matrix4 mShadowMapBiasMatrix; @@ -123,7 +123,7 @@ class SceneDemo : public Scene { void renderAABBs(const openglframework::Matrix4& worldToCameraMatrix); /// Remove all contact points - void removeAllContactPoints(); + void removeAllVisualContactPoints(); /// Return a reference to the dynamics world rp3d::DynamicsWorld* getDynamicsWorld(); @@ -144,6 +144,9 @@ class SceneDemo : public Scene { /// Update the scene virtual void update() override; + /// Reset the scene + virtual void reset() override; + /// Update the physics world (take a simulation step) /// Can be called several times per frame virtual void updatePhysics() override; @@ -159,9 +162,6 @@ class SceneDemo : public Scene { /// Enabled/Disable the shadow mapping virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override; - - /// Return all the contact points of the scene - std::vector computeContactPointsOfWorld(reactphysics3d::DynamicsWorld *world); }; // Enabled/Disable the shadow mapping @@ -184,6 +184,14 @@ inline const rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() const { return dynamic_cast(mPhysicsWorld); } +// Reset the scene +inline void SceneDemo::reset() { + + Scene::reset(); + + removeAllVisualContactPoints(); +} + #endif From 9740c699dcc84ce29c60fac755a84331ba8d7f62 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 26 Jun 2019 12:09:19 +0200 Subject: [PATCH 063/197] Modify default value for restitutionVelocityThreshold --- src/configuration.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/configuration.h b/src/configuration.h index 958de50a..3dae1e18 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -129,7 +129,7 @@ struct WorldSettings { decimal defaultBounciness = decimal(0.5); /// Velocity threshold for contact velocity restitution - decimal restitutionVelocityThreshold = decimal(1.0); + decimal restitutionVelocityThreshold = decimal(0.5); /// Default rolling resistance decimal defaultRollingRestistance = decimal(0.0); From eccc4faa6d618d6483b838ea2b0118babc269e6a Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 27 Jun 2019 07:12:17 +0200 Subject: [PATCH 064/197] Disable previous axis clipping (temporal coherence) in SAT algorithm for testCollision() methods --- src/body/RigidBody.cpp | 6 +++--- src/collision/CollisionDetection.cpp | 16 +++++++++------- src/collision/CollisionDetection.h | 2 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 5 +++-- .../CapsuleVsConvexPolyhedronAlgorithm.h | 3 ++- ...nvexPolyhedronVsConvexPolyhedronAlgorithm.cpp | 4 ++-- ...ConvexPolyhedronVsConvexPolyhedronAlgorithm.h | 2 +- src/collision/narrowphase/SAT/SATAlgorithm.cpp | 9 +++++---- src/collision/narrowphase/SAT/SATAlgorithm.h | 16 +++++++++++++++- .../SphereVsConvexPolyhedronAlgorithm.cpp | 4 ++-- .../SphereVsConvexPolyhedronAlgorithm.h | 2 +- 11 files changed, 44 insertions(+), 25 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index b02abbf2..aed6977f 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -156,7 +156,7 @@ decimal RigidBody::getMass() const { * @param force The force to apply on the body * @param point The point where the force is applied (in world-space coordinates) */ -inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) { +void RigidBody::applyForce(const Vector3& force, const Vector3& point) { // If it is not a dynamic body, we do nothing if (mType != BodyType::DYNAMIC) return; @@ -208,7 +208,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { /** * @param force The external force to apply on the center of mass of the body */ -inline void RigidBody::applyForceToCenterOfMass(const Vector3& force) { +void RigidBody::applyForceToCenterOfMass(const Vector3& force) { // If it is not a dynamic body, we do nothing if (mType != BodyType::DYNAMIC) return; @@ -719,7 +719,7 @@ bool RigidBody::isGravityEnabled() const { /** * @param torque The external torque to apply on the body */ -inline void RigidBody::applyTorque(const Vector3& torque) { +void RigidBody::applyTorque(const Vector3& torque) { // If it is not a dynamic body, we do nothing if (mType != BodyType::DYNAMIC) return; diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index a8012f9b..a1647ca9 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -335,7 +335,8 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair } // Execute the narrow-phase collision detection algorithm on batches -bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, MemoryAllocator& allocator) { +bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator) { bool contactFound = false; @@ -366,13 +367,13 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI contactFound |= capsuleVsCapsuleAlgo->testCollision(capsuleVsCapsuleBatch, 0, capsuleVsCapsuleBatch.getNbObjects(), reportContacts, allocator); } if (sphereVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatch, 0, sphereVsConvexPolyhedronBatch.getNbObjects(), reportContacts, allocator); + contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatch, 0, sphereVsConvexPolyhedronBatch.getNbObjects(), reportContacts, clipWithPreviousAxisIfStillColliding, allocator); } if (capsuleVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatch, 0, capsuleVsConvexPolyhedronBatch.getNbObjects(), reportContacts, allocator); + contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatch, 0, capsuleVsConvexPolyhedronBatch.getNbObjects(), reportContacts, clipWithPreviousAxisIfStillColliding, allocator); } if (convexPolyhedronVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatch, 0, convexPolyhedronVsConvexPolyhedronBatch.getNbObjects(), reportContacts, allocator); + contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatch, 0, convexPolyhedronVsConvexPolyhedronBatch.getNbObjects(), reportContacts, clipWithPreviousAxisIfStillColliding, allocator); } return contactFound; @@ -423,7 +424,7 @@ void CollisionDetection::computeNarrowPhase() { swapPreviousAndCurrentContacts(); // Test the narrow-phase collision detection on the batches to be tested - testNarrowPhaseCollision(mNarrowPhaseInput, true, allocator); + testNarrowPhaseCollision(mNarrowPhaseInput, true, true, allocator); // Process all the potential contacts after narrow-phase collision processAllPotentialContacts(mNarrowPhaseInput, true, mPotentialContactPoints, mCurrentMapPairIdToContactPairIndex, @@ -449,7 +450,7 @@ bool CollisionDetection::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& nar MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); // Test the narrow-phase collision detection on the batches to be tested - bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, false, allocator); + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, false, false, allocator); if (collisionFound && callback != nullptr) { // Compute the overlapping bodies @@ -503,6 +504,7 @@ void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narro narrowPhaseInfoBatch.resetContactPoints(i); } } + // Compute the narrow-phase collision detection for the testCollision() methods. // This method returns true if contacts are found. bool CollisionDetection::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback) { @@ -512,7 +514,7 @@ bool CollisionDetection::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& n MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); // Test the narrow-phase collision detection on the batches to be tested - bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, allocator); + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, false, allocator); // If collision has been found, create contacts if (collisionFound) { diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 17383def..e4b16417 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -205,7 +205,7 @@ class CollisionDetection { void removeNonOverlappingPairs(); /// Execute the narrow-phase collision detection algorithm on batches - bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, MemoryAllocator& allocator); + bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index ff02fa38..f42e8934 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -41,13 +41,14 @@ using namespace reactphysics3d; // by Dirk Gregorius. bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { + bool reportContacts, bool clipWithPreviousAxisIfStillColliding, + MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; - SATAlgorithm satAlgorithm(memoryAllocator); + SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index 42d8ada2..53b5ca56 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -71,7 +71,8 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between a capsule and a polyhedron bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); + uint batchNbItems, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, + MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index 08d9e9f7..570345fe 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -37,10 +37,10 @@ using namespace reactphysics3d; // by Dirk Gregorius. bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { + bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { // Run the SAT algorithm to find the separating axis and compute contact point - SATAlgorithm satAlgorithm(memoryAllocator); + SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index b4bd70e6..6e43e76b 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -66,7 +66,7 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm /// Compute the narrow-phase collision detection between two convex polyhedra bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, - MemoryAllocator& memoryAllocator); + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; } diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 42d77256..d8d18876 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -43,7 +43,8 @@ using namespace reactphysics3d; const decimal SATAlgorithm::SAME_SEPARATING_AXIS_BIAS = decimal(0.001); // Constructor -SATAlgorithm::SATAlgorithm(MemoryAllocator& memoryAllocator) : mMemoryAllocator(memoryAllocator) { +SATAlgorithm::SATAlgorithm(bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) + : mClipWithPreviousAxisIfStillColliding(clipWithPreviousAxisIfStillColliding), mMemoryAllocator(memoryAllocator) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -525,7 +526,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn } // The two shapes were overlapping in the previous frame and still seem to overlap in this one - if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { + if (lastFrameCollisionInfo->wasColliding && mClipWithPreviousAxisIfStillColliding && penetrationDepth > decimal(0.0)) { minPenetrationDepth = penetrationDepth; minFaceIndex = lastFrameCollisionInfo->satMinAxisFaceIndex; @@ -565,7 +566,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn } // The two shapes were overlapping in the previous frame and still seem to overlap in this one - if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { + if (lastFrameCollisionInfo->wasColliding && mClipWithPreviousAxisIfStillColliding && penetrationDepth > decimal(0.0)) { minPenetrationDepth = penetrationDepth; minFaceIndex = lastFrameCollisionInfo->satMinAxisFaceIndex; @@ -623,7 +624,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn } // If the shapes were overlapping on the previous axis and still seem to overlap in this frame - if (lastFrameCollisionInfo->wasColliding && penetrationDepth > decimal(0.0)) { + if (lastFrameCollisionInfo->wasColliding && mClipWithPreviousAxisIfStillColliding && penetrationDepth > decimal(0.0)) { // Compute the closest points between the two edges (in the local-space of poylhedron 2) Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.h b/src/collision/narrowphase/SAT/SATAlgorithm.h index 4ed5e821..2d7afd4a 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.h +++ b/src/collision/narrowphase/SAT/SATAlgorithm.h @@ -60,6 +60,20 @@ class SATAlgorithm { /// make sure the contact manifold does not change too much between frames. static const decimal SAME_SEPARATING_AXIS_BIAS; + /// True means that if two shapes were colliding last time (previous frame) and are still colliding + /// we use the previous (minimum penetration depth) axis to clip the colliding features and we don't + /// recompute a new (minimum penetration depth) axis. This value must be true for a dynamic simulation + /// because it uses temporal coherence and clip the colliding features with the previous + /// axis (this is good for stability). However, when we use the testCollision() methods, the penetration + /// depths might be very large and we always want the current true axis with minimum penetration depth. + /// In this case, this value must be set to false. Consider the following situation. Two shapes start overlaping + /// with "x" being the axis of minimum penetration depth. Then, if the shapes move but are still penetrating, + /// it is possible that the axis of minimum penetration depth changes for axis "y" for instance. If this value + /// if true, we will always use the axis of the previous collision test and therefore always report that the + /// penetrating axis is "x" even if it has changed to axis "y" during the collision. This is not what we want + /// when we call the testCollision() methods. + bool mClipWithPreviousAxisIfStillColliding; + /// Memory allocator MemoryAllocator& mMemoryAllocator; @@ -126,7 +140,7 @@ class SATAlgorithm { // -------------------- Methods -------------------- // /// Constructor - SATAlgorithm(MemoryAllocator& memoryAllocator); + SATAlgorithm(bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); /// Destructor ~SATAlgorithm() = default; diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index 48e5390b..b8fb779f 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { + bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; @@ -80,7 +80,7 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { // Run the SAT algorithm to find the separating axis and compute contact point - SATAlgorithm satAlgorithm(memoryAllocator); + SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index e0d6ea0a..793dc48a 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -72,7 +72,7 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, - MemoryAllocator& memoryAllocator); + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; } From 112253cb8136e571ab2dc60920797daf95ef65a0 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 27 Jun 2019 07:16:47 +0200 Subject: [PATCH 065/197] Fix issue with display of contact points in testbed application --- testbed/src/Scene.cpp | 3 --- testbed/src/SceneDemo.cpp | 3 +++ 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/testbed/src/Scene.cpp b/testbed/src/Scene.cpp index a89fa7c9..4f6e31d9 100644 --- a/testbed/src/Scene.cpp +++ b/testbed/src/Scene.cpp @@ -189,9 +189,6 @@ void Scene::rotate(int xMouse, int yMouse) { // Called when some contacts occur void Scene::onContact(const rp3d::CollisionCallback::CallbackData& callbackData) { - // Clear contacts points - mContactPoints.clear(); - // For each contact pair for (uint p=0; p < callbackData.getNbContactPairs(); p++) { diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 97e4a2e9..d4fa3fcc 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -124,6 +124,9 @@ void SceneDemo::update() { // Can be called several times per frame void SceneDemo::updatePhysics() { + // Clear contacts points + mContactPoints.clear(); + if (getDynamicsWorld() != nullptr) { // Take a simulation step From 29a0e03a13361b7bc7793f443ab81490876225aa Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 27 Jun 2019 07:24:35 +0200 Subject: [PATCH 066/197] Fix display of contact points in ray casting scene of the testbed application --- testbed/scenes/raycast/RaycastScene.cpp | 2 +- testbed/scenes/raycast/RaycastScene.h | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 02133dcb..1c5bb9c0 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -33,7 +33,7 @@ using namespace raycastscene; // Constructor RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), - mRaycastManager(mPhongShader, mMeshFolderPath), mCurrentBodyIndex(-1), + mRaycastManager(mPhongShader, mMeshFolderPath, mContactPoints), mCurrentBodyIndex(-1), mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) { mIsContactPointsDisplayed = true; diff --git a/testbed/scenes/raycast/RaycastScene.h b/testbed/scenes/raycast/RaycastScene.h index fe17297c..6de17c45 100644 --- a/testbed/scenes/raycast/RaycastScene.h +++ b/testbed/scenes/raycast/RaycastScene.h @@ -64,17 +64,17 @@ class RaycastManager : public rp3d::RaycastCallback { private: - /// All the visual contact points - std::vector mHitPoints; + /// Reference to the list of contact points of the scene + std::vector& mHitPoints; /// Contact point mesh folder path std::string mMeshFolderPath; public: - RaycastManager(openglframework::Shader& shader, - const std::string& meshFolderPath) - : mMeshFolderPath(meshFolderPath) { + RaycastManager(openglframework::Shader& shader, const std::string& meshFolderPath, + std::vector& hitPoints) + : mMeshFolderPath(meshFolderPath), mHitPoints(hitPoints) { } From 236a855c8dabe09a1a098feb89f90a65efd0c316 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 4 Jul 2019 20:24:09 +0200 Subject: [PATCH 067/197] Remove Body::mId attribute --- src/body/Body.cpp | 10 +- src/body/Body.h | 23 +--- src/body/CollisionBody.cpp | 14 +-- src/body/CollisionBody.h | 2 +- src/body/RigidBody.cpp | 26 ++-- src/body/RigidBody.h | 2 +- src/collision/CollisionDetection.cpp | 2 +- src/collision/CollisionDetection.h | 2 +- src/configuration.h | 4 +- src/engine/CollisionWorld.cpp | 37 +----- src/engine/CollisionWorld.h | 9 -- src/engine/DynamicsWorld.cpp | 19 +-- src/engine/OverlappingPair.h | 10 +- test/tests/collision/TestCollisionWorld.h | 144 +++++++++++----------- test/tests/collision/TestRaycast.h | 2 +- 15 files changed, 125 insertions(+), 181 deletions(-) diff --git a/src/body/Body.cpp b/src/body/Body.cpp index 1117572f..f1f80b0a 100644 --- a/src/body/Body.cpp +++ b/src/body/Body.cpp @@ -35,8 +35,8 @@ using namespace reactphysics3d; /** * @param id ID of the new body */ -Body::Body(Entity entity, bodyindex id) - : mID(id), mEntity(entity), mIsAllowedToSleep(true), mIsActive(true), +Body::Body(Entity entity) + : mEntity(entity), mIsAllowedToSleep(true), mIsActive(true), mIsSleeping(false), mSleepTime(0), mUserData(nullptr) { #ifdef IS_LOGGING_ACTIVE @@ -55,7 +55,7 @@ void Body::setIsActive(bool isActive) { setIsSleeping(isActive); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set isActive=" + + "Body " + std::to_string(mEntity.id) + ": Set isActive=" + (mIsActive ? "true" : "false")); } @@ -82,7 +82,7 @@ void Body::setIsSleeping(bool isSleeping) { mIsSleeping = isSleeping; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set isSleeping=" + + "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + (mIsSleeping ? "true" : "false")); } } @@ -97,7 +97,7 @@ void Body::setIsAllowedToSleep(bool isAllowedToSleep) { if (!mIsAllowedToSleep) setIsSleeping(false); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set isAllowedToSleep=" + + "Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" + (mIsAllowedToSleep ? "true" : "false")); } diff --git a/src/body/Body.h b/src/body/Body.h index 4c7513a5..39093dd6 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -50,10 +50,6 @@ class Body { // -------------------- Attributes -------------------- // - /// ID of the body - // TODO : Remove this - bodyindex mID; - /// Identifier of the entity in the ECS Entity mEntity; @@ -93,7 +89,7 @@ class Body { // -------------------- Methods -------------------- // /// Constructor - Body(Entity entity, bodyindex id); + Body(Entity entity); /// Deleted copy-constructor Body(const Body& body) = delete; @@ -104,9 +100,6 @@ class Body { /// Destructor virtual ~Body() = default; - /// Return the ID of the body - bodyindex getId() const; - /// Return the corresponding entity of the body Entity getEntity() const; @@ -142,6 +135,7 @@ class Body { // TODO : Check if those operators are still used + /* /// Smaller than operator bool operator<(const Body& body2) const; @@ -153,20 +147,13 @@ class Body { /// Not equal operator bool operator!=(const Body& body2) const; + */ // -------------------- Friendship -------------------- // friend class DynamicsWorld; }; -// Return the id of the body -/** - * @return The id of the body - */ -inline bodyindex Body::getId() const { - return mID; -} - // Return the corresponding entity of the body /** * @return The entity of the body @@ -224,6 +211,7 @@ inline void Body::setLogger(Logger* logger) { #endif +/* // Smaller than operator inline bool Body::operator<(const Body& body2) const { return (mID < body2.mID); @@ -243,7 +231,8 @@ inline bool Body::operator==(const Body& body2) const { inline bool Body::operator!=(const Body& body2) const { return (mID != body2.mID); } +*/ } - #endif +#endif diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index e7023f3a..64d4323e 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param world The physics world where the body is created * @param id ID of the body */ -CollisionBody::CollisionBody(CollisionWorld& world, Entity entity, bodyindex id) - : Body(entity, id), mType(BodyType::DYNAMIC), mWorld(world) { +CollisionBody::CollisionBody(CollisionWorld& world, Entity entity) + : Body(entity), mType(BodyType::DYNAMIC), mWorld(world) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -112,7 +112,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); + "Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(proxyShape->getBroadPhaseId()) + ": collisionShape=" + @@ -166,7 +166,7 @@ ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) { void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " removed from body"); + "Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " removed from body"); // Remove the proxy-shape from the broad-phase if (proxyShape->getBroadPhaseId() != -1) { @@ -268,7 +268,7 @@ void CollisionBody::setIsActive(bool isActive) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set isActive=" + + "Body " + std::to_string(mEntity.id) + ": Set isActive=" + (mIsActive ? "true" : "false")); } @@ -392,7 +392,7 @@ void CollisionBody::setTransform(const Transform& transform) { updateBroadPhaseState(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set transform=" + transform.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string()); } // Set the variable to know whether or not the body is sleeping @@ -465,7 +465,7 @@ void CollisionBody::setType(BodyType type) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set type=" + + "Body " + std::to_string(mEntity.id) + ": Set type=" + (mType == BodyType::STATIC ? "Static" : (mType == BodyType::DYNAMIC ? "Dynamic" : "Kinematic"))); } diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 152b3ec9..846e593c 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -101,7 +101,7 @@ class CollisionBody : public Body { // -------------------- Methods -------------------- // /// Constructor - CollisionBody(CollisionWorld& world, Entity entity, bodyindex id); + CollisionBody(CollisionWorld& world, Entity entity); /// Destructor virtual ~CollisionBody() override; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index aed6977f..39876931 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param world The world where the body has been added * @param id The ID of the body */ -RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id) - : CollisionBody(world, entity, id), mMaterial(world.mConfig), mJointsList(nullptr), +RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity) + : CollisionBody(world, entity), mMaterial(world.mConfig), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { // Compute the inverse mass @@ -197,7 +197,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { updateInertiaTensorInverseWorld(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); } // Apply an external force to the body at its center of mass. @@ -260,7 +260,7 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens updateInertiaTensorInverseWorld(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set inverseInertiaTensorLocal=" + inverseInertiaTensorLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set inverseInertiaTensorLocal=" + inverseInertiaTensorLocal.to_string()); } // Set the local center of mass of the body (in local-space coordinates) @@ -293,7 +293,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); } // Set the mass of the rigid body @@ -315,7 +315,7 @@ void RigidBody::setMass(decimal mass) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set mass=" + std::to_string(mass)); + "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass)); } // Remove a joint from the joints list @@ -429,7 +429,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, recomputeMassInformation(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); + "Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(proxyShape->getBroadPhaseId()) + ": collisionShape=" + @@ -463,7 +463,7 @@ void RigidBody::enableGravity(bool isEnabled) { mWorld.mDynamicsComponents.setIsGravityEnabled(mEntity, isEnabled); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set isGravityEnabled=" + + "Body " + std::to_string(mEntity.id) + ": Set isGravityEnabled=" + (isEnabled ? "true" : "false")); } @@ -477,7 +477,7 @@ void RigidBody::setLinearDamping(decimal linearDamping) { mWorld.mDynamicsComponents.setLinearDamping(mEntity, linearDamping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set linearDamping=" + std::to_string(linearDamping)); + "Body " + std::to_string(mEntity.id) + ": Set linearDamping=" + std::to_string(linearDamping)); } // Set the angular damping factor. This is the ratio of the angular velocity @@ -490,7 +490,7 @@ void RigidBody::setAngularDamping(decimal angularDamping) { mWorld.mDynamicsComponents.setAngularDamping(mEntity, angularDamping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set angularDamping=" + std::to_string(angularDamping)); + "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping)); } /// Update the transform of the body after a change of the center of mass @@ -513,7 +513,7 @@ void RigidBody::setMaterial(const Material& material) { mMaterial = material; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set Material" + mMaterial.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string()); } // Set the linear velocity of the rigid body. @@ -534,7 +534,7 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set linearVelocity=" + linearVelocity.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set linearVelocity=" + linearVelocity.to_string()); } // Set the angular velocity. @@ -557,7 +557,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mID) + ": Set angularVelocity=" + angularVelocity.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set angularVelocity=" + angularVelocity.to_string()); } // Set the current position and orientation diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 1f8e16bb..2c9222bf 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -86,7 +86,7 @@ class RigidBody : public CollisionBody { // -------------------- Methods -------------------- // /// Constructor - RigidBody(const Transform& transform, CollisionWorld& world, Entity entity, bodyindex id); + RigidBody(const Transform& transform, CollisionWorld& world, Entity entity); /// Destructor virtual ~RigidBody() override; diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index a1647ca9..617fe2ac 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -244,7 +244,7 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs if (!isBody1Active && !isBody2Active) continue; // Check if the bodies are in the set of bodies that cannot collide between each other - bodyindexpair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2); + bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2); if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; bool isShape1Convex = shape1->getCollisionShape()->isConvex(); diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index e4b16417..85930a78 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -95,7 +95,7 @@ class CollisionDetection { BroadPhaseSystem mBroadPhaseSystem; /// Set of pair of bodies that cannot collide between each other - Set mNoCollisionPairs; + Set mNoCollisionPairs; /// Map a broad-phase id with the corresponding entity of the proxy-shape Map mMapBroadPhaseIdToProxyShapeEntity; diff --git a/src/configuration.h b/src/configuration.h index 3dae1e18..fa0fe421 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -62,8 +62,8 @@ using int32 = std::int32_t; using uint32 = std::uint32_t; // TODO : Delete this -using bodyindex = luint; -using bodyindexpair = Pair; +struct Entity; +using bodypair = Pair; // ------------------- Enumerations ------------------- // diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index c63d017a..20c08fb8 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -41,9 +41,8 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge mBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mDynamicsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mDynamicsComponents, mMemoryManager), - mBodies(mMemoryManager.getPoolAllocator()), mCurrentBodyId(0), mFreeBodiesIds(mMemoryManager.getPoolAllocator()), - mEventListener(nullptr), mName(worldSettings.worldName), - mIsProfilerCreatedByUser(profiler != nullptr), + mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), + mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { // Automatically generate a name for the world @@ -148,18 +147,12 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { // Create a new entity for the body Entity entity = mEntityManager.createEntity(); - // Get the next available body ID - bodyindex bodyID = computeNextAvailableBodyId(); - - // Largest index cannot be used (it is used for invalid index) - assert(bodyID < std::numeric_limits::max()); - mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); // Create the collision body CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CollisionBody))) - CollisionBody(*this, entity, bodyID); + CollisionBody(*this, entity); assert(collisionBody != nullptr); @@ -181,7 +174,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { #endif RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(bodyID) + ": New collision body created"); + "Body " + std::to_string(entity.id) + ": New collision body created"); // Return the pointer to the rigid body return collisionBody; @@ -194,14 +187,11 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(collisionBody->getId()) + ": collision body destroyed"); + "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed"); // Remove all the collision shapes of the body collisionBody->removeAllCollisionShapes(); - // Add the body ID to the list of free IDs - mFreeBodiesIds.add(collisionBody->getId()); - mBodyComponents.removeComponent(collisionBody->getEntity()); mTransformComponents.removeComponent(collisionBody->getEntity()); mEntityManager.destroyEntity(collisionBody->getEntity()); @@ -216,23 +206,6 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody)); } -// Return the next available body ID -bodyindex CollisionWorld::computeNextAvailableBodyId() { - - // Compute the body ID - bodyindex bodyID; - if (mFreeBodiesIds.size() != 0) { - bodyID = mFreeBodiesIds[mFreeBodiesIds.size() - 1]; - mFreeBodiesIds.removeAt(mFreeBodiesIds.size() - 1); - } - else { - bodyID = mCurrentBodyId; - mCurrentBodyId++; - } - - return bodyID; -} - // Notify the world if a body is disabled (sleeping or inactive) or not void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index f9d0b5d8..aef8201d 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -94,12 +94,6 @@ class CollisionWorld { /// All the bodies (rigid and soft) of the world List mBodies; - /// Current body id - bodyindex mCurrentBodyId; - - /// List of free ids for rigid bodies - List mFreeBodiesIds; - /// Pointer to an event listener object EventListener* mEventListener; @@ -129,9 +123,6 @@ class CollisionWorld { // -------------------- Methods -------------------- // - /// Return the next available body id - bodyindex computeNextAvailableBodyId(); - /// Notify the world if a body is disabled (slepping or inactive) or not void notifyBodyDisabled(Entity entity, bool isDisabled); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index d3d18d06..afa5fe3b 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -375,18 +375,12 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { // Create a new entity for the body Entity entity = mEntityManager.createEntity(); - // Compute the body ID - bodyindex bodyID = computeNextAvailableBodyId(); - - // Largest index cannot be used (it is used for invalid index) - assert(bodyID < std::numeric_limits::max()); - mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition())); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(RigidBody))) RigidBody(transform, *this, entity, bodyID); + sizeof(RigidBody))) RigidBody(transform, *this, entity); assert(rigidBody != nullptr); BodyComponents::BodyComponent bodyComponent(rigidBody); @@ -405,7 +399,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { #endif RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(bodyID) + ": New collision body created"); + "Body " + std::to_string(entity.id) + ": New collision body created"); // Return the pointer to the rigid body return rigidBody; @@ -418,14 +412,11 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(rigidBody->getId()) + ": rigid body destroyed"); + "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed"); // Remove all the collision shapes of the body rigidBody->removeAllCollisionShapes(); - // Add the body ID to the list of free IDs - mFreeBodiesIds.add(rigidBody->getId()); - // Destroy all the joints in which the rigid body to be destroyed is involved JointListElement* element; for (element = rigidBody->mJointsList; element != nullptr; element = element->next) { @@ -590,7 +581,7 @@ void DynamicsWorld::addJointToBody(Joint* joint) { joint->mBody1->mJointsList = jointListElement1; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(joint->mBody1->getId()) + ": Joint " + std::to_string(joint->getId()) + + "Body " + std::to_string(joint->mBody1->getEntity().id) + ": Joint " + std::to_string(joint->getId()) + " added to body"); // Add the joint at the beginning of the linked list of joints of the second body @@ -601,7 +592,7 @@ void DynamicsWorld::addJointToBody(Joint* joint) { joint->mBody2->mJointsList = jointListElement2; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(joint->mBody2->getId()) + ": Joint " + std::to_string(joint->getId()) + + "Body " + std::to_string(joint->mBody2->getEntity().id) + ": Joint " + std::to_string(joint->getId()) + " added to body"); } diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 2062a499..943bc1ed 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -180,7 +180,7 @@ class OverlappingPair { static OverlappingPairId computeID(int shape1BroadPhaseId, int shape2BroadPhaseId); /// Return the pair of bodies index of the pair - static bodyindexpair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2); + static bodypair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2); // -------------------- Friendship -------------------- // @@ -225,13 +225,13 @@ inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(int shape1B } // Return the pair of bodies index -inline bodyindexpair OverlappingPair::computeBodiesIndexPair(CollisionBody* body1, +inline bodypair OverlappingPair::computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2) { // Construct the pair of body index - bodyindexpair indexPair = body1->getId() < body2->getId() ? - bodyindexpair(body1->getId(), body2->getId()) : - bodyindexpair(body2->getId(), body1->getId()); + bodypair indexPair = body1->getEntity().id < body2->getEntity().id ? + bodypair(body1->getEntity(), body2->getEntity()) : + bodypair(body2->getEntity(), body1->getEntity()); assert(indexPair.first != indexPair.second); return indexPair; } diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index c7e78a07..3a218d1c 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -631,7 +631,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points Vector3 localBody1Point(3, 0, 0); @@ -655,7 +655,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -676,7 +676,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -697,7 +697,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -747,7 +747,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points Vector3 localBody1Point(3, 0, 0); @@ -771,7 +771,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -792,7 +792,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -813,7 +813,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -853,7 +853,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points localBody1Point = std::sqrt(4.5f) * Vector3(1, -1, 0); @@ -877,7 +877,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -898,7 +898,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -919,7 +919,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -959,7 +959,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points localBody1Point = std::sqrt(9.0f / 3.0f) * Vector3(1, -1, -1); @@ -983,7 +983,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1004,7 +1004,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1025,7 +1025,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1075,7 +1075,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points Vector3 localBody1Point(0, -3, 0); @@ -1099,7 +1099,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1120,7 +1120,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1141,7 +1141,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1181,7 +1181,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points localBody1Point = Vector3(3, 0, 0); @@ -1205,7 +1205,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1226,7 +1226,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1247,7 +1247,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1297,7 +1297,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points Vector3 localBody1Point(3, 0, 0); @@ -1321,7 +1321,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1342,7 +1342,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1363,7 +1363,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1403,7 +1403,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points localBody1Point = std::sqrt(4.5f) * Vector3(1, -1, 0); @@ -1427,7 +1427,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1448,7 +1448,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1469,7 +1469,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1509,7 +1509,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points localBody1Point = std::sqrt(9.0f / 3.0f) * Vector3(1, -1, -1); @@ -1533,7 +1533,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1554,7 +1554,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1575,7 +1575,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1625,7 +1625,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points Vector3 localBody1Point(0, -3, 0); @@ -1649,7 +1649,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1670,7 +1670,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1691,7 +1691,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mSphereBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mSphereBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -1741,7 +1741,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points Vector3 localBody1Point1(-3, -2, -2); @@ -1783,7 +1783,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1812,7 +1812,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1842,7 +1842,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1901,7 +1901,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points Vector3 localBody1Point1(-3, -2, -2); @@ -1943,7 +1943,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -1972,7 +1972,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2002,7 +2002,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2061,7 +2061,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points Vector3 localBody1Point1(-3, -2, -2); @@ -2103,7 +2103,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2132,7 +2132,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2162,7 +2162,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 4); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2221,7 +2221,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points Vector3 localBody1Point1(3, 1, 0); @@ -2244,7 +2244,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2265,7 +2265,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2286,7 +2286,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mBoxBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mBoxBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2336,7 +2336,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points Vector3 localBody1Point1(3, 1, 0); @@ -2359,7 +2359,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2380,7 +2380,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2401,7 +2401,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mConvexMeshBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mConvexMeshBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point1 : localBody1Point1, @@ -2647,7 +2647,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points Vector3 localBody1Point(2, 3, 0); @@ -2671,7 +2671,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2692,7 +2692,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2713,7 +2713,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2753,7 +2753,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points localBody1Point = Vector3(0, 5, 0); @@ -2777,7 +2777,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2798,7 +2798,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2819,7 +2819,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2869,7 +2869,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - bool swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + bool swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points Vector3 localBody1Point(0, -5, 0); @@ -2893,7 +2893,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2914,7 +2914,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, @@ -2935,7 +2935,7 @@ class TestCollisionWorld : public Test { rp3d_test(collisionData->getTotalNbContactPoints() == 1); // True if the bodies are swapped in the collision callback response - swappedBodiesCollisionData = collisionData->getBody1()->getId() != mCapsuleBody1->getId(); + swappedBodiesCollisionData = collisionData->getBody1()->getEntity() != mCapsuleBody1->getEntity(); // Test contact points rp3d_test(collisionData->hasContactPointSimilarTo(swappedBodiesCollisionData ? localBody2Point : localBody1Point, diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 892b797b..995108f2 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -66,7 +66,7 @@ class WorldRaycastCallback : public RaycastCallback { virtual decimal notifyRaycastHit(const RaycastInfo& info) override { - if (shapeToTest->getBody()->getId() == info.body->getId()) { + if (shapeToTest->getBody()->getEntity() == info.body->getEntity()) { raycastInfo.body = info.body; raycastInfo.hitFraction = info.hitFraction; raycastInfo.proxyShape = info.proxyShape; From 16f564edea2e51f5522f42278eae4f34d4f482e1 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 8 Jul 2019 17:41:10 +0200 Subject: [PATCH 068/197] Move Body attributes to BodyComponents --- src/body/Body.cpp | 84 ++++++++++++++++---- src/body/Body.h | 115 +++------------------------ src/body/CollisionBody.cpp | 16 ++-- src/body/CollisionBody.h | 3 - src/body/RigidBody.cpp | 9 ++- src/body/RigidBody.h | 6 +- src/components/BodyComponents.cpp | 39 +++++++++- src/components/BodyComponents.h | 125 ++++++++++++++++++++++++++++++ src/components/Components.cpp | 2 +- src/components/Components.h | 4 +- src/engine/CollisionWorld.cpp | 2 +- src/engine/CollisionWorld.h | 1 + src/engine/DynamicsWorld.cpp | 10 ++- 13 files changed, 266 insertions(+), 150 deletions(-) diff --git a/src/body/Body.cpp b/src/body/Body.cpp index f1f80b0a..f0d362a9 100644 --- a/src/body/Body.cpp +++ b/src/body/Body.cpp @@ -25,6 +25,7 @@ // Libraries #include "Body.h" +#include "engine/CollisionWorld.h" #include "collision/shapes/CollisionShape.h" #include "utils/Logger.h" @@ -35,9 +36,8 @@ using namespace reactphysics3d; /** * @param id ID of the new body */ -Body::Body(Entity entity) - : mEntity(entity), mIsAllowedToSleep(true), mIsActive(true), - mIsSleeping(false), mSleepTime(0), mUserData(nullptr) { +Body::Body(Entity entity, CollisionWorld& world) + : mEntity(entity), mWorld(world) { #ifdef IS_LOGGING_ACTIVE mLogger = nullptr; @@ -46,44 +46,54 @@ Body::Body(Entity entity) } // Set whether or not the body is active +/// An inactive body does not participate in collision detection, +/// is not simulated and will not be hit in a ray casting query. +/// A body is active by default. If you set this +/// value to "false", all the proxy shapes of this body will be +/// removed from the broad-phase. If you set this value to "true", +/// all the proxy shapes will be added to the broad-phase. A joint +/// connected to an inactive body will also be inactive. /** * @param isActive True if you want to activate the body */ void Body::setIsActive(bool isActive) { - mIsActive = isActive; - setIsSleeping(isActive); + setIsSleeping(!isActive); + + mWorld.mBodyComponents.setIsActive(mEntity, isActive); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isActive=" + - (mIsActive ? "true" : "false")); + (isActive ? "true" : "false")); } // Set the variable to know whether or not the body is sleeping void Body::setIsSleeping(bool isSleeping) { + bool isBodySleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); + // If the body is not active, do nothing (it is sleeping) - if (!mIsActive) { - assert(mIsSleeping); + if (!mWorld.mBodyComponents.getIsActive(mEntity)) { + assert(isBodySleeping); return; } if (isSleeping) { - mSleepTime = decimal(0.0); + mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); } else { - if (mIsSleeping) { - mSleepTime = decimal(0.0); + if (isBodySleeping) { + mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); } } - if (mIsSleeping != isSleeping) { + if (isBodySleeping != isSleeping) { - mIsSleeping = isSleeping; + mWorld.mBodyComponents.setIsSleeping(mEntity, isSleeping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + - (mIsSleeping ? "true" : "false")); + (isSleeping ? "true" : "false")); } } @@ -92,12 +102,52 @@ void Body::setIsSleeping(bool isSleeping) { * @param isAllowedToSleep True if the body is allowed to sleep */ void Body::setIsAllowedToSleep(bool isAllowedToSleep) { - mIsAllowedToSleep = isAllowedToSleep; - if (!mIsAllowedToSleep) setIsSleeping(false); + mWorld.mBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep); + + if (!isAllowedToSleep) setIsSleeping(false); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" + - (mIsAllowedToSleep ? "true" : "false")); + (isAllowedToSleep ? "true" : "false")); } +// Return whether or not the body is allowed to sleep +/** + * @return True if the body is allowed to sleep and false otherwise + */ +bool Body::isAllowedToSleep() const { + return mWorld.mBodyComponents.getIsAllowedToSleep(mEntity); +} + +// Return whether or not the body is sleeping +/** + * @return True if the body is currently sleeping and false otherwise + */ +bool Body::isSleeping() const { + return mWorld.mBodyComponents.getIsSleeping(mEntity); +} + +// Return true if the body is active +/** + * @return True if the body currently active and false otherwise + */ +bool Body::isActive() const { + return mWorld.mBodyComponents.getIsActive(mEntity); +} + +// Return a pointer to the user data attached to this body +/** + * @return A pointer to the user data you have attached to the body + */ +void* Body::getUserData() const { + return mWorld.mBodyComponents.getUserData(mEntity); +} + +// Attach user data to this body +/** + * @param userData A pointer to the user data you want to attach to the body + */ +void Body::setUserData(void* userData) { + mWorld.mBodyComponents.setUserData(mEntity, userData); +} diff --git a/src/body/Body.h b/src/body/Body.h index 39093dd6..6edbf3c5 100644 --- a/src/body/Body.h +++ b/src/body/Body.h @@ -36,6 +36,7 @@ namespace reactphysics3d { // Declarations class Logger; +class CollisionWorld; // TODO : Make this class abstract // Class Body @@ -53,30 +54,8 @@ class Body { /// Identifier of the entity in the ECS Entity mEntity; - /// True if the body is allowed to go to sleep for better efficiency - bool mIsAllowedToSleep; - - /// True if the body is active. - /// An inactive body does not participate in collision detection, - /// is not simulated and will not be hit in a ray casting query. - /// A body is active by default. If you set this - /// value to "false", all the proxy shapes of this body will be - /// removed from the broad-phase. If you set this value to "true", - /// all the proxy shapes will be added to the broad-phase. A joint - /// connected to an inactive body will also be inactive. - // TODO : Make sure we correctly use this field with ECS - bool mIsActive; - - /// True if the body is sleeping (for sleeping technique) - // TODO : DELETE THIS - bool mIsSleeping; - - // TODO : Move this into the body components - /// Elapsed time since the body velocity was bellow the sleep velocity - decimal mSleepTime; - - /// Pointer that can be used to attach user data to the body - void* mUserData; + /// Reference to the world the body belongs to + CollisionWorld& mWorld; #ifdef IS_LOGGING_ACTIVE @@ -84,12 +63,17 @@ class Body { Logger* mLogger; #endif + // -------------------- Methods -------------------- // + + /// Set the variable to know whether or not the body is sleeping + virtual void setIsSleeping(bool isSleeping); + public : // -------------------- Methods -------------------- // /// Constructor - Body(Entity entity); + Body(Entity entity, CollisionWorld& world); /// Deleted copy-constructor Body(const Body& body) = delete; @@ -109,9 +93,6 @@ class Body { /// Set whether or not the body is allowed to go to sleep void setIsAllowedToSleep(bool isAllowedToSleep); - /// Set the variable to know whether or not the body is sleeping - virtual void setIsSleeping(bool isSleeping); - /// Return whether or not the body is sleeping bool isSleeping() const; @@ -133,22 +114,6 @@ class Body { void setLogger(Logger* logger); #endif - // TODO : Check if those operators are still used - - /* - /// Smaller than operator - bool operator<(const Body& body2) const; - - /// Larger than operator - bool operator>(const Body& body2) const; - - /// Equal operator - bool operator==(const Body& body2) const; - - /// Not equal operator - bool operator!=(const Body& body2) const; - */ - // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -162,46 +127,6 @@ inline Entity Body::getEntity() const { return mEntity; } -// Return whether or not the body is allowed to sleep -/** - * @return True if the body is allowed to sleep and false otherwise - */ -inline bool Body::isAllowedToSleep() const { - return mIsAllowedToSleep; -} - -// Return whether or not the body is sleeping -/** - * @return True if the body is currently sleeping and false otherwise - */ -inline bool Body::isSleeping() const { - return mIsSleeping; -} - -// Return true if the body is active -/** - * @return True if the body currently active and false otherwise - */ -inline bool Body::isActive() const { - return mIsActive; -} - -// Return a pointer to the user data attached to this body -/** - * @return A pointer to the user data you have attached to the body - */ -inline void* Body::getUserData() const { - return mUserData; -} - -// Attach user data to this body -/** - * @param userData A pointer to the user data you want to attach to the body - */ -inline void Body::setUserData(void* userData) { - mUserData = userData; -} - #ifdef IS_LOGGING_ACTIVE // Set the logger @@ -211,28 +136,6 @@ inline void Body::setLogger(Logger* logger) { #endif -/* -// Smaller than operator -inline bool Body::operator<(const Body& body2) const { - return (mID < body2.mID); -} - -// Larger than operator -inline bool Body::operator>(const Body& body2) const { - return (mID > body2.mID); -} - -// Equal operator -inline bool Body::operator==(const Body& body2) const { - return (mID == body2.mID); -} - -// Not equal operator -inline bool Body::operator!=(const Body& body2) const { - return (mID != body2.mID); -} -*/ - } #endif diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 64d4323e..9b99cde1 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -40,7 +40,7 @@ using namespace reactphysics3d; * @param id ID of the body */ CollisionBody::CollisionBody(CollisionWorld& world, Entity entity) - : Body(entity), mType(BodyType::DYNAMIC), mWorld(world) { + : Body(entity, world), mType(BodyType::DYNAMIC) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -68,8 +68,7 @@ CollisionBody::~CollisionBody() { * @return A pointer to the proxy shape that has been created to link the body to * the new collision shape you have added. */ -ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, - const Transform& transform) { +ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, const Transform& transform) { // Create a new entity for the proxy-shape Entity proxyShapeEntity = mWorld.mEntityManager.createEntity(); @@ -86,7 +85,8 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1), 0x0001, 0xFFFF); - mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, mIsSleeping, proxyShapeComponent); + bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); + mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent); mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); @@ -228,7 +228,7 @@ void CollisionBody::updateBroadPhaseState() const { void CollisionBody::setIsActive(bool isActive) { // If the state does not change - if (mIsActive == isActive) return; + if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return; Body::setIsActive(isActive); @@ -269,7 +269,7 @@ void CollisionBody::setIsActive(bool isActive) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isActive=" + - (mIsActive ? "true" : "false")); + (isActive ? "true" : "false")); } // Ask the broad-phase to test again the collision shapes of the body for collision @@ -318,7 +318,7 @@ bool CollisionBody::testPointInside(const Vector3& worldPoint) const { bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { // If the body is not active, it cannot be hit by rays - if (!mIsActive) return false; + if (!mWorld.mBodyComponents.getIsActive(mEntity)) return false; bool isHit = false; Ray rayTemp(ray); @@ -398,7 +398,7 @@ void CollisionBody::setTransform(const Transform& transform) { // Set the variable to know whether or not the body is sleeping void CollisionBody::setIsSleeping(bool isSleeping) { - if (mIsSleeping == isSleeping) return; + if (mWorld.mBodyComponents.getIsSleeping(mEntity) == isSleeping) return; Body::setIsSleeping(isSleeping); diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 846e593c..a2b802dd 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -71,9 +71,6 @@ class CollisionBody : public Body { /// Type of body (static, kinematic or dynamic) BodyType mType; - /// Reference to the world the body belongs to - CollisionWorld& mWorld; - #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 39876931..158da8d4 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -162,7 +162,7 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) { if (mType != BodyType::DYNAMIC) return; // Awake the body if it was sleeping - if (mIsSleeping) { + if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { setIsSleeping(false); } @@ -214,7 +214,7 @@ void RigidBody::applyForceToCenterOfMass(const Vector3& force) { if (mType != BodyType::DYNAMIC) return; // Awake the body if it was sleeping - if (mIsSleeping) { + if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { setIsSleeping(false); } @@ -399,7 +399,8 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass, 0x0001, 0xFFFF); - mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, mIsSleeping, proxyShapeComponent); + bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); + mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent); mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); @@ -725,7 +726,7 @@ void RigidBody::applyTorque(const Vector3& torque) { if (mType != BodyType::DYNAMIC) return; // Awake the body if it was sleeping - if (mIsSleeping) { + if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { setIsSleeping(false); } diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 2c9222bf..022bea9c 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -81,6 +81,9 @@ class RigidBody : public CollisionBody { /// Update the world inverse inertia tensor of the body void updateInertiaTensorInverseWorld(); + /// Set the variable to know whether or not the body is sleeping + virtual void setIsSleeping(bool isSleeping) override; + public : // -------------------- Methods -------------------- // @@ -118,9 +121,6 @@ class RigidBody : public CollisionBody { /// Set the angular velocity. void setAngularVelocity(const Vector3& angularVelocity); - /// Set the variable to know whether or not the body is sleeping - virtual void setIsSleeping(bool isSleeping) override; - /// Set the local inertia tensor of the body (in body coordinates) void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal); diff --git a/src/components/BodyComponents.cpp b/src/components/BodyComponents.cpp index 8187492c..bf49cc62 100644 --- a/src/components/BodyComponents.cpp +++ b/src/components/BodyComponents.cpp @@ -34,7 +34,9 @@ using namespace reactphysics3d; // Constructor BodyComponents::BodyComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Body*) + sizeof(List)) { + :Components(allocator, sizeof(Entity) + sizeof(Body*) + sizeof(List) + + sizeof(bool) + sizeof(bool) + sizeof(bool) + sizeof(decimal) + + sizeof(void*)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -56,6 +58,11 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newBodiesEntities = static_cast(newBuffer); Body** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); List* newProxyShapes = reinterpret_cast*>(newBodies + nbComponentsToAllocate); + bool* newIsAllowedToSleep = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); + bool* newIsActive = reinterpret_cast(newIsAllowedToSleep + nbComponentsToAllocate); + bool* newIsSleeping = reinterpret_cast(newIsActive + nbComponentsToAllocate); + decimal* newSleepTimes = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); + void** newUserData = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -64,6 +71,11 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newBodies, mBodies, mNbComponents * sizeof(Body*)); memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List)); + memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool)); + memcpy(newIsActive, mIsActive, mNbComponents * sizeof(bool)); + memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool)); + memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool)); + memcpy(newUserData, mUserData, mNbComponents * sizeof(void*)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -73,6 +85,11 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { mBodiesEntities = newBodiesEntities; mBodies = newBodies; mProxyShapes = newProxyShapes; + mIsAllowedToSleep = newIsAllowedToSleep; + mIsActive = newIsActive; + mIsSleeping = newIsSleeping; + mSleepTimes = newSleepTimes; + mUserData = newUserData; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -86,6 +103,11 @@ void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const Body new (mBodiesEntities + index) Entity(bodyEntity); mBodies[index] = component.body; new (mProxyShapes + index) List(mMemoryAllocator); + mIsAllowedToSleep[index] = true; + mIsActive[index] = true; + mIsSleeping[index] = false; + mSleepTimes[index] = decimal(0); + mUserData[index] = nullptr; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -106,6 +128,11 @@ void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mBodies[destIndex] = mBodies[srcIndex]; new (mProxyShapes + destIndex) List(mProxyShapes[srcIndex]); + mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex]; + mIsActive[destIndex] = mIsActive[srcIndex]; + mIsSleeping[destIndex] = mIsSleeping[srcIndex]; + mSleepTimes[destIndex] = mSleepTimes[srcIndex]; + mUserData[destIndex] = mUserData[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -125,6 +152,11 @@ void BodyComponents::swapComponents(uint32 index1, uint32 index2) { Entity entity1(mBodiesEntities[index1]); Body* body1 = mBodies[index1]; List proxyShapes1(mProxyShapes[index1]); + bool isAllowedToSleep1 = mIsAllowedToSleep[index1]; + bool isActive1 = mIsActive[index1]; + bool isSleeping1 = mIsSleeping[index1]; + decimal sleepTime1 = mSleepTimes[index1]; + void* userData1 = mUserData[index1]; // Destroy component 1 destroyComponent(index1); @@ -135,6 +167,10 @@ void BodyComponents::swapComponents(uint32 index1, uint32 index2) { new (mBodiesEntities + index2) Entity(entity1); new (mProxyShapes + index2) List(proxyShapes1); mBodies[index2] = body1; + mIsAllowedToSleep[index2] = isAllowedToSleep1; + mIsActive[index2] = isActive1; + mIsSleeping[index2] = isSleeping1; + mUserData[index2] = userData1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); @@ -156,4 +192,5 @@ void BodyComponents::destroyComponent(uint32 index) { mBodiesEntities[index].~Entity(); mBodies[index] = nullptr; mProxyShapes[index].~List(); + mUserData[index] = nullptr; } diff --git a/src/components/BodyComponents.h b/src/components/BodyComponents.h index 88edaa57..e84e4f88 100644 --- a/src/components/BodyComponents.h +++ b/src/components/BodyComponents.h @@ -60,6 +60,21 @@ class BodyComponents : public Components { /// Array with the list of proxy-shapes of each body List* mProxyShapes; + /// Array of boolean values to know if the body is allowed to go to sleep + bool* mIsAllowedToSleep; + + /// Array of boolean values to know if the body is active. + bool* mIsActive; + + /// Array of boolean values to know if the body is sleeping + bool* mIsSleeping; + + /// Array with values for elapsed time since the body velocity was bellow the sleep velocity + decimal* mSleepTimes; + + /// Array of pointers that can be used to attach user data to the body + void** mUserData; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -109,6 +124,36 @@ class BodyComponents : public Components { /// Return the list of proxy-shapes of a body const List& getProxyShapes(Entity bodyEntity) const; + + /// Return true if the body is allowed to sleep + bool getIsAllowedToSleep(Entity bodyEntity) const; + + /// Set the value to know if the body is allowed to sleep + void setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const; + + /// Return true if the body is active + bool getIsActive(Entity bodyEntity) const; + + /// Set the value to know if the body is active + void setIsActive(Entity bodyEntity, bool isActive) const; + + /// Return true if the body is sleeping + bool getIsSleeping(Entity bodyEntity) const; + + /// Set the value to know if the body is sleeping + void setIsSleeping(Entity bodyEntity, bool isSleeping) const; + + /// Return the sleep time + decimal getSleepTime(Entity bodyEntity) const; + + /// Set the sleep time + void setSleepTime(Entity bodyEntity, decimal sleepTime) const; + + /// Return the user data associated with the body + void* getUserData(Entity bodyEntity) const; + + /// Set the user data associated with the body + void setUserData(Entity bodyEntity, void* userData) const; }; // Add a proxy-shape to a body component @@ -143,6 +188,86 @@ inline const List& BodyComponents::getProxyShapes(Entity bodyEntity) con return mProxyShapes[mMapEntityToComponentIndex[bodyEntity]]; } +// Return true if the body is allowed to sleep +inline bool BodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the value to know if the body is allowed to sleep +inline void BodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]] = isAllowedToSleep; +} + +// Return true if the body is active +inline bool BodyComponents::getIsActive(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsActive[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the value to know if the body is active +inline void BodyComponents::setIsActive(Entity bodyEntity, bool isActive) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsActive[mMapEntityToComponentIndex[bodyEntity]] = isActive; +} + +// Return true if the body is sleeping +inline bool BodyComponents::getIsSleeping(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsSleeping[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the value to know if the body is sleeping +inline void BodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsSleeping[mMapEntityToComponentIndex[bodyEntity]] = isSleeping; +} + +// Return the sleep time +inline decimal BodyComponents::getSleepTime(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mSleepTimes[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the sleep time +inline void BodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mSleepTimes[mMapEntityToComponentIndex[bodyEntity]] = sleepTime; +} + +// Return the user data associated with the body +inline void* BodyComponents::getUserData(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mUserData[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the user data associated with the body +inline void BodyComponents::setUserData(Entity bodyEntity, void* userData) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mUserData[mMapEntityToComponentIndex[bodyEntity]] = userData; +} + } #endif diff --git a/src/components/Components.cpp b/src/components/Components.cpp index 87e06e80..ea3e3521 100644 --- a/src/components/Components.cpp +++ b/src/components/Components.cpp @@ -150,7 +150,7 @@ void Components::removeComponent(Entity entity) { assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } -// Notify if a given entity is disabled (sleeping or inactive) or not +// Notify if a given entity is disabled (sleeping) or not void Components::setIsEntityDisabled(Entity entity, bool isDisabled) { const uint32 index = mMapEntityToComponentIndex[entity]; diff --git a/src/components/Components.h b/src/components/Components.h index 320104a3..a7a04fb8 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -107,10 +107,10 @@ class Components { /// Remove a component void removeComponent(Entity entity); - /// Return true if an entity is sleeping + /// Return true if an entity is disabled bool getIsEntityDisabled(Entity entity) const; - /// Notify if a given entity is sleeping + /// Notify if a given entity is disabled void setIsEntityDisabled(Entity entity, bool isDisabled); /// Return true if there is a component for a given entity diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 20c08fb8..4476dae5 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -206,7 +206,7 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody)); } -// Notify the world if a body is disabled (sleeping or inactive) or not +// Notify the world if a body is disabled (sleeping) or not void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { if (isDisabled == mBodyComponents.getIsEntityDisabled(bodyEntity)) return; diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index aef8201d..6868d26e 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -196,6 +196,7 @@ class CollisionWorld { // -------------------- Friendship -------------------- // friend class CollisionDetection; + friend class Body; friend class CollisionBody; friend class RigidBody; friend class ProxyShape; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index afa5fe3b..c27661bc 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -817,15 +817,17 @@ void DynamicsWorld::updateSleepingBodies() { !body->isAllowedToSleep()) { // Reset the sleep time of the body - body->mSleepTime = decimal(0.0); + mBodyComponents.setSleepTime(body->getEntity(), decimal(0.0)); minSleepTime = decimal(0.0); } else { // If the body velocity is below the sleeping velocity threshold // Increase the sleep time - body->mSleepTime += mTimeStep; - if (body->mSleepTime < minSleepTime) { - minSleepTime = body->mSleepTime; + decimal sleepTime = mBodyComponents.getSleepTime(body->getEntity()); + mBodyComponents.setSleepTime(body->getEntity(), sleepTime + mTimeStep); + sleepTime = mBodyComponents.getSleepTime(body->getEntity()); + if (sleepTime < minSleepTime) { + minSleepTime = sleepTime; } } } From 569964e36505c99c6a269dac9fe9f42e009e1ef7 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 15 Jul 2019 17:38:20 +0200 Subject: [PATCH 069/197] Remove Body class --- CMakeLists.txt | 2 - src/body/Body.cpp | 153 ------------------ src/body/Body.h | 141 ---------------- src/body/CollisionBody.cpp | 66 +++----- src/body/CollisionBody.h | 87 +++++----- src/body/RigidBody.cpp | 117 ++++++++++++-- src/body/RigidBody.h | 24 ++- src/collision/CollisionDetection.cpp | 10 +- src/collision/ProxyShape.cpp | 6 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 1 - .../CapsuleVsConvexPolyhedronAlgorithm.h | 1 - ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 1 - .../narrowphase/NarrowPhaseAlgorithm.h | 1 - .../narrowphase/SphereVsCapsuleAlgorithm.h | 1 - .../SphereVsConvexPolyhedronAlgorithm.h | 1 - .../narrowphase/SphereVsSphereAlgorithm.h | 1 - src/components/BodyComponents.cpp | 8 +- src/components/BodyComponents.h | 14 +- src/components/DynamicsComponents.cpp | 10 +- src/components/DynamicsComponents.h | 54 ++++++- src/engine/CollisionWorld.h | 1 - src/engine/DynamicsWorld.cpp | 27 ++-- testbed/common/Box.cpp | 9 +- testbed/common/Capsule.cpp | 9 +- testbed/common/ConcaveMesh.cpp | 9 +- testbed/common/ConvexMesh.cpp | 9 +- testbed/common/Dumbbell.cpp | 9 +- testbed/common/HeightField.cpp | 9 +- testbed/common/Sphere.cpp | 9 +- 29 files changed, 329 insertions(+), 461 deletions(-) delete mode 100644 src/body/Body.cpp delete mode 100644 src/body/Body.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 2057916f..b9c20ad2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -77,7 +77,6 @@ SET (REACTPHYSICS3D_HEADERS "src/configuration.h" "src/decimal.h" "src/reactphysics3d.h" - "src/body/Body.h" "src/body/CollisionBody.h" "src/body/RigidBody.h" "src/collision/ContactPointInfo.h" @@ -175,7 +174,6 @@ SET (REACTPHYSICS3D_HEADERS # Source files SET (REACTPHYSICS3D_SOURCES - "src/body/Body.cpp" "src/body/CollisionBody.cpp" "src/body/RigidBody.cpp" "src/collision/broadphase/DynamicAABBTree.cpp" diff --git a/src/body/Body.cpp b/src/body/Body.cpp deleted file mode 100644 index f0d362a9..00000000 --- a/src/body/Body.cpp +++ /dev/null @@ -1,153 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "Body.h" -#include "engine/CollisionWorld.h" -#include "collision/shapes/CollisionShape.h" -#include "utils/Logger.h" - -// We want to use the ReactPhysics3D namespace -using namespace reactphysics3d; - -// Constructor -/** - * @param id ID of the new body - */ -Body::Body(Entity entity, CollisionWorld& world) - : mEntity(entity), mWorld(world) { - -#ifdef IS_LOGGING_ACTIVE - mLogger = nullptr; -#endif - -} - -// Set whether or not the body is active -/// An inactive body does not participate in collision detection, -/// is not simulated and will not be hit in a ray casting query. -/// A body is active by default. If you set this -/// value to "false", all the proxy shapes of this body will be -/// removed from the broad-phase. If you set this value to "true", -/// all the proxy shapes will be added to the broad-phase. A joint -/// connected to an inactive body will also be inactive. -/** - * @param isActive True if you want to activate the body - */ -void Body::setIsActive(bool isActive) { - - setIsSleeping(!isActive); - - mWorld.mBodyComponents.setIsActive(mEntity, isActive); - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set isActive=" + - (isActive ? "true" : "false")); -} - -// Set the variable to know whether or not the body is sleeping -void Body::setIsSleeping(bool isSleeping) { - - bool isBodySleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); - - // If the body is not active, do nothing (it is sleeping) - if (!mWorld.mBodyComponents.getIsActive(mEntity)) { - assert(isBodySleeping); - return; - } - - if (isSleeping) { - mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); - } - else { - if (isBodySleeping) { - mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); - } - } - - if (isBodySleeping != isSleeping) { - - mWorld.mBodyComponents.setIsSleeping(mEntity, isSleeping); - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + - (isSleeping ? "true" : "false")); - } -} - -// Set whether or not the body is allowed to go to sleep -/** - * @param isAllowedToSleep True if the body is allowed to sleep - */ -void Body::setIsAllowedToSleep(bool isAllowedToSleep) { - - mWorld.mBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep); - - if (!isAllowedToSleep) setIsSleeping(false); - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" + - (isAllowedToSleep ? "true" : "false")); -} - -// Return whether or not the body is allowed to sleep -/** - * @return True if the body is allowed to sleep and false otherwise - */ -bool Body::isAllowedToSleep() const { - return mWorld.mBodyComponents.getIsAllowedToSleep(mEntity); -} - -// Return whether or not the body is sleeping -/** - * @return True if the body is currently sleeping and false otherwise - */ -bool Body::isSleeping() const { - return mWorld.mBodyComponents.getIsSleeping(mEntity); -} - -// Return true if the body is active -/** - * @return True if the body currently active and false otherwise - */ -bool Body::isActive() const { - return mWorld.mBodyComponents.getIsActive(mEntity); -} - -// Return a pointer to the user data attached to this body -/** - * @return A pointer to the user data you have attached to the body - */ -void* Body::getUserData() const { - return mWorld.mBodyComponents.getUserData(mEntity); -} - -// Attach user data to this body -/** - * @param userData A pointer to the user data you want to attach to the body - */ -void Body::setUserData(void* userData) { - mWorld.mBodyComponents.setUserData(mEntity, userData); -} diff --git a/src/body/Body.h b/src/body/Body.h deleted file mode 100644 index 6edbf3c5..00000000 --- a/src/body/Body.h +++ /dev/null @@ -1,141 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_BODY_H -#define REACTPHYSICS3D_BODY_H - -// Libraries -#include -#include "configuration.h" -#include "engine/Entity.h" - -/// Namespace reactphysics3d -namespace reactphysics3d { - -// Declarations -class Logger; -class CollisionWorld; - -// TODO : Make this class abstract -// Class Body -/** - * This class to represent a body of the physics engine. You should not - * instantiante this class but instantiate the CollisionBody or RigidBody - * classes instead. - */ -class Body { - - protected : - - // -------------------- Attributes -------------------- // - - /// Identifier of the entity in the ECS - Entity mEntity; - - /// Reference to the world the body belongs to - CollisionWorld& mWorld; - -#ifdef IS_LOGGING_ACTIVE - - /// Logger - Logger* mLogger; -#endif - - // -------------------- Methods -------------------- // - - /// Set the variable to know whether or not the body is sleeping - virtual void setIsSleeping(bool isSleeping); - - public : - - // -------------------- Methods -------------------- // - - /// Constructor - Body(Entity entity, CollisionWorld& world); - - /// Deleted copy-constructor - Body(const Body& body) = delete; - - /// Deleted assignment operator - Body& operator=(const Body& body) = delete; - - /// Destructor - virtual ~Body() = default; - - /// Return the corresponding entity of the body - Entity getEntity() const; - - /// Return whether or not the body is allowed to sleep - bool isAllowedToSleep() const; - - /// Set whether or not the body is allowed to go to sleep - void setIsAllowedToSleep(bool isAllowedToSleep); - - /// Return whether or not the body is sleeping - bool isSleeping() const; - - /// Return true if the body is active - bool isActive() const; - - /// Set whether or not the body is active - virtual void setIsActive(bool isActive); - - /// Return a pointer to the user data attached to this body - void* getUserData() const; - - /// Attach user data to this body - void setUserData(void* userData); - -#ifdef IS_LOGGING_ACTIVE - - /// Set the logger - void setLogger(Logger* logger); -#endif - - // -------------------- Friendship -------------------- // - - friend class DynamicsWorld; -}; - -// Return the corresponding entity of the body -/** - * @return The entity of the body - */ -inline Entity Body::getEntity() const { - return mEntity; -} - -#ifdef IS_LOGGING_ACTIVE - -// Set the logger -inline void Body::setLogger(Logger* logger) { - mLogger = logger; -} - -#endif - -} - -#endif diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 9b99cde1..80cd0e7d 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -40,7 +40,11 @@ using namespace reactphysics3d; * @param id ID of the body */ CollisionBody::CollisionBody(CollisionWorld& world, Entity entity) - : Body(entity, world), mType(BodyType::DYNAMIC) { + : mEntity(entity), mWorld(world) { + +#ifdef IS_LOGGING_ACTIVE + mLogger = nullptr; +#endif #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -230,7 +234,7 @@ void CollisionBody::setIsActive(bool isActive) { // If the state does not change if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return; - Body::setIsActive(isActive); + mWorld.mBodyComponents.setIsActive(mEntity, isActive); // If we have to activate the body if (isActive) { @@ -382,9 +386,6 @@ void CollisionBody::setTransform(const Transform& transform) { // TODO : Make sure this method is never called from the internal physics engine - // Awake the body if it is sleeping - setIsSleeping(false); - // Update the transform of the body mWorld.mTransformComponents.setTransform(mEntity, transform); @@ -395,15 +396,28 @@ void CollisionBody::setTransform(const Transform& transform) { "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string()); } -// Set the variable to know whether or not the body is sleeping -void CollisionBody::setIsSleeping(bool isSleeping) { +// Return true if the body is active +/** + * @return True if the body currently active and false otherwise + */ +bool CollisionBody::isActive() const { + return mWorld.mBodyComponents.getIsActive(mEntity); +} - if (mWorld.mBodyComponents.getIsSleeping(mEntity) == isSleeping) return; +// Return a pointer to the user data attached to this body +/** + * @return A pointer to the user data you have attached to the body + */ +void* CollisionBody::getUserData() const { + return mWorld.mBodyComponents.getUserData(mEntity); +} - Body::setIsSleeping(isSleeping); - - // Notify all the components - mWorld.notifyBodyDisabled(mEntity, isSleeping); +// Attach user data to this body +/** + * @param userData A pointer to the user data you want to attach to the body + */ +void CollisionBody::setUserData(void* userData) { + mWorld.mBodyComponents.setUserData(mEntity, userData); } // Return the world-space coordinates of a point given the local-space coordinates of the body @@ -441,31 +455,3 @@ Vector3 CollisionBody::getLocalPoint(const Vector3& worldPoint) const { Vector3 CollisionBody::getLocalVector(const Vector3& worldVector) const { return mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getInverse() * worldVector; } - -// Set the type of the body -/// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow: -/// STATIC : A static body has infinite mass, zero velocity but the position can be -/// changed manually. A static body does not collide with other static or kinematic bodies. -/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its -/// position is computed by the physics engine. A kinematic body does not collide with -/// other static or kinematic bodies. -/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its -/// position is determined by the physics engine. A dynamic body can collide with other -/// dynamic, static or kinematic bodies. -/** - * @param type The type of the body (STATIC, KINEMATIC, DYNAMIC) - */ -void CollisionBody::setType(BodyType type) { - mType = type; - - if (mType == BodyType::STATIC) { - - // Update the broad-phase state of the body - updateBroadPhaseState(); - } - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set type=" + - (mType == BodyType::STATIC ? "Static" : (mType == BodyType::DYNAMIC ? "Dynamic" : "Kinematic"))); -} - diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index a2b802dd..95d4b913 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -28,7 +28,7 @@ // Libraries #include -#include "Body.h" +#include "engine/Entity.h" #include "collision/shapes/AABB.h" #include "mathematics/Transform.h" #include "configuration.h" @@ -44,32 +44,30 @@ class CollisionShape; struct RaycastInfo; class PoolAllocator; class Profiler; - -/// Enumeration for the type of a body -/// STATIC : A static body has infinite mass, zero velocity but the position can be -/// changed manually. A static body does not collide with other static or kinematic bodies. -/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its -/// position is computed by the physics engine. A kinematic body does not collide with -/// other static or kinematic bodies. -/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its -/// position is determined by the physics engine. A dynamic body can collide with other -/// dynamic, static or kinematic bodies. -enum class BodyType {STATIC, KINEMATIC, DYNAMIC}; +class Logger; // Class CollisionBody /** * This class represents a body that is able to collide with others - * bodies. This class inherits from the Body class. + * bodies. */ -class CollisionBody : public Body { +class CollisionBody { protected : // -------------------- Attributes -------------------- // - // TODO : Move this into the dynamics components - /// Type of body (static, kinematic or dynamic) - BodyType mType; + /// Identifier of the entity in the ECS + Entity mEntity; + + /// Reference to the world the body belongs to + CollisionWorld& mWorld; + +#ifdef IS_LOGGING_ACTIVE + + /// Logger + Logger* mLogger; +#endif #ifdef IS_PROFILING_ACTIVE @@ -90,9 +88,6 @@ class CollisionBody : public Body { /// (as if the body has moved). void askForBroadPhaseCollisionCheck() const; - /// Set the variable to know whether or not the body is sleeping - virtual void setIsSleeping(bool isSleeping) override; - public : // -------------------- Methods -------------------- // @@ -101,7 +96,7 @@ class CollisionBody : public Body { CollisionBody(CollisionWorld& world, Entity entity); /// Destructor - virtual ~CollisionBody() override; + virtual ~CollisionBody(); /// Deleted copy-constructor CollisionBody(const CollisionBody& body) = delete; @@ -109,14 +104,20 @@ class CollisionBody : public Body { /// Deleted assignment operator CollisionBody& operator=(const CollisionBody& body) = delete; - /// Return the type of the body - BodyType getType() const; + /// Return the corresponding entity of the body + Entity getEntity() const; - /// Set the type of the body - void setType(BodyType type); + /// Return true if the body is active + bool isActive() const; + + /// Return a pointer to the user data attached to this body + void* getUserData() const; + + /// Attach user data to this body + void setUserData(void* userData); /// Set whether or not the body is active - virtual void setIsActive(bool isActive) override; + virtual void setIsActive(bool isActive); /// Return the current position and orientation const Transform& getTransform() const; @@ -125,8 +126,7 @@ class CollisionBody : public Body { virtual void setTransform(const Transform& transform); /// Add a collision shape to the body. - virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, - const Transform& transform); + virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, const Transform& transform); /// Remove a collision shape from the body virtual void removeCollisionShape(ProxyShape *proxyShape); @@ -164,6 +164,12 @@ class CollisionBody : public Body { /// Return the body local-space coordinates of a vector given in the world-space coordinates Vector3 getLocalVector(const Vector3& worldVector) const; +#ifdef IS_LOGGING_ACTIVE + + /// Set the logger + void setLogger(Logger* logger); +#endif + #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -181,14 +187,6 @@ class CollisionBody : public Body { friend class ProxyShape; }; -// Return the type of the body -/** - * @return the type of the body (STATIC, KINEMATIC, DYNAMIC) - */ -inline BodyType CollisionBody::getType() const { - return mType; -} - /// Test if the collision body overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap @@ -198,6 +196,23 @@ inline bool CollisionBody::testAABBOverlap(const AABB& worldAABB) const { return worldAABB.testCollision(getAABB()); } +// Return the corresponding entity of the body +/** + * @return The entity of the body + */ +inline Entity CollisionBody::getEntity() const { + return mEntity; +} + +#ifdef IS_LOGGING_ACTIVE + +// Set the logger +inline void CollisionBody::setLogger(Logger* logger) { + mLogger = logger; +} + +#endif + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 158da8d4..fb6d73f5 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -55,6 +55,11 @@ RigidBody::~RigidBody() { assert(mJointsList == nullptr); } +// Return the type of the body +BodyType RigidBody::getType() const { + return mWorld.mDynamicsComponents.getBodyType(mEntity); +} + // Set the type of the body /// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow: /// STATIC : A static body has infinite mass, zero velocity but the position can be @@ -70,15 +75,15 @@ RigidBody::~RigidBody() { */ void RigidBody::setType(BodyType type) { - if (mType == type) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) == type) return; - CollisionBody::setType(type); + mWorld.mDynamicsComponents.setBodyType(mEntity, type); // Recompute the total mass, center of mass and inertia tensor recomputeMassInformation(); // If it is a static body - if (mType == BodyType::STATIC) { + if (type == BodyType::STATIC) { // Reset the velocity to zero mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); @@ -86,7 +91,7 @@ void RigidBody::setType(BodyType type) { } // If it is a static or a kinematic body - if (mType == BodyType::STATIC || mType == BodyType::KINEMATIC) { + if (type == BodyType::STATIC || type == BodyType::KINEMATIC) { // Reset the inverse mass and inverse inertia tensor to zero mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0)); @@ -114,6 +119,10 @@ void RigidBody::setType(BodyType type) { // Reset the force and torque on the body mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set type=" + + (type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic"))); } // Get the inverse local inertia tensor of the body (in body coordinates) @@ -159,7 +168,7 @@ decimal RigidBody::getMass() const { void RigidBody::applyForce(const Vector3& force, const Vector3& point) { // If it is not a dynamic body, we do nothing - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { @@ -188,7 +197,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { mUserInertiaTensorLocalInverse = inertiaTensorLocal.getInverse(); mIsInertiaTensorSetByUser = true; - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); @@ -211,7 +220,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { void RigidBody::applyForceToCenterOfMass(const Vector3& force) { // If it is not a dynamic body, we do nothing - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { @@ -251,7 +260,7 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens mUserInertiaTensorLocalInverse = inverseInertiaTensorLocal; mIsInertiaTensorSetByUser = true; - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); @@ -274,7 +283,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { // TODO : Check if we need to update the postion of the body here at the end (transform of the body) - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; mIsCenterOfMassSetByUser = true; @@ -302,7 +311,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { */ void RigidBody::setMass(decimal mass) { - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; mWorld.mDynamicsComponents.setInitMass(mEntity, mass); @@ -524,7 +533,7 @@ void RigidBody::setMaterial(const Material& material) { void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { // If it is a static body, we do nothing - if (mType == BodyType::STATIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::STATIC) return; // Update the linear velocity of the current body state mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); @@ -547,7 +556,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { // TODO : Make sure this method is not called from the internal physics engine // If it is a static body, we do nothing - if (mType == BodyType::STATIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::STATIC) return; // Set the angular velocity mWorld.mDynamicsComponents.setAngularVelocity(mEntity, angularVelocity); @@ -588,6 +597,9 @@ void RigidBody::setTransform(const Transform& transform) { // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); + + // Awake the body if it is sleeping + setIsSleeping(false); } // Recompute the center of mass, total mass and inertia tensor of the body using all @@ -605,12 +617,13 @@ void RigidBody::recomputeMassInformation() { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); // If it is a STATIC or a KINEMATIC body - if (mType == BodyType::STATIC || mType == BodyType::KINEMATIC) { + BodyType type = mWorld.mDynamicsComponents.getBodyType(mEntity); + if (type == BodyType::STATIC || type == BodyType::KINEMATIC) { mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); return; } - assert(mType == BodyType::DYNAMIC); + assert(mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::DYNAMIC); // Compute the total mass of the body const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); @@ -723,7 +736,7 @@ bool RigidBody::isGravityEnabled() const { void RigidBody::applyTorque(const Vector3& torque) { // If it is not a dynamic body, we do nothing - if (mType != BodyType::DYNAMIC) return; + if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { @@ -738,7 +751,29 @@ void RigidBody::applyTorque(const Vector3& torque) { // Set the variable to know whether or not the body is sleeping void RigidBody::setIsSleeping(bool isSleeping) { - CollisionBody::setIsSleeping(isSleeping); + bool isBodySleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); + + if (isBodySleeping == isSleeping) return; + + // If the body is not active, do nothing (it is sleeping) + if (!mWorld.mBodyComponents.getIsActive(mEntity)) { + assert(isBodySleeping); + return; + } + + if (isSleeping) { + mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); + } + else { + if (isBodySleeping) { + mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); + } + } + + mWorld.mBodyComponents.setIsSleeping(mEntity, isSleeping); + + // Notify all the components + mWorld.notifyBodyDisabled(mEntity, isSleeping); if (isSleeping) { @@ -747,6 +782,56 @@ void RigidBody::setIsSleeping(bool isSleeping) { mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); } + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + + (isSleeping ? "true" : "false")); + +} + +// Set whether or not the body is allowed to go to sleep +/** + * @param isAllowedToSleep True if the body is allowed to sleep + */ +void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) { + + mWorld.mBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep); + + if (!isAllowedToSleep) setIsSleeping(false); + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" + + (isAllowedToSleep ? "true" : "false")); +} + +// Return whether or not the body is allowed to sleep +/** + * @return True if the body is allowed to sleep and false otherwise + */ +bool RigidBody::isAllowedToSleep() const { + return mWorld.mBodyComponents.getIsAllowedToSleep(mEntity); +} + +// Return whether or not the body is sleeping +/** + * @return True if the body is currently sleeping and false otherwise + */ +bool RigidBody::isSleeping() const { + return mWorld.mBodyComponents.getIsSleeping(mEntity); +} + +// Set whether or not the body is active +/** + * @param isActive True if you want to activate the body + */ +void RigidBody::setIsActive(bool isActive) { + + // If the state does not change + if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return; + + setIsSleeping(!isActive); + + CollisionBody::setIsActive(isActive); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 022bea9c..6e2c9d9a 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -40,6 +40,7 @@ struct JointListElement; class Joint; class DynamicsWorld; class MemoryManager; +enum class BodyType; // Class RigidBody /** @@ -82,7 +83,7 @@ class RigidBody : public CollisionBody { void updateInertiaTensorInverseWorld(); /// Set the variable to know whether or not the body is sleeping - virtual void setIsSleeping(bool isSleeping) override; + void setIsSleeping(bool isSleeping); public : @@ -100,9 +101,6 @@ class RigidBody : public CollisionBody { /// Deleted assignment operator RigidBody& operator=(const RigidBody& body) = delete; - /// Set the type of the body (static, kinematic or dynamic) - void setType(BodyType type); - /// Set the current position and orientation virtual void setTransform(const Transform& transform) override; @@ -139,6 +137,12 @@ class RigidBody : public CollisionBody { /// Set the mass of the rigid body void setMass(decimal mass); + /// Return the type of the body + BodyType getType() const; + + /// Set the type of the body + void setType(BodyType type); + /// Return true if the gravity needs to be applied to this rigid body bool isGravityEnabled() const; @@ -178,6 +182,18 @@ class RigidBody : public CollisionBody { /// Apply an external torque to the body. void applyTorque(const Vector3& torque); + /// Return whether or not the body is allowed to sleep + bool isAllowedToSleep() const; + + /// Set whether or not the body is allowed to go to sleep + void setIsAllowedToSleep(bool isAllowedToSleep); + + /// Return whether or not the body is sleeping + bool isSleeping() const; + + /// Set whether or not the body is active + virtual void setIsActive(bool isActive) override; + /// Add a collision shape to the body. virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, const Transform& transform, diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 617fe2ac..14937350 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -27,7 +27,6 @@ #include "CollisionDetection.h" #include "engine/CollisionWorld.h" #include "collision/OverlapCallback.h" -#include "body/Body.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/ConcaveShape.h" #include "collision/ContactManifoldInfo.h" @@ -238,9 +237,14 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs const Entity body1Entity = body1->getEntity(); const Entity body2Entity = body2->getEntity(); + const bool isStaticRigidBody1 = mWorld->mDynamicsComponents.hasComponent(body1Entity) && + mWorld->mDynamicsComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mWorld->mDynamicsComponents.hasComponent(body2Entity) && + mWorld->mDynamicsComponents.getBodyType(body2Entity) == BodyType::STATIC; + // Check that at least one body is enabled (active and awake) and not static - bool isBody1Active = !mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) && body1->getType() != BodyType::STATIC; - bool isBody2Active = !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity) && body2->getType() != BodyType::STATIC; + bool isBody1Active = !mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; if (!isBody1Active && !isBody2Active) continue; // Check if the bodies are in the set of bodies that cannot collide between each other diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index cbb34788..2bbfb6f9 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -115,10 +115,12 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { // TODO : Make sure this method is never called by the internal physics engine - //mLocalToBodyTransform = transform; mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform); - mBody->setIsSleeping(false); + RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + mBody->mWorld.mBodyComponents.setIsSleeping(mBody->getEntity(), false); + } mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index d8b69bca..a6d41e0f 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -35,7 +35,6 @@ namespace reactphysics3d { // Declarations struct CapsuleVsCapsuleNarrowPhaseInfoBatch; -class Body; class ContactPoint; // Class CapsuleVsCapsuleAlgorithm diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index 53b5ca56..e73e547e 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -34,7 +34,6 @@ namespace reactphysics3d { // Declarations class ContactPoint; -class Body; // Class CapsuleVsConvexPolyhedronAlgorithm /** diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index 6e43e76b..e530c129 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -33,7 +33,6 @@ namespace reactphysics3d { // Declarations -class Body; class ContactPoint; // Class ConvexPolyhedronVsConvexPolyhedronAlgorithm diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index 3b7f68a2..6cae33fa 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -33,7 +33,6 @@ namespace reactphysics3d { class CollisionDetection; -class Body; class ContactManifoldInfo; class PoolAllocator; class OverlappingPair; diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h index 25926fce..3780331e 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -34,7 +34,6 @@ namespace reactphysics3d { // Declarations -class Body; class ContactPoint; struct SphereVsCapsuleNarrowPhaseInfoBatch; diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 793dc48a..b6b132f6 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -34,7 +34,6 @@ namespace reactphysics3d { // Declarations class ContactPoint; -class Body; // Class SphereVsConvexPolyhedronAlgorithm /** diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/src/collision/narrowphase/SphereVsSphereAlgorithm.h index 5e9554b4..2d625c6f 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -35,7 +35,6 @@ namespace reactphysics3d { // Declarations class ContactPoint; struct SphereVsSphereNarrowPhaseInfoBatch; -class Body; // Class SphereVsSphereAlgorithm /** diff --git a/src/components/BodyComponents.cpp b/src/components/BodyComponents.cpp index bf49cc62..65541b3d 100644 --- a/src/components/BodyComponents.cpp +++ b/src/components/BodyComponents.cpp @@ -34,7 +34,7 @@ using namespace reactphysics3d; // Constructor BodyComponents::BodyComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Body*) + sizeof(List) + + :Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(List) + sizeof(bool) + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(void*)) { @@ -56,7 +56,7 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { // New pointers to components data Entity* newBodiesEntities = static_cast(newBuffer); - Body** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); + CollisionBody** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); List* newProxyShapes = reinterpret_cast*>(newBodies + nbComponentsToAllocate); bool* newIsAllowedToSleep = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); bool* newIsActive = reinterpret_cast(newIsAllowedToSleep + nbComponentsToAllocate); @@ -69,7 +69,7 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { // Copy component data from the previous buffer to the new one memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); - memcpy(newBodies, mBodies, mNbComponents * sizeof(Body*)); + memcpy(newBodies, mBodies, mNbComponents * sizeof(CollisionBody*)); memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List)); memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool)); memcpy(newIsActive, mIsActive, mNbComponents * sizeof(bool)); @@ -150,7 +150,7 @@ void BodyComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity entity1(mBodiesEntities[index1]); - Body* body1 = mBodies[index1]; + CollisionBody* body1 = mBodies[index1]; List proxyShapes1(mProxyShapes[index1]); bool isAllowedToSleep1 = mIsAllowedToSleep[index1]; bool isActive1 = mIsActive[index1]; diff --git a/src/components/BodyComponents.h b/src/components/BodyComponents.h index e84e4f88..b99ac1f9 100644 --- a/src/components/BodyComponents.h +++ b/src/components/BodyComponents.h @@ -38,7 +38,7 @@ namespace reactphysics3d { // Class declarations class MemoryAllocator; class EntityManager; -class Body; +class CollisionBody; // Class BodyComponents /** @@ -55,7 +55,7 @@ class BodyComponents : public Components { Entity* mBodiesEntities; /// Array of pointers to the corresponding bodies - Body** mBodies; + CollisionBody** mBodies; /// Array with the list of proxy-shapes of each body List* mProxyShapes; @@ -69,7 +69,7 @@ class BodyComponents : public Components { /// Array of boolean values to know if the body is sleeping bool* mIsSleeping; - /// Array with values for elapsed time since the body velocity was bellow the sleep velocity + /// Array with values for elapsed time since the body velocity was below the sleep velocity decimal* mSleepTimes; /// Array of pointers that can be used to attach user data to the body @@ -94,10 +94,10 @@ class BodyComponents : public Components { /// Structure for the data of a body component struct BodyComponent { - Body* body; + CollisionBody* body; /// Constructor - BodyComponent(Body* body) : body(body) { + BodyComponent(CollisionBody* body) : body(body) { } }; @@ -120,7 +120,7 @@ class BodyComponents : public Components { void removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity); /// Return a pointer to a body - Body* getBody(Entity bodyEntity); + CollisionBody* getBody(Entity bodyEntity); /// Return the list of proxy-shapes of a body const List& getProxyShapes(Entity bodyEntity) const; @@ -173,7 +173,7 @@ inline void BodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity p } // Return a pointer to a body -inline Body* BodyComponents::getBody(Entity bodyEntity) { +inline CollisionBody *BodyComponents::getBody(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 8350ae2f..3af49c75 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -39,7 +39,7 @@ DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + - sizeof(bool)) { + sizeof(bool) + sizeof(BodyType)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -79,6 +79,7 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); + BodyType* newBodyTypes = reinterpret_cast(newIsAlreadyInIsland + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -105,6 +106,7 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); + memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -132,6 +134,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mCentersOfMassWorld = newCentersOfMassWorld; mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; + mBodyTypes = newBodyTypes; + mNbAllocatedComponents = nbComponentsToAllocate; } @@ -163,6 +167,7 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mCentersOfMassWorld + index) Vector3(component.worldPosition); mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; + mBodyTypes[index] = component.bodyType; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -201,6 +206,7 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; + mBodyTypes[destIndex] = mBodyTypes[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -241,6 +247,7 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; + BodyType bodyType1 = mBodyTypes[index1]; // Destroy component 1 destroyComponent(index1); @@ -269,6 +276,7 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { mCentersOfMassWorld[index2] = centerOfMassWorld1; mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; + mBodyTypes[index2] = bodyType1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index 8cbe2135..cf6f37a0 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -40,10 +40,22 @@ namespace reactphysics3d { class MemoryAllocator; class EntityManager; +/// Enumeration for the type of a body +/// STATIC : A static body has infinite mass, zero velocity but the position can be +/// changed manually. A static body does not collide with other static or kinematic bodies. +/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its +/// position is computed by the physics engine. A kinematic body does not collide with +/// other static or kinematic bodies. +/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its +/// position is determined by the physics engine. A dynamic body can collide with other +/// dynamic, static or kinematic bodies. +enum class BodyType {STATIC, KINEMATIC, DYNAMIC}; + // Class DynamicsComponents /** * This class represent the component of the ECS that contains the variables concerning dynamics - * like velocities. + * like velocities. A rigid body that is not static always has a dynamics component. A rigid body + * that is static does not have one because it is not simulated by dynamics. */ class DynamicsComponents : public Components { @@ -114,6 +126,9 @@ class DynamicsComponents : public Components { /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; + /// Array with the type of bodies (static, kinematic or dynamic) + BodyType* mBodyTypes; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -135,9 +150,11 @@ class DynamicsComponents : public Components { const Vector3& worldPosition; + BodyType bodyType; + /// Constructor - DynamicsComponent(const Vector3& worldPosition) - : worldPosition(worldPosition) { + DynamicsComponent(const Vector3& worldPosition, BodyType bodyType) + : worldPosition(worldPosition), bodyType(bodyType) { } }; @@ -268,10 +285,16 @@ class DynamicsComponents : public Components { void setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld); /// Set the value to know if the gravity is enabled for this entity - bool setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); + void setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); /// Set the value to know if the entity is already in an island - bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); + void setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); + + /// Return the body type of a body + BodyType getBodyType(Entity bodyEntity); + + /// Set the body type of a body + void setBodyType(Entity bodyEntity, BodyType bodyType); // -------------------- Friendship -------------------- // @@ -282,7 +305,6 @@ class DynamicsComponents : public Components { friend class FixedJoint; friend class HingeJoint; friend class SliderJoint; - }; // Return the linear velocity of an entity @@ -590,7 +612,7 @@ inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { } // Set the value to know if the gravity is enabled for this entity -inline bool DynamicsComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { +inline void DynamicsComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -598,13 +620,29 @@ inline bool DynamicsComponents::setIsGravityEnabled(Entity bodyEntity, bool isGr } /// Set the value to know if the entity is already in an island -inline bool DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { +inline void DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; } +// Return the body type of a body +inline BodyType DynamicsComponents::getBodyType(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mBodyTypes[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the body type of a body +inline void DynamicsComponents::setBodyType(Entity bodyEntity, BodyType bodyType) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mBodyTypes[mMapEntityToComponentIndex[bodyEntity]] = bodyType; +} + } #endif diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 6868d26e..aef8201d 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -196,7 +196,6 @@ class CollisionWorld { // -------------------- Friendship -------------------- // friend class CollisionDetection; - friend class Body; friend class CollisionBody; friend class RigidBody; friend class ProxyShape; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index c27661bc..958dd7e6 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -376,7 +376,8 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { Entity entity = mEntityManager.createEntity(); mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); - mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition())); + mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition(), + BodyType::DYNAMIC)); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, @@ -655,9 +656,7 @@ void DynamicsWorld::createIslands() { if (mDynamicsComponents.mIsAlreadyInIsland[b]) continue; // If the body is static, we go to the next body - // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) - CollisionBody* body = static_cast(mBodyComponents.getBody(mDynamicsComponents.mBodies[b])); - if (body->getType() == BodyType::STATIC) continue; + if (mDynamicsComponents.mBodyTypes[b] == BodyType::STATIC) continue; // Reset the stack of bodies to visit bodyEntityIndicesToVisit.clear(); @@ -678,14 +677,14 @@ void DynamicsWorld::createIslands() { // Add the body into the island mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity); - // If the current body is static, we do not want to perform the DFS - // search across that body // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) RigidBody* rigidBodyToVisit = static_cast(mBodyComponents.getBody(bodyToVisitEntity)); // Awake the body if it is sleeping rigidBodyToVisit->setIsSleeping(false); + // If the current body is static, we do not want to perform the DFS + // search across that body if (rigidBodyToVisit->getType() == BodyType::STATIC) continue; // If the body is involved in contacts with other bodies @@ -768,10 +767,7 @@ void DynamicsWorld::createIslands() { // can also be included in the other islands for (uint j=0; j < mDynamicsComponents.getNbEnabledComponents(); j++) { - // If the body is static, we go to the next body - // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) - CollisionBody* body = static_cast(mBodyComponents.getBody(mDynamicsComponents.mBodies[j])); - if (body->getType() == BodyType::STATIC) { + if (mDynamicsComponents.mBodyTypes[j] == BodyType::STATIC) { mDynamicsComponents.mIsAlreadyInIsland[j] = false; } } @@ -805,16 +801,16 @@ void DynamicsWorld::updateSleepingBodies() { const Entity bodyEntity = mIslands.bodyEntities[i][b]; - // TODO : We should not have to do this cast here to get type of body - CollisionBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + // TODO : We should use a RigidBody* type here + CollisionBody* body = mBodyComponents.getBody(bodyEntity); // Skip static bodies - if (body->getType() == BodyType::STATIC) continue; + if (mDynamicsComponents.getBodyType(body->getEntity()) == BodyType::STATIC) continue; // If the body is velocity is large enough to stay awake if (mDynamicsComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare || mDynamicsComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare || - !body->isAllowedToSleep()) { + !mBodyComponents.getIsAllowedToSleep(body->getEntity())) { // Reset the sleep time of the body mBodyComponents.setSleepTime(body->getEntity(), decimal(0.0)); @@ -840,8 +836,9 @@ void DynamicsWorld::updateSleepingBodies() { // Put all the bodies of the island to sleep for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { + // TODO : We should use a RigidBody* type here (remove the cast) const Entity bodyEntity = mIslands.bodyEntities[i][b]; - CollisionBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); body->setIsSleeping(true); } } diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 6d685086..44df49cf 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -160,9 +160,12 @@ void Box::render(openglframework::Shader& shader, const openglframework::Matrix4 shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index 160030b7..f7c18300 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -141,9 +141,12 @@ void Capsule::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index 553a83ca..45fdd73c 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -150,9 +150,12 @@ void ConcaveMesh::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 95e41dd1..d590104a 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -160,9 +160,12 @@ void ConvexMesh::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index 866c35b1..ea285b0b 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -178,9 +178,12 @@ void Dumbbell::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index b1077fad..5ea7243b 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -132,9 +132,12 @@ void HeightField::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index 15375e05..df865980 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -140,9 +140,12 @@ void Sphere::render(openglframework::Shader& shader, const openglframework::Matr shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + rp3d::RigidBody* rigidBody = static_cast(mBody); + if (rigidBody != nullptr) { + openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); + } // Bind the VAO mVAO.bind(); From b93ba5c476d5eba8bdc1a7f7e85d3207518b8e34 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 15 Jul 2019 17:44:45 +0200 Subject: [PATCH 070/197] Rename BodyComponents class to CollisionBodyComponents --- CMakeLists.txt | 4 +- ...onents.cpp => CollisionBodyComponents.cpp} | 14 +++---- ...Components.h => CollisionBodyComponents.h} | 38 +++++++++---------- src/engine/CollisionWorld.cpp | 2 +- src/engine/CollisionWorld.h | 4 +- src/engine/ContactSolver.cpp | 4 +- src/engine/ContactSolver.h | 6 +-- src/engine/DynamicsWorld.cpp | 2 +- 8 files changed, 37 insertions(+), 37 deletions(-) rename src/components/{BodyComponents.cpp => CollisionBodyComponents.cpp} (94%) rename src/components/{BodyComponents.h => CollisionBodyComponents.h} (85%) diff --git a/CMakeLists.txt b/CMakeLists.txt index b9c20ad2..477df7a5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -141,7 +141,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/Timer.h" "src/systems/BroadPhaseSystem.h" "src/components/Components.h" - "src/components/BodyComponents.h" + "src/components/CollisionBodyComponents.h" "src/components/TransformComponents.h" "src/components/ProxyShapeComponents.h" "src/components/DynamicsComponents.h" @@ -232,7 +232,7 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/EntityManager.cpp" "src/systems/BroadPhaseSystem.cpp" "src/components/Components.cpp" - "src/components/BodyComponents.cpp" + "src/components/CollisionBodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapeComponents.cpp" "src/components/DynamicsComponents.cpp" diff --git a/src/components/BodyComponents.cpp b/src/components/CollisionBodyComponents.cpp similarity index 94% rename from src/components/BodyComponents.cpp rename to src/components/CollisionBodyComponents.cpp index 65541b3d..7e70a4be 100644 --- a/src/components/BodyComponents.cpp +++ b/src/components/CollisionBodyComponents.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "BodyComponents.h" +#include "CollisionBodyComponents.h" #include "engine/EntityManager.h" #include #include @@ -33,7 +33,7 @@ using namespace reactphysics3d; // Constructor -BodyComponents::BodyComponents(MemoryAllocator& allocator) +CollisionBodyComponents::CollisionBodyComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(List) + sizeof(bool) + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(void*)) { @@ -43,7 +43,7 @@ BodyComponents::BodyComponents(MemoryAllocator& allocator) } // Allocate memory for a given number of components -void BodyComponents::allocate(uint32 nbComponentsToAllocate) { +void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { assert(nbComponentsToAllocate > mNbAllocatedComponents); @@ -94,7 +94,7 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) { } // Add a component -void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) { +void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) { // Prepare to add new component (allocate memory if necessary and compute insertion index) uint32 index = prepareAddComponent(isSleeping); @@ -120,7 +120,7 @@ void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const Body // Move a component from a source to a destination index in the components array // The destination location must contain a constructed object -void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { +void CollisionBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { const Entity entity = mBodiesEntities[srcIndex]; @@ -146,7 +146,7 @@ void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { } // Swap two components in the array -void BodyComponents::swapComponents(uint32 index1, uint32 index2) { +void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity entity1(mBodiesEntities[index1]); @@ -181,7 +181,7 @@ void BodyComponents::swapComponents(uint32 index1, uint32 index2) { } // Destroy a component at a given index -void BodyComponents::destroyComponent(uint32 index) { +void CollisionBodyComponents::destroyComponent(uint32 index) { Components::destroyComponent(index); diff --git a/src/components/BodyComponents.h b/src/components/CollisionBodyComponents.h similarity index 85% rename from src/components/BodyComponents.h rename to src/components/CollisionBodyComponents.h index b99ac1f9..be53ceef 100644 --- a/src/components/BodyComponents.h +++ b/src/components/CollisionBodyComponents.h @@ -40,12 +40,12 @@ class MemoryAllocator; class EntityManager; class CollisionBody; -// Class BodyComponents +// Class CollisionBodyComponents /** - * This class represent the component of the ECS that contains data about a physics body. + * This class represent the component of the ECS that contains data about a collision body. * The components of the sleeping entities (bodies) are always stored at the end of the array. */ -class BodyComponents : public Components { +class CollisionBodyComponents : public Components { private: @@ -105,10 +105,10 @@ class BodyComponents : public Components { // -------------------- Methods -------------------- // /// Constructor - BodyComponents(MemoryAllocator& allocator); + CollisionBodyComponents(MemoryAllocator& allocator); /// Destructor - virtual ~BodyComponents() override = default; + virtual ~CollisionBodyComponents() override = default; /// Add a component void addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component); @@ -157,7 +157,7 @@ class BodyComponents : public Components { }; // Add a proxy-shape to a body component -inline void BodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity) { +inline void CollisionBodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -165,7 +165,7 @@ inline void BodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyS } // Set the transform of an entity -inline void BodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) { +inline void CollisionBodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -173,7 +173,7 @@ inline void BodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity p } // Return a pointer to a body -inline CollisionBody *BodyComponents::getBody(Entity bodyEntity) { +inline CollisionBody *CollisionBodyComponents::getBody(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -181,7 +181,7 @@ inline CollisionBody *BodyComponents::getBody(Entity bodyEntity) { } // Return the list of proxy-shapes of a body -inline const List& BodyComponents::getProxyShapes(Entity bodyEntity) const { +inline const List& CollisionBodyComponents::getProxyShapes(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -189,7 +189,7 @@ inline const List& BodyComponents::getProxyShapes(Entity bodyEntity) con } // Return true if the body is allowed to sleep -inline bool BodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { +inline bool CollisionBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -197,7 +197,7 @@ inline bool BodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { } // Set the value to know if the body is allowed to sleep -inline void BodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { +inline void CollisionBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -205,7 +205,7 @@ inline void BodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowe } // Return true if the body is active -inline bool BodyComponents::getIsActive(Entity bodyEntity) const { +inline bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -213,7 +213,7 @@ inline bool BodyComponents::getIsActive(Entity bodyEntity) const { } // Set the value to know if the body is active -inline void BodyComponents::setIsActive(Entity bodyEntity, bool isActive) const { +inline void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActive) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -221,7 +221,7 @@ inline void BodyComponents::setIsActive(Entity bodyEntity, bool isActive) const } // Return true if the body is sleeping -inline bool BodyComponents::getIsSleeping(Entity bodyEntity) const { +inline bool CollisionBodyComponents::getIsSleeping(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -229,7 +229,7 @@ inline bool BodyComponents::getIsSleeping(Entity bodyEntity) const { } // Set the value to know if the body is sleeping -inline void BodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { +inline void CollisionBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -237,7 +237,7 @@ inline void BodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) co } // Return the sleep time -inline decimal BodyComponents::getSleepTime(Entity bodyEntity) const { +inline decimal CollisionBodyComponents::getSleepTime(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -245,7 +245,7 @@ inline decimal BodyComponents::getSleepTime(Entity bodyEntity) const { } // Set the sleep time -inline void BodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { +inline void CollisionBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -253,7 +253,7 @@ inline void BodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) c } // Return the user data associated with the body -inline void* BodyComponents::getUserData(Entity bodyEntity) const { +inline void* CollisionBodyComponents::getUserData(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -261,7 +261,7 @@ inline void* BodyComponents::getUserData(Entity bodyEntity) const { } // Set the user data associated with the body -inline void BodyComponents::setUserData(Entity bodyEntity, void* userData) const { +inline void CollisionBodyComponents::setUserData(Entity bodyEntity, void* userData) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 4476dae5..4d906e98 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -157,7 +157,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { assert(collisionBody != nullptr); // Add the components - BodyComponents::BodyComponent bodyComponent(collisionBody); + CollisionBodyComponents::BodyComponent bodyComponent(collisionBody); mBodyComponents.addComponent(entity, false, bodyComponent); // Add the collision body to the world diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index aef8201d..c627469b 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -33,7 +33,7 @@ #include "constraint/Joint.h" #include "memory/MemoryManager.h" #include "engine/EntityManager.h" -#include "components/BodyComponents.h" +#include "components/CollisionBodyComponents.h" #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" #include "components/DynamicsComponents.h" @@ -77,7 +77,7 @@ class CollisionWorld { EntityManager mEntityManager; /// Body Components - BodyComponents mBodyComponents; + CollisionBodyComponents mBodyComponents; /// Transform Components TransformComponents mTransformComponents; diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index a290a9d0..d4f1e45f 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -30,7 +30,7 @@ #include "constraint/ContactPoint.h" #include "utils/Profiler.h" #include "engine/Island.h" -#include "components/BodyComponents.h" +#include "components/CollisionBodyComponents.h" #include "components/DynamicsComponents.h" #include "components/ProxyShapeComponents.h" #include "collision/ContactManifold.h" @@ -44,7 +44,7 @@ const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2); const decimal ContactSolver::SLOP = decimal(0.01); // Constructor -ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents, +ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr), mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), diff --git a/src/engine/ContactSolver.h b/src/engine/ContactSolver.h index 5edfc38c..245dac07 100644 --- a/src/engine/ContactSolver.h +++ b/src/engine/ContactSolver.h @@ -43,7 +43,7 @@ class MemoryManager; class Profiler; class Island; class RigidBody; -class BodyComponents; +class CollisionBodyComponents; class DynamicsComponents; class ProxyShapeComponents; @@ -310,7 +310,7 @@ class ContactSolver { List* mAllContactPoints; /// Reference to the body components - BodyComponents& mBodyComponents; + CollisionBodyComponents& mBodyComponents; /// Reference to the dynamics components DynamicsComponents& mDynamicsComponents; @@ -359,7 +359,7 @@ class ContactSolver { // -------------------- Methods -------------------- // /// Constructor - ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, + ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 958dd7e6..620ce9e1 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -384,7 +384,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { sizeof(RigidBody))) RigidBody(transform, *this, entity); assert(rigidBody != nullptr); - BodyComponents::BodyComponent bodyComponent(rigidBody); + CollisionBodyComponents::BodyComponent bodyComponent(rigidBody); mBodyComponents.addComponent(entity, false, bodyComponent); // Add the rigid body to the physics world From ca80d95d840fdc26408b79bbe94f24995fccc3e3 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 16 Jul 2019 07:15:13 +0200 Subject: [PATCH 071/197] Add RigidBodyComponents class --- CMakeLists.txt | 2 + src/body/CollisionBody.cpp | 46 ++--- src/body/RigidBody.cpp | 34 ++-- src/body/RigidBody.h | 2 + src/collision/CollisionCallback.cpp | 4 +- src/collision/CollisionDetection.cpp | 6 +- src/collision/OverlapCallback.cpp | 4 +- src/collision/ProxyShape.cpp | 2 +- src/components/CollisionBodyComponents.cpp | 29 +--- src/components/CollisionBodyComponents.h | 87 +--------- src/components/RigidBodyComponents.cpp | 173 +++++++++++++++++++ src/components/RigidBodyComponents.h | 187 +++++++++++++++++++++ src/engine/CollisionWorld.cpp | 20 ++- src/engine/CollisionWorld.h | 8 +- src/engine/DynamicsWorld.cpp | 33 ++-- testbed/common/Box.cpp | 10 +- testbed/common/Capsule.cpp | 10 +- testbed/common/ConcaveMesh.cpp | 10 +- testbed/common/ConvexMesh.cpp | 10 +- testbed/common/Dumbbell.cpp | 10 +- testbed/common/HeightField.cpp | 10 +- testbed/common/Sphere.cpp | 10 +- 22 files changed, 485 insertions(+), 222 deletions(-) create mode 100644 src/components/RigidBodyComponents.cpp create mode 100644 src/components/RigidBodyComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 477df7a5..dce9b270 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -142,6 +142,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/BroadPhaseSystem.h" "src/components/Components.h" "src/components/CollisionBodyComponents.h" + "src/components/RigidBodyComponents.h" "src/components/TransformComponents.h" "src/components/ProxyShapeComponents.h" "src/components/DynamicsComponents.h" @@ -233,6 +234,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/BroadPhaseSystem.cpp" "src/components/Components.cpp" "src/components/CollisionBodyComponents.cpp" + "src/components/RigidBodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapeComponents.cpp" "src/components/DynamicsComponents.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 80cd0e7d..39dae6a4 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -87,12 +87,12 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, - AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, decimal(1), 0x0001, 0xFFFF); - bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); - mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent); + AABB(localBoundsMin, localBoundsMax), + transform, collisionShape, decimal(1), 0x0001, 0xFFFF); + bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); + mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isActive, proxyShapeComponent); - mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); + mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); #ifdef IS_PROFILING_ACTIVE @@ -131,7 +131,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con * @return The number of proxy-shapes associated with this body */ uint CollisionBody::getNbProxyShapes() const { - return static_cast(mWorld.mBodyComponents.getProxyShapes(mEntity).size()); + return static_cast(mWorld.mCollisionBodyComponents.getProxyShapes(mEntity).size()); } // Return a const pointer to a given proxy-shape of the body @@ -142,7 +142,7 @@ const ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) const { assert(proxyShapeIndex < getNbProxyShapes()); - Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; + Entity proxyShapeEntity = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity); } @@ -155,7 +155,7 @@ ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) { assert(proxyShapeIndex < getNbProxyShapes()); - Entity proxyShapeEntity = mWorld.mBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; + Entity proxyShapeEntity = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity); } @@ -177,7 +177,7 @@ void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); } - mWorld.mBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity()); + mWorld.mCollisionBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity()); // Remove the proxy-shape component mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity()); @@ -194,7 +194,7 @@ void CollisionBody::removeAllCollisionShapes() { // Look for the proxy shape that contains the collision shape in parameter. // Note that we need to copy the list of proxy shapes entities because we are deleting them in a loop. - const List proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { removeCollisionShape(mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i])); @@ -217,7 +217,7 @@ const Transform& CollisionBody::getTransform() const { void CollisionBody::updateBroadPhaseState() const { // For all the proxy collision shapes of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { // Update the proxy @@ -232,9 +232,9 @@ void CollisionBody::updateBroadPhaseState() const { void CollisionBody::setIsActive(bool isActive) { // If the state does not change - if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return; + if (mWorld.mCollisionBodyComponents.getIsActive(mEntity) == isActive) return; - mWorld.mBodyComponents.setIsActive(mEntity, isActive); + mWorld.mCollisionBodyComponents.setIsActive(mEntity, isActive); // If we have to activate the body if (isActive) { @@ -242,7 +242,7 @@ void CollisionBody::setIsActive(bool isActive) { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); // For each proxy shape of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); @@ -258,7 +258,7 @@ void CollisionBody::setIsActive(bool isActive) { else { // If we have to deactivate the body // For each proxy shape of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); @@ -281,7 +281,7 @@ void CollisionBody::setIsActive(bool isActive) { void CollisionBody::askForBroadPhaseCollisionCheck() const { // For all the proxy collision shapes of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); @@ -299,7 +299,7 @@ void CollisionBody::askForBroadPhaseCollisionCheck() const { bool CollisionBody::testPointInside(const Vector3& worldPoint) const { // For each collision shape of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); @@ -322,13 +322,13 @@ bool CollisionBody::testPointInside(const Vector3& worldPoint) const { bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { // If the body is not active, it cannot be hit by rays - if (!mWorld.mBodyComponents.getIsActive(mEntity)) return false; + if (!mWorld.mCollisionBodyComponents.getIsActive(mEntity)) return false; bool isHit = false; Ray rayTemp(ray); // For each collision shape of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); @@ -351,7 +351,7 @@ AABB CollisionBody::getAABB() const { AABB bodyAABB; - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); if (proxyShapesEntities.size() == 0) return bodyAABB; // TODO : Make sure we compute this in a system @@ -401,7 +401,7 @@ void CollisionBody::setTransform(const Transform& transform) { * @return True if the body currently active and false otherwise */ bool CollisionBody::isActive() const { - return mWorld.mBodyComponents.getIsActive(mEntity); + return mWorld.mCollisionBodyComponents.getIsActive(mEntity); } // Return a pointer to the user data attached to this body @@ -409,7 +409,7 @@ bool CollisionBody::isActive() const { * @return A pointer to the user data you have attached to the body */ void* CollisionBody::getUserData() const { - return mWorld.mBodyComponents.getUserData(mEntity); + return mWorld.mCollisionBodyComponents.getUserData(mEntity); } // Attach user data to this body @@ -417,7 +417,7 @@ void* CollisionBody::getUserData() const { * @param userData A pointer to the user data you want to attach to the body */ void CollisionBody::setUserData(void* userData) { - mWorld.mBodyComponents.setUserData(mEntity, userData); + mWorld.mCollisionBodyComponents.setUserData(mEntity, userData); } // Return the world-space coordinates of a point given the local-space coordinates of the body diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index fb6d73f5..247d64cd 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -171,7 +171,7 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) { if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping - if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { + if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { setIsSleeping(false); } @@ -223,7 +223,7 @@ void RigidBody::applyForceToCenterOfMass(const Vector3& force) { if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping - if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { + if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { setIsSleeping(false); } @@ -408,10 +408,10 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass, 0x0001, 0xFFFF); - bool isSleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); + bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent); - mWorld.mBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); + mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); #ifdef IS_PROFILING_ACTIVE @@ -626,7 +626,7 @@ void RigidBody::recomputeMassInformation() { assert(mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::DYNAMIC); // Compute the total mass of the body - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); mWorld.mDynamicsComponents.setInitMass(mEntity, mWorld.mDynamicsComponents.getInitMass(mEntity) + proxyShape->getMass()); @@ -657,7 +657,7 @@ void RigidBody::recomputeMassInformation() { if (!mIsInertiaTensorSetByUser) { // Compute the inertia tensor using all the collision shapes - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); @@ -739,7 +739,7 @@ void RigidBody::applyTorque(const Vector3& torque) { if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping - if (mWorld.mBodyComponents.getIsSleeping(mEntity)) { + if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { setIsSleeping(false); } @@ -751,26 +751,26 @@ void RigidBody::applyTorque(const Vector3& torque) { // Set the variable to know whether or not the body is sleeping void RigidBody::setIsSleeping(bool isSleeping) { - bool isBodySleeping = mWorld.mBodyComponents.getIsSleeping(mEntity); + bool isBodySleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); if (isBodySleeping == isSleeping) return; // If the body is not active, do nothing (it is sleeping) - if (!mWorld.mBodyComponents.getIsActive(mEntity)) { + if (!mWorld.mCollisionBodyComponents.getIsActive(mEntity)) { assert(isBodySleeping); return; } if (isSleeping) { - mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); + mWorld.mRigidBodyComponents.setSleepTime(mEntity, decimal(0.0)); } else { if (isBodySleeping) { - mWorld.mBodyComponents.setSleepTime(mEntity, decimal(0.0)); + mWorld.mRigidBodyComponents.setSleepTime(mEntity, decimal(0.0)); } } - mWorld.mBodyComponents.setIsSleeping(mEntity, isSleeping); + mWorld.mRigidBodyComponents.setIsSleeping(mEntity, isSleeping); // Notify all the components mWorld.notifyBodyDisabled(mEntity, isSleeping); @@ -795,7 +795,7 @@ void RigidBody::setIsSleeping(bool isSleeping) { */ void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) { - mWorld.mBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep); + mWorld.mRigidBodyComponents.setIsAllowedToSleep(mEntity, isAllowedToSleep); if (!isAllowedToSleep) setIsSleeping(false); @@ -809,7 +809,7 @@ void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) { * @return True if the body is allowed to sleep and false otherwise */ bool RigidBody::isAllowedToSleep() const { - return mWorld.mBodyComponents.getIsAllowedToSleep(mEntity); + return mWorld.mRigidBodyComponents.getIsAllowedToSleep(mEntity); } // Return whether or not the body is sleeping @@ -817,7 +817,7 @@ bool RigidBody::isAllowedToSleep() const { * @return True if the body is currently sleeping and false otherwise */ bool RigidBody::isSleeping() const { - return mWorld.mBodyComponents.getIsSleeping(mEntity); + return mWorld.mRigidBodyComponents.getIsSleeping(mEntity); } // Set whether or not the body is active @@ -827,7 +827,7 @@ bool RigidBody::isSleeping() const { void RigidBody::setIsActive(bool isActive) { // If the state does not change - if (mWorld.mBodyComponents.getIsActive(mEntity) == isActive) return; + if (mWorld.mCollisionBodyComponents.getIsActive(mEntity) == isActive) return; setIsSleeping(!isActive); @@ -842,7 +842,7 @@ void RigidBody::setProfiler(Profiler* profiler) { CollisionBody::setProfiler(profiler); // Set the profiler for each proxy shape - const List& proxyShapesEntities = mWorld.mBodyComponents.getProxyShapes(mEntity); + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 6e2c9d9a..0a9c45c9 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -195,6 +195,8 @@ class RigidBody : public CollisionBody { virtual void setIsActive(bool isActive) override; /// Add a collision shape to the body. + // TODO : Remove the mass from this parameter so that we can correctly use inheritance here + // The user will then need to call ProxyShape->setMass() to set the mass of the shape virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, const Transform& transform, decimal mass); diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index 0162edfa..d7ee91b4 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -47,12 +47,12 @@ CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& c // Return a pointer to the first body in contact CollisionBody* CollisionCallback::ContactPair::getBody1() const { - return static_cast(mWorld.mBodyComponents.getBody(mContactPair.body1Entity)); + return static_cast(mWorld.mCollisionBodyComponents.getBody(mContactPair.body1Entity)); } // Return a pointer to the second body in contact CollisionBody* CollisionCallback::ContactPair::getBody2() const { - return static_cast(mWorld.mBodyComponents.getBody(mContactPair.body2Entity)); + return static_cast(mWorld.mCollisionBodyComponents.getBody(mContactPair.body2Entity)); } // Return a pointer to the first proxy-shape in contact (in body 1) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 14937350..f4cbf475 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -243,8 +243,8 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs mWorld->mDynamicsComponents.getBodyType(body2Entity) == BodyType::STATIC; // Check that at least one body is enabled (active and awake) and not static - bool isBody1Active = !mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; + bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; if (!isBody1Active && !isBody2Active) continue; // Check if the bodies are in the set of bodies that cannot collide between each other @@ -932,7 +932,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh Entity body1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity(); Entity body2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity(); - assert(!mWorld->mBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mBodyComponents.getIsEntityDisabled(body2Entity)); + assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); // TODO : We should probably use a single frame allocator here const uint newContactPairIndex = contactPairs->size(); diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index 096f9421..fe41b7ac 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -38,12 +38,12 @@ OverlapCallback::OverlapPair::OverlapPair(Pair& overlapPair, Col // Return a pointer to the first body in contact CollisionBody* OverlapCallback::OverlapPair::getBody1() const { - return static_cast(mWorld.mBodyComponents.getBody(mOverlapPair.first)); + return static_cast(mWorld.mCollisionBodyComponents.getBody(mOverlapPair.first)); } // Return a pointer to the second body in contact CollisionBody* OverlapCallback::OverlapPair::getBody2() const { - return static_cast(mWorld.mBodyComponents.getBody(mOverlapPair.second)); + return static_cast(mWorld.mCollisionBodyComponents.getBody(mOverlapPair.second)); } // CollisionCallbackData Constructor diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 2bbfb6f9..052ee301 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -119,7 +119,7 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { RigidBody* rigidBody = static_cast(mBody); if (rigidBody != nullptr) { - mBody->mWorld.mBodyComponents.setIsSleeping(mBody->getEntity(), false); + mBody->mWorld.mRigidBodyComponents.setIsSleeping(mBody->getEntity(), false); } mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity); diff --git a/src/components/CollisionBodyComponents.cpp b/src/components/CollisionBodyComponents.cpp index 7e70a4be..d5288292 100644 --- a/src/components/CollisionBodyComponents.cpp +++ b/src/components/CollisionBodyComponents.cpp @@ -35,8 +35,7 @@ using namespace reactphysics3d; // Constructor CollisionBodyComponents::CollisionBodyComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(List) + - sizeof(bool) + sizeof(bool) + sizeof(bool) + sizeof(decimal) + - sizeof(void*)) { + sizeof(bool) + sizeof(void*)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -58,11 +57,8 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newBodiesEntities = static_cast(newBuffer); CollisionBody** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); List* newProxyShapes = reinterpret_cast*>(newBodies + nbComponentsToAllocate); - bool* newIsAllowedToSleep = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); - bool* newIsActive = reinterpret_cast(newIsAllowedToSleep + nbComponentsToAllocate); - bool* newIsSleeping = reinterpret_cast(newIsActive + nbComponentsToAllocate); - decimal* newSleepTimes = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); - void** newUserData = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); + bool* newIsActive = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); + void** newUserData = reinterpret_cast(newIsActive + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -71,10 +67,7 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newBodies, mBodies, mNbComponents * sizeof(CollisionBody*)); memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List)); - memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool)); memcpy(newIsActive, mIsActive, mNbComponents * sizeof(bool)); - memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool)); - memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool)); memcpy(newUserData, mUserData, mNbComponents * sizeof(void*)); // Deallocate previous memory @@ -85,16 +78,13 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { mBodiesEntities = newBodiesEntities; mBodies = newBodies; mProxyShapes = newProxyShapes; - mIsAllowedToSleep = newIsAllowedToSleep; mIsActive = newIsActive; - mIsSleeping = newIsSleeping; - mSleepTimes = newSleepTimes; mUserData = newUserData; mNbAllocatedComponents = nbComponentsToAllocate; } // Add a component -void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) { +void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const CollisionBodyComponent& component) { // Prepare to add new component (allocate memory if necessary and compute insertion index) uint32 index = prepareAddComponent(isSleeping); @@ -103,10 +93,7 @@ void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, c new (mBodiesEntities + index) Entity(bodyEntity); mBodies[index] = component.body; new (mProxyShapes + index) List(mMemoryAllocator); - mIsAllowedToSleep[index] = true; mIsActive[index] = true; - mIsSleeping[index] = false; - mSleepTimes[index] = decimal(0); mUserData[index] = nullptr; // Map the entity with the new component lookup index @@ -128,10 +115,7 @@ void CollisionBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destI new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mBodies[destIndex] = mBodies[srcIndex]; new (mProxyShapes + destIndex) List(mProxyShapes[srcIndex]); - mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex]; mIsActive[destIndex] = mIsActive[srcIndex]; - mIsSleeping[destIndex] = mIsSleeping[srcIndex]; - mSleepTimes[destIndex] = mSleepTimes[srcIndex]; mUserData[destIndex] = mUserData[srcIndex]; // Destroy the source component @@ -152,10 +136,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { Entity entity1(mBodiesEntities[index1]); CollisionBody* body1 = mBodies[index1]; List proxyShapes1(mProxyShapes[index1]); - bool isAllowedToSleep1 = mIsAllowedToSleep[index1]; bool isActive1 = mIsActive[index1]; - bool isSleeping1 = mIsSleeping[index1]; - decimal sleepTime1 = mSleepTimes[index1]; void* userData1 = mUserData[index1]; // Destroy component 1 @@ -167,9 +148,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { new (mBodiesEntities + index2) Entity(entity1); new (mProxyShapes + index2) List(proxyShapes1); mBodies[index2] = body1; - mIsAllowedToSleep[index2] = isAllowedToSleep1; mIsActive[index2] = isActive1; - mIsSleeping[index2] = isSleeping1; mUserData[index2] = userData1; // Update the entity to component index mapping diff --git a/src/components/CollisionBodyComponents.h b/src/components/CollisionBodyComponents.h index be53ceef..99b0a42d 100644 --- a/src/components/CollisionBodyComponents.h +++ b/src/components/CollisionBodyComponents.h @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_BODY_COMPONENTS_H -#define REACTPHYSICS3D_BODY_COMPONENTS_H +#ifndef REACTPHYSICS3D_COLLISION_BODY_COMPONENTS_H +#define REACTPHYSICS3D_COLLISION_BODY_COMPONENTS_H // Libraries #include "mathematics/Transform.h" @@ -60,18 +60,9 @@ class CollisionBodyComponents : public Components { /// Array with the list of proxy-shapes of each body List* mProxyShapes; - /// Array of boolean values to know if the body is allowed to go to sleep - bool* mIsAllowedToSleep; - /// Array of boolean values to know if the body is active. bool* mIsActive; - /// Array of boolean values to know if the body is sleeping - bool* mIsSleeping; - - /// Array with values for elapsed time since the body velocity was below the sleep velocity - decimal* mSleepTimes; - /// Array of pointers that can be used to attach user data to the body void** mUserData; @@ -91,13 +82,13 @@ class CollisionBodyComponents : public Components { public: - /// Structure for the data of a body component - struct BodyComponent { + /// Structure for the data of a collision body component + struct CollisionBodyComponent { CollisionBody* body; /// Constructor - BodyComponent(CollisionBody* body) : body(body) { + CollisionBodyComponent(CollisionBody* body) : body(body) { } }; @@ -111,7 +102,7 @@ class CollisionBodyComponents : public Components { virtual ~CollisionBodyComponents() override = default; /// Add a component - void addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component); + void addComponent(Entity bodyEntity, bool isSleeping, const CollisionBodyComponent& component); /// Add a proxy-shape to a body component void addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity); @@ -125,30 +116,12 @@ class CollisionBodyComponents : public Components { /// Return the list of proxy-shapes of a body const List& getProxyShapes(Entity bodyEntity) const; - /// Return true if the body is allowed to sleep - bool getIsAllowedToSleep(Entity bodyEntity) const; - - /// Set the value to know if the body is allowed to sleep - void setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const; - /// Return true if the body is active bool getIsActive(Entity bodyEntity) const; /// Set the value to know if the body is active void setIsActive(Entity bodyEntity, bool isActive) const; - /// Return true if the body is sleeping - bool getIsSleeping(Entity bodyEntity) const; - - /// Set the value to know if the body is sleeping - void setIsSleeping(Entity bodyEntity, bool isSleeping) const; - - /// Return the sleep time - decimal getSleepTime(Entity bodyEntity) const; - - /// Set the sleep time - void setSleepTime(Entity bodyEntity, decimal sleepTime) const; - /// Return the user data associated with the body void* getUserData(Entity bodyEntity) const; @@ -188,22 +161,6 @@ inline const List& CollisionBodyComponents::getProxyShapes(Entity bodyEn return mProxyShapes[mMapEntityToComponentIndex[bodyEntity]]; } -// Return true if the body is allowed to sleep -inline bool CollisionBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the value to know if the body is allowed to sleep -inline void CollisionBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]] = isAllowedToSleep; -} - // Return true if the body is active inline bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const { @@ -220,38 +177,6 @@ inline void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActiv mIsActive[mMapEntityToComponentIndex[bodyEntity]] = isActive; } -// Return true if the body is sleeping -inline bool CollisionBodyComponents::getIsSleeping(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mIsSleeping[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the value to know if the body is sleeping -inline void CollisionBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mIsSleeping[mMapEntityToComponentIndex[bodyEntity]] = isSleeping; -} - -// Return the sleep time -inline decimal CollisionBodyComponents::getSleepTime(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mSleepTimes[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the sleep time -inline void CollisionBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mSleepTimes[mMapEntityToComponentIndex[bodyEntity]] = sleepTime; -} - // Return the user data associated with the body inline void* CollisionBodyComponents::getUserData(Entity bodyEntity) const { diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp new file mode 100644 index 00000000..ac4d2346 --- /dev/null +++ b/src/components/RigidBodyComponents.cpp @@ -0,0 +1,173 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "RigidBodyComponents.h" +#include "engine/EntityManager.h" +#include +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(RigidBody*) + + sizeof(bool) + sizeof(bool) + sizeof(decimal) ) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newBodiesEntities = static_cast(newBuffer); + RigidBody** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); + bool* newIsAllowedToSleep = reinterpret_cast(newBodies + nbComponentsToAllocate); + bool* newIsSleeping = reinterpret_cast(newIsAllowedToSleep + nbComponentsToAllocate); + decimal* newSleepTimes = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); + memcpy(newBodies, mRigidBodies, mNbComponents * sizeof(RigidBody*)); + memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool)); + memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool)); + memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mBodiesEntities = newBodiesEntities; + mRigidBodies = newBodies; + mIsAllowedToSleep = newIsAllowedToSleep; + mIsSleeping = newIsSleeping; + mSleepTimes = newSleepTimes; + mNbAllocatedComponents = nbComponentsToAllocate; +} + +// Add a component +void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const RigidBodyComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mBodiesEntities + index) Entity(bodyEntity); + mRigidBodies[index] = component.body; + mIsAllowedToSleep[index] = true; + mIsSleeping[index] = false; + mSleepTimes[index] = decimal(0); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mBodiesEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); + mRigidBodies[destIndex] = mRigidBodies[srcIndex]; + mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex]; + mIsSleeping[destIndex] = mIsSleeping[srcIndex]; + mSleepTimes[destIndex] = mSleepTimes[srcIndex]; + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mBodiesEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity entity1(mBodiesEntities[index1]); + RigidBody* body1 = mRigidBodies[index1]; + bool isAllowedToSleep1 = mIsAllowedToSleep[index1]; + bool isSleeping1 = mIsSleeping[index1]; + decimal sleepTime1 = mSleepTimes[index1]; + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mBodiesEntities + index2) Entity(entity1); + mRigidBodies[index2] = body1; + mIsAllowedToSleep[index2] = isAllowedToSleep1; + mIsSleeping[index2] = isSleeping1; + mSleepTimes[index2] = sleepTime1; + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity1, index2)); + + assert(mMapEntityToComponentIndex[mBodiesEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mBodiesEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void RigidBodyComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mBodiesEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mBodiesEntities[index]); + + mBodiesEntities[index].~Entity(); + mRigidBodies[index] = nullptr; +} diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h new file mode 100644 index 00000000..02cdf6e5 --- /dev/null +++ b/src/components/RigidBodyComponents.h @@ -0,0 +1,187 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_RIGID_BODY_COMPONENTS_H +#define REACTPHYSICS3D_RIGID_BODY_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class RigidBody; + +// Class RigidBodyComponents +/** + * This class represent the component of the ECS that contains data about a rigid body. + * The components of the sleeping entities (bodies) are always stored at the end of the array. + */ +class RigidBodyComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of body entities of each component + Entity* mBodiesEntities; + + /// Array of pointers to the corresponding rigid bodies + RigidBody** mRigidBodies; + + /// Array of boolean values to know if the body is allowed to go to sleep + bool* mIsAllowedToSleep; + + /// Array of boolean values to know if the body is sleeping + bool* mIsSleeping; + + /// Array with values for elapsed time since the body velocity was below the sleep velocity + decimal* mSleepTimes; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a rigid body component + struct RigidBodyComponent { + + RigidBody* body; + + /// Constructor + RigidBodyComponent(RigidBody* body) : body(body) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + RigidBodyComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~RigidBodyComponents() override = default; + + /// Add a component + void addComponent(Entity bodyEntity, bool isSleeping, const RigidBodyComponent& component); + + /// Return a pointer to a rigid body + RigidBody* getRigidBody(Entity bodyEntity); + + /// Return true if the body is allowed to sleep + bool getIsAllowedToSleep(Entity bodyEntity) const; + + /// Set the value to know if the body is allowed to sleep + void setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const; + + /// Return true if the body is sleeping + bool getIsSleeping(Entity bodyEntity) const; + + /// Set the value to know if the body is sleeping + void setIsSleeping(Entity bodyEntity, bool isSleeping) const; + + /// Return the sleep time + decimal getSleepTime(Entity bodyEntity) const; + + /// Set the sleep time + void setSleepTime(Entity bodyEntity, decimal sleepTime) const; +}; + +// Return a pointer to a body rigid +inline RigidBody* RigidBodyComponents::getRigidBody(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mRigidBodies[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return true if the body is allowed to sleep +inline bool RigidBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the value to know if the body is allowed to sleep +inline void RigidBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsAllowedToSleep[mMapEntityToComponentIndex[bodyEntity]] = isAllowedToSleep; +} + +// Return true if the body is sleeping +inline bool RigidBodyComponents::getIsSleeping(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsSleeping[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the value to know if the body is sleeping +inline void RigidBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsSleeping[mMapEntityToComponentIndex[bodyEntity]] = isSleeping; +} + +// Return the sleep time +inline decimal RigidBodyComponents::getSleepTime(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mSleepTimes[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the sleep time +inline void RigidBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mSleepTimes[mMapEntityToComponentIndex[bodyEntity]] = sleepTime; +} + +} + +#endif diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 4d906e98..5bc953e5 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -38,8 +38,9 @@ uint CollisionWorld::mNbWorlds = 0; // Constructor CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), - mBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), - mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mDynamicsComponents(mMemoryManager.getBaseAllocator()), + mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), + mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), + mDynamicsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mDynamicsComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -132,7 +133,7 @@ CollisionWorld::~CollisionWorld() { #endif assert(mBodies.size() == 0); - assert(mBodyComponents.getNbComponents() == 0); + assert(mCollisionBodyComponents.getNbComponents() == 0); assert(mTransformComponents.getNbComponents() == 0); assert(mProxyShapesComponents.getNbComponents() == 0); } @@ -157,8 +158,8 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { assert(collisionBody != nullptr); // Add the components - CollisionBodyComponents::BodyComponent bodyComponent(collisionBody); - mBodyComponents.addComponent(entity, false, bodyComponent); + CollisionBodyComponents::CollisionBodyComponent bodyComponent(collisionBody); + mCollisionBodyComponents.addComponent(entity, false, bodyComponent); // Add the collision body to the world mBodies.add(collisionBody); @@ -192,7 +193,7 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Remove all the collision shapes of the body collisionBody->removeAllCollisionShapes(); - mBodyComponents.removeComponent(collisionBody->getEntity()); + mCollisionBodyComponents.removeComponent(collisionBody->getEntity()); mTransformComponents.removeComponent(collisionBody->getEntity()); mEntityManager.destroyEntity(collisionBody->getEntity()); @@ -209,12 +210,13 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { // Notify the world if a body is disabled (sleeping) or not void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { - if (isDisabled == mBodyComponents.getIsEntityDisabled(bodyEntity)) return; + if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return; // TODO : Make sure we notify all the components here ... // Notify all the components - mBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); + mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); + mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); if (mDynamicsComponents.hasComponent(bodyEntity)) { @@ -222,7 +224,7 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { } // For each proxy-shape of the body - const List& proxyShapesEntities = mBodyComponents.getProxyShapes(bodyEntity); + const List& proxyShapesEntities = mCollisionBodyComponents.getProxyShapes(bodyEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { mProxyShapesComponents.setIsEntityDisabled(proxyShapesEntities[i], isDisabled); diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index c627469b..587b5eaa 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -34,6 +34,7 @@ #include "memory/MemoryManager.h" #include "engine/EntityManager.h" #include "components/CollisionBodyComponents.h" +#include "components/RigidBodyComponents.h" #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" #include "components/DynamicsComponents.h" @@ -76,8 +77,11 @@ class CollisionWorld { /// Entity Manager for the ECS EntityManager mEntityManager; - /// Body Components - CollisionBodyComponents mBodyComponents; + /// Collision Body Components + CollisionBodyComponents mCollisionBodyComponents; + + /// Rigid Body Components + RigidBodyComponents mRigidBodyComponents; /// Transform Components TransformComponents mTransformComponents; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 620ce9e1..8e32e252 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -50,7 +50,7 @@ using namespace std; DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : CollisionWorld(worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), - mContactSolver(mMemoryManager, mIslands, mBodyComponents, mDynamicsComponents, mProxyShapesComponents, mConfig), + mContactSolver(mMemoryManager, mIslands, mCollisionBodyComponents, mDynamicsComponents, mProxyShapesComponents, mConfig), mConstraintSolver(mIslands, mDynamicsComponents), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), @@ -384,8 +384,11 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { sizeof(RigidBody))) RigidBody(transform, *this, entity); assert(rigidBody != nullptr); - CollisionBodyComponents::BodyComponent bodyComponent(rigidBody); - mBodyComponents.addComponent(entity, false, bodyComponent); + CollisionBodyComponents::CollisionBodyComponent bodyComponent(rigidBody); + mCollisionBodyComponents.addComponent(entity, false, bodyComponent); + + RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody); + mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent); // Add the rigid body to the physics world mBodies.add(rigidBody); @@ -425,7 +428,8 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { } // Destroy the corresponding entity and its components - mBodyComponents.removeComponent(rigidBody->getEntity()); + mCollisionBodyComponents.removeComponent(rigidBody->getEntity()); + mRigidBodyComponents.removeComponent(rigidBody->getEntity()); mTransformComponents.removeComponent(rigidBody->getEntity()); mEntityManager.destroyEntity(rigidBody->getEntity()); @@ -678,7 +682,7 @@ void DynamicsWorld::createIslands() { mIslands.bodyEntities[islandIndex].add(bodyToVisitEntity); // TODO : Do not use pointer to rigid body here (maybe move getType() into a component) - RigidBody* rigidBodyToVisit = static_cast(mBodyComponents.getBody(bodyToVisitEntity)); + RigidBody* rigidBodyToVisit = static_cast(mCollisionBodyComponents.getBody(bodyToVisitEntity)); // Awake the body if it is sleeping rigidBodyToVisit->setIsSleeping(false); @@ -703,8 +707,8 @@ void DynamicsWorld::createIslands() { // Get the other body of the contact manifold // TODO : Maybe avoid those casts here - RigidBody* body1 = dynamic_cast(mBodyComponents.getBody(pair.body1Entity)); - RigidBody* body2 = dynamic_cast(mBodyComponents.getBody(pair.body2Entity)); + RigidBody* body1 = dynamic_cast(mCollisionBodyComponents.getBody(pair.body1Entity)); + RigidBody* body2 = dynamic_cast(mCollisionBodyComponents.getBody(pair.body2Entity)); // If the colliding body is a RigidBody (and not a CollisionBody instead) if (body1 != nullptr && body2 != nullptr) { @@ -801,8 +805,7 @@ void DynamicsWorld::updateSleepingBodies() { const Entity bodyEntity = mIslands.bodyEntities[i][b]; - // TODO : We should use a RigidBody* type here - CollisionBody* body = mBodyComponents.getBody(bodyEntity); + RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); // Skip static bodies if (mDynamicsComponents.getBodyType(body->getEntity()) == BodyType::STATIC) continue; @@ -810,18 +813,18 @@ void DynamicsWorld::updateSleepingBodies() { // If the body is velocity is large enough to stay awake if (mDynamicsComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare || mDynamicsComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare || - !mBodyComponents.getIsAllowedToSleep(body->getEntity())) { + !mRigidBodyComponents.getIsAllowedToSleep(body->getEntity())) { // Reset the sleep time of the body - mBodyComponents.setSleepTime(body->getEntity(), decimal(0.0)); + mRigidBodyComponents.setSleepTime(body->getEntity(), decimal(0.0)); minSleepTime = decimal(0.0); } else { // If the body velocity is below the sleeping velocity threshold // Increase the sleep time - decimal sleepTime = mBodyComponents.getSleepTime(body->getEntity()); - mBodyComponents.setSleepTime(body->getEntity(), sleepTime + mTimeStep); - sleepTime = mBodyComponents.getSleepTime(body->getEntity()); + decimal sleepTime = mRigidBodyComponents.getSleepTime(body->getEntity()); + mRigidBodyComponents.setSleepTime(body->getEntity(), sleepTime + mTimeStep); + sleepTime = mRigidBodyComponents.getSleepTime(body->getEntity()); if (sleepTime < minSleepTime) { minSleepTime = sleepTime; } @@ -838,7 +841,7 @@ void DynamicsWorld::updateSleepingBodies() { // TODO : We should use a RigidBody* type here (remove the cast) const Entity bodyEntity = mIslands.bodyEntities[i][b]; - RigidBody* body = static_cast(mBodyComponents.getBody(bodyEntity)); + RigidBody* body = static_cast(mCollisionBodyComponents.getBody(bodyEntity)); body->setIsSleeping(true); } } diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 44df49cf..8d55eed9 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -160,12 +160,10 @@ void Box::render(openglframework::Shader& shader, const openglframework::Matrix4 shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index f7c18300..f2ee3e52 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -141,12 +141,10 @@ void Capsule::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index 45fdd73c..487312b0 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -150,12 +150,10 @@ void ConcaveMesh::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index d590104a..c676d165 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -160,12 +160,10 @@ void ConvexMesh::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index ea285b0b..111f63e2 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -178,12 +178,10 @@ void Dumbbell::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index 5ea7243b..e9aee55a 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -132,12 +132,10 @@ void HeightField::render(openglframework::Shader& shader, shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index df865980..ce8509e8 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -140,12 +140,10 @@ void Sphere::render(openglframework::Shader& shader, const openglframework::Matr shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color - rp3d::RigidBody* rigidBody = static_cast(mBody); - if (rigidBody != nullptr) { - openglframework::Color currentColor = rigidBody->isSleeping() ? mSleepingColor : mColor; - openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); - } + rp3d::RigidBody* rigidBody = dynamic_cast(mBody); + openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; + openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); + shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); From 466455d15a6a6266fcd8b4a05a862a09ef23a875 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 19 Jul 2019 20:51:43 +0200 Subject: [PATCH 072/197] Move attribute in RigidBodyComponents --- src/body/RigidBody.cpp | 28 +++++++++++----------- src/collision/CollisionDetection.cpp | 8 +++---- src/components/DynamicsComponents.cpp | 9 +------ src/components/DynamicsComponents.h | 33 +++----------------------- src/components/RigidBodyComponents.cpp | 10 +++++++- src/components/RigidBodyComponents.h | 31 +++++++++++++++++++++++- src/engine/DynamicsWorld.cpp | 12 +++++----- 7 files changed, 67 insertions(+), 64 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 247d64cd..b0fba2e1 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -57,7 +57,7 @@ RigidBody::~RigidBody() { // Return the type of the body BodyType RigidBody::getType() const { - return mWorld.mDynamicsComponents.getBodyType(mEntity); + return mWorld.mRigidBodyComponents.getBodyType(mEntity); } // Set the type of the body @@ -75,9 +75,9 @@ BodyType RigidBody::getType() const { */ void RigidBody::setType(BodyType type) { - if (mWorld.mDynamicsComponents.getBodyType(mEntity) == type) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == type) return; - mWorld.mDynamicsComponents.setBodyType(mEntity, type); + mWorld.mRigidBodyComponents.setBodyType(mEntity, type); // Recompute the total mass, center of mass and inertia tensor recomputeMassInformation(); @@ -168,7 +168,7 @@ decimal RigidBody::getMass() const { void RigidBody::applyForce(const Vector3& force, const Vector3& point) { // If it is not a dynamic body, we do nothing - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { @@ -197,7 +197,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { mUserInertiaTensorLocalInverse = inertiaTensorLocal.getInverse(); mIsInertiaTensorSetByUser = true; - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); @@ -220,7 +220,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { void RigidBody::applyForceToCenterOfMass(const Vector3& force) { // If it is not a dynamic body, we do nothing - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { @@ -260,7 +260,7 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens mUserInertiaTensorLocalInverse = inverseInertiaTensorLocal; mIsInertiaTensorSetByUser = true; - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); @@ -283,7 +283,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { // TODO : Check if we need to update the postion of the body here at the end (transform of the body) - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; mIsCenterOfMassSetByUser = true; @@ -311,7 +311,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { */ void RigidBody::setMass(decimal mass) { - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; mWorld.mDynamicsComponents.setInitMass(mEntity, mass); @@ -533,7 +533,7 @@ void RigidBody::setMaterial(const Material& material) { void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { // If it is a static body, we do nothing - if (mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::STATIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::STATIC) return; // Update the linear velocity of the current body state mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); @@ -556,7 +556,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { // TODO : Make sure this method is not called from the internal physics engine // If it is a static body, we do nothing - if (mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::STATIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::STATIC) return; // Set the angular velocity mWorld.mDynamicsComponents.setAngularVelocity(mEntity, angularVelocity); @@ -617,13 +617,13 @@ void RigidBody::recomputeMassInformation() { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); // If it is a STATIC or a KINEMATIC body - BodyType type = mWorld.mDynamicsComponents.getBodyType(mEntity); + BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); if (type == BodyType::STATIC || type == BodyType::KINEMATIC) { mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); return; } - assert(mWorld.mDynamicsComponents.getBodyType(mEntity) == BodyType::DYNAMIC); + assert(mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::DYNAMIC); // Compute the total mass of the body const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); @@ -736,7 +736,7 @@ bool RigidBody::isGravityEnabled() const { void RigidBody::applyTorque(const Vector3& torque) { // If it is not a dynamic body, we do nothing - if (mWorld.mDynamicsComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Awake the body if it was sleeping if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index f4cbf475..490562ce 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -237,10 +237,10 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs const Entity body1Entity = body1->getEntity(); const Entity body2Entity = body2->getEntity(); - const bool isStaticRigidBody1 = mWorld->mDynamicsComponents.hasComponent(body1Entity) && - mWorld->mDynamicsComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mWorld->mDynamicsComponents.hasComponent(body2Entity) && - mWorld->mDynamicsComponents.getBodyType(body2Entity) == BodyType::STATIC; + const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && + mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && + mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; // Check that at least one body is enabled (active and awake) and not static bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index 3af49c75..a0705531 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -39,7 +39,7 @@ DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + - sizeof(bool) + sizeof(BodyType)) { + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -79,7 +79,6 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); - BodyType* newBodyTypes = reinterpret_cast(newIsAlreadyInIsland + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -106,7 +105,6 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); - memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -134,7 +132,6 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mCentersOfMassWorld = newCentersOfMassWorld; mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; - mBodyTypes = newBodyTypes; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -167,7 +164,6 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mCentersOfMassWorld + index) Vector3(component.worldPosition); mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; - mBodyTypes[index] = component.bodyType; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -206,7 +202,6 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; - mBodyTypes[destIndex] = mBodyTypes[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -247,7 +242,6 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; - BodyType bodyType1 = mBodyTypes[index1]; // Destroy component 1 destroyComponent(index1); @@ -276,7 +270,6 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { mCentersOfMassWorld[index2] = centerOfMassWorld1; mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; - mBodyTypes[index2] = bodyType1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index cf6f37a0..f19df426 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -126,9 +126,6 @@ class DynamicsComponents : public Components { /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; - /// Array with the type of bodies (static, kinematic or dynamic) - BodyType* mBodyTypes; - // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -150,11 +147,9 @@ class DynamicsComponents : public Components { const Vector3& worldPosition; - BodyType bodyType; - /// Constructor - DynamicsComponent(const Vector3& worldPosition, BodyType bodyType) - : worldPosition(worldPosition), bodyType(bodyType) { + DynamicsComponent(const Vector3& worldPosition) + : worldPosition(worldPosition) { } }; @@ -290,12 +285,6 @@ class DynamicsComponents : public Components { /// Set the value to know if the entity is already in an island void setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); - /// Return the body type of a body - BodyType getBodyType(Entity bodyEntity); - - /// Set the body type of a body - void setBodyType(Entity bodyEntity, BodyType bodyType); - // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -619,7 +608,7 @@ inline void DynamicsComponents::setIsGravityEnabled(Entity bodyEntity, bool isGr mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]] = isGravityEnabled; } -/// Set the value to know if the entity is already in an island +// Set the value to know if the entity is already in an island inline void DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -627,22 +616,6 @@ inline void DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isA mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; } -// Return the body type of a body -inline BodyType DynamicsComponents::getBodyType(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mBodyTypes[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the body type of a body -inline void DynamicsComponents::setBodyType(Entity bodyEntity, BodyType bodyType) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mBodyTypes[mMapEntityToComponentIndex[bodyEntity]] = bodyType; -} - } #endif diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index ac4d2346..b71b3ba2 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -26,6 +26,7 @@ // Libraries #include "RigidBodyComponents.h" #include "engine/EntityManager.h" +#include "body/RigidBody.h" #include #include @@ -35,7 +36,7 @@ using namespace reactphysics3d; // Constructor RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(RigidBody*) + - sizeof(bool) + sizeof(bool) + sizeof(decimal) ) { + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(BodyType)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -59,6 +60,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { bool* newIsAllowedToSleep = reinterpret_cast(newBodies + nbComponentsToAllocate); bool* newIsSleeping = reinterpret_cast(newIsAllowedToSleep + nbComponentsToAllocate); decimal* newSleepTimes = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); + BodyType* newBodyTypes = reinterpret_cast(newSleepTimes + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -69,6 +71,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newIsAllowedToSleep, mIsAllowedToSleep, mNbComponents * sizeof(bool)); memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool)); memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool)); + memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -81,6 +84,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mIsSleeping = newIsSleeping; mSleepTimes = newSleepTimes; mNbAllocatedComponents = nbComponentsToAllocate; + mBodyTypes = newBodyTypes; } // Add a component @@ -95,6 +99,7 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const mIsAllowedToSleep[index] = true; mIsSleeping[index] = false; mSleepTimes[index] = decimal(0); + mBodyTypes[index] = component.bodyType; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -117,6 +122,7 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex mIsAllowedToSleep[destIndex] = mIsAllowedToSleep[srcIndex]; mIsSleeping[destIndex] = mIsSleeping[srcIndex]; mSleepTimes[destIndex] = mSleepTimes[srcIndex]; + mBodyTypes[destIndex] = mBodyTypes[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -138,6 +144,7 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { bool isAllowedToSleep1 = mIsAllowedToSleep[index1]; bool isSleeping1 = mIsSleeping[index1]; decimal sleepTime1 = mSleepTimes[index1]; + BodyType bodyType1 = mBodyTypes[index1]; // Destroy component 1 destroyComponent(index1); @@ -150,6 +157,7 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mIsAllowedToSleep[index2] = isAllowedToSleep1; mIsSleeping[index2] = isSleeping1; mSleepTimes[index2] = sleepTime1; + mBodyTypes[index2] = bodyType1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 02cdf6e5..df4641f2 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -39,6 +39,7 @@ namespace reactphysics3d { class MemoryAllocator; class EntityManager; class RigidBody; +enum class BodyType; // Class RigidBodyComponents /** @@ -66,6 +67,9 @@ class RigidBodyComponents : public Components { /// Array with values for elapsed time since the body velocity was below the sleep velocity decimal* mSleepTimes; + /// Array with the type of bodies (static, kinematic or dynamic) + BodyType* mBodyTypes; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -86,9 +90,10 @@ class RigidBodyComponents : public Components { struct RigidBodyComponent { RigidBody* body; + BodyType bodyType; /// Constructor - RigidBodyComponent(RigidBody* body) : body(body) { + RigidBodyComponent(RigidBody* body, BodyType bodyType) : body(body), bodyType(bodyType) { } }; @@ -124,6 +129,13 @@ class RigidBodyComponents : public Components { /// Set the sleep time void setSleepTime(Entity bodyEntity, decimal sleepTime) const; + + /// Return the body type of a body + BodyType getBodyType(Entity bodyEntity); + + /// Set the body type of a body + void setBodyType(Entity bodyEntity, BodyType bodyType); + }; // Return a pointer to a body rigid @@ -182,6 +194,23 @@ inline void RigidBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTi mSleepTimes[mMapEntityToComponentIndex[bodyEntity]] = sleepTime; } +// Return the body type of a body +inline BodyType RigidBodyComponents::getBodyType(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mBodyTypes[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the body type of a body +inline void RigidBodyComponents::setBodyType(Entity bodyEntity, BodyType bodyType) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mBodyTypes[mMapEntityToComponentIndex[bodyEntity]] = bodyType; +} + + } #endif diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 8e32e252..71cb745b 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -376,8 +376,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { Entity entity = mEntityManager.createEntity(); mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); - mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition(), - BodyType::DYNAMIC)); + mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition())); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, @@ -387,7 +386,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { CollisionBodyComponents::CollisionBodyComponent bodyComponent(rigidBody); mCollisionBodyComponents.addComponent(entity, false, bodyComponent); - RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody); + RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody, BodyType::DYNAMIC); mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent); // Add the rigid body to the physics world @@ -660,7 +659,8 @@ void DynamicsWorld::createIslands() { if (mDynamicsComponents.mIsAlreadyInIsland[b]) continue; // If the body is static, we go to the next body - if (mDynamicsComponents.mBodyTypes[b] == BodyType::STATIC) continue; + // TODO : Check if we still need this test if we loop over dynamicsComponents and static bodies are not part of them + if (mRigidBodyComponents.getBodyType(mDynamicsComponents.mBodies[b]) == BodyType::STATIC) continue; // Reset the stack of bodies to visit bodyEntityIndicesToVisit.clear(); @@ -771,7 +771,7 @@ void DynamicsWorld::createIslands() { // can also be included in the other islands for (uint j=0; j < mDynamicsComponents.getNbEnabledComponents(); j++) { - if (mDynamicsComponents.mBodyTypes[j] == BodyType::STATIC) { + if (mRigidBodyComponents.getBodyType(mDynamicsComponents.mBodies[j]) == BodyType::STATIC) { mDynamicsComponents.mIsAlreadyInIsland[j] = false; } } @@ -808,7 +808,7 @@ void DynamicsWorld::updateSleepingBodies() { RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); // Skip static bodies - if (mDynamicsComponents.getBodyType(body->getEntity()) == BodyType::STATIC) continue; + if (mRigidBodyComponents.getBodyType(bodyEntity) == BodyType::STATIC) continue; // If the body is velocity is large enough to stay awake if (mDynamicsComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare || From 6f9adc3a327c4b8a4b662933c19b6b6412d62d60 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 19 Jul 2019 21:57:17 +0200 Subject: [PATCH 073/197] Move attributes from RigidBodyComponents to DynamicsComponents --- src/body/RigidBody.cpp | 34 +++++++------- src/collision/CollisionDetection.cpp | 4 +- src/collision/CollisionDetection.h | 2 +- src/components/DynamicsComponents.cpp | 21 +-------- src/components/DynamicsComponents.h | 61 -------------------------- src/components/RigidBodyComponents.cpp | 19 +++++++- src/components/RigidBodyComponents.h | 60 +++++++++++++++++++++++++ src/constraint/BallAndSocketJoint.cpp | 1 + src/constraint/FixedJoint.cpp | 1 + src/constraint/HingeJoint.cpp | 1 + src/constraint/SliderJoint.cpp | 1 + src/engine/CollisionWorld.cpp | 2 +- src/engine/ContactSolver.cpp | 15 ++++--- src/engine/ContactSolver.h | 8 +++- src/engine/DynamicsWorld.cpp | 32 +++++++------- src/systems/BroadPhaseSystem.cpp | 9 ++-- src/systems/BroadPhaseSystem.h | 8 ++-- 17 files changed, 144 insertions(+), 135 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index b0fba2e1..98843732 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -86,8 +86,8 @@ void RigidBody::setType(BodyType type) { if (type == BodyType::STATIC) { // Reset the velocity to zero - mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); - mWorld.mDynamicsComponents.setAngularVelocity(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setAngularVelocity(mEntity, Vector3::zero()); } // If it is a static or a kinematic body @@ -295,11 +295,11 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * updatedCenterOfMassLocal); // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); - const Vector3& angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); - mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); @@ -536,7 +536,7 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::STATIC) return; // Update the linear velocity of the current body state - mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); // If the linear velocity is not zero, awake the body if (linearVelocity.lengthSquare() > decimal(0.0)) { @@ -559,7 +559,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::STATIC) return; // Set the angular velocity - mWorld.mDynamicsComponents.setAngularVelocity(mEntity, angularVelocity); + mWorld.mRigidBodyComponents.setAngularVelocity(mEntity, angularVelocity); // If the velocity is not zero, awake the body if (angularVelocity.lengthSquare() > decimal(0.0)) { @@ -584,11 +584,11 @@ void RigidBody::setTransform(const Transform& transform) { mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform * centerOfMassLocal); // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mDynamicsComponents.getLinearVelocity(mEntity); - const Vector3& angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); - mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); CollisionBody::setTransform(transform); @@ -695,10 +695,10 @@ void RigidBody::recomputeMassInformation() { updateInertiaTensorInverseWorld(); // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mDynamicsComponents.getLinearVelocity(mEntity); - Vector3 angularVelocity = mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); + Vector3 angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); linearVelocity += angularVelocity.cross(mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity) - oldCenterOfMass); - mWorld.mDynamicsComponents.setLinearVelocity(mEntity, linearVelocity); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); } // Return the linear velocity @@ -706,7 +706,7 @@ void RigidBody::recomputeMassInformation() { * @return The linear velocity vector of the body */ Vector3 RigidBody::getLinearVelocity() const { - return mWorld.mDynamicsComponents.getLinearVelocity(mEntity); + return mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); } // Return the angular velocity of the body @@ -714,7 +714,7 @@ Vector3 RigidBody::getLinearVelocity() const { * @return The angular velocity vector of the body */ Vector3 RigidBody::getAngularVelocity() const { - return mWorld.mDynamicsComponents.getAngularVelocity(mEntity); + return mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); } // Return true if the gravity needs to be applied to this rigid body @@ -777,8 +777,8 @@ void RigidBody::setIsSleeping(bool isSleeping) { if (isSleeping) { - mWorld.mDynamicsComponents.setLinearVelocity(mEntity, Vector3::zero()); - mWorld.mDynamicsComponents.setAngularVelocity(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setAngularVelocity(mEntity, Vector3::zero()); mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); } diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 490562ce..9c16ac02 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -53,11 +53,11 @@ using namespace std; // Constructor CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, - DynamicsComponents& dynamicsComponents, MemoryManager& memoryManager) + RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mOverlappingPairs(mMemoryManager.getPoolAllocator()), - mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, dynamicsComponents), + mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), // TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index 85930a78..dd91b296 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -270,7 +270,7 @@ class CollisionDetection { /// Constructor CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, - TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents, + TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager); /// Destructor diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp index a0705531..de9c78f5 100644 --- a/src/components/DynamicsComponents.cpp +++ b/src/components/DynamicsComponents.cpp @@ -32,11 +32,10 @@ // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; - // Constructor DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + sizeof(bool)) { @@ -59,9 +58,7 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { // New pointers to components data Entity* newBodies = static_cast(newBuffer); - Vector3* newLinearVelocities = reinterpret_cast(newBodies + nbComponentsToAllocate); - Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); - Vector3* newConstrainedLinearVelocities = reinterpret_cast(newAngularVelocities + nbComponentsToAllocate); + Vector3* newConstrainedLinearVelocities = reinterpret_cast(newBodies + nbComponentsToAllocate); Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); @@ -85,8 +82,6 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { // Copy component data from the previous buffer to the new one memcpy(newBodies, mBodies, mNbComponents * sizeof(Entity)); - memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); - memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); @@ -112,8 +107,6 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { mBuffer = newBuffer; mBodies = newBodies; - mLinearVelocities = newLinearVelocities; - mAngularVelocities = newAngularVelocities; mConstrainedLinearVelocities = newConstrainedLinearVelocities; mConstrainedAngularVelocities = newConstrainedAngularVelocities; mSplitLinearVelocities = newSplitLinearVelocities; @@ -144,8 +137,6 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const // Insert the new component data new (mBodies + index) Entity(bodyEntity); - new (mLinearVelocities + index) Vector3(0, 0, 0); - new (mAngularVelocities + index) Vector3(0, 0, 0); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); new (mSplitLinearVelocities + index) Vector3(0, 0, 0); @@ -182,8 +173,6 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) // Copy the data of the source component to the destination location new (mBodies + destIndex) Entity(mBodies[srcIndex]); - new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]); - new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); @@ -222,8 +211,6 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity entity1(mBodies[index1]); - Vector3 linearVelocity1(mLinearVelocities[index1]); - Vector3 angularVelocity1(mAngularVelocities[index1]); Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); @@ -250,8 +237,6 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { // Reconstruct component 1 at component 2 location new (mBodies + index2) Entity(entity1); - new (mLinearVelocities + index2) Vector3(linearVelocity1); - new (mAngularVelocities + index2) Vector3(angularVelocity1); new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); @@ -289,8 +274,6 @@ void DynamicsComponents::destroyComponent(uint32 index) { mMapEntityToComponentIndex.remove(mBodies[index]); mBodies[index].~Entity(); - mLinearVelocities[index].~Vector3(); - mAngularVelocities[index].~Vector3(); mConstrainedLinearVelocities[index].~Vector3(); mConstrainedAngularVelocities[index].~Vector3(); mSplitLinearVelocities[index].~Vector3(); diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h index f19df426..820d4c44 100644 --- a/src/components/DynamicsComponents.h +++ b/src/components/DynamicsComponents.h @@ -40,17 +40,6 @@ namespace reactphysics3d { class MemoryAllocator; class EntityManager; -/// Enumeration for the type of a body -/// STATIC : A static body has infinite mass, zero velocity but the position can be -/// changed manually. A static body does not collide with other static or kinematic bodies. -/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its -/// position is computed by the physics engine. A kinematic body does not collide with -/// other static or kinematic bodies. -/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its -/// position is determined by the physics engine. A dynamic body can collide with other -/// dynamic, static or kinematic bodies. -enum class BodyType {STATIC, KINEMATIC, DYNAMIC}; - // Class DynamicsComponents /** * This class represent the component of the ECS that contains the variables concerning dynamics @@ -66,12 +55,6 @@ class DynamicsComponents : public Components { /// Array of body entities of each component Entity* mBodies; - /// Array with the linear velocity of each component - Vector3* mLinearVelocities; - - /// Array with the angular velocity of each component - Vector3* mAngularVelocities; - /// Array with the constrained linear velocity of each component Vector3* mConstrainedLinearVelocities; @@ -165,12 +148,6 @@ class DynamicsComponents : public Components { /// Add a component void addComponent(Entity bodyEntity, bool isSleeping, const DynamicsComponent& component); - /// Return the linear velocity of an entity - const Vector3& getLinearVelocity(Entity bodyEntity) const; - - /// Return the angular velocity of an entity - const Vector3& getAngularVelocity(Entity bodyEntity) const; - /// Return the constrained linear velocity of an entity const Vector3& getConstrainedLinearVelocity(Entity bodyEntity) const; @@ -225,12 +202,6 @@ class DynamicsComponents : public Components { /// Return true if the entity is already in an island bool getIsAlreadyInIsland(Entity bodyEntity) const; - /// Set the linear velocity of an entity - void setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity); - - /// Set the angular velocity of an entity - void setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity); - /// Set the constrained linear velocity of an entity void setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity); @@ -296,38 +267,6 @@ class DynamicsComponents : public Components { friend class SliderJoint; }; -// Return the linear velocity of an entity -inline const Vector3& DynamicsComponents::getLinearVelocity(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the angular velocity of an entity -inline const Vector3 &DynamicsComponents::getAngularVelocity(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the linear velocity of an entity -inline void DynamicsComponents::setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = linearVelocity; -} - -// Set the angular velocity of an entity -inline void DynamicsComponents::setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = angularVelocity; -} - // Return the constrained linear velocity of an entity inline const Vector3& DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index b71b3ba2..dfa2fdbf 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -36,7 +36,8 @@ using namespace reactphysics3d; // Constructor RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(RigidBody*) + - sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(BodyType)) { + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(BodyType) + + sizeof(Vector3) + sizeof(Vector3)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -61,6 +62,8 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { bool* newIsSleeping = reinterpret_cast(newIsAllowedToSleep + nbComponentsToAllocate); decimal* newSleepTimes = reinterpret_cast(newIsSleeping + nbComponentsToAllocate); BodyType* newBodyTypes = reinterpret_cast(newSleepTimes + nbComponentsToAllocate); + Vector3* newLinearVelocities = reinterpret_cast(newBodyTypes + nbComponentsToAllocate); + Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -72,6 +75,8 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newIsSleeping, mIsSleeping, mNbComponents * sizeof(bool)); memcpy(newSleepTimes, mSleepTimes, mNbComponents * sizeof(bool)); memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType)); + memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -85,6 +90,8 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mSleepTimes = newSleepTimes; mNbAllocatedComponents = nbComponentsToAllocate; mBodyTypes = newBodyTypes; + mLinearVelocities = newLinearVelocities; + mAngularVelocities = newAngularVelocities; } // Add a component @@ -100,6 +107,8 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const mIsSleeping[index] = false; mSleepTimes[index] = decimal(0); mBodyTypes[index] = component.bodyType; + new (mLinearVelocities + index) Vector3(0, 0, 0); + new (mAngularVelocities + index) Vector3(0, 0, 0); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -123,6 +132,8 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex mIsSleeping[destIndex] = mIsSleeping[srcIndex]; mSleepTimes[destIndex] = mSleepTimes[srcIndex]; mBodyTypes[destIndex] = mBodyTypes[srcIndex]; + new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]); + new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -145,6 +156,8 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { bool isSleeping1 = mIsSleeping[index1]; decimal sleepTime1 = mSleepTimes[index1]; BodyType bodyType1 = mBodyTypes[index1]; + Vector3 linearVelocity1(mLinearVelocities[index1]); + Vector3 angularVelocity1(mAngularVelocities[index1]); // Destroy component 1 destroyComponent(index1); @@ -158,6 +171,8 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mIsSleeping[index2] = isSleeping1; mSleepTimes[index2] = sleepTime1; mBodyTypes[index2] = bodyType1; + new (mLinearVelocities + index2) Vector3(linearVelocity1); + new (mAngularVelocities + index2) Vector3(angularVelocity1); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); @@ -178,4 +193,6 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mBodiesEntities[index].~Entity(); mRigidBodies[index] = nullptr; + mLinearVelocities[index].~Vector3(); + mAngularVelocities[index].~Vector3(); } diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index df4641f2..1a69fcb8 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -41,6 +41,17 @@ class EntityManager; class RigidBody; enum class BodyType; +/// Enumeration for the type of a body +/// STATIC : A static body has infinite mass, zero velocity but the position can be +/// changed manually. A static body does not collide with other static or kinematic bodies. +/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its +/// position is computed by the physics engine. A kinematic body does not collide with +/// other static or kinematic bodies. +/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its +/// position is determined by the physics engine. A dynamic body can collide with other +/// dynamic, static or kinematic bodies. +enum class BodyType {STATIC, KINEMATIC, DYNAMIC}; + // Class RigidBodyComponents /** * This class represent the component of the ECS that contains data about a rigid body. @@ -70,6 +81,12 @@ class RigidBodyComponents : public Components { /// Array with the type of bodies (static, kinematic or dynamic) BodyType* mBodyTypes; + /// Array with the linear velocity of each component + Vector3* mLinearVelocities; + + /// Array with the angular velocity of each component + Vector3* mAngularVelocities; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -136,6 +153,17 @@ class RigidBodyComponents : public Components { /// Set the body type of a body void setBodyType(Entity bodyEntity, BodyType bodyType); + /// Return the linear velocity of an entity + const Vector3& getLinearVelocity(Entity bodyEntity) const; + + /// Set the linear velocity of an entity + void setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity); + + /// Return the angular velocity of an entity + const Vector3& getAngularVelocity(Entity bodyEntity) const; + + /// Set the angular velocity of an entity + void setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity); }; // Return a pointer to a body rigid @@ -210,6 +238,38 @@ inline void RigidBodyComponents::setBodyType(Entity bodyEntity, BodyType bodyTyp mBodyTypes[mMapEntityToComponentIndex[bodyEntity]] = bodyType; } +// Return the linear velocity of an entity +inline const Vector3& RigidBodyComponents::getLinearVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the angular velocity of an entity +inline const Vector3& RigidBodyComponents::getAngularVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the linear velocity of an entity +inline void RigidBodyComponents::setLinearVelocity(Entity bodyEntity, const Vector3& linearVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = linearVelocity; +} + +// Set the angular velocity of an entity +inline void RigidBodyComponents::setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = angularVelocity; +} + } diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index b795560d..40c21b9a 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -27,6 +27,7 @@ #include "BallAndSocketJoint.h" #include "engine/ConstraintSolver.h" #include "components/DynamicsComponents.h" +#include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index a195e974..c67b9862 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -27,6 +27,7 @@ #include "FixedJoint.h" #include "engine/ConstraintSolver.h" #include "components/DynamicsComponents.h" +#include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index a1651027..29f29879 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -27,6 +27,7 @@ #include "HingeJoint.h" #include "engine/ConstraintSolver.h" #include "components/DynamicsComponents.h" +#include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 48be0755..e782d489 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -27,6 +27,7 @@ #include "SliderJoint.h" #include "engine/ConstraintSolver.h" #include "components/DynamicsComponents.h" +#include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 5bc953e5..fdd15bf4 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -41,7 +41,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mDynamicsComponents(mMemoryManager.getBaseAllocator()), - mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mDynamicsComponents, mMemoryManager), + mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index d4f1e45f..acb7a8b2 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -44,12 +44,13 @@ const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2); const decimal ContactSolver::SLOP = decimal(0.01); // Constructor -ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents, +ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, + RigidBodyComponents& rigidBodyComponents, DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr), mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), - mDynamicsComponents(dynamicsComponents), mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), - mWorldSettings(worldSettings) { + mRigidBodyComponents(rigidBodyComponents), mDynamicsComponents(dynamicsComponents), + mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -152,10 +153,10 @@ void ContactSolver::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero(); // Get the velocities of the bodies - const Vector3& v1 = mDynamicsComponents.getLinearVelocity(externalManifold.bodyEntity1); - const Vector3& w1 = mDynamicsComponents.getAngularVelocity(externalManifold.bodyEntity1); - const Vector3& v2 = mDynamicsComponents.getLinearVelocity(externalManifold.bodyEntity2); - const Vector3& w2 = mDynamicsComponents.getAngularVelocity(externalManifold.bodyEntity2); + const Vector3& v1 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity1); + const Vector3& w1 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity1); + const Vector3& v2 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity2); + const Vector3& w2 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity2); // For each contact point of the contact manifold assert(externalManifold.getNbContactPoints() > 0); diff --git a/src/engine/ContactSolver.h b/src/engine/ContactSolver.h index 245dac07..e50a4684 100644 --- a/src/engine/ContactSolver.h +++ b/src/engine/ContactSolver.h @@ -45,6 +45,7 @@ class Island; class RigidBody; class CollisionBodyComponents; class DynamicsComponents; +class RigidBodyComponents; class ProxyShapeComponents; // Class Contact Solver @@ -312,6 +313,9 @@ class ContactSolver { /// Reference to the body components CollisionBodyComponents& mBodyComponents; + /// Reference to the dynamics components + RigidBodyComponents& mRigidBodyComponents; + /// Reference to the dynamics components DynamicsComponents& mDynamicsComponents; @@ -360,8 +364,8 @@ class ContactSolver { /// Constructor ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, - DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents, - const WorldSettings& worldSettings); + RigidBodyComponents& rigidBodyComponents, DynamicsComponents &dynamicsComponents, + ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings); /// Destructor ~ContactSolver() = default; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 71cb745b..29ed2f6d 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -50,7 +50,8 @@ using namespace std; DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : CollisionWorld(worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), - mContactSolver(mMemoryManager, mIslands, mCollisionBodyComponents, mDynamicsComponents, mProxyShapesComponents, mConfig), + mContactSolver(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mDynamicsComponents, + mProxyShapesComponents, mConfig), mConstraintSolver(mIslands, mDynamicsComponents), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), @@ -200,8 +201,8 @@ void DynamicsWorld::updateBodiesState() { for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { // Update the linear and angular velocity of the body - mDynamicsComponents.mLinearVelocities[i] = mDynamicsComponents.mConstrainedLinearVelocities[i]; - mDynamicsComponents.mAngularVelocities[i] = mDynamicsComponents.mConstrainedAngularVelocities[i]; + mRigidBodyComponents.setLinearVelocity(mDynamicsComponents.mBodies[i], mDynamicsComponents.mConstrainedLinearVelocities[i]); + mRigidBodyComponents.setAngularVelocity(mDynamicsComponents.mBodies[i], mDynamicsComponents.mConstrainedAngularVelocities[i]); // Update the position of the center of mass of the body mDynamicsComponents.mCentersOfMassWorld[i] = mDynamicsComponents.mConstrainedPositions[i]; @@ -259,11 +260,14 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { assert(mDynamicsComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0)); assert(mDynamicsComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0)); + const Vector3& linearVelocity = mRigidBodyComponents.getLinearVelocity(mDynamicsComponents.mBodies[i]); + const Vector3& angularVelocity = mRigidBodyComponents.getAngularVelocity(mDynamicsComponents.mBodies[i]); + // Integrate the external force to get the new velocity of the body - mDynamicsComponents.mConstrainedLinearVelocities[i] = mDynamicsComponents.mLinearVelocities[i] + mTimeStep * + mDynamicsComponents.mConstrainedLinearVelocities[i] = linearVelocity + mTimeStep * mDynamicsComponents.mInverseMasses[i] * mDynamicsComponents.mExternalForces[i]; - mDynamicsComponents.mConstrainedAngularVelocities[i] = mDynamicsComponents.mAngularVelocities[i] + - mTimeStep * mDynamicsComponents.mInverseInertiaTensorsWorld[i] * mDynamicsComponents.mExternalTorques[i]; + mDynamicsComponents.mConstrainedAngularVelocities[i] = angularVelocity + mTimeStep * + mDynamicsComponents.mInverseInertiaTensorsWorld[i] * mDynamicsComponents.mExternalTorques[i]; } // Apply gravity force @@ -805,26 +809,24 @@ void DynamicsWorld::updateSleepingBodies() { const Entity bodyEntity = mIslands.bodyEntities[i][b]; - RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); - // Skip static bodies if (mRigidBodyComponents.getBodyType(bodyEntity) == BodyType::STATIC) continue; // If the body is velocity is large enough to stay awake - if (mDynamicsComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare || - mDynamicsComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare || - !mRigidBodyComponents.getIsAllowedToSleep(body->getEntity())) { + if (mRigidBodyComponents.getLinearVelocity(bodyEntity).lengthSquare() > sleepLinearVelocitySquare || + mRigidBodyComponents.getAngularVelocity(bodyEntity).lengthSquare() > sleepAngularVelocitySquare || + !mRigidBodyComponents.getIsAllowedToSleep(bodyEntity)) { // Reset the sleep time of the body - mRigidBodyComponents.setSleepTime(body->getEntity(), decimal(0.0)); + mRigidBodyComponents.setSleepTime(bodyEntity, decimal(0.0)); minSleepTime = decimal(0.0); } else { // If the body velocity is below the sleeping velocity threshold // Increase the sleep time - decimal sleepTime = mRigidBodyComponents.getSleepTime(body->getEntity()); - mRigidBodyComponents.setSleepTime(body->getEntity(), sleepTime + mTimeStep); - sleepTime = mRigidBodyComponents.getSleepTime(body->getEntity()); + decimal sleepTime = mRigidBodyComponents.getSleepTime(bodyEntity); + mRigidBodyComponents.setSleepTime(bodyEntity, sleepTime + mTimeStep); + sleepTime = mRigidBodyComponents.getSleepTime(bodyEntity); if (sleepTime < minSleepTime) { minSleepTime = sleepTime; } diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 3b7ec9dc..e9374b0a 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -36,11 +36,10 @@ using namespace reactphysics3d; // Constructor BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, - TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents) + TransformComponents& transformComponents, RigidBodyComponents &rigidBodyComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), mProxyShapesComponents(proxyShapesComponents), mTransformsComponents(transformComponents), - mDynamicsComponents(dynamicsComponents), - mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), + mRigidBodyComponents(rigidBodyComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { #ifdef IS_PROFILING_ACTIVE @@ -175,10 +174,10 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end // If there is a dynamics component for the current entity Vector3 displacement(0, 0, 0); - if (mDynamicsComponents.hasComponent(bodyEntity)) { + if (mRigidBodyComponents.hasComponent(bodyEntity)) { // Get the linear velocity from the dynamics component - const Vector3& linearVelocity = mDynamicsComponents.getLinearVelocity(bodyEntity); + const Vector3& linearVelocity = mRigidBodyComponents.getLinearVelocity(bodyEntity); // TODO : Use body linear velocity and compute displacement displacement = timeStep * linearVelocity; diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 7931da92..abcc7490 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -32,7 +32,7 @@ #include "containers/Set.h" #include "components/ProxyShapeComponents.h" #include "components/TransformComponents.h" -#include "components/DynamicsComponents.h" +#include "components/RigidBodyComponents.h" #include /// Namespace ReactPhysics3D @@ -120,8 +120,8 @@ class BroadPhaseSystem { /// Reference to the transform components TransformComponents& mTransformsComponents; - /// Reference to the dynamics components - DynamicsComponents& mDynamicsComponents; + /// Reference to the rigid body components + RigidBodyComponents& mRigidBodyComponents; /// Set with the broad-phase IDs of all collision shapes that have moved (or have been /// created) during the last simulation step. Those are the shapes that need to be tested @@ -151,7 +151,7 @@ class BroadPhaseSystem { /// Constructor BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, - TransformComponents& transformComponents, DynamicsComponents& dynamicsComponents); + TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents); /// Destructor ~BroadPhaseSystem() = default; From 3d09a28dd12368fdbf197912bee6f2c409c42d1f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 21 Jul 2019 22:36:30 +0200 Subject: [PATCH 074/197] Remove DynamicsComponents --- CMakeLists.txt | 2 - src/body/RigidBody.cpp | 135 +++--- src/body/RigidBody.h | 2 +- src/components/DynamicsComponents.cpp | 289 ------------- src/components/DynamicsComponents.h | 560 ------------------------- src/components/RigidBodyComponents.cpp | 146 ++++++- src/components/RigidBodyComponents.h | 463 +++++++++++++++++++- src/constraint/BallAndSocketJoint.cpp | 61 ++- src/constraint/FixedJoint.cpp | 61 ++- src/constraint/HingeJoint.cpp | 65 ++- src/constraint/SliderJoint.cpp | 69 ++- src/engine/CollisionWorld.cpp | 7 +- src/engine/CollisionWorld.h | 4 - src/engine/ConstraintSolver.cpp | 4 +- src/engine/ConstraintSolver.h | 11 +- src/engine/ContactSolver.cpp | 184 ++++---- src/engine/ContactSolver.h | 7 +- src/engine/DynamicsWorld.cpp | 131 +++--- src/engine/DynamicsWorld.h | 7 +- 19 files changed, 975 insertions(+), 1233 deletions(-) delete mode 100644 src/components/DynamicsComponents.cpp delete mode 100644 src/components/DynamicsComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index dce9b270..9c0a8403 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -145,7 +145,6 @@ SET (REACTPHYSICS3D_HEADERS "src/components/RigidBodyComponents.h" "src/components/TransformComponents.h" "src/components/ProxyShapeComponents.h" - "src/components/DynamicsComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -237,7 +236,6 @@ SET (REACTPHYSICS3D_SOURCES "src/components/RigidBodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapeComponents.cpp" - "src/components/DynamicsComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 98843732..2799758d 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -39,15 +39,10 @@ using namespace reactphysics3d; * @param world The world where the body has been added * @param id The ID of the body */ -RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, Entity entity) +RigidBody::RigidBody(CollisionWorld& world, Entity entity) : CollisionBody(world, entity), mMaterial(world.mConfig), mJointsList(nullptr), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { - // Compute the inverse mass - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); - - // Update the world inverse inertia tensor - updateInertiaTensorInverseWorld(); } // Destructor @@ -94,15 +89,15 @@ void RigidBody::setType(BodyType type) { if (type == BodyType::STATIC || type == BodyType::KINEMATIC) { // Reset the inverse mass and inverse inertia tensor to zero - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0)); - mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0)); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + mWorld.mRigidBodyComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); } else { // If it is a dynamic body - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); if (mIsInertiaTensorSetByUser) { - mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); } } @@ -117,8 +112,8 @@ void RigidBody::setType(BodyType type) { askForBroadPhaseCollisionCheck(); // Reset the force and torque on the body - mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); - mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3::zero()); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set type=" + @@ -127,7 +122,7 @@ void RigidBody::setType(BodyType type) { // Get the inverse local inertia tensor of the body (in body coordinates) const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { - return mWorld.mDynamicsComponents.getInertiaTensorLocalInverse(mEntity); + return mWorld.mRigidBodyComponents.getInertiaTensorLocalInverse(mEntity); } // Return the inverse of the inertia tensor in world coordinates. @@ -143,7 +138,7 @@ const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { // Compute and return the inertia tensor in world coordinates - return mWorld.mDynamicsComponents.getInertiaTensorWorldInverse(mEntity); + return mWorld.mRigidBodyComponents.getInertiaTensorWorldInverse(mEntity); } // Method that return the mass of the body @@ -151,7 +146,7 @@ Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { * @return The mass (in kilograms) of the body */ decimal RigidBody::getMass() const { - return mWorld.mDynamicsComponents.getInitMass(mEntity); + return mWorld.mRigidBodyComponents.getInitMass(mEntity); } // Apply an external force to the body at a given point (in world-space coordinates). @@ -176,13 +171,13 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) { } // Add the force - const Vector3& externalForce = mWorld.mDynamicsComponents.getExternalForce(mEntity); - mWorld.mDynamicsComponents.setExternalForce(mEntity, externalForce + force); + const Vector3& externalForce = mWorld.mRigidBodyComponents.getExternalForce(mEntity); + mWorld.mRigidBodyComponents.setExternalForce(mEntity, externalForce + force); // Add the torque - const Vector3& externalTorque = mWorld.mDynamicsComponents.getExternalTorque(mEntity); - const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); - mWorld.mDynamicsComponents.setExternalTorque(mEntity, externalTorque + (point - centerOfMassWorld).cross(force)); + const Vector3& externalTorque = mWorld.mRigidBodyComponents.getExternalTorque(mEntity); + const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); + mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + (point - centerOfMassWorld).cross(force)); } // Set the local inertia tensor of the body (in local-space coordinates) @@ -200,7 +195,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor - mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); @@ -228,8 +223,8 @@ void RigidBody::applyForceToCenterOfMass(const Vector3& force) { } // Add the force - const Vector3& externalForce = mWorld.mDynamicsComponents.getExternalForce(mEntity); - mWorld.mDynamicsComponents.setExternalForce(mEntity, externalForce + force); + const Vector3& externalForce = mWorld.mRigidBodyComponents.getExternalForce(mEntity); + mWorld.mRigidBodyComponents.setExternalForce(mEntity, externalForce + force); } // Return the linear velocity damping factor @@ -237,7 +232,7 @@ void RigidBody::applyForceToCenterOfMass(const Vector3& force) { * @return The linear damping factor of this body */ decimal RigidBody::getLinearDamping() const { - return mWorld.mDynamicsComponents.getLinearDamping(mEntity); + return mWorld.mRigidBodyComponents.getLinearDamping(mEntity); } // Return the angular velocity damping factor @@ -245,7 +240,7 @@ decimal RigidBody::getLinearDamping() const { * @return The angular damping factor of this body */ decimal RigidBody::getAngularDamping() const { - return mWorld.mDynamicsComponents.getAngularDamping(mEntity); + return mWorld.mRigidBodyComponents.getAngularDamping(mEntity); } // Set the inverse local inertia tensor of the body (in local-space coordinates) @@ -263,7 +258,7 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; // Compute the inverse local inertia tensor - mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); // Update the world inverse inertia tensor updateInertiaTensorInverseWorld(); @@ -287,17 +282,17 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mIsCenterOfMassSetByUser = true; - const Vector3 oldCenterOfMass = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); - mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); + const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); + mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); // Compute the center of mass in world-space coordinates - const Vector3& updatedCenterOfMassLocal = mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); - mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * updatedCenterOfMassLocal); + const Vector3& updatedCenterOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * updatedCenterOfMassLocal); // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); - const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); @@ -313,14 +308,14 @@ void RigidBody::setMass(decimal mass) { if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; - mWorld.mDynamicsComponents.setInitMass(mEntity, mass); + mWorld.mRigidBodyComponents.setInitMass(mEntity, mass); - if (mWorld.mDynamicsComponents.getInitMass(mEntity) > decimal(0.0)) { - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); + if (mWorld.mRigidBodyComponents.getInitMass(mEntity) > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); } else { - mWorld.mDynamicsComponents.setInitMass(mEntity, decimal(1.0)); - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0)); + mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(1.0)); + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0)); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, @@ -368,8 +363,8 @@ void RigidBody::updateInertiaTensorInverseWorld() { // TODO : Make sure we do this in a system Matrix3x3 orientation = mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getMatrix(); - const Matrix3x3& inverseInertiaLocalTensor = mWorld.mDynamicsComponents.getInertiaTensorLocalInverse(mEntity); - mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, orientation * inverseInertiaLocalTensor * orientation.getTranspose()); + const Matrix3x3& inverseInertiaLocalTensor = mWorld.mRigidBodyComponents.getInertiaTensorLocalInverse(mEntity); + mWorld.mRigidBodyComponents.setInverseInertiaTensorWorld(mEntity, orientation * inverseInertiaLocalTensor * orientation.getTranspose()); } // Add a collision shape to the body. @@ -470,7 +465,7 @@ void RigidBody::removeCollisionShape(ProxyShape* proxyShape) { * @param isEnabled True if you want the gravity to be applied to this body */ void RigidBody::enableGravity(bool isEnabled) { - mWorld.mDynamicsComponents.setIsGravityEnabled(mEntity, isEnabled); + mWorld.mRigidBodyComponents.setIsGravityEnabled(mEntity, isEnabled); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isGravityEnabled=" + @@ -484,7 +479,7 @@ void RigidBody::enableGravity(bool isEnabled) { */ void RigidBody::setLinearDamping(decimal linearDamping) { assert(linearDamping >= decimal(0.0)); - mWorld.mDynamicsComponents.setLinearDamping(mEntity, linearDamping); + mWorld.mRigidBodyComponents.setLinearDamping(mEntity, linearDamping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set linearDamping=" + std::to_string(linearDamping)); @@ -497,7 +492,7 @@ void RigidBody::setLinearDamping(decimal linearDamping) { */ void RigidBody::setAngularDamping(decimal angularDamping) { assert(angularDamping >= decimal(0.0)); - mWorld.mDynamicsComponents.setAngularDamping(mEntity, angularDamping); + mWorld.mRigidBodyComponents.setAngularDamping(mEntity, angularDamping); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping)); @@ -510,8 +505,8 @@ void RigidBody::updateTransformWithCenterOfMass() { // Translate the body according to the translation of the center of mass position Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); - const Vector3& centerOfMassLocal = mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); + const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); + const Vector3& centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); } @@ -577,16 +572,16 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { */ void RigidBody::setTransform(const Transform& transform) { - const Vector3 oldCenterOfMass = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); // Compute the new center of mass in world-space coordinates - const Vector3& centerOfMassLocal = mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); - mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform * centerOfMassLocal); + const Vector3& centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform * centerOfMassLocal); // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); - const Vector3& centerOfMassWorld = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); @@ -606,11 +601,11 @@ void RigidBody::setTransform(const Transform& transform) { // the collision shapes attached to the body. void RigidBody::recomputeMassInformation() { - mWorld.mDynamicsComponents.setInitMass(mEntity, decimal(0.0)); - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(0.0)); - if (!mIsInertiaTensorSetByUser) mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - if (!mIsInertiaTensorSetByUser) mWorld.mDynamicsComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); - if (!mIsCenterOfMassSetByUser) mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(0.0)); + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + if (!mIsInertiaTensorSetByUser) mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + if (!mIsInertiaTensorSetByUser) mWorld.mRigidBodyComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); + if (!mIsCenterOfMassSetByUser) mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, Vector3::zero()); Matrix3x3 inertiaTensorLocal; inertiaTensorLocal.setToZero(); @@ -619,7 +614,7 @@ void RigidBody::recomputeMassInformation() { // If it is a STATIC or a KINEMATIC body BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); if (type == BodyType::STATIC || type == BodyType::KINEMATIC) { - mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); return; } @@ -629,30 +624,30 @@ void RigidBody::recomputeMassInformation() { const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - mWorld.mDynamicsComponents.setInitMass(mEntity, mWorld.mDynamicsComponents.getInitMass(mEntity) + proxyShape->getMass()); + mWorld.mRigidBodyComponents.setInitMass(mEntity, mWorld.mRigidBodyComponents.getInitMass(mEntity) + proxyShape->getMass()); if (!mIsCenterOfMassSetByUser) { - mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity) + + mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) + proxyShape->getLocalToBodyTransform().getPosition() * proxyShape->getMass()); } } - if (mWorld.mDynamicsComponents.getInitMass(mEntity) > decimal(0.0)) { - mWorld.mDynamicsComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mDynamicsComponents.getInitMass(mEntity)); + if (mWorld.mRigidBodyComponents.getInitMass(mEntity) > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); } else { - mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); return; } // Compute the center of mass - const Vector3 oldCenterOfMass = mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity); + const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); if (!mIsCenterOfMassSetByUser) { - mWorld.mDynamicsComponents.setCenterOfMassLocal(mEntity, mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity) * mWorld.mDynamicsComponents.getMassInverse(mEntity)); + mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) * mWorld.mRigidBodyComponents.getMassInverse(mEntity)); } - mWorld.mDynamicsComponents.setCenterOfMassWorld(mEntity, transform * mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity)); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform * mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity)); if (!mIsInertiaTensorSetByUser) { @@ -673,7 +668,7 @@ void RigidBody::recomputeMassInformation() { // Use the parallel axis theorem to convert the inertia tensor w.r.t the collision shape // center into a inertia tensor w.r.t to the body origin. - Vector3 offset = shapeTransform.getPosition() - mWorld.mDynamicsComponents.getCenterOfMassLocal(mEntity); + Vector3 offset = shapeTransform.getPosition() - mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); decimal offsetSquare = offset.lengthSquare(); Matrix3x3 offsetMatrix; offsetMatrix[0].setAllValues(offsetSquare, decimal(0.0), decimal(0.0)); @@ -688,7 +683,7 @@ void RigidBody::recomputeMassInformation() { } // Compute the local inverse inertia tensor - mWorld.mDynamicsComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); } // Update the world inverse inertia tensor @@ -697,7 +692,7 @@ void RigidBody::recomputeMassInformation() { // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); Vector3 angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); - linearVelocity += angularVelocity.cross(mWorld.mDynamicsComponents.getCenterOfMassWorld(mEntity) - oldCenterOfMass); + linearVelocity += angularVelocity.cross(mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity) - oldCenterOfMass); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); } @@ -722,7 +717,7 @@ Vector3 RigidBody::getAngularVelocity() const { * @return True if the gravity is applied to the body */ bool RigidBody::isGravityEnabled() const { - return mWorld.mDynamicsComponents.getIsGravityEnabled(mEntity); + return mWorld.mRigidBodyComponents.getIsGravityEnabled(mEntity); } // Apply an external torque to the body. @@ -744,8 +739,8 @@ void RigidBody::applyTorque(const Vector3& torque) { } // Add the torque - const Vector3& externalTorque = mWorld.mDynamicsComponents.getExternalTorque(mEntity); - mWorld.mDynamicsComponents.setExternalTorque(mEntity, externalTorque + torque); + const Vector3& externalTorque = mWorld.mRigidBodyComponents.getExternalTorque(mEntity); + mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + torque); } // Set the variable to know whether or not the body is sleeping @@ -779,8 +774,8 @@ void RigidBody::setIsSleeping(bool isSleeping) { mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, Vector3::zero()); mWorld.mRigidBodyComponents.setAngularVelocity(mEntity, Vector3::zero()); - mWorld.mDynamicsComponents.setExternalForce(mEntity, Vector3::zero()); - mWorld.mDynamicsComponents.setExternalTorque(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3::zero()); + mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3::zero()); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 0a9c45c9..f676755a 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -90,7 +90,7 @@ class RigidBody : public CollisionBody { // -------------------- Methods -------------------- // /// Constructor - RigidBody(const Transform& transform, CollisionWorld& world, Entity entity); + RigidBody(CollisionWorld& world, Entity entity); /// Destructor virtual ~RigidBody() override; diff --git a/src/components/DynamicsComponents.cpp b/src/components/DynamicsComponents.cpp deleted file mode 100644 index de9c78f5..00000000 --- a/src/components/DynamicsComponents.cpp +++ /dev/null @@ -1,289 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "DynamicsComponents.h" -#include "engine/EntityManager.h" -#include -#include - -// We want to use the ReactPhysics3D namespace -using namespace reactphysics3d; - -// Constructor -DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + - sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + - sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + - sizeof(bool)) { - - // Allocate memory for the components data - allocate(INIT_NB_ALLOCATED_COMPONENTS); -} - -// Allocate memory for a given number of components -void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) { - - assert(nbComponentsToAllocate > mNbAllocatedComponents); - - // Size for the data of a single component (in bytes) - const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; - - // Allocate memory - void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); - assert(newBuffer != nullptr); - - // New pointers to components data - Entity* newBodies = static_cast(newBuffer); - Vector3* newConstrainedLinearVelocities = reinterpret_cast(newBodies + nbComponentsToAllocate); - Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); - Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); - Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); - Vector3* newExternalForces = reinterpret_cast(newSplitAngularVelocities + nbComponentsToAllocate); - Vector3* newExternalTorques = reinterpret_cast(newExternalForces + nbComponentsToAllocate); - decimal* newLinearDampings = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); - decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); - decimal* newInitMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); - decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); - Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); - Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); - Vector3* newConstrainedPositions = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); - Quaternion* newConstrainedOrientations = reinterpret_cast(newConstrainedPositions + nbComponentsToAllocate); - Vector3* newCentersOfMassLocal = reinterpret_cast(newConstrainedOrientations + nbComponentsToAllocate); - Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); - bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); - bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); - - // If there was already components before - if (mNbComponents > 0) { - - // Copy component data from the previous buffer to the new one - memcpy(newBodies, mBodies, mNbComponents * sizeof(Entity)); - memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); - memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); - memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); - memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3)); - memcpy(newExternalForces, mExternalForces, mNbComponents * sizeof(Vector3)); - memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3)); - memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal)); - memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); - memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal)); - memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); - memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); - memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); - memcpy(newConstrainedPositions, mConstrainedPositions, mNbComponents * sizeof(Vector3)); - memcpy(newConstrainedOrientations, mConstrainedOrientations, mNbComponents * sizeof(Quaternion)); - memcpy(newCentersOfMassLocal, mCentersOfMassLocal, mNbComponents * sizeof(Vector3)); - memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); - memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); - memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); - - // Deallocate previous memory - mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); - } - - mBuffer = newBuffer; - mBodies = newBodies; - mConstrainedLinearVelocities = newConstrainedLinearVelocities; - mConstrainedAngularVelocities = newConstrainedAngularVelocities; - mSplitLinearVelocities = newSplitLinearVelocities; - mSplitAngularVelocities = newSplitAngularVelocities; - mExternalForces = newExternalForces; - mExternalTorques = newExternalTorques; - mLinearDampings = newLinearDampings; - mAngularDampings = newAngularDampings; - mInitMasses = newInitMasses; - mInverseMasses = newInverseMasses; - mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; - mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; - mConstrainedPositions = newConstrainedPositions; - mConstrainedOrientations = newConstrainedOrientations; - mCentersOfMassLocal = newCentersOfMassLocal; - mCentersOfMassWorld = newCentersOfMassWorld; - mIsGravityEnabled = newIsGravityEnabled; - mIsAlreadyInIsland = newIsAlreadyInIsland; - - mNbAllocatedComponents = nbComponentsToAllocate; -} - -// Add a component -void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const DynamicsComponent& component) { - - // Prepare to add new component (allocate memory if necessary and compute insertion index) - uint32 index = prepareAddComponent(isSleeping); - - // Insert the new component data - new (mBodies + index) Entity(bodyEntity); - new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); - new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); - new (mSplitLinearVelocities + index) Vector3(0, 0, 0); - new (mSplitAngularVelocities + index) Vector3(0, 0, 0); - new (mExternalForces + index) Vector3(0, 0, 0); - new (mExternalTorques + index) Vector3(0, 0, 0); - mLinearDampings[index] = decimal(0.0); - mAngularDampings[index] = decimal(0.0); - mInitMasses[index] = decimal(1.0); - mInverseMasses[index] = decimal(1.0); - new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); - new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); - new (mConstrainedPositions + index) Vector3(0, 0, 0); - new (mConstrainedOrientations + index) Quaternion(0, 0, 0, 1); - new (mCentersOfMassLocal + index) Vector3(0, 0, 0); - new (mCentersOfMassWorld + index) Vector3(component.worldPosition); - mIsGravityEnabled[index] = true; - mIsAlreadyInIsland[index] = false; - - // Map the entity with the new component lookup index - mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); - - mNbComponents++; - - assert(mDisabledStartIndex <= mNbComponents); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - -// Move a component from a source to a destination index in the components array -// The destination location must contain a constructed object -void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { - - const Entity entity = mBodies[srcIndex]; - - // Copy the data of the source component to the destination location - new (mBodies + destIndex) Entity(mBodies[srcIndex]); - new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); - new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); - new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); - new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]); - new (mExternalForces + destIndex) Vector3(mExternalForces[srcIndex]); - new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]); - mLinearDampings[destIndex] = mLinearDampings[srcIndex]; - mAngularDampings[destIndex] = mAngularDampings[srcIndex]; - mInitMasses[destIndex] = mInitMasses[srcIndex]; - mInverseMasses[destIndex] = mInverseMasses[srcIndex]; - new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]); - new (mInverseInertiaTensorsWorld + destIndex) Matrix3x3(mInverseInertiaTensorsWorld[srcIndex]); - new (mConstrainedPositions + destIndex) Vector3(mConstrainedPositions[srcIndex]); - new (mConstrainedOrientations + destIndex) Quaternion(mConstrainedOrientations[srcIndex]); - new (mCentersOfMassLocal + destIndex) Vector3(mCentersOfMassLocal[srcIndex]); - new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); - mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; - mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; - - // Destroy the source component - destroyComponent(srcIndex); - - assert(!mMapEntityToComponentIndex.containsKey(entity)); - - // Update the entity to component index mapping - mMapEntityToComponentIndex.add(Pair(entity, destIndex)); - - assert(mMapEntityToComponentIndex[mBodies[destIndex]] == destIndex); -} - -// Swap two components in the array -void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) { - - assert(mMapEntityToComponentIndex[mBodies[index1]] == index1); - assert(mMapEntityToComponentIndex[mBodies[index2]] == index2); - - // Copy component 1 data - Entity entity1(mBodies[index1]); - Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); - Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); - Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); - Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]); - Vector3 externalForce1(mExternalForces[index1]); - Vector3 externalTorque1(mExternalTorques[index1]); - decimal linearDamping1 = mLinearDampings[index1]; - decimal angularDamping1 = mAngularDampings[index1]; - decimal initMass1 = mInitMasses[index1]; - decimal inverseMass1 = mInverseMasses[index1]; - Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; - Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; - Vector3 constrainedPosition1 = mConstrainedPositions[index1]; - Quaternion constrainedOrientation1 = mConstrainedOrientations[index1]; - Vector3 centerOfMassLocal1 = mCentersOfMassLocal[index1]; - Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; - bool isGravityEnabled1 = mIsGravityEnabled[index1]; - bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; - - // Destroy component 1 - destroyComponent(index1); - - moveComponentToIndex(index2, index1); - - // Reconstruct component 1 at component 2 location - new (mBodies + index2) Entity(entity1); - new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); - new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); - new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); - new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1); - new (mExternalForces + index2) Vector3(externalForce1); - new (mExternalTorques + index2) Vector3(externalTorque1); - mLinearDampings[index2] = linearDamping1; - mAngularDampings[index2] = angularDamping1; - mInitMasses[index2] = initMass1; - mInverseMasses[index2] = inverseMass1; - mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; - mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; - mConstrainedPositions[index2] = constrainedPosition1; - mConstrainedOrientations[index2] = constrainedOrientation1; - mCentersOfMassLocal[index2] = centerOfMassLocal1; - mCentersOfMassWorld[index2] = centerOfMassWorld1; - mIsGravityEnabled[index2] = isGravityEnabled1; - mIsAlreadyInIsland[index2] = isAlreadyInIsland1; - - // Update the entity to component index mapping - mMapEntityToComponentIndex.add(Pair(entity1, index2)); - - assert(mMapEntityToComponentIndex[mBodies[index1]] == index1); - assert(mMapEntityToComponentIndex[mBodies[index2]] == index2); - assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); -} - -// Destroy a component at a given index -void DynamicsComponents::destroyComponent(uint32 index) { - - Components::destroyComponent(index); - - assert(mMapEntityToComponentIndex[mBodies[index]] == index); - - mMapEntityToComponentIndex.remove(mBodies[index]); - - mBodies[index].~Entity(); - mConstrainedLinearVelocities[index].~Vector3(); - mConstrainedAngularVelocities[index].~Vector3(); - mSplitLinearVelocities[index].~Vector3(); - mSplitAngularVelocities[index].~Vector3(); - mExternalForces[index].~Vector3(); - mExternalTorques[index].~Vector3(); - mInverseInertiaTensorsLocal[index].~Matrix3x3(); - mInverseInertiaTensorsWorld[index].~Matrix3x3(); - mConstrainedPositions[index].~Vector3(); - mConstrainedOrientations[index].~Quaternion(); - mCentersOfMassLocal[index].~Vector3(); - mCentersOfMassWorld[index].~Vector3(); -} diff --git a/src/components/DynamicsComponents.h b/src/components/DynamicsComponents.h deleted file mode 100644 index 820d4c44..00000000 --- a/src/components/DynamicsComponents.h +++ /dev/null @@ -1,560 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_DYNAMICS_COMPONENTS_H -#define REACTPHYSICS3D_DYNAMICS_COMPONENTS_H - -// Libraries -#include "mathematics/Transform.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "mathematics/Matrix3x3.h" -#include "containers/Map.h" - -// ReactPhysics3D namespace -namespace reactphysics3d { - -// Class declarations -class MemoryAllocator; -class EntityManager; - -// Class DynamicsComponents -/** - * This class represent the component of the ECS that contains the variables concerning dynamics - * like velocities. A rigid body that is not static always has a dynamics component. A rigid body - * that is static does not have one because it is not simulated by dynamics. - */ -class DynamicsComponents : public Components { - - private: - - // -------------------- Attributes -------------------- // - - /// Array of body entities of each component - Entity* mBodies; - - /// Array with the constrained linear velocity of each component - Vector3* mConstrainedLinearVelocities; - - /// Array with the constrained angular velocity of each component - Vector3* mConstrainedAngularVelocities; - - /// Array with the split linear velocity of each component - Vector3* mSplitLinearVelocities; - - /// Array with the split angular velocity of each component - Vector3* mSplitAngularVelocities; - - /// Array with the external force of each component - Vector3* mExternalForces; - - /// Array with the external torque of each component - Vector3* mExternalTorques; - - /// Array with the linear damping factor of each component - decimal* mLinearDampings; - - /// Array with the angular damping factor of each component - decimal* mAngularDampings; - - /// Array with the initial mass of each component - decimal* mInitMasses; - - /// Array with the inverse mass of each component - decimal* mInverseMasses; - - /// Array with the inverse of the inertia tensor of each component - Matrix3x3* mInverseInertiaTensorsLocal; - - /// Array with the inverse of the world inertia tensor of each component - Matrix3x3* mInverseInertiaTensorsWorld; - - /// Array with the constrained position of each component (for position error correction) - Vector3* mConstrainedPositions; - - /// Array of constrained orientation for each component (for position error correction) - Quaternion* mConstrainedOrientations; - - /// Array of center of mass of each component (in local-space coordinates) - Vector3* mCentersOfMassLocal; - - /// Array of center of mass of each component (in world-space coordinates) - Vector3* mCentersOfMassWorld; - - /// True if the gravity needs to be applied to this component - bool* mIsGravityEnabled; - - /// Array with the boolean value to know if the body has already been added into an island - bool* mIsAlreadyInIsland; - - // -------------------- Methods -------------------- // - - /// Allocate memory for a given number of components - virtual void allocate(uint32 nbComponentsToAllocate) override; - - /// Destroy a component at a given index - virtual void destroyComponent(uint32 index) override; - - /// Move a component from a source to a destination index in the components array - virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; - - /// Swap two components in the array - virtual void swapComponents(uint32 index1, uint32 index2) override; - - public: - - /// Structure for the data of a transform component - struct DynamicsComponent { - - const Vector3& worldPosition; - - /// Constructor - DynamicsComponent(const Vector3& worldPosition) - : worldPosition(worldPosition) { - - } - }; - - // -------------------- Methods -------------------- // - - /// Constructor - DynamicsComponents(MemoryAllocator& allocator); - - /// Destructor - virtual ~DynamicsComponents() override = default; - - /// Add a component - void addComponent(Entity bodyEntity, bool isSleeping, const DynamicsComponent& component); - - /// Return the constrained linear velocity of an entity - const Vector3& getConstrainedLinearVelocity(Entity bodyEntity) const; - - /// Return the constrained angular velocity of an entity - const Vector3& getConstrainedAngularVelocity(Entity bodyEntity) const; - - /// Return the split linear velocity of an entity - const Vector3& getSplitLinearVelocity(Entity bodyEntity) const; - - /// Return the split angular velocity of an entity - const Vector3& getSplitAngularVelocity(Entity bodyEntity) const; - - /// Return the external force of an entity - const Vector3& getExternalForce(Entity bodyEntity) const; - - /// Return the external torque of an entity - const Vector3& getExternalTorque(Entity bodyEntity) const; - - /// Return the linear damping factor of an entity - decimal getLinearDamping(Entity bodyEntity) const; - - /// Return the angular damping factor of an entity - decimal getAngularDamping(Entity bodyEntity) const; - - /// Return the initial mass of an entity - decimal getInitMass(Entity bodyEntity) const; - - /// Return the mass inverse of an entity - decimal getMassInverse(Entity bodyEntity) const; - - /// Return the inverse local inertia tensor of an entity - const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity); - - /// Return the inverse world inertia tensor of an entity - const Matrix3x3& getInertiaTensorWorldInverse(Entity bodyEntity); - - /// Return the constrained position of an entity - const Vector3& getConstrainedPosition(Entity bodyEntity); - - /// Return the constrained orientation of an entity - const Quaternion& getConstrainedOrientation(Entity bodyEntity); - - /// Return the local center of mass of an entity - const Vector3& getCenterOfMassLocal(Entity bodyEntity); - - /// Return the world center of mass of an entity - const Vector3& getCenterOfMassWorld(Entity bodyEntity); - - /// Return true if gravity is enabled for this entity - bool getIsGravityEnabled(Entity bodyEntity) const; - - /// Return true if the entity is already in an island - bool getIsAlreadyInIsland(Entity bodyEntity) const; - - /// Set the constrained linear velocity of an entity - void setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity); - - /// Set the constrained angular velocity of an entity - void setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity); - - /// Set the split linear velocity of an entity - void setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity); - - /// Set the split angular velocity of an entity - void setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity); - - /// Set the external force of an entity - void setExternalForce(Entity bodyEntity, const Vector3& externalForce); - - /// Set the external force of an entity - void setExternalTorque(Entity bodyEntity, const Vector3& externalTorque); - - /// Set the linear damping factor of an entity - void setLinearDamping(Entity bodyEntity, decimal linearDamping); - - /// Set the angular damping factor of an entity - void setAngularDamping(Entity bodyEntity, decimal angularDamping); - - /// Set the initial mass of an entity - void setInitMass(Entity bodyEntity, decimal initMass); - - /// Set the inverse mass of an entity - void setMassInverse(Entity bodyEntity, decimal inverseMass); - - /// Set the inverse local inertia tensor of an entity - void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse); - - /// Set the inverse world inertia tensor of an entity - void setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse); - - /// Set the constrained position of an entity - void setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition); - - /// Set the constrained orientation of an entity - void setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation); - - /// Set the local center of mass of an entity - void setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal); - - /// Set the world center of mass of an entity - void setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld); - - /// Set the value to know if the gravity is enabled for this entity - void setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); - - /// Set the value to know if the entity is already in an island - void setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); - - // -------------------- Friendship -------------------- // - - friend class BroadPhaseSystem; - friend class DynamicsWorld; - friend class ContactSolver; - friend class BallAndSocketJoint; - friend class FixedJoint; - friend class HingeJoint; - friend class SliderJoint; -}; - -// Return the constrained linear velocity of an entity -inline const Vector3& DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the constrained angular velocity of an entity -inline const Vector3& DynamicsComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the split linear velocity of an entity -inline const Vector3& DynamicsComponents::getSplitLinearVelocity(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the split angular velocity of an entity -inline const Vector3& DynamicsComponents::getSplitAngularVelocity(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the external force of an entity -inline const Vector3& DynamicsComponents::getExternalForce(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mExternalForces[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the external torque of an entity -inline const Vector3& DynamicsComponents::getExternalTorque(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mExternalTorques[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the linear damping factor of an entity -inline decimal DynamicsComponents::getLinearDamping(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mLinearDampings[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the angular damping factor of an entity -inline decimal DynamicsComponents::getAngularDamping(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mAngularDampings[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the initial mass of an entity -inline decimal DynamicsComponents::getInitMass(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mInitMasses[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the inverse mass of an entity -inline decimal DynamicsComponents::getMassInverse(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mInverseMasses[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the inverse local inertia tensor of an entity -inline const Matrix3x3& DynamicsComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the inverse world inertia tensor of an entity -inline const Matrix3x3& DynamicsComponents::getInertiaTensorWorldInverse(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the constrained position of an entity -inline const Vector3& DynamicsComponents::getConstrainedPosition(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mConstrainedPositions[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the constrained orientation of an entity -inline const Quaternion& DynamicsComponents::getConstrainedOrientation(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the local center of mass of an entity -inline const Vector3& DynamicsComponents::getCenterOfMassLocal(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mCentersOfMassLocal[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return the world center of mass of an entity -inline const Vector3& DynamicsComponents::getCenterOfMassWorld(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mCentersOfMassWorld[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the constrained linear velocity of an entity -inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedLinearVelocity; -} - -// Set the constrained angular velocity of an entity -inline void DynamicsComponents::setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedAngularVelocity; -} - -// Set the split linear velocity of an entity -inline void DynamicsComponents::setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitLinearVelocity; -} - -// Set the split angular velocity of an entity -inline void DynamicsComponents::setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitAngularVelocity; -} - -// Set the external force of an entity -inline void DynamicsComponents::setExternalForce(Entity bodyEntity, const Vector3& externalForce) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mExternalForces[mMapEntityToComponentIndex[bodyEntity]] = externalForce; -} - -// Set the external force of an entity -inline void DynamicsComponents::setExternalTorque(Entity bodyEntity, const Vector3& externalTorque) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mExternalTorques[mMapEntityToComponentIndex[bodyEntity]] = externalTorque; -} - -// Set the linear damping factor of an entity -inline void DynamicsComponents::setLinearDamping(Entity bodyEntity, decimal linearDamping) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mLinearDampings[mMapEntityToComponentIndex[bodyEntity]] = linearDamping; -} - -// Set the angular damping factor of an entity -inline void DynamicsComponents::setAngularDamping(Entity bodyEntity, decimal angularDamping) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mAngularDampings[mMapEntityToComponentIndex[bodyEntity]] = angularDamping; -} - -// Set the initial mass of an entity -inline void DynamicsComponents::setInitMass(Entity bodyEntity, decimal initMass) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mInitMasses[mMapEntityToComponentIndex[bodyEntity]] = initMass; -} - -// Set the mass inverse of an entity -inline void DynamicsComponents::setMassInverse(Entity bodyEntity, decimal inverseMass) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mInverseMasses[mMapEntityToComponentIndex[bodyEntity]] = inverseMass; -} - -// Set the inverse local inertia tensor of an entity -inline void DynamicsComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorLocalInverse; -} - -// Set the inverse world inertia tensor of an entity -inline void DynamicsComponents::setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorWorldInverse; -} - -// Set the constrained position of an entity -inline void DynamicsComponents::setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mConstrainedPositions[mMapEntityToComponentIndex[bodyEntity]] = constrainedPosition; -} - -// Set the constrained orientation of an entity -inline void DynamicsComponents::setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]] = constrainedOrientation; -} - -// Set the local center of mass of an entity -inline void DynamicsComponents::setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mCentersOfMassLocal[mMapEntityToComponentIndex[bodyEntity]] = centerOfMassLocal; -} - -// Set the world center of mass of an entity -inline void DynamicsComponents::setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mCentersOfMassWorld[mMapEntityToComponentIndex[bodyEntity]] = centerOfMassWorld; -} - -// Return true if gravity is enabled for this entity -inline bool DynamicsComponents::getIsGravityEnabled(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Return true if the entity is already in an island -inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]]; -} - -// Set the value to know if the gravity is enabled for this entity -inline void DynamicsComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]] = isGravityEnabled; -} - -// Set the value to know if the entity is already in an island -inline void DynamicsComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; -} - -} - -#endif diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index dfa2fdbf..7ad67fb9 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -37,7 +37,13 @@ using namespace reactphysics3d; RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(RigidBody*) + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(BodyType) + - sizeof(Vector3) + sizeof(Vector3)) { + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(bool) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -64,6 +70,24 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { BodyType* newBodyTypes = reinterpret_cast(newSleepTimes + nbComponentsToAllocate); Vector3* newLinearVelocities = reinterpret_cast(newBodyTypes + nbComponentsToAllocate); Vector3* newAngularVelocities = reinterpret_cast(newLinearVelocities + nbComponentsToAllocate); + Vector3* newExternalForces = reinterpret_cast(newAngularVelocities + nbComponentsToAllocate); + Vector3* newExternalTorques = reinterpret_cast(newExternalForces + nbComponentsToAllocate); + decimal* newLinearDampings = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); + decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); + decimal* newInitMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); + decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); + Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); + Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); + Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); + Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); + Vector3* newConstrainedPositions = reinterpret_cast(newSplitAngularVelocities + nbComponentsToAllocate); + Quaternion* newConstrainedOrientations = reinterpret_cast(newConstrainedPositions + nbComponentsToAllocate); + Vector3* newCentersOfMassLocal = reinterpret_cast(newConstrainedOrientations + nbComponentsToAllocate); + Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); + bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -77,6 +101,24 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBodyTypes, mBodyTypes, mNbComponents * sizeof(BodyType)); memcpy(newLinearVelocities, mLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newExternalForces, mExternalForces, mNbComponents * sizeof(Vector3)); + memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3)); + memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal)); + memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); + memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal)); + memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); + memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); + memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); + memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3)); + memcpy(newConstrainedPositions, mConstrainedPositions, mNbComponents * sizeof(Vector3)); + memcpy(newConstrainedOrientations, mConstrainedOrientations, mNbComponents * sizeof(Quaternion)); + memcpy(newCentersOfMassLocal, mCentersOfMassLocal, mNbComponents * sizeof(Vector3)); + memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); + memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); + memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -92,6 +134,24 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mBodyTypes = newBodyTypes; mLinearVelocities = newLinearVelocities; mAngularVelocities = newAngularVelocities; + mExternalForces = newExternalForces; + mExternalTorques = newExternalTorques; + mLinearDampings = newLinearDampings; + mAngularDampings = newAngularDampings; + mInitMasses = newInitMasses; + mInverseMasses = newInverseMasses; + mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; + mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; + mConstrainedLinearVelocities = newConstrainedLinearVelocities; + mConstrainedAngularVelocities = newConstrainedAngularVelocities; + mSplitLinearVelocities = newSplitLinearVelocities; + mSplitAngularVelocities = newSplitAngularVelocities; + mConstrainedPositions = newConstrainedPositions; + mConstrainedOrientations = newConstrainedOrientations; + mCentersOfMassLocal = newCentersOfMassLocal; + mCentersOfMassWorld = newCentersOfMassWorld; + mIsGravityEnabled = newIsGravityEnabled; + mIsAlreadyInIsland = newIsAlreadyInIsland; } // Add a component @@ -109,6 +169,24 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const mBodyTypes[index] = component.bodyType; new (mLinearVelocities + index) Vector3(0, 0, 0); new (mAngularVelocities + index) Vector3(0, 0, 0); + new (mExternalForces + index) Vector3(0, 0, 0); + new (mExternalTorques + index) Vector3(0, 0, 0); + mLinearDampings[index] = decimal(0.0); + mAngularDampings[index] = decimal(0.0); + mInitMasses[index] = decimal(1.0); + mInverseMasses[index] = decimal(1.0); + new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); + new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); + new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); + new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); + new (mSplitLinearVelocities + index) Vector3(0, 0, 0); + new (mSplitAngularVelocities + index) Vector3(0, 0, 0); + new (mConstrainedPositions + index) Vector3(0, 0, 0); + new (mConstrainedOrientations + index) Quaternion(0, 0, 0, 1); + new (mCentersOfMassLocal + index) Vector3(0, 0, 0); + new (mCentersOfMassWorld + index) Vector3(component.worldPosition); + mIsGravityEnabled[index] = true; + mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -134,6 +212,24 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex mBodyTypes[destIndex] = mBodyTypes[srcIndex]; new (mLinearVelocities + destIndex) Vector3(mLinearVelocities[srcIndex]); new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]); + new (mExternalForces + destIndex) Vector3(mExternalForces[srcIndex]); + new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]); + mLinearDampings[destIndex] = mLinearDampings[srcIndex]; + mAngularDampings[destIndex] = mAngularDampings[srcIndex]; + mInitMasses[destIndex] = mInitMasses[srcIndex]; + mInverseMasses[destIndex] = mInverseMasses[srcIndex]; + new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]); + new (mInverseInertiaTensorsWorld + destIndex) Matrix3x3(mInverseInertiaTensorsWorld[srcIndex]); + new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); + new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); + new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); + new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]); + new (mConstrainedPositions + destIndex) Vector3(mConstrainedPositions[srcIndex]); + new (mConstrainedOrientations + destIndex) Quaternion(mConstrainedOrientations[srcIndex]); + new (mCentersOfMassLocal + destIndex) Vector3(mCentersOfMassLocal[srcIndex]); + new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); + mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; + mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -158,6 +254,24 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { BodyType bodyType1 = mBodyTypes[index1]; Vector3 linearVelocity1(mLinearVelocities[index1]); Vector3 angularVelocity1(mAngularVelocities[index1]); + Vector3 externalForce1(mExternalForces[index1]); + Vector3 externalTorque1(mExternalTorques[index1]); + decimal linearDamping1 = mLinearDampings[index1]; + decimal angularDamping1 = mAngularDampings[index1]; + decimal initMass1 = mInitMasses[index1]; + decimal inverseMass1 = mInverseMasses[index1]; + Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; + Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; + Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); + Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); + Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); + Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]); + Vector3 constrainedPosition1 = mConstrainedPositions[index1]; + Quaternion constrainedOrientation1 = mConstrainedOrientations[index1]; + Vector3 centerOfMassLocal1 = mCentersOfMassLocal[index1]; + Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; + bool isGravityEnabled1 = mIsGravityEnabled[index1]; + bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; // Destroy component 1 destroyComponent(index1); @@ -173,6 +287,24 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mBodyTypes[index2] = bodyType1; new (mLinearVelocities + index2) Vector3(linearVelocity1); new (mAngularVelocities + index2) Vector3(angularVelocity1); + new (mExternalForces + index2) Vector3(externalForce1); + new (mExternalTorques + index2) Vector3(externalTorque1); + mLinearDampings[index2] = linearDamping1; + mAngularDampings[index2] = angularDamping1; + mInitMasses[index2] = initMass1; + mInverseMasses[index2] = inverseMass1; + mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; + mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; + new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); + new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); + new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); + new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1); + mConstrainedPositions[index2] = constrainedPosition1; + mConstrainedOrientations[index2] = constrainedOrientation1; + mCentersOfMassLocal[index2] = centerOfMassLocal1; + mCentersOfMassWorld[index2] = centerOfMassWorld1; + mIsGravityEnabled[index2] = isGravityEnabled1; + mIsAlreadyInIsland[index2] = isAlreadyInIsland1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); @@ -195,4 +327,16 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mRigidBodies[index] = nullptr; mLinearVelocities[index].~Vector3(); mAngularVelocities[index].~Vector3(); + mExternalForces[index].~Vector3(); + mExternalTorques[index].~Vector3(); + mInverseInertiaTensorsLocal[index].~Matrix3x3(); + mInverseInertiaTensorsWorld[index].~Matrix3x3(); + mConstrainedLinearVelocities[index].~Vector3(); + mConstrainedAngularVelocities[index].~Vector3(); + mSplitLinearVelocities[index].~Vector3(); + mSplitAngularVelocities[index].~Vector3(); + mConstrainedPositions[index].~Vector3(); + mConstrainedOrientations[index].~Quaternion(); + mCentersOfMassLocal[index].~Vector3(); + mCentersOfMassWorld[index].~Vector3(); } diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 1a69fcb8..d7f4d174 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -28,6 +28,7 @@ // Libraries #include "mathematics/Transform.h" +#include "mathematics/Matrix3x3.h" #include "engine/Entity.h" #include "components/Components.h" #include "containers/Map.h" @@ -87,6 +88,60 @@ class RigidBodyComponents : public Components { /// Array with the angular velocity of each component Vector3* mAngularVelocities; + /// Array with the external force of each component + Vector3* mExternalForces; + + /// Array with the external torque of each component + Vector3* mExternalTorques; + + /// Array with the linear damping factor of each component + decimal* mLinearDampings; + + /// Array with the angular damping factor of each component + decimal* mAngularDampings; + + /// Array with the initial mass of each component + decimal* mInitMasses; + + /// Array with the inverse mass of each component + decimal* mInverseMasses; + + /// Array with the inverse of the inertia tensor of each component + Matrix3x3* mInverseInertiaTensorsLocal; + + /// Array with the inverse of the world inertia tensor of each component + Matrix3x3* mInverseInertiaTensorsWorld; + + /// Array with the constrained linear velocity of each component + Vector3* mConstrainedLinearVelocities; + + /// Array with the constrained angular velocity of each component + Vector3* mConstrainedAngularVelocities; + + /// Array with the split linear velocity of each component + Vector3* mSplitLinearVelocities; + + /// Array with the split angular velocity of each component + Vector3* mSplitAngularVelocities; + + /// Array with the constrained position of each component (for position error correction) + Vector3* mConstrainedPositions; + + /// Array of constrained orientation for each component (for position error correction) + Quaternion* mConstrainedOrientations; + + /// Array of center of mass of each component (in local-space coordinates) + Vector3* mCentersOfMassLocal; + + /// Array of center of mass of each component (in world-space coordinates) + Vector3* mCentersOfMassWorld; + + /// True if the gravity needs to be applied to this component + bool* mIsGravityEnabled; + + /// Array with the boolean value to know if the body has already been added into an island + bool* mIsAlreadyInIsland; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -108,9 +163,11 @@ class RigidBodyComponents : public Components { RigidBody* body; BodyType bodyType; + const Vector3& worldPosition; /// Constructor - RigidBodyComponent(RigidBody* body, BodyType bodyType) : body(body), bodyType(bodyType) { + RigidBodyComponent(RigidBody* body, BodyType bodyType, const Vector3& worldPosition) + : body(body), bodyType(bodyType), worldPosition(worldPosition) { } }; @@ -164,6 +221,123 @@ class RigidBodyComponents : public Components { /// Set the angular velocity of an entity void setAngularVelocity(Entity bodyEntity, const Vector3& angularVelocity); + + /// Return the external force of an entity + const Vector3& getExternalForce(Entity bodyEntity) const; + + /// Return the external torque of an entity + const Vector3& getExternalTorque(Entity bodyEntity) const; + + /// Return the linear damping factor of an entity + decimal getLinearDamping(Entity bodyEntity) const; + + /// Return the angular damping factor of an entity + decimal getAngularDamping(Entity bodyEntity) const; + + /// Return the initial mass of an entity + decimal getInitMass(Entity bodyEntity) const; + + /// Return the mass inverse of an entity + decimal getMassInverse(Entity bodyEntity) const; + + /// Return the inverse local inertia tensor of an entity + const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity); + + /// Return the inverse world inertia tensor of an entity + const Matrix3x3& getInertiaTensorWorldInverse(Entity bodyEntity); + + /// Set the external force of an entity + void setExternalForce(Entity bodyEntity, const Vector3& externalForce); + + /// Set the external force of an entity + void setExternalTorque(Entity bodyEntity, const Vector3& externalTorque); + + /// Set the linear damping factor of an entity + void setLinearDamping(Entity bodyEntity, decimal linearDamping); + + /// Set the angular damping factor of an entity + void setAngularDamping(Entity bodyEntity, decimal angularDamping); + + /// Set the initial mass of an entity + void setInitMass(Entity bodyEntity, decimal initMass); + + /// Set the inverse mass of an entity + void setMassInverse(Entity bodyEntity, decimal inverseMass); + + /// Set the inverse local inertia tensor of an entity + void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse); + + /// Set the inverse world inertia tensor of an entity + void setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse); + + /// Return the constrained linear velocity of an entity + const Vector3& getConstrainedLinearVelocity(Entity bodyEntity) const; + + /// Return the constrained angular velocity of an entity + const Vector3& getConstrainedAngularVelocity(Entity bodyEntity) const; + + /// Return the split linear velocity of an entity + const Vector3& getSplitLinearVelocity(Entity bodyEntity) const; + + /// Return the split angular velocity of an entity + const Vector3& getSplitAngularVelocity(Entity bodyEntity) const; + + /// Return the constrained position of an entity + const Vector3& getConstrainedPosition(Entity bodyEntity); + + /// Return the constrained orientation of an entity + const Quaternion& getConstrainedOrientation(Entity bodyEntity); + + /// Return the local center of mass of an entity + const Vector3& getCenterOfMassLocal(Entity bodyEntity); + + /// Return the world center of mass of an entity + const Vector3& getCenterOfMassWorld(Entity bodyEntity); + + /// Return true if gravity is enabled for this entity + bool getIsGravityEnabled(Entity bodyEntity) const; + + /// Return true if the entity is already in an island + bool getIsAlreadyInIsland(Entity bodyEntity) const; + + /// Set the constrained linear velocity of an entity + void setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity); + + /// Set the constrained angular velocity of an entity + void setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity); + + /// Set the split linear velocity of an entity + void setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity); + + /// Set the split angular velocity of an entity + void setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity); + + /// Set the constrained position of an entity + void setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition); + + /// Set the constrained orientation of an entity + void setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation); + + /// Set the local center of mass of an entity + void setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal); + + /// Set the world center of mass of an entity + void setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld); + + /// Set the value to know if the gravity is enabled for this entity + void setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled); + + /// Set the value to know if the entity is already in an island + void setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); + + // -------------------- Friendship -------------------- // + + friend class DynamicsWorld; + friend class ContactSolver; + friend class BallAndSocketJoint; + friend class FixedJoint; + friend class HingeJoint; + friend class SliderJoint; }; // Return a pointer to a body rigid @@ -270,6 +444,293 @@ inline void RigidBodyComponents::setAngularVelocity(Entity bodyEntity, const Vec mAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = angularVelocity; } +// Return the external force of an entity +inline const Vector3& RigidBodyComponents::getExternalForce(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mExternalForces[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the external torque of an entity +inline const Vector3& RigidBodyComponents::getExternalTorque(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mExternalTorques[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the linear damping factor of an entity +inline decimal RigidBodyComponents::getLinearDamping(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mLinearDampings[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the angular damping factor of an entity +inline decimal RigidBodyComponents::getAngularDamping(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mAngularDampings[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the initial mass of an entity +inline decimal RigidBodyComponents::getInitMass(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInitMasses[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the inverse mass of an entity +inline decimal RigidBodyComponents::getMassInverse(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseMasses[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the inverse local inertia tensor of an entity +inline const Matrix3x3& RigidBodyComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the inverse world inertia tensor of an entity +inline const Matrix3x3& RigidBodyComponents::getInertiaTensorWorldInverse(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the external force of an entity +inline void RigidBodyComponents::setExternalForce(Entity bodyEntity, const Vector3& externalForce) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mExternalForces[mMapEntityToComponentIndex[bodyEntity]] = externalForce; +} + +// Set the external force of an entity +inline void RigidBodyComponents::setExternalTorque(Entity bodyEntity, const Vector3& externalTorque) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mExternalTorques[mMapEntityToComponentIndex[bodyEntity]] = externalTorque; +} + +// Set the linear damping factor of an entity +inline void RigidBodyComponents::setLinearDamping(Entity bodyEntity, decimal linearDamping) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mLinearDampings[mMapEntityToComponentIndex[bodyEntity]] = linearDamping; +} + +// Set the angular damping factor of an entity +inline void RigidBodyComponents::setAngularDamping(Entity bodyEntity, decimal angularDamping) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mAngularDampings[mMapEntityToComponentIndex[bodyEntity]] = angularDamping; +} + +// Set the initial mass of an entity +inline void RigidBodyComponents::setInitMass(Entity bodyEntity, decimal initMass) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInitMasses[mMapEntityToComponentIndex[bodyEntity]] = initMass; +} + +// Set the mass inverse of an entity +inline void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inverseMass) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInverseMasses[mMapEntityToComponentIndex[bodyEntity]] = inverseMass; +} + +// Set the inverse local inertia tensor of an entity +inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorLocalInverse; +} + +// Set the inverse world inertia tensor of an entity +inline void RigidBodyComponents::setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorWorldInverse; +} + +// Return the constrained linear velocity of an entity +inline const Vector3& RigidBodyComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the constrained angular velocity of an entity +inline const Vector3& RigidBodyComponents::getConstrainedAngularVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the split linear velocity of an entity +inline const Vector3& RigidBodyComponents::getSplitLinearVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the split angular velocity of an entity +inline const Vector3& RigidBodyComponents::getSplitAngularVelocity(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the constrained position of an entity +inline const Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedPositions[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the constrained orientation of an entity +inline const Quaternion& RigidBodyComponents::getConstrainedOrientation(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the local center of mass of an entity +inline const Vector3& RigidBodyComponents::getCenterOfMassLocal(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mCentersOfMassLocal[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return the world center of mass of an entity +inline const Vector3& RigidBodyComponents::getCenterOfMassWorld(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mCentersOfMassWorld[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the constrained linear velocity of an entity +inline void RigidBodyComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedLinearVelocity; +} + +// Set the constrained angular velocity of an entity +inline void RigidBodyComponents::setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedAngularVelocity; +} + +// Set the split linear velocity of an entity +inline void RigidBodyComponents::setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitLinearVelocity; +} + +// Set the split angular velocity of an entity +inline void RigidBodyComponents::setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitAngularVelocity; +} + +// Set the constrained position of an entity +inline void RigidBodyComponents::setConstrainedPosition(Entity bodyEntity, const Vector3& constrainedPosition) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedPositions[mMapEntityToComponentIndex[bodyEntity]] = constrainedPosition; +} + +// Set the constrained orientation of an entity +inline void RigidBodyComponents::setConstrainedOrientation(Entity bodyEntity, const Quaternion& constrainedOrientation) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mConstrainedOrientations[mMapEntityToComponentIndex[bodyEntity]] = constrainedOrientation; +} + +// Set the local center of mass of an entity +inline void RigidBodyComponents::setCenterOfMassLocal(Entity bodyEntity, const Vector3& centerOfMassLocal) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mCentersOfMassLocal[mMapEntityToComponentIndex[bodyEntity]] = centerOfMassLocal; +} + +// Set the world center of mass of an entity +inline void RigidBodyComponents::setCenterOfMassWorld(Entity bodyEntity, const Vector3& centerOfMassWorld) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mCentersOfMassWorld[mMapEntityToComponentIndex[bodyEntity]] = centerOfMassWorld; +} + +// Return true if gravity is enabled for this entity +inline bool RigidBodyComponents::getIsGravityEnabled(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Return true if the entity is already in an island +inline bool RigidBodyComponents::getIsAlreadyInIsland(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the value to know if the gravity is enabled for this entity +inline void RigidBodyComponents::setIsGravityEnabled(Entity bodyEntity, bool isGravityEnabled) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsGravityEnabled[mMapEntityToComponentIndex[bodyEntity]] = isGravityEnabled; +} + +// Set the value to know if the entity is already in an island +inline void RigidBodyComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; +} } diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 40c21b9a..171f39b9 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -26,7 +26,6 @@ // Libraries #include "BallAndSocketJoint.h" #include "engine/ConstraintSolver.h" -#include "components/DynamicsComponents.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; @@ -47,8 +46,8 @@ BallAndSocketJoint::BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jo void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { // Get the bodies center of mass and orientations - const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); @@ -65,8 +64,8 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) - decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); - decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); + decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -98,42 +97,42 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS // Warm start the constraint (apply the previous impulse at the beginning of the step) void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Compute the impulse P=J^T * lambda for the body 1 const Vector3 linearImpulseBody1 = -mImpulse; const Vector3 angularImpulseBody1 = mImpulse.cross(mR1World); // Apply the impulse to the body 1 - v1 += constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; + v1 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; w1 += mI1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -mImpulse.cross(mR2World); // Apply the impulse to the body to the body 2 - v2 += constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity) * mImpulse; + v2 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity) * mImpulse; w2 += mI2 * angularImpulseBody2; } // Solve the velocity constraint void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Compute J*v const Vector3 Jv = v2 + w2.cross(mR2World) - v1 - w1.cross(mR1World); @@ -147,14 +146,14 @@ void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& con const Vector3 angularImpulseBody1 = deltaLambda.cross(mR1World); // Apply the impulse to the body 1 - v1 += constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; + v1 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; w1 += mI1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -deltaLambda.cross(mR2World); // Apply the impulse to the body 2 - v2 += constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity) * deltaLambda; + v2 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity) * deltaLambda; w2 += mI2 * angularImpulseBody2; } @@ -166,14 +165,14 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies center of mass and orientations - Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Recompute the inverse inertia tensors mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -232,9 +231,9 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); } diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index c67b9862..f954da20 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -26,7 +26,6 @@ // Libraries #include "FixedJoint.h" #include "engine/ConstraintSolver.h" -#include "components/DynamicsComponents.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; @@ -62,8 +61,8 @@ FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo) void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); @@ -80,8 +79,8 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); - const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); const decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -129,18 +128,18 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Warm start the constraint (apply the previous impulse at the beginning of the step) void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies - const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 1 Vector3 linearImpulseBody1 = -mImpulseTranslation; @@ -167,18 +166,18 @@ void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies - decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // --------------- Translation Constraints --------------- // @@ -232,14 +231,14 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Recompute the inverse inertia tensors mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -355,9 +354,9 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); } diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 29f29879..469fc124 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -26,7 +26,6 @@ // Libraries #include "HingeJoint.h" #include "engine/ConstraintSolver.h" -#include "components/DynamicsComponents.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; @@ -69,8 +68,8 @@ HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo) void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); @@ -114,8 +113,8 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) - decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); - decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); + decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -198,18 +197,18 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Warm start the constraint (apply the previous impulse at the beginning of the step) void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Compute the impulse P=J^T * lambda for the 2 rotation constraints Vector3 rotationImpulse = -mB2CrossA1 * mImpulseRotation.x - mC2CrossA1 * mImpulseRotation.y; @@ -257,18 +256,18 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // --------------- Translation Constraints --------------- // @@ -411,14 +410,14 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Recompute the inverse inertia tensors mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -454,8 +453,8 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // --------------- Translation Constraints --------------- // // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1InverseMass = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal body2InverseMass = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal body1InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal body2InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); decimal inverseMassBodies = body1InverseMass + body2InverseMass; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -612,10 +611,10 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS } } - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); } diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index e782d489..02026d30 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -26,7 +26,6 @@ // Libraries #include "SliderJoint.h" #include "engine/ConstraintSolver.h" -#include "components/DynamicsComponents.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; @@ -77,8 +76,8 @@ SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo) void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.dynamicsComponents.getCenterOfMassWorld(mBody2Entity); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); @@ -125,8 +124,8 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) - const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1->getEntity()); - const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2->getEntity()); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); const decimal sumInverseMass = body1MassInverse + body2MassInverse; Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; @@ -216,18 +215,18 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Warm start the constraint (apply the previous impulse at the beginning of the step) void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 decimal impulseLimits = mImpulseUpperLimit - mImpulseLowerLimit; @@ -278,18 +277,18 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.dynamicsComponents.getEntityIndex(mBody2Entity); + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); // Get the velocities - Vector3& v1 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.dynamicsComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.dynamicsComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; + Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; + Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; + Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // --------------- Translation Constraints --------------- // @@ -443,14 +442,14 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.dynamicsComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.dynamicsComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); // Recompute the inertia tensor of bodies mI1 = mBody1->getInertiaTensorInverseWorld(); @@ -489,8 +488,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) - const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); decimal sumInverseMass = body1MassInverse + body2MassInverse; Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; @@ -611,8 +610,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint if (mIsLowerLimitViolated || mIsUpperLimitViolated) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - const decimal body1MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody1Entity); - const decimal body2MassInverse = constraintSolverData.dynamicsComponents.getMassInverse(mBody2Entity); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); mInverseMassMatrixLimit = body1MassInverse + body2MassInverse + mR1PlusUCrossSliderAxis.dot(mI1 * mR1PlusUCrossSliderAxis) + mR2CrossSliderAxis.dot(mI2 * mR2CrossSliderAxis); @@ -687,10 +686,10 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint } } - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.dynamicsComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.dynamicsComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); } // Enable/Disable the limits of the joint diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index fdd15bf4..73266988 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -40,7 +40,6 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), - mDynamicsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -216,11 +215,11 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { // Notify all the components mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); - mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); - if (mDynamicsComponents.hasComponent(bodyEntity)) { - mDynamicsComponents.setIsEntityDisabled(bodyEntity, isDisabled); + if (mRigidBodyComponents.hasComponent(bodyEntity)) { + mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); + mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); } // For each proxy-shape of the body diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 587b5eaa..c109ae5d 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -37,7 +37,6 @@ #include "components/RigidBodyComponents.h" #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" -#include "components/DynamicsComponents.h" #include "collision/CollisionCallback.h" #include "collision/OverlapCallback.h" @@ -89,9 +88,6 @@ class CollisionWorld { /// Proxy-Shapes Components ProxyShapeComponents mProxyShapesComponents; - /// Dynamics components of the bodies (linear, angular velocities) - DynamicsComponents mDynamicsComponents; - /// Reference to the collision detection CollisionDetection mCollisionDetection; diff --git a/src/engine/ConstraintSolver.cpp b/src/engine/ConstraintSolver.cpp index 2d95e041..14979cff 100644 --- a/src/engine/ConstraintSolver.cpp +++ b/src/engine/ConstraintSolver.cpp @@ -31,8 +31,8 @@ using namespace reactphysics3d; // Constructor -ConstraintSolver::ConstraintSolver(Islands& islands, DynamicsComponents& dynamicsComponents) - : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(dynamicsComponents) { +ConstraintSolver::ConstraintSolver(Islands& islands, RigidBodyComponents& rigidBodyComponents) + : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents) { #ifdef IS_PROFILING_ACTIVE diff --git a/src/engine/ConstraintSolver.h b/src/engine/ConstraintSolver.h index 0a4ae48c..069e8b89 100644 --- a/src/engine/ConstraintSolver.h +++ b/src/engine/ConstraintSolver.h @@ -37,6 +37,7 @@ namespace reactphysics3d { class Joint; class Island; class Profiler; +class RigidBodyComponents; class DynamicsComponents; // Structure ConstraintSolverData @@ -51,15 +52,15 @@ struct ConstraintSolverData { /// Current time step of the simulation decimal timeStep; - /// Reference to the dynamics components - DynamicsComponents& dynamicsComponents; + /// Reference to the rigid body components + RigidBodyComponents& rigidBodyComponents; /// True if warm starting of the solver is active bool isWarmStartingActive; /// Constructor - ConstraintSolverData(DynamicsComponents& dynamicsComponents) - :dynamicsComponents(dynamicsComponents) { + ConstraintSolverData(RigidBodyComponents& rigidBodyComponents) + :rigidBodyComponents(rigidBodyComponents) { } @@ -163,7 +164,7 @@ class ConstraintSolver { // -------------------- Methods -------------------- // /// Constructor - ConstraintSolver(Islands& islands, DynamicsComponents& dynamicsComponents); + ConstraintSolver(Islands& islands, RigidBodyComponents& rigidBodyComponents); /// Destructor ~ConstraintSolver() = default; diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index acb7a8b2..09a8b7c3 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -31,7 +31,6 @@ #include "utils/Profiler.h" #include "engine/Island.h" #include "components/CollisionBodyComponents.h" -#include "components/DynamicsComponents.h" #include "components/ProxyShapeComponents.h" #include "collision/ContactManifold.h" @@ -45,12 +44,13 @@ const decimal ContactSolver::SLOP = decimal(0.01); // Constructor ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, - RigidBodyComponents& rigidBodyComponents, DynamicsComponents& dynamicsComponents, - ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) + RigidBodyComponents& rigidBodyComponents, ProxyShapeComponents& proxyShapeComponents, + const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr), - mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), - mRigidBodyComponents(rigidBodyComponents), mDynamicsComponents(dynamicsComponents), - mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { + mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), + mBodyComponents(bodyComponents), mRigidBodyComponents(rigidBodyComponents), + mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), + mWorldSettings(worldSettings) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -132,18 +132,18 @@ void ContactSolver::initializeForIsland(uint islandIndex) { const ProxyShape* shape2 = mProxyShapeComponents.getProxyShape(externalManifold.proxyShapeEntity2); // Get the position of the two bodies - const Vector3& x1 = mDynamicsComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); - const Vector3& x2 = mDynamicsComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); + const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); + const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); // Initialize the internal contact manifold structure using the external // contact manifold new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); - mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mDynamicsComponents.getEntityIndex(body1->getEntity()); - mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mDynamicsComponents.getEntityIndex(body2->getEntity()); + mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1->getEntity()); + mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2->getEntity()); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld(); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld(); - mContactConstraints[mNbContactManifolds].massInverseBody1 = mDynamicsComponents.getMassInverse(body1->getEntity()); - mContactConstraints[mNbContactManifolds].massInverseBody2 = mDynamicsComponents.getMassInverse(body2->getEntity()); + mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity()); + mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity()); mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.getNbContactPoints(); mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); @@ -357,22 +357,22 @@ void ContactSolver::warmStart() { Vector3 impulsePenetration(mContactPoints[contactPointIndex].normal.x * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.y * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.z * mContactPoints[contactPointIndex].penetrationImpulse); - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; // Update the velocities of the body 2 by applying the impulse P - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; } else { // If it is a new contact point @@ -412,12 +412,12 @@ void ContactSolver::warmStart() { mContactConstraints[c].r2CrossT1.z * mContactConstraints[c].friction1Impulse); // Update the velocities of the body 1 by applying the impulse P - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 1 by applying the impulse P - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Second friction constraint at the center of the contact manifold ----- // @@ -433,18 +433,18 @@ void ContactSolver::warmStart() { angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * mContactConstraints[c].friction2Impulse; // Update the velocities of the body 1 by applying the impulse P - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; - mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Twist friction constraint at the center of the contact manifold ------ // @@ -458,10 +458,10 @@ void ContactSolver::warmStart() { angularImpulseBody2.z = mContactConstraints[c].normal.z * mContactConstraints[c].frictionTwistImpulse; // Update the velocities of the body 1 by applying the impulse P - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Rolling resistance at the center of the contact manifold ------ // @@ -469,10 +469,10 @@ void ContactSolver::warmStart() { angularImpulseBody2 = mContactConstraints[c].rollingResistanceImpulse; // Update the velocities of the body 1 by applying the impulse P - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; // Update the velocities of the body 1 by applying the impulse P - mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; } else { // If it is a new contact manifold @@ -500,10 +500,10 @@ void ContactSolver::solve() { decimal sumPenetrationImpulse = 0.0; // Get the constrained velocities - const Vector3& v1 = mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; - const Vector3& w1 = mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; - const Vector3& v2 = mDynamicsComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; - const Vector3& w2 = mDynamicsComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; + const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; + const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; + const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; + const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; for (short int i=0; i e^(-x) ~ 1 - x // => v2 = v1 * (1 - c * dt) - for (uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) { + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - const decimal linDampingFactor = mDynamicsComponents.mLinearDampings[i]; - const decimal angDampingFactor = mDynamicsComponents.mAngularDampings[i]; + const decimal linDampingFactor = mRigidBodyComponents.mLinearDampings[i]; + const decimal angDampingFactor = mRigidBodyComponents.mAngularDampings[i]; const decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); const decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); - mDynamicsComponents.mConstrainedLinearVelocities[i] = mDynamicsComponents.mConstrainedLinearVelocities[i] * linearDamping; - mDynamicsComponents.mConstrainedAngularVelocities[i] = mDynamicsComponents.mConstrainedAngularVelocities[i] * angularDamping; + mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] * linearDamping; + mRigidBodyComponents.mConstrainedAngularVelocities[i] = mRigidBodyComponents.mConstrainedAngularVelocities[i] * angularDamping; } } @@ -380,19 +380,24 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { Entity entity = mEntityManager.createEntity(); mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); - mDynamicsComponents.addComponent(entity, false, DynamicsComponents::DynamicsComponent(transform.getPosition())); // Create the rigid body RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(RigidBody))) RigidBody(transform, *this, entity); + sizeof(RigidBody))) RigidBody(*this, entity); assert(rigidBody != nullptr); CollisionBodyComponents::CollisionBodyComponent bodyComponent(rigidBody); mCollisionBodyComponents.addComponent(entity, false, bodyComponent); - RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody, BodyType::DYNAMIC); + RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody, BodyType::DYNAMIC, transform.getPosition()); mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent); + // Compute the inverse mass + mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getInitMass(entity)); + + // Update the world inverse inertia tensor + rigidBody->updateInertiaTensorInverseWorld(); + // Add the rigid body to the physics world mBodies.add(rigidBody); mRigidBodies.add(rigidBody); @@ -641,9 +646,9 @@ void DynamicsWorld::createIslands() { RP3D_PROFILE("DynamicsWorld::createIslands()", mProfiler); // Reset all the isAlreadyInIsland variables of bodies and joints - for (uint b=0; b < mDynamicsComponents.getNbComponents(); b++) { + for (uint b=0; b < mRigidBodyComponents.getNbComponents(); b++) { - mDynamicsComponents.mIsAlreadyInIsland[b] = false; + mRigidBodyComponents.mIsAlreadyInIsland[b] = false; } for (List::Iterator it = mJoints.begin(); it != mJoints.end(); ++it) { (*it)->mIsAlreadyInIsland = false; @@ -657,21 +662,21 @@ void DynamicsWorld::createIslands() { // For each dynamic component // TODO : Here we iterate on dynamic component where we can have static, kinematic and dynamic bodies. Maybe we should // not use a dynamic component for a static body. - for (uint b=0; b < mDynamicsComponents.getNbEnabledComponents(); b++) { + for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) { // If the body has already been added to an island, we go to the next body - if (mDynamicsComponents.mIsAlreadyInIsland[b]) continue; + if (mRigidBodyComponents.mIsAlreadyInIsland[b]) continue; // If the body is static, we go to the next body // TODO : Check if we still need this test if we loop over dynamicsComponents and static bodies are not part of them - if (mRigidBodyComponents.getBodyType(mDynamicsComponents.mBodies[b]) == BodyType::STATIC) continue; + if (mRigidBodyComponents.getBodyType(mRigidBodyComponents.mBodiesEntities[b]) == BodyType::STATIC) continue; // Reset the stack of bodies to visit bodyEntityIndicesToVisit.clear(); // Add the body into the stack of bodies to visit - mDynamicsComponents.mIsAlreadyInIsland[b] = true; - bodyEntityIndicesToVisit.push(mDynamicsComponents.mBodies[b]); + mRigidBodyComponents.mIsAlreadyInIsland[b] = true; + bodyEntityIndicesToVisit.push(mRigidBodyComponents.mBodiesEntities[b]); // Create the new island uint32 islandIndex = mIslands.addIsland(nbTotalManifolds); @@ -729,11 +734,11 @@ void DynamicsWorld::createIslands() { const Entity otherBodyEntity = pair.body1Entity == bodyToVisitEntity ? pair.body2Entity : pair.body1Entity; // Check if the other body has already been added to the island - if (mDynamicsComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; + if (mRigidBodyComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; // Insert the other body into the stack of bodies to visit bodyEntityIndicesToVisit.push(otherBodyEntity); - mDynamicsComponents.setIsAlreadyInIsland(otherBodyEntity, true); + mRigidBodyComponents.setIsAlreadyInIsland(otherBodyEntity, true); } else { @@ -763,20 +768,20 @@ void DynamicsWorld::createIslands() { const Entity otherBodyEntity = body1Entity == bodyToVisitEntity ? body2Entity : body1Entity; // Check if the other body has already been added to the island - if (mDynamicsComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; + if (mRigidBodyComponents.getIsAlreadyInIsland(otherBodyEntity)) continue; // Insert the other body into the stack of bodies to visit bodyEntityIndicesToVisit.push(otherBodyEntity); - mDynamicsComponents.setIsAlreadyInIsland(otherBodyEntity, true); + mRigidBodyComponents.setIsAlreadyInIsland(otherBodyEntity, true); } } // Reset the isAlreadyIsland variable of the static bodies so that they // can also be included in the other islands - for (uint j=0; j < mDynamicsComponents.getNbEnabledComponents(); j++) { + for (uint j=0; j < mRigidBodyComponents.getNbEnabledComponents(); j++) { - if (mRigidBodyComponents.getBodyType(mDynamicsComponents.mBodies[j]) == BodyType::STATIC) { - mDynamicsComponents.mIsAlreadyInIsland[j] = false; + if (mRigidBodyComponents.getBodyType(mRigidBodyComponents.mBodiesEntities[j]) == BodyType::STATIC) { + mRigidBodyComponents.mIsAlreadyInIsland[j] = false; } } } diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index b6d95ff8..2a31b546 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -32,7 +32,6 @@ #include "configuration.h" #include "utils/Logger.h" #include "engine/ContactSolver.h" -#include "components/DynamicsComponents.h" #include "engine/Islands.h" /// Namespace ReactPhysics3D @@ -249,9 +248,9 @@ class DynamicsWorld : public CollisionWorld { inline void DynamicsWorld::resetBodiesForceAndTorque() { // For each body of the world - for (uint32 i=0; i < mDynamicsComponents.getNbComponents(); i++) { - mDynamicsComponents.mExternalForces[i].setToZero(); - mDynamicsComponents.mExternalTorques[i].setToZero(); + for (uint32 i=0; i < mRigidBodyComponents.getNbComponents(); i++) { + mRigidBodyComponents.mExternalForces[i].setToZero(); + mRigidBodyComponents.mExternalTorques[i].setToZero(); } } From 0191244b573ba19ee317870ba47cd7a7a239da19 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 21 Jul 2019 22:44:10 +0200 Subject: [PATCH 075/197] Simplify code --- src/engine/DynamicsWorld.cpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index e1f623ba..9be94ee6 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -225,8 +225,8 @@ void DynamicsWorld::updateBodiesState() { for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { Matrix3x3 orientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation().getMatrix(); - const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.getInertiaTensorLocalInverse(mRigidBodyComponents.mBodiesEntities[i]); - mRigidBodyComponents.setInverseInertiaTensorWorld(mRigidBodyComponents.mBodiesEntities[i], orientation * inverseInertiaLocalTensor * orientation.getTranspose()); + const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.mInverseInertiaTensorsLocal[i]; + mRigidBodyComponents.mInverseInertiaTensorsWorld[i] = orientation * inverseInertiaLocalTensor * orientation.getTranspose(); } // Update the proxy-shapes components @@ -260,8 +260,8 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { assert(mRigidBodyComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0)); assert(mRigidBodyComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0)); - const Vector3& linearVelocity = mRigidBodyComponents.getLinearVelocity(mRigidBodyComponents.mBodiesEntities[i]); - const Vector3& angularVelocity = mRigidBodyComponents.getAngularVelocity(mRigidBodyComponents.mBodiesEntities[i]); + const Vector3& linearVelocity = mRigidBodyComponents.mLinearVelocities[i]; + const Vector3& angularVelocity = mRigidBodyComponents.mAngularVelocities[i]; // Integrate the external force to get the new velocity of the body mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + mTimeStep * @@ -272,6 +272,7 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Apply gravity force for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + // If the gravity has to be applied to this rigid body if (mRigidBodyComponents.mIsGravityEnabled[i] && mIsGravityEnabled) { @@ -669,7 +670,7 @@ void DynamicsWorld::createIslands() { // If the body is static, we go to the next body // TODO : Check if we still need this test if we loop over dynamicsComponents and static bodies are not part of them - if (mRigidBodyComponents.getBodyType(mRigidBodyComponents.mBodiesEntities[b]) == BodyType::STATIC) continue; + if (mRigidBodyComponents.mBodyTypes[b] == BodyType::STATIC) continue; // Reset the stack of bodies to visit bodyEntityIndicesToVisit.clear(); @@ -780,7 +781,7 @@ void DynamicsWorld::createIslands() { // can also be included in the other islands for (uint j=0; j < mRigidBodyComponents.getNbEnabledComponents(); j++) { - if (mRigidBodyComponents.getBodyType(mRigidBodyComponents.mBodiesEntities[j]) == BodyType::STATIC) { + if (mRigidBodyComponents.mBodyTypes[j] == BodyType::STATIC) { mRigidBodyComponents.mIsAlreadyInIsland[j] = false; } } From 9deb90dc6fc2f46923adc225009842d46095c52a Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 22 Jul 2019 18:28:19 +0200 Subject: [PATCH 076/197] Make attributes public in ContactManifold --- src/collision/CollisionDetection.cpp | 20 ++--- src/collision/ContactManifold.cpp | 9 +- src/collision/ContactManifold.h | 129 +++------------------------ src/components/Components.h | 2 +- src/engine/ContactSolver.cpp | 32 +++---- 5 files changed, 40 insertions(+), 152 deletions(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 9c16ac02..f4e911e8 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -728,8 +728,8 @@ void CollisionDetection::initContactsWithPreviousOnes() { assert(m < mCurrentContactManifolds->size()); ContactManifold& currentContactManifold = (*mCurrentContactManifolds)[m]; - assert(currentContactManifold.mNbContactPoints > 0); - ContactPoint& currentContactPoint = (*mCurrentContactPoints)[currentContactManifold.mContactPointsIndex]; + assert(currentContactManifold.nbContactPoints > 0); + ContactPoint& currentContactPoint = (*mCurrentContactPoints)[currentContactManifold.contactPointsIndex]; const Vector3& currentContactPointNormal = currentContactPoint.getNormal(); // Find a similar contact manifold among the contact manifolds from the previous frame (for warmstarting) @@ -738,19 +738,19 @@ void CollisionDetection::initContactsWithPreviousOnes() { for (uint p=previousContactManifoldIndex; p < previousContactManifoldIndex + previousNbContactManifolds; p++) { ContactManifold& previousContactManifold = (*mPreviousContactManifolds)[p]; - assert(previousContactManifold.mNbContactPoints > 0); - ContactPoint& previousContactPoint = (*mPreviousContactPoints)[previousContactManifold.mContactPointsIndex]; + assert(previousContactManifold.nbContactPoints > 0); + ContactPoint& previousContactPoint = (*mPreviousContactPoints)[previousContactManifold.contactPointsIndex]; // If the previous contact manifold has a similar contact normal with the current manifold if (previousContactPoint.getNormal().dot(currentContactPointNormal) >= mWorld->mConfig.cosAngleSimilarContactManifold) { // Transfer data from the previous contact manifold to the current one - currentContactManifold.mFrictionVector1 = previousContactManifold.mFrictionVector1; - currentContactManifold.mFrictionVector2 = previousContactManifold.mFrictionVector2; - currentContactManifold.mFrictionImpulse1 = previousContactManifold.mFrictionImpulse1; - currentContactManifold.mFrictionImpulse2 = previousContactManifold.mFrictionImpulse2; - currentContactManifold.mFrictionTwistImpulse = previousContactManifold.mFrictionTwistImpulse; - currentContactManifold.mRollingResistanceImpulse = previousContactManifold.mRollingResistanceImpulse; + currentContactManifold.frictionVector1 = previousContactManifold.frictionVector1; + currentContactManifold.frictionVector2 = previousContactManifold.frictionVector2; + currentContactManifold.frictionImpulse1 = previousContactManifold.frictionImpulse1; + currentContactManifold.frictionImpulse2 = previousContactManifold.frictionImpulse2; + currentContactManifold.frictionTwistImpulse = previousContactManifold.frictionTwistImpulse; + currentContactManifold.rollingResistanceImpulse = previousContactManifold.rollingResistanceImpulse; break; } diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 05232626..7c39b1b0 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -33,13 +33,10 @@ using namespace reactphysics3d; // Constructor ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, uint contactPointsIndex, int8 nbContactPoints) - :mContactPointsIndex(0), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), - proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), mFrictionImpulse1(0), mFrictionImpulse2(0), - mFrictionTwistImpulse(0), mIsAlreadyInIsland(false) { + :contactPointsIndex(contactPointsIndex), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), + proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), nbContactPoints(nbContactPoints), frictionImpulse1(0), frictionImpulse2(0), + frictionTwistImpulse(0), isAlreadyInIsland(false) { - - mContactPointsIndex = contactPointsIndex; - mNbContactPoints = nbContactPoints; } // Destructor diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index e0c86f19..4f7df13f 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -53,8 +53,7 @@ class PoolAllocator; */ class ContactManifold { - // TODO : Check if we can use public fields in this class (maybe this class is used by users directly) - private: + public: // -------------------- Constants -------------------- // @@ -63,10 +62,8 @@ class ContactManifold { // -------------------- Attributes -------------------- // - // TODO : For each of the attributes, check if we need to keep it or not - /// Index of the first contact point of the manifold in the list of contact points - uint mContactPointsIndex; + uint contactPointsIndex; /// Entity of the first body in contact Entity bodyEntity1; @@ -81,66 +78,28 @@ class ContactManifold { Entity proxyShapeEntity2; /// Number of contacts in the cache - int8 mNbContactPoints; + int8 nbContactPoints; /// First friction vector of the contact manifold - Vector3 mFrictionVector1; + Vector3 frictionVector1; /// Second friction vector of the contact manifold - Vector3 mFrictionVector2; + Vector3 frictionVector2; /// First friction constraint accumulated impulse - decimal mFrictionImpulse1; + decimal frictionImpulse1; /// Second friction constraint accumulated impulse - decimal mFrictionImpulse2; + decimal frictionImpulse2; /// Twist friction constraint accumulated impulse - decimal mFrictionTwistImpulse; + decimal frictionTwistImpulse; /// Accumulated rolling resistance impulse - Vector3 mRollingResistanceImpulse; + Vector3 rollingResistanceImpulse; /// True if the contact manifold has already been added into an island - bool mIsAlreadyInIsland; - - // -------------------- Methods -------------------- // - - /// Return true if the contact manifold has already been added into an island - bool isAlreadyInIsland() const; - - /// set the first friction vector at the center of the contact manifold - void setFrictionVector1(const Vector3& mFrictionVector1); - - /// set the second friction vector at the center of the contact manifold - void setFrictionVector2(const Vector3& mFrictionVector2); - - /// Set the first friction accumulated impulse - void setFrictionImpulse1(decimal frictionImpulse1); - - /// Set the second friction accumulated impulse - void setFrictionImpulse2(decimal frictionImpulse2); - - /// Set the friction twist accumulated impulse - void setFrictionTwistImpulse(decimal frictionTwistImpulse); - - /// Set the accumulated rolling resistance impulse - void setRollingResistanceImpulse(const Vector3& rollingResistanceImpulse); - - /// Return the first friction vector at the center of the contact manifold - const Vector3& getFrictionVector1() const; - - /// Return the second friction vector at the center of the contact manifold - const Vector3& getFrictionVector2() const; - - /// Return the first friction accumulated impulse - decimal getFrictionImpulse1() const; - - /// Return the second friction accumulated impulse - decimal getFrictionImpulse2() const; - - /// Return the friction twist accumulated impulse - decimal getFrictionTwistImpulse() const; + bool isAlreadyInIsland; public: @@ -159,9 +118,6 @@ class ContactManifold { /// Assignment operator ContactManifold& operator=(const ContactManifold& contactManifold) = default; - /// Return the number of contact points in the manifold - int8 getNbContactPoints() const; - // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -172,71 +128,6 @@ class ContactManifold { friend class CollisionDetection; }; -// Return the number of contact points in the manifold -inline int8 ContactManifold::getNbContactPoints() const { - return mNbContactPoints; -} - -// Return the first friction vector at the center of the contact manifold -inline const Vector3& ContactManifold::getFrictionVector1() const { - return mFrictionVector1; -} - -// set the first friction vector at the center of the contact manifold -inline void ContactManifold::setFrictionVector1(const Vector3& frictionVector1) { - mFrictionVector1 = frictionVector1; -} - -// Return the second friction vector at the center of the contact manifold -inline const Vector3& ContactManifold::getFrictionVector2() const { - return mFrictionVector2; -} - -// set the second friction vector at the center of the contact manifold -inline void ContactManifold::setFrictionVector2(const Vector3& frictionVector2) { - mFrictionVector2 = frictionVector2; -} - -// Return the first friction accumulated impulse -inline decimal ContactManifold::getFrictionImpulse1() const { - return mFrictionImpulse1; -} - -// Set the first friction accumulated impulse -inline void ContactManifold::setFrictionImpulse1(decimal frictionImpulse1) { - mFrictionImpulse1 = frictionImpulse1; -} - -// Return the second friction accumulated impulse -inline decimal ContactManifold::getFrictionImpulse2() const { - return mFrictionImpulse2; -} - -// Set the second friction accumulated impulse -inline void ContactManifold::setFrictionImpulse2(decimal frictionImpulse2) { - mFrictionImpulse2 = frictionImpulse2; -} - -// Return the friction twist accumulated impulse -inline decimal ContactManifold::getFrictionTwistImpulse() const { - return mFrictionTwistImpulse; -} - -// Set the friction twist accumulated impulse -inline void ContactManifold::setFrictionTwistImpulse(decimal frictionTwistImpulse) { - mFrictionTwistImpulse = frictionTwistImpulse; -} - -// Set the accumulated rolling resistance impulse -inline void ContactManifold::setRollingResistanceImpulse(const Vector3& rollingResistanceImpulse) { - mRollingResistanceImpulse = rollingResistanceImpulse; -} - -// Return true if the contact manifold has already been added into an island -inline bool ContactManifold::isAlreadyInIsland() const { - return mIsAlreadyInIsland; -} - } #endif diff --git a/src/components/Components.h b/src/components/Components.h index a7a04fb8..af721f5c 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -63,7 +63,7 @@ class Components { /// Current number of components uint32 mNbComponents; - // Size (in bytes) of a single component + /// Size (in bytes) of a single component size_t mComponentDataSize; /// Number of allocated components diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp index 09a8b7c3..fe43473f 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/engine/ContactSolver.cpp @@ -116,7 +116,7 @@ void ContactSolver::initializeForIsland(uint islandIndex) { ContactManifold& externalManifold = (*mAllContactManifolds)[m]; - assert(externalManifold.getNbContactPoints() > 0); + assert(externalManifold.nbContactPoints > 0); // Get the two bodies of the contact RigidBody* body1 = static_cast(mBodyComponents.getBody(externalManifold.bodyEntity1)); @@ -144,7 +144,7 @@ void ContactSolver::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld(); mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity()); mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity()); - mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.getNbContactPoints(); + mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold; @@ -159,9 +159,9 @@ void ContactSolver::initializeForIsland(uint islandIndex) { const Vector3& w2 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity2); // For each contact point of the contact manifold - assert(externalManifold.getNbContactPoints() > 0); - uint contactPointsStartIndex = externalManifold.mContactPointsIndex; - uint nbContactPoints = externalManifold.mNbContactPoints; + assert(externalManifold.nbContactPoints > 0); + uint contactPointsStartIndex = externalManifold.contactPointsIndex; + uint nbContactPoints = externalManifold.nbContactPoints; for (uint c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) { ContactPoint& externalContact = (*mAllContactPoints)[c]; @@ -254,13 +254,13 @@ void ContactSolver::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].r2Friction.x = mContactConstraints[mNbContactManifolds].frictionPointBody2.x - x2.x; mContactConstraints[mNbContactManifolds].r2Friction.y = mContactConstraints[mNbContactManifolds].frictionPointBody2.y - x2.y; mContactConstraints[mNbContactManifolds].r2Friction.z = mContactConstraints[mNbContactManifolds].frictionPointBody2.z - x2.z; - mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold.getFrictionVector1(); - mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold.getFrictionVector2(); + mContactConstraints[mNbContactManifolds].oldFrictionVector1 = externalManifold.frictionVector1; + mContactConstraints[mNbContactManifolds].oldFrictionVector2 = externalManifold.frictionVector2; // Initialize the accumulated impulses with the previous step accumulated impulses - mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold.getFrictionImpulse1(); - mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.getFrictionImpulse2(); - mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.getFrictionTwistImpulse(); + mContactConstraints[mNbContactManifolds].friction1Impulse = externalManifold.frictionImpulse1; + mContactConstraints[mNbContactManifolds].friction2Impulse = externalManifold.frictionImpulse2; + mContactConstraints[mNbContactManifolds].frictionTwistImpulse = externalManifold.frictionTwistImpulse; // Compute the inverse K matrix for the rolling resistance constraint bool isBody1DynamicType = body1->getType() == BodyType::DYNAMIC; @@ -805,12 +805,12 @@ void ContactSolver::storeImpulses() { contactPointIndex++; } - mContactConstraints[c].externalContactManifold->setFrictionImpulse1(mContactConstraints[c].friction1Impulse); - mContactConstraints[c].externalContactManifold->setFrictionImpulse2(mContactConstraints[c].friction2Impulse); - mContactConstraints[c].externalContactManifold->setFrictionTwistImpulse(mContactConstraints[c].frictionTwistImpulse); - mContactConstraints[c].externalContactManifold->setRollingResistanceImpulse(mContactConstraints[c].rollingResistanceImpulse); - mContactConstraints[c].externalContactManifold->setFrictionVector1(mContactConstraints[c].frictionVector1); - mContactConstraints[c].externalContactManifold->setFrictionVector2(mContactConstraints[c].frictionVector2); + mContactConstraints[c].externalContactManifold->frictionImpulse1 = mContactConstraints[c].friction1Impulse; + mContactConstraints[c].externalContactManifold->frictionImpulse2 = mContactConstraints[c].friction2Impulse; + mContactConstraints[c].externalContactManifold->frictionTwistImpulse = mContactConstraints[c].frictionTwistImpulse; + mContactConstraints[c].externalContactManifold->rollingResistanceImpulse = mContactConstraints[c].rollingResistanceImpulse; + mContactConstraints[c].externalContactManifold->frictionVector1 = mContactConstraints[c].frictionVector1; + mContactConstraints[c].externalContactManifold->frictionVector2 = mContactConstraints[c].frictionVector2; } } From db995ea52cad8c10a70174ae41e11f77113866e3 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 4 Aug 2019 23:24:48 +0200 Subject: [PATCH 077/197] Do not use callbacks for middle-phase collision detection --- CMakeLists.txt | 2 - src/body/CollisionBody.cpp | 2 +- src/collision/CollisionDetection.cpp | 64 +++-- src/collision/ContactPointInfo.h | 10 +- src/collision/MiddlePhaseTriangleCallback.cpp | 59 ----- src/collision/MiddlePhaseTriangleCallback.h | 118 --------- src/collision/broadphase/DynamicAABBTree.cpp | 9 +- src/collision/broadphase/DynamicAABBTree.h | 2 +- src/collision/shapes/ConcaveMeshShape.cpp | 41 ++- src/collision/shapes/ConcaveMeshShape.h | 10 +- src/collision/shapes/ConcaveShape.h | 4 +- src/collision/shapes/HeightFieldShape.cpp | 127 +++++----- src/collision/shapes/HeightFieldShape.h | 55 +--- src/collision/shapes/TriangleShape.h | 1 + src/systems/BroadPhaseSystem.cpp | 22 +- src/systems/BroadPhaseSystem.h | 5 +- test/tests/collision/TestDynamicAABBTree.h | 236 ++++++++---------- 17 files changed, 286 insertions(+), 481 deletions(-) delete mode 100644 src/collision/MiddlePhaseTriangleCallback.cpp delete mode 100644 src/collision/MiddlePhaseTriangleCallback.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 9c0a8403..e5a12319 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -120,7 +120,6 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/HalfEdgeStructure.h" "src/collision/CollisionDetection.h" "src/collision/ContactManifold.h" - "src/collision/MiddlePhaseTriangleCallback.h" "src/constraint/BallAndSocketJoint.h" "src/constraint/ContactPoint.h" "src/constraint/FixedJoint.h" @@ -213,7 +212,6 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/HalfEdgeStructure.cpp" "src/collision/CollisionDetection.cpp" "src/collision/ContactManifold.cpp" - "src/collision/MiddlePhaseTriangleCallback.cpp" "src/constraint/BallAndSocketJoint.cpp" "src/constraint/ContactPoint.cpp" "src/constraint/FixedJoint.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 39dae6a4..b436ddb5 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -90,7 +90,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1), 0x0001, 0xFFFF); bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); - mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isActive, proxyShapeComponent); + mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, !isActive, proxyShapeComponent); mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index f4e911e8..a74010c4 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -34,7 +34,6 @@ #include "body/RigidBody.h" #include "configuration.h" #include "collision/CollisionCallback.h" -#include "collision/MiddlePhaseTriangleCallback.h" #include "collision/OverlapCallback.h" #include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/ContactManifold.h" @@ -289,26 +288,28 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { + RP3D_PROFILE("CollisionDetection::computeConvexVsConcaveMiddlePhase()", mProfiler); + ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); ProxyShape* convexProxyShape; ProxyShape* concaveProxyShape; - const ConvexShape* convexShape; - const ConcaveShape* concaveShape; + ConvexShape* convexShape; + ConcaveShape* concaveShape; // Collision shape 1 is convex, collision shape 2 is concave if (shape1->getCollisionShape()->isConvex()) { convexProxyShape = shape1; - convexShape = static_cast(shape1->getCollisionShape()); + convexShape = static_cast(shape1->getCollisionShape()); concaveProxyShape = shape2; - concaveShape = static_cast(shape2->getCollisionShape()); + concaveShape = static_cast(shape2->getCollisionShape()); } else { // Collision shape 2 is convex, collision shape 1 is concave convexProxyShape = shape2; - convexShape = static_cast(shape2->getCollisionShape()); + convexShape = static_cast(shape2->getCollisionShape()); concaveProxyShape = shape1; - concaveShape = static_cast(shape1->getCollisionShape()); + concaveShape = static_cast(shape1->getCollisionShape()); } // Select the narrow phase algorithm to use according to the two collision shapes @@ -317,25 +318,48 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair assert(algorithmType != NarrowPhaseAlgorithmType::None); - // Set the parameters of the callback object - MiddlePhaseTriangleCallback middlePhaseCallback(pair, concaveProxyShape, convexProxyShape, - concaveShape, narrowPhaseInput, algorithmType, allocator); - -#ifdef IS_PROFILING_ACTIVE - - // Set the profiler - middlePhaseCallback.setProfiler(mProfiler); - -#endif - // Compute the convex shape AABB in the local-space of the convex shape const Transform convexToConcaveTransform = concaveProxyShape->getLocalToWorldTransform().getInverse() * convexProxyShape->getLocalToWorldTransform(); AABB aabb; convexShape->computeAABB(aabb, convexToConcaveTransform); - // Call the convex vs triangle callback for each triangle of the concave shape - concaveShape->testAllTriangles(middlePhaseCallback, aabb); + // Compute the concave shape triangles that are overlapping with the convex mesh AABB + List triangleVertices(allocator); + List triangleVerticesNormals(allocator); + List shapeIds(allocator); + concaveShape->computeOverlappingTriangles(aabb, triangleVertices, triangleVerticesNormals, shapeIds, allocator); + + assert(triangleVertices.size() == triangleVerticesNormals.size()); + assert(shapeIds.size() == triangleVertices.size() / 3); + assert(triangleVertices.size() % 3 == 0); + assert(triangleVerticesNormals.size() % 3 == 0); + + // For each overlapping triangle + for (uint i=0; i < shapeIds.size(); i++) + { + // Create a triangle collision shape (the allocated memory for the TriangleShape will be released in the + // destructor of the corresponding NarrowPhaseInfo. + TriangleShape* triangleShape = new (allocator.allocate(sizeof(TriangleShape))) + TriangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], allocator); + + #ifdef IS_PROFILING_ACTIVE + + // Set the profiler to the triangle shape + triangleShape->setProfiler(mProfiler); + + #endif + + bool isShape1Convex = pair->getShape1()->getCollisionShape()->isConvex(); + ProxyShape* shape1 = isShape1Convex ? convexProxyShape : concaveProxyShape; + ProxyShape* shape2 = isShape1Convex ? concaveProxyShape : convexProxyShape; + + // Create a narrow phase info for the narrow-phase collision detection + narrowPhaseInput.addNarrowPhaseTest(pair, isShape1Convex ? convexShape : triangleShape, + isShape1Convex ? triangleShape : convexShape, + shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), + algorithmType, allocator); + } } // Execute the narrow-phase collision detection algorithm on batches diff --git a/src/collision/ContactPointInfo.h b/src/collision/ContactPointInfo.h index 6e81783c..4957a77a 100644 --- a/src/collision/ContactPointInfo.h +++ b/src/collision/ContactPointInfo.h @@ -65,21 +65,13 @@ struct ContactPointInfo { /// Contact point of body 2 in local space of body 2 Vector3 localPoint2; - // TODO : Remove this field - /// Pointer to the next contact point info - ContactPointInfo* next; - - // TODO : Remove this field - /// True if the contact point has already been inserted into a manifold - bool isUsed; - // -------------------- Methods -------------------- // /// Constructor ContactPointInfo(const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2) : normal(contactNormal), penetrationDepth(penDepth), - localPoint1(localPt1), localPoint2(localPt2), next(nullptr), isUsed(false) { + localPoint1(localPt1), localPoint2(localPt2) { assert(contactNormal.lengthSquare() > decimal(0.8)); assert(penDepth > decimal(0.0)); diff --git a/src/collision/MiddlePhaseTriangleCallback.cpp b/src/collision/MiddlePhaseTriangleCallback.cpp deleted file mode 100644 index c363ef1b..00000000 --- a/src/collision/MiddlePhaseTriangleCallback.cpp +++ /dev/null @@ -1,59 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "collision/MiddlePhaseTriangleCallback.h" -#include "engine/OverlappingPair.h" -#include "collision/shapes/TriangleShape.h" -#include "collision/narrowphase/NarrowPhaseInput.h" - -using namespace reactphysics3d; - -// Report collision between a triangle of a concave shape and the convex mesh shape (for middle-phase) -void MiddlePhaseTriangleCallback::testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint shapeId) { - - // Create a triangle collision shape (the allocated memory for the TriangleShape will be released in the - // destructor of the corresponding NarrowPhaseInfo. - TriangleShape* triangleShape = new (mAllocator.allocate(sizeof(TriangleShape))) - TriangleShape(trianglePoints, verticesNormals, shapeId, mAllocator); - -#ifdef IS_PROFILING_ACTIVE - - // Set the profiler to the triangle shape - triangleShape->setProfiler(mProfiler); - -#endif - - bool isShape1Convex = mOverlappingPair->getShape1()->getCollisionShape()->isConvex(); - ProxyShape* shape1 = isShape1Convex ? mConvexProxyShape : mConcaveProxyShape; - ProxyShape* shape2 = isShape1Convex ? mConcaveProxyShape : mConvexProxyShape; - - // Create a narrow phase info for the narrow-phase collision detection - mOutNarrowPhaseInput.addNarrowPhaseTest(mOverlappingPair, - isShape1Convex ? mConvexProxyShape->getCollisionShape() : triangleShape, - isShape1Convex ? triangleShape : mConvexProxyShape->getCollisionShape(), - shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), - mNarrowPhaseAlgorithmType, mAllocator); -} diff --git a/src/collision/MiddlePhaseTriangleCallback.h b/src/collision/MiddlePhaseTriangleCallback.h deleted file mode 100644 index 1c417a60..00000000 --- a/src/collision/MiddlePhaseTriangleCallback.h +++ /dev/null @@ -1,118 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_MIDDLE_PHASE_TRIANGLE_CALLBACK_H -#define REACTPHYSICS3D_MIDDLE_PHASE_TRIANGLE_CALLBACK_H - -#include "configuration.h" -#include "collision/shapes/ConcaveShape.h" - -/// Namespace ReactPhysics3D -namespace reactphysics3d { - -// Libraries - -// Declarations -class ConcaveShape; -class OverlappingPair; -class NarrowPhaseAlgorithm; -class ProxyShape; -class MemoryAllocator; -class Profiler; -class NarrowPhaseInput; -enum class NarrowPhaseAlgorithmType; -struct Vector3; - -// Class ConvexVsTriangleCallback -/** - * This class is used to report a collision between the triangle - * of a concave mesh shape and a convex shape during the - * middle-phase algorithm. - */ -class MiddlePhaseTriangleCallback : public TriangleCallback { - - protected: - - /// Broadphase overlapping pair - OverlappingPair* mOverlappingPair; - - /// Pointer to the concave proxy shape - ProxyShape* mConcaveProxyShape; - - /// Pointer to the convex proxy shape - ProxyShape* mConvexProxyShape; - - /// Pointer to the concave collision shape - const ConcaveShape* mConcaveShape; - - /// Reference to the narrow phase input - NarrowPhaseInput& mOutNarrowPhaseInput; - - /// Type of narrow-phase algorithm to use - NarrowPhaseAlgorithmType mNarrowPhaseAlgorithmType; - - /// Reference to the single-frame memory allocator - MemoryAllocator& mAllocator; - -#ifdef IS_PROFILING_ACTIVE - - /// Pointer to the profiler - Profiler* mProfiler; - -#endif - - public: - - /// Constructor - MiddlePhaseTriangleCallback(OverlappingPair* overlappingPair, - ProxyShape* concaveProxyShape, - ProxyShape* convexProxyShape, const ConcaveShape* concaveShape, - NarrowPhaseInput& outNarrowPhaseInput, - NarrowPhaseAlgorithmType algorithmType, - MemoryAllocator& allocator) - :mOverlappingPair(overlappingPair), mConcaveProxyShape(concaveProxyShape), - mConvexProxyShape(convexProxyShape), mConcaveShape(concaveShape), - mOutNarrowPhaseInput(outNarrowPhaseInput), mNarrowPhaseAlgorithmType(algorithmType), - mAllocator(allocator) { - - } - - /// Test collision between a triangle and the convex mesh shape - virtual void testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint shapeId) override; - -#ifdef IS_PROFILING_ACTIVE - - /// Set the profiler - void setProfiler(Profiler* profiler) { - mProfiler = profiler; - } - -#endif - -}; - -} - -#endif diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index dbf09e3b..82dc16e9 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -642,9 +642,8 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& node } } -/// Report all shapes overlapping with the AABB given in parameter. -// TODO : Do not use this method anymore. Use -void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const { +// Report all shapes overlapping with the AABB given in parameter. +void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { // Create a stack with the nodes to visit Stack stack(mAllocator, 64); @@ -669,7 +668,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, Dynam if (nodeToVisit->isLeaf()) { // Notify the broad-phase about a new potential overlapping pair - callback.notifyOverlappingNode(nodeIDToVisit); + overlappingNodes.add(nodeIDToVisit); } else { // If the node is not a leaf @@ -682,7 +681,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, Dynam } // Ray casting method -void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback &callback) const { +void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& callback) const { RP3D_PROFILE("DynamicAABBTree::raycast()", mProfiler); diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 8a09a1db..0bc16e8e 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -242,7 +242,7 @@ class DynamicAABBTree { size_t endIndex, List>& outOverlappingNodes) const; /// Report all shapes overlapping with the AABB given in parameter. - void reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const; + void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; /// Ray casting method void raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& callback) const; diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 42d7ddd1..bf5d2eeb 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -84,8 +84,7 @@ void ConcaveMeshShape::initBVHTree() { } // Return the three vertices coordinates (in the array outTriangleVertices) of a triangle -void ConcaveMeshShape::getTriangleVertices(uint subPart, uint triangleIndex, - Vector3* outTriangleVertices) const { +void ConcaveMeshShape::getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const { // Get the triangle vertex array of the current sub-part TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart); @@ -116,14 +115,40 @@ void ConcaveMeshShape::getTriangleVerticesNormals(uint subPart, uint triangleInd } -// Use a callback method on all triangles of the concave shape inside a given AABB -void ConcaveMeshShape::testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const { +// Compute all the triangles of the mesh that are overlapping with the AABB in parameter +void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, + List& triangleVerticesNormals, List& shapeIds, + MemoryAllocator& allocator) const { - ConvexTriangleAABBOverlapCallback overlapCallback(callback, *this, mDynamicAABBTree); + // Compute the nodes of the internal AABB tree that are overlapping with the AABB + List overlappingNodes(allocator); + mDynamicAABBTree.reportAllShapesOverlappingWithAABB(localAABB, overlappingNodes); - // Ask the Dynamic AABB Tree to report all the triangles that are overlapping - // with the AABB of the convex shape. - mDynamicAABBTree.reportAllShapesOverlappingWithAABB(localAABB, overlapCallback); + // For each overlapping node + for (uint i=0; i < overlappingNodes.size(); i++) { + + int nodeId = overlappingNodes[i]; + + // Get the node data (triangle index and mesh subpart index) + int32* data = mDynamicAABBTree.getNodeDataInt(nodeId); + + // Get the triangle vertices for this node from the concave mesh shape + Vector3 trianglePoints[3]; + getTriangleVertices(data[0], data[1], trianglePoints); + triangleVertices.add(trianglePoints[0]); + triangleVertices.add(trianglePoints[1]); + triangleVertices.add(trianglePoints[2]); + + // Get the vertices normals of the triangle + Vector3 verticesNormals[3]; + getTriangleVerticesNormals(data[0], data[1], verticesNormals); + triangleVerticesNormals.add(verticesNormals[0]); + triangleVerticesNormals.add(verticesNormals[1]); + triangleVerticesNormals.add(verticesNormals[2]); + + // Compute the triangle shape ID + shapeIds.add(computeTriangleShapeId(data[0], data[1])); + } } // Raycast method with feedback information diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index d5353d6f..27276bcb 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -155,7 +155,7 @@ class ConcaveMeshShape : public ConcaveShape { /// Insert all the triangles into the dynamic AABB tree void initBVHTree(); - /// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle + /// Return the three vertices coordinates (in the list outTriangleVertices) of a triangle void getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const; /// Return the three vertex normals (in the array outVerticesNormals) of a triangle @@ -164,6 +164,11 @@ class ConcaveMeshShape : public ConcaveShape { /// Compute the shape Id for a given triangle of the mesh uint computeTriangleShapeId(uint subPart, uint triangleIndex) const; + /// Compute all the triangles of the mesh that are overlapping with the AABB in parameter + virtual void computeOverlappingTriangles(const AABB& localAABB, List &triangleVertices, + List &triangleVerticesNormals, List& shapeIds, + MemoryAllocator& allocator) const override; + public: /// Constructor @@ -187,9 +192,6 @@ class ConcaveMeshShape : public ConcaveShape { /// Return the local inertia tensor of the collision shape virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; - /// Use a callback method on all triangles of the concave shape inside a given AABB - virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const override; - /// Return the string representation of the shape virtual std::string to_string() const override; diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h index 705d454f..aeae3764 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/src/collision/shapes/ConcaveShape.h @@ -99,7 +99,9 @@ class ConcaveShape : public CollisionShape { virtual bool isPolyhedron() const override; /// Use a callback method on all triangles of the concave shape inside a given AABB - virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const=0; + virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, + List& triangleVerticesNormals, List& shapeIds, + MemoryAllocator& allocator) const=0; }; // Return true if the collision shape is convex, false if it is concave diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index 0a341f81..7662bb1e 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -91,7 +91,9 @@ void HeightFieldShape::getLocalBounds(Vector3& min, Vector3& max) const { // of the body when need to test and see against which triangles of the height-field we need // to test for collision. We compute the sub-grid points that are inside the other body's AABB // and then for each rectangle in the sub-grid we generate two triangles that we use to test collision. -void HeightFieldShape::testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const { +void HeightFieldShape::computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, + List& triangleVerticesNormals, List& shapeIds, + MemoryAllocator& allocator) const { // Compute the non-scaled AABB Vector3 inverseScaling(decimal(1.0) / mScaling.x, decimal(1.0) / mScaling.y, decimal(1.0) / mScaling.z); @@ -141,7 +143,9 @@ void HeightFieldShape::testAllTriangles(TriangleCallback& callback, const AABB& const Vector3 p4 = getVertexAt(i + 1, j + 1); // Generate the first triangle for the current grid rectangle - Vector3 trianglePoints[3] = {p1, p2, p3}; + triangleVertices.add(p1); + triangleVertices.add(p2); + triangleVertices.add(p3); // Compute the triangle normal Vector3 triangle1Normal = (p2 - p1).cross(p3 - p1).getUnit(); @@ -153,15 +157,17 @@ void HeightFieldShape::testAllTriangles(TriangleCallback& callback, const AABB& // and compute the angle of incident edges with asin(). Maybe we could also precompute the // vertices normal at the HeightFieldShape constructor but it will require extra memory to // store them. - Vector3 verticesNormals1[3] = {triangle1Normal, triangle1Normal, triangle1Normal}; + triangleVerticesNormals.add(triangle1Normal); + triangleVerticesNormals.add(triangle1Normal); + triangleVerticesNormals.add(triangle1Normal); - // Test collision against the first triangle - callback.testTriangle(trianglePoints, verticesNormals1, computeTriangleShapeId(i, j, 0)); + // Compute the shape ID + shapeIds.add(computeTriangleShapeId(i, j, 0)); // Generate the second triangle for the current grid rectangle - trianglePoints[0] = p3; - trianglePoints[1] = p2; - trianglePoints[2] = p4; + triangleVertices.add(p3); + triangleVertices.add(p2); + triangleVertices.add(p4); // Compute the triangle normal Vector3 triangle2Normal = (p2 - p3).cross(p4 - p3).getUnit(); @@ -173,10 +179,12 @@ void HeightFieldShape::testAllTriangles(TriangleCallback& callback, const AABB& // and compute the angle of incident edges with asin(). Maybe we could also precompute the // vertices normal at the HeightFieldShape constructor but it will require extra memory to // store them. - Vector3 verticesNormals2[3] = {triangle2Normal, triangle2Normal, triangle2Normal}; + triangleVerticesNormals.add(triangle2Normal); + triangleVerticesNormals.add(triangle2Normal); + triangleVerticesNormals.add(triangle2Normal); - // Test collision against the second triangle - callback.testTriangle(trianglePoints, verticesNormals2, computeTriangleShapeId(i, j, 1)); + // Compute the shape ID + shapeIds.add(computeTriangleShapeId(i, j, 1)); } } } @@ -221,22 +229,61 @@ bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySh RP3D_PROFILE("HeightFieldShape::raycast()", mProfiler); - TriangleOverlapCallback triangleCallback(ray, proxyShape, raycastInfo, *this, allocator); - -#ifdef IS_PROFILING_ACTIVE - - // Set the profiler - triangleCallback.setProfiler(mProfiler); - -#endif - // Compute the AABB for the ray const Vector3 rayEnd = ray.point1 + ray.maxFraction * (ray.point2 - ray.point1); const AABB rayAABB(Vector3::min(ray.point1, rayEnd), Vector3::max(ray.point1, rayEnd)); - testAllTriangles(triangleCallback, rayAABB); + // Compute the triangles overlapping with the ray AABB + List triangleVertices(allocator); + List triangleVerticesNormals(allocator); + List shapeIds(allocator); + computeOverlappingTriangles(rayAABB, triangleVertices, triangleVerticesNormals, shapeIds, allocator); - return triangleCallback.getIsHit(); + assert(triangleVertices.size() == triangleVerticesNormals.size()); + assert(shapeIds.size() == triangleVertices.size() / 3); + assert(triangleVertices.size() % 3 == 0); + assert(triangleVerticesNormals.size() % 3 == 0); + + bool isHit = false; + decimal smallestHitFraction = ray.maxFraction; + + // For each overlapping triangle + for (uint i=0; i < shapeIds.size(); i++) + { + // Create a triangle collision shape + TriangleShape triangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], allocator); + triangleShape.setRaycastTestType(getRaycastTestType()); + + #ifdef IS_PROFILING_ACTIVE + + // Set the profiler to the triangle shape + triangleShape.setProfiler(mProfiler); + + #endif + + // Ray casting test against the collision shape + RaycastInfo triangleRaycastInfo; + bool isTriangleHit = triangleShape.raycast(ray, triangleRaycastInfo, proxyShape, allocator); + + // If the ray hit the collision shape + if (isTriangleHit && triangleRaycastInfo.hitFraction <= smallestHitFraction) { + + assert(triangleRaycastInfo.hitFraction >= decimal(0.0)); + + raycastInfo.body = triangleRaycastInfo.body; + raycastInfo.proxyShape = triangleRaycastInfo.proxyShape; + raycastInfo.hitFraction = triangleRaycastInfo.hitFraction; + raycastInfo.worldPoint = triangleRaycastInfo.worldPoint; + raycastInfo.worldNormal = triangleRaycastInfo.worldNormal; + raycastInfo.meshSubpart = -1; + raycastInfo.triangleIndex = -1; + + smallestHitFraction = triangleRaycastInfo.hitFraction; + isHit = true; + } + } + + return isHit; } // Return the vertex (local-coordinates) of the height field at a given (x,y) position @@ -264,42 +311,6 @@ Vector3 HeightFieldShape::getVertexAt(int x, int y) const { return vertex * mScaling; } -// Raycast test between a ray and a triangle of the heightfield -void TriangleOverlapCallback::testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint shapeId) { - - // Create a triangle collision shape - TriangleShape triangleShape(trianglePoints, verticesNormals, shapeId, mAllocator); - triangleShape.setRaycastTestType(mHeightFieldShape.getRaycastTestType()); - -#ifdef IS_PROFILING_ACTIVE - - // Set the profiler to the triangle shape - triangleShape.setProfiler(mProfiler); - -#endif - - // Ray casting test against the collision shape - RaycastInfo raycastInfo; - bool isTriangleHit = triangleShape.raycast(mRay, raycastInfo, mProxyShape, mAllocator); - - // If the ray hit the collision shape - if (isTriangleHit && raycastInfo.hitFraction <= mSmallestHitFraction) { - - assert(raycastInfo.hitFraction >= decimal(0.0)); - - mRaycastInfo.body = raycastInfo.body; - mRaycastInfo.proxyShape = raycastInfo.proxyShape; - mRaycastInfo.hitFraction = raycastInfo.hitFraction; - mRaycastInfo.worldPoint = raycastInfo.worldPoint; - mRaycastInfo.worldNormal = raycastInfo.worldNormal; - mRaycastInfo.meshSubpart = -1; - mRaycastInfo.triangleIndex = -1; - - mSmallestHitFraction = raycastInfo.hitFraction; - mIsHit = true; - } -} - // Return the string representation of the shape std::string HeightFieldShape::to_string() const { diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h index d8149a9e..142165a5 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/src/collision/shapes/HeightFieldShape.h @@ -36,57 +36,6 @@ class HeightFieldShape; class Profiler; class TriangleShape; -// Class TriangleOverlapCallback -/** - * This class is used for testing AABB and triangle overlap for raycasting - */ -class TriangleOverlapCallback : public TriangleCallback { - - protected: - - const Ray& mRay; - ProxyShape* mProxyShape; - RaycastInfo& mRaycastInfo; - bool mIsHit; - decimal mSmallestHitFraction; - const HeightFieldShape& mHeightFieldShape; - MemoryAllocator& mAllocator; - -#ifdef IS_PROFILING_ACTIVE - - /// Pointer to the profiler - Profiler* mProfiler; - -#endif - - public: - - // Constructor - TriangleOverlapCallback(const Ray& ray, ProxyShape* proxyShape, RaycastInfo& raycastInfo, - const HeightFieldShape& heightFieldShape, MemoryAllocator& allocator) - : mRay(ray), mProxyShape(proxyShape), mRaycastInfo(raycastInfo), - mHeightFieldShape (heightFieldShape), mAllocator(allocator) { - mIsHit = false; - mSmallestHitFraction = mRay.maxFraction; - } - - bool getIsHit() const {return mIsHit;} - - /// Raycast test between a ray and a triangle of the heightfield - virtual void testTriangle(const Vector3* trianglePoints, const Vector3* verticesNormals, uint shapeId) override; - -#ifdef IS_PROFILING_ACTIVE - - /// Set the profiler - void setProfiler(Profiler* profiler) { - mProfiler = profiler; - } - -#endif - -}; - - // Class HeightFieldShape /** * This class represents a static height field that can be used to represent @@ -212,7 +161,9 @@ class HeightFieldShape : public ConcaveShape { virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; /// Use a callback method on all triangles of the concave shape inside a given AABB - virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const override; + virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, + List& triangleVerticesNormals, List& shapeIds, + MemoryAllocator& allocator) const override; /// Return the string representation of the shape virtual std::string to_string() const override; diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h index 4c69edaf..a9f51839 100644 --- a/src/collision/shapes/TriangleShape.h +++ b/src/collision/shapes/TriangleShape.h @@ -180,6 +180,7 @@ class TriangleShape : public ConvexPolyhedronShape { friend class ConcaveMeshRaycastCallback; friend class TriangleOverlapCallback; friend class MiddlePhaseTriangleCallback; + friend class HeightFieldShape; }; // Return the number of bytes used by the collision shape diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index e9374b0a..e8cddde7 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -117,7 +117,7 @@ void BroadPhaseSystem::updateProxyShape(Entity proxyShapeEntity) { uint32 index = mProxyShapesComponents.mMapEntityToComponentIndex[proxyShapeEntity]; // Update the proxy-shape component - updateProxyShapesComponents(index, index + 1); + updateProxyShapesComponents(index, 1); } // Update the broad-phase state of all the enabled proxy-shapes @@ -146,15 +146,17 @@ void BroadPhaseSystem::updateProxyShapeInternal(int broadPhaseId, const AABB& aa } // Update the broad-phase state of some proxy-shapes components -void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 endIndex) { +void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbItems) { - assert(startIndex <= endIndex); + assert(nbItems > 0); assert(startIndex < mProxyShapesComponents.getNbComponents()); - assert(endIndex <= mProxyShapesComponents.getNbComponents()); + assert(startIndex + nbItems <= mProxyShapesComponents.getNbComponents()); // Make sure we do not update disabled components startIndex = std::min(startIndex, mProxyShapesComponents.getNbEnabledComponents()); - endIndex = std::min(endIndex, mProxyShapesComponents.getNbEnabledComponents()); + uint32 endIndex = std::min(startIndex + nbItems, mProxyShapesComponents.getNbEnabledComponents()); + nbItems = endIndex - startIndex; + assert(nbItems >= 0); // Get the time step if we are in a dynamics world DynamicsWorld* dynamicsWorld = dynamic_cast(mCollisionDetection.getWorld()); @@ -164,7 +166,7 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end } // For each proxy-shape component to update - for (uint32 i = startIndex; i < endIndex; i++) { + for (uint32 i = startIndex; i < startIndex + nbItems; i++) { const int broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i]; if (broadPhaseId != -1) { @@ -193,14 +195,6 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 end } } -void BroadPhaseSystem::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { - - AABBOverlapCallback callback(overlappingNodes); - - // Ask the dynamic AABB tree to report all collision shapes that overlap with this AABB - mDynamicAABBTree.reportAllShapesOverlappingWithAABB(aabb, callback); -} - // Compute all the overlapping pairs of collision shapes void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes) { diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index abcc7490..62484033 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -143,7 +143,7 @@ class BroadPhaseSystem { void updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement); /// Update the broad-phase state of some proxy-shapes components - void updateProxyShapesComponents(uint32 startIndex, uint32 endIndex); + void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems); public : @@ -182,9 +182,6 @@ class BroadPhaseSystem { /// step and that need to be tested again for broad-phase overlapping. void removeMovedCollisionShape(int broadPhaseID); - /// Report all the shapes that are overlapping with a given AABB - void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; - /// Compute all the overlapping pairs of collision shapes void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index dd453bd4..5e5033b7 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -31,32 +31,11 @@ #include "collision/broadphase/DynamicAABBTree.h" #include "memory/MemoryManager.h" #include "utils/Profiler.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { -class TestOverlapCallback : public DynamicAABBTreeOverlapCallback { - - public : - - // TODO : Replace this by rp3d::List - std::vector mOverlapNodes; - - // Called when a overlapping node has been found during the call to - // DynamicAABBTree:reportAllShapesOverlappingWithAABB() - virtual void notifyOverlappingNode(int nodeId) override { - mOverlapNodes.push_back(nodeId); - } - - void reset() { - mOverlapNodes.clear(); - } - - bool isOverlapping(int nodeId) const { - return std::find(mOverlapNodes.begin(), mOverlapNodes.end(), nodeId) != mOverlapNodes.end(); - } -}; - class DynamicTreeRaycastCallback : public DynamicAABBTreeRaycastCallback { public: @@ -78,6 +57,7 @@ class DynamicTreeRaycastCallback : public DynamicAABBTreeRaycastCallback { } }; + // Class TestDynamicAABBTree /** * Unit test for the dynamic AABB tree @@ -88,8 +68,8 @@ class TestDynamicAABBTree : public Test { // ---------- Atributes ---------- // - TestOverlapCallback mOverlapCallback; DynamicTreeRaycastCallback mRaycastCallback; + PoolAllocator mAllocator; public : @@ -101,6 +81,10 @@ class TestDynamicAABBTree : public Test { } + bool isOverlapping(int nodeId, const List& overlappingNodes) const { + return std::find(overlappingNodes.begin(), overlappingNodes.end(), nodeId) != overlappingNodes.end(); + } + /// Run the tests void run() { @@ -202,45 +186,47 @@ class TestDynamicAABBTree : public Test { // ---------- Tests ---------- // + List overlappingNodes(mAllocator); + // AABB overlapping nothing - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping everything - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 1 and 3 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 3 and 4 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 2 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- // @@ -250,44 +236,44 @@ class TestDynamicAABBTree : public Test { tree.updateObject(object4Id, aabb4, Vector3::zero()); // AABB overlapping nothing - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping everything - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 1 and 3 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 3 and 4 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 2 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- // @@ -297,44 +283,44 @@ class TestDynamicAABBTree : public Test { tree.updateObject(object4Id, aabb4, Vector3::zero()); // AABB overlapping nothing - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-10, 12, -4), Vector3(10, 50, 4)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping everything - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-15, -15, -4), Vector3(15, 15, 4)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 1 and 3 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-4, 2, -4), Vector3(-1, 7, 4)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 3 and 4 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-6, -5, -2), Vector3(2, 2, 0)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(isOverlapping(object4Id, overlappingNodes)); // AABB overlapping object 2 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(5, -10, -2), Vector3(7, 10, 9)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // ---- Move objects 2 and 3 ----- // @@ -345,20 +331,20 @@ class TestDynamicAABBTree : public Test { tree.updateObject(object3Id, newAABB3, Vector3::zero()); // AABB overlapping object 3 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(6, -10, -2), Vector3(8, 5, 3)), mOverlapCallback); - rp3d_test(!mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(6, -10, -2), Vector3(8, 5, 3)), overlappingNodes); + rp3d_test(!isOverlapping(object1Id, overlappingNodes)); + rp3d_test(!isOverlapping(object2Id, overlappingNodes)); + rp3d_test(isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); // AABB overlapping objects 1, 2 - mOverlapCallback.reset(); - tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-8, 5, -3), Vector3(-2, 11, 3)), mOverlapCallback); - rp3d_test(mOverlapCallback.isOverlapping(object1Id)); - rp3d_test(mOverlapCallback.isOverlapping(object2Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object3Id)); - rp3d_test(!mOverlapCallback.isOverlapping(object4Id)); + overlappingNodes.clear(); + tree.reportAllShapesOverlappingWithAABB(AABB(Vector3(-8, 5, -3), Vector3(-2, 11, 3)), overlappingNodes); + rp3d_test(isOverlapping(object1Id, overlappingNodes)); + rp3d_test(isOverlapping(object2Id, overlappingNodes)); + rp3d_test(!isOverlapping(object3Id, overlappingNodes)); + rp3d_test(!isOverlapping(object4Id, overlappingNodes)); #ifdef IS_PROFILING_ACTIVE delete profiler; From 9b38fc16264039d75b892143c816d5a6a27beb58 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 8 Aug 2019 17:45:22 +0200 Subject: [PATCH 078/197] Add DynamicsSystem class --- CMakeLists.txt | 10 +- src/body/CollisionBody.cpp | 6 +- src/body/CollisionBody.h | 2 +- src/body/RigidBody.h | 2 +- src/collision/CollisionDetection.h | 12 +- src/collision/ContactManifold.h | 2 +- src/collision/ProxyShape.cpp | 2 +- src/components/RigidBodyComponents.h | 3 +- src/constraint/BallAndSocketJoint.cpp | 2 +- src/constraint/ContactPoint.h | 2 +- src/constraint/FixedJoint.cpp | 2 +- src/constraint/HingeJoint.cpp | 2 +- src/constraint/Joint.h | 2 +- src/constraint/SliderJoint.cpp | 2 +- src/constraint/SliderJoint.h | 2 +- src/engine/DynamicsWorld.cpp | 192 +++--------------- src/engine/DynamicsWorld.h | 67 ++---- src/systems/BroadPhaseSystem.cpp | 17 +- src/systems/BroadPhaseSystem.h | 8 +- .../ConstraintSolverSystem.cpp} | 10 +- .../ConstraintSolverSystem.h} | 14 +- .../ContactSolverSystem.cpp} | 30 +-- .../ContactSolverSystem.h} | 20 +- src/systems/DynamicsSystem.cpp | 190 +++++++++++++++++ src/systems/DynamicsSystem.h | 111 ++++++++++ 25 files changed, 416 insertions(+), 296 deletions(-) rename src/{engine/ConstraintSolver.cpp => systems/ConstraintSolverSystem.cpp} (91%) rename src/{engine/ConstraintSolver.h => systems/ConstraintSolverSystem.h} (95%) rename src/{engine/ContactSolver.cpp => systems/ContactSolverSystem.cpp} (98%) rename src/{engine/ContactSolver.h => systems/ContactSolverSystem.h} (96%) create mode 100644 src/systems/DynamicsSystem.cpp create mode 100644 src/systems/DynamicsSystem.h diff --git a/CMakeLists.txt b/CMakeLists.txt index e5a12319..00011295 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -129,8 +129,9 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/Entity.h" "src/engine/EntityManager.h" "src/engine/CollisionWorld.h" - "src/engine/ConstraintSolver.h" - "src/engine/ContactSolver.h" + "src/systems/ConstraintSolverSystem.h" + "src/systems/ContactSolverSystem.h" + "src/systems/DynamicsSystem.h" "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" @@ -219,8 +220,9 @@ SET (REACTPHYSICS3D_SOURCES "src/constraint/Joint.cpp" "src/constraint/SliderJoint.cpp" "src/engine/CollisionWorld.cpp" - "src/engine/ConstraintSolver.cpp" - "src/engine/ContactSolver.cpp" + "src/systems/ConstraintSolverSystem.cpp" + "src/systems/ContactSolverSystem.cpp" + "src/systems/DynamicsSystem.cpp" "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index b436ddb5..b47ecca5 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -214,14 +214,14 @@ const Transform& CollisionBody::getTransform() const { } // Update the broad-phase state for this body (because it has moved for instance) -void CollisionBody::updateBroadPhaseState() const { +void CollisionBody::updateBroadPhaseState(decimal timeStep) const { // For all the proxy collision shapes of the body const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { // Update the proxy - mWorld.mCollisionDetection.updateProxyShape(proxyShapesEntities[i]); + mWorld.mCollisionDetection.updateProxyShape(proxyShapesEntities[i], timeStep); } } @@ -390,7 +390,7 @@ void CollisionBody::setTransform(const Transform& transform) { mWorld.mTransformComponents.setTransform(mEntity, transform); // Update the broad-phase state of the body - updateBroadPhaseState(); + updateBroadPhaseState(0); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string()); diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 95d4b913..7101181f 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -82,7 +82,7 @@ class CollisionBody { void removeAllCollisionShapes(); /// Update the broad-phase state for this body (because it has moved for instance) - void updateBroadPhaseState() const; + void updateBroadPhaseState(decimal timeStep) const; /// Ask the broad-phase to test again the collision shapes of the body for collision /// (as if the body has moved). diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index f676755a..6ab29c5f 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -218,7 +218,7 @@ class RigidBody : public CollisionBody { // -------------------- Friendship -------------------- // friend class DynamicsWorld; - friend class ContactSolver; + friend class ContactSolverSystem; friend class BallAndSocketJoint; friend class SliderJoint; friend class HingeJoint; diff --git a/src/collision/CollisionDetection.h b/src/collision/CollisionDetection.h index dd91b296..a9e9a2c6 100644 --- a/src/collision/CollisionDetection.h +++ b/src/collision/CollisionDetection.h @@ -292,10 +292,10 @@ class CollisionDetection { void removeProxyCollisionShape(ProxyShape* proxyShape); /// Update a proxy collision shape (that has moved for instance) - void updateProxyShape(Entity proxyShapeEntity); + void updateProxyShape(Entity proxyShapeEntity, decimal timeStep); /// Update all the enabled proxy-shapes - void updateProxyShapes(); + void updateProxyShapes(decimal timeStep); /// Add a pair of bodies that cannot collide with each other void addNoCollisionPair(CollisionBody* body1, CollisionBody* body2); @@ -411,15 +411,15 @@ inline MemoryManager& CollisionDetection::getMemoryManager() const { } // Update a proxy collision shape (that has moved for instance) -inline void CollisionDetection::updateProxyShape(Entity proxyShapeEntity) { +inline void CollisionDetection::updateProxyShape(Entity proxyShapeEntity, decimal timeStep) { // Update the proxy-shape component - mBroadPhaseSystem.updateProxyShape(proxyShapeEntity); + mBroadPhaseSystem.updateProxyShape(proxyShapeEntity, timeStep); } // Update all the enabled proxy-shapes -inline void CollisionDetection::updateProxyShapes() { - mBroadPhaseSystem.updateProxyShapes(); +inline void CollisionDetection::updateProxyShapes(decimal timeStep) { + mBroadPhaseSystem.updateProxyShapes(timeStep); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index 4f7df13f..abc5fed8 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -124,7 +124,7 @@ class ContactManifold { friend class Island; friend class CollisionBody; friend class ContactManifoldSet; - friend class ContactSolver; + friend class ContactSolverSystem; friend class CollisionDetection; }; diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index 052ee301..e46ec63a 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -122,7 +122,7 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { mBody->mWorld.mRigidBodyComponents.setIsSleeping(mBody->getEntity(), false); } - mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity); + mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity, 0); int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index d7f4d174..640a234b 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -333,7 +333,8 @@ class RigidBodyComponents : public Components { // -------------------- Friendship -------------------- // friend class DynamicsWorld; - friend class ContactSolver; + friend class ContactSolverSystem; + friend class DynamicsSystem; friend class BallAndSocketJoint; friend class FixedJoint; friend class HingeJoint; diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 171f39b9..a5b100a2 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -25,7 +25,7 @@ // Libraries #include "BallAndSocketJoint.h" -#include "engine/ConstraintSolver.h" +#include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index c681396d..a6adb8bb 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -136,7 +136,7 @@ class ContactPoint { // Friendship friend class ContactManifold; friend class ContactManifoldSet; - friend class ContactSolver; + friend class ContactSolverSystem; friend class CollisionDetection; }; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index f954da20..d317d237 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -25,7 +25,7 @@ // Libraries #include "FixedJoint.h" -#include "engine/ConstraintSolver.h" +#include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 469fc124..5ae7755a 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -25,7 +25,7 @@ // Libraries #include "HingeJoint.h" -#include "engine/ConstraintSolver.h" +#include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 38e26b5d..e21f0263 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -213,7 +213,7 @@ class Joint { friend class DynamicsWorld; friend class Island; - friend class ConstraintSolver; + friend class ConstraintSolverSystem; }; // Return the reference to the body 1 diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 02026d30..86864d45 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -25,7 +25,7 @@ // Libraries #include "SliderJoint.h" -#include "engine/ConstraintSolver.h" +#include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" using namespace reactphysics3d; diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index 5720915e..b9a83de0 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations -class ConstraintSolver; +class ConstraintSolverSystem; // Structure SliderJointInfo /** diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 9be94ee6..adcc1a60 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -50,13 +50,14 @@ using namespace std; DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : CollisionWorld(worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), - mContactSolver(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, + mContactSolverSystem(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), - mConstraintSolver(mIslands, mRigidBodyComponents), + mConstraintSolverSystem(mIslands, mRigidBodyComponents), + mDynamicsSystem(mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), - mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mTimeStep(decimal(1.0f / 60.0f)), + mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { @@ -64,8 +65,9 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS #ifdef IS_PROFILING_ACTIVE // Set the profiler - mConstraintSolver.setProfiler(mProfiler); - mContactSolver.setProfiler(mProfiler); + mConstraintSolverSystem.setProfiler(mProfiler); + mContactSolverSystem.setProfiler(mProfiler); + mDynamicsSystem.setProfiler(mProfiler); #endif @@ -113,8 +115,6 @@ void DynamicsWorld::update(decimal timeStep) { RP3D_PROFILE("DynamicsWorld::update()", mProfiler); - mTimeStep = timeStep; - // Notify the event listener about the beginning of an internal tick if (mEventListener != nullptr) mEventListener->beginInternalTick(); @@ -131,27 +131,30 @@ void DynamicsWorld::update(decimal timeStep) { mCollisionDetection.reportContacts(); // Integrate the velocities - integrateRigidBodiesVelocities(); + mDynamicsSystem.integrateRigidBodiesVelocities(timeStep); // Solve the contacts and constraints - solveContactsAndConstraints(); + solveContactsAndConstraints(timeStep); // Integrate the position and orientation of each body - integrateRigidBodiesPositions(); + mDynamicsSystem.integrateRigidBodiesPositions(timeStep, mContactSolverSystem.isSplitImpulseActive()); // Solve the position correction for constraints solvePositionCorrection(); // Update the state (positions and velocities) of the bodies - updateBodiesState(); + mDynamicsSystem.updateBodiesState(); - if (mIsSleepingEnabled) updateSleepingBodies(); + // Update the proxy-shapes components + mCollisionDetection.updateProxyShapes(timeStep); + + if (mIsSleepingEnabled) updateSleepingBodies(timeStep); // Notify the event listener about the end of an internal tick if (mEventListener != nullptr) mEventListener->endInternalTick(); // Reset the external force and torque applied to the bodies - resetBodiesForceAndTorque(); + mDynamicsSystem.resetBodiesForceAndTorque(); // Reset the islands mIslands.clear(); @@ -160,161 +163,16 @@ void DynamicsWorld::update(decimal timeStep) { mMemoryManager.resetFrameAllocator(); } -// Integrate position and orientation of the rigid bodies. -/// The positions and orientations of the bodies are integrated using -/// the sympletic Euler time stepping scheme. -void DynamicsWorld::integrateRigidBodiesPositions() { - - RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesPositions()", mProfiler); - - const decimal isSplitImpulseActive = mContactSolver.isSplitImpulseActive() ? decimal(1.0) : decimal(0.0); - - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - // Get the constrained velocity - Vector3 newLinVelocity = mRigidBodyComponents.mConstrainedLinearVelocities[i]; - Vector3 newAngVelocity = mRigidBodyComponents.mConstrainedAngularVelocities[i]; - - // Add the split impulse velocity from Contact Solver (only used - // to update the position) - newLinVelocity += isSplitImpulseActive * mRigidBodyComponents.mSplitLinearVelocities[i]; - newAngVelocity += isSplitImpulseActive * mRigidBodyComponents.mSplitAngularVelocities[i]; - - // Get current position and orientation of the body - const Vector3& currentPosition = mRigidBodyComponents.mCentersOfMassWorld[i]; - const Quaternion& currentOrientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation(); - - // Update the new constrained position and orientation of the body - mRigidBodyComponents.mConstrainedPositions[i] = currentPosition + newLinVelocity * mTimeStep; - mRigidBodyComponents.mConstrainedOrientations[i] = currentOrientation + Quaternion(0, newAngVelocity) * - currentOrientation * decimal(0.5) * mTimeStep; - } -} - -// Update the postion/orientation of the bodies -void DynamicsWorld::updateBodiesState() { - - RP3D_PROFILE("DynamicsWorld::updateBodiesState()", mProfiler); - - // TODO : Make sure we compute this in a system - - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - // Update the linear and angular velocity of the body - mRigidBodyComponents.setLinearVelocity(mRigidBodyComponents.mBodiesEntities[i], mRigidBodyComponents.mConstrainedLinearVelocities[i]); - mRigidBodyComponents.setAngularVelocity(mRigidBodyComponents.mBodiesEntities[i], mRigidBodyComponents.mConstrainedAngularVelocities[i]); - - // Update the position of the center of mass of the body - mRigidBodyComponents.mCentersOfMassWorld[i] = mRigidBodyComponents.mConstrainedPositions[i]; - - // Update the orientation of the body - const Quaternion& constrainedOrientation = mRigidBodyComponents.mConstrainedOrientations[i]; - mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).setOrientation(constrainedOrientation.getUnit()); - } - - // Update the transform of the body (using the new center of mass and new orientation) - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - Transform& transform = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]); - const Vector3& centerOfMassWorld = mRigidBodyComponents.mCentersOfMassWorld[i]; - const Vector3& centerOfMassLocal = mRigidBodyComponents.mCentersOfMassLocal[i]; - transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); - } - - // Update the world inverse inertia tensor of the body - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - Matrix3x3 orientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation().getMatrix(); - const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.mInverseInertiaTensorsLocal[i]; - mRigidBodyComponents.mInverseInertiaTensorsWorld[i] = orientation * inverseInertiaLocalTensor * orientation.getTranspose(); - } - - // Update the proxy-shapes components - mCollisionDetection.updateProxyShapes(); -} - -// Reset the split velocities of the bodies -void DynamicsWorld::resetSplitVelocities() { - - for(uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - mRigidBodyComponents.mSplitLinearVelocities[i].setToZero(); - mRigidBodyComponents.mSplitAngularVelocities[i].setToZero(); - } -} - -// Integrate the velocities of rigid bodies. -/// This method only set the temporary velocities but does not update -/// the actual velocitiy of the bodies. The velocities updated in this method -/// might violate the constraints and will be corrected in the constraint and -/// contact solver. -void DynamicsWorld::integrateRigidBodiesVelocities() { - - RP3D_PROFILE("DynamicsWorld::integrateRigidBodiesVelocities()", mProfiler); - - // Reset the split velocities of the bodies - resetSplitVelocities(); - - // Integration component velocities using force/torque - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - assert(mRigidBodyComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0)); - assert(mRigidBodyComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0)); - - const Vector3& linearVelocity = mRigidBodyComponents.mLinearVelocities[i]; - const Vector3& angularVelocity = mRigidBodyComponents.mAngularVelocities[i]; - - // Integrate the external force to get the new velocity of the body - mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + mTimeStep * - mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mExternalForces[i]; - mRigidBodyComponents.mConstrainedAngularVelocities[i] = angularVelocity + mTimeStep * - mRigidBodyComponents.mInverseInertiaTensorsWorld[i] * mRigidBodyComponents.mExternalTorques[i]; - } - - // Apply gravity force - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - // If the gravity has to be applied to this rigid body - if (mRigidBodyComponents.mIsGravityEnabled[i] && mIsGravityEnabled) { - - // Integrate the gravity force - mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + mTimeStep * - mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mInitMasses[i] * mGravity; - } - } - - // Apply the velocity damping - // Damping force : F_c = -c' * v (c=damping factor) - // Equation : m * dv/dt = -c' * v - // => dv/dt = -c * v (with c=c'/m) - // => dv/dt + c * v = 0 - // Solution : v(t) = v0 * e^(-c * t) - // => v(t + dt) = v0 * e^(-c(t + dt)) - // = v0 * e^(-ct) * e^(-c * dt) - // = v(t) * e^(-c * dt) - // => v2 = v1 * e^(-c * dt) - // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... - // => e^(-x) ~ 1 - x - // => v2 = v1 * (1 - c * dt) - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - const decimal linDampingFactor = mRigidBodyComponents.mLinearDampings[i]; - const decimal angDampingFactor = mRigidBodyComponents.mAngularDampings[i]; - const decimal linearDamping = pow(decimal(1.0) - linDampingFactor, mTimeStep); - const decimal angularDamping = pow(decimal(1.0) - angDampingFactor, mTimeStep); - mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] * linearDamping; - mRigidBodyComponents.mConstrainedAngularVelocities[i] = mRigidBodyComponents.mConstrainedAngularVelocities[i] * angularDamping; - } -} // Solve the contacts and constraints -void DynamicsWorld::solveContactsAndConstraints() { +void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) { RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler); // ---------- Solve velocity constraints for joints and contacts ---------- // // Initialize the contact solver - mContactSolver.init(mCollisionDetection.mCurrentContactManifolds, mCollisionDetection.mCurrentContactPoints, mTimeStep); + mContactSolverSystem.init(mCollisionDetection.mCurrentContactManifolds, mCollisionDetection.mCurrentContactPoints, timeStep); // For each island of the world for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { @@ -323,7 +181,7 @@ void DynamicsWorld::solveContactsAndConstraints() { if (mIslands.joints[islandIndex].size() > 0) { // Initialize the constraint solver - mConstraintSolver.initializeForIsland(mTimeStep, islandIndex); + mConstraintSolverSystem.initializeForIsland(timeStep, islandIndex); } } @@ -335,14 +193,14 @@ void DynamicsWorld::solveContactsAndConstraints() { // Solve the constraints if (mIslands.joints[islandIndex].size() > 0) { - mConstraintSolver.solveVelocityConstraints(islandIndex); + mConstraintSolverSystem.solveVelocityConstraints(islandIndex); } } - mContactSolver.solve(); + mContactSolverSystem.solve(); } - mContactSolver.storeImpulses(); + mContactSolverSystem.storeImpulses(); } // Solve the position error correction of the constraints @@ -364,7 +222,7 @@ void DynamicsWorld::solvePositionCorrection() { for (uint i=0; i 0); assert(startIndex < mProxyShapesComponents.getNbComponents()); @@ -158,13 +158,6 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI nbItems = endIndex - startIndex; assert(nbItems >= 0); - // Get the time step if we are in a dynamics world - DynamicsWorld* dynamicsWorld = dynamic_cast(mCollisionDetection.getWorld()); - decimal timeStep = decimal(0.0); - if (dynamicsWorld != nullptr) { - timeStep = dynamicsWorld->getTimeStep(); - } - // For each proxy-shape component to update for (uint32 i = startIndex; i < startIndex + nbItems; i++) { diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 62484033..a5bef448 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -97,7 +97,7 @@ class BroadPhaseRaycastCallback : public DynamicAABBTreeRaycastCallback { }; -// Class BroadPhaseAlgorithm +// Class BroadPhaseSystem /** * This class represents the broad-phase collision detection. The * goal of the broad-phase collision detection is to compute the pairs of proxy shapes @@ -143,7 +143,7 @@ class BroadPhaseSystem { void updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement); /// Update the broad-phase state of some proxy-shapes components - void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems); + void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); public : @@ -169,10 +169,10 @@ class BroadPhaseSystem { void removeProxyCollisionShape(ProxyShape* proxyShape); /// Update the broad-phase state of a single proxy-shape - void updateProxyShape(Entity proxyShapeEntity); + void updateProxyShape(Entity proxyShapeEntity, decimal timeStep); /// Update the broad-phase state of all the enabled proxy-shapes - void updateProxyShapes(); + void updateProxyShapes(decimal timeStep); /// Add a collision shape in the array of shapes that have moved in the last simulation step /// and that need to be tested again for broad-phase overlapping. diff --git a/src/engine/ConstraintSolver.cpp b/src/systems/ConstraintSolverSystem.cpp similarity index 91% rename from src/engine/ConstraintSolver.cpp rename to src/systems/ConstraintSolverSystem.cpp index 14979cff..0afe523a 100644 --- a/src/engine/ConstraintSolver.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -24,14 +24,14 @@ ********************************************************************************/ // Libraries -#include "ConstraintSolver.h" +#include "systems/ConstraintSolverSystem.h" #include "utils/Profiler.h" #include "engine/Island.h" using namespace reactphysics3d; // Constructor -ConstraintSolver::ConstraintSolver(Islands& islands, RigidBodyComponents& rigidBodyComponents) +ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents) : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents) { #ifdef IS_PROFILING_ACTIVE @@ -43,7 +43,7 @@ ConstraintSolver::ConstraintSolver(Islands& islands, RigidBodyComponents& rigidB } // Initialize the constraint solver for a given island -void ConstraintSolver::initializeForIsland(decimal dt, uint islandIndex) { +void ConstraintSolverSystem::initializeForIsland(decimal dt, uint islandIndex) { RP3D_PROFILE("ConstraintSolver::initializeForIsland()", mProfiler); @@ -71,7 +71,7 @@ void ConstraintSolver::initializeForIsland(decimal dt, uint islandIndex) { } // Solve the velocity constraints -void ConstraintSolver::solveVelocityConstraints(uint islandIndex) { +void ConstraintSolverSystem::solveVelocityConstraints(uint islandIndex) { RP3D_PROFILE("ConstraintSolver::solveVelocityConstraints()", mProfiler); @@ -86,7 +86,7 @@ void ConstraintSolver::solveVelocityConstraints(uint islandIndex) { } // Solve the position constraints -void ConstraintSolver::solvePositionConstraints(uint islandIndex) { +void ConstraintSolverSystem::solvePositionConstraints(uint islandIndex) { RP3D_PROFILE("ConstraintSolver::solvePositionConstraints()", mProfiler); diff --git a/src/engine/ConstraintSolver.h b/src/systems/ConstraintSolverSystem.h similarity index 95% rename from src/engine/ConstraintSolver.h rename to src/systems/ConstraintSolverSystem.h index 069e8b89..6898f544 100644 --- a/src/engine/ConstraintSolver.h +++ b/src/systems/ConstraintSolverSystem.h @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_CONSTRAINT_SOLVER_H -#define REACTPHYSICS3D_CONSTRAINT_SOLVER_H +#ifndef REACTPHYSICS3D_CONSTRAINT_SOLVER_SYSTEM_H +#define REACTPHYSICS3D_CONSTRAINT_SOLVER_SYSTEM_H // Libraries #include "configuration.h" @@ -66,7 +66,7 @@ struct ConstraintSolverData { }; -// Class ConstraintSolver +// Class ConstraintSolverSystem /** * This class represents the constraint solver that is used to solve constraints between * the rigid bodies. The constraint solver is based on the "Sequential Impulse" technique @@ -135,7 +135,7 @@ struct ConstraintSolverData { * friction but also another twist friction constraint to prevent spin of the body around the * contact manifold center. */ -class ConstraintSolver { +class ConstraintSolverSystem { private : @@ -164,10 +164,10 @@ class ConstraintSolver { // -------------------- Methods -------------------- // /// Constructor - ConstraintSolver(Islands& islands, RigidBodyComponents& rigidBodyComponents); + ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents); /// Destructor - ~ConstraintSolver() = default; + ~ConstraintSolverSystem() = default; /// Initialize the constraint solver for a given island void initializeForIsland(decimal dt, uint islandIndex); @@ -196,7 +196,7 @@ class ConstraintSolver { #ifdef IS_PROFILING_ACTIVE // Set the profiler -inline void ConstraintSolver::setProfiler(Profiler* profiler) { +inline void ConstraintSolverSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/src/engine/ContactSolver.cpp b/src/systems/ContactSolverSystem.cpp similarity index 98% rename from src/engine/ContactSolver.cpp rename to src/systems/ContactSolverSystem.cpp index fe43473f..03e1a95c 100644 --- a/src/engine/ContactSolver.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "ContactSolver.h" -#include "DynamicsWorld.h" +#include "systems/ContactSolverSystem.h" +#include "engine/DynamicsWorld.h" #include "body/RigidBody.h" #include "constraint/ContactPoint.h" #include "utils/Profiler.h" @@ -38,12 +38,12 @@ using namespace reactphysics3d; using namespace std; // Constants initialization -const decimal ContactSolver::BETA = decimal(0.2); -const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2); -const decimal ContactSolver::SLOP = decimal(0.01); +const decimal ContactSolverSystem::BETA = decimal(0.2); +const decimal ContactSolverSystem::BETA_SPLIT_IMPULSE = decimal(0.2); +const decimal ContactSolverSystem::SLOP = decimal(0.01); // Constructor -ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, +ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, RigidBodyComponents& rigidBodyComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr), @@ -59,7 +59,7 @@ ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, Col } // Initialize the contact constraints -void ContactSolver::init(List* contactManifolds, List* contactPoints, decimal timeStep) { +void ContactSolverSystem::init(List* contactManifolds, List* contactPoints, decimal timeStep) { mAllContactManifolds = contactManifolds; mAllContactPoints = contactPoints; @@ -102,7 +102,7 @@ void ContactSolver::init(List* contactManifolds, ListgetMaterial().getBounciness(); decimal restitution2 = body2->getMaterial().getBounciness(); @@ -774,7 +774,7 @@ decimal ContactSolver::computeMixedRestitutionFactor(RigidBody* body1, } // Compute the mixed friction coefficient from the friction coefficient of each body -decimal ContactSolver::computeMixedFrictionCoefficient(RigidBody *body1, +decimal ContactSolverSystem::computeMixedFrictionCoefficient(RigidBody *body1, RigidBody *body2) const { // Use the geometric mean to compute the mixed friction coefficient return std::sqrt(body1->getMaterial().getFrictionCoefficient() * @@ -782,14 +782,14 @@ decimal ContactSolver::computeMixedFrictionCoefficient(RigidBody *body1, } // Compute th mixed rolling resistance factor between two bodies -inline decimal ContactSolver::computeMixedRollingResistance(RigidBody* body1, +inline decimal ContactSolverSystem::computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const { return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance()); } // Store the computed impulses to use them to // warm start the solver at the next iteration -void ContactSolver::storeImpulses() { +void ContactSolverSystem::storeImpulses() { RP3D_PROFILE("ContactSolver::storeImpulses()", mProfiler); @@ -816,7 +816,7 @@ void ContactSolver::storeImpulses() { // Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction plane // for a contact manifold. The two vectors have to be such that : t1 x t2 = contactNormal. -void ContactSolver::computeFrictionVectors(const Vector3& deltaVelocity, +void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, ContactManifoldSolver& contact) const { RP3D_PROFILE("ContactSolver::computeFrictionVectors()", mProfiler); diff --git a/src/engine/ContactSolver.h b/src/systems/ContactSolverSystem.h similarity index 96% rename from src/engine/ContactSolver.h rename to src/systems/ContactSolverSystem.h index 76241379..15822803 100644 --- a/src/engine/ContactSolver.h +++ b/src/systems/ContactSolverSystem.h @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_CONTACT_SOLVER_H -#define REACTPHYSICS3D_CONTACT_SOLVER_H +#ifndef REACTPHYSICS3D_CONTACT_SOLVER_SYSTEM_H +#define REACTPHYSICS3D_CONTACT_SOLVER_SYSTEM_H // Libraries #include "configuration.h" @@ -48,9 +48,9 @@ class DynamicsComponents; class RigidBodyComponents; class ProxyShapeComponents; -// Class Contact Solver +// Class ContactSolverSystem /** - * This class represents the contact solver that is used to solve rigid bodies contacts. + * This class represents the contact solver system that is used to solve rigid bodies contacts. * The constraint solver is based on the "Sequential Impulse" technique described by * Erin Catto in his GDC slides (http://code.google.com/p/box2d/downloads/list). * @@ -117,7 +117,7 @@ class ProxyShapeComponents; * friction but also another twist friction constraint to prevent spin of the body around the * contact manifold center. */ -class ContactSolver { +class ContactSolverSystem { private: @@ -360,12 +360,12 @@ class ContactSolver { // -------------------- Methods -------------------- // /// Constructor - ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, + ContactSolverSystem(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, RigidBodyComponents& rigidBodyComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings); /// Destructor - ~ContactSolver() = default; + ~ContactSolverSystem() = default; /// Initialize the contact constraints void init(List* contactManifolds, List* contactPoints, decimal timeStep); @@ -395,19 +395,19 @@ class ContactSolver { }; // Return true if the split impulses position correction technique is used for contacts -inline bool ContactSolver::isSplitImpulseActive() const { +inline bool ContactSolverSystem::isSplitImpulseActive() const { return mIsSplitImpulseActive; } // Activate or Deactivate the split impulses for contacts -inline void ContactSolver::setIsSplitImpulseActive(bool isActive) { +inline void ContactSolverSystem::setIsSplitImpulseActive(bool isActive) { mIsSplitImpulseActive = isActive; } #ifdef IS_PROFILING_ACTIVE // Set the profiler -inline void ContactSolver::setProfiler(Profiler* profiler) { +inline void ContactSolverSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp new file mode 100644 index 00000000..042f1c86 --- /dev/null +++ b/src/systems/DynamicsSystem.cpp @@ -0,0 +1,190 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "systems/DynamicsSystem.h" + +using namespace reactphysics3d; + +// Constructor +DynamicsSystem::DynamicsSystem(RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, bool& isGravityEnabled, Vector3& gravity) + :mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mIsGravityEnabled(isGravityEnabled), + mGravity(gravity) { + +} + +// Integrate position and orientation of the rigid bodies. +/// The positions and orientations of the bodies are integrated using +/// the sympletic Euler time stepping scheme. +void DynamicsSystem::integrateRigidBodiesPositions(decimal timeStep, bool isSplitImpulseActive) { + + RP3D_PROFILE("DynamicsSystem::integrateRigidBodiesPositions()", mProfiler); + + const decimal isSplitImpulseFactor = isSplitImpulseActive ? decimal(1.0) : decimal(0.0); + + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + // Get the constrained velocity + Vector3 newLinVelocity = mRigidBodyComponents.mConstrainedLinearVelocities[i]; + Vector3 newAngVelocity = mRigidBodyComponents.mConstrainedAngularVelocities[i]; + + // Add the split impulse velocity from Contact Solver (only used + // to update the position) + newLinVelocity += isSplitImpulseFactor * mRigidBodyComponents.mSplitLinearVelocities[i]; + newAngVelocity += isSplitImpulseFactor * mRigidBodyComponents.mSplitAngularVelocities[i]; + + // Get current position and orientation of the body + const Vector3& currentPosition = mRigidBodyComponents.mCentersOfMassWorld[i]; + const Quaternion& currentOrientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation(); + + // Update the new constrained position and orientation of the body + mRigidBodyComponents.mConstrainedPositions[i] = currentPosition + newLinVelocity * timeStep; + mRigidBodyComponents.mConstrainedOrientations[i] = currentOrientation + Quaternion(0, newAngVelocity) * + currentOrientation * decimal(0.5) * timeStep; + } +} + +// Update the postion/orientation of the bodies +void DynamicsSystem::updateBodiesState() { + + RP3D_PROFILE("DynamicsSystem::updateBodiesState()", mProfiler); + + // TODO : Make sure we compute this in a system + + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + // Update the linear and angular velocity of the body + mRigidBodyComponents.setLinearVelocity(mRigidBodyComponents.mBodiesEntities[i], mRigidBodyComponents.mConstrainedLinearVelocities[i]); + mRigidBodyComponents.setAngularVelocity(mRigidBodyComponents.mBodiesEntities[i], mRigidBodyComponents.mConstrainedAngularVelocities[i]); + + // Update the position of the center of mass of the body + mRigidBodyComponents.mCentersOfMassWorld[i] = mRigidBodyComponents.mConstrainedPositions[i]; + + // Update the orientation of the body + const Quaternion& constrainedOrientation = mRigidBodyComponents.mConstrainedOrientations[i]; + mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).setOrientation(constrainedOrientation.getUnit()); + } + + // Update the transform of the body (using the new center of mass and new orientation) + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + Transform& transform = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]); + const Vector3& centerOfMassWorld = mRigidBodyComponents.mCentersOfMassWorld[i]; + const Vector3& centerOfMassLocal = mRigidBodyComponents.mCentersOfMassLocal[i]; + transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); + } + + // Update the world inverse inertia tensor of the body + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + Matrix3x3 orientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation().getMatrix(); + const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.mInverseInertiaTensorsLocal[i]; + mRigidBodyComponents.mInverseInertiaTensorsWorld[i] = orientation * inverseInertiaLocalTensor * orientation.getTranspose(); + } +} + +// Integrate the velocities of rigid bodies. +/// This method only set the temporary velocities but does not update +/// the actual velocitiy of the bodies. The velocities updated in this method +/// might violate the constraints and will be corrected in the constraint and +/// contact solver. +void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { + + RP3D_PROFILE("DynamicsSystem::integrateRigidBodiesVelocities()", mProfiler); + + // Reset the split velocities of the bodies + resetSplitVelocities(); + + // Integration component velocities using force/torque + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + assert(mRigidBodyComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0)); + assert(mRigidBodyComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0)); + + const Vector3& linearVelocity = mRigidBodyComponents.mLinearVelocities[i]; + const Vector3& angularVelocity = mRigidBodyComponents.mAngularVelocities[i]; + + // Integrate the external force to get the new velocity of the body + mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + timeStep * + mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mExternalForces[i]; + mRigidBodyComponents.mConstrainedAngularVelocities[i] = angularVelocity + timeStep * + mRigidBodyComponents.mInverseInertiaTensorsWorld[i] * mRigidBodyComponents.mExternalTorques[i]; + } + + // Apply gravity force + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + // If the gravity has to be applied to this rigid body + if (mRigidBodyComponents.mIsGravityEnabled[i] && mIsGravityEnabled) { + + // Integrate the gravity force + mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + timeStep * + mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mInitMasses[i] * mGravity; + } + } + + // Apply the velocity damping + // Damping force : F_c = -c' * v (c=damping factor) + // Equation : m * dv/dt = -c' * v + // => dv/dt = -c * v (with c=c'/m) + // => dv/dt + c * v = 0 + // Solution : v(t) = v0 * e^(-c * t) + // => v(t + dt) = v0 * e^(-c(t + dt)) + // = v0 * e^(-ct) * e^(-c * dt) + // = v(t) * e^(-c * dt) + // => v2 = v1 * e^(-c * dt) + // Using Taylor Serie for e^(-x) : e^x ~ 1 + x + x^2/2! + ... + // => e^(-x) ~ 1 - x + // => v2 = v1 * (1 - c * dt) + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + const decimal linDampingFactor = mRigidBodyComponents.mLinearDampings[i]; + const decimal angDampingFactor = mRigidBodyComponents.mAngularDampings[i]; + const decimal linearDamping = std::pow(decimal(1.0) - linDampingFactor, timeStep); + const decimal angularDamping = std::pow(decimal(1.0) - angDampingFactor, timeStep); + mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] * linearDamping; + mRigidBodyComponents.mConstrainedAngularVelocities[i] = mRigidBodyComponents.mConstrainedAngularVelocities[i] * angularDamping; + } +} + +// Reset the external force and torque applied to the bodies +void DynamicsSystem::resetBodiesForceAndTorque() { + + // For each body of the world + for (uint32 i=0; i < mRigidBodyComponents.getNbComponents(); i++) { + mRigidBodyComponents.mExternalForces[i].setToZero(); + mRigidBodyComponents.mExternalTorques[i].setToZero(); + } +} + +// Reset the split velocities of the bodies +void DynamicsSystem::resetSplitVelocities() { + + for(uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + mRigidBodyComponents.mSplitLinearVelocities[i].setToZero(); + mRigidBodyComponents.mSplitAngularVelocities[i].setToZero(); + } +} + diff --git a/src/systems/DynamicsSystem.h b/src/systems/DynamicsSystem.h new file mode 100644 index 00000000..44cef67d --- /dev/null +++ b/src/systems/DynamicsSystem.h @@ -0,0 +1,111 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_DYNAMICS_SYSTEM_H +#define REACTPHYSICS3D_DYNAMICS_SYSTEM_H + +// Libraries +#include "utils/Profiler.h" +#include "components/RigidBodyComponents.h" +#include "components/TransformComponents.h" + +namespace reactphysics3d { + +// Class DynamicsSystem +/** + * This class is responsible to compute and update the dynamics of the bodies that are simulated + * using physics. + */ +class DynamicsSystem { + + private : + + // -------------------- Attributes -------------------- // + + /// Reference to the rigid body components + RigidBodyComponents& mRigidBodyComponents; + + /// Reference to the transform components + TransformComponents& mTransformComponents; + + /// Reference to the variable to know if gravity is enabled in the world + bool& mIsGravityEnabled; + + /// Reference to the world gravity vector + Vector3& mGravity; + +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; +#endif + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + DynamicsSystem(RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, + bool& isGravityEnabled, Vector3& gravity); + + /// Destructor + ~DynamicsSystem() = default; + +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + + /// Integrate the positions and orientations of rigid bodies. + void integrateRigidBodiesPositions(decimal timeStep, bool isSplitImpulseActive); + + /// Integrate the velocities of rigid bodies. + void integrateRigidBodiesVelocities(decimal timeStep); + + /// Update the postion/orientation of the bodies + void updateBodiesState(); + + /// Reset the external force and torque applied to the bodies + void resetBodiesForceAndTorque(); + + /// Reset the split velocities of the bodies + void resetSplitVelocities(); + +}; + +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void DynamicsSystem::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +#endif + +} + +#endif From df04be0e6db749d57776ef29bd47364aa61ebdd5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 9 Aug 2019 07:13:15 +0200 Subject: [PATCH 079/197] Rename CollisionDetection class to CollisionDetectionSystem --- CMakeLists.txt | 4 +- src/body/CollisionBody.h | 2 +- src/collision/CollisionCallback.h | 2 +- src/collision/ContactManifold.h | 2 +- src/collision/OverlapCallback.h | 2 +- src/collision/ProxyShape.h | 2 +- .../narrowphase/NarrowPhaseAlgorithm.h | 2 +- src/constraint/ContactPoint.h | 2 +- src/engine/CollisionWorld.h | 6 +- src/engine/DynamicsWorld.h | 2 +- src/systems/BroadPhaseSystem.cpp | 4 +- src/systems/BroadPhaseSystem.h | 6 +- .../CollisionDetectionSystem.cpp} | 74 +++++++++---------- .../CollisionDetectionSystem.h} | 36 ++++----- 14 files changed, 73 insertions(+), 73 deletions(-) rename src/{collision/CollisionDetection.cpp => systems/CollisionDetectionSystem.cpp} (95%) rename src/{collision/CollisionDetection.h => systems/CollisionDetectionSystem.h} (93%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 00011295..7c912f67 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -118,7 +118,6 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/TriangleMesh.h" "src/collision/PolyhedronMesh.h" "src/collision/HalfEdgeStructure.h" - "src/collision/CollisionDetection.h" "src/collision/ContactManifold.h" "src/constraint/BallAndSocketJoint.h" "src/constraint/ContactPoint.h" @@ -132,6 +131,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/ConstraintSolverSystem.h" "src/systems/ContactSolverSystem.h" "src/systems/DynamicsSystem.h" + "src/systems/CollisionDetectionSystem.h" "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" @@ -211,7 +211,6 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/TriangleMesh.cpp" "src/collision/PolyhedronMesh.cpp" "src/collision/HalfEdgeStructure.cpp" - "src/collision/CollisionDetection.cpp" "src/collision/ContactManifold.cpp" "src/constraint/BallAndSocketJoint.cpp" "src/constraint/ContactPoint.cpp" @@ -223,6 +222,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/ConstraintSolverSystem.cpp" "src/systems/ContactSolverSystem.cpp" "src/systems/DynamicsSystem.cpp" + "src/systems/CollisionDetectionSystem.cpp" "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 7101181f..4764a331 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -181,7 +181,7 @@ class CollisionBody { friend class CollisionWorld; friend class DynamicsWorld; - friend class CollisionDetection; + friend class CollisionDetectionSystem; friend class BroadPhaseAlgorithm; friend class ConvexMeshShape; friend class ProxyShape; diff --git a/src/collision/CollisionCallback.h b/src/collision/CollisionCallback.h index 87e416ff..4d2169cf 100644 --- a/src/collision/CollisionCallback.h +++ b/src/collision/CollisionCallback.h @@ -211,7 +211,7 @@ class CollisionCallback { // -------------------- Friendship -------------------- // - friend class CollisionDetection; + friend class CollisionDetectionSystem; }; /// Destructor diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index abc5fed8..b54644ca 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -125,7 +125,7 @@ class ContactManifold { friend class CollisionBody; friend class ContactManifoldSet; friend class ContactSolverSystem; - friend class CollisionDetection; + friend class CollisionDetectionSystem; }; } diff --git a/src/collision/OverlapCallback.h b/src/collision/OverlapCallback.h index c9e83250..34e16b40 100644 --- a/src/collision/OverlapCallback.h +++ b/src/collision/OverlapCallback.h @@ -133,7 +133,7 @@ class OverlapCallback { // -------------------- Friendship -------------------- // - friend class CollisionDetection; + friend class CollisionDetectionSystem; }; /// Destructor diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h index 743ed443..201d493a 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/ProxyShape.h @@ -199,7 +199,7 @@ class ProxyShape { friend class RigidBody; friend class BroadPhaseAlgorithm; friend class DynamicAABBTree; - friend class CollisionDetection; + friend class CollisionDetectionSystem; friend class CollisionWorld; friend class DynamicsWorld; friend class GJKAlgorithm; diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index 6cae33fa..14d9a8b4 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -32,7 +32,7 @@ /// Namespace ReactPhysics3D namespace reactphysics3d { -class CollisionDetection; +class CollisionDetectionSystem; class ContactManifoldInfo; class PoolAllocator; class OverlappingPair; diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index a6adb8bb..d71add9f 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -137,7 +137,7 @@ class ContactPoint { friend class ContactManifold; friend class ContactManifoldSet; friend class ContactSolverSystem; - friend class CollisionDetection; + friend class CollisionDetectionSystem; }; // Return the normal vector of the contact diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index c109ae5d..0541a4cd 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -29,7 +29,7 @@ // Libraries #include "mathematics/mathematics.h" #include "containers/List.h" -#include "collision/CollisionDetection.h" +#include "systems/CollisionDetectionSystem.h" #include "constraint/Joint.h" #include "memory/MemoryManager.h" #include "engine/EntityManager.h" @@ -89,7 +89,7 @@ class CollisionWorld { ProxyShapeComponents mProxyShapesComponents; /// Reference to the collision detection - CollisionDetection mCollisionDetection; + CollisionDetectionSystem mCollisionDetection; /// All the bodies (rigid and soft) of the world List mBodies; @@ -195,7 +195,7 @@ class CollisionWorld { // -------------------- Friendship -------------------- // - friend class CollisionDetection; + friend class CollisionDetectionSystem; friend class CollisionBody; friend class RigidBody; friend class ProxyShape; diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 3606db4b..edbd63ef 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -39,7 +39,7 @@ namespace reactphysics3d { // Declarations -class CollisionDetection; +class CollisionDetectionSystem; class Island; class RigidBody; diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 0b837744..52e48375 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "BroadPhaseSystem.h" -#include "collision/CollisionDetection.h" +#include "systems/CollisionDetectionSystem.h" #include "utils/Profiler.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor -BroadPhaseSystem::BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, +BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, RigidBodyComponents &rigidBodyComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), mProxyShapesComponents(proxyShapesComponents), mTransformsComponents(transformComponents), diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index a5bef448..934ea9b6 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -39,7 +39,7 @@ namespace reactphysics3d { // Declarations -class CollisionDetection; +class CollisionDetectionSystem; class BroadPhaseSystem; class CollisionBody; class ProxyShape; @@ -129,7 +129,7 @@ class BroadPhaseSystem { Set mMovedShapes; /// Reference to the collision detection object - CollisionDetection& mCollisionDetection; + CollisionDetectionSystem& mCollisionDetection; #ifdef IS_PROFILING_ACTIVE @@ -150,7 +150,7 @@ class BroadPhaseSystem { // -------------------- Methods -------------------- // /// Constructor - BroadPhaseSystem(CollisionDetection& collisionDetection, ProxyShapeComponents& proxyShapesComponents, + BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents); /// Destructor diff --git a/src/collision/CollisionDetection.cpp b/src/systems/CollisionDetectionSystem.cpp similarity index 95% rename from src/collision/CollisionDetection.cpp rename to src/systems/CollisionDetectionSystem.cpp index a74010c4..6349cfc4 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "CollisionDetection.h" +#include "systems/CollisionDetectionSystem.h" #include "engine/CollisionWorld.h" #include "collision/OverlapCallback.h" #include "collision/shapes/BoxShape.h" @@ -51,7 +51,7 @@ using namespace std; // Constructor -CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, +CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), @@ -81,7 +81,7 @@ CollisionDetection::CollisionDetection(CollisionWorld* world, ProxyShapeComponen } // Compute the collision detection -void CollisionDetection::computeCollisionDetection() { +void CollisionDetectionSystem::computeCollisionDetection() { RP3D_PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler); @@ -96,7 +96,7 @@ void CollisionDetection::computeCollisionDetection() { } // Compute the broad-phase collision detection -void CollisionDetection::computeBroadPhase() { +void CollisionDetectionSystem::computeBroadPhase() { RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); @@ -114,7 +114,7 @@ void CollisionDetection::computeBroadPhase() { } // Remove pairs that are not overlapping anymore -void CollisionDetection::removeNonOverlappingPairs() { +void CollisionDetectionSystem::removeNonOverlappingPairs() { // For each possible collision pair of bodies for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { @@ -141,7 +141,7 @@ void CollisionDetection::removeNonOverlappingPairs() { } // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary -void CollisionDetection::updateOverlappingPairs(const List>& overlappingNodes) { +void CollisionDetectionSystem::updateOverlappingPairs(const List>& overlappingNodes) { // For each overlapping pair of nodes for (uint i=0; i < overlappingNodes.size(); i++) { @@ -201,7 +201,7 @@ void CollisionDetection::updateOverlappingPairs(const List>& over } // Compute the middle-phase collision detection -void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) { +void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) { RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); @@ -285,7 +285,7 @@ void CollisionDetection::computeMiddlePhase(OverlappingPairMap& overlappingPairs } // Compute the concave vs convex middle-phase algorithm for a given pair of bodies -void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, +void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { RP3D_PROFILE("CollisionDetection::computeConvexVsConcaveMiddlePhase()", mProfiler); @@ -363,7 +363,7 @@ void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair } // Execute the narrow-phase collision detection algorithm on batches -bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, +bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator) { bool contactFound = false; @@ -408,7 +408,7 @@ bool CollisionDetection::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseI } // Process the potential contacts after narrow-phase collision detection -void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, +void CollisionDetectionSystem::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List& potentialContactPoints, Map* mapPairIdToContactPairIndex, List& potentialContactManifolds, @@ -442,7 +442,7 @@ void CollisionDetection::processAllPotentialContacts(NarrowPhaseInput& narrowPha } // Compute the narrow-phase collision detection -void CollisionDetection::computeNarrowPhase() { +void CollisionDetectionSystem::computeNarrowPhase() { RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); @@ -471,7 +471,7 @@ void CollisionDetection::computeNarrowPhase() { // Compute the narrow-phase collision detection for the testOverlap() methods. /// This method returns true if contacts are found. -bool CollisionDetection::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& narrowPhaseInput, OverlapCallback* callback) { +bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& narrowPhaseInput, OverlapCallback* callback) { RP3D_PROFILE("CollisionDetection::computeNarrowPhaseOverlapSnapshot()", mProfiler); @@ -494,7 +494,7 @@ bool CollisionDetection::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& nar } // Process the potential overlapping bodies for the testOverlap() methods -void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List>& overlapPairs) const { +void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List>& overlapPairs) const { // get the narrow-phase batches to test for collision NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); @@ -514,7 +514,7 @@ void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInput& narrowPha } // Convert the potential overlapping bodies for the testOverlap() methods -void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const { +void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const { RP3D_PROFILE("CollisionDetection::computeSnapshotContactPairs()", mProfiler); @@ -535,7 +535,7 @@ void CollisionDetection::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narro // Compute the narrow-phase collision detection for the testCollision() methods. // This method returns true if contacts are found. -bool CollisionDetection::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback) { +bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback) { RP3D_PROFILE("CollisionDetection::computeNarrowPhaseCollisionSnapshot()", mProfiler); @@ -574,7 +574,7 @@ bool CollisionDetection::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& n } // Swap the previous and current contacts lists -void CollisionDetection::swapPreviousAndCurrentContacts() { +void CollisionDetectionSystem::swapPreviousAndCurrentContacts() { if (mPreviousContactPairs == &mContactPairs1) { @@ -603,7 +603,7 @@ void CollisionDetection::swapPreviousAndCurrentContacts() { } // Create the actual contact manifolds and contacts points -void CollisionDetection::createContacts() { +void CollisionDetectionSystem::createContacts() { RP3D_PROFILE("CollisionDetection::createContacts()", mProfiler); @@ -670,7 +670,7 @@ void CollisionDetection::createContacts() { } // Create the actual contact manifolds and contacts points for testCollision() methods -void CollisionDetection::createSnapshotContacts(List& contactPairs, +void CollisionDetectionSystem::createSnapshotContacts(List& contactPairs, List& contactManifolds, List& contactPoints, List& potentialContactManifolds, @@ -726,7 +726,7 @@ void CollisionDetection::createSnapshotContacts(List& contactPairs, } // Initialize the current contacts with the contacts from the previous frame (for warmstarting) -void CollisionDetection::initContactsWithPreviousOnes() { +void CollisionDetectionSystem::initContactsWithPreviousOnes() { // For each contact pair of the current frame for (uint i=0; i < mCurrentContactPairs->size(); i++) { @@ -821,7 +821,7 @@ void CollisionDetection::initContactsWithPreviousOnes() { } // Remove a body from the collision detection -void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { +void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { assert(proxyShape->getBroadPhaseId() != -1); assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShape->getBroadPhaseId())); @@ -853,7 +853,7 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) { } // Ray casting method -void CollisionDetection::raycast(RaycastCallback* raycastCallback, +void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, const Ray& ray, unsigned short raycastWithCategoryMaskBits) const { @@ -867,7 +867,7 @@ void CollisionDetection::raycast(RaycastCallback* raycastCallback, } // Convert the potential contact into actual contacts -void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, +void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, List& potentialContactPoints, Map* mapPairIdToContactPairIndex, List& potentialContactManifolds, @@ -1007,7 +1007,7 @@ void CollisionDetection::processPotentialContacts(NarrowPhaseInfoBatch& narrowPh } // Clear the obsolete manifolds and contact points and reduce the number of contacts points of the remaining manifolds -void CollisionDetection::reducePotentialContactManifolds(List* contactPairs, +void CollisionDetectionSystem::reducePotentialContactManifolds(List* contactPairs, List& potentialContactManifolds, const List& potentialContactPoints) const { @@ -1070,7 +1070,7 @@ void CollisionDetection::reducePotentialContactManifolds(List* cont } // Return the largest depth of all the contact points of a potential manifold -decimal CollisionDetection::computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, +decimal CollisionDetectionSystem::computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, const List& potentialContactPoints) const { decimal largestDepth = 0.0f; @@ -1092,7 +1092,7 @@ decimal CollisionDetection::computePotentialManifoldLargestContactDepth(const Co // This is based on the technique described by Dirk Gregorius in his // "Contacts Creation" GDC presentation. This method will reduce the number of // contact points to a maximum of 4 points (but it can be less). -void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, +void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold, const Transform& shape1ToWorldTransform, const List& potentialContactPoints) const { assert(manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD); @@ -1269,7 +1269,7 @@ void CollisionDetection::reduceContactPoints(ContactManifoldInfo& manifold, cons } // Report contacts -void CollisionDetection::reportContacts() { +void CollisionDetectionSystem::reportContacts() { if (mWorld->mEventListener != nullptr) { reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, @@ -1278,7 +1278,7 @@ void CollisionDetection::reportContacts() { } // Report all contacts -void CollisionDetection::reportContacts(CollisionCallback& callback, List* contactPairs, +void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List* contactPairs, List* manifolds, List* contactPoints) { RP3D_PROFILE("CollisionDetection::reportContacts()", mProfiler); @@ -1294,7 +1294,7 @@ void CollisionDetection::reportContacts(CollisionCallback& callback, ListmEventListener; } // Return the world-space AABB of a given proxy shape -const AABB CollisionDetection::getWorldAABB(const ProxyShape* proxyShape) const { +const AABB CollisionDetectionSystem::getWorldAABB(const ProxyShape* proxyShape) const { assert(proxyShape->getBroadPhaseId() > -1); return mBroadPhaseSystem.getFatAABB(proxyShape->getBroadPhaseId()); } diff --git a/src/collision/CollisionDetection.h b/src/systems/CollisionDetectionSystem.h similarity index 93% rename from src/collision/CollisionDetection.h rename to src/systems/CollisionDetectionSystem.h index a9e9a2c6..15e85b0c 100644 --- a/src/collision/CollisionDetection.h +++ b/src/systems/CollisionDetectionSystem.h @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_COLLISION_DETECTION_H -#define REACTPHYSICS3D_COLLISION_DETECTION_H +#ifndef REACTPHYSICS3D_COLLISION_DETECTION_SYSTEM_H +#define REACTPHYSICS3D_COLLISION_DETECTION_SYSTEM_H // Libraries #include "body/CollisionBody.h" @@ -56,14 +56,14 @@ class MemoryManager; class EventListener; class CollisionDispatch; -// Class CollisionDetection +// Class CollisionDetectionSystem /** * This class computes the collision detection algorithms. We first * perform a broad-phase algorithm to know which pairs of bodies can * collide and then we run a narrow-phase algorithm to compute the * collision contacts between bodies. */ -class CollisionDetection { +class CollisionDetectionSystem { private : @@ -269,18 +269,18 @@ class CollisionDetection { // -------------------- Methods -------------------- // /// Constructor - CollisionDetection(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, + CollisionDetectionSystem(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager); /// Destructor - ~CollisionDetection() = default; + ~CollisionDetectionSystem() = default; /// Deleted copy-constructor - CollisionDetection(const CollisionDetection& collisionDetection) = delete; + CollisionDetectionSystem(const CollisionDetectionSystem& collisionDetection) = delete; /// Deleted assignment operator - CollisionDetection& operator=(const CollisionDetection& collisionDetection) = delete; + CollisionDetectionSystem& operator=(const CollisionDetectionSystem& collisionDetection) = delete; /// Set the collision dispatch configuration CollisionDispatch& getCollisionDispatch(); @@ -360,12 +360,12 @@ class CollisionDetection { }; // Return a reference to the collision dispatch configuration -inline CollisionDispatch& CollisionDetection::getCollisionDispatch() { +inline CollisionDispatch& CollisionDetectionSystem::getCollisionDispatch() { return mCollisionDispatch; } // Add a body to the collision detection -inline void CollisionDetection::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { +inline void CollisionDetectionSystem::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { // Add the body to the broad-phase mBroadPhaseSystem.addProxyCollisionShape(proxyShape, aabb); @@ -379,13 +379,13 @@ inline void CollisionDetection::addProxyCollisionShape(ProxyShape* proxyShape, c } // Add a pair of bodies that cannot collide with each other -inline void CollisionDetection::addNoCollisionPair(CollisionBody* body1, +inline void CollisionDetectionSystem::addNoCollisionPair(CollisionBody* body1, CollisionBody* body2) { mNoCollisionPairs.add(OverlappingPair::computeBodiesIndexPair(body1, body2)); } // Remove a pair of bodies that cannot collide with each other -inline void CollisionDetection::removeNoCollisionPair(CollisionBody* body1, +inline void CollisionDetectionSystem::removeNoCollisionPair(CollisionBody* body1, CollisionBody* body2) { mNoCollisionPairs.remove(OverlappingPair::computeBodiesIndexPair(body1, body2)); } @@ -393,7 +393,7 @@ inline void CollisionDetection::removeNoCollisionPair(CollisionBody* body1, // Ask for a collision shape to be tested again during broad-phase. /// We simply put the shape in the list of collision shape that have moved in the /// previous frame so that it is tested for collision again in the broad-phase. -inline void CollisionDetection::askForBroadPhaseCollisionCheck(ProxyShape* shape) { +inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(ProxyShape* shape) { if (shape->getBroadPhaseId() != -1) { mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId()); @@ -401,31 +401,31 @@ inline void CollisionDetection::askForBroadPhaseCollisionCheck(ProxyShape* shape } // Return a pointer to the world -inline CollisionWorld* CollisionDetection::getWorld() { +inline CollisionWorld* CollisionDetectionSystem::getWorld() { return mWorld; } // Return a reference to the memory manager -inline MemoryManager& CollisionDetection::getMemoryManager() const { +inline MemoryManager& CollisionDetectionSystem::getMemoryManager() const { return mMemoryManager; } // Update a proxy collision shape (that has moved for instance) -inline void CollisionDetection::updateProxyShape(Entity proxyShapeEntity, decimal timeStep) { +inline void CollisionDetectionSystem::updateProxyShape(Entity proxyShapeEntity, decimal timeStep) { // Update the proxy-shape component mBroadPhaseSystem.updateProxyShape(proxyShapeEntity, timeStep); } // Update all the enabled proxy-shapes -inline void CollisionDetection::updateProxyShapes(decimal timeStep) { +inline void CollisionDetectionSystem::updateProxyShapes(decimal timeStep) { mBroadPhaseSystem.updateProxyShapes(timeStep); } #ifdef IS_PROFILING_ACTIVE // Set the profiler -inline void CollisionDetection::setProfiler(Profiler* profiler) { +inline void CollisionDetectionSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mBroadPhaseSystem.setProfiler(profiler); mCollisionDispatch.setProfiler(profiler); From 2144b8e57138e4edf6d27d58cd788fb8ed485db8 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 15 Aug 2019 18:12:46 +0200 Subject: [PATCH 080/197] Add JointComponents class --- CMakeLists.txt | 4 + src/body/RigidBody.cpp | 2 +- src/body/RigidBody.h | 3 + src/components/JointComponents.cpp | 158 ++++++++++++++++++ src/components/JointComponents.h | 127 ++++++++++++++ src/components/TransformComponents.h | 2 + src/constraint/BallAndSocketJoint.cpp | 4 +- src/constraint/BallAndSocketJoint.h | 2 +- src/constraint/FixedJoint.cpp | 4 +- src/constraint/FixedJoint.h | 2 +- src/constraint/HingeJoint.cpp | 4 +- src/constraint/HingeJoint.h | 2 +- src/constraint/Joint.cpp | 4 +- src/constraint/Joint.h | 29 +--- src/constraint/SliderJoint.cpp | 4 +- src/constraint/SliderJoint.h | 2 +- src/engine/CollisionWorld.cpp | 35 +++- src/engine/CollisionWorld.h | 9 +- src/engine/DynamicsWorld.cpp | 56 +++---- src/engine/DynamicsWorld.h | 6 - src/systems/ConstraintSolverSystem.cpp | 3 +- src/systems/ConstraintSolverSystem.h | 5 + src/systems/SolveBallAndSocketJointSystem.cpp | 35 ++++ src/systems/SolveBallAndSocketJointSystem.h | 85 ++++++++++ 24 files changed, 508 insertions(+), 79 deletions(-) create mode 100644 src/components/JointComponents.cpp create mode 100644 src/components/JointComponents.h create mode 100644 src/systems/SolveBallAndSocketJointSystem.cpp create mode 100644 src/systems/SolveBallAndSocketJointSystem.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 7c912f67..640cd580 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -132,6 +132,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/ContactSolverSystem.h" "src/systems/DynamicsSystem.h" "src/systems/CollisionDetectionSystem.h" + "src/systems/SolveBallAndSocketJointSystem.h" "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" @@ -145,6 +146,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/RigidBodyComponents.h" "src/components/TransformComponents.h" "src/components/ProxyShapeComponents.h" + "src/components/JointComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -223,6 +225,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/ContactSolverSystem.cpp" "src/systems/DynamicsSystem.cpp" "src/systems/CollisionDetectionSystem.cpp" + "src/systems/SolveBallAndSocketJointSystem.cpp" "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" @@ -236,6 +239,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/RigidBodyComponents.cpp" "src/components/TransformComponents.cpp" "src/components/ProxyShapeComponents.cpp" + "src/components/JointComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 2799758d..29c82c11 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -768,7 +768,7 @@ void RigidBody::setIsSleeping(bool isSleeping) { mWorld.mRigidBodyComponents.setIsSleeping(mEntity, isSleeping); // Notify all the components - mWorld.notifyBodyDisabled(mEntity, isSleeping); + mWorld.setBodyDisabled(mEntity, isSleeping); if (isSleeping) { diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 6ab29c5f..ba27a83c 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -63,6 +63,7 @@ class RigidBody : public CollisionBody { Material mMaterial; /// First element of the linked list of joints involving this body + // TODO : Replace this by a list of the joints entities JointListElement* mJointsList; /// True if the center of mass is set by the user @@ -168,9 +169,11 @@ class RigidBody : public CollisionBody { void setAngularDamping(decimal angularDamping); /// Return the first element of the linked list of joints involving this body + // TODO : Remove this const JointListElement* getJointsList() const; /// Return the first element of the linked list of joints involving this body + // TODO : Remove this JointListElement* getJointsList(); /// Apply an external force to the body at its center of mass. diff --git a/src/components/JointComponents.cpp b/src/components/JointComponents.cpp new file mode 100644 index 00000000..a0939294 --- /dev/null +++ b/src/components/JointComponents.cpp @@ -0,0 +1,158 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "JointComponents.h" +#include "engine/EntityManager.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +JointComponents::JointComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity)) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void JointComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newJointsEntities = static_cast(newBuffer); + Entity* newBody1Entities = reinterpret_cast(newJointsEntities + nbComponentsToAllocate); + Entity* newBody2Entities = reinterpret_cast(newBody1Entities + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newJointsEntities, mJointEntities, mNbComponents * sizeof(Entity)); + memcpy(newBody1Entities, mBody1Entities, mNbComponents * sizeof(Entity)); + memcpy(newBody2Entities, mBody2Entities, mNbComponents * sizeof(Entity)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mNbAllocatedComponents = nbComponentsToAllocate; + mJointEntities = newJointsEntities; + mBody1Entities = newBody1Entities; + mBody2Entities = newBody2Entities; +} + +// Add a component +void JointComponents::addComponent(Entity jointEntity, bool isSleeping, const JointComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mJointEntities + index) Entity(jointEntity); + new (mBody1Entities + index) Entity(component.body1Entity); + new (mBody2Entities + index) Entity(component.body2Entity); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(jointEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void JointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mJointEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]); + new (mBody1Entities + destIndex) Entity(mBody1Entities[srcIndex]); + new (mBody2Entities + destIndex) Entity(mBody2Entities[srcIndex]); + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void JointComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity jointEntity1(mJointEntities[index1]); + Entity body1Entity1(mBody1Entities[index1]); + Entity body2Entity1(mBody2Entities[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mJointEntities + index2) Entity(jointEntity1); + new (mBody1Entities + index2) Entity(body1Entity1); + new (mBody2Entities + index2) Entity(body2Entity1); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); + + assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void JointComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mJointEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mJointEntities[index]); + + mJointEntities[index].~Entity(); + mBody1Entities[index].~Entity(); + mBody2Entities[index].~Entity(); +} diff --git a/src/components/JointComponents.h b/src/components/JointComponents.h new file mode 100644 index 00000000..f0deb297 --- /dev/null +++ b/src/components/JointComponents.h @@ -0,0 +1,127 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_JOINT_COMPONENTS_H +#define REACTPHYSICS3D_JOINT_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; + +// Class JointComponents +/** + * This class represent the component of the ECS that contains generic information about + * all the joints. + */ +class JointComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of joint entities + Entity* mJointEntities; + + /// Array of body entities of the first bodies of the joints + Entity* mBody1Entities; + + /// Array of body entities of the first bodies of the joints + Entity* mBody2Entities; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a transform component + struct JointComponent { + + const Entity body1Entity; + const Entity body2Entity; + + /// Constructor + JointComponent(Entity body1Entity, Entity body2Entity) + : body1Entity(body1Entity), body2Entity(body2Entity) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + JointComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~JointComponents() override = default; + + /// Add a component + void addComponent(Entity jointEntity, bool isSleeping, const JointComponent& component); + + /// Return the entity of the first body of a joint + Entity getBody1Entity(Entity jointEntity) const; + + /// Return the entity of the second body of a joint + Entity getBody2Entity(Entity jointEntity) const; + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; +}; + +// Return the entity of the first body of a joint +inline Entity JointComponents::getBody1Entity(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBody1Entities[mMapEntityToComponentIndex[jointEntity]]; +} + +// Return the entity of the second body of a joint +inline Entity JointComponents::getBody2Entity(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBody2Entities[mMapEntityToComponentIndex[jointEntity]]; +} + +} + +#endif diff --git a/src/components/TransformComponents.h b/src/components/TransformComponents.h index f50c52b5..5ca00332 100644 --- a/src/components/TransformComponents.h +++ b/src/components/TransformComponents.h @@ -108,11 +108,13 @@ class TransformComponents : public Components { // Return the transform of an entity inline Transform& TransformComponents::getTransform(Entity bodyEntity) const { + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); return mTransforms[mMapEntityToComponentIndex[bodyEntity]]; } // Set the transform of an entity inline void TransformComponents::setTransform(Entity bodyEntity, const Transform& transform) { + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); mTransforms[mMapEntityToComponentIndex[bodyEntity]] = transform; } diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index a5b100a2..1d544a2c 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -34,8 +34,8 @@ using namespace reactphysics3d; const decimal BallAndSocketJoint::BETA = decimal(0.2); // Constructor -BallAndSocketJoint::BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo) - : Joint(id, jointInfo), mImpulse(Vector3(0, 0, 0)) { +BallAndSocketJoint::BallAndSocketJoint(Entity entity, const BallAndSocketJointInfo& jointInfo) + : Joint(entity, jointInfo), mImpulse(Vector3(0, 0, 0)) { // Compute the local-space anchor point for each body mLocalAnchorPointBody1 = mBody1->getTransform().getInverse() * jointInfo.anchorPointWorldSpace; diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index ab8af193..64e12c36 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -125,7 +125,7 @@ class BallAndSocketJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - BallAndSocketJoint(uint id, const BallAndSocketJointInfo& jointInfo); + BallAndSocketJoint(Entity entity, const BallAndSocketJointInfo& jointInfo); /// Destructor virtual ~BallAndSocketJoint() override = default; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index d317d237..6ec86b9e 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -34,8 +34,8 @@ using namespace reactphysics3d; const decimal FixedJoint::BETA = decimal(0.2); // Constructor -FixedJoint::FixedJoint(uint id, const FixedJointInfo& jointInfo) - : Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { +FixedJoint::FixedJoint(Entity entity, const FixedJointInfo& jointInfo) + : Joint(entity, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { // Compute the local-space anchor point for each body const Transform& transform1 = mBody1->getTransform(); diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index 0fa0f2fc..ce919eb1 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -136,7 +136,7 @@ class FixedJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - FixedJoint(uint id, const FixedJointInfo& jointInfo); + FixedJoint(Entity entity, const FixedJointInfo& jointInfo); /// Destructor virtual ~FixedJoint() override = default; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 5ae7755a..4e72b108 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -34,8 +34,8 @@ using namespace reactphysics3d; const decimal HingeJoint::BETA = decimal(0.2); // Constructor -HingeJoint::HingeJoint(uint id, const HingeJointInfo& jointInfo) - : Joint(id, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), +HingeJoint::HingeJoint(Entity entity, const HingeJointInfo& jointInfo) + : Joint(entity, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minAngleLimit), mUpperLimit(jointInfo.maxAngleLimit), diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index 183027a8..191ff1df 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -287,7 +287,7 @@ class HingeJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - HingeJoint(uint id, const HingeJointInfo& jointInfo); + HingeJoint(Entity entity, const HingeJointInfo& jointInfo); /// Destructor virtual ~HingeJoint() override = default; diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index f1ca34eb..1d7c9b6c 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -29,8 +29,8 @@ using namespace reactphysics3d; // Constructor -Joint::Joint(uint id, const JointInfo& jointInfo) - :mId(id), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mBody1Entity(jointInfo.body1->getEntity()), +Joint::Joint(Entity entity, const JointInfo& jointInfo) + :mEntity(entity), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mBody1Entity(jointInfo.body1->getEntity()), mBody2Entity(jointInfo.body2->getEntity()), mType(jointInfo.type), mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique), mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) { diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index e21f0263..54b7eb8a 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -120,8 +120,8 @@ class Joint { // -------------------- Attributes -------------------- // - /// Id of the joint - uint mId; + /// Entity ID of the joint + Entity mEntity; /// Pointer to the first body of the joint // TODO : Use Entities instead @@ -177,7 +177,7 @@ class Joint { // -------------------- Methods -------------------- // /// Constructor - Joint(uint id, const JointInfo& jointInfo); + Joint(Entity entity, const JointInfo& jointInfo); /// Destructor virtual ~Joint() = default; @@ -194,17 +194,14 @@ class Joint { /// Return the reference to the body 2 RigidBody* getBody2() const; - /// Return true if the constraint is active - bool isActive() const; - /// Return the type of the constraint JointType getType() const; /// Return true if the collision between the two bodies of the joint is enabled bool isCollisionEnabled() const; - /// Return the id of the joint - uint getId() const; + /// Return the entity id of the joint + Entity getEntity() const; /// Return a string representation virtual std::string to_string() const=0; @@ -232,14 +229,6 @@ inline RigidBody* Joint::getBody2() const { return mBody2; } -// Return true if the joint is active -/** - * @return True if the joint is active - */ -inline bool Joint::isActive() const { - return (mBody1->isActive() && mBody2->isActive()); -} - // Return the type of the joint /** * @return The type of the joint @@ -257,12 +246,12 @@ inline bool Joint::isCollisionEnabled() const { return mIsCollisionEnabled; } -// Return the id of the joint +// Return the entity id of the joint /** - * @return The id of the joint + * @return The entity of the joint */ -inline uint Joint::getId() const { - return mId; +inline Entity Joint::getEntity() const { + return mEntity; } // Return true if the joint has already been added into an island diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 86864d45..dafb3c48 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -34,8 +34,8 @@ using namespace reactphysics3d; const decimal SliderJoint::BETA = decimal(0.2); // Constructor -SliderJoint::SliderJoint(uint id, const SliderJointInfo& jointInfo) - : Joint(id, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), +SliderJoint::SliderJoint(Entity entity, const SliderJointInfo& jointInfo) + : Joint(entity, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minTranslationLimit), diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index b9a83de0..e0374eb5 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -289,7 +289,7 @@ class SliderJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - SliderJoint(uint id, const SliderJointInfo& jointInfo); + SliderJoint(Entity entity, const SliderJointInfo& jointInfo); /// Destructor virtual ~SliderJoint() override = default; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 73266988..33b11b48 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -40,6 +40,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), + mJointsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -207,7 +208,7 @@ void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { } // Notify the world if a body is disabled (sleeping) or not -void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { +void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return; @@ -228,6 +229,38 @@ void CollisionWorld::notifyBodyDisabled(Entity bodyEntity, bool isDisabled) { mProxyShapesComponents.setIsEntityDisabled(proxyShapesEntities[i], isDisabled); } + + // Disable the joints of the body if necessary + if (mRigidBodyComponents.hasComponent(bodyEntity)) { + + RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); + + // For each joint of the body + for(JointListElement* jointElem = body->getJointsList(); jointElem != nullptr; jointElem = jointElem->next) { + + // If both bodies of the joint are disabled + if (mRigidBodyComponents.getIsEntityDisabled(jointElem->joint->getBody1()->getEntity()) && + mRigidBodyComponents.getIsEntityDisabled(jointElem->joint->getBody2()->getEntity())) { + + // We disable the joint + setJointDisabled(jointElem->joint->getEntity(), true); + } + else { + + // Enable the joint + setJointDisabled(jointElem->joint->getEntity(), false); + } + } + } +} + +// Notify the world whether a joint is disabled or not +void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { + + if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return; + + // TODO : Make sure we notify all the components here ... + mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); } // Return true if two bodies overlap diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 0541a4cd..c74e8580 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -37,6 +37,7 @@ #include "components/RigidBodyComponents.h" #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" +#include "components/JointComponents.h" #include "collision/CollisionCallback.h" #include "collision/OverlapCallback.h" @@ -88,6 +89,9 @@ class CollisionWorld { /// Proxy-Shapes Components ProxyShapeComponents mProxyShapesComponents; + /// Joint Components + JointComponents mJointsComponents; + /// Reference to the collision detection CollisionDetectionSystem mCollisionDetection; @@ -124,7 +128,10 @@ class CollisionWorld { // -------------------- Methods -------------------- // /// Notify the world if a body is disabled (slepping or inactive) or not - void notifyBodyDisabled(Entity entity, bool isDisabled); + void setBodyDisabled(Entity entity, bool isDisabled); + + /// Notify the world whether a joint is disabled or not + void setJointDisabled(Entity jointEntity, bool isDisabled); public : diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index adcc1a60..06a3896d 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -59,8 +59,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), - mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), - mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) { + mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mCurrentJointId(0) { #ifdef IS_PROFILING_ACTIVE @@ -318,10 +317,15 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { */ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { + // Create a new entity for the joint + Entity entity = mEntityManager.createEntity(); + Joint* newJoint = nullptr; - // Get the next available joint ID - uint jointId = computeNextAvailableJointId(); + bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) && + mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity()); + JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity()); + mJointsComponents.addComponent(entity, isJointDisabled, jointComponent); // Allocate memory to create the new joint switch(jointInfo.type) { @@ -333,7 +337,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { sizeof(BallAndSocketJoint)); const BallAndSocketJointInfo& info = static_cast( jointInfo); - newJoint = new (allocatedMemory) BallAndSocketJoint(jointId, info); + newJoint = new (allocatedMemory) BallAndSocketJoint(entity, info); break; } @@ -343,7 +347,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SliderJoint)); const SliderJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) SliderJoint(jointId, info); + newJoint = new (allocatedMemory) SliderJoint(entity, info); break; } @@ -353,7 +357,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HingeJoint)); const HingeJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) HingeJoint(jointId, info); + newJoint = new (allocatedMemory) HingeJoint(entity, info); break; } @@ -363,7 +367,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(FixedJoint)); const FixedJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) FixedJoint(jointId, info); + newJoint = new (allocatedMemory) FixedJoint(entity, info); break; } @@ -385,9 +389,9 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { mJoints.add(newJoint); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, - "Joint " + std::to_string(newJoint->getId()) + ": New joint created"); + "Joint " + std::to_string(newJoint->getEntity().id) + ": New joint created"); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, - "Joint " + std::to_string(newJoint->getId()) + ": " + newJoint->to_string()); + "Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string()); // Add the joint into the joint list of the bodies involved in the joint addJointToBody(newJoint); @@ -405,7 +409,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) { assert(joint != nullptr); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, - "Joint " + std::to_string(joint->getId()) + ": joint destroyed"); + "Joint " + std::to_string(joint->getEntity().id) + ": joint destroyed"); // If the collision between the two bodies of the constraint was disabled if (!joint->isCollisionEnabled()) { @@ -427,15 +431,14 @@ void DynamicsWorld::destroyJoint(Joint* joint) { size_t nbBytes = joint->getSizeInBytes(); - // Add the joint ID to the list of free IDs - mFreeJointsIDs.add(joint->getId()); + // Destroy the corresponding entity and its components + // TODO : Make sure we remove all its components here + mJointsComponents.removeComponent(joint->getEntity()); + mEntityManager.destroyEntity(joint->getEntity()); // Call the destructor of the joint joint->~Joint(); - // Add the joint ID to the list of free IDs - mFreeJointsIDs.add(joint->getId()); - // Release the allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, joint, nbBytes); } @@ -453,7 +456,7 @@ void DynamicsWorld::addJointToBody(Joint* joint) { joint->mBody1->mJointsList = jointListElement1; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(joint->mBody1->getEntity().id) + ": Joint " + std::to_string(joint->getId()) + + "Body " + std::to_string(joint->mBody1->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + " added to body"); // Add the joint at the beginning of the linked list of joints of the second body @@ -464,27 +467,10 @@ void DynamicsWorld::addJointToBody(Joint* joint) { joint->mBody2->mJointsList = jointListElement2; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(joint->mBody2->getEntity().id) + ": Joint " + std::to_string(joint->getId()) + + "Body " + std::to_string(joint->mBody2->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + " added to body"); } -// Return the next available joint Id -uint DynamicsWorld::computeNextAvailableJointId() { - - // Compute the joint ID - uint jointId; - if (mFreeJointsIDs.size() != 0) { - jointId = mFreeJointsIDs[mFreeJointsIDs.size() - 1]; - mFreeJointsIDs.removeAt(mFreeJointsIDs.size() - 1); - } - else { - jointId = mCurrentJointId; - mCurrentJointId++; - } - - return jointId; -} - // Compute the islands using potential contacts and joints /// We compute the islands before creating the actual contacts here because we want all /// the contact manifolds and contact points of the same island diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index edbd63ef..2c6913da 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -98,9 +98,6 @@ class DynamicsWorld : public CollisionWorld { /// becomes smaller than the sleep velocity. decimal mTimeBeforeSleep; - /// List of free ID for joints - List mFreeJointsIDs; - /// Current joint id uint mCurrentJointId; @@ -124,9 +121,6 @@ class DynamicsWorld : public CollisionWorld { /// Add the joint to the list of joints of the two bodies involved in the joint void addJointToBody(Joint* joint); - /// Return the next available joint id - uint computeNextAvailableJointId(); - public : // -------------------- Methods -------------------- // diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 0afe523a..ae637ba7 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -32,7 +32,8 @@ using namespace reactphysics3d; // Constructor ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents) - : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents) { + : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents), + mSolveBallAndSocketJointSystem(rigidBodyComponents) { #ifdef IS_PROFILING_ACTIVE diff --git a/src/systems/ConstraintSolverSystem.h b/src/systems/ConstraintSolverSystem.h index 6898f544..da7ec7ec 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/src/systems/ConstraintSolverSystem.h @@ -30,6 +30,7 @@ #include "configuration.h" #include "mathematics/mathematics.h" #include "engine/Islands.h" +#include "systems/SolveBallAndSocketJointSystem.h" namespace reactphysics3d { @@ -153,6 +154,9 @@ class ConstraintSolverSystem { /// Constraint solver data used to initialize and solve the constraints ConstraintSolverData mConstraintSolverData; + /// Solver for the BallAndSocketJoint constraints + SolveBallAndSocketJointSystem mSolveBallAndSocketJointSystem; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -198,6 +202,7 @@ class ConstraintSolverSystem { // Set the profiler inline void ConstraintSolverSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; + mSolveBallAndSocketJointSystem.setProfiler(profiler); } #endif diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp new file mode 100644 index 00000000..76166cf2 --- /dev/null +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -0,0 +1,35 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "systems/SolveBallAndSocketJointSystem.h" + +using namespace reactphysics3d; + +// Constructor +SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents) + :mRigidBodyComponents(rigidBodyComponents) { + +} diff --git a/src/systems/SolveBallAndSocketJointSystem.h b/src/systems/SolveBallAndSocketJointSystem.h new file mode 100644 index 00000000..b77fee1a --- /dev/null +++ b/src/systems/SolveBallAndSocketJointSystem.h @@ -0,0 +1,85 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SOLVE_BALL_SOCKET_JOINT_SYSTEM_H +#define REACTPHYSICS3D_SOLVE_BALL_SOCKET_JOINT_SYSTEM_H + +// Libraries +#include "utils/Profiler.h" +#include "components/RigidBodyComponents.h" +#include "components/TransformComponents.h" + +namespace reactphysics3d { + +// Class SolveBallAndSocketJointSystem +/** + * This class is responsible to solve the BallAndSocketJoint constraints + */ +class SolveBallAndSocketJointSystem { + + private : + + // -------------------- Attributes -------------------- // + + /// Reference to the rigid body components + RigidBodyComponents& mRigidBodyComponents; + +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; +#endif + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents); + + /// Destructor + ~SolveBallAndSocketJointSystem() = default; + +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + +}; + +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +#endif + +} + +#endif From 0230b7446244eb63c95bc61f4d905d96589ab4fa Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 19 Aug 2019 07:23:19 +0200 Subject: [PATCH 081/197] Working on joints components --- src/body/RigidBody.cpp | 1 - src/body/RigidBody.h | 3 +- src/components/JointComponents.cpp | 11 +- src/components/JointComponents.h | 18 +++- src/constraint/BallAndSocketJoint.cpp | 96 +++++++++++------ src/constraint/BallAndSocketJoint.h | 2 +- src/constraint/FixedJoint.cpp | 102 +++++++++++------- src/constraint/FixedJoint.h | 2 +- src/constraint/HingeJoint.cpp | 133 +++++++++++++---------- src/constraint/HingeJoint.h | 2 +- src/constraint/Joint.cpp | 41 +++++++- src/constraint/Joint.h | 36 ++----- src/constraint/SliderJoint.cpp | 146 ++++++++++++++++---------- src/constraint/SliderJoint.h | 2 +- src/engine/DynamicsWorld.cpp | 44 ++++---- src/engine/DynamicsWorld.h | 5 + 16 files changed, 403 insertions(+), 241 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 29c82c11..fbb8d262 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -781,7 +781,6 @@ void RigidBody::setIsSleeping(bool isSleeping) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + (isSleeping ? "true" : "false")); - } // Set whether or not the body is allowed to go to sleep diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index ba27a83c..bd427657 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -84,7 +84,7 @@ class RigidBody : public CollisionBody { void updateInertiaTensorInverseWorld(); /// Set the variable to know whether or not the body is sleeping - void setIsSleeping(bool isSleeping); + void setIsSleeping(bool isSleeping); public : @@ -222,6 +222,7 @@ class RigidBody : public CollisionBody { friend class DynamicsWorld; friend class ContactSolverSystem; + friend class Joint; friend class BallAndSocketJoint; friend class SliderJoint; friend class HingeJoint; diff --git a/src/components/JointComponents.cpp b/src/components/JointComponents.cpp index a0939294..41301d70 100644 --- a/src/components/JointComponents.cpp +++ b/src/components/JointComponents.cpp @@ -33,7 +33,8 @@ using namespace reactphysics3d; // Constructor JointComponents::JointComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity)) { + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity) + + sizeof(Joint*)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -55,6 +56,7 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newJointsEntities = static_cast(newBuffer); Entity* newBody1Entities = reinterpret_cast(newJointsEntities + nbComponentsToAllocate); Entity* newBody2Entities = reinterpret_cast(newBody1Entities + nbComponentsToAllocate); + Joint** newJoints = reinterpret_cast(newBody2Entities + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -63,6 +65,7 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newJointsEntities, mJointEntities, mNbComponents * sizeof(Entity)); memcpy(newBody1Entities, mBody1Entities, mNbComponents * sizeof(Entity)); memcpy(newBody2Entities, mBody2Entities, mNbComponents * sizeof(Entity)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(Joint*)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -73,6 +76,7 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { mJointEntities = newJointsEntities; mBody1Entities = newBody1Entities; mBody2Entities = newBody2Entities; + mJoints = newJoints; } // Add a component @@ -85,6 +89,7 @@ void JointComponents::addComponent(Entity jointEntity, bool isSleeping, const Jo new (mJointEntities + index) Entity(jointEntity); new (mBody1Entities + index) Entity(component.body1Entity); new (mBody2Entities + index) Entity(component.body2Entity); + mJoints[index] = component.joint; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(jointEntity, index)); @@ -105,6 +110,7 @@ void JointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]); new (mBody1Entities + destIndex) Entity(mBody1Entities[srcIndex]); new (mBody2Entities + destIndex) Entity(mBody2Entities[srcIndex]); + mJoints[destIndex] = mJoints[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -124,6 +130,7 @@ void JointComponents::swapComponents(uint32 index1, uint32 index2) { Entity jointEntity1(mJointEntities[index1]); Entity body1Entity1(mBody1Entities[index1]); Entity body2Entity1(mBody2Entities[index1]); + Joint* joint1 = mJoints[index1]; // Destroy component 1 destroyComponent(index1); @@ -134,6 +141,7 @@ void JointComponents::swapComponents(uint32 index1, uint32 index2) { new (mJointEntities + index2) Entity(jointEntity1); new (mBody1Entities + index2) Entity(body1Entity1); new (mBody2Entities + index2) Entity(body2Entity1); + mJoints[index2] = joint1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); @@ -155,4 +163,5 @@ void JointComponents::destroyComponent(uint32 index) { mJointEntities[index].~Entity(); mBody1Entities[index].~Entity(); mBody2Entities[index].~Entity(); + mJoints[index] = nullptr; } diff --git a/src/components/JointComponents.h b/src/components/JointComponents.h index f0deb297..fe25ab34 100644 --- a/src/components/JointComponents.h +++ b/src/components/JointComponents.h @@ -38,6 +38,7 @@ namespace reactphysics3d { // Class declarations class MemoryAllocator; class EntityManager; +class Joint; // Class JointComponents /** @@ -59,6 +60,9 @@ class JointComponents : public Components { /// Array of body entities of the first bodies of the joints Entity* mBody2Entities; + /// Array with pointers to the joints + Joint** mJoints; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -80,10 +84,11 @@ class JointComponents : public Components { const Entity body1Entity; const Entity body2Entity; + Joint* joint; /// Constructor - JointComponent(Entity body1Entity, Entity body2Entity) - : body1Entity(body1Entity), body2Entity(body2Entity) { + JointComponent(Entity body1Entity, Entity body2Entity, Joint* joint) + : body1Entity(body1Entity), body2Entity(body2Entity), joint(joint) { } }; @@ -105,6 +110,9 @@ class JointComponents : public Components { /// Return the entity of the second body of a joint Entity getBody2Entity(Entity jointEntity) const; + /// Return a pointer to the joint + Joint* getJoint(Entity jointEntity) const; + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -122,6 +130,12 @@ inline Entity JointComponents::getBody2Entity(Entity jointEntity) const { return mBody2Entities[mMapEntityToComponentIndex[jointEntity]]; } +// Return a pointer to the joint +inline Joint* JointComponents::getJoint(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mJoints[mMapEntityToComponentIndex[jointEntity]]; +} + } #endif diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 1d544a2c..bf1ff7f9 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -27,6 +27,7 @@ #include "BallAndSocketJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" +#include "engine/DynamicsWorld.h" using namespace reactphysics3d; @@ -34,26 +35,38 @@ using namespace reactphysics3d; const decimal BallAndSocketJoint::BETA = decimal(0.2); // Constructor -BallAndSocketJoint::BallAndSocketJoint(Entity entity, const BallAndSocketJointInfo& jointInfo) - : Joint(entity, jointInfo), mImpulse(Vector3(0, 0, 0)) { +BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo) + : Joint(entity, world, jointInfo), mImpulse(Vector3(0, 0, 0)) { + + // Get the transforms of the two bodies + Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); // Compute the local-space anchor point for each body - mLocalAnchorPointBody1 = mBody1->getTransform().getInverse() * jointInfo.anchorPointWorldSpace; - mLocalAnchorPointBody2 = mBody2->getTransform().getInverse() * jointInfo.anchorPointWorldSpace; + mLocalAnchorPointBody1 = body1Transform.getInverse() * jointInfo.anchorPointWorldSpace; + mLocalAnchorPointBody2 = body2Transform.getInverse() * jointInfo.anchorPointWorldSpace; } // Initialize before solving the constraint void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // Get the bodies center of mass and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); - const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); - const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Quaternion& orientationBody1 = body1->getTransform().getOrientation(); + const Quaternion& orientationBody2 = body2->getTransform().getOrientation(); // Get the inertia tensor of bodies - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Compute the vector from body center to the anchor point in world-space mR1World = orientationBody1 * mLocalAnchorPointBody1; @@ -64,8 +77,8 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) - decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); - decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); + decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); + decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -75,7 +88,8 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS // Compute the inverse mass matrix K^-1 mInverseMassMatrix.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrix = massMatrix.getInverse(); } @@ -97,8 +111,11 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS // Warm start the constraint (apply the previous impulse at the beginning of the step) void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -111,22 +128,25 @@ void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverD const Vector3 angularImpulseBody1 = mImpulse.cross(mR1World); // Apply the impulse to the body 1 - v1 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; + v1 += constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity) * linearImpulseBody1; w1 += mI1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -mImpulse.cross(mR2World); // Apply the impulse to the body to the body 2 - v2 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity) * mImpulse; + v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * mImpulse; w2 += mI2 * angularImpulseBody2; } // Solve the velocity constraint void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -146,37 +166,44 @@ void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& con const Vector3 angularImpulseBody1 = deltaLambda.cross(mR1World); // Apply the impulse to the body 1 - v1 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity) * linearImpulseBody1; + v1 += constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity) * linearImpulseBody1; w1 += mI1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 const Vector3 angularImpulseBody2 = -deltaLambda.cross(mR2World); // Apply the impulse to the body 2 - v2 += constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity) * deltaLambda; + v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * deltaLambda; w2 += mI2 * angularImpulseBody2; } // Solve the position constraint (for position error correction) void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies center of mass and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inverse inertia tensors - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Compute the vector from body center to the anchor point in world-space mR1World = q1 * mLocalAnchorPointBody1; @@ -194,7 +221,8 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); mInverseMassMatrix.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrix = massMatrix.getInverse(); } @@ -231,9 +259,9 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index 64e12c36..f61e336b 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -125,7 +125,7 @@ class BallAndSocketJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - BallAndSocketJoint(Entity entity, const BallAndSocketJointInfo& jointInfo); + BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo); /// Destructor virtual ~BallAndSocketJoint() override = default; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 6ec86b9e..b971cba3 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -27,6 +27,7 @@ #include "FixedJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" +#include "engine/DynamicsWorld.h" using namespace reactphysics3d; @@ -34,12 +35,13 @@ using namespace reactphysics3d; const decimal FixedJoint::BETA = decimal(0.2); // Constructor -FixedJoint::FixedJoint(Entity entity, const FixedJointInfo& jointInfo) - : Joint(entity, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { +FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo& jointInfo) + : Joint(entity, world, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { // Compute the local-space anchor point for each body - const Transform& transform1 = mBody1->getTransform(); - const Transform& transform2 = mBody2->getTransform(); + const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); + mLocalAnchorPointBody1 = transform1.getInverse() * jointInfo.anchorPointWorldSpace; mLocalAnchorPointBody2 = transform2.getInverse() * jointInfo.anchorPointWorldSpace; @@ -60,15 +62,23 @@ FixedJoint::FixedJoint(Entity entity, const FixedJointInfo& jointInfo) // Initialize before solving the constraint void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); - const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); - const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Quaternion& orientationBody1 = body1->getTransform().getOrientation(); + const Quaternion& orientationBody2 = body2->getTransform().getOrientation(); // Get the inertia tensor of bodies - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Compute the vector from body center to the anchor point in world-space mR1World = orientationBody1 * mLocalAnchorPointBody1; @@ -79,8 +89,8 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); const decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -90,7 +100,8 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the inverse mass matrix K^-1 for the 3 translation constraints mInverseMassMatrixTranslation.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixTranslation = massMatrix.getInverse(); } @@ -104,7 +115,8 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) mInverseMassMatrixRotation = mI1 + mI2; - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixRotation = mInverseMassMatrixRotation.getInverse(); } @@ -128,8 +140,12 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Warm start the constraint (apply the previous impulse at the beginning of the step) void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -138,8 +154,8 @@ void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 1 Vector3 linearImpulseBody1 = -mImpulseTranslation; @@ -166,8 +182,12 @@ void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -176,8 +196,8 @@ void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // --------------- Translation Constraints --------------- // @@ -226,23 +246,31 @@ void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS // Solve the position constraint (for position error correction) void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inverse inertia tensors - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Compute the vector from body center to the anchor point in world-space mR1World = q1 * mLocalAnchorPointBody1; @@ -262,7 +290,8 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); mInverseMassMatrixTranslation.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixTranslation = massMatrix.getInverse(); } @@ -302,7 +331,8 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) mInverseMassMatrixRotation = mI1 + mI2; - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixRotation = mInverseMassMatrixRotation.getInverse(); } @@ -354,9 +384,9 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index ce919eb1..150cb218 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -136,7 +136,7 @@ class FixedJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - FixedJoint(Entity entity, const FixedJointInfo& jointInfo); + FixedJoint(Entity entity, DynamicsWorld& world, const FixedJointInfo& jointInfo); /// Destructor virtual ~FixedJoint() override = default; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 4e72b108..22593dc0 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -27,6 +27,7 @@ #include "HingeJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" +#include "engine/DynamicsWorld.h" using namespace reactphysics3d; @@ -34,8 +35,8 @@ using namespace reactphysics3d; const decimal HingeJoint::BETA = decimal(0.2); // Constructor -HingeJoint::HingeJoint(Entity entity, const HingeJointInfo& jointInfo) - : Joint(entity, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), +HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) + : Joint(entity, world, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minAngleLimit), mUpperLimit(jointInfo.maxAngleLimit), @@ -46,8 +47,8 @@ HingeJoint::HingeJoint(Entity entity, const HingeJointInfo& jointInfo) assert(mUpperLimit >= decimal(0) && mUpperLimit <= decimal(2.0) * PI); // Compute the local-space anchor point for each body - Transform transform1 = mBody1->getTransform(); - Transform transform2 = mBody2->getTransform(); + Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); mLocalAnchorPointBody1 = transform1.getInverse() * jointInfo.anchorPointWorldSpace; mLocalAnchorPointBody2 = transform2.getInverse() * jointInfo.anchorPointWorldSpace; @@ -67,15 +68,23 @@ HingeJoint::HingeJoint(Entity entity, const HingeJointInfo& jointInfo) // Initialize before solving the constraint void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); - const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); - const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); // Get the inertia tensor of bodies - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Compute the vector from body center to the anchor point in world-space mR1World = orientationBody1 * mLocalAnchorPointBody1; @@ -113,8 +122,8 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) - decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); - decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); + decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); + decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); decimal inverseMassBodies = body1MassInverse + body2MassInverse; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -122,7 +131,8 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); mInverseMassMatrixTranslation.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixTranslation = massMatrix.getInverse(); } @@ -148,7 +158,8 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat mC2CrossA1.dot(I2C2CrossA1); const Matrix2x2 matrixKRotation(el11, el12, el21, el22); mInverseMassMatrixRotation.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixRotation = matrixKRotation.getInverse(); } @@ -197,8 +208,12 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Warm start the constraint (apply the previous impulse at the beginning of the step) void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -207,8 +222,8 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Compute the impulse P=J^T * lambda for the 2 rotation constraints Vector3 rotationImpulse = -mB2CrossA1 * mImpulseRotation.x - mC2CrossA1 * mImpulseRotation.y; @@ -256,8 +271,12 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -266,8 +285,8 @@ void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // --------------- Translation Constraints --------------- // @@ -409,19 +428,27 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // do not execute this method if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inverse inertia tensors - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Compute the vector from body center to the anchor point in world-space mR1World = q1 * mLocalAnchorPointBody1; @@ -453,8 +480,8 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // --------------- Translation Constraints --------------- // // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal body2InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal body1InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal body2InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); decimal inverseMassBodies = body1InverseMass + body2InverseMass; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, @@ -462,7 +489,8 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); mInverseMassMatrixTranslation.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixTranslation = massMatrix.getInverse(); } @@ -514,7 +542,8 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS mC2CrossA1.dot(I2C2CrossA1); const Matrix2x2 matrixKRotation(el11, el12, el21, el22); mInverseMassMatrixRotation.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { mInverseMassMatrixRotation = matrixKRotation.getInverse(); } @@ -611,10 +640,10 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS } } - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } @@ -645,8 +674,7 @@ void HingeJoint::enableMotor(bool isMotorEnabled) { mImpulseMotor = 0.0; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } // Set the minimum angle limit @@ -655,7 +683,7 @@ void HingeJoint::enableMotor(bool isMotorEnabled) { */ void HingeJoint::setMinAngleLimit(decimal lowerLimit) { - assert(mLowerLimit <= 0 && mLowerLimit >= -2.0 * PI); + assert(mLowerLimit <= decimal(0) && mLowerLimit >= decimal(-2.0 * PI)); if (lowerLimit != mLowerLimit) { @@ -672,7 +700,7 @@ void HingeJoint::setMinAngleLimit(decimal lowerLimit) { */ void HingeJoint::setMaxAngleLimit(decimal upperLimit) { - assert(upperLimit >= 0 && upperLimit <= 2.0 * PI); + assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0 * PI)); if (upperLimit != mUpperLimit) { @@ -691,8 +719,7 @@ void HingeJoint::resetLimits() { mImpulseUpperLimit = 0.0; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } // Set the motor speed @@ -703,8 +730,7 @@ void HingeJoint::setMotorSpeed(decimal motorSpeed) { mMotorSpeed = motorSpeed; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } } @@ -716,12 +742,11 @@ void HingeJoint::setMaxMotorTorque(decimal maxMotorTorque) { if (maxMotorTorque != mMaxMotorTorque) { - assert(mMaxMotorTorque >= 0.0); + assert(mMaxMotorTorque >= decimal(0.0)); mMaxMotorTorque = maxMotorTorque; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } } @@ -729,7 +754,7 @@ void HingeJoint::setMaxMotorTorque(decimal maxMotorTorque) { decimal HingeJoint::computeNormalizedAngle(decimal angle) const { // Convert it into the range [-2*pi; 2*pi] - angle = fmod(angle, PI_TIMES_2); + angle = std::fmod(angle, PI_TIMES_2); // Convert it into the range [-pi; pi] if (angle < -PI) { @@ -752,13 +777,13 @@ decimal HingeJoint::computeCorrespondingAngleNearLimits(decimal inputAngle, deci return inputAngle; } else if (inputAngle > upperLimitAngle) { - decimal diffToUpperLimit = fabs(computeNormalizedAngle(inputAngle - upperLimitAngle)); - decimal diffToLowerLimit = fabs(computeNormalizedAngle(inputAngle - lowerLimitAngle)); + decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(inputAngle - upperLimitAngle)); + decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(inputAngle - lowerLimitAngle)); return (diffToUpperLimit > diffToLowerLimit) ? (inputAngle - PI_TIMES_2) : inputAngle; } else if (inputAngle < lowerLimitAngle) { - decimal diffToUpperLimit = fabs(computeNormalizedAngle(upperLimitAngle - inputAngle)); - decimal diffToLowerLimit = fabs(computeNormalizedAngle(lowerLimitAngle - inputAngle)); + decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(upperLimitAngle - inputAngle)); + decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(lowerLimitAngle - inputAngle)); return (diffToUpperLimit > diffToLowerLimit) ? inputAngle : (inputAngle + PI_TIMES_2); } else { diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index 191ff1df..1186c043 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -287,7 +287,7 @@ class HingeJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - HingeJoint(Entity entity, const HingeJointInfo& jointInfo); + HingeJoint(Entity entity, DynamicsWorld& world, const HingeJointInfo& jointInfo); /// Destructor virtual ~HingeJoint() override = default; diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index 1d7c9b6c..85b2df58 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -25,16 +25,47 @@ // Libraries #include "Joint.h" +#include "engine/DynamicsWorld.h" using namespace reactphysics3d; // Constructor -Joint::Joint(Entity entity, const JointInfo& jointInfo) - :mEntity(entity), mBody1(jointInfo.body1), mBody2(jointInfo.body2), mBody1Entity(jointInfo.body1->getEntity()), - mBody2Entity(jointInfo.body2->getEntity()), mType(jointInfo.type), +Joint::Joint(Entity entity, DynamicsWorld& world, const JointInfo& jointInfo) + :mEntity(entity), mWorld(world), mType(jointInfo.type), mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique), mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) { - assert(mBody1 != nullptr); - assert(mBody2 != nullptr); +} + +// Return the reference to the body 1 +/** + * @return The first body involved in the joint + */ +RigidBody* Joint::getBody1() const { + const Entity body1Entiy = mWorld.mJointsComponents.getBody1Entity(mEntity); + return mWorld.mRigidBodyComponents.getRigidBody(body1Entiy); +} + +// Return the reference to the body 2 +/** + * @return The second body involved in the joint + */ +RigidBody* Joint::getBody2() const { + const Entity body2Entiy = mWorld.mJointsComponents.getBody2Entity(mEntity); + return mWorld.mRigidBodyComponents.getRigidBody(body2Entiy); +} + +// Awake the two bodies of the joint +void Joint::awakeBodies() const { + + // Get the bodies entities + Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + + // Wake up the two bodies of the joint + body1->setIsSleeping(false); + body2->setIsSleeping(false); } diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 54b7eb8a..e1e7e960 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -123,19 +123,8 @@ class Joint { /// Entity ID of the joint Entity mEntity; - /// Pointer to the first body of the joint - // TODO : Use Entities instead - RigidBody* const mBody1; - - /// Pointer to the second body of the joint - // TODO : Use Entities instead - RigidBody* const mBody2; - - /// Entity of the first body of the joint - Entity mBody1Entity; - - /// Entity of the second body of the joint - Entity mBody2Entity; + /// Reference to the physics world + DynamicsWorld& mWorld; /// Type of the joint const JointType mType; @@ -172,12 +161,15 @@ class Joint { /// Solve the position constraint virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) = 0; + /// Awake the two bodies of the joint + void awakeBodies() const; + public : // -------------------- Methods -------------------- // /// Constructor - Joint(Entity entity, const JointInfo& jointInfo); + Joint(Entity entity, DynamicsWorld& world, const JointInfo& jointInfo); /// Destructor virtual ~Joint() = default; @@ -213,22 +205,6 @@ class Joint { friend class ConstraintSolverSystem; }; -// Return the reference to the body 1 -/** - * @return The first body involved in the joint - */ -inline RigidBody* Joint::getBody1() const { - return mBody1; -} - -// Return the reference to the body 2 -/** - * @return The second body involved in the joint - */ -inline RigidBody* Joint::getBody2() const { - return mBody2; -} - // Return the type of the joint /** * @return The type of the joint diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index dafb3c48..57a236bd 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -27,6 +27,7 @@ #include "SliderJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" +#include "engine/DynamicsWorld.h" using namespace reactphysics3d; @@ -34,8 +35,8 @@ using namespace reactphysics3d; const decimal SliderJoint::BETA = decimal(0.2); // Constructor -SliderJoint::SliderJoint(Entity entity, const SliderJointInfo& jointInfo) - : Joint(entity, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), +SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointInfo& jointInfo) + : Joint(entity, world, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minTranslationLimit), @@ -48,8 +49,8 @@ SliderJoint::SliderJoint(Entity entity, const SliderJointInfo& jointInfo) assert(mMaxMotorForce >= decimal(0.0)); // Compute the local-space anchor point for each body - const Transform& transform1 = mBody1->getTransform(); - const Transform& transform2 = mBody2->getTransform(); + const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); mLocalAnchorPointBody1 = transform1.getInverse() * jointInfo.anchorPointWorldSpace; mLocalAnchorPointBody2 = transform2.getInverse() * jointInfo.anchorPointWorldSpace; @@ -64,10 +65,12 @@ SliderJoint::SliderJoint(Entity entity, const SliderJointInfo& jointInfo) // q20 = initial orientation of body 2 // q10 = initial orientation of body 1 // r0 = initial rotation rotation from body 1 to body 2 + // TODO : Do not compute the inverse here, it has already been computed above mInitOrientationDifferenceInv = transform2.getOrientation().getInverse() * transform1.getOrientation(); // Compute the slider axis in local-space of body 1 - mSliderAxisBody1 = mBody1->getTransform().getOrientation().getInverse() * + // TODO : Do not compute the inverse here, it has already been computed above + mSliderAxisBody1 = transform1.getOrientation().getInverse() * jointInfo.sliderAxisWorldSpace; mSliderAxisBody1.normalize(); } @@ -75,15 +78,23 @@ SliderJoint::SliderJoint(Entity entity, const SliderJointInfo& jointInfo) // Initialize before solving the constraint void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(mBody2Entity); - const Quaternion& orientationBody1 = mBody1->getTransform().getOrientation(); - const Quaternion& orientationBody2 = mBody2->getTransform().getOrientation(); + const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); + const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); // Get the inertia tensor of bodies - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Vector from body center to the anchor point mR1 = orientationBody1 * mLocalAnchorPointBody1; @@ -124,8 +135,8 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1->getEntity()); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2->getEntity()); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); const decimal sumInverseMass = body1MassInverse + body2MassInverse; Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; @@ -141,7 +152,9 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa mR2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); mInverseMassMatrixTranslationConstraint.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { + mInverseMassMatrixTranslationConstraint = matrixKTranslation.getInverse(); } @@ -157,7 +170,9 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) mInverseMassMatrixRotationConstraint = mI1 + mI2; - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { + mInverseMassMatrixRotationConstraint = mInverseMassMatrixRotationConstraint.getInverse(); } @@ -215,8 +230,12 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Warm start the constraint (apply the previous impulse at the beginning of the step) void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -225,8 +244,8 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 decimal impulseLimits = mImpulseUpperLimit - mImpulseLowerLimit; @@ -277,8 +296,12 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Solve the velocity constraint void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(mBody2Entity); + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); + uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); // Get the velocities Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; @@ -287,8 +310,8 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // --------------- Translation Constraints --------------- // @@ -441,19 +464,27 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // do not execute this method if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(mBody2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(mBody2Entity); + Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); + Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); + Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); + Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inertia tensor of bodies - mI1 = mBody1->getInertiaTensorInverseWorld(); - mI2 = mBody2->getInertiaTensorInverseWorld(); + mI1 = body1->getInertiaTensorInverseWorld(); + mI2 = body2->getInertiaTensorInverseWorld(); // Vector from body center to the anchor point mR1 = q1 * mLocalAnchorPointBody1; @@ -488,8 +519,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); decimal sumInverseMass = body1MassInverse + body2MassInverse; Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; @@ -505,7 +536,9 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint mR2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); mInverseMassMatrixTranslationConstraint.setToZero(); - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { + mInverseMassMatrixTranslationConstraint = matrixKTranslation.getInverse(); } @@ -548,7 +581,9 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) mInverseMassMatrixRotationConstraint = mI1 + mI2; - if (mBody1->getType() == BodyType::DYNAMIC || mBody2->getType() == BodyType::DYNAMIC) { + if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { + mInverseMassMatrixRotationConstraint = mInverseMassMatrixRotationConstraint.getInverse(); } @@ -610,8 +645,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint if (mIsLowerLimitViolated || mIsUpperLimitViolated) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody1Entity); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(mBody2Entity); + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); mInverseMassMatrixLimit = body1MassInverse + body2MassInverse + mR1PlusUCrossSliderAxis.dot(mI1 * mR1PlusUCrossSliderAxis) + mR2CrossSliderAxis.dot(mI2 * mR2CrossSliderAxis); @@ -686,10 +721,10 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint } } - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(mBody2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(mBody2Entity, q2); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); + constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); + constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } // Enable/Disable the limits of the joint @@ -719,8 +754,7 @@ void SliderJoint::enableMotor(bool isMotorEnabled) { mImpulseMotor = 0.0; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } // Return the current translation value of the joint @@ -731,11 +765,18 @@ decimal SliderJoint::getTranslation() const { // TODO : Check if we need to compare rigid body position or center of mass here + // Get the bodies entities + const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); + const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); + // Get the bodies positions and orientations - const Vector3& x1 = mBody1->getTransform().getPosition(); - const Vector3& x2 = mBody2->getTransform().getPosition(); - const Quaternion& q1 = mBody1->getTransform().getOrientation(); - const Quaternion& q2 = mBody2->getTransform().getOrientation(); + const Transform& transform1 = mWorld.mTransformComponents.getTransform(body1Entity); + const Transform& transform2 = mWorld.mTransformComponents.getTransform(body2Entity); + + const Vector3& x1 = transform1.getPosition(); + const Vector3& x2 = transform2.getPosition(); + const Quaternion& q1 = transform1.getOrientation(); + const Quaternion& q2 = transform2.getOrientation(); // Compute the two anchor points in world-space coordinates const Vector3 anchorBody1 = x1 + q1 * mLocalAnchorPointBody1; @@ -794,8 +835,7 @@ void SliderJoint::resetLimits() { mImpulseUpperLimit = 0.0; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } // Set the motor speed @@ -809,8 +849,7 @@ void SliderJoint::setMotorSpeed(decimal motorSpeed) { mMotorSpeed = motorSpeed; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } } @@ -822,11 +861,10 @@ void SliderJoint::setMaxMotorForce(decimal maxMotorForce) { if (maxMotorForce != mMaxMotorForce) { - assert(mMaxMotorForce >= 0.0); + assert(mMaxMotorForce >= decimal(0.0)); mMaxMotorForce = maxMotorForce; // Wake up the two bodies of the joint - mBody1->setIsSleeping(false); - mBody2->setIsSleeping(false); + awakeBodies(); } } diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index e0374eb5..501dc4d9 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -289,7 +289,7 @@ class SliderJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - SliderJoint(Entity entity, const SliderJointInfo& jointInfo); + SliderJoint(Entity entity, DynamicsWorld& world, const SliderJointInfo& jointInfo); /// Destructor virtual ~SliderJoint() override = default; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 06a3896d..bae7d6c2 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -322,11 +322,6 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { Joint* newJoint = nullptr; - bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) && - mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity()); - JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity()); - mJointsComponents.addComponent(entity, isJointDisabled, jointComponent); - // Allocate memory to create the new joint switch(jointInfo.type) { @@ -337,7 +332,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { sizeof(BallAndSocketJoint)); const BallAndSocketJointInfo& info = static_cast( jointInfo); - newJoint = new (allocatedMemory) BallAndSocketJoint(entity, info); + newJoint = new (allocatedMemory) BallAndSocketJoint(entity, *this, info); break; } @@ -347,7 +342,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SliderJoint)); const SliderJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) SliderJoint(entity, info); + newJoint = new (allocatedMemory) SliderJoint(entity, *this, info); break; } @@ -357,7 +352,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HingeJoint)); const HingeJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) HingeJoint(entity, info); + newJoint = new (allocatedMemory) HingeJoint(entity, *this, info); break; } @@ -367,7 +362,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(FixedJoint)); const FixedJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) FixedJoint(entity, info); + newJoint = new (allocatedMemory) FixedJoint(entity, *this, info); break; } @@ -378,6 +373,11 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { } } + bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) && + mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity()); + JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), newJoint); + mJointsComponents.addComponent(entity, isJointDisabled, jointComponent); + // If the collision between the two bodies of the constraint is disabled if (!jointInfo.isCollisionEnabled) { @@ -418,16 +418,19 @@ void DynamicsWorld::destroyJoint(Joint* joint) { mCollisionDetection.removeNoCollisionPair(joint->getBody1(), joint->getBody2()); } + RigidBody* body1 = joint->getBody1(); + RigidBody* body2 = joint->getBody2(); + // Wake up the two bodies of the joint - joint->getBody1()->setIsSleeping(false); - joint->getBody2()->setIsSleeping(false); + body1->setIsSleeping(false); + body2->setIsSleeping(false); // Remove the joint from the world mJoints.remove(joint); // Remove the joint from the joint list of the bodies involved in the joint - joint->mBody1->removeJointFromJointsList(mMemoryManager, joint); - joint->mBody2->removeJointFromJointsList(mMemoryManager, joint); + body1->removeJointFromJointsList(mMemoryManager, joint); + body2->removeJointFromJointsList(mMemoryManager, joint); size_t nbBytes = joint->getSizeInBytes(); @@ -448,26 +451,29 @@ void DynamicsWorld::addJointToBody(Joint* joint) { assert(joint != nullptr); + RigidBody* body1 = joint->getBody1(); + RigidBody* body2 = joint->getBody2(); + // Add the joint at the beginning of the linked list of joints of the first body void* allocatedMemory1 = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(JointListElement)); JointListElement* jointListElement1 = new (allocatedMemory1) JointListElement(joint, - joint->mBody1->mJointsList); - joint->mBody1->mJointsList = jointListElement1; + body1->mJointsList); + body1->mJointsList = jointListElement1; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(joint->mBody1->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + + "Body " + std::to_string(body1->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + " added to body"); // Add the joint at the beginning of the linked list of joints of the second body void* allocatedMemory2 = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(JointListElement)); JointListElement* jointListElement2 = new (allocatedMemory2) JointListElement(joint, - joint->mBody2->mJointsList); - joint->mBody2->mJointsList = jointListElement2; + body2->mJointsList); + body2->mJointsList = jointListElement2; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(joint->mBody2->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + + "Body " + std::to_string(body2->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + " added to body"); } diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 2c6913da..95296bd5 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -219,6 +219,11 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Friendship -------------------- // friend class RigidBody; + friend class Joint; + friend class BallAndSocketJoint; + friend class FixedJoint; + friend class HingeJoint; + friend class SliderJoint; }; // Get the number of iterations for the velocity constraint solver From cef1f6cd22e8c564105b86920a66c09b74801a99 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 19 Aug 2019 18:38:14 +0200 Subject: [PATCH 082/197] Working on JointComponents --- src/components/JointComponents.cpp | 25 ++++++++++- src/components/JointComponents.h | 64 ++++++++++++++++++++++++++- src/constraint/BallAndSocketJoint.cpp | 4 +- src/constraint/FixedJoint.cpp | 6 +-- src/constraint/HingeJoint.cpp | 10 ++--- src/constraint/Joint.cpp | 22 +++++++-- src/constraint/Joint.h | 26 ----------- src/constraint/SliderJoint.cpp | 12 ++--- src/engine/DynamicsWorld.cpp | 3 +- 9 files changed, 122 insertions(+), 50 deletions(-) diff --git a/src/components/JointComponents.cpp b/src/components/JointComponents.cpp index 41301d70..f867c3f1 100644 --- a/src/components/JointComponents.cpp +++ b/src/components/JointComponents.cpp @@ -33,8 +33,8 @@ using namespace reactphysics3d; // Constructor JointComponents::JointComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity) + - sizeof(Joint*)) { + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity) + sizeof(Joint*) + + sizeof(JointType) + sizeof(JointsPositionCorrectionTechnique) + sizeof (bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -57,6 +57,9 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newBody1Entities = reinterpret_cast(newJointsEntities + nbComponentsToAllocate); Entity* newBody2Entities = reinterpret_cast(newBody1Entities + nbComponentsToAllocate); Joint** newJoints = reinterpret_cast(newBody2Entities + nbComponentsToAllocate); + JointType* newTypes = reinterpret_cast(newJoints + nbComponentsToAllocate); + JointsPositionCorrectionTechnique* newPositionCorrectionTechniques = reinterpret_cast(newTypes + nbComponentsToAllocate); + bool* newIsCollisionEnabled = reinterpret_cast(newPositionCorrectionTechniques + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -66,6 +69,9 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBody1Entities, mBody1Entities, mNbComponents * sizeof(Entity)); memcpy(newBody2Entities, mBody2Entities, mNbComponents * sizeof(Entity)); memcpy(newJoints, mJoints, mNbComponents * sizeof(Joint*)); + memcpy(newTypes, mTypes, mNbComponents * sizeof(JointType)); + memcpy(newPositionCorrectionTechniques, mPositionCorrectionTechniques, mNbComponents * sizeof(JointsPositionCorrectionTechnique)); + memcpy(newIsCollisionEnabled, mIsCollisionEnabled, mNbComponents * sizeof(bool)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -77,6 +83,9 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { mBody1Entities = newBody1Entities; mBody2Entities = newBody2Entities; mJoints = newJoints; + mTypes = newTypes; + mPositionCorrectionTechniques = newPositionCorrectionTechniques; + mIsCollisionEnabled = newIsCollisionEnabled; } // Add a component @@ -90,6 +99,9 @@ void JointComponents::addComponent(Entity jointEntity, bool isSleeping, const Jo new (mBody1Entities + index) Entity(component.body1Entity); new (mBody2Entities + index) Entity(component.body2Entity); mJoints[index] = component.joint; + new (mTypes + index) JointType(component.jointType); + new (mPositionCorrectionTechniques + index) JointsPositionCorrectionTechnique(component.positionCorrectionTechnique); + mIsCollisionEnabled[index] = component.isCollisionEnabled; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(jointEntity, index)); @@ -111,6 +123,9 @@ void JointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { new (mBody1Entities + destIndex) Entity(mBody1Entities[srcIndex]); new (mBody2Entities + destIndex) Entity(mBody2Entities[srcIndex]); mJoints[destIndex] = mJoints[srcIndex]; + new (mTypes + destIndex) JointType(mTypes[srcIndex]); + new (mPositionCorrectionTechniques + destIndex) JointsPositionCorrectionTechnique(mPositionCorrectionTechniques[srcIndex]); + mIsCollisionEnabled[destIndex] = mIsCollisionEnabled[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -131,6 +146,9 @@ void JointComponents::swapComponents(uint32 index1, uint32 index2) { Entity body1Entity1(mBody1Entities[index1]); Entity body2Entity1(mBody2Entities[index1]); Joint* joint1 = mJoints[index1]; + JointType jointType1(mTypes[index1]); + JointsPositionCorrectionTechnique positionCorrectionTechnique1(mPositionCorrectionTechniques[index1]); + bool isCollisionEnabled1 = mIsCollisionEnabled[index1]; // Destroy component 1 destroyComponent(index1); @@ -142,6 +160,9 @@ void JointComponents::swapComponents(uint32 index1, uint32 index2) { new (mBody1Entities + index2) Entity(body1Entity1); new (mBody2Entities + index2) Entity(body2Entity1); mJoints[index2] = joint1; + new (mTypes + index2) JointType(jointType1); + new (mPositionCorrectionTechniques + index2) JointsPositionCorrectionTechnique(positionCorrectionTechnique1); + mIsCollisionEnabled[index2] = isCollisionEnabled1; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); diff --git a/src/components/JointComponents.h b/src/components/JointComponents.h index fe25ab34..7193620c 100644 --- a/src/components/JointComponents.h +++ b/src/components/JointComponents.h @@ -39,6 +39,7 @@ namespace reactphysics3d { class MemoryAllocator; class EntityManager; class Joint; +enum class JointType; // Class JointComponents /** @@ -63,6 +64,15 @@ class JointComponents : public Components { /// Array with pointers to the joints Joint** mJoints; + /// Array of type of the joints + JointType* mTypes; + + /// Array of position correction techniques used for the joints + JointsPositionCorrectionTechnique* mPositionCorrectionTechniques; + + /// Array of boolean values to know if the two bodies of the constraint are allowed to collide with each other + bool* mIsCollisionEnabled; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -85,10 +95,15 @@ class JointComponents : public Components { const Entity body1Entity; const Entity body2Entity; Joint* joint; + JointType jointType; + JointsPositionCorrectionTechnique positionCorrectionTechnique; + bool isCollisionEnabled; /// Constructor - JointComponent(Entity body1Entity, Entity body2Entity, Joint* joint) - : body1Entity(body1Entity), body2Entity(body2Entity), joint(joint) { + JointComponent(Entity body1Entity, Entity body2Entity, Joint* joint, JointType jointType, + JointsPositionCorrectionTechnique positionCorrectionTechnique, bool isCollisionEnabled) + : body1Entity(body1Entity), body2Entity(body2Entity), joint(joint), jointType(jointType), + positionCorrectionTechnique(positionCorrectionTechnique), isCollisionEnabled(isCollisionEnabled) { } }; @@ -113,6 +128,21 @@ class JointComponents : public Components { /// Return a pointer to the joint Joint* getJoint(Entity jointEntity) const; + /// Return the type of a joint + JointType getType(Entity jointEntity) const; + + /// Return the position correction technique of a joint + JointsPositionCorrectionTechnique getPositionCorrectionTechnique(Entity jointEntity) const; + + /// Set the position correction technique of a joint + void getPositionCorrectionTechnique(Entity jointEntity, JointsPositionCorrectionTechnique positionCorrectionTechnique); + + /// Return true if the collision is enabled between the two bodies of a joint + bool getIsCollisionEnabled(Entity jointEntity) const; + + /// Set whether the collision is enabled between the two bodies of a joint + void setIsCollisionEnabled(Entity jointEntity, bool isCollisionEnabled); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -136,6 +166,36 @@ inline Joint* JointComponents::getJoint(Entity jointEntity) const { return mJoints[mMapEntityToComponentIndex[jointEntity]]; } +// Return the type of a joint +inline JointType JointComponents::getType(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mTypes[mMapEntityToComponentIndex[jointEntity]]; +} + +// Return the position correction technique of a joint +inline JointsPositionCorrectionTechnique JointComponents::getPositionCorrectionTechnique(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mPositionCorrectionTechniques[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the position correction technique of a joint +inline void JointComponents::getPositionCorrectionTechnique(Entity jointEntity, JointsPositionCorrectionTechnique positionCorrectionTechnique) { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mPositionCorrectionTechniques[mMapEntityToComponentIndex[jointEntity]] = positionCorrectionTechnique; +} + +// Return true if the collision is enabled between the two bodies of a joint +inline bool JointComponents::getIsCollisionEnabled(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsCollisionEnabled[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set whether the collision is enabled between the two bodies of a joint +inline void JointComponents::setIsCollisionEnabled(Entity jointEntity, bool isCollisionEnabled) { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsCollisionEnabled[mMapEntityToComponentIndex[jointEntity]] = isCollisionEnabled; +} + } #endif diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index bf1ff7f9..8bd52a0d 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -95,7 +95,7 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS // Compute the bias "b" of the constraint mBiasVector.setToZero(); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { decimal biasFactor = (BETA / constraintSolverData.timeStep); mBiasVector = biasFactor * (x2 + mR2World - x1 - mR1World); } @@ -189,7 +189,7 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies center of mass and orientations Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index b971cba3..afb84b7f 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -108,7 +108,7 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the bias "b" of the constraint for the 3 translation constraints decimal biasFactor = (BETA / constraintSolverData.timeStep); mBiasTranslation.setToZero(); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBiasTranslation = biasFactor * (x2 + mR2World - x1 - mR1World); } @@ -123,7 +123,7 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the bias "b" for the 3 rotation constraints mBiasRotation.setToZero(); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { const Quaternion qError = orientationBody2 * mInitOrientationDifferenceInv * orientationBody1.getInverse(); mBiasRotation = biasFactor * decimal(2.0) * qError.getVectorV(); } @@ -256,7 +256,7 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies positions and orientations Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 22593dc0..12f1c6bb 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -139,7 +139,7 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the bias "b" of the translation constraints mBTranslation.setToZero(); decimal biasFactor = (BETA / constraintSolverData.timeStep); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBTranslation = biasFactor * (x2 + mR2World - x1 - mR1World); } @@ -165,7 +165,7 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the bias "b" of the rotation constraints mBRotation.setToZero(); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBRotation = biasFactor * Vector2(mA1.dot(b2), mA1.dot(c2)); } @@ -192,13 +192,13 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat // Compute the bias "b" of the lower limit constraint mBLowerLimit = 0.0; - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBLowerLimit = biasFactor * lowerLimitError; } // Compute the bias "b" of the upper limit constraint mBUpperLimit = 0.0; - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBUpperLimit = biasFactor * upperLimitError; } } @@ -426,7 +426,7 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies entities Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index 85b2df58..9bb68be3 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -31,9 +31,7 @@ using namespace reactphysics3d; // Constructor Joint::Joint(Entity entity, DynamicsWorld& world, const JointInfo& jointInfo) - :mEntity(entity), mWorld(world), mType(jointInfo.type), - mPositionCorrectionTechnique(jointInfo.positionCorrectionTechnique), - mIsCollisionEnabled(jointInfo.isCollisionEnabled), mIsAlreadyInIsland(false) { + :mEntity(entity), mWorld(world), mIsAlreadyInIsland(false) { } @@ -55,6 +53,24 @@ RigidBody* Joint::getBody2() const { return mWorld.mRigidBodyComponents.getRigidBody(body2Entiy); } + +// Return the type of the joint +/** + * @return The type of the joint + */ +JointType Joint::getType() const { + return mWorld.mJointsComponents.getType(mEntity); +} + +// Return true if the collision between the two bodies of the joint is enabled +/** + * @return True if the collision is enabled between the two bodies of the joint + * is enabled and false otherwise + */ +bool Joint::isCollisionEnabled() const { + return mWorld.mJointsComponents.getIsCollisionEnabled(mEntity); +} + // Awake the two bodies of the joint void Joint::awakeBodies() const { diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index e1e7e960..eabd11dc 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -126,15 +126,6 @@ class Joint { /// Reference to the physics world DynamicsWorld& mWorld; - /// Type of the joint - const JointType mType; - - /// Position correction technique used for the constraint (used for joints) - JointsPositionCorrectionTechnique mPositionCorrectionTechnique; - - /// True if the two bodies of the constraint are allowed to collide with each other - bool mIsCollisionEnabled; - /// True if the joint has already been added into an island bool mIsAlreadyInIsland; @@ -205,23 +196,6 @@ class Joint { friend class ConstraintSolverSystem; }; -// Return the type of the joint -/** - * @return The type of the joint - */ -inline JointType Joint::getType() const { - return mType; -} - -// Return true if the collision between the two bodies of the joint is enabled -/** - * @return True if the collision is enabled between the two bodies of the joint - * is enabled and false otherwise - */ -inline bool Joint::isCollisionEnabled() const { - return mIsCollisionEnabled; -} - // Return the entity id of the joint /** * @return The entity of the joint diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 57a236bd..6fd63529 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -161,7 +161,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the bias "b" of the translation constraint mBTranslation.setToZero(); decimal biasFactor = (BETA / constraintSolverData.timeStep); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBTranslation.x = u.dot(mN1); mBTranslation.y = u.dot(mN2); mBTranslation *= biasFactor; @@ -178,7 +178,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the bias "b" of the rotation constraint mBRotation.setToZero(); - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { const Quaternion qError = orientationBody2 * mInitOrientationDifferenceInv * orientationBody1.getInverse(); mBRotation = biasFactor * decimal(2.0) * qError.getVectorV(); } @@ -195,13 +195,13 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the bias "b" of the lower limit constraint mBLowerLimit = 0.0; - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBLowerLimit = biasFactor * lowerLimitError; } // Compute the bias "b" of the upper limit constraint mBUpperLimit = 0.0; - if (mPositionCorrectionTechnique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { mBUpperLimit = biasFactor * upperLimitError; } } @@ -211,7 +211,7 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix) mInverseMassMatrixMotor = sumInverseMass; - mInverseMassMatrixMotor = (mInverseMassMatrixMotor > 0.0) ? + mInverseMassMatrixMotor = (mInverseMassMatrixMotor > decimal(0.0)) ? decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0); } @@ -462,7 +462,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // If the error position correction technique is not the non-linear-gauss-seidel, we do // do not execute this method - if (mPositionCorrectionTechnique != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; // Get the bodies entities const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index bae7d6c2..65041ed8 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -375,7 +375,8 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) && mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity()); - JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), newJoint); + JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), newJoint, jointInfo.type, + jointInfo.positionCorrectionTechnique, jointInfo.isCollisionEnabled); mJointsComponents.addComponent(entity, isJointDisabled, jointComponent); // If the collision between the two bodies of the constraint is disabled From 8187c19fa3c15b7b8b865ad4c0ed9a4f6652bf75 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 2 Sep 2019 14:15:03 +0200 Subject: [PATCH 083/197] Add BallAndSocketJointComponents class --- CMakeLists.txt | 2 + src/collision/shapes/CollisionShape.h | 3 - src/collision/shapes/ConcaveMeshShape.h | 2 +- src/collision/shapes/SphereShape.h | 2 +- .../BallAndSocketJointComponents.cpp | 226 ++++++++++++ src/components/BallAndSocketJointComponents.h | 331 ++++++++++++++++++ src/constraint/BallAndSocketJoint.cpp | 135 ++++--- src/constraint/BallAndSocketJoint.h | 32 -- src/constraint/Joint.h | 3 - src/engine/CollisionWorld.cpp | 2 +- src/engine/CollisionWorld.h | 4 + src/engine/DynamicsWorld.cpp | 17 +- src/engine/DynamicsWorld.h | 1 + 13 files changed, 666 insertions(+), 94 deletions(-) create mode 100644 src/components/BallAndSocketJointComponents.cpp create mode 100644 src/components/BallAndSocketJointComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 640cd580..138b5e9f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -147,6 +147,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/TransformComponents.h" "src/components/ProxyShapeComponents.h" "src/components/JointComponents.h" + "src/components/BallAndSocketJointComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -240,6 +241,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/TransformComponents.cpp" "src/components/ProxyShapeComponents.cpp" "src/components/JointComponents.cpp" + "src/components/BallAndSocketJointComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 4e1206d3..2f2d5611 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -123,9 +123,6 @@ class CollisionShape { /// Return the local bounds of the shape in x, y and z directions virtual void getLocalBounds(Vector3& min, Vector3& max) const=0; - /// Return the scaling vector of the collision shape - Vector3 getLocalScaling() const; - /// Return the id of the shape uint getId() const; diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index 27276bcb..a45d607a 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -175,7 +175,7 @@ class ConcaveMeshShape : public ConcaveShape { ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1)); /// Destructor - virtual ~ConcaveMeshShape() = default; + virtual ~ConcaveMeshShape() override = default; /// Deleted copy-constructor ConcaveMeshShape(const ConcaveMeshShape& shape) = delete; diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h index d7c75bba..a238d7a3 100644 --- a/src/collision/shapes/SphereShape.h +++ b/src/collision/shapes/SphereShape.h @@ -110,7 +110,7 @@ inline decimal SphereShape::getRadius() const { * @return False because the sphere shape is not a polyhedron */ inline bool SphereShape::isPolyhedron() const { - return false; + return false; } // Return the number of bytes used by the collision shape diff --git a/src/components/BallAndSocketJointComponents.cpp b/src/components/BallAndSocketJointComponents.cpp new file mode 100644 index 00000000..f1791575 --- /dev/null +++ b/src/components/BallAndSocketJointComponents.cpp @@ -0,0 +1,226 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "BallAndSocketJointComponents.h" +#include "engine/EntityManager.h" +#include "mathematics/Matrix3x3.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +BallAndSocketJointComponents::BallAndSocketJointComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(BallAndSocketJoint*) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Vector3)) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void BallAndSocketJointComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newJointEntities = static_cast(newBuffer); + BallAndSocketJoint** newJoints = reinterpret_cast(newJointEntities + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody1 = reinterpret_cast(newJoints + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody2 = reinterpret_cast(newLocalAnchorPointBody1 + nbComponentsToAllocate); + Vector3* newR1World = reinterpret_cast(newLocalAnchorPointBody2 + nbComponentsToAllocate); + Vector3* newR2World = reinterpret_cast(newR1World + nbComponentsToAllocate); + Matrix3x3* newI1 = reinterpret_cast(newR2World + nbComponentsToAllocate); + Matrix3x3* newI2 = reinterpret_cast(newI1 + nbComponentsToAllocate); + Vector3* newBiasVector = reinterpret_cast(newI2 + nbComponentsToAllocate); + Matrix3x3* newInverseMassMatrix = reinterpret_cast(newBiasVector + nbComponentsToAllocate); + Vector3* newImpulse = reinterpret_cast(newInverseMassMatrix + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newJointEntities, mJointEntities, mNbComponents * sizeof(Entity)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(BallAndSocketJoint*)); + memcpy(newLocalAnchorPointBody1, mLocalAnchorPointBody1, mNbComponents * sizeof(Vector3)); + memcpy(newLocalAnchorPointBody2, mLocalAnchorPointBody2, mNbComponents * sizeof(Vector3)); + memcpy(newR1World, mR1World, mNbComponents * sizeof(Vector3)); + memcpy(newR2World, mR2World, mNbComponents * sizeof(Vector3)); + memcpy(newI1, mI1, mNbComponents * sizeof(Matrix3x3)); + memcpy(newI2, mI2, mNbComponents * sizeof(Matrix3x3)); + memcpy(newBiasVector, mBiasVector, mNbComponents * sizeof(Vector3)); + memcpy(newInverseMassMatrix, mInverseMassMatrix, mNbComponents * sizeof(Matrix3x3)); + memcpy(newImpulse, mImpulse, mNbComponents * sizeof(Vector3)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mJointEntities = newJointEntities; + mJoints = newJoints; + mNbAllocatedComponents = nbComponentsToAllocate; + mLocalAnchorPointBody1 = newLocalAnchorPointBody1; + mLocalAnchorPointBody2 = newLocalAnchorPointBody2; + mR1World = newR1World; + mR2World = newR2World; + mI1 = newI1; + mI2 = newI2; + mBiasVector = newBiasVector; + mInverseMassMatrix = newInverseMassMatrix; + mImpulse = newImpulse; +} + +// Add a component +void BallAndSocketJointComponents::addComponent(Entity jointEntity, bool isSleeping, const BallAndSocketJointComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mJointEntities + index) Entity(jointEntity); + mJoints[index] = nullptr; + new (mLocalAnchorPointBody1 + index) Vector3(0, 0, 0); + new (mLocalAnchorPointBody2 + index) Vector3(0, 0, 0); + new (mR1World + index) Vector3(0, 0, 0); + new (mR2World + index) Vector3(0, 0, 0); + new (mI1 + index) Matrix3x3(); + new (mI2 + index) Matrix3x3(); + new (mBiasVector + index) Vector3(0, 0, 0); + new (mInverseMassMatrix + index) Matrix3x3(); + new (mImpulse + index) Vector3(0, 0, 0); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(jointEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void BallAndSocketJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mJointEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]); + mJoints[destIndex] = mJoints[srcIndex]; + new (mLocalAnchorPointBody1 + destIndex) Vector3(mLocalAnchorPointBody1[srcIndex]); + new (mLocalAnchorPointBody2 + destIndex) Vector3(mLocalAnchorPointBody2[srcIndex]); + new (mR1World + destIndex) Vector3(mR1World[srcIndex]); + new (mR2World + destIndex) Vector3(mR2World[srcIndex]); + new (mI1 + destIndex) Matrix3x3(mI1[srcIndex]); + new (mI2 + destIndex) Matrix3x3(mI2[srcIndex]); + new (mBiasVector + destIndex) Vector3(mBiasVector[srcIndex]); + new (mInverseMassMatrix + destIndex) Matrix3x3(mInverseMassMatrix[srcIndex]); + new (mImpulse + destIndex) Vector3(mImpulse[srcIndex]); + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void BallAndSocketJointComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity jointEntity1(mJointEntities[index1]); + BallAndSocketJoint* joint1 = mJoints[index1]; + Vector3 localAnchorPointBody1(mLocalAnchorPointBody1[index1]); + Vector3 localAnchorPointBody2(mLocalAnchorPointBody2[index1]); + Vector3 r1World1(mR1World[index1]); + Vector3 r2World1(mR2World[index1]); + Matrix3x3 i11(mI1[index1]); + Matrix3x3 i21(mI2[index1]); + Vector3 biasVector1(mBiasVector[index1]); + Matrix3x3 inverseMassMatrix1(mInverseMassMatrix[index1]); + Vector3 impulse1(mImpulse[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mJointEntities + index2) Entity(jointEntity1); + mJoints[index2] = joint1; + new (mLocalAnchorPointBody1 + index2) Vector3(localAnchorPointBody1); + new (mLocalAnchorPointBody2 + index2) Vector3(localAnchorPointBody2); + new (mR1World + index2) Vector3(r1World1); + new (mR2World + index2) Vector3(r2World1); + new (mI1 + index2) Matrix3x3(i11); + new (mI2 + index2) Matrix3x3(i21); + new (mBiasVector + index2) Vector3(biasVector1); + new (mInverseMassMatrix + index2) Matrix3x3(inverseMassMatrix1); + new (mImpulse + index2) Vector3(impulse1); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); + + assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void BallAndSocketJointComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mJointEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mJointEntities[index]); + + mJointEntities[index].~Entity(); + mJoints[index] = nullptr; + mLocalAnchorPointBody1[index].~Vector3(); + mLocalAnchorPointBody2[index].~Vector3(); + mR1World[index].~Vector3(); + mR2World[index].~Vector3(); + mI1[index].~Matrix3x3(); + mI2[index].~Matrix3x3(); + mBiasVector[index].~Vector3(); + mInverseMassMatrix[index].~Matrix3x3(); + mImpulse[index].~Vector3(); +} diff --git a/src/components/BallAndSocketJointComponents.h b/src/components/BallAndSocketJointComponents.h new file mode 100644 index 00000000..13d58eab --- /dev/null +++ b/src/components/BallAndSocketJointComponents.h @@ -0,0 +1,331 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_COMPONENTS_H +#define REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "mathematics/Matrix3x3.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class BallAndSocketJoint; +enum class JointType; + +// Class BallAndSocketJointComponents +/** + * This class represent the component of the ECS with data for the BallAndSocketJoint. + */ +class BallAndSocketJointComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of joint entities + Entity* mJointEntities; + + /// Array of pointers to the joints + BallAndSocketJoint** mJoints; + + /// Anchor point of body 1 (in local-space coordinates of body 1) + Vector3* mLocalAnchorPointBody1; + + /// Anchor point of body 2 (in local-space coordinates of body 2) + Vector3* mLocalAnchorPointBody2; + + /// Vector from center of body 2 to anchor point in world-space + Vector3* mR1World; + + /// Vector from center of body 2 to anchor point in world-space + Vector3* mR2World; + + /// Inertia tensor of body 1 (in world-space coordinates) + Matrix3x3* mI1; + + /// Inertia tensor of body 2 (in world-space coordinates) + Matrix3x3* mI2; + + /// Bias vector for the constraint + Vector3* mBiasVector; + + /// Inverse mass matrix K=JM^-1J^-t of the constraint + Matrix3x3* mInverseMassMatrix; + + /// Accumulated impulse + Vector3* mImpulse; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a transform component + struct BallAndSocketJointComponent { + + /// Constructor + BallAndSocketJointComponent() { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + BallAndSocketJointComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~BallAndSocketJointComponents() override = default; + + /// Add a component + void addComponent(Entity jointEntity, bool isSleeping, const BallAndSocketJointComponent& component); + + /// Return a pointer to a given joint + BallAndSocketJoint* getJoint(Entity jointEntity) const; + + /// Set the joint pointer to a given joint + void setJoint(Entity jointEntity, BallAndSocketJoint* joint) const; + + /// Return the local anchor point of body 1 for a given joint + const Vector3& getLocalAnchoirPointBody1(Entity jointEntity) const; + + /// Set the local anchor point of body 1 for a given joint + void setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); + + /// Return the local anchor point of body 2 for a given joint + const Vector3& getLocalAnchoirPointBody2(Entity jointEntity) const; + + /// Set the local anchor point of body 2 for a given joint + void setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); + + /// Return the vector from center of body 1 to anchor point in world-space + const Vector3& getR1World(Entity jointEntity) const; + + /// Set the vector from center of body 1 to anchor point in world-space + void setR1World(Entity jointEntity, const Vector3& r1World); + + /// Return the vector from center of body 2 to anchor point in world-space + const Vector3& getR2World(Entity jointEntity) const; + + /// Set the vector from center of body 2 to anchor point in world-space + void setR2World(Entity jointEntity, const Vector3& r2World); + + /// Return the inertia tensor of body 1 (in world-space coordinates) + const Matrix3x3& getI1(Entity jointEntity) const; + + /// Set the inertia tensor of body 1 (in world-space coordinates) + void setI1(Entity jointEntity, const Matrix3x3& i1); + + /// Return the inertia tensor of body 2 (in world-space coordinates) + const Matrix3x3& getI2(Entity jointEntity) const; + + /// Set the inertia tensor of body 2 (in world-space coordinates) + void setI2(Entity jointEntity, const Matrix3x3& i2); + + /// Return the bias vector for the constraint + Vector3& getBiasVector(Entity jointEntity); + + /// Set the bias vector for the constraint + void setBiasVector(Entity jointEntity, const Vector3& biasVector); + + /// Return the inverse mass matrix K=JM^-1J^-t of the constraint + Matrix3x3& getInverseMassMatrix(Entity jointEntity); + + /// Set the inverse mass matrix K=JM^-1J^-t of the constraint + void setInverseMassMatrix(Entity jointEntity, const Matrix3x3& inverseMassMatrix); + + /// Return the accumulated impulse + Vector3& getImpulse(Entity jointEntity); + + /// Set the accumulated impulse + void setImpulse(Entity jointEntity, const Vector3& impulse); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; +}; + +// Return a pointer to a given joint +inline BallAndSocketJoint* BallAndSocketJointComponents::getJoint(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mJoints[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the joint pointer to a given joint +inline void BallAndSocketJointComponents::setJoint(Entity jointEntity, BallAndSocketJoint* joint) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; +} + +// Return the local anchor point of body 1 for a given joint +inline const Vector3& BallAndSocketJointComponents::getLocalAnchoirPointBody1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 1 for a given joint +inline void BallAndSocketJointComponents::setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; +} + +// Return the local anchor point of body 2 for a given joint +inline const Vector3& BallAndSocketJointComponents::getLocalAnchoirPointBody2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 2 for a given joint +inline void BallAndSocketJointComponents::setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; +} + +// Return the vector from center of body 1 to anchor point in world-space +inline const Vector3& BallAndSocketJointComponents::getR1World(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR1World[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the vector from center of body 1 to anchor point in world-space +inline void BallAndSocketJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World; +} + +// Return the vector from center of body 2 to anchor point in world-space +inline const Vector3& BallAndSocketJointComponents::getR2World(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR2World[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the vector from center of body 2 to anchor point in world-space +inline void BallAndSocketJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World; +} + +// Return the inertia tensor of body 1 (in world-space coordinates) +inline const Matrix3x3& BallAndSocketJointComponents::getI1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 1 (in world-space coordinates) +inline void BallAndSocketJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI1[mMapEntityToComponentIndex[jointEntity]] = i1; +} + +// Return the inertia tensor of body 2 (in world-space coordinates) +inline const Matrix3x3& BallAndSocketJointComponents::getI2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 2 (in world-space coordinates) +inline void BallAndSocketJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI2[mMapEntityToComponentIndex[jointEntity]] = i2; +} + +// Return the bias vector for the constraint +inline Vector3 &BallAndSocketJointComponents::getBiasVector(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasVector[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the bias vector for the constraint +inline void BallAndSocketJointComponents::setBiasVector(Entity jointEntity, const Vector3& biasVector) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasVector[mMapEntityToComponentIndex[jointEntity]] = biasVector; +} + +// Return the inverse mass matrix K=JM^-1J^-t of the constraint +inline Matrix3x3& BallAndSocketJointComponents::getInverseMassMatrix(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrix[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inverse mass matrix K=JM^-1J^-t of the constraint +inline void BallAndSocketJointComponents::setInverseMassMatrix(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrix[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the accumulated impulse +inline Vector3 &BallAndSocketJointComponents::getImpulse(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulse[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse +inline void BallAndSocketJointComponents::setImpulse(Entity jointEntity, const Vector3& impulse) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulse[mMapEntityToComponentIndex[jointEntity]] = impulse; +} + +} + +#endif diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 8bd52a0d..16c6e5f4 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -36,15 +36,15 @@ const decimal BallAndSocketJoint::BETA = decimal(0.2); // Constructor BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo) - : Joint(entity, world, jointInfo), mImpulse(Vector3(0, 0, 0)) { + : Joint(entity, world, jointInfo) { // Get the transforms of the two bodies Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); // Compute the local-space anchor point for each body - mLocalAnchorPointBody1 = body1Transform.getInverse() * jointInfo.anchorPointWorldSpace; - mLocalAnchorPointBody2 = body2Transform.getInverse() * jointInfo.anchorPointWorldSpace; + mWorld.mBallAndSocketJointsComponents.setLocalAnchoirPointBody1(entity, body1Transform.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mBallAndSocketJointsComponents.setLocalAnchoirPointBody2(entity, body2Transform.getInverse() * jointInfo.anchorPointWorldSpace); } // Initialize before solving the constraint @@ -65,46 +65,55 @@ void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintS const Quaternion& orientationBody2 = body2->getTransform().getOrientation(); // Get the inertia tensor of bodies - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mBallAndSocketJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mBallAndSocketJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Compute the vector from body center to the anchor point in world-space - mR1World = orientationBody1 * mLocalAnchorPointBody1; - mR2World = orientationBody2 * mLocalAnchorPointBody2; + const Vector3 localAnchorPointBody1 = mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody1(mEntity); + const Vector3 localAnchorPointBody2 = mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody2(mEntity); + mWorld.mBallAndSocketJointsComponents.setR1World(mEntity, orientationBody1 * localAnchorPointBody1); + mWorld.mBallAndSocketJointsComponents.setR2World(mEntity, orientationBody2 * localAnchorPointBody2); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); + const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) - decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); - decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); - decimal inverseMassBodies = body1MassInverse + body2MassInverse; + const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); + const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); + const decimal inverseMassBodies = body1MassInverse + body2MassInverse; + const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); + skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); // Compute the inverse mass matrix K^-1 - mInverseMassMatrix.setToZero(); + Matrix3x3& inverseMassMatrix = mWorld.mBallAndSocketJointsComponents.getInverseMassMatrix(mEntity); + inverseMassMatrix.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrix = massMatrix.getInverse(); + mWorld.mBallAndSocketJointsComponents.setInverseMassMatrix(mEntity, massMatrix.getInverse()); } // Compute the bias "b" of the constraint - mBiasVector.setToZero(); + Vector3& biasVector = mWorld.mBallAndSocketJointsComponents.getBiasVector(mEntity); + biasVector.setToZero(); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { decimal biasFactor = (BETA / constraintSolverData.timeStep); - mBiasVector = biasFactor * (x2 + mR2World - x1 - mR1World); + mWorld.mBallAndSocketJointsComponents.setBiasVector(mEntity, biasFactor * (x2 + r2World - x1 - r1World)); } // If warm-starting is not enabled if (!constraintSolverData.isWarmStartingActive) { // Reset the accumulated impulse - mImpulse.setToZero(); + Vector3& impulse = mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity); + impulse.setToZero(); } } @@ -123,20 +132,27 @@ void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverD Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); + // Compute the impulse P=J^T * lambda for the body 1 - const Vector3 linearImpulseBody1 = -mImpulse; - const Vector3 angularImpulseBody1 = mImpulse.cross(mR1World); + const Vector3& impulse = mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity); + const Vector3 linearImpulseBody1 = -impulse; + const Vector3 angularImpulseBody1 = impulse.cross(r1World); // Apply the impulse to the body 1 v1 += constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity) * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 - const Vector3 angularImpulseBody2 = -mImpulse.cross(mR2World); + const Vector3 angularImpulseBody2 = -impulse.cross(r2World); // Apply the impulse to the body to the body 2 - v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * mImpulse; - w2 += mI2 * angularImpulseBody2; + v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * impulse; + w2 += i2 * angularImpulseBody2; } // Solve the velocity constraint @@ -154,27 +170,36 @@ void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& con Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); + + const Matrix3x3& inverseMassMatrix = mWorld.mBallAndSocketJointsComponents.getInverseMassMatrix(mEntity); + const Vector3& biasVector = mWorld.mBallAndSocketJointsComponents.getBiasVector(mEntity); + // Compute J*v - const Vector3 Jv = v2 + w2.cross(mR2World) - v1 - w1.cross(mR1World); + const Vector3 Jv = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); // Compute the Lagrange multiplier lambda - const Vector3 deltaLambda = mInverseMassMatrix * (-Jv - mBiasVector); - mImpulse += deltaLambda; + const Vector3 deltaLambda = inverseMassMatrix * (-Jv - biasVector); + mWorld.mBallAndSocketJointsComponents.setImpulse(mEntity, mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity) + deltaLambda); // Compute the impulse P=J^T * lambda for the body 1 const Vector3 linearImpulseBody1 = -deltaLambda; - const Vector3 angularImpulseBody1 = deltaLambda.cross(mR1World); + const Vector3 angularImpulseBody1 = deltaLambda.cross(r1World); // Apply the impulse to the body 1 v1 += constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity) * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the body 2 - const Vector3 angularImpulseBody2 = -deltaLambda.cross(mR2World); + const Vector3 angularImpulseBody2 = -deltaLambda.cross(r2World); // Apply the impulse to the body 2 v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * deltaLambda; - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; } // Solve the position constraint (for position error correction) @@ -201,46 +226,53 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); + // Recompute the inverse inertia tensors - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mBallAndSocketJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mBallAndSocketJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Compute the vector from body center to the anchor point in world-space - mR1World = q1 * mLocalAnchorPointBody1; - mR2World = q2 * mLocalAnchorPointBody2; + mWorld.mBallAndSocketJointsComponents.setR1World(mEntity, q1 * mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody1(mEntity)); + mWorld.mBallAndSocketJointsComponents.setR2World(mEntity, q2 * mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody2(mEntity)); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); // Recompute the inverse mass matrix K=J^TM^-1J of of the 3 translation constraints decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); - mInverseMassMatrix.setToZero(); + skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); + Matrix3x3& inverseMassMatrix = mWorld.mBallAndSocketJointsComponents.getInverseMassMatrix(mEntity); + inverseMassMatrix.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrix = massMatrix.getInverse(); + mWorld.mBallAndSocketJointsComponents.setInverseMassMatrix(mEntity, massMatrix.getInverse()); } // Compute the constraint error (value of the C(x) function) - const Vector3 constraintError = (x2 + mR2World - x1 - mR1World); + const Vector3 constraintError = (x2 + r2World - x1 - r1World); // Compute the Lagrange multiplier lambda // TODO : Do not solve the system by computing the inverse each time and multiplying with the // right-hand side vector but instead use a method to directly solve the linear system. - const Vector3 lambda = mInverseMassMatrix * (-constraintError); + const Vector3 lambda = inverseMassMatrix * (-constraintError); // Compute the impulse of body 1 const Vector3 linearImpulseBody1 = -lambda; - const Vector3 angularImpulseBody1 = lambda.cross(mR1World); + const Vector3 angularImpulseBody1 = lambda.cross(r1World); // Compute the pseudo velocity of body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = mI1 * angularImpulseBody1; + const Vector3 w1 = i1 * angularImpulseBody1; // Update the body center of mass and orientation of body 1 x1 += v1; @@ -248,11 +280,11 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con q1.normalize(); // Compute the impulse of body 2 - const Vector3 angularImpulseBody2 = -lambda.cross(mR2World); + const Vector3 angularImpulseBody2 = -lambda.cross(r2World); // Compute the pseudo velocity of body 2 const Vector3 v2 = inverseMassBody2 * lambda; - const Vector3 w2 = mI2 * angularImpulseBody2; + const Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 x2 += v2; @@ -265,3 +297,10 @@ void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& con constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } +// Return a string representation +std::string BallAndSocketJoint::to_string() const { + + return "BallAndSocketJoint{ localAnchorPointBody1=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody1(mEntity).to_string() + + ", localAnchorPointBody2=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody2(mEntity).to_string() + "}"; +} + diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index f61e336b..533b57c2 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -76,32 +76,6 @@ class BallAndSocketJoint : public Joint { // -------------------- Attributes -------------------- // - /// Anchor point of body 1 (in local-space coordinates of body 1) - Vector3 mLocalAnchorPointBody1; - - /// Anchor point of body 2 (in local-space coordinates of body 2) - Vector3 mLocalAnchorPointBody2; - - /// Vector from center of body 2 to anchor point in world-space - Vector3 mR1World; - - /// Vector from center of body 2 to anchor point in world-space - Vector3 mR2World; - - /// Inertia tensor of body 1 (in world-space coordinates) - Matrix3x3 mI1; - - /// Inertia tensor of body 2 (in world-space coordinates) - Matrix3x3 mI2; - - /// Bias vector for the constraint - Vector3 mBiasVector; - - /// Inverse mass matrix K=JM^-1J^-t of the constraint - Matrix3x3 mInverseMassMatrix; - - /// Accumulated impulse - Vector3 mImpulse; // -------------------- Methods -------------------- // @@ -145,12 +119,6 @@ inline size_t BallAndSocketJoint::getSizeInBytes() const { return sizeof(BallAndSocketJoint); } -// Return a string representation -inline std::string BallAndSocketJoint::to_string() const { - return "BallAndSocketJoint{ localAnchorPointBody1=" + mLocalAnchorPointBody1.to_string() + - ", localAnchorPointBody2=" + mLocalAnchorPointBody2.to_string() + "}"; -} - } #endif diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index eabd11dc..4d72c79f 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -129,9 +129,6 @@ class Joint { /// True if the joint has already been added into an island bool mIsAlreadyInIsland; - /// Total number of joints - static uint mNbTotalNbJoints; - // -------------------- Methods -------------------- // /// Return true if the joint has already been added into an island diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 33b11b48..39fc3531 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -40,7 +40,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), - mJointsComponents(mMemoryManager.getBaseAllocator()), + mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index c74e8580..007c3a9e 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -38,6 +38,7 @@ #include "components/TransformComponents.h" #include "components/ProxyShapeComponents.h" #include "components/JointComponents.h" +#include "components/BallAndSocketJointComponents.h" #include "collision/CollisionCallback.h" #include "collision/OverlapCallback.h" @@ -92,6 +93,9 @@ class CollisionWorld { /// Joint Components JointComponents mJointsComponents; + /// Ball And Socket joints Components + BallAndSocketJointComponents mBallAndSocketJointsComponents; + /// Reference to the collision detection CollisionDetectionSystem mCollisionDetection; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 65041ed8..1a67ca18 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -322,17 +322,26 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { Joint* newJoint = nullptr; + const bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) && + mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity()); + // Allocate memory to create the new joint switch(jointInfo.type) { // Ball-and-Socket joint case JointType::BALLSOCKETJOINT: { + // Create a BallAndSocketJoint component + BallAndSocketJointComponents::BallAndSocketJointComponent ballAndSocketJointComponent; + mBallAndSocketJointsComponents.addComponent(entity, isJointDisabled, ballAndSocketJointComponent); + void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BallAndSocketJoint)); - const BallAndSocketJointInfo& info = static_cast( - jointInfo); - newJoint = new (allocatedMemory) BallAndSocketJoint(entity, *this, info); + const BallAndSocketJointInfo& info = static_cast(jointInfo); + BallAndSocketJoint* joint = new (allocatedMemory) BallAndSocketJoint(entity, *this, info); + + newJoint = joint; + mBallAndSocketJointsComponents.setJoint(entity, joint); break; } @@ -373,8 +382,6 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { } } - bool isJointDisabled = mRigidBodyComponents.getIsEntityDisabled(jointInfo.body1->getEntity()) && - mRigidBodyComponents.getIsEntityDisabled(jointInfo.body2->getEntity()); JointComponents::JointComponent jointComponent(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), newJoint, jointInfo.type, jointInfo.positionCorrectionTechnique, jointInfo.isCollisionEnabled); mJointsComponents.addComponent(entity, isJointDisabled, jointComponent); diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 95296bd5..839e5ffe 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -80,6 +80,7 @@ class DynamicsWorld : public CollisionWorld { List mRigidBodies; /// All the joints of the world + // TODO : We probably do not need this list anymore List mJoints; /// Gravity vector of the world From 67d8411623b537542fbb73ab664717f8cb96f362 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 4 Sep 2019 12:44:42 +0200 Subject: [PATCH 084/197] Add FixedJointComponents class --- CMakeLists.txt | 2 + src/components/FixedJointComponents.cpp | 259 +++++++++++++++ src/components/FixedJointComponents.h | 424 ++++++++++++++++++++++++ src/constraint/FixedJoint.cpp | 181 ++++++---- src/constraint/FixedJoint.h | 49 --- src/engine/CollisionWorld.cpp | 7 + src/engine/CollisionWorld.h | 4 + src/engine/DynamicsWorld.cpp | 14 +- 8 files changed, 824 insertions(+), 116 deletions(-) create mode 100644 src/components/FixedJointComponents.cpp create mode 100644 src/components/FixedJointComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 138b5e9f..0d90813e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -148,6 +148,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/ProxyShapeComponents.h" "src/components/JointComponents.h" "src/components/BallAndSocketJointComponents.h" + "src/components/FixedJointComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -242,6 +243,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/ProxyShapeComponents.cpp" "src/components/JointComponents.cpp" "src/components/BallAndSocketJointComponents.cpp" + "src/components/FixedJointComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" diff --git a/src/components/FixedJointComponents.cpp b/src/components/FixedJointComponents.cpp new file mode 100644 index 00000000..fb261de0 --- /dev/null +++ b/src/components/FixedJointComponents.cpp @@ -0,0 +1,259 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "FixedJointComponents.h" +#include "engine/EntityManager.h" +#include "mathematics/Matrix3x3.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +FixedJointComponents::FixedJointComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(FixedJoint*) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Quaternion)) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void FixedJointComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newJointEntities = static_cast(newBuffer); + FixedJoint** newJoints = reinterpret_cast(newJointEntities + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody1 = reinterpret_cast(newJoints + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody2 = reinterpret_cast(newLocalAnchorPointBody1 + nbComponentsToAllocate); + Vector3* newR1World = reinterpret_cast(newLocalAnchorPointBody2 + nbComponentsToAllocate); + Vector3* newR2World = reinterpret_cast(newR1World + nbComponentsToAllocate); + Matrix3x3* newI1 = reinterpret_cast(newR2World + nbComponentsToAllocate); + Matrix3x3* newI2 = reinterpret_cast(newI1 + nbComponentsToAllocate); + Vector3* newImpulseTranslation = reinterpret_cast(newI2 + nbComponentsToAllocate); + Vector3* newImpulseRotation = reinterpret_cast(newImpulseTranslation + nbComponentsToAllocate); + Matrix3x3* newInverseMassMatrixTranslation = reinterpret_cast(newImpulseRotation + nbComponentsToAllocate); + Matrix3x3* newInverseMassMatrixRotation = reinterpret_cast(newInverseMassMatrixTranslation + nbComponentsToAllocate); + Vector3* newBiasTranslation = reinterpret_cast(newInverseMassMatrixRotation + nbComponentsToAllocate); + Vector3* newBiasRotation = reinterpret_cast(newBiasTranslation + nbComponentsToAllocate); + Quaternion* newInitOrientationDifferenceInv = reinterpret_cast(newBiasRotation + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newJointEntities, mJointEntities, mNbComponents * sizeof(Entity)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(FixedJoint*)); + memcpy(newLocalAnchorPointBody1, mLocalAnchorPointBody1, mNbComponents * sizeof(Vector3)); + memcpy(newLocalAnchorPointBody2, mLocalAnchorPointBody2, mNbComponents * sizeof(Vector3)); + memcpy(newR1World, mR1World, mNbComponents * sizeof(Vector3)); + memcpy(newR2World, mR2World, mNbComponents * sizeof(Vector3)); + memcpy(newI1, mI1, mNbComponents * sizeof(Matrix3x3)); + memcpy(newI2, mI2, mNbComponents * sizeof(Matrix3x3)); + memcpy(newImpulseTranslation, mImpulseTranslation, mNbComponents * sizeof(Vector3)); + memcpy(newImpulseRotation, mImpulseRotation, mNbComponents * sizeof(Vector3)); + memcpy(newInverseMassMatrixTranslation, mInverseMassMatrixTranslation, mNbComponents * sizeof(Matrix3x3)); + memcpy(newInverseMassMatrixRotation, mInverseMassMatrixRotation, mNbComponents * sizeof(Matrix3x3)); + memcpy(newBiasTranslation, mBiasTranslation, mNbComponents * sizeof(Vector3)); + memcpy(newBiasRotation, mBiasRotation, mNbComponents * sizeof(Vector3)); + memcpy(newInitOrientationDifferenceInv, mInitOrientationDifferenceInv, mNbComponents * sizeof(Quaternion)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mJointEntities = newJointEntities; + mJoints = newJoints; + mNbAllocatedComponents = nbComponentsToAllocate; + mLocalAnchorPointBody1 = newLocalAnchorPointBody1; + mLocalAnchorPointBody2 = newLocalAnchorPointBody2; + mR1World = newR1World; + mR2World = newR2World; + mI1 = newI1; + mI2 = newI2; + mImpulseTranslation = newImpulseTranslation; + mImpulseRotation = newImpulseRotation; + mInverseMassMatrixTranslation = newInverseMassMatrixTranslation; + mInverseMassMatrixRotation = newInverseMassMatrixRotation; + mBiasTranslation = newBiasTranslation; + mBiasRotation = newBiasRotation; + mInitOrientationDifferenceInv = newInitOrientationDifferenceInv; +} + +// Add a component +void FixedJointComponents::addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mJointEntities + index) Entity(jointEntity); + mJoints[index] = nullptr; + new (mLocalAnchorPointBody1 + index) Vector3(0, 0, 0); + new (mLocalAnchorPointBody2 + index) Vector3(0, 0, 0); + new (mR1World + index) Vector3(0, 0, 0); + new (mR2World + index) Vector3(0, 0, 0); + new (mI1 + index) Matrix3x3(); + new (mI2 + index) Matrix3x3(); + new (mImpulseTranslation + index) Vector3(0, 0, 0); + new (mImpulseRotation + index) Vector3(0, 0, 0); + new (mInverseMassMatrixTranslation + index) Matrix3x3(); + new (mInverseMassMatrixRotation + index) Matrix3x3(); + new (mBiasTranslation + index) Vector3(0, 0, 0); + new (mBiasRotation + index) Vector3(0, 0, 0); + new (mInitOrientationDifferenceInv + index) Quaternion(0, 0, 0, 0); + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(jointEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void FixedJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mJointEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]); + mJoints[destIndex] = mJoints[srcIndex]; + new (mLocalAnchorPointBody1 + destIndex) Vector3(mLocalAnchorPointBody1[srcIndex]); + new (mLocalAnchorPointBody2 + destIndex) Vector3(mLocalAnchorPointBody2[srcIndex]); + new (mR1World + destIndex) Vector3(mR1World[srcIndex]); + new (mR2World + destIndex) Vector3(mR2World[srcIndex]); + new (mI1 + destIndex) Matrix3x3(mI1[srcIndex]); + new (mI2 + destIndex) Matrix3x3(mI2[srcIndex]); + new (mImpulseTranslation + destIndex) Vector3(mImpulseRotation[srcIndex]); + new (mImpulseRotation + destIndex) Vector3(mImpulseRotation[srcIndex]); + new (mInverseMassMatrixTranslation + destIndex) Matrix3x3(mInverseMassMatrixTranslation[srcIndex]); + new (mInverseMassMatrixRotation + destIndex) Matrix3x3(mInverseMassMatrixRotation[srcIndex]); + new (mBiasTranslation + destIndex) Vector3(mBiasTranslation[srcIndex]); + new (mBiasRotation + destIndex) Vector3(mBiasRotation[srcIndex]); + new (mInitOrientationDifferenceInv + destIndex) Quaternion(mInitOrientationDifferenceInv[srcIndex]); + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void FixedJointComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity jointEntity1(mJointEntities[index1]); + FixedJoint* joint1 = mJoints[index1]; + Vector3 localAnchorPointBody1(mLocalAnchorPointBody1[index1]); + Vector3 localAnchorPointBody2(mLocalAnchorPointBody2[index1]); + Vector3 r1World1(mR1World[index1]); + Vector3 r2World1(mR2World[index1]); + Matrix3x3 i11(mI1[index1]); + Matrix3x3 i21(mI2[index1]); + Vector3 impulseTranslation1(mImpulseTranslation[index1]); + Vector3 impulseRotation1(mImpulseRotation[index1]); + Matrix3x3 inverseMassMatrixTranslation1(mInverseMassMatrixTranslation[index1]); + Matrix3x3 inverseMassMatrixRotation1(mInverseMassMatrixRotation[index1]); + Vector3 biasTranslation1(mBiasTranslation[index1]); + Vector3 biasRotation1(mBiasRotation[index1]); + Quaternion initOrientationDifferenceInv1(mInitOrientationDifferenceInv[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mJointEntities + index2) Entity(jointEntity1); + mJoints[index2] = joint1; + new (mLocalAnchorPointBody1 + index2) Vector3(localAnchorPointBody1); + new (mLocalAnchorPointBody2 + index2) Vector3(localAnchorPointBody2); + new (mR1World + index2) Vector3(r1World1); + new (mR2World + index2) Vector3(r2World1); + new (mI1 + index2) Matrix3x3(i11); + new (mI2 + index2) Matrix3x3(i21); + new (mImpulseTranslation + index2) Vector3(impulseTranslation1); + new (mImpulseRotation + index2) Vector3(impulseRotation1); + new (mInverseMassMatrixTranslation + index2) Matrix3x3(inverseMassMatrixTranslation1); + new (mInverseMassMatrixRotation + index2) Matrix3x3(inverseMassMatrixRotation1); + new (mBiasTranslation + index2) Vector3(biasTranslation1); + new (mBiasRotation + index2) Vector3(biasRotation1); + new (mInitOrientationDifferenceInv + index2) Quaternion(initOrientationDifferenceInv1); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); + + assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void FixedJointComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mJointEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mJointEntities[index]); + + mJointEntities[index].~Entity(); + mJoints[index] = nullptr; + mLocalAnchorPointBody1[index].~Vector3(); + mLocalAnchorPointBody2[index].~Vector3(); + mR1World[index].~Vector3(); + mR2World[index].~Vector3(); + mI1[index].~Matrix3x3(); + mI2[index].~Matrix3x3(); + mImpulseTranslation[index].~Vector3(); + mImpulseRotation[index].~Vector3(); + mInverseMassMatrixTranslation[index].~Matrix3x3(); + mInverseMassMatrixRotation[index].~Matrix3x3(); + mBiasTranslation[index].~Vector3(); + mBiasRotation[index].~Vector3(); + mInitOrientationDifferenceInv[index].~Quaternion(); +} diff --git a/src/components/FixedJointComponents.h b/src/components/FixedJointComponents.h new file mode 100644 index 00000000..bfaed648 --- /dev/null +++ b/src/components/FixedJointComponents.h @@ -0,0 +1,424 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_FIXED_JOINT_COMPONENTS_H +#define REACTPHYSICS3D_FIXED_JOINT_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "mathematics/Matrix3x3.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class FixedJoint; +enum class JointType; + +// Class FixedJointComponents +/** + * This class represent the component of the ECS with data for the FixedJoint. + */ +class FixedJointComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of joint entities + Entity* mJointEntities; + + /// Array of pointers to the joints + FixedJoint** mJoints; + + /// Anchor point of body 1 (in local-space coordinates of body 1) + Vector3* mLocalAnchorPointBody1; + + /// Anchor point of body 2 (in local-space coordinates of body 2) + Vector3* mLocalAnchorPointBody2; + + /// Vector from center of body 2 to anchor point in world-space + Vector3* mR1World; + + /// Vector from center of body 2 to anchor point in world-space + Vector3* mR2World; + + /// Inertia tensor of body 1 (in world-space coordinates) + Matrix3x3* mI1; + + /// Inertia tensor of body 2 (in world-space coordinates) + Matrix3x3* mI2; + + /// Accumulated impulse for the 3 translation constraints + Vector3* mImpulseTranslation; + + /// Accumulate impulse for the 3 rotation constraints + Vector3* mImpulseRotation; + + /// Inverse mass matrix K=JM^-1J^-t of the 3 translation constraints (3x3 matrix) + Matrix3x3* mInverseMassMatrixTranslation; + + /// Inverse mass matrix K=JM^-1J^-t of the 3 rotation constraints (3x3 matrix) + Matrix3x3* mInverseMassMatrixRotation; + + /// Bias vector for the 3 translation constraints + Vector3* mBiasTranslation; + + /// Bias vector for the 3 rotation constraints + Vector3* mBiasRotation; + + /// Inverse of the initial orientation difference between the two bodies + Quaternion* mInitOrientationDifferenceInv; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a transform component + struct FixedJointComponent { + + /// Constructor + FixedJointComponent() { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + FixedJointComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~FixedJointComponents() override = default; + + /// Add a component + void addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& component); + + /// Return a pointer to a given joint + FixedJoint* getJoint(Entity jointEntity) const; + + /// Set the joint pointer to a given joint + void setJoint(Entity jointEntity, FixedJoint* joint) const; + + /// Return the local anchor point of body 1 for a given joint + const Vector3& getLocalAnchoirPointBody1(Entity jointEntity) const; + + /// Set the local anchor point of body 1 for a given joint + void setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); + + /// Return the local anchor point of body 2 for a given joint + const Vector3& getLocalAnchoirPointBody2(Entity jointEntity) const; + + /// Set the local anchor point of body 2 for a given joint + void setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); + + /// Return the vector from center of body 1 to anchor point in world-space + const Vector3& getR1World(Entity jointEntity) const; + + /// Set the vector from center of body 1 to anchor point in world-space + void setR1World(Entity jointEntity, const Vector3& r1World); + + /// Return the vector from center of body 2 to anchor point in world-space + const Vector3& getR2World(Entity jointEntity) const; + + /// Set the vector from center of body 2 to anchor point in world-space + void setR2World(Entity jointEntity, const Vector3& r2World); + + /// Return the inertia tensor of body 1 (in world-space coordinates) + const Matrix3x3& getI1(Entity jointEntity) const; + + /// Set the inertia tensor of body 1 (in world-space coordinates) + void setI1(Entity jointEntity, const Matrix3x3& i1); + + /// Return the inertia tensor of body 2 (in world-space coordinates) + const Matrix3x3& getI2(Entity jointEntity) const; + + /// Set the inertia tensor of body 2 (in world-space coordinates) + void setI2(Entity jointEntity, const Matrix3x3& i2); + + /// Return the translation impulse + Vector3& getImpulseTranslation(Entity jointEntity); + + /// Set the translation impulse + void setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation); + + /// Return the translation impulse + Vector3& getImpulseRotation(Entity jointEntity); + + /// Set the translation impulse + void setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation); + + /// Return the translation inverse mass matrix of the constraint + Matrix3x3& getInverseMassMatrixTranslation(Entity jointEntity); + + /// Set the translation inverse mass matrix of the constraint + void setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix); + + /// Return the rotation inverse mass matrix of the constraint + Matrix3x3& getInverseMassMatrixRotation(Entity jointEntity); + + /// Set the rotation inverse mass matrix of the constraint + void setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix); + + /// Return the translation bias + Vector3& getBiasTranslation(Entity jointEntity); + + /// Set the translation impulse + void setBiasTranslation(Entity jointEntity, const Vector3& impulseTranslation); + + /// Return the rotation bias + Vector3& getBiasRotation(Entity jointEntity); + + /// Set the rotation impulse + void setBiasRotation(Entity jointEntity, const Vector3 &impulseRotation); + + /// Return the initial orientation difference + Quaternion& getInitOrientationDifferenceInv(Entity jointEntity); + + /// Set the rotation impulse + void setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; +}; + +// Return a pointer to a given joint +inline FixedJoint* FixedJointComponents::getJoint(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mJoints[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the joint pointer to a given joint +inline void FixedJointComponents::setJoint(Entity jointEntity, FixedJoint* joint) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; +} + +// Return the local anchor point of body 1 for a given joint +inline const Vector3& FixedJointComponents::getLocalAnchoirPointBody1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 1 for a given joint +inline void FixedJointComponents::setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; +} + +// Return the local anchor point of body 2 for a given joint +inline const Vector3& FixedJointComponents::getLocalAnchoirPointBody2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 2 for a given joint +inline void FixedJointComponents::setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; +} + +// Return the vector from center of body 1 to anchor point in world-space +inline const Vector3& FixedJointComponents::getR1World(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR1World[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the vector from center of body 1 to anchor point in world-space +inline void FixedJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World; +} + +// Return the vector from center of body 2 to anchor point in world-space +inline const Vector3& FixedJointComponents::getR2World(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR2World[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the vector from center of body 2 to anchor point in world-space +inline void FixedJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World; +} + +// Return the inertia tensor of body 1 (in world-space coordinates) +inline const Matrix3x3& FixedJointComponents::getI1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 1 (in world-space coordinates) +inline void FixedJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI1[mMapEntityToComponentIndex[jointEntity]] = i1; +} + +// Return the inertia tensor of body 2 (in world-space coordinates) +inline const Matrix3x3& FixedJointComponents::getI2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 2 (in world-space coordinates) +inline void FixedJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI2[mMapEntityToComponentIndex[jointEntity]] = i2; +} + +// Return the translation impulse +inline Vector3& FixedJointComponents::getImpulseTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void FixedJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the translation impulse +inline Vector3& FixedJointComponents::getImpulseRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void FixedJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the translation inverse mass matrix of the constraint +inline Matrix3x3& FixedJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + + +// Set the translation inverse mass matrix of the constraint +inline void FixedJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the rotation inverse mass matrix of the constraint +inline Matrix3x3& FixedJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation inverse mass matrix of the constraint +inline void FixedJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the translation bias +inline Vector3& FixedJointComponents::getBiasTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void FixedJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the rotation bias +inline Vector3& FixedJointComponents::getBiasRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation impulse +inline void FixedJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation; +} + +// Return the initial orientation difference +inline Quaternion& FixedJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation impulse +inline void FixedJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; +} + +} + +#endif diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index afb84b7f..82b61b80 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -36,14 +36,14 @@ const decimal FixedJoint::BETA = decimal(0.2); // Constructor FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo& jointInfo) - : Joint(entity, world, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0, 0) { + : Joint(entity, world, jointInfo) { // Compute the local-space anchor point for each body const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mLocalAnchorPointBody1 = transform1.getInverse() * jointInfo.anchorPointWorldSpace; - mLocalAnchorPointBody2 = transform2.getInverse() * jointInfo.anchorPointWorldSpace; + mWorld.mFixedJointsComponents.setLocalAnchoirPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mFixedJointsComponents.setLocalAnchoirPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); // Store inverse of initial rotation from body 1 to body 2 in body 1 space: // @@ -56,7 +56,7 @@ FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo // q20 = initial orientation of body 2 // q10 = initial orientation of body 1 // r0 = initial rotation rotation from body 1 to body 2 - mInitOrientationDifferenceInv = transform2.getOrientation().getInverse() * transform1.getOrientation(); + mWorld.mFixedJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation()); } // Initialize before solving the constraint @@ -77,16 +77,22 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat const Quaternion& orientationBody2 = body2->getTransform().getOrientation(); // Get the inertia tensor of bodies - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mFixedJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mFixedJointsComponents.setI1(mEntity, body2->getInertiaTensorInverseWorld()); + + const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); // Compute the vector from body center to the anchor point in world-space - mR1World = orientationBody1 * mLocalAnchorPointBody1; - mR2World = orientationBody2 * mLocalAnchorPointBody2; + mWorld.mFixedJointsComponents.setR1World(mEntity, orientationBody1 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody1(mEntity)); + mWorld.mFixedJointsComponents.setR2World(mEntity, orientationBody2 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody2(mEntity)); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); @@ -95,45 +101,52 @@ void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); + skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); // Compute the inverse mass matrix K^-1 for the 3 translation constraints - mInverseMassMatrixTranslation.setToZero(); + Matrix3x3& inverseMassMatrixTranslation = mWorld.mFixedJointsComponents.getInverseMassMatrixTranslation(mEntity); + inverseMassMatrixTranslation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixTranslation = massMatrix.getInverse(); + mWorld.mFixedJointsComponents.setInverseMassMatrixTranslation(mEntity, massMatrix.getInverse()); } // Compute the bias "b" of the constraint for the 3 translation constraints - decimal biasFactor = (BETA / constraintSolverData.timeStep); - mBiasTranslation.setToZero(); + const decimal biasFactor = (BETA / constraintSolverData.timeStep); + Vector3& biasTranslation = mWorld.mFixedJointsComponents.getBiasTranslation(mEntity); + biasTranslation.setToZero(); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBiasTranslation = biasFactor * (x2 + mR2World - x1 - mR1World); + mWorld.mFixedJointsComponents.setBiasTranslation(mEntity, biasFactor * (x2 + r2World - x1 - r1World)); } // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) - mInverseMassMatrixRotation = mI1 + mI2; + Matrix3x3& inverseMassMatrixRotation = mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity); + inverseMassMatrixRotation = i1 + i2; if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixRotation = mInverseMassMatrixRotation.getInverse(); + mWorld.mFixedJointsComponents.setInverseMassMatrixRotation(mEntity, mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity).getInverse()); } // Compute the bias "b" for the 3 rotation constraints - mBiasRotation.setToZero(); + Vector3& biasRotation = mWorld.mFixedJointsComponents.getBiasRotation(mEntity); + biasRotation.setToZero(); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - const Quaternion qError = orientationBody2 * mInitOrientationDifferenceInv * orientationBody1.getInverse(); - mBiasRotation = biasFactor * decimal(2.0) * qError.getVectorV(); + const Quaternion qError = orientationBody2 * mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity) * orientationBody1.getInverse(); + mWorld.mFixedJointsComponents.setBiasRotation(mEntity, biasFactor * decimal(2.0) * qError.getVectorV()); } // If warm-starting is not enabled if (!constraintSolverData.isWarmStartingActive) { + Vector3& impulseTranslation = mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity); + Vector3& impulseRotation = mWorld.mFixedJointsComponents.getImpulseRotation(mEntity); + // Reset the accumulated impulses - mImpulseTranslation.setToZero(); - mImpulseRotation.setToZero(); + impulseTranslation.setToZero(); + impulseRotation.setToZero(); } } @@ -157,26 +170,35 @@ void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& impulseTranslation = mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity); + const Vector3& impulseRotation = mWorld.mFixedJointsComponents.getImpulseRotation(mEntity); + + const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); + // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 1 - Vector3 linearImpulseBody1 = -mImpulseTranslation; - Vector3 angularImpulseBody1 = mImpulseTranslation.cross(mR1World); + Vector3 linearImpulseBody1 = -impulseTranslation; + Vector3 angularImpulseBody1 = impulseTranslation.cross(r1World); // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 1 - angularImpulseBody1 += -mImpulseRotation; + angularImpulseBody1 += -impulseRotation; // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 2 - Vector3 angularImpulseBody2 = -mImpulseTranslation.cross(mR2World); + Vector3 angularImpulseBody2 = -impulseTranslation.cross(r2World); // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 2 - angularImpulseBody2 += mImpulseRotation; + angularImpulseBody2 += impulseRotation; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * mImpulseTranslation; - w2 += mI2 * angularImpulseBody2; + v2 += inverseMassBody2 * impulseTranslation; + w2 += i2 * angularImpulseBody2; } // Solve the velocity constraint @@ -199,48 +221,59 @@ void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); + // --------------- Translation Constraints --------------- // // Compute J*v for the 3 translation constraints - const Vector3 JvTranslation = v2 + w2.cross(mR2World) - v1 - w1.cross(mR1World); + const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); + + const Vector3& biasTranslation = mWorld.mFixedJointsComponents.getBiasTranslation(mEntity); + const Matrix3x3& inverseMassMatrixTranslation = mWorld.mFixedJointsComponents.getInverseMassMatrixTranslation(mEntity); // Compute the Lagrange multiplier lambda - const Vector3 deltaLambda = mInverseMassMatrixTranslation * - (-JvTranslation - mBiasTranslation); - mImpulseTranslation += deltaLambda; + const Vector3 deltaLambda = inverseMassMatrixTranslation * (-JvTranslation - biasTranslation); + mWorld.mFixedJointsComponents.setImpulseTranslation(mEntity, mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity) + deltaLambda); // Compute the impulse P=J^T * lambda for body 1 const Vector3 linearImpulseBody1 = -deltaLambda; - Vector3 angularImpulseBody1 = deltaLambda.cross(mR1World); + Vector3 angularImpulseBody1 = deltaLambda.cross(r1World); // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for body 2 - const Vector3 angularImpulseBody2 = -deltaLambda.cross(mR2World); + const Vector3 angularImpulseBody2 = -deltaLambda.cross(r2World); // Apply the impulse to the body 2 v2 += inverseMassBody2 * deltaLambda; - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; // --------------- Rotation Constraints --------------- // // Compute J*v for the 3 rotation constraints const Vector3 JvRotation = w2 - w1; + const Vector3& biasRotation = mWorld.mFixedJointsComponents.getBiasRotation(mEntity); + const Matrix3x3& inverseMassMatrixRotation = mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity); + // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 deltaLambda2 = mInverseMassMatrixRotation * (-JvRotation - mBiasRotation); - mImpulseRotation += deltaLambda2; + Vector3 deltaLambda2 = inverseMassMatrixRotation * (-JvRotation - biasRotation); + mWorld.mFixedJointsComponents.setImpulseRotation(mEntity, mWorld.mFixedJointsComponents.getImpulseRotation(mEntity) + deltaLambda2); // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 1 angularImpulseBody1 = -deltaLambda2; // Apply the impulse to the body 1 - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Apply the impulse to the body 2 - w2 += mI2 * deltaLambda2; + w2 += i2 * deltaLambda2; } // Solve the position constraint (for position error correction) @@ -268,17 +301,23 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); + + const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); + // Recompute the inverse inertia tensors - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mFixedJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mFixedJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Compute the vector from body center to the anchor point in world-space - mR1World = q1 * mLocalAnchorPointBody1; - mR2World = q2 * mLocalAnchorPointBody2; + mWorld.mFixedJointsComponents.setR1World(mEntity, q1 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody1(mEntity)); + mWorld.mFixedJointsComponents.setR2World(mEntity, q2 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody2(mEntity)); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); // --------------- Translation Constraints --------------- // @@ -287,27 +326,28 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); - mInverseMassMatrixTranslation.setToZero(); + skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); + Matrix3x3& inverseMassMatrixTranslation = mWorld.mFixedJointsComponents.getInverseMassMatrixTranslation(mEntity); + inverseMassMatrixTranslation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixTranslation = massMatrix.getInverse(); + mWorld.mFixedJointsComponents.setInverseMassMatrixTranslation(mEntity, massMatrix.getInverse()); } // Compute position error for the 3 translation constraints - const Vector3 errorTranslation = x2 + mR2World - x1 - mR1World; + const Vector3 errorTranslation = x2 + r2World - x1 - r1World; // Compute the Lagrange multiplier lambda - const Vector3 lambdaTranslation = mInverseMassMatrixTranslation * (-errorTranslation); + const Vector3 lambdaTranslation = inverseMassMatrixTranslation * (-errorTranslation); // Compute the impulse of body 1 Vector3 linearImpulseBody1 = -lambdaTranslation; - Vector3 angularImpulseBody1 = lambdaTranslation.cross(mR1World); + Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); // Compute the pseudo velocity of body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = mI1 * angularImpulseBody1; + Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 x1 += v1; @@ -315,11 +355,11 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS q1.normalize(); // Compute the impulse of body 2 - Vector3 angularImpulseBody2 = -lambdaTranslation.cross(mR2World); + Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); // Compute the pseudo velocity of body 2 const Vector3 v2 = inverseMassBody2 * lambdaTranslation; - Vector3 w2 = mI2 * angularImpulseBody2; + Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 x2 += v2; @@ -330,10 +370,11 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) - mInverseMassMatrixRotation = mI1 + mI2; + Matrix3x3& inverseMassMatrixRotation = mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity); + inverseMassMatrixRotation = i1 + i2; if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixRotation = mInverseMassMatrixRotation.getInverse(); + mWorld.mFixedJointsComponents.setInverseMassMatrixRotation(mEntity, inverseMassMatrixRotation.getInverse()); } // Calculate difference in rotation @@ -351,7 +392,7 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // q1 = current rotation of body 1 // q2 = current rotation of body 2 // qError = error that needs to be reduced to zero - Quaternion qError = q2 * mInitOrientationDifferenceInv * q1.getInverse(); + Quaternion qError = q2 * mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity) * q1.getInverse(); // A quaternion can be seen as: // @@ -365,20 +406,20 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 lambdaRotation = mInverseMassMatrixRotation * (-errorRotation); + Vector3 lambdaRotation = inverseMassMatrixRotation * (-errorRotation); // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 angularImpulseBody1 = -lambdaRotation; // Compute the pseudo velocity of body 1 - w1 = mI1 * angularImpulseBody1; + w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); q1.normalize(); // Compute the pseudo velocity of body 2 - w2 = mI2 * lambdaRotation; + w2 = i2 * lambdaRotation; // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); @@ -390,3 +431,11 @@ void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintS constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } +// Return a string representation +std::string FixedJoint::to_string() const { + return "FixedJoint{ localAnchorPointBody1=" + mWorld.mFixedJointsComponents.getLocalAnchoirPointBody1(mEntity).to_string() + + ", localAnchorPointBody2=" + mWorld.mFixedJointsComponents.getLocalAnchoirPointBody2(mEntity).to_string() + + ", initOrientationDifferenceInv=" + mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() + + "}"; +} + diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index 150cb218..57b302cf 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -73,47 +73,6 @@ class FixedJoint : public Joint { // Beta value for the bias factor of position correction static const decimal BETA; - // -------------------- Attributes -------------------- // - - /// Anchor point of body 1 (in local-space coordinates of body 1) - Vector3 mLocalAnchorPointBody1; - - /// Anchor point of body 2 (in local-space coordinates of body 2) - Vector3 mLocalAnchorPointBody2; - - /// Vector from center of body 2 to anchor point in world-space - Vector3 mR1World; - - /// Vector from center of body 2 to anchor point in world-space - Vector3 mR2World; - - /// Inertia tensor of body 1 (in world-space coordinates) - Matrix3x3 mI1; - - /// Inertia tensor of body 2 (in world-space coordinates) - Matrix3x3 mI2; - - /// Accumulated impulse for the 3 translation constraints - Vector3 mImpulseTranslation; - - /// Accumulate impulse for the 3 rotation constraints - Vector3 mImpulseRotation; - - /// Inverse mass matrix K=JM^-1J^-t of the 3 translation constraints (3x3 matrix) - Matrix3x3 mInverseMassMatrixTranslation; - - /// Inverse mass matrix K=JM^-1J^-t of the 3 rotation constraints (3x3 matrix) - Matrix3x3 mInverseMassMatrixRotation; - - /// Bias vector for the 3 translation constraints - Vector3 mBiasTranslation; - - /// Bias vector for the 3 rotation constraints - Vector3 mBiasRotation; - - /// Inverse of the initial orientation difference between the two bodies - Quaternion mInitOrientationDifferenceInv; - // -------------------- Methods -------------------- // /// Return the number of bytes used by the joint @@ -156,14 +115,6 @@ inline size_t FixedJoint::getSizeInBytes() const { return sizeof(FixedJoint); } -// Return a string representation -inline std::string FixedJoint::to_string() const { - return "FixedJoint{ localAnchorPointBody1=" + mLocalAnchorPointBody1.to_string() + - ", localAnchorPointBody2=" + mLocalAnchorPointBody2.to_string() + - ", initOrientationDifferenceInv=" + mInitOrientationDifferenceInv.to_string() + - "}"; -} - } #endif diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 39fc3531..b12ed42f 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -41,6 +41,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), + mFixedJointsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -261,6 +262,12 @@ void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { // TODO : Make sure we notify all the components here ... mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) { + mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } + if (mFixedJointsComponents.hasComponent(jointEntity)) { + mFixedJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } } // Return true if two bodies overlap diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 007c3a9e..ab7fc92f 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -39,6 +39,7 @@ #include "components/ProxyShapeComponents.h" #include "components/JointComponents.h" #include "components/BallAndSocketJointComponents.h" +#include "components/FixedJointComponents.h" #include "collision/CollisionCallback.h" #include "collision/OverlapCallback.h" @@ -96,6 +97,9 @@ class CollisionWorld { /// Ball And Socket joints Components BallAndSocketJointComponents mBallAndSocketJointsComponents; + /// Fixed joints Components + FixedJointComponents mFixedJointsComponents; + /// Reference to the collision detection CollisionDetectionSystem mCollisionDetection; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 1a67ca18..a784a82d 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -368,10 +368,19 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { // Fixed joint case JointType::FIXEDJOINT: { + // Create a BallAndSocketJoint component + FixedJointComponents::FixedJointComponent fixedJointComponent; + mFixedJointsComponents.addComponent(entity, isJointDisabled, fixedJointComponent); + void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(FixedJoint)); const FixedJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) FixedJoint(entity, *this, info); + FixedJoint* joint = new (allocatedMemory) FixedJoint(entity, *this, info); + + newJoint = joint; + + mFixedJointsComponents.setJoint(entity, joint); + break; } @@ -467,6 +476,9 @@ void DynamicsWorld::addJointToBody(Joint* joint) { sizeof(JointListElement)); JointListElement* jointListElement1 = new (allocatedMemory1) JointListElement(joint, body1->mJointsList); + RigidBody* test1 = joint->getBody1(); + RigidBody* test2 = joint->getBody2(); + body1->mJointsList = jointListElement1; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, From 06132e3d4139f1789f34ca0b95de7ec928ea58ea Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 11 Sep 2019 21:13:45 +0200 Subject: [PATCH 085/197] Add HingeJointComponents class --- CMakeLists.txt | 2 + src/components/HingeJointComponents.cpp | 408 +++++++++++ src/components/HingeJointComponents.h | 898 ++++++++++++++++++++++++ src/constraint/HingeJoint.cpp | 590 ++++++++++------ src/constraint/HingeJoint.h | 170 ----- src/engine/CollisionWorld.cpp | 5 +- src/engine/CollisionWorld.h | 4 + src/engine/DynamicsWorld.cpp | 14 +- 8 files changed, 1698 insertions(+), 393 deletions(-) create mode 100644 src/components/HingeJointComponents.cpp create mode 100644 src/components/HingeJointComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 0d90813e..9e771c0f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -149,6 +149,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/JointComponents.h" "src/components/BallAndSocketJointComponents.h" "src/components/FixedJointComponents.h" + "src/components/HingeJointComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -244,6 +245,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/JointComponents.cpp" "src/components/BallAndSocketJointComponents.cpp" "src/components/FixedJointComponents.cpp" + "src/components/HingeJointComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" diff --git a/src/components/HingeJointComponents.cpp b/src/components/HingeJointComponents.cpp new file mode 100644 index 00000000..b3880e63 --- /dev/null +++ b/src/components/HingeJointComponents.cpp @@ -0,0 +1,408 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "HingeJointComponents.h" +#include "engine/EntityManager.h" +#include "mathematics/Matrix3x3.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +HingeJointComponents::HingeJointComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(HingeJoint*) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector3) + + sizeof(Vector2) + sizeof(Matrix3x3) + sizeof(Matrix2x2) + + sizeof(Vector3) + sizeof(Vector2) + sizeof(Quaternion) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal) + + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal)) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void HingeJointComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newJointEntities = static_cast(newBuffer); + HingeJoint** newJoints = reinterpret_cast(newJointEntities + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody1 = reinterpret_cast(newJoints + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody2 = reinterpret_cast(newLocalAnchorPointBody1 + nbComponentsToAllocate); + Vector3* newR1World = reinterpret_cast(newLocalAnchorPointBody2 + nbComponentsToAllocate); + Vector3* newR2World = reinterpret_cast(newR1World + nbComponentsToAllocate); + Matrix3x3* newI1 = reinterpret_cast(newR2World + nbComponentsToAllocate); + Matrix3x3* newI2 = reinterpret_cast(newI1 + nbComponentsToAllocate); + Vector3* newImpulseTranslation = reinterpret_cast(newI2 + nbComponentsToAllocate); + Vector2* newImpulseRotation = reinterpret_cast(newImpulseTranslation + nbComponentsToAllocate); + Matrix3x3* newInverseMassMatrixTranslation = reinterpret_cast(newImpulseRotation + nbComponentsToAllocate); + Matrix2x2* newInverseMassMatrixRotation = reinterpret_cast(newInverseMassMatrixTranslation + nbComponentsToAllocate); + Vector3* newBiasTranslation = reinterpret_cast(newInverseMassMatrixRotation + nbComponentsToAllocate); + Vector2* newBiasRotation = reinterpret_cast(newBiasTranslation + nbComponentsToAllocate); + Quaternion* newInitOrientationDifferenceInv = reinterpret_cast(newBiasRotation + nbComponentsToAllocate); + Vector3* newHingeLocalAxisBody1 = reinterpret_cast(newInitOrientationDifferenceInv + nbComponentsToAllocate); + Vector3* newHingeLocalAxisBody2 = reinterpret_cast(newHingeLocalAxisBody1 + nbComponentsToAllocate); + Vector3* newA1 = reinterpret_cast(newHingeLocalAxisBody2 + nbComponentsToAllocate); + Vector3* newB2CrossA1 = reinterpret_cast(newA1 + nbComponentsToAllocate); + Vector3* newC2CrossA1 = reinterpret_cast(newB2CrossA1 + nbComponentsToAllocate); + decimal* newImpulseLowerLimit = reinterpret_cast(newC2CrossA1 + nbComponentsToAllocate); + decimal* newImpulseUpperLimit = reinterpret_cast(newImpulseLowerLimit + nbComponentsToAllocate); + decimal* newImpulseMotor = reinterpret_cast(newImpulseUpperLimit + nbComponentsToAllocate); + decimal* newInverseMassMatrixLimitMotor = reinterpret_cast(newImpulseMotor + nbComponentsToAllocate); + decimal* newInverseMassMatrixMotor = reinterpret_cast(newInverseMassMatrixLimitMotor + nbComponentsToAllocate); + decimal* newBLowerLimit = reinterpret_cast(newInverseMassMatrixMotor + nbComponentsToAllocate); + decimal* newBUpperLimit = reinterpret_cast(newBLowerLimit + nbComponentsToAllocate); + bool* newIsLimitEnabled = reinterpret_cast(newBUpperLimit + nbComponentsToAllocate); + bool* newIsMotorEnabled = reinterpret_cast(newIsLimitEnabled + nbComponentsToAllocate); + decimal* newLowerLimit = reinterpret_cast(newIsMotorEnabled + nbComponentsToAllocate); + decimal* newUpperLimit = reinterpret_cast(newLowerLimit + nbComponentsToAllocate); + bool* newIsLowerLimitViolated = reinterpret_cast(newUpperLimit + nbComponentsToAllocate); + bool* newIsUpperLimitViolated = reinterpret_cast(newIsLowerLimitViolated + nbComponentsToAllocate); + decimal* newMotorSpeed = reinterpret_cast(newIsUpperLimitViolated + nbComponentsToAllocate); + decimal* newMaxMotorTorque = reinterpret_cast(newMotorSpeed + nbComponentsToAllocate); + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newJointEntities, mJointEntities, mNbComponents * sizeof(Entity)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(HingeJoint*)); + memcpy(newLocalAnchorPointBody1, mLocalAnchorPointBody1, mNbComponents * sizeof(Vector3)); + memcpy(newLocalAnchorPointBody2, mLocalAnchorPointBody2, mNbComponents * sizeof(Vector3)); + memcpy(newR1World, mR1World, mNbComponents * sizeof(Vector3)); + memcpy(newR2World, mR2World, mNbComponents * sizeof(Vector3)); + memcpy(newI1, mI1, mNbComponents * sizeof(Matrix3x3)); + memcpy(newI2, mI2, mNbComponents * sizeof(Matrix3x3)); + memcpy(newImpulseTranslation, mImpulseTranslation, mNbComponents * sizeof(Vector3)); + memcpy(newImpulseRotation, mImpulseRotation, mNbComponents * sizeof(Vector2)); + memcpy(newInverseMassMatrixTranslation, mInverseMassMatrixTranslation, mNbComponents * sizeof(Matrix3x3)); + memcpy(newInverseMassMatrixRotation, mInverseMassMatrixRotation, mNbComponents * sizeof(Matrix2x2)); + memcpy(newBiasTranslation, mBiasTranslation, mNbComponents * sizeof(Vector3)); + memcpy(newBiasRotation, mBiasRotation, mNbComponents * sizeof(Vector2)); + memcpy(newInitOrientationDifferenceInv, mInitOrientationDifferenceInv, mNbComponents * sizeof(Quaternion)); + memcpy(newHingeLocalAxisBody1, mHingeLocalAxisBody1, mNbComponents * sizeof(Vector3)); + memcpy(newHingeLocalAxisBody2, mHingeLocalAxisBody2, mNbComponents * sizeof(Vector3)); + memcpy(newA1, mA1, mNbComponents * sizeof(Vector3)); + memcpy(newB2CrossA1, mB2CrossA1, mNbComponents * sizeof(Vector3)); + memcpy(newC2CrossA1, mC2CrossA1, mNbComponents * sizeof(Vector3)); + memcpy(newImpulseLowerLimit, mImpulseLowerLimit, mNbComponents * sizeof(decimal)); + memcpy(newImpulseUpperLimit, mImpulseUpperLimit, mNbComponents * sizeof(decimal)); + memcpy(newImpulseMotor, mImpulseMotor, mNbComponents * sizeof(decimal)); + memcpy(newInverseMassMatrixLimitMotor, mInverseMassMatrixLimitMotor, mNbComponents * sizeof(decimal)); + memcpy(newInverseMassMatrixMotor, mInverseMassMatrixMotor, mNbComponents * sizeof(decimal)); + memcpy(newBLowerLimit, mBLowerLimit, mNbComponents * sizeof(decimal)); + memcpy(newBUpperLimit, mBUpperLimit, mNbComponents * sizeof(decimal)); + memcpy(newIsLimitEnabled, mIsLimitEnabled, mNbComponents * sizeof(bool)); + memcpy(newIsMotorEnabled, mIsMotorEnabled, mNbComponents * sizeof(bool)); + memcpy(newLowerLimit, mLowerLimit, mNbComponents * sizeof(decimal)); + memcpy(newUpperLimit, mUpperLimit, mNbComponents * sizeof(decimal)); + memcpy(newIsLowerLimitViolated, mIsLowerLimitViolated, mNbComponents * sizeof(bool)); + memcpy(newIsUpperLimitViolated, mIsUpperLimitViolated, mNbComponents * sizeof(bool)); + memcpy(newMotorSpeed, mMotorSpeed, mNbComponents * sizeof(decimal)); + memcpy(newMaxMotorTorque, mMaxMotorTorque, mNbComponents * sizeof(decimal)); + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mJointEntities = newJointEntities; + mJoints = newJoints; + mNbAllocatedComponents = nbComponentsToAllocate; + mLocalAnchorPointBody1 = newLocalAnchorPointBody1; + mLocalAnchorPointBody2 = newLocalAnchorPointBody2; + mR1World = newR1World; + mR2World = newR2World; + mI1 = newI1; + mI2 = newI2; + mImpulseTranslation = newImpulseTranslation; + mImpulseRotation = newImpulseRotation; + mInverseMassMatrixTranslation = newInverseMassMatrixTranslation; + mInverseMassMatrixRotation = newInverseMassMatrixRotation; + mBiasTranslation = newBiasTranslation; + mBiasRotation = newBiasRotation; + mInitOrientationDifferenceInv = newInitOrientationDifferenceInv; + mHingeLocalAxisBody1 = newHingeLocalAxisBody1; + mHingeLocalAxisBody2 = newHingeLocalAxisBody2; + mA1 = newA1; + mB2CrossA1 = newB2CrossA1; + mC2CrossA1 = newC2CrossA1; + mImpulseLowerLimit = newImpulseLowerLimit; + mImpulseUpperLimit = newImpulseUpperLimit; + mImpulseMotor = newImpulseMotor; + mInverseMassMatrixLimitMotor = newInverseMassMatrixLimitMotor; + mInverseMassMatrixMotor = newInverseMassMatrixMotor; + mBLowerLimit = newBLowerLimit; + mBUpperLimit = newBUpperLimit; + mIsLimitEnabled = newIsLimitEnabled; + mIsMotorEnabled = newIsMotorEnabled; + mLowerLimit = newLowerLimit; + mUpperLimit = newUpperLimit; + mIsLowerLimitViolated = newIsLowerLimitViolated; + mIsUpperLimitViolated = newIsUpperLimitViolated; + mMotorSpeed = newMotorSpeed; + mMaxMotorTorque = newMaxMotorTorque; +} + +// Add a component +void HingeJointComponents::addComponent(Entity jointEntity, bool isSleeping, const HingeJointComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mJointEntities + index) Entity(jointEntity); + mJoints[index] = nullptr; + new (mLocalAnchorPointBody1 + index) Vector3(0, 0, 0); + new (mLocalAnchorPointBody2 + index) Vector3(0, 0, 0); + new (mR1World + index) Vector3(0, 0, 0); + new (mR2World + index) Vector3(0, 0, 0); + new (mI1 + index) Matrix3x3(); + new (mI2 + index) Matrix3x3(); + new (mImpulseTranslation + index) Vector3(0, 0, 0); + new (mImpulseRotation + index) Vector3(0, 0, 0); + new (mInverseMassMatrixTranslation + index) Matrix3x3(); + new (mInverseMassMatrixRotation + index) Matrix3x3(); + new (mBiasTranslation + index) Vector3(0, 0, 0); + new (mBiasRotation + index) Vector3(0, 0, 0); + new (mInitOrientationDifferenceInv + index) Quaternion(0, 0, 0, 0); + new (mHingeLocalAxisBody1 + index) Vector3(0, 0, 0); + new (mHingeLocalAxisBody2 + index) Vector3(0, 0, 0); + new (mA1 + index) Vector3(0, 0, 0); + new (mB2CrossA1 + index) Vector3(0, 0, 0); + new (mC2CrossA1 + index) Vector3(0, 0, 0); + mImpulseLowerLimit[index] = decimal(0.0); + mImpulseUpperLimit[index] = decimal(0.0); + mInverseMassMatrixLimitMotor[index] = decimal(0.0); + mInverseMassMatrixMotor[index] = decimal(0.0); + mBLowerLimit[index] = decimal(0.0); + mBUpperLimit[index] = decimal(0.0); + mIsLimitEnabled[index] = component.isLimitEnabled; + mIsMotorEnabled[index] = component.isMotorEnabled; + mLowerLimit[index] = component.lowerLimit; + mUpperLimit[index] = component.upperLimit; + mIsLowerLimitViolated[index] = false; + mIsUpperLimitViolated[index] = false; + mMotorSpeed[index] = component.motorSpeed; + mMaxMotorTorque[index] = component.maxMotorTorque; + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(jointEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void HingeJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mJointEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]); + mJoints[destIndex] = mJoints[srcIndex]; + new (mLocalAnchorPointBody1 + destIndex) Vector3(mLocalAnchorPointBody1[srcIndex]); + new (mLocalAnchorPointBody2 + destIndex) Vector3(mLocalAnchorPointBody2[srcIndex]); + new (mR1World + destIndex) Vector3(mR1World[srcIndex]); + new (mR2World + destIndex) Vector3(mR2World[srcIndex]); + new (mI1 + destIndex) Matrix3x3(mI1[srcIndex]); + new (mI2 + destIndex) Matrix3x3(mI2[srcIndex]); + new (mImpulseTranslation + destIndex) Vector3(mImpulseTranslation[srcIndex]); + new (mImpulseRotation + destIndex) Vector2(mImpulseRotation[srcIndex]); + new (mInverseMassMatrixTranslation + destIndex) Matrix3x3(mInverseMassMatrixTranslation[srcIndex]); + new (mInverseMassMatrixRotation + destIndex) Matrix2x2(mInverseMassMatrixRotation[srcIndex]); + new (mBiasTranslation + destIndex) Vector3(mBiasTranslation[srcIndex]); + new (mBiasRotation + destIndex) Vector2(mBiasRotation[srcIndex]); + new (mInitOrientationDifferenceInv + destIndex) Quaternion(mInitOrientationDifferenceInv[srcIndex]); + new (mHingeLocalAxisBody1 + destIndex) Vector3(mHingeLocalAxisBody1[srcIndex]); + new (mHingeLocalAxisBody2 + destIndex) Vector3(mHingeLocalAxisBody2[srcIndex]); + new (mA1 + destIndex) Vector3(mA1[srcIndex]); + new (mB2CrossA1 + destIndex) Vector3(mB2CrossA1[srcIndex]); + new (mC2CrossA1 + destIndex) Vector3(mC2CrossA1[srcIndex]); + mImpulseLowerLimit[destIndex] = mImpulseLowerLimit[srcIndex]; + mImpulseUpperLimit[destIndex] = mImpulseUpperLimit[srcIndex]; + mImpulseMotor[destIndex] = mImpulseMotor[srcIndex]; + mInverseMassMatrixLimitMotor[destIndex] = mInverseMassMatrixLimitMotor[srcIndex]; + mInverseMassMatrixMotor[destIndex] = mInverseMassMatrixMotor[srcIndex]; + mBLowerLimit[destIndex] = mBLowerLimit[srcIndex]; + mBUpperLimit[destIndex] = mBUpperLimit[srcIndex]; + mIsLimitEnabled[destIndex] = mIsLimitEnabled[srcIndex]; + mIsMotorEnabled[destIndex] = mIsMotorEnabled[srcIndex]; + mLowerLimit[destIndex] = mLowerLimit[srcIndex]; + mUpperLimit[destIndex] = mUpperLimit[srcIndex]; + mIsLowerLimitViolated[destIndex] = mIsLowerLimitViolated[srcIndex]; + mIsUpperLimitViolated[destIndex] = mIsUpperLimitViolated[srcIndex]; + mMotorSpeed[destIndex] = mMotorSpeed[srcIndex]; + mMaxMotorTorque[destIndex] = mMaxMotorTorque[srcIndex]; + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void HingeJointComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity jointEntity1(mJointEntities[index1]); + HingeJoint* joint1 = mJoints[index1]; + Vector3 localAnchorPointBody1(mLocalAnchorPointBody1[index1]); + Vector3 localAnchorPointBody2(mLocalAnchorPointBody2[index1]); + Vector3 r1World1(mR1World[index1]); + Vector3 r2World1(mR2World[index1]); + Matrix3x3 i11(mI1[index1]); + Matrix3x3 i21(mI2[index1]); + Vector3 impulseTranslation1(mImpulseTranslation[index1]); + Vector2 impulseRotation1(mImpulseRotation[index1]); + Matrix3x3 inverseMassMatrixTranslation1(mInverseMassMatrixTranslation[index1]); + Matrix2x2 inverseMassMatrixRotation1(mInverseMassMatrixRotation[index1]); + Vector3 biasTranslation1(mBiasTranslation[index1]); + Vector2 biasRotation1(mBiasRotation[index1]); + Quaternion initOrientationDifferenceInv1(mInitOrientationDifferenceInv[index1]); + Vector3 hingeLocalAxisBody1(mHingeLocalAxisBody1[index1]); + Vector3 hingeLocalAxisBody2(mHingeLocalAxisBody2[index1]); + Vector3 a1(mA1[index1]); + Vector3 b2CrossA1(mB2CrossA1[index1]); + Vector3 c2CrossA1(mC2CrossA1[index1]); + decimal impulseLowerLimit(mImpulseLowerLimit[index1]); + decimal impulseUpperLimit(mImpulseUpperLimit[index1]); + decimal impulseMotor(mImpulseMotor[index1]); + decimal inverseMassMatrixLimitMotor(mInverseMassMatrixLimitMotor[index1]); + decimal inverseMassMatrixMotor(mInverseMassMatrixMotor[index1]); + decimal bLowerLimit(mBLowerLimit[index1]); + decimal bUpperLimit(mUpperLimit[index1]); + bool isLimitEnabled(mIsLimitEnabled[index1]); + bool isMotorEnabled(mIsMotorEnabled[index1]); + decimal lowerLimit(mLowerLimit[index1]); + decimal upperLimit(mUpperLimit[index1]); + bool isLowerLimitViolated(mIsLowerLimitViolated[index1]); + bool isUpperLimitViolated(mIsUpperLimitViolated[index1]); + decimal motorSpeed(mMotorSpeed[index1]); + decimal maxMotorTorque(mMaxMotorTorque[index1]); + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mJointEntities + index2) Entity(jointEntity1); + mJoints[index2] = joint1; + new (mLocalAnchorPointBody1 + index2) Vector3(localAnchorPointBody1); + new (mLocalAnchorPointBody2 + index2) Vector3(localAnchorPointBody2); + new (mR1World + index2) Vector3(r1World1); + new (mR2World + index2) Vector3(r2World1); + new (mI1 + index2) Matrix3x3(i11); + new (mI2 + index2) Matrix3x3(i21); + new (mImpulseTranslation + index2) Vector3(impulseTranslation1); + new (mImpulseRotation + index2) Vector2(impulseRotation1); + new (mInverseMassMatrixTranslation + index2) Matrix3x3(inverseMassMatrixTranslation1); + new (mInverseMassMatrixRotation + index2) Matrix2x2(inverseMassMatrixRotation1); + new (mBiasTranslation + index2) Vector3(biasTranslation1); + new (mBiasRotation + index2) Vector2(biasRotation1); + new (mInitOrientationDifferenceInv + index2) Quaternion(initOrientationDifferenceInv1); + new (mHingeLocalAxisBody1 + index2) Vector3(hingeLocalAxisBody1); + new (mHingeLocalAxisBody2 + index2) Vector3(hingeLocalAxisBody2); + new (mA1 + index2) Vector3(a1); + new (mB2CrossA1 + index2) Vector3(b2CrossA1); + new (mC2CrossA1 + index2) Vector3(c2CrossA1); + mImpulseLowerLimit[index2] = impulseLowerLimit; + mImpulseUpperLimit[index2] = impulseUpperLimit; + mImpulseMotor[index2] = impulseMotor; + mInverseMassMatrixLimitMotor[index2] = inverseMassMatrixLimitMotor; + mInverseMassMatrixMotor[index2] = inverseMassMatrixMotor; + mBLowerLimit[index2] = bLowerLimit; + mBUpperLimit[index2] = bUpperLimit; + mIsLimitEnabled[index2] = isLimitEnabled; + mIsMotorEnabled[index2] = isMotorEnabled; + mLowerLimit[index2] = lowerLimit; + mUpperLimit[index2] = upperLimit; + mIsLowerLimitViolated[index2] = isLowerLimitViolated; + mIsUpperLimitViolated[index2] = isUpperLimitViolated; + mMotorSpeed[index2] = motorSpeed; + mMaxMotorTorque[index2] = maxMotorTorque; + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); + + assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void HingeJointComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mJointEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mJointEntities[index]); + + mJointEntities[index].~Entity(); + mJoints[index] = nullptr; + mLocalAnchorPointBody1[index].~Vector3(); + mLocalAnchorPointBody2[index].~Vector3(); + mR1World[index].~Vector3(); + mR2World[index].~Vector3(); + mI1[index].~Matrix3x3(); + mI2[index].~Matrix3x3(); + mImpulseTranslation[index].~Vector3(); + mImpulseRotation[index].~Vector2(); + mInverseMassMatrixTranslation[index].~Matrix3x3(); + mInverseMassMatrixRotation[index].~Matrix2x2(); + mBiasTranslation[index].~Vector3(); + mBiasRotation[index].~Vector2(); + mInitOrientationDifferenceInv[index].~Quaternion(); + mHingeLocalAxisBody1[index].~Vector3(); + mHingeLocalAxisBody2[index].~Vector3(); + mA1[index].~Vector3(); + mB2CrossA1[index].~Vector3(); + mC2CrossA1[index].~Vector3(); +} diff --git a/src/components/HingeJointComponents.h b/src/components/HingeJointComponents.h new file mode 100644 index 00000000..20c5acd3 --- /dev/null +++ b/src/components/HingeJointComponents.h @@ -0,0 +1,898 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_HINGE_JOINT_COMPONENTS_H +#define REACTPHYSICS3D_HINGE_JOINT_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "mathematics/Matrix3x3.h" +#include "mathematics/Matrix2x2.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class HingeJoint; +enum class JointType; + +// Class HingeJointComponents +/** + * This class represent the component of the ECS with data for the HingeJoint. + */ +class HingeJointComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of joint entities + Entity* mJointEntities; + + /// Array of pointers to the joints + HingeJoint** mJoints; + + /// Anchor point of body 1 (in local-space coordinates of body 1) + Vector3* mLocalAnchorPointBody1; + + /// Anchor point of body 2 (in local-space coordinates of body 2) + Vector3* mLocalAnchorPointBody2; + + /// Vector from center of body 2 to anchor point in world-space + Vector3* mR1World; + + /// Vector from center of body 2 to anchor point in world-space + Vector3* mR2World; + + /// Inertia tensor of body 1 (in world-space coordinates) + Matrix3x3* mI1; + + /// Inertia tensor of body 2 (in world-space coordinates) + Matrix3x3* mI2; + + /// Accumulated impulse for the 3 translation constraints + Vector3* mImpulseTranslation; + + /// Accumulate impulse for the 3 rotation constraints + Vector2* mImpulseRotation; + + /// Inverse mass matrix K=JM^-1J^-t of the 3 translation constraints (3x3 matrix) + Matrix3x3* mInverseMassMatrixTranslation; + + /// Inverse mass matrix K=JM^-1J^-t of the 3 rotation constraints (3x3 matrix) + Matrix2x2* mInverseMassMatrixRotation; + + /// Bias vector for the 3 translation constraints + Vector3* mBiasTranslation; + + /// Bias vector for the 3 rotation constraints + Vector2* mBiasRotation; + + /// Inverse of the initial orientation difference between the two bodies + Quaternion* mInitOrientationDifferenceInv; + + /// Hinge rotation axis (in local-space coordinates of body 1) + Vector3* mHingeLocalAxisBody1; + + /// Hinge rotation axis (in local-space coordiantes of body 2) + Vector3* mHingeLocalAxisBody2; + + /// Hinge rotation axis (in world-space coordinates) computed from body 1 + Vector3* mA1; + + /// Cross product of vector b2 and a1 + Vector3* mB2CrossA1; + + /// Cross product of vector c2 and a1; + Vector3* mC2CrossA1; + + /// Accumulated impulse for the lower limit constraint + decimal* mImpulseLowerLimit; + + /// Accumulated impulse for the upper limit constraint + decimal* mImpulseUpperLimit; + + /// Accumulated impulse for the motor constraint; + decimal* mImpulseMotor; + + /// Inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) + decimal* mInverseMassMatrixLimitMotor; + + /// Inverse of mass matrix K=JM^-1J^t for the motor + decimal* mInverseMassMatrixMotor; + + /// Bias of the lower limit constraint + decimal* mBLowerLimit; + + /// Bias of the upper limit constraint + decimal* mBUpperLimit; + + /// True if the joint limits are enabled + bool* mIsLimitEnabled; + + /// True if the motor of the joint in enabled + bool* mIsMotorEnabled; + + /// Lower limit (minimum allowed rotation angle in radian) + decimal* mLowerLimit; + + /// Upper limit (maximum translation distance) + decimal* mUpperLimit; + + /// True if the lower limit is violated + bool* mIsLowerLimitViolated; + + /// True if the upper limit is violated + bool* mIsUpperLimitViolated; + + /// Motor speed (in rad/s) + decimal* mMotorSpeed; + + /// Maximum motor torque (in Newtons) that can be applied to reach to desired motor speed + decimal* mMaxMotorTorque; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a transform component + struct HingeJointComponent { + + bool isLimitEnabled; + bool isMotorEnabled; + decimal lowerLimit; + decimal upperLimit; + decimal motorSpeed; + decimal maxMotorTorque; + + /// Constructor + HingeJointComponent(bool isLimitEnabled, bool isMotorEnabled, decimal lowerLimit, decimal upperLimit, + decimal motorSpeed, decimal maxMotorTorque) + : isLimitEnabled(isLimitEnabled), isMotorEnabled(isMotorEnabled), lowerLimit(lowerLimit), upperLimit(upperLimit), + motorSpeed(motorSpeed), maxMotorTorque(maxMotorTorque) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + HingeJointComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~HingeJointComponents() override = default; + + /// Add a component + void addComponent(Entity jointEntity, bool isSleeping, const HingeJointComponent& component); + + /// Return a pointer to a given joint + HingeJoint* getJoint(Entity jointEntity) const; + + /// Set the joint pointer to a given joint + void setJoint(Entity jointEntity, HingeJoint* joint) const; + + /// Return the local anchor point of body 1 for a given joint + const Vector3& getLocalAnchorPointBody1(Entity jointEntity) const; + + /// Set the local anchor point of body 1 for a given joint + void setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); + + /// Return the local anchor point of body 2 for a given joint + const Vector3& getLocalAnchorPointBody2(Entity jointEntity) const; + + /// Set the local anchor point of body 2 for a given joint + void setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); + + /// Return the vector from center of body 1 to anchor point in world-space + const Vector3& getR1World(Entity jointEntity) const; + + /// Set the vector from center of body 1 to anchor point in world-space + void setR1World(Entity jointEntity, const Vector3& r1World); + + /// Return the vector from center of body 2 to anchor point in world-space + const Vector3& getR2World(Entity jointEntity) const; + + /// Set the vector from center of body 2 to anchor point in world-space + void setR2World(Entity jointEntity, const Vector3& r2World); + + /// Return the inertia tensor of body 1 (in world-space coordinates) + const Matrix3x3& getI1(Entity jointEntity) const; + + /// Set the inertia tensor of body 1 (in world-space coordinates) + void setI1(Entity jointEntity, const Matrix3x3& i1); + + /// Return the inertia tensor of body 2 (in world-space coordinates) + const Matrix3x3& getI2(Entity jointEntity) const; + + /// Set the inertia tensor of body 2 (in world-space coordinates) + void setI2(Entity jointEntity, const Matrix3x3& i2); + + /// Return the translation impulse + Vector3& getImpulseTranslation(Entity jointEntity); + + /// Set the translation impulse + void setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation); + + /// Return the translation impulse + Vector2& getImpulseRotation(Entity jointEntity); + + /// Set the translation impulse + void setImpulseRotation(Entity jointEntity, const Vector2& impulseTranslation); + + /// Return the translation inverse mass matrix of the constraint + Matrix3x3& getInverseMassMatrixTranslation(Entity jointEntity); + + /// Set the translation inverse mass matrix of the constraint + void setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix); + + /// Return the rotation inverse mass matrix of the constraint + Matrix2x2& getInverseMassMatrixRotation(Entity jointEntity); + + /// Set the rotation inverse mass matrix of the constraint + void setInverseMassMatrixRotation(Entity jointEntity, const Matrix2x2& inverseMassMatrix); + + /// Return the translation bias + Vector3& getBiasTranslation(Entity jointEntity); + + /// Set the translation impulse + void setBiasTranslation(Entity jointEntity, const Vector3& impulseTranslation); + + /// Return the rotation bias + Vector2& getBiasRotation(Entity jointEntity); + + /// Set the rotation impulse + void setBiasRotation(Entity jointEntity, const Vector2& impulseRotation); + + /// Return the initial orientation difference + Quaternion& getInitOrientationDifferenceInv(Entity jointEntity); + + /// Set the rotation impulse + void setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv); + + /// Return the hinge rotation axis (in local-space coordinates of body 1) + Vector3& getHingeLocalAxisBody1(Entity jointEntity); + + /// Set the hinge rotation axis (in local-space coordinates of body 1) + void setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1); + + /// Return the hinge rotation axis (in local-space coordiantes of body 2) + Vector3& getHingeLocalAxisBody2(Entity jointEntity); + + /// Set the hinge rotation axis (in local-space coordiantes of body 2) + void setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2); + + /// Return the hinge rotation axis (in world-space coordinates) computed from body 1 + Vector3& getA1(Entity jointEntity); + + /// Set the hinge rotation axis (in world-space coordinates) computed from body 1 + void setA1(Entity jointEntity, const Vector3& a1); + + /// Return the cross product of vector b2 and a1 + Vector3& getB2CrossA1(Entity jointEntity); + + /// Set the cross product of vector b2 and a1 + void setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1); + + /// Return the cross product of vector c2 and a1; + Vector3& getC2CrossA1(Entity jointEntity); + + /// Set the cross product of vector c2 and a1; + void setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1); + + /// Return the accumulated impulse for the lower limit constraint + decimal getImpulseLowerLimit(Entity jointEntity) const; + + /// Set the accumulated impulse for the lower limit constraint + void setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit); + + /// Return the accumulated impulse for the upper limit constraint + decimal getImpulseUpperLimit(Entity jointEntity) const; + + /// Set the accumulated impulse for the upper limit constraint + void setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const; + + /// Return the accumulated impulse for the motor constraint; + decimal getImpulseMotor(Entity jointEntity) const; + + /// Set the accumulated impulse for the motor constraint; + void setImpulseMotor(Entity jointEntity, decimal impulseMotor); + + /// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) + decimal getInverseMassMatrixLimitMotor(Entity jointEntity) const; + + /// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) + void setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor); + + /// Return the inverse of mass matrix K=JM^-1J^t for the motor + decimal getInverseMassMatrixMotor(Entity jointEntity); + + /// Set the inverse of mass matrix K=JM^-1J^t for the motor + void setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor); + + /// Return the bias of the lower limit constraint + decimal getBLowerLimit(Entity jointEntity) const; + + /// Set the bias of the lower limit constraint + void setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const; + + /// Return the bias of the upper limit constraint + decimal getBUpperLimit(Entity jointEntity) const; + + /// Set the bias of the upper limit constraint + void setBUpperLimit(Entity jointEntity, decimal bUpperLimit); + + /// Return true if the joint limits are enabled + bool getIsLimitEnabled(Entity jointEntity) const; + + /// Set to true if the joint limits are enabled + void setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled); + + /// Return true if the motor of the joint in enabled + bool getIsMotorEnabled(Entity jointEntity) const; + + /// Set to true if the motor of the joint in enabled + void setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const; + + /// Return the Lower limit (minimum allowed rotation angle in radian) + decimal getLowerLimit(Entity jointEntity) const; + + /// Set the Lower limit (minimum allowed rotation angle in radian) + void setLowerLimit(Entity jointEntity, decimal lowerLimit) const; + + /// Return the upper limit (maximum translation distance) + decimal getUpperLimit(Entity jointEntity) const; + + /// Set the upper limit (maximum translation distance) + void setUpperLimit(Entity jointEntity, decimal upperLimit); + + /// Return true if the lower limit is violated + bool getIsLowerLimitViolated(Entity jointEntity) const; + + /// Set to true if the lower limit is violated + void setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated); + + /// Return true if the upper limit is violated + bool getIsUpperLimitViolated(Entity jointEntity) const; + + /// Set to true if the upper limit is violated + void setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const; + + /// Return the motor speed (in rad/s) + decimal getMotorSpeed(Entity jointEntity) const; + + /// Set the motor speed (in rad/s) + void setMotorSpeed(Entity jointEntity, decimal motorSpeed); + + /// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed + decimal getMaxMotorTorque(Entity jointEntity) const; + + /// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed + void setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; +}; + +// Return a pointer to a given joint +inline HingeJoint* HingeJointComponents::getJoint(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mJoints[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the joint pointer to a given joint +inline void HingeJointComponents::setJoint(Entity jointEntity, HingeJoint* joint) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; +} + +// Return the local anchor point of body 1 for a given joint +inline const Vector3& HingeJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 1 for a given joint +inline void HingeJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; +} + +// Return the local anchor point of body 2 for a given joint +inline const Vector3& HingeJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 2 for a given joint +inline void HingeJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; +} + +// Return the vector from center of body 1 to anchor point in world-space +inline const Vector3& HingeJointComponents::getR1World(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR1World[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the vector from center of body 1 to anchor point in world-space +inline void HingeJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World; +} + +// Return the vector from center of body 2 to anchor point in world-space +inline const Vector3& HingeJointComponents::getR2World(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR2World[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the vector from center of body 2 to anchor point in world-space +inline void HingeJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World; +} + +// Return the inertia tensor of body 1 (in world-space coordinates) +inline const Matrix3x3& HingeJointComponents::getI1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 1 (in world-space coordinates) +inline void HingeJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI1[mMapEntityToComponentIndex[jointEntity]] = i1; +} + +// Return the inertia tensor of body 2 (in world-space coordinates) +inline const Matrix3x3& HingeJointComponents::getI2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 2 (in world-space coordinates) +inline void HingeJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI2[mMapEntityToComponentIndex[jointEntity]] = i2; +} + +// Return the translation impulse +inline Vector3& HingeJointComponents::getImpulseTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void HingeJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the translation impulse +inline Vector2& HingeJointComponents::getImpulseRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void HingeJointComponents::setImpulseRotation(Entity jointEntity, const Vector2& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the translation inverse mass matrix of the constraint +inline Matrix3x3& HingeJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + + +// Set the translation inverse mass matrix of the constraint +inline void HingeJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the rotation inverse mass matrix of the constraint +inline Matrix2x2& HingeJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation inverse mass matrix of the constraint +inline void HingeJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the translation bias +inline Vector3& HingeJointComponents::getBiasTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void HingeJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the rotation bias +inline Vector2 &HingeJointComponents::getBiasRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation impulse +inline void HingeJointComponents::setBiasRotation(Entity jointEntity, const Vector2& impulseRotation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation; +} + +// Return the initial orientation difference +inline Quaternion& HingeJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation impulse +inline void HingeJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; +} + +// Return the hinge rotation axis (in local-space coordinates of body 1) +inline Vector3& HingeJointComponents::getHingeLocalAxisBody1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the hinge rotation axis (in local-space coordinates of body 1) +inline void HingeJointComponents::setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody1; +} + +// Return the hinge rotation axis (in local-space coordiantes of body 2) +inline Vector3& HingeJointComponents::getHingeLocalAxisBody2(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the hinge rotation axis (in local-space coordiantes of body 2) +inline void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody2; +} + + +// Return the hinge rotation axis (in world-space coordinates) computed from body 1 +inline Vector3& HingeJointComponents::getA1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mA1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the hinge rotation axis (in world-space coordinates) computed from body 1 +inline void HingeJointComponents::setA1(Entity jointEntity, const Vector3& a1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mA1[mMapEntityToComponentIndex[jointEntity]] = a1; +} + +// Return the cross product of vector b2 and a1 +inline Vector3& HingeJointComponents::getB2CrossA1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mB2CrossA1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector b2 and a1 +inline void HingeJointComponents::setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mB2CrossA1[mMapEntityToComponentIndex[jointEntity]] = b2CrossA1; +} + +// Return the cross product of vector c2 and a1; +inline Vector3& HingeJointComponents::getC2CrossA1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mC2CrossA1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector c2 and a1; +inline void HingeJointComponents::setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mC2CrossA1[mMapEntityToComponentIndex[jointEntity]] = c2CrossA1; +} + +// Return the accumulated impulse for the lower limit constraint +inline decimal HingeJointComponents::getImpulseLowerLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse for the lower limit constraint +inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]] = impulseLowerLimit; +} + + +// Return the accumulated impulse for the upper limit constraint +inline decimal HingeJointComponents::getImpulseUpperLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse for the upper limit constraint +inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]] = impulseUpperLimit; +} + + +// Return the accumulated impulse for the motor constraint; +inline decimal HingeJointComponents::getImpulseMotor(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseMotor[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse for the motor constraint; +inline void HingeJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseMotor[mMapEntityToComponentIndex[jointEntity]] = impulseMotor; +} + +// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) +inline decimal HingeJointComponents::getInverseMassMatrixLimitMotor(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) +inline void HingeJointComponents::setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor; +} + +// Return the inverse of mass matrix K=JM^-1J^t for the motor +inline decimal HingeJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]]; +} + +// Return the inverse of mass matrix K=JM^-1J^t for the motor +inline void HingeJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixMotor; +} + +// Return the bias of the lower limit constraint +inline decimal HingeJointComponents::getBLowerLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBLowerLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the bias of the lower limit constraint +inline void HingeJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBLowerLimit[mMapEntityToComponentIndex[jointEntity]] = bLowerLimit; +} + +// Return the bias of the upper limit constraint +inline decimal HingeJointComponents::getBUpperLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBUpperLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the bias of the upper limit constraint +inline void HingeJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBUpperLimit[mMapEntityToComponentIndex[jointEntity]] = bUpperLimit; +} + +// Return true if the joint limits are enabled +inline bool HingeJointComponents::getIsLimitEnabled(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the joint limits are enabled +inline void HingeJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled; +} + +// Return true if the motor of the joint in enabled +inline bool HingeJointComponents::getIsMotorEnabled(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the motor of the joint in enabled +inline void HingeJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]] = isMotorEnabled; +} + +// Return the Lower limit (minimum allowed rotation angle in radian) +inline decimal HingeJointComponents::getLowerLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLowerLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the Lower limit (minimum allowed rotation angle in radian) +inline void HingeJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLowerLimit[mMapEntityToComponentIndex[jointEntity]] = lowerLimit; +} + +// Return the upper limit (maximum translation distance) +inline decimal HingeJointComponents::getUpperLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mUpperLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the upper limit (maximum translation distance) +inline void HingeJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mUpperLimit[mMapEntityToComponentIndex[jointEntity]] = upperLimit; +} + +// Return true if the lower limit is violated +inline bool HingeJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the lower limit is violated +inline void HingeJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isLowerLimitViolated; +} + +// Return true if the upper limit is violated +inline bool HingeJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the upper limit is violated +inline void HingeJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isUpperLimitViolated; +} + +// Return the motor speed (in rad/s) +inline decimal HingeJointComponents::getMotorSpeed(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mMotorSpeed[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the motor speed (in rad/s) +inline void HingeJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mMotorSpeed[mMapEntityToComponentIndex[jointEntity]] = motorSpeed; +} + +// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed +inline decimal HingeJointComponents::getMaxMotorTorque(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed +inline void HingeJointComponents::setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]] = maxMotorTorque; +} + +} + +#endif diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 12f1c6bb..113b68a4 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -35,34 +35,33 @@ using namespace reactphysics3d; const decimal HingeJoint::BETA = decimal(0.2); // Constructor -HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) - : Joint(entity, world, jointInfo), mImpulseTranslation(0, 0, 0), mImpulseRotation(0, 0), - mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), - mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), - mLowerLimit(jointInfo.minAngleLimit), mUpperLimit(jointInfo.maxAngleLimit), - mIsLowerLimitViolated(false), mIsUpperLimitViolated(false), - mMotorSpeed(jointInfo.motorSpeed), mMaxMotorTorque(jointInfo.maxMotorTorque) { +HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world, jointInfo) { - assert(mLowerLimit <= decimal(0) && mLowerLimit >= decimal(-2.0) * PI); - assert(mUpperLimit >= decimal(0) && mUpperLimit <= decimal(2.0) * PI); + const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); + const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); + assert(lowerLimit <= decimal(0) && lowerLimit >= decimal(-2.0) * PI); + assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0) * PI); // Compute the local-space anchor point for each body Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mLocalAnchorPointBody1 = transform1.getInverse() * jointInfo.anchorPointWorldSpace; - mLocalAnchorPointBody2 = transform2.getInverse() * jointInfo.anchorPointWorldSpace; + mWorld.mHingeJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mHingeJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); // Compute the local-space hinge axis - mHingeLocalAxisBody1 = transform1.getOrientation().getInverse() * jointInfo.rotationAxisWorld; - mHingeLocalAxisBody2 = transform2.getOrientation().getInverse() * jointInfo.rotationAxisWorld; - mHingeLocalAxisBody1.normalize(); - mHingeLocalAxisBody2.normalize(); + Vector3 hingeLocalAxisBody1 = transform1.getOrientation().getInverse() * jointInfo.rotationAxisWorld; + Vector3 hingeLocalAxisBody2 = transform2.getOrientation().getInverse() * jointInfo.rotationAxisWorld; + hingeLocalAxisBody1.normalize(); + hingeLocalAxisBody2.normalize(); + mWorld.mHingeJointsComponents.setHingeLocalAxisBody1(mEntity, hingeLocalAxisBody1); + mWorld.mHingeJointsComponents.setHingeLocalAxisBody2(mEntity, hingeLocalAxisBody2); // Compute the inverse of the initial orientation difference between the two bodies - mInitOrientationDifferenceInv = transform2.getOrientation() * + Quaternion initOrientationDifferenceInv = transform2.getOrientation() * transform1.getOrientation().getInverse(); - mInitOrientationDifferenceInv.normalize(); - mInitOrientationDifferenceInv.inverse(); + initOrientationDifferenceInv.normalize(); + initOrientationDifferenceInv.inverse(); + mWorld.mHingeJointsComponents.setInitOrientationDifferenceInv(mEntity, initOrientationDifferenceInv); } // Initialize before solving the constraint @@ -83,43 +82,46 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); // Get the inertia tensor of bodies - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mHingeJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mHingeJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Compute the vector from body center to the anchor point in world-space - mR1World = orientationBody1 * mLocalAnchorPointBody1; - mR2World = orientationBody2 * mLocalAnchorPointBody2; + mWorld.mHingeJointsComponents.setR1World(mEntity, orientationBody1 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody1(mEntity)); + mWorld.mHingeJointsComponents.setR2World(mEntity, orientationBody2 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody2(mEntity)); // Compute the current angle around the hinge axis decimal hingeAngle = computeCurrentHingeAngle(orientationBody1, orientationBody2); // Check if the limit constraints are violated or not - decimal lowerLimitError = hingeAngle - mLowerLimit; - decimal upperLimitError = mUpperLimit - hingeAngle; - bool oldIsLowerLimitViolated = mIsLowerLimitViolated; - mIsLowerLimitViolated = lowerLimitError <= 0; - if (mIsLowerLimitViolated != oldIsLowerLimitViolated) { - mImpulseLowerLimit = 0.0; + decimal lowerLimitError = hingeAngle - mWorld.mHingeJointsComponents.getLowerLimit(mEntity); + decimal upperLimitError = mWorld.mHingeJointsComponents.getUpperLimit(mEntity) - hingeAngle; + bool oldIsLowerLimitViolated = mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity); + bool isLowerLimitViolated = lowerLimitError <= 0; + mWorld.mHingeJointsComponents.setIsLowerLimitViolated(mEntity, isLowerLimitViolated); + if (isLowerLimitViolated != oldIsLowerLimitViolated) { + mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); } - bool oldIsUpperLimitViolated = mIsUpperLimitViolated; - mIsUpperLimitViolated = upperLimitError <= 0; - if (mIsUpperLimitViolated != oldIsUpperLimitViolated) { - mImpulseUpperLimit = 0.0; + bool oldIsUpperLimitViolated = mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity); + bool isUpperLimitViolated = upperLimitError <= 0; + mWorld.mHingeJointsComponents.setIsUpperLimitViolated(mEntity, isUpperLimitViolated); + if (isUpperLimitViolated != oldIsUpperLimitViolated) { + mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); } // Compute vectors needed in the Jacobian - mA1 = orientationBody1 * mHingeLocalAxisBody1; - Vector3 a2 = orientationBody2 * mHingeLocalAxisBody2; - mA1.normalize(); + Vector3 a1 = orientationBody1 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody1(mEntity); + Vector3 a2 = orientationBody2 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody2(mEntity); + a1.normalize(); a2.normalize(); + mWorld.mHingeJointsComponents.setA1(mEntity, a1); const Vector3 b2 = a2.getOneUnitOrthogonalVector(); const Vector3 c2 = a2.cross(b2); - mB2CrossA1 = b2.cross(mA1); - mC2CrossA1 = c2.cross(mA1); + mWorld.mHingeJointsComponents.setB2CrossA1(mEntity, b2.cross(a1)); + mWorld.mHingeJointsComponents.setC2CrossA1(mEntity, c2.cross(a1)); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mWorld.mHingeJointsComponents.getR1World(mEntity)); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mWorld.mHingeJointsComponents.getR2World(mEntity)); // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); @@ -128,78 +130,93 @@ void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDat Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); - mInverseMassMatrixTranslation.setToZero(); + skewSymmetricMatrixU1 * mWorld.mHingeJointsComponents.getI1(mEntity) * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mWorld.mHingeJointsComponents.getI2(mEntity) * skewSymmetricMatrixU2.getTranspose(); + Matrix3x3& inverseMassMatrixTranslation = mWorld.mHingeJointsComponents.getInverseMassMatrixTranslation(mEntity); + inverseMassMatrixTranslation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixTranslation = massMatrix.getInverse(); + mWorld.mHingeJointsComponents.setInverseMassMatrixTranslation(mEntity, massMatrix.getInverse()); } // Compute the bias "b" of the translation constraints - mBTranslation.setToZero(); + Vector3& bTranslation = mWorld.mHingeJointsComponents.getBiasTranslation(mEntity); + bTranslation.setToZero(); decimal biasFactor = (BETA / constraintSolverData.timeStep); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBTranslation = biasFactor * (x2 + mR2World - x1 - mR1World); + bTranslation = biasFactor * (x2 + mWorld.mHingeJointsComponents.getR2World(mEntity) - x1 - mWorld.mHingeJointsComponents.getR1World(mEntity)); + mWorld.mHingeJointsComponents.setBiasTranslation(mEntity, bTranslation); } + const Matrix3x3& i1 = mWorld.mHingeJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mHingeJointsComponents.getI2(mEntity); + const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); + const Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.getC2CrossA1(mEntity); + // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) - Vector3 I1B2CrossA1 = mI1 * mB2CrossA1; - Vector3 I1C2CrossA1 = mI1 * mC2CrossA1; - Vector3 I2B2CrossA1 = mI2 * mB2CrossA1; - Vector3 I2C2CrossA1 = mI2 * mC2CrossA1; - const decimal el11 = mB2CrossA1.dot(I1B2CrossA1) + - mB2CrossA1.dot(I2B2CrossA1); - const decimal el12 = mB2CrossA1.dot(I1C2CrossA1) + - mB2CrossA1.dot(I2C2CrossA1); - const decimal el21 = mC2CrossA1.dot(I1B2CrossA1) + - mC2CrossA1.dot(I2B2CrossA1); - const decimal el22 = mC2CrossA1.dot(I1C2CrossA1) + - mC2CrossA1.dot(I2C2CrossA1); + Vector3 i1B2CrossA1 = i1 * b2CrossA1; + Vector3 i1C2CrossA1 = i1 * c2CrossA1; + Vector3 i2B2CrossA1 = i2 * b2CrossA1; + Vector3 i2C2CrossA1 = i2 * c2CrossA1; + const decimal el11 = b2CrossA1.dot(i1B2CrossA1) + + b2CrossA1.dot(i2B2CrossA1); + const decimal el12 = b2CrossA1.dot(i1C2CrossA1) + + b2CrossA1.dot(i2C2CrossA1); + const decimal el21 = c2CrossA1.dot(i1B2CrossA1) + + c2CrossA1.dot(i2B2CrossA1); + const decimal el22 = c2CrossA1.dot(i1C2CrossA1) + + c2CrossA1.dot(i2C2CrossA1); const Matrix2x2 matrixKRotation(el11, el12, el21, el22); - mInverseMassMatrixRotation.setToZero(); + Matrix2x2& inverseMassMatrixRotation = mWorld.mHingeJointsComponents.getInverseMassMatrixRotation(mEntity); + inverseMassMatrixRotation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixRotation = matrixKRotation.getInverse(); + mWorld.mHingeJointsComponents.setInverseMassMatrixRotation(mEntity, matrixKRotation.getInverse()); } // Compute the bias "b" of the rotation constraints - mBRotation.setToZero(); + Vector2& biasRotation = mWorld.mHingeJointsComponents.getBiasRotation(mEntity); + biasRotation.setToZero(); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBRotation = biasFactor * Vector2(mA1.dot(b2), mA1.dot(c2)); + mWorld.mHingeJointsComponents.setBiasRotation(mEntity, biasFactor * Vector2(a1.dot(b2), a1.dot(c2))); } // If warm-starting is not enabled if (!constraintSolverData.isWarmStartingActive) { // Reset all the accumulated impulses - mImpulseTranslation.setToZero(); - mImpulseRotation.setToZero(); - mImpulseLowerLimit = 0.0; - mImpulseUpperLimit = 0.0; - mImpulseMotor = 0.0; + Vector3& impulseTranslation = mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity); + Vector2& impulseRotation = mWorld.mHingeJointsComponents.getImpulseRotation(mEntity); + impulseTranslation.setToZero(); + impulseRotation.setToZero(); + mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); + mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); + mWorld.mHingeJointsComponents.setImpulseMotor(mEntity, decimal(0.0)); } // If the motor or limits are enabled - if (mIsMotorEnabled || (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated))) { + if (mWorld.mHingeJointsComponents.getIsMotorEnabled(mEntity) || + (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity) && (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity) || + mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)))) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits and motor (1x1 matrix) - mInverseMassMatrixLimitMotor = mA1.dot(mI1 * mA1) + mA1.dot(mI2 * mA1); - mInverseMassMatrixLimitMotor = (mInverseMassMatrixLimitMotor > 0.0) ? - decimal(1.0) / mInverseMassMatrixLimitMotor : decimal(0.0); + decimal inverseMassMatrixLimitMotor = a1.dot(i1 * a1) + a1.dot(i2 * a1); + inverseMassMatrixLimitMotor = (inverseMassMatrixLimitMotor > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixLimitMotor : decimal(0.0); + mWorld.mHingeJointsComponents.setInverseMassMatrixLimitMotor(mEntity, inverseMassMatrixLimitMotor); - if (mIsLimitEnabled) { + if (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { // Compute the bias "b" of the lower limit constraint - mBLowerLimit = 0.0; + mWorld.mHingeJointsComponents.setBLowerLimit(mEntity, decimal(0.0)); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBLowerLimit = biasFactor * lowerLimitError; + mWorld.mHingeJointsComponents.setBLowerLimit(mEntity, biasFactor * lowerLimitError); } // Compute the bias "b" of the upper limit constraint - mBUpperLimit = 0.0; + mWorld.mHingeJointsComponents.setBUpperLimit(mEntity, decimal(0.0)); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBUpperLimit = biasFactor * upperLimitError; + mWorld.mHingeJointsComponents.setBUpperLimit(mEntity, biasFactor * upperLimitError); } } } @@ -225,18 +242,27 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& impulseTranslation = mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity); + const Vector2& impulseRotation = mWorld.mHingeJointsComponents.getImpulseRotation(mEntity); + + const decimal impulseLowerLimit = mWorld.mHingeJointsComponents.getImpulseLowerLimit(mEntity); + const decimal impulseUpperLimit = mWorld.mHingeJointsComponents.getImpulseUpperLimit(mEntity); + + const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); + const Vector3& a1 = mWorld.mHingeJointsComponents.getA1(mEntity); + // Compute the impulse P=J^T * lambda for the 2 rotation constraints - Vector3 rotationImpulse = -mB2CrossA1 * mImpulseRotation.x - mC2CrossA1 * mImpulseRotation.y; + Vector3 rotationImpulse = -b2CrossA1 * impulseRotation.x - mWorld.mHingeJointsComponents.getC2CrossA1(mEntity) * impulseRotation.y; // Compute the impulse P=J^T * lambda for the lower and upper limits constraints - const Vector3 limitsImpulse = (mImpulseUpperLimit - mImpulseLowerLimit) * mA1; + const Vector3 limitsImpulse = (impulseUpperLimit - impulseLowerLimit) * a1; // Compute the impulse P=J^T * lambda for the motor constraint - const Vector3 motorImpulse = -mImpulseMotor * mA1; + const Vector3 motorImpulse = -mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) * a1; // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 1 - Vector3 linearImpulseBody1 = -mImpulseTranslation; - Vector3 angularImpulseBody1 = mImpulseTranslation.cross(mR1World); + Vector3 linearImpulseBody1 = -impulseTranslation; + Vector3 angularImpulseBody1 = impulseTranslation.cross(mWorld.mHingeJointsComponents.getR1World(mEntity)); // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 angularImpulseBody1 += rotationImpulse; @@ -249,10 +275,10 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += mWorld.mHingeJointsComponents.getI1(mEntity) * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 2 - Vector3 angularImpulseBody2 = -mImpulseTranslation.cross(mR2World); + Vector3 angularImpulseBody2 = -impulseTranslation.cross(mWorld.mHingeJointsComponents.getR2World(mEntity)); // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 angularImpulseBody2 += -rotationImpulse; @@ -264,8 +290,8 @@ void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { angularImpulseBody2 += -motorImpulse; // Apply the impulse to the body 2 - v2 += inverseMassBody2 * mImpulseTranslation; - w2 += mI2 * angularImpulseBody2; + v2 += inverseMassBody2 * impulseTranslation; + w2 += mWorld.mHingeJointsComponents.getI2(mEntity) * angularImpulseBody2; } // Solve the velocity constraint @@ -288,136 +314,158 @@ void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintS decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Matrix3x3& i1 = mWorld.mHingeJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mHingeJointsComponents.getI2(mEntity); + + const Vector3& r1World = mWorld.mHingeJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mHingeJointsComponents.getR2World(mEntity); + + const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); + const Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.getC2CrossA1(mEntity); + + const Vector3& a1 = mWorld.mHingeJointsComponents.getA1(mEntity); + + const decimal inverseMassMatrixLimitMotor = mWorld.mHingeJointsComponents.getInverseMassMatrixLimitMotor(mEntity); + // --------------- Translation Constraints --------------- // // Compute J*v - const Vector3 JvTranslation = v2 + w2.cross(mR2World) - v1 - w1.cross(mR1World); + const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); // Compute the Lagrange multiplier lambda - const Vector3 deltaLambdaTranslation = mInverseMassMatrixTranslation * - (-JvTranslation - mBTranslation); - mImpulseTranslation += deltaLambdaTranslation; + const Vector3 deltaLambdaTranslation = mWorld.mHingeJointsComponents.getInverseMassMatrixTranslation(mEntity) * + (-JvTranslation - mWorld.mHingeJointsComponents.getBiasTranslation(mEntity)); + mWorld.mHingeJointsComponents.setImpulseTranslation(mEntity, deltaLambdaTranslation + mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity)); // Compute the impulse P=J^T * lambda of body 1 const Vector3 linearImpulseBody1 = -deltaLambdaTranslation; - Vector3 angularImpulseBody1 = deltaLambdaTranslation.cross(mR1World); + Vector3 angularImpulseBody1 = deltaLambdaTranslation.cross(r1World); // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda of body 2 - Vector3 angularImpulseBody2 = -deltaLambdaTranslation.cross(mR2World); + Vector3 angularImpulseBody2 = -deltaLambdaTranslation.cross(r2World); // Apply the impulse to the body 2 v2 += inverseMassBody2 * deltaLambdaTranslation; - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; // --------------- Rotation Constraints --------------- // // Compute J*v for the 2 rotation constraints - const Vector2 JvRotation(-mB2CrossA1.dot(w1) + mB2CrossA1.dot(w2), - -mC2CrossA1.dot(w1) + mC2CrossA1.dot(w2)); + const Vector2 JvRotation(-b2CrossA1.dot(w1) + b2CrossA1.dot(w2), + -c2CrossA1.dot(w1) + c2CrossA1.dot(w2)); // Compute the Lagrange multiplier lambda for the 2 rotation constraints - Vector2 deltaLambdaRotation = mInverseMassMatrixRotation * (-JvRotation - mBRotation); - mImpulseRotation += deltaLambdaRotation; + Vector2 deltaLambdaRotation = mWorld.mHingeJointsComponents.getInverseMassMatrixRotation(mEntity) * + (-JvRotation - mWorld.mHingeJointsComponents.getBiasRotation(mEntity)); + mWorld.mHingeJointsComponents.setImpulseRotation(mEntity, deltaLambdaRotation + mWorld.mHingeJointsComponents.getImpulseRotation(mEntity)); // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 - angularImpulseBody1 = -mB2CrossA1 * deltaLambdaRotation.x - - mC2CrossA1 * deltaLambdaRotation.y; + angularImpulseBody1 = -b2CrossA1 * deltaLambdaRotation.x - + c2CrossA1 * deltaLambdaRotation.y; // Apply the impulse to the body 1 - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 - angularImpulseBody2 = mB2CrossA1 * deltaLambdaRotation.x + - mC2CrossA1 * deltaLambdaRotation.y; + angularImpulseBody2 = b2CrossA1 * deltaLambdaRotation.x + c2CrossA1 * deltaLambdaRotation.y; // Apply the impulse to the body 2 - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; // --------------- Limits Constraints --------------- // - if (mIsLimitEnabled) { + if (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { // If the lower limit is violated - if (mIsLowerLimitViolated) { + if (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity)) { + + decimal impulseLowerLimit = mWorld.mHingeJointsComponents.getImpulseLowerLimit(mEntity); // Compute J*v for the lower limit constraint - const decimal JvLowerLimit = (w2 - w1).dot(mA1); + const decimal JvLowerLimit = (w2 - w1).dot(a1); // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal deltaLambdaLower = mInverseMassMatrixLimitMotor * (-JvLowerLimit -mBLowerLimit); - decimal lambdaTemp = mImpulseLowerLimit; - mImpulseLowerLimit = std::max(mImpulseLowerLimit + deltaLambdaLower, decimal(0.0)); - deltaLambdaLower = mImpulseLowerLimit - lambdaTemp; + decimal deltaLambdaLower = inverseMassMatrixLimitMotor * (-JvLowerLimit -mWorld.mHingeJointsComponents.getBLowerLimit(mEntity)); + decimal lambdaTemp = impulseLowerLimit; + impulseLowerLimit = std::max(impulseLowerLimit + deltaLambdaLower, decimal(0.0)); + deltaLambdaLower = impulseLowerLimit - lambdaTemp; + mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, impulseLowerLimit); // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 - const Vector3 angularImpulseBody1 = -deltaLambdaLower * mA1; + const Vector3 angularImpulseBody1 = -deltaLambdaLower * a1; // Apply the impulse to the body 1 - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 - const Vector3 angularImpulseBody2 = deltaLambdaLower * mA1; + const Vector3 angularImpulseBody2 = deltaLambdaLower * a1; // Apply the impulse to the body 2 - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; } // If the upper limit is violated - if (mIsUpperLimitViolated) { + if (mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)) { + + decimal impulseUpperLimit = mWorld.mHingeJointsComponents.getImpulseUpperLimit(mEntity); // Compute J*v for the upper limit constraint - const decimal JvUpperLimit = -(w2 - w1).dot(mA1); + const decimal JvUpperLimit = -(w2 - w1).dot(a1); // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal deltaLambdaUpper = mInverseMassMatrixLimitMotor * (-JvUpperLimit -mBUpperLimit); - decimal lambdaTemp = mImpulseUpperLimit; - mImpulseUpperLimit = std::max(mImpulseUpperLimit + deltaLambdaUpper, decimal(0.0)); - deltaLambdaUpper = mImpulseUpperLimit - lambdaTemp; + decimal deltaLambdaUpper = inverseMassMatrixLimitMotor * (-JvUpperLimit -mWorld.mHingeJointsComponents.getBUpperLimit(mEntity)); + decimal lambdaTemp = impulseUpperLimit; + impulseUpperLimit = std::max(impulseUpperLimit + deltaLambdaUpper, decimal(0.0)); + deltaLambdaUpper = impulseUpperLimit - lambdaTemp; + mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, impulseUpperLimit); // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 - const Vector3 angularImpulseBody1 = deltaLambdaUpper * mA1; + const Vector3 angularImpulseBody1 = deltaLambdaUpper * a1; // Apply the impulse to the body 1 - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 - const Vector3 angularImpulseBody2 = -deltaLambdaUpper * mA1; + const Vector3 angularImpulseBody2 = -deltaLambdaUpper * a1; // Apply the impulse to the body 2 - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; } } // --------------- Motor --------------- // // If the motor is enabled - if (mIsMotorEnabled) { + if (mWorld.mHingeJointsComponents.getIsMotorEnabled(mEntity)) { + + decimal impulseMotor = mWorld.mHingeJointsComponents.getImpulseMotor(mEntity); // Compute J*v for the motor - const decimal JvMotor = mA1.dot(w1 - w2); + const decimal JvMotor = a1.dot(w1 - w2); // Compute the Lagrange multiplier lambda for the motor - const decimal maxMotorImpulse = mMaxMotorTorque * constraintSolverData.timeStep; - decimal deltaLambdaMotor = mInverseMassMatrixLimitMotor * (-JvMotor - mMotorSpeed); - decimal lambdaTemp = mImpulseMotor; - mImpulseMotor = clamp(mImpulseMotor + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse); - deltaLambdaMotor = mImpulseMotor - lambdaTemp; + const decimal maxMotorImpulse = mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity) * constraintSolverData.timeStep; + decimal deltaLambdaMotor = mWorld.mHingeJointsComponents.getInverseMassMatrixLimitMotor(mEntity) * (-JvMotor - mWorld.mHingeJointsComponents.getMotorSpeed(mEntity)); + decimal lambdaTemp = impulseMotor; + impulseMotor = clamp(impulseMotor + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse); + deltaLambdaMotor = impulseMotor - lambdaTemp; + mWorld.mHingeJointsComponents.setImpulseMotor(mEntity, impulseMotor); // Compute the impulse P=J^T * lambda for the motor of body 1 - const Vector3 angularImpulseBody1 = -deltaLambdaMotor * mA1; + const Vector3 angularImpulseBody1 = -deltaLambdaMotor * a1; // Apply the impulse to the body 1 - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the motor of body 2 - const Vector3 angularImpulseBody2 = deltaLambdaMotor * mA1; + const Vector3 angularImpulseBody2 = deltaLambdaMotor * a1; // Apply the impulse to the body 2 - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; } } @@ -436,6 +484,17 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); + const Matrix3x3& i1 = mWorld.mHingeJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mHingeJointsComponents.getI2(mEntity); + + const Vector3& r1World = mWorld.mHingeJointsComponents.getR1World(mEntity); + const Vector3& r2World = mWorld.mHingeJointsComponents.getR2World(mEntity); + + Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); + Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.getC2CrossA1(mEntity); + + Vector3& a1 = mWorld.mHingeJointsComponents.getA1(mEntity); + // Get the bodies positions and orientations Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); @@ -447,35 +506,38 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inverse inertia tensors - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mHingeJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mHingeJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Compute the vector from body center to the anchor point in world-space - mR1World = q1 * mLocalAnchorPointBody1; - mR2World = q2 * mLocalAnchorPointBody2; + mWorld.mHingeJointsComponents.setR1World(mEntity, q1 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody1(mEntity)); + mWorld.mHingeJointsComponents.setR2World(mEntity, q2 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody2(mEntity)); // Compute the current angle around the hinge axis decimal hingeAngle = computeCurrentHingeAngle(q1, q2); // Check if the limit constraints are violated or not - decimal lowerLimitError = hingeAngle - mLowerLimit; - decimal upperLimitError = mUpperLimit - hingeAngle; - mIsLowerLimitViolated = lowerLimitError <= 0; - mIsUpperLimitViolated = upperLimitError <= 0; + decimal lowerLimitError = hingeAngle - mWorld.mHingeJointsComponents.getLowerLimit(mEntity); + decimal upperLimitError = mWorld.mHingeJointsComponents.getUpperLimit(mEntity) - hingeAngle; + mWorld.mHingeJointsComponents.setIsLowerLimitViolated(mEntity, lowerLimitError <= 0); + mWorld.mHingeJointsComponents.setIsUpperLimitViolated(mEntity, upperLimitError <= 0); // Compute vectors needed in the Jacobian - mA1 = q1 * mHingeLocalAxisBody1; - Vector3 a2 = q2 * mHingeLocalAxisBody2; - mA1.normalize(); + a1 = q1 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody1(mEntity); + Vector3 a2 = q2 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody2(mEntity); + a1.normalize(); + mWorld.mHingeJointsComponents.setA1(mEntity, a1); a2.normalize(); const Vector3 b2 = a2.getOneUnitOrthogonalVector(); const Vector3 c2 = a2.cross(b2); - mB2CrossA1 = b2.cross(mA1); - mC2CrossA1 = c2.cross(mA1); + b2CrossA1 = b2.cross(a1); + mWorld.mHingeJointsComponents.setB2CrossA1(mEntity, b2CrossA1); + c2CrossA1 = c2.cross(a1); + mWorld.mHingeJointsComponents.setC2CrossA1(mEntity, c2CrossA1); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mR2World); + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); // --------------- Translation Constraints --------------- // @@ -486,27 +548,29 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, 0, inverseMassBodies, 0, 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mI1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mI2 * skewSymmetricMatrixU2.getTranspose(); - mInverseMassMatrixTranslation.setToZero(); + skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); + Matrix3x3& inverseMassMatrixTranslation = mWorld.mHingeJointsComponents.getInverseMassMatrixTranslation(mEntity); + inverseMassMatrixTranslation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixTranslation = massMatrix.getInverse(); + inverseMassMatrixTranslation = massMatrix.getInverse(); + mWorld.mHingeJointsComponents.setInverseMassMatrixTranslation(mEntity, inverseMassMatrixTranslation); } // Compute position error for the 3 translation constraints - const Vector3 errorTranslation = x2 + mR2World - x1 - mR1World; + const Vector3 errorTranslation = x2 + r2World - x1 - r1World; // Compute the Lagrange multiplier lambda - const Vector3 lambdaTranslation = mInverseMassMatrixTranslation * (-errorTranslation); + const Vector3 lambdaTranslation = inverseMassMatrixTranslation * (-errorTranslation); // Compute the impulse of body 1 Vector3 linearImpulseBody1 = -lambdaTranslation; - Vector3 angularImpulseBody1 = lambdaTranslation.cross(mR1World); + Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); // Compute the pseudo velocity of body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = mI1 * angularImpulseBody1; + Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 x1 += v1; @@ -514,11 +578,11 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS q1.normalize(); // Compute the impulse of body 2 - Vector3 angularImpulseBody2 = -lambdaTranslation.cross(mR2World); + Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); // Compute the pseudo velocity of body 2 const Vector3 v2 = inverseMassBody2 * lambdaTranslation; - Vector3 w2 = mI2 * angularImpulseBody2; + Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 x2 += v2; @@ -528,46 +592,47 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // --------------- Rotation Constraints --------------- // // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) - Vector3 I1B2CrossA1 = mI1 * mB2CrossA1; - Vector3 I1C2CrossA1 = mI1 * mC2CrossA1; - Vector3 I2B2CrossA1 = mI2 * mB2CrossA1; - Vector3 I2C2CrossA1 = mI2 * mC2CrossA1; - const decimal el11 = mB2CrossA1.dot(I1B2CrossA1) + - mB2CrossA1.dot(I2B2CrossA1); - const decimal el12 = mB2CrossA1.dot(I1C2CrossA1) + - mB2CrossA1.dot(I2C2CrossA1); - const decimal el21 = mC2CrossA1.dot(I1B2CrossA1) + - mC2CrossA1.dot(I2B2CrossA1); - const decimal el22 = mC2CrossA1.dot(I1C2CrossA1) + - mC2CrossA1.dot(I2C2CrossA1); + Vector3 I1B2CrossA1 = i1 * b2CrossA1; + Vector3 I1C2CrossA1 = i1 * c2CrossA1; + Vector3 I2B2CrossA1 = i2 * b2CrossA1; + Vector3 I2C2CrossA1 = i2 * c2CrossA1; + const decimal el11 = b2CrossA1.dot(I1B2CrossA1) + + b2CrossA1.dot(I2B2CrossA1); + const decimal el12 = b2CrossA1.dot(I1C2CrossA1) + + b2CrossA1.dot(I2C2CrossA1); + const decimal el21 = c2CrossA1.dot(I1B2CrossA1) + + c2CrossA1.dot(I2B2CrossA1); + const decimal el22 = c2CrossA1.dot(I1C2CrossA1) + + c2CrossA1.dot(I2C2CrossA1); const Matrix2x2 matrixKRotation(el11, el12, el21, el22); - mInverseMassMatrixRotation.setToZero(); + Matrix2x2& inverseMassMatrixRotation = mWorld.mHingeJointsComponents.getInverseMassMatrixRotation(mEntity); + inverseMassMatrixRotation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixRotation = matrixKRotation.getInverse(); + mWorld.mHingeJointsComponents.setInverseMassMatrixRotation(mEntity, matrixKRotation.getInverse()); } // Compute the position error for the 3 rotation constraints - const Vector2 errorRotation = Vector2(mA1.dot(b2), mA1.dot(c2)); + const Vector2 errorRotation = Vector2(a1.dot(b2), a1.dot(c2)); // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector2 lambdaRotation = mInverseMassMatrixRotation * (-errorRotation); + Vector2 lambdaRotation = inverseMassMatrixRotation * (-errorRotation); // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -mB2CrossA1 * lambdaRotation.x - mC2CrossA1 * lambdaRotation.y; + angularImpulseBody1 = -b2CrossA1 * lambdaRotation.x - c2CrossA1 * lambdaRotation.y; // Compute the pseudo velocity of body 1 - w1 = mI1 * angularImpulseBody1; + w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); q1.normalize(); // Compute the impulse of body 2 - angularImpulseBody2 = mB2CrossA1 * lambdaRotation.x + mC2CrossA1 * lambdaRotation.y; + angularImpulseBody2 = b2CrossA1 * lambdaRotation.x + c2CrossA1 * lambdaRotation.y; // Compute the pseudo velocity of body 2 - w2 = mI2 * angularImpulseBody2; + w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); @@ -575,37 +640,40 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS // --------------- Limits Constraints --------------- // - if (mIsLimitEnabled) { + if (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { - if (mIsLowerLimitViolated || mIsUpperLimitViolated) { + decimal inverseMassMatrixLimitMotor = mWorld.mHingeJointsComponents.getInverseMassMatrixLimitMotor(mEntity); + + if (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity) || mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - mInverseMassMatrixLimitMotor = mA1.dot(mI1 * mA1) + mA1.dot(mI2 * mA1); - mInverseMassMatrixLimitMotor = (mInverseMassMatrixLimitMotor > 0.0) ? - decimal(1.0) / mInverseMassMatrixLimitMotor : decimal(0.0); + inverseMassMatrixLimitMotor = a1.dot(i1 * a1) + a1.dot(i2 * a1); + inverseMassMatrixLimitMotor = (inverseMassMatrixLimitMotor > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixLimitMotor : decimal(0.0); + mWorld.mHingeJointsComponents.setInverseMassMatrixLimitMotor(mEntity, inverseMassMatrixLimitMotor); } // If the lower limit is violated - if (mIsLowerLimitViolated) { + if (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity)) { // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal lambdaLowerLimit = mInverseMassMatrixLimitMotor * (-lowerLimitError ); + decimal lambdaLowerLimit = inverseMassMatrixLimitMotor * (-lowerLimitError ); // Compute the impulse P=J^T * lambda of body 1 - const Vector3 angularImpulseBody1 = -lambdaLowerLimit * mA1; + const Vector3 angularImpulseBody1 = -lambdaLowerLimit * a1; // Compute the pseudo velocity of body 1 - const Vector3 w1 = mI1 * angularImpulseBody1; + const Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); q1.normalize(); // Compute the impulse P=J^T * lambda of body 2 - const Vector3 angularImpulseBody2 = lambdaLowerLimit * mA1; + const Vector3 angularImpulseBody2 = lambdaLowerLimit * a1; // Compute the pseudo velocity of body 2 - const Vector3 w2 = mI2 * angularImpulseBody2; + const Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); @@ -613,26 +681,26 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS } // If the upper limit is violated - if (mIsUpperLimitViolated) { + if (mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)) { // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal lambdaUpperLimit = mInverseMassMatrixLimitMotor * (-upperLimitError); + decimal lambdaUpperLimit = inverseMassMatrixLimitMotor * (-upperLimitError); // Compute the impulse P=J^T * lambda of body 1 - const Vector3 angularImpulseBody1 = lambdaUpperLimit * mA1; + const Vector3 angularImpulseBody1 = lambdaUpperLimit * a1; // Compute the pseudo velocity of body 1 - const Vector3 w1 = mI1 * angularImpulseBody1; + const Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); q1.normalize(); // Compute the impulse P=J^T * lambda of body 2 - const Vector3 angularImpulseBody2 = -lambdaUpperLimit * mA1; + const Vector3 angularImpulseBody2 = -lambdaUpperLimit * a1; // Compute the pseudo velocity of body 2 - const Vector3 w2 = mI2 * angularImpulseBody2; + const Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); @@ -654,9 +722,9 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS */ void HingeJoint::enableLimit(bool isLimitEnabled) { - if (isLimitEnabled != mIsLimitEnabled) { + if (isLimitEnabled != mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { - mIsLimitEnabled = isLimitEnabled; + mWorld.mHingeJointsComponents.setIsLimitEnabled(mEntity, isLimitEnabled); // Reset the limits resetLimits(); @@ -670,8 +738,8 @@ void HingeJoint::enableLimit(bool isLimitEnabled) { */ void HingeJoint::enableMotor(bool isMotorEnabled) { - mIsMotorEnabled = isMotorEnabled; - mImpulseMotor = 0.0; + mWorld.mHingeJointsComponents.setIsMotorEnabled(mEntity, isMotorEnabled); + mWorld.mHingeJointsComponents.setImpulseMotor(mEntity, decimal(0.0)); // Wake up the two bodies of the joint awakeBodies(); @@ -683,11 +751,13 @@ void HingeJoint::enableMotor(bool isMotorEnabled) { */ void HingeJoint::setMinAngleLimit(decimal lowerLimit) { - assert(mLowerLimit <= decimal(0) && mLowerLimit >= decimal(-2.0 * PI)); + const decimal limit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); - if (lowerLimit != mLowerLimit) { + assert(limit <= decimal(0.0) && limit >= decimal(-2.0) * PI); - mLowerLimit = lowerLimit; + if (lowerLimit != limit) { + + mWorld.mHingeJointsComponents.setLowerLimit(mEntity, lowerLimit); // Reset the limits resetLimits(); @@ -700,11 +770,13 @@ void HingeJoint::setMinAngleLimit(decimal lowerLimit) { */ void HingeJoint::setMaxAngleLimit(decimal upperLimit) { - assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0 * PI)); + const decimal limit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); - if (upperLimit != mUpperLimit) { + assert(limit >= decimal(0) && limit <= decimal(2.0) * PI); - mUpperLimit = upperLimit; + if (upperLimit != limit) { + + mWorld.mHingeJointsComponents.setUpperLimit(mEntity, upperLimit); // Reset the limits resetLimits(); @@ -715,8 +787,8 @@ void HingeJoint::setMaxAngleLimit(decimal upperLimit) { void HingeJoint::resetLimits() { // Reset the accumulated impulses for the limits - mImpulseLowerLimit = 0.0; - mImpulseUpperLimit = 0.0; + mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); + mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); // Wake up the two bodies of the joint awakeBodies(); @@ -725,9 +797,9 @@ void HingeJoint::resetLimits() { // Set the motor speed void HingeJoint::setMotorSpeed(decimal motorSpeed) { - if (motorSpeed != mMotorSpeed) { + if (motorSpeed != mWorld.mHingeJointsComponents.getMotorSpeed(mEntity)) { - mMotorSpeed = motorSpeed; + mWorld.mHingeJointsComponents.setMotorSpeed(mEntity, motorSpeed); // Wake up the two bodies of the joint awakeBodies(); @@ -740,10 +812,12 @@ void HingeJoint::setMotorSpeed(decimal motorSpeed) { */ void HingeJoint::setMaxMotorTorque(decimal maxMotorTorque) { - if (maxMotorTorque != mMaxMotorTorque) { + const decimal torque = mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity); - assert(mMaxMotorTorque >= decimal(0.0)); - mMaxMotorTorque = maxMotorTorque; + if (maxMotorTorque != torque) { + + assert(torque >= decimal(0.0)); + mWorld.mHingeJointsComponents.setMaxMotorTorque(mEntity, maxMotorTorque); // Wake up the two bodies of the joint awakeBodies(); @@ -771,8 +845,7 @@ decimal HingeJoint::computeNormalizedAngle(decimal angle) const { // Given an "inputAngle" in the range [-pi, pi], this method returns an // angle (modulo 2*pi) in the range [-2*pi; 2*pi] that is closest to one of the // two angle limits in arguments. -decimal HingeJoint::computeCorrespondingAngleNearLimits(decimal inputAngle, decimal lowerLimitAngle, - decimal upperLimitAngle) const { +decimal HingeJoint::computeCorrespondingAngleNearLimits(decimal inputAngle, decimal lowerLimitAngle, decimal upperLimitAngle) const { if (upperLimitAngle <= lowerLimitAngle) { return inputAngle; } @@ -792,8 +865,7 @@ decimal HingeJoint::computeCorrespondingAngleNearLimits(decimal inputAngle, deci } // Compute the current angle around the hinge axis -decimal HingeJoint::computeCurrentHingeAngle(const Quaternion& orientationBody1, - const Quaternion& orientationBody2) { +decimal HingeJoint::computeCurrentHingeAngle(const Quaternion& orientationBody1, const Quaternion& orientationBody2) { decimal hingeAngle; @@ -802,7 +874,7 @@ decimal HingeJoint::computeCurrentHingeAngle(const Quaternion& orientationBody1, currentOrientationDiff.normalize(); // Compute the relative rotation considering the initial orientation difference - Quaternion relativeRotation = currentOrientationDiff * mInitOrientationDifferenceInv; + Quaternion relativeRotation = currentOrientationDiff * mWorld.mHingeJointsComponents.getInitOrientationDifferenceInv(mEntity); relativeRotation.normalize(); // A quaternion q = [cos(theta/2); sin(theta/2) * rotAxis] where rotAxis is a unit @@ -816,7 +888,7 @@ decimal HingeJoint::computeCurrentHingeAngle(const Quaternion& orientationBody1, decimal sinHalfAngleAbs = relativeRotation.getVectorV().length(); // Compute the dot product of the relative rotation axis and the hinge axis - decimal dotProduct = relativeRotation.getVectorV().dot(mA1); + decimal dotProduct = relativeRotation.getVectorV().dot(mWorld.mHingeJointsComponents.getA1(mEntity)); // If the relative rotation axis and the hinge axis are pointing the same direction if (dotProduct >= decimal(0.0)) { @@ -830,6 +902,84 @@ decimal HingeJoint::computeCurrentHingeAngle(const Quaternion& orientationBody1, hingeAngle = computeNormalizedAngle(hingeAngle); // Compute and return the corresponding angle near one the two limits - return computeCorrespondingAngleNearLimits(hingeAngle, mLowerLimit, mUpperLimit); + return computeCorrespondingAngleNearLimits(hingeAngle, + mWorld.mHingeJointsComponents.getLowerLimit(mEntity), + mWorld.mHingeJointsComponents.getUpperLimit(mEntity)); } +// Return true if the limits of the joint are enabled +/** + * @return True if the limits of the joint are enabled and false otherwise + */ +bool HingeJoint::isLimitEnabled() const { + return mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity); +} + +// Return true if the motor of the joint is enabled +/** + * @return True if the motor of joint is enabled and false otherwise + */ +bool HingeJoint::isMotorEnabled() const { + return mWorld.mHingeJointsComponents.getIsMotorEnabled(mEntity); +} + +// Return the minimum angle limit +/** + * @return The minimum limit angle of the joint (in radian) + */ +decimal HingeJoint::getMinAngleLimit() const { + return mWorld.mHingeJointsComponents.getLowerLimit(mEntity); +} + +// Return the maximum angle limit +/** + * @return The maximum limit angle of the joint (in radian) + */ +decimal HingeJoint::getMaxAngleLimit() const { + return mWorld.mHingeJointsComponents.getUpperLimit(mEntity); +} + +// Return the motor speed +/** + * @return The current speed of the joint motor (in radian per second) + */ + decimal HingeJoint::getMotorSpeed() const { + return mWorld.mHingeJointsComponents.getMotorSpeed(mEntity); +} + +// Return the maximum motor torque +/** + * @return The maximum torque of the joint motor (in Newtons) + */ + decimal HingeJoint::getMaxMotorTorque() const { + return mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity); +} + +// Return the intensity of the current torque applied for the joint motor +/** + * @param timeStep The current time step (in seconds) + * @return The intensity of the current torque (in Newtons) of the joint motor + */ + decimal HingeJoint::getMotorTorque(decimal timeStep) const { + return mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) / timeStep; +} + +// Return the number of bytes used by the joint + size_t HingeJoint::getSizeInBytes() const { + return sizeof(HingeJoint); +} + +// Return a string representation +std::string HingeJoint::to_string() const { + return "HingeJoint{ lowerLimit=" + std::to_string(mWorld.mHingeJointsComponents.getLowerLimit(mEntity)) + + ", upperLimit=" + std::to_string(mWorld.mHingeJointsComponents.getUpperLimit(mEntity)) + + "localAnchorPointBody1=" + mWorld.mHingeJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + ", localAnchorPointBody2=" + + mWorld.mHingeJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + ", hingeLocalAxisBody1=" + + mWorld.mHingeJointsComponents.getHingeLocalAxisBody1(mEntity).to_string() + + ", hingeLocalAxisBody2=" + mWorld.mHingeJointsComponents.getHingeLocalAxisBody2(mEntity).to_string() + + ", initOrientationDifferenceInv=" + mWorld.mHingeJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() + + ", motorSpeed=" + std::to_string(mWorld.mHingeJointsComponents.getMotorSpeed(mEntity)) + + ", maxMotorTorque=" + std::to_string(mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity)) + ", isLimitEnabled=" + + (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity) ? "true" : "false") + ", isMotorEnabled=" + + (mWorld.mHingeJointsComponents.getIsMotorEnabled(mEntity) ? "true" : "false") + "}"; +} diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index 1186c043..e16d7a40 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -149,104 +149,6 @@ class HingeJoint : public Joint { // -------------------- Attributes -------------------- // - /// Anchor point of body 1 (in local-space coordinates of body 1) - Vector3 mLocalAnchorPointBody1; - - /// Anchor point of body 2 (in local-space coordinates of body 2) - Vector3 mLocalAnchorPointBody2; - - /// Hinge rotation axis (in local-space coordinates of body 1) - Vector3 mHingeLocalAxisBody1; - - /// Hinge rotation axis (in local-space coordiantes of body 2) - Vector3 mHingeLocalAxisBody2; - - /// Inertia tensor of body 1 (in world-space coordinates) - Matrix3x3 mI1; - - /// Inertia tensor of body 2 (in world-space coordinates) - Matrix3x3 mI2; - - /// Hinge rotation axis (in world-space coordinates) computed from body 1 - Vector3 mA1; - - /// Vector from center of body 2 to anchor point in world-space - Vector3 mR1World; - - /// Vector from center of body 2 to anchor point in world-space - Vector3 mR2World; - - /// Cross product of vector b2 and a1 - Vector3 mB2CrossA1; - - /// Cross product of vector c2 and a1; - Vector3 mC2CrossA1; - - /// Impulse for the 3 translation constraints - Vector3 mImpulseTranslation; - - /// Impulse for the 2 rotation constraints - Vector2 mImpulseRotation; - - /// Accumulated impulse for the lower limit constraint - decimal mImpulseLowerLimit; - - /// Accumulated impulse for the upper limit constraint - decimal mImpulseUpperLimit; - - /// Accumulated impulse for the motor constraint; - decimal mImpulseMotor; - - /// Inverse mass matrix K=JM^-1J^t for the 3 translation constraints - Matrix3x3 mInverseMassMatrixTranslation; - - /// Inverse mass matrix K=JM^-1J^t for the 2 rotation constraints - Matrix2x2 mInverseMassMatrixRotation; - - /// Inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) - decimal mInverseMassMatrixLimitMotor; - - /// Inverse of mass matrix K=JM^-1J^t for the motor - decimal mInverseMassMatrixMotor; - - /// Bias vector for the error correction for the translation constraints - Vector3 mBTranslation; - - /// Bias vector for the error correction for the rotation constraints - Vector2 mBRotation; - - /// Bias of the lower limit constraint - decimal mBLowerLimit; - - /// Bias of the upper limit constraint - decimal mBUpperLimit; - - /// Inverse of the initial orientation difference between the bodies - Quaternion mInitOrientationDifferenceInv; - - /// True if the joint limits are enabled - bool mIsLimitEnabled; - - /// True if the motor of the joint in enabled - bool mIsMotorEnabled; - - /// Lower limit (minimum allowed rotation angle in radian) - decimal mLowerLimit; - - /// Upper limit (maximum translation distance) - decimal mUpperLimit; - - /// True if the lower limit is violated - bool mIsLowerLimitViolated; - - /// True if the upper limit is violated - bool mIsUpperLimitViolated; - - /// Motor speed (in rad/s) - decimal mMotorSpeed; - - /// Maximum motor torque (in Newtons) that can be applied to reach to desired motor speed - decimal mMaxMotorTorque; // -------------------- Methods -------------------- // @@ -341,78 +243,6 @@ class HingeJoint : public Joint { virtual std::string to_string() const override; }; -// Return true if the limits of the joint are enabled -/** - * @return True if the limits of the joint are enabled and false otherwise - */ -inline bool HingeJoint::isLimitEnabled() const { - return mIsLimitEnabled; -} - -// Return true if the motor of the joint is enabled -/** - * @return True if the motor of joint is enabled and false otherwise - */ -inline bool HingeJoint::isMotorEnabled() const { - return mIsMotorEnabled; -} - -// Return the minimum angle limit -/** - * @return The minimum limit angle of the joint (in radian) - */ -inline decimal HingeJoint::getMinAngleLimit() const { - return mLowerLimit; -} - -// Return the maximum angle limit -/** - * @return The maximum limit angle of the joint (in radian) - */ -inline decimal HingeJoint::getMaxAngleLimit() const { - return mUpperLimit; -} - -// Return the motor speed -/** - * @return The current speed of the joint motor (in radian per second) - */ -inline decimal HingeJoint::getMotorSpeed() const { - return mMotorSpeed; -} - -// Return the maximum motor torque -/** - * @return The maximum torque of the joint motor (in Newtons) - */ -inline decimal HingeJoint::getMaxMotorTorque() const { - return mMaxMotorTorque; -} - -// Return the intensity of the current torque applied for the joint motor -/** - * @param timeStep The current time step (in seconds) - * @return The intensity of the current torque (in Newtons) of the joint motor - */ -inline decimal HingeJoint::getMotorTorque(decimal timeStep) const { - return mImpulseMotor / timeStep; -} - -// Return the number of bytes used by the joint -inline size_t HingeJoint::getSizeInBytes() const { - return sizeof(HingeJoint); -} - -// Return a string representation -inline std::string HingeJoint::to_string() const { - return "HingeJoint{ lowerLimit=" + std::to_string(mLowerLimit) + ", upperLimit=" + std::to_string(mUpperLimit) + - "localAnchorPointBody1=" + mLocalAnchorPointBody1.to_string() + ", localAnchorPointBody2=" + - mLocalAnchorPointBody2.to_string() + ", hingeLocalAxisBody1=" + mHingeLocalAxisBody1.to_string() + - ", hingeLocalAxisBody2=" + mHingeLocalAxisBody2.to_string() + ", initOrientationDifferenceInv=" + - mInitOrientationDifferenceInv.to_string() + ", motorSpeed=" + std::to_string(mMotorSpeed) + - ", maxMotorTorque=" + std::to_string(mMaxMotorTorque) + ", isLimitEnabled=" + - (mIsLimitEnabled ? "true" : "false") + ", isMotorEnabled=" + (mIsMotorEnabled ? "true" : "false") + "}"; -} } diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index b12ed42f..4d77fee6 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -41,7 +41,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), - mFixedJointsComponents(mMemoryManager.getBaseAllocator()), + mFixedJointsComponents(mMemoryManager.getBaseAllocator()), mHingeJointsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -268,6 +268,9 @@ void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { if (mFixedJointsComponents.hasComponent(jointEntity)) { mFixedJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); } + if (mHingeJointsComponents.hasComponent(jointEntity)) { + mHingeJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } } // Return true if two bodies overlap diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index ab7fc92f..95b5a5e3 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -40,6 +40,7 @@ #include "components/JointComponents.h" #include "components/BallAndSocketJointComponents.h" #include "components/FixedJointComponents.h" +#include "components/HingeJointComponents.h" #include "collision/CollisionCallback.h" #include "collision/OverlapCallback.h" @@ -100,6 +101,9 @@ class CollisionWorld { /// Fixed joints Components FixedJointComponents mFixedJointsComponents; + /// Hinge joints Components + HingeJointComponents mHingeJointsComponents; + /// Reference to the collision detection CollisionDetectionSystem mCollisionDetection; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index a784a82d..51ba7784 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -358,10 +358,20 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { // Hinge joint case JointType::HINGEJOINT: { + const HingeJointInfo& info = static_cast(jointInfo); + + // Create a HingeJoint component + HingeJointComponents::HingeJointComponent hingeJointComponent(info.isLimitEnabled, info.isMotorEnabled, + info.minAngleLimit, info.maxAngleLimit, + info.motorSpeed, info.maxMotorTorque); + mHingeJointsComponents.addComponent(entity, isJointDisabled, hingeJointComponent); + void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HingeJoint)); - const HingeJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) HingeJoint(entity, *this, info); + HingeJoint* joint = new (allocatedMemory) HingeJoint(entity, *this, info); + + newJoint = joint; + mHingeJointsComponents.setJoint(entity, joint); break; } From 0c0ff46d349e33ee4361f74c51546058636963ff Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 13 Sep 2019 07:15:48 +0200 Subject: [PATCH 086/197] Add SliderJointComponents class --- CMakeLists.txt | 2 + src/components/HingeJointComponents.cpp | 6 +- src/components/SliderJointComponents.cpp | 408 +++++++++++ src/components/SliderJointComponents.h | 863 +++++++++++++++++++++++ src/constraint/SliderJoint.cpp | 184 +++-- src/constraint/SliderJoint.h | 52 +- src/engine/CollisionWorld.cpp | 4 + src/engine/CollisionWorld.h | 4 + src/engine/DynamicsWorld.cpp | 29 +- src/engine/DynamicsWorld.h | 1 - 10 files changed, 1421 insertions(+), 132 deletions(-) create mode 100644 src/components/SliderJointComponents.cpp create mode 100644 src/components/SliderJointComponents.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 9e771c0f..d16403b4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -150,6 +150,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/BallAndSocketJointComponents.h" "src/components/FixedJointComponents.h" "src/components/HingeJointComponents.h" + "src/components/SliderJointComponents.h" "src/collision/CollisionCallback.h" "src/collision/OverlapCallback.h" "src/mathematics/mathematics.h" @@ -246,6 +247,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/BallAndSocketJointComponents.cpp" "src/components/FixedJointComponents.cpp" "src/components/HingeJointComponents.cpp" + "src/components/SliderJointComponents.cpp" "src/collision/CollisionCallback.cpp" "src/collision/OverlapCallback.cpp" "src/mathematics/mathematics_functions.cpp" diff --git a/src/components/HingeJointComponents.cpp b/src/components/HingeJointComponents.cpp index b3880e63..6a71ba9c 100644 --- a/src/components/HingeJointComponents.cpp +++ b/src/components/HingeJointComponents.cpp @@ -197,11 +197,11 @@ void HingeJointComponents::addComponent(Entity jointEntity, bool isSleeping, con new (mI1 + index) Matrix3x3(); new (mI2 + index) Matrix3x3(); new (mImpulseTranslation + index) Vector3(0, 0, 0); - new (mImpulseRotation + index) Vector3(0, 0, 0); + new (mImpulseRotation + index) Vector2(0, 0); new (mInverseMassMatrixTranslation + index) Matrix3x3(); - new (mInverseMassMatrixRotation + index) Matrix3x3(); + new (mInverseMassMatrixRotation + index) Matrix2x2(); new (mBiasTranslation + index) Vector3(0, 0, 0); - new (mBiasRotation + index) Vector3(0, 0, 0); + new (mBiasRotation + index) Vector2(0, 0); new (mInitOrientationDifferenceInv + index) Quaternion(0, 0, 0, 0); new (mHingeLocalAxisBody1 + index) Vector3(0, 0, 0); new (mHingeLocalAxisBody2 + index) Vector3(0, 0, 0); diff --git a/src/components/SliderJointComponents.cpp b/src/components/SliderJointComponents.cpp new file mode 100644 index 00000000..d7bdc751 --- /dev/null +++ b/src/components/SliderJointComponents.cpp @@ -0,0 +1,408 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "SliderJointComponents.h" +#include "engine/EntityManager.h" +#include "mathematics/Matrix3x3.h" +#include + +// We want to use the ReactPhysics3D namespace +using namespace reactphysics3d; + +// Constructor +SliderJointComponents::SliderJointComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(SliderJoint*) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector2) + + sizeof(Vector3) + sizeof(Matrix2x2) + sizeof(Matrix3x3) + + sizeof(Vector2) + sizeof(Vector3) + sizeof(Quaternion)/* + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal) + + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal)*/) { + + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_COMPONENTS); +} + +// Allocate memory for a given number of components +void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { + + assert(nbComponentsToAllocate > mNbAllocatedComponents); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbComponentsToAllocate * mComponentDataSize; + + // Allocate memory + void* newBuffer = mMemoryAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + Entity* newJointEntities = static_cast(newBuffer); + SliderJoint** newJoints = reinterpret_cast(newJointEntities + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody1 = reinterpret_cast(newJoints + nbComponentsToAllocate); + Vector3* newLocalAnchorPointBody2 = reinterpret_cast(newLocalAnchorPointBody1 + nbComponentsToAllocate); + Matrix3x3* newI1 = reinterpret_cast(newLocalAnchorPointBody2 + nbComponentsToAllocate); + Matrix3x3* newI2 = reinterpret_cast(newI1 + nbComponentsToAllocate); + Vector2* newImpulseTranslation = reinterpret_cast(newI2 + nbComponentsToAllocate); + Vector3* newImpulseRotation = reinterpret_cast(newImpulseTranslation + nbComponentsToAllocate); + Matrix2x2* newInverseMassMatrixTranslation = reinterpret_cast(newImpulseRotation + nbComponentsToAllocate); + Matrix3x3* newInverseMassMatrixRotation = reinterpret_cast(newInverseMassMatrixTranslation + nbComponentsToAllocate); + Vector2* newBiasTranslation = reinterpret_cast(newInverseMassMatrixRotation + nbComponentsToAllocate); + Vector3* newBiasRotation = reinterpret_cast(newBiasTranslation + nbComponentsToAllocate); + Quaternion* newInitOrientationDifferenceInv = reinterpret_cast(newBiasRotation + nbComponentsToAllocate); + /* + Vector3* newHingeLocalAxisBody1 = reinterpret_cast(newInitOrientationDifferenceInv + nbComponentsToAllocate); + Vector3* newHingeLocalAxisBody2 = reinterpret_cast(newHingeLocalAxisBody1 + nbComponentsToAllocate); + Vector3* newA1 = reinterpret_cast(newHingeLocalAxisBody2 + nbComponentsToAllocate); + Vector3* newB2CrossA1 = reinterpret_cast(newA1 + nbComponentsToAllocate); + Vector3* newC2CrossA1 = reinterpret_cast(newB2CrossA1 + nbComponentsToAllocate); + decimal* newImpulseLowerLimit = reinterpret_cast(newC2CrossA1 + nbComponentsToAllocate); + decimal* newImpulseUpperLimit = reinterpret_cast(newImpulseLowerLimit + nbComponentsToAllocate); + decimal* newImpulseMotor = reinterpret_cast(newImpulseUpperLimit + nbComponentsToAllocate); + decimal* newInverseMassMatrixLimitMotor = reinterpret_cast(newImpulseMotor + nbComponentsToAllocate); + decimal* newInverseMassMatrixMotor = reinterpret_cast(newInverseMassMatrixLimitMotor + nbComponentsToAllocate); + decimal* newBLowerLimit = reinterpret_cast(newInverseMassMatrixMotor + nbComponentsToAllocate); + decimal* newBUpperLimit = reinterpret_cast(newBLowerLimit + nbComponentsToAllocate); + bool* newIsLimitEnabled = reinterpret_cast(newBUpperLimit + nbComponentsToAllocate); + bool* newIsMotorEnabled = reinterpret_cast(newIsLimitEnabled + nbComponentsToAllocate); + decimal* newLowerLimit = reinterpret_cast(newIsMotorEnabled + nbComponentsToAllocate); + decimal* newUpperLimit = reinterpret_cast(newLowerLimit + nbComponentsToAllocate); + bool* newIsLowerLimitViolated = reinterpret_cast(newUpperLimit + nbComponentsToAllocate); + bool* newIsUpperLimitViolated = reinterpret_cast(newIsLowerLimitViolated + nbComponentsToAllocate); + decimal* newMotorSpeed = reinterpret_cast(newIsUpperLimitViolated + nbComponentsToAllocate); + decimal* newMaxMotorTorque = reinterpret_cast(newMotorSpeed + nbComponentsToAllocate); + */ + + // If there was already components before + if (mNbComponents > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newJointEntities, mJointEntities, mNbComponents * sizeof(Entity)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(SliderJoint*)); + memcpy(newLocalAnchorPointBody1, mLocalAnchorPointBody1, mNbComponents * sizeof(Vector3)); + memcpy(newLocalAnchorPointBody2, mLocalAnchorPointBody2, mNbComponents * sizeof(Vector3)); + memcpy(newI1, mI1, mNbComponents * sizeof(Matrix3x3)); + memcpy(newI2, mI2, mNbComponents * sizeof(Matrix3x3)); + memcpy(newImpulseTranslation, mImpulseTranslation, mNbComponents * sizeof(Vector2)); + memcpy(newImpulseRotation, mImpulseRotation, mNbComponents * sizeof(Vector3)); + memcpy(newInverseMassMatrixTranslation, mInverseMassMatrixTranslation, mNbComponents * sizeof(Matrix2x2)); + memcpy(newInverseMassMatrixRotation, mInverseMassMatrixRotation, mNbComponents * sizeof(Matrix3x3)); + memcpy(newBiasTranslation, mBiasTranslation, mNbComponents * sizeof(Vector2)); + memcpy(newBiasRotation, mBiasRotation, mNbComponents * sizeof(Vector3)); + memcpy(newInitOrientationDifferenceInv, mInitOrientationDifferenceInv, mNbComponents * sizeof(Quaternion)); + /* + memcpy(newHingeLocalAxisBody1, mHingeLocalAxisBody1, mNbComponents * sizeof(Vector3)); + memcpy(newHingeLocalAxisBody2, mHingeLocalAxisBody2, mNbComponents * sizeof(Vector3)); + memcpy(newA1, mA1, mNbComponents * sizeof(Vector3)); + memcpy(newB2CrossA1, mB2CrossA1, mNbComponents * sizeof(Vector3)); + memcpy(newC2CrossA1, mC2CrossA1, mNbComponents * sizeof(Vector3)); + memcpy(newImpulseLowerLimit, mImpulseLowerLimit, mNbComponents * sizeof(decimal)); + memcpy(newImpulseUpperLimit, mImpulseUpperLimit, mNbComponents * sizeof(decimal)); + memcpy(newImpulseMotor, mImpulseMotor, mNbComponents * sizeof(decimal)); + memcpy(newInverseMassMatrixLimitMotor, mInverseMassMatrixLimitMotor, mNbComponents * sizeof(decimal)); + memcpy(newInverseMassMatrixMotor, mInverseMassMatrixMotor, mNbComponents * sizeof(decimal)); + memcpy(newBLowerLimit, mBLowerLimit, mNbComponents * sizeof(decimal)); + memcpy(newBUpperLimit, mBUpperLimit, mNbComponents * sizeof(decimal)); + memcpy(newIsLimitEnabled, mIsLimitEnabled, mNbComponents * sizeof(bool)); + memcpy(newIsMotorEnabled, mIsMotorEnabled, mNbComponents * sizeof(bool)); + memcpy(newLowerLimit, mLowerLimit, mNbComponents * sizeof(decimal)); + memcpy(newUpperLimit, mUpperLimit, mNbComponents * sizeof(decimal)); + memcpy(newIsLowerLimitViolated, mIsLowerLimitViolated, mNbComponents * sizeof(bool)); + memcpy(newIsUpperLimitViolated, mIsUpperLimitViolated, mNbComponents * sizeof(bool)); + memcpy(newMotorSpeed, mMotorSpeed, mNbComponents * sizeof(decimal)); + memcpy(newMaxMotorTorque, mMaxMotorTorque, mNbComponents * sizeof(decimal)); + */ + + // Deallocate previous memory + mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); + } + + mBuffer = newBuffer; + mJointEntities = newJointEntities; + mJoints = newJoints; + mNbAllocatedComponents = nbComponentsToAllocate; + mLocalAnchorPointBody1 = newLocalAnchorPointBody1; + mLocalAnchorPointBody2 = newLocalAnchorPointBody2; + mI1 = newI1; + mI2 = newI2; + mImpulseTranslation = newImpulseTranslation; + mImpulseRotation = newImpulseRotation; + mInverseMassMatrixTranslation = newInverseMassMatrixTranslation; + mInverseMassMatrixRotation = newInverseMassMatrixRotation; + mBiasTranslation = newBiasTranslation; + mBiasRotation = newBiasRotation; + mInitOrientationDifferenceInv = newInitOrientationDifferenceInv; + /* + mHingeLocalAxisBody1 = newHingeLocalAxisBody1; + mHingeLocalAxisBody2 = newHingeLocalAxisBody2; + mA1 = newA1; + mB2CrossA1 = newB2CrossA1; + mC2CrossA1 = newC2CrossA1; + mImpulseLowerLimit = newImpulseLowerLimit; + mImpulseUpperLimit = newImpulseUpperLimit; + mImpulseMotor = newImpulseMotor; + mInverseMassMatrixLimitMotor = newInverseMassMatrixLimitMotor; + mInverseMassMatrixMotor = newInverseMassMatrixMotor; + mBLowerLimit = newBLowerLimit; + mBUpperLimit = newBUpperLimit; + mIsLimitEnabled = newIsLimitEnabled; + mIsMotorEnabled = newIsMotorEnabled; + mLowerLimit = newLowerLimit; + mUpperLimit = newUpperLimit; + mIsLowerLimitViolated = newIsLowerLimitViolated; + mIsUpperLimitViolated = newIsUpperLimitViolated; + mMotorSpeed = newMotorSpeed; + mMaxMotorTorque = newMaxMotorTorque; + */ +} + +// Add a component +void SliderJointComponents::addComponent(Entity jointEntity, bool isSleeping, const SliderJointComponent& component) { + + // Prepare to add new component (allocate memory if necessary and compute insertion index) + uint32 index = prepareAddComponent(isSleeping); + + // Insert the new component data + new (mJointEntities + index) Entity(jointEntity); + mJoints[index] = nullptr; + new (mLocalAnchorPointBody1 + index) Vector3(0, 0, 0); + new (mLocalAnchorPointBody2 + index) Vector3(0, 0, 0); + new (mI1 + index) Matrix3x3(); + new (mI2 + index) Matrix3x3(); + new (mImpulseTranslation + index) Vector2(0, 0); + new (mImpulseRotation + index) Vector3(0, 0, 0); + new (mInverseMassMatrixTranslation + index) Matrix2x2(); + new (mInverseMassMatrixRotation + index) Matrix3x3(); + new (mBiasTranslation + index) Vector2(0, 0); + new (mBiasRotation + index) Vector3(0, 0, 0); + new (mInitOrientationDifferenceInv + index) Quaternion(0, 0, 0, 0); + /* + new (mHingeLocalAxisBody1 + index) Vector3(0, 0, 0); + new (mHingeLocalAxisBody2 + index) Vector3(0, 0, 0); + new (mA1 + index) Vector3(0, 0, 0); + new (mB2CrossA1 + index) Vector3(0, 0, 0); + new (mC2CrossA1 + index) Vector3(0, 0, 0); + mImpulseLowerLimit[index] = decimal(0.0); + mImpulseUpperLimit[index] = decimal(0.0); + mInverseMassMatrixLimitMotor[index] = decimal(0.0); + mInverseMassMatrixMotor[index] = decimal(0.0); + mBLowerLimit[index] = decimal(0.0); + mBUpperLimit[index] = decimal(0.0); + mIsLimitEnabled[index] = component.isLimitEnabled; + mIsMotorEnabled[index] = component.isMotorEnabled; + mLowerLimit[index] = component.lowerLimit; + mUpperLimit[index] = component.upperLimit; + mIsLowerLimitViolated[index] = false; + mIsUpperLimitViolated[index] = false; + mMotorSpeed[index] = component.motorSpeed; + mMaxMotorTorque[index] = component.maxMotorTorque; + */ + + // Map the entity with the new component lookup index + mMapEntityToComponentIndex.add(Pair(jointEntity, index)); + + mNbComponents++; + + assert(mDisabledStartIndex <= mNbComponents); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Move a component from a source to a destination index in the components array +// The destination location must contain a constructed object +void SliderJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { + + const Entity entity = mJointEntities[srcIndex]; + + // Copy the data of the source component to the destination location + new (mJointEntities + destIndex) Entity(mJointEntities[srcIndex]); + mJoints[destIndex] = mJoints[srcIndex]; + new (mLocalAnchorPointBody1 + destIndex) Vector3(mLocalAnchorPointBody1[srcIndex]); + new (mLocalAnchorPointBody2 + destIndex) Vector3(mLocalAnchorPointBody2[srcIndex]); + new (mI1 + destIndex) Matrix3x3(mI1[srcIndex]); + new (mI2 + destIndex) Matrix3x3(mI2[srcIndex]); + new (mImpulseTranslation + destIndex) Vector2(mImpulseTranslation[srcIndex]); + new (mImpulseRotation + destIndex) Vector3(mImpulseRotation[srcIndex]); + new (mInverseMassMatrixTranslation + destIndex) Matrix2x2(mInverseMassMatrixTranslation[srcIndex]); + new (mInverseMassMatrixRotation + destIndex) Matrix3x3(mInverseMassMatrixRotation[srcIndex]); + new (mBiasTranslation + destIndex) Vector2(mBiasTranslation[srcIndex]); + new (mBiasRotation + destIndex) Vector3(mBiasRotation[srcIndex]); + new (mInitOrientationDifferenceInv + destIndex) Quaternion(mInitOrientationDifferenceInv[srcIndex]); + /* + new (mHingeLocalAxisBody1 + destIndex) Vector3(mHingeLocalAxisBody1[srcIndex]); + new (mHingeLocalAxisBody2 + destIndex) Vector3(mHingeLocalAxisBody2[srcIndex]); + new (mA1 + destIndex) Vector3(mA1[srcIndex]); + new (mB2CrossA1 + destIndex) Vector3(mB2CrossA1[srcIndex]); + new (mC2CrossA1 + destIndex) Vector3(mC2CrossA1[srcIndex]); + mImpulseLowerLimit[destIndex] = mImpulseLowerLimit[srcIndex]; + mImpulseUpperLimit[destIndex] = mImpulseUpperLimit[srcIndex]; + mImpulseMotor[destIndex] = mImpulseMotor[srcIndex]; + mInverseMassMatrixLimitMotor[destIndex] = mInverseMassMatrixLimitMotor[srcIndex]; + mInverseMassMatrixMotor[destIndex] = mInverseMassMatrixMotor[srcIndex]; + mBLowerLimit[destIndex] = mBLowerLimit[srcIndex]; + mBUpperLimit[destIndex] = mBUpperLimit[srcIndex]; + mIsLimitEnabled[destIndex] = mIsLimitEnabled[srcIndex]; + mIsMotorEnabled[destIndex] = mIsMotorEnabled[srcIndex]; + mLowerLimit[destIndex] = mLowerLimit[srcIndex]; + mUpperLimit[destIndex] = mUpperLimit[srcIndex]; + mIsLowerLimitViolated[destIndex] = mIsLowerLimitViolated[srcIndex]; + mIsUpperLimitViolated[destIndex] = mIsUpperLimitViolated[srcIndex]; + mMotorSpeed[destIndex] = mMotorSpeed[srcIndex]; + mMaxMotorTorque[destIndex] = mMaxMotorTorque[srcIndex]; + */ + + // Destroy the source component + destroyComponent(srcIndex); + + assert(!mMapEntityToComponentIndex.containsKey(entity)); + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(entity, destIndex)); + + assert(mMapEntityToComponentIndex[mJointEntities[destIndex]] == destIndex); +} + +// Swap two components in the array +void SliderJointComponents::swapComponents(uint32 index1, uint32 index2) { + + // Copy component 1 data + Entity jointEntity1(mJointEntities[index1]); + SliderJoint* joint1 = mJoints[index1]; + Vector3 localAnchorPointBody1(mLocalAnchorPointBody1[index1]); + Vector3 localAnchorPointBody2(mLocalAnchorPointBody2[index1]); + Matrix3x3 i11(mI1[index1]); + Matrix3x3 i21(mI2[index1]); + Vector2 impulseTranslation1(mImpulseTranslation[index1]); + Vector3 impulseRotation1(mImpulseRotation[index1]); + Matrix2x2 inverseMassMatrixTranslation1(mInverseMassMatrixTranslation[index1]); + Matrix3x3 inverseMassMatrixRotation1(mInverseMassMatrixRotation[index1]); + Vector2 biasTranslation1(mBiasTranslation[index1]); + Vector3 biasRotation1(mBiasRotation[index1]); + Quaternion initOrientationDifferenceInv1(mInitOrientationDifferenceInv[index1]); + /* + Vector3 hingeLocalAxisBody1(mHingeLocalAxisBody1[index1]); + Vector3 hingeLocalAxisBody2(mHingeLocalAxisBody2[index1]); + Vector3 a1(mA1[index1]); + Vector3 b2CrossA1(mB2CrossA1[index1]); + Vector3 c2CrossA1(mC2CrossA1[index1]); + decimal impulseLowerLimit(mImpulseLowerLimit[index1]); + decimal impulseUpperLimit(mImpulseUpperLimit[index1]); + decimal impulseMotor(mImpulseMotor[index1]); + decimal inverseMassMatrixLimitMotor(mInverseMassMatrixLimitMotor[index1]); + decimal inverseMassMatrixMotor(mInverseMassMatrixMotor[index1]); + decimal bLowerLimit(mBLowerLimit[index1]); + decimal bUpperLimit(mUpperLimit[index1]); + bool isLimitEnabled(mIsLimitEnabled[index1]); + bool isMotorEnabled(mIsMotorEnabled[index1]); + decimal lowerLimit(mLowerLimit[index1]); + decimal upperLimit(mUpperLimit[index1]); + bool isLowerLimitViolated(mIsLowerLimitViolated[index1]); + bool isUpperLimitViolated(mIsUpperLimitViolated[index1]); + decimal motorSpeed(mMotorSpeed[index1]); + decimal maxMotorTorque(mMaxMotorTorque[index1]); + */ + + // Destroy component 1 + destroyComponent(index1); + + moveComponentToIndex(index2, index1); + + // Reconstruct component 1 at component 2 location + new (mJointEntities + index2) Entity(jointEntity1); + mJoints[index2] = joint1; + new (mLocalAnchorPointBody1 + index2) Vector3(localAnchorPointBody1); + new (mLocalAnchorPointBody2 + index2) Vector3(localAnchorPointBody2); + new (mI1 + index2) Matrix3x3(i11); + new (mI2 + index2) Matrix3x3(i21); + new (mImpulseTranslation + index2) Vector2(impulseTranslation1); + new (mImpulseRotation + index2) Vector3(impulseRotation1); + new (mInverseMassMatrixTranslation + index2) Matrix2x2(inverseMassMatrixTranslation1); + new (mInverseMassMatrixRotation + index2) Matrix3x3(inverseMassMatrixRotation1); + new (mBiasTranslation + index2) Vector2(biasTranslation1); + new (mBiasRotation + index2) Vector3(biasRotation1); + new (mInitOrientationDifferenceInv + index2) Quaternion(initOrientationDifferenceInv1); + /* + new (mHingeLocalAxisBody1 + index2) Vector3(hingeLocalAxisBody1); + new (mHingeLocalAxisBody2 + index2) Vector3(hingeLocalAxisBody2); + new (mA1 + index2) Vector3(a1); + new (mB2CrossA1 + index2) Vector3(b2CrossA1); + new (mC2CrossA1 + index2) Vector3(c2CrossA1); + mImpulseLowerLimit[index2] = impulseLowerLimit; + mImpulseUpperLimit[index2] = impulseUpperLimit; + mImpulseMotor[index2] = impulseMotor; + mInverseMassMatrixLimitMotor[index2] = inverseMassMatrixLimitMotor; + mInverseMassMatrixMotor[index2] = inverseMassMatrixMotor; + mBLowerLimit[index2] = bLowerLimit; + mBUpperLimit[index2] = bUpperLimit; + mIsLimitEnabled[index2] = isLimitEnabled; + mIsMotorEnabled[index2] = isMotorEnabled; + mLowerLimit[index2] = lowerLimit; + mUpperLimit[index2] = upperLimit; + mIsLowerLimitViolated[index2] = isLowerLimitViolated; + mIsUpperLimitViolated[index2] = isUpperLimitViolated; + mMotorSpeed[index2] = motorSpeed; + mMaxMotorTorque[index2] = maxMotorTorque; + */ + + // Update the entity to component index mapping + mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); + + assert(mMapEntityToComponentIndex[mJointEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mJointEntities[index2]] == index2); + assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); +} + +// Destroy a component at a given index +void SliderJointComponents::destroyComponent(uint32 index) { + + Components::destroyComponent(index); + + assert(mMapEntityToComponentIndex[mJointEntities[index]] == index); + + mMapEntityToComponentIndex.remove(mJointEntities[index]); + + mJointEntities[index].~Entity(); + mJoints[index] = nullptr; + mLocalAnchorPointBody1[index].~Vector3(); + mLocalAnchorPointBody2[index].~Vector3(); + mI1[index].~Matrix3x3(); + mI2[index].~Matrix3x3(); + mImpulseTranslation[index].~Vector2(); + mImpulseRotation[index].~Vector3(); + mInverseMassMatrixTranslation[index].~Matrix2x2(); + mInverseMassMatrixRotation[index].~Matrix3x3(); + mBiasTranslation[index].~Vector2(); + mBiasRotation[index].~Vector3(); + mInitOrientationDifferenceInv[index].~Quaternion(); + /* + mHingeLocalAxisBody1[index].~Vector3(); + mHingeLocalAxisBody2[index].~Vector3(); + mA1[index].~Vector3(); + mB2CrossA1[index].~Vector3(); + mC2CrossA1[index].~Vector3(); + */ +} diff --git a/src/components/SliderJointComponents.h b/src/components/SliderJointComponents.h new file mode 100644 index 00000000..848330a2 --- /dev/null +++ b/src/components/SliderJointComponents.h @@ -0,0 +1,863 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SLIDER_JOINT_COMPONENTS_H +#define REACTPHYSICS3D_SLIDER_JOINT_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "mathematics/Matrix3x3.h" +#include "mathematics/Matrix2x2.h" +#include "engine/Entity.h" +#include "components/Components.h" +#include "containers/Map.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class SliderJoint; +enum class JointType; + +// Class SliderJointComponents +/** + * This class represent the component of the ECS with data for the SliderJoint. + */ +class SliderJointComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of joint entities + Entity* mJointEntities; + + /// Array of pointers to the joints + SliderJoint** mJoints; + + /// Anchor point of body 1 (in local-space coordinates of body 1) + Vector3* mLocalAnchorPointBody1; + + /// Anchor point of body 2 (in local-space coordinates of body 2) + Vector3* mLocalAnchorPointBody2; + + /// Inertia tensor of body 1 (in world-space coordinates) + Matrix3x3* mI1; + + /// Inertia tensor of body 2 (in world-space coordinates) + Matrix3x3* mI2; + + /// Accumulated impulse for the 3 translation constraints + Vector2* mImpulseTranslation; + + /// Accumulate impulse for the 3 rotation constraints + Vector3* mImpulseRotation; + + /// Inverse mass matrix K=JM^-1J^-t of the 3 translation constraints (3x3 matrix) + Matrix2x2* mInverseMassMatrixTranslation; + + /// Inverse mass matrix K=JM^-1J^-t of the 3 rotation constraints (3x3 matrix) + Matrix3x3* mInverseMassMatrixRotation; + + /// Bias vector for the 3 translation constraints + Vector2* mBiasTranslation; + + /// Bias vector for the 3 rotation constraints + Vector3* mBiasRotation; + + /// Inverse of the initial orientation difference between the two bodies + Quaternion* mInitOrientationDifferenceInv; + + /* + /// Hinge rotation axis (in local-space coordinates of body 1) + Vector3* mHingeLocalAxisBody1; + + /// Hinge rotation axis (in local-space coordiantes of body 2) + Vector3* mHingeLocalAxisBody2; + + /// Hinge rotation axis (in world-space coordinates) computed from body 1 + Vector3* mA1; + + /// Cross product of vector b2 and a1 + Vector3* mB2CrossA1; + + /// Cross product of vector c2 and a1; + Vector3* mC2CrossA1; + + /// Accumulated impulse for the lower limit constraint + decimal* mImpulseLowerLimit; + + /// Accumulated impulse for the upper limit constraint + decimal* mImpulseUpperLimit; + + /// Accumulated impulse for the motor constraint; + decimal* mImpulseMotor; + + /// Inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) + decimal* mInverseMassMatrixLimitMotor; + + /// Inverse of mass matrix K=JM^-1J^t for the motor + decimal* mInverseMassMatrixMotor; + + /// Bias of the lower limit constraint + decimal* mBLowerLimit; + + /// Bias of the upper limit constraint + decimal* mBUpperLimit; + + /// True if the joint limits are enabled + bool* mIsLimitEnabled; + + /// True if the motor of the joint in enabled + bool* mIsMotorEnabled; + + /// Lower limit (minimum allowed rotation angle in radian) + decimal* mLowerLimit; + + /// Upper limit (maximum translation distance) + decimal* mUpperLimit; + + /// True if the lower limit is violated + bool* mIsLowerLimitViolated; + + /// True if the upper limit is violated + bool* mIsUpperLimitViolated; + + /// Motor speed (in rad/s) + decimal* mMotorSpeed; + + /// Maximum motor torque (in Newtons) that can be applied to reach to desired motor speed + decimal* mMaxMotorTorque; + + */ + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a transform component + struct SliderJointComponent { + + bool isLimitEnabled; + bool isMotorEnabled; + decimal lowerLimit; + decimal upperLimit; + decimal motorSpeed; + decimal maxMotorTorque; + + // TODO : Delete this + SliderJointComponent() { + + } + + /// Constructor + SliderJointComponent(bool isLimitEnabled, bool isMotorEnabled, decimal lowerLimit, decimal upperLimit, + decimal motorSpeed, decimal maxMotorTorque) + : isLimitEnabled(isLimitEnabled), isMotorEnabled(isMotorEnabled), lowerLimit(lowerLimit), upperLimit(upperLimit), + motorSpeed(motorSpeed), maxMotorTorque(maxMotorTorque) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + SliderJointComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~SliderJointComponents() override = default; + + /// Add a component + void addComponent(Entity jointEntity, bool isSleeping, const SliderJointComponent& component); + + /// Return a pointer to a given joint + SliderJoint* getJoint(Entity jointEntity) const; + + /// Set the joint pointer to a given joint + void setJoint(Entity jointEntity, SliderJoint* joint) const; + + /// Return the local anchor point of body 1 for a given joint + const Vector3& getLocalAnchorPointBody1(Entity jointEntity) const; + + /// Set the local anchor point of body 1 for a given joint + void setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); + + /// Return the local anchor point of body 2 for a given joint + const Vector3& getLocalAnchorPointBody2(Entity jointEntity) const; + + /// Set the local anchor point of body 2 for a given joint + void setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); + + /// Return the inertia tensor of body 1 (in world-space coordinates) + const Matrix3x3& getI1(Entity jointEntity) const; + + /// Set the inertia tensor of body 1 (in world-space coordinates) + void setI1(Entity jointEntity, const Matrix3x3& i1); + + /// Return the inertia tensor of body 2 (in world-space coordinates) + const Matrix3x3& getI2(Entity jointEntity) const; + + /// Set the inertia tensor of body 2 (in world-space coordinates) + void setI2(Entity jointEntity, const Matrix3x3& i2); + + /// Return the translation impulse + Vector2& getImpulseTranslation(Entity jointEntity); + + /// Set the translation impulse + void setImpulseTranslation(Entity jointEntity, const Vector2& impulseTranslation); + + /// Return the translation impulse + Vector3& getImpulseRotation(Entity jointEntity); + + /// Set the translation impulse + void setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation); + + /// Return the translation inverse mass matrix of the constraint + Matrix2x2& getInverseMassMatrixTranslation(Entity jointEntity); + + /// Set the translation inverse mass matrix of the constraint + void setInverseMassMatrixTranslation(Entity jointEntity, const Matrix2x2& inverseMassMatrix); + + /// Return the rotation inverse mass matrix of the constraint + Matrix3x3& getInverseMassMatrixRotation(Entity jointEntity); + + /// Set the rotation inverse mass matrix of the constraint + void setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix); + + /// Return the translation bias + Vector2& getBiasTranslation(Entity jointEntity); + + /// Set the translation impulse + void setBiasTranslation(Entity jointEntity, const Vector2& impulseTranslation); + + /// Return the rotation bias + Vector3& getBiasRotation(Entity jointEntity); + + /// Set the rotation impulse + void setBiasRotation(Entity jointEntity, const Vector3& impulseRotation); + + /// Return the initial orientation difference + Quaternion& getInitOrientationDifferenceInv(Entity jointEntity); + + /// Set the rotation impulse + void setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv); + + /* + /// Return the hinge rotation axis (in local-space coordinates of body 1) + Vector3& getHingeLocalAxisBody1(Entity jointEntity); + + /// Set the hinge rotation axis (in local-space coordinates of body 1) + void setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1); + + /// Return the hinge rotation axis (in local-space coordiantes of body 2) + Vector3& getHingeLocalAxisBody2(Entity jointEntity); + + /// Set the hinge rotation axis (in local-space coordiantes of body 2) + void setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2); + + /// Return the hinge rotation axis (in world-space coordinates) computed from body 1 + Vector3& getA1(Entity jointEntity); + + /// Set the hinge rotation axis (in world-space coordinates) computed from body 1 + void setA1(Entity jointEntity, const Vector3& a1); + + /// Return the cross product of vector b2 and a1 + Vector3& getB2CrossA1(Entity jointEntity); + + /// Set the cross product of vector b2 and a1 + void setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1); + + /// Return the cross product of vector c2 and a1; + Vector3& getC2CrossA1(Entity jointEntity); + + /// Set the cross product of vector c2 and a1; + void setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1); + + /// Return the accumulated impulse for the lower limit constraint + decimal getImpulseLowerLimit(Entity jointEntity) const; + + /// Set the accumulated impulse for the lower limit constraint + void setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit); + + /// Return the accumulated impulse for the upper limit constraint + decimal getImpulseUpperLimit(Entity jointEntity) const; + + /// Set the accumulated impulse for the upper limit constraint + void setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const; + + /// Return the accumulated impulse for the motor constraint; + decimal getImpulseMotor(Entity jointEntity) const; + + /// Set the accumulated impulse for the motor constraint; + void setImpulseMotor(Entity jointEntity, decimal impulseMotor); + + /// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) + decimal getInverseMassMatrixLimitMotor(Entity jointEntity) const; + + /// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) + void setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor); + + /// Return the inverse of mass matrix K=JM^-1J^t for the motor + decimal getInverseMassMatrixMotor(Entity jointEntity); + + /// Set the inverse of mass matrix K=JM^-1J^t for the motor + void setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor); + + /// Return the bias of the lower limit constraint + decimal getBLowerLimit(Entity jointEntity) const; + + /// Set the bias of the lower limit constraint + void setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const; + + /// Return the bias of the upper limit constraint + decimal getBUpperLimit(Entity jointEntity) const; + + /// Set the bias of the upper limit constraint + void setBUpperLimit(Entity jointEntity, decimal bUpperLimit); + + /// Return true if the joint limits are enabled + bool getIsLimitEnabled(Entity jointEntity) const; + + /// Set to true if the joint limits are enabled + void setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled); + + /// Return true if the motor of the joint in enabled + bool getIsMotorEnabled(Entity jointEntity) const; + + /// Set to true if the motor of the joint in enabled + void setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const; + + /// Return the Lower limit (minimum allowed rotation angle in radian) + decimal getLowerLimit(Entity jointEntity) const; + + /// Set the Lower limit (minimum allowed rotation angle in radian) + void setLowerLimit(Entity jointEntity, decimal lowerLimit) const; + + /// Return the upper limit (maximum translation distance) + decimal getUpperLimit(Entity jointEntity) const; + + /// Set the upper limit (maximum translation distance) + void setUpperLimit(Entity jointEntity, decimal upperLimit); + + /// Return true if the lower limit is violated + bool getIsLowerLimitViolated(Entity jointEntity) const; + + /// Set to true if the lower limit is violated + void setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated); + + /// Return true if the upper limit is violated + bool getIsUpperLimitViolated(Entity jointEntity) const; + + /// Set to true if the upper limit is violated + void setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const; + + /// Return the motor speed (in rad/s) + decimal getMotorSpeed(Entity jointEntity) const; + + /// Set the motor speed (in rad/s) + void setMotorSpeed(Entity jointEntity, decimal motorSpeed); + + /// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed + decimal getMaxMotorTorque(Entity jointEntity) const; + + /// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed + void setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque); + */ + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; +}; + +// Return a pointer to a given joint +inline SliderJoint* SliderJointComponents::getJoint(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mJoints[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the joint pointer to a given joint +inline void SliderJointComponents::setJoint(Entity jointEntity, SliderJoint* joint) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mJoints[mMapEntityToComponentIndex[jointEntity]] = joint; +} + +// Return the local anchor point of body 1 for a given joint +inline const Vector3& SliderJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 1 for a given joint +inline void SliderJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; +} + +// Return the local anchor point of body 2 for a given joint +inline const Vector3& SliderJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the local anchor point of body 2 for a given joint +inline void SliderJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; +} + +// Return the inertia tensor of body 1 (in world-space coordinates) +inline const Matrix3x3& SliderJointComponents::getI1(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 1 (in world-space coordinates) +inline void SliderJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI1[mMapEntityToComponentIndex[jointEntity]] = i1; +} + +// Return the inertia tensor of body 2 (in world-space coordinates) +inline const Matrix3x3& SliderJointComponents::getI2(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mI2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inertia tensor of body 2 (in world-space coordinates) +inline void SliderJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mI2[mMapEntityToComponentIndex[jointEntity]] = i2; +} + +// Return the translation impulse +inline Vector2& SliderJointComponents::getImpulseTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void SliderJointComponents::setImpulseTranslation(Entity jointEntity, const Vector2& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the translation impulse +inline Vector3& SliderJointComponents::getImpulseRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void SliderJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the translation inverse mass matrix of the constraint +inline Matrix2x2& SliderJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation inverse mass matrix of the constraint +inline void SliderJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the rotation inverse mass matrix of the constraint +inline Matrix3x3& SliderJointComponents::getInverseMassMatrixRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation inverse mass matrix of the constraint +inline void SliderJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix; +} + +// Return the translation bias +inline Vector2& SliderJointComponents::getBiasTranslation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the translation impulse +inline void SliderJointComponents::setBiasTranslation(Entity jointEntity, const Vector2& impulseTranslation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation; +} + +// Return the rotation bias +inline Vector3& SliderJointComponents::getBiasRotation(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBiasRotation[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation impulse +inline void SliderJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation; +} + +// Return the initial orientation difference +inline Quaternion& SliderJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the rotation impulse +inline void SliderJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; +} + +/* +// Return the hinge rotation axis (in local-space coordinates of body 1) +inline Vector3& HingeJointComponents::getHingeLocalAxisBody1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the hinge rotation axis (in local-space coordinates of body 1) +inline void HingeJointComponents::setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody1; +} + +// Return the hinge rotation axis (in local-space coordiantes of body 2) +inline Vector3& HingeJointComponents::getHingeLocalAxisBody2(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the hinge rotation axis (in local-space coordiantes of body 2) +inline void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody2; +} + + +// Return the hinge rotation axis (in world-space coordinates) computed from body 1 +inline Vector3& HingeJointComponents::getA1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mA1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the hinge rotation axis (in world-space coordinates) computed from body 1 +inline void HingeJointComponents::setA1(Entity jointEntity, const Vector3& a1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mA1[mMapEntityToComponentIndex[jointEntity]] = a1; +} + +// Return the cross product of vector b2 and a1 +inline Vector3& HingeJointComponents::getB2CrossA1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mB2CrossA1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector b2 and a1 +inline void HingeJointComponents::setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mB2CrossA1[mMapEntityToComponentIndex[jointEntity]] = b2CrossA1; +} + +// Return the cross product of vector c2 and a1; +inline Vector3& HingeJointComponents::getC2CrossA1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mC2CrossA1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector c2 and a1; +inline void HingeJointComponents::setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mC2CrossA1[mMapEntityToComponentIndex[jointEntity]] = c2CrossA1; +} + +// Return the accumulated impulse for the lower limit constraint +inline decimal HingeJointComponents::getImpulseLowerLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse for the lower limit constraint +inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]] = impulseLowerLimit; +} + + +// Return the accumulated impulse for the upper limit constraint +inline decimal HingeJointComponents::getImpulseUpperLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse for the upper limit constraint +inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]] = impulseUpperLimit; +} + + +// Return the accumulated impulse for the motor constraint; +inline decimal HingeJointComponents::getImpulseMotor(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mImpulseMotor[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the accumulated impulse for the motor constraint; +inline void HingeJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mImpulseMotor[mMapEntityToComponentIndex[jointEntity]] = impulseMotor; +} + +// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) +inline decimal HingeJointComponents::getInverseMassMatrixLimitMotor(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) +inline void HingeJointComponents::setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor; +} + +// Return the inverse of mass matrix K=JM^-1J^t for the motor +inline decimal HingeJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]]; +} + +// Return the inverse of mass matrix K=JM^-1J^t for the motor +inline void HingeJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixMotor; +} + +// Return the bias of the lower limit constraint +inline decimal HingeJointComponents::getBLowerLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBLowerLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the bias of the lower limit constraint +inline void HingeJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBLowerLimit[mMapEntityToComponentIndex[jointEntity]] = bLowerLimit; +} + +// Return the bias of the upper limit constraint +inline decimal HingeJointComponents::getBUpperLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mBUpperLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the bias of the upper limit constraint +inline void HingeJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mBUpperLimit[mMapEntityToComponentIndex[jointEntity]] = bUpperLimit; +} + +// Return true if the joint limits are enabled +inline bool HingeJointComponents::getIsLimitEnabled(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the joint limits are enabled +inline void HingeJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled; +} + +// Return true if the motor of the joint in enabled +inline bool HingeJointComponents::getIsMotorEnabled(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the motor of the joint in enabled +inline void HingeJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]] = isMotorEnabled; +} + +// Return the Lower limit (minimum allowed rotation angle in radian) +inline decimal HingeJointComponents::getLowerLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mLowerLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the Lower limit (minimum allowed rotation angle in radian) +inline void HingeJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mLowerLimit[mMapEntityToComponentIndex[jointEntity]] = lowerLimit; +} + +// Return the upper limit (maximum translation distance) +inline decimal HingeJointComponents::getUpperLimit(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mUpperLimit[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the upper limit (maximum translation distance) +inline void HingeJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mUpperLimit[mMapEntityToComponentIndex[jointEntity]] = upperLimit; +} + +// Return true if the lower limit is violated +inline bool HingeJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the lower limit is violated +inline void HingeJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isLowerLimitViolated; +} + +// Return true if the upper limit is violated +inline bool HingeJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the upper limit is violated +inline void HingeJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isUpperLimitViolated; +} + +// Return the motor speed (in rad/s) +inline decimal HingeJointComponents::getMotorSpeed(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mMotorSpeed[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the motor speed (in rad/s) +inline void HingeJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mMotorSpeed[mMapEntityToComponentIndex[jointEntity]] = motorSpeed; +} + +// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed +inline decimal HingeJointComponents::getMaxMotorTorque(Entity jointEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed +inline void HingeJointComponents::setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]] = maxMotorTorque; +} +*/ + +} + +#endif diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 6fd63529..2a05079c 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -36,8 +36,7 @@ const decimal SliderJoint::BETA = decimal(0.2); // Constructor SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointInfo& jointInfo) - : Joint(entity, world, jointInfo), mImpulseTranslation(0, 0), mImpulseRotation(0, 0, 0), - mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), + : Joint(entity, world, jointInfo), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), mLowerLimit(jointInfo.minTranslationLimit), mUpperLimit(jointInfo.maxTranslationLimit), mIsLowerLimitViolated(false), @@ -51,8 +50,8 @@ SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointI // Compute the local-space anchor point for each body const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mLocalAnchorPointBody1 = transform1.getInverse() * jointInfo.anchorPointWorldSpace; - mLocalAnchorPointBody2 = transform2.getInverse() * jointInfo.anchorPointWorldSpace; + mWorld.mSliderJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mSliderJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); // Store inverse of initial rotation from body 1 to body 2 in body 1 space: // @@ -66,7 +65,7 @@ SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointI // q10 = initial orientation of body 1 // r0 = initial rotation rotation from body 1 to body 2 // TODO : Do not compute the inverse here, it has already been computed above - mInitOrientationDifferenceInv = transform2.getOrientation().getInverse() * transform1.getOrientation(); + mWorld.mSliderJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation()); // Compute the slider axis in local-space of body 1 // TODO : Do not compute the inverse here, it has already been computed above @@ -93,12 +92,12 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); // Get the inertia tensor of bodies - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mSliderJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mSliderJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Vector from body center to the anchor point - mR1 = orientationBody1 * mLocalAnchorPointBody1; - mR2 = orientationBody2 * mLocalAnchorPointBody2; + mR1 = orientationBody1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity); + mR2 = orientationBody2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity); // Compute the vector u (difference between anchor points) const Vector3 u = x2 + mR2 - x1 - mR1; @@ -133,15 +132,18 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa mR1PlusUCrossN2 = (r1PlusU).cross(mN2); mR1PlusUCrossSliderAxis = (r1PlusU).cross(mSliderAxisWorld); + const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); + // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); const decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; - Vector3 I2R2CrossN1 = mI2 * mR2CrossN1; - Vector3 I2R2CrossN2 = mI2 * mR2CrossN2; + Vector3 I1R1PlusUCrossN1 = i1 * mR1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * mR1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * mR2CrossN1; + Vector3 I2R2CrossN2 = i2 * mR2CrossN2; const decimal el11 = sumInverseMass + mR1PlusUCrossN1.dot(I1R1PlusUCrossN1) + mR2CrossN1.dot(I2R2CrossN1); const decimal el12 = mR1PlusUCrossN1.dot(I1R1PlusUCrossN2) + @@ -151,36 +153,40 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa const decimal el22 = sumInverseMass + mR1PlusUCrossN2.dot(I1R1PlusUCrossN2) + mR2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); - mInverseMassMatrixTranslationConstraint.setToZero(); + Matrix2x2& inverseMassMatrixTranslation = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity); + inverseMassMatrixTranslation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixTranslationConstraint = matrixKTranslation.getInverse(); + mWorld.mSliderJointsComponents.setInverseMassMatrixTranslation(mEntity, matrixKTranslation.getInverse()); } // Compute the bias "b" of the translation constraint - mBTranslation.setToZero(); + Vector2& biasTranslation = mWorld.mSliderJointsComponents.getBiasTranslation(mEntity); + biasTranslation.setToZero(); decimal biasFactor = (BETA / constraintSolverData.timeStep); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBTranslation.x = u.dot(mN1); - mBTranslation.y = u.dot(mN2); - mBTranslation *= biasFactor; + biasTranslation.x = u.dot(mN1); + biasTranslation.y = u.dot(mN2); + biasTranslation *= biasFactor; + mWorld.mSliderJointsComponents.setBiasTranslation(mEntity, biasTranslation); } // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) - mInverseMassMatrixRotationConstraint = mI1 + mI2; + mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, i1 + i2); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixRotationConstraint = mInverseMassMatrixRotationConstraint.getInverse(); + mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity).getInverse()); } // Compute the bias "b" of the rotation constraint - mBRotation.setToZero(); + Vector3& biasRotation = mWorld.mSliderJointsComponents.getBiasRotation(mEntity); + biasRotation.setToZero(); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - const Quaternion qError = orientationBody2 * mInitOrientationDifferenceInv * orientationBody1.getInverse(); - mBRotation = biasFactor * decimal(2.0) * qError.getVectorV(); + const Quaternion qError = orientationBody2 * mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity) * orientationBody1.getInverse(); + mWorld.mSliderJointsComponents.setBiasRotation(mEntity, biasFactor * decimal(2.0) * qError.getVectorV()); } // If the limits are enabled @@ -188,8 +194,8 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) mInverseMassMatrixLimit = sumInverseMass + - mR1PlusUCrossSliderAxis.dot(mI1 * mR1PlusUCrossSliderAxis) + - mR2CrossSliderAxis.dot(mI2 * mR2CrossSliderAxis); + mR1PlusUCrossSliderAxis.dot(i1 * mR1PlusUCrossSliderAxis) + + mR2CrossSliderAxis.dot(i2 * mR2CrossSliderAxis); mInverseMassMatrixLimit = (mInverseMassMatrixLimit > 0.0) ? decimal(1.0) / mInverseMassMatrixLimit : decimal(0.0); @@ -219,8 +225,10 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa if (!constraintSolverData.isWarmStartingActive) { // Reset all the accumulated impulses - mImpulseTranslation.setToZero(); - mImpulseRotation.setToZero(); + Vector2& impulseTranslation = mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity); + Vector3& impulseRotation = mWorld.mSliderJointsComponents.getImpulseRotation(mEntity); + impulseTranslation.setToZero(); + impulseRotation.setToZero(); mImpulseLowerLimit = 0.0; mImpulseUpperLimit = 0.0; mImpulseMotor = 0.0; @@ -254,13 +262,16 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Compute the impulse P=J^T * lambda for the motor constraint of body 1 Vector3 impulseMotor = mImpulseMotor * mSliderAxisWorld; + const Vector2& impulseTranslation = mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity); + const Vector3& impulseRotation = mWorld.mSliderJointsComponents.getImpulseRotation(mEntity); + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - Vector3 linearImpulseBody1 = -mN1 * mImpulseTranslation.x - mN2 * mImpulseTranslation.y; - Vector3 angularImpulseBody1 = -mR1PlusUCrossN1 * mImpulseTranslation.x - - mR1PlusUCrossN2 * mImpulseTranslation.y; + Vector3 linearImpulseBody1 = -mN1 * impulseTranslation.x - mN2 * impulseTranslation.y; + Vector3 angularImpulseBody1 = -mR1PlusUCrossN1 * impulseTranslation.x - + mR1PlusUCrossN2 * impulseTranslation.y; // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 += -mImpulseRotation; + angularImpulseBody1 += -impulseRotation; // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 linearImpulseBody1 += linearImpulseLimits; @@ -271,15 +282,15 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += mWorld.mSliderJointsComponents.getI1(mEntity) * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - Vector3 linearImpulseBody2 = mN1 * mImpulseTranslation.x + mN2 * mImpulseTranslation.y; - Vector3 angularImpulseBody2 = mR2CrossN1 * mImpulseTranslation.x + - mR2CrossN2 * mImpulseTranslation.y; + Vector3 linearImpulseBody2 = mN1 * impulseTranslation.x + mN2 * impulseTranslation.y; + Vector3 angularImpulseBody2 = mR2CrossN1 * impulseTranslation.x + + mR2CrossN2 * impulseTranslation.y; // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 - angularImpulseBody2 += mImpulseRotation; + angularImpulseBody2 += impulseRotation; // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 2 linearImpulseBody2 += -linearImpulseLimits; @@ -290,7 +301,7 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mI2 * angularImpulseBody2; + w2 += mWorld.mSliderJointsComponents.getI2(mEntity) * angularImpulseBody2; } // Solve the velocity constraint @@ -309,6 +320,9 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; + const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); + // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); @@ -323,8 +337,8 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint const Vector2 JvTranslation(el1, el2); // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 deltaLambda = mInverseMassMatrixTranslationConstraint * (-JvTranslation -mBTranslation); - mImpulseTranslation += deltaLambda; + Vector2 deltaLambda = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity) * (-JvTranslation - mWorld.mSliderJointsComponents.getBiasTranslation(mEntity)); + mWorld.mSliderJointsComponents.setImpulseTranslation(mEntity, deltaLambda + mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity)); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 const Vector3 linearImpulseBody1 = -mN1 * deltaLambda.x - mN2 * deltaLambda.y; @@ -333,7 +347,7 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 const Vector3 linearImpulseBody2 = mN1 * deltaLambda.x + mN2 * deltaLambda.y; @@ -341,7 +355,7 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; // --------------- Rotation Constraints --------------- // @@ -349,20 +363,21 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint const Vector3 JvRotation = w2 - w1; // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 deltaLambda2 = mInverseMassMatrixRotationConstraint * (-JvRotation - mBRotation); - mImpulseRotation += deltaLambda2; + Vector3 deltaLambda2 = mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity) * + (-JvRotation - mWorld.mSliderJointsComponents.getBiasRotation(mEntity)); + mWorld.mSliderJointsComponents.setImpulseRotation(mEntity, deltaLambda2 + mWorld.mSliderJointsComponents.getImpulseRotation(mEntity)); // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 angularImpulseBody1 = -deltaLambda2; // Apply the impulse to the body to body 1 - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 angularImpulseBody2 = deltaLambda2; // Apply the impulse to the body 2 - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; // --------------- Limits Constraints --------------- // @@ -387,7 +402,7 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 const Vector3 linearImpulseBody2 = deltaLambdaLower * mSliderAxisWorld; @@ -395,7 +410,7 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; } // If the upper limit is violated @@ -417,7 +432,7 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mI1 * angularImpulseBody1; + w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 const Vector3 linearImpulseBody2 = -deltaLambdaUpper * mSliderAxisWorld; @@ -425,7 +440,7 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mI2 * angularImpulseBody2; + w2 += i2 * angularImpulseBody2; } } @@ -483,12 +498,12 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inertia tensor of bodies - mI1 = body1->getInertiaTensorInverseWorld(); - mI2 = body2->getInertiaTensorInverseWorld(); + mWorld.mSliderJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); + mWorld.mSliderJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Vector from body center to the anchor point - mR1 = q1 * mLocalAnchorPointBody1; - mR2 = q2 * mLocalAnchorPointBody2; + mR1 = q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity); + mR2 = q2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity); // Compute the vector u (difference between anchor points) const Vector3 u = x2 + mR2 - x1 - mR1; @@ -517,15 +532,18 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // --------------- Translation Constraints --------------- // + const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); + const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); + // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation // constraints (2x2 matrix) const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = mI1 * mR1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = mI1 * mR1PlusUCrossN2; - Vector3 I2R2CrossN1 = mI2 * mR2CrossN1; - Vector3 I2R2CrossN2 = mI2 * mR2CrossN2; + Vector3 I1R1PlusUCrossN1 = i1 * mR1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * mR1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * mR2CrossN1; + Vector3 I2R2CrossN2 = i2 * mR2CrossN2; const decimal el11 = sumInverseMass + mR1PlusUCrossN1.dot(I1R1PlusUCrossN1) + mR2CrossN1.dot(I2R2CrossN1); const decimal el12 = mR1PlusUCrossN1.dot(I1R1PlusUCrossN2) + @@ -535,18 +553,19 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint const decimal el22 = sumInverseMass + mR1PlusUCrossN2.dot(I1R1PlusUCrossN2) + mR2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); - mInverseMassMatrixTranslationConstraint.setToZero(); + Matrix2x2& inverseMassMatrixTranslation = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity); + inverseMassMatrixTranslation.setToZero(); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixTranslationConstraint = matrixKTranslation.getInverse(); + mWorld.mSliderJointsComponents.setInverseMassMatrixTranslation(mEntity, matrixKTranslation.getInverse()); } // Compute the position error for the 2 translation constraints const Vector2 translationError(u.dot(mN1), u.dot(mN2)); // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 lambdaTranslation = mInverseMassMatrixTranslationConstraint * (-translationError); + Vector2 lambdaTranslation = inverseMassMatrixTranslation * (-translationError); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 const Vector3 linearImpulseBody1 = -mN1 * lambdaTranslation.x - mN2 * lambdaTranslation.y; @@ -555,7 +574,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = mI1 * angularImpulseBody1; + Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 x1 += v1; @@ -569,7 +588,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 2 const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - Vector3 w2 = mI2 * angularImpulseBody2; + Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 x2 += v2; @@ -580,11 +599,11 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation // contraints (3x3 matrix) - mInverseMassMatrixRotationConstraint = mI1 + mI2; + mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, i1 + i2); if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mInverseMassMatrixRotationConstraint = mInverseMassMatrixRotationConstraint.getInverse(); + mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity).getInverse()); } // Calculate difference in rotation @@ -602,7 +621,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // q1 = current rotation of body 1 // q2 = current rotation of body 2 // qError = error that needs to be reduced to zero - Quaternion qError = q2 * mInitOrientationDifferenceInv * q1.getInverse(); + Quaternion qError = q2 * mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity) * q1.getInverse(); // A quaternion can be seen as: // @@ -616,13 +635,13 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 lambdaRotation = mInverseMassMatrixRotationConstraint * (-errorRotation); + Vector3 lambdaRotation = mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity) * (-errorRotation); // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 angularImpulseBody1 = -lambdaRotation; // Apply the impulse to the body 1 - w1 = mI1 * angularImpulseBody1; + w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 q1 += Quaternion(0, w1) * q1 * decimal(0.5); @@ -632,7 +651,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint angularImpulseBody2 = lambdaRotation; // Apply the impulse to the body 2 - w2 = mI2 * angularImpulseBody2; + w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); @@ -648,8 +667,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); mInverseMassMatrixLimit = body1MassInverse + body2MassInverse + - mR1PlusUCrossSliderAxis.dot(mI1 * mR1PlusUCrossSliderAxis) + - mR2CrossSliderAxis.dot(mI2 * mR2CrossSliderAxis); + mR1PlusUCrossSliderAxis.dot(i1 * mR1PlusUCrossSliderAxis) + + mR2CrossSliderAxis.dot(i2 * mR2CrossSliderAxis); mInverseMassMatrixLimit = (mInverseMassMatrixLimit > 0.0) ? decimal(1.0) / mInverseMassMatrixLimit : decimal(0.0); } @@ -666,7 +685,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = mI1 * angularImpulseBody1; + const Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 x1 += v1; @@ -679,7 +698,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 2 const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - const Vector3 w2 = mI2 * angularImpulseBody2; + const Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 x2 += v2; @@ -699,7 +718,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = mI1 * angularImpulseBody1; + const Vector3 w1 = i1 * angularImpulseBody1; // Update the body position/orientation of body 1 x1 += v1; @@ -712,7 +731,7 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // Apply the impulse to the body 2 const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - const Vector3 w2 = mI2 * angularImpulseBody2; + const Vector3 w2 = i2 * angularImpulseBody2; // Update the body position/orientation of body 2 x2 += v2; @@ -779,8 +798,8 @@ decimal SliderJoint::getTranslation() const { const Quaternion& q2 = transform2.getOrientation(); // Compute the two anchor points in world-space coordinates - const Vector3 anchorBody1 = x1 + q1 * mLocalAnchorPointBody1; - const Vector3 anchorBody2 = x2 + q2 * mLocalAnchorPointBody2; + const Vector3 anchorBody1 = x1 + q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity); + const Vector3 anchorBody2 = x2 + q2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity); // Compute the vector u (difference between anchor points) const Vector3 u = anchorBody2 - anchorBody1; @@ -868,3 +887,14 @@ void SliderJoint::setMaxMotorForce(decimal maxMotorForce) { awakeBodies(); } } + +// Return a string representation +std::string SliderJoint::to_string() const { + return "SliderJoint{ lowerLimit=" + std::to_string(mLowerLimit) + ", upperLimit=" + std::to_string(mUpperLimit) + + "localAnchorPointBody1=" + mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + ", localAnchorPointBody2=" + + mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + ", sliderAxisBody1=" + mSliderAxisBody1.to_string() + + ", initOrientationDifferenceInv=" + + mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() + ", motorSpeed=" + std::to_string(mMotorSpeed) + + ", maxMotorForce=" + std::to_string(mMaxMotorForce) + ", isLimitEnabled=" + + (mIsLimitEnabled ? "true" : "false") + ", isMotorEnabled=" + (mIsMotorEnabled ? "true" : "false") + "}"; +} diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index 501dc4d9..fc5b2e98 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -150,36 +150,21 @@ class SliderJoint : public Joint { // -------------------- Attributes -------------------- // - /// Anchor point of body 1 (in local-space coordinates of body 1) - Vector3 mLocalAnchorPointBody1; + /// Vector r1 in world-space coordinates + Vector3 mR1; - /// Anchor point of body 2 (in local-space coordinates of body 2) - Vector3 mLocalAnchorPointBody2; + /// Vector r2 in world-space coordinates + Vector3 mR2; /// Slider axis (in local-space coordinates of body 1) Vector3 mSliderAxisBody1; - /// Inertia tensor of body 1 (in world-space coordinates) - Matrix3x3 mI1; - - /// Inertia tensor of body 2 (in world-space coordinates) - Matrix3x3 mI2; - - /// Inverse of the initial orientation difference between the two bodies - Quaternion mInitOrientationDifferenceInv; - /// First vector orthogonal to the slider axis local-space of body 1 Vector3 mN1; /// Second vector orthogonal to the slider axis and mN1 in local-space of body 1 Vector3 mN2; - /// Vector r1 in world-space coordinates - Vector3 mR1; - - /// Vector r2 in world-space coordinates - Vector3 mR2; - /// Cross product of r2 and n1 Vector3 mR2CrossN1; @@ -198,36 +183,18 @@ class SliderJoint : public Joint { /// Cross product of vector (r1 + u) and the slider axis Vector3 mR1PlusUCrossSliderAxis; - /// Bias of the 2 translation constraints - Vector2 mBTranslation; - - /// Bias of the 3 rotation constraints - Vector3 mBRotation; - /// Bias of the lower limit constraint decimal mBLowerLimit; /// Bias of the upper limit constraint decimal mBUpperLimit; - /// Inverse of mass matrix K=JM^-1J^t for the translation constraint (2x2 matrix) - Matrix2x2 mInverseMassMatrixTranslationConstraint; - - /// Inverse of mass matrix K=JM^-1J^t for the rotation constraint (3x3 matrix) - Matrix3x3 mInverseMassMatrixRotationConstraint; - /// Inverse of mass matrix K=JM^-1J^t for the upper and lower limit constraints (1x1 matrix) decimal mInverseMassMatrixLimit; /// Inverse of mass matrix K=JM^-1J^t for the motor decimal mInverseMassMatrixMotor; - /// Accumulated impulse for the 2 translation constraints - Vector2 mImpulseTranslation; - - /// Accumulated impulse for the 3 rotation constraints - Vector3 mImpulseRotation; - /// Accumulated impulse for the lower limit constraint decimal mImpulseLowerLimit; @@ -408,17 +375,6 @@ inline size_t SliderJoint::getSizeInBytes() const { return sizeof(SliderJoint); } -// Return a string representation -inline std::string SliderJoint::to_string() const { - return "SliderJoint{ lowerLimit=" + std::to_string(mLowerLimit) + ", upperLimit=" + std::to_string(mUpperLimit) + - "localAnchorPointBody1=" + mLocalAnchorPointBody1.to_string() + ", localAnchorPointBody2=" + - mLocalAnchorPointBody2.to_string() + ", sliderAxisBody1=" + mSliderAxisBody1.to_string() + - ", initOrientationDifferenceInv=" + - mInitOrientationDifferenceInv.to_string() + ", motorSpeed=" + std::to_string(mMotorSpeed) + - ", maxMotorForce=" + std::to_string(mMaxMotorForce) + ", isLimitEnabled=" + - (mIsLimitEnabled ? "true" : "false") + ", isMotorEnabled=" + (mIsMotorEnabled ? "true" : "false") + "}"; -} - } #endif diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 4d77fee6..b78eeb6a 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -42,6 +42,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), mFixedJointsComponents(mMemoryManager.getBaseAllocator()), mHingeJointsComponents(mMemoryManager.getBaseAllocator()), + mSliderJointsComponents(mMemoryManager.getBaseAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), @@ -271,6 +272,9 @@ void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { if (mHingeJointsComponents.hasComponent(jointEntity)) { mHingeJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); } + if (mSliderJointsComponents.hasComponent(jointEntity)) { + mSliderJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } } // Return true if two bodies overlap diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 95b5a5e3..7c071d4d 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -41,6 +41,7 @@ #include "components/BallAndSocketJointComponents.h" #include "components/FixedJointComponents.h" #include "components/HingeJointComponents.h" +#include "components/SliderJointComponents.h" #include "collision/CollisionCallback.h" #include "collision/OverlapCallback.h" @@ -104,6 +105,9 @@ class CollisionWorld { /// Hinge joints Components HingeJointComponents mHingeJointsComponents; + /// Slider joints Components + SliderJointComponents mSliderJointsComponents; + /// Reference to the collision detection CollisionDetectionSystem mCollisionDetection; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 51ba7784..64a495ca 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -348,10 +348,18 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { // Slider joint case JointType::SLIDERJOINT: { + // Create a SliderJoint component + SliderJointComponents::SliderJointComponent sliderJointComponent; + mSliderJointsComponents.addComponent(entity, isJointDisabled, sliderJointComponent); + void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SliderJoint)); const SliderJointInfo& info = static_cast(jointInfo); - newJoint = new (allocatedMemory) SliderJoint(entity, *this, info); + SliderJoint* joint = new (allocatedMemory) SliderJoint(entity, *this, info); + + newJoint = joint; + mSliderJointsComponents.setJoint(entity, joint); + break; } @@ -461,10 +469,25 @@ void DynamicsWorld::destroyJoint(Joint* joint) { size_t nbBytes = joint->getSizeInBytes(); + Entity jointEntity = joint->getEntity(); + // Destroy the corresponding entity and its components // TODO : Make sure we remove all its components here - mJointsComponents.removeComponent(joint->getEntity()); - mEntityManager.destroyEntity(joint->getEntity()); + mJointsComponents.removeComponent(jointEntity); + mEntityManager.destroyEntity(jointEntity); + + if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) { + mBallAndSocketJointsComponents.removeComponent(jointEntity); + } + if (mFixedJointsComponents.hasComponent(jointEntity)) { + mFixedJointsComponents.removeComponent(jointEntity); + } + if (mHingeJointsComponents.hasComponent(jointEntity)) { + mHingeJointsComponents.removeComponent(jointEntity); + } + if (mSliderJointsComponents.hasComponent(jointEntity)) { + mSliderJointsComponents.removeComponent(jointEntity); + } // Call the destructor of the joint joint->~Joint(); diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 839e5ffe..5687c943 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -410,7 +410,6 @@ inline decimal DynamicsWorld::getTimeBeforeSleep() const { return mTimeBeforeSleep; } - // Set the time a body is required to stay still before sleeping /** * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds) From 170a1bfdfd31445e02d37f4fa5814e001a700744 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 19 Sep 2019 17:12:52 +0200 Subject: [PATCH 087/197] Working on SliderJointComponents class --- src/components/HingeJointComponents.cpp | 1 + src/components/SliderJointComponents.cpp | 195 +++++---- src/components/SliderJointComponents.h | 396 ++++++++++++------ src/constraint/SliderJoint.cpp | 504 ++++++++++++++--------- src/constraint/SliderJoint.h | 138 ------- src/engine/DynamicsWorld.cpp | 10 +- 6 files changed, 703 insertions(+), 541 deletions(-) diff --git a/src/components/HingeJointComponents.cpp b/src/components/HingeJointComponents.cpp index 6a71ba9c..253e56dd 100644 --- a/src/components/HingeJointComponents.cpp +++ b/src/components/HingeJointComponents.cpp @@ -210,6 +210,7 @@ void HingeJointComponents::addComponent(Entity jointEntity, bool isSleeping, con new (mC2CrossA1 + index) Vector3(0, 0, 0); mImpulseLowerLimit[index] = decimal(0.0); mImpulseUpperLimit[index] = decimal(0.0); + mImpulseMotor[index] = decimal(0.0); mInverseMassMatrixLimitMotor[index] = decimal(0.0); mInverseMassMatrixMotor[index] = decimal(0.0); mBLowerLimit[index] = decimal(0.0); diff --git a/src/components/SliderJointComponents.cpp b/src/components/SliderJointComponents.cpp index d7bdc751..c1e1ce4c 100644 --- a/src/components/SliderJointComponents.cpp +++ b/src/components/SliderJointComponents.cpp @@ -35,15 +35,17 @@ using namespace reactphysics3d; // Constructor SliderJointComponents::SliderJointComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(SliderJoint*) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Matrix3x3) + sizeof(Matrix3x3) + sizeof(Vector2) + sizeof(Vector3) + sizeof(Matrix2x2) + sizeof(Matrix3x3) + - sizeof(Vector2) + sizeof(Vector3) + sizeof(Quaternion)/* + + sizeof(Vector2) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal) + sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal) + - sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(decimal)*/) { + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -75,17 +77,17 @@ void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { Vector2* newBiasTranslation = reinterpret_cast(newInverseMassMatrixRotation + nbComponentsToAllocate); Vector3* newBiasRotation = reinterpret_cast(newBiasTranslation + nbComponentsToAllocate); Quaternion* newInitOrientationDifferenceInv = reinterpret_cast(newBiasRotation + nbComponentsToAllocate); - /* - Vector3* newHingeLocalAxisBody1 = reinterpret_cast(newInitOrientationDifferenceInv + nbComponentsToAllocate); - Vector3* newHingeLocalAxisBody2 = reinterpret_cast(newHingeLocalAxisBody1 + nbComponentsToAllocate); - Vector3* newA1 = reinterpret_cast(newHingeLocalAxisBody2 + nbComponentsToAllocate); - Vector3* newB2CrossA1 = reinterpret_cast(newA1 + nbComponentsToAllocate); - Vector3* newC2CrossA1 = reinterpret_cast(newB2CrossA1 + nbComponentsToAllocate); - decimal* newImpulseLowerLimit = reinterpret_cast(newC2CrossA1 + nbComponentsToAllocate); + Vector3* newSliderAxisBody1 = reinterpret_cast(newInitOrientationDifferenceInv + nbComponentsToAllocate); + Vector3* newSliderAxisWorld = reinterpret_cast(newSliderAxisBody1 + nbComponentsToAllocate); + Vector3* newR1 = reinterpret_cast(newSliderAxisWorld + nbComponentsToAllocate); + Vector3* newR2 = reinterpret_cast(newR1 + nbComponentsToAllocate); + Vector3* newN1 = reinterpret_cast(newR2 + nbComponentsToAllocate); + Vector3* newN2 = reinterpret_cast(newN1 + nbComponentsToAllocate); + decimal* newImpulseLowerLimit = reinterpret_cast(newN2 + nbComponentsToAllocate); decimal* newImpulseUpperLimit = reinterpret_cast(newImpulseLowerLimit + nbComponentsToAllocate); decimal* newImpulseMotor = reinterpret_cast(newImpulseUpperLimit + nbComponentsToAllocate); - decimal* newInverseMassMatrixLimitMotor = reinterpret_cast(newImpulseMotor + nbComponentsToAllocate); - decimal* newInverseMassMatrixMotor = reinterpret_cast(newInverseMassMatrixLimitMotor + nbComponentsToAllocate); + decimal* newInverseMassMatrixLimit = reinterpret_cast(newImpulseMotor + nbComponentsToAllocate); + decimal* newInverseMassMatrixMotor = reinterpret_cast(newInverseMassMatrixLimit + nbComponentsToAllocate); decimal* newBLowerLimit = reinterpret_cast(newInverseMassMatrixMotor + nbComponentsToAllocate); decimal* newBUpperLimit = reinterpret_cast(newBLowerLimit + nbComponentsToAllocate); bool* newIsLimitEnabled = reinterpret_cast(newBUpperLimit + nbComponentsToAllocate); @@ -95,8 +97,13 @@ void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { bool* newIsLowerLimitViolated = reinterpret_cast(newUpperLimit + nbComponentsToAllocate); bool* newIsUpperLimitViolated = reinterpret_cast(newIsLowerLimitViolated + nbComponentsToAllocate); decimal* newMotorSpeed = reinterpret_cast(newIsUpperLimitViolated + nbComponentsToAllocate); - decimal* newMaxMotorTorque = reinterpret_cast(newMotorSpeed + nbComponentsToAllocate); - */ + decimal* newMaxMotorForce = reinterpret_cast(newMotorSpeed + nbComponentsToAllocate); + Vector3* newR2CrossN1 = reinterpret_cast(newMaxMotorForce + nbComponentsToAllocate); + Vector3* newR2CrossN2 = reinterpret_cast(newR2CrossN1 + nbComponentsToAllocate); + Vector3* newR2CrossSliderAxis = reinterpret_cast(newR2CrossN2 + nbComponentsToAllocate); + Vector3* newR1PlusUCrossN1 = reinterpret_cast(newR2CrossSliderAxis + nbComponentsToAllocate); + Vector3* newR1PlusUCrossN2 = reinterpret_cast(newR1PlusUCrossN1 + nbComponentsToAllocate); + Vector3* newR1PlusUCrossSliderAxis = reinterpret_cast(newR1PlusUCrossN2 + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -115,16 +122,16 @@ void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBiasTranslation, mBiasTranslation, mNbComponents * sizeof(Vector2)); memcpy(newBiasRotation, mBiasRotation, mNbComponents * sizeof(Vector3)); memcpy(newInitOrientationDifferenceInv, mInitOrientationDifferenceInv, mNbComponents * sizeof(Quaternion)); - /* - memcpy(newHingeLocalAxisBody1, mHingeLocalAxisBody1, mNbComponents * sizeof(Vector3)); - memcpy(newHingeLocalAxisBody2, mHingeLocalAxisBody2, mNbComponents * sizeof(Vector3)); - memcpy(newA1, mA1, mNbComponents * sizeof(Vector3)); - memcpy(newB2CrossA1, mB2CrossA1, mNbComponents * sizeof(Vector3)); - memcpy(newC2CrossA1, mC2CrossA1, mNbComponents * sizeof(Vector3)); + memcpy(newSliderAxisBody1, mSliderAxisBody1, mNbComponents * sizeof(Vector3)); + memcpy(newSliderAxisWorld, mSliderAxisWorld, mNbComponents * sizeof(Vector3)); + memcpy(newR1, mR1, mNbComponents * sizeof(Vector3)); + memcpy(newR2, mR2, mNbComponents * sizeof(Vector3)); + memcpy(newN1, mN1, mNbComponents * sizeof(Vector3)); + memcpy(newN2, mN2, mNbComponents * sizeof(Vector3)); memcpy(newImpulseLowerLimit, mImpulseLowerLimit, mNbComponents * sizeof(decimal)); memcpy(newImpulseUpperLimit, mImpulseUpperLimit, mNbComponents * sizeof(decimal)); memcpy(newImpulseMotor, mImpulseMotor, mNbComponents * sizeof(decimal)); - memcpy(newInverseMassMatrixLimitMotor, mInverseMassMatrixLimitMotor, mNbComponents * sizeof(decimal)); + memcpy(newInverseMassMatrixLimit, mInverseMassMatrixLimit, mNbComponents * sizeof(decimal)); memcpy(newInverseMassMatrixMotor, mInverseMassMatrixMotor, mNbComponents * sizeof(decimal)); memcpy(newBLowerLimit, mBLowerLimit, mNbComponents * sizeof(decimal)); memcpy(newBUpperLimit, mBUpperLimit, mNbComponents * sizeof(decimal)); @@ -135,8 +142,13 @@ void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newIsLowerLimitViolated, mIsLowerLimitViolated, mNbComponents * sizeof(bool)); memcpy(newIsUpperLimitViolated, mIsUpperLimitViolated, mNbComponents * sizeof(bool)); memcpy(newMotorSpeed, mMotorSpeed, mNbComponents * sizeof(decimal)); - memcpy(newMaxMotorTorque, mMaxMotorTorque, mNbComponents * sizeof(decimal)); - */ + memcpy(newMaxMotorForce, mMaxMotorForce, mNbComponents * sizeof(decimal)); + memcpy(newR2CrossN1, mR2CrossN1, mNbComponents * sizeof(decimal)); + memcpy(newR2CrossN2, mR2CrossN2, mNbComponents * sizeof(decimal)); + memcpy(newR2CrossSliderAxis, mR2CrossSliderAxis, mNbComponents * sizeof(decimal)); + memcpy(newR1PlusUCrossN1, mR1PlusUCrossN1, mNbComponents * sizeof(decimal)); + memcpy(newR1PlusUCrossN2, mR1PlusUCrossN2, mNbComponents * sizeof(decimal)); + memcpy(newR1PlusUCrossSliderAxis, mR1PlusUCrossSliderAxis, mNbComponents * sizeof(decimal)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -157,16 +169,16 @@ void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { mBiasTranslation = newBiasTranslation; mBiasRotation = newBiasRotation; mInitOrientationDifferenceInv = newInitOrientationDifferenceInv; - /* - mHingeLocalAxisBody1 = newHingeLocalAxisBody1; - mHingeLocalAxisBody2 = newHingeLocalAxisBody2; - mA1 = newA1; - mB2CrossA1 = newB2CrossA1; - mC2CrossA1 = newC2CrossA1; + mSliderAxisBody1 = newSliderAxisBody1; + mSliderAxisWorld = newSliderAxisWorld; + mR1 = newR1; + mR2 = newR2; + mN1 = newN1; + mN2 = newN2; mImpulseLowerLimit = newImpulseLowerLimit; mImpulseUpperLimit = newImpulseUpperLimit; mImpulseMotor = newImpulseMotor; - mInverseMassMatrixLimitMotor = newInverseMassMatrixLimitMotor; + mInverseMassMatrixLimit = newInverseMassMatrixLimit; mInverseMassMatrixMotor = newInverseMassMatrixMotor; mBLowerLimit = newBLowerLimit; mBUpperLimit = newBUpperLimit; @@ -177,8 +189,13 @@ void SliderJointComponents::allocate(uint32 nbComponentsToAllocate) { mIsLowerLimitViolated = newIsLowerLimitViolated; mIsUpperLimitViolated = newIsUpperLimitViolated; mMotorSpeed = newMotorSpeed; - mMaxMotorTorque = newMaxMotorTorque; - */ + mMaxMotorForce = newMaxMotorForce; + mR2CrossN1 = newR2CrossN1; + mR2CrossN2 = newR2CrossN2; + mR2CrossSliderAxis = newR2CrossSliderAxis; + mR1PlusUCrossN1 = newR1PlusUCrossN1; + mR1PlusUCrossN2 = newR1PlusUCrossN2; + mR1PlusUCrossSliderAxis = newR1PlusUCrossSliderAxis; } // Add a component @@ -201,15 +218,16 @@ void SliderJointComponents::addComponent(Entity jointEntity, bool isSleeping, co new (mBiasTranslation + index) Vector2(0, 0); new (mBiasRotation + index) Vector3(0, 0, 0); new (mInitOrientationDifferenceInv + index) Quaternion(0, 0, 0, 0); - /* - new (mHingeLocalAxisBody1 + index) Vector3(0, 0, 0); - new (mHingeLocalAxisBody2 + index) Vector3(0, 0, 0); - new (mA1 + index) Vector3(0, 0, 0); - new (mB2CrossA1 + index) Vector3(0, 0, 0); - new (mC2CrossA1 + index) Vector3(0, 0, 0); + new (mSliderAxisBody1 + index) Vector3(0, 0, 0); + new (mSliderAxisWorld + index) Vector3(0, 0, 0); + new (mR1 + index) Vector3(0, 0, 0); + new (mR2 + index) Vector3(0, 0, 0); + new (mN1 + index) Vector3(0, 0, 0); + new (mN2 + index) Vector3(0, 0, 0); mImpulseLowerLimit[index] = decimal(0.0); mImpulseUpperLimit[index] = decimal(0.0); - mInverseMassMatrixLimitMotor[index] = decimal(0.0); + mImpulseMotor[index] = decimal(0.0); + mInverseMassMatrixLimit[index] = decimal(0.0); mInverseMassMatrixMotor[index] = decimal(0.0); mBLowerLimit[index] = decimal(0.0); mBUpperLimit[index] = decimal(0.0); @@ -220,8 +238,13 @@ void SliderJointComponents::addComponent(Entity jointEntity, bool isSleeping, co mIsLowerLimitViolated[index] = false; mIsUpperLimitViolated[index] = false; mMotorSpeed[index] = component.motorSpeed; - mMaxMotorTorque[index] = component.maxMotorTorque; - */ + mMaxMotorForce[index] = component.maxMotorForce; + new (mR2CrossN1 + index) Vector3(0, 0, 0); + new (mR2CrossN2 + index) Vector3(0, 0, 0); + new (mR2CrossSliderAxis + index) Vector3(0, 0, 0); + new (mR1PlusUCrossN1 + index) Vector3(0, 0, 0); + new (mR1PlusUCrossN2 + index) Vector3(0, 0, 0); + new (mR1PlusUCrossSliderAxis + index) Vector3(0, 0, 0); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(jointEntity, index)); @@ -252,16 +275,16 @@ void SliderJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd new (mBiasTranslation + destIndex) Vector2(mBiasTranslation[srcIndex]); new (mBiasRotation + destIndex) Vector3(mBiasRotation[srcIndex]); new (mInitOrientationDifferenceInv + destIndex) Quaternion(mInitOrientationDifferenceInv[srcIndex]); - /* - new (mHingeLocalAxisBody1 + destIndex) Vector3(mHingeLocalAxisBody1[srcIndex]); - new (mHingeLocalAxisBody2 + destIndex) Vector3(mHingeLocalAxisBody2[srcIndex]); - new (mA1 + destIndex) Vector3(mA1[srcIndex]); - new (mB2CrossA1 + destIndex) Vector3(mB2CrossA1[srcIndex]); - new (mC2CrossA1 + destIndex) Vector3(mC2CrossA1[srcIndex]); + new (mSliderAxisBody1 + destIndex) Vector3(mSliderAxisBody1[srcIndex]); + new (mSliderAxisWorld + destIndex) Vector3(mSliderAxisWorld[srcIndex]); + new (mR1 + destIndex) Vector3(mR1[srcIndex]); + new (mR2 + destIndex) Vector3(mR2[srcIndex]); + new (mN1 + destIndex) Vector3(mN1[srcIndex]); + new (mN2 + destIndex) Vector3(mN2[srcIndex]); mImpulseLowerLimit[destIndex] = mImpulseLowerLimit[srcIndex]; mImpulseUpperLimit[destIndex] = mImpulseUpperLimit[srcIndex]; mImpulseMotor[destIndex] = mImpulseMotor[srcIndex]; - mInverseMassMatrixLimitMotor[destIndex] = mInverseMassMatrixLimitMotor[srcIndex]; + mInverseMassMatrixLimit[destIndex] = mInverseMassMatrixLimit[srcIndex]; mInverseMassMatrixMotor[destIndex] = mInverseMassMatrixMotor[srcIndex]; mBLowerLimit[destIndex] = mBLowerLimit[srcIndex]; mBUpperLimit[destIndex] = mBUpperLimit[srcIndex]; @@ -272,8 +295,13 @@ void SliderJointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInd mIsLowerLimitViolated[destIndex] = mIsLowerLimitViolated[srcIndex]; mIsUpperLimitViolated[destIndex] = mIsUpperLimitViolated[srcIndex]; mMotorSpeed[destIndex] = mMotorSpeed[srcIndex]; - mMaxMotorTorque[destIndex] = mMaxMotorTorque[srcIndex]; - */ + mMaxMotorForce[destIndex] = mMaxMotorForce[srcIndex]; + new (mR2CrossN1 + destIndex) Vector3(mR2CrossN1[srcIndex]); + new (mR2CrossN2 + destIndex) Vector3(mR2CrossN2[srcIndex]); + new (mR2CrossSliderAxis + destIndex) Vector3(mR2CrossSliderAxis[srcIndex]); + new (mR1PlusUCrossN1 + destIndex) Vector3(mR1PlusUCrossN1[srcIndex]); + new (mR1PlusUCrossN2 + destIndex) Vector3(mR1PlusUCrossN2[srcIndex]); + new (mR1PlusUCrossSliderAxis + destIndex) Vector3(mR1PlusUCrossSliderAxis[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -303,16 +331,16 @@ void SliderJointComponents::swapComponents(uint32 index1, uint32 index2) { Vector2 biasTranslation1(mBiasTranslation[index1]); Vector3 biasRotation1(mBiasRotation[index1]); Quaternion initOrientationDifferenceInv1(mInitOrientationDifferenceInv[index1]); - /* - Vector3 hingeLocalAxisBody1(mHingeLocalAxisBody1[index1]); - Vector3 hingeLocalAxisBody2(mHingeLocalAxisBody2[index1]); - Vector3 a1(mA1[index1]); - Vector3 b2CrossA1(mB2CrossA1[index1]); - Vector3 c2CrossA1(mC2CrossA1[index1]); + Vector3 sliderAxisBody1(mSliderAxisBody1[index1]); + Vector3 sliderAxisWorld(mSliderAxisWorld[index1]); + Vector3 r1(mR1[index1]); + Vector3 r2(mR2[index1]); + Vector3 n1(mN1[index1]); + Vector3 n2(mN2[index1]); decimal impulseLowerLimit(mImpulseLowerLimit[index1]); decimal impulseUpperLimit(mImpulseUpperLimit[index1]); decimal impulseMotor(mImpulseMotor[index1]); - decimal inverseMassMatrixLimitMotor(mInverseMassMatrixLimitMotor[index1]); + decimal inverseMassMatrixLimit(mInverseMassMatrixLimit[index1]); decimal inverseMassMatrixMotor(mInverseMassMatrixMotor[index1]); decimal bLowerLimit(mBLowerLimit[index1]); decimal bUpperLimit(mUpperLimit[index1]); @@ -323,8 +351,13 @@ void SliderJointComponents::swapComponents(uint32 index1, uint32 index2) { bool isLowerLimitViolated(mIsLowerLimitViolated[index1]); bool isUpperLimitViolated(mIsUpperLimitViolated[index1]); decimal motorSpeed(mMotorSpeed[index1]); - decimal maxMotorTorque(mMaxMotorTorque[index1]); - */ + decimal maxMotorForce(mMaxMotorForce[index1]); + Vector3 r2CrossN1(mR2CrossN1[index1]); + Vector3 r2CrossN2(mR2CrossN2[index1]); + Vector3 r2CrossSliderAxis(mR2CrossSliderAxis[index1]); + Vector3 r1PlusUCrossN1(mR1PlusUCrossN1[index1]); + Vector3 r1PlusUCrossN2(mR1PlusUCrossN2[index1]); + Vector3 r1PlusUCrossSliderAxis(mR1PlusUCrossSliderAxis[index1]); // Destroy component 1 destroyComponent(index1); @@ -345,16 +378,16 @@ void SliderJointComponents::swapComponents(uint32 index1, uint32 index2) { new (mBiasTranslation + index2) Vector2(biasTranslation1); new (mBiasRotation + index2) Vector3(biasRotation1); new (mInitOrientationDifferenceInv + index2) Quaternion(initOrientationDifferenceInv1); - /* - new (mHingeLocalAxisBody1 + index2) Vector3(hingeLocalAxisBody1); - new (mHingeLocalAxisBody2 + index2) Vector3(hingeLocalAxisBody2); - new (mA1 + index2) Vector3(a1); - new (mB2CrossA1 + index2) Vector3(b2CrossA1); - new (mC2CrossA1 + index2) Vector3(c2CrossA1); + new (mSliderAxisBody1 + index2) Vector3(sliderAxisBody1); + new (mSliderAxisWorld + index2) Vector3(sliderAxisWorld); + new (mR1 + index2) Vector3(r1); + new (mR2 + index2) Vector3(r2); + new (mN1 + index2) Vector3(n1); + new (mN2 + index2) Vector3(n2); mImpulseLowerLimit[index2] = impulseLowerLimit; mImpulseUpperLimit[index2] = impulseUpperLimit; mImpulseMotor[index2] = impulseMotor; - mInverseMassMatrixLimitMotor[index2] = inverseMassMatrixLimitMotor; + mInverseMassMatrixLimit[index2] = inverseMassMatrixLimit; mInverseMassMatrixMotor[index2] = inverseMassMatrixMotor; mBLowerLimit[index2] = bLowerLimit; mBUpperLimit[index2] = bUpperLimit; @@ -365,8 +398,13 @@ void SliderJointComponents::swapComponents(uint32 index1, uint32 index2) { mIsLowerLimitViolated[index2] = isLowerLimitViolated; mIsUpperLimitViolated[index2] = isUpperLimitViolated; mMotorSpeed[index2] = motorSpeed; - mMaxMotorTorque[index2] = maxMotorTorque; - */ + mMaxMotorForce[index2] = maxMotorForce; + new (mR2CrossN1 + index2) Vector3(r2CrossN1); + new (mR2CrossN2 + index2) Vector3(r2CrossN2); + new (mR2CrossSliderAxis + index2) Vector3(r2CrossSliderAxis); + new (mR1PlusUCrossN1 + index2) Vector3(r1PlusUCrossN1); + new (mR1PlusUCrossN2 + index2) Vector3(r1PlusUCrossN2); + new (mR1PlusUCrossSliderAxis + index2) Vector3(r1PlusUCrossSliderAxis); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); @@ -398,11 +436,16 @@ void SliderJointComponents::destroyComponent(uint32 index) { mBiasTranslation[index].~Vector2(); mBiasRotation[index].~Vector3(); mInitOrientationDifferenceInv[index].~Quaternion(); - /* - mHingeLocalAxisBody1[index].~Vector3(); - mHingeLocalAxisBody2[index].~Vector3(); - mA1[index].~Vector3(); - mB2CrossA1[index].~Vector3(); - mC2CrossA1[index].~Vector3(); - */ + mSliderAxisBody1[index].~Vector3(); + mSliderAxisWorld[index].~Vector3(); + mR1[index].~Vector3(); + mR2[index].~Vector3(); + mN1[index].~Vector3(); + mN2[index].~Vector3(); + mR2CrossN1[index].~Vector3(); + mR2CrossN2[index].~Vector3(); + mR2CrossSliderAxis[index].~Vector3(); + mR1PlusUCrossN1[index].~Vector3(); + mR1PlusUCrossN2[index].~Vector3(); + mR1PlusUCrossSliderAxis[index].~Vector3(); } diff --git a/src/components/SliderJointComponents.h b/src/components/SliderJointComponents.h index 848330a2..9b206b04 100644 --- a/src/components/SliderJointComponents.h +++ b/src/components/SliderJointComponents.h @@ -92,21 +92,23 @@ class SliderJointComponents : public Components { /// Inverse of the initial orientation difference between the two bodies Quaternion* mInitOrientationDifferenceInv; - /* - /// Hinge rotation axis (in local-space coordinates of body 1) - Vector3* mHingeLocalAxisBody1; + /// Slider axis (in local-space coordinates of body 1) + Vector3* mSliderAxisBody1; - /// Hinge rotation axis (in local-space coordiantes of body 2) - Vector3* mHingeLocalAxisBody2; + /// Slider axis in world-space coordinates + Vector3* mSliderAxisWorld; - /// Hinge rotation axis (in world-space coordinates) computed from body 1 - Vector3* mA1; + /// Vector r1 in world-space coordinates + Vector3* mR1; - /// Cross product of vector b2 and a1 - Vector3* mB2CrossA1; + /// Vector r2 in world-space coordinates + Vector3* mR2; - /// Cross product of vector c2 and a1; - Vector3* mC2CrossA1; + /// First vector orthogonal to the slider axis local-space of body 1 + Vector3* mN1; + + /// Second vector orthogonal to the slider axis and mN1 in local-space of body 1 + Vector3* mN2; /// Accumulated impulse for the lower limit constraint decimal* mImpulseLowerLimit; @@ -117,8 +119,8 @@ class SliderJointComponents : public Components { /// Accumulated impulse for the motor constraint; decimal* mImpulseMotor; - /// Inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) - decimal* mInverseMassMatrixLimitMotor; + /// Inverse of mass matrix K=JM^-1J^t for the upper and lower limit constraints (1x1 matrix) + decimal* mInverseMassMatrixLimit; /// Inverse of mass matrix K=JM^-1J^t for the motor decimal* mInverseMassMatrixMotor; @@ -150,10 +152,26 @@ class SliderJointComponents : public Components { /// Motor speed (in rad/s) decimal* mMotorSpeed; - /// Maximum motor torque (in Newtons) that can be applied to reach to desired motor speed - decimal* mMaxMotorTorque; + /// Maximum motor force (in Newtons) that can be applied to reach to desired motor speed + decimal* mMaxMotorForce; - */ + /// Cross product of r2 and n1 + Vector3* mR2CrossN1; + + /// Cross product of r2 and n2 + Vector3* mR2CrossN2; + + /// Cross product of r2 and the slider axis + Vector3* mR2CrossSliderAxis; + + /// Cross product of vector (r1 + u) and n1 + Vector3* mR1PlusUCrossN1; + + /// Cross product of vector (r1 + u) and n2 + Vector3* mR1PlusUCrossN2; + + /// Cross product of vector (r1 + u) and the slider axis + Vector3* mR1PlusUCrossSliderAxis; // -------------------- Methods -------------------- // @@ -179,18 +197,13 @@ class SliderJointComponents : public Components { decimal lowerLimit; decimal upperLimit; decimal motorSpeed; - decimal maxMotorTorque; - - // TODO : Delete this - SliderJointComponent() { - - } + decimal maxMotorForce; /// Constructor SliderJointComponent(bool isLimitEnabled, bool isMotorEnabled, decimal lowerLimit, decimal upperLimit, - decimal motorSpeed, decimal maxMotorTorque) - : isLimitEnabled(isLimitEnabled), isMotorEnabled(isMotorEnabled), lowerLimit(lowerLimit), upperLimit(upperLimit), - motorSpeed(motorSpeed), maxMotorTorque(maxMotorTorque) { + decimal motorSpeed, decimal maxMotorForce) + :isLimitEnabled(isLimitEnabled), isMotorEnabled(isMotorEnabled), lowerLimit(lowerLimit), upperLimit(upperLimit), + motorSpeed(motorSpeed), maxMotorForce(maxMotorForce) { } }; @@ -278,36 +291,41 @@ class SliderJointComponents : public Components { /// Set the rotation impulse void setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv); - /* - /// Return the hinge rotation axis (in local-space coordinates of body 1) - Vector3& getHingeLocalAxisBody1(Entity jointEntity); + /// Return the slider axis (in local-space coordinates of body 1) + Vector3& getSliderAxisBody1(Entity jointEntity); - /// Set the hinge rotation axis (in local-space coordinates of body 1) - void setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1); + /// Set the slider axis (in local-space coordinates of body 1) + void setSliderAxisBody1(Entity jointEntity, const Vector3& sliderAxisBody1); - /// Return the hinge rotation axis (in local-space coordiantes of body 2) - Vector3& getHingeLocalAxisBody2(Entity jointEntity); + /// Retunr the slider axis in world-space coordinates + Vector3& getSliderAxisWorld(Entity jointEntity); - /// Set the hinge rotation axis (in local-space coordiantes of body 2) - void setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2); + /// Set the slider axis in world-space coordinates + void setSliderAxisWorld(Entity jointEntity, const Vector3& sliderAxisWorld); - /// Return the hinge rotation axis (in world-space coordinates) computed from body 1 - Vector3& getA1(Entity jointEntity); + /// Return the vector r1 in world-space coordinates + Vector3& getR1(Entity jointEntity); - /// Set the hinge rotation axis (in world-space coordinates) computed from body 1 - void setA1(Entity jointEntity, const Vector3& a1); + /// Set the vector r1 in world-space coordinates + void setR1(Entity jointEntity, const Vector3& r1); - /// Return the cross product of vector b2 and a1 - Vector3& getB2CrossA1(Entity jointEntity); + /// Return the vector r2 in world-space coordinates + Vector3& getR2(Entity jointEntity); - /// Set the cross product of vector b2 and a1 - void setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1); + /// Set the vector r2 in world-space coordinates + void setR2(Entity jointEntity, const Vector3& r2); - /// Return the cross product of vector c2 and a1; - Vector3& getC2CrossA1(Entity jointEntity); + /// Return the first vector orthogonal to the slider axis local-space of body 1 + Vector3& getN1(Entity jointEntity); - /// Set the cross product of vector c2 and a1; - void setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1); + /// Set the first vector orthogonal to the slider axis local-space of body 1 + void setN1(Entity jointEntity, const Vector3& n1); + + /// Return the second vector orthogonal to the slider axis and mN1 in local-space of body 1 + Vector3& getN2(Entity jointEntity); + + /// Set the second vector orthogonal to the slider axis and mN1 in local-space of body 1 + void setN2(Entity jointEntity, const Vector3& n2); /// Return the accumulated impulse for the lower limit constraint decimal getImpulseLowerLimit(Entity jointEntity) const; @@ -327,11 +345,11 @@ class SliderJointComponents : public Components { /// Set the accumulated impulse for the motor constraint; void setImpulseMotor(Entity jointEntity, decimal impulseMotor); - /// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) - decimal getInverseMassMatrixLimitMotor(Entity jointEntity) const; + /// Return the inverse of mass matrix K=JM^-1J^t for the limits (1x1 matrix) + decimal getInverseMassMatrixLimit(Entity jointEntity) const; - /// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) - void setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor); + /// Set the inverse of mass matrix K=JM^-1J^t for the limits (1x1 matrix) + void setInverseMassMatrixLimit(Entity jointEntity, decimal inverseMassMatrixLimitMotor); /// Return the inverse of mass matrix K=JM^-1J^t for the motor decimal getInverseMassMatrixMotor(Entity jointEntity); @@ -393,12 +411,47 @@ class SliderJointComponents : public Components { /// Set the motor speed (in rad/s) void setMotorSpeed(Entity jointEntity, decimal motorSpeed); - /// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed - decimal getMaxMotorTorque(Entity jointEntity) const; + /// Return the maximum motor force (in Newtons) that can be applied to reach to desired motor speed + decimal getMaxMotorForce(Entity jointEntity) const; - /// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed - void setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque); - */ + /// Set the maximum motor force (in Newtons) that can be applied to reach to desired motor speed + void setMaxMotorForce(Entity jointEntity, decimal maxMotorForce); + + /// Return the cross product of r2 and n1 + Vector3& getR2CrossN1(Entity jointEntity); + + /// Set the cross product of r2 and n1 + void setR2CrossN1(Entity jointEntity, const Vector3& r2CrossN1); + + /// Return the cross product of r2 and n2 + Vector3& getR2CrossN2(Entity jointEntity); + + /// Set the cross product of r2 and n2 + void setR2CrossN2(Entity jointEntity, const Vector3& r2CrossN2); + + /// Return the cross product of r2 and the slider axis + Vector3& getR2CrossSliderAxis(Entity jointEntity); + + /// Set the cross product of r2 and the slider axis + void setR2CrossSliderAxis(Entity jointEntity, const Vector3& r2CrossSliderAxis); + + /// Return the cross product of vector (r1 + u) and n1 + Vector3& getR1PlusUCrossN1(Entity jointEntity); + + /// Set the cross product of vector (r1 + u) and n1 + void setR1PlusUCrossN1(Entity jointEntity, const Vector3& r1PlusUCrossN1); + + /// Return the cross product of vector (r1 + u) and n2 + Vector3& getR1PlusUCrossN2(Entity jointEntity); + + /// Set the cross product of vector (r1 + u) and n2 + void setR1PlusUCrossN2(Entity jointEntity, const Vector3& r1PlusUCrossN2); + + /// Return the cross product of vector (r1 + u) and the slider axis + Vector3& getR1PlusUCrossSliderAxis(Entity jointEntity); + + /// Set the cross product of vector (r1 + u) and the slider axis + void setR1PlusUCrossSliderAxis(Entity jointEntity, const Vector3& r1PlusUCrossSliderAxis); // -------------------- Friendship -------------------- // @@ -573,87 +626,99 @@ inline void SliderJointComponents::setInitOrientationDifferenceInv(Entity jointE mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv; } -/* -// Return the hinge rotation axis (in local-space coordinates of body 1) -inline Vector3& HingeJointComponents::getHingeLocalAxisBody1(Entity jointEntity) { +// Return the slider axis (in local-space coordinates of body 1) +inline Vector3& SliderJointComponents::getSliderAxisBody1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]]; + return mSliderAxisBody1[mMapEntityToComponentIndex[jointEntity]]; } -// Set the hinge rotation axis (in local-space coordinates of body 1) -inline void HingeJointComponents::setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1) { +// Set the slider axis (in local-space coordinates of body 1) +inline void SliderJointComponents::setSliderAxisBody1(Entity jointEntity, const Vector3& sliderAxisBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody1; + mSliderAxisBody1[mMapEntityToComponentIndex[jointEntity]] = sliderAxisBody1; } -// Return the hinge rotation axis (in local-space coordiantes of body 2) -inline Vector3& HingeJointComponents::getHingeLocalAxisBody2(Entity jointEntity) { +// Retunr the slider axis in world-space coordinates +inline Vector3& SliderJointComponents::getSliderAxisWorld(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]]; + return mSliderAxisWorld[mMapEntityToComponentIndex[jointEntity]]; } -// Set the hinge rotation axis (in local-space coordiantes of body 2) -inline void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2) { +// Set the slider axis in world-space coordinates +inline void SliderJointComponents::setSliderAxisWorld(Entity jointEntity, const Vector3& sliderAxisWorld) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody2; + mSliderAxisWorld[mMapEntityToComponentIndex[jointEntity]] = sliderAxisWorld; } - -// Return the hinge rotation axis (in world-space coordinates) computed from body 1 -inline Vector3& HingeJointComponents::getA1(Entity jointEntity) { +// Return the vector r1 in world-space coordinates +inline Vector3& SliderJointComponents::getR1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mA1[mMapEntityToComponentIndex[jointEntity]]; + return mR1[mMapEntityToComponentIndex[jointEntity]]; } -// Set the hinge rotation axis (in world-space coordinates) computed from body 1 -inline void HingeJointComponents::setA1(Entity jointEntity, const Vector3& a1) { +// Set the vector r1 in world-space coordinates +inline void SliderJointComponents::setR1(Entity jointEntity, const Vector3& r1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mA1[mMapEntityToComponentIndex[jointEntity]] = a1; + mR1[mMapEntityToComponentIndex[jointEntity]] = r1; } -// Return the cross product of vector b2 and a1 -inline Vector3& HingeJointComponents::getB2CrossA1(Entity jointEntity) { +// Return the vector r2 in world-space coordinates +inline Vector3& SliderJointComponents::getR2(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mB2CrossA1[mMapEntityToComponentIndex[jointEntity]]; + return mR2[mMapEntityToComponentIndex[jointEntity]]; } -// Set the cross product of vector b2 and a1 -inline void HingeJointComponents::setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1) { +// Set the vector r2 in world-space coordinates +inline void SliderJointComponents::setR2(Entity jointEntity, const Vector3& r2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mB2CrossA1[mMapEntityToComponentIndex[jointEntity]] = b2CrossA1; + mR2[mMapEntityToComponentIndex[jointEntity]] = r2; } -// Return the cross product of vector c2 and a1; -inline Vector3& HingeJointComponents::getC2CrossA1(Entity jointEntity) { +// Return the first vector orthogonal to the slider axis local-space of body 1 +inline Vector3& SliderJointComponents::getN1(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mC2CrossA1[mMapEntityToComponentIndex[jointEntity]]; + return mN1[mMapEntityToComponentIndex[jointEntity]]; } -// Set the cross product of vector c2 and a1; -inline void HingeJointComponents::setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1) { +// Set the first vector orthogonal to the slider axis local-space of body 1 +inline void SliderJointComponents::setN1(Entity jointEntity, const Vector3& n1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mC2CrossA1[mMapEntityToComponentIndex[jointEntity]] = c2CrossA1; + mN1[mMapEntityToComponentIndex[jointEntity]] = n1; +} + +// Return the second vector orthogonal to the slider axis and mN1 in local-space of body 1 +inline Vector3& SliderJointComponents::getN2(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mN2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the second vector orthogonal to the slider axis and mN1 in local-space of body 1 +inline void SliderJointComponents::setN2(Entity jointEntity, const Vector3& n2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mN2[mMapEntityToComponentIndex[jointEntity]] = n2; } // Return the accumulated impulse for the lower limit constraint -inline decimal HingeJointComponents::getImpulseLowerLimit(Entity jointEntity) const { +inline decimal SliderJointComponents::getImpulseLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the lower limit constraint -inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { +inline void SliderJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]] = impulseLowerLimit; @@ -661,14 +726,14 @@ inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decim // Return the accumulated impulse for the upper limit constraint -inline decimal HingeJointComponents::getImpulseUpperLimit(Entity jointEntity) const { +inline decimal SliderJointComponents::getImpulseUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the upper limit constraint -inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { +inline void SliderJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]] = impulseUpperLimit; @@ -676,187 +741,270 @@ inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decim // Return the accumulated impulse for the motor constraint; -inline decimal HingeJointComponents::getImpulseMotor(Entity jointEntity) const { +inline decimal SliderJointComponents::getImpulseMotor(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mImpulseMotor[mMapEntityToComponentIndex[jointEntity]]; } // Set the accumulated impulse for the motor constraint; -inline void HingeJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { +inline void SliderJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mImpulseMotor[mMapEntityToComponentIndex[jointEntity]] = impulseMotor; } -// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) -inline decimal HingeJointComponents::getInverseMassMatrixLimitMotor(Entity jointEntity) const { +// Return the inverse of mass matrix K=JM^-1J^t for the limits (1x1 matrix) +inline decimal SliderJointComponents::getInverseMassMatrixLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]]; + return mInverseMassMatrixLimit[mMapEntityToComponentIndex[jointEntity]]; } -// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix) -inline void HingeJointComponents::setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { +// Set the inverse of mass matrix K=JM^-1J^t for the limits (1x1 matrix) +inline void SliderJointComponents::setInverseMassMatrixLimit(Entity jointEntity, decimal inverseMassMatrixLimitMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor; + mInverseMassMatrixLimit[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor; } // Return the inverse of mass matrix K=JM^-1J^t for the motor -inline decimal HingeJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { +inline decimal SliderJointComponents::getInverseMassMatrixMotor(Entity jointEntity) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]]; } // Return the inverse of mass matrix K=JM^-1J^t for the motor -inline void HingeJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { +inline void SliderJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixMotor; } // Return the bias of the lower limit constraint -inline decimal HingeJointComponents::getBLowerLimit(Entity jointEntity) const { +inline decimal SliderJointComponents::getBLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias of the lower limit constraint -inline void HingeJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { +inline void SliderJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBLowerLimit[mMapEntityToComponentIndex[jointEntity]] = bLowerLimit; } // Return the bias of the upper limit constraint -inline decimal HingeJointComponents::getBUpperLimit(Entity jointEntity) const { +inline decimal SliderJointComponents::getBUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mBUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the bias of the upper limit constraint -inline void HingeJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { +inline void SliderJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mBUpperLimit[mMapEntityToComponentIndex[jointEntity]] = bUpperLimit; } // Return true if the joint limits are enabled -inline bool HingeJointComponents::getIsLimitEnabled(Entity jointEntity) const { +inline bool SliderJointComponents::getIsLimitEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the joint limits are enabled -inline void HingeJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { +inline void SliderJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled; } // Return true if the motor of the joint in enabled -inline bool HingeJointComponents::getIsMotorEnabled(Entity jointEntity) const { +inline bool SliderJointComponents::getIsMotorEnabled(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the motor of the joint in enabled -inline void HingeJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { +inline void SliderJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]] = isMotorEnabled; } // Return the Lower limit (minimum allowed rotation angle in radian) -inline decimal HingeJointComponents::getLowerLimit(Entity jointEntity) const { +inline decimal SliderJointComponents::getLowerLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLowerLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the Lower limit (minimum allowed rotation angle in radian) -inline void HingeJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { +inline void SliderJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLowerLimit[mMapEntityToComponentIndex[jointEntity]] = lowerLimit; } // Return the upper limit (maximum translation distance) -inline decimal HingeJointComponents::getUpperLimit(Entity jointEntity) const { +inline decimal SliderJointComponents::getUpperLimit(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mUpperLimit[mMapEntityToComponentIndex[jointEntity]]; } // Set the upper limit (maximum translation distance) -inline void HingeJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { +inline void SliderJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mUpperLimit[mMapEntityToComponentIndex[jointEntity]] = upperLimit; } // Return true if the lower limit is violated -inline bool HingeJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { +inline bool SliderJointComponents::getIsLowerLimitViolated(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the lower limit is violated -inline void HingeJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { +inline void SliderJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isLowerLimitViolated; } // Return true if the upper limit is violated -inline bool HingeJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { +inline bool SliderJointComponents::getIsUpperLimitViolated(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]]; } // Set to true if the upper limit is violated -inline void HingeJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { +inline void SliderJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isUpperLimitViolated; } // Return the motor speed (in rad/s) -inline decimal HingeJointComponents::getMotorSpeed(Entity jointEntity) const { +inline decimal SliderJointComponents::getMotorSpeed(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mMotorSpeed[mMapEntityToComponentIndex[jointEntity]]; } // Set the motor speed (in rad/s) -inline void HingeJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { +inline void SliderJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mMotorSpeed[mMapEntityToComponentIndex[jointEntity]] = motorSpeed; } // Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed -inline decimal HingeJointComponents::getMaxMotorTorque(Entity jointEntity) const { +inline decimal SliderJointComponents::getMaxMotorForce(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - return mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]]; + return mMaxMotorForce[mMapEntityToComponentIndex[jointEntity]]; } // Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed -inline void HingeJointComponents::setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque) { +inline void SliderJointComponents::setMaxMotorForce(Entity jointEntity, decimal maxMotorForce) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]] = maxMotorTorque; + mMaxMotorForce[mMapEntityToComponentIndex[jointEntity]] = maxMotorForce; +} + +// Return the cross product of r2 and n1 +inline Vector3& SliderJointComponents::getR2CrossN1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR2CrossN1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of r2 and n1 +inline void SliderJointComponents::setR2CrossN1(Entity jointEntity, const Vector3& r2CrossN1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR2CrossN1[mMapEntityToComponentIndex[jointEntity]] = r2CrossN1; +} + +// Return the cross product of r2 and n2 +inline Vector3& SliderJointComponents::getR2CrossN2(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR2CrossN2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of r2 and n2 +inline void SliderJointComponents::setR2CrossN2(Entity jointEntity, const Vector3& r2CrossN2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR2CrossN2[mMapEntityToComponentIndex[jointEntity]] = r2CrossN2; +} + +// Return the cross product of r2 and the slider axis +inline Vector3& SliderJointComponents::getR2CrossSliderAxis(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR2CrossSliderAxis[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of r2 and the slider axis +inline void SliderJointComponents::setR2CrossSliderAxis(Entity jointEntity, const Vector3& r2CrossSliderAxis) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR2CrossSliderAxis[mMapEntityToComponentIndex[jointEntity]] = r2CrossSliderAxis; +} + +// Return the cross product of vector (r1 + u) and n1 +inline Vector3& SliderJointComponents::getR1PlusUCrossN1(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR1PlusUCrossN1[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector (r1 + u) and n1 +inline void SliderJointComponents::setR1PlusUCrossN1(Entity jointEntity, const Vector3& r1PlusUCrossN1) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR1PlusUCrossN1[mMapEntityToComponentIndex[jointEntity]] = r1PlusUCrossN1; +} + +// Return the cross product of vector (r1 + u) and n2 +inline Vector3& SliderJointComponents::getR1PlusUCrossN2(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR1PlusUCrossN2[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector (r1 + u) and n2 +inline void SliderJointComponents::setR1PlusUCrossN2(Entity jointEntity, const Vector3& r1PlusUCrossN2) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR1PlusUCrossN2[mMapEntityToComponentIndex[jointEntity]] = r1PlusUCrossN2; +} + +// Return the cross product of vector (r1 + u) and the slider axis +inline Vector3& SliderJointComponents::getR1PlusUCrossSliderAxis(Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mR1PlusUCrossSliderAxis[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set the cross product of vector (r1 + u) and the slider axis +inline void SliderJointComponents::setR1PlusUCrossSliderAxis(Entity jointEntity, const Vector3& r1PlusUCrossSliderAxis) { + + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mR1PlusUCrossSliderAxis[mMapEntityToComponentIndex[jointEntity]] = r1PlusUCrossSliderAxis; } -*/ } diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 2a05079c..dafc5dd8 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -36,16 +36,11 @@ const decimal SliderJoint::BETA = decimal(0.2); // Constructor SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointInfo& jointInfo) - : Joint(entity, world, jointInfo), mImpulseLowerLimit(0), mImpulseUpperLimit(0), mImpulseMotor(0), - mIsLimitEnabled(jointInfo.isLimitEnabled), mIsMotorEnabled(jointInfo.isMotorEnabled), - mLowerLimit(jointInfo.minTranslationLimit), - mUpperLimit(jointInfo.maxTranslationLimit), mIsLowerLimitViolated(false), - mIsUpperLimitViolated(false), mMotorSpeed(jointInfo.motorSpeed), - mMaxMotorForce(jointInfo.maxMotorForce){ + : Joint(entity, world, jointInfo) { - assert(mUpperLimit >= decimal(0.0)); - assert(mLowerLimit <= decimal(0.0)); - assert(mMaxMotorForce >= decimal(0.0)); + assert(mWorld.mSliderJointsComponents.getUpperLimit(mEntity) >= decimal(0.0)); + assert(mWorld.mSliderJointsComponents.getLowerLimit(mEntity) <= decimal(0.0)); + assert(mWorld.mSliderJointsComponents.getMaxMotorForce(mEntity) >= decimal(0.0)); // Compute the local-space anchor point for each body const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); @@ -69,9 +64,10 @@ SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointI // Compute the slider axis in local-space of body 1 // TODO : Do not compute the inverse here, it has already been computed above - mSliderAxisBody1 = transform1.getOrientation().getInverse() * + Vector3 sliderAxisBody1 = transform1.getOrientation().getInverse() * jointInfo.sliderAxisWorldSpace; - mSliderAxisBody1.normalize(); + sliderAxisBody1.normalize(); + mWorld.mSliderJointsComponents.setSliderAxisBody1(mEntity, sliderAxisBody1); } // Initialize before solving the constraint @@ -96,41 +92,56 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa mWorld.mSliderJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Vector from body center to the anchor point - mR1 = orientationBody1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity); - mR2 = orientationBody2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity); + mWorld.mSliderJointsComponents.setR1(mEntity, orientationBody1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity)); + mWorld.mSliderJointsComponents.setR2(mEntity, orientationBody2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity)); + + const Vector3& r1 = mWorld.mSliderJointsComponents.getR1(mEntity); + const Vector3& r2 = mWorld.mSliderJointsComponents.getR2(mEntity); // Compute the vector u (difference between anchor points) - const Vector3 u = x2 + mR2 - x1 - mR1; + const Vector3 u = x2 + r2 - x1 - r1; // Compute the two orthogonal vectors to the slider axis in world-space - mSliderAxisWorld = orientationBody1 * mSliderAxisBody1; - mSliderAxisWorld.normalize(); - mN1 = mSliderAxisWorld.getOneUnitOrthogonalVector(); - mN2 = mSliderAxisWorld.cross(mN1); + Vector3 sliderAxisWorld = orientationBody1 * mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity); + sliderAxisWorld.normalize(); + mWorld.mSliderJointsComponents.setSliderAxisWorld(mEntity, sliderAxisWorld); + mWorld.mSliderJointsComponents.setN1(mEntity, sliderAxisWorld.getOneUnitOrthogonalVector()); + const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); + mWorld.mSliderJointsComponents.setN2(mEntity, sliderAxisWorld.cross(n1)); + const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); // Check if the limit constraints are violated or not - decimal uDotSliderAxis = u.dot(mSliderAxisWorld); - decimal lowerLimitError = uDotSliderAxis - mLowerLimit; - decimal upperLimitError = mUpperLimit - uDotSliderAxis; - bool oldIsLowerLimitViolated = mIsLowerLimitViolated; - mIsLowerLimitViolated = lowerLimitError <= 0; - if (mIsLowerLimitViolated != oldIsLowerLimitViolated) { - mImpulseLowerLimit = 0.0; + decimal uDotSliderAxis = u.dot(sliderAxisWorld); + decimal lowerLimitError = uDotSliderAxis - mWorld.mSliderJointsComponents.getLowerLimit(mEntity); + decimal upperLimitError = mWorld.mSliderJointsComponents.getUpperLimit(mEntity) - uDotSliderAxis; + bool oldIsLowerLimitViolated = mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity); + bool isLowerLimitViolated = lowerLimitError <= 0; + mWorld.mSliderJointsComponents.setIsLowerLimitViolated(mEntity, isLowerLimitViolated); + if (isLowerLimitViolated != oldIsLowerLimitViolated) { + mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); } - bool oldIsUpperLimitViolated = mIsUpperLimitViolated; - mIsUpperLimitViolated = upperLimitError <= 0; - if (mIsUpperLimitViolated != oldIsUpperLimitViolated) { - mImpulseUpperLimit = 0.0; + bool oldIsUpperLimitViolated = mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity); + bool isUpperLimitViolated = upperLimitError <= 0; + mWorld.mSliderJointsComponents.setIsUpperLimitViolated(mEntity, isUpperLimitViolated); + if (isUpperLimitViolated != oldIsUpperLimitViolated) { + mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); } // Compute the cross products used in the Jacobians - mR2CrossN1 = mR2.cross(mN1); - mR2CrossN2 = mR2.cross(mN2); - mR2CrossSliderAxis = mR2.cross(mSliderAxisWorld); - const Vector3 r1PlusU = mR1 + u; - mR1PlusUCrossN1 = (r1PlusU).cross(mN1); - mR1PlusUCrossN2 = (r1PlusU).cross(mN2); - mR1PlusUCrossSliderAxis = (r1PlusU).cross(mSliderAxisWorld); + mWorld.mSliderJointsComponents.setR2CrossN1(mEntity, r2.cross(n1)); + mWorld.mSliderJointsComponents.setR2CrossN2(mEntity, r2.cross(n2)); + mWorld.mSliderJointsComponents.setR2CrossSliderAxis(mEntity, r2.cross(sliderAxisWorld)); + const Vector3 r1PlusU = r1 + u; + mWorld.mSliderJointsComponents.setR1PlusUCrossN1(mEntity, r1PlusU.cross(n1)); + mWorld.mSliderJointsComponents.setR1PlusUCrossN2(mEntity, r1PlusU.cross(n2)); + mWorld.mSliderJointsComponents.setR1PlusUCrossSliderAxis(mEntity, r1PlusU.cross(sliderAxisWorld)); + + const Vector3& r2CrossN1 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity); + const Vector3& r2CrossN2 = mWorld.mSliderJointsComponents.getR2CrossN2(mEntity); + const Vector3& r1PlusUCrossN1 = mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity); + const Vector3& r1PlusUCrossN2 = mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity); + const Vector3& r2CrossSliderAxis = mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); + const Vector3& r1PlusUCrossSliderAxis = mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); @@ -140,18 +151,18 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); const decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = i1 * mR1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = i1 * mR1PlusUCrossN2; - Vector3 I2R2CrossN1 = i2 * mR2CrossN1; - Vector3 I2R2CrossN2 = i2 * mR2CrossN2; - const decimal el11 = sumInverseMass + mR1PlusUCrossN1.dot(I1R1PlusUCrossN1) + - mR2CrossN1.dot(I2R2CrossN1); - const decimal el12 = mR1PlusUCrossN1.dot(I1R1PlusUCrossN2) + - mR2CrossN1.dot(I2R2CrossN2); - const decimal el21 = mR1PlusUCrossN2.dot(I1R1PlusUCrossN1) + - mR2CrossN2.dot(I2R2CrossN1); - const decimal el22 = sumInverseMass + mR1PlusUCrossN2.dot(I1R1PlusUCrossN2) + - mR2CrossN2.dot(I2R2CrossN2); + Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * r2CrossN1; + Vector3 I2R2CrossN2 = i2 * r2CrossN2; + const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + + r2CrossN1.dot(I2R2CrossN1); + const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + + r2CrossN1.dot(I2R2CrossN2); + const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + + r2CrossN2.dot(I2R2CrossN1); + const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + + r2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); Matrix2x2& inverseMassMatrixTranslation = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity); inverseMassMatrixTranslation.setToZero(); @@ -166,8 +177,8 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa biasTranslation.setToZero(); decimal biasFactor = (BETA / constraintSolverData.timeStep); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - biasTranslation.x = u.dot(mN1); - biasTranslation.y = u.dot(mN2); + biasTranslation.x = u.dot(n1); + biasTranslation.y = u.dot(n2); biasTranslation *= biasFactor; mWorld.mSliderJointsComponents.setBiasTranslation(mEntity, biasTranslation); } @@ -190,35 +201,38 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa } // If the limits are enabled - if (mIsLimitEnabled && (mIsLowerLimitViolated || mIsUpperLimitViolated)) { + if (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity) && (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity) || + mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity))) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - mInverseMassMatrixLimit = sumInverseMass + - mR1PlusUCrossSliderAxis.dot(i1 * mR1PlusUCrossSliderAxis) + - mR2CrossSliderAxis.dot(i2 * mR2CrossSliderAxis); - mInverseMassMatrixLimit = (mInverseMassMatrixLimit > 0.0) ? - decimal(1.0) / mInverseMassMatrixLimit : decimal(0.0); + decimal inverseMassMatrixLimit = sumInverseMass + + r1PlusUCrossSliderAxis.dot(i1 * r1PlusUCrossSliderAxis) + + r2CrossSliderAxis.dot(i2 * r2CrossSliderAxis); + inverseMassMatrixLimit = (inverseMassMatrixLimit > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixLimit : decimal(0.0); + mWorld.mSliderJointsComponents.setInverseMassMatrixLimit(mEntity, inverseMassMatrixLimit); // Compute the bias "b" of the lower limit constraint - mBLowerLimit = 0.0; + mWorld.mSliderJointsComponents.setBLowerLimit(mEntity, decimal(0.0)); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBLowerLimit = biasFactor * lowerLimitError; + mWorld.mSliderJointsComponents.setBLowerLimit(mEntity, biasFactor * lowerLimitError); } // Compute the bias "b" of the upper limit constraint - mBUpperLimit = 0.0; + mWorld.mSliderJointsComponents.setBUpperLimit(mEntity, decimal(0.0)); if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mBUpperLimit = biasFactor * upperLimitError; + mWorld.mSliderJointsComponents.setBUpperLimit(mEntity, biasFactor * upperLimitError); } } // If the motor is enabled - if (mIsMotorEnabled) { + if (mWorld.mSliderJointsComponents.getIsMotorEnabled(mEntity)) { // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix) - mInverseMassMatrixMotor = sumInverseMass; - mInverseMassMatrixMotor = (mInverseMassMatrixMotor > decimal(0.0)) ? - decimal(1.0) / mInverseMassMatrixMotor : decimal(0.0); + decimal inverseMassMatrixMotor = sumInverseMass; + inverseMassMatrixMotor = (inverseMassMatrixMotor > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixMotor : decimal(0.0); + mWorld.mSliderJointsComponents.setInverseMassMatrixMotor(mEntity, inverseMassMatrixMotor); } // If warm-starting is not enabled @@ -229,9 +243,9 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa Vector3& impulseRotation = mWorld.mSliderJointsComponents.getImpulseRotation(mEntity); impulseTranslation.setToZero(); impulseRotation.setToZero(); - mImpulseLowerLimit = 0.0; - mImpulseUpperLimit = 0.0; - mImpulseMotor = 0.0; + mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); + mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); + mWorld.mSliderJointsComponents.setImpulseMotor(mEntity, decimal(0.0)); } } @@ -255,27 +269,30 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); + const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 - decimal impulseLimits = mImpulseUpperLimit - mImpulseLowerLimit; - Vector3 linearImpulseLimits = impulseLimits * mSliderAxisWorld; + decimal impulseLimits = mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity) - mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity); + Vector3 linearImpulseLimits = impulseLimits * mWorld.mSliderJointsComponents.getSliderAxisWorld(mEntity); // Compute the impulse P=J^T * lambda for the motor constraint of body 1 - Vector3 impulseMotor = mImpulseMotor * mSliderAxisWorld; + Vector3 impulseMotor = mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) * mWorld.mSliderJointsComponents.getSliderAxisWorld(mEntity); const Vector2& impulseTranslation = mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity); const Vector3& impulseRotation = mWorld.mSliderJointsComponents.getImpulseRotation(mEntity); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - Vector3 linearImpulseBody1 = -mN1 * impulseTranslation.x - mN2 * impulseTranslation.y; - Vector3 angularImpulseBody1 = -mR1PlusUCrossN1 * impulseTranslation.x - - mR1PlusUCrossN2 * impulseTranslation.y; + Vector3 linearImpulseBody1 = -n1 * impulseTranslation.x - n2 * impulseTranslation.y; + Vector3 angularImpulseBody1 = -mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity) * impulseTranslation.x - + mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity) * impulseTranslation.y; // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 angularImpulseBody1 += -impulseRotation; // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 linearImpulseBody1 += linearImpulseLimits; - angularImpulseBody1 += impulseLimits * mR1PlusUCrossSliderAxis; + angularImpulseBody1 += impulseLimits * mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); // Compute the impulse P=J^T * lambda for the motor constraint of body 1 linearImpulseBody1 += impulseMotor; @@ -285,16 +302,16 @@ void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { w1 += mWorld.mSliderJointsComponents.getI1(mEntity) * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - Vector3 linearImpulseBody2 = mN1 * impulseTranslation.x + mN2 * impulseTranslation.y; - Vector3 angularImpulseBody2 = mR2CrossN1 * impulseTranslation.x + - mR2CrossN2 * impulseTranslation.y; + Vector3 linearImpulseBody2 = n1 * impulseTranslation.x + n2 * impulseTranslation.y; + Vector3 angularImpulseBody2 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity) * impulseTranslation.x + + mWorld.mSliderJointsComponents.getR2CrossN2(mEntity) * impulseTranslation.y; // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 angularImpulseBody2 += impulseRotation; // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 2 linearImpulseBody2 += -linearImpulseLimits; - angularImpulseBody2 += -impulseLimits * mR2CrossSliderAxis; + angularImpulseBody2 += -impulseLimits * mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); // Compute the impulse P=J^T * lambda for the motor constraint of body 2 linearImpulseBody2 += -impulseMotor; @@ -323,17 +340,29 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); + const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); + const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); + + const Vector3& r2CrossN1 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity); + const Vector3& r2CrossN2 = mWorld.mSliderJointsComponents.getR2CrossN2(mEntity); + const Vector3& r1PlusUCrossN1 = mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity); + const Vector3& r1PlusUCrossN2 = mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity); + const Vector3& r2CrossSliderAxis = mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); + const Vector3& r1PlusUCrossSliderAxis = mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); + // Get the inverse mass and inverse inertia tensors of the bodies decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); + const Vector3& sliderAxisWorld = mWorld.mSliderJointsComponents.getSliderAxisWorld(mEntity); + // --------------- Translation Constraints --------------- // // Compute J*v for the 2 translation constraints - const decimal el1 = -mN1.dot(v1) - w1.dot(mR1PlusUCrossN1) + - mN1.dot(v2) + w2.dot(mR2CrossN1); - const decimal el2 = -mN2.dot(v1) - w1.dot(mR1PlusUCrossN2) + - mN2.dot(v2) + w2.dot(mR2CrossN2); + const decimal el1 = -n1.dot(v1) - w1.dot(r1PlusUCrossN1) + + n1.dot(v2) + w2.dot(r2CrossN1); + const decimal el2 = -n2.dot(v1) - w1.dot(r1PlusUCrossN2) + + n2.dot(v2) + w2.dot(r2CrossN2); const Vector2 JvTranslation(el1, el2); // Compute the Lagrange multiplier lambda for the 2 translation constraints @@ -341,17 +370,17 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint mWorld.mSliderJointsComponents.setImpulseTranslation(mEntity, deltaLambda + mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity)); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - const Vector3 linearImpulseBody1 = -mN1 * deltaLambda.x - mN2 * deltaLambda.y; - Vector3 angularImpulseBody1 = -mR1PlusUCrossN1 * deltaLambda.x - - mR1PlusUCrossN2 * deltaLambda.y; + const Vector3 linearImpulseBody1 = -n1 * deltaLambda.x - n2 * deltaLambda.y; + Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * deltaLambda.x - + r1PlusUCrossN2 * deltaLambda.y; // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - const Vector3 linearImpulseBody2 = mN1 * deltaLambda.x + mN2 * deltaLambda.y; - Vector3 angularImpulseBody2 = mR2CrossN1 * deltaLambda.x + mR2CrossN2 * deltaLambda.y; + const Vector3 linearImpulseBody2 = n1 * deltaLambda.x + n2 * deltaLambda.y; + Vector3 angularImpulseBody2 = r2CrossN1 * deltaLambda.x + r2CrossN2 * deltaLambda.y; // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; @@ -381,32 +410,34 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // --------------- Limits Constraints --------------- // - if (mIsLimitEnabled) { + if (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity)) { + + const decimal inverseMassMatrixLimit = mWorld.mSliderJointsComponents.getInverseMassMatrixLimit(mEntity); // If the lower limit is violated - if (mIsLowerLimitViolated) { + if (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity)) { // Compute J*v for the lower limit constraint - const decimal JvLowerLimit = mSliderAxisWorld.dot(v2) + mR2CrossSliderAxis.dot(w2) - - mSliderAxisWorld.dot(v1) - mR1PlusUCrossSliderAxis.dot(w1); + const decimal JvLowerLimit = sliderAxisWorld.dot(v2) + r2CrossSliderAxis.dot(w2) - + sliderAxisWorld.dot(v1) - r1PlusUCrossSliderAxis.dot(w1); // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal deltaLambdaLower = mInverseMassMatrixLimit * (-JvLowerLimit -mBLowerLimit); - decimal lambdaTemp = mImpulseLowerLimit; - mImpulseLowerLimit = std::max(mImpulseLowerLimit + deltaLambdaLower, decimal(0.0)); - deltaLambdaLower = mImpulseLowerLimit - lambdaTemp; + decimal deltaLambdaLower = inverseMassMatrixLimit * (-JvLowerLimit - mWorld.mSliderJointsComponents.getBLowerLimit(mEntity)); + decimal lambdaTemp = mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity); + mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, std::max(mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity) + deltaLambdaLower, decimal(0.0))); + deltaLambdaLower = mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity) - lambdaTemp; // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 - const Vector3 linearImpulseBody1 = -deltaLambdaLower * mSliderAxisWorld; - const Vector3 angularImpulseBody1 = -deltaLambdaLower * mR1PlusUCrossSliderAxis; + const Vector3 linearImpulseBody1 = -deltaLambdaLower * sliderAxisWorld; + const Vector3 angularImpulseBody1 = -deltaLambdaLower * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 - const Vector3 linearImpulseBody2 = deltaLambdaLower * mSliderAxisWorld; - const Vector3 angularImpulseBody2 = deltaLambdaLower * mR2CrossSliderAxis; + const Vector3 linearImpulseBody2 = deltaLambdaLower * sliderAxisWorld; + const Vector3 angularImpulseBody2 = deltaLambdaLower * r2CrossSliderAxis; // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; @@ -414,29 +445,29 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint } // If the upper limit is violated - if (mIsUpperLimitViolated) { + if (mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity)) { // Compute J*v for the upper limit constraint - const decimal JvUpperLimit = mSliderAxisWorld.dot(v1) + mR1PlusUCrossSliderAxis.dot(w1) - - mSliderAxisWorld.dot(v2) - mR2CrossSliderAxis.dot(w2); + const decimal JvUpperLimit = sliderAxisWorld.dot(v1) + r1PlusUCrossSliderAxis.dot(w1) + - sliderAxisWorld.dot(v2) - r2CrossSliderAxis.dot(w2); // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal deltaLambdaUpper = mInverseMassMatrixLimit * (-JvUpperLimit -mBUpperLimit); - decimal lambdaTemp = mImpulseUpperLimit; - mImpulseUpperLimit = std::max(mImpulseUpperLimit + deltaLambdaUpper, decimal(0.0)); - deltaLambdaUpper = mImpulseUpperLimit - lambdaTemp; + decimal deltaLambdaUpper = inverseMassMatrixLimit * (-JvUpperLimit -mWorld.mSliderJointsComponents.getBUpperLimit(mEntity)); + decimal lambdaTemp = mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity); + mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, std::max(mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity) + deltaLambdaUpper, decimal(0.0))); + deltaLambdaUpper = mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity) - lambdaTemp; // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 - const Vector3 linearImpulseBody1 = deltaLambdaUpper * mSliderAxisWorld; - const Vector3 angularImpulseBody1 = deltaLambdaUpper * mR1PlusUCrossSliderAxis; + const Vector3 linearImpulseBody1 = deltaLambdaUpper * sliderAxisWorld; + const Vector3 angularImpulseBody1 = deltaLambdaUpper * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; w1 += i1 * angularImpulseBody1; // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 - const Vector3 linearImpulseBody2 = -deltaLambdaUpper * mSliderAxisWorld; - const Vector3 angularImpulseBody2 = -deltaLambdaUpper * mR2CrossSliderAxis; + const Vector3 linearImpulseBody2 = -deltaLambdaUpper * sliderAxisWorld; + const Vector3 angularImpulseBody2 = -deltaLambdaUpper * r2CrossSliderAxis; // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; @@ -446,26 +477,26 @@ void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraint // --------------- Motor --------------- // - if (mIsMotorEnabled) { + if (mWorld.mSliderJointsComponents.getIsMotorEnabled(mEntity)) { // Compute J*v for the motor - const decimal JvMotor = mSliderAxisWorld.dot(v1) - mSliderAxisWorld.dot(v2); + const decimal JvMotor = sliderAxisWorld.dot(v1) - sliderAxisWorld.dot(v2); // Compute the Lagrange multiplier lambda for the motor - const decimal maxMotorImpulse = mMaxMotorForce * constraintSolverData.timeStep; - decimal deltaLambdaMotor = mInverseMassMatrixMotor * (-JvMotor - mMotorSpeed); - decimal lambdaTemp = mImpulseMotor; - mImpulseMotor = clamp(mImpulseMotor + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse); - deltaLambdaMotor = mImpulseMotor - lambdaTemp; + const decimal maxMotorImpulse = mWorld.mSliderJointsComponents.getMaxMotorForce(mEntity) * constraintSolverData.timeStep; + decimal deltaLambdaMotor = mWorld.mSliderJointsComponents.getInverseMassMatrixMotor(mEntity) * (-JvMotor - mWorld.mSliderJointsComponents.getMotorSpeed(mEntity)); + decimal lambdaTemp = mWorld.mSliderJointsComponents.getImpulseMotor(mEntity); + mWorld.mSliderJointsComponents.setImpulseMotor(mEntity, clamp(mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse)); + deltaLambdaMotor = mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) - lambdaTemp; // Compute the impulse P=J^T * lambda for the motor of body 1 - const Vector3 linearImpulseBody1 = deltaLambdaMotor * mSliderAxisWorld; + const Vector3 linearImpulseBody1 = deltaLambdaMotor * sliderAxisWorld; // Apply the impulse to the body 1 v1 += inverseMassBody1 * linearImpulseBody1; // Compute the impulse P=J^T * lambda for the motor of body 2 - const Vector3 linearImpulseBody2 = -deltaLambdaMotor * mSliderAxisWorld; + const Vector3 linearImpulseBody2 = -deltaLambdaMotor * sliderAxisWorld; // Apply the impulse to the body 2 v2 += inverseMassBody2 * linearImpulseBody2; @@ -502,33 +533,47 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint mWorld.mSliderJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); // Vector from body center to the anchor point - mR1 = q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity); - mR2 = q2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity); + mWorld.mSliderJointsComponents.setR1(mEntity, q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity)); + mWorld.mSliderJointsComponents.setR2(mEntity, q2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity)); + + const Vector3& r1 = mWorld.mSliderJointsComponents.getR1(mEntity); + const Vector3& r2 = mWorld.mSliderJointsComponents.getR2(mEntity); + + const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); + const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); // Compute the vector u (difference between anchor points) - const Vector3 u = x2 + mR2 - x1 - mR1; + const Vector3 u = x2 + r2 - x1 - r1; // Compute the two orthogonal vectors to the slider axis in world-space - mSliderAxisWorld = q1 * mSliderAxisBody1; - mSliderAxisWorld.normalize(); - mN1 = mSliderAxisWorld.getOneUnitOrthogonalVector(); - mN2 = mSliderAxisWorld.cross(mN1); + Vector3 sliderAxisWorld = q1 * mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity); + sliderAxisWorld.normalize(); + mWorld.mSliderJointsComponents.setSliderAxisWorld(mEntity, sliderAxisWorld); + mWorld.mSliderJointsComponents.setN1(mEntity, sliderAxisWorld.getOneUnitOrthogonalVector()); + mWorld.mSliderJointsComponents.setN2(mEntity, sliderAxisWorld.cross(n1)); // Check if the limit constraints are violated or not - decimal uDotSliderAxis = u.dot(mSliderAxisWorld); - decimal lowerLimitError = uDotSliderAxis - mLowerLimit; - decimal upperLimitError = mUpperLimit - uDotSliderAxis; - mIsLowerLimitViolated = lowerLimitError <= 0; - mIsUpperLimitViolated = upperLimitError <= 0; + decimal uDotSliderAxis = u.dot(sliderAxisWorld); + decimal lowerLimitError = uDotSliderAxis - mWorld.mSliderJointsComponents.getLowerLimit(mEntity); + decimal upperLimitError = mWorld.mSliderJointsComponents.getUpperLimit(mEntity) - uDotSliderAxis; + mWorld.mSliderJointsComponents.setIsLowerLimitViolated(mEntity, lowerLimitError <= 0); + mWorld.mSliderJointsComponents.setIsUpperLimitViolated(mEntity, upperLimitError <= 0); // Compute the cross products used in the Jacobians - mR2CrossN1 = mR2.cross(mN1); - mR2CrossN2 = mR2.cross(mN2); - mR2CrossSliderAxis = mR2.cross(mSliderAxisWorld); - const Vector3 r1PlusU = mR1 + u; - mR1PlusUCrossN1 = (r1PlusU).cross(mN1); - mR1PlusUCrossN2 = (r1PlusU).cross(mN2); - mR1PlusUCrossSliderAxis = (r1PlusU).cross(mSliderAxisWorld); + mWorld.mSliderJointsComponents.setR2CrossN1(mEntity, r2.cross(n1)); + mWorld.mSliderJointsComponents.setR2CrossN2(mEntity, r2.cross(n2)); + mWorld.mSliderJointsComponents.setR2CrossSliderAxis(mEntity, r2.cross(sliderAxisWorld)); + const Vector3 r1PlusU = r1 + u; + mWorld.mSliderJointsComponents.setR1PlusUCrossN1(mEntity, r1PlusU.cross(n1)); + mWorld.mSliderJointsComponents.setR1PlusUCrossN2(mEntity, r1PlusU.cross(n2)); + mWorld.mSliderJointsComponents.setR1PlusUCrossSliderAxis(mEntity, r1PlusU.cross(sliderAxisWorld)); + + const Vector3& r2CrossN1 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity); + const Vector3& r2CrossN2 = mWorld.mSliderJointsComponents.getR2CrossN2(mEntity); + const Vector3& r1PlusUCrossN1 = mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity); + const Vector3& r1PlusUCrossN2 = mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity); + const Vector3& r2CrossSliderAxis = mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); + const Vector3& r1PlusUCrossSliderAxis = mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); // --------------- Translation Constraints --------------- // @@ -540,18 +585,18 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = i1 * mR1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = i1 * mR1PlusUCrossN2; - Vector3 I2R2CrossN1 = i2 * mR2CrossN1; - Vector3 I2R2CrossN2 = i2 * mR2CrossN2; - const decimal el11 = sumInverseMass + mR1PlusUCrossN1.dot(I1R1PlusUCrossN1) + - mR2CrossN1.dot(I2R2CrossN1); - const decimal el12 = mR1PlusUCrossN1.dot(I1R1PlusUCrossN2) + - mR2CrossN1.dot(I2R2CrossN2); - const decimal el21 = mR1PlusUCrossN2.dot(I1R1PlusUCrossN1) + - mR2CrossN2.dot(I2R2CrossN1); - const decimal el22 = sumInverseMass + mR1PlusUCrossN2.dot(I1R1PlusUCrossN2) + - mR2CrossN2.dot(I2R2CrossN2); + Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * r2CrossN1; + Vector3 I2R2CrossN2 = i2 * r2CrossN2; + const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + + r2CrossN1.dot(I2R2CrossN1); + const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + + r2CrossN1.dot(I2R2CrossN2); + const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + + r2CrossN2.dot(I2R2CrossN1); + const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + + r2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); Matrix2x2& inverseMassMatrixTranslation = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity); inverseMassMatrixTranslation.setToZero(); @@ -562,15 +607,15 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint } // Compute the position error for the 2 translation constraints - const Vector2 translationError(u.dot(mN1), u.dot(mN2)); + const Vector2 translationError(u.dot(n1), u.dot(n2)); // Compute the Lagrange multiplier lambda for the 2 translation constraints Vector2 lambdaTranslation = inverseMassMatrixTranslation * (-translationError); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - const Vector3 linearImpulseBody1 = -mN1 * lambdaTranslation.x - mN2 * lambdaTranslation.y; - Vector3 angularImpulseBody1 = -mR1PlusUCrossN1 * lambdaTranslation.x - - mR1PlusUCrossN2 * lambdaTranslation.y; + const Vector3 linearImpulseBody1 = -n1 * lambdaTranslation.x - n2 * lambdaTranslation.y; + Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * lambdaTranslation.x - + r1PlusUCrossN2 * lambdaTranslation.y; // Apply the impulse to the body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; @@ -582,9 +627,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint q1.normalize(); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - const Vector3 linearImpulseBody2 = mN1 * lambdaTranslation.x + mN2 * lambdaTranslation.y; - Vector3 angularImpulseBody2 = mR2CrossN1 * lambdaTranslation.x + - mR2CrossN2 * lambdaTranslation.y; + const Vector3 linearImpulseBody2 = n1 * lambdaTranslation.x + n2 * lambdaTranslation.y; + Vector3 angularImpulseBody2 = r2CrossN1 * lambdaTranslation.x + r2CrossN2 * lambdaTranslation.y; // Apply the impulse to the body 2 const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; @@ -659,29 +703,30 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint // --------------- Limits Constraints --------------- // - if (mIsLimitEnabled) { + if (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity)) { - if (mIsLowerLimitViolated || mIsUpperLimitViolated) { + if (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity) || mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity)) { // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - mInverseMassMatrixLimit = body1MassInverse + body2MassInverse + - mR1PlusUCrossSliderAxis.dot(i1 * mR1PlusUCrossSliderAxis) + - mR2CrossSliderAxis.dot(i2 * mR2CrossSliderAxis); - mInverseMassMatrixLimit = (mInverseMassMatrixLimit > 0.0) ? - decimal(1.0) / mInverseMassMatrixLimit : decimal(0.0); + decimal inverseMassMatrixLimit = body1MassInverse + body2MassInverse + + r1PlusUCrossSliderAxis.dot(i1 * r1PlusUCrossSliderAxis) + + r2CrossSliderAxis.dot(i2 * r2CrossSliderAxis); + inverseMassMatrixLimit = (inverseMassMatrixLimit > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixLimit : decimal(0.0); + mWorld.mSliderJointsComponents.setInverseMassMatrixLimit(mEntity, inverseMassMatrixLimit); } // If the lower limit is violated - if (mIsLowerLimitViolated) { + if (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity)) { // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal lambdaLowerLimit = mInverseMassMatrixLimit * (-lowerLimitError); + decimal lambdaLowerLimit = mWorld.mSliderJointsComponents.getInverseMassMatrixLimit(mEntity) * (-lowerLimitError); // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 - const Vector3 linearImpulseBody1 = -lambdaLowerLimit * mSliderAxisWorld; - const Vector3 angularImpulseBody1 = -lambdaLowerLimit * mR1PlusUCrossSliderAxis; + const Vector3 linearImpulseBody1 = -lambdaLowerLimit * sliderAxisWorld; + const Vector3 angularImpulseBody1 = -lambdaLowerLimit * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; @@ -693,8 +738,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint q1.normalize(); // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 - const Vector3 linearImpulseBody2 = lambdaLowerLimit * mSliderAxisWorld; - const Vector3 angularImpulseBody2 = lambdaLowerLimit * mR2CrossSliderAxis; + const Vector3 linearImpulseBody2 = lambdaLowerLimit * sliderAxisWorld; + const Vector3 angularImpulseBody2 = lambdaLowerLimit * r2CrossSliderAxis; // Apply the impulse to the body 2 const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; @@ -707,14 +752,14 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint } // If the upper limit is violated - if (mIsUpperLimitViolated) { + if (mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity)) { // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal lambdaUpperLimit = mInverseMassMatrixLimit * (-upperLimitError); + decimal lambdaUpperLimit = mWorld.mSliderJointsComponents.getInverseMassMatrixLimit(mEntity) * (-upperLimitError); // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 - const Vector3 linearImpulseBody1 = lambdaUpperLimit * mSliderAxisWorld; - const Vector3 angularImpulseBody1 = lambdaUpperLimit * mR1PlusUCrossSliderAxis; + const Vector3 linearImpulseBody1 = lambdaUpperLimit * sliderAxisWorld; + const Vector3 angularImpulseBody1 = lambdaUpperLimit * r1PlusUCrossSliderAxis; // Apply the impulse to the body 1 const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; @@ -726,8 +771,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint q1.normalize(); // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 - const Vector3 linearImpulseBody2 = -lambdaUpperLimit * mSliderAxisWorld; - const Vector3 angularImpulseBody2 = -lambdaUpperLimit * mR2CrossSliderAxis; + const Vector3 linearImpulseBody2 = -lambdaUpperLimit * sliderAxisWorld; + const Vector3 angularImpulseBody2 = -lambdaUpperLimit * r2CrossSliderAxis; // Apply the impulse to the body 2 const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; @@ -753,9 +798,11 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint */ void SliderJoint::enableLimit(bool isLimitEnabled) { - if (isLimitEnabled != mIsLimitEnabled) { + bool isEnabled = mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity); - mIsLimitEnabled = isLimitEnabled; + if (isLimitEnabled != isEnabled) { + + mWorld.mSliderJointsComponents.setIsLimitEnabled(mEntity, isLimitEnabled); // Reset the limits resetLimits(); @@ -769,8 +816,8 @@ void SliderJoint::enableLimit(bool isLimitEnabled) { */ void SliderJoint::enableMotor(bool isMotorEnabled) { - mIsMotorEnabled = isMotorEnabled; - mImpulseMotor = 0.0; + mWorld.mSliderJointsComponents.setIsMotorEnabled(mEntity, isMotorEnabled); + mWorld.mSliderJointsComponents.setImpulseMotor(mEntity, decimal(0.0)); // Wake up the two bodies of the joint awakeBodies(); @@ -805,7 +852,7 @@ decimal SliderJoint::getTranslation() const { const Vector3 u = anchorBody2 - anchorBody1; // Compute the slider axis in world-space - Vector3 sliderAxisWorld = q1 * mSliderAxisBody1; + Vector3 sliderAxisWorld = q1 * mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity); sliderAxisWorld.normalize(); // Compute and return the translation value @@ -818,11 +865,11 @@ decimal SliderJoint::getTranslation() const { */ void SliderJoint::setMinTranslationLimit(decimal lowerLimit) { - assert(lowerLimit <= mUpperLimit); + assert(lowerLimit <= mWorld.mSliderJointsComponents.getUpperLimit(mEntity)); - if (lowerLimit != mLowerLimit) { + if (lowerLimit != mWorld.mSliderJointsComponents.getLowerLimit(mEntity)) { - mLowerLimit = lowerLimit; + mWorld.mSliderJointsComponents.setLowerLimit(mEntity, lowerLimit); // Reset the limits resetLimits(); @@ -835,11 +882,11 @@ void SliderJoint::setMinTranslationLimit(decimal lowerLimit) { */ void SliderJoint::setMaxTranslationLimit(decimal upperLimit) { - assert(mLowerLimit <= upperLimit); + assert(mWorld.mSliderJointsComponents.getLowerLimit(mEntity) <= upperLimit); - if (upperLimit != mUpperLimit) { + if (upperLimit != mWorld.mSliderJointsComponents.getUpperLimit(mEntity)) { - mUpperLimit = upperLimit; + mWorld.mSliderJointsComponents.setUpperLimit(mEntity, upperLimit); // Reset the limits resetLimits(); @@ -850,8 +897,8 @@ void SliderJoint::setMaxTranslationLimit(decimal upperLimit) { void SliderJoint::resetLimits() { // Reset the accumulated impulses for the limits - mImpulseLowerLimit = 0.0; - mImpulseUpperLimit = 0.0; + mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); + mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); // Wake up the two bodies of the joint awakeBodies(); @@ -863,9 +910,9 @@ void SliderJoint::resetLimits() { */ void SliderJoint::setMotorSpeed(decimal motorSpeed) { - if (motorSpeed != mMotorSpeed) { + if (motorSpeed != mWorld.mSliderJointsComponents.getMotorSpeed(mEntity)) { - mMotorSpeed = motorSpeed; + mWorld.mSliderJointsComponents.setMotorSpeed(mEntity, motorSpeed); // Wake up the two bodies of the joint awakeBodies(); @@ -878,23 +925,82 @@ void SliderJoint::setMotorSpeed(decimal motorSpeed) { */ void SliderJoint::setMaxMotorForce(decimal maxMotorForce) { - if (maxMotorForce != mMaxMotorForce) { + const decimal maxForce = mWorld.mSliderJointsComponents.getMaxMotorForce(mEntity); - assert(mMaxMotorForce >= decimal(0.0)); - mMaxMotorForce = maxMotorForce; + if (maxMotorForce != maxForce) { + + assert(maxForce >= decimal(0.0)); + mWorld.mSliderJointsComponents.setMaxMotorForce(mEntity, maxMotorForce); // Wake up the two bodies of the joint awakeBodies(); } } +// Return the intensity of the current force applied for the joint motor +/** + * @param timeStep Time step (in seconds) + * @return The current force of the joint motor (in Newton x meters) + */ +decimal SliderJoint::getMotorForce(decimal timeStep) const { + return mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) / timeStep; +} + +// Return true if the limits or the joint are enabled +/** + * @return True if the joint limits are enabled + */ +bool SliderJoint::isLimitEnabled() const { + + return mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity); +} + +// Return true if the motor of the joint is enabled +/** + * @return True if the joint motor is enabled + */ +bool SliderJoint::isMotorEnabled() const { + return mWorld.mSliderJointsComponents.getIsMotorEnabled(mEntity); +} + +// Return the minimum translation limit +/** + * @return The minimum translation limit of the joint (in meters) + */ +decimal SliderJoint::getMinTranslationLimit() const { + return mWorld.mSliderJointsComponents.getLowerLimit(mEntity); +} + +// Return the motor speed +/** + * @return The current motor speed of the joint (in meters per second) + */ +decimal SliderJoint::getMotorSpeed() const { + return mWorld.mSliderJointsComponents.getMotorSpeed(mEntity); +} + +// Return the maximum motor force +/** + * @return The maximum force of the joint motor (in Newton x meters) + */ +decimal SliderJoint::getMaxMotorForce() const { + return mWorld.mSliderJointsComponents.getMaxMotorForce(mEntity); +} + +// Return the maximum translation limit +/** + * @return The maximum translation limit of the joint (in meters) + */ +decimal SliderJoint::getMaxTranslationLimit() const { + return mWorld.mSliderJointsComponents.getUpperLimit(mEntity); +} // Return a string representation std::string SliderJoint::to_string() const { - return "SliderJoint{ lowerLimit=" + std::to_string(mLowerLimit) + ", upperLimit=" + std::to_string(mUpperLimit) + + return "SliderJoint{ lowerLimit=" + std::to_string(mWorld.mSliderJointsComponents.getLowerLimit(mEntity)) + ", upperLimit=" + std::to_string(mWorld.mSliderJointsComponents.getUpperLimit(mEntity)) + "localAnchorPointBody1=" + mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + ", localAnchorPointBody2=" + - mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + ", sliderAxisBody1=" + mSliderAxisBody1.to_string() + + mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + ", sliderAxisBody1=" + mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity).to_string() + ", initOrientationDifferenceInv=" + - mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() + ", motorSpeed=" + std::to_string(mMotorSpeed) + - ", maxMotorForce=" + std::to_string(mMaxMotorForce) + ", isLimitEnabled=" + - (mIsLimitEnabled ? "true" : "false") + ", isMotorEnabled=" + (mIsMotorEnabled ? "true" : "false") + "}"; + mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() + ", motorSpeed=" + std::to_string(getMotorSpeed()) + + ", maxMotorForce=" + std::to_string(getMaxMotorForce()) + ", isLimitEnabled=" + + (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity) ? "true" : "false") + ", isMotorEnabled=" + (mWorld.mSliderJointsComponents.getIsMotorEnabled(mEntity) ? "true" : "false") + "}"; } diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index fc5b2e98..ac6a8e91 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -150,87 +150,6 @@ class SliderJoint : public Joint { // -------------------- Attributes -------------------- // - /// Vector r1 in world-space coordinates - Vector3 mR1; - - /// Vector r2 in world-space coordinates - Vector3 mR2; - - /// Slider axis (in local-space coordinates of body 1) - Vector3 mSliderAxisBody1; - - /// First vector orthogonal to the slider axis local-space of body 1 - Vector3 mN1; - - /// Second vector orthogonal to the slider axis and mN1 in local-space of body 1 - Vector3 mN2; - - /// Cross product of r2 and n1 - Vector3 mR2CrossN1; - - /// Cross product of r2 and n2 - Vector3 mR2CrossN2; - - /// Cross product of r2 and the slider axis - Vector3 mR2CrossSliderAxis; - - /// Cross product of vector (r1 + u) and n1 - Vector3 mR1PlusUCrossN1; - - /// Cross product of vector (r1 + u) and n2 - Vector3 mR1PlusUCrossN2; - - /// Cross product of vector (r1 + u) and the slider axis - Vector3 mR1PlusUCrossSliderAxis; - - /// Bias of the lower limit constraint - decimal mBLowerLimit; - - /// Bias of the upper limit constraint - decimal mBUpperLimit; - - /// Inverse of mass matrix K=JM^-1J^t for the upper and lower limit constraints (1x1 matrix) - decimal mInverseMassMatrixLimit; - - /// Inverse of mass matrix K=JM^-1J^t for the motor - decimal mInverseMassMatrixMotor; - - /// Accumulated impulse for the lower limit constraint - decimal mImpulseLowerLimit; - - /// Accumulated impulse for the upper limit constraint - decimal mImpulseUpperLimit; - - /// Accumulated impulse for the motor - decimal mImpulseMotor; - - /// True if the slider limits are enabled - bool mIsLimitEnabled; - - /// True if the motor of the joint in enabled - bool mIsMotorEnabled; - - /// Slider axis in world-space coordinates - Vector3 mSliderAxisWorld; - - /// Lower limit (minimum translation distance) - decimal mLowerLimit; - - /// Upper limit (maximum translation distance) - decimal mUpperLimit; - - /// True if the lower limit is violated - bool mIsLowerLimitViolated; - - /// True if the upper limit is violated - bool mIsUpperLimitViolated; - - /// Motor speed (in m/s) - decimal mMotorSpeed; - - /// Maximum motor force (in Newtons) that can be applied to reach to desired motor speed - decimal mMaxMotorForce; - // -------------------- Methods -------------------- // /// Reset the limits @@ -313,63 +232,6 @@ class SliderJoint : public Joint { virtual std::string to_string() const override; }; -// Return true if the limits or the joint are enabled -/** - * @return True if the joint limits are enabled - */ -inline bool SliderJoint::isLimitEnabled() const { - return mIsLimitEnabled; -} - -// Return true if the motor of the joint is enabled -/** - * @return True if the joint motor is enabled - */ -inline bool SliderJoint::isMotorEnabled() const { - return mIsMotorEnabled; -} - -// Return the minimum translation limit -/** - * @return The minimum translation limit of the joint (in meters) - */ -inline decimal SliderJoint::getMinTranslationLimit() const { - return mLowerLimit; -} - -// Return the maximum translation limit -/** - * @return The maximum translation limit of the joint (in meters) - */ -inline decimal SliderJoint::getMaxTranslationLimit() const { - return mUpperLimit; -} - -// Return the motor speed -/** - * @return The current motor speed of the joint (in meters per second) - */ -inline decimal SliderJoint::getMotorSpeed() const { - return mMotorSpeed; -} - -// Return the maximum motor force -/** - * @return The maximum force of the joint motor (in Newton x meters) - */ -inline decimal SliderJoint::getMaxMotorForce() const { - return mMaxMotorForce; -} - -// Return the intensity of the current force applied for the joint motor -/** - * @param timeStep Time step (in seconds) - * @return The current force of the joint motor (in Newton x meters) - */ -inline decimal SliderJoint::getMotorForce(decimal timeStep) const { - return mImpulseMotor / timeStep; -} - // Return the number of bytes used by the joint inline size_t SliderJoint::getSizeInBytes() const { return sizeof(SliderJoint); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 64a495ca..db5a289c 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -348,13 +348,15 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { // Slider joint case JointType::SLIDERJOINT: { + const SliderJointInfo& info = static_cast(jointInfo); + // Create a SliderJoint component - SliderJointComponents::SliderJointComponent sliderJointComponent; + SliderJointComponents::SliderJointComponent sliderJointComponent(info.isLimitEnabled, info.isMotorEnabled, + info.minTranslationLimit, info.maxTranslationLimit, + info.motorSpeed, info.maxMotorForce); mSliderJointsComponents.addComponent(entity, isJointDisabled, sliderJointComponent); - void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(SliderJoint)); - const SliderJointInfo& info = static_cast(jointInfo); + void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SliderJoint)); SliderJoint* joint = new (allocatedMemory) SliderJoint(entity, *this, info); newJoint = joint; From f29810334e2e7ac10450299295cdd981ea47433f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 24 Sep 2019 17:45:43 +0200 Subject: [PATCH 088/197] Working on JointComponents --- src/body/RigidBody.cpp | 37 +-------------- src/body/RigidBody.h | 25 +--------- src/components/CollisionBodyComponents.h | 4 +- src/components/JointComponents.cpp | 10 +++- src/components/JointComponents.h | 21 +++++++++ src/components/RigidBodyComponents.cpp | 10 +++- src/components/RigidBodyComponents.h | 34 +++++++++++++- src/constraint/BallAndSocketJoint.cpp | 2 +- src/constraint/FixedJoint.cpp | 2 +- src/constraint/HingeJoint.cpp | 2 +- src/constraint/Joint.cpp | 3 +- src/constraint/Joint.h | 38 +--------------- src/constraint/SliderJoint.cpp | 2 +- src/engine/CollisionWorld.cpp | 17 +++---- src/engine/DynamicsWorld.cpp | 58 ++++++++---------------- src/engine/DynamicsWorld.h | 2 +- src/systems/ConstraintSolverSystem.cpp | 6 +-- src/systems/ContactSolverSystem.cpp | 2 +- 18 files changed, 115 insertions(+), 160 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index fbb8d262..74a1ccb7 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -40,16 +40,11 @@ using namespace reactphysics3d; * @param id The ID of the body */ RigidBody::RigidBody(CollisionWorld& world, Entity entity) - : CollisionBody(world, entity), mMaterial(world.mConfig), mJointsList(nullptr), + : CollisionBody(world, entity), mMaterial(world.mConfig), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { } -// Destructor -RigidBody::~RigidBody() { - assert(mJointsList == nullptr); -} - // Return the type of the body BodyType RigidBody::getType() const { return mWorld.mRigidBodyComponents.getBodyType(mEntity); @@ -322,36 +317,6 @@ void RigidBody::setMass(decimal mass) { "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass)); } -// Remove a joint from the joints list -void RigidBody::removeJointFromJointsList(MemoryManager& memoryManager, const Joint* joint) { - - assert(joint != nullptr); - assert(mJointsList != nullptr); - - // Remove the joint from the linked list of the joints of the first body - if (mJointsList->joint == joint) { // If the first element is the one to remove - JointListElement* elementToRemove = mJointsList; - mJointsList = elementToRemove->next; - elementToRemove->~JointListElement(); - memoryManager.release(MemoryManager::AllocationType::Pool, - elementToRemove, sizeof(JointListElement)); - } - else { // If the element to remove is not the first one in the list - JointListElement* currentElement = mJointsList; - while (currentElement->next != nullptr) { - if (currentElement->next->joint == joint) { - JointListElement* elementToRemove = currentElement->next; - currentElement->next = elementToRemove->next; - elementToRemove->~JointListElement(); - memoryManager.release(MemoryManager::AllocationType::Pool, - elementToRemove, sizeof(JointListElement)); - break; - } - currentElement = currentElement->next; - } - } -} - // Update the world inverse inertia tensor of the body /// The inertia tensor I_w in world coordinates is computed with the /// local inverse inertia tensor I_b^-1 in body coordinates diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index bd427657..3d1b5a6c 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -62,10 +62,6 @@ class RigidBody : public CollisionBody { /// Material properties of the rigid body Material mMaterial; - /// First element of the linked list of joints involving this body - // TODO : Replace this by a list of the joints entities - JointListElement* mJointsList; - /// True if the center of mass is set by the user bool mIsCenterOfMassSetByUser; @@ -74,9 +70,6 @@ class RigidBody : public CollisionBody { // -------------------- Methods -------------------- // - /// Remove a joint from the joints list - void removeJointFromJointsList(reactphysics3d::MemoryManager& memoryManager, const Joint* joint); - /// Update the transform of the body after a change of the center of mass void updateTransformWithCenterOfMass(); @@ -94,7 +87,7 @@ class RigidBody : public CollisionBody { RigidBody(CollisionWorld& world, Entity entity); /// Destructor - virtual ~RigidBody() override; + virtual ~RigidBody() override = default; /// Deleted copy-constructor RigidBody(const RigidBody& body) = delete; @@ -237,22 +230,6 @@ inline Material& RigidBody::getMaterial() { return mMaterial; } -// Return the first element of the linked list of joints involving this body -/** - * @return The first element of the linked-list of all the joints involving this body - */ -inline const JointListElement* RigidBody::getJointsList() const { - return mJointsList; -} - -// Return the first element of the linked list of joints involving this body -/** - * @return The first element of the linked-list of all the joints involving this body - */ -inline JointListElement* RigidBody::getJointsList() { - return mJointsList; -} - } #endif diff --git a/src/components/CollisionBodyComponents.h b/src/components/CollisionBodyComponents.h index 99b0a42d..8d1d3c39 100644 --- a/src/components/CollisionBodyComponents.h +++ b/src/components/CollisionBodyComponents.h @@ -107,7 +107,7 @@ class CollisionBodyComponents : public Components { /// Add a proxy-shape to a body component void addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity); - /// Set the transform of an entity + /// Remove a proxy-shape from a body component void removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity); /// Return a pointer to a body @@ -137,7 +137,7 @@ inline void CollisionBodyComponents::addProxyShapeToBody(Entity bodyEntity, Enti mProxyShapes[mMapEntityToComponentIndex[bodyEntity]].add(proxyShapeEntity); } -// Set the transform of an entity +// Remove a proxy-shape from a body component inline void CollisionBodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); diff --git a/src/components/JointComponents.cpp b/src/components/JointComponents.cpp index f867c3f1..71a33aba 100644 --- a/src/components/JointComponents.cpp +++ b/src/components/JointComponents.cpp @@ -34,7 +34,8 @@ using namespace reactphysics3d; // Constructor JointComponents::JointComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Entity) + sizeof(Joint*) + - sizeof(JointType) + sizeof(JointsPositionCorrectionTechnique) + sizeof (bool)) { + sizeof(JointType) + sizeof(JointsPositionCorrectionTechnique) + sizeof(bool) + + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -60,6 +61,7 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { JointType* newTypes = reinterpret_cast(newJoints + nbComponentsToAllocate); JointsPositionCorrectionTechnique* newPositionCorrectionTechniques = reinterpret_cast(newTypes + nbComponentsToAllocate); bool* newIsCollisionEnabled = reinterpret_cast(newPositionCorrectionTechniques + nbComponentsToAllocate); + bool* newIsAlreadyInIsland = reinterpret_cast(newIsCollisionEnabled + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -72,6 +74,7 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newTypes, mTypes, mNbComponents * sizeof(JointType)); memcpy(newPositionCorrectionTechniques, mPositionCorrectionTechniques, mNbComponents * sizeof(JointsPositionCorrectionTechnique)); memcpy(newIsCollisionEnabled, mIsCollisionEnabled, mNbComponents * sizeof(bool)); + memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -86,6 +89,7 @@ void JointComponents::allocate(uint32 nbComponentsToAllocate) { mTypes = newTypes; mPositionCorrectionTechniques = newPositionCorrectionTechniques; mIsCollisionEnabled = newIsCollisionEnabled; + mIsAlreadyInIsland = newIsAlreadyInIsland; } // Add a component @@ -102,6 +106,7 @@ void JointComponents::addComponent(Entity jointEntity, bool isSleeping, const Jo new (mTypes + index) JointType(component.jointType); new (mPositionCorrectionTechniques + index) JointsPositionCorrectionTechnique(component.positionCorrectionTechnique); mIsCollisionEnabled[index] = component.isCollisionEnabled; + mIsAlreadyInIsland[index] = false; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(jointEntity, index)); @@ -126,6 +131,7 @@ void JointComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { new (mTypes + destIndex) JointType(mTypes[srcIndex]); new (mPositionCorrectionTechniques + destIndex) JointsPositionCorrectionTechnique(mPositionCorrectionTechniques[srcIndex]); mIsCollisionEnabled[destIndex] = mIsCollisionEnabled[srcIndex]; + mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -149,6 +155,7 @@ void JointComponents::swapComponents(uint32 index1, uint32 index2) { JointType jointType1(mTypes[index1]); JointsPositionCorrectionTechnique positionCorrectionTechnique1(mPositionCorrectionTechniques[index1]); bool isCollisionEnabled1 = mIsCollisionEnabled[index1]; + bool isAlreadyInIsland = mIsAlreadyInIsland[index1]; // Destroy component 1 destroyComponent(index1); @@ -163,6 +170,7 @@ void JointComponents::swapComponents(uint32 index1, uint32 index2) { new (mTypes + index2) JointType(jointType1); new (mPositionCorrectionTechniques + index2) JointsPositionCorrectionTechnique(positionCorrectionTechnique1); mIsCollisionEnabled[index2] = isCollisionEnabled1; + mIsAlreadyInIsland[index2] = isAlreadyInIsland; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(jointEntity1, index2)); diff --git a/src/components/JointComponents.h b/src/components/JointComponents.h index 7193620c..8f7d0eb2 100644 --- a/src/components/JointComponents.h +++ b/src/components/JointComponents.h @@ -73,6 +73,9 @@ class JointComponents : public Components { /// Array of boolean values to know if the two bodies of the constraint are allowed to collide with each other bool* mIsCollisionEnabled; + /// True if the joint has already been added into an island during islands creation + bool* mIsAlreadyInIsland; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -143,6 +146,12 @@ class JointComponents : public Components { /// Set whether the collision is enabled between the two bodies of a joint void setIsCollisionEnabled(Entity jointEntity, bool isCollisionEnabled); + /// Return true if the joint has already been added into an island during island creation + bool getIsAlreadyInIsland(Entity jointEntity) const; + + /// Set to true if the joint has already been added into an island during island creation + void setIsAlreadyInIsland(Entity jointEntity, bool isAlreadyInIsland); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -196,6 +205,18 @@ inline void JointComponents::setIsCollisionEnabled(Entity jointEntity, bool isCo mIsCollisionEnabled[mMapEntityToComponentIndex[jointEntity]] = isCollisionEnabled; } +// Return true if the joint has already been added into an island during island creation +inline bool JointComponents::getIsAlreadyInIsland(Entity jointEntity) const { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + return mIsAlreadyInIsland[mMapEntityToComponentIndex[jointEntity]]; +} + +// Set to true if the joint has already been added into an island during island creation +inline void JointComponents::setIsAlreadyInIsland(Entity jointEntity, bool isAlreadyInIsland) { + assert(mMapEntityToComponentIndex.containsKey(jointEntity)); + mIsAlreadyInIsland[mMapEntityToComponentIndex[jointEntity]] = isAlreadyInIsland; +} + } #endif diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index 7ad67fb9..a748f93e 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -43,7 +43,7 @@ RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + - sizeof(bool) + sizeof(bool)) { + sizeof(bool) + sizeof(bool) + sizeof(List)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -88,6 +88,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newCentersOfMassWorld = reinterpret_cast(newCentersOfMassLocal + nbComponentsToAllocate); bool* newIsGravityEnabled = reinterpret_cast(newCentersOfMassWorld + nbComponentsToAllocate); bool* newIsAlreadyInIsland = reinterpret_cast(newIsGravityEnabled + nbComponentsToAllocate); + List* newJoints = reinterpret_cast*>(newIsAlreadyInIsland + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -119,6 +120,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCentersOfMassWorld, mCentersOfMassWorld, mNbComponents * sizeof(Vector3)); memcpy(newIsGravityEnabled, mIsGravityEnabled, mNbComponents * sizeof(bool)); memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool)); + memcpy(newJoints, mJoints, mNbComponents * sizeof(List)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -152,6 +154,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mCentersOfMassWorld = newCentersOfMassWorld; mIsGravityEnabled = newIsGravityEnabled; mIsAlreadyInIsland = newIsAlreadyInIsland; + mJoints = newJoints; } // Add a component @@ -187,6 +190,7 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mCentersOfMassWorld + index) Vector3(component.worldPosition); mIsGravityEnabled[index] = true; mIsAlreadyInIsland[index] = false; + new (mJoints + index) List(mMemoryAllocator); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(bodyEntity, index)); @@ -230,6 +234,7 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex new (mCentersOfMassWorld + destIndex) Vector3(mCentersOfMassWorld[srcIndex]); mIsGravityEnabled[destIndex] = mIsGravityEnabled[srcIndex]; mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex]; + new (mJoints + destIndex) List(mJoints[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -272,6 +277,7 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 centerOfMassWorld1 = mCentersOfMassWorld[index1]; bool isGravityEnabled1 = mIsGravityEnabled[index1]; bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1]; + List joints1 = mJoints[index1]; // Destroy component 1 destroyComponent(index1); @@ -305,6 +311,7 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mCentersOfMassWorld[index2] = centerOfMassWorld1; mIsGravityEnabled[index2] = isGravityEnabled1; mIsAlreadyInIsland[index2] = isAlreadyInIsland1; + new (mJoints + index2) List(joints1); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(entity1, index2)); @@ -339,4 +346,5 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mConstrainedOrientations[index].~Quaternion(); mCentersOfMassLocal[index].~Vector3(); mCentersOfMassWorld[index].~Vector3(); + mJoints[index].~List(); } diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 640a234b..23052176 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -142,6 +142,9 @@ class RigidBodyComponents : public Components { /// Array with the boolean value to know if the body has already been added into an island bool* mIsAlreadyInIsland; + /// For each body, the list of joints entities the body is part of + List* mJoints; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -330,6 +333,15 @@ class RigidBodyComponents : public Components { /// Set the value to know if the entity is already in an island void setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland); + /// Return the list of joints of a body + const List& getJoints(Entity bodyEntity) const; + + /// Add a joint to a body component + void addJointToBody(Entity bodyEntity, Entity jointEntity); + + /// Remove a joint from a body component + void removeJointFromBody(Entity bodyEntity, Entity jointEntity); + // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -729,10 +741,30 @@ inline void RigidBodyComponents::setIsGravityEnabled(Entity bodyEntity, bool isG inline void RigidBodyComponents::setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - mIsAlreadyInIsland[mMapEntityToComponentIndex[bodyEntity]] = isAlreadyInIsland; } +// Return the list of joints of a body +inline const List& RigidBodyComponents::getJoints(Entity bodyEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + return mJoints[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Add a joint to a body component +inline void RigidBodyComponents::addJointToBody(Entity bodyEntity, Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + mJoints[mMapEntityToComponentIndex[bodyEntity]].add(jointEntity); +} + +// Remove a joint from a body component +inline void RigidBodyComponents::removeJointFromBody(Entity bodyEntity, Entity jointEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + mJoints[mMapEntityToComponentIndex[bodyEntity]].remove(jointEntity); +} + } #endif diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 16c6e5f4..f329cbdc 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -36,7 +36,7 @@ const decimal BallAndSocketJoint::BETA = decimal(0.2); // Constructor BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo) - : Joint(entity, world, jointInfo) { + : Joint(entity, world) { // Get the transforms of the two bodies Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 82b61b80..d62b26d5 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -36,7 +36,7 @@ const decimal FixedJoint::BETA = decimal(0.2); // Constructor FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo& jointInfo) - : Joint(entity, world, jointInfo) { + : Joint(entity, world) { // Compute the local-space anchor point for each body const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 113b68a4..546e1310 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; const decimal HingeJoint::BETA = decimal(0.2); // Constructor -HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world, jointInfo) { +HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) { const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index 9bb68be3..d0826008 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -30,8 +30,7 @@ using namespace reactphysics3d; // Constructor -Joint::Joint(Entity entity, DynamicsWorld& world, const JointInfo& jointInfo) - :mEntity(entity), mWorld(world), mIsAlreadyInIsland(false) { +Joint::Joint(Entity entity, DynamicsWorld& world) :mEntity(entity), mWorld(world) { } diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 4d72c79f..20df2911 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -41,31 +41,6 @@ enum class JointType {BALLSOCKETJOINT, SLIDERJOINT, HINGEJOINT, FIXEDJOINT}; struct ConstraintSolverData; class Joint; -// Structure JointListElement -/** - * This structure represents a single element of a linked list of joints - */ -struct JointListElement { - - public: - - // -------------------- Attributes -------------------- // - - /// Pointer to the actual joint - Joint* joint; - - /// Next element of the list - JointListElement* next; - - // -------------------- Methods -------------------- // - - /// Constructor - JointListElement(Joint* initJoint, JointListElement* initNext) - :joint(initJoint), next(initNext){ - - } -}; - // Structure JointInfo /** * This structure is used to gather the information needed to create a joint. @@ -126,14 +101,8 @@ class Joint { /// Reference to the physics world DynamicsWorld& mWorld; - /// True if the joint has already been added into an island - bool mIsAlreadyInIsland; - // -------------------- Methods -------------------- // - /// Return true if the joint has already been added into an island - bool isAlreadyInIsland() const; - /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const = 0; @@ -157,7 +126,7 @@ class Joint { // -------------------- Methods -------------------- // /// Constructor - Joint(Entity entity, DynamicsWorld& world, const JointInfo& jointInfo); + Joint(Entity entity, DynamicsWorld& world); /// Destructor virtual ~Joint() = default; @@ -201,11 +170,6 @@ inline Entity Joint::getEntity() const { return mEntity; } -// Return true if the joint has already been added into an island -inline bool Joint::isAlreadyInIsland() const { - return mIsAlreadyInIsland; -} - } #endif diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index dafc5dd8..ab1fc812 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -36,7 +36,7 @@ const decimal SliderJoint::BETA = decimal(0.2); // Constructor SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointInfo& jointInfo) - : Joint(entity, world, jointInfo) { + : Joint(entity, world) { assert(mWorld.mSliderJointsComponents.getUpperLimit(mEntity) >= decimal(0.0)); assert(mWorld.mSliderJointsComponents.getLowerLimit(mEntity) <= decimal(0.0)); diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index b78eeb6a..c4a9351f 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -222,7 +222,6 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { if (mRigidBodyComponents.hasComponent(bodyEntity)) { mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); - mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); } // For each proxy-shape of the body @@ -235,22 +234,24 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { // Disable the joints of the body if necessary if (mRigidBodyComponents.hasComponent(bodyEntity)) { - RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); - // For each joint of the body - for(JointListElement* jointElem = body->getJointsList(); jointElem != nullptr; jointElem = jointElem->next) { + const List& joints = mRigidBodyComponents.getJoints(bodyEntity); + for(uint32 i=0; i < joints.size(); i++) { + + Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); + Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); // If both bodies of the joint are disabled - if (mRigidBodyComponents.getIsEntityDisabled(jointElem->joint->getBody1()->getEntity()) && - mRigidBodyComponents.getIsEntityDisabled(jointElem->joint->getBody2()->getEntity())) { + if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) && + mRigidBodyComponents.getIsEntityDisabled(body2Entity)) { // We disable the joint - setJointDisabled(jointElem->joint->getEntity(), true); + setJointDisabled(joints[i], true); } else { // Enable the joint - setJointDisabled(jointElem->joint->getEntity(), false); + setJointDisabled(joints[i], false); } } } diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index db5a289c..ee07c254 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -289,8 +289,9 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { // Destroy all the joints in which the rigid body to be destroyed is involved JointListElement* element; - for (element = rigidBody->mJointsList; element != nullptr; element = element->next) { - destroyJoint(element->joint); + const List& joints = mRigidBodyComponents.getJoints(rigidBody->getEntity()); + for (uint32 i=0; i < joints.size(); i++) { + destroyJoint(mJointsComponents.getJoint(joints[i])); } // Destroy the corresponding entity and its components @@ -431,7 +432,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { "Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string()); // Add the joint into the joint list of the bodies involved in the joint - addJointToBody(newJoint); + addJointToBodies(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), entity); // Return the pointer to the created joint return newJoint; @@ -466,8 +467,8 @@ void DynamicsWorld::destroyJoint(Joint* joint) { mJoints.remove(joint); // Remove the joint from the joint list of the bodies involved in the joint - body1->removeJointFromJointsList(mMemoryManager, joint); - body2->removeJointFromJointsList(mMemoryManager, joint); + mRigidBodyComponents.removeJointFromBody(body1->getEntity(), joint->getEntity()); + mRigidBodyComponents.removeJointFromBody(body2->getEntity(), joint->getEntity()); size_t nbBytes = joint->getSizeInBytes(); @@ -499,37 +500,17 @@ void DynamicsWorld::destroyJoint(Joint* joint) { } // Add the joint to the list of joints of the two bodies involved in the joint -void DynamicsWorld::addJointToBody(Joint* joint) { +void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { - assert(joint != nullptr); - - RigidBody* body1 = joint->getBody1(); - RigidBody* body2 = joint->getBody2(); - - // Add the joint at the beginning of the linked list of joints of the first body - void* allocatedMemory1 = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(JointListElement)); - JointListElement* jointListElement1 = new (allocatedMemory1) JointListElement(joint, - body1->mJointsList); - RigidBody* test1 = joint->getBody1(); - RigidBody* test2 = joint->getBody2(); - - body1->mJointsList = jointListElement1; + mRigidBodyComponents.addJointToBody(body1, joint); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(body1->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + - " added to body"); + "Body " + std::to_string(body1.id) + ": Joint " + std::to_string(joint.id) + " added to body"); - // Add the joint at the beginning of the linked list of joints of the second body - void* allocatedMemory2 = mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(JointListElement)); - JointListElement* jointListElement2 = new (allocatedMemory2) JointListElement(joint, - body2->mJointsList); - body2->mJointsList = jointListElement2; + mRigidBodyComponents.addJointToBody(body2, joint); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(body2->getEntity().id) + ": Joint " + std::to_string(joint->getEntity().id) + - " added to body"); + "Body " + std::to_string(body2.id) + ": Joint " + std::to_string(joint.id) + " added to body"); } // Compute the islands using potential contacts and joints @@ -557,7 +538,7 @@ void DynamicsWorld::createIslands() { mRigidBodyComponents.mIsAlreadyInIsland[b] = false; } for (List::Iterator it = mJoints.begin(); it != mJoints.end(); ++it) { - (*it)->mIsAlreadyInIsland = false; + mJointsComponents.setIsAlreadyInIsland((*it)->getEntity(), false); } // Create a stack for the bodies to visit during the Depth First Search @@ -656,21 +637,20 @@ void DynamicsWorld::createIslands() { } // For each joint in which the current body is involved - JointListElement* jointElement; - for (jointElement = rigidBodyToVisit->mJointsList; jointElement != nullptr; - jointElement = jointElement->next) { + const List& joints = mRigidBodyComponents.getJoints(rigidBodyToVisit->getEntity()); + for (uint32 i=0; i < joints.size(); i++) { - Joint* joint = jointElement->joint; + Joint* joint = mJointsComponents.getJoint(joints[i]); // Check if the current joint has already been added into an island - if (joint->isAlreadyInIsland()) continue; + if (mJointsComponents.getIsAlreadyInIsland(joints[i])) continue; // Add the joint into the island mIslands.joints[islandIndex].add(joint); - joint->mIsAlreadyInIsland = true; + mJointsComponents.setIsAlreadyInIsland(joints[i], true); - const Entity body1Entity = joint->getBody1()->getEntity(); - const Entity body2Entity = joint->getBody2()->getEntity(); + const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); + const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); const Entity otherBodyEntity = body1Entity == bodyToVisitEntity ? body2Entity : body1Entity; // Check if the other body has already been added to the island diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 5687c943..a8f32617 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -120,7 +120,7 @@ class DynamicsWorld : public CollisionWorld { void updateSleepingBodies(decimal timeStep); /// Add the joint to the list of joints of the two bodies involved in the joint - void addJointToBody(Joint* joint); + void addJointToBodies(Entity body1, Entity body2, Entity joint); public : diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index ae637ba7..4a8d49eb 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -46,7 +46,7 @@ ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyCompon // Initialize the constraint solver for a given island void ConstraintSolverSystem::initializeForIsland(decimal dt, uint islandIndex) { - RP3D_PROFILE("ConstraintSolver::initializeForIsland()", mProfiler); + RP3D_PROFILE("ConstraintSolverSystem::initializeForIsland()", mProfiler); assert(mIslands.bodyEntities[islandIndex].size() > 0); assert(mIslands.joints[islandIndex].size() > 0); @@ -74,7 +74,7 @@ void ConstraintSolverSystem::initializeForIsland(decimal dt, uint islandIndex) { // Solve the velocity constraints void ConstraintSolverSystem::solveVelocityConstraints(uint islandIndex) { - RP3D_PROFILE("ConstraintSolver::solveVelocityConstraints()", mProfiler); + RP3D_PROFILE("ConstraintSolverSystem::solveVelocityConstraints()", mProfiler); assert(mIslands.joints[islandIndex].size() > 0); @@ -89,7 +89,7 @@ void ConstraintSolverSystem::solveVelocityConstraints(uint islandIndex) { // Solve the position constraints void ConstraintSolverSystem::solvePositionConstraints(uint islandIndex) { - RP3D_PROFILE("ConstraintSolver::solvePositionConstraints()", mProfiler); + RP3D_PROFILE("ConstraintSolverSystem::solvePositionConstraints()", mProfiler); assert(mIslands.joints[islandIndex].size() > 0); diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 03e1a95c..3ffbc384 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -488,7 +488,7 @@ void ContactSolverSystem::warmStart() { // Solve the contacts void ContactSolverSystem::solve() { - RP3D_PROFILE("ContactSolver::solve()", mProfiler); + RP3D_PROFILE("ContactSolverSystem::solve()", mProfiler); decimal deltaLambda; decimal lambdaTemp; From f0b8121795bff1f66836f3b1abc34b8ec2168c11 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 27 Sep 2019 07:20:30 +0200 Subject: [PATCH 089/197] Working on joints ECS --- CHANGELOG.md | 2 + src/components/JointComponents.h | 2 + src/engine/DynamicsWorld.cpp | 78 +++++++++++--------------- src/engine/DynamicsWorld.h | 29 +--------- src/engine/Island.cpp | 7 +-- src/engine/Island.h | 28 +-------- src/engine/Islands.h | 10 +--- src/systems/ConstraintSolverSystem.cpp | 49 ++++++++-------- src/systems/ConstraintSolverSystem.h | 21 ++++--- 9 files changed, 82 insertions(+), 144 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 7ff8f1d9..db4b85ba 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,8 @@ ### Removed - DynamicsWorld::getContactsList(). You need to use the EventListener class to retrieve contacts now. + - The DynamicsWorld::getNbJoints() method has been removed. + - The DynamicsWorld::getNbRigidBodies() method has been removed. ## Release Candidate diff --git a/src/components/JointComponents.h b/src/components/JointComponents.h index 8f7d0eb2..e9986ec2 100644 --- a/src/components/JointComponents.h +++ b/src/components/JointComponents.h @@ -155,6 +155,8 @@ class JointComponents : public Components { // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class ConstraintSolverSystem; + friend class DynamicsWorld; }; // Return the entity of the first body of a joint diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index ee07c254..7daba967 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -52,13 +52,12 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), - mConstraintSolverSystem(mIslands, mRigidBodyComponents), + mConstraintSolverSystem(mIslands, mRigidBodyComponents, mJointsComponents), mDynamicsSystem(mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), - mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), - mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), + mGravity(gravity), mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mCurrentJointId(0) { #ifdef IS_PROFILING_ACTIVE @@ -79,8 +78,8 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS DynamicsWorld::~DynamicsWorld() { // Destroy all the joints that have not been removed - for (int i=mJoints.size() - 1; i >= 0; i--) { - destroyJoint(mJoints[i]); + for (uint32 i=0; i < mJointsComponents.getNbComponents(); i++) { + destroyJoint(mJointsComponents.mJoints[i]); } // Destroy all the rigid bodies that have not been removed @@ -88,7 +87,7 @@ DynamicsWorld::~DynamicsWorld() { destroyRigidBody(mRigidBodies[i]); } - assert(mJoints.size() == 0); + assert(mJointsComponents.getNbComponents() == 0); assert(mRigidBodies.size() == 0); #ifdef IS_PROFILING_ACTIVE @@ -129,6 +128,9 @@ void DynamicsWorld::update(decimal timeStep) { // Report the contacts to the user mCollisionDetection.reportContacts(); + // Disable the joints for pair of sleeping bodies + disableJointsOfSleepingBodies(); + // Integrate the velocities mDynamicsSystem.integrateRigidBodiesVelocities(timeStep); @@ -173,28 +175,13 @@ void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) { // Initialize the contact solver mContactSolverSystem.init(mCollisionDetection.mCurrentContactManifolds, mCollisionDetection.mCurrentContactPoints, timeStep); - // For each island of the world - for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { - - // If there are constraints to solve - if (mIslands.joints[islandIndex].size() > 0) { - - // Initialize the constraint solver - mConstraintSolverSystem.initializeForIsland(timeStep, islandIndex); - } - } + // Initialize the constraint solver + mConstraintSolverSystem.initialize(timeStep); // For each iteration of the velocity solver for (uint i=0; i 0) { - - mConstraintSolverSystem.solveVelocityConstraints(islandIndex); - } - } + mConstraintSolverSystem.solveVelocityConstraints(); mContactSolverSystem.solve(); } @@ -207,22 +194,30 @@ void DynamicsWorld::solvePositionCorrection() { RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", mProfiler); - // Do not continue if there is no constraints - if (mJoints.size() == 0) return; + // ---------- Solve the position error correction for the constraints ---------- // - // For each island of the world - for (uint islandIndex = 0; islandIndex < mIslands.getNbIslands(); islandIndex++) { + // For each iteration of the position (error correction) solver + for (uint i=0; i 0) { +// Disable the joints for pair of sleeping bodies +void DynamicsWorld::disableJointsOfSleepingBodies() { - // For each iteration of the position (error correction) solver - for (uint i=0; igetEntity().id) + ": New joint created"); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, @@ -463,9 +455,6 @@ void DynamicsWorld::destroyJoint(Joint* joint) { body1->setIsSleeping(false); body2->setIsSleeping(false); - // Remove the joint from the world - mJoints.remove(joint); - // Remove the joint from the joint list of the bodies involved in the joint mRigidBodyComponents.removeJointFromBody(body1->getEntity(), joint->getEntity()); mRigidBodyComponents.removeJointFromBody(body2->getEntity(), joint->getEntity()); @@ -537,8 +526,8 @@ void DynamicsWorld::createIslands() { mRigidBodyComponents.mIsAlreadyInIsland[b] = false; } - for (List::Iterator it = mJoints.begin(); it != mJoints.end(); ++it) { - mJointsComponents.setIsAlreadyInIsland((*it)->getEntity(), false); + for (uint32 i=0; i < mJointsComponents.getNbComponents(); i++) { + mJointsComponents.mIsAlreadyInIsland[i] = false; } // Create a stack for the bodies to visit during the Depth First Search @@ -640,13 +629,10 @@ void DynamicsWorld::createIslands() { const List& joints = mRigidBodyComponents.getJoints(rigidBodyToVisit->getEntity()); for (uint32 i=0; i < joints.size(); i++) { - Joint* joint = mJointsComponents.getJoint(joints[i]); - // Check if the current joint has already been added into an island if (mJointsComponents.getIsAlreadyInIsland(joints[i])) continue; // Add the joint into the island - mIslands.joints[islandIndex].add(joint); mJointsComponents.setIsAlreadyInIsland(joints[i], true); const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index a8f32617..4e19ab9e 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -79,10 +79,6 @@ class DynamicsWorld : public CollisionWorld { /// All the rigid bodies of the physics world List mRigidBodies; - /// All the joints of the world - // TODO : We probably do not need this list anymore - List mJoints; - /// Gravity vector of the world Vector3 mGravity; @@ -163,6 +159,9 @@ class DynamicsWorld : public CollisionWorld { /// Create a rigid body into the physics world. RigidBody* createRigidBody(const Transform& transform); + /// Disable the joints for pair of sleeping bodies + void disableJointsOfSleepingBodies(); + /// Destroy a rigid body and all the joints which it belongs void destroyRigidBody(RigidBody* rigidBody); @@ -184,12 +183,6 @@ class DynamicsWorld : public CollisionWorld { /// Enable/Disable the gravity void setIsGratityEnabled(bool isGravityEnabled); - /// Return the number of rigid bodies in the world - uint getNbRigidBodies() const; - - /// Return the number of joints in the world - uint getNbJoints() const; - /// Return true if the sleeping technique is enabled bool isSleepingEnabled() const; @@ -332,22 +325,6 @@ inline void DynamicsWorld::setIsGratityEnabled(bool isGravityEnabled) { "Dynamics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false"))); } -// Return the number of rigid bodies in the world -/** - * @return Number of rigid bodies in the world - */ -inline uint DynamicsWorld::getNbRigidBodies() const { - return mRigidBodies.size(); -} - -/// Return the number of joints in the world -/** - * @return Number of joints in the world - */ -inline uint DynamicsWorld::getNbJoints() const { - return mJoints.size(); -} - // Return true if the sleeping technique is enabled /** * @return True if the sleeping technique is enabled and false otherwise diff --git a/src/engine/Island.cpp b/src/engine/Island.cpp index fb75c68b..d69918bc 100644 --- a/src/engine/Island.cpp +++ b/src/engine/Island.cpp @@ -30,17 +30,14 @@ using namespace reactphysics3d; // Constructor -Island::Island(uint nbMaxBodies, uint nbMaxContactManifolds, uint nbMaxJoints, MemoryManager& memoryManager) - : mBodies(nullptr), mContactManifolds(nullptr), mJoints(nullptr), mNbBodies(0), - mNbContactManifolds(0), mNbJoints(0) { +Island::Island(uint nbMaxBodies, uint nbMaxContactManifolds, MemoryManager& memoryManager) + : mBodies(nullptr), mContactManifolds(nullptr), mNbBodies(0), mNbContactManifolds(0) { // Allocate memory for the arrays on the single frame allocator mBodies = static_cast(memoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(RigidBody*) * nbMaxBodies)); mContactManifolds = static_cast(memoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(ContactManifold*) * nbMaxContactManifolds)); - mJoints = static_cast(memoryManager.allocate(MemoryManager::AllocationType::Frame, - sizeof(Joint*) * nbMaxJoints)); } // Destructor diff --git a/src/engine/Island.h b/src/engine/Island.h index 9c786e51..6dcee95f 100644 --- a/src/engine/Island.h +++ b/src/engine/Island.h @@ -53,25 +53,18 @@ class Island { /// Array with all the contact manifolds between bodies of the island ContactManifold** mContactManifolds; - /// Array with all the joints between bodies of the island - Joint** mJoints; - /// Current number of bodies in the island uint mNbBodies; /// Current number of contact manifold in the island uint mNbContactManifolds; - /// Current number of joints in the island - uint mNbJoints; - public: // -------------------- Methods -------------------- // /// Constructor - Island(uint nbMaxBodies, uint nbMaxContactManifolds, uint nbMaxJoints, - MemoryManager& memoryManager); + Island(uint nbMaxBodies, uint nbMaxContactManifolds, MemoryManager& memoryManager); /// Destructor ~Island(); @@ -106,9 +99,6 @@ class Island { /// Return a pointer to the array of contact manifolds ContactManifold** getContactManifolds(); - /// Return a pointer to the array of joints - Joint** getJoints(); - // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -127,12 +117,6 @@ inline void Island::addContactManifold(ContactManifold* contactManifold) { mNbContactManifolds++; } -// Add a joint into the island -inline void Island::addJoint(Joint* joint) { - mJoints[mNbJoints] = joint; - mNbJoints++; -} - // Return the number of bodies in the island inline uint Island::getNbBodies() const { return mNbBodies; @@ -143,11 +127,6 @@ inline uint Island::getNbContactManifolds() const { return mNbContactManifolds; } -// Return the number of joints in the island -inline uint Island::getNbJoints() const { - return mNbJoints; -} - // Return a pointer to the array of bodies inline RigidBody** Island::getBodies() { return mBodies; @@ -158,11 +137,6 @@ inline ContactManifold** Island::getContactManifolds() { return mContactManifolds; } -// Return a pointer to the array of joints -inline Joint** Island::getJoints() { - return mJoints; -} - } #endif diff --git a/src/engine/Islands.h b/src/engine/Islands.h index dec4e49e..26011fa3 100644 --- a/src/engine/Islands.h +++ b/src/engine/Islands.h @@ -65,16 +65,12 @@ struct Islands { /// For each island, list of all the entities of the bodies in the island List> bodyEntities; - // TODO : Use joints entities here and not pointers - /// For each island, list of the joints that are part of the island - List> joints; - // -------------------- Methods -------------------- // /// Constructor Islands(MemoryAllocator& allocator) - :memoryAllocator(allocator), contactManifoldsIndices(allocator), nbContactManifolds(allocator), bodyEntities(allocator), - joints(allocator) { + :memoryAllocator(allocator), contactManifoldsIndices(allocator), nbContactManifolds(allocator), + bodyEntities(allocator) { } @@ -100,7 +96,6 @@ struct Islands { contactManifoldsIndices.add(contactManifoldStartIndex); nbContactManifolds.add(0); bodyEntities.add(List(memoryAllocator)); - joints.add(List(memoryAllocator)); return islandIndex; } @@ -111,7 +106,6 @@ struct Islands { contactManifoldsIndices.clear(true); nbContactManifolds.clear(true); bodyEntities.clear(true); - joints.clear(true); } }; diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 4a8d49eb..55a0e9f1 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -25,14 +25,17 @@ // Libraries #include "systems/ConstraintSolverSystem.h" +#include "components/JointComponents.h" #include "utils/Profiler.h" #include "engine/Island.h" using namespace reactphysics3d; // Constructor -ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents) - : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents), +ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents, + JointComponents& jointComponents) + : mIsWarmStartingActive(true), mIslands(islands), + mConstraintSolverData(rigidBodyComponents, jointComponents), mSolveBallAndSocketJointSystem(rigidBodyComponents) { #ifdef IS_PROFILING_ACTIVE @@ -43,13 +46,10 @@ ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyCompon } -// Initialize the constraint solver for a given island -void ConstraintSolverSystem::initializeForIsland(decimal dt, uint islandIndex) { +// Initialize the constraint solver +void ConstraintSolverSystem::initialize(decimal dt) { - RP3D_PROFILE("ConstraintSolverSystem::initializeForIsland()", mProfiler); - - assert(mIslands.bodyEntities[islandIndex].size() > 0); - assert(mIslands.joints[islandIndex].size() > 0); + RP3D_PROFILE("ConstraintSolverSystem::initialize()", mProfiler); // Set the current time step mTimeStep = dt; @@ -58,45 +58,46 @@ void ConstraintSolverSystem::initializeForIsland(decimal dt, uint islandIndex) { mConstraintSolverData.timeStep = mTimeStep; mConstraintSolverData.isWarmStartingActive = mIsWarmStartingActive; - // For each joint of the island - for (uint i=0; iinitBeforeSolve(mConstraintSolverData); + mConstraintSolverData.jointComponents.mJoints[i]->initBeforeSolve(mConstraintSolverData); // Warm-start the constraint if warm-starting is enabled if (mIsWarmStartingActive) { - mIslands.joints[islandIndex][i]->warmstart(mConstraintSolverData); + mConstraintSolverData.jointComponents.mJoints[i]->warmstart(mConstraintSolverData); } } } // Solve the velocity constraints -void ConstraintSolverSystem::solveVelocityConstraints(uint islandIndex) { +void ConstraintSolverSystem::solveVelocityConstraints() { RP3D_PROFILE("ConstraintSolverSystem::solveVelocityConstraints()", mProfiler); - assert(mIslands.joints[islandIndex].size() > 0); - - // For each joint of the island - for (uint i=0; isolveVelocityConstraint(mConstraintSolverData); + mConstraintSolverData.jointComponents.mJoints[i]->solveVelocityConstraint(mConstraintSolverData); } } // Solve the position constraints -void ConstraintSolverSystem::solvePositionConstraints(uint islandIndex) { +void ConstraintSolverSystem::solvePositionConstraints() { RP3D_PROFILE("ConstraintSolverSystem::solvePositionConstraints()", mProfiler); - assert(mIslands.joints[islandIndex].size() > 0); - - // For each joint of the island - for (uint i=0; isolvePositionConstraint(mConstraintSolverData); + mConstraintSolverData.jointComponents.mJoints[i]->solvePositionConstraint(mConstraintSolverData); } } diff --git a/src/systems/ConstraintSolverSystem.h b/src/systems/ConstraintSolverSystem.h index da7ec7ec..0d1dbfd9 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/src/systems/ConstraintSolverSystem.h @@ -39,6 +39,7 @@ class Joint; class Island; class Profiler; class RigidBodyComponents; +class JointComponents; class DynamicsComponents; // Structure ConstraintSolverData @@ -53,15 +54,18 @@ struct ConstraintSolverData { /// Current time step of the simulation decimal timeStep; - /// Reference to the rigid body components + /// Reference to the rigid body components RigidBodyComponents& rigidBodyComponents; + /// Reference to the joint components + JointComponents& jointComponents; + /// True if warm starting of the solver is active bool isWarmStartingActive; /// Constructor - ConstraintSolverData(RigidBodyComponents& rigidBodyComponents) - :rigidBodyComponents(rigidBodyComponents) { + ConstraintSolverData(RigidBodyComponents& rigidBodyComponents, JointComponents& jointComponents) + :rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) { } @@ -168,19 +172,20 @@ class ConstraintSolverSystem { // -------------------- Methods -------------------- // /// Constructor - ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents); + ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents, + JointComponents& jointComponents); /// Destructor ~ConstraintSolverSystem() = default; - /// Initialize the constraint solver for a given island - void initializeForIsland(decimal dt, uint islandIndex); + /// Initialize the constraint solver + void initialize(decimal dt); /// Solve the constraints - void solveVelocityConstraints(uint islandIndex); + void solveVelocityConstraints(); /// Solve the position constraints - void solvePositionConstraints(uint islandIndex); + void solvePositionConstraints(); /// Return true if the Non-Linear-Gauss-Seidel position correction technique is active bool getIsNonLinearGaussSeidelPositionCorrectionActive() const; From 22810e08573dba48c3056445c6a6f5a4515a632d Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 1 Oct 2019 22:39:50 +0200 Subject: [PATCH 090/197] Working on SolveBallAndSocketJointSystem --- src/components/BallAndSocketJointComponents.h | 17 +- src/components/RigidBodyComponents.h | 1 + src/constraint/BallAndSocketJoint.cpp | 257 +------------ src/constraint/BallAndSocketJoint.h | 36 +- src/constraint/Joint.h | 4 + src/engine/DynamicsWorld.cpp | 3 +- src/systems/ConstraintSolverSystem.cpp | 41 +- src/systems/ConstraintSolverSystem.h | 18 +- src/systems/SolveBallAndSocketJointSystem.cpp | 360 +++++++++++++++++- src/systems/SolveBallAndSocketJointSystem.h | 56 ++- 10 files changed, 509 insertions(+), 284 deletions(-) diff --git a/src/components/BallAndSocketJointComponents.h b/src/components/BallAndSocketJointComponents.h index 13d58eab..3af8e569 100644 --- a/src/components/BallAndSocketJointComponents.h +++ b/src/components/BallAndSocketJointComponents.h @@ -128,16 +128,16 @@ class BallAndSocketJointComponents : public Components { void setJoint(Entity jointEntity, BallAndSocketJoint* joint) const; /// Return the local anchor point of body 1 for a given joint - const Vector3& getLocalAnchoirPointBody1(Entity jointEntity) const; + const Vector3& getLocalAnchorPointBody1(Entity jointEntity) const; /// Set the local anchor point of body 1 for a given joint - void setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); + void setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); /// Return the local anchor point of body 2 for a given joint - const Vector3& getLocalAnchoirPointBody2(Entity jointEntity) const; + const Vector3& getLocalAnchorPointBody2(Entity jointEntity) const; /// Set the local anchor point of body 2 for a given joint - void setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); + void setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); /// Return the vector from center of body 1 to anchor point in world-space const Vector3& getR1World(Entity jointEntity) const; @@ -184,6 +184,7 @@ class BallAndSocketJointComponents : public Components { // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class SolveBallAndSocketJointSystem; }; // Return a pointer to a given joint @@ -201,28 +202,28 @@ inline void BallAndSocketJointComponents::setJoint(Entity jointEntity, BallAndSo } // Return the local anchor point of body 1 for a given joint -inline const Vector3& BallAndSocketJointComponents::getLocalAnchoirPointBody1(Entity jointEntity) const { +inline const Vector3& BallAndSocketJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 1 for a given joint -inline void BallAndSocketJointComponents::setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { +inline void BallAndSocketJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; } // Return the local anchor point of body 2 for a given joint -inline const Vector3& BallAndSocketJointComponents::getLocalAnchoirPointBody2(Entity jointEntity) const { +inline const Vector3& BallAndSocketJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 2 for a given joint -inline void BallAndSocketJointComponents::setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { +inline void BallAndSocketJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 23052176..8ed50a09 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -346,6 +346,7 @@ class RigidBodyComponents : public Components { friend class DynamicsWorld; friend class ContactSolverSystem; + friend class SolveBallAndSocketJointSystem; friend class DynamicsSystem; friend class BallAndSocketJoint; friend class FixedJoint; diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index f329cbdc..c098289d 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -43,264 +43,15 @@ BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, cons Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); // Compute the local-space anchor point for each body - mWorld.mBallAndSocketJointsComponents.setLocalAnchoirPointBody1(entity, body1Transform.getInverse() * jointInfo.anchorPointWorldSpace); - mWorld.mBallAndSocketJointsComponents.setLocalAnchoirPointBody2(entity, body2Transform.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody1(entity, body1Transform.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody2(entity, body2Transform.getInverse() * jointInfo.anchorPointWorldSpace); } -// Initialize before solving the constraint -void BallAndSocketJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // Get the bodies center of mass and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); - const Quaternion& orientationBody1 = body1->getTransform().getOrientation(); - const Quaternion& orientationBody2 = body2->getTransform().getOrientation(); - - // Get the inertia tensor of bodies - mWorld.mBallAndSocketJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mBallAndSocketJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); - - // Compute the vector from body center to the anchor point in world-space - const Vector3 localAnchorPointBody1 = mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody1(mEntity); - const Vector3 localAnchorPointBody2 = mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody2(mEntity); - mWorld.mBallAndSocketJointsComponents.setR1World(mEntity, orientationBody1 * localAnchorPointBody1); - mWorld.mBallAndSocketJointsComponents.setR2World(mEntity, orientationBody2 * localAnchorPointBody2); - - // Compute the corresponding skew-symmetric matrices - const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); - - // Compute the matrix K=JM^-1J^t (3x3 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); - const decimal inverseMassBodies = body1MassInverse + body2MassInverse; - const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); - - // Compute the inverse mass matrix K^-1 - Matrix3x3& inverseMassMatrix = mWorld.mBallAndSocketJointsComponents.getInverseMassMatrix(mEntity); - inverseMassMatrix.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mBallAndSocketJointsComponents.setInverseMassMatrix(mEntity, massMatrix.getInverse()); - } - - // Compute the bias "b" of the constraint - Vector3& biasVector = mWorld.mBallAndSocketJointsComponents.getBiasVector(mEntity); - biasVector.setToZero(); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - decimal biasFactor = (BETA / constraintSolverData.timeStep); - mWorld.mBallAndSocketJointsComponents.setBiasVector(mEntity, biasFactor * (x2 + r2World - x1 - r1World)); - } - - // If warm-starting is not enabled - if (!constraintSolverData.isWarmStartingActive) { - - // Reset the accumulated impulse - Vector3& impulse = mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity); - impulse.setToZero(); - } -} - -// Warm start the constraint (apply the previous impulse at the beginning of the step) -void BallAndSocketJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); - - // Compute the impulse P=J^T * lambda for the body 1 - const Vector3& impulse = mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity); - const Vector3 linearImpulseBody1 = -impulse; - const Vector3 angularImpulseBody1 = impulse.cross(r1World); - - // Apply the impulse to the body 1 - v1 += constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity) * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the body 2 - const Vector3 angularImpulseBody2 = -impulse.cross(r2World); - - // Apply the impulse to the body to the body 2 - v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * impulse; - w2 += i2 * angularImpulseBody2; -} - -// Solve the velocity constraint -void BallAndSocketJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); - - const Matrix3x3& inverseMassMatrix = mWorld.mBallAndSocketJointsComponents.getInverseMassMatrix(mEntity); - const Vector3& biasVector = mWorld.mBallAndSocketJointsComponents.getBiasVector(mEntity); - - // Compute J*v - const Vector3 Jv = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); - - // Compute the Lagrange multiplier lambda - const Vector3 deltaLambda = inverseMassMatrix * (-Jv - biasVector); - mWorld.mBallAndSocketJointsComponents.setImpulse(mEntity, mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity) + deltaLambda); - - // Compute the impulse P=J^T * lambda for the body 1 - const Vector3 linearImpulseBody1 = -deltaLambda; - const Vector3 angularImpulseBody1 = deltaLambda.cross(r1World); - - // Apply the impulse to the body 1 - v1 += constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity) * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the body 2 - const Vector3 angularImpulseBody2 = -deltaLambda.cross(r2World); - - // Apply the impulse to the body 2 - v2 += constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity) * deltaLambda; - w2 += i2 * angularImpulseBody2; -} - -// Solve the position constraint (for position error correction) -void BallAndSocketJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { - - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; - - // Get the bodies center of mass and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); - - // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& r1World = mWorld.mBallAndSocketJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mBallAndSocketJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mBallAndSocketJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mBallAndSocketJointsComponents.getI2(mEntity); - - // Recompute the inverse inertia tensors - mWorld.mBallAndSocketJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mBallAndSocketJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); - - // Compute the vector from body center to the anchor point in world-space - mWorld.mBallAndSocketJointsComponents.setR1World(mEntity, q1 * mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody1(mEntity)); - mWorld.mBallAndSocketJointsComponents.setR2World(mEntity, q2 * mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody2(mEntity)); - - // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); - - // Recompute the inverse mass matrix K=J^TM^-1J of of the 3 translation constraints - decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); - Matrix3x3& inverseMassMatrix = mWorld.mBallAndSocketJointsComponents.getInverseMassMatrix(mEntity); - inverseMassMatrix.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mBallAndSocketJointsComponents.setInverseMassMatrix(mEntity, massMatrix.getInverse()); - } - - // Compute the constraint error (value of the C(x) function) - const Vector3 constraintError = (x2 + r2World - x1 - r1World); - - // Compute the Lagrange multiplier lambda - // TODO : Do not solve the system by computing the inverse each time and multiplying with the - // right-hand side vector but instead use a method to directly solve the linear system. - const Vector3 lambda = inverseMassMatrix * (-constraintError); - - // Compute the impulse of body 1 - const Vector3 linearImpulseBody1 = -lambda; - const Vector3 angularImpulseBody1 = lambda.cross(r1World); - - // Compute the pseudo velocity of body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body center of mass and orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - const Vector3 angularImpulseBody2 = -lambda.cross(r2World); - - // Compute the pseudo velocity of body 2 - const Vector3 v2 = inverseMassBody2 * lambda; - const Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); -} // Return a string representation std::string BallAndSocketJoint::to_string() const { - return "BallAndSocketJoint{ localAnchorPointBody1=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody1(mEntity).to_string() + - ", localAnchorPointBody2=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchoirPointBody2(mEntity).to_string() + "}"; + return "BallAndSocketJoint{ localAnchorPointBody1=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + + ", localAnchorPointBody2=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + "}"; } diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index 533b57c2..4323ef1c 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -82,17 +82,6 @@ class BallAndSocketJoint : public Joint { /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; - /// Initialize before solving the constraint - virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override; - - /// Warm start the constraint (apply the previous impulse at the beginning of the step) - virtual void warmstart(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the velocity constraint - virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the position constraint (for position error correction) - virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override; public : @@ -112,6 +101,31 @@ class BallAndSocketJoint : public Joint { /// Deleted assignment operator BallAndSocketJoint& operator=(const BallAndSocketJoint& constraint) = delete; + + /// Initialize before solving the constraint + // TODO : Delete this + virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override { + + } + + /// Warm start the constraint (apply the previous impulse at the beginning of the step) + // TODO : Delete this + virtual void warmstart(const ConstraintSolverData& constraintSolverData) override { + + } + + /// Solve the velocity constraint + // TODO : Delete this + virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override { + + } + + /// Solve the position constraint (for position error correction) + // TODO : Delete this + virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override { + + } + }; // Return the number of bytes used by the joint diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 20df2911..7c9d2ed5 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -107,15 +107,19 @@ class Joint { virtual size_t getSizeInBytes() const = 0; /// Initialize before solving the joint + // TODO : REMOVE THIS virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) = 0; /// Warm start the joint (apply the previous impulse at the beginning of the step) + // TODO : REMOVE THIS virtual void warmstart(const ConstraintSolverData& constraintSolverData) = 0; /// Solve the velocity constraint + // TODO : REMOVE THIS virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) = 0; /// Solve the position constraint + // TODO : REMOVE THIS virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) = 0; /// Awake the two bodies of the joint diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 7daba967..55f8d539 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -52,7 +52,8 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), - mConstraintSolverSystem(mIslands, mRigidBodyComponents, mJointsComponents), + mConstraintSolverSystem(mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, + mBallAndSocketJointsComponents), mDynamicsSystem(mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 55a0e9f1..8af41d2b 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -26,6 +26,7 @@ // Libraries #include "systems/ConstraintSolverSystem.h" #include "components/JointComponents.h" +#include "components/BallAndSocketJointComponents.h" #include "utils/Profiler.h" #include "engine/Island.h" @@ -33,10 +34,13 @@ using namespace reactphysics3d; // Constructor ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents, - JointComponents& jointComponents) + TransformComponents& transformComponents, + JointComponents& jointComponents, + BallAndSocketJointComponents& ballAndSocketJointComponents) : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents, jointComponents), - mSolveBallAndSocketJointSystem(rigidBodyComponents) { + mSolveBallAndSocketJointSystem(rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents), + mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents){ #ifdef IS_PROFILING_ACTIVE @@ -58,16 +62,31 @@ void ConstraintSolverSystem::initialize(decimal dt) { mConstraintSolverData.timeStep = mTimeStep; mConstraintSolverData.isWarmStartingActive = mIsWarmStartingActive; + mSolveBallAndSocketJointSystem.setTimeStep(dt); + mSolveBallAndSocketJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); + + mSolveBallAndSocketJointSystem.initBeforeSolve(); + + if (mIsWarmStartingActive) { + mSolveBallAndSocketJointSystem.warmstart(); + } + // For each joint for (uint i=0; iinitBeforeSolve(mConstraintSolverData); + mJointComponents.mJoints[i]->initBeforeSolve(mConstraintSolverData); // Warm-start the constraint if warm-starting is enabled if (mIsWarmStartingActive) { @@ -81,9 +100,17 @@ void ConstraintSolverSystem::solveVelocityConstraints() { RP3D_PROFILE("ConstraintSolverSystem::solveVelocityConstraints()", mProfiler); + mSolveBallAndSocketJointSystem.solveVelocityConstraint(); + // For each joint for (uint i=0; isolveVelocityConstraint(mConstraintSolverData); } @@ -94,9 +121,17 @@ void ConstraintSolverSystem::solvePositionConstraints() { RP3D_PROFILE("ConstraintSolverSystem::solvePositionConstraints()", mProfiler); + mSolveBallAndSocketJointSystem.solvePositionConstraint(); + // For each joint for (uint i=0; isolvePositionConstraint(mConstraintSolverData); } diff --git a/src/systems/ConstraintSolverSystem.h b/src/systems/ConstraintSolverSystem.h index 0d1dbfd9..b37b7c28 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/src/systems/ConstraintSolverSystem.h @@ -54,18 +54,18 @@ struct ConstraintSolverData { /// Current time step of the simulation decimal timeStep; + /// True if warm starting of the solver is active + bool isWarmStartingActive; + /// Reference to the rigid body components RigidBodyComponents& rigidBodyComponents; /// Reference to the joint components JointComponents& jointComponents; - /// True if warm starting of the solver is active - bool isWarmStartingActive; - /// Constructor ConstraintSolverData(RigidBodyComponents& rigidBodyComponents, JointComponents& jointComponents) - :rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) { + :rigidBodyComponents(rigidBodyComponents), jointComponents(jointComponents) { } @@ -161,6 +161,12 @@ class ConstraintSolverSystem { /// Solver for the BallAndSocketJoint constraints SolveBallAndSocketJointSystem mSolveBallAndSocketJointSystem; + // TODO : Delete this + JointComponents& mJointComponents; + + // TODO : Delete this + BallAndSocketJointComponents& mBallAndSocketJointComponents; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -173,7 +179,9 @@ class ConstraintSolverSystem { /// Constructor ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents, - JointComponents& jointComponents); + TransformComponents& transformComponents, + JointComponents& jointComponents, + BallAndSocketJointComponents& ballAndSocketJointComponents); /// Destructor ~ConstraintSolverSystem() = default; diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index 76166cf2..3930e07c 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -25,11 +25,367 @@ // Libraries #include "systems/SolveBallAndSocketJointSystem.h" +#include "body/RigidBody.h" using namespace reactphysics3d; +// Static variables definition +const decimal SolveBallAndSocketJointSystem::BETA = decimal(0.2); + // Constructor -SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents) - :mRigidBodyComponents(rigidBodyComponents) { +SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, + JointComponents& jointComponents, + BallAndSocketJointComponents& ballAndSocketJointComponents) + :mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), + mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents), + mTimeStep(0), mIsWarmStartingActive(true) { } + +// Initialize before solving the constraint +void SolveBallAndSocketJointSystem::initBeforeSolve() { + + // For each joint + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + const RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); + const RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); + + // Get the inertia tensor of bodies + mBallAndSocketJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); + mBallAndSocketJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + } + + // For each joint + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute the vector from body center to the anchor point in world-space + mBallAndSocketJointComponents.mR1World[i] = orientationBody1 * mBallAndSocketJointComponents.mLocalAnchorPointBody1[i]; + mBallAndSocketJointComponents.mR2World[i] = orientationBody2 * mBallAndSocketJointComponents.mLocalAnchorPointBody2[i]; + } + + // For each joint + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // Compute the corresponding skew-symmetric matrices + const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; + const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; + Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Compute the matrix K=JM^-1J^t (3x3 matrix) + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + const decimal inverseMassBodies = body1MassInverse + body2MassInverse; + const Matrix3x3& i1 = mBallAndSocketJointComponents.mI1[i]; + const Matrix3x3& i2 = mBallAndSocketJointComponents.mI2[i]; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); + + // Compute the inverse mass matrix K^-1 + mBallAndSocketJointComponents.mInverseMassMatrix[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mBallAndSocketJointComponents.mInverseMassMatrix[i] = massMatrix.getInverse(); + } + } + + // For each joint + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; + const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; + + const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(body2Entity); + + // Compute the bias "b" of the constraint + mBallAndSocketJointComponents.mBiasVector[i].setToZero(); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + decimal biasFactor = (BETA / mTimeStep); + mBallAndSocketJointComponents.mBiasVector[i] = biasFactor * (x2 + r2World - x1 - r1World); + } + } + + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { + + // For each joint + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + // Reset the accumulated impulse + mBallAndSocketJointComponents.mImpulse[i].setToZero(); + } + } +} + +// Warm start the constraint (apply the previous impulse at the beginning of the step) +void SolveBallAndSocketJointSystem::warmstart() { + + // For each joint component + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; + const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; + + const Matrix3x3& i1 = mBallAndSocketJointComponents.mI1[i]; + const Matrix3x3& i2 = mBallAndSocketJointComponents.mI2[i]; + + // Compute the impulse P=J^T * lambda for the body 1 + const Vector3 linearImpulseBody1 = -mBallAndSocketJointComponents.mImpulse[i]; + const Vector3 angularImpulseBody1 = mBallAndSocketJointComponents.mImpulse[i].cross(r1World); + + // Apply the impulse to the body 1 + v1 += mRigidBodyComponents.mInverseMasses[componentIndexBody1] * linearImpulseBody1; + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the body 2 + const Vector3 angularImpulseBody2 = -mBallAndSocketJointComponents.mImpulse[i].cross(r2World); + + // Apply the impulse to the body to the body 2 + v2 += mRigidBodyComponents.mInverseMasses[componentIndexBody2] * mBallAndSocketJointComponents.mImpulse[i]; + w2 += i2 * angularImpulseBody2; + } +} + +// Solve the velocity constraint +void SolveBallAndSocketJointSystem::solveVelocityConstraint() { + + // For each joint component + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + const Matrix3x3& i1 = mBallAndSocketJointComponents.mI1[i]; + const Matrix3x3& i2 = mBallAndSocketJointComponents.mI2[i]; + + // Compute J*v + const Vector3 Jv = v2 + w2.cross(mBallAndSocketJointComponents.mR2World[i]) - v1 - w1.cross(mBallAndSocketJointComponents.mR1World[i]); + + // Compute the Lagrange multiplier lambda + const Vector3 deltaLambda = mBallAndSocketJointComponents.mInverseMassMatrix[i] * (-Jv - mBallAndSocketJointComponents.mBiasVector[i]); + mBallAndSocketJointComponents.mImpulse[i] += deltaLambda; + + // Compute the impulse P=J^T * lambda for the body 1 + const Vector3 linearImpulseBody1 = -deltaLambda; + const Vector3 angularImpulseBody1 = deltaLambda.cross(mBallAndSocketJointComponents.mR1World[i]); + + // Apply the impulse to the body 1 + v1 += mRigidBodyComponents.mInverseMasses[componentIndexBody1] * linearImpulseBody1; + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the body 2 + const Vector3 angularImpulseBody2 = -deltaLambda.cross(mBallAndSocketJointComponents.mR2World[i]); + + // Apply the impulse to the body 2 + v2 += mRigidBodyComponents.mInverseMasses[componentIndexBody2] * deltaLambda; + w2 += i2 * angularImpulseBody2; + } +} + +// Solve the position constraint (for position error correction) +void SolveBallAndSocketJointSystem::solvePositionConstraint() { + + // For each joint component + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + const RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); + const RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); + + // Recompute the inverse inertia tensors + mBallAndSocketJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); + mBallAndSocketJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + } + + // For each joint component + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Compute the vector from body center to the anchor point in world-space + mBallAndSocketJointComponents.mR1World[i] = mRigidBodyComponents.getConstrainedOrientation(body1Entity) * + mBallAndSocketJointComponents.mLocalAnchorPointBody1[i]; + mBallAndSocketJointComponents.mR2World[i] = mRigidBodyComponents.getConstrainedOrientation(body2Entity) * + mBallAndSocketJointComponents.mLocalAnchorPointBody2[i]; + } + + // For each joint component + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; + const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; + + // Compute the corresponding skew-symmetric matrices + Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); + + // Get the inverse mass and inverse inertia tensors of the bodies + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // Recompute the inverse mass matrix K=J^TM^-1J of of the 3 translation constraints + decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * mBallAndSocketJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mBallAndSocketJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); + mBallAndSocketJointComponents.mInverseMassMatrix[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mBallAndSocketJointComponents.mInverseMassMatrix[i] = massMatrix.getInverse(); + } + } + + // For each joint component + for (uint32 i=0; i < mBallAndSocketJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mBallAndSocketJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + + const Vector3& r1World = mBallAndSocketJointComponents.mR1World[i]; + const Vector3& r2World = mBallAndSocketJointComponents.mR2World[i]; + + // Compute the constraint error (value of the C(x) function) + const Vector3 constraintError = (x2 + r2World - x1 - r1World); + + // Compute the Lagrange multiplier lambda + // TODO : Do not solve the system by computing the inverse each time and multiplying with the + // right-hand side vector but instead use a method to directly solve the linear system. + const Vector3 lambda = mBallAndSocketJointComponents.mInverseMassMatrix[i] * (-constraintError); + + // Compute the impulse of body 1 + const Vector3 linearImpulseBody1 = -lambda; + const Vector3 angularImpulseBody1 = lambda.cross(r1World); + + // Get the inverse mass and inverse inertia tensors of the bodies + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // Compute the pseudo velocity of body 1 + const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; + const Vector3 w1 = mBallAndSocketJointComponents.mI1[i] * angularImpulseBody1; + + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + + // Update the body center of mass and orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + const Vector3 angularImpulseBody2 = -lambda.cross(r2World); + + // Compute the pseudo velocity of body 2 + const Vector3 v2 = inverseMassBody2 * lambda; + const Vector3 w2 = mBallAndSocketJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } +} diff --git a/src/systems/SolveBallAndSocketJointSystem.h b/src/systems/SolveBallAndSocketJointSystem.h index b77fee1a..7bab807c 100644 --- a/src/systems/SolveBallAndSocketJointSystem.h +++ b/src/systems/SolveBallAndSocketJointSystem.h @@ -29,6 +29,8 @@ // Libraries #include "utils/Profiler.h" #include "components/RigidBodyComponents.h" +#include "components/JointComponents.h" +#include "components/BallAndSocketJointComponents.h" #include "components/TransformComponents.h" namespace reactphysics3d { @@ -41,11 +43,31 @@ class SolveBallAndSocketJointSystem { private : + // -------------------- Constants -------------------- // + + // Beta value for the bias factor of position correction + static const decimal BETA; + // -------------------- Attributes -------------------- // /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; + /// Reference to transform components + TransformComponents& mTransformComponents; + + /// Reference to the joint components + JointComponents& mJointComponents; + + /// Reference to the ball-and-socket joint components + BallAndSocketJointComponents& mBallAndSocketJointComponents; + + /// Current time step of the simulation + decimal mTimeStep; + + /// True if warm starting of the solver is active + bool mIsWarmStartingActive; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -57,11 +79,32 @@ class SolveBallAndSocketJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents); + SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, + JointComponents& jointComponents, + BallAndSocketJointComponents& ballAndSocketJointComponents); /// Destructor ~SolveBallAndSocketJointSystem() = default; + /// Initialize before solving the constraint + void initBeforeSolve(); + + /// Warm start the constraint (apply the previous impulse at the beginning of the step) + void warmstart(); + + /// Solve the velocity constraint + void solveVelocityConstraint(); + + /// Solve the position constraint (for position error correction) + void solvePositionConstraint(); + + /// Set the time step + void setTimeStep(decimal timeStep); + + /// Set to true to enable warm starting + void setIsWarmStartingActive(bool isWarmStartingActive); + #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -78,6 +121,17 @@ inline void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } +// Set the time step +inline void SolveBallAndSocketJointSystem::setTimeStep(decimal timeStep) { + assert(timeStep > decimal(0.0)); + mTimeStep = timeStep; +} + +// Set to true to enable warm starting +inline void SolveBallAndSocketJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { + mIsWarmStartingActive = isWarmStartingActive; +} + #endif } From ab02d98f3a1abcf8bb9b512a7fae46edc5c1212b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 2 Oct 2019 17:48:28 +0200 Subject: [PATCH 091/197] Add SolveFixedJointSystem class --- CMakeLists.txt | 2 + src/components/FixedJointComponents.h | 21 +- src/components/RigidBodyComponents.h | 1 + src/constraint/FixedJoint.cpp | 363 +----------- src/constraint/FixedJoint.h | 9 +- src/engine/DynamicsWorld.cpp | 2 +- src/systems/ConstraintSolverSystem.cpp | 22 +- src/systems/ConstraintSolverSystem.h | 11 +- src/systems/SolveBallAndSocketJointSystem.cpp | 3 +- src/systems/SolveFixedJointSystem.cpp | 545 ++++++++++++++++++ src/systems/SolveFixedJointSystem.h | 137 +++++ 11 files changed, 734 insertions(+), 382 deletions(-) create mode 100644 src/systems/SolveFixedJointSystem.cpp create mode 100644 src/systems/SolveFixedJointSystem.h diff --git a/CMakeLists.txt b/CMakeLists.txt index d16403b4..d0c969aa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -133,6 +133,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/DynamicsSystem.h" "src/systems/CollisionDetectionSystem.h" "src/systems/SolveBallAndSocketJointSystem.h" + "src/systems/SolveFixedJointSystem.h" "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" @@ -230,6 +231,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/DynamicsSystem.cpp" "src/systems/CollisionDetectionSystem.cpp" "src/systems/SolveBallAndSocketJointSystem.cpp" + "src/systems/SolveFixedJointSystem.cpp" "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" diff --git a/src/components/FixedJointComponents.h b/src/components/FixedJointComponents.h index bfaed648..a6c10a69 100644 --- a/src/components/FixedJointComponents.h +++ b/src/components/FixedJointComponents.h @@ -140,16 +140,16 @@ class FixedJointComponents : public Components { void setJoint(Entity jointEntity, FixedJoint* joint) const; /// Return the local anchor point of body 1 for a given joint - const Vector3& getLocalAnchoirPointBody1(Entity jointEntity) const; + const Vector3& getLocalAnchorPointBody1(Entity jointEntity) const; /// Set the local anchor point of body 1 for a given joint - void setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1); + void setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchorPointBody1); /// Return the local anchor point of body 2 for a given joint - const Vector3& getLocalAnchoirPointBody2(Entity jointEntity) const; + const Vector3& getLocalAnchorPointBody2(Entity jointEntity) const; /// Set the local anchor point of body 2 for a given joint - void setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); + void setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2); /// Return the vector from center of body 1 to anchor point in world-space const Vector3& getR1World(Entity jointEntity) const; @@ -220,6 +220,7 @@ class FixedJointComponents : public Components { // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class SolveFixedJointSystem; }; // Return a pointer to a given joint @@ -237,31 +238,31 @@ inline void FixedJointComponents::setJoint(Entity jointEntity, FixedJoint* joint } // Return the local anchor point of body 1 for a given joint -inline const Vector3& FixedJointComponents::getLocalAnchoirPointBody1(Entity jointEntity) const { +inline const Vector3& FixedJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 1 for a given joint -inline void FixedJointComponents::setLocalAnchoirPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) { +inline void FixedJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchorPointBody1) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1; + mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchorPointBody1; } // Return the local anchor point of body 2 for a given joint -inline const Vector3& FixedJointComponents::getLocalAnchoirPointBody2(Entity jointEntity) const { +inline const Vector3& FixedJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]]; } // Set the local anchor point of body 2 for a given joint -inline void FixedJointComponents::setLocalAnchoirPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) { +inline void FixedJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchorPointBody2) { assert(mMapEntityToComponentIndex.containsKey(jointEntity)); - mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2; + mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchorPointBody2; } // Return the vector from center of body 1 to anchor point in world-space diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 8ed50a09..5a6aa395 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -347,6 +347,7 @@ class RigidBodyComponents : public Components { friend class DynamicsWorld; friend class ContactSolverSystem; friend class SolveBallAndSocketJointSystem; + friend class SolveFixedJointSystem; friend class DynamicsSystem; friend class BallAndSocketJoint; friend class FixedJoint; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index d62b26d5..9783e979 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -31,9 +31,6 @@ using namespace reactphysics3d; -// Static variables definition -const decimal FixedJoint::BETA = decimal(0.2); - // Constructor FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo& jointInfo) : Joint(entity, world) { @@ -42,8 +39,8 @@ FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); - mWorld.mFixedJointsComponents.setLocalAnchoirPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); - mWorld.mFixedJointsComponents.setLocalAnchoirPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mFixedJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); + mWorld.mFixedJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); // Store inverse of initial rotation from body 1 to body 2 in body 1 space: // @@ -62,379 +59,27 @@ FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo // Initialize before solving the constraint void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); - const Quaternion& orientationBody1 = body1->getTransform().getOrientation(); - const Quaternion& orientationBody2 = body2->getTransform().getOrientation(); - - // Get the inertia tensor of bodies - mWorld.mFixedJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mFixedJointsComponents.setI1(mEntity, body2->getInertiaTensorInverseWorld()); - - const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); - - // Compute the vector from body center to the anchor point in world-space - mWorld.mFixedJointsComponents.setR1World(mEntity, orientationBody1 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody1(mEntity)); - mWorld.mFixedJointsComponents.setR2World(mEntity, orientationBody2 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody2(mEntity)); - - // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); - - // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); - const decimal inverseMassBodies = body1MassInverse + body2MassInverse; - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); - - // Compute the inverse mass matrix K^-1 for the 3 translation constraints - Matrix3x3& inverseMassMatrixTranslation = mWorld.mFixedJointsComponents.getInverseMassMatrixTranslation(mEntity); - inverseMassMatrixTranslation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mFixedJointsComponents.setInverseMassMatrixTranslation(mEntity, massMatrix.getInverse()); - } - - // Compute the bias "b" of the constraint for the 3 translation constraints - const decimal biasFactor = (BETA / constraintSolverData.timeStep); - Vector3& biasTranslation = mWorld.mFixedJointsComponents.getBiasTranslation(mEntity); - biasTranslation.setToZero(); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mWorld.mFixedJointsComponents.setBiasTranslation(mEntity, biasFactor * (x2 + r2World - x1 - r1World)); - } - - // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation - // contraints (3x3 matrix) - Matrix3x3& inverseMassMatrixRotation = mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity); - inverseMassMatrixRotation = i1 + i2; - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mFixedJointsComponents.setInverseMassMatrixRotation(mEntity, mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity).getInverse()); - } - - // Compute the bias "b" for the 3 rotation constraints - Vector3& biasRotation = mWorld.mFixedJointsComponents.getBiasRotation(mEntity); - biasRotation.setToZero(); - - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - const Quaternion qError = orientationBody2 * mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity) * orientationBody1.getInverse(); - mWorld.mFixedJointsComponents.setBiasRotation(mEntity, biasFactor * decimal(2.0) * qError.getVectorV()); - } - - // If warm-starting is not enabled - if (!constraintSolverData.isWarmStartingActive) { - - Vector3& impulseTranslation = mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity); - Vector3& impulseRotation = mWorld.mFixedJointsComponents.getImpulseRotation(mEntity); - - // Reset the accumulated impulses - impulseTranslation.setToZero(); - impulseRotation.setToZero(); - } } // Warm start the constraint (apply the previous impulse at the beginning of the step) void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - // Get the inverse mass of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& impulseTranslation = mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity); - const Vector3& impulseRotation = mWorld.mFixedJointsComponents.getImpulseRotation(mEntity); - - const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); - - // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 1 - Vector3 linearImpulseBody1 = -impulseTranslation; - Vector3 angularImpulseBody1 = impulseTranslation.cross(r1World); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 1 - angularImpulseBody1 += -impulseRotation; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 2 - Vector3 angularImpulseBody2 = -impulseTranslation.cross(r2World); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 2 - angularImpulseBody2 += impulseRotation; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * impulseTranslation; - w2 += i2 * angularImpulseBody2; } // Solve the velocity constraint void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - // Get the inverse mass of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); - - // --------------- Translation Constraints --------------- // - - // Compute J*v for the 3 translation constraints - const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); - - const Vector3& biasTranslation = mWorld.mFixedJointsComponents.getBiasTranslation(mEntity); - const Matrix3x3& inverseMassMatrixTranslation = mWorld.mFixedJointsComponents.getInverseMassMatrixTranslation(mEntity); - - // Compute the Lagrange multiplier lambda - const Vector3 deltaLambda = inverseMassMatrixTranslation * (-JvTranslation - biasTranslation); - mWorld.mFixedJointsComponents.setImpulseTranslation(mEntity, mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity) + deltaLambda); - - // Compute the impulse P=J^T * lambda for body 1 - const Vector3 linearImpulseBody1 = -deltaLambda; - Vector3 angularImpulseBody1 = deltaLambda.cross(r1World); - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for body 2 - const Vector3 angularImpulseBody2 = -deltaLambda.cross(r2World); - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * deltaLambda; - w2 += i2 * angularImpulseBody2; - - // --------------- Rotation Constraints --------------- // - - // Compute J*v for the 3 rotation constraints - const Vector3 JvRotation = w2 - w1; - - const Vector3& biasRotation = mWorld.mFixedJointsComponents.getBiasRotation(mEntity); - const Matrix3x3& inverseMassMatrixRotation = mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 deltaLambda2 = inverseMassMatrixRotation * (-JvRotation - biasRotation); - mWorld.mFixedJointsComponents.setImpulseRotation(mEntity, mWorld.mFixedJointsComponents.getImpulseRotation(mEntity) + deltaLambda2); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 1 - angularImpulseBody1 = -deltaLambda2; - - // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; - - // Apply the impulse to the body 2 - w2 += i2 * deltaLambda2; } // Solve the position constraint (for position error correction) void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; - - // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); - - // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& r1World = mWorld.mFixedJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mFixedJointsComponents.getR2World(mEntity); - - const Matrix3x3& i1 = mWorld.mFixedJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mFixedJointsComponents.getI2(mEntity); - - // Recompute the inverse inertia tensors - mWorld.mFixedJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mFixedJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); - - // Compute the vector from body center to the anchor point in world-space - mWorld.mFixedJointsComponents.setR1World(mEntity, q1 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody1(mEntity)); - mWorld.mFixedJointsComponents.setR2World(mEntity, q2 * mWorld.mFixedJointsComponents.getLocalAnchoirPointBody2(mEntity)); - - // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); - - // --------------- Translation Constraints --------------- // - - // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); - Matrix3x3& inverseMassMatrixTranslation = mWorld.mFixedJointsComponents.getInverseMassMatrixTranslation(mEntity); - inverseMassMatrixTranslation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mFixedJointsComponents.setInverseMassMatrixTranslation(mEntity, massMatrix.getInverse()); - } - - // Compute position error for the 3 translation constraints - const Vector3 errorTranslation = x2 + r2World - x1 - r1World; - - // Compute the Lagrange multiplier lambda - const Vector3 lambdaTranslation = inverseMassMatrixTranslation * (-errorTranslation); - - // Compute the impulse of body 1 - Vector3 linearImpulseBody1 = -lambdaTranslation; - Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); - - // Compute the pseudo velocity of body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); - - // Compute the pseudo velocity of body 2 - const Vector3 v2 = inverseMassBody2 * lambdaTranslation; - Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - // --------------- Rotation Constraints --------------- // - - // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation - // contraints (3x3 matrix) - Matrix3x3& inverseMassMatrixRotation = mWorld.mFixedJointsComponents.getInverseMassMatrixRotation(mEntity); - inverseMassMatrixRotation = i1 + i2; - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mFixedJointsComponents.setInverseMassMatrixRotation(mEntity, inverseMassMatrixRotation.getInverse()); - } - - // Calculate difference in rotation - // - // The rotation should be: - // - // q2 = q1 r0 - // - // But because of drift the actual rotation is: - // - // q2 = qError q1 r0 - // <=> qError = q2 r0^-1 q1^-1 - // - // Where: - // q1 = current rotation of body 1 - // q2 = current rotation of body 2 - // qError = error that needs to be reduced to zero - Quaternion qError = q2 * mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity) * q1.getInverse(); - - // A quaternion can be seen as: - // - // q = [sin(theta / 2) * v, cos(theta/2)] - // - // Where: - // v = rotation vector - // theta = rotation angle - // - // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: - const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 lambdaRotation = inverseMassMatrixRotation * (-errorRotation); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -lambdaRotation; - - // Compute the pseudo velocity of body 1 - w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the pseudo velocity of body 2 - w2 = i2 * lambdaRotation; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } // Return a string representation std::string FixedJoint::to_string() const { - return "FixedJoint{ localAnchorPointBody1=" + mWorld.mFixedJointsComponents.getLocalAnchoirPointBody1(mEntity).to_string() + - ", localAnchorPointBody2=" + mWorld.mFixedJointsComponents.getLocalAnchoirPointBody2(mEntity).to_string() + + return "FixedJoint{ localAnchorPointBody1=" + mWorld.mFixedJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + + ", localAnchorPointBody2=" + mWorld.mFixedJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + ", initOrientationDifferenceInv=" + mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() + "}"; } diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index 57b302cf..701be60b 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -68,26 +68,25 @@ class FixedJoint : public Joint { private : - // -------------------- Constants -------------------- // - - // Beta value for the bias factor of position correction - static const decimal BETA; - // -------------------- Methods -------------------- // /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; /// Initialize before solving the constraint + // TODO : DELETE THIS virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override; /// Warm start the constraint (apply the previous impulse at the beginning of the step) + // TODO : DELETE THIS virtual void warmstart(const ConstraintSolverData& constraintSolverData) override; /// Solve the velocity constraint + // TODO : DELETE THIS virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override; /// Solve the position constraint (for position error correction) + // TODO : DELETE THIS virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override; public : diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 55f8d539..d162dda0 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -53,7 +53,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mContactSolverSystem(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), mConstraintSolverSystem(mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, - mBallAndSocketJointsComponents), + mBallAndSocketJointsComponents, mFixedJointsComponents), mDynamicsSystem(mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 8af41d2b..6cc3dbdd 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -36,11 +36,14 @@ using namespace reactphysics3d; ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, - BallAndSocketJointComponents& ballAndSocketJointComponents) + BallAndSocketJointComponents& ballAndSocketJointComponents, + FixedJointComponents& fixedJointComponents) : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents, jointComponents), mSolveBallAndSocketJointSystem(rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents), - mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents){ + mSolveFixedJointSystem(rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents), + mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents), + mFixedJointComponents(fixedJointComponents) { #ifdef IS_PROFILING_ACTIVE @@ -64,11 +67,15 @@ void ConstraintSolverSystem::initialize(decimal dt) { mSolveBallAndSocketJointSystem.setTimeStep(dt); mSolveBallAndSocketJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); + mSolveFixedJointSystem.setTimeStep(dt); + mSolveFixedJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); mSolveBallAndSocketJointSystem.initBeforeSolve(); + mSolveFixedJointSystem.initBeforeSolve(); if (mIsWarmStartingActive) { mSolveBallAndSocketJointSystem.warmstart(); + mSolveFixedJointSystem.warmstart(); } // For each joint @@ -76,7 +83,8 @@ void ConstraintSolverSystem::initialize(decimal dt) { // TODO : DELETE THIS Entity jointEntity = mConstraintSolverData.jointComponents.mJointEntities[i]; - if (mBallAndSocketJointComponents.hasComponent(jointEntity)) { + if (mBallAndSocketJointComponents.hasComponent(jointEntity) || + mFixedJointComponents.hasComponent(jointEntity)) { continue; } @@ -101,13 +109,15 @@ void ConstraintSolverSystem::solveVelocityConstraints() { RP3D_PROFILE("ConstraintSolverSystem::solveVelocityConstraints()", mProfiler); mSolveBallAndSocketJointSystem.solveVelocityConstraint(); + mSolveFixedJointSystem.solveVelocityConstraint(); // For each joint for (uint i=0; i(mRigidBodyComponents.getRigidBody(body1Entity)); + RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); + + // Get the inertia tensor of bodies + mFixedJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); + mFixedJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute the vector from body center to the anchor point in world-space + mFixedJointComponents.mR1World[i] = orientationBody1 * mFixedJointComponents.mLocalAnchorPointBody1[i]; + mFixedJointComponents.mR2World[i] = orientationBody2 * mFixedJointComponents.mLocalAnchorPointBody2[i]; + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Compute the corresponding skew-symmetric matrices + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR1World[i]); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR2World[i]); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + const decimal inverseMassBodies = body1MassInverse + body2MassInverse; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * mFixedJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mFixedJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); + + // Compute the inverse mass matrix K^-1 for the 3 translation constraints + mFixedJointComponents.mInverseMassMatrixTranslation[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + } + } + + const decimal biasFactor = BETA / mTimeStep; + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Get the bodies positions and orientations + const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(body2Entity); + + const Vector3& r1World = mFixedJointComponents.mR1World[i]; + const Vector3& r2World = mFixedJointComponents.mR2World[i]; + + // Compute the bias "b" of the constraint for the 3 translation constraints + mFixedJointComponents.mBiasTranslation[i].setToZero(); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mFixedJointComponents.mBiasTranslation[i] = biasFactor * (x2 + r2World - x1 - r1World); + } + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation contraints (3x3 matrix) + mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mI1[i] + mFixedJointComponents.mI2[i]; + if (mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mInverseMassMatrixRotation[i].getInverse(); + } + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Compute the bias "b" for the 3 rotation constraints + mFixedJointComponents.mBiasRotation[i].setToZero(); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + const Quaternion qError = orientationBody2 * mFixedJointComponents.mInitOrientationDifferenceInv[i] * orientationBody1.getInverse(); + mFixedJointComponents.mBiasRotation[i] = biasFactor * decimal(2.0) * qError.getVectorV(); + } + } + + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + // Reset the accumulated impulses + mFixedJointComponents.mImpulseTranslation[i].setToZero(); + mFixedJointComponents.mImpulseRotation[i].setToZero(); + } + } +} + +// Warm start the constraint (apply the previous impulse at the beginning of the step) +void SolveFixedJointSystem::warmstart() { + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // Get the inverse mass of the bodies + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& impulseTranslation = mFixedJointComponents.mImpulseTranslation[i]; + const Vector3& impulseRotation = mFixedJointComponents.mImpulseRotation[i]; + + const Vector3& r1World = mFixedJointComponents.mR1World[i]; + const Vector3& r2World = mFixedJointComponents.mR2World[i]; + + // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 1 + Vector3 linearImpulseBody1 = -impulseTranslation; + Vector3 angularImpulseBody1 = impulseTranslation.cross(r1World); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 1 + angularImpulseBody1 += -impulseRotation; + + const Matrix3x3& i1 = mFixedJointComponents.mI1[i]; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the 3 translation constraints for body 2 + Vector3 angularImpulseBody2 = -impulseTranslation.cross(r2World); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 2 + angularImpulseBody2 += impulseRotation; + + const Matrix3x3& i2 = mFixedJointComponents.mI2[i]; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * impulseTranslation; + w2 += i2 * angularImpulseBody2; + } +} + +// Solve the velocity constraint +void SolveFixedJointSystem::solveVelocityConstraint() { + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // Get the inverse mass of the bodies + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& r1World = mFixedJointComponents.mR1World[i]; + const Vector3& r2World = mFixedJointComponents.mR2World[i]; + + // --------------- Translation Constraints --------------- // + + // Compute J*v for the 3 translation constraints + const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); + + const Matrix3x3& inverseMassMatrixTranslation = mFixedJointComponents.mInverseMassMatrixTranslation[i]; + + // Compute the Lagrange multiplier lambda + const Vector3 deltaLambda = inverseMassMatrixTranslation * (-JvTranslation - mFixedJointComponents.mBiasTranslation[i]); + mFixedJointComponents.mImpulseTranslation[i] += deltaLambda; + + // Compute the impulse P=J^T * lambda for body 1 + const Vector3 linearImpulseBody1 = -deltaLambda; + Vector3 angularImpulseBody1 = deltaLambda.cross(r1World); + + const Matrix3x3& i1 = mFixedJointComponents.mI1[i]; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for body 2 + const Vector3 angularImpulseBody2 = -deltaLambda.cross(r2World); + + const Matrix3x3& i2 = mFixedJointComponents.mI2[i]; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * deltaLambda; + w2 += i2 * angularImpulseBody2; + + // --------------- Rotation Constraints --------------- // + + // Compute J*v for the 3 rotation constraints + const Vector3 JvRotation = w2 - w1; + + const Vector3& biasRotation = mFixedJointComponents.mBiasRotation[i]; + const Matrix3x3& inverseMassMatrixRotation = mFixedJointComponents.mInverseMassMatrixRotation[i]; + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 deltaLambda2 = inverseMassMatrixRotation * (-JvRotation - biasRotation); + mFixedJointComponents.mImpulseRotation[i] += deltaLambda2; + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints for body 1 + angularImpulseBody1 = -deltaLambda2; + + // Apply the impulse to the body 1 + w1 += i1 * angularImpulseBody1; + + // Apply the impulse to the body 2 + w2 += i2 * deltaLambda2; + } +} + +// Solve the position constraint (for position error correction) +void SolveFixedJointSystem::solvePositionConstraint() { + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // TODO : Remove this and use compoents instead of pointers to bodies + const RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); + const RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); + + // Recompute the inverse inertia tensors + mFixedJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); + mFixedJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Get the bodies positions and orientations + const Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); + const Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); + + // Compute the vector from body center to the anchor point in world-space + mFixedJointComponents.mR1World[i] = q1 * mFixedJointComponents.getLocalAnchorPointBody1(jointEntity); + mFixedJointComponents.mR2World[i] = q2 * mFixedJointComponents.getLocalAnchorPointBody2(jointEntity); + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the inverse mass and inverse inertia tensors of the bodies + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& r1World = mFixedJointComponents.mR1World[i]; + const Vector3& r2World = mFixedJointComponents.mR2World[i]; + + // Compute the corresponding skew-symmetric matrices + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); + + // --------------- Translation Constraints --------------- // + + // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints + decimal inverseMassBodies = inverseMassBody1 + inverseMassBody2; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * mFixedJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mFixedJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); + mFixedJointComponents.mInverseMassMatrixTranslation[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + } + } + + // For each joint + for (uint32 i=0; i < mFixedJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mFixedJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Vector3& r1World = mFixedJointComponents.mR1World[i]; + const Vector3& r2World = mFixedJointComponents.mR2World[i]; + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + Vector3 x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3 x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + Quaternion q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + + // Compute position error for the 3 translation constraints + const Vector3 errorTranslation = x2 + r2World - x1 - r1World; + + // Compute the Lagrange multiplier lambda + const Vector3 lambdaTranslation = mFixedJointComponents.mInverseMassMatrixTranslation[i] * (-errorTranslation); + + // Compute the impulse of body 1 + Vector3 linearImpulseBody1 = -lambdaTranslation; + Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); + + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + + // Compute the pseudo velocity of body 1 + const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; + Vector3 w1 = mFixedJointComponents.mI2[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); + + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // Compute the pseudo velocity of body 2 + const Vector3 v2 = inverseMassBody2 * lambdaTranslation; + Vector3 w2 = mFixedJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + + // --------------- Rotation Constraints --------------- // + + // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation + // contraints (3x3 matrix) + mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mI1[i] + mFixedJointComponents.mI2[i]; + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mFixedJointComponents.mInverseMassMatrixRotation[i] = mFixedJointComponents.mInverseMassMatrixRotation[i].getInverse(); + } + + // Calculate difference in rotation + // + // The rotation should be: + // + // q2 = q1 r0 + // + // But because of drift the actual rotation is: + // + // q2 = qError q1 r0 + // <=> qError = q2 r0^-1 q1^-1 + // + // Where: + // q1 = current rotation of body 1 + // q2 = current rotation of body 2 + // qError = error that needs to be reduced to zero + Quaternion qError = q2 * mFixedJointComponents.mInitOrientationDifferenceInv[i] * q1.getInverse(); + + // A quaternion can be seen as: + // + // q = [sin(theta / 2) * v, cos(theta/2)] + // + // Where: + // v = rotation vector + // theta = rotation angle + // + // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: + const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 lambdaRotation = mFixedJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + angularImpulseBody1 = -lambdaRotation; + + // Compute the pseudo velocity of body 1 + w1 = mFixedJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the pseudo velocity of body 2 + w2 = mFixedJointComponents.mI2[i] * lambdaRotation; + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + + mRigidBodyComponents.mConstrainedPositions[componentIndexBody1] = x1; + mRigidBodyComponents.mConstrainedPositions[componentIndexBody2] = x2; + mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1] = q1; + mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2] = q2; + } +} diff --git a/src/systems/SolveFixedJointSystem.h b/src/systems/SolveFixedJointSystem.h new file mode 100644 index 00000000..cf0a7b1f --- /dev/null +++ b/src/systems/SolveFixedJointSystem.h @@ -0,0 +1,137 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SOLVE_FIXED_JOINT_SYSTEM_H +#define REACTPHYSICS3D_SOLVE_FIXED_JOINT_SYSTEM_H + +// Libraries +#include "utils/Profiler.h" +#include "components/RigidBodyComponents.h" +#include "components/JointComponents.h" +#include "components/FixedJointComponents.h" +#include "components/TransformComponents.h" + +namespace reactphysics3d { + +// Class SolveFixedJointSystem +/** + * This class is responsible to solve the FixedJoint constraints + */ +class SolveFixedJointSystem { + + private : + + // -------------------- Constants -------------------- // + + // Beta value for the bias factor of position correction + static const decimal BETA; + + // -------------------- Attributes -------------------- // + + /// Reference to the rigid body components + RigidBodyComponents& mRigidBodyComponents; + + /// Reference to transform components + TransformComponents& mTransformComponents; + + /// Reference to the joint components + JointComponents& mJointComponents; + + /// Reference to the fixed joint components + FixedJointComponents& mFixedJointComponents; + + /// Current time step of the simulation + decimal mTimeStep; + + /// True if warm starting of the solver is active + bool mIsWarmStartingActive; + +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; +#endif + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + SolveFixedJointSystem(RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, + JointComponents& jointComponents, FixedJointComponents& fixedJointComponents); + + /// Destructor + ~SolveFixedJointSystem() = default; + + /// Initialize before solving the constraint + void initBeforeSolve(); + + /// Warm start the constraint (apply the previous impulse at the beginning of the step) + void warmstart(); + + /// Solve the velocity constraint + void solveVelocityConstraint(); + + /// Solve the position constraint (for position error correction) + void solvePositionConstraint(); + + /// Set the time step + void setTimeStep(decimal timeStep); + + /// Set to true to enable warm starting + void setIsWarmStartingActive(bool isWarmStartingActive); + +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + +}; + +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void SolveFixedJointSystem::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +// Set the time step +inline void SolveFixedJointSystem::setTimeStep(decimal timeStep) { + assert(timeStep > decimal(0.0)); + mTimeStep = timeStep; +} + +// Set to true to enable warm starting +inline void SolveFixedJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { + mIsWarmStartingActive = isWarmStartingActive; +} + +#endif + +} + +#endif From afb34b4355a62972623e3eafef25e9898f2ddcc1 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 5 Oct 2019 17:45:35 +0200 Subject: [PATCH 092/197] Add SolveHingeJointSystem class --- CMakeLists.txt | 2 + src/body/RigidBody.cpp | 44 +- src/body/RigidBody.h | 12 +- src/components/HingeJointComponents.h | 1 + src/components/RigidBodyComponents.cpp | 12 +- src/components/RigidBodyComponents.h | 34 +- src/constraint/HingeJoint.cpp | 715 -------------- src/constraint/HingeJoint.h | 17 - src/constraint/SliderJoint.cpp | 8 +- src/engine/DynamicsWorld.cpp | 11 +- src/systems/ConstraintSolverSystem.cpp | 27 +- src/systems/ConstraintSolverSystem.h | 11 +- src/systems/ContactSolverSystem.cpp | 8 +- src/systems/ContactSolverSystem.h | 5 +- src/systems/DynamicsSystem.cpp | 16 +- src/systems/DynamicsSystem.h | 7 +- src/systems/SolveBallAndSocketJointSystem.cpp | 21 +- src/systems/SolveBallAndSocketJointSystem.h | 8 +- src/systems/SolveFixedJointSystem.cpp | 38 +- src/systems/SolveFixedJointSystem.h | 7 +- src/systems/SolveHingeJointSystem.cpp | 902 ++++++++++++++++++ src/systems/SolveHingeJointSystem.h | 160 ++++ 22 files changed, 1178 insertions(+), 888 deletions(-) create mode 100644 src/systems/SolveHingeJointSystem.cpp create mode 100644 src/systems/SolveHingeJointSystem.h diff --git a/CMakeLists.txt b/CMakeLists.txt index d0c969aa..378862c4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -134,6 +134,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/CollisionDetectionSystem.h" "src/systems/SolveBallAndSocketJointSystem.h" "src/systems/SolveFixedJointSystem.h" + "src/systems/SolveHingeJointSystem.h" "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" @@ -232,6 +233,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/CollisionDetectionSystem.cpp" "src/systems/SolveBallAndSocketJointSystem.cpp" "src/systems/SolveFixedJointSystem.cpp" + "src/systems/SolveHingeJointSystem.cpp" "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 74a1ccb7..93979cbc 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -86,7 +86,6 @@ void RigidBody::setType(BodyType type) { // Reset the inverse mass and inverse inertia tensor to zero mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0)); mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - mWorld.mRigidBodyComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); } else { // If it is a dynamic body mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); @@ -96,9 +95,6 @@ void RigidBody::setType(BodyType type) { } } - // Update the world inverse inertia tensor - updateInertiaTensorInverseWorld(); - // Awake the body setIsSleeping(false); @@ -130,10 +126,9 @@ const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { * @return The 3x3 inverse inertia tensor matrix of the body in world-space * coordinates */ -Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { +const Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { - // Compute and return the inertia tensor in world coordinates - return mWorld.mRigidBodyComponents.getInertiaTensorWorldInverse(mEntity); + return getInertiaTensorInverseWorld(mWorld, mEntity); } // Method that return the mass of the body @@ -192,9 +187,6 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { // Compute the inverse local inertia tensor mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); - // Update the world inverse inertia tensor - updateInertiaTensorInverseWorld(); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); } @@ -255,9 +247,6 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens // Compute the inverse local inertia tensor mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); - // Update the world inverse inertia tensor - updateInertiaTensorInverseWorld(); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inverseInertiaTensorLocal=" + inverseInertiaTensorLocal.to_string()); } @@ -317,20 +306,6 @@ void RigidBody::setMass(decimal mass) { "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass)); } -// Update the world inverse inertia tensor of the body -/// The inertia tensor I_w in world coordinates is computed with the -/// local inverse inertia tensor I_b^-1 in body coordinates -/// by I_w = R * I_b^-1 * R^T -/// where R is the rotation matrix (and R^T its transpose) of the -/// current orientation quaternion of the body -void RigidBody::updateInertiaTensorInverseWorld() { - - // TODO : Make sure we do this in a system - - Matrix3x3 orientation = mWorld.mTransformComponents.getTransform(mEntity).getOrientation().getMatrix(); - const Matrix3x3& inverseInertiaLocalTensor = mWorld.mRigidBodyComponents.getInertiaTensorLocalInverse(mEntity); - mWorld.mRigidBodyComponents.setInverseInertiaTensorWorld(mEntity, orientation * inverseInertiaLocalTensor * orientation.getTranspose()); -} // Add a collision shape to the body. /// When you add a collision shape to the body, an internal copy of this @@ -555,9 +530,6 @@ void RigidBody::setTransform(const Transform& transform) { // Update the transform of the body mWorld.mTransformComponents.setTransform(mEntity, transform); - // Update the world inverse inertia tensor - updateInertiaTensorInverseWorld(); - // Awake the body if it is sleeping setIsSleeping(false); } @@ -569,7 +541,6 @@ void RigidBody::recomputeMassInformation() { mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(0.0)); mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); if (!mIsInertiaTensorSetByUser) mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - if (!mIsInertiaTensorSetByUser) mWorld.mRigidBodyComponents.setInverseInertiaTensorWorld(mEntity, Matrix3x3::zero()); if (!mIsCenterOfMassSetByUser) mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, Vector3::zero()); Matrix3x3 inertiaTensorLocal; inertiaTensorLocal.setToZero(); @@ -651,9 +622,6 @@ void RigidBody::recomputeMassInformation() { mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); } - // Update the world inverse inertia tensor - updateInertiaTensorInverseWorld(); - // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); Vector3 angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); @@ -748,6 +716,14 @@ void RigidBody::setIsSleeping(bool isSleeping) { (isSleeping ? "true" : "false")); } +/// Return the inverse of the inertia tensor in world coordinates. +const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity) { + + Matrix3x3 orientation = world.mTransformComponents.getTransform(bodyEntity).getOrientation().getMatrix(); + const Matrix3x3& inverseInertiaLocalTensor = world.mRigidBodyComponents.getInertiaTensorLocalInverse(bodyEntity); + return orientation * inverseInertiaLocalTensor * orientation.getTranspose(); +} + // Set whether or not the body is allowed to go to sleep /** * @param isAllowedToSleep True if the body is allowed to sleep diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 3d1b5a6c..2b0f7591 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -73,12 +73,12 @@ class RigidBody : public CollisionBody { /// Update the transform of the body after a change of the center of mass void updateTransformWithCenterOfMass(); - /// Update the world inverse inertia tensor of the body - void updateInertiaTensorInverseWorld(); - /// Set the variable to know whether or not the body is sleeping void setIsSleeping(bool isSleeping); + /// Return the inverse of the inertia tensor in world coordinates. + static const Matrix3x3 getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity); + public : // -------------------- Methods -------------------- // @@ -123,7 +123,7 @@ class RigidBody : public CollisionBody { const Matrix3x3& getInverseInertiaTensorLocal() const; /// Return the inverse of the inertia tensor in world coordinates. - Matrix3x3 getInertiaTensorInverseWorld() const; + const Matrix3x3 getInertiaTensorInverseWorld() const; /// Set the local center of mass of the body (in local-space coordinates) void setCenterOfMassLocal(const Vector3& centerOfMassLocal); @@ -215,11 +215,15 @@ class RigidBody : public CollisionBody { friend class DynamicsWorld; friend class ContactSolverSystem; + friend class DynamicsSystem; friend class Joint; friend class BallAndSocketJoint; friend class SliderJoint; friend class HingeJoint; friend class FixedJoint; + friend class SolveBallAndSocketJointSystem; + friend class SolveFixedJointSystem; + friend class SolveHingeJointSystem; }; // Return a reference to the material properties of the rigid body diff --git a/src/components/HingeJointComponents.h b/src/components/HingeJointComponents.h index 20c5acd3..6e0bba85 100644 --- a/src/components/HingeJointComponents.h +++ b/src/components/HingeJointComponents.h @@ -411,6 +411,7 @@ class HingeJointComponents : public Components { // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class SolveHingeJointSystem; }; // Return a pointer to a given joint diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index a748f93e..ae15df20 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -40,7 +40,7 @@ RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + - sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + sizeof(bool) + sizeof(List)) { @@ -77,8 +77,7 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newInitMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); - Matrix3x3* newInertiaTensorWorldInverses = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); - Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorWorldInverses + nbComponentsToAllocate); + Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); Vector3* newSplitAngularVelocities = reinterpret_cast(newSplitLinearVelocities + nbComponentsToAllocate); @@ -109,7 +108,6 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal)); memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); - memcpy(newInertiaTensorWorldInverses, mInverseInertiaTensorsWorld, mNbComponents * sizeof(Matrix3x3)); memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); @@ -143,7 +141,6 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mInitMasses = newInitMasses; mInverseMasses = newInverseMasses; mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; - mInverseInertiaTensorsWorld = newInertiaTensorWorldInverses; mConstrainedLinearVelocities = newConstrainedLinearVelocities; mConstrainedAngularVelocities = newConstrainedAngularVelocities; mSplitLinearVelocities = newSplitLinearVelocities; @@ -179,7 +176,6 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const mInitMasses[index] = decimal(1.0); mInverseMasses[index] = decimal(1.0); new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); - new (mInverseInertiaTensorsWorld + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); new (mSplitLinearVelocities + index) Vector3(0, 0, 0); @@ -223,7 +219,6 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex mInitMasses[destIndex] = mInitMasses[srcIndex]; mInverseMasses[destIndex] = mInverseMasses[srcIndex]; new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]); - new (mInverseInertiaTensorsWorld + destIndex) Matrix3x3(mInverseInertiaTensorsWorld[srcIndex]); new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); @@ -266,7 +261,6 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { decimal initMass1 = mInitMasses[index1]; decimal inverseMass1 = mInverseMasses[index1]; Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; - Matrix3x3 inertiaTensorWorldInverse1 = mInverseInertiaTensorsWorld[index1]; Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); @@ -300,7 +294,6 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { mInitMasses[index2] = initMass1; mInverseMasses[index2] = inverseMass1; mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; - mInverseInertiaTensorsWorld[index2] = inertiaTensorWorldInverse1; new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1); @@ -337,7 +330,6 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mExternalForces[index].~Vector3(); mExternalTorques[index].~Vector3(); mInverseInertiaTensorsLocal[index].~Matrix3x3(); - mInverseInertiaTensorsWorld[index].~Matrix3x3(); mConstrainedLinearVelocities[index].~Vector3(); mConstrainedAngularVelocities[index].~Vector3(); mSplitLinearVelocities[index].~Vector3(); diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 5a6aa395..8055682e 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -109,9 +109,6 @@ class RigidBodyComponents : public Components { /// Array with the inverse of the inertia tensor of each component Matrix3x3* mInverseInertiaTensorsLocal; - /// Array with the inverse of the world inertia tensor of each component - Matrix3x3* mInverseInertiaTensorsWorld; - /// Array with the constrained linear velocity of each component Vector3* mConstrainedLinearVelocities; @@ -246,9 +243,6 @@ class RigidBodyComponents : public Components { /// Return the inverse local inertia tensor of an entity const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity); - /// Return the inverse world inertia tensor of an entity - const Matrix3x3& getInertiaTensorWorldInverse(Entity bodyEntity); - /// Set the external force of an entity void setExternalForce(Entity bodyEntity, const Vector3& externalForce); @@ -270,9 +264,6 @@ class RigidBodyComponents : public Components { /// Set the inverse local inertia tensor of an entity void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse); - /// Set the inverse world inertia tensor of an entity - void setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse); - /// Return the constrained linear velocity of an entity const Vector3& getConstrainedLinearVelocity(Entity bodyEntity) const; @@ -286,10 +277,10 @@ class RigidBodyComponents : public Components { const Vector3& getSplitAngularVelocity(Entity bodyEntity) const; /// Return the constrained position of an entity - const Vector3& getConstrainedPosition(Entity bodyEntity); + Vector3& getConstrainedPosition(Entity bodyEntity); /// Return the constrained orientation of an entity - const Quaternion& getConstrainedOrientation(Entity bodyEntity); + Quaternion& getConstrainedOrientation(Entity bodyEntity); /// Return the local center of mass of an entity const Vector3& getCenterOfMassLocal(Entity bodyEntity); @@ -348,6 +339,7 @@ class RigidBodyComponents : public Components { friend class ContactSolverSystem; friend class SolveBallAndSocketJointSystem; friend class SolveFixedJointSystem; + friend class SolveHingeJointSystem; friend class DynamicsSystem; friend class BallAndSocketJoint; friend class FixedJoint; @@ -515,14 +507,6 @@ inline const Matrix3x3& RigidBodyComponents::getInertiaTensorLocalInverse(Entity return mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]]; } -// Return the inverse world inertia tensor of an entity -inline const Matrix3x3& RigidBodyComponents::getInertiaTensorWorldInverse(Entity bodyEntity) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - return mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]]; -} - // Set the external force of an entity inline void RigidBodyComponents::setExternalForce(Entity bodyEntity, const Vector3& externalForce) { @@ -579,14 +563,6 @@ inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, mInverseInertiaTensorsLocal[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorLocalInverse; } -// Set the inverse world inertia tensor of an entity -inline void RigidBodyComponents::setInverseInertiaTensorWorld(Entity bodyEntity, const Matrix3x3& inertiaTensorWorldInverse) { - - assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - - mInverseInertiaTensorsWorld[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorWorldInverse; -} - // Return the constrained linear velocity of an entity inline const Vector3& RigidBodyComponents::getConstrainedLinearVelocity(Entity bodyEntity) const { @@ -620,7 +596,7 @@ inline const Vector3& RigidBodyComponents::getSplitAngularVelocity(Entity bodyEn } // Return the constrained position of an entity -inline const Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEntity) { +inline Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -628,7 +604,7 @@ inline const Vector3& RigidBodyComponents::getConstrainedPosition(Entity bodyEnt } // Return the constrained orientation of an entity -inline const Quaternion& RigidBodyComponents::getConstrainedOrientation(Entity bodyEntity) { +inline Quaternion& RigidBodyComponents::getConstrainedOrientation(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 546e1310..621375a4 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -31,9 +31,6 @@ using namespace reactphysics3d; -// Static variables definition -const decimal HingeJoint::BETA = decimal(0.2); - // Constructor HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) { @@ -67,651 +64,21 @@ HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo // Initialize before solving the constraint void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); - const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); - - // Get the inertia tensor of bodies - mWorld.mHingeJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mHingeJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); - - // Compute the vector from body center to the anchor point in world-space - mWorld.mHingeJointsComponents.setR1World(mEntity, orientationBody1 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody1(mEntity)); - mWorld.mHingeJointsComponents.setR2World(mEntity, orientationBody2 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody2(mEntity)); - - // Compute the current angle around the hinge axis - decimal hingeAngle = computeCurrentHingeAngle(orientationBody1, orientationBody2); - - // Check if the limit constraints are violated or not - decimal lowerLimitError = hingeAngle - mWorld.mHingeJointsComponents.getLowerLimit(mEntity); - decimal upperLimitError = mWorld.mHingeJointsComponents.getUpperLimit(mEntity) - hingeAngle; - bool oldIsLowerLimitViolated = mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity); - bool isLowerLimitViolated = lowerLimitError <= 0; - mWorld.mHingeJointsComponents.setIsLowerLimitViolated(mEntity, isLowerLimitViolated); - if (isLowerLimitViolated != oldIsLowerLimitViolated) { - mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); - } - bool oldIsUpperLimitViolated = mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity); - bool isUpperLimitViolated = upperLimitError <= 0; - mWorld.mHingeJointsComponents.setIsUpperLimitViolated(mEntity, isUpperLimitViolated); - if (isUpperLimitViolated != oldIsUpperLimitViolated) { - mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); - } - - // Compute vectors needed in the Jacobian - Vector3 a1 = orientationBody1 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody1(mEntity); - Vector3 a2 = orientationBody2 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody2(mEntity); - a1.normalize(); - a2.normalize(); - mWorld.mHingeJointsComponents.setA1(mEntity, a1); - const Vector3 b2 = a2.getOneUnitOrthogonalVector(); - const Vector3 c2 = a2.cross(b2); - mWorld.mHingeJointsComponents.setB2CrossA1(mEntity, b2.cross(a1)); - mWorld.mHingeJointsComponents.setC2CrossA1(mEntity, c2.cross(a1)); - - // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mWorld.mHingeJointsComponents.getR1World(mEntity)); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mWorld.mHingeJointsComponents.getR2World(mEntity)); - - // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) - decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1->getEntity()); - decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2->getEntity()); - decimal inverseMassBodies = body1MassInverse + body2MassInverse; - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * mWorld.mHingeJointsComponents.getI1(mEntity) * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * mWorld.mHingeJointsComponents.getI2(mEntity) * skewSymmetricMatrixU2.getTranspose(); - Matrix3x3& inverseMassMatrixTranslation = mWorld.mHingeJointsComponents.getInverseMassMatrixTranslation(mEntity); - inverseMassMatrixTranslation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mHingeJointsComponents.setInverseMassMatrixTranslation(mEntity, massMatrix.getInverse()); - } - - // Compute the bias "b" of the translation constraints - Vector3& bTranslation = mWorld.mHingeJointsComponents.getBiasTranslation(mEntity); - bTranslation.setToZero(); - decimal biasFactor = (BETA / constraintSolverData.timeStep); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - bTranslation = biasFactor * (x2 + mWorld.mHingeJointsComponents.getR2World(mEntity) - x1 - mWorld.mHingeJointsComponents.getR1World(mEntity)); - mWorld.mHingeJointsComponents.setBiasTranslation(mEntity, bTranslation); - } - - const Matrix3x3& i1 = mWorld.mHingeJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mHingeJointsComponents.getI2(mEntity); - const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); - const Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.getC2CrossA1(mEntity); - - // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) - Vector3 i1B2CrossA1 = i1 * b2CrossA1; - Vector3 i1C2CrossA1 = i1 * c2CrossA1; - Vector3 i2B2CrossA1 = i2 * b2CrossA1; - Vector3 i2C2CrossA1 = i2 * c2CrossA1; - const decimal el11 = b2CrossA1.dot(i1B2CrossA1) + - b2CrossA1.dot(i2B2CrossA1); - const decimal el12 = b2CrossA1.dot(i1C2CrossA1) + - b2CrossA1.dot(i2C2CrossA1); - const decimal el21 = c2CrossA1.dot(i1B2CrossA1) + - c2CrossA1.dot(i2B2CrossA1); - const decimal el22 = c2CrossA1.dot(i1C2CrossA1) + - c2CrossA1.dot(i2C2CrossA1); - const Matrix2x2 matrixKRotation(el11, el12, el21, el22); - Matrix2x2& inverseMassMatrixRotation = mWorld.mHingeJointsComponents.getInverseMassMatrixRotation(mEntity); - inverseMassMatrixRotation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mHingeJointsComponents.setInverseMassMatrixRotation(mEntity, matrixKRotation.getInverse()); - } - - // Compute the bias "b" of the rotation constraints - Vector2& biasRotation = mWorld.mHingeJointsComponents.getBiasRotation(mEntity); - biasRotation.setToZero(); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mWorld.mHingeJointsComponents.setBiasRotation(mEntity, biasFactor * Vector2(a1.dot(b2), a1.dot(c2))); - } - - // If warm-starting is not enabled - if (!constraintSolverData.isWarmStartingActive) { - - // Reset all the accumulated impulses - Vector3& impulseTranslation = mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity); - Vector2& impulseRotation = mWorld.mHingeJointsComponents.getImpulseRotation(mEntity); - impulseTranslation.setToZero(); - impulseRotation.setToZero(); - mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); - mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); - mWorld.mHingeJointsComponents.setImpulseMotor(mEntity, decimal(0.0)); - } - - // If the motor or limits are enabled - if (mWorld.mHingeJointsComponents.getIsMotorEnabled(mEntity) || - (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity) && (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity) || - mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)))) { - - // Compute the inverse of the mass matrix K=JM^-1J^t for the limits and motor (1x1 matrix) - decimal inverseMassMatrixLimitMotor = a1.dot(i1 * a1) + a1.dot(i2 * a1); - inverseMassMatrixLimitMotor = (inverseMassMatrixLimitMotor > decimal(0.0)) ? - decimal(1.0) / inverseMassMatrixLimitMotor : decimal(0.0); - mWorld.mHingeJointsComponents.setInverseMassMatrixLimitMotor(mEntity, inverseMassMatrixLimitMotor); - - if (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { - - // Compute the bias "b" of the lower limit constraint - mWorld.mHingeJointsComponents.setBLowerLimit(mEntity, decimal(0.0)); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mWorld.mHingeJointsComponents.setBLowerLimit(mEntity, biasFactor * lowerLimitError); - } - - // Compute the bias "b" of the upper limit constraint - mWorld.mHingeJointsComponents.setBUpperLimit(mEntity, decimal(0.0)); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mWorld.mHingeJointsComponents.setBUpperLimit(mEntity, biasFactor * upperLimitError); - } - } - } } // Warm start the constraint (apply the previous impulse at the beginning of the step) void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& impulseTranslation = mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity); - const Vector2& impulseRotation = mWorld.mHingeJointsComponents.getImpulseRotation(mEntity); - - const decimal impulseLowerLimit = mWorld.mHingeJointsComponents.getImpulseLowerLimit(mEntity); - const decimal impulseUpperLimit = mWorld.mHingeJointsComponents.getImpulseUpperLimit(mEntity); - - const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); - const Vector3& a1 = mWorld.mHingeJointsComponents.getA1(mEntity); - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints - Vector3 rotationImpulse = -b2CrossA1 * impulseRotation.x - mWorld.mHingeJointsComponents.getC2CrossA1(mEntity) * impulseRotation.y; - - // Compute the impulse P=J^T * lambda for the lower and upper limits constraints - const Vector3 limitsImpulse = (impulseUpperLimit - impulseLowerLimit) * a1; - - // Compute the impulse P=J^T * lambda for the motor constraint - const Vector3 motorImpulse = -mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) * a1; - - // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 1 - Vector3 linearImpulseBody1 = -impulseTranslation; - Vector3 angularImpulseBody1 = impulseTranslation.cross(mWorld.mHingeJointsComponents.getR1World(mEntity)); - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 - angularImpulseBody1 += rotationImpulse; - - // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 - angularImpulseBody1 += limitsImpulse; - - // Compute the impulse P=J^T * lambda for the motor constraint of body 1 - angularImpulseBody1 += motorImpulse; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mWorld.mHingeJointsComponents.getI1(mEntity) * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 2 - Vector3 angularImpulseBody2 = -impulseTranslation.cross(mWorld.mHingeJointsComponents.getR2World(mEntity)); - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 - angularImpulseBody2 += -rotationImpulse; - - // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 2 - angularImpulseBody2 += -limitsImpulse; - - // Compute the impulse P=J^T * lambda for the motor constraint of body 2 - angularImpulseBody2 += -motorImpulse; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * impulseTranslation; - w2 += mWorld.mHingeJointsComponents.getI2(mEntity) * angularImpulseBody2; } // Solve the velocity constraint void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Matrix3x3& i1 = mWorld.mHingeJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mHingeJointsComponents.getI2(mEntity); - - const Vector3& r1World = mWorld.mHingeJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mHingeJointsComponents.getR2World(mEntity); - - const Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); - const Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.getC2CrossA1(mEntity); - - const Vector3& a1 = mWorld.mHingeJointsComponents.getA1(mEntity); - - const decimal inverseMassMatrixLimitMotor = mWorld.mHingeJointsComponents.getInverseMassMatrixLimitMotor(mEntity); - - // --------------- Translation Constraints --------------- // - - // Compute J*v - const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); - - // Compute the Lagrange multiplier lambda - const Vector3 deltaLambdaTranslation = mWorld.mHingeJointsComponents.getInverseMassMatrixTranslation(mEntity) * - (-JvTranslation - mWorld.mHingeJointsComponents.getBiasTranslation(mEntity)); - mWorld.mHingeJointsComponents.setImpulseTranslation(mEntity, deltaLambdaTranslation + mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity)); - - // Compute the impulse P=J^T * lambda of body 1 - const Vector3 linearImpulseBody1 = -deltaLambdaTranslation; - Vector3 angularImpulseBody1 = deltaLambdaTranslation.cross(r1World); - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda of body 2 - Vector3 angularImpulseBody2 = -deltaLambdaTranslation.cross(r2World); - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * deltaLambdaTranslation; - w2 += i2 * angularImpulseBody2; - - // --------------- Rotation Constraints --------------- // - - // Compute J*v for the 2 rotation constraints - const Vector2 JvRotation(-b2CrossA1.dot(w1) + b2CrossA1.dot(w2), - -c2CrossA1.dot(w1) + c2CrossA1.dot(w2)); - - // Compute the Lagrange multiplier lambda for the 2 rotation constraints - Vector2 deltaLambdaRotation = mWorld.mHingeJointsComponents.getInverseMassMatrixRotation(mEntity) * - (-JvRotation - mWorld.mHingeJointsComponents.getBiasRotation(mEntity)); - mWorld.mHingeJointsComponents.setImpulseRotation(mEntity, deltaLambdaRotation + mWorld.mHingeJointsComponents.getImpulseRotation(mEntity)); - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 - angularImpulseBody1 = -b2CrossA1 * deltaLambdaRotation.x - - c2CrossA1 * deltaLambdaRotation.y; - - // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 - angularImpulseBody2 = b2CrossA1 * deltaLambdaRotation.x + c2CrossA1 * deltaLambdaRotation.y; - - // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; - - // --------------- Limits Constraints --------------- // - - if (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { - - // If the lower limit is violated - if (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity)) { - - decimal impulseLowerLimit = mWorld.mHingeJointsComponents.getImpulseLowerLimit(mEntity); - - // Compute J*v for the lower limit constraint - const decimal JvLowerLimit = (w2 - w1).dot(a1); - - // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal deltaLambdaLower = inverseMassMatrixLimitMotor * (-JvLowerLimit -mWorld.mHingeJointsComponents.getBLowerLimit(mEntity)); - decimal lambdaTemp = impulseLowerLimit; - impulseLowerLimit = std::max(impulseLowerLimit + deltaLambdaLower, decimal(0.0)); - deltaLambdaLower = impulseLowerLimit - lambdaTemp; - mWorld.mHingeJointsComponents.setImpulseLowerLimit(mEntity, impulseLowerLimit); - - // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 - const Vector3 angularImpulseBody1 = -deltaLambdaLower * a1; - - // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 - const Vector3 angularImpulseBody2 = deltaLambdaLower * a1; - - // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; - } - - // If the upper limit is violated - if (mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)) { - - decimal impulseUpperLimit = mWorld.mHingeJointsComponents.getImpulseUpperLimit(mEntity); - - // Compute J*v for the upper limit constraint - const decimal JvUpperLimit = -(w2 - w1).dot(a1); - - // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal deltaLambdaUpper = inverseMassMatrixLimitMotor * (-JvUpperLimit -mWorld.mHingeJointsComponents.getBUpperLimit(mEntity)); - decimal lambdaTemp = impulseUpperLimit; - impulseUpperLimit = std::max(impulseUpperLimit + deltaLambdaUpper, decimal(0.0)); - deltaLambdaUpper = impulseUpperLimit - lambdaTemp; - mWorld.mHingeJointsComponents.setImpulseUpperLimit(mEntity, impulseUpperLimit); - - // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 - const Vector3 angularImpulseBody1 = deltaLambdaUpper * a1; - - // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 - const Vector3 angularImpulseBody2 = -deltaLambdaUpper * a1; - - // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; - } - } - - // --------------- Motor --------------- // - - // If the motor is enabled - if (mWorld.mHingeJointsComponents.getIsMotorEnabled(mEntity)) { - - decimal impulseMotor = mWorld.mHingeJointsComponents.getImpulseMotor(mEntity); - - // Compute J*v for the motor - const decimal JvMotor = a1.dot(w1 - w2); - - // Compute the Lagrange multiplier lambda for the motor - const decimal maxMotorImpulse = mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity) * constraintSolverData.timeStep; - decimal deltaLambdaMotor = mWorld.mHingeJointsComponents.getInverseMassMatrixLimitMotor(mEntity) * (-JvMotor - mWorld.mHingeJointsComponents.getMotorSpeed(mEntity)); - decimal lambdaTemp = impulseMotor; - impulseMotor = clamp(impulseMotor + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse); - deltaLambdaMotor = impulseMotor - lambdaTemp; - mWorld.mHingeJointsComponents.setImpulseMotor(mEntity, impulseMotor); - - // Compute the impulse P=J^T * lambda for the motor of body 1 - const Vector3 angularImpulseBody1 = -deltaLambdaMotor * a1; - - // Apply the impulse to the body 1 - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the motor of body 2 - const Vector3 angularImpulseBody2 = deltaLambdaMotor * a1; - - // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; - } } // Solve the position constraint (for position error correction) void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; - - // Get the bodies entities - Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - const Matrix3x3& i1 = mWorld.mHingeJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mHingeJointsComponents.getI2(mEntity); - - const Vector3& r1World = mWorld.mHingeJointsComponents.getR1World(mEntity); - const Vector3& r2World = mWorld.mHingeJointsComponents.getR2World(mEntity); - - Vector3& b2CrossA1 = mWorld.mHingeJointsComponents.getB2CrossA1(mEntity); - Vector3& c2CrossA1 = mWorld.mHingeJointsComponents.getC2CrossA1(mEntity); - - Vector3& a1 = mWorld.mHingeJointsComponents.getA1(mEntity); - - // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); - - // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - // Recompute the inverse inertia tensors - mWorld.mHingeJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mHingeJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); - - // Compute the vector from body center to the anchor point in world-space - mWorld.mHingeJointsComponents.setR1World(mEntity, q1 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody1(mEntity)); - mWorld.mHingeJointsComponents.setR2World(mEntity, q2 * mWorld.mHingeJointsComponents.getLocalAnchorPointBody2(mEntity)); - - // Compute the current angle around the hinge axis - decimal hingeAngle = computeCurrentHingeAngle(q1, q2); - - // Check if the limit constraints are violated or not - decimal lowerLimitError = hingeAngle - mWorld.mHingeJointsComponents.getLowerLimit(mEntity); - decimal upperLimitError = mWorld.mHingeJointsComponents.getUpperLimit(mEntity) - hingeAngle; - mWorld.mHingeJointsComponents.setIsLowerLimitViolated(mEntity, lowerLimitError <= 0); - mWorld.mHingeJointsComponents.setIsUpperLimitViolated(mEntity, upperLimitError <= 0); - - // Compute vectors needed in the Jacobian - a1 = q1 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody1(mEntity); - Vector3 a2 = q2 * mWorld.mHingeJointsComponents.getHingeLocalAxisBody2(mEntity); - a1.normalize(); - mWorld.mHingeJointsComponents.setA1(mEntity, a1); - a2.normalize(); - const Vector3 b2 = a2.getOneUnitOrthogonalVector(); - const Vector3 c2 = a2.cross(b2); - b2CrossA1 = b2.cross(a1); - mWorld.mHingeJointsComponents.setB2CrossA1(mEntity, b2CrossA1); - c2CrossA1 = c2.cross(a1); - mWorld.mHingeJointsComponents.setC2CrossA1(mEntity, c2CrossA1); - - // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r1World); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(r2World); - - // --------------- Translation Constraints --------------- // - - // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints - const decimal body1InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal body2InverseMass = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - decimal inverseMassBodies = body1InverseMass + body2InverseMass; - Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, - 0, inverseMassBodies, 0, - 0, 0, inverseMassBodies) + - skewSymmetricMatrixU1 * i1 * skewSymmetricMatrixU1.getTranspose() + - skewSymmetricMatrixU2 * i2 * skewSymmetricMatrixU2.getTranspose(); - Matrix3x3& inverseMassMatrixTranslation = mWorld.mHingeJointsComponents.getInverseMassMatrixTranslation(mEntity); - inverseMassMatrixTranslation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - inverseMassMatrixTranslation = massMatrix.getInverse(); - mWorld.mHingeJointsComponents.setInverseMassMatrixTranslation(mEntity, inverseMassMatrixTranslation); - } - - // Compute position error for the 3 translation constraints - const Vector3 errorTranslation = x2 + r2World - x1 - r1World; - - // Compute the Lagrange multiplier lambda - const Vector3 lambdaTranslation = inverseMassMatrixTranslation * (-errorTranslation); - - // Compute the impulse of body 1 - Vector3 linearImpulseBody1 = -lambdaTranslation; - Vector3 angularImpulseBody1 = lambdaTranslation.cross(r1World); - - // Compute the pseudo velocity of body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - Vector3 angularImpulseBody2 = -lambdaTranslation.cross(r2World); - - // Compute the pseudo velocity of body 2 - const Vector3 v2 = inverseMassBody2 * lambdaTranslation; - Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - // --------------- Rotation Constraints --------------- // - - // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) - Vector3 I1B2CrossA1 = i1 * b2CrossA1; - Vector3 I1C2CrossA1 = i1 * c2CrossA1; - Vector3 I2B2CrossA1 = i2 * b2CrossA1; - Vector3 I2C2CrossA1 = i2 * c2CrossA1; - const decimal el11 = b2CrossA1.dot(I1B2CrossA1) + - b2CrossA1.dot(I2B2CrossA1); - const decimal el12 = b2CrossA1.dot(I1C2CrossA1) + - b2CrossA1.dot(I2C2CrossA1); - const decimal el21 = c2CrossA1.dot(I1B2CrossA1) + - c2CrossA1.dot(I2B2CrossA1); - const decimal el22 = c2CrossA1.dot(I1C2CrossA1) + - c2CrossA1.dot(I2C2CrossA1); - const Matrix2x2 matrixKRotation(el11, el12, el21, el22); - Matrix2x2& inverseMassMatrixRotation = mWorld.mHingeJointsComponents.getInverseMassMatrixRotation(mEntity); - inverseMassMatrixRotation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - mWorld.mHingeJointsComponents.setInverseMassMatrixRotation(mEntity, matrixKRotation.getInverse()); - } - - // Compute the position error for the 3 rotation constraints - const Vector2 errorRotation = Vector2(a1.dot(b2), a1.dot(c2)); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector2 lambdaRotation = inverseMassMatrixRotation * (-errorRotation); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -b2CrossA1 * lambdaRotation.x - c2CrossA1 * lambdaRotation.y; - - // Compute the pseudo velocity of body 1 - w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse of body 2 - angularImpulseBody2 = b2CrossA1 * lambdaRotation.x + c2CrossA1 * lambdaRotation.y; - - // Compute the pseudo velocity of body 2 - w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - // --------------- Limits Constraints --------------- // - - if (mWorld.mHingeJointsComponents.getIsLimitEnabled(mEntity)) { - - decimal inverseMassMatrixLimitMotor = mWorld.mHingeJointsComponents.getInverseMassMatrixLimitMotor(mEntity); - - if (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity) || mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)) { - - // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - inverseMassMatrixLimitMotor = a1.dot(i1 * a1) + a1.dot(i2 * a1); - inverseMassMatrixLimitMotor = (inverseMassMatrixLimitMotor > decimal(0.0)) ? - decimal(1.0) / inverseMassMatrixLimitMotor : decimal(0.0); - mWorld.mHingeJointsComponents.setInverseMassMatrixLimitMotor(mEntity, inverseMassMatrixLimitMotor); - } - - // If the lower limit is violated - if (mWorld.mHingeJointsComponents.getIsLowerLimitViolated(mEntity)) { - - // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal lambdaLowerLimit = inverseMassMatrixLimitMotor * (-lowerLimitError ); - - // Compute the impulse P=J^T * lambda of body 1 - const Vector3 angularImpulseBody1 = -lambdaLowerLimit * a1; - - // Compute the pseudo velocity of body 1 - const Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda of body 2 - const Vector3 angularImpulseBody2 = lambdaLowerLimit * a1; - - // Compute the pseudo velocity of body 2 - const Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - } - - // If the upper limit is violated - if (mWorld.mHingeJointsComponents.getIsUpperLimitViolated(mEntity)) { - - // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal lambdaUpperLimit = inverseMassMatrixLimitMotor * (-upperLimitError); - - // Compute the impulse P=J^T * lambda of body 1 - const Vector3 angularImpulseBody1 = lambdaUpperLimit * a1; - - // Compute the pseudo velocity of body 1 - const Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda of body 2 - const Vector3 angularImpulseBody2 = -lambdaUpperLimit * a1; - - // Compute the pseudo velocity of body 2 - const Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - } - } - - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); } @@ -824,88 +191,6 @@ void HingeJoint::setMaxMotorTorque(decimal maxMotorTorque) { } } -// Given an angle in radian, this method returns the corresponding angle in the range [-pi; pi] -decimal HingeJoint::computeNormalizedAngle(decimal angle) const { - - // Convert it into the range [-2*pi; 2*pi] - angle = std::fmod(angle, PI_TIMES_2); - - // Convert it into the range [-pi; pi] - if (angle < -PI) { - return angle + PI_TIMES_2; - } - else if (angle > PI) { - return angle - PI_TIMES_2; - } - else { - return angle; - } -} - -// Given an "inputAngle" in the range [-pi, pi], this method returns an -// angle (modulo 2*pi) in the range [-2*pi; 2*pi] that is closest to one of the -// two angle limits in arguments. -decimal HingeJoint::computeCorrespondingAngleNearLimits(decimal inputAngle, decimal lowerLimitAngle, decimal upperLimitAngle) const { - if (upperLimitAngle <= lowerLimitAngle) { - return inputAngle; - } - else if (inputAngle > upperLimitAngle) { - decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(inputAngle - upperLimitAngle)); - decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(inputAngle - lowerLimitAngle)); - return (diffToUpperLimit > diffToLowerLimit) ? (inputAngle - PI_TIMES_2) : inputAngle; - } - else if (inputAngle < lowerLimitAngle) { - decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(upperLimitAngle - inputAngle)); - decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(lowerLimitAngle - inputAngle)); - return (diffToUpperLimit > diffToLowerLimit) ? inputAngle : (inputAngle + PI_TIMES_2); - } - else { - return inputAngle; - } -} - -// Compute the current angle around the hinge axis -decimal HingeJoint::computeCurrentHingeAngle(const Quaternion& orientationBody1, const Quaternion& orientationBody2) { - - decimal hingeAngle; - - // Compute the current orientation difference between the two bodies - Quaternion currentOrientationDiff = orientationBody2 * orientationBody1.getInverse(); - currentOrientationDiff.normalize(); - - // Compute the relative rotation considering the initial orientation difference - Quaternion relativeRotation = currentOrientationDiff * mWorld.mHingeJointsComponents.getInitOrientationDifferenceInv(mEntity); - relativeRotation.normalize(); - - // A quaternion q = [cos(theta/2); sin(theta/2) * rotAxis] where rotAxis is a unit - // length vector. We can extract cos(theta/2) with q.w and we can extract |sin(theta/2)| with : - // |sin(theta/2)| = q.getVectorV().length() since rotAxis is unit length. Note that any - // rotation can be represented by a quaternion q and -q. Therefore, if the relative rotation - // axis is not pointing in the same direction as the hinge axis, we use the rotation -q which - // has the same |sin(theta/2)| value but the value cos(theta/2) is sign inverted. Some details - // about this trick is explained in the source code of OpenTissue (http://www.opentissue.org). - decimal cosHalfAngle = relativeRotation.w; - decimal sinHalfAngleAbs = relativeRotation.getVectorV().length(); - - // Compute the dot product of the relative rotation axis and the hinge axis - decimal dotProduct = relativeRotation.getVectorV().dot(mWorld.mHingeJointsComponents.getA1(mEntity)); - - // If the relative rotation axis and the hinge axis are pointing the same direction - if (dotProduct >= decimal(0.0)) { - hingeAngle = decimal(2.0) * std::atan2(sinHalfAngleAbs, cosHalfAngle); - } - else { - hingeAngle = decimal(2.0) * std::atan2(sinHalfAngleAbs, -cosHalfAngle); - } - - // Convert the angle from range [-2*pi; 2*pi] into the range [-pi; pi] - hingeAngle = computeNormalizedAngle(hingeAngle); - - // Compute and return the corresponding angle near one the two limits - return computeCorrespondingAngleNearLimits(hingeAngle, - mWorld.mHingeJointsComponents.getLowerLimit(mEntity), - mWorld.mHingeJointsComponents.getUpperLimit(mEntity)); -} // Return true if the limits of the joint are enabled /** diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index e16d7a40..706fd6da 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -144,9 +144,6 @@ class HingeJoint : public Joint { // -------------------- Constants -------------------- // - // Beta value for the bias factor of position correction - static const decimal BETA; - // -------------------- Attributes -------------------- // @@ -155,20 +152,6 @@ class HingeJoint : public Joint { /// Reset the limits void resetLimits(); - /// Given an angle in radian, this method returns the corresponding - /// angle in the range [-pi; pi] - decimal computeNormalizedAngle(decimal angle) const; - - /// Given an "inputAngle" in the range [-pi, pi], this method returns an - /// angle (modulo 2*pi) in the range [-2*pi; 2*pi] that is closest to one of the - /// two angle limits in arguments. - decimal computeCorrespondingAngleNearLimits(decimal inputAngle, decimal lowerLimitAngle, - decimal upperLimitAngle) const; - - /// Compute the current angle around the hinge axis - decimal computeCurrentHingeAngle(const Quaternion& orientationBody1, - const Quaternion& orientationBody2); - /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index ab1fc812..35402a1e 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -88,8 +88,8 @@ void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverDa const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); // Get the inertia tensor of bodies - mWorld.mSliderJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mSliderJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); + mWorld.mSliderJointsComponents.setI1(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity)); + mWorld.mSliderJointsComponents.setI2(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity)); // Vector from body center to the anchor point mWorld.mSliderJointsComponents.setR1(mEntity, orientationBody1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity)); @@ -529,8 +529,8 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); // Recompute the inertia tensor of bodies - mWorld.mSliderJointsComponents.setI1(mEntity, body1->getInertiaTensorInverseWorld()); - mWorld.mSliderJointsComponents.setI2(mEntity, body2->getInertiaTensorInverseWorld()); + mWorld.mSliderJointsComponents.setI1(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity)); + mWorld.mSliderJointsComponents.setI2(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity)); // Vector from body center to the anchor point mWorld.mSliderJointsComponents.setR1(mEntity, q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity)); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index d162dda0..72217c06 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -50,11 +50,11 @@ using namespace std; DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : CollisionWorld(worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), - mContactSolverSystem(mMemoryManager, mIslands, mCollisionBodyComponents, mRigidBodyComponents, + mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), - mConstraintSolverSystem(mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, - mBallAndSocketJointsComponents, mFixedJointsComponents), - mDynamicsSystem(mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), + mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, + mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents), + mDynamicsSystem(*this, mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), @@ -249,9 +249,6 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { // Compute the inverse mass mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getInitMass(entity)); - // Update the world inverse inertia tensor - rigidBody->updateInertiaTensorInverseWorld(); - // Add the rigid body to the physics world mBodies.add(rigidBody); mRigidBodies.add(rigidBody); diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 6cc3dbdd..7b8ba7d1 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -33,17 +33,19 @@ using namespace reactphysics3d; // Constructor -ConstraintSolverSystem::ConstraintSolverSystem(Islands& islands, RigidBodyComponents& rigidBodyComponents, +ConstraintSolverSystem::ConstraintSolverSystem(DynamicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents, - FixedJointComponents& fixedJointComponents) + FixedJointComponents& fixedJointComponents, + HingeJointComponents& hingeJointComponents) : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents, jointComponents), - mSolveBallAndSocketJointSystem(rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents), - mSolveFixedJointSystem(rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents), + mSolveBallAndSocketJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents), + mSolveFixedJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents), + mSolveHingeJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, hingeJointComponents), mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents), - mFixedJointComponents(fixedJointComponents) { + mFixedJointComponents(fixedJointComponents), mHingeJointComponents(hingeJointComponents) { #ifdef IS_PROFILING_ACTIVE @@ -69,13 +71,17 @@ void ConstraintSolverSystem::initialize(decimal dt) { mSolveBallAndSocketJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); mSolveFixedJointSystem.setTimeStep(dt); mSolveFixedJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); + mSolveHingeJointSystem.setTimeStep(dt); + mSolveHingeJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); mSolveBallAndSocketJointSystem.initBeforeSolve(); mSolveFixedJointSystem.initBeforeSolve(); + mSolveHingeJointSystem.initBeforeSolve(); if (mIsWarmStartingActive) { mSolveBallAndSocketJointSystem.warmstart(); mSolveFixedJointSystem.warmstart(); + mSolveHingeJointSystem.warmstart(); } // For each joint @@ -84,7 +90,8 @@ void ConstraintSolverSystem::initialize(decimal dt) { // TODO : DELETE THIS Entity jointEntity = mConstraintSolverData.jointComponents.mJointEntities[i]; if (mBallAndSocketJointComponents.hasComponent(jointEntity) || - mFixedJointComponents.hasComponent(jointEntity)) { + mFixedJointComponents.hasComponent(jointEntity) || + mHingeJointComponents.hasComponent(jointEntity)) { continue; } @@ -110,6 +117,7 @@ void ConstraintSolverSystem::solveVelocityConstraints() { mSolveBallAndSocketJointSystem.solveVelocityConstraint(); mSolveFixedJointSystem.solveVelocityConstraint(); + mSolveHingeJointSystem.solveVelocityConstraint(); // For each joint for (uint i=0; igetEntity()); mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2->getEntity()); - mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = body1->getInertiaTensorInverseWorld(); - mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = body2->getInertiaTensorInverseWorld(); + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity1); + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity2); mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity()); mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity()); mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; diff --git a/src/systems/ContactSolverSystem.h b/src/systems/ContactSolverSystem.h index 15822803..f6c9a2f5 100644 --- a/src/systems/ContactSolverSystem.h +++ b/src/systems/ContactSolverSystem.h @@ -284,6 +284,9 @@ class ContactSolverSystem { /// Memory manager MemoryManager& mMemoryManager; + /// Physics world + DynamicsWorld& mWorld; + /// Current time step decimal mTimeStep; @@ -360,7 +363,7 @@ class ContactSolverSystem { // -------------------- Methods -------------------- // /// Constructor - ContactSolverSystem(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, + ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents, RigidBodyComponents& rigidBodyComponents, ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings); diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 042f1c86..68a12299 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -25,12 +25,14 @@ // Libraries #include "systems/DynamicsSystem.h" +#include "body/RigidBody.h" +#include "engine/DynamicsWorld.h" using namespace reactphysics3d; // Constructor -DynamicsSystem::DynamicsSystem(RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, bool& isGravityEnabled, Vector3& gravity) - :mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mIsGravityEnabled(isGravityEnabled), +DynamicsSystem::DynamicsSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, bool& isGravityEnabled, Vector3& gravity) + :mWorld(world), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mIsGravityEnabled(isGravityEnabled), mGravity(gravity) { } @@ -95,14 +97,6 @@ void DynamicsSystem::updateBodiesState() { const Vector3& centerOfMassLocal = mRigidBodyComponents.mCentersOfMassLocal[i]; transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); } - - // Update the world inverse inertia tensor of the body - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - - Matrix3x3 orientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation().getMatrix(); - const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.mInverseInertiaTensorsLocal[i]; - mRigidBodyComponents.mInverseInertiaTensorsWorld[i] = orientation * inverseInertiaLocalTensor * orientation.getTranspose(); - } } // Integrate the velocities of rigid bodies. @@ -130,7 +124,7 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + timeStep * mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mExternalForces[i]; mRigidBodyComponents.mConstrainedAngularVelocities[i] = angularVelocity + timeStep * - mRigidBodyComponents.mInverseInertiaTensorsWorld[i] * mRigidBodyComponents.mExternalTorques[i]; + RigidBody::getInertiaTensorInverseWorld(mWorld, mRigidBodyComponents.mBodiesEntities[i]) * mRigidBodyComponents.mExternalTorques[i]; } // Apply gravity force diff --git a/src/systems/DynamicsSystem.h b/src/systems/DynamicsSystem.h index 44cef67d..a5c89c22 100644 --- a/src/systems/DynamicsSystem.h +++ b/src/systems/DynamicsSystem.h @@ -33,6 +33,8 @@ namespace reactphysics3d { +class DynamicsWorld; + // Class DynamicsSystem /** * This class is responsible to compute and update the dynamics of the bodies that are simulated @@ -44,6 +46,9 @@ class DynamicsSystem { // -------------------- Attributes -------------------- // + /// Physics world + DynamicsWorld& mWorld; + /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -67,7 +72,7 @@ class DynamicsSystem { // -------------------- Methods -------------------- // /// Constructor - DynamicsSystem(RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, + DynamicsSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, bool& isGravityEnabled, Vector3& gravity); /// Destructor diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index f6ba8e5c..259ed5fb 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -25,6 +25,7 @@ // Libraries #include "systems/SolveBallAndSocketJointSystem.h" +#include "engine/DynamicsWorld.h" #include "body/RigidBody.h" using namespace reactphysics3d; @@ -33,11 +34,11 @@ using namespace reactphysics3d; const decimal SolveBallAndSocketJointSystem::BETA = decimal(0.2); // Constructor -SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents, +SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents) - :mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), + :mWorld(world), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents), mTimeStep(0), mIsWarmStartingActive(true) { @@ -55,13 +56,9 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - // TODO : Remove this and use compoents instead of pointers to bodies - const RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); - const RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); - // Get the inertia tensor of bodies - mBallAndSocketJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); - mBallAndSocketJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + mBallAndSocketJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mBallAndSocketJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); } // For each joint @@ -260,13 +257,9 @@ void SolveBallAndSocketJointSystem::solvePositionConstraint() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - // TODO : Remove this and use compoents instead of pointers to bodies - const RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); - const RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); - // Recompute the inverse inertia tensors - mBallAndSocketJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); - mBallAndSocketJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + mBallAndSocketJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mBallAndSocketJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); } // For each joint component diff --git a/src/systems/SolveBallAndSocketJointSystem.h b/src/systems/SolveBallAndSocketJointSystem.h index 7bab807c..64b437b7 100644 --- a/src/systems/SolveBallAndSocketJointSystem.h +++ b/src/systems/SolveBallAndSocketJointSystem.h @@ -35,6 +35,9 @@ namespace reactphysics3d { +// Forward declarations +class DynamicsWorld; + // Class SolveBallAndSocketJointSystem /** * This class is responsible to solve the BallAndSocketJoint constraints @@ -50,6 +53,9 @@ class SolveBallAndSocketJointSystem { // -------------------- Attributes -------------------- // + /// Physics world + DynamicsWorld& mWorld; + /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -79,7 +85,7 @@ class SolveBallAndSocketJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveBallAndSocketJointSystem(RigidBodyComponents& rigidBodyComponents, + SolveBallAndSocketJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents); diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp index 9fb51bdd..6a2dbed7 100644 --- a/src/systems/SolveFixedJointSystem.cpp +++ b/src/systems/SolveFixedJointSystem.cpp @@ -25,6 +25,7 @@ // Libraries #include "systems/SolveFixedJointSystem.h" +#include "engine/DynamicsWorld.h" #include "body/RigidBody.h" using namespace reactphysics3d; @@ -33,11 +34,11 @@ using namespace reactphysics3d; const decimal SolveFixedJointSystem::BETA = decimal(0.2); // Constructor -SolveFixedJointSystem::SolveFixedJointSystem(RigidBodyComponents& rigidBodyComponents, +SolveFixedJointSystem::SolveFixedJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, FixedJointComponents& fixedJointComponents) - :mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), + :mWorld(world), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mJointComponents(jointComponents), mFixedJointComponents(fixedJointComponents), mTimeStep(0), mIsWarmStartingActive(true) { @@ -55,13 +56,9 @@ void SolveFixedJointSystem::initBeforeSolve() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); - // Get the inertia tensor of bodies - mFixedJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); - mFixedJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + mFixedJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mFixedJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); } // For each joint @@ -91,8 +88,8 @@ void SolveFixedJointSystem::initBeforeSolve() { const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Compute the corresponding skew-symmetric matrices - Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR1World[i]); - Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR2World[i]); + Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR1World[i]); + Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mFixedJointComponents.mR2World[i]); const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); @@ -346,13 +343,9 @@ void SolveFixedJointSystem::solvePositionConstraint() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - // TODO : Remove this and use compoents instead of pointers to bodies - const RigidBody* body1 = static_cast(mRigidBodyComponents.getRigidBody(body1Entity)); - const RigidBody* body2 = static_cast(mRigidBodyComponents.getRigidBody(body2Entity)); - // Recompute the inverse inertia tensors - mFixedJointComponents.mI1[i] = body1->getInertiaTensorInverseWorld(); - mFixedJointComponents.mI2[i] = body2->getInertiaTensorInverseWorld(); + mFixedJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mFixedJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); } // For each joint @@ -439,10 +432,10 @@ void SolveFixedJointSystem::solvePositionConstraint() { const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); - Vector3 x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; - Vector3 x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; - Quaternion q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; - Quaternion q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; // Compute position error for the 3 translation constraints const Vector3 errorTranslation = x2 + r2World - x1 - r1World; @@ -536,10 +529,5 @@ void SolveFixedJointSystem::solvePositionConstraint() { // Update the body position/orientation of body 2 q2 += Quaternion(0, w2) * q2 * decimal(0.5); q2.normalize(); - - mRigidBodyComponents.mConstrainedPositions[componentIndexBody1] = x1; - mRigidBodyComponents.mConstrainedPositions[componentIndexBody2] = x2; - mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1] = q1; - mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2] = q2; } } diff --git a/src/systems/SolveFixedJointSystem.h b/src/systems/SolveFixedJointSystem.h index cf0a7b1f..687efa8e 100644 --- a/src/systems/SolveFixedJointSystem.h +++ b/src/systems/SolveFixedJointSystem.h @@ -35,6 +35,8 @@ namespace reactphysics3d { +class DynamicsWorld; + // Class SolveFixedJointSystem /** * This class is responsible to solve the FixedJoint constraints @@ -50,6 +52,9 @@ class SolveFixedJointSystem { // -------------------- Attributes -------------------- // + /// Physics world + DynamicsWorld& mWorld; + /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -79,7 +84,7 @@ class SolveFixedJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveFixedJointSystem(RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, + SolveFixedJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, FixedJointComponents& fixedJointComponents); /// Destructor diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp new file mode 100644 index 00000000..e67fb67a --- /dev/null +++ b/src/systems/SolveHingeJointSystem.cpp @@ -0,0 +1,902 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "systems/SolveHingeJointSystem.h" +#include "engine/DynamicsWorld.h" +#include "body/RigidBody.h" + +using namespace reactphysics3d; + +// Static variables definition +const decimal SolveHingeJointSystem::BETA = decimal(0.2); + +// Constructor +SolveHingeJointSystem::SolveHingeJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, + JointComponents& jointComponents, + HingeJointComponents& hingeJointComponents) + :mWorld(world), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), + mJointComponents(jointComponents), mHingeJointComponents(hingeJointComponents), + mTimeStep(0), mIsWarmStartingActive(true) { + +} + +// Initialize before solving the constraint +void SolveHingeJointSystem::initBeforeSolve() { + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Get the inertia tensor of bodies + mHingeJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mHingeJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + } + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute the vector from body center to the anchor point in world-space + mHingeJointComponents.mR1World[i] = orientationBody1 * mHingeJointComponents.mLocalAnchorPointBody1[i]; + mHingeJointComponents.mR2World[i] = orientationBody2 * mHingeJointComponents.mLocalAnchorPointBody2[i]; + } + + const decimal biasFactor = (BETA / mTimeStep); + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute vectors needed in the Jacobian + Vector3& a1 = mHingeJointComponents.mA1[i]; + a1 = orientationBody1 * mHingeJointComponents.mHingeLocalAxisBody1[i]; + Vector3 a2 = orientationBody2 * mHingeJointComponents.mHingeLocalAxisBody2[i]; + + a1.normalize(); + a2.normalize(); + const Vector3 b2 = a2.getOneUnitOrthogonalVector(); + const Vector3 c2 = a2.cross(b2); + mHingeJointComponents.mB2CrossA1[i] = b2.cross(a1); + mHingeJointComponents.mC2CrossA1[i] = c2.cross(a1); + + // Compute the bias "b" of the rotation constraints + mHingeJointComponents.mBiasRotation[i].setToZero(); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mHingeJointComponents.mBiasRotation[i] = biasFactor * Vector2(a1.dot(b2), a1.dot(c2)); + } + } + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Compute the corresponding skew-symmetric matrices + Matrix3x3 skewSymmetricMatrixU1= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR1World[i]); + Matrix3x3 skewSymmetricMatrixU2= Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR2World[i]); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Compute the inverse mass matrix K=JM^-1J^t for the 3 translation constraints (3x3 matrix) + decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + decimal inverseMassBodies = body1MassInverse + body2MassInverse; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * mHingeJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mHingeJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); + Matrix3x3& inverseMassMatrixTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i]; + inverseMassMatrixTranslation.setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + } + } + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Get the bodies positions and orientations + const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(body1Entity); + const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(body2Entity); + + // Compute the bias "b" of the translation constraints + mHingeJointComponents.mBiasTranslation[i].setToZero(); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mHingeJointComponents.mBiasTranslation[i] = biasFactor * (x2 + mHingeJointComponents.mR2World[i] - x1 - mHingeJointComponents.mR1World[i]); + } + } + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Matrix3x3& i1 = mHingeJointComponents.mI1[i]; + const Matrix3x3& i2 = mHingeJointComponents.mI2[i]; + const Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; + const Vector3& c2CrossA1 = mHingeJointComponents.mC2CrossA1[i]; + + // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) + Vector3 i1B2CrossA1 = i1 * b2CrossA1; + Vector3 i1C2CrossA1 = i1 * c2CrossA1; + Vector3 i2B2CrossA1 = i2 * b2CrossA1; + Vector3 i2C2CrossA1 = i2 * c2CrossA1; + const decimal el11 = b2CrossA1.dot(i1B2CrossA1) + b2CrossA1.dot(i2B2CrossA1); + const decimal el12 = b2CrossA1.dot(i1C2CrossA1) + b2CrossA1.dot(i2C2CrossA1); + const decimal el21 = c2CrossA1.dot(i1B2CrossA1) + c2CrossA1.dot(i2B2CrossA1); + const decimal el22 = c2CrossA1.dot(i1C2CrossA1) + c2CrossA1.dot(i2C2CrossA1); + const Matrix2x2 matrixKRotation(el11, el12, el21, el22); + mHingeJointComponents.mInverseMassMatrixRotation[i].setToZero(); + if (mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || + mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixRotation[i] = matrixKRotation.getInverse(); + } + } + + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + // Reset all the accumulated impulses + mHingeJointComponents.mImpulseTranslation[i].setToZero(); + mHingeJointComponents.mImpulseRotation[i].setToZero(); + mHingeJointComponents.mImpulseLowerLimit[i] = decimal(0.0); + mHingeJointComponents.mImpulseUpperLimit[i] = decimal(0.0); + mHingeJointComponents.mImpulseMotor[i] = decimal(0.0); + } + } + + // For each joint + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute the current angle around the hinge axis + decimal hingeAngle = computeCurrentHingeAngle(jointEntity, orientationBody1, orientationBody2); + + // Check if the limit constraints are violated or not + decimal lowerLimitError = hingeAngle - mHingeJointComponents.mLowerLimit[i]; + decimal upperLimitError = mHingeJointComponents.mUpperLimit[i] - hingeAngle; + bool oldIsLowerLimitViolated = mHingeJointComponents.mIsLowerLimitViolated[i]; + bool isLowerLimitViolated = lowerLimitError <= 0; + mHingeJointComponents.mIsLowerLimitViolated[i] = isLowerLimitViolated; + if (isLowerLimitViolated != oldIsLowerLimitViolated) { + mHingeJointComponents.mImpulseLowerLimit[i] = decimal(0.0); + } + bool oldIsUpperLimitViolated = mHingeJointComponents.mIsUpperLimitViolated[i]; + bool isUpperLimitViolated = upperLimitError <= 0; + mHingeJointComponents.mIsUpperLimitViolated[i] = isUpperLimitViolated; + if (isUpperLimitViolated != oldIsUpperLimitViolated) { + mHingeJointComponents.mImpulseUpperLimit[i] = decimal(0.0); + } + + // If the motor or limits are enabled + if (mHingeJointComponents.mIsMotorEnabled[i] || + (mHingeJointComponents.mIsLimitEnabled[i] && (mHingeJointComponents.mIsLowerLimitViolated[i] || + mHingeJointComponents.mIsUpperLimitViolated[i]))) { + + Vector3& a1 = mHingeJointComponents.mA1[i]; + + // Compute the inverse of the mass matrix K=JM^-1J^t for the limits and motor (1x1 matrix) + decimal inverseMassMatrixLimitMotor = a1.dot(mHingeJointComponents.mI1[i] * a1) + a1.dot(mHingeJointComponents.mI2[i] * a1); + inverseMassMatrixLimitMotor = (inverseMassMatrixLimitMotor > decimal(0.0)) ? + decimal(1.0) / inverseMassMatrixLimitMotor : decimal(0.0); + mHingeJointComponents.mInverseMassMatrixLimitMotor[i] = inverseMassMatrixLimitMotor; + + if (mHingeJointComponents.mIsLimitEnabled[i]) { + + // Compute the bias "b" of the lower limit constraint + mHingeJointComponents.mBLowerLimit[i] = decimal(0.0); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mHingeJointComponents.mBLowerLimit[i] = biasFactor * lowerLimitError; + } + + // Compute the bias "b" of the upper limit constraint + mHingeJointComponents.mBUpperLimit[i] = decimal(0.0); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mHingeJointComponents.mBUpperLimit[i] = biasFactor * upperLimitError; + } + } + } + } +} + +// Warm start the constraint (apply the previous impulse at the beginning of the step) +void SolveHingeJointSystem::warmstart() { + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // Get the inverse mass and inverse inertia tensors of the bodies + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& impulseTranslation = mHingeJointComponents.mImpulseTranslation[i]; + const Vector2& impulseRotation = mHingeJointComponents.mImpulseRotation[i]; + + const decimal impulseLowerLimit = mHingeJointComponents.mImpulseLowerLimit[i]; + const decimal impulseUpperLimit = mHingeJointComponents.mImpulseUpperLimit[i]; + + const Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; + const Vector3& a1 = mHingeJointComponents.mA1[i]; + + // Compute the impulse P=J^T * lambda for the 2 rotation constraints + Vector3 rotationImpulse = -b2CrossA1 * impulseRotation.x - mHingeJointComponents.mC2CrossA1[i] * impulseRotation.y; + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints + const Vector3 limitsImpulse = (impulseUpperLimit - impulseLowerLimit) * a1; + + // Compute the impulse P=J^T * lambda for the motor constraint + const Vector3 motorImpulse = -mHingeJointComponents.mImpulseMotor[i] * a1; + + // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 1 + Vector3 linearImpulseBody1 = -impulseTranslation; + Vector3 angularImpulseBody1 = impulseTranslation.cross(mHingeJointComponents.mR1World[i]); + + // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 + angularImpulseBody1 += rotationImpulse; + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 + angularImpulseBody1 += limitsImpulse; + + // Compute the impulse P=J^T * lambda for the motor constraint of body 1 + angularImpulseBody1 += motorImpulse; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += mHingeJointComponents.mI1[i] * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the 3 translation constraints of body 2 + Vector3 angularImpulseBody2 = -impulseTranslation.cross(mHingeJointComponents.mR2World[i]); + + // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 + angularImpulseBody2 += -rotationImpulse; + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 2 + angularImpulseBody2 += -limitsImpulse; + + // Compute the impulse P=J^T * lambda for the motor constraint of body 2 + angularImpulseBody2 += -motorImpulse; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * impulseTranslation; + w2 += mHingeJointComponents.mI2[i] * angularImpulseBody2; + } +} + +// Solve the velocity constraint +void SolveHingeJointSystem::solveVelocityConstraint() { + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // Get the inverse mass and inverse inertia tensors of the bodies + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Matrix3x3& i1 = mHingeJointComponents.mI1[i]; + const Matrix3x3& i2 = mHingeJointComponents.mI2[i]; + + const Vector3& r1World = mHingeJointComponents.mR1World[i]; + const Vector3& r2World = mHingeJointComponents.mR2World[i]; + + const Vector3& a1 = mHingeJointComponents.mA1[i]; + + const decimal inverseMassMatrixLimitMotor = mHingeJointComponents.mInverseMassMatrixLimitMotor[i]; + + // --------------- Translation Constraints --------------- // + + // Compute J*v + const Vector3 JvTranslation = v2 + w2.cross(r2World) - v1 - w1.cross(r1World); + + // Compute the Lagrange multiplier lambda + const Vector3 deltaLambdaTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i] * + (-JvTranslation - mHingeJointComponents.mBiasTranslation[i]); + mHingeJointComponents.mImpulseTranslation[i] += deltaLambdaTranslation; + + // Compute the impulse P=J^T * lambda of body 1 + const Vector3 linearImpulseBody1 = -deltaLambdaTranslation; + Vector3 angularImpulseBody1 = deltaLambdaTranslation.cross(r1World); + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda of body 2 + Vector3 angularImpulseBody2 = -deltaLambdaTranslation.cross(r2World); + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * deltaLambdaTranslation; + w2 += i2 * angularImpulseBody2; + + // --------------- Rotation Constraints --------------- // + + const Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; + const Vector3& c2CrossA1 = mHingeJointComponents.mC2CrossA1[i]; + + // Compute J*v for the 2 rotation constraints + const Vector2 JvRotation(-b2CrossA1.dot(w1) + b2CrossA1.dot(w2), + -c2CrossA1.dot(w1) + c2CrossA1.dot(w2)); + + // Compute the Lagrange multiplier lambda for the 2 rotation constraints + Vector2 deltaLambdaRotation = mHingeJointComponents.mInverseMassMatrixRotation[i] * + (-JvRotation - mHingeJointComponents.mBiasRotation[i]); + mHingeJointComponents.mImpulseRotation[i] += deltaLambdaRotation; + + // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 1 + angularImpulseBody1 = -b2CrossA1 * deltaLambdaRotation.x - c2CrossA1 * deltaLambdaRotation.y; + + // Apply the impulse to the body 1 + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the 2 rotation constraints of body 2 + angularImpulseBody2 = b2CrossA1 * deltaLambdaRotation.x + c2CrossA1 * deltaLambdaRotation.y; + + // Apply the impulse to the body 2 + w2 += i2 * angularImpulseBody2; + + // --------------- Limits Constraints --------------- // + + if (mHingeJointComponents.mIsLimitEnabled[i]) { + + // If the lower limit is violated + if (mHingeJointComponents.mIsLowerLimitViolated[i]) { + + // Compute J*v for the lower limit constraint + const decimal JvLowerLimit = (w2 - w1).dot(a1); + + // Compute the Lagrange multiplier lambda for the lower limit constraint + decimal deltaLambdaLower = inverseMassMatrixLimitMotor * (-JvLowerLimit -mHingeJointComponents.mBLowerLimit[i]); + decimal lambdaTemp = mHingeJointComponents.mImpulseLowerLimit[i]; + mHingeJointComponents.mImpulseLowerLimit[i] = std::max(mHingeJointComponents.mImpulseLowerLimit[i] + deltaLambdaLower, decimal(0.0)); + deltaLambdaLower = mHingeJointComponents.mImpulseLowerLimit[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 + const Vector3 angularImpulseBody1 = -deltaLambdaLower * a1; + + // Apply the impulse to the body 1 + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 + const Vector3 angularImpulseBody2 = deltaLambdaLower * a1; + + // Apply the impulse to the body 2 + w2 += i2 * angularImpulseBody2; + } + + // If the upper limit is violated + if (mHingeJointComponents.mIsUpperLimitViolated[i]) { + + // Compute J*v for the upper limit constraint + const decimal JvUpperLimit = -(w2 - w1).dot(a1); + + // Compute the Lagrange multiplier lambda for the upper limit constraint + decimal deltaLambdaUpper = inverseMassMatrixLimitMotor * (-JvUpperLimit -mHingeJointComponents.mBUpperLimit[i]); + decimal lambdaTemp = mHingeJointComponents.mImpulseUpperLimit[i]; + mHingeJointComponents.mImpulseUpperLimit[i] = std::max(mHingeJointComponents.mImpulseUpperLimit[i] + deltaLambdaUpper, decimal(0.0)); + deltaLambdaUpper = mHingeJointComponents.mImpulseUpperLimit[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 + const Vector3 angularImpulseBody1 = deltaLambdaUpper * a1; + + // Apply the impulse to the body 1 + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 + const Vector3 angularImpulseBody2 = -deltaLambdaUpper * a1; + + // Apply the impulse to the body 2 + w2 += i2 * angularImpulseBody2; + } + } + + // --------------- Motor --------------- // + + // If the motor is enabled + if (mHingeJointComponents.mIsMotorEnabled[i]) { + + // Compute J*v for the motor + const decimal JvMotor = a1.dot(w1 - w2); + + // Compute the Lagrange multiplier lambda for the motor + const decimal maxMotorImpulse = mHingeJointComponents.mMaxMotorTorque[i] * mTimeStep; + decimal deltaLambdaMotor = mHingeJointComponents.mInverseMassMatrixLimitMotor[i] * (-JvMotor - mHingeJointComponents.mMotorSpeed[i]); + decimal lambdaTemp = mHingeJointComponents.mImpulseMotor[i]; + mHingeJointComponents.mImpulseMotor[i] = clamp(mHingeJointComponents.mImpulseMotor[i] + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse); + deltaLambdaMotor = mHingeJointComponents.mImpulseMotor[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the motor of body 1 + const Vector3 angularImpulseBody1 = -deltaLambdaMotor * a1; + + // Apply the impulse to the body 1 + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the motor of body 2 + const Vector3 angularImpulseBody2 = deltaLambdaMotor * a1; + + // Apply the impulse to the body 2 + w2 += i2 * angularImpulseBody2; + } + } +} + +// Solve the position constraint (for position error correction) +void SolveHingeJointSystem::solvePositionConstraint() { + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Recompute the inverse inertia tensors + mHingeJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mHingeJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + } + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); + const Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); + + // Compute the vector from body center to the anchor point in world-space + mHingeJointComponents.mR1World[i] = q1 * mHingeJointComponents.mLocalAnchorPointBody1[i]; + mHingeJointComponents.mR2World[i] = q2 * mHingeJointComponents.mLocalAnchorPointBody2[i]; + } + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Compute the corresponding skew-symmetric matrices + Matrix3x3 skewSymmetricMatrixU1 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR1World[i]); + Matrix3x3 skewSymmetricMatrixU2 = Matrix3x3::computeSkewSymmetricMatrixForCrossProduct(mHingeJointComponents.mR2World[i]); + + // --------------- Translation Constraints --------------- // + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Compute the matrix K=JM^-1J^t (3x3 matrix) for the 3 translation constraints + const decimal body1InverseMass = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2InverseMass = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + decimal inverseMassBodies = body1InverseMass + body2InverseMass; + Matrix3x3 massMatrix = Matrix3x3(inverseMassBodies, 0, 0, + 0, inverseMassBodies, 0, + 0, 0, inverseMassBodies) + + skewSymmetricMatrixU1 * mHingeJointComponents.mI1[i] * skewSymmetricMatrixU1.getTranspose() + + skewSymmetricMatrixU2 * mHingeJointComponents.mI2[i] * skewSymmetricMatrixU2.getTranspose(); + mHingeJointComponents.mInverseMassMatrixTranslation[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixTranslation[i] = massMatrix.getInverse(); + } + } + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + + Vector3& b2CrossA1 = mHingeJointComponents.mB2CrossA1[i]; + Vector3& c2CrossA1 = mHingeJointComponents.mC2CrossA1[i]; + + Vector3& a1 = mHingeJointComponents.mA1[i]; + + // Compute vectors needed in the Jacobian + a1 = q1 * mHingeJointComponents.mHingeLocalAxisBody1[i]; + Vector3 a2 = q2 * mHingeJointComponents.mHingeLocalAxisBody2[i]; + a1.normalize(); + mHingeJointComponents.mA1[i] = a1; + a2.normalize(); + const Vector3 b2 = a2.getOneUnitOrthogonalVector(); + const Vector3 c2 = a2.cross(b2); + b2CrossA1 = b2.cross(a1); + mHingeJointComponents.mB2CrossA1[i] = b2CrossA1; + c2CrossA1 = c2.cross(a1); + mHingeJointComponents.mC2CrossA1[i] = c2CrossA1; + + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + + // Compute position error for the 3 translation constraints + const Vector3 errorTranslation = x2 + mHingeJointComponents.mR2World[i] - x1 - mHingeJointComponents.mR1World[i]; + + // Compute the Lagrange multiplier lambda + const Vector3 lambdaTranslation = mHingeJointComponents.mInverseMassMatrixTranslation[i] * (-errorTranslation); + + // Compute the impulse of body 1 + Vector3 linearImpulseBody1 = -lambdaTranslation; + Vector3 angularImpulseBody1 = lambdaTranslation.cross(mHingeJointComponents.mR1World[i]); + + // Get the inverse mass and inverse inertia tensors of the bodies + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // Compute the pseudo velocity of body 1 + const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; + Vector3 w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + Vector3 angularImpulseBody2 = -lambdaTranslation.cross(mHingeJointComponents.mR2World[i]); + + // Compute the pseudo velocity of body 2 + const Vector3 v2 = inverseMassBody2 * lambdaTranslation; + Vector3 w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + + // --------------- Rotation Constraints --------------- // + + // Compute the inverse mass matrix K=JM^-1J^t for the 2 rotation constraints (2x2 matrix) + Vector3 I1B2CrossA1 = mHingeJointComponents.mI1[i] * b2CrossA1; + Vector3 I1C2CrossA1 = mHingeJointComponents.mI1[i] * c2CrossA1; + Vector3 I2B2CrossA1 = mHingeJointComponents.mI2[i] * b2CrossA1; + Vector3 I2C2CrossA1 = mHingeJointComponents.mI2[i] * c2CrossA1; + const decimal el11 = b2CrossA1.dot(I1B2CrossA1) + + b2CrossA1.dot(I2B2CrossA1); + const decimal el12 = b2CrossA1.dot(I1C2CrossA1) + + b2CrossA1.dot(I2C2CrossA1); + const decimal el21 = c2CrossA1.dot(I1B2CrossA1) + + c2CrossA1.dot(I2B2CrossA1); + const decimal el22 = c2CrossA1.dot(I1C2CrossA1) + + c2CrossA1.dot(I2C2CrossA1); + const Matrix2x2 matrixKRotation(el11, el12, el21, el22); + mHingeJointComponents.mInverseMassMatrixRotation[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + mHingeJointComponents.mInverseMassMatrixRotation[i] = matrixKRotation.getInverse(); + } + + // Compute the position error for the 3 rotation constraints + const Vector2 errorRotation = Vector2(a1.dot(b2), a1.dot(c2)); + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector2 lambdaRotation = mHingeJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + angularImpulseBody1 = -b2CrossA1 * lambdaRotation.x - c2CrossA1 * lambdaRotation.y; + + // Compute the pseudo velocity of body 1 + w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse of body 2 + angularImpulseBody2 = b2CrossA1 * lambdaRotation.x + c2CrossA1 * lambdaRotation.y; + + // Compute the pseudo velocity of body 2 + w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + + // For each joint component + for (uint32 i=0; i < mHingeJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mHingeJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) continue; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); + Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); + + // Compute the current angle around the hinge axis + const decimal hingeAngle = computeCurrentHingeAngle(jointEntity, q1, q2); + + // Check if the limit constraints are violated or not + decimal lowerLimitError = hingeAngle - mHingeJointComponents.mLowerLimit[i]; + decimal upperLimitError = mHingeJointComponents.mUpperLimit[i] - hingeAngle; + mHingeJointComponents.mIsLowerLimitViolated[i] = lowerLimitError <= 0; + mHingeJointComponents.mIsUpperLimitViolated[i] = upperLimitError <= 0; + + // --------------- Limits Constraints --------------- // + + if (mHingeJointComponents.mIsLimitEnabled[i]) { + + decimal inverseMassMatrixLimitMotor = mHingeJointComponents.mInverseMassMatrixLimitMotor[i]; + + Vector3& a1 = mHingeJointComponents.mA1[i]; + + if (mHingeJointComponents.mIsLowerLimitViolated[i] || mHingeJointComponents.mIsUpperLimitViolated[i]) { + + // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) + mHingeJointComponents.mInverseMassMatrixLimitMotor[i] = a1.dot(mHingeJointComponents.mI1[i] * a1) + a1.dot(mHingeJointComponents.mI2[i] * a1); + mHingeJointComponents.mInverseMassMatrixLimitMotor[i] = (inverseMassMatrixLimitMotor > decimal(0.0)) ? + decimal(1.0) / mHingeJointComponents.mInverseMassMatrixLimitMotor[i] : decimal(0.0); + } + + // If the lower limit is violated + if (mHingeJointComponents.mIsLowerLimitViolated[i]) { + + // Compute the Lagrange multiplier lambda for the lower limit constraint + decimal lambdaLowerLimit = inverseMassMatrixLimitMotor * (-lowerLimitError ); + + // Compute the impulse P=J^T * lambda of body 1 + const Vector3 angularImpulseBody1 = -lambdaLowerLimit * a1; + + // Compute the pseudo velocity of body 1 + const Vector3 w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda of body 2 + const Vector3 angularImpulseBody2 = lambdaLowerLimit * a1; + + // Compute the pseudo velocity of body 2 + const Vector3 w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + + // If the upper limit is violated + if (mHingeJointComponents.mIsUpperLimitViolated[i]) { + + // Compute the Lagrange multiplier lambda for the upper limit constraint + decimal lambdaUpperLimit = inverseMassMatrixLimitMotor * (-upperLimitError); + + // Compute the impulse P=J^T * lambda of body 1 + const Vector3 angularImpulseBody1 = lambdaUpperLimit * a1; + + // Compute the pseudo velocity of body 1 + const Vector3 w1 = mHingeJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda of body 2 + const Vector3 angularImpulseBody2 = -lambdaUpperLimit * a1; + + // Compute the pseudo velocity of body 2 + const Vector3 w2 = mHingeJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + } + } +} + +// Given an angle in radian, this method returns the corresponding angle in the range [-pi; pi] +decimal SolveHingeJointSystem::computeNormalizedAngle(decimal angle) const { + + // Convert it into the range [-2*pi; 2*pi] + angle = std::fmod(angle, PI_TIMES_2); + + // Convert it into the range [-pi; pi] + if (angle < -PI) { + return angle + PI_TIMES_2; + } + else if (angle > PI) { + return angle - PI_TIMES_2; + } + else { + return angle; + } +} + +// Given an "inputAngle" in the range [-pi, pi], this method returns an +// angle (modulo 2*pi) in the range [-2*pi; 2*pi] that is closest to one of the +// two angle limits in arguments. +decimal SolveHingeJointSystem::computeCorrespondingAngleNearLimits(decimal inputAngle, decimal lowerLimitAngle, decimal upperLimitAngle) const { + if (upperLimitAngle <= lowerLimitAngle) { + return inputAngle; + } + else if (inputAngle > upperLimitAngle) { + decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(inputAngle - upperLimitAngle)); + decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(inputAngle - lowerLimitAngle)); + return (diffToUpperLimit > diffToLowerLimit) ? (inputAngle - PI_TIMES_2) : inputAngle; + } + else if (inputAngle < lowerLimitAngle) { + decimal diffToUpperLimit = std::fabs(computeNormalizedAngle(upperLimitAngle - inputAngle)); + decimal diffToLowerLimit = std::fabs(computeNormalizedAngle(lowerLimitAngle - inputAngle)); + return (diffToUpperLimit > diffToLowerLimit) ? inputAngle : (inputAngle + PI_TIMES_2); + } + else { + return inputAngle; + } +} + +// Compute the current angle around the hinge axis +decimal SolveHingeJointSystem::computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, const Quaternion& orientationBody2) { + + decimal hingeAngle; + + // Compute the current orientation difference between the two bodies + Quaternion currentOrientationDiff = orientationBody2 * orientationBody1.getInverse(); + currentOrientationDiff.normalize(); + + // Compute the relative rotation considering the initial orientation difference + Quaternion relativeRotation = currentOrientationDiff * mHingeJointComponents.getInitOrientationDifferenceInv(jointEntity); + relativeRotation.normalize(); + + // A quaternion q = [cos(theta/2); sin(theta/2) * rotAxis] where rotAxis is a unit + // length vector. We can extract cos(theta/2) with q.w and we can extract |sin(theta/2)| with : + // |sin(theta/2)| = q.getVectorV().length() since rotAxis is unit length. Note that any + // rotation can be represented by a quaternion q and -q. Therefore, if the relative rotation + // axis is not pointing in the same direction as the hinge axis, we use the rotation -q which + // has the same |sin(theta/2)| value but the value cos(theta/2) is sign inverted. Some details + // about this trick is explained in the source code of OpenTissue (http://www.opentissue.org). + decimal cosHalfAngle = relativeRotation.w; + decimal sinHalfAngleAbs = relativeRotation.getVectorV().length(); + + // Compute the dot product of the relative rotation axis and the hinge axis + decimal dotProduct = relativeRotation.getVectorV().dot(mHingeJointComponents.getA1(jointEntity)); + + // If the relative rotation axis and the hinge axis are pointing the same direction + if (dotProduct >= decimal(0.0)) { + hingeAngle = decimal(2.0) * std::atan2(sinHalfAngleAbs, cosHalfAngle); + } + else { + hingeAngle = decimal(2.0) * std::atan2(sinHalfAngleAbs, -cosHalfAngle); + } + + // Convert the angle from range [-2*pi; 2*pi] into the range [-pi; pi] + hingeAngle = computeNormalizedAngle(hingeAngle); + + // Compute and return the corresponding angle near one the two limits + return computeCorrespondingAngleNearLimits(hingeAngle, + mHingeJointComponents.getLowerLimit(jointEntity), + mHingeJointComponents.getUpperLimit(jointEntity)); +} diff --git a/src/systems/SolveHingeJointSystem.h b/src/systems/SolveHingeJointSystem.h new file mode 100644 index 00000000..60769091 --- /dev/null +++ b/src/systems/SolveHingeJointSystem.h @@ -0,0 +1,160 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SOLVE_HINGE_JOINT_SYSTEM_H +#define REACTPHYSICS3D_SOLVE_HINGE_JOINT_SYSTEM_H + +// Libraries +#include "utils/Profiler.h" +#include "components/RigidBodyComponents.h" +#include "components/JointComponents.h" +#include "components/HingeJointComponents.h" +#include "components/TransformComponents.h" + +namespace reactphysics3d { + +class DynamicsWorld; + +// Class SolveHingeJointSystem +/** + * This class is responsible to solve the BallAndSocketJoint constraints + */ +class SolveHingeJointSystem { + + private : + + // -------------------- Constants -------------------- // + + // Beta value for the bias factor of position correction + static const decimal BETA; + + // -------------------- Attributes -------------------- // + + /// Physics world + DynamicsWorld& mWorld; + + /// Reference to the rigid body components + RigidBodyComponents& mRigidBodyComponents; + + /// Reference to transform components + TransformComponents& mTransformComponents; + + /// Reference to the joint components + JointComponents& mJointComponents; + + /// Reference to the hinge joint components + HingeJointComponents& mHingeJointComponents; + + /// Current time step of the simulation + decimal mTimeStep; + + /// True if warm starting of the solver is active + bool mIsWarmStartingActive; + +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; +#endif + + // -------------------- Methods -------------------- // + + /// Given an angle in radian, this method returns the corresponding + /// angle in the range [-pi; pi] + decimal computeNormalizedAngle(decimal angle) const; + + /// Given an "inputAngle" in the range [-pi, pi], this method returns an + /// angle (modulo 2*pi) in the range [-2*pi; 2*pi] that is closest to one of the + /// two angle limits in arguments. + decimal computeCorrespondingAngleNearLimits(decimal inputAngle, decimal lowerLimitAngle, + decimal upperLimitAngle) const; + + /// Compute the current angle around the hinge axis + decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, + const Quaternion& orientationBody2); + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + SolveHingeJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, + JointComponents& jointComponents, + HingeJointComponents& hingeJointComponents); + + /// Destructor + ~SolveHingeJointSystem() = default; + + /// Initialize before solving the constraint + void initBeforeSolve(); + + /// Warm start the constraint (apply the previous impulse at the beginning of the step) + void warmstart(); + + /// Solve the velocity constraint + void solveVelocityConstraint(); + + /// Solve the position constraint (for position error correction) + void solvePositionConstraint(); + + /// Set the time step + void setTimeStep(decimal timeStep); + + /// Set to true to enable warm starting + void setIsWarmStartingActive(bool isWarmStartingActive); + +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + +}; + +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void SolveHingeJointSystem::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +// Set the time step +inline void SolveHingeJointSystem::setTimeStep(decimal timeStep) { + assert(timeStep > decimal(0.0)); + mTimeStep = timeStep; +} + +// Set to true to enable warm starting +inline void SolveHingeJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { + mIsWarmStartingActive = isWarmStartingActive; +} + +#endif + +} + +#endif From d4916653324c79343adb323dca1dba72738700bd Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 7 Oct 2019 20:50:37 +0200 Subject: [PATCH 093/197] Add SolveSliderJointSystem class --- CMakeLists.txt | 2 + src/body/RigidBody.h | 1 + src/components/RigidBodyComponents.h | 1 + src/components/SliderJointComponents.h | 1 + src/constraint/BallAndSocketJoint.h | 25 - src/constraint/FixedJoint.cpp | 20 - src/constraint/FixedJoint.h | 16 - src/constraint/HingeJoint.cpp | 21 - src/constraint/HingeJoint.h | 12 - src/constraint/Joint.h | 16 - src/constraint/SliderJoint.cpp | 721 ------------- src/constraint/SliderJoint.h | 12 - src/engine/DynamicsWorld.cpp | 3 +- src/systems/ConstraintSolverSystem.cpp | 65 +- src/systems/ConstraintSolverSystem.h | 9 +- src/systems/SolveBallAndSocketJointSystem.cpp | 3 + src/systems/SolveFixedJointSystem.cpp | 3 + src/systems/SolveHingeJointSystem.cpp | 3 + src/systems/SolveSliderJointSystem.cpp | 962 ++++++++++++++++++ src/systems/SolveSliderJointSystem.h | 146 +++ 20 files changed, 1141 insertions(+), 901 deletions(-) create mode 100644 src/systems/SolveSliderJointSystem.cpp create mode 100644 src/systems/SolveSliderJointSystem.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 378862c4..32e79967 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -135,6 +135,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/SolveBallAndSocketJointSystem.h" "src/systems/SolveFixedJointSystem.h" "src/systems/SolveHingeJointSystem.h" + "src/systems/SolveSliderJointSystem.h" "src/engine/DynamicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" @@ -234,6 +235,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/SolveBallAndSocketJointSystem.cpp" "src/systems/SolveFixedJointSystem.cpp" "src/systems/SolveHingeJointSystem.cpp" + "src/systems/SolveSliderJointSystem.cpp" "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 2b0f7591..a9be0847 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -224,6 +224,7 @@ class RigidBody : public CollisionBody { friend class SolveBallAndSocketJointSystem; friend class SolveFixedJointSystem; friend class SolveHingeJointSystem; + friend class SolveSliderJointSystem; }; // Return a reference to the material properties of the rigid body diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 8055682e..462e78f5 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -340,6 +340,7 @@ class RigidBodyComponents : public Components { friend class SolveBallAndSocketJointSystem; friend class SolveFixedJointSystem; friend class SolveHingeJointSystem; + friend class SolveSliderJointSystem; friend class DynamicsSystem; friend class BallAndSocketJoint; friend class FixedJoint; diff --git a/src/components/SliderJointComponents.h b/src/components/SliderJointComponents.h index 9b206b04..5b30dffd 100644 --- a/src/components/SliderJointComponents.h +++ b/src/components/SliderJointComponents.h @@ -456,6 +456,7 @@ class SliderJointComponents : public Components { // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class SolveSliderJointSystem; }; // Return a pointer to a given joint diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index 4323ef1c..4fdb637b 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -101,31 +101,6 @@ class BallAndSocketJoint : public Joint { /// Deleted assignment operator BallAndSocketJoint& operator=(const BallAndSocketJoint& constraint) = delete; - - /// Initialize before solving the constraint - // TODO : Delete this - virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override { - - } - - /// Warm start the constraint (apply the previous impulse at the beginning of the step) - // TODO : Delete this - virtual void warmstart(const ConstraintSolverData& constraintSolverData) override { - - } - - /// Solve the velocity constraint - // TODO : Delete this - virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override { - - } - - /// Solve the position constraint (for position error correction) - // TODO : Delete this - virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override { - - } - }; // Return the number of bytes used by the joint diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 9783e979..db8d7847 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -56,26 +56,6 @@ FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo mWorld.mFixedJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation()); } -// Initialize before solving the constraint -void FixedJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - -} - -// Warm start the constraint (apply the previous impulse at the beginning of the step) -void FixedJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - -} - -// Solve the velocity constraint -void FixedJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - -} - -// Solve the position constraint (for position error correction) -void FixedJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { - -} - // Return a string representation std::string FixedJoint::to_string() const { return "FixedJoint{ localAnchorPointBody1=" + mWorld.mFixedJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() + diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index 701be60b..7bc397f8 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -73,22 +73,6 @@ class FixedJoint : public Joint { /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; - /// Initialize before solving the constraint - // TODO : DELETE THIS - virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override; - - /// Warm start the constraint (apply the previous impulse at the beginning of the step) - // TODO : DELETE THIS - virtual void warmstart(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the velocity constraint - // TODO : DELETE THIS - virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the position constraint (for position error correction) - // TODO : DELETE THIS - virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override; - public : // -------------------- Methods -------------------- // diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 621375a4..6141f1bf 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -61,27 +61,6 @@ HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo mWorld.mHingeJointsComponents.setInitOrientationDifferenceInv(mEntity, initOrientationDifferenceInv); } -// Initialize before solving the constraint -void HingeJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - -} - -// Warm start the constraint (apply the previous impulse at the beginning of the step) -void HingeJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - -} - -// Solve the velocity constraint -void HingeJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - -} - -// Solve the position constraint (for position error correction) -void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { - -} - - // Enable/Disable the limits of the joint /** * @param isLimitEnabled True if you want to enable the limits of the joint and diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index 706fd6da..8b8a42c6 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -155,18 +155,6 @@ class HingeJoint : public Joint { /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; - /// Initialize before solving the constraint - virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override; - - /// Warm start the constraint (apply the previous impulse at the beginning of the step) - virtual void warmstart(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the velocity constraint - virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the position constraint (for position error correction) - virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override; - public : // -------------------- Methods -------------------- // diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 7c9d2ed5..1af62d0a 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -106,22 +106,6 @@ class Joint { /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const = 0; - /// Initialize before solving the joint - // TODO : REMOVE THIS - virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) = 0; - - /// Warm start the joint (apply the previous impulse at the beginning of the step) - // TODO : REMOVE THIS - virtual void warmstart(const ConstraintSolverData& constraintSolverData) = 0; - - /// Solve the velocity constraint - // TODO : REMOVE THIS - virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) = 0; - - /// Solve the position constraint - // TODO : REMOVE THIS - virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) = 0; - /// Awake the two bodies of the joint void awakeBodies() const; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 35402a1e..92eb60a7 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -70,727 +70,6 @@ SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointI mWorld.mSliderJointsComponents.setSliderAxisBody1(mEntity, sliderAxisBody1); } -// Initialize before solving the constraint -void SliderJoint::initBeforeSolve(const ConstraintSolverData& constraintSolverData) { - - // Get the bodies entities - const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // Get the bodies positions and orientations - const Vector3& x1 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body1Entity); - const Vector3& x2 = constraintSolverData.rigidBodyComponents.getCenterOfMassWorld(body2Entity); - const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation(); - const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation(); - - // Get the inertia tensor of bodies - mWorld.mSliderJointsComponents.setI1(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity)); - mWorld.mSliderJointsComponents.setI2(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity)); - - // Vector from body center to the anchor point - mWorld.mSliderJointsComponents.setR1(mEntity, orientationBody1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity)); - mWorld.mSliderJointsComponents.setR2(mEntity, orientationBody2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity)); - - const Vector3& r1 = mWorld.mSliderJointsComponents.getR1(mEntity); - const Vector3& r2 = mWorld.mSliderJointsComponents.getR2(mEntity); - - // Compute the vector u (difference between anchor points) - const Vector3 u = x2 + r2 - x1 - r1; - - // Compute the two orthogonal vectors to the slider axis in world-space - Vector3 sliderAxisWorld = orientationBody1 * mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity); - sliderAxisWorld.normalize(); - mWorld.mSliderJointsComponents.setSliderAxisWorld(mEntity, sliderAxisWorld); - mWorld.mSliderJointsComponents.setN1(mEntity, sliderAxisWorld.getOneUnitOrthogonalVector()); - const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); - mWorld.mSliderJointsComponents.setN2(mEntity, sliderAxisWorld.cross(n1)); - const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); - - // Check if the limit constraints are violated or not - decimal uDotSliderAxis = u.dot(sliderAxisWorld); - decimal lowerLimitError = uDotSliderAxis - mWorld.mSliderJointsComponents.getLowerLimit(mEntity); - decimal upperLimitError = mWorld.mSliderJointsComponents.getUpperLimit(mEntity) - uDotSliderAxis; - bool oldIsLowerLimitViolated = mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity); - bool isLowerLimitViolated = lowerLimitError <= 0; - mWorld.mSliderJointsComponents.setIsLowerLimitViolated(mEntity, isLowerLimitViolated); - if (isLowerLimitViolated != oldIsLowerLimitViolated) { - mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); - } - bool oldIsUpperLimitViolated = mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity); - bool isUpperLimitViolated = upperLimitError <= 0; - mWorld.mSliderJointsComponents.setIsUpperLimitViolated(mEntity, isUpperLimitViolated); - if (isUpperLimitViolated != oldIsUpperLimitViolated) { - mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); - } - - // Compute the cross products used in the Jacobians - mWorld.mSliderJointsComponents.setR2CrossN1(mEntity, r2.cross(n1)); - mWorld.mSliderJointsComponents.setR2CrossN2(mEntity, r2.cross(n2)); - mWorld.mSliderJointsComponents.setR2CrossSliderAxis(mEntity, r2.cross(sliderAxisWorld)); - const Vector3 r1PlusU = r1 + u; - mWorld.mSliderJointsComponents.setR1PlusUCrossN1(mEntity, r1PlusU.cross(n1)); - mWorld.mSliderJointsComponents.setR1PlusUCrossN2(mEntity, r1PlusU.cross(n2)); - mWorld.mSliderJointsComponents.setR1PlusUCrossSliderAxis(mEntity, r1PlusU.cross(sliderAxisWorld)); - - const Vector3& r2CrossN1 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity); - const Vector3& r2CrossN2 = mWorld.mSliderJointsComponents.getR2CrossN2(mEntity); - const Vector3& r1PlusUCrossN1 = mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity); - const Vector3& r1PlusUCrossN2 = mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity); - const Vector3& r2CrossSliderAxis = mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); - const Vector3& r1PlusUCrossSliderAxis = mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); - - const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); - - // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation - // constraints (2x2 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - const decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; - Vector3 I2R2CrossN1 = i2 * r2CrossN1; - Vector3 I2R2CrossN2 = i2 * r2CrossN2; - const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + - r2CrossN1.dot(I2R2CrossN1); - const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + - r2CrossN1.dot(I2R2CrossN2); - const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + - r2CrossN2.dot(I2R2CrossN1); - const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + - r2CrossN2.dot(I2R2CrossN2); - Matrix2x2 matrixKTranslation(el11, el12, el21, el22); - Matrix2x2& inverseMassMatrixTranslation = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity); - inverseMassMatrixTranslation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - - mWorld.mSliderJointsComponents.setInverseMassMatrixTranslation(mEntity, matrixKTranslation.getInverse()); - } - - // Compute the bias "b" of the translation constraint - Vector2& biasTranslation = mWorld.mSliderJointsComponents.getBiasTranslation(mEntity); - biasTranslation.setToZero(); - decimal biasFactor = (BETA / constraintSolverData.timeStep); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - biasTranslation.x = u.dot(n1); - biasTranslation.y = u.dot(n2); - biasTranslation *= biasFactor; - mWorld.mSliderJointsComponents.setBiasTranslation(mEntity, biasTranslation); - } - - // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation - // contraints (3x3 matrix) - mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, i1 + i2); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - - mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity).getInverse()); - } - - // Compute the bias "b" of the rotation constraint - Vector3& biasRotation = mWorld.mSliderJointsComponents.getBiasRotation(mEntity); - biasRotation.setToZero(); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - const Quaternion qError = orientationBody2 * mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity) * orientationBody1.getInverse(); - mWorld.mSliderJointsComponents.setBiasRotation(mEntity, biasFactor * decimal(2.0) * qError.getVectorV()); - } - - // If the limits are enabled - if (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity) && (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity) || - mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity))) { - - // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - decimal inverseMassMatrixLimit = sumInverseMass + - r1PlusUCrossSliderAxis.dot(i1 * r1PlusUCrossSliderAxis) + - r2CrossSliderAxis.dot(i2 * r2CrossSliderAxis); - inverseMassMatrixLimit = (inverseMassMatrixLimit > decimal(0.0)) ? - decimal(1.0) / inverseMassMatrixLimit : decimal(0.0); - mWorld.mSliderJointsComponents.setInverseMassMatrixLimit(mEntity, inverseMassMatrixLimit); - - // Compute the bias "b" of the lower limit constraint - mWorld.mSliderJointsComponents.setBLowerLimit(mEntity, decimal(0.0)); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mWorld.mSliderJointsComponents.setBLowerLimit(mEntity, biasFactor * lowerLimitError); - } - - // Compute the bias "b" of the upper limit constraint - mWorld.mSliderJointsComponents.setBUpperLimit(mEntity, decimal(0.0)); - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mWorld.mSliderJointsComponents.setBUpperLimit(mEntity, biasFactor * upperLimitError); - } - } - - // If the motor is enabled - if (mWorld.mSliderJointsComponents.getIsMotorEnabled(mEntity)) { - - // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix) - decimal inverseMassMatrixMotor = sumInverseMass; - inverseMassMatrixMotor = (inverseMassMatrixMotor > decimal(0.0)) ? - decimal(1.0) / inverseMassMatrixMotor : decimal(0.0); - mWorld.mSliderJointsComponents.setInverseMassMatrixMotor(mEntity, inverseMassMatrixMotor); - } - - // If warm-starting is not enabled - if (!constraintSolverData.isWarmStartingActive) { - - // Reset all the accumulated impulses - Vector2& impulseTranslation = mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity); - Vector3& impulseRotation = mWorld.mSliderJointsComponents.getImpulseRotation(mEntity); - impulseTranslation.setToZero(); - impulseRotation.setToZero(); - mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, decimal(0.0)); - mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, decimal(0.0)); - mWorld.mSliderJointsComponents.setImpulseMotor(mEntity, decimal(0.0)); - } -} - -// Warm start the constraint (apply the previous impulse at the beginning of the step) -void SliderJoint::warmstart(const ConstraintSolverData& constraintSolverData) { - - // Get the bodies entities - const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); - const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); - - // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 - decimal impulseLimits = mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity) - mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity); - Vector3 linearImpulseLimits = impulseLimits * mWorld.mSliderJointsComponents.getSliderAxisWorld(mEntity); - - // Compute the impulse P=J^T * lambda for the motor constraint of body 1 - Vector3 impulseMotor = mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) * mWorld.mSliderJointsComponents.getSliderAxisWorld(mEntity); - - const Vector2& impulseTranslation = mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity); - const Vector3& impulseRotation = mWorld.mSliderJointsComponents.getImpulseRotation(mEntity); - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - Vector3 linearImpulseBody1 = -n1 * impulseTranslation.x - n2 * impulseTranslation.y; - Vector3 angularImpulseBody1 = -mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity) * impulseTranslation.x - - mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity) * impulseTranslation.y; - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 += -impulseRotation; - - // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 - linearImpulseBody1 += linearImpulseLimits; - angularImpulseBody1 += impulseLimits * mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); - - // Compute the impulse P=J^T * lambda for the motor constraint of body 1 - linearImpulseBody1 += impulseMotor; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += mWorld.mSliderJointsComponents.getI1(mEntity) * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - Vector3 linearImpulseBody2 = n1 * impulseTranslation.x + n2 * impulseTranslation.y; - Vector3 angularImpulseBody2 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity) * impulseTranslation.x + - mWorld.mSliderJointsComponents.getR2CrossN2(mEntity) * impulseTranslation.y; - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 - angularImpulseBody2 += impulseRotation; - - // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 2 - linearImpulseBody2 += -linearImpulseLimits; - angularImpulseBody2 += -impulseLimits * mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); - - // Compute the impulse P=J^T * lambda for the motor constraint of body 2 - linearImpulseBody2 += -impulseMotor; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += mWorld.mSliderJointsComponents.getI2(mEntity) * angularImpulseBody2; -} - -// Solve the velocity constraint -void SliderJoint::solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) { - - // Get the bodies entities - const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - uint32 dynamicsComponentIndexBody1 = constraintSolverData.rigidBodyComponents.getEntityIndex(body1Entity); - uint32 dynamicsComponentIndexBody2 = constraintSolverData.rigidBodyComponents.getEntityIndex(body2Entity); - - // Get the velocities - Vector3& v1 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody1]; - Vector3& v2 = constraintSolverData.rigidBodyComponents.mConstrainedLinearVelocities[dynamicsComponentIndexBody2]; - Vector3& w1 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody1]; - Vector3& w2 = constraintSolverData.rigidBodyComponents.mConstrainedAngularVelocities[dynamicsComponentIndexBody2]; - - const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); - - const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); - const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); - - const Vector3& r2CrossN1 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity); - const Vector3& r2CrossN2 = mWorld.mSliderJointsComponents.getR2CrossN2(mEntity); - const Vector3& r1PlusUCrossN1 = mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity); - const Vector3& r1PlusUCrossN2 = mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity); - const Vector3& r2CrossSliderAxis = mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); - const Vector3& r1PlusUCrossSliderAxis = mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); - - // Get the inverse mass and inverse inertia tensors of the bodies - decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - const Vector3& sliderAxisWorld = mWorld.mSliderJointsComponents.getSliderAxisWorld(mEntity); - - // --------------- Translation Constraints --------------- // - - // Compute J*v for the 2 translation constraints - const decimal el1 = -n1.dot(v1) - w1.dot(r1PlusUCrossN1) + - n1.dot(v2) + w2.dot(r2CrossN1); - const decimal el2 = -n2.dot(v1) - w1.dot(r1PlusUCrossN2) + - n2.dot(v2) + w2.dot(r2CrossN2); - const Vector2 JvTranslation(el1, el2); - - // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 deltaLambda = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity) * (-JvTranslation - mWorld.mSliderJointsComponents.getBiasTranslation(mEntity)); - mWorld.mSliderJointsComponents.setImpulseTranslation(mEntity, deltaLambda + mWorld.mSliderJointsComponents.getImpulseTranslation(mEntity)); - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - const Vector3 linearImpulseBody1 = -n1 * deltaLambda.x - n2 * deltaLambda.y; - Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * deltaLambda.x - - r1PlusUCrossN2 * deltaLambda.y; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - const Vector3 linearImpulseBody2 = n1 * deltaLambda.x + n2 * deltaLambda.y; - Vector3 angularImpulseBody2 = r2CrossN1 * deltaLambda.x + r2CrossN2 * deltaLambda.y; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += i2 * angularImpulseBody2; - - // --------------- Rotation Constraints --------------- // - - // Compute J*v for the 3 rotation constraints - const Vector3 JvRotation = w2 - w1; - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 deltaLambda2 = mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity) * - (-JvRotation - mWorld.mSliderJointsComponents.getBiasRotation(mEntity)); - mWorld.mSliderJointsComponents.setImpulseRotation(mEntity, deltaLambda2 + mWorld.mSliderJointsComponents.getImpulseRotation(mEntity)); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -deltaLambda2; - - // Apply the impulse to the body to body 1 - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 - angularImpulseBody2 = deltaLambda2; - - // Apply the impulse to the body 2 - w2 += i2 * angularImpulseBody2; - - // --------------- Limits Constraints --------------- // - - if (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity)) { - - const decimal inverseMassMatrixLimit = mWorld.mSliderJointsComponents.getInverseMassMatrixLimit(mEntity); - - // If the lower limit is violated - if (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity)) { - - // Compute J*v for the lower limit constraint - const decimal JvLowerLimit = sliderAxisWorld.dot(v2) + r2CrossSliderAxis.dot(w2) - - sliderAxisWorld.dot(v1) - r1PlusUCrossSliderAxis.dot(w1); - - // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal deltaLambdaLower = inverseMassMatrixLimit * (-JvLowerLimit - mWorld.mSliderJointsComponents.getBLowerLimit(mEntity)); - decimal lambdaTemp = mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity); - mWorld.mSliderJointsComponents.setImpulseLowerLimit(mEntity, std::max(mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity) + deltaLambdaLower, decimal(0.0))); - deltaLambdaLower = mWorld.mSliderJointsComponents.getImpulseLowerLimit(mEntity) - lambdaTemp; - - // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 - const Vector3 linearImpulseBody1 = -deltaLambdaLower * sliderAxisWorld; - const Vector3 angularImpulseBody1 = -deltaLambdaLower * r1PlusUCrossSliderAxis; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 - const Vector3 linearImpulseBody2 = deltaLambdaLower * sliderAxisWorld; - const Vector3 angularImpulseBody2 = deltaLambdaLower * r2CrossSliderAxis; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += i2 * angularImpulseBody2; - } - - // If the upper limit is violated - if (mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity)) { - - // Compute J*v for the upper limit constraint - const decimal JvUpperLimit = sliderAxisWorld.dot(v1) + r1PlusUCrossSliderAxis.dot(w1) - - sliderAxisWorld.dot(v2) - r2CrossSliderAxis.dot(w2); - - // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal deltaLambdaUpper = inverseMassMatrixLimit * (-JvUpperLimit -mWorld.mSliderJointsComponents.getBUpperLimit(mEntity)); - decimal lambdaTemp = mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity); - mWorld.mSliderJointsComponents.setImpulseUpperLimit(mEntity, std::max(mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity) + deltaLambdaUpper, decimal(0.0))); - deltaLambdaUpper = mWorld.mSliderJointsComponents.getImpulseUpperLimit(mEntity) - lambdaTemp; - - // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 - const Vector3 linearImpulseBody1 = deltaLambdaUpper * sliderAxisWorld; - const Vector3 angularImpulseBody1 = deltaLambdaUpper * r1PlusUCrossSliderAxis; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - w1 += i1 * angularImpulseBody1; - - // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 - const Vector3 linearImpulseBody2 = -deltaLambdaUpper * sliderAxisWorld; - const Vector3 angularImpulseBody2 = -deltaLambdaUpper * r2CrossSliderAxis; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - w2 += i2 * angularImpulseBody2; - } - } - - // --------------- Motor --------------- // - - if (mWorld.mSliderJointsComponents.getIsMotorEnabled(mEntity)) { - - // Compute J*v for the motor - const decimal JvMotor = sliderAxisWorld.dot(v1) - sliderAxisWorld.dot(v2); - - // Compute the Lagrange multiplier lambda for the motor - const decimal maxMotorImpulse = mWorld.mSliderJointsComponents.getMaxMotorForce(mEntity) * constraintSolverData.timeStep; - decimal deltaLambdaMotor = mWorld.mSliderJointsComponents.getInverseMassMatrixMotor(mEntity) * (-JvMotor - mWorld.mSliderJointsComponents.getMotorSpeed(mEntity)); - decimal lambdaTemp = mWorld.mSliderJointsComponents.getImpulseMotor(mEntity); - mWorld.mSliderJointsComponents.setImpulseMotor(mEntity, clamp(mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse)); - deltaLambdaMotor = mWorld.mSliderJointsComponents.getImpulseMotor(mEntity) - lambdaTemp; - - // Compute the impulse P=J^T * lambda for the motor of body 1 - const Vector3 linearImpulseBody1 = deltaLambdaMotor * sliderAxisWorld; - - // Apply the impulse to the body 1 - v1 += inverseMassBody1 * linearImpulseBody1; - - // Compute the impulse P=J^T * lambda for the motor of body 2 - const Vector3 linearImpulseBody2 = -deltaLambdaMotor * sliderAxisWorld; - - // Apply the impulse to the body 2 - v2 += inverseMassBody2 * linearImpulseBody2; - } -} - -// Solve the position constraint (for position error correction) -void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraintSolverData) { - - // If the error position correction technique is not the non-linear-gauss-seidel, we do - // do not execute this method - if (mWorld.mJointsComponents.getPositionCorrectionTechnique(mEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; - - // Get the bodies entities - const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity); - const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity); - - // TODO : Remove this and use compoents instead of pointers to bodies - RigidBody* body1 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body1Entity)); - RigidBody* body2 = static_cast(mWorld.mRigidBodyComponents.getRigidBody(body2Entity)); - - // Get the bodies positions and orientations - Vector3 x1 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body1Entity); - Vector3 x2 = constraintSolverData.rigidBodyComponents.getConstrainedPosition(body2Entity); - Quaternion q1 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body1Entity); - Quaternion q2 = constraintSolverData.rigidBodyComponents.getConstrainedOrientation(body2Entity); - - // Get the inverse mass and inverse inertia tensors of the bodies - const decimal inverseMassBody1 = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal inverseMassBody2 = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - - // Recompute the inertia tensor of bodies - mWorld.mSliderJointsComponents.setI1(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity)); - mWorld.mSliderJointsComponents.setI2(mEntity, RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity)); - - // Vector from body center to the anchor point - mWorld.mSliderJointsComponents.setR1(mEntity, q1 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody1(mEntity)); - mWorld.mSliderJointsComponents.setR2(mEntity, q2 * mWorld.mSliderJointsComponents.getLocalAnchorPointBody2(mEntity)); - - const Vector3& r1 = mWorld.mSliderJointsComponents.getR1(mEntity); - const Vector3& r2 = mWorld.mSliderJointsComponents.getR2(mEntity); - - const Vector3& n1 = mWorld.mSliderJointsComponents.getN1(mEntity); - const Vector3& n2 = mWorld.mSliderJointsComponents.getN2(mEntity); - - // Compute the vector u (difference between anchor points) - const Vector3 u = x2 + r2 - x1 - r1; - - // Compute the two orthogonal vectors to the slider axis in world-space - Vector3 sliderAxisWorld = q1 * mWorld.mSliderJointsComponents.getSliderAxisBody1(mEntity); - sliderAxisWorld.normalize(); - mWorld.mSliderJointsComponents.setSliderAxisWorld(mEntity, sliderAxisWorld); - mWorld.mSliderJointsComponents.setN1(mEntity, sliderAxisWorld.getOneUnitOrthogonalVector()); - mWorld.mSliderJointsComponents.setN2(mEntity, sliderAxisWorld.cross(n1)); - - // Check if the limit constraints are violated or not - decimal uDotSliderAxis = u.dot(sliderAxisWorld); - decimal lowerLimitError = uDotSliderAxis - mWorld.mSliderJointsComponents.getLowerLimit(mEntity); - decimal upperLimitError = mWorld.mSliderJointsComponents.getUpperLimit(mEntity) - uDotSliderAxis; - mWorld.mSliderJointsComponents.setIsLowerLimitViolated(mEntity, lowerLimitError <= 0); - mWorld.mSliderJointsComponents.setIsUpperLimitViolated(mEntity, upperLimitError <= 0); - - // Compute the cross products used in the Jacobians - mWorld.mSliderJointsComponents.setR2CrossN1(mEntity, r2.cross(n1)); - mWorld.mSliderJointsComponents.setR2CrossN2(mEntity, r2.cross(n2)); - mWorld.mSliderJointsComponents.setR2CrossSliderAxis(mEntity, r2.cross(sliderAxisWorld)); - const Vector3 r1PlusU = r1 + u; - mWorld.mSliderJointsComponents.setR1PlusUCrossN1(mEntity, r1PlusU.cross(n1)); - mWorld.mSliderJointsComponents.setR1PlusUCrossN2(mEntity, r1PlusU.cross(n2)); - mWorld.mSliderJointsComponents.setR1PlusUCrossSliderAxis(mEntity, r1PlusU.cross(sliderAxisWorld)); - - const Vector3& r2CrossN1 = mWorld.mSliderJointsComponents.getR2CrossN1(mEntity); - const Vector3& r2CrossN2 = mWorld.mSliderJointsComponents.getR2CrossN2(mEntity); - const Vector3& r1PlusUCrossN1 = mWorld.mSliderJointsComponents.getR1PlusUCrossN1(mEntity); - const Vector3& r1PlusUCrossN2 = mWorld.mSliderJointsComponents.getR1PlusUCrossN2(mEntity); - const Vector3& r2CrossSliderAxis = mWorld.mSliderJointsComponents.getR2CrossSliderAxis(mEntity); - const Vector3& r1PlusUCrossSliderAxis = mWorld.mSliderJointsComponents.getR1PlusUCrossSliderAxis(mEntity); - - // --------------- Translation Constraints --------------- // - - const Matrix3x3& i1 = mWorld.mSliderJointsComponents.getI1(mEntity); - const Matrix3x3& i2 = mWorld.mSliderJointsComponents.getI2(mEntity); - - // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation - // constraints (2x2 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - decimal sumInverseMass = body1MassInverse + body2MassInverse; - Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; - Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; - Vector3 I2R2CrossN1 = i2 * r2CrossN1; - Vector3 I2R2CrossN2 = i2 * r2CrossN2; - const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + - r2CrossN1.dot(I2R2CrossN1); - const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + - r2CrossN1.dot(I2R2CrossN2); - const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + - r2CrossN2.dot(I2R2CrossN1); - const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + - r2CrossN2.dot(I2R2CrossN2); - Matrix2x2 matrixKTranslation(el11, el12, el21, el22); - Matrix2x2& inverseMassMatrixTranslation = mWorld.mSliderJointsComponents.getInverseMassMatrixTranslation(mEntity); - inverseMassMatrixTranslation.setToZero(); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - - mWorld.mSliderJointsComponents.setInverseMassMatrixTranslation(mEntity, matrixKTranslation.getInverse()); - } - - // Compute the position error for the 2 translation constraints - const Vector2 translationError(u.dot(n1), u.dot(n2)); - - // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 lambdaTranslation = inverseMassMatrixTranslation * (-translationError); - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 - const Vector3 linearImpulseBody1 = -n1 * lambdaTranslation.x - n2 * lambdaTranslation.y; - Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * lambdaTranslation.x - - r1PlusUCrossN2 * lambdaTranslation.y; - - // Apply the impulse to the body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 - const Vector3 linearImpulseBody2 = n1 * lambdaTranslation.x + n2 * lambdaTranslation.y; - Vector3 angularImpulseBody2 = r2CrossN1 * lambdaTranslation.x + r2CrossN2 * lambdaTranslation.y; - - // Apply the impulse to the body 2 - const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - // --------------- Rotation Constraints --------------- // - - // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation - // contraints (3x3 matrix) - mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, i1 + i2); - if (mWorld.mRigidBodyComponents.getBodyType(body1Entity) == BodyType::DYNAMIC || - mWorld.mRigidBodyComponents.getBodyType(body2Entity) == BodyType::DYNAMIC) { - - mWorld.mSliderJointsComponents.setInverseMassMatrixRotation(mEntity, mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity).getInverse()); - } - - // Calculate difference in rotation - // - // The rotation should be: - // - // q2 = q1 r0 - // - // But because of drift the actual rotation is: - // - // q2 = qError q1 r0 - // <=> qError = q2 r0^-1 q1^-1 - // - // Where: - // q1 = current rotation of body 1 - // q2 = current rotation of body 2 - // qError = error that needs to be reduced to zero - Quaternion qError = q2 * mWorld.mSliderJointsComponents.getInitOrientationDifferenceInv(mEntity) * q1.getInverse(); - - // A quaternion can be seen as: - // - // q = [sin(theta / 2) * v, cos(theta/2)] - // - // Where: - // v = rotation vector - // theta = rotation angle - // - // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: - const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); - - // Compute the Lagrange multiplier lambda for the 3 rotation constraints - Vector3 lambdaRotation = mWorld.mSliderJointsComponents.getInverseMassMatrixRotation(mEntity) * (-errorRotation); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 - angularImpulseBody1 = -lambdaRotation; - - // Apply the impulse to the body 1 - w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 - angularImpulseBody2 = lambdaRotation; - - // Apply the impulse to the body 2 - w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - - // --------------- Limits Constraints --------------- // - - if (mWorld.mSliderJointsComponents.getIsLimitEnabled(mEntity)) { - - if (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity) || mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity)) { - - // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) - const decimal body1MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body1Entity); - const decimal body2MassInverse = constraintSolverData.rigidBodyComponents.getMassInverse(body2Entity); - decimal inverseMassMatrixLimit = body1MassInverse + body2MassInverse + - r1PlusUCrossSliderAxis.dot(i1 * r1PlusUCrossSliderAxis) + - r2CrossSliderAxis.dot(i2 * r2CrossSliderAxis); - inverseMassMatrixLimit = (inverseMassMatrixLimit > decimal(0.0)) ? - decimal(1.0) / inverseMassMatrixLimit : decimal(0.0); - mWorld.mSliderJointsComponents.setInverseMassMatrixLimit(mEntity, inverseMassMatrixLimit); - } - - // If the lower limit is violated - if (mWorld.mSliderJointsComponents.getIsLowerLimitViolated(mEntity)) { - - // Compute the Lagrange multiplier lambda for the lower limit constraint - decimal lambdaLowerLimit = mWorld.mSliderJointsComponents.getInverseMassMatrixLimit(mEntity) * (-lowerLimitError); - - // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 - const Vector3 linearImpulseBody1 = -lambdaLowerLimit * sliderAxisWorld; - const Vector3 angularImpulseBody1 = -lambdaLowerLimit * r1PlusUCrossSliderAxis; - - // Apply the impulse to the body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 - const Vector3 linearImpulseBody2 = lambdaLowerLimit * sliderAxisWorld; - const Vector3 angularImpulseBody2 = lambdaLowerLimit * r2CrossSliderAxis; - - // Apply the impulse to the body 2 - const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - const Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - } - - // If the upper limit is violated - if (mWorld.mSliderJointsComponents.getIsUpperLimitViolated(mEntity)) { - - // Compute the Lagrange multiplier lambda for the upper limit constraint - decimal lambdaUpperLimit = mWorld.mSliderJointsComponents.getInverseMassMatrixLimit(mEntity) * (-upperLimitError); - - // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 - const Vector3 linearImpulseBody1 = lambdaUpperLimit * sliderAxisWorld; - const Vector3 angularImpulseBody1 = lambdaUpperLimit * r1PlusUCrossSliderAxis; - - // Apply the impulse to the body 1 - const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; - const Vector3 w1 = i1 * angularImpulseBody1; - - // Update the body position/orientation of body 1 - x1 += v1; - q1 += Quaternion(0, w1) * q1 * decimal(0.5); - q1.normalize(); - - // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 - const Vector3 linearImpulseBody2 = -lambdaUpperLimit * sliderAxisWorld; - const Vector3 angularImpulseBody2 = -lambdaUpperLimit * r2CrossSliderAxis; - - // Apply the impulse to the body 2 - const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; - const Vector3 w2 = i2 * angularImpulseBody2; - - // Update the body position/orientation of body 2 - x2 += v2; - q2 += Quaternion(0, w2) * q2 * decimal(0.5); - q2.normalize(); - } - } - - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body1Entity, x1); - constraintSolverData.rigidBodyComponents.setConstrainedPosition(body2Entity, x2); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body1Entity, q1); - constraintSolverData.rigidBodyComponents.setConstrainedOrientation(body2Entity, q2); -} - // Enable/Disable the limits of the joint /** * @param isLimitEnabled True if you want to enable the joint limits and false diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index ac6a8e91..83ebd1a7 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -158,18 +158,6 @@ class SliderJoint : public Joint { /// Return the number of bytes used by the joint virtual size_t getSizeInBytes() const override; - /// Initialize before solving the constraint - virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) override; - - /// Warm start the constraint (apply the previous impulse at the beginning of the step) - virtual void warmstart(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the velocity constraint - virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) override; - - /// Solve the position constraint (for position error correction) - virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) override; - public : // -------------------- Methods -------------------- // diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 72217c06..f09b37bb 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -53,7 +53,8 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, - mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents), + mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents, + mSliderJointsComponents), mDynamicsSystem(*this, mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 7b8ba7d1..ae487375 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -38,12 +38,14 @@ ConstraintSolverSystem::ConstraintSolverSystem(DynamicsWorld& world, Islands& is JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents, FixedJointComponents& fixedJointComponents, - HingeJointComponents& hingeJointComponents) + HingeJointComponents& hingeJointComponents, + SliderJointComponents& sliderJointComponents) : mIsWarmStartingActive(true), mIslands(islands), mConstraintSolverData(rigidBodyComponents, jointComponents), mSolveBallAndSocketJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents), mSolveFixedJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents), mSolveHingeJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, hingeJointComponents), + mSolveSliderJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, sliderJointComponents), mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents), mFixedJointComponents(fixedJointComponents), mHingeJointComponents(hingeJointComponents) { @@ -73,40 +75,19 @@ void ConstraintSolverSystem::initialize(decimal dt) { mSolveFixedJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); mSolveHingeJointSystem.setTimeStep(dt); mSolveHingeJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); + mSolveSliderJointSystem.setTimeStep(dt); + mSolveSliderJointSystem.setIsWarmStartingActive(mIsWarmStartingActive); mSolveBallAndSocketJointSystem.initBeforeSolve(); mSolveFixedJointSystem.initBeforeSolve(); mSolveHingeJointSystem.initBeforeSolve(); + mSolveSliderJointSystem.initBeforeSolve(); if (mIsWarmStartingActive) { mSolveBallAndSocketJointSystem.warmstart(); mSolveFixedJointSystem.warmstart(); mSolveHingeJointSystem.warmstart(); - } - - // For each joint - for (uint i=0; iinitBeforeSolve(mConstraintSolverData); - - // Warm-start the constraint if warm-starting is enabled - if (mIsWarmStartingActive) { - mConstraintSolverData.jointComponents.mJoints[i]->warmstart(mConstraintSolverData); - } + mSolveSliderJointSystem.warmstart(); } } @@ -118,21 +99,7 @@ void ConstraintSolverSystem::solveVelocityConstraints() { mSolveBallAndSocketJointSystem.solveVelocityConstraint(); mSolveFixedJointSystem.solveVelocityConstraint(); mSolveHingeJointSystem.solveVelocityConstraint(); - - // For each joint - for (uint i=0; isolveVelocityConstraint(mConstraintSolverData); - } + mSolveSliderJointSystem.solveVelocityConstraint(); } // Solve the position constraints @@ -143,19 +110,5 @@ void ConstraintSolverSystem::solvePositionConstraints() { mSolveBallAndSocketJointSystem.solvePositionConstraint(); mSolveFixedJointSystem.solvePositionConstraint(); mSolveHingeJointSystem.solvePositionConstraint(); - - // For each joint - for (uint i=0; isolvePositionConstraint(mConstraintSolverData); - } + mSolveSliderJointSystem.solvePositionConstraint(); } diff --git a/src/systems/ConstraintSolverSystem.h b/src/systems/ConstraintSolverSystem.h index 2616e2bd..710d8a87 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/src/systems/ConstraintSolverSystem.h @@ -33,6 +33,7 @@ #include "systems/SolveBallAndSocketJointSystem.h" #include "systems/SolveFixedJointSystem.h" #include "systems/SolveHingeJointSystem.h" +#include "systems/SolveSliderJointSystem.h" namespace reactphysics3d { @@ -169,6 +170,9 @@ class ConstraintSolverSystem { /// Solver for the HingeJoint constraints SolveHingeJointSystem mSolveHingeJointSystem; + /// Solver for the SliderJoint constraints + SolveSliderJointSystem mSolveSliderJointSystem; + // TODO : Delete this JointComponents& mJointComponents; @@ -196,7 +200,8 @@ class ConstraintSolverSystem { TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents, - FixedJointComponents& fixedJointComponents, HingeJointComponents &hingeJointComponents); + FixedJointComponents& fixedJointComponents, HingeJointComponents &hingeJointComponents, + SliderJointComponents& sliderJointComponents); /// Destructor ~ConstraintSolverSystem() = default; @@ -232,6 +237,8 @@ inline void ConstraintSolverSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mSolveBallAndSocketJointSystem.setProfiler(profiler); mSolveFixedJointSystem.setProfiler(profiler); + mSolveHingeJointSystem.setProfiler(profiler); + mSolveSliderJointSystem.setProfiler(profiler); } #endif diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index 259ed5fb..66d242dd 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -56,6 +56,9 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); + assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); + // Get the inertia tensor of bodies mBallAndSocketJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); mBallAndSocketJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp index 6a2dbed7..d36aba73 100644 --- a/src/systems/SolveFixedJointSystem.cpp +++ b/src/systems/SolveFixedJointSystem.cpp @@ -56,6 +56,9 @@ void SolveFixedJointSystem::initBeforeSolve() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); + assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); + // Get the inertia tensor of bodies mFixedJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); mFixedJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp index e67fb67a..5d9416bf 100644 --- a/src/systems/SolveHingeJointSystem.cpp +++ b/src/systems/SolveHingeJointSystem.cpp @@ -56,6 +56,9 @@ void SolveHingeJointSystem::initBeforeSolve() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); + assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); + // Get the inertia tensor of bodies mHingeJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); mHingeJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp new file mode 100644 index 00000000..aee14d08 --- /dev/null +++ b/src/systems/SolveSliderJointSystem.cpp @@ -0,0 +1,962 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "systems/SolveSliderJointSystem.h" +#include "engine/DynamicsWorld.h" +#include "body/RigidBody.h" + +using namespace reactphysics3d; + +// Static variables definition +const decimal SolveSliderJointSystem::BETA = decimal(0.2); + +// Constructor +SolveSliderJointSystem::SolveSliderJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, + JointComponents& jointComponents, + SliderJointComponents& sliderJointComponents) + :mWorld(world), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), + mJointComponents(jointComponents), mSliderJointComponents(sliderJointComponents), + mTimeStep(0), mIsWarmStartingActive(true) { + +} + +// Initialize before solving the constraint +void SolveSliderJointSystem::initBeforeSolve() { + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + assert(!mRigidBodyComponents.getIsEntityDisabled(body1Entity)); + assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); + + // Get the inertia tensor of bodies + mSliderJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mSliderJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + } + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Vector from body center to the anchor point + mSliderJointComponents.mR1[i] = orientationBody1 * mSliderJointComponents.mLocalAnchorPointBody1[i]; + mSliderJointComponents.mR2[i] = orientationBody2 * mSliderJointComponents.mLocalAnchorPointBody2[i]; + } + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + + // Compute the two orthogonal vectors to the slider axis in world-space + mSliderJointComponents.mSliderAxisWorld[i] = orientationBody1 * mSliderJointComponents.mSliderAxisBody1[i]; + mSliderJointComponents.mSliderAxisWorld[i].normalize(); + } + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + mSliderJointComponents.mN1[i] = mSliderJointComponents.mSliderAxisWorld[i].getOneUnitOrthogonalVector(); + mSliderJointComponents.mN2[i] = mSliderJointComponents.mSliderAxisWorld[i].cross(mSliderJointComponents.mN1[i]); + } + + const decimal biasFactor = (BETA / mTimeStep); + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody1]; + const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[componentIndexBody2]; + + const Vector3& r1 = mSliderJointComponents.mR1[i]; + const Vector3& r2 = mSliderJointComponents.mR2[i]; + + // Compute the vector u (difference between anchor points) + const Vector3 u = x2 + r2 - x1 - r1; + + // Compute the cross products used in the Jacobians + const Vector3 r1PlusU = mSliderJointComponents.mR1[i] + u; + mSliderJointComponents.mR1PlusUCrossN1[i] = r1PlusU.cross(mSliderJointComponents.mN1[i]); + mSliderJointComponents.mR1PlusUCrossN2[i] = r1PlusU.cross(mSliderJointComponents.mN2[i]); + mSliderJointComponents.mR1PlusUCrossSliderAxis[i] = r1PlusU.cross(mSliderJointComponents.mSliderAxisWorld[i]); + + // Check if the limit constraints are violated or not + decimal uDotSliderAxis = u.dot(mSliderJointComponents.mSliderAxisWorld[i]); + decimal lowerLimitError = uDotSliderAxis - mSliderJointComponents.mLowerLimit[i]; + decimal upperLimitError = mSliderJointComponents.mUpperLimit[i] - uDotSliderAxis; + bool oldIsLowerLimitViolated = mSliderJointComponents.mIsLowerLimitViolated[i]; + mSliderJointComponents.mIsLowerLimitViolated[i] = lowerLimitError <= 0; + if (mSliderJointComponents.mIsLowerLimitViolated[i] != oldIsLowerLimitViolated) { + mSliderJointComponents.mImpulseLowerLimit[i] = decimal(0.0); + } + bool oldIsUpperLimitViolated = mSliderJointComponents.mIsUpperLimitViolated[i]; + mSliderJointComponents.mIsUpperLimitViolated[i] = upperLimitError <= 0; + if (mSliderJointComponents.mIsUpperLimitViolated[i] != oldIsUpperLimitViolated) { + mSliderJointComponents.mImpulseUpperLimit[i] = decimal(0.0); + } + + // Compute the bias "b" of the translation constraint + mSliderJointComponents.mBiasTranslation[i].setToZero(); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mSliderJointComponents.mBiasTranslation[i].x = u.dot(mSliderJointComponents.mN1[i]); + mSliderJointComponents.mBiasTranslation[i].y = u.dot(mSliderJointComponents.mN2[i]); + mSliderJointComponents.mBiasTranslation[i] *= biasFactor; + } + + // If the limits are enabled + if (mSliderJointComponents.mIsLimitEnabled[i] && (mSliderJointComponents.mIsLowerLimitViolated[i] || + mSliderJointComponents.mIsUpperLimitViolated[i])) { + + const Vector3& r2CrossSliderAxis = mSliderJointComponents.mR2CrossSliderAxis[i]; + const Vector3& r1PlusUCrossSliderAxis = mSliderJointComponents.mR1PlusUCrossSliderAxis[i]; + + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + const decimal sumInverseMass = body1MassInverse + body2MassInverse; + + // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) + mSliderJointComponents.mInverseMassMatrixLimit[i] = sumInverseMass + + r1PlusUCrossSliderAxis.dot(mSliderJointComponents.mI1[i] * r1PlusUCrossSliderAxis) + + r2CrossSliderAxis.dot(mSliderJointComponents.mI2[i] * r2CrossSliderAxis); + mSliderJointComponents.mInverseMassMatrixLimit[i] = (mSliderJointComponents.mInverseMassMatrixLimit[i] > decimal(0.0)) ? + decimal(1.0) / mSliderJointComponents.mInverseMassMatrixLimit[i] : decimal(0.0); + + // Compute the bias "b" of the lower limit constraint + mSliderJointComponents.mBLowerLimit[i] = decimal(0.0); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mSliderJointComponents.mBLowerLimit[i] = biasFactor * lowerLimitError; + } + + // Compute the bias "b" of the upper limit constraint + mSliderJointComponents.mBUpperLimit[i] = decimal(0.0); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mSliderJointComponents.mBUpperLimit[i] = biasFactor * upperLimitError; + } + } + } + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + // Compute the cross products used in the Jacobians + mSliderJointComponents.mR2CrossN1[i] = mSliderJointComponents.mR2[i].cross(mSliderJointComponents.mN1[i]); + mSliderJointComponents.mR2CrossN2[i] = mSliderJointComponents.mR2[i].cross(mSliderJointComponents.mN2[i]); + mSliderJointComponents.mR2CrossSliderAxis[i] = mSliderJointComponents.mR2[i].cross(mSliderJointComponents.mSliderAxisWorld[i]); + } + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Vector3& r2CrossN1 = mSliderJointComponents.mR2CrossN1[i]; + const Vector3& r2CrossN2 = mSliderJointComponents.mR2CrossN2[i]; + const Vector3& r1PlusUCrossN1 = mSliderJointComponents.mR1PlusUCrossN1[i]; + const Vector3& r1PlusUCrossN2 = mSliderJointComponents.mR1PlusUCrossN2[i]; + + const Matrix3x3& i1 = mSliderJointComponents.mI1[i]; + const Matrix3x3& i2 = mSliderJointComponents.mI2[i]; + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Compute the inverse of the mass matrix K=JM^-1J^t for the 2 translation + // constraints (2x2 matrix) + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + const decimal sumInverseMass = body1MassInverse + body2MassInverse; + Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * r2CrossN1; + Vector3 I2R2CrossN2 = i2 * r2CrossN2; + const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + + r2CrossN1.dot(I2R2CrossN1); + const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + + r2CrossN1.dot(I2R2CrossN2); + const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + + r2CrossN2.dot(I2R2CrossN1); + const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + + r2CrossN2.dot(I2R2CrossN2); + Matrix2x2 matrixKTranslation(el11, el12, el21, el22); + mSliderJointComponents.mInverseMassMatrixTranslation[i].setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + + mSliderJointComponents.mInverseMassMatrixTranslation[i] = matrixKTranslation.getInverse(); + } + + // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation + // contraints (3x3 matrix) + mSliderJointComponents.mInverseMassMatrixRotation[i] = i1 + i2; + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || + mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + + mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mInverseMassMatrixRotation[i].getInverse(); + } + } + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& orientationBody1 = mTransformComponents.getTransform(body1Entity).getOrientation(); + const Quaternion& orientationBody2 = mTransformComponents.getTransform(body2Entity).getOrientation(); + + // Compute the bias "b" of the rotation constraint + mSliderJointComponents.mBiasRotation[i].setToZero(); + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + const Quaternion qError = orientationBody2 * mSliderJointComponents.mInitOrientationDifferenceInv[i] * orientationBody1.getInverse(); + mSliderJointComponents.mBiasRotation[i] = biasFactor * decimal(2.0) * qError.getVectorV(); + } + + // If the motor is enabled + if (mSliderJointComponents.mIsMotorEnabled[i]) { + + const decimal body1MassInverse = mRigidBodyComponents.getMassInverse(body1Entity); + const decimal body2MassInverse = mRigidBodyComponents.getMassInverse(body2Entity); + const decimal sumInverseMass = body1MassInverse + body2MassInverse; + + // Compute the inverse of mass matrix K=JM^-1J^t for the motor (1x1 matrix) + mSliderJointComponents.mInverseMassMatrixMotor[i] = sumInverseMass; + mSliderJointComponents.mInverseMassMatrixMotor[i] = (mSliderJointComponents.mInverseMassMatrixMotor[i] > decimal(0.0)) ? + decimal(1.0) / mSliderJointComponents.mInverseMassMatrixMotor[i] : decimal(0.0); + } + } + + // If warm-starting is not enabled + if (!mIsWarmStartingActive) { + + // For each joint + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + // Reset all the accumulated impulses + mSliderJointComponents.mImpulseTranslation[i].setToZero(); + mSliderJointComponents.mImpulseRotation[i].setToZero(); + mSliderJointComponents.mImpulseLowerLimit[i] = decimal(0.0); + mSliderJointComponents.mImpulseUpperLimit[i] = decimal(0.0); + mSliderJointComponents.mImpulseMotor[i] = decimal(0.0); + } + } +} + +// Warm start the constraint (apply the previous impulse at the beginning of the step) +void SolveSliderJointSystem::warmstart() { + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // Get the inverse mass and inverse inertia tensors of the bodies + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& n1 = mSliderJointComponents.mN1[i]; + const Vector3& n2 = mSliderJointComponents.mN2[i]; + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 + decimal impulseLimits = mSliderJointComponents.mImpulseUpperLimit[i] - mSliderJointComponents.mImpulseLowerLimit[i]; + Vector3 linearImpulseLimits = impulseLimits * mSliderJointComponents.mSliderAxisWorld[i]; + + // Compute the impulse P=J^T * lambda for the motor constraint of body 1 + Vector3 impulseMotor = mSliderJointComponents.mImpulseMotor[i] * mSliderJointComponents.mSliderAxisWorld[i]; + + const Vector2& impulseTranslation = mSliderJointComponents.mImpulseTranslation[i]; + const Vector3& impulseRotation = mSliderJointComponents.mImpulseRotation[i]; + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 + Vector3 linearImpulseBody1 = -n1 * impulseTranslation.x - n2 * impulseTranslation.y; + Vector3 angularImpulseBody1 = -mSliderJointComponents.mR1PlusUCrossN1[i] * impulseTranslation.x - + mSliderJointComponents.mR1PlusUCrossN2[i] * impulseTranslation.y; + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + angularImpulseBody1 += -impulseRotation; + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 1 + linearImpulseBody1 += linearImpulseLimits; + angularImpulseBody1 += impulseLimits * mSliderJointComponents.mR1PlusUCrossSliderAxis[i]; + + // Compute the impulse P=J^T * lambda for the motor constraint of body 1 + linearImpulseBody1 += impulseMotor; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 + Vector3 linearImpulseBody2 = n1 * impulseTranslation.x + n2 * impulseTranslation.y; + Vector3 angularImpulseBody2 = mSliderJointComponents.mR2CrossN1[i] * impulseTranslation.x + + mSliderJointComponents.mR2CrossN2[i] * impulseTranslation.y; + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 + angularImpulseBody2 += impulseRotation; + + // Compute the impulse P=J^T * lambda for the lower and upper limits constraints of body 2 + linearImpulseBody2 += -linearImpulseLimits; + angularImpulseBody2 += -impulseLimits * mSliderJointComponents.mR2CrossSliderAxis[i]; + + // Compute the impulse P=J^T * lambda for the motor constraint of body 2 + linearImpulseBody2 += -impulseMotor; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * linearImpulseBody2; + w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + } +} + +// Solve the velocity constraint +void SolveSliderJointSystem::solveVelocityConstraint() { + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the velocities + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + const Matrix3x3& i1 = mSliderJointComponents.mI1[i]; + const Matrix3x3& i2 = mSliderJointComponents.mI2[i]; + + const Vector3& n1 = mSliderJointComponents.mN1[i]; + const Vector3& n2 = mSliderJointComponents.mN2[i]; + + const Vector3& r2CrossN1 = mSliderJointComponents.mR2CrossN1[i]; + const Vector3& r2CrossN2 = mSliderJointComponents.mR2CrossN2[i]; + const Vector3& r1PlusUCrossN1 = mSliderJointComponents.mR1PlusUCrossN1[i]; + const Vector3& r1PlusUCrossN2 = mSliderJointComponents.mR1PlusUCrossN2[i]; + + // Get the inverse mass and inverse inertia tensors of the bodies + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // --------------- Translation Constraints --------------- // + + // Compute J*v for the 2 translation constraints + const decimal el1 = -n1.dot(v1) - w1.dot(r1PlusUCrossN1) + + n1.dot(v2) + w2.dot(r2CrossN1); + const decimal el2 = -n2.dot(v1) - w1.dot(r1PlusUCrossN2) + + n2.dot(v2) + w2.dot(r2CrossN2); + const Vector2 JvTranslation(el1, el2); + + // Compute the Lagrange multiplier lambda for the 2 translation constraints + Vector2 deltaLambda = mSliderJointComponents.mInverseMassMatrixTranslation[i] * (-JvTranslation - mSliderJointComponents.mBiasTranslation[i]); + mSliderJointComponents.mImpulseTranslation[i] += deltaLambda; + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 + const Vector3 linearImpulseBody1 = -n1 * deltaLambda.x - n2 * deltaLambda.y; + Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * deltaLambda.x - + r1PlusUCrossN2 * deltaLambda.y; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += i1 * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 + const Vector3 linearImpulseBody2 = n1 * deltaLambda.x + n2 * deltaLambda.y; + Vector3 angularImpulseBody2 = r2CrossN1 * deltaLambda.x + r2CrossN2 * deltaLambda.y; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * linearImpulseBody2; + w2 += i2 * angularImpulseBody2; + } + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // --------------- Rotation Constraints --------------- // + + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // Compute J*v for the 3 rotation constraints + const Vector3 JvRotation = w2 - w1; + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 deltaLambda2 = mSliderJointComponents.mInverseMassMatrixRotation[i] * + (-JvRotation - mSliderJointComponents.getBiasRotation(jointEntity)); + mSliderJointComponents.mImpulseRotation[i] += deltaLambda2; + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -deltaLambda2; + + // Apply the impulse to the body to body 1 + w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 + Vector3 angularImpulseBody2 = deltaLambda2; + + // Apply the impulse to the body 2 + w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + } + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody1]; + Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[componentIndexBody2]; + + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& r2CrossSliderAxis = mSliderJointComponents.mR2CrossSliderAxis[i]; + const Vector3& r1PlusUCrossSliderAxis = mSliderJointComponents.mR1PlusUCrossSliderAxis[i]; + + const Vector3& sliderAxisWorld = mSliderJointComponents.mSliderAxisWorld[i]; + + // --------------- Limits Constraints --------------- // + + if (mSliderJointComponents.mIsLimitEnabled[i]) { + + const decimal inverseMassMatrixLimit = mSliderJointComponents.mInverseMassMatrixLimit[i]; + + // If the lower limit is violated + if (mSliderJointComponents.mIsLowerLimitViolated[i]) { + + // Compute J*v for the lower limit constraint + const decimal JvLowerLimit = sliderAxisWorld.dot(v2) + r2CrossSliderAxis.dot(w2) - + sliderAxisWorld.dot(v1) - r1PlusUCrossSliderAxis.dot(w1); + + // Compute the Lagrange multiplier lambda for the lower limit constraint + decimal deltaLambdaLower = inverseMassMatrixLimit * (-JvLowerLimit - mSliderJointComponents.mBLowerLimit[i]); + decimal lambdaTemp = mSliderJointComponents.mImpulseLowerLimit[i]; + mSliderJointComponents.mImpulseLowerLimit[i] = std::max(mSliderJointComponents.mImpulseLowerLimit[i] + deltaLambdaLower, decimal(0.0)); + deltaLambdaLower = mSliderJointComponents.mImpulseLowerLimit[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 + const Vector3 linearImpulseBody1 = -deltaLambdaLower * sliderAxisWorld; + const Vector3 angularImpulseBody1 = -deltaLambdaLower * r1PlusUCrossSliderAxis; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 + const Vector3 linearImpulseBody2 = deltaLambdaLower * sliderAxisWorld; + const Vector3 angularImpulseBody2 = deltaLambdaLower * r2CrossSliderAxis; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * linearImpulseBody2; + w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + } + + // If the upper limit is violated + if (mSliderJointComponents.mIsUpperLimitViolated[i]) { + + // Compute J*v for the upper limit constraint + const decimal JvUpperLimit = sliderAxisWorld.dot(v1) + r1PlusUCrossSliderAxis.dot(w1) + - sliderAxisWorld.dot(v2) - r2CrossSliderAxis.dot(w2); + + // Compute the Lagrange multiplier lambda for the upper limit constraint + decimal deltaLambdaUpper = inverseMassMatrixLimit * (-JvUpperLimit -mSliderJointComponents.mBUpperLimit[i]); + decimal lambdaTemp = mSliderJointComponents.mImpulseUpperLimit[i]; + mSliderJointComponents.mImpulseUpperLimit[i] = std::max(mSliderJointComponents.mImpulseUpperLimit[i] + deltaLambdaUpper, decimal(0.0)); + deltaLambdaUpper = mSliderJointComponents.mImpulseUpperLimit[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 + const Vector3 linearImpulseBody1 = deltaLambdaUpper * sliderAxisWorld; + const Vector3 angularImpulseBody1 = deltaLambdaUpper * r1PlusUCrossSliderAxis; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + w1 += mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 + const Vector3 linearImpulseBody2 = -deltaLambdaUpper * sliderAxisWorld; + const Vector3 angularImpulseBody2 = -deltaLambdaUpper * r2CrossSliderAxis; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * linearImpulseBody2; + w2 += mSliderJointComponents.mI2[i] * angularImpulseBody2; + } + } + + // --------------- Motor --------------- // + + if (mSliderJointComponents.mIsMotorEnabled[i]) { + + // Compute J*v for the motor + const decimal JvMotor = sliderAxisWorld.dot(v1) - sliderAxisWorld.dot(v2); + + // Compute the Lagrange multiplier lambda for the motor + const decimal maxMotorImpulse = mSliderJointComponents.mMaxMotorForce[i] * mTimeStep; + decimal deltaLambdaMotor = mSliderJointComponents.mInverseMassMatrixMotor[i] * (-JvMotor - mSliderJointComponents.mMotorSpeed[i]); + decimal lambdaTemp = mSliderJointComponents.mImpulseMotor[i]; + mSliderJointComponents.mImpulseMotor[i] = clamp(mSliderJointComponents.mImpulseMotor[i] + deltaLambdaMotor, -maxMotorImpulse, maxMotorImpulse); + deltaLambdaMotor = mSliderJointComponents.mImpulseMotor[i] - lambdaTemp; + + // Compute the impulse P=J^T * lambda for the motor of body 1 + const Vector3 linearImpulseBody1 = deltaLambdaMotor * sliderAxisWorld; + + // Apply the impulse to the body 1 + v1 += inverseMassBody1 * linearImpulseBody1; + + // Compute the impulse P=J^T * lambda for the motor of body 2 + const Vector3 linearImpulseBody2 = -deltaLambdaMotor * sliderAxisWorld; + + // Apply the impulse to the body 2 + v2 += inverseMassBody2 * linearImpulseBody2; + } + } +} + +// Solve the position constraint (for position error correction) +void SolveSliderJointSystem::solvePositionConstraint() { + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + // Recompute the inertia tensor of bodies + mSliderJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); + mSliderJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + } + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const Quaternion& q1 = mRigidBodyComponents.getConstrainedOrientation(body1Entity); + const Quaternion& q2 = mRigidBodyComponents.getConstrainedOrientation(body2Entity); + + // Vector from body center to the anchor point + mSliderJointComponents.mR1[i] = q1 * mSliderJointComponents.mLocalAnchorPointBody1[i]; + mSliderJointComponents.mR2[i] = q2 * mSliderJointComponents.mLocalAnchorPointBody2[i]; + } + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + // Get the inverse mass and inverse inertia tensors of the bodies + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + const Vector3& r1 = mSliderJointComponents.getR1(jointEntity); + const Vector3& r2 = mSliderJointComponents.getR2(jointEntity); + + const Vector3& n1 = mSliderJointComponents.getN1(jointEntity); + const Vector3& n2 = mSliderJointComponents.getN2(jointEntity); + + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + + // Compute the vector u (difference between anchor points) + const Vector3 u = x2 + r2 - x1 - r1; + + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + + // Compute the two orthogonal vectors to the slider axis in world-space + mSliderJointComponents.mSliderAxisWorld[i] = q1 * mSliderJointComponents.mSliderAxisBody1[i]; + mSliderJointComponents.mSliderAxisWorld[i].normalize(); + mSliderJointComponents.setN1(jointEntity, mSliderJointComponents.mSliderAxisWorld[i].getOneUnitOrthogonalVector()); + mSliderJointComponents.setN2(jointEntity, mSliderJointComponents.mSliderAxisWorld[i].cross(n1)); + + // Check if the limit constraints are violated or not + decimal uDotSliderAxis = u.dot(mSliderJointComponents.mSliderAxisWorld[i]); + decimal lowerLimitError = uDotSliderAxis - mSliderJointComponents.getLowerLimit(jointEntity); + decimal upperLimitError = mSliderJointComponents.getUpperLimit(jointEntity) - uDotSliderAxis; + mSliderJointComponents.setIsLowerLimitViolated(jointEntity, lowerLimitError <= 0); + mSliderJointComponents.setIsUpperLimitViolated(jointEntity, upperLimitError <= 0); + + // Compute the cross products used in the Jacobians + mSliderJointComponents.setR2CrossN1(jointEntity, r2.cross(n1)); + mSliderJointComponents.setR2CrossN2(jointEntity, r2.cross(n2)); + mSliderJointComponents.setR2CrossSliderAxis(jointEntity, r2.cross(mSliderJointComponents.mSliderAxisWorld[i])); + const Vector3 r1PlusU = r1 + u; + mSliderJointComponents.setR1PlusUCrossN1(jointEntity, r1PlusU.cross(n1)); + mSliderJointComponents.setR1PlusUCrossN2(jointEntity, r1PlusU.cross(n2)); + mSliderJointComponents.setR1PlusUCrossSliderAxis(jointEntity, r1PlusU.cross(mSliderJointComponents.mSliderAxisWorld[i])); + + const Vector3& r2CrossN1 = mSliderJointComponents.getR2CrossN1(jointEntity); + const Vector3& r2CrossN2 = mSliderJointComponents.getR2CrossN2(jointEntity); + const Vector3& r1PlusUCrossN1 = mSliderJointComponents.getR1PlusUCrossN1(jointEntity); + const Vector3& r1PlusUCrossN2 = mSliderJointComponents.getR1PlusUCrossN2(jointEntity); + + // --------------- Translation Constraints --------------- // + + const Matrix3x3& i1 = mSliderJointComponents.getI1(jointEntity); + const Matrix3x3& i2 = mSliderJointComponents.getI2(jointEntity); + + // Recompute the inverse of the mass matrix K=JM^-1J^t for the 2 translation + // constraints (2x2 matrix) + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + decimal sumInverseMass = body1MassInverse + body2MassInverse; + Vector3 I1R1PlusUCrossN1 = i1 * r1PlusUCrossN1; + Vector3 I1R1PlusUCrossN2 = i1 * r1PlusUCrossN2; + Vector3 I2R2CrossN1 = i2 * r2CrossN1; + Vector3 I2R2CrossN2 = i2 * r2CrossN2; + const decimal el11 = sumInverseMass + r1PlusUCrossN1.dot(I1R1PlusUCrossN1) + + r2CrossN1.dot(I2R2CrossN1); + const decimal el12 = r1PlusUCrossN1.dot(I1R1PlusUCrossN2) + + r2CrossN1.dot(I2R2CrossN2); + const decimal el21 = r1PlusUCrossN2.dot(I1R1PlusUCrossN1) + + r2CrossN2.dot(I2R2CrossN1); + const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + + r2CrossN2.dot(I2R2CrossN2); + Matrix2x2 matrixKTranslation(el11, el12, el21, el22); + Matrix2x2& inverseMassMatrixTranslation = mSliderJointComponents.getInverseMassMatrixTranslation(jointEntity); + inverseMassMatrixTranslation.setToZero(); + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + + mSliderJointComponents.setInverseMassMatrixTranslation(jointEntity, matrixKTranslation.getInverse()); + } + + // Compute the position error for the 2 translation constraints + const Vector2 translationError(u.dot(n1), u.dot(n2)); + + // Compute the Lagrange multiplier lambda for the 2 translation constraints + Vector2 lambdaTranslation = inverseMassMatrixTranslation * (-translationError); + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 + const Vector3 linearImpulseBody1 = -n1 * lambdaTranslation.x - n2 * lambdaTranslation.y; + Vector3 angularImpulseBody1 = -r1PlusUCrossN1 * lambdaTranslation.x - + r1PlusUCrossN2 * lambdaTranslation.y; + + // Apply the impulse to the body 1 + const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; + Vector3 w1 = i1 * angularImpulseBody1; + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 2 + const Vector3 linearImpulseBody2 = n1 * lambdaTranslation.x + n2 * lambdaTranslation.y; + Vector3 angularImpulseBody2 = r2CrossN1 * lambdaTranslation.x + r2CrossN2 * lambdaTranslation.y; + + // Apply the impulse to the body 2 + const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; + Vector3 w2 = i2 * angularImpulseBody2; + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + + // For each joint component + for (uint32 i=0; i < mSliderJointComponents.getNbEnabledComponents(); i++) { + + const Entity jointEntity = mSliderJointComponents.mJointEntities[i]; + + // If the error position correction technique is not the non-linear-gauss-seidel, we do + // do not execute this method + if (mJointComponents.getPositionCorrectionTechnique(jointEntity) != JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL) return; + + // Get the bodies entities + const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); + const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); + + const uint32 componentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1Entity); + const uint32 componentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2Entity); + + Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; + Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; + + Quaternion& q1 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody1]; + Quaternion& q2 = mRigidBodyComponents.mConstrainedOrientations[componentIndexBody2]; + + // Get the velocities + Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody1]; + Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[componentIndexBody2]; + + // --------------- Rotation Constraints --------------- // + + // Compute the inverse of the mass matrix K=JM^-1J^t for the 3 rotation + // contraints (3x3 matrix) + mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mI1[i] + mSliderJointComponents.mI2[i]; + if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { + + mSliderJointComponents.mInverseMassMatrixRotation[i] = mSliderJointComponents.mInverseMassMatrixRotation[i].getInverse(); + } + + // Calculate difference in rotation + // + // The rotation should be: + // + // q2 = q1 r0 + // + // But because of drift the actual rotation is: + // + // q2 = qError q1 r0 + // <=> qError = q2 r0^-1 q1^-1 + // + // Where: + // q1 = current rotation of body 1 + // q2 = current rotation of body 2 + // qError = error that needs to be reduced to zero + Quaternion qError = q2 * mSliderJointComponents.mInitOrientationDifferenceInv[i] * q1.getInverse(); + + // A quaternion can be seen as: + // + // q = [sin(theta / 2) * v, cos(theta/2)] + // + // Where: + // v = rotation vector + // theta = rotation angle + // + // If we assume theta is small (error is small) then sin(x) = x so an approximation of the error angles is: + const Vector3 errorRotation = decimal(2.0) * qError.getVectorV(); + + // Compute the Lagrange multiplier lambda for the 3 rotation constraints + Vector3 lambdaRotation = mSliderJointComponents.mInverseMassMatrixRotation[i] * (-errorRotation); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 1 + Vector3 angularImpulseBody1 = -lambdaRotation; + + // Apply the impulse to the body 1 + w1 = mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda for the 3 rotation constraints of body 2 + Vector3 angularImpulseBody2 = lambdaRotation; + + // Apply the impulse to the body 2 + w2 = mSliderJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + + // --------------- Limits Constraints --------------- // + + if (mSliderJointComponents.mIsLimitEnabled[i]) { + + const Vector3& r2CrossSliderAxis = mSliderJointComponents.mR2CrossSliderAxis[i]; + const Vector3& r1PlusUCrossSliderAxis = mSliderJointComponents.mR1PlusUCrossSliderAxis[i]; + + if (mSliderJointComponents.mIsLowerLimitViolated[i] || mSliderJointComponents.mIsUpperLimitViolated[i]) { + + // Compute the inverse of the mass matrix K=JM^-1J^t for the limits (1x1 matrix) + const decimal body1MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal body2MassInverse = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + mSliderJointComponents.mInverseMassMatrixLimit[i] = body1MassInverse + body2MassInverse + + r1PlusUCrossSliderAxis.dot(mSliderJointComponents.mI1[i] * r1PlusUCrossSliderAxis) + + r2CrossSliderAxis.dot(mSliderJointComponents.mI2[i] * r2CrossSliderAxis); + mSliderJointComponents.mInverseMassMatrixLimit[i] = (mSliderJointComponents.mInverseMassMatrixLimit[i] > decimal(0.0)) ? + decimal(1.0) / mSliderJointComponents.mInverseMassMatrixLimit[i] : decimal(0.0); + } + + const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; + const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; + + // If the lower limit is violated + if (mSliderJointComponents.mIsLowerLimitViolated[i]) { + + const Vector3& r1 = mSliderJointComponents.mR1[i]; + const Vector3& r2 = mSliderJointComponents.mR2[i]; + const Vector3 u = x2 + r2 - x1 - r1; + decimal uDotSliderAxis = u.dot(mSliderJointComponents.mSliderAxisWorld[i]); + decimal lowerLimitError = uDotSliderAxis - mSliderJointComponents.mLowerLimit[i]; + + // Compute the Lagrange multiplier lambda for the lower limit constraint + decimal lambdaLowerLimit = mSliderJointComponents.mInverseMassMatrixLimit[i] * (-lowerLimitError); + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 1 + const Vector3 linearImpulseBody1 = -lambdaLowerLimit * mSliderJointComponents.mSliderAxisWorld[i]; + const Vector3 angularImpulseBody1 = -lambdaLowerLimit * r1PlusUCrossSliderAxis; + + // Apply the impulse to the body 1 + const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; + const Vector3 w1 = mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda for the lower limit constraint of body 2 + const Vector3 linearImpulseBody2 = lambdaLowerLimit * mSliderJointComponents.mSliderAxisWorld[i]; + const Vector3 angularImpulseBody2 = lambdaLowerLimit * r2CrossSliderAxis; + + // Apply the impulse to the body 2 + const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; + const Vector3 w2 = mSliderJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + + // If the upper limit is violated + if (mSliderJointComponents.mIsUpperLimitViolated[i]) { + + const Vector3& r1 = mSliderJointComponents.mR1[i]; + const Vector3& r2 = mSliderJointComponents.mR2[i]; + const Vector3 u = x2 + r2 - x1 - r1; + decimal uDotSliderAxis = u.dot(mSliderJointComponents.mSliderAxisWorld[i]); + decimal upperLimitError = mSliderJointComponents.mUpperLimit[i] - uDotSliderAxis; + + // Compute the Lagrange multiplier lambda for the upper limit constraint + decimal lambdaUpperLimit = mSliderJointComponents.mInverseMassMatrixLimit[i] * (-upperLimitError); + + // Compute the impulse P=J^T * lambda for the upper limit constraint of body 1 + const Vector3 linearImpulseBody1 = lambdaUpperLimit * mSliderJointComponents.mSliderAxisWorld[i]; + const Vector3 angularImpulseBody1 = lambdaUpperLimit * r1PlusUCrossSliderAxis; + + // Apply the impulse to the body 1 + const Vector3 v1 = inverseMassBody1 * linearImpulseBody1; + const Vector3 w1 = mSliderJointComponents.mI1[i] * angularImpulseBody1; + + // Update the body position/orientation of body 1 + x1 += v1; + q1 += Quaternion(0, w1) * q1 * decimal(0.5); + q1.normalize(); + + // Compute the impulse P=J^T * lambda for the upper limit constraint of body 2 + const Vector3 linearImpulseBody2 = -lambdaUpperLimit * mSliderJointComponents.mSliderAxisWorld[i]; + const Vector3 angularImpulseBody2 = -lambdaUpperLimit * r2CrossSliderAxis; + + // Apply the impulse to the body 2 + const Vector3 v2 = inverseMassBody2 * linearImpulseBody2; + const Vector3 w2 = mSliderJointComponents.mI2[i] * angularImpulseBody2; + + // Update the body position/orientation of body 2 + x2 += v2; + q2 += Quaternion(0, w2) * q2 * decimal(0.5); + q2.normalize(); + } + } + } +} diff --git a/src/systems/SolveSliderJointSystem.h b/src/systems/SolveSliderJointSystem.h new file mode 100644 index 00000000..eee83036 --- /dev/null +++ b/src/systems/SolveSliderJointSystem.h @@ -0,0 +1,146 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_SOLVE_SLIDER_JOINT_SYSTEM_H +#define REACTPHYSICS3D_SOLVE_SLIDER_JOINT_SYSTEM_H + +// Libraries +#include "utils/Profiler.h" +#include "components/RigidBodyComponents.h" +#include "components/JointComponents.h" +#include "components/SliderJointComponents.h" +#include "components/TransformComponents.h" + +namespace reactphysics3d { + +class DynamicsWorld; + +// Class SolveSliderJointSystem +/** + * This class is responsible to solve the SliderJoint constraints + */ +class SolveSliderJointSystem { + + private : + + // -------------------- Constants -------------------- // + + // Beta value for the bias factor of position correction + static const decimal BETA; + + // -------------------- Attributes -------------------- // + + /// Physics world + DynamicsWorld& mWorld; + + /// Reference to the rigid body components + RigidBodyComponents& mRigidBodyComponents; + + /// Reference to transform components + TransformComponents& mTransformComponents; + + /// Reference to the joint components + JointComponents& mJointComponents; + + /// Reference to the slider joint components + SliderJointComponents& mSliderJointComponents; + + /// Current time step of the simulation + decimal mTimeStep; + + /// True if warm starting of the solver is active + bool mIsWarmStartingActive; + +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; +#endif + + // -------------------- Methods -------------------- // + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + SolveSliderJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, + JointComponents& jointComponents, + SliderJointComponents& sliderJointComponents); + + /// Destructor + ~SolveSliderJointSystem() = default; + + /// Initialize before solving the constraint + void initBeforeSolve(); + + /// Warm start the constraint (apply the previous impulse at the beginning of the step) + void warmstart(); + + /// Solve the velocity constraint + void solveVelocityConstraint(); + + /// Solve the position constraint (for position error correction) + void solvePositionConstraint(); + + /// Set the time step + void setTimeStep(decimal timeStep); + + /// Set to true to enable warm starting + void setIsWarmStartingActive(bool isWarmStartingActive); + +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + +}; + +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void SolveSliderJointSystem::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +// Set the time step +inline void SolveSliderJointSystem::setTimeStep(decimal timeStep) { + assert(timeStep > decimal(0.0)); + mTimeStep = timeStep; +} + +// Set to true to enable warm starting +inline void SolveSliderJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) { + mIsWarmStartingActive = isWarmStartingActive; +} + +#endif + +} + +#endif From 59cdc6b8f8f2f1b5ba8683a18cf927466ea301aa Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 10 Oct 2019 07:53:25 +0200 Subject: [PATCH 094/197] Take care of TODOs --- CHANGELOG.md | 3 + src/body/CollisionBody.cpp | 8 +-- src/body/RigidBody.cpp | 21 +----- src/body/RigidBody.h | 11 ---- src/collision/ProxyShape.cpp | 2 - src/collision/broadphase/DynamicAABBTree.cpp | 68 ++++++++++---------- src/collision/broadphase/DynamicAABBTree.h | 58 ++++++++--------- src/components/ProxyShapeComponents.cpp | 12 ++-- src/components/ProxyShapeComponents.h | 15 ++--- src/engine/CollisionWorld.cpp | 7 +- src/engine/DynamicsWorld.cpp | 10 +-- src/engine/EventListener.h | 14 ---- src/systems/BroadPhaseSystem.cpp | 4 +- src/systems/BroadPhaseSystem.h | 2 +- src/systems/ConstraintSolverSystem.cpp | 4 +- src/systems/ConstraintSolverSystem.h | 12 ---- src/systems/ContactSolverSystem.cpp | 2 - src/systems/DynamicsSystem.cpp | 2 - 18 files changed, 89 insertions(+), 166 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index db4b85ba..2d9628d8 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -14,6 +14,9 @@ - DynamicsWorld::getContactsList(). You need to use the EventListener class to retrieve contacts now. - The DynamicsWorld::getNbJoints() method has been removed. - The DynamicsWorld::getNbRigidBodies() method has been removed. + - The EventListener::beginInternalTick() method has been removed (because internal ticks do not exist anymore). + - The EventListener::endInternalTick() method has been removed (because internal ticks do not exist anymore). + - The RigidBody::getJointsList() method has been removed. ## Release Candidate diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index b47ecca5..a0c3c068 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -86,7 +86,7 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, + ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1), 0x0001, 0xFFFF); bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); @@ -208,8 +208,6 @@ void CollisionBody::removeAllCollisionShapes() { */ const Transform& CollisionBody::getTransform() const { - // TODO : Make sure we do not call this method from the internal physics engine - return mWorld.mTransformComponents.getTransform(mEntity); } @@ -354,8 +352,6 @@ AABB CollisionBody::getAABB() const { const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); if (proxyShapesEntities.size() == 0) return bodyAABB; - // TODO : Make sure we compute this in a system - const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[0]); @@ -384,8 +380,6 @@ AABB CollisionBody::getAABB() const { */ void CollisionBody::setTransform(const Transform& transform) { - // TODO : Make sure this method is never called from the internal physics engine - // Update the transform of the body mWorld.mTransformComponents.setTransform(mEntity, transform); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 93979cbc..592a57d5 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -260,8 +260,6 @@ void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTens */ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { - // TODO : Check if we need to update the postion of the body here at the end (transform of the body) - if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; mIsCenterOfMassSetByUser = true; @@ -270,8 +268,7 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); // Compute the center of mass in world-space coordinates - const Vector3& updatedCenterOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); - mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * updatedCenterOfMassLocal); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal); // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); @@ -340,7 +337,7 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, -1, + ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass, 0x0001, 0xFFFF); bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); @@ -438,18 +435,6 @@ void RigidBody::setAngularDamping(decimal angularDamping) { "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping)); } -/// Update the transform of the body after a change of the center of mass -void RigidBody::updateTransformWithCenterOfMass() { - - // TODO : Make sure we compute this in a system - - // Translate the body according to the translation of the center of mass position - Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); - const Vector3& centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); - transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); -} - // Set a new material for this rigid body /** * @param material The material you want to set to the body @@ -488,8 +473,6 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { */ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { - // TODO : Make sure this method is not called from the internal physics engine - // If it is a static body, we do nothing if (mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::STATIC) return; diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index a9be0847..0a83d5af 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -70,9 +70,6 @@ class RigidBody : public CollisionBody { // -------------------- Methods -------------------- // - /// Update the transform of the body after a change of the center of mass - void updateTransformWithCenterOfMass(); - /// Set the variable to know whether or not the body is sleeping void setIsSleeping(bool isSleeping); @@ -161,14 +158,6 @@ class RigidBody : public CollisionBody { /// Set the angular damping factor void setAngularDamping(decimal angularDamping); - /// Return the first element of the linked list of joints involving this body - // TODO : Remove this - const JointListElement* getJointsList() const; - - /// Return the first element of the linked list of joints involving this body - // TODO : Remove this - JointListElement* getJointsList(); - /// Apply an external force to the body at its center of mass. void applyForceToCenterOfMass(const Vector3& force); diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index e46ec63a..cc81f8c8 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -113,8 +113,6 @@ void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { // Set the local to parent body transform void ProxyShape::setLocalToBodyTransform(const Transform& transform) { - // TODO : Make sure this method is never called by the internal physics engine - mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform); RigidBody* rigidBody = static_cast(mBody); diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 82dc16e9..c27262ee 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -32,7 +32,7 @@ using namespace reactphysics3d; // Initialization of static variables -const int TreeNode::NULL_TREE_NODE = -1; +const int32 TreeNode::NULL_TREE_NODE = -1; // Constructor DynamicAABBTree::DynamicAABBTree(MemoryAllocator& allocator, decimal extraAABBGap) @@ -45,7 +45,7 @@ DynamicAABBTree::DynamicAABBTree(MemoryAllocator& allocator, decimal extraAABBGa DynamicAABBTree::~DynamicAABBTree() { // Free the allocated memory for the nodes - mAllocator.release(mNodes, mNbAllocatedNodes * sizeof(TreeNode)); + mAllocator.release(mNodes, static_cast(mNbAllocatedNodes) * sizeof(TreeNode)); } // Initialize the tree @@ -56,12 +56,12 @@ void DynamicAABBTree::init() { mNbAllocatedNodes = 8; // Allocate memory for the nodes of the tree - mNodes = static_cast(mAllocator.allocate(mNbAllocatedNodes * sizeof(TreeNode))); + mNodes = static_cast(mAllocator.allocate(static_cast(mNbAllocatedNodes) * sizeof(TreeNode))); assert(mNodes); - std::memset(mNodes, 0, mNbAllocatedNodes * sizeof(TreeNode)); + std::memset(mNodes, 0, static_cast(mNbAllocatedNodes) * sizeof(TreeNode)); // Initialize the allocated nodes - for (int i=0; i(mNbAllocatedNodes) * sizeof(TreeNode)); // Initialize the tree init(); } // Allocate and return a new node in the tree -int DynamicAABBTree::allocateNode() { +int32 DynamicAABBTree::allocateNode() { // If there is no more allocated node to use if (mFreeNodeID == TreeNode::NULL_TREE_NODE) { @@ -89,16 +89,16 @@ int DynamicAABBTree::allocateNode() { assert(mNbNodes == mNbAllocatedNodes); // Allocate more nodes in the tree - uint oldNbAllocatedNodes = mNbAllocatedNodes; + int32 oldNbAllocatedNodes = mNbAllocatedNodes; mNbAllocatedNodes *= 2; TreeNode* oldNodes = mNodes; - mNodes = static_cast(mAllocator.allocate(mNbAllocatedNodes * sizeof(TreeNode))); + mNodes = static_cast(mAllocator.allocate(static_cast(mNbAllocatedNodes) * sizeof(TreeNode))); assert(mNodes); - memcpy(mNodes, oldNodes, mNbNodes * sizeof(TreeNode)); - mAllocator.release(oldNodes, oldNbAllocatedNodes * sizeof(TreeNode)); + memcpy(mNodes, oldNodes, static_cast(mNbNodes) * sizeof(TreeNode)); + mAllocator.release(oldNodes, static_cast(oldNbAllocatedNodes) * sizeof(TreeNode)); // Initialize the allocated nodes - for (int i=mNbNodes; i= 0 && nodeID < mNbAllocatedNodes); assert(mNodes[nodeID].isLeaf()); @@ -170,7 +170,7 @@ void DynamicAABBTree::removeObject(int nodeID) { /// The method returns true if the object has been reinserted into the tree. The "displacement" /// argument is the linear velocity of the AABB multiplied by the elapsed time between two /// frames. -bool DynamicAABBTree::updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement) { +bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement) { RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler); @@ -424,7 +424,7 @@ void DynamicAABBTree::removeLeafNode(int nodeID) { // Balance the sub-tree of a given node using left or right rotations. /// The rotation schemes are described in the book "Introduction to Game Physics /// with Box2D" by Ian Parberry. This method returns the new root node ID. -int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) { +int32 DynamicAABBTree::balanceSubTreeAtNode(int32 nodeID) { assert(nodeID != TreeNode::NULL_TREE_NODE); @@ -593,11 +593,11 @@ int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) { } /// Take a list of shapes to be tested for broad-phase overlap and return a list of pair of overlapping shapes -void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, - size_t endIndex, List>& outOverlappingNodes) const { +void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, + size_t endIndex, List>& outOverlappingNodes) const { // Create a stack with the nodes to visit - Stack stack(mAllocator, 64); + Stack stack(mAllocator, 64); // For each shape to be tested for overlap for (uint i=startIndex; i < endIndex; i++) { @@ -612,7 +612,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& node while(stack.size() > 0) { // Get the next node ID to visit - const int nodeIDToVisit = stack.pop(); + const int32 nodeIDToVisit = stack.pop(); // Skip it if it is a null node if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue; @@ -627,7 +627,7 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& node if (nodeToVisit->isLeaf()) { // Add the node in the list of overlapping nodes - outOverlappingNodes.add(Pair(nodesToTest[i], nodeIDToVisit)); + outOverlappingNodes.add(Pair(nodesToTest[i], nodeIDToVisit)); } else { // If the node is not a leaf @@ -643,17 +643,17 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& node } // Report all shapes overlapping with the AABB given in parameter. -void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { +void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { // Create a stack with the nodes to visit - Stack stack(mAllocator, 64); + Stack stack(mAllocator, 64); stack.push(mRootNodeID); // While there are still nodes to visit while(stack.size() > 0) { // Get the next node ID to visit - const int nodeIDToVisit = stack.pop(); + const int32 nodeIDToVisit = stack.pop(); // Skip it if it is a null node if (nodeIDToVisit == TreeNode::NULL_TREE_NODE) continue; @@ -687,7 +687,7 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca decimal maxFraction = ray.maxFraction; - Stack stack(mAllocator, 128); + Stack stack(mAllocator, 128); stack.push(mRootNodeID); // Walk through the tree from the root looking for proxy shapes @@ -695,7 +695,7 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca while (stack.size() > 0) { // Get the next node in the stack - int nodeID = stack.pop(); + int32 nodeID = stack.pop(); // If it is a null node, skip it if (nodeID == TreeNode::NULL_TREE_NODE) continue; @@ -750,8 +750,8 @@ void DynamicAABBTree::check() const { // Recursively check each node checkNode(mRootNodeID); - int nbFreeNodes = 0; - int freeNodeID = mFreeNodeID; + int32 nbFreeNodes = 0; + int32 freeNodeID = mFreeNodeID; // Check the free nodes while(freeNodeID != TreeNode::NULL_TREE_NODE) { @@ -764,7 +764,7 @@ void DynamicAABBTree::check() const { } // Check if the node structure is valid (for debugging purpose) -void DynamicAABBTree::checkNode(int nodeID) const { +void DynamicAABBTree::checkNode(int32 nodeID) const { if (nodeID == TreeNode::NULL_TREE_NODE) return; @@ -776,8 +776,8 @@ void DynamicAABBTree::checkNode(int nodeID) const { // Get the children nodes TreeNode* pNode = mNodes + nodeID; assert(!pNode->isLeaf()); - int leftChild = pNode->children[0]; - int rightChild = pNode->children[1]; + int32 leftChild = pNode->children[0]; + int32 rightChild = pNode->children[1]; assert(pNode->height >= 0); assert(pNode->aabb.getVolume() > 0); @@ -822,7 +822,7 @@ int DynamicAABBTree::computeHeight() { } // Compute the height of a given node in the tree -int DynamicAABBTree::computeHeight(int nodeID) { +int DynamicAABBTree::computeHeight(int32 nodeID) { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); TreeNode* node = mNodes + nodeID; diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 0bc16e8e..3cbf2daa 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -54,7 +54,7 @@ struct TreeNode { // -------------------- Constants -------------------- // /// Null tree node constant - const static int NULL_TREE_NODE; + const static int32 NULL_TREE_NODE; // -------------------- Attributes -------------------- // @@ -148,16 +148,16 @@ class DynamicAABBTree { TreeNode* mNodes; /// ID of the root node of the tree - int mRootNodeID; + int32 mRootNodeID; /// ID of the first node of the list of free (allocated) nodes in the tree that we can use - int mFreeNodeID; + int32 mFreeNodeID; /// Number of allocated nodes in the tree - int mNbAllocatedNodes; + int32 mNbAllocatedNodes; /// Number of nodes in the tree - int mNbNodes; + int32 mNbNodes; /// Extra AABB Gap used to allow the collision shape to move a little bit /// without triggering a large modification of the tree which can be costly @@ -173,25 +173,25 @@ class DynamicAABBTree { // -------------------- Methods -------------------- // /// Allocate and return a node to use in the tree - int allocateNode(); + int32 allocateNode(); /// Release a node - void releaseNode(int nodeID); + void releaseNode(int32 nodeID); /// Insert a leaf node in the tree - void insertLeafNode(int nodeID); + void insertLeafNode(int32 nodeID); /// Remove a leaf node from the tree - void removeLeafNode(int nodeID); + void removeLeafNode(int32 nodeID); /// Balance the sub-tree of a given node using left or right rotations. - int balanceSubTreeAtNode(int nodeID); + int32 balanceSubTreeAtNode(int32 nodeID); /// Compute the height of a given node in the tree - int computeHeight(int nodeID); + int computeHeight(int32 nodeID); /// Internally add an object into the tree - int addObjectInternal(const AABB& aabb); + int32 addObjectInternal(const AABB& aabb); /// Initialize the tree void init(); @@ -202,7 +202,7 @@ class DynamicAABBTree { void check() const; /// Check if the node structure is valid (for debugging purpose) - void checkNode(int nodeID) const; + void checkNode(int32 nodeID) const; #endif @@ -217,29 +217,29 @@ class DynamicAABBTree { ~DynamicAABBTree(); /// Add an object into the tree (where node data are two integers) - int addObject(const AABB& aabb, int32 data1, int32 data2); + int32 addObject(const AABB& aabb, int32 data1, int32 data2); /// Add an object into the tree (where node data is a pointer) - int addObject(const AABB& aabb, void* data); + int32 addObject(const AABB& aabb, void* data); /// Remove an object from the tree - void removeObject(int nodeID); + void removeObject(int32 nodeID); /// Update the dynamic tree after an object has moved. - bool updateObject(int nodeID, const AABB& newAABB, const Vector3& displacement); + bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement); /// Return the fat AABB corresponding to a given node ID - const AABB& getFatAABB(int nodeID) const; + const AABB& getFatAABB(int32 nodeID) const; /// Return the pointer to the data array of a given leaf node of the tree - int32* getNodeDataInt(int nodeID) const; + int32* getNodeDataInt(int32 nodeID) const; /// Return the data pointer of a given leaf node of the tree - void* getNodeDataPointer(int nodeID) const; + void* getNodeDataPointer(int32 nodeID) const; /// Report all shapes overlapping with all the shapes in the map in parameter - void reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, - size_t endIndex, List>& outOverlappingNodes) const; + void reportAllShapesOverlappingWithShapes(const List& nodesToTest, size_t startIndex, + size_t endIndex, List>& outOverlappingNodes) const; /// Report all shapes overlapping with the AABB given in parameter. void reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const; @@ -271,20 +271,20 @@ inline bool TreeNode::isLeaf() const { } // Return the fat AABB corresponding to a given node ID -inline const AABB& DynamicAABBTree::getFatAABB(int nodeID) const { +inline const AABB& DynamicAABBTree::getFatAABB(int32 nodeID) const { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); return mNodes[nodeID].aabb; } // Return the pointer to the data array of a given leaf node of the tree -inline int32* DynamicAABBTree::getNodeDataInt(int nodeID) const { +inline int32* DynamicAABBTree::getNodeDataInt(int32 nodeID) const { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); assert(mNodes[nodeID].isLeaf()); return mNodes[nodeID].dataInt; } // Return the pointer to the data pointer of a given leaf node of the tree -inline void* DynamicAABBTree::getNodeDataPointer(int nodeID) const { +inline void* DynamicAABBTree::getNodeDataPointer(int32 nodeID) const { assert(nodeID >= 0 && nodeID < mNbAllocatedNodes); assert(mNodes[nodeID].isLeaf()); return mNodes[nodeID].dataPointer; @@ -297,9 +297,9 @@ inline AABB DynamicAABBTree::getRootAABB() const { // Add an object into the tree. This method creates a new leaf node in the tree and // returns the ID of the corresponding node. -inline int DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2) { +inline int32 DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2) { - int nodeId = addObjectInternal(aabb); + int32 nodeId = addObjectInternal(aabb); mNodes[nodeId].dataInt[0] = data1; mNodes[nodeId].dataInt[1] = data2; @@ -309,9 +309,9 @@ inline int DynamicAABBTree::addObject(const AABB& aabb, int32 data1, int32 data2 // Add an object into the tree. This method creates a new leaf node in the tree and // returns the ID of the corresponding node. -inline int DynamicAABBTree::addObject(const AABB& aabb, void* data) { +inline int32 DynamicAABBTree::addObject(const AABB& aabb, void* data) { - int nodeId = addObjectInternal(aabb); + int32 nodeId = addObjectInternal(aabb); mNodes[nodeId].dataPointer = data; diff --git a/src/components/ProxyShapeComponents.cpp b/src/components/ProxyShapeComponents.cpp index 198b80da..4f06aebb 100644 --- a/src/components/ProxyShapeComponents.cpp +++ b/src/components/ProxyShapeComponents.cpp @@ -59,7 +59,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { Entity* newProxyShapesEntities = static_cast(newBuffer); Entity* newBodiesEntities = reinterpret_cast(newProxyShapesEntities + nbComponentsToAllocate); ProxyShape** newProxyShapes = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); - int* newBroadPhaseIds = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); + int32* newBroadPhaseIds = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); Transform* newLocalToBodyTransforms = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); @@ -73,7 +73,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newProxyShapesEntities, mProxyShapesEntities, mNbComponents * sizeof(Entity)); memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(ProxyShape*)); - memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int)); + memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int32)); memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*)); memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); @@ -109,7 +109,7 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping new (mProxyShapesEntities + index) Entity(proxyShapeEntity); new (mBodiesEntities + index) Entity(component.bodyEntity); mProxyShapes[index] = component.proxyShape; - new (mBroadPhaseIds + index) int(component.broadPhaseId); + new (mBroadPhaseIds + index) int32(-1); new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); mCollisionShapes[index] = component.collisionShape; new (mMasses + index) decimal(component.mass); @@ -134,7 +134,7 @@ void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde new (mProxyShapesEntities + destIndex) Entity(mProxyShapesEntities[srcIndex]); new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mProxyShapes[destIndex] = mProxyShapes[srcIndex]; - new (mBroadPhaseIds + destIndex) int(mBroadPhaseIds[srcIndex]); + new (mBroadPhaseIds + destIndex) int32(mBroadPhaseIds[srcIndex]); new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); mCollisionShapes[destIndex] = mCollisionShapes[srcIndex]; new (mMasses + destIndex) decimal(mMasses[srcIndex]); @@ -159,7 +159,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { Entity proxyShapeEntity1(mProxyShapesEntities[index1]); Entity bodyEntity1(mBodiesEntities[index1]); ProxyShape* proxyShape1 = mProxyShapes[index1]; - int broadPhaseId1 = mBroadPhaseIds[index1]; + int32 broadPhaseId1 = mBroadPhaseIds[index1]; Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; CollisionShape* collisionShape1 = mCollisionShapes[index1]; decimal mass1 = mMasses[index1]; @@ -175,7 +175,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { new (mProxyShapesEntities + index2) Entity(proxyShapeEntity1); new (mBodiesEntities + index2) Entity(bodyEntity1); mProxyShapes[index2] = proxyShape1; - new (mBroadPhaseIds + index2) int(broadPhaseId1); + new (mBroadPhaseIds + index2) int32(broadPhaseId1); new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); mCollisionShapes[index2] = collisionShape1; new (mMasses + index2) decimal(mass1); diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index 7c9c8364..c5d9cf25 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -66,7 +66,7 @@ class ProxyShapeComponents : public Components { /// Ids of the proxy-shapes for the broad-phase algorithm // TODO : Try to change type to uint32 - int* mBroadPhaseIds; + int32* mBroadPhaseIds; /// Transform from local-space of the proxy-shape to the body-space of its body Transform* mLocalToBodyTransforms; @@ -111,7 +111,6 @@ class ProxyShapeComponents : public Components { Entity bodyEntity; ProxyShape* proxyShape; - int broadPhaseId; AABB localBounds; Transform localToBodyTransform; CollisionShape* collisionShape; @@ -120,10 +119,10 @@ class ProxyShapeComponents : public Components { unsigned short collideWithMaskBits; /// Constructor - ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, int broadPhaseId, AABB localBounds, Transform localToBodyTransform, + ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, AABB localBounds, Transform localToBodyTransform, CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, unsigned short collideWithMaskBits) - :bodyEntity(bodyEntity), proxyShape(proxyShape), broadPhaseId(broadPhaseId), localBounds(localBounds), localToBodyTransform(localToBodyTransform), + :bodyEntity(bodyEntity), proxyShape(proxyShape), localBounds(localBounds), localToBodyTransform(localToBodyTransform), collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits) { } @@ -159,10 +158,10 @@ class ProxyShapeComponents : public Components { CollisionShape* getCollisionShape(Entity proxyShapeEntity) const; /// Return the broad-phase id of a given proxy shape - int getBroadPhaseId(Entity proxyShapeEntity) const; + int32 getBroadPhaseId(Entity proxyShapeEntity) const; /// Set the broad-phase id of a given proxy shape - void setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId); + void setBroadPhaseId(Entity proxyShapeEntity, int32 broadPhaseId); /// Return the collision category bits of a given proxy-shape unsigned short getCollisionCategoryBits(Entity proxyShapeEntity) const; @@ -230,7 +229,7 @@ inline CollisionShape* ProxyShapeComponents::getCollisionShape(Entity proxyShape } // Return the broad-phase id of a given proxy shape -inline int ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const { +inline int32 ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); @@ -238,7 +237,7 @@ inline int ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const } // Set the broad-phase id of a given proxy shape -inline void ProxyShapeComponents::setBroadPhaseId(Entity proxyShapeEntity, int broadPhaseId) { +inline void ProxyShapeComponents::setBroadPhaseId(Entity proxyShapeEntity, int32 broadPhaseId) { assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index c4a9351f..902e8fa9 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -214,8 +214,6 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return; - // TODO : Make sure we notify all the components here ... - // Notify all the components mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); @@ -238,8 +236,8 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { const List& joints = mRigidBodyComponents.getJoints(bodyEntity); for(uint32 i=0; i < joints.size(); i++) { - Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); - Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); + const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); + const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); // If both bodies of the joint are disabled if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) && @@ -262,7 +260,6 @@ void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return; - // TODO : Make sure we notify all the components here ... mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) { mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index f09b37bb..164d3fa8 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -115,9 +115,6 @@ void DynamicsWorld::update(decimal timeStep) { RP3D_PROFILE("DynamicsWorld::update()", mProfiler); - // Notify the event listener about the beginning of an internal tick - if (mEventListener != nullptr) mEventListener->beginInternalTick(); - // Compute the collision detection mCollisionDetection.computeCollisionDetection(); @@ -153,9 +150,6 @@ void DynamicsWorld::update(decimal timeStep) { if (mIsSleepingEnabled) updateSleepingBodies(timeStep); - // Notify the event listener about the end of an internal tick - if (mEventListener != nullptr) mEventListener->endInternalTick(); - // Reset the external force and torque applied to the bodies mDynamicsSystem.resetBodiesForceAndTorque(); @@ -463,10 +457,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) { Entity jointEntity = joint->getEntity(); // Destroy the corresponding entity and its components - // TODO : Make sure we remove all its components here mJointsComponents.removeComponent(jointEntity); - mEntityManager.destroyEntity(jointEntity); - if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) { mBallAndSocketJointsComponents.removeComponent(jointEntity); } @@ -479,6 +470,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) { if (mSliderJointsComponents.hasComponent(jointEntity)) { mSliderJointsComponents.removeComponent(jointEntity); } + mEntityManager.destroyEntity(jointEntity); // Call the destructor of the joint joint->~Joint(); diff --git a/src/engine/EventListener.h b/src/engine/EventListener.h index e0ee9e80..44da1c44 100644 --- a/src/engine/EventListener.h +++ b/src/engine/EventListener.h @@ -54,20 +54,6 @@ class EventListener : public CollisionCallback { * @param collisionInfo Information about the contacts */ virtual void onContact(const CollisionCallback::CallbackData& callbackData) override {} - - // TODO : Remove this method (no internal steps anymore) - /// Called at the beginning of an internal tick of the simulation step. - /// Each time the DynamicsWorld::update() method is called, the physics - /// engine will do several internal simulation steps. This method is - /// called at the beginning of each internal simulation step. - virtual void beginInternalTick() {} - - // TODO : Remove this method (no internal steps anymore) - /// Called at the end of an internal tick of the simulation step. - /// Each time the DynamicsWorld::update() metho is called, the physics - /// engine will do several internal simulation steps. This method is - /// called at the end of each internal simulation step. - virtual void endInternalTick() {} }; } diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 52e48375..08aea7f8 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -128,7 +128,7 @@ void BroadPhaseSystem::updateProxyShapes(decimal timeStep) { } // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseSystem::updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement) { +void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, const AABB& aabb, const Vector3& displacement) { assert(broadPhaseId >= 0); @@ -161,7 +161,7 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI // For each proxy-shape component to update for (uint32 i = startIndex; i < startIndex + nbItems; i++) { - const int broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i]; + const int32 broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i]; if (broadPhaseId != -1) { const Entity& bodyEntity = mProxyShapesComponents.mBodiesEntities[i]; diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 934ea9b6..a6ae9815 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -140,7 +140,7 @@ class BroadPhaseSystem { // -------------------- Methods -------------------- // /// Notify the Dynamic AABB tree that a proxy-shape needs to be updated - void updateProxyShapeInternal(int broadPhaseId, const AABB& aabb, const Vector3& displacement); + void updateProxyShapeInternal(int32 broadPhaseId, const AABB& aabb, const Vector3& displacement); /// Update the broad-phase state of some proxy-shapes components void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index ae487375..53dd41c8 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -45,9 +45,7 @@ ConstraintSolverSystem::ConstraintSolverSystem(DynamicsWorld& world, Islands& is mSolveBallAndSocketJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, ballAndSocketJointComponents), mSolveFixedJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, fixedJointComponents), mSolveHingeJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, hingeJointComponents), - mSolveSliderJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, sliderJointComponents), - mJointComponents(jointComponents), mBallAndSocketJointComponents(ballAndSocketJointComponents), - mFixedJointComponents(fixedJointComponents), mHingeJointComponents(hingeJointComponents) { + mSolveSliderJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, sliderJointComponents) { #ifdef IS_PROFILING_ACTIVE diff --git a/src/systems/ConstraintSolverSystem.h b/src/systems/ConstraintSolverSystem.h index 710d8a87..c3a419bf 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/src/systems/ConstraintSolverSystem.h @@ -173,18 +173,6 @@ class ConstraintSolverSystem { /// Solver for the SliderJoint constraints SolveSliderJointSystem mSolveSliderJointSystem; - // TODO : Delete this - JointComponents& mJointComponents; - - // TODO : Delete this - BallAndSocketJointComponents& mBallAndSocketJointComponents; - - // TODO : Delete this - FixedJointComponents& mFixedJointComponents; - - // TODO : Delete this - HingeJointComponents& mHingeJointComponents; - #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index e95603a7..ac54f36f 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -68,7 +68,6 @@ void ContactSolverSystem::init(List* contactManifolds, Listsize(); uint nbContactPoints = mAllContactPoints->size(); @@ -80,7 +79,6 @@ void ContactSolverSystem::init(List* contactManifolds, List(mMemoryManager.allocate(MemoryManager::AllocationType::Frame, sizeof(ContactPointSolver) * nbContactPoints)); assert(mContactPoints != nullptr); diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 68a12299..4dcee2ac 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -73,8 +73,6 @@ void DynamicsSystem::updateBodiesState() { RP3D_PROFILE("DynamicsSystem::updateBodiesState()", mProfiler); - // TODO : Make sure we compute this in a system - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { // Update the linear and angular velocity of the body From 92b39ca6c07e62584db86ffbafccb17b080370ef Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 10 Oct 2019 17:51:31 +0200 Subject: [PATCH 095/197] Take care of TODOs --- src/engine/DynamicsWorld.cpp | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 164d3fa8..6cf68204 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -505,8 +505,6 @@ void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { /// it). Then, we create an island with this group of connected bodies. void DynamicsWorld::createIslands() { - // TODO : Check if we handle kinematic bodies correctly in islands creation - // list of contact pairs involving a non-rigid body List nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator()); @@ -527,15 +525,12 @@ void DynamicsWorld::createIslands() { uint nbTotalManifolds = 0; // For each dynamic component - // TODO : Here we iterate on dynamic component where we can have static, kinematic and dynamic bodies. Maybe we should - // not use a dynamic component for a static body. for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) { // If the body has already been added to an island, we go to the next body if (mRigidBodyComponents.mIsAlreadyInIsland[b]) continue; // If the body is static, we go to the next body - // TODO : Check if we still need this test if we loop over dynamicsComponents and static bodies are not part of them if (mRigidBodyComponents.mBodyTypes[b] == BodyType::STATIC) continue; // Reset the stack of bodies to visit @@ -563,8 +558,7 @@ void DynamicsWorld::createIslands() { // Awake the body if it is sleeping rigidBodyToVisit->setIsSleeping(false); - // If the current body is static, we do not want to perform the DFS - // search across that body + // If the current body is static, we do not want to perform the DFS search across that body if (rigidBodyToVisit->getType() == BodyType::STATIC) continue; // If the body is involved in contacts with other bodies @@ -581,13 +575,8 @@ void DynamicsWorld::createIslands() { // Check if the current contact pair has already been added into an island if (pair.isAlreadyInIsland) continue; - // Get the other body of the contact manifold - // TODO : Maybe avoid those casts here - RigidBody* body1 = dynamic_cast(mCollisionBodyComponents.getBody(pair.body1Entity)); - RigidBody* body2 = dynamic_cast(mCollisionBodyComponents.getBody(pair.body2Entity)); - // If the colliding body is a RigidBody (and not a CollisionBody instead) - if (body1 != nullptr && body2 != nullptr) { + if (mRigidBodyComponents.hasComponent(pair.body1Entity) && mRigidBodyComponents.hasComponent(pair.body2Entity)) { nbTotalManifolds += pair.potentialContactManifoldsIndices.size(); @@ -709,9 +698,8 @@ void DynamicsWorld::updateSleepingBodies(decimal timeStep) { // Put all the bodies of the island to sleep for (uint b=0; b < mIslands.bodyEntities[i].size(); b++) { - // TODO : We should use a RigidBody* type here (remove the cast) const Entity bodyEntity = mIslands.bodyEntities[i][b]; - RigidBody* body = static_cast(mCollisionBodyComponents.getBody(bodyEntity)); + RigidBody* body = mRigidBodyComponents.getRigidBody(bodyEntity); body->setIsSleeping(true); } } From 5f05fa372dca705d96cdf320614bc310128be514 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 11 Oct 2019 17:01:53 +0200 Subject: [PATCH 096/197] Move contacts creation before islands creation --- src/engine/DynamicsWorld.cpp | 11 ----------- src/systems/CollisionDetectionSystem.cpp | 13 +++++-------- src/systems/CollisionDetectionSystem.h | 6 ------ src/systems/ContactSolverSystem.cpp | 3 ++- 4 files changed, 7 insertions(+), 26 deletions(-) diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 6cf68204..0bc02766 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -121,9 +121,6 @@ void DynamicsWorld::update(decimal timeStep) { // Create the islands createIslands(); - // Create the actual narrow-phase contacts - mCollisionDetection.createContacts(); - // Report the contacts to the user mCollisionDetection.reportContacts(); @@ -580,9 +577,6 @@ void DynamicsWorld::createIslands() { nbTotalManifolds += pair.potentialContactManifoldsIndices.size(); - // Add the pair into the list of pair to process to create contacts - mCollisionDetection.mContactPairsIndicesOrderingForContacts.add(pair.contactPairIndex); - // Add the contact manifold into the island mIslands.nbContactManifolds[islandIndex] += pair.potentialContactManifoldsIndices.size(); pair.isAlreadyInIsland = true; @@ -638,11 +632,6 @@ void DynamicsWorld::createIslands() { } } - // Add the contact pairs that are not part of islands at the end of the array of pairs for contacts creations - mCollisionDetection.mContactPairsIndicesOrderingForContacts.addRange(nonRigidBodiesContactPairs); - - assert(mCollisionDetection.mCurrentContactPairs->size() == mCollisionDetection.mContactPairsIndicesOrderingForContacts.size()); - mCollisionDetection.mMapBodyToContactPairs.clear(true); } diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 6349cfc4..a45ef2e6 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -64,7 +64,6 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2), - mContactPairsIndicesOrderingForContacts(memoryManager.getSingleFrameAllocator()), mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()), mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), mContactPoints1(mMemoryManager.getPoolAllocator()), @@ -464,7 +463,8 @@ void CollisionDetectionSystem::computeNarrowPhase() { assert(mCurrentContactManifolds->size() == 0); assert(mCurrentContactPoints->size() == 0); - mContactPairsIndicesOrderingForContacts.reserve(mCurrentContactPairs->size()); + // Create the actual narrow-phase contacts + createContacts(); mNarrowPhaseInput.clear(); } @@ -605,17 +605,15 @@ void CollisionDetectionSystem::swapPreviousAndCurrentContacts() { // Create the actual contact manifolds and contacts points void CollisionDetectionSystem::createContacts() { - RP3D_PROFILE("CollisionDetection::createContacts()", mProfiler); - - assert(mCurrentContactPairs->size() == mContactPairsIndicesOrderingForContacts.size()); + RP3D_PROFILE("CollisionDetectionSystem::createContacts()", mProfiler); mCurrentContactManifolds->reserve(mCurrentContactPairs->size()); mCurrentContactPoints->reserve(mCurrentContactManifolds->size()); // For each contact pair - for (uint p=0; p < mContactPairsIndicesOrderingForContacts.size(); p++) { + for (uint p=0; p < (*mCurrentContactPairs).size(); p++) { - ContactPair& contactPair = (*mCurrentContactPairs)[mContactPairsIndicesOrderingForContacts[p]]; + ContactPair& contactPair = (*mCurrentContactPairs)[p]; assert(contactPair.potentialContactManifoldsIndices.size() > 0); contactPair.contactManifoldsIndex = mCurrentContactManifolds->size(); @@ -666,7 +664,6 @@ void CollisionDetectionSystem::createContacts() { // Reset the potential contacts mPotentialContactPoints.clear(true); mPotentialContactManifolds.clear(true); - mContactPairsIndicesOrderingForContacts.clear(true); } // Create the actual contact manifolds and contacts points for testCollision() methods diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 15e85b0c..87a27e86 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -135,12 +135,6 @@ class CollisionDetectionSystem { /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) Map* mCurrentMapPairIdToContactPairIndex; - /// List of the indices of the contact pairs (in mCurrentContacPairs array) with contact pairs of - /// same islands packed together linearly and contact pairs that are not part of islands at the end. - /// This is used when we create contact manifolds and contact points so that there are also packed - /// together linearly if they are part of the same island. - List mContactPairsIndicesOrderingForContacts; - /// First list with the contact manifolds List mContactManifolds1; diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index ac54f36f..6b270cab 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -492,6 +492,8 @@ void ContactSolverSystem::solve() { decimal lambdaTemp; uint contactPointIndex = 0; + const decimal beta = mIsSplitImpulseActive ? BETA_SPLIT_IMPULSE : BETA; + // For each contact manifold for (uint c=0; c SLOP) biasPenetrationDepth = -(beta/mTimeStep) * max(0.0f, float(mContactPoints[contactPointIndex].penetrationDepth - SLOP)); From 2c2b75def78bded4edf2439c716babce64836dc4 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 15 Oct 2019 20:29:22 +0200 Subject: [PATCH 097/197] Move local-to-world transform of ProxyShape into the ProxyShapeComponents --- src/body/CollisionBody.cpp | 8 ++++- src/body/RigidBody.cpp | 7 ++-- src/collision/ProxyShape.cpp | 11 +++--- src/components/ProxyShapeComponents.cpp | 10 +++++- src/components/ProxyShapeComponents.h | 36 ++++++++++++++++--- src/constraint/BallAndSocketJoint.cpp | 4 +-- src/constraint/HingeJoint.cpp | 4 +-- src/engine/DynamicsWorld.cpp | 2 +- src/systems/CollisionDetectionSystem.cpp | 14 ++++---- src/systems/ContactSolverSystem.cpp | 9 ++--- src/systems/DynamicsSystem.cpp | 23 +++++++++--- src/systems/DynamicsSystem.h | 13 +++++-- src/systems/SolveSliderJointSystem.cpp | 45 ++++++++++++------------ 13 files changed, 122 insertions(+), 64 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index a0c3c068..3eaeb3a7 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -86,9 +86,10 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); + const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, decimal(1), 0x0001, 0xFFFF); + transform, collisionShape, decimal(1), 0x0001, 0xFFFF, localToWorldTransform); bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, !isActive, proxyShapeComponent); @@ -218,6 +219,11 @@ void CollisionBody::updateBroadPhaseState(decimal timeStep) const { const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); for (uint i=0; i < proxyShapesEntities.size(); i++) { + // Update the local-to-world transform of the proxy-shape + mWorld.mProxyShapesComponents.setLocalToWorldTransform(proxyShapesEntities[i], + mWorld.mTransformComponents.getTransform(mEntity) * + mWorld.mProxyShapesComponents.getLocalToBodyTransform(proxyShapesEntities[i])); + // Update the proxy mWorld.mCollisionDetection.updateProxyShape(proxyShapesEntities[i], timeStep); } diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 592a57d5..5bb38982 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -336,10 +336,10 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); - + const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, mass, 0x0001, 0xFFFF); + transform, collisionShape, mass, 0x0001, 0xFFFF, localToWorldTransform); bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent); @@ -510,9 +510,6 @@ void RigidBody::setTransform(const Transform& transform) { CollisionBody::setTransform(transform); - // Update the transform of the body - mWorld.mTransformComponents.setTransform(mEntity, transform); - // Awake the body if it is sleeping setIsSleeping(false); } diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp index cc81f8c8..4dcb6d8b 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/ProxyShape.cpp @@ -115,6 +115,10 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform); + // Update the local-to-world transform + const Transform& bodyTransform = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()); + mBody->mWorld.mProxyShapesComponents.setLocalToWorldTransform(mEntity, bodyTransform * transform); + RigidBody* rigidBody = static_cast(mBody); if (rigidBody != nullptr) { mBody->mWorld.mRigidBodyComponents.setIsSleeping(mBody->getEntity(), false); @@ -122,8 +126,6 @@ void ProxyShape::setLocalToBodyTransform(const Transform& transform) { mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity, 0); - int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, "ProxyShape " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" + transform.to_string()); @@ -183,7 +185,7 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { if (!mBody->isActive()) return false; // Convert the ray into the local-space of the collision shape - const Transform localToWorldTransform = getLocalToWorldTransform(); + const Transform localToWorldTransform = mBody->mWorld.mProxyShapesComponents.getLocalToWorldTransform(mEntity); const Transform worldToLocalTransform = localToWorldTransform.getInverse(); Ray rayLocal(worldToLocalTransform * ray.point1, worldToLocalTransform * ray.point2, @@ -222,8 +224,7 @@ unsigned short ProxyShape::getCollideWithMaskBits() const { * shape to the world-space */ const Transform ProxyShape::getLocalToWorldTransform() const { - return mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * - mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(mEntity); + return mBody->mWorld.mProxyShapesComponents.getLocalToWorldTransform(mEntity); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/components/ProxyShapeComponents.cpp b/src/components/ProxyShapeComponents.cpp index 4f06aebb..ab98115b 100644 --- a/src/components/ProxyShapeComponents.cpp +++ b/src/components/ProxyShapeComponents.cpp @@ -37,7 +37,7 @@ using namespace reactphysics3d; ProxyShapeComponents::ProxyShapeComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + - sizeof(unsigned short)) { + sizeof(unsigned short) + sizeof(Transform)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -65,6 +65,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); unsigned short* newCollisionCategoryBits = reinterpret_cast(newMasses + nbComponentsToAllocate); unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); + Transform* newLocalToWorldTransforms = reinterpret_cast(newCollideWithMaskBits + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -79,6 +80,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short)); memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); + memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -95,6 +97,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { mMasses = newMasses; mCollisionCategoryBits = newCollisionCategoryBits; mCollideWithMaskBits = newCollideWithMaskBits; + mLocalToWorldTransforms = newLocalToWorldTransforms; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -115,6 +118,7 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping new (mMasses + index) decimal(component.mass); new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits); new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); + new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(proxyShapeEntity, index)); @@ -140,6 +144,7 @@ void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde new (mMasses + destIndex) decimal(mMasses[srcIndex]); new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]); new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); + new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -165,6 +170,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { decimal mass1 = mMasses[index1]; unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1]; unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; + Transform localToWorldTransform1 = mLocalToWorldTransforms[index1]; // Destroy component 1 destroyComponent(index1); @@ -181,6 +187,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { new (mMasses + index2) decimal(mass1); new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1); new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); + new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(proxyShapeEntity1, index2)); @@ -204,4 +211,5 @@ void ProxyShapeComponents::destroyComponent(uint32 index) { mProxyShapes[index] = nullptr; mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; + mLocalToWorldTransforms[index].~Transform(); } diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index c5d9cf25..9c7e5650 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -65,7 +65,6 @@ class ProxyShapeComponents : public Components { ProxyShape** mProxyShapes; /// Ids of the proxy-shapes for the broad-phase algorithm - // TODO : Try to change type to uint32 int32* mBroadPhaseIds; /// Transform from local-space of the proxy-shape to the body-space of its body @@ -90,6 +89,9 @@ class ProxyShapeComponents : public Components { /// proxy shape will collide with every collision categories by default. unsigned short* mCollideWithMaskBits; + /// Array with the local-to-world transforms of the proxy-shapes + Transform* mLocalToWorldTransforms; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -112,18 +114,20 @@ class ProxyShapeComponents : public Components { Entity bodyEntity; ProxyShape* proxyShape; AABB localBounds; - Transform localToBodyTransform; + const Transform& localToBodyTransform; CollisionShape* collisionShape; decimal mass; unsigned short collisionCategoryBits; unsigned short collideWithMaskBits; + const Transform& localToWorldTransform; /// Constructor - ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, AABB localBounds, Transform localToBodyTransform, + ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, AABB localBounds, const Transform& localToBodyTransform, CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, - unsigned short collideWithMaskBits) + unsigned short collideWithMaskBits, const Transform& localToWorldTransform) :bodyEntity(bodyEntity), proxyShape(proxyShape), localBounds(localBounds), localToBodyTransform(localToBodyTransform), - collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits) { + collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits), + localToWorldTransform(localToWorldTransform) { } }; @@ -175,6 +179,12 @@ class ProxyShapeComponents : public Components { /// Set the "collide with" mask bits of a given proxy-shape void setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits); + /// Return the local-to-world transform of a proxy-shape + const Transform& getLocalToWorldTransform(Entity proxyShapeEntity) const; + + /// Set the local-to-world transform of a proxy-shape + void setLocalToWorldTransform(Entity proxyShapeEntity, const Transform& transform); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -276,6 +286,22 @@ inline void ProxyShapeComponents::setCollideWithMaskBits(Entity proxyShapeEntity mCollideWithMaskBits[mMapEntityToComponentIndex[proxyShapeEntity]] = collideWithMaskBits; } +// Return the local-to-world transform of a proxy-shape +inline const Transform& ProxyShapeComponents::getLocalToWorldTransform(Entity proxyShapeEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + return mLocalToWorldTransforms[mMapEntityToComponentIndex[proxyShapeEntity]]; +} + +// Set the local-to-world transform of a proxy-shape +inline void ProxyShapeComponents::setLocalToWorldTransform(Entity proxyShapeEntity, const Transform& transform) { + + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + mLocalToWorldTransforms[mMapEntityToComponentIndex[proxyShapeEntity]] = transform; +} + } #endif diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index c098289d..b138afdf 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -39,8 +39,8 @@ BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, cons : Joint(entity, world) { // Get the transforms of the two bodies - Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); - Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); + const Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + const Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); // Compute the local-space anchor point for each body mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody1(entity, body1Transform.getInverse() * jointInfo.anchorPointWorldSpace); diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 6141f1bf..dd10ad27 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -40,8 +40,8 @@ HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0) * PI); // Compute the local-space anchor point for each body - Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); - Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); + const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity()); + const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity()); mWorld.mHingeJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace); mWorld.mHingeJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 0bc02766..7af7f783 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -55,7 +55,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents, mSliderJointsComponents), - mDynamicsSystem(*this, mRigidBodyComponents, mTransformComponents, mIsGravityEnabled, mGravity), + mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mProxyShapesComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index a45ef2e6..5dea49e9 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -202,7 +202,7 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> // Compute the middle-phase collision detection void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) { - RP3D_PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler); // Reserve memory for the narrow-phase input using cached capacity from previous frame narrowPhaseInput.reserveMemory(); @@ -262,8 +262,9 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection narrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), - shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), - algorithmType, mMemoryManager.getSingleFrameAllocator()); + mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), + mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), + algorithmType, mMemoryManager.getSingleFrameAllocator()); } // Concave vs Convex algorithm @@ -318,8 +319,8 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair assert(algorithmType != NarrowPhaseAlgorithmType::None); // Compute the convex shape AABB in the local-space of the convex shape - const Transform convexToConcaveTransform = concaveProxyShape->getLocalToWorldTransform().getInverse() * - convexProxyShape->getLocalToWorldTransform(); + const Transform convexToConcaveTransform = mProxyShapesComponents.getLocalToWorldTransform(concaveProxyShape->getEntity()).getInverse() * + mProxyShapesComponents.getLocalToWorldTransform(convexProxyShape->getEntity()); AABB aabb; convexShape->computeAABB(aabb, convexToConcaveTransform); @@ -356,7 +357,8 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair // Create a narrow phase info for the narrow-phase collision detection narrowPhaseInput.addNarrowPhaseTest(pair, isShape1Convex ? convexShape : triangleShape, isShape1Convex ? triangleShape : convexShape, - shape1->getLocalToWorldTransform(), shape2->getLocalToWorldTransform(), + mProxyShapesComponents.getLocalToWorldTransform(shape1->getEntity()), + mProxyShapesComponents.getLocalToWorldTransform(shape2->getEntity()), algorithmType, allocator); } } diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 6b270cab..3d783e35 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -124,11 +124,6 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1)); assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2)); - // Get the two contact shapes - // TODO : Do we really need to get the proxy-shape here - const ProxyShape* shape1 = mProxyShapeComponents.getProxyShape(externalManifold.proxyShapeEntity1); - const ProxyShape* shape2 = mProxyShapeComponents.getProxyShape(externalManifold.proxyShapeEntity2); - // Get the position of the two bodies const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); @@ -165,8 +160,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { ContactPoint& externalContact = (*mAllContactPoints)[c]; // Get the contact point on the two bodies - Vector3 p1 = shape1->getLocalToWorldTransform() * externalContact.getLocalPointOnShape1(); - Vector3 p2 = shape2->getLocalToWorldTransform() * externalContact.getLocalPointOnShape2(); + Vector3 p1 = mProxyShapeComponents.getLocalToWorldTransform(externalManifold.proxyShapeEntity1) * externalContact.getLocalPointOnShape1(); + Vector3 p2 = mProxyShapeComponents.getLocalToWorldTransform(externalManifold.proxyShapeEntity2) * externalContact.getLocalPointOnShape2(); new (mContactPoints + mNbContactPoints) ContactPointSolver(); mContactPoints[mNbContactPoints].externalContact = &externalContact; diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 4dcee2ac..1b7278a5 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -31,9 +31,10 @@ using namespace reactphysics3d; // Constructor -DynamicsSystem::DynamicsSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, bool& isGravityEnabled, Vector3& gravity) - :mWorld(world), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mIsGravityEnabled(isGravityEnabled), - mGravity(gravity) { +DynamicsSystem::DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, ProxyShapeComponents& proxyShapeComponents, bool& isGravityEnabled, Vector3& gravity) + :mWorld(world), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mProxyShapeComponents(proxyShapeComponents), + mIsGravityEnabled(isGravityEnabled), mGravity(gravity) { } @@ -64,7 +65,7 @@ void DynamicsSystem::integrateRigidBodiesPositions(decimal timeStep, bool isSpli // Update the new constrained position and orientation of the body mRigidBodyComponents.mConstrainedPositions[i] = currentPosition + newLinVelocity * timeStep; mRigidBodyComponents.mConstrainedOrientations[i] = currentOrientation + Quaternion(0, newAngVelocity) * - currentOrientation * decimal(0.5) * timeStep; + currentOrientation * decimal(0.5) * timeStep; } } @@ -95,6 +96,20 @@ void DynamicsSystem::updateBodiesState() { const Vector3& centerOfMassLocal = mRigidBodyComponents.mCentersOfMassLocal[i]; transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); } + + // Update the local-to-world transform of the proxy-shapes + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + + // For all the proxy collision shapes of the body + const List& proxyShapesEntities = mCollisionBodyComponents.getProxyShapes(mRigidBodyComponents.mBodiesEntities[i]); + for (uint j=0; j < proxyShapesEntities.size(); j++) { + + // Update the local-to-world transform of the proxy-shape + mProxyShapeComponents.setLocalToWorldTransform(proxyShapesEntities[j], + mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]) * + mProxyShapeComponents.getLocalToBodyTransform(proxyShapesEntities[j])); + } + } } // Integrate the velocities of rigid bodies. diff --git a/src/systems/DynamicsSystem.h b/src/systems/DynamicsSystem.h index a5c89c22..ed2d7d8a 100644 --- a/src/systems/DynamicsSystem.h +++ b/src/systems/DynamicsSystem.h @@ -28,8 +28,10 @@ // Libraries #include "utils/Profiler.h" +#include "components/CollisionBodyComponents.h" #include "components/RigidBodyComponents.h" #include "components/TransformComponents.h" +#include "components/ProxyShapeComponents.h" namespace reactphysics3d { @@ -49,12 +51,18 @@ class DynamicsSystem { /// Physics world DynamicsWorld& mWorld; + /// Reference to the collision body components + CollisionBodyComponents& mCollisionBodyComponents; + /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; /// Reference to the transform components TransformComponents& mTransformComponents; + /// Reference to the proxy-shapes components + ProxyShapeComponents& mProxyShapeComponents; + /// Reference to the variable to know if gravity is enabled in the world bool& mIsGravityEnabled; @@ -72,8 +80,9 @@ class DynamicsSystem { // -------------------- Methods -------------------- // /// Constructor - DynamicsSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, - bool& isGravityEnabled, Vector3& gravity); + DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, + RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, + ProxyShapeComponents& proxyShapeComponents, bool& isGravityEnabled, Vector3& gravity); /// Destructor ~DynamicsSystem() = default; diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp index aee14d08..e2f32ae4 100644 --- a/src/systems/SolveSliderJointSystem.cpp +++ b/src/systems/SolveSliderJointSystem.cpp @@ -619,7 +619,7 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Entity body1Entity = mJointComponents.getBody1Entity(jointEntity); const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); - // Recompute the inertia tensor of bodies + // Recompute the inverse inertia tensors mSliderJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); mSliderJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); } @@ -665,11 +665,11 @@ void SolveSliderJointSystem::solvePositionConstraint() { const decimal inverseMassBody1 = mRigidBodyComponents.mInverseMasses[componentIndexBody1]; const decimal inverseMassBody2 = mRigidBodyComponents.mInverseMasses[componentIndexBody2]; - const Vector3& r1 = mSliderJointComponents.getR1(jointEntity); - const Vector3& r2 = mSliderJointComponents.getR2(jointEntity); + const Vector3& r1 = mSliderJointComponents.mR1[i]; + const Vector3& r2 = mSliderJointComponents.mR2[i]; - const Vector3& n1 = mSliderJointComponents.getN1(jointEntity); - const Vector3& n2 = mSliderJointComponents.getN2(jointEntity); + const Vector3& n1 = mSliderJointComponents.mN1[i]; + const Vector3& n2 = mSliderJointComponents.mN2[i]; Vector3& x1 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody1]; Vector3& x2 = mRigidBodyComponents.mConstrainedPositions[componentIndexBody2]; @@ -683,29 +683,29 @@ void SolveSliderJointSystem::solvePositionConstraint() { // Compute the two orthogonal vectors to the slider axis in world-space mSliderJointComponents.mSliderAxisWorld[i] = q1 * mSliderJointComponents.mSliderAxisBody1[i]; mSliderJointComponents.mSliderAxisWorld[i].normalize(); - mSliderJointComponents.setN1(jointEntity, mSliderJointComponents.mSliderAxisWorld[i].getOneUnitOrthogonalVector()); - mSliderJointComponents.setN2(jointEntity, mSliderJointComponents.mSliderAxisWorld[i].cross(n1)); + mSliderJointComponents.mN1[i] = mSliderJointComponents.mSliderAxisWorld[i].getOneUnitOrthogonalVector(); + mSliderJointComponents.mN2[i] = mSliderJointComponents.mSliderAxisWorld[i].cross(n1); // Check if the limit constraints are violated or not decimal uDotSliderAxis = u.dot(mSliderJointComponents.mSliderAxisWorld[i]); decimal lowerLimitError = uDotSliderAxis - mSliderJointComponents.getLowerLimit(jointEntity); decimal upperLimitError = mSliderJointComponents.getUpperLimit(jointEntity) - uDotSliderAxis; - mSliderJointComponents.setIsLowerLimitViolated(jointEntity, lowerLimitError <= 0); - mSliderJointComponents.setIsUpperLimitViolated(jointEntity, upperLimitError <= 0); + mSliderJointComponents.mIsLowerLimitViolated[i] = lowerLimitError <= 0; + mSliderJointComponents.mIsUpperLimitViolated[i] = upperLimitError <= 0; // Compute the cross products used in the Jacobians - mSliderJointComponents.setR2CrossN1(jointEntity, r2.cross(n1)); - mSliderJointComponents.setR2CrossN2(jointEntity, r2.cross(n2)); - mSliderJointComponents.setR2CrossSliderAxis(jointEntity, r2.cross(mSliderJointComponents.mSliderAxisWorld[i])); + mSliderJointComponents.mR2CrossN1[i] = r2.cross(n1); + mSliderJointComponents.mR2CrossN2[i] = r2.cross(n2); + mSliderJointComponents.mR2CrossSliderAxis[i] = r2.cross(mSliderJointComponents.mSliderAxisWorld[i]); const Vector3 r1PlusU = r1 + u; - mSliderJointComponents.setR1PlusUCrossN1(jointEntity, r1PlusU.cross(n1)); - mSliderJointComponents.setR1PlusUCrossN2(jointEntity, r1PlusU.cross(n2)); - mSliderJointComponents.setR1PlusUCrossSliderAxis(jointEntity, r1PlusU.cross(mSliderJointComponents.mSliderAxisWorld[i])); + mSliderJointComponents.mR1PlusUCrossN1[i] = r1PlusU.cross(n1); + mSliderJointComponents.mR1PlusUCrossN2[i] = r1PlusU.cross(n2); + mSliderJointComponents.mR1PlusUCrossSliderAxis[i] = r1PlusU.cross(mSliderJointComponents.mSliderAxisWorld[i]); - const Vector3& r2CrossN1 = mSliderJointComponents.getR2CrossN1(jointEntity); - const Vector3& r2CrossN2 = mSliderJointComponents.getR2CrossN2(jointEntity); - const Vector3& r1PlusUCrossN1 = mSliderJointComponents.getR1PlusUCrossN1(jointEntity); - const Vector3& r1PlusUCrossN2 = mSliderJointComponents.getR1PlusUCrossN2(jointEntity); + const Vector3& r2CrossN1 = mSliderJointComponents.mR2CrossN1[i]; + const Vector3& r2CrossN2 = mSliderJointComponents.mR2CrossN2[i]; + const Vector3& r1PlusUCrossN1 = mSliderJointComponents.mR1PlusUCrossN1[i]; + const Vector3& r1PlusUCrossN2 = mSliderJointComponents.mR1PlusUCrossN2[i]; // --------------- Translation Constraints --------------- // @@ -730,18 +730,17 @@ void SolveSliderJointSystem::solvePositionConstraint() { const decimal el22 = sumInverseMass + r1PlusUCrossN2.dot(I1R1PlusUCrossN2) + r2CrossN2.dot(I2R2CrossN2); Matrix2x2 matrixKTranslation(el11, el12, el21, el22); - Matrix2x2& inverseMassMatrixTranslation = mSliderJointComponents.getInverseMassMatrixTranslation(jointEntity); - inverseMassMatrixTranslation.setToZero(); + mSliderJointComponents.mInverseMassMatrixTranslation[i].setToZero(); if (mRigidBodyComponents.mBodyTypes[componentIndexBody1] == BodyType::DYNAMIC || mRigidBodyComponents.mBodyTypes[componentIndexBody2] == BodyType::DYNAMIC) { - mSliderJointComponents.setInverseMassMatrixTranslation(jointEntity, matrixKTranslation.getInverse()); + mSliderJointComponents.mInverseMassMatrixTranslation[i] = matrixKTranslation.getInverse(); } // Compute the position error for the 2 translation constraints const Vector2 translationError(u.dot(n1), u.dot(n2)); // Compute the Lagrange multiplier lambda for the 2 translation constraints - Vector2 lambdaTranslation = inverseMassMatrixTranslation * (-translationError); + Vector2 lambdaTranslation = mSliderJointComponents.mInverseMassMatrixTranslation[i] * (-translationError); // Compute the impulse P=J^T * lambda for the 2 translation constraints of body 1 const Vector3 linearImpulseBody1 = -n1 * lambdaTranslation.x - n2 * lambdaTranslation.y; From 130eb00136135c88bfcb737955f490cfd5538ab8 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 18 Oct 2019 07:13:45 +0200 Subject: [PATCH 098/197] Refactoring --- src/collision/broadphase/DynamicAABBTree.h | 3 +- .../narrowphase/SAT/SATAlgorithm.cpp | 11 +- src/collision/narrowphase/SAT/SATAlgorithm.h | 2 +- src/engine/DynamicsWorld.cpp | 4 +- src/engine/OverlappingPair.cpp | 16 +-- src/engine/OverlappingPair.h | 47 +++----- src/systems/BroadPhaseSystem.cpp | 12 +- src/systems/BroadPhaseSystem.h | 2 +- src/systems/CollisionDetectionSystem.cpp | 108 ++++++++---------- src/systems/CollisionDetectionSystem.h | 14 +-- 10 files changed, 96 insertions(+), 123 deletions(-) diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 3cbf2daa..0316395b 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -130,8 +130,7 @@ class DynamicAABBTreeRaycastCallback { // Class DynamicAABBTree /** * This class implements a dynamic AABB tree that is used for broad-phase - * collision detection. This data structure is inspired by Nathanael Presson's - * dynamic tree implementation in BulletPhysics. The following implementation is + * collision detection. The following implementation is * based on the one from Erin Catto in Box2D as described in the book * "Introduction to Game Physics with Box2D" by Ian Parberry. */ diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index d8d18876..ff16e0b7 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -536,7 +536,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // Compute the contact points between two faces of two convex polyhedra. if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex, - narrowPhaseInfoBatch, batchIndex, minPenetrationDepth)) { + narrowPhaseInfoBatch, batchIndex)) { lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; @@ -576,7 +576,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // Compute the contact points between two faces of two convex polyhedra. if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex, - narrowPhaseInfoBatch, batchIndex, minPenetrationDepth)) { + narrowPhaseInfoBatch, batchIndex)) { lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; @@ -804,7 +804,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // Compute the contact points between two faces of two convex polyhedra. bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, - minFaceIndex, narrowPhaseInfoBatch, batchIndex, minPenetrationDepth); + minFaceIndex, narrowPhaseInfoBatch, batchIndex); // There should be clipping points here. If it is not the case, it might be // because of a numerical issue @@ -877,8 +877,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1, - uint minFaceIndex, NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, - decimal minPenetrationDepth) const { + uint minFaceIndex, NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const { RP3D_PROFILE("SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints", mProfiler); @@ -887,8 +886,6 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene const Transform& referenceToIncidentTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1ToPolyhedron2 : polyhedron2ToPolyhedron1; const Transform& incidentToReferenceTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2ToPolyhedron1 : polyhedron1ToPolyhedron2; - assert(minPenetrationDepth > decimal(0.0)); - const Vector3 axisReferenceSpace = referencePolyhedron->getFaceNormal(minFaceIndex); const Vector3 axisIncidentSpace = referenceToIncidentTransform.getOrientation() * axisReferenceSpace; diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.h b/src/collision/narrowphase/SAT/SATAlgorithm.h index 2d7afd4a..fbd44be5 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.h +++ b/src/collision/narrowphase/SAT/SATAlgorithm.h @@ -132,7 +132,7 @@ class SATAlgorithm { bool computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1, uint minFaceIndex, - NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, decimal minPenetrationDepth) const; + NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const; public : diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 7af7f783..e6acd13c 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -405,7 +405,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { if (!jointInfo.isCollisionEnabled) { // Add the pair of bodies in the set of body pairs that cannot collide with each other - mCollisionDetection.addNoCollisionPair(jointInfo.body1, jointInfo.body2); + mCollisionDetection.addNoCollisionPair(jointInfo.body1->getEntity(), jointInfo.body2->getEntity()); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, @@ -435,7 +435,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) { if (!joint->isCollisionEnabled()) { // Remove the pair of bodies from the set of body pairs that cannot collide with each other - mCollisionDetection.removeNoCollisionPair(joint->getBody1(), joint->getBody2()); + mCollisionDetection.removeNoCollisionPair(joint->getBody1()->getEntity(), joint->getBody2()->getEntity()); } RigidBody* body1 = joint->getBody1(); diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index 6dacb6dd..d3779d27 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, const WorldSettings& worldSettings) - : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mProxyShape1(shape1), mProxyShape2(shape2), + : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mProxyShape1(shape1->getEntity()), mProxyShape2(shape2->getEntity()), mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings) { @@ -99,16 +99,12 @@ void OverlappingPair::clearObsoleteLastFrameCollisionInfos() { it = mLastFrameCollisionInfos.remove(it); } - else { + else { // If the collision info is not obsolete + + // Do not delete it but mark it as obsolete + it->second->isObsolete = true; + ++it; } } } - -// Make all the last frame collision infos obsolete -void OverlappingPair::makeLastFrameCollisionInfosObsolete() { - - for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ++it) { - it->second->isObsolete = true; - } -} diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index 943bc1ed..b2567535 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -109,9 +109,11 @@ class OverlappingPair { /// Pair ID OverlappingPairId mPairID; - // TODO : Replace this by entities - ProxyShape* mProxyShape1; - ProxyShape* mProxyShape2; + /// Entity of the first proxy-shape of the overlapping pair + Entity mProxyShape1; + + /// Entity of the second proxy-shape of the overlapping pair + Entity mProxyShape2; /// Persistent memory allocator MemoryAllocator& mPersistentAllocator; @@ -149,11 +151,11 @@ class OverlappingPair { /// Return the Id of the pair OverlappingPairId getId() const; - /// Return the pointer to first proxy collision shape - ProxyShape* getShape1() const; + /// Return the entity of the first proxy-shape + Entity getProxyShape1() const; - /// Return the pointer to second body - ProxyShape* getShape2() const; + /// Return the entity of the second proxy-shape + Entity getProxyShape2() const; /// Return the last frame collision info LastFrameCollisionInfo* getLastFrameCollisionInfo(ShapeIdPair& shapeIds); @@ -161,9 +163,6 @@ class OverlappingPair { /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); - /// Return true if one of the shapes of the pair is a concave shape - bool hasConcaveShape() const; - /// Add a new last frame collision info if it does not exist for the given shapes already LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2); @@ -173,14 +172,11 @@ class OverlappingPair { /// Delete all the obsolete last frame collision info void clearObsoleteLastFrameCollisionInfos(); - /// Make all the last frame collision infos obsolete - void makeLastFrameCollisionInfosObsolete(); - /// Return the pair of bodies index static OverlappingPairId computeID(int shape1BroadPhaseId, int shape2BroadPhaseId); /// Return the pair of bodies index of the pair - static bodypair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2); + static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity); // -------------------- Friendship -------------------- // @@ -192,13 +188,13 @@ inline OverlappingPair::OverlappingPairId OverlappingPair::getId() const { return mPairID; } -// Return the pointer to first body -inline ProxyShape* OverlappingPair::getShape1() const { +// Return the entity of the first proxy-shape +inline Entity OverlappingPair::getProxyShape1() const { return mProxyShape1; } -// Return the pointer to second body -inline ProxyShape* OverlappingPair::getShape2() const { +// Return the entity of the second proxy-shape +inline Entity OverlappingPair::getProxyShape2() const { return mProxyShape2; } @@ -225,13 +221,12 @@ inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(int shape1B } // Return the pair of bodies index -inline bodypair OverlappingPair::computeBodiesIndexPair(CollisionBody* body1, - CollisionBody* body2) { +inline bodypair OverlappingPair::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) { // Construct the pair of body index - bodypair indexPair = body1->getEntity().id < body2->getEntity().id ? - bodypair(body1->getEntity(), body2->getEntity()) : - bodypair(body2->getEntity(), body1->getEntity()); + bodypair indexPair = body1Entity.id < body2Entity.id ? + bodypair(body1Entity, body2Entity) : + bodypair(body2Entity, body1Entity); assert(indexPair.first != indexPair.second); return indexPair; } @@ -241,12 +236,6 @@ inline MemoryAllocator& OverlappingPair::getTemporaryAllocator() { return mTempMemoryAllocator; } -// Return true if one of the shapes of the pair is a concave shape -inline bool OverlappingPair::hasConcaveShape() const { - return !getShape1()->getCollisionShape()->isConvex() || - !getShape2()->getCollisionShape()->isConvex(); -} - // Return the last frame collision info for a given pair of shape ids inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const { return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)]; diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 08aea7f8..120eba23 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -51,14 +51,16 @@ BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, } // Return true if the two broad-phase collision shapes are overlapping -// TODO : Use proxy-shape entities in parameters -bool BroadPhaseSystem::testOverlappingShapes(const ProxyShape* shape1, const ProxyShape* shape2) const { +bool BroadPhaseSystem::testOverlappingShapes(Entity proxyShape1Entity, Entity proxyShape2Entity) const { - if (shape1->getBroadPhaseId() == -1 || shape2->getBroadPhaseId() == -1) return false; + const int32 shape1BroadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity); + const int32 shape2BroadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity); + + if (shape1BroadPhaseId == -1 || shape2BroadPhaseId == -1) return false; // Get the two AABBs of the collision shapes - const AABB& aabb1 = mDynamicAABBTree.getFatAABB(shape1->getBroadPhaseId()); - const AABB& aabb2 = mDynamicAABBTree.getFatAABB(shape2->getBroadPhaseId()); + const AABB& aabb1 = mDynamicAABBTree.getFatAABB(shape1BroadPhaseId); + const AABB& aabb2 = mDynamicAABBTree.getFatAABB(shape2BroadPhaseId); // Check if the two AABBs are overlapping return aabb1.testCollision(aabb2); diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index a6ae9815..8e44f19e 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -189,7 +189,7 @@ class BroadPhaseSystem { ProxyShape* getProxyShapeForBroadPhaseId(int broadPhaseId) const; /// Return true if the two broad-phase collision shapes are overlapping - bool testOverlappingShapes(const ProxyShape* shape1, const ProxyShape* shape2) const; + bool testOverlappingShapes(Entity proxyShape1Entity, Entity proxyShape2Entity) const; /// Return the fat AABB of a given broad-phase shape const AABB& getFatAABB(int broadPhaseId) const; diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 5dea49e9..9ac8c70a 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -82,7 +82,7 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS // Compute the collision detection void CollisionDetectionSystem::computeCollisionDetection() { - RP3D_PROFILE("CollisionDetection::computeCollisionDetection()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeCollisionDetection()", mProfiler); // Compute the broad-phase collision detection computeBroadPhase(); @@ -97,7 +97,7 @@ void CollisionDetectionSystem::computeCollisionDetection() { // Compute the broad-phase collision detection void CollisionDetectionSystem::computeBroadPhase() { - RP3D_PROFILE("CollisionDetection::computeBroadPhase()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeBroadPhase()", mProfiler); // Ask the broad-phase to compute all the shapes overlapping the shapes that // have moved or have been added in the last frame. This call can only add new @@ -120,11 +120,8 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { OverlappingPair* pair = it->second; - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); - // Check if the two shapes are still overlapping. Otherwise, we destroy the overlapping pair - if (!mBroadPhaseSystem.testOverlappingShapes(shape1, shape2)) { + if (!mBroadPhaseSystem.testOverlappingShapes(pair->getProxyShape1(), pair->getProxyShape2())) { // Destroy the overlapping pair pair->~OverlappingPair(); @@ -154,12 +151,12 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> if (nodePair.first != nodePair.second) { // Get the two proxy-shapes - Entity proxyShape1Entity = mMapBroadPhaseIdToProxyShapeEntity[nodePair.first]; - Entity proxyShape2Entity = mMapBroadPhaseIdToProxyShapeEntity[nodePair.second]; + const Entity proxyShape1Entity = mMapBroadPhaseIdToProxyShapeEntity[nodePair.first]; + const Entity proxyShape2Entity = mMapBroadPhaseIdToProxyShapeEntity[nodePair.second]; // Get the two bodies - Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); // If the two proxy collision shapes are from the same body, skip it if (body1Entity != body2Entity) { @@ -212,14 +209,11 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin OverlappingPair* pair = it->second; - // Make all the last frame collision info obsolete - pair->makeLastFrameCollisionInfosObsolete(); + // Remove the obsolete last frame collision infos and mark all the others as obsolete + pair->clearObsoleteLastFrameCollisionInfos(); - const Entity proxyShape1Entity = pair->getShape1()->getEntity(); - const Entity proxyShape2Entity = pair->getShape2()->getEntity(); - - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); + const Entity proxyShape1Entity = pair->getProxyShape1(); + const Entity proxyShape2Entity = pair->getProxyShape2(); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); @@ -229,11 +223,8 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin if ((mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity) & mProxyShapesComponents.getCollisionCategoryBits(proxyShape2Entity)) != 0 && (mProxyShapesComponents.getCollisionCategoryBits(proxyShape1Entity) & mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity)) != 0) { - CollisionBody* const body1 = shape1->getBody(); - CollisionBody* const body2 = shape2->getBody(); - - const Entity body1Entity = body1->getEntity(); - const Entity body2Entity = body2->getEntity(); + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; @@ -246,22 +237,25 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin if (!isBody1Active && !isBody2Active) continue; // Check if the bodies are in the set of bodies that cannot collide between each other - bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1, body2); + bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity); if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - bool isShape1Convex = shape1->getCollisionShape()->isConvex(); - bool isShape2Convex = shape2->getCollisionShape()->isConvex(); + CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); + CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); + + const bool isShape1Convex = collisionShape1->isConvex(); + const bool isShape2Convex = collisionShape2->isConvex(); // If both shapes are convex if (isShape1Convex && isShape2Convex) { // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(shape1->getCollisionShape()->getType(), - shape2->getCollisionShape()->getType()); + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), + collisionShape2->getType()); // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pair, shape1->getCollisionShape(), shape2->getCollisionShape(), + narrowPhaseInput.addNarrowPhaseTest(pair, collisionShape1, collisionShape2, mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), algorithmType, mMemoryManager.getSingleFrameAllocator()); @@ -277,9 +271,6 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin // Not handled continue; } - - // Remove the obsolete last frame collision infos - pair->clearObsoleteLastFrameCollisionInfos(); } } } @@ -288,10 +279,10 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { - RP3D_PROFILE("CollisionDetection::computeConvexVsConcaveMiddlePhase()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase()", mProfiler); - ProxyShape* shape1 = pair->getShape1(); - ProxyShape* shape2 = pair->getShape2(); + ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(pair->getProxyShape1()); + ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(pair->getProxyShape2()); ProxyShape* convexProxyShape; ProxyShape* concaveProxyShape; @@ -350,7 +341,7 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair #endif - bool isShape1Convex = pair->getShape1()->getCollisionShape()->isConvex(); + bool isShape1Convex = mProxyShapesComponents.getCollisionShape(pair->getProxyShape1())->isConvex(); ProxyShape* shape1 = isShape1Convex ? convexProxyShape : concaveProxyShape; ProxyShape* shape2 = isShape1Convex ? concaveProxyShape : convexProxyShape; @@ -445,7 +436,7 @@ void CollisionDetectionSystem::processAllPotentialContacts(NarrowPhaseInput& nar // Compute the narrow-phase collision detection void CollisionDetectionSystem::computeNarrowPhase() { - RP3D_PROFILE("CollisionDetection::computeNarrowPhase()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeNarrowPhase()", mProfiler); MemoryAllocator& allocator = mMemoryManager.getSingleFrameAllocator(); @@ -475,7 +466,7 @@ void CollisionDetectionSystem::computeNarrowPhase() { /// This method returns true if contacts are found. bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInput& narrowPhaseInput, OverlapCallback* callback) { - RP3D_PROFILE("CollisionDetection::computeNarrowPhaseOverlapSnapshot()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot()", mProfiler); MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); @@ -518,7 +509,7 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInput& nar // Convert the potential overlapping bodies for the testOverlap() methods void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const { - RP3D_PROFILE("CollisionDetection::computeSnapshotContactPairs()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeSnapshotContactPairs()", mProfiler); // For each narrow phase info object for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { @@ -527,8 +518,8 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& if (narrowPhaseInfoBatch.isColliding[i]) { // Add the pair of bodies in contact into the list - overlapPairs.add(Pair(narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity(), - narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity())); + overlapPairs.add(Pair(mProxyShapesComponents.getBody(narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape1()), + mProxyShapesComponents.getBody(narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape2()))); } narrowPhaseInfoBatch.resetContactPoints(i); @@ -539,7 +530,7 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& // This method returns true if contacts are found. bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback) { - RP3D_PROFILE("CollisionDetection::computeNarrowPhaseCollisionSnapshot()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot()", mProfiler); MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); @@ -675,7 +666,7 @@ void CollisionDetectionSystem::createSnapshotContacts(List& contact List& potentialContactManifolds, List& potentialContactPoints) { - RP3D_PROFILE("CollisionDetection::createSnapshotContacts()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::createSnapshotContacts()", mProfiler); contactManifolds.reserve(contactPairs.size()); contactPoints.reserve(contactManifolds.size()); @@ -830,8 +821,8 @@ void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) OverlappingPair* pair = it->second; - if (pair->getShape1()->getBroadPhaseId() == proxyShape->getBroadPhaseId()|| - pair->getShape2()->getBroadPhaseId() == proxyShape->getBroadPhaseId()) { + if (mProxyShapesComponents.getBroadPhaseId(pair->getProxyShape1()) == proxyShape->getBroadPhaseId() || + mProxyShapesComponents.getBroadPhaseId(pair->getProxyShape2()) == proxyShape->getBroadPhaseId()) { // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved @@ -856,7 +847,7 @@ void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, const Ray& ray, unsigned short raycastWithCategoryMaskBits) const { - RP3D_PROFILE("CollisionDetection::raycast()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::raycast()", mProfiler); RaycastTest rayCastTest(raycastCallback); @@ -873,7 +864,7 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na List* contactPairs, Map>& mapBodyToContactPairs) { - RP3D_PROFILE("CollisionDetection::processPotentialContacts()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::processPotentialContacts()", mProfiler); // For each narrow phase info object for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { @@ -952,16 +943,18 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na // If the overlapping pair contact does not exists yet if (pairContact == nullptr) { - Entity body1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getBody()->getEntity(); - Entity body2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getBody()->getEntity(); + const Entity proxyShape1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape1(); + const Entity proxyShape2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape2(); + + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); // TODO : We should probably use a single frame allocator here const uint newContactPairIndex = contactPairs->size(); ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, - narrowPhaseInfoBatch.overlappingPairs[i]->getShape1()->getEntity(), - narrowPhaseInfoBatch.overlappingPairs[i]->getShape2()->getEntity(), + proxyShape1Entity, proxyShape2Entity, newContactPairIndex, mMemoryManager.getPoolAllocator()); contactPairs->add(overlappingPairContact); pairContact = &((*contactPairs)[newContactPairIndex]); @@ -1010,7 +1003,7 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List List& potentialContactManifolds, const List& potentialContactPoints) const { - RP3D_PROFILE("CollisionDetection::reducePotentialContactManifolds()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::reducePotentialContactManifolds()", mProfiler); // Reduce the number of potential contact manifolds in a contact pair for (uint i=0; i < contactPairs->size(); i++) { @@ -1057,7 +1050,7 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List // If there are two many contact points in the manifold if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { - Transform shape1LocalToWorldTransoform = mOverlappingPairs[manifold.pairId]->getShape1()->getLocalToWorldTransform(); + Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(mOverlappingPairs[manifold.pairId]->getProxyShape1()); // Reduce the number of contact points in the manifold reduceContactPoints(manifold, shape1LocalToWorldTransoform, potentialContactPoints); @@ -1280,7 +1273,7 @@ void CollisionDetectionSystem::reportContacts() { void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List* contactPairs, List* manifolds, List* contactPoints) { - RP3D_PROFILE("CollisionDetection::reportContacts()", mProfiler); + RP3D_PROFILE("CollisionDetectionSystem::reportContacts()", mProfiler); // If there are contacts if (contactPairs->size() > 0) { @@ -1420,12 +1413,12 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, Overlap OverlappingPair* pair = it->second; - if (pair->getShape1()->getBody()->getEntity() == bodyEntity || pair->getShape2()->getBody()->getEntity() == bodyEntity) { + if (mProxyShapesComponents.getBody(pair->getProxyShape1()) == bodyEntity || + mProxyShapesComponents.getBody(pair->getProxyShape2()) == bodyEntity) { outFilteredPairs.add(Pair, OverlappingPair*>(it->first, pair)); } } - } // Filter the overlapping pairs to keep only the pairs where two given bodies are involved @@ -1436,13 +1429,12 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity OverlappingPair* pair = it->second; - if ((pair->getShape1()->getBody()->getEntity() == body1Entity && pair->getShape2()->getBody()->getEntity() == body2Entity) || - (pair->getShape1()->getBody()->getEntity() == body2Entity && pair->getShape2()->getBody()->getEntity() == body1Entity)) { + if ((mProxyShapesComponents.getBody(pair->getProxyShape1()) == body1Entity && mProxyShapesComponents.getBody(pair->getProxyShape2()) == body2Entity) || + (mProxyShapesComponents.getBody(pair->getProxyShape1()) == body2Entity && mProxyShapesComponents.getBody(pair->getProxyShape2()) == body1Entity)) { outFilteredPairs.add(Pair, OverlappingPair*>(it->first, pair)); } } - } // Return the world event listener diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 87a27e86..525525ce 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -292,10 +292,10 @@ class CollisionDetectionSystem { void updateProxyShapes(decimal timeStep); /// Add a pair of bodies that cannot collide with each other - void addNoCollisionPair(CollisionBody* body1, CollisionBody* body2); + void addNoCollisionPair(Entity body1Entity, Entity body2Entity); /// Remove a pair of bodies that cannot collide with each other - void removeNoCollisionPair(CollisionBody* body1, CollisionBody* body2); + void removeNoCollisionPair(Entity body1Entity, Entity body2Entity); /// Ask for a collision shape to be tested again during broad-phase. void askForBroadPhaseCollisionCheck(ProxyShape* shape); @@ -373,15 +373,13 @@ inline void CollisionDetectionSystem::addProxyCollisionShape(ProxyShape* proxySh } // Add a pair of bodies that cannot collide with each other -inline void CollisionDetectionSystem::addNoCollisionPair(CollisionBody* body1, - CollisionBody* body2) { - mNoCollisionPairs.add(OverlappingPair::computeBodiesIndexPair(body1, body2)); +inline void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) { + mNoCollisionPairs.add(OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity)); } // Remove a pair of bodies that cannot collide with each other -inline void CollisionDetectionSystem::removeNoCollisionPair(CollisionBody* body1, - CollisionBody* body2) { - mNoCollisionPairs.remove(OverlappingPair::computeBodiesIndexPair(body1, body2)); +inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, Entity body2Entity) { + mNoCollisionPairs.remove(OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity)); } // Ask for a collision shape to be tested again during broad-phase. From 43b818573a1b497ec7e0bce1d0a7b037faf2ec8c Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 21 Oct 2019 07:22:18 +0200 Subject: [PATCH 099/197] Improve rendering of testbed application (flat shading, 3 light sources, ...) --- testbed/common/Box.cpp | 11 +- testbed/common/ConvexMesh.cpp | 48 +- testbed/common/ConvexMesh.h | 12 +- testbed/common/PhysicsObject.cpp | 8 +- testbed/meshes/convexmesh.obj | 304 ++++-- testbed/meshes/cube.obj | 52 +- .../opengl-framework/src/MeshReaderWriter.cpp | 103 +- .../opengl-framework/src/MeshReaderWriter.h | 11 + testbed/opengl-framework/src/Shader.h | 17 +- .../CollisionDetectionScene.cpp | 700 ++++++------- .../collisionshapes/CollisionShapesScene.cpp | 24 +- .../scenes/concavemesh/ConcaveMeshScene.cpp | 24 +- testbed/scenes/cubes/CubesScene.cpp | 278 ++--- testbed/scenes/cubestack/CubeStackScene.cpp | 8 +- .../scenes/heightfield/HeightFieldScene.cpp | 24 +- testbed/scenes/joints/JointsScene.cpp | 28 +- testbed/scenes/raycast/RaycastScene.cpp | 28 +- testbed/shaders/phong.frag | 218 ++-- testbed/shaders/phong.vert | 142 +-- testbed/src/Main.cpp | 113 +- testbed/src/SceneDemo.cpp | 982 ++++++++++-------- testbed/src/SceneDemo.h | 384 +++---- testbed/src/TestbedApplication.cpp | 786 +++++++------- testbed/src/TestbedApplication.h | 520 +++++----- 24 files changed, 2588 insertions(+), 2237 deletions(-) mode change 100755 => 100644 testbed/scenes/collisiondetection/CollisionDetectionScene.cpp diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 6d685086..78cd90d9 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -84,12 +84,6 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Dynam const std::string& meshFolderPath) : PhysicsObject(meshFolderPath + "cube.obj") { - // Load the mesh from a file - openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "cube.obj", *this); - - // Calculate the normals of the mesh - calculateNormals(); - // Initialize the size of the box mSize[0] = size.x * 0.5f; mSize[1] = size.y * 0.5f; @@ -200,8 +194,7 @@ void Box::render(openglframework::Shader& shader, const openglframework::Matrix4 } // Create the Vertex Buffer Objects used to render to box with OpenGL. -/// We create two VBOs (one for vertices and one for indices) to render all the boxes -/// in the simulation. +/// We create two VBOs (one for vertices and one for indices) to render the box void Box::createVBOAndVAO() { // Create the VBO for the vertices data @@ -227,7 +220,7 @@ void Box::createVBOAndVAO() { mVBOTextureCoords.unbind(); } - // Create th VBO for the indices data + // Create the VBO for the indices data mVBOIndices.create(); mVBOIndices.bind(); size_t sizeIndices = mIndices[0].size() * sizeof(unsigned int); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 95e41dd1..c146a447 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -25,6 +25,7 @@ // Libraries #include "ConvexMesh.h" +#include // Constructor ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath) @@ -39,6 +40,19 @@ ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath) mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)]; rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces; for (int f=0; f < getNbFaces(0); f++) { + + for (int v = 0; v < 3; v++) { + + const openglframework::Vector3 vertex = mVertices[mIndices[0][f*3 + v]]; + int vIndex = findVertexIndex(mConvexMeshVertices, vertex); + if (vIndex == -1) { + vIndex = mConvexMeshVertices.size(); + mConvexMeshVertices.push_back(vertex); + } + + mConvexMeshIndices.push_back(vIndex); + } + face->indexBase = f * 3; face->nbVertices = 3; face++; @@ -46,8 +60,8 @@ ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath) // Create the polygon vertex array mPolygonVertexArray = - new rp3d::PolygonVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3), - &(mIndices[0][0]), sizeof(int), + new rp3d::PolygonVertexArray(mConvexMeshVertices.size(), &(mConvexMeshVertices[0]), sizeof(openglframework::Vector3), + &(mConvexMeshIndices[0]), sizeof(int), getNbFaces(0), mPolygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -86,6 +100,19 @@ ConvexMesh::ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)]; rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces; for (int f=0; f < getNbFaces(0); f++) { + + for (int v = 0; v < 3; v++) { + + const openglframework::Vector3 vertex = mVertices[mIndices[0][f*3 + v]]; + int vIndex = findVertexIndex(mConvexMeshVertices, vertex); + if (vIndex == -1) { + vIndex = mConvexMeshVertices.size(); + mConvexMeshVertices.push_back(vertex); + } + + mConvexMeshIndices.push_back(vIndex); + } + face->indexBase = f * 3; face->nbVertices = 3; face++; @@ -93,8 +120,8 @@ ConvexMesh::ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std // Create the polygon vertex array mPolygonVertexArray = - new rp3d::PolygonVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3), - &(mIndices[0][0]), sizeof(int), + new rp3d::PolygonVertexArray(mConvexMeshVertices.size(), &(mConvexMeshVertices[0]), sizeof(openglframework::Vector3), + &(mConvexMeshIndices[0]), sizeof(int), getNbFaces(0), mPolygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); @@ -254,3 +281,16 @@ void ConvexMesh::createVBOAndVAO() { // Unbind the VAO mVAO.unbind(); } + +// Return the index of a given vertex in the mesh +int ConvexMesh::findVertexIndex(const std::vector& vertices, const openglframework::Vector3& vertex) { + + for (int i = 0; i < vertices.size(); i++) { + if (vertices[i] == vertex) { + return i; + } + } + + return -1; +} + diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index cc8c1599..921d273b 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -69,11 +69,21 @@ class ConvexMesh : public PhysicsObject { /// Vertex Array Object for the vertex data openglframework::VertexArrayObject mVAO; + /// Array with the vertices of the convex mesh + /// (only the vertices used for the physics shape, not duplicate vertices used for rendering) + std::vector mConvexMeshVertices; + + /// Array with the vertex indices of the convex mesh (used for the physics shape) + std::vector mConvexMeshIndices; + // -------------------- Methods -------------------- // - // Create the Vertex Buffer Objects used to render with OpenGL. + /// Create the Vertex Buffer Objects used to render with OpenGL. void createVBOAndVAO(); + /// Return the index of a given vertex in the mesh + int findVertexIndex(const std::vector& vertices, const openglframework::Vector3& vertex); + public : // -------------------- Methods -------------------- // diff --git a/testbed/common/PhysicsObject.cpp b/testbed/common/PhysicsObject.cpp index ca23caef..d53f397b 100644 --- a/testbed/common/PhysicsObject.cpp +++ b/testbed/common/PhysicsObject.cpp @@ -40,8 +40,12 @@ PhysicsObject::PhysicsObject(const std::string& meshPath) : PhysicsObject() { // Load the mesh from a file openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); - // Calculate the normals of the mesh - calculateNormals(); + // If the mesh file do not have normals + if (mNormals.empty()) { + + // Calculate the normals of the mesh + calculateNormals(); + } } // Compute the new transform matrix diff --git a/testbed/meshes/convexmesh.obj b/testbed/meshes/convexmesh.obj index 7a194f13..11b64c24 100644 --- a/testbed/meshes/convexmesh.obj +++ b/testbed/meshes/convexmesh.obj @@ -1,125 +1,205 @@ -# Blender v2.66 (sub 0) OBJ File: '' +# Blender v2.80 (sub 75) OBJ File: '' # www.blender.org -v 0.000000 -1.000000 0.000000 -v 0.723607 -0.447220 0.525725 -v -0.276388 -0.447220 0.850649 -v -0.894426 -0.447216 0.000000 -v -0.276388 -0.447220 -0.850649 -v 0.723607 -0.447220 -0.525725 -v 0.276388 0.447220 0.850649 -v -0.723607 0.447220 0.525725 -v -0.723607 0.447220 -0.525725 -v 0.276388 0.447220 -0.850649 -v 0.894426 0.447216 0.000000 -v 0.000000 1.000000 0.000000 +v 0.000000 -1.000000 -0.000000 v 0.425323 -0.850654 0.309011 -v 0.262869 -0.525738 0.809012 v -0.162456 -0.850654 0.499995 -v 0.425323 -0.850654 -0.309011 -v 0.850648 -0.525736 0.000000 -v -0.688189 -0.525736 0.499997 -v -0.525730 -0.850652 0.000000 -v -0.688189 -0.525736 -0.499997 +v 0.723607 -0.447220 0.525725 +v 0.850648 -0.525736 -0.000000 +v -0.525730 -0.850652 -0.000000 v -0.162456 -0.850654 -0.499995 -v 0.262869 -0.525738 -0.809012 -v 0.951058 0.000000 -0.309013 -v 0.951058 0.000000 0.309013 -v 0.587786 0.000000 0.809017 -v 0.000000 0.000000 1.000000 -v -0.587786 0.000000 0.809017 -v -0.951058 0.000000 0.309013 -v -0.951058 0.000000 -0.309013 +v 0.425323 -0.850654 -0.309011 +v 0.951058 -0.000000 0.309013 +v -0.276388 -0.447220 0.850649 +v 0.262869 -0.525738 0.809012 +v 0.000000 -0.000000 1.000000 +v -0.894426 -0.447216 -0.000000 +v -0.688189 -0.525736 0.499997 +v -0.951058 -0.000000 0.309013 +v -0.276388 -0.447220 -0.850649 +v -0.688189 -0.525736 -0.499997 v -0.587786 0.000000 -0.809017 -v 0.000000 0.000000 -1.000000 +v 0.723607 -0.447220 -0.525725 +v 0.262869 -0.525738 -0.809012 v 0.587786 0.000000 -0.809017 +v 0.587786 -0.000000 0.809017 +v -0.587786 -0.000000 0.809017 +v -0.951058 0.000000 -0.309013 +v 0.000000 0.000000 -1.000000 +v 0.951058 0.000000 -0.309013 +v 0.276388 0.447220 0.850649 v 0.688189 0.525736 0.499997 +v 0.162456 0.850654 0.499995 +v -0.723607 0.447220 0.525725 v -0.262869 0.525738 0.809012 +v -0.425323 0.850654 0.309011 +v -0.723607 0.447220 -0.525725 v -0.850648 0.525736 0.000000 +v -0.425323 0.850654 -0.309011 +v 0.276388 0.447220 -0.850649 v -0.262869 0.525738 -0.809012 +v 0.162456 0.850654 -0.499995 +v 0.894426 0.447216 0.000000 v 0.688189 0.525736 -0.499997 v 0.525730 0.850652 0.000000 -v 0.162456 0.850654 0.499995 -v -0.425323 0.850654 0.309011 -v -0.425323 0.850654 -0.309011 -v 0.162456 0.850654 -0.499995 +v 0.000000 1.000000 0.000000 +vn 0.1024 -0.9435 0.3151 +vn 0.7002 -0.6617 0.2680 +vn -0.2680 -0.9435 0.1947 +vn -0.2680 -0.9435 -0.1947 +vn 0.1024 -0.9435 -0.3151 +vn 0.9050 -0.3304 0.2680 +vn 0.0247 -0.3304 0.9435 +vn -0.8897 -0.3304 0.3151 +vn -0.5746 -0.3304 -0.7488 +vn 0.5346 -0.3304 -0.7779 +vn 0.8026 -0.1256 0.5831 +vn -0.3066 -0.1256 0.9435 +vn -0.9921 -0.1256 -0.0000 +vn -0.3066 -0.1256 -0.9435 +vn 0.8026 -0.1256 -0.5831 +vn 0.4089 0.6617 0.6284 +vn -0.4713 0.6617 0.5831 +vn -0.7002 0.6617 -0.2680 +vn 0.0385 0.6617 -0.7488 +vn 0.7240 0.6617 -0.1947 +vn -0.0385 -0.6617 0.7488 +vn 0.1876 -0.7947 0.5773 +vn 0.4713 -0.6617 0.5831 +vn 0.7002 -0.6617 -0.2680 +vn 0.6071 -0.7947 0.0000 +vn 0.3313 -0.9435 -0.0000 +vn -0.7240 -0.6617 0.1947 +vn -0.4911 -0.7947 0.3568 +vn -0.4089 -0.6617 0.6284 +vn -0.4089 -0.6617 -0.6284 +vn -0.4911 -0.7947 -0.3568 +vn -0.7240 -0.6617 -0.1947 +vn 0.4713 -0.6617 -0.5831 +vn 0.1876 -0.7947 -0.5773 +vn -0.0385 -0.6617 -0.7488 +vn 0.9921 0.1256 0.0000 +vn 0.9822 -0.1876 -0.0000 +vn 0.9050 -0.3304 -0.2680 +vn 0.3066 0.1256 0.9435 +vn 0.3035 -0.1876 0.9342 +vn 0.5346 -0.3304 0.7779 +vn -0.8026 0.1256 0.5831 +vn -0.7947 -0.1876 0.5773 +vn -0.5746 -0.3304 0.7488 +vn -0.8026 0.1256 -0.5831 +vn -0.7947 -0.1876 -0.5773 +vn -0.8897 -0.3304 -0.3151 +vn 0.3066 0.1256 -0.9435 +vn 0.3035 -0.1876 -0.9342 +vn 0.0247 -0.3304 -0.9435 +vn 0.5746 0.3304 0.7488 +vn 0.7947 0.1876 0.5773 +vn 0.8897 0.3304 0.3151 +vn -0.5346 0.3304 0.7779 +vn -0.3035 0.1876 0.9342 +vn -0.0247 0.3304 0.9435 +vn -0.9050 0.3304 -0.2680 +vn -0.9822 0.1876 0.0000 +vn -0.9050 0.3304 0.2680 +vn -0.0247 0.3304 -0.9435 +vn -0.3035 0.1876 -0.9342 +vn -0.5346 0.3304 -0.7779 +vn 0.8897 0.3304 -0.3151 +vn 0.7947 0.1876 -0.5773 +vn 0.5746 0.3304 -0.7488 +vn 0.2680 0.9435 0.1947 +vn 0.4911 0.7947 0.3568 +vn 0.7240 0.6617 0.1947 +vn -0.1024 0.9435 0.3151 +vn -0.1876 0.7947 0.5773 +vn 0.0385 0.6617 0.7488 +vn -0.3313 0.9435 0.0000 +vn -0.6071 0.7947 0.0000 +vn -0.7002 0.6617 0.2680 +vn -0.1024 0.9435 -0.3151 +vn -0.1876 0.7947 -0.5773 +vn -0.4713 0.6617 -0.5831 +vn 0.2680 0.9435 -0.1947 +vn 0.4911 0.7947 -0.3568 +vn 0.4089 0.6617 -0.6284 s off -f 1 13 15 -f 2 13 17 -f 1 15 19 -f 1 19 21 -f 1 21 16 -f 2 17 24 -f 3 14 26 -f 4 18 28 -f 5 20 30 -f 6 22 32 -f 2 24 25 -f 3 26 27 -f 4 28 29 -f 5 30 31 -f 6 32 23 -f 7 33 39 -f 8 34 40 -f 9 35 41 -f 10 36 42 -f 11 37 38 -f 15 14 3 -f 15 13 14 -f 13 2 14 -f 17 16 6 -f 17 13 16 -f 13 1 16 -f 19 18 4 -f 19 15 18 -f 15 3 18 -f 21 20 5 -f 21 19 20 -f 19 4 20 -f 16 22 6 -f 16 21 22 -f 21 5 22 -f 24 23 11 -f 24 17 23 -f 17 6 23 -f 26 25 7 -f 26 14 25 -f 14 2 25 -f 28 27 8 -f 28 18 27 -f 18 3 27 -f 30 29 9 -f 30 20 29 -f 20 4 29 -f 32 31 10 -f 32 22 31 -f 22 5 31 -f 25 33 7 -f 25 24 33 -f 24 11 33 -f 27 34 8 -f 27 26 34 -f 26 7 34 -f 29 35 9 -f 29 28 35 -f 28 8 35 -f 31 36 10 -f 31 30 36 -f 30 9 36 -f 23 37 11 -f 23 32 37 -f 32 10 37 -f 39 38 12 -f 39 33 38 -f 33 11 38 -f 40 39 12 -f 40 34 39 -f 34 7 39 -f 41 40 12 -f 41 35 40 -f 35 8 40 -f 42 41 12 -f 42 36 41 -f 36 9 41 -f 38 42 12 -f 38 37 42 -f 37 10 42 +f 1//1 2//1 3//1 +f 4//2 2//2 5//2 +f 1//3 3//3 6//3 +f 1//4 6//4 7//4 +f 1//5 7//5 8//5 +f 4//6 5//6 9//6 +f 10//7 11//7 12//7 +f 13//8 14//8 15//8 +f 16//9 17//9 18//9 +f 19//10 20//10 21//10 +f 4//11 9//11 22//11 +f 10//12 12//12 23//12 +f 13//13 15//13 24//13 +f 16//14 18//14 25//14 +f 19//15 21//15 26//15 +f 27//16 28//16 29//16 +f 30//17 31//17 32//17 +f 33//18 34//18 35//18 +f 36//19 37//19 38//19 +f 39//20 40//20 41//20 +f 3//21 11//21 10//21 +f 3//22 2//22 11//22 +f 2//23 4//23 11//23 +f 5//24 8//24 19//24 +f 5//25 2//25 8//25 +f 2//26 1//26 8//26 +f 6//27 14//27 13//27 +f 6//28 3//28 14//28 +f 3//29 10//29 14//29 +f 7//30 17//30 16//30 +f 7//31 6//31 17//31 +f 6//32 13//32 17//32 +f 8//33 20//33 19//33 +f 8//34 7//34 20//34 +f 7//35 16//35 20//35 +f 9//36 26//36 39//36 +f 9//37 5//37 26//37 +f 5//38 19//38 26//38 +f 12//39 22//39 27//39 +f 12//40 11//40 22//40 +f 11//41 4//41 22//41 +f 15//42 23//42 30//42 +f 15//43 14//43 23//43 +f 14//44 10//44 23//44 +f 18//45 24//45 33//45 +f 18//46 17//46 24//46 +f 17//47 13//47 24//47 +f 21//48 25//48 36//48 +f 21//49 20//49 25//49 +f 20//50 16//50 25//50 +f 22//51 28//51 27//51 +f 22//52 9//52 28//52 +f 9//53 39//53 28//53 +f 23//54 31//54 30//54 +f 23//55 12//55 31//55 +f 12//56 27//56 31//56 +f 24//57 34//57 33//57 +f 24//58 15//58 34//58 +f 15//59 30//59 34//59 +f 25//60 37//60 36//60 +f 25//61 18//61 37//61 +f 18//62 33//62 37//62 +f 26//63 40//63 39//63 +f 26//64 21//64 40//64 +f 21//65 36//65 40//65 +f 29//66 41//66 42//66 +f 29//67 28//67 41//67 +f 28//68 39//68 41//68 +f 32//69 29//69 42//69 +f 32//70 31//70 29//70 +f 31//71 27//71 29//71 +f 35//72 32//72 42//72 +f 35//73 34//73 32//73 +f 34//74 30//74 32//74 +f 38//75 35//75 42//75 +f 38//76 37//76 35//76 +f 37//77 33//77 35//77 +f 41//78 38//78 42//78 +f 41//79 40//79 38//79 +f 40//80 36//80 38//80 diff --git a/testbed/meshes/cube.obj b/testbed/meshes/cube.obj index 167925a5..a5ef7cfa 100644 --- a/testbed/meshes/cube.obj +++ b/testbed/meshes/cube.obj @@ -1,17 +1,43 @@ -# Blender v2.72 (sub 0) OBJ File: '' +# Blender v2.80 (sub 75) OBJ File: '' # www.blender.org -v -1.000000 -1.000000 1.000000 -v -1.000000 -1.000000 -1.000000 -v 1.000000 -1.000000 -1.000000 -v 1.000000 -1.000000 1.000000 -v -1.000000 1.000000 1.000000 -v -1.000000 1.000000 -1.000000 v 1.000000 1.000000 -1.000000 +v 1.000000 -1.000000 -1.000000 v 1.000000 1.000000 1.000000 +v 1.000000 -1.000000 1.000000 +v -1.000000 1.000000 -1.000000 +v -1.000000 -1.000000 -1.000000 +v -1.000000 1.000000 1.000000 +v -1.000000 -1.000000 1.000000 +vt 0.375000 0.000000 +vt 0.625000 0.000000 +vt 0.625000 0.250000 +vt 0.375000 0.250000 +vt 0.375000 0.250000 +vt 0.625000 0.250000 +vt 0.625000 0.500000 +vt 0.375000 0.500000 +vt 0.625000 0.750000 +vt 0.375000 0.750000 +vt 0.625000 0.750000 +vt 0.625000 1.000000 +vt 0.375000 1.000000 +vt 0.125000 0.500000 +vt 0.375000 0.500000 +vt 0.375000 0.750000 +vt 0.125000 0.750000 +vt 0.625000 0.500000 +vt 0.875000 0.500000 +vt 0.875000 0.750000 +vn 0.0000 1.0000 0.0000 +vn 0.0000 0.0000 1.0000 +vn -1.0000 0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn 1.0000 0.0000 0.0000 +vn 0.0000 0.0000 -1.0000 s off -f 5 6 2 1 -f 6 7 3 2 -f 7 8 4 3 -f 8 5 1 4 -f 1 2 3 4 -f 8 7 6 5 +f 1/1/1 5/2/1 7/3/1 3/4/1 +f 4/5/2 3/6/2 7/7/2 8/8/2 +f 8/8/3 7/7/3 5/9/3 6/10/3 +f 6/10/4 2/11/4 4/12/4 8/13/4 +f 2/14/5 1/15/5 3/16/5 4/17/5 +f 6/18/6 5/19/6 1/20/6 2/11/6 diff --git a/testbed/opengl-framework/src/MeshReaderWriter.cpp b/testbed/opengl-framework/src/MeshReaderWriter.cpp index 275226ae..321a1282 100644 --- a/testbed/opengl-framework/src/MeshReaderWriter.cpp +++ b/testbed/opengl-framework/src/MeshReaderWriter.cpp @@ -31,6 +31,8 @@ #include #include #include +#include +#include using namespace openglframework; using namespace std; @@ -112,6 +114,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { std::vector normalsIndices; std::vector uvsIndices; + // ---------- Collect the data from the file ---------- // // For each line of the file @@ -142,7 +145,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { line = buffer; found1 = (int)line.find("/"); bool isFaceQuad = false; - int foundNext = (int)line.substr(found1+1).find("/"); + found2 = (int)line.substr(found1+1).find("/"); // If the face definition is of the form "f v1 v2 v3 v4" if(found1 == string::npos) { @@ -150,11 +153,21 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { if (nbVertices == 4) isFaceQuad = true; } // If the face definition is of the form "f v1// v2// v3// v4//" - else if (foundNext == 0) { + else if (found2 == 0 && (int)line.substr(found1+found2+1).find(" ") == 0) { int nbVertices = sscanf(buffer.c_str(), "%*s %d// %d// %d// %d//", &id1, &id2, &id3, &id4); if (nbVertices == 4) isFaceQuad = true; } - else { // If the face definition contains vertices and texture coordinates + else { // If the face definition contains vertices and (texture coordinates or normals) + + tId1 = -1; + tId2 = -1; + tId3 = -1; + tId4 = -1; + + nId1 = -1; + nId2 = -1; + nId3 = -1; + nId4 = -1; //get the part of the string until the second index tmp = line.substr(found1+1); @@ -166,6 +179,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { if(found2 == string::npos) { int n = sscanf(buffer.c_str(), "%*s %d/%d %d/%d %d/%d %d/%d", &id1, &tId1, &id2, &tId2, &id3, &tId3, &id4, &tId4); if (n == 8) isFaceQuad = true; + uvsIndices.push_back(tId1-1); uvsIndices.push_back(tId2-1); uvsIndices.push_back(tId3-1); @@ -174,8 +188,11 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { else { tmp = line.substr(found1+1); found2 = (int)tmp.find("/"); + if (found2 > 1000) { + int test = 2; + } - // If the face definition is of the form "f vert1/normal1 vert2/normal2 ..." + // If the face definition is of the form "f vert1//normal1 vert2//normal2 ..." if(found2 == 0) { int n = sscanf(buffer.c_str(), "%*s %d//%d %d//%d %d//%d %d//%d", &id1, &nId1, &id2, &nId2, &id3, &nId3, &id4, &nId4); if (n == 8) isFaceQuad = true; @@ -213,39 +230,84 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { // Destroy the current mesh meshToCreate.destroy(); + // This is used to create duplicate vertices if a vertex with index "i" from a face does not + // have same texture coordinates or normals as a previous vertex with index "i". + unordered_map, uint> mapVertNormTexToVertexIndex; + // Mesh data vector > meshIndices; + vector meshVertices; vector meshNormals; - if (!normals.empty()) meshNormals = vector(vertices.size(), Vector3(0, 0, 0)); + //if (!normals.empty()) meshNormals = vector(vertices.size(), Vector3(0, 0, 0)); vector meshUVs; - if (!uvs.empty()) meshUVs = vector(vertices.size(), Vector2(0, 0)); + //if (!uvs.empty()) meshUVs = vector(vertices.size(), Vector2(0, 0)); // We cannot load mesh with several parts for the moment uint meshPart = 0; + const bool hasNormals = !normalsIndices.empty() && !normals.empty(); + const bool hasUvs = !uvsIndices.empty() && !uvs.empty(); + // Fill in the vertex indices // We also triangulate each quad face meshIndices.push_back(std::vector()); for(size_t i = 0, j = 0; i < verticesIndices.size(); j++) { - // Get the current vertex IDs - uint i1 = verticesIndices[i]; - uint i2 = verticesIndices[i+1]; - uint i3 = verticesIndices[i+2]; + // 3 if the current vertices form a triangle and 4 if they form a quad + const int nbVertices = isQuad[j] ? 4 : 3; + int newVerticesIndices[4] = { -1, -1, -1, -1 }; + + // For each vertex, we check if there is already a vertex with same UV and normals. + for (int v = 0; v < nbVertices; v++) { + + int normalIndex = hasNormals ? normalsIndices[i + v] : -1; + int uvIndex = hasUvs ? uvsIndices[i + v] : -1; + + // If the vertex with same UV and normal doesn't exist yet in the map + tuple key = std::make_tuple(verticesIndices[i+v], normalIndex, uvIndex); + auto itFound = mapVertNormTexToVertexIndex.find(key); + if (itFound == mapVertNormTexToVertexIndex.end()) { + + // Create a new vertex + newVerticesIndices[v]= meshVertices.size(); + meshVertices.push_back(vertices[verticesIndices[i+v]]); + if (hasNormals) { + meshNormals.push_back(normals[normalsIndices[i+v]]); + } + if (hasUvs) { + meshUVs.push_back(uvs[uvsIndices[i+v]]); + } + + mapVertNormTexToVertexIndex.insert(std::make_pair(key, newVerticesIndices[v])); + } + else { + // Get the vertex index to use + newVerticesIndices[v] = itFound->second; + } + } + + // Get the current vertex IDs + uint i1 = newVerticesIndices[0]; + uint i2 = newVerticesIndices[1]; + uint i3 = newVerticesIndices[2]; + uint i4 = newVerticesIndices[3]; + + /* // Add the vertex normal - if (!normalsIndices.empty() && !normals.empty()) { + if (hasNormals) { meshNormals[i1] = normals[normalsIndices[i]]; meshNormals[i2] = normals[normalsIndices[i+1]]; meshNormals[i3] = normals[normalsIndices[i+2]]; } // Add the vertex UV texture coordinates - if (!uvsIndices.empty() && !uvs.empty()) { + if (hasUvs) { meshUVs[i1] = uvs[uvsIndices[i]]; meshUVs[i2] = uvs[uvsIndices[i+1]]; meshUVs[i3] = uvs[uvsIndices[i+2]]; } + */ // If the current vertex not in a quad (it is part of a triangle) if (!isQuad[j]) { @@ -259,11 +321,10 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { } else { // If the current vertex is in a quad - Vector3 v1 = vertices[i1]; - Vector3 v2 = vertices[i2]; - Vector3 v3 = vertices[i3]; - uint i4 = verticesIndices[i+3]; - Vector3 v4 = vertices[i4]; + Vector3 v1 = meshVertices[i1]; + Vector3 v2 = meshVertices[i2]; + Vector3 v3 = meshVertices[i3]; + Vector3 v4 = meshVertices[i4]; Vector3 v13 = v3-v1; Vector3 v12 = v2-v1; @@ -288,6 +349,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { meshIndices[meshPart].push_back(i4); } + /* // Add the vertex normal if (!normalsIndices.empty() && !normals.empty()) { meshNormals[i4] = normals[normalsIndices[i]]; @@ -297,17 +359,18 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) { if (!uvsIndices.empty() && !uvs.empty()) { meshUVs[i4] = uvs[uvsIndices[i]]; } + */ i+=4; } } - assert(meshNormals.empty() || meshNormals.size() == vertices.size()); - assert(meshUVs.empty() || meshUVs.size() == vertices.size()); + assert(meshNormals.empty() || meshNormals.size() == meshVertices.size()); + assert(meshUVs.empty() || meshUVs.size() == meshVertices.size()); // Set the data to the mesh meshToCreate.setIndices(meshIndices); - meshToCreate.setVertices(vertices); + meshToCreate.setVertices(meshVertices); meshToCreate.setNormals(meshNormals); meshToCreate.setUVs(meshUVs); } diff --git a/testbed/opengl-framework/src/MeshReaderWriter.h b/testbed/opengl-framework/src/MeshReaderWriter.h index 7b85758c..509fbe58 100644 --- a/testbed/opengl-framework/src/MeshReaderWriter.h +++ b/testbed/opengl-framework/src/MeshReaderWriter.h @@ -93,4 +93,15 @@ class VertexMergingDataComparison { } +namespace std { + template<> + struct hash> + { + size_t operator()(const std::tuple& key) const + { + return std::get<0>(key) ^ std::get<1>(key) ^ std::get<2>(key); + } + }; +} + #endif diff --git a/testbed/opengl-framework/src/Shader.h b/testbed/opengl-framework/src/Shader.h index daaad6be..c01c880c 100644 --- a/testbed/opengl-framework/src/Shader.h +++ b/testbed/opengl-framework/src/Shader.h @@ -95,6 +95,11 @@ class Shader { // to set it, an assert will occur) void setIntUniform(const std::string& variableName, int value, bool errorIfMissing = true) const; + // Set an array of int uniform values to this shader (be careful if the uniform is not + // used in the shader, the compiler will remove it, then when you will try + // to set it, an assert will occur) + void setIntArrayUniform(const std::string& variableName, GLint* values, int nbValues, bool errorIfMissing = true) const; + // Set a vector 2 uniform value to this shader (be careful if the uniform is not // used in the shader, the compiler will remove it, then when you will try // to set it, an assert will occur) @@ -159,7 +164,7 @@ inline GLint Shader::getUniformLocation(const std::string& variableName, bool er std::cerr << "Error in vertex shader " << mFilenameVertexShader << " or in fragment shader" << mFilenameFragmentShader << " : No Uniform variable : " << variableName << std::endl; - throw std::logic_error("Error in Shader"); + //throw std::logic_error("Error in Shader"); } return location; @@ -209,6 +214,16 @@ inline void Shader::setIntUniform(const std::string& variableName, int value, bo } } +// Set an array of int uniform values to this shader (be careful if the uniform is not +// used in the shader, the compiler will remove it, then when you will try +// to set it, an assert will occur) +inline void Shader::setIntArrayUniform(const std::string& variableName, GLint* values, int nbValues, bool errorIfMissing) const { + assert(mProgramObjectID != 0); + GLint location = getUniformLocation(variableName, errorIfMissing); + if (location != -1) { + glUniform1iv(location, nbValues, values); + } +} // Set a vector 2 uniform value to this shader (be careful if the uniform is not // used in the shader, the compiler will remove it, then when you will try // to set it, an assert will occur) diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp old mode 100755 new mode 100644 index ea57959c..ffc59487 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -1,350 +1,350 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "CollisionDetectionScene.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifold.h" - -// Namespaces -using namespace openglframework; -using namespace collisiondetectionscene; - -// Constructor -CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), - mContactManager(mPhongShader, mMeshFolderPath), - mAreNormalsDisplayed(false) { - - mSelectedShapeIndex = 0; - mIsContactPointsDisplayed = true; - mIsWireframeEnabled = true; - - // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 0, 0); - - // Set the center of the scene - setScenePosition(center, SCENE_RADIUS); - - rp3d::WorldSettings worldSettings; - worldSettings.worldName = name; - - // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::CollisionWorld(worldSettings); - - // ---------- Sphere 1 ---------- // - - // Create a sphere and a corresponding collision body in the dynamics world - mSphere1 = new Sphere(4, mPhysicsWorld, mMeshFolderPath); - mAllShapes.push_back(mSphere1); - - // Set the color - mSphere1->setColor(mGreyColorDemo); - mSphere1->setSleepingColor(mRedColorDemo); - //mSphere1->setScaling(0.5f); - mPhysicsObjects.push_back(mSphere1); - - // ---------- Sphere 2 ---------- // - - // Create a sphere and a corresponding collision body in the dynamics world - mSphere2 = new Sphere(2, mPhysicsWorld, mMeshFolderPath); - mAllShapes.push_back(mSphere2); - - // Set the color - mSphere2->setColor(mGreyColorDemo); - mSphere2->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mSphere2); - - - // ---------- Capsule 1 ---------- // - - // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); - mAllShapes.push_back(mCapsule1); - - // Set the color - mCapsule1->setColor(mGreyColorDemo); - mCapsule1->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mCapsule1); - - // ---------- Capsule 2 ---------- // - - // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); - mAllShapes.push_back(mCapsule2); - - // Set the color - mCapsule2->setColor(mGreyColorDemo); - mCapsule2->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mCapsule2); - - // ---------- Concave Mesh ---------- // - - // Create a convex mesh and a corresponding collision body in the dynamics world - mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj"); - mAllShapes.push_back(mConcaveMesh); - - // Set the color - mConcaveMesh->setColor(mGreyColorDemo); - mConcaveMesh->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mConcaveMesh); - - // ---------- Box 1 ---------- // - - // Create a cylinder and a corresponding collision body in the dynamics world - mBox1 = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath); - mAllShapes.push_back(mBox1); - - // Set the color - mBox1->setColor(mGreyColorDemo); - mBox1->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mBox1); - - // ---------- Box 2 ---------- // - - // Create a cylinder and a corresponding collision body in the dynamics world - mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsWorld, mMeshFolderPath); - mAllShapes.push_back(mBox2); - - // Set the color - mBox2->setColor(mGreyColorDemo); - mBox2->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mBox2); - - // ---------- Convex Mesh ---------- // - - // Create a convex mesh and a corresponding collision body in the dynamics world - mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); - mAllShapes.push_back(mConvexMesh); - - // Set the color - mConvexMesh->setColor(mGreyColorDemo); - mConvexMesh->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mConvexMesh); - - // ---------- Heightfield ---------- // - - // Create a convex mesh and a corresponding collision body in the dynamics world - mHeightField = new HeightField(mPhysicsWorld); - - // Set the color - mHeightField->setColor(mGreyColorDemo); - mHeightField->setSleepingColor(mRedColorDemo); - mPhysicsObjects.push_back(mHeightField); - - mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo); -} - -// Reset the scene -void CollisionDetectionScene::reset() { - - mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity())); - mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity())); - mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity())); - mCapsule2->setTransform(rp3d::Transform(rp3d::Vector3(11, -8, 0), rp3d::Quaternion::identity())); - mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity())); - mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity())); - mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity())); - mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity())); - mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity())); -} - -// Destructor -CollisionDetectionScene::~CollisionDetectionScene() { - - // Destroy the box rigid body from the dynamics world - //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); - //delete mBox; - - // Destroy the spheres - mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody()); - delete mSphere1; - - mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody()); - delete mSphere2; - - mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody()); - delete mCapsule1; - - mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody()); - delete mCapsule2; - - mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody()); - delete mBox1; - - mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody()); - delete mBox2; - - mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); - delete mConvexMesh; - - mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); - delete mConcaveMesh; - - mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); - delete mHeightField; - - mContactManager.resetPoints(); - - // Destroy the static data for the visual contact points - VisualContactPoint::destroyStaticData(); - - // Destroy the collision world - delete mPhysicsWorld; -} - -// Take a step for the simulation -void CollisionDetectionScene::update() { - - mContactManager.resetPoints(); - - mPhysicsWorld->testCollision(&mContactManager); - - SceneDemo::update(); -} - -void CollisionDetectionScene::selectNextShape() { - - uint previousIndex = mSelectedShapeIndex; - mSelectedShapeIndex++; - if (mSelectedShapeIndex >= mAllShapes.size()) { - mSelectedShapeIndex = 0; - } - - mAllShapes[previousIndex]->setColor(mGreyColorDemo); - mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo); -} - -// Called when a keyboard event occurs -bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) { - - // If the space key has been pressed - if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) { - selectNextShape(); - return true; - } - - float stepDist = 0.2f; - float stepAngle = 15 * (3.14f / 180.0f); - - if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0)); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0)); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_UP && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0)); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0)); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_Z && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist)); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_H && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist)); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_A && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation()); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_D && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation()); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_W && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation()); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_S && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation()); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_F && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation()); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - else if (key == GLFW_KEY_G && action == GLFW_PRESS) { - rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); - transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation()); - mAllShapes[mSelectedShapeIndex]->setTransform(transform); - } - - return false; -} - -// This method will be called for each reported contact point -void ContactManager::notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) { - - // For each contact manifold - rp3d::ContactManifoldListElement* manifoldElement = collisionCallbackInfo.contactManifoldElements; - while (manifoldElement != nullptr) { - - // Get the contact manifold - rp3d::ContactManifold* contactManifold = manifoldElement->getContactManifold(); - - // For each contact point - rp3d::ContactPoint* contactPoint = contactManifold->getContactPoints(); - while (contactPoint != nullptr) { - - // Contact normal - rp3d::Vector3 normal = contactPoint->getNormal(); - openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z); - - rp3d::Vector3 point1 = contactPoint->getLocalPointOnShape1(); - point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1; - - openglframework::Vector3 position1(point1.x, point1.y, point1.z); - mContactPoints.push_back(ContactPoint(position1, contactNormal, openglframework::Color::red())); - - rp3d::Vector3 point2 = contactPoint->getLocalPointOnShape2(); - point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2; - openglframework::Vector3 position2(point2.x, point2.y, point2.z); - mContactPoints.push_back(ContactPoint(position2, contactNormal, openglframework::Color::blue())); - - contactPoint = contactPoint->getNext(); - } - - manifoldElement = manifoldElement->getNext(); - } -} +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "CollisionDetectionScene.h" +#include "constraint/ContactPoint.h" +#include "collision/ContactManifold.h" + +// Namespaces +using namespace openglframework; +using namespace collisiondetectionscene; + +// Constructor +CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings) + : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), + mContactManager(mPhongShader, mMeshFolderPath), + mAreNormalsDisplayed(false) { + + mSelectedShapeIndex = 0; + mIsContactPointsDisplayed = true; + mIsWireframeEnabled = true; + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 0, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + + rp3d::WorldSettings worldSettings; + worldSettings.worldName = name; + + // Create the dynamics world for the physics simulation + mPhysicsWorld = new rp3d::CollisionWorld(worldSettings); + + // ---------- Sphere 1 ---------- // + + // Create a sphere and a corresponding collision body in the dynamics world + mSphere1 = new Sphere(4, mPhysicsWorld, mMeshFolderPath); + mAllShapes.push_back(mSphere1); + + // Set the color + mSphere1->setColor(mObjectColorDemo); + mSphere1->setSleepingColor(mSleepingColorDemo); + //mSphere1->setScaling(0.5f); + mPhysicsObjects.push_back(mSphere1); + + // ---------- Sphere 2 ---------- // + + // Create a sphere and a corresponding collision body in the dynamics world + mSphere2 = new Sphere(2, mPhysicsWorld, mMeshFolderPath); + mAllShapes.push_back(mSphere2); + + // Set the color + mSphere2->setColor(mObjectColorDemo); + mSphere2->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mSphere2); + + + // ---------- Capsule 1 ---------- // + + // Create a cylinder and a corresponding collision body in the dynamics world + mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); + mAllShapes.push_back(mCapsule1); + + // Set the color + mCapsule1->setColor(mObjectColorDemo); + mCapsule1->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mCapsule1); + + // ---------- Capsule 2 ---------- // + + // Create a cylinder and a corresponding collision body in the dynamics world + mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); + mAllShapes.push_back(mCapsule2); + + // Set the color + mCapsule2->setColor(mObjectColorDemo); + mCapsule2->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mCapsule2); + + // ---------- Concave Mesh ---------- // + + // Create a convex mesh and a corresponding collision body in the dynamics world + mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj"); + mAllShapes.push_back(mConcaveMesh); + + // Set the color + mConcaveMesh->setColor(mObjectColorDemo); + mConcaveMesh->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mConcaveMesh); + + // ---------- Box 1 ---------- // + + // Create a cylinder and a corresponding collision body in the dynamics world + mBox1 = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath); + mAllShapes.push_back(mBox1); + + // Set the color + mBox1->setColor(mObjectColorDemo); + mBox1->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mBox1); + + // ---------- Box 2 ---------- // + + // Create a cylinder and a corresponding collision body in the dynamics world + mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsWorld, mMeshFolderPath); + mAllShapes.push_back(mBox2); + + // Set the color + mBox2->setColor(mObjectColorDemo); + mBox2->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mBox2); + + // ---------- Convex Mesh ---------- // + + // Create a convex mesh and a corresponding collision body in the dynamics world + mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mAllShapes.push_back(mConvexMesh); + + // Set the color + mConvexMesh->setColor(mObjectColorDemo); + mConvexMesh->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mConvexMesh); + + // ---------- Heightfield ---------- // + + // Create a convex mesh and a corresponding collision body in the dynamics world + mHeightField = new HeightField(mPhysicsWorld); + + // Set the color + mHeightField->setColor(mObjectColorDemo); + mHeightField->setSleepingColor(mSleepingColorDemo); + mPhysicsObjects.push_back(mHeightField); + + mAllShapes[mSelectedShapeIndex]->setColor(mObjectColorDemo); +} + +// Reset the scene +void CollisionDetectionScene::reset() { + + mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity())); + mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity())); + mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity())); + mCapsule2->setTransform(rp3d::Transform(rp3d::Vector3(11, -8, 0), rp3d::Quaternion::identity())); + mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity())); + mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity())); + mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity())); + mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity())); + mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity())); +} + +// Destructor +CollisionDetectionScene::~CollisionDetectionScene() { + + // Destroy the box rigid body from the dynamics world + //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); + //delete mBox; + + // Destroy the spheres + mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody()); + delete mSphere1; + + mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody()); + delete mSphere2; + + mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody()); + delete mCapsule1; + + mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody()); + delete mCapsule2; + + mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody()); + delete mBox1; + + mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody()); + delete mBox2; + + mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); + delete mConvexMesh; + + mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); + delete mConcaveMesh; + + mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); + delete mHeightField; + + mContactManager.resetPoints(); + + // Destroy the static data for the visual contact points + VisualContactPoint::destroyStaticData(); + + // Destroy the collision world + delete mPhysicsWorld; +} + +// Take a step for the simulation +void CollisionDetectionScene::update() { + + mContactManager.resetPoints(); + + mPhysicsWorld->testCollision(&mContactManager); + + SceneDemo::update(); +} + +void CollisionDetectionScene::selectNextShape() { + + uint previousIndex = mSelectedShapeIndex; + mSelectedShapeIndex++; + if (mSelectedShapeIndex >= mAllShapes.size()) { + mSelectedShapeIndex = 0; + } + + mAllShapes[previousIndex]->setColor(mObjectColorDemo); + mAllShapes[mSelectedShapeIndex]->setColor(mSelectedObjectColorDemo); +} + +// Called when a keyboard event occurs +bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) { + + // If the space key has been pressed + if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) { + selectNextShape(); + return true; + } + + float stepDist = 0.2f; + float stepAngle = 15 * (3.14f / 180.0f); + + if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0)); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0)); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_UP && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0)); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0)); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_Z && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist)); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_H && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist)); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_A && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation()); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_D && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation()); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_W && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation()); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_S && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation()); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_F && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation()); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + else if (key == GLFW_KEY_G && action == GLFW_PRESS) { + rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); + transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation()); + mAllShapes[mSelectedShapeIndex]->setTransform(transform); + } + + return false; +} + +// This method will be called for each reported contact point +void ContactManager::notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) { + + // For each contact manifold + rp3d::ContactManifoldListElement* manifoldElement = collisionCallbackInfo.contactManifoldElements; + while (manifoldElement != nullptr) { + + // Get the contact manifold + rp3d::ContactManifold* contactManifold = manifoldElement->getContactManifold(); + + // For each contact point + rp3d::ContactPoint* contactPoint = contactManifold->getContactPoints(); + while (contactPoint != nullptr) { + + // Contact normal + rp3d::Vector3 normal = contactPoint->getNormal(); + openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z); + + rp3d::Vector3 point1 = contactPoint->getLocalPointOnShape1(); + point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1; + + openglframework::Vector3 position1(point1.x, point1.y, point1.z); + mContactPoints.push_back(ContactPoint(position1, contactNormal, openglframework::Color::red())); + + rp3d::Vector3 point2 = contactPoint->getLocalPointOnShape2(); + point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2; + openglframework::Vector3 position2(point2.x, point2.y, point2.z); + mContactPoints.push_back(ContactPoint(position2, contactNormal, openglframework::Color::blue())); + + contactPoint = contactPoint->getNext(); + } + + manifoldElement = manifoldElement->getNext(); + } +} diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index cffe7b50..c89cbfc1 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -57,8 +57,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath); // Set the box color - dumbbell->setColor(mDemoColors[i % mNbDemoColors]); - dumbbell->setSleepingColor(mRedColorDemo); + dumbbell->setColor(mObjectColorDemo); + dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); @@ -76,8 +76,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); // Set the box color - box->setColor(mDemoColors[i % mNbDemoColors]); - box->setSleepingColor(mRedColorDemo); + box->setColor(mObjectColorDemo); + box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = box->getRigidBody()->getMaterial(); @@ -98,8 +98,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color - sphere->setColor(mDemoColors[i % mNbDemoColors]); - sphere->setSleepingColor(mRedColorDemo); + sphere->setColor(mObjectColorDemo); + sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = sphere->getRigidBody()->getMaterial(); @@ -120,8 +120,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); // Set the box color - capsule->setColor(mDemoColors[i % mNbDemoColors]); - capsule->setSleepingColor(mRedColorDemo); + capsule->setColor(mObjectColorDemo); + capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = capsule->getRigidBody()->getMaterial(); @@ -139,8 +139,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj"); // Set the box color - mesh->setColor(mDemoColors[i % mNbDemoColors]); - mesh->setSleepingColor(mRedColorDemo); + mesh->setColor(mObjectColorDemo); + mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = mesh->getRigidBody()->getMaterial(); @@ -157,8 +157,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin mPhysicsObjects.push_back(mFloor); // Set the box color - mFloor->setColor(mGreyColorDemo); - mFloor->setSleepingColor(mGreyColorDemo); + mFloor->setColor(mFloorColorDemo); + mFloor->setSleepingColor(mFloorColorDemo); // The floor must be a static rigid body mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 31a06c0f..15f09d01 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -58,8 +58,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath); // Set the box color - dumbbell->setColor(mDemoColors[i % mNbDemoColors]); - dumbbell->setSleepingColor(mRedColorDemo); + dumbbell->setColor(mObjectColorDemo); + dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); @@ -77,8 +77,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); // Set the box color - box->setColor(mDemoColors[i % mNbDemoColors]); - box->setSleepingColor(mRedColorDemo); + box->setColor(mObjectColorDemo); + box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = box->getRigidBody()->getMaterial(); @@ -99,8 +99,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color - sphere->setColor(mDemoColors[i % mNbDemoColors]); - sphere->setSleepingColor(mRedColorDemo); + sphere->setColor(mObjectColorDemo); + sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = sphere->getRigidBody()->getMaterial(); @@ -121,8 +121,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color - capsule->setColor(mDemoColors[i % mNbDemoColors]); - capsule->setSleepingColor(mRedColorDemo); + capsule->setColor(mObjectColorDemo); + capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = capsule->getRigidBody()->getMaterial(); @@ -140,8 +140,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj"); // Set the box color - mesh->setColor(mDemoColors[i % mNbDemoColors]); - mesh->setSleepingColor(mRedColorDemo); + mesh->setColor(mObjectColorDemo); + mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = mesh->getRigidBody()->getMaterial(); @@ -164,8 +164,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC); // Set the box color - mConcaveMesh->setColor(mGreyColorDemo); - mConcaveMesh->setSleepingColor(mGreyColorDemo); + mConcaveMesh->setColor(mFloorColorDemo); + mConcaveMesh->setSleepingColor(mFloorColorDemo); mPhysicsObjects.push_back(mConcaveMesh); diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index ab363c0b..ab9689b9 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -1,139 +1,139 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "CubesScene.h" - -// Namespaces -using namespace openglframework; -using namespace cubesscene; - -// Constructor -CubesScene::CubesScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { - - // Compute the radius and the center of the scene - openglframework::Vector3 center(0, 5, 0); - - // Set the center of the scene - setScenePosition(center, SCENE_RADIUS); - - // Gravity vector in the dynamics world - rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - - rp3d::WorldSettings worldSettings; - worldSettings.worldName = name; - - // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); - - // Create all the cubes of the scene - for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); - cube->setSleepingColor(mRedColorDemo); - - // Change the material properties of the rigid body - rp3d::Material& material = cube->getRigidBody()->getMaterial(); - material.setBounciness(rp3d::decimal(0.4)); - - // Add the box the list of box in the scene - mBoxes.push_back(cube); - mPhysicsObjects.push_back(cube); - } - - // ------------------------- FLOOR ----------------------- // - - // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); - mFloor->setColor(mGreyColorDemo); - mFloor->setSleepingColor(mGreyColorDemo); - - // The floor must be a static rigid body - mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); - mPhysicsObjects.push_back(mFloor); - - // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); - mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); -} - -// Destructor -CubesScene::~CubesScene() { - - // Destroy all the cubes of the scene - for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { - - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); - - // Destroy the cube - delete (*it); - } - - // Destroy the rigid body of the floor - getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody()); - - // Destroy the floor - delete mFloor; - - // Destroy the dynamics world - delete getDynamicsWorld(); -} - -// Reset the scene -void CubesScene::reset() { - - float radius = 2.0f; - - // Create all the cubes of the scene - std::vector::iterator it; - int i = 0; - for (it = mBoxes.begin(); it != mBoxes.end(); ++it) { - - // Position of the cubes - float angle = i * 30.0f; - rp3d::Vector3 position(radius * std::cos(angle), - 10 + i * (BOX_SIZE.y + 0.3f), - 0); - - (*it)->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); - - i++; - } - - mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity())); -} +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "CubesScene.h" + +// Namespaces +using namespace openglframework; +using namespace cubesscene; + +// Constructor +CubesScene::CubesScene(const std::string& name, EngineSettings& settings) + : SceneDemo(name, settings, SCENE_RADIUS) { + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + + // Gravity vector in the dynamics world + rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); + + rp3d::WorldSettings worldSettings; + worldSettings.worldName = name; + + // Create the dynamics world for the physics simulation + mPhysicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + + // Create all the cubes of the scene + for (int i=0; isetColor(mObjectColorDemo); + cube->setSleepingColor(mSleepingColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = cube->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.4)); + + // Add the box the list of box in the scene + mBoxes.push_back(cube); + mPhysicsObjects.push_back(cube); + } + + // ------------------------- FLOOR ----------------------- // + + // Create the floor + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); + mFloor->setColor(mFloorColorDemo); + mFloor->setSleepingColor(mFloorColorDemo); + + // The floor must be a static rigid body + mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); + mPhysicsObjects.push_back(mFloor); + + // Get the physics engine parameters + mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); + rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); + mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); +} + +// Destructor +CubesScene::~CubesScene() { + + // Destroy all the cubes of the scene + for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { + + // Destroy the corresponding rigid body from the dynamics world + getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + + // Destroy the cube + delete (*it); + } + + // Destroy the rigid body of the floor + getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody()); + + // Destroy the floor + delete mFloor; + + // Destroy the dynamics world + delete getDynamicsWorld(); +} + +// Reset the scene +void CubesScene::reset() { + + float radius = 2.0f; + + // Create all the cubes of the scene + std::vector::iterator it; + int i = 0; + for (it = mBoxes.begin(); it != mBoxes.end(); ++it) { + + // Position of the cubes + float angle = i * 30.0f; + rp3d::Vector3 position(radius * std::cos(angle), + 10 + i * (BOX_SIZE.y + 0.3f), + 0); + + (*it)->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); + + i++; + } + + mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity())); +} diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index c30674b3..4d4ffb48 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -58,8 +58,8 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings Box* cube = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); // Set the box color - cube->setColor(mDemoColors[i % mNbDemoColors]); - cube->setSleepingColor(mRedColorDemo); + cube->setColor(mObjectColorDemo); + cube->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = cube->getRigidBody()->getMaterial(); @@ -75,8 +75,8 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings // Create the floor mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); - mFloor->setColor(mGreyColorDemo); - mFloor->setSleepingColor(mGreyColorDemo); + mFloor->setColor(mFloorColorDemo); + mFloor->setSleepingColor(mFloorColorDemo); // The floor must be a static rigid body mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 8b8d489c..e9be88a4 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -57,8 +57,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath); // Set the box color - dumbbell->setColor(mDemoColors[i % mNbDemoColors]); - dumbbell->setSleepingColor(mRedColorDemo); + dumbbell->setColor(mObjectColorDemo); + dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); @@ -76,8 +76,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); // Set the box color - box->setColor(mDemoColors[i % mNbDemoColors]); - box->setSleepingColor(mRedColorDemo); + box->setColor(mObjectColorDemo); + box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = box->getRigidBody()->getMaterial(); @@ -98,8 +98,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f); // Set the box color - sphere->setColor(mDemoColors[i % mNbDemoColors]); - sphere->setSleepingColor(mRedColorDemo); + sphere->setColor(mObjectColorDemo); + sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = sphere->getRigidBody()->getMaterial(); @@ -120,8 +120,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f); // Set the box color - capsule->setColor(mDemoColors[i % mNbDemoColors]); - capsule->setSleepingColor(mRedColorDemo); + capsule->setColor(mObjectColorDemo); + capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = capsule->getRigidBody()->getMaterial(); @@ -139,8 +139,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj"); // Set the box color - mesh->setColor(mDemoColors[i % mNbDemoColors]); - mesh->setSleepingColor(mRedColorDemo); + mesh->setColor(mObjectColorDemo); + mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = mesh->getRigidBody()->getMaterial(); @@ -165,8 +165,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett mPhysicsObjects.push_back(mHeightField); // Set the color - mHeightField->setColor(mGreyColorDemo); - mHeightField->setSleepingColor(mGreyColorDemo); + mHeightField->setColor(mFloorColorDemo); + mHeightField->setSleepingColor(mFloorColorDemo); // Change the material properties of the rigid body rp3d::Material& material = mHeightField->getRigidBody()->getMaterial(); diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index 736e0252..9a035717 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -214,8 +214,8 @@ void JointsScene::createBallAndSocketJoints() { mBallAndSocketJointChainBoxes[i]->setTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity())); // Set the box color - mBallAndSocketJointChainBoxes[i]->setColor(mDemoColors[i % mNbDemoColors]); - mBallAndSocketJointChainBoxes[i]->setSleepingColor(mRedColorDemo); + mBallAndSocketJointChainBoxes[i]->setColor(mObjectColorDemo); + mBallAndSocketJointChainBoxes[i]->setSleepingColor(mSleepingColorDemo); // The fist box cannot move (static body) if (i == 0) { @@ -266,8 +266,8 @@ void JointsScene::createSliderJoint() { mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color - mSliderJointBottomBox->setColor(mBlueColorDemo); - mSliderJointBottomBox->setSleepingColor(mRedColorDemo); + mSliderJointBottomBox->setColor(mObjectColorDemo); + mSliderJointBottomBox->setSleepingColor(mSleepingColorDemo); // The fist box cannot move mSliderJointBottomBox->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -288,8 +288,8 @@ void JointsScene::createSliderJoint() { mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color - mSliderJointTopBox->setColor(mOrangeColorDemo); - mSliderJointTopBox->setSleepingColor(mRedColorDemo); + mSliderJointTopBox->setColor(mObjectColorDemo); + mSliderJointTopBox->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial(); @@ -330,8 +330,8 @@ void JointsScene::createPropellerHingeJoint() { mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color - mPropellerBox->setColor(mYellowColorDemo); - mPropellerBox->setSleepingColor(mRedColorDemo); + mPropellerBox->setColor(mObjectColorDemo); + mPropellerBox->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial(); @@ -371,8 +371,8 @@ void JointsScene::createFixedJoints() { mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color - mFixedJointBox1->setColor(mPinkColorDemo); - mFixedJointBox1->setSleepingColor(mRedColorDemo); + mFixedJointBox1->setColor(mObjectColorDemo); + mFixedJointBox1->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial(); @@ -389,8 +389,8 @@ void JointsScene::createFixedJoints() { mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color - mFixedJointBox2->setColor(mBlueColorDemo); - mFixedJointBox2->setSleepingColor(mRedColorDemo); + mFixedJointBox2->setColor(mObjectColorDemo); + mFixedJointBox2->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial(); @@ -429,8 +429,8 @@ void JointsScene::createFloor() { mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); // Set the box color - mFloor->setColor(mGreyColorDemo); - mFloor->setSleepingColor(mGreyColorDemo); + mFloor->setColor(mFloorColorDemo); + mFloor->setSleepingColor(mFloorColorDemo); // The floor must be a static rigid body mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 018c28e4..f789726e 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -56,8 +56,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mDumbbell = new Dumbbell(mPhysicsWorld, mMeshFolderPath); // Set the box color - mDumbbell->setColor(mGreyColorDemo); - mDumbbell->setSleepingColor(mRedColorDemo); + mDumbbell->setColor(mObjectColorDemo); + mDumbbell->setSleepingColor(mSleepingColorDemo); mPhysicsObjects.push_back(mDumbbell); // ---------- Box ---------- // @@ -67,8 +67,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mBox->getCollisionBody()->setIsActive(false); // Set the box color - mBox->setColor(mGreyColorDemo); - mBox->setSleepingColor(mRedColorDemo); + mBox->setColor(mObjectColorDemo); + mBox->setSleepingColor(mSleepingColorDemo); mPhysicsObjects.push_back(mBox); // ---------- Sphere ---------- // @@ -77,8 +77,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mSphere = new Sphere(SPHERE_RADIUS, mPhysicsWorld, mMeshFolderPath); // Set the color - mSphere->setColor(mGreyColorDemo); - mSphere->setSleepingColor(mRedColorDemo); + mSphere->setColor(mObjectColorDemo); + mSphere->setSleepingColor(mSleepingColorDemo); mPhysicsObjects.push_back(mSphere); // ---------- Capsule ---------- // @@ -88,8 +88,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); // Set the color - mCapsule->setColor(mGreyColorDemo); - mCapsule->setSleepingColor(mRedColorDemo); + mCapsule->setColor(mObjectColorDemo); + mCapsule->setSleepingColor(mSleepingColorDemo); mPhysicsObjects.push_back(mCapsule); // ---------- Convex Mesh ---------- // @@ -98,8 +98,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); // Set the color - mConvexMesh->setColor(mGreyColorDemo); - mConvexMesh->setSleepingColor(mRedColorDemo); + mConvexMesh->setColor(mObjectColorDemo); + mConvexMesh->setSleepingColor(mSleepingColorDemo); mPhysicsObjects.push_back(mConvexMesh); // ---------- Concave Mesh ---------- // @@ -108,8 +108,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj"); // Set the color - mConcaveMesh->setColor(mGreyColorDemo); - mConcaveMesh->setSleepingColor(mRedColorDemo); + mConcaveMesh->setColor(mObjectColorDemo); + mConcaveMesh->setSleepingColor(mSleepingColorDemo); mPhysicsObjects.push_back(mConcaveMesh); // ---------- Heightfield ---------- // @@ -118,8 +118,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) mHeightField = new HeightField(mPhysicsWorld); // Set the color - mHeightField->setColor(mGreyColorDemo); - mHeightField->setSleepingColor(mRedColorDemo); + mHeightField->setColor(mObjectColorDemo); + mHeightField->setSleepingColor(mObjectColorDemo); mPhysicsObjects.push_back(mHeightField); // Create the lines that will be used for raycasting diff --git a/testbed/shaders/phong.frag b/testbed/shaders/phong.frag index 73c76ba6..5e7f726a 100644 --- a/testbed/shaders/phong.frag +++ b/testbed/shaders/phong.frag @@ -1,103 +1,115 @@ -#version 330 - -/******************************************************************************** -* OpenGL-Framework * -* Copyright (c) 2015 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Uniform variables -uniform vec3 lightAmbientColor; // Lights ambient color -uniform vec3 light0PosCameraSpace; // Camera-space position of the light -uniform vec3 light0DiffuseColor; // Light 0 diffuse color -uniform sampler2D textureSampler; // Texture -uniform sampler2D shadowMapSampler; // Shadow map texture sampler -uniform bool isTexture; // True if we need to use the texture -uniform vec4 vertexColor; // Vertex color -uniform bool isShadowEnabled; // True if shadow mapping is enabled -uniform vec2 shadowMapDimension; // Shadow map dimension - -// In variables -in vec3 vertexPosCameraSpace; // Camera-space position of the vertex -in vec3 vertexNormalCameraSpace; // Vertex normal in camera-space -in vec2 texCoords; // Texture coordinates -in vec4 shadowMapCoords; // Shadow map texture coords - -// Out variable -out vec4 color; // Output color - -// Texture for PCF Shadow mapping -float textureLookupPCF(sampler2D map, vec2 texCoords, vec2 offset) -{ - vec2 shadowMapScale = vec2(1.0, 1.0) / shadowMapDimension; - return texture(map, texCoords.xy + offset * shadowMapScale).r; -} - -void main() { - - // Compute the ambient term - vec3 ambient = lightAmbientColor; - - // Get the texture color - vec3 textureColor = vertexColor.rgb; - if (isTexture) textureColor = texture(textureSampler, texCoords).rgb; - - // Compute the surface normal vector - vec3 N = normalize(vertexNormalCameraSpace); - - // Compute the diffuse term of light 0 - vec3 L0 = normalize(light0PosCameraSpace - vertexPosCameraSpace); - float diffuseFactor = max(dot(N, L0), 0.0); - vec3 diffuse = light0DiffuseColor * diffuseFactor * textureColor; - - // Compute shadow factor - float shadow = 1.0; - if (isShadowEnabled) { - shadow = 0.0; - float bias = 0.0003; - float shadowBias = -0.000; - vec4 shadowMapUV = shadowMapCoords; - shadowMapUV.z -= shadowBias; - vec4 shadowMapCoordsOverW = shadowMapUV / shadowMapUV.w; - - // PCF Shadow Mapping - for (float i=-1; i<=1; i++) { - for (float j=-1; j<=1; j++) { - float distInShadowMap = textureLookupPCF(shadowMapSampler, shadowMapCoordsOverW.xy, vec2(i, j)) + bias; - if (shadowMapCoords.w > 0) { - shadow += distInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0; - } - } - } - shadow /= 9.0; - - /* - float distanceInShadowMap = texture(shadowMapSampler, shadowMapCoordsOverW.xy).r + bias; - if (shadowMapCoords.w > 0) { - shadow = distanceInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0; - } - */ - } - - // Compute the final color - color = vec4(ambient + shadow * diffuse, 1.0); -} +#version 330 + +/******************************************************************************** +* OpenGL-Framework * +* Copyright (c) 2015 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Uniform variables +uniform vec3 lightAmbientColor; // Lights ambient color +uniform vec3 light0PosCameraSpace; // Camera-space position of the light 0 +uniform vec3 light1PosCameraSpace; // Camera-space position of the light 1 +uniform vec3 light2PosCameraSpace; // Camera-space position of the light 2 +uniform vec3 light0DiffuseColor; // Light 0 diffuse color +uniform vec3 light1DiffuseColor; // Light 1 diffuse color +uniform vec3 light2DiffuseColor; // Light 2 diffuse color +uniform sampler2D textureSampler; // Texture +uniform sampler2D shadowMapSampler[3]; // Shadow map texture sampler +uniform bool isTexture; // True if we need to use the texture +uniform vec4 vertexColor; // Vertex color +uniform bool isShadowEnabled; // True if shadow mapping is enabled +uniform vec2 shadowMapDimension; // Shadow map dimension + +// In variables +in vec3 vertexPosCameraSpace; // Camera-space position of the vertex +in vec3 vertexNormalCameraSpace; // Vertex normal in camera-space +in vec2 texCoords; // Texture coordinates +in vec4 shadowMapCoords[3]; // Shadow map texture coords + +// Out variable +out vec4 color; // Output color + +// Texture for PCF Shadow mapping +float textureLookupPCF(sampler2D map, vec2 texCoords, vec2 offset) +{ + vec2 shadowMapScale = vec2(1.0, 1.0) / shadowMapDimension; + return texture(map, texCoords.xy + offset * shadowMapScale).r; +} + +void main() { + + // Compute the ambient term + vec3 ambient = lightAmbientColor; + + // Get the texture color + vec3 textureColor = vertexColor.rgb; + if (isTexture) textureColor = texture(textureSampler, texCoords).rgb; + + // Compute the surface normal vector + vec3 N = normalize(vertexNormalCameraSpace); + + color = vec4(ambient, 1); + + vec3 lightPosCameraSpace[3]; + lightPosCameraSpace[0] = light0PosCameraSpace; + lightPosCameraSpace[1] = light1PosCameraSpace; + lightPosCameraSpace[2] = light2PosCameraSpace; + vec3 lightDiffuseColor[3]; + lightDiffuseColor[0] = light0DiffuseColor; + lightDiffuseColor[1] = light1DiffuseColor; + lightDiffuseColor[2] = light2DiffuseColor; + + // For each light source + for (int l=0; l < 3; l++) { + + // Compute the diffuse term of light 0 + vec3 L0 = normalize(lightPosCameraSpace[l] - vertexPosCameraSpace); + float diffuseFactor = max(dot(N, L0), 0.0); + vec3 diffuse = lightDiffuseColor[l] * diffuseFactor * textureColor; + + // Compute shadow factor + float shadow = 1.0; + if (isShadowEnabled) { + shadow = 0.0; + float bias = 0.0003; + float shadowBias = -0.000; + vec4 shadowMapUV = shadowMapCoords[l]; + shadowMapUV.z -= shadowBias; + vec4 shadowMapCoordsOverW = shadowMapUV / shadowMapUV.w; + + // PCF Shadow Mapping + for (float i=-1; i<=1; i++) { + for (float j=-1; j<=1; j++) { + float distInShadowMap = textureLookupPCF(shadowMapSampler[l], shadowMapCoordsOverW.xy, vec2(i, j)) + bias; + if (shadowMapCoords[l].w > 0) { + shadow += distInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0; + } + } + } + shadow /= 9.0; + } + + // Compute the final color + color += vec4(shadow * diffuse, 0.0); + } +} diff --git a/testbed/shaders/phong.vert b/testbed/shaders/phong.vert index 491558fb..6cc72075 100644 --- a/testbed/shaders/phong.vert +++ b/testbed/shaders/phong.vert @@ -1,64 +1,78 @@ -#version 330 - -/******************************************************************************** -* OpenGL-Framework * -* Copyright (c) 2015 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Uniform variables -uniform mat4 localToWorldMatrix; // Local-space to world-space matrix -uniform mat4 worldToCameraMatrix; // World-space to camera-space matrix -uniform mat4 worldToLight0CameraMatrix; // World-space to light0 camera-space matrix (for shadow mapping) -uniform mat4 projectionMatrix; // Projection matrix -uniform mat3 normalMatrix; // Normal matrix -uniform mat4 shadowMapProjectionMatrix; // Shadow map projection matrix - -// In variables -in vec4 vertexPosition; -in vec3 vertexNormal; -in vec2 textureCoords; - -// Out variables -out vec3 vertexPosCameraSpace; // Camera-space position of the vertex -out vec3 vertexNormalCameraSpace; // Vertex normal in camera-space -out vec2 texCoords; // Texture coordinates -out vec4 shadowMapCoords; // Shadow map texture coords - -void main() { - - // Compute the vertex position - vec4 positionCameraSpace = worldToCameraMatrix * localToWorldMatrix * vertexPosition; - vertexPosCameraSpace = positionCameraSpace.xyz; - - // Compute the world surface normal - vertexNormalCameraSpace = normalMatrix * vertexNormal; - - // Get the texture coordinates - texCoords = textureCoords; - - // Compute the texture coords of the vertex in the shadow map - shadowMapCoords = shadowMapProjectionMatrix * worldToLight0CameraMatrix * localToWorldMatrix * vertexPosition; - - // Compute the clip-space vertex coordinates - gl_Position = projectionMatrix * positionCameraSpace; -} +#version 330 + +/******************************************************************************** +* OpenGL-Framework * +* Copyright (c) 2015 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Uniform variables +uniform mat4 localToWorldMatrix; // Local-space to world-space matrix +uniform mat4 worldToCameraMatrix; // World-space to camera-space matrix +uniform mat4 worldToLight0CameraMatrix; // World-space to light0 camera-space matrix (for shadow mapping) +uniform mat4 worldToLight1CameraMatrix; // World-space to light1 camera-space matrix (for shadow mapping) +uniform mat4 worldToLight2CameraMatrix; // World-space to light2 camera-space matrix (for shadow mapping) +uniform mat4 projectionMatrix; // Projection matrix +uniform mat3 normalMatrix; // Normal matrix +uniform mat4 shadowMapLight0ProjectionMatrix; // Shadow map projection matrix for light 0 +uniform mat4 shadowMapLight1ProjectionMatrix; // Shadow map projection matrix for light 1 +uniform mat4 shadowMapLight2ProjectionMatrix; // Shadow map projection matrix for light 2 + +// In variables +in vec4 vertexPosition; +in vec3 vertexNormal; +in vec2 textureCoords; + +// Out variables +out vec3 vertexPosCameraSpace; // Camera-space position of the vertex +out vec3 vertexNormalCameraSpace; // Vertex normal in camera-space +out vec2 texCoords; // Texture coordinates +out vec4 shadowMapCoords[3]; // Shadow map texture coords + +void main() { + + // Compute the vertex position + vec4 positionCameraSpace = worldToCameraMatrix * localToWorldMatrix * vertexPosition; + vertexPosCameraSpace = positionCameraSpace.xyz; + + // Compute the world surface normal + vertexNormalCameraSpace = normalMatrix * vertexNormal; + + // Get the texture coordinates + texCoords = textureCoords; + + // Compute the texture coords of the vertex in the shadow map + mat4 worldToLightCameraMatrix[3]; + worldToLightCameraMatrix[0] = worldToLight0CameraMatrix; + worldToLightCameraMatrix[1] = worldToLight1CameraMatrix; + worldToLightCameraMatrix[2] = worldToLight2CameraMatrix; + mat4 shadowMapProjectionMatrix[3]; + shadowMapProjectionMatrix[0] = shadowMapLight0ProjectionMatrix; + shadowMapProjectionMatrix[1] = shadowMapLight1ProjectionMatrix; + shadowMapProjectionMatrix[2] = shadowMapLight2ProjectionMatrix; + for (int l=0; l < 3; l++) { + shadowMapCoords[l] = shadowMapProjectionMatrix[l] * worldToLightCameraMatrix[l] * localToWorldMatrix * vertexPosition; + } + + // Compute the clip-space vertex coordinates + gl_Position = projectionMatrix * positionCameraSpace; +} diff --git a/testbed/src/Main.cpp b/testbed/src/Main.cpp index fbfb9e04..a8b73604 100644 --- a/testbed/src/Main.cpp +++ b/testbed/src/Main.cpp @@ -1,49 +1,64 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "TestbedApplication.h" -#include "nanogui/nanogui.h" - -using namespace nanogui; - -// Main function -int main(int argc, char** argv) { - - nanogui::init(); - - { - // Create and start the testbed application - bool isFullscreen = false; - nanogui::ref application = new TestbedApplication(isFullscreen); - application->setVisible(true); - - nanogui::mainloop(); - } - - nanogui::shutdown(); - - return 0; -} +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "TestbedApplication.h" +#include "nanogui/nanogui.h" + +using namespace nanogui; + +// Main function +int main(int argc, char** argv) { + + nanogui::init(); + + { + bool isFullscreen = false; + + // Get the primary monitor + GLFWmonitor* monitor = glfwGetPrimaryMonitor(); + const GLFWvidmode* mode = glfwGetVideoMode(monitor); + + // Window size + int windowWidth = mode->width; + int windowHeight = mode->height; + + if (!isFullscreen) { + + windowWidth *= 0.9; + windowHeight *= 0.9; + } + + // Create and start the testbed application + nanogui::ref application = new TestbedApplication(isFullscreen, windowWidth, windowHeight); + application->setVisible(true); + + nanogui::mainloop(); + } + + nanogui::shutdown(); + + return 0; +} diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 97d0779e..a75171b0 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -1,460 +1,522 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "SceneDemo.h" -#include -#include "AABB.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifold.h" - -using namespace openglframework; - -int SceneDemo::shadowMapTextureLevel = 0; -openglframework::Color SceneDemo::mGreyColorDemo = Color(0.70f, 0.70f, 0.7f, 1.0f); -openglframework::Color SceneDemo::mYellowColorDemo = Color(0.9f, 0.88f, 0.145f, 1.0f); -openglframework::Color SceneDemo::mBlueColorDemo = Color(0, 0.66f, 0.95f, 1.0f); -openglframework::Color SceneDemo::mOrangeColorDemo = Color(0.9f, 0.35f, 0, 1.0f); -openglframework::Color SceneDemo::mPinkColorDemo = Color(0.83f, 0.48f, 0.64f, 1.0f); -openglframework::Color SceneDemo::mRedColorDemo = Color(0.95f, 0, 0, 1.0f); -int SceneDemo::mNbDemoColors = 4; -openglframework::Color SceneDemo::mDemoColors[] = {SceneDemo::mYellowColorDemo, SceneDemo::mBlueColorDemo, - SceneDemo::mOrangeColorDemo, SceneDemo::mPinkColorDemo}; - -// Constructor -SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled) - : Scene(name, settings, isShadowMappingEnabled), mIsShadowMappingInitialized(false), - mDepthShader("shaders/depth.vert", "shaders/depth.frag"), - mPhongShader("shaders/phong.vert", "shaders/phong.frag"), - mColorShader("shaders/color.vert", "shaders/color.frag"), - mQuadShader("shaders/quad.vert", "shaders/quad.frag"), - mVBOQuad(GL_ARRAY_BUFFER), mMeshFolderPath("meshes/"), - mPhysicsWorld(nullptr) { - - shadowMapTextureLevel++; - - // Move the light0 - mLight0.translateWorld(Vector3(-2, 35, 40)); - - // Camera at light0 postion for the shadow map - mShadowMapLightCamera.translateWorld(mLight0.getOrigin()); - mShadowMapLightCamera.rotateLocal(Vector3(1, 0, 0), -PI / 4.0f); - mShadowMapLightCamera.rotateWorld(Vector3(0, 1, 0), PI / 8.0f); - - mShadowMapLightCamera.setDimensions(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT); - mShadowMapLightCamera.setFieldOfView(80.0f); - mShadowMapLightCamera.setSceneRadius(100); - - mShadowMapBiasMatrix.setAllValues(0.5, 0.0, 0.0, 0.5, - 0.0, 0.5, 0.0, 0.5, - 0.0, 0.0, 0.5, 0.5, - 0.0, 0.0, 0.0, 1.0); - - // Create the Shadow map FBO and texture - if (mIsShadowMappingEnabled) { - createShadowMapFBOAndTexture(); - } - - createQuadVBO(); - - // Init rendering for the AABBs - AABB::init(); - - VisualContactPoint::createStaticData(mMeshFolderPath); -} - -// Destructor -SceneDemo::~SceneDemo() { - - mShadowMapTexture.destroy(); - mFBOShadowMap.destroy(); - mVBOQuad.destroy(); - - mDepthShader.destroy(); - mPhongShader.destroy(); - mQuadShader.destroy(); - mColorShader.destroy(); - - // Destroy the contact points - removeAllContactPoints(); - - // Destroy rendering data for the AABB - AABB::destroy(); - - VisualContactPoint::destroyStaticData(); -} - -// Update the scene -void SceneDemo::update() { - - // Update the contact points - updateContactPoints(); - - // Update the position and orientation of the physics objects - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // Update the transform used for the rendering - (*it)->updateTransform(mInterpolationFactor); - } -} - -// Update the physics world (take a simulation step) -// Can be called several times per frame -void SceneDemo::updatePhysics() { - - if (getDynamicsWorld() != nullptr) { - - // Take a simulation step - getDynamicsWorld()->update(mEngineSettings.timeStep); - } -} - -// Render the scene (in multiple passes for shadow mapping) -void SceneDemo::render() { - - const Color& diffCol = mLight0.getDiffuseColor(); - - glEnable(GL_DEPTH_TEST); - glEnable(GL_CULL_FACE); - - // ---------- Render the scene to generate the shadow map (first pass) ----------- // - - const Matrix4 shadowMapProjMatrix = mShadowMapLightCamera.getProjectionMatrix(); - const openglframework::Matrix4 worldToLightCameraMatrix = mShadowMapLightCamera.getTransformMatrix().getInverse(); - - // If Shadow Mapping is enabled - if (mIsShadowMappingEnabled) { - - // Culling switching, rendering only backface, this is done to avoid self-shadowing - glCullFace(GL_BACK); - - mFBOShadowMap.bind(); - - // Bind the shader - mDepthShader.bind(); - - // Set the variables of the shader - mDepthShader.setMatrix4x4Uniform("projectionMatrix", shadowMapProjMatrix); - - // Set the viewport to render into the shadow map texture - glViewport(0, 0, SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT); - - // Clear previous frame values - glClear(GL_DEPTH_BUFFER_BIT); - - // Disable color rendering, we only want to write to the Z-Buffer - glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE); - - // Render the objects of the scene - renderSinglePass(mDepthShader, worldToLightCameraMatrix); - - // Unbind the shader - mDepthShader.unbind(); - - mFBOShadowMap.unbind(); - - glDisable(GL_POLYGON_OFFSET_FILL); - } - - // ---------- Render the scene for final rendering (second pass) ----------- // - - glCullFace(GL_BACK); - - // Get the world-space to camera-space matrix - const openglframework::Matrix4 worldToCameraMatrix = mCamera.getTransformMatrix().getInverse(); - - mPhongShader.bind(); - - if (mIsShadowMappingEnabled) mShadowMapTexture.bind(); - const GLuint textureUnit = 0; - - // Set the variables of the phong shader - mPhongShader.setMatrix4x4Uniform("projectionMatrix", mCamera.getProjectionMatrix()); - mPhongShader.setMatrix4x4Uniform("shadowMapProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix); - mPhongShader.setMatrix4x4Uniform("worldToLight0CameraMatrix", worldToLightCameraMatrix); - mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin()); - mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.4f, 0.4f, 0.4f)); - mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b)); - mPhongShader.setIntUniform("shadowMapSampler", textureUnit); - mPhongShader.setIntUniform("isShadowEnabled", mIsShadowMappingEnabled); - mPhongShader.setVector2Uniform("shadowMapDimension", Vector2(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT)); - mPhongShader.unbind(); - - // Set the variables of the color shader - mColorShader.bind(); - mColorShader.setMatrix4x4Uniform("projectionMatrix", mCamera.getProjectionMatrix()); - mColorShader.unbind(); - - // Set the viewport to render the scene - glViewport(mViewportX, mViewportY, mViewportWidth, mViewportHeight); - - //Enabling color write (previously disabled for light POV z-buffer rendering) - glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); - - // Clear previous frame values - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - // Render the objects of the scene - renderSinglePass(mPhongShader, worldToCameraMatrix); - - // Render the contact points - if (mIsContactPointsDisplayed) { - renderContactPoints(mPhongShader, worldToCameraMatrix); - } - - // Render the AABBs - if (mIsAABBsDisplayed) { - renderAABBs(worldToCameraMatrix); - } - - if (mIsShadowMappingEnabled) mShadowMapTexture.unbind(); - mPhongShader.unbind(); - - //drawTextureQuad(); -} - -// Render the scene in a single pass -void SceneDemo::renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { - - if (mIsWireframeEnabled) { - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - } - - // Bind the shader - shader.bind(); - - // Render all the physics objects of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - (*it)->render(mIsWireframeEnabled ? mColorShader : shader, worldToCameraMatrix); - } - - // Unbind the shader - shader.unbind(); - - if (mIsWireframeEnabled) { - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); - } -} - -// Create the Shadow map FBO and texture -void SceneDemo::createShadowMapFBOAndTexture() { - - // Create the texture for the depth values - mShadowMapTexture.create(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT, - GL_UNSIGNED_BYTE, GL_NEAREST, GL_NEAREST, GL_CLAMP_TO_EDGE, GL_CLAMP_TO_EDGE, NULL); - - // Create the FBO for the shadow map - mFBOShadowMap.create(0, 0, false); - mFBOShadowMap.bind(); - - // Tell OpenGL that we won't bind a color texture with the currently binded FBO - glDrawBuffer(GL_NONE); - glReadBuffer(GL_NONE); - - mFBOShadowMap.attachTexture(GL_DEPTH_ATTACHMENT, mShadowMapTexture.getID()); - mFBOShadowMap.unbind(); - - mIsShadowMappingInitialized = true; -} - -// Used for debugging shadow maps -void SceneDemo::createQuadVBO() { - - mVAOQuad.create(); - mVAOQuad.bind(); - - static const GLfloat quadVertexData[] = { - -1.0f, -1.0f, 0.0f, - 1.0f, -1.0f, 0.0f, - -1.0f, 1.0f, 0.0f, - -1.0f, 1.0f, 0.0f, - 1.0f, -1.0f, 0.0f, - 1.0f, 1.0f, 0.0f, - }; - - mVBOQuad.create(); - mVBOQuad.bind(); - mVBOQuad.copyDataIntoVBO(sizeof(quadVertexData), quadVertexData, GL_STATIC_DRAW); - mVBOQuad.unbind(); - - mVAOQuad.unbind(); -} - -void SceneDemo::drawTextureQuad() { - - glViewport(mViewportX, mViewportY, mViewportWidth, mViewportHeight); - glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); - - // Clear previous frame values - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - const GLuint textureUnit = 0; - - mVAOQuad.bind(); - mQuadShader.bind(); - mShadowMapTexture.bind(); - mQuadShader.setIntUniform("textureSampler", textureUnit); - mVBOQuad.bind(); - - GLint vertexPositionLoc = mQuadShader.getAttribLocation("vertexPosition"); - glEnableVertexAttribArray(vertexPositionLoc); - - glVertexAttribPointer( - vertexPositionLoc, // attribute 0. No particular reason for 0, but must match the layout in the shader. - 3, // size - GL_FLOAT, // type - GL_FALSE, // normalized? - 0, // stride - (void*)0 // array buffer offset - ); - - // Draw the triangles ! - glDrawArrays(GL_TRIANGLES, 0, 6); // 2*3 indices starting at 0 -> 2 triangles - - glDisableVertexAttribArray(vertexPositionLoc); - - mVBOQuad.unbind(); - mShadowMapTexture.unbind(); - mQuadShader.unbind(); - mVAOQuad.unbind(); -} - -// Gather and create contact points -void SceneDemo::updateContactPoints() { - - // Remove the previous contact points - removeAllContactPoints(); - - if (mIsContactPointsDisplayed) { - - // Get the current contact points of the scene - std::vector contactPoints = getContactPoints(); - - // For each contact point - std::vector::const_iterator it; - for (it = contactPoints.begin(); it != contactPoints.end(); ++it) { - - // Create a visual contact point for rendering - VisualContactPoint* point = new VisualContactPoint(it->point, mMeshFolderPath, it->point + it->normal, it->color); - mContactPoints.push_back(point); - } - } -} - -// Render the contact points -void SceneDemo::renderContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { - - // Render all the contact points - for (std::vector::iterator it = mContactPoints.begin(); - it != mContactPoints.end(); ++it) { - (*it)->render(mColorShader, worldToCameraMatrix); - } -} - -// Render the AABBs -void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) { - - // For each physics object of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // For each proxy shape of the object - rp3d::ProxyShape* proxyShape = (*it)->getCollisionBody()->getProxyShapesList(); - while (proxyShape != nullptr) { - - // Get the broad-phase AABB corresponding to the proxy shape - rp3d::AABB aabb = mPhysicsWorld->getWorldAABB(proxyShape); - - openglframework::Vector3 aabbCenter(aabb.getCenter().x, aabb.getCenter().y, aabb.getCenter().z); - openglframework::Vector3 aabbMin(aabb.getMin().x, aabb.getMin().y, aabb.getMin().z); - openglframework::Vector3 aabbMax(aabb.getMax().x, aabb.getMax().y, aabb.getMax().z); - - // Render the AABB - AABB::render(aabbCenter, aabbMax - aabbMin, Color::green(), mColorShader, worldToCameraMatrix); - - proxyShape = proxyShape->getNext(); - } - } -} - -void SceneDemo::removeAllContactPoints() { - - // Destroy all the visual contact points - for (std::vector::iterator it = mContactPoints.begin(); - it != mContactPoints.end(); ++it) { - delete (*it); - } - mContactPoints.clear(); -} - -// Return all the contact points of the scene -std::vector SceneDemo::computeContactPointsOfWorld(rp3d::DynamicsWorld* world) { - - std::vector contactPoints; - - // Get the list of contact manifolds from the world - rp3d::List manifolds = world->getContactsList(); - - // For each contact manifold - rp3d::List::Iterator it; - for (it = manifolds.begin(); it != manifolds.end(); ++it) { - - const rp3d::ContactManifold* manifold = *it; - - // For each contact point of the manifold - rp3d::ContactPoint* contactPoint = manifold->getContactPoints(); - while (contactPoint != nullptr) { - - rp3d::Vector3 point = manifold->getShape1()->getLocalToWorldTransform() * contactPoint->getLocalPointOnShape1(); - rp3d::Vector3 normalWorld = contactPoint->getNormal(); - openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z); - ContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red()); - contactPoints.push_back(contact); - - contactPoint = contactPoint->getNext(); - } - - } - - return contactPoints; -} - -// Update the engine settings -void SceneDemo::updateEngineSettings() { - - if (getDynamicsWorld() != nullptr) { - - // Update the physics engine parameters - getDynamicsWorld()->setIsGratityEnabled(mEngineSettings.isGravityEnabled); - rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, - mEngineSettings.gravity.z); - getDynamicsWorld()->setGravity(gravity); - getDynamicsWorld()->enableSleeping(mEngineSettings.isSleepingEnabled); - getDynamicsWorld()->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); - getDynamicsWorld()->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); - getDynamicsWorld()->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); - getDynamicsWorld()->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); - getDynamicsWorld()->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); - } -} +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "SceneDemo.h" +#include +#include "AABB.h" +#include "constraint/ContactPoint.h" +#include "collision/ContactManifold.h" + +using namespace openglframework; + +int SceneDemo::shadowMapTextureLevel = 0; +openglframework::Color SceneDemo::mObjectColorDemo = Color(0.76f, 0.67f, 0.47f, 1.0f); +openglframework::Color SceneDemo::mFloorColorDemo = Color(0.47f, 0.48f, 0.49f, 1.0f); +openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f, 1.0f); +openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f); + +// Constructor +SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled) + : Scene(name, settings, isShadowMappingEnabled), mIsShadowMappingInitialized(false), + mDepthShader("shaders/depth.vert", "shaders/depth.frag"), + mPhongShader("shaders/phong.vert", "shaders/phong.frag"), + mColorShader("shaders/color.vert", "shaders/color.frag"), + mQuadShader("shaders/quad.vert", "shaders/quad.frag"), + mVBOQuad(GL_ARRAY_BUFFER), mMeshFolderPath("meshes/"), + mPhysicsWorld(nullptr) { + + shadowMapTextureLevel++; + + // Move the lights + float lightsRadius = 30.0f; + float lightsHeight = 20.0f; + mLight0.translateWorld(Vector3(0 * lightsRadius, lightsHeight, 1 * lightsRadius)); + mLight1.translateWorld(Vector3(0.95f * lightsRadius, lightsHeight, -0.3f * lightsRadius)); + mLight2.translateWorld(Vector3(-0.58f * lightsRadius, lightsHeight, -0.81f * lightsRadius)); + + // Set the lights colors + mLight0.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f)); + mLight1.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f)); + mLight2.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f)); + + mShadowMapLightCameras[0].translateWorld(mLight0.getOrigin()); + mShadowMapLightCameras[0].rotateLocal(Vector3(1, 0, 0), -PI / 4.0f); + + mShadowMapLightCameras[1].translateWorld(mLight1.getOrigin()); + mShadowMapLightCameras[1].rotateLocal(Vector3(0, 1, 0), -5.0f * PI/3.7f); + mShadowMapLightCameras[1].rotateLocal(Vector3(1, 0, 0), -PI/4.0f); + + mShadowMapLightCameras[2].translateWorld(mLight2.getOrigin()); + mShadowMapLightCameras[2].rotateLocal(Vector3(0, 1, 0), 5 * PI/4.0f); + mShadowMapLightCameras[2].rotateLocal(Vector3(1, 0 , 0), -PI/4.0f); + + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + mShadowMapLightCameras[i].setDimensions(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT); + mShadowMapLightCameras[i].setFieldOfView(100.0f); + mShadowMapLightCameras[i].setSceneRadius(100); + } + + mShadowMapBiasMatrix.setAllValues(0.5, 0.0, 0.0, 0.5, + 0.0, 0.5, 0.0, 0.5, + 0.0, 0.0, 0.5, 0.5, + 0.0, 0.0, 0.0, 1.0); + + // Create the Shadow map FBO and texture + if (mIsShadowMappingEnabled) { + createShadowMapFBOAndTexture(); + } + + createQuadVBO(); + + // Init rendering for the AABBs + AABB::init(); + + VisualContactPoint::createStaticData(mMeshFolderPath); +} + +// Destructor +SceneDemo::~SceneDemo() { + + + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + mShadowMapTexture[i].destroy(); + mFBOShadowMap[i].destroy(); + } + + mVBOQuad.destroy(); + + mDepthShader.destroy(); + mPhongShader.destroy(); + mQuadShader.destroy(); + mColorShader.destroy(); + + // Destroy the contact points + removeAllContactPoints(); + + // Destroy rendering data for the AABB + AABB::destroy(); + + VisualContactPoint::destroyStaticData(); +} + +// Update the scene +void SceneDemo::update() { + + // Update the contact points + updateContactPoints(); + + // Update the position and orientation of the physics objects + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Update the transform used for the rendering + (*it)->updateTransform(mInterpolationFactor); + } +} + +// Update the physics world (take a simulation step) +// Can be called several times per frame +void SceneDemo::updatePhysics() { + + if (getDynamicsWorld() != nullptr) { + + // Take a simulation step + getDynamicsWorld()->update(mEngineSettings.timeStep); + } +} + +// Render the scene (in multiple passes for shadow mapping) +void SceneDemo::render() { + + glEnable(GL_DEPTH_TEST); + glEnable(GL_CULL_FACE); + + Matrix4 shadowMapProjMatrix[NB_SHADOW_MAPS]; + openglframework::Matrix4 worldToLightCameraMatrix[NB_SHADOW_MAPS]; + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + + shadowMapProjMatrix[i] = mShadowMapLightCameras[i].getProjectionMatrix(); + worldToLightCameraMatrix[i] = mShadowMapLightCameras[i].getTransformMatrix().getInverse(); + } + + // ---------- Render the scene to generate the shadow map (first pass) ----------- // + + // If Shadow Mapping is enabled + if (mIsShadowMappingEnabled) { + + // Culling switching, rendering only backface, this is done to avoid self-shadowing + glCullFace(GL_BACK); + + // For each shadow map + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + + mFBOShadowMap[i].bind(); + + // Bind the shader + mDepthShader.bind(); + + // Set the variables of the shader + mDepthShader.setMatrix4x4Uniform("projectionMatrix", shadowMapProjMatrix[i]); + + // Set the viewport to render into the shadow map texture + glViewport(0, 0, SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT); + + // Clear previous frame values + glClear(GL_DEPTH_BUFFER_BIT); + + // Disable color rendering, we only want to write to the Z-Buffer + glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE); + + // Render the objects of the scene + renderSinglePass(mDepthShader, worldToLightCameraMatrix[i]); + + // Unbind the shader + mDepthShader.unbind(); + + mFBOShadowMap[i].unbind(); + } + + glDisable(GL_POLYGON_OFFSET_FILL); + } + + // ---------- Render the scene for final rendering (second pass) ----------- // + + glCullFace(GL_BACK); + + // Get the world-space to camera-space matrix + const openglframework::Matrix4 worldToCameraMatrix = mCamera.getTransformMatrix().getInverse(); + + mPhongShader.bind(); + + // Is shadow mapping is enabled + GLint textureUnits[NB_SHADOW_MAPS]; + if (mIsShadowMappingEnabled) { + + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + mShadowMapTexture[i].bind(); + } + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + textureUnits[i] = mShadowMapTexture[i].getUnit(); + } + } + + // Set the variables of the phong shader + mPhongShader.setMatrix4x4Uniform("projectionMatrix", mCamera.getProjectionMatrix()); + mPhongShader.setMatrix4x4Uniform("shadowMapLight0ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[0]); + mPhongShader.setMatrix4x4Uniform("shadowMapLight1ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[1]); + mPhongShader.setMatrix4x4Uniform("shadowMapLight2ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[2]); + mPhongShader.setMatrix4x4Uniform("worldToLight0CameraMatrix", worldToLightCameraMatrix[0]); + mPhongShader.setMatrix4x4Uniform("worldToLight1CameraMatrix", worldToLightCameraMatrix[1]); + mPhongShader.setMatrix4x4Uniform("worldToLight2CameraMatrix", worldToLightCameraMatrix[2]); + mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin()); + mPhongShader.setVector3Uniform("light1PosCameraSpace", worldToCameraMatrix * mLight1.getOrigin()); + mPhongShader.setVector3Uniform("light2PosCameraSpace", worldToCameraMatrix * mLight2.getOrigin()); + mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f)); + mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(mLight0.getDiffuseColor().r, mLight0.getDiffuseColor().g, mLight0.getDiffuseColor().b)); + mPhongShader.setVector3Uniform("light1DiffuseColor", Vector3(mLight1.getDiffuseColor().r, mLight1.getDiffuseColor().g, mLight1.getDiffuseColor().b)); + mPhongShader.setVector3Uniform("light2DiffuseColor", Vector3(mLight2.getDiffuseColor().r, mLight2.getDiffuseColor().g, mLight2.getDiffuseColor().b)); + mPhongShader.setIntArrayUniform("shadowMapSampler", textureUnits, NB_SHADOW_MAPS); + mPhongShader.setIntUniform("isShadowEnabled", mIsShadowMappingEnabled); + mPhongShader.setVector2Uniform("shadowMapDimension", Vector2(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT)); + mPhongShader.unbind(); + + // Set the variables of the color shader + mColorShader.bind(); + mColorShader.setMatrix4x4Uniform("projectionMatrix", mCamera.getProjectionMatrix()); + mColorShader.unbind(); + + // Set the viewport to render the scene + glViewport(mViewportX, mViewportY, mViewportWidth, mViewportHeight); + + //Enabling color write (previously disabled for light POV z-buffer rendering) + glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); + + // Clear previous frame values + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + // Render the objects of the scene + renderSinglePass(mPhongShader, worldToCameraMatrix); + + // Render the contact points + if (mIsContactPointsDisplayed) { + renderContactPoints(mPhongShader, worldToCameraMatrix); + } + + // Render the AABBs + if (mIsAABBsDisplayed) { + renderAABBs(worldToCameraMatrix); + } + + // Is shadow mapping is enabled + if (mIsShadowMappingEnabled) { + + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + mShadowMapTexture[i].unbind(); + } + } + + mPhongShader.unbind(); + + //drawTextureQuad(); +} + +// Render the scene in a single pass +void SceneDemo::renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { + + if (mIsWireframeEnabled) { + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + } + + // Bind the shader + shader.bind(); + + // Render all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + (*it)->render(mIsWireframeEnabled ? mColorShader : shader, worldToCameraMatrix); + } + + // Unbind the shader + shader.unbind(); + + if (mIsWireframeEnabled) { + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + } +} + +// Create the Shadow map FBO and texture +void SceneDemo::createShadowMapFBOAndTexture() { + + // For each shadow map + for (int i = 0; i < NB_SHADOW_MAPS; i++) { + + // Create the texture for the depth values + mShadowMapTexture[i].create(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT, + GL_UNSIGNED_BYTE, GL_LINEAR, GL_LINEAR, GL_CLAMP_TO_BORDER, GL_CLAMP_TO_BORDER, NULL); + + mShadowMapTexture[i].setUnit(i); + + // Make sure that texture lookups outside the texture coords range will not + // treated as beeing in shadow + glBindTexture(GL_TEXTURE_2D, mShadowMapTexture[i].getID()); + GLfloat border[] = { 1.0f, 0.0f, 0.0f, 0.0f }; + glTexParameterfv(GL_TEXTURE_2D, GL_TEXTURE_BORDER_COLOR, border); + glBindTexture(GL_TEXTURE_2D, 0); + + // Create the FBO for the shadow map + mFBOShadowMap[i].create(0, 0, false); + mFBOShadowMap[i].bind(); + + // Tell OpenGL that we won't bind a color texture with the currently binded FBO + glDrawBuffer(GL_NONE); + glReadBuffer(GL_NONE); + + mFBOShadowMap[i].attachTexture(GL_DEPTH_ATTACHMENT, mShadowMapTexture[i].getID()); + mFBOShadowMap[i].unbind(); + } + + mIsShadowMappingInitialized = true; +} + +// Used for debugging shadow maps +void SceneDemo::createQuadVBO() { + + mVAOQuad.create(); + mVAOQuad.bind(); + + static const GLfloat quadVertexData[] = { + -1.0f, -1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + 1.0f, 1.0f, 0.0f, + }; + + mVBOQuad.create(); + mVBOQuad.bind(); + mVBOQuad.copyDataIntoVBO(sizeof(quadVertexData), quadVertexData, GL_STATIC_DRAW); + mVBOQuad.unbind(); + + mVAOQuad.unbind(); +} + +void SceneDemo::drawTextureQuad() { + + glViewport(mViewportX, mViewportY, mViewportWidth, mViewportHeight); + glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); + + // Clear previous frame values + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + + const int SHADOW_MAP_TEXTURE_TO_DRAW = 0; + const GLuint textureUnit = SHADOW_MAP_TEXTURE_TO_DRAW; + + mVAOQuad.bind(); + mQuadShader.bind(); + mShadowMapTexture[SHADOW_MAP_TEXTURE_TO_DRAW].bind(); + mQuadShader.setIntUniform("textureSampler", textureUnit); + mVBOQuad.bind(); + + GLint vertexPositionLoc = mQuadShader.getAttribLocation("vertexPosition"); + glEnableVertexAttribArray(vertexPositionLoc); + + glVertexAttribPointer( + vertexPositionLoc, // attribute 0. No particular reason for 0, but must match the layout in the shader. + 3, // size + GL_FLOAT, // type + GL_FALSE, // normalized? + 0, // stride + (void*)0 // array buffer offset + ); + + // Draw the triangles ! + glDrawArrays(GL_TRIANGLES, 0, 6); // 2*3 indices starting at 0 -> 2 triangles + + glDisableVertexAttribArray(vertexPositionLoc); + + mVBOQuad.unbind(); + mShadowMapTexture[SHADOW_MAP_TEXTURE_TO_DRAW].unbind(); + mQuadShader.unbind(); + mVAOQuad.unbind(); +} + +// Gather and create contact points +void SceneDemo::updateContactPoints() { + + // Remove the previous contact points + removeAllContactPoints(); + + if (mIsContactPointsDisplayed) { + + // Get the current contact points of the scene + std::vector contactPoints = getContactPoints(); + + // For each contact point + std::vector::const_iterator it; + for (it = contactPoints.begin(); it != contactPoints.end(); ++it) { + + // Create a visual contact point for rendering + VisualContactPoint* point = new VisualContactPoint(it->point, mMeshFolderPath, it->point + it->normal, it->color); + mContactPoints.push_back(point); + } + } +} + +// Render the contact points +void SceneDemo::renderContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { + + // Render all the contact points + for (std::vector::iterator it = mContactPoints.begin(); + it != mContactPoints.end(); ++it) { + (*it)->render(mColorShader, worldToCameraMatrix); + } +} + +// Render the AABBs +void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) { + + // For each physics object of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // For each proxy shape of the object + rp3d::ProxyShape* proxyShape = (*it)->getCollisionBody()->getProxyShapesList(); + while (proxyShape != nullptr) { + + // Get the broad-phase AABB corresponding to the proxy shape + rp3d::AABB aabb = mPhysicsWorld->getWorldAABB(proxyShape); + + openglframework::Vector3 aabbCenter(aabb.getCenter().x, aabb.getCenter().y, aabb.getCenter().z); + openglframework::Vector3 aabbMin(aabb.getMin().x, aabb.getMin().y, aabb.getMin().z); + openglframework::Vector3 aabbMax(aabb.getMax().x, aabb.getMax().y, aabb.getMax().z); + + // Render the AABB + AABB::render(aabbCenter, aabbMax - aabbMin, Color::green(), mColorShader, worldToCameraMatrix); + + proxyShape = proxyShape->getNext(); + } + } +} + +void SceneDemo::removeAllContactPoints() { + + // Destroy all the visual contact points + for (std::vector::iterator it = mContactPoints.begin(); + it != mContactPoints.end(); ++it) { + delete (*it); + } + mContactPoints.clear(); +} + +// Return all the contact points of the scene +std::vector SceneDemo::computeContactPointsOfWorld(rp3d::DynamicsWorld* world) { + + std::vector contactPoints; + + // Get the list of contact manifolds from the world + rp3d::List manifolds = world->getContactsList(); + + // For each contact manifold + rp3d::List::Iterator it; + for (it = manifolds.begin(); it != manifolds.end(); ++it) { + + const rp3d::ContactManifold* manifold = *it; + + // For each contact point of the manifold + rp3d::ContactPoint* contactPoint = manifold->getContactPoints(); + while (contactPoint != nullptr) { + + rp3d::Vector3 point = manifold->getShape1()->getLocalToWorldTransform() * contactPoint->getLocalPointOnShape1(); + rp3d::Vector3 normalWorld = contactPoint->getNormal(); + openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z); + ContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red()); + contactPoints.push_back(contact); + + contactPoint = contactPoint->getNext(); + } + + } + + return contactPoints; +} + +// Update the engine settings +void SceneDemo::updateEngineSettings() { + + if (getDynamicsWorld() != nullptr) { + + // Update the physics engine parameters + getDynamicsWorld()->setIsGratityEnabled(mEngineSettings.isGravityEnabled); + rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, + mEngineSettings.gravity.z); + getDynamicsWorld()->setGravity(gravity); + getDynamicsWorld()->enableSleeping(mEngineSettings.isSleepingEnabled); + getDynamicsWorld()->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); + getDynamicsWorld()->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); + getDynamicsWorld()->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); + getDynamicsWorld()->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); + getDynamicsWorld()->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); + } +} diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 95e1ece0..247469f2 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -1,189 +1,195 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef SCENEDEMO_H -#define SCENEDEMO_H - -// Libraries -#include "Scene.h" -#include "VisualContactPoint.h" -#include "reactphysics3d.h" -#include "PhysicsObject.h" - -// Constants -const int SHADOWMAP_WIDTH = 2048; -const int SHADOWMAP_HEIGHT = 2048; - -// Class SceneDemo -// Abstract class that represents a 3D scene for the ReactPhysics3D examples. -// This scene has a single light source with shadow mapping. -class SceneDemo : public Scene { - - protected: - - // -------------------- Attributes -------------------- // - - /// Light 0 - openglframework::Light mLight0; - - /// True if the shadows FBO, textures have been created - bool mIsShadowMappingInitialized; - - /// FBO for the shadow map - openglframework::FrameBufferObject mFBOShadowMap; - - /// Shadow map texture - openglframework::Texture2D mShadowMapTexture; - - static int shadowMapTextureLevel; - - /// All the visual contact points - std::vector mContactPoints; - - /// Shadow map bias matrix - openglframework::Matrix4 mShadowMapBiasMatrix; - - /// Camera at light0 position for the shadow map - openglframework::Camera mShadowMapLightCamera; - - /// Depth shader to render the shadow map - openglframework::Shader mDepthShader; - - /// Phong shader - openglframework::Shader mPhongShader; - - /// Constant color shader - openglframework::Shader mColorShader; - - // TODO : Delete this - openglframework::Shader mQuadShader; - - // TODO : Delete this - openglframework::VertexArrayObject mVAOQuad; - - openglframework::VertexBufferObject mVBOQuad; - - static openglframework::Color mGreyColorDemo; - static openglframework::Color mYellowColorDemo; - static openglframework::Color mBlueColorDemo; - static openglframework::Color mOrangeColorDemo; - static openglframework::Color mPinkColorDemo; - static openglframework::Color mRedColorDemo; - static openglframework::Color mDemoColors[]; - static int mNbDemoColors; - - std::string mMeshFolderPath; - - std::vector mPhysicsObjects; - - rp3d::CollisionWorld* mPhysicsWorld; - - // -------------------- Methods -------------------- // - - // Create the Shadow map FBO and texture - void createShadowMapFBOAndTexture(); - - // Used for debugging shadow maps - void createQuadVBO(); - - // TODO : Delete this - void drawTextureQuad(); - - // Update the contact points - void updateContactPoints(); - - // Render the contact points - void renderContactPoints(openglframework::Shader& shader, - const openglframework::Matrix4& worldToCameraMatrix); - - - /// Render the AABBs - void renderAABBs(const openglframework::Matrix4& worldToCameraMatrix); - - /// Remove all contact points - void removeAllContactPoints(); - - /// Return a reference to the dynamics world - rp3d::DynamicsWorld* getDynamicsWorld(); - - /// Return a reference to the dynamics world - const rp3d::DynamicsWorld* getDynamicsWorld() const; - - public: - - // -------------------- Methods -------------------- // - - /// Constructor - SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled = true); - - /// Destructor - virtual ~SceneDemo() override; - - /// Update the scene - virtual void update() override; - - /// Update the physics world (take a simulation step) - /// Can be called several times per frame - virtual void updatePhysics() override; - - /// Render the scene (possibly in multiple passes for shadow mapping) - virtual void render() override; - - /// Update the engine settings - virtual void updateEngineSettings() override; - - /// Render the scene in a single pass - virtual void renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); - - /// Enabled/Disable the shadow mapping - virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override; - - /// Return all the contact points of the scene - std::vector computeContactPointsOfWorld(reactphysics3d::DynamicsWorld *world); -}; - -// Enabled/Disable the shadow mapping -inline void SceneDemo::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { - - Scene::setIsShadowMappingEnabled(isShadowMappingEnabled); - - if (mIsShadowMappingEnabled && !mIsShadowMappingInitialized) { - createShadowMapFBOAndTexture(); - } -} - -// Return a reference to the dynamics world -inline rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() { - return dynamic_cast(mPhysicsWorld); -} - -// Return a reference to the dynamics world -inline const rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() const { - return dynamic_cast(mPhysicsWorld); -} - -#endif - - +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef SCENEDEMO_H +#define SCENEDEMO_H + +// Libraries +#include "Scene.h" +#include "VisualContactPoint.h" +#include "reactphysics3d.h" +#include "PhysicsObject.h" + +// Constants +const int SHADOWMAP_WIDTH = 2048; +const int SHADOWMAP_HEIGHT = 2048; + +// Class SceneDemo +// Abstract class that represents a 3D scene for the ReactPhysics3D examples. +// This scene has a single light source with shadow mapping. +class SceneDemo : public Scene { + + protected: + + // -------------------- Constants -------------------- // + + static constexpr int NB_SHADOW_MAPS = 3; + + // -------------------- Attributes -------------------- // + + /// Light 0 + openglframework::Light mLight0; + + /// Light 1 + openglframework::Light mLight1; + + /// Light 2 + openglframework::Light mLight2; + + /// True if the shadows FBO, textures have been created + bool mIsShadowMappingInitialized; + + /// Array of FBO for the shadow maps + openglframework::FrameBufferObject mFBOShadowMap[NB_SHADOW_MAPS]; + + /// Shadow map texture + openglframework::Texture2D mShadowMapTexture[NB_SHADOW_MAPS]; + + static int shadowMapTextureLevel; + + /// All the visual contact points + std::vector mContactPoints; + + /// Shadow map bias matrix + openglframework::Matrix4 mShadowMapBiasMatrix; + + /// Cameras at lights position for the shadow maps + openglframework::Camera mShadowMapLightCameras[NB_SHADOW_MAPS]; + + /// Depth shader to render the shadow map + openglframework::Shader mDepthShader; + + /// Phong shader + openglframework::Shader mPhongShader; + + /// Constant color shader + openglframework::Shader mColorShader; + + // TODO : Delete this + openglframework::Shader mQuadShader; + + // TODO : Delete this + openglframework::VertexArrayObject mVAOQuad; + + openglframework::VertexBufferObject mVBOQuad; + + static openglframework::Color mObjectColorDemo; + static openglframework::Color mFloorColorDemo; + static openglframework::Color mSleepingColorDemo; + static openglframework::Color mSelectedObjectColorDemo; + + std::string mMeshFolderPath; + + std::vector mPhysicsObjects; + + rp3d::CollisionWorld* mPhysicsWorld; + + // -------------------- Methods -------------------- // + + // Create the Shadow map FBO and texture + void createShadowMapFBOAndTexture(); + + // Used for debugging shadow maps + void createQuadVBO(); + + // TODO : Delete this + void drawTextureQuad(); + + // Update the contact points + void updateContactPoints(); + + // Render the contact points + void renderContactPoints(openglframework::Shader& shader, + const openglframework::Matrix4& worldToCameraMatrix); + + + /// Render the AABBs + void renderAABBs(const openglframework::Matrix4& worldToCameraMatrix); + + /// Remove all contact points + void removeAllContactPoints(); + + /// Return a reference to the dynamics world + rp3d::DynamicsWorld* getDynamicsWorld(); + + /// Return a reference to the dynamics world + const rp3d::DynamicsWorld* getDynamicsWorld() const; + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled = true); + + /// Destructor + virtual ~SceneDemo() override; + + /// Update the scene + virtual void update() override; + + /// Update the physics world (take a simulation step) + /// Can be called several times per frame + virtual void updatePhysics() override; + + /// Render the scene (possibly in multiple passes for shadow mapping) + virtual void render() override; + + /// Update the engine settings + virtual void updateEngineSettings() override; + + /// Render the scene in a single pass + virtual void renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); + + /// Enabled/Disable the shadow mapping + virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override; + + /// Return all the contact points of the scene + std::vector computeContactPointsOfWorld(reactphysics3d::DynamicsWorld *world); +}; + +// Enabled/Disable the shadow mapping +inline void SceneDemo::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { + + Scene::setIsShadowMappingEnabled(isShadowMappingEnabled); + + if (mIsShadowMappingEnabled && !mIsShadowMappingInitialized) { + createShadowMapFBOAndTexture(); + } +} + +// Return a reference to the dynamics world +inline rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() { + return dynamic_cast(mPhysicsWorld); +} + +// Return a reference to the dynamics world +inline const rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() const { + return dynamic_cast(mPhysicsWorld); +} + +#endif + + diff --git a/testbed/src/TestbedApplication.cpp b/testbed/src/TestbedApplication.cpp index 4a0963f2..9a21261b 100644 --- a/testbed/src/TestbedApplication.cpp +++ b/testbed/src/TestbedApplication.cpp @@ -1,393 +1,393 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "TestbedApplication.h" -#include "openglframework.h" -#include -#include -#include -#include "cubes/CubesScene.h" -#include "collisiondetection/CollisionDetectionScene.h" -#include "joints/JointsScene.h" -#include "collisionshapes/CollisionShapesScene.h" -#include "heightfield/HeightFieldScene.h" -#include "raycast/RaycastScene.h" -#include "concavemesh/ConcaveMeshScene.h" -#include "cubestack/CubeStackScene.h" - -using namespace openglframework; -using namespace jointsscene; -using namespace cubesscene; -using namespace raycastscene; -using namespace collisionshapesscene; -using namespace trianglemeshscene; -using namespace heightfieldscene; -using namespace collisiondetectionscene; -using namespace cubestackscene; - -// Initialization of static variables -const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f; - -// Constructor -TestbedApplication::TestbedApplication(bool isFullscreen) - : Screen(Vector2i(1280, 800), "Testbed ReactPhysics3D", true, isFullscreen, 8, 8, 24, 8, 8), - mIsInitialized(false), mGui(this), mCurrentScene(nullptr), - mEngineSettings(EngineSettings::defaultSettings()), - mFPS(0), mNbFrames(0), mPreviousTime(0), - mLastTimeComputedFPS(0), mFrameTime(0), mPhysicsTime(0), - mWidth(1280), mHeight(720), - mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false), - mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true), - mIsContactPointsDisplayed(false), mIsAABBsDisplayed(false), mIsWireframeEnabled(false), - mIsVSyncEnabled(true) { - - init(); - - resizeEvent(Vector2i(0, 0)); -} - -// Destructor -TestbedApplication::~TestbedApplication() { - - // Destroy all the scenes - destroyScenes(); -} - -// Initialize the viewer -void TestbedApplication::init() { - - // Create all the scenes - createScenes(); - - // Initialize the GUI - mGui.init(); - - mTimer.start(); - - mIsInitialized = true; -} - -// Create all the scenes -void TestbedApplication::createScenes() { - - // Cubes scene - CubesScene* cubeScene = new CubesScene("Cubes", mEngineSettings); - mScenes.push_back(cubeScene); - - // Cube Stack scene - CubeStackScene* cubeStackScene = new CubeStackScene("Cube Stack", mEngineSettings); - mScenes.push_back(cubeStackScene); - - // Joints scene - JointsScene* jointsScene = new JointsScene("Joints", mEngineSettings); - mScenes.push_back(jointsScene); - - // Collision shapes scene - CollisionShapesScene* collisionShapesScene = new CollisionShapesScene("Collision Shapes", mEngineSettings); - mScenes.push_back(collisionShapesScene); - - // Heightfield shape scene - HeightFieldScene* heightFieldScene = new HeightFieldScene("Heightfield", mEngineSettings); - mScenes.push_back(heightFieldScene); - - // Raycast scene - RaycastScene* raycastScene = new RaycastScene("Raycast", mEngineSettings); - mScenes.push_back(raycastScene); - - // Collision Detection scene - CollisionDetectionScene* collisionDetectionScene = new CollisionDetectionScene("Collision Detection", mEngineSettings); - mScenes.push_back(collisionDetectionScene); - - // Concave Mesh scene - ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene("Concave Mesh", mEngineSettings); - mScenes.push_back(concaveMeshScene); - - assert(mScenes.size() > 0); - - const int firstSceneIndex = 0; - - switchScene(mScenes[firstSceneIndex]); -} - -// Remove all the scenes -void TestbedApplication::destroyScenes() { - - for (uint i=0; iupdatePhysics(); -} - -// Update the physics of the current scene -void TestbedApplication::updatePhysics() { - - // Update the elapsed time - mEngineSettings.elapsedTime = mTimer.getPhysicsTime(); - - if (mTimer.isRunning()) { - - // Compute the time since the last update() call and update the timer - mTimer.update(); - - // While the time accumulator is not empty - while(mTimer.isPossibleToTakeStep(mEngineSettings.timeStep)) { - - // Take a physics simulation step - mCurrentScene->updatePhysics(); - - // Update the timer - mTimer.nextStep(mEngineSettings.timeStep); - } - } -} - -void TestbedApplication::update() { - - double currentTime = glfwGetTime(); - - // Update the physics - if (mSinglePhysicsStepEnabled && !mSinglePhysicsStepDone) { - updateSinglePhysicsStep(); - mSinglePhysicsStepDone = true; - } - else { - updatePhysics(); - } - - // Compute the physics update time - mPhysicsTime = glfwGetTime() - currentTime; - - // Compute the interpolation factor - float factor = mTimer.computeInterpolationFactor(mEngineSettings.timeStep); - assert(factor >= 0.0f && factor <= 1.0f); - - // Notify the scene about the interpolation factor - mCurrentScene->setInterpolationFactor(factor); - - // Enable/Disable shadow mapping - mCurrentScene->setIsShadowMappingEnabled(mIsShadowMappingEnabled); - - // Display/Hide contact points - mCurrentScene->setIsContactPointsDisplayed(mIsContactPointsDisplayed); - - // Display/Hide the AABBs - mCurrentScene->setIsAABBsDisplayed(mIsAABBsDisplayed); - - // Enable/Disable wireframe mode - mCurrentScene->setIsWireframeEnabled(mIsWireframeEnabled); - - // Update the scene - mCurrentScene->update(); -} - -void TestbedApplication::drawContents() { - - update(); - - int bufferWidth, bufferHeight; - glfwMakeContextCurrent(mGLFWWindow); - glfwGetFramebufferSize(mGLFWWindow, &bufferWidth, &bufferHeight); - - // Set the viewport of the scene - mCurrentScene->setViewport(0, 0, bufferWidth, bufferHeight); - - // Render the scene - mCurrentScene->render(); - - // Check the OpenGL errors - checkOpenGLErrors(); - - mGui.update(); - - // Compute the current framerate - computeFPS(); -} - -/// Window resize event handler -bool TestbedApplication::resizeEvent(const Vector2i& size) { - - if (!mIsInitialized) return false; - - // Get the framebuffer dimension - int width, height; - glfwGetFramebufferSize(mGLFWWindow, &width, &height); - - // Resize the camera viewport - mCurrentScene->reshape(width, height); - - // Update the window size of the scene - int windowWidth, windowHeight; - glfwGetWindowSize(mGLFWWindow, &windowWidth, &windowHeight); - mCurrentScene->setWindowDimension(windowWidth, windowHeight); - - return true; -} - -// Change the current scene -void TestbedApplication::switchScene(Scene* newScene) { - - if (newScene == mCurrentScene) return; - - mCurrentScene = newScene; - - // Reset the scene - mCurrentScene->reset(); - - mCurrentScene->updateEngineSettings(); - - resizeEvent(Vector2i(0, 0)); -} - -// Notify that the engine settings have changed -void TestbedApplication::notifyEngineSetttingsChanged() { - mCurrentScene->updateEngineSettings(); -} - -// Check the OpenGL errors -void TestbedApplication::checkOpenGLErrorsInternal(const char* file, int line) { - GLenum glError; - - // Get the OpenGL errors - glError = glGetError(); - - // While there are errors - while (glError != GL_NO_ERROR) { - - std::string error; - - switch(glError) { - case GL_INVALID_OPERATION: error="INVALID_OPERATION"; break; - case GL_INVALID_ENUM: error="INVALID_ENUM"; break; - case GL_INVALID_VALUE: error="INVALID_VALUE"; break; - case GL_OUT_OF_MEMORY: error="OUT_OF_MEMORY"; break; - case GL_INVALID_FRAMEBUFFER_OPERATION: error="INVALID_FRAMEBUFFER_OPERATION"; break; - } - - std::cerr << "OpenGL Error #" << error.c_str() << " - " << file << ": " << line << std::endl; - - // Get the next error - glError = glGetError(); - } -} - - -// Compute the FPS -void TestbedApplication::computeFPS() { - - // Note : By default the nanogui library is using glfwWaitEvents() to process - // events and sleep to target a framerate of 50 ms (using a thread - // sleeping). However, for games we prefer to use glfwPollEvents() - // instead and remove the update. Therefore the file common.cpp of the - // nanogui library has been modified to have a faster framerate - - mNbFrames++; - - // Get the number of seconds since start - mCurrentTime = glfwGetTime(); - - // Calculate time passed - mFrameTime = mCurrentTime - mPreviousTime; - double timeInterval = (mCurrentTime - mLastTimeComputedFPS) * 1000.0; - - // Update the FPS counter each second - if(timeInterval > 1000) { - - // calculate the number of frames per second - mFPS = static_cast(mNbFrames) / timeInterval; - mFPS *= 1000.0; - - // Reset frame count - mNbFrames = 0; - - mLastTimeComputedFPS = mCurrentTime; - } - - // Set time - mPreviousTime = mCurrentTime; -} - -bool TestbedApplication::keyboardEvent(int key, int scancode, int action, int modifiers) { - - if (Screen::keyboardEvent(key, scancode, action, modifiers)) { - return true; - } - - // Close application on escape key - if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS) { - glfwSetWindowShouldClose(mGLFWWindow, GL_TRUE); - return true; - } - - return mCurrentScene->keyboardEvent(key, scancode, action, modifiers); -} - -// Handle a mouse button event (default implementation: propagate to children) -bool TestbedApplication::mouseButtonEvent(const Vector2i &p, int button, bool down, int modifiers) { - - if (Screen::mouseButtonEvent(p, button, down, modifiers)) { - return true; - } - - // Get the mouse cursor position - double x, y; - glfwGetCursorPos(mGLFWWindow, &x, &y); - - return mCurrentScene->mouseButtonEvent(button, down, modifiers, x, y); -} - -// Handle a mouse motion event (default implementation: propagate to children) -bool TestbedApplication::mouseMotionEvent(const Vector2i &p, const Vector2i &rel, int button, int modifiers) { - - if (Screen::mouseMotionEvent(p, rel, button, modifiers)) { - return true; - } - - int leftButtonState = glfwGetMouseButton(mGLFWWindow, GLFW_MOUSE_BUTTON_LEFT); - int rightButtonState = glfwGetMouseButton(mGLFWWindow, GLFW_MOUSE_BUTTON_RIGHT); - int middleButtonState = glfwGetMouseButton(mGLFWWindow, GLFW_MOUSE_BUTTON_MIDDLE); - int altKeyState = glfwGetKey(mGLFWWindow, GLFW_KEY_LEFT_ALT); - - return mCurrentScene->mouseMotionEvent(p[0], p[1], leftButtonState, rightButtonState, - middleButtonState, altKeyState); -} - -// Handle a mouse scroll event (default implementation: propagate to children) -bool TestbedApplication::scrollEvent(const Vector2i &p, const Vector2f &rel) { - - if (Screen::scrollEvent(p, rel)) { - return true; - } - - return mCurrentScene->scrollingEvent(rel[0], rel[1], SCROLL_SENSITIVITY); -} +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "TestbedApplication.h" +#include "openglframework.h" +#include +#include +#include +#include "cubes/CubesScene.h" +#include "collisiondetection/CollisionDetectionScene.h" +#include "joints/JointsScene.h" +#include "collisionshapes/CollisionShapesScene.h" +#include "heightfield/HeightFieldScene.h" +#include "raycast/RaycastScene.h" +#include "concavemesh/ConcaveMeshScene.h" +#include "cubestack/CubeStackScene.h" + +using namespace openglframework; +using namespace jointsscene; +using namespace cubesscene; +using namespace raycastscene; +using namespace collisionshapesscene; +using namespace trianglemeshscene; +using namespace heightfieldscene; +using namespace collisiondetectionscene; +using namespace cubestackscene; + +// Initialization of static variables +const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f; + +// Constructor +TestbedApplication::TestbedApplication(bool isFullscreen, int windowWidth, int windowHeight) + : Screen(Vector2i(windowWidth, windowHeight), "Testbed ReactPhysics3D", true, isFullscreen, 8, 8, 24, 8, 8), + mIsInitialized(false), mGui(this), mCurrentScene(nullptr), + mEngineSettings(EngineSettings::defaultSettings()), + mFPS(0), mNbFrames(0), mPreviousTime(0), + mLastTimeComputedFPS(0), mFrameTime(0), mPhysicsTime(0), + mWidth(windowWidth), mHeight(windowHeight), + mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false), + mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true), + mIsContactPointsDisplayed(false), mIsAABBsDisplayed(false), mIsWireframeEnabled(false), + mIsVSyncEnabled(true) { + + init(); + + resizeEvent(Vector2i(0, 0)); +} + +// Destructor +TestbedApplication::~TestbedApplication() { + + // Destroy all the scenes + destroyScenes(); +} + +// Initialize the viewer +void TestbedApplication::init() { + + // Create all the scenes + createScenes(); + + // Initialize the GUI + mGui.init(); + + mTimer.start(); + + mIsInitialized = true; +} + +// Create all the scenes +void TestbedApplication::createScenes() { + + // Cubes scene + CubesScene* cubeScene = new CubesScene("Cubes", mEngineSettings); + mScenes.push_back(cubeScene); + + // Cube Stack scene + CubeStackScene* cubeStackScene = new CubeStackScene("Cube Stack", mEngineSettings); + mScenes.push_back(cubeStackScene); + + // Joints scene + JointsScene* jointsScene = new JointsScene("Joints", mEngineSettings); + mScenes.push_back(jointsScene); + + // Collision shapes scene + CollisionShapesScene* collisionShapesScene = new CollisionShapesScene("Collision Shapes", mEngineSettings); + mScenes.push_back(collisionShapesScene); + + // Heightfield shape scene + HeightFieldScene* heightFieldScene = new HeightFieldScene("Heightfield", mEngineSettings); + mScenes.push_back(heightFieldScene); + + // Raycast scene + RaycastScene* raycastScene = new RaycastScene("Raycast", mEngineSettings); + mScenes.push_back(raycastScene); + + // Collision Detection scene + CollisionDetectionScene* collisionDetectionScene = new CollisionDetectionScene("Collision Detection", mEngineSettings); + mScenes.push_back(collisionDetectionScene); + + // Concave Mesh scene + ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene("Concave Mesh", mEngineSettings); + mScenes.push_back(concaveMeshScene); + + assert(mScenes.size() > 0); + + const int firstSceneIndex = 0; + + switchScene(mScenes[firstSceneIndex]); +} + +// Remove all the scenes +void TestbedApplication::destroyScenes() { + + for (uint i=0; iupdatePhysics(); +} + +// Update the physics of the current scene +void TestbedApplication::updatePhysics() { + + // Update the elapsed time + mEngineSettings.elapsedTime = mTimer.getPhysicsTime(); + + if (mTimer.isRunning()) { + + // Compute the time since the last update() call and update the timer + mTimer.update(); + + // While the time accumulator is not empty + while(mTimer.isPossibleToTakeStep(mEngineSettings.timeStep)) { + + // Take a physics simulation step + mCurrentScene->updatePhysics(); + + // Update the timer + mTimer.nextStep(mEngineSettings.timeStep); + } + } +} + +void TestbedApplication::update() { + + double currentTime = glfwGetTime(); + + // Update the physics + if (mSinglePhysicsStepEnabled && !mSinglePhysicsStepDone) { + updateSinglePhysicsStep(); + mSinglePhysicsStepDone = true; + } + else { + updatePhysics(); + } + + // Compute the physics update time + mPhysicsTime = glfwGetTime() - currentTime; + + // Compute the interpolation factor + float factor = mTimer.computeInterpolationFactor(mEngineSettings.timeStep); + assert(factor >= 0.0f && factor <= 1.0f); + + // Notify the scene about the interpolation factor + mCurrentScene->setInterpolationFactor(factor); + + // Enable/Disable shadow mapping + mCurrentScene->setIsShadowMappingEnabled(mIsShadowMappingEnabled); + + // Display/Hide contact points + mCurrentScene->setIsContactPointsDisplayed(mIsContactPointsDisplayed); + + // Display/Hide the AABBs + mCurrentScene->setIsAABBsDisplayed(mIsAABBsDisplayed); + + // Enable/Disable wireframe mode + mCurrentScene->setIsWireframeEnabled(mIsWireframeEnabled); + + // Update the scene + mCurrentScene->update(); +} + +void TestbedApplication::drawContents() { + + update(); + + int bufferWidth, bufferHeight; + glfwMakeContextCurrent(mGLFWWindow); + glfwGetFramebufferSize(mGLFWWindow, &bufferWidth, &bufferHeight); + + // Set the viewport of the scene + mCurrentScene->setViewport(0, 0, bufferWidth, bufferHeight); + + // Render the scene + mCurrentScene->render(); + + // Check the OpenGL errors + checkOpenGLErrors(); + + mGui.update(); + + // Compute the current framerate + computeFPS(); +} + +/// Window resize event handler +bool TestbedApplication::resizeEvent(const Vector2i& size) { + + if (!mIsInitialized) return false; + + // Get the framebuffer dimension + int width, height; + glfwGetFramebufferSize(mGLFWWindow, &width, &height); + + // Resize the camera viewport + mCurrentScene->reshape(width, height); + + // Update the window size of the scene + int windowWidth, windowHeight; + glfwGetWindowSize(mGLFWWindow, &windowWidth, &windowHeight); + mCurrentScene->setWindowDimension(windowWidth, windowHeight); + + return true; +} + +// Change the current scene +void TestbedApplication::switchScene(Scene* newScene) { + + if (newScene == mCurrentScene) return; + + mCurrentScene = newScene; + + // Reset the scene + mCurrentScene->reset(); + + mCurrentScene->updateEngineSettings(); + + resizeEvent(Vector2i(0, 0)); +} + +// Notify that the engine settings have changed +void TestbedApplication::notifyEngineSetttingsChanged() { + mCurrentScene->updateEngineSettings(); +} + +// Check the OpenGL errors +void TestbedApplication::checkOpenGLErrorsInternal(const char* file, int line) { + GLenum glError; + + // Get the OpenGL errors + glError = glGetError(); + + // While there are errors + while (glError != GL_NO_ERROR) { + + std::string error; + + switch(glError) { + case GL_INVALID_OPERATION: error="INVALID_OPERATION"; break; + case GL_INVALID_ENUM: error="INVALID_ENUM"; break; + case GL_INVALID_VALUE: error="INVALID_VALUE"; break; + case GL_OUT_OF_MEMORY: error="OUT_OF_MEMORY"; break; + case GL_INVALID_FRAMEBUFFER_OPERATION: error="INVALID_FRAMEBUFFER_OPERATION"; break; + } + + std::cerr << "OpenGL Error #" << error.c_str() << " - " << file << ": " << line << std::endl; + + // Get the next error + glError = glGetError(); + } +} + + +// Compute the FPS +void TestbedApplication::computeFPS() { + + // Note : By default the nanogui library is using glfwWaitEvents() to process + // events and sleep to target a framerate of 50 ms (using a thread + // sleeping). However, for games we prefer to use glfwPollEvents() + // instead and remove the update. Therefore the file common.cpp of the + // nanogui library has been modified to have a faster framerate + + mNbFrames++; + + // Get the number of seconds since start + mCurrentTime = glfwGetTime(); + + // Calculate time passed + mFrameTime = mCurrentTime - mPreviousTime; + double timeInterval = (mCurrentTime - mLastTimeComputedFPS) * 1000.0; + + // Update the FPS counter each second + if(timeInterval > 1000) { + + // calculate the number of frames per second + mFPS = static_cast(mNbFrames) / timeInterval; + mFPS *= 1000.0; + + // Reset frame count + mNbFrames = 0; + + mLastTimeComputedFPS = mCurrentTime; + } + + // Set time + mPreviousTime = mCurrentTime; +} + +bool TestbedApplication::keyboardEvent(int key, int scancode, int action, int modifiers) { + + if (Screen::keyboardEvent(key, scancode, action, modifiers)) { + return true; + } + + // Close application on escape key + if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS) { + glfwSetWindowShouldClose(mGLFWWindow, GL_TRUE); + return true; + } + + return mCurrentScene->keyboardEvent(key, scancode, action, modifiers); +} + +// Handle a mouse button event (default implementation: propagate to children) +bool TestbedApplication::mouseButtonEvent(const Vector2i &p, int button, bool down, int modifiers) { + + if (Screen::mouseButtonEvent(p, button, down, modifiers)) { + return true; + } + + // Get the mouse cursor position + double x, y; + glfwGetCursorPos(mGLFWWindow, &x, &y); + + return mCurrentScene->mouseButtonEvent(button, down, modifiers, x, y); +} + +// Handle a mouse motion event (default implementation: propagate to children) +bool TestbedApplication::mouseMotionEvent(const Vector2i &p, const Vector2i &rel, int button, int modifiers) { + + if (Screen::mouseMotionEvent(p, rel, button, modifiers)) { + return true; + } + + int leftButtonState = glfwGetMouseButton(mGLFWWindow, GLFW_MOUSE_BUTTON_LEFT); + int rightButtonState = glfwGetMouseButton(mGLFWWindow, GLFW_MOUSE_BUTTON_RIGHT); + int middleButtonState = glfwGetMouseButton(mGLFWWindow, GLFW_MOUSE_BUTTON_MIDDLE); + int altKeyState = glfwGetKey(mGLFWWindow, GLFW_KEY_LEFT_ALT); + + return mCurrentScene->mouseMotionEvent(p[0], p[1], leftButtonState, rightButtonState, + middleButtonState, altKeyState); +} + +// Handle a mouse scroll event (default implementation: propagate to children) +bool TestbedApplication::scrollEvent(const Vector2i &p, const Vector2f &rel) { + + if (Screen::scrollEvent(p, rel)) { + return true; + } + + return mCurrentScene->scrollingEvent(rel[0], rel[1], SCROLL_SENSITIVITY); +} diff --git a/testbed/src/TestbedApplication.h b/testbed/src/TestbedApplication.h index c9ca44ee..a72f5cb6 100644 --- a/testbed/src/TestbedApplication.h +++ b/testbed/src/TestbedApplication.h @@ -1,260 +1,260 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2016 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef TESTBED_APPLICATION_H -#define TESTBED_APPLICATION_H - -// Libraries -#include "openglframework.h" -#include "Gui.h" -#include "Scene.h" -#include "Timer.h" -#include - -using namespace nanogui; - -// Macro for OpenGL errors -#define checkOpenGLErrors() checkOpenGLErrorsInternal(__FILE__,__LINE__) - -/// Class TestbedApplication -class TestbedApplication : public Screen { - - private : - - // -------------------- Constants -------------------- // - - static const float SCROLL_SENSITIVITY; - - // -------------------- Attributes -------------------- // - - bool mIsInitialized; - - Gui mGui; - - /// Timer - Timer mTimer; - - /// List of 3D scenes - std::vector mScenes; - - /// Current 3D scene - Scene* mCurrentScene; - - /// Physics engine settings - EngineSettings mEngineSettings; - - /// Current number of frames per seconds - double mFPS; - - /// Number of frames during the last second - int mNbFrames; - - /// Current time for fps computation (in seconds) - double mCurrentTime; - - /// Previous time for fps computation (in seconds) - double mPreviousTime; - - /// Last time the FPS have been computed - double mLastTimeComputedFPS; - - /// Update time (in seconds) - double mFrameTime; - - /// Physics update time (in seconds) - double mPhysicsTime; - - /// Width and height of the window - int mWidth, mHeight; - - /// True if the next simulation update is a single physics step - bool mSinglePhysicsStepEnabled; - - /// True if the single physics step has been taken already - bool mSinglePhysicsStepDone; - - openglframework::Vector2 mWindowToFramebufferRatio; - - /// True if shadow mapping is enabled - bool mIsShadowMappingEnabled; - - /// True if contact points are displayed - bool mIsContactPointsDisplayed; - - /// True if the AABBs of physics objects are displayed - bool mIsAABBsDisplayed; - - /// True if the wireframe rendering is enabled - bool mIsWireframeEnabled; - - /// True if vsync is enabled - bool mIsVSyncEnabled; - - // -------------------- Methods -------------------- // - - /// Private copy-constructor (for the singleton class) - TestbedApplication(TestbedApplication const&); - - /// Private assignment operator (for the singleton class) - void operator=(TestbedApplication const&); - - /// Update the physics of the current scene - void updatePhysics(); - - /// Update - void update(); - - /// Update the simulation by taking a single physics step - void updateSinglePhysicsStep(); - - /// Check the OpenGL errors - static void checkOpenGLErrorsInternal(const char* file, int line); - - /// Compute the FPS - void computeFPS(); - - /// Initialize all the scenes - void createScenes(); - - /// Remove all the scenes - void destroyScenes(); - - /// Return the list of the scenes - std::vector getScenes(); - - /// Start/stop the simulation - void togglePlayPauseSimulation(); - - /// Play the simulation - void playSimulation(); - - /// Pause the simulation - void pauseSimulation(); - - /// Restart the simulation - void restartSimulation(); - - /// Set the variable to know if we need to take a single physics step - void toggleTakeSinglePhysicsStep(); - - public : - - // -------------------- Methods -------------------- // - - /// Private constructor (for the singleton class) - TestbedApplication(bool isFullscreen); - - /// Destructor - virtual ~TestbedApplication() override; - - /// Render the content of the application - virtual void drawContents() override; - - /// Window resize event handler - virtual bool resizeEvent(const Vector2i& size) override; - - /// Default keyboard event handler - virtual bool keyboardEvent(int key, int scancode, int action, int modifiers) override; - - /// Handle a mouse button event (default implementation: propagate to children) - virtual bool mouseButtonEvent(const Vector2i &p, int button, bool down, int modifiers) override; - - /// Handle a mouse motion event (default implementation: propagate to children) - virtual bool mouseMotionEvent(const Vector2i &p, const Vector2i &rel, int button, int modifiers) override; - - /// Handle a mouse scroll event (default implementation: propagate to children) - virtual bool scrollEvent(const Vector2i &p, const Vector2f &rel) override; - - /// Initialize the application - void init(); - - /// Change the current scene - void switchScene(Scene* newScene); - - /// Enable/Disable Vertical synchronization - void enableVSync(bool enable); - - /// Notify that the engine settings have changed - void notifyEngineSetttingsChanged(); - - // -------------------- Friendship -------------------- // - - friend class Gui; -}; - -// Return the list of the scenes -inline std::vector TestbedApplication::getScenes() { - return mScenes; -} - -// Toggle play/pause for the simulation -inline void TestbedApplication::togglePlayPauseSimulation() { - - if (mTimer.isRunning()) { - mTimer.stop(); - } - else { - mTimer.start(); - } -} - -// Play the simulation -inline void TestbedApplication::playSimulation() { - if (!mTimer.isRunning()) mTimer.start(); -} - -// Pause the simulation -inline void TestbedApplication::pauseSimulation() { - if (mTimer.isRunning()) mTimer.stop(); -} - -// Restart the simulation -inline void TestbedApplication::restartSimulation() { - mCurrentScene->reset(); - mTimer.start(); -} - -// Take a single step of simulation -inline void TestbedApplication::toggleTakeSinglePhysicsStep() { - mSinglePhysicsStepEnabled = true; - mSinglePhysicsStepDone = false; - - if (mTimer.isRunning()) { - mSinglePhysicsStepEnabled = false; - } -} - -// Enable/Disable Vertical synchronization -inline void TestbedApplication::enableVSync(bool enable) { - mIsVSyncEnabled = enable; - if (mIsVSyncEnabled) { - glfwSwapInterval(1); - } - else { - glfwSwapInterval(0); - } -} - -#endif +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef TESTBED_APPLICATION_H +#define TESTBED_APPLICATION_H + +// Libraries +#include "openglframework.h" +#include "Gui.h" +#include "Scene.h" +#include "Timer.h" +#include + +using namespace nanogui; + +// Macro for OpenGL errors +#define checkOpenGLErrors() checkOpenGLErrorsInternal(__FILE__,__LINE__) + +/// Class TestbedApplication +class TestbedApplication : public Screen { + + private : + + // -------------------- Constants -------------------- // + + static const float SCROLL_SENSITIVITY; + + // -------------------- Attributes -------------------- // + + bool mIsInitialized; + + Gui mGui; + + /// Timer + Timer mTimer; + + /// List of 3D scenes + std::vector mScenes; + + /// Current 3D scene + Scene* mCurrentScene; + + /// Physics engine settings + EngineSettings mEngineSettings; + + /// Current number of frames per seconds + double mFPS; + + /// Number of frames during the last second + int mNbFrames; + + /// Current time for fps computation (in seconds) + double mCurrentTime; + + /// Previous time for fps computation (in seconds) + double mPreviousTime; + + /// Last time the FPS have been computed + double mLastTimeComputedFPS; + + /// Update time (in seconds) + double mFrameTime; + + /// Physics update time (in seconds) + double mPhysicsTime; + + /// Width and height of the window + int mWidth, mHeight; + + /// True if the next simulation update is a single physics step + bool mSinglePhysicsStepEnabled; + + /// True if the single physics step has been taken already + bool mSinglePhysicsStepDone; + + openglframework::Vector2 mWindowToFramebufferRatio; + + /// True if shadow mapping is enabled + bool mIsShadowMappingEnabled; + + /// True if contact points are displayed + bool mIsContactPointsDisplayed; + + /// True if the AABBs of physics objects are displayed + bool mIsAABBsDisplayed; + + /// True if the wireframe rendering is enabled + bool mIsWireframeEnabled; + + /// True if vsync is enabled + bool mIsVSyncEnabled; + + // -------------------- Methods -------------------- // + + /// Private copy-constructor (for the singleton class) + TestbedApplication(TestbedApplication const&); + + /// Private assignment operator (for the singleton class) + void operator=(TestbedApplication const&); + + /// Update the physics of the current scene + void updatePhysics(); + + /// Update + void update(); + + /// Update the simulation by taking a single physics step + void updateSinglePhysicsStep(); + + /// Check the OpenGL errors + static void checkOpenGLErrorsInternal(const char* file, int line); + + /// Compute the FPS + void computeFPS(); + + /// Initialize all the scenes + void createScenes(); + + /// Remove all the scenes + void destroyScenes(); + + /// Return the list of the scenes + std::vector getScenes(); + + /// Start/stop the simulation + void togglePlayPauseSimulation(); + + /// Play the simulation + void playSimulation(); + + /// Pause the simulation + void pauseSimulation(); + + /// Restart the simulation + void restartSimulation(); + + /// Set the variable to know if we need to take a single physics step + void toggleTakeSinglePhysicsStep(); + + public : + + // -------------------- Methods -------------------- // + + /// Private constructor (for the singleton class) + TestbedApplication(bool isFullscreen, int windowWidth, int windowHeight); + + /// Destructor + virtual ~TestbedApplication() override; + + /// Render the content of the application + virtual void drawContents() override; + + /// Window resize event handler + virtual bool resizeEvent(const Vector2i& size) override; + + /// Default keyboard event handler + virtual bool keyboardEvent(int key, int scancode, int action, int modifiers) override; + + /// Handle a mouse button event (default implementation: propagate to children) + virtual bool mouseButtonEvent(const Vector2i &p, int button, bool down, int modifiers) override; + + /// Handle a mouse motion event (default implementation: propagate to children) + virtual bool mouseMotionEvent(const Vector2i &p, const Vector2i &rel, int button, int modifiers) override; + + /// Handle a mouse scroll event (default implementation: propagate to children) + virtual bool scrollEvent(const Vector2i &p, const Vector2f &rel) override; + + /// Initialize the application + void init(); + + /// Change the current scene + void switchScene(Scene* newScene); + + /// Enable/Disable Vertical synchronization + void enableVSync(bool enable); + + /// Notify that the engine settings have changed + void notifyEngineSetttingsChanged(); + + // -------------------- Friendship -------------------- // + + friend class Gui; +}; + +// Return the list of the scenes +inline std::vector TestbedApplication::getScenes() { + return mScenes; +} + +// Toggle play/pause for the simulation +inline void TestbedApplication::togglePlayPauseSimulation() { + + if (mTimer.isRunning()) { + mTimer.stop(); + } + else { + mTimer.start(); + } +} + +// Play the simulation +inline void TestbedApplication::playSimulation() { + if (!mTimer.isRunning()) mTimer.start(); +} + +// Pause the simulation +inline void TestbedApplication::pauseSimulation() { + if (mTimer.isRunning()) mTimer.stop(); +} + +// Restart the simulation +inline void TestbedApplication::restartSimulation() { + mCurrentScene->reset(); + mTimer.start(); +} + +// Take a single step of simulation +inline void TestbedApplication::toggleTakeSinglePhysicsStep() { + mSinglePhysicsStepEnabled = true; + mSinglePhysicsStepDone = false; + + if (mTimer.isRunning()) { + mSinglePhysicsStepEnabled = false; + } +} + +// Enable/Disable Vertical synchronization +inline void TestbedApplication::enableVSync(bool enable) { + mIsVSyncEnabled = enable; + if (mIsVSyncEnabled) { + glfwSwapInterval(1); + } + else { + glfwSwapInterval(0); + } +} + +#endif From f991717cc1e9b8564a65dee4b48ddc0e9daa1973 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 22 Oct 2019 07:10:57 +0200 Subject: [PATCH 100/197] Optimizations --- src/engine/OverlappingPair.cpp | 9 +- src/engine/OverlappingPair.h | 42 +++++++++ src/systems/BroadPhaseSystem.cpp | 9 +- src/systems/CollisionDetectionSystem.cpp | 115 ++++++++++++++--------- src/systems/CollisionDetectionSystem.h | 3 + 5 files changed, 129 insertions(+), 49 deletions(-) diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index d3779d27..ca86ce40 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -37,13 +37,15 @@ OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, const WorldSettings& worldSettings) : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mProxyShape1(shape1->getEntity()), mProxyShape2(shape2->getEntity()), mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), - mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings) { + mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings), mNeedToTestOverlap(false) { } // Destructor OverlappingPair::~OverlappingPair() { + RP3D_PROFILE("OverlappingPair::~OverlappingPair()", mProfiler); + // Remove all the remaining last frame collision info for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ++it) { @@ -58,6 +60,8 @@ OverlappingPair::~OverlappingPair() { // Add a new last frame collision info if it does not exist for the given shapes already LastFrameCollisionInfo* OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) { + RP3D_PROFILE("OverlappingPair::addLastFrameInfoIfNecessary()", mProfiler); + // Try to get the corresponding last frame collision info const ShapeIdPair shapeIdPair(shapeId1, shapeId2); auto it = mLastFrameCollisionInfos.find(shapeIdPair); @@ -83,10 +87,11 @@ LastFrameCollisionInfo* OverlappingPair::addLastFrameInfoIfNecessary(uint shapeI } } - // Delete all the obsolete last frame collision info void OverlappingPair::clearObsoleteLastFrameCollisionInfos() { + RP3D_PROFILE("OverlappingPair::clearObsoleteLastFrameCollisionInfos()", mProfiler); + // For each collision info for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ) { diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index b2567535..bf46290c 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -31,6 +31,7 @@ #include "containers/Map.h" #include "containers/Pair.h" #include "containers/containers_common.h" +#include "utils/Profiler.h" #include /// ReactPhysics3D namespace @@ -131,6 +132,16 @@ class OverlappingPair { /// World settings const WorldSettings& mWorldSettings; + /// True if we need to test if the overlapping pair of shapes still overlap + bool mNeedToTestOverlap; + +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; + +#endif + public: // -------------------- Methods -------------------- // @@ -163,6 +174,12 @@ class OverlappingPair { /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); + /// Return true if we need to test if the overlapping pair of shapes still overlap + bool needToTestOverlap() const; + + /// Set to true if we need to test if the overlapping pair of shapes still overlap + void setNeedToTestOverlap(bool needToTestOverlap); + /// Add a new last frame collision info if it does not exist for the given shapes already LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2); @@ -178,6 +195,13 @@ class OverlappingPair { /// Return the pair of bodies index of the pair static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity); +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -236,11 +260,29 @@ inline MemoryAllocator& OverlappingPair::getTemporaryAllocator() { return mTempMemoryAllocator; } +// Return true if we need to test if the overlapping pair of shapes still overlap +inline bool OverlappingPair::needToTestOverlap() const { + return mNeedToTestOverlap; +} + +// Set to true if we need to test if the overlapping pair of shapes still overlap +inline void OverlappingPair::setNeedToTestOverlap(bool needToTestOverlap) { + mNeedToTestOverlap = needToTestOverlap; +} + // Return the last frame collision info for a given pair of shape ids inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const { return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)]; } +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void OverlappingPair::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +#endif } #endif diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 120eba23..1d3b9968 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -53,10 +53,12 @@ BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, // Return true if the two broad-phase collision shapes are overlapping bool BroadPhaseSystem::testOverlappingShapes(Entity proxyShape1Entity, Entity proxyShape2Entity) const { + RP3D_PROFILE("CollisionDetectionSystem::testOverlappingShapes()", mProfiler); + const int32 shape1BroadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity); const int32 shape2BroadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity); - if (shape1BroadPhaseId == -1 || shape2BroadPhaseId == -1) return false; + assert(shape1BroadPhaseId != -1 && shape2BroadPhaseId != -1); // Get the two AABBs of the collision shapes const AABB& aabb1 = mDynamicAABBTree.getFatAABB(shape1BroadPhaseId); @@ -125,6 +127,8 @@ void BroadPhaseSystem::updateProxyShape(Entity proxyShapeEntity, decimal timeSte // Update the broad-phase state of all the enabled proxy-shapes void BroadPhaseSystem::updateProxyShapes(decimal timeStep) { + RP3D_PROFILE("BroadPhaseSystem::updateProxyShapes()", mProfiler); + // Update all the enabled proxy-shape components updateProxyShapesComponents(0, mProxyShapesComponents.getNbEnabledComponents(), timeStep); } @@ -176,7 +180,6 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI // Get the linear velocity from the dynamics component const Vector3& linearVelocity = mRigidBodyComponents.getLinearVelocity(bodyEntity); - // TODO : Use body linear velocity and compute displacement displacement = timeStep * linearVelocity; } @@ -193,6 +196,8 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI // Compute all the overlapping pairs of collision shapes void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes) { + RP3D_PROFILE("CollisionDetectionSystem::computeOverlappingPairs()", mProfiler); + // Get the list of the proxy-shapes that have moved or have been created in the last frame List shapesToTest = mMovedShapes.toList(memoryManager.getPoolAllocator()); diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 9ac8c70a..a2f2447b 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -99,6 +99,8 @@ void CollisionDetectionSystem::computeBroadPhase() { RP3D_PROFILE("CollisionDetectionSystem::computeBroadPhase()", mProfiler); + resetNeedToTestOverlap(); + // Ask the broad-phase to compute all the shapes overlapping the shapes that // have moved or have been added in the last frame. This call can only add new // overlapping pairs in the collision detection. @@ -112,16 +114,31 @@ void CollisionDetectionSystem::computeBroadPhase() { removeNonOverlappingPairs(); } +// Set the needToTestOverlap value of each overlapping pair to true +void CollisionDetectionSystem::resetNeedToTestOverlap() { + + RP3D_PROFILE("CollisionDetectionSystem::resetNeedToTestOverlap()", mProfiler); + + // For each possible collision pair of bodies + for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + it->second->setNeedToTestOverlap(true); + } +} + // Remove pairs that are not overlapping anymore void CollisionDetectionSystem::removeNonOverlappingPairs() { + RP3D_PROFILE("CollisionDetectionSystem::removeNonOverlappingPairs()", mProfiler); + // For each possible collision pair of bodies for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { OverlappingPair* pair = it->second; - // Check if the two shapes are still overlapping. Otherwise, we destroy the overlapping pair - if (!mBroadPhaseSystem.testOverlappingShapes(pair->getProxyShape1(), pair->getProxyShape2())) { + // Check if we need to test overlap. If so, test if the two shapes are still overlapping. + // Otherwise, we destroy the overlapping pair + if (pair->needToTestOverlap() && + !mBroadPhaseSystem.testOverlappingShapes(pair->getProxyShape1(), pair->getProxyShape2())) { // Destroy the overlapping pair pair->~OverlappingPair(); @@ -139,6 +156,8 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary void CollisionDetectionSystem::updateOverlappingPairs(const List>& overlappingNodes) { + RP3D_PROFILE("CollisionDetectionSystem::updateOverlappingPairs()", mProfiler); + // For each overlapping pair of nodes for (uint i=0; i < overlappingNodes.size(); i++) { @@ -165,7 +184,8 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> Pair pairID = OverlappingPair::computeID(nodePair.first, nodePair.second); // Check if the overlapping pair already exists - if (!mOverlappingPairs.containsKey(pairID)) { + auto itPair = mOverlappingPairs.find(pairID); + if (itPair == mOverlappingPairs.end()) { unsigned short shape1CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity); unsigned short shape2CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity); @@ -189,8 +209,18 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> // Add the new overlapping pair mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); + +#ifdef IS_PROFILING_ACTIVE + newPair->setProfiler(mProfiler); +#endif + } } + else { + + // We do not need to test the pair for overlap because it has just been reported that they still overlap + itPair->second->setNeedToTestOverlap(false); + } } } } @@ -219,58 +249,53 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); - // Check if the collision filtering allows collision between the two shapes - if ((mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity) & mProxyShapesComponents.getCollisionCategoryBits(proxyShape2Entity)) != 0 && - (mProxyShapesComponents.getCollisionCategoryBits(proxyShape1Entity) & mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity)) != 0) { + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); - const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && + mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && + mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; - const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && - mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && - mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + // Check that at least one body is enabled (active and awake) and not static + bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; + if (!isBody1Active && !isBody2Active) continue; - // Check that at least one body is enabled (active and awake) and not static - bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; - if (!isBody1Active && !isBody2Active) continue; + // Check if the bodies are in the set of bodies that cannot collide between each other + bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity); + if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - // Check if the bodies are in the set of bodies that cannot collide between each other - bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; + CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); + CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); - CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); - CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); + const bool isShape1Convex = collisionShape1->isConvex(); + const bool isShape2Convex = collisionShape2->isConvex(); - const bool isShape1Convex = collisionShape1->isConvex(); - const bool isShape2Convex = collisionShape2->isConvex(); + // If both shapes are convex + if (isShape1Convex && isShape2Convex) { - // If both shapes are convex - if (isShape1Convex && isShape2Convex) { + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), + collisionShape2->getType()); - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), - collisionShape2->getType()); + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + narrowPhaseInput.addNarrowPhaseTest(pair, collisionShape1, collisionShape2, + mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), + mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), + algorithmType, mMemoryManager.getSingleFrameAllocator()); - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pair, collisionShape1, collisionShape2, - mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), - mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), - algorithmType, mMemoryManager.getSingleFrameAllocator()); + } + // Concave vs Convex algorithm + else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - } - // Concave vs Convex algorithm - else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { - - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); - } - // Concave vs Concave shape - else { - // Not handled - continue; - } + computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + } + // Concave vs Concave shape + else { + // Not handled + continue; } } } diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 525525ce..f5264245 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -195,6 +195,9 @@ class CollisionDetectionSystem { /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary void updateOverlappingPairs(const List>& overlappingNodes); + /// Set the needToTestOverlap value of each overlapping pair to true + void resetNeedToTestOverlap(); + /// Remove pairs that are not overlapping anymore void removeNonOverlappingPairs(); From 87614b7dad3222bd2b51743907a6e72c0a914d3c Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 22 Oct 2019 17:34:36 +0200 Subject: [PATCH 101/197] Add profiling code --- src/collision/CollisionDetection.cpp | 5 ++++ .../broadphase/BroadPhaseAlgorithm.cpp | 6 +++++ src/collision/broadphase/DynamicAABBTree.cpp | 2 ++ src/engine/OverlappingPair.cpp | 8 ++++++- src/engine/OverlappingPair.h | 23 +++++++++++++++++++ 5 files changed, 43 insertions(+), 1 deletion(-) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index 59625aac..a5b9726b 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -204,6 +204,8 @@ void CollisionDetection::computeMiddlePhase() { void CollisionDetection::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, NarrowPhaseInfo** firstNarrowPhaseInfo) { + RP3D_PROFILE("CollisionDetection::computeConvexVsConcaveMiddlePhase()", mProfiler); + ProxyShape* shape1 = pair->getShape1(); ProxyShape* shape2 = pair->getShape2(); @@ -311,6 +313,8 @@ void CollisionDetection::computeNarrowPhase() { /// This method is called by the broad-phase collision detection algorithm void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, ProxyShape* shape2) { + RP3D_PROFILE("CollisionDetection::broadPhaseNotifyOverlappingPair()", mProfiler); + assert(shape1->getBroadPhaseId() != -1); assert(shape2->getBroadPhaseId() != -1); assert(shape1->getBroadPhaseId() != shape2->getBroadPhaseId()); @@ -331,6 +335,7 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); assert(newPair != nullptr); + newPair->setProfiler(mProfiler); mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); // Wake up the two bodies diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/collision/broadphase/BroadPhaseAlgorithm.cpp index 572e1507..ea14b3c2 100644 --- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp +++ b/src/collision/broadphase/BroadPhaseAlgorithm.cpp @@ -52,6 +52,8 @@ BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection) bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1, const ProxyShape* shape2) const { + RP3D_PROFILE("BroadPhaseAlgorithm::testOverlappingShapes()", mProfiler); + if (shape1->getBroadPhaseId() == -1 || shape2->getBroadPhaseId() == -1) return false; // Get the two AABBs of the collision shapes @@ -139,6 +141,8 @@ void BroadPhaseAlgorithm::reportAllShapesOverlappingWithAABB(const AABB& aabb, // Compute all the overlapping pairs of collision shapes void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) { + RP3D_PROFILE("BroadPhaseAlgorithm::computeOverlappingPairs()", mProfiler); + // TODO : Try to see if we can allocate potential pairs in single frame allocator // Reset the potential overlapping pairs @@ -218,6 +222,8 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager) // Notify the broad-phase about a potential overlapping pair in the dynamic AABB tree void BroadPhaseAlgorithm::addOverlappingNodes(int referenceNodeId, const LinkedList& overlappingNodes) { + RP3D_PROFILE("BroadPhaseAlgorithm::addOverlappingNodes()", mProfiler); + // For each overlapping node in the linked list LinkedList::ListElement* elem = overlappingNodes.getListHead(); while (elem != nullptr) { diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 3924aae3..19a53d7e 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -597,6 +597,8 @@ int DynamicAABBTree::balanceSubTreeAtNode(int nodeID) { void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, DynamicAABBTreeOverlapCallback& callback) const { + RP3D_PROFILE("DynamicAABBTree::reportAllShapesOverlappingWithAABB()", mProfiler); + // Create a stack with the nodes to visit Stack stack(mAllocator); stack.push(mRootNodeID); diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp index 0bad85c6..d9aa4b6f 100644 --- a/src/engine/OverlappingPair.cpp +++ b/src/engine/OverlappingPair.cpp @@ -41,7 +41,13 @@ OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings) { -} +#ifdef IS_PROFILING_ACTIVE + + mProfiler = nullptr; + +#endif + +} // Destructor OverlappingPair::~OverlappingPair() { diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h index c2f5ec29..705ea054 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPair.h @@ -128,6 +128,13 @@ class OverlappingPair { /// World settings const WorldSettings& mWorldSettings; +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; + +#endif + public: // -------------------- Methods -------------------- // @@ -208,6 +215,13 @@ class OverlappingPair { /// Return the pair of bodies index of the pair static bodyindexpair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2); +#ifdef IS_PROFILING_ACTIVE + + /// Set the profiler + void setProfiler(Profiler* profiler); + +#endif + // -------------------- Friendship -------------------- // friend class DynamicsWorld; @@ -309,6 +323,15 @@ inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint s return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)]; } +#ifdef IS_PROFILING_ACTIVE + +// Set the profiler +inline void OverlappingPair::setProfiler(Profiler* profiler) { + mProfiler = profiler; +} + +#endif + } #endif From 8580ab545b8a6f5f2984615d94c58e47b0810f82 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 28 Oct 2019 23:08:42 +0100 Subject: [PATCH 102/197] Fix issues --- src/systems/SolveBallAndSocketJointSystem.h | 3 ++- src/systems/SolveFixedJointSystem.h | 3 ++- src/systems/SolveHingeJointSystem.h | 3 ++- src/systems/SolveSliderJointSystem.h | 4 ++-- 4 files changed, 8 insertions(+), 5 deletions(-) diff --git a/src/systems/SolveBallAndSocketJointSystem.h b/src/systems/SolveBallAndSocketJointSystem.h index 64b437b7..d78d21a5 100644 --- a/src/systems/SolveBallAndSocketJointSystem.h +++ b/src/systems/SolveBallAndSocketJointSystem.h @@ -127,6 +127,8 @@ inline void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } +#endif + // Set the time step inline void SolveBallAndSocketJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); @@ -138,7 +140,6 @@ inline void SolveBallAndSocketJointSystem::setIsWarmStartingActive(bool isWarmSt mIsWarmStartingActive = isWarmStartingActive; } -#endif } diff --git a/src/systems/SolveFixedJointSystem.h b/src/systems/SolveFixedJointSystem.h index 687efa8e..283e99cc 100644 --- a/src/systems/SolveFixedJointSystem.h +++ b/src/systems/SolveFixedJointSystem.h @@ -124,6 +124,8 @@ inline void SolveFixedJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } +#endif + // Set the time step inline void SolveFixedJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); @@ -135,7 +137,6 @@ inline void SolveFixedJointSystem::setIsWarmStartingActive(bool isWarmStartingAc mIsWarmStartingActive = isWarmStartingActive; } -#endif } diff --git a/src/systems/SolveHingeJointSystem.h b/src/systems/SolveHingeJointSystem.h index 60769091..e9367789 100644 --- a/src/systems/SolveHingeJointSystem.h +++ b/src/systems/SolveHingeJointSystem.h @@ -142,6 +142,8 @@ inline void SolveHingeJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } +#endif + // Set the time step inline void SolveHingeJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); @@ -153,7 +155,6 @@ inline void SolveHingeJointSystem::setIsWarmStartingActive(bool isWarmStartingAc mIsWarmStartingActive = isWarmStartingActive; } -#endif } diff --git a/src/systems/SolveSliderJointSystem.h b/src/systems/SolveSliderJointSystem.h index eee83036..3a26b043 100644 --- a/src/systems/SolveSliderJointSystem.h +++ b/src/systems/SolveSliderJointSystem.h @@ -128,6 +128,8 @@ inline void SolveSliderJointSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; } +#endif + // Set the time step inline void SolveSliderJointSystem::setTimeStep(decimal timeStep) { assert(timeStep > decimal(0.0)); @@ -139,8 +141,6 @@ inline void SolveSliderJointSystem::setIsWarmStartingActive(bool isWarmStartingA mIsWarmStartingActive = isWarmStartingActive; } -#endif - } #endif From 294d3b66655e4fe77fb689ea4f762d58993732c5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 28 Oct 2019 23:16:26 +0100 Subject: [PATCH 103/197] Small fix --- src/collision/CollisionDetection.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/collision/CollisionDetection.cpp b/src/collision/CollisionDetection.cpp index a5b9726b..4377b2b7 100644 --- a/src/collision/CollisionDetection.cpp +++ b/src/collision/CollisionDetection.cpp @@ -335,7 +335,10 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); assert(newPair != nullptr); +#ifdef IS_PROFILING_ACTIVE newPair->setProfiler(mProfiler); +#endif + mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); // Wake up the two bodies From 44e07e0bd9f771360f6385a39cbdce4765fba85f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 9 Nov 2019 23:55:54 +0100 Subject: [PATCH 104/197] Working on making middle-phase collision detection faster --- CMakeLists.txt | 4 +- src/body/CollisionBody.cpp | 3 + src/collision/ContactManifoldInfo.h | 6 +- src/collision/ContactPair.h | 6 +- src/collision/broadphase/DynamicAABBTree.cpp | 2 + .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 23 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 4 +- .../narrowphase/CollisionDispatch.cpp | 2 + src/collision/narrowphase/CollisionDispatch.h | 8 + .../narrowphase/GJK/GJKAlgorithm.cpp | 2 +- .../narrowphase/NarrowPhaseInfoBatch.cpp | 31 +- .../narrowphase/NarrowPhaseInfoBatch.h | 25 +- .../narrowphase/NarrowPhaseInput.cpp | 23 +- src/collision/narrowphase/NarrowPhaseInput.h | 4 +- .../narrowphase/SAT/SATAlgorithm.cpp | 2 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 23 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 4 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 22 +- .../SphereVsSphereNarrowPhaseInfoBatch.h | 4 +- src/collision/shapes/CollisionShape.h | 1 + src/collision/shapes/ConcaveMeshShape.cpp | 4 + src/collision/shapes/HeightFieldShape.cpp | 2 + src/collision/shapes/SphereShape.cpp | 2 + src/collision/shapes/TriangleShape.cpp | 2 + src/configuration.h | 2 + src/containers/List.h | 24 +- src/engine/Entity.h | 2 +- src/engine/OverlappingPair.cpp | 115 ----- src/engine/OverlappingPairs.cpp | 267 +++++++++++ .../{OverlappingPair.h => OverlappingPairs.h} | 193 ++++---- src/mathematics/mathematics_functions.cpp | 8 + src/mathematics/mathematics_functions.h | 6 + src/systems/CollisionDetectionSystem.cpp | 436 ++++++++++++------ src/systems/CollisionDetectionSystem.h | 37 +- test/tests/containers/TestList.h | 16 + 35 files changed, 882 insertions(+), 433 deletions(-) delete mode 100644 src/engine/OverlappingPair.cpp create mode 100644 src/engine/OverlappingPairs.cpp rename src/engine/{OverlappingPair.h => OverlappingPairs.h} (54%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 32e79967..e728d48d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -141,7 +141,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/Island.h" "src/engine/Islands.h" "src/engine/Material.h" - "src/engine/OverlappingPair.h" + "src/engine/OverlappingPairs.h" "src/engine/Timer.h" "src/systems/BroadPhaseSystem.h" "src/components/Components.h" @@ -239,7 +239,7 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/DynamicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" - "src/engine/OverlappingPair.cpp" + "src/engine/OverlappingPairs.cpp" "src/engine/Timer.cpp" "src/engine/Entity.cpp" "src/engine/EntityManager.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 3eaeb3a7..274e5313 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -183,6 +183,9 @@ void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { // Remove the proxy-shape component mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity()); + // Destroy the entity + mWorld.mEntityManager.destroyEntity(proxyShape->getEntity()); + // Call the constructor of the proxy-shape proxyShape->~ProxyShape(); diff --git a/src/collision/ContactManifoldInfo.h b/src/collision/ContactManifoldInfo.h index 9d3fed31..c0ec9062 100644 --- a/src/collision/ContactManifoldInfo.h +++ b/src/collision/ContactManifoldInfo.h @@ -29,7 +29,7 @@ // Libraries #include "mathematics/mathematics.h" #include "configuration.h" -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -49,12 +49,12 @@ struct ContactManifoldInfo { List potentialContactPointsIndices; /// Overlapping pair id - OverlappingPair::OverlappingPairId pairId; + uint64 pairId; // -------------------- Methods -------------------- // /// Constructor - ContactManifoldInfo(OverlappingPair::OverlappingPairId pairId, MemoryAllocator& allocator) + ContactManifoldInfo(uint64 pairId, MemoryAllocator& allocator) : potentialContactPointsIndices(allocator), pairId(pairId) { } diff --git a/src/collision/ContactPair.h b/src/collision/ContactPair.h index d8fbf46c..c4e14d43 100644 --- a/src/collision/ContactPair.h +++ b/src/collision/ContactPair.h @@ -29,7 +29,7 @@ // Libraries #include "mathematics/mathematics.h" #include "configuration.h" -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -45,7 +45,7 @@ struct ContactPair { // -------------------- Attributes -------------------- // /// Overlapping pair Id - OverlappingPair::OverlappingPairId pairId; + uint64 pairId; /// Indices of the potential contact manifolds List potentialContactManifoldsIndices; @@ -83,7 +83,7 @@ struct ContactPair { // -------------------- Methods -------------------- // /// Constructor - ContactPair(OverlappingPair::OverlappingPairId pairId, Entity body1Entity, Entity body2Entity, Entity proxyShape1Entity, + ContactPair(uint64 pairId, Entity body1Entity, Entity body2Entity, Entity proxyShape1Entity, Entity proxyShape2Entity, uint contactPairIndex, MemoryAllocator& allocator) : pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity), proxyShape1Entity(proxyShape1Entity), proxyShape2Entity(proxyShape2Entity), diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index c27262ee..c8fd3584 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -645,6 +645,8 @@ void DynamicAABBTree::reportAllShapesOverlappingWithShapes(const List& no // Report all shapes overlapping with the AABB given in parameter. void DynamicAABBTree::reportAllShapesOverlappingWithAABB(const AABB& aabb, List& overlappingNodes) const { + RP3D_PROFILE("DynamicAABBTree::reportAllShapesOverlappingWithAABB()", mProfiler); + // Create a stack with the nodes to visit Stack stack(mAllocator, 64); stack.push(mRootNodeID); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp index d90e9e8f..879fb258 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -30,14 +30,15 @@ using namespace reactphysics3d; // Constructor -CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator) - : NarrowPhaseInfoBatch(allocator), capsule1Radiuses(allocator), capsule2Radiuses(allocator), +CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, + OverlappingPairs& overlappingPairs) + : NarrowPhaseInfoBatch(allocator, overlappingPairs), capsule1Radiuses(allocator), capsule2Radiuses(allocator), capsule1Heights(allocator), capsule2Heights(allocator) { } // Add shapes to be tested during narrow-phase collision detection into the batch -void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, +void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { assert(shape1->getType() == CollisionShapeType::CAPSULE); @@ -46,25 +47,29 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* p const CapsuleShape* capsule1 = static_cast(shape1); const CapsuleShape* capsule2 = static_cast(shape2); + proxyShapeEntities1.add(proxyShape1); + proxyShapeEntities2.add(proxyShape2); capsule1Radiuses.add(capsule1->getRadius()); capsule2Radiuses.add(capsule2->getRadius()); capsule1Heights.add(capsule1->getHeight()); capsule2Heights.add(capsule2->getHeight()); shape1ToWorldTransforms.add(shape1Transform); shape2ToWorldTransforms.add(shape2Transform); - overlappingPairs.add(pair); + overlappingPairIds.add(pairId); contactPoints.add(List(mMemoryAllocator)); isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } // Initialize the containers using cached capacity void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - overlappingPairs.reserve(mCachedCapacity); + overlappingPairIds.reserve(mCachedCapacity); + proxyShapeEntities1.reserve(mCachedCapacity); + proxyShapeEntities2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); @@ -85,9 +90,11 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairs.size(); + mCachedCapacity = overlappingPairIds.size(); - overlappingPairs.clear(true); + overlappingPairIds.clear(true); + proxyShapeEntities1.clear(true); + proxyShapeEntities2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); lastFrameCollisionInfos.clear(true); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 1cdc2c70..645ee76c 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -55,13 +55,13 @@ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { List capsule2Heights; /// Constructor - CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator); + CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Destructor virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/narrowphase/CollisionDispatch.cpp b/src/collision/narrowphase/CollisionDispatch.cpp index f1a4c607..bb0a948e 100644 --- a/src/collision/narrowphase/CollisionDispatch.cpp +++ b/src/collision/narrowphase/CollisionDispatch.cpp @@ -200,6 +200,8 @@ void CollisionDispatch::fillInCollisionMatrix() { NarrowPhaseAlgorithmType CollisionDispatch::selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type, const CollisionShapeType& shape2Type) const { + RP3D_PROFILE("CollisionDispatch::selectNarrowPhaseAlgorithm()", mProfiler); + uint shape1Index = static_cast(shape1Type); uint shape2Index = static_cast(shape2Type); diff --git a/src/collision/narrowphase/CollisionDispatch.h b/src/collision/narrowphase/CollisionDispatch.h index 58309c00..d3c223b8 100644 --- a/src/collision/narrowphase/CollisionDispatch.h +++ b/src/collision/narrowphase/CollisionDispatch.h @@ -106,6 +106,13 @@ class CollisionDispatch { /// use between two types of collision shapes. NarrowPhaseAlgorithmType selectAlgorithm(int type1, int type2); +#ifdef IS_PROFILING_ACTIVE + + /// Pointer to the profiler + Profiler* mProfiler; + +#endif + public: /// Constructor @@ -201,6 +208,7 @@ inline ConvexPolyhedronVsConvexPolyhedronAlgorithm* CollisionDispatch::getConvex // Set the profiler inline void CollisionDispatch::setProfiler(Profiler* profiler) { + mProfiler = profiler; mSphereVsSphereAlgorithm->setProfiler(profiler); mCapsuleVsCapsuleAlgorithm->setProfiler(profiler); mSphereVsCapsuleAlgorithm->setProfiler(profiler); diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index 317145b9..11fb5ea2 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -26,7 +26,7 @@ // Libraries #include "GJKAlgorithm.h" #include "constraint/ContactPoint.h" -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" #include "collision/shapes/TriangleShape.h" #include "configuration.h" #include "utils/Profiler.h" diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index ed989870..7e53dd6a 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -27,14 +27,15 @@ #include "NarrowPhaseInfoBatch.h" #include "collision/ContactPointInfo.h" #include "collision/shapes/TriangleShape.h" -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" #include using namespace reactphysics3d; // Constructor -NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator) - : mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator), +NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) + : mMemoryAllocator(allocator), mOverlappingPairs(overlappingPairs), overlappingPairIds(allocator), + proxyShapeEntities1(allocator), proxyShapeEntities2(allocator), collisionShapes1(allocator), collisionShapes2(allocator), shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) { @@ -47,11 +48,13 @@ NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() { } // Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, +void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator) { - overlappingPairs.add(pair); + overlappingPairIds.add(pairId); + proxyShapeEntities1.add(proxyShape1); + proxyShapeEntities2.add(proxyShape2); collisionShapes1.add(shape1); collisionShapes2.add(shape2); shape1ToWorldTransforms.add(shape1Transform); @@ -61,7 +64,7 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionSh isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } @@ -72,7 +75,7 @@ void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNor assert(penDepth > decimal(0.0)); // Get the memory allocator - MemoryAllocator& allocator = overlappingPairs[index]->getTemporaryAllocator(); + MemoryAllocator& allocator = mOverlappingPairs.getTemporaryAllocator(); // Create the contact point info ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo))) @@ -86,7 +89,7 @@ void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNor void NarrowPhaseInfoBatch::resetContactPoints(uint index) { // Get the memory allocator - MemoryAllocator& allocator = overlappingPairs[index]->getTemporaryAllocator(); + MemoryAllocator& allocator = mOverlappingPairs.getTemporaryAllocator(); // For each remaining contact point info for (uint i=0; i < contactPoints[index].size(); i++) { @@ -106,7 +109,9 @@ void NarrowPhaseInfoBatch::resetContactPoints(uint index) { // Initialize the containers using cached capacity void NarrowPhaseInfoBatch::reserveMemory() { - overlappingPairs.reserve(mCachedCapacity); + overlappingPairIds.reserve(mCachedCapacity); + proxyShapeEntities1.reserve(mCachedCapacity); + proxyShapeEntities2.reserve(mCachedCapacity); collisionShapes1.reserve(mCachedCapacity); collisionShapes2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); @@ -120,7 +125,7 @@ void NarrowPhaseInfoBatch::reserveMemory() { // Clear all the objects in the batch void NarrowPhaseInfoBatch::clear() { - for (uint i=0; i < overlappingPairs.size(); i++) { + for (uint i=0; i < overlappingPairIds.size(); i++) { assert(contactPoints[i].size() == 0); @@ -141,9 +146,11 @@ void NarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairs.size(); + mCachedCapacity = overlappingPairIds.size(); - overlappingPairs.clear(true); + overlappingPairIds.clear(true); + proxyShapeEntities1.clear(true); + proxyShapeEntities2.clear(true); collisionShapes1.clear(true); collisionShapes2.clear(true); shape1ToWorldTransforms.clear(true); diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.h b/src/collision/narrowphase/NarrowPhaseInfoBatch.h index f42c41e5..9a76642f 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H // Libraries -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -52,13 +52,22 @@ struct NarrowPhaseInfoBatch { /// Memory allocator MemoryAllocator& mMemoryAllocator; + /// Reference to all the broad-phase overlapping pairs + OverlappingPairs& mOverlappingPairs; + /// Cached capacity uint mCachedCapacity = 0; public: - /// List of Broadphase overlapping pairs - List overlappingPairs; + /// List of Broadphase overlapping pairs ids + List overlappingPairIds; + + /// List of pointers to the first proxy-shapes to test collision with + List proxyShapeEntities1; + + /// List of pointers to the second proxy-shapes to test collision with + List proxyShapeEntities2; /// List of pointers to the first collision shapes to test collision with List collisionShapes1; @@ -85,7 +94,7 @@ struct NarrowPhaseInfoBatch { List lastFrameCollisionInfos; /// Constructor - NarrowPhaseInfoBatch(MemoryAllocator& allocator); + NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Destructor virtual ~NarrowPhaseInfoBatch(); @@ -94,9 +103,9 @@ struct NarrowPhaseInfoBatch { uint getNbObjects() const; /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, - CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, MemoryAllocator& shapeAllocator); + void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + CollisionShape* shape2, const Transform& shape1Transform, + const Transform& shape2Transform, MemoryAllocator& shapeAllocator); /// Add a new contact point virtual void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, @@ -114,7 +123,7 @@ struct NarrowPhaseInfoBatch { /// Return the number of objects in the batch inline uint NarrowPhaseInfoBatch::getNbObjects() const { - return overlappingPairs.size(); + return overlappingPairIds.size(); } } diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index b5004c93..6c00889c 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -30,36 +30,37 @@ using namespace reactphysics3d; /// Constructor -NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator) - :mSphereVsSphereBatch(allocator), mSphereVsCapsuleBatch(allocator), mCapsuleVsCapsuleBatch(allocator), - mSphereVsConvexPolyhedronBatch(allocator), mCapsuleVsConvexPolyhedronBatch(allocator), - mConvexPolyhedronVsConvexPolyhedronBatch(allocator) { +NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) + :mSphereVsSphereBatch(allocator, overlappingPairs), mSphereVsCapsuleBatch(allocator, overlappingPairs), + mCapsuleVsCapsuleBatch(allocator, overlappingPairs), mSphereVsConvexPolyhedronBatch(allocator, overlappingPairs), + mCapsuleVsConvexPolyhedronBatch(allocator, overlappingPairs), + mConvexPolyhedronVsConvexPolyhedronBatch(allocator, overlappingPairs) { } // Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, +void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) { switch (narrowPhaseAlgorithmType) { case NarrowPhaseAlgorithmType::SphereVsSphere: - mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsCapsule: - mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::CapsuleVsCapsule: - mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform); + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: - mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: - mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: - mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::None: // Must never happen diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index ee1c3906..f5256155 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -64,10 +64,10 @@ class NarrowPhaseInput { public: /// Constructor - NarrowPhaseInput(MemoryAllocator& allocator); + NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1, + void addNarrowPhaseTest(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator); diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index ff16e0b7..dbd2a00f 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -29,7 +29,7 @@ #include "collision/PolyhedronMesh.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/SphereShape.h" -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" #include "collision/narrowphase/NarrowPhaseInfoBatch.h" #include "collision/shapes/TriangleShape.h" #include "configuration.h" diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp index de617979..b5baa27d 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -31,14 +31,15 @@ using namespace reactphysics3d; // Constructor -SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator) - : NarrowPhaseInfoBatch(allocator), isSpheresShape1(allocator), sphereRadiuses(allocator), capsuleRadiuses(allocator), +SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, + OverlappingPairs& overlappingPairs) + : NarrowPhaseInfoBatch(allocator, overlappingPairs), isSpheresShape1(allocator), sphereRadiuses(allocator), capsuleRadiuses(allocator), capsuleHeights(allocator) { } // Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, +void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE; @@ -55,19 +56,23 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pa capsuleHeights.add(capsuleShape->getHeight()); shape1ToWorldTransforms.add(shape1Transform); shape2ToWorldTransforms.add(shape2Transform); - overlappingPairs.add(pair); + overlappingPairIds.add(pairId); + proxyShapeEntities1.add(proxyShape1); + proxyShapeEntities2.add(proxyShape2); contactPoints.add(List(mMemoryAllocator)); isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } // Initialize the containers using cached capacity void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - overlappingPairs.reserve(mCachedCapacity); + overlappingPairIds.reserve(mCachedCapacity); + proxyShapeEntities1.reserve(mCachedCapacity); + proxyShapeEntities2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); @@ -88,9 +93,11 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairs.size(); + mCachedCapacity = overlappingPairIds.size(); - overlappingPairs.clear(true); + overlappingPairIds.clear(true); + proxyShapeEntities1.clear(true); + proxyShapeEntities2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); lastFrameCollisionInfos.clear(true); diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h index 54923b41..9145967d 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -55,13 +55,13 @@ struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { List capsuleHeights; /// Constructor - SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator); + SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Destructor virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index e9ab2b67..27a67f68 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -30,13 +30,13 @@ using namespace reactphysics3d; // Constructor -SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator) - : NarrowPhaseInfoBatch(allocator), sphere1Radiuses(allocator), sphere2Radiuses(allocator) { +SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) + : NarrowPhaseInfoBatch(allocator, overlappingPairs), sphere1Radiuses(allocator), sphere2Radiuses(allocator) { } // Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2, +void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { assert(shape1->getType() == CollisionShapeType::SPHERE); @@ -47,21 +47,25 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pai sphere1Radiuses.add(sphere1->getRadius()); sphere2Radiuses.add(sphere2->getRadius()); + proxyShapeEntities1.add(proxyShape1); + proxyShapeEntities2.add(proxyShape2); shape1ToWorldTransforms.add(shape1Transform); shape2ToWorldTransforms.add(shape2Transform); - overlappingPairs.add(pair); + overlappingPairIds.add(pairId); contactPoints.add(List(mMemoryAllocator)); isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } // Initialize the containers using cached capacity void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { - overlappingPairs.reserve(mCachedCapacity); + overlappingPairIds.reserve(mCachedCapacity); + proxyShapeEntities1.reserve(mCachedCapacity); + proxyShapeEntities2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); @@ -80,9 +84,11 @@ void SphereVsSphereNarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairs.size(); + mCachedCapacity = overlappingPairIds.size(); - overlappingPairs.clear(true); + overlappingPairIds.clear(true); + proxyShapeEntities1.clear(true); + proxyShapeEntities2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); lastFrameCollisionInfos.clear(true); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index 953cd01e..4087f90f 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -49,13 +49,13 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { List sphere2Radiuses; /// Constructor - SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator); + SphereVsSphereNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Destructor virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 2f2d5611..edf1f9c6 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -29,6 +29,7 @@ // Libraries #include #include "configuration.h" +#include "utils/Profiler.h" /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index bf5d2eeb..18518bad 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -120,6 +120,8 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List& triangleVerticesNormals, List& shapeIds, MemoryAllocator& allocator) const { + RP3D_PROFILE("ConcaveMeshShape::computeOverlappingTriangles()", mProfiler); + // Compute the nodes of the internal AABB tree that are overlapping with the AABB List overlappingNodes(allocator); mDynamicAABBTree.reportAllShapesOverlappingWithAABB(localAABB, overlappingNodes); @@ -181,6 +183,8 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySh // Compute the shape Id for a given triangle of the mesh uint ConcaveMeshShape::computeTriangleShapeId(uint subPart, uint triangleIndex) const { + RP3D_PROFILE("ConcaveMeshShape::computeTriangleShapeId()", mProfiler); + uint shapeId = 0; uint i=0; diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index 7662bb1e..7b304343 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -95,6 +95,8 @@ void HeightFieldShape::computeOverlappingTriangles(const AABB& localAABB, List& triangleVerticesNormals, List& shapeIds, MemoryAllocator& allocator) const { + RP3D_PROFILE("HeightFieldShape::computeOverlappingTriangles()", mProfiler); + // Compute the non-scaled AABB Vector3 inverseScaling(decimal(1.0) / mScaling.x, decimal(1.0) / mScaling.y, decimal(1.0) / mScaling.z); AABB aabb(localAABB.getMin() * inverseScaling, localAABB.getMax() * inverseScaling); diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp index 1dcc1dee..9f1035d2 100644 --- a/src/collision/shapes/SphereShape.cpp +++ b/src/collision/shapes/SphereShape.cpp @@ -49,6 +49,8 @@ SphereShape::SphereShape(decimal radius) */ void SphereShape::computeAABB(AABB& aabb, const Transform& transform) const { + RP3D_PROFILE("SphereShape::computeAABB()", mProfiler); + // Get the local extents in x,y and z direction Vector3 extents(mMargin, mMargin, mMargin); diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp index 1364adf1..178c9b16 100644 --- a/src/collision/shapes/TriangleShape.cpp +++ b/src/collision/shapes/TriangleShape.cpp @@ -221,6 +221,8 @@ Vector3 TriangleShape::computeSmoothLocalContactNormalForTriangle(const Vector3& */ void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const { + RP3D_PROFILE("TriangleShape::computeAABB()", mProfiler); + const Vector3 worldPoint1 = transform * mPoints[0]; const Vector3 worldPoint2 = transform * mPoints[1]; const Vector3 worldPoint3 = transform * mPoints[2]; diff --git a/src/configuration.h b/src/configuration.h index fa0fe421..c38a01b0 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -60,6 +60,8 @@ using int16 = std::int16_t; using uint16 = std::uint16_t; using int32 = std::int32_t; using uint32 = std::uint32_t; +using int64 = std::int64_t; +using uint64 = std::uint64_t; // TODO : Delete this struct Entity; diff --git a/src/containers/List.h b/src/containers/List.h index 1b1f40aa..8139069c 100755 --- a/src/containers/List.h +++ b/src/containers/List.h @@ -320,8 +320,7 @@ class List { return removeAt(it.mCurrentIndex); } - /// Remove an element from the list at a given index and return an - /// iterator pointing to the element after the removed one (or end() if none) + /// Remove an element from the list at a given index (all the following items will be moved) Iterator removeAt(uint index) { assert(index >= 0 && index < mSize); @@ -343,6 +342,27 @@ class List { return Iterator(mBuffer, index, mSize); } + /// Remove an element from the list at a given index (the deleted item will be replaced by the last one of the list) + void removeAtAndReplaceWithLast(uint index) { + + assert(index >= 0 && index < mSize); + + // Call the destructor on the item to remove + (static_cast(mBuffer)[index]).~T(); + + // If the item to remove is not the last one + if (index < mSize - 1) { + + // Copy the last item of the array to the location of the deleted item + new (static_cast(mBuffer) + index * sizeof(T)) T(static_cast(mBuffer)[mSize - 1]); + + // Call the destructor of the last item of the array + (static_cast(mBuffer)[mSize - 1]).~T(); + } + + mSize--; + } + /// Append another list at the end of the current one void addRange(const List& list) { diff --git a/src/engine/Entity.h b/src/engine/Entity.h index 222195fd..7d82925b 100644 --- a/src/engine/Entity.h +++ b/src/engine/Entity.h @@ -136,7 +136,7 @@ namespace std { size_t operator()(const reactphysics3d::Entity& entity) const { - return entity.id; + return std::hash{}(entity.id); } }; } diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp deleted file mode 100644 index ca86ce40..00000000 --- a/src/engine/OverlappingPair.cpp +++ /dev/null @@ -1,115 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include -#include "OverlappingPair.h" -#include "containers/containers_common.h" -#include "collision/ContactPointInfo.h" - -using namespace reactphysics3d; - -// Constructor -OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, - MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, - const WorldSettings& worldSettings) - : mPairID(computeID(shape1->getBroadPhaseId(), shape2->getBroadPhaseId())), mProxyShape1(shape1->getEntity()), mProxyShape2(shape2->getEntity()), - mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), - mLastFrameCollisionInfos(mPersistentAllocator), mWorldSettings(worldSettings), mNeedToTestOverlap(false) { - -} - -// Destructor -OverlappingPair::~OverlappingPair() { - - RP3D_PROFILE("OverlappingPair::~OverlappingPair()", mProfiler); - - // Remove all the remaining last frame collision info - for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ++it) { - - // Call the constructor - it->second->~LastFrameCollisionInfo(); - - // Release memory - mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - } -} - -// Add a new last frame collision info if it does not exist for the given shapes already -LastFrameCollisionInfo* OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) { - - RP3D_PROFILE("OverlappingPair::addLastFrameInfoIfNecessary()", mProfiler); - - // Try to get the corresponding last frame collision info - const ShapeIdPair shapeIdPair(shapeId1, shapeId2); - auto it = mLastFrameCollisionInfos.find(shapeIdPair); - - // If there is no collision info for those two shapes already - if (it == mLastFrameCollisionInfos.end()) { - - // Create a new collision info - LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo))) - LastFrameCollisionInfo(); - - // Add it into the map of collision infos - mLastFrameCollisionInfos.add(Pair(shapeIdPair, collisionInfo)); - - return collisionInfo; - } - else { - - // The existing collision info is not obsolete - it->second->isObsolete = false; - - return it->second; - } -} - -// Delete all the obsolete last frame collision info -void OverlappingPair::clearObsoleteLastFrameCollisionInfos() { - - RP3D_PROFILE("OverlappingPair::clearObsoleteLastFrameCollisionInfos()", mProfiler); - - // For each collision info - for (auto it = mLastFrameCollisionInfos.begin(); it != mLastFrameCollisionInfos.end(); ) { - - // If the collision info is obsolete - if (it->second->isObsolete) { - - // Delete it - it->second->~LastFrameCollisionInfo(); - mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - - it = mLastFrameCollisionInfos.remove(it); - } - else { // If the collision info is not obsolete - - // Do not delete it but mark it as obsolete - it->second->isObsolete = true; - - ++it; - } - } -} diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp new file mode 100644 index 00000000..007af276 --- /dev/null +++ b/src/engine/OverlappingPairs.cpp @@ -0,0 +1,267 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include +#include "OverlappingPairs.h" +#include "containers/containers_common.h" +#include "collision/ContactPointInfo.h" + +using namespace reactphysics3d; + +// Constructor +OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents) + : mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), + mMapPairIdToPairIndex(persistentMemoryAllocator), + mConvexPairIds(mPersistentAllocator), mConvexProxyShapes1(mPersistentAllocator), mConvexProxyShapes2(mPersistentAllocator), + mConcavePairIds(mPersistentAllocator), mConcaveProxyShapes1(mPersistentAllocator), mConcaveProxyShapes2(mPersistentAllocator), + mConvexLastFrameCollisionInfos(mPersistentAllocator), mConcaveLastFrameCollisionInfos(mPersistentAllocator), + mConvexNeedToTestOverlap(mPersistentAllocator), mConcaveNeedToTestOverlap(mPersistentAllocator), + mProxyShapeComponents(proxyShapeComponents) { + +} + +// Destructor +OverlappingPairs::~OverlappingPairs() { + +} + +/// Add an overlapping pair +uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { + + // TODO : Maybe use entities in parameters + + const CollisionShape* collisionShape1 = mProxyShapeComponents.getCollisionShape(shape1->getEntity()); + const CollisionShape* collisionShape2 = mProxyShapeComponents.getCollisionShape(shape2->getEntity()); + + const uint32 shape1Id = static_cast(shape1->getBroadPhaseId()); + const uint32 shape2Id = static_cast(shape2->getBroadPhaseId()); + + // Compute a unique id for the overlapping pair + const uint64 pairId = pairNumbers(std::max(shape1Id, shape2Id), std::min(shape1Id, shape2Id)); + + // If both shapes are convex + if (collisionShape1->isConvex() && collisionShape2->isConvex()) { + + const uint nbConvexPairs = static_cast(mConvexPairIds.size()); + + mConvexPairIds.add(pairId); + mConvexProxyShapes1.add(shape1->getEntity()); + mConvexProxyShapes2.add(shape2->getEntity()); + mConvexNeedToTestOverlap.add(false); + + // TODO: Make sure we use the correct allocator here + mConvexLastFrameCollisionInfos.add(Map(mPersistentAllocator)); + + // Add a mapping to the index in the internal arrays + mMapPairIdToPairIndex.add(Pair(pairId, PairLocation(true, nbConvexPairs))); + } + else { + + const uint nbConcavePairs = static_cast(mConcavePairIds.size()); + + mConcavePairIds.add(pairId); + mConcaveProxyShapes1.add(shape1->getEntity()); + mConcaveProxyShapes2.add(shape2->getEntity()); + mConcaveNeedToTestOverlap.add(true); + + // TODO: Make sure we use the correct allocator here + mConcaveLastFrameCollisionInfos.add(Map(mPersistentAllocator)); + + // Add a mapping to the index in the internal arrays + mMapPairIdToPairIndex.add(Pair(pairId, PairLocation(false, nbConcavePairs))); + } + + return pairId; +} + +// Remove an overlapping pair +uint64 OverlappingPairs::removePair(uint64 pairId) { + + RP3D_PROFILE("OverlappingPairs::removePair()", mProfiler); + + assert(mMapPairIdToPairIndex.containsKey(pairId)); + + const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; + + if (pairLocation.isConvexVsConvex) { + + assert(pairLocation.pairIndex < mConvexPairIds.size()); + + const uint64 lastPairId = mConvexPairIds[mConvexPairIds.size() - 1]; + const PairLocation lastPairLocation = mMapPairIdToPairIndex[lastPairId]; + + // Remap the last pair location + if (pairLocation.pairIndex < mConvexPairIds.size() - 1) { + mMapPairIdToPairIndex[lastPairId] = PairLocation(lastPairLocation.isConvexVsConvex, pairLocation.pairIndex); + } + + // Remove the pair (the pair is replaced by the last one of the lists) + mConvexPairIds.removeAtAndReplaceWithLast(pairLocation.pairIndex); + mConvexProxyShapes1.removeAtAndReplaceWithLast(pairLocation.pairIndex); + mConvexProxyShapes2.removeAtAndReplaceWithLast(pairLocation.pairIndex); + mConvexNeedToTestOverlap.removeAtAndReplaceWithLast(pairLocation.pairIndex); + } + else { + + assert(pairLocation.pairIndex < mConcavePairIds.size()); + + const uint64 lastPairId = mConcavePairIds[mConcavePairIds.size() - 1]; + const PairLocation lastPairLocation = mMapPairIdToPairIndex[lastPairId]; + + // Remap the last pair location + if (pairLocation.pairIndex < mConcavePairIds.size() - 1) { + mMapPairIdToPairIndex[lastPairId] = PairLocation(lastPairLocation.isConvexVsConvex, pairLocation.pairIndex); + } + + // Remove the pair (the pair is replaced by the last one of the lists) + mConcavePairIds.removeAtAndReplaceWithLast(pairLocation.pairIndex); + mConcaveProxyShapes1.removeAtAndReplaceWithLast(pairLocation.pairIndex); + mConcaveProxyShapes2.removeAtAndReplaceWithLast(pairLocation.pairIndex); + mConcaveNeedToTestOverlap.removeAtAndReplaceWithLast(pairLocation.pairIndex); + } + + mMapPairIdToPairIndex.remove(pairId); + + List>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ? + mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos; + + // Remove all the remaining last frame collision info + for (auto it = lastFrameCollisionInfos[pairLocation.pairIndex].begin(); it != lastFrameCollisionInfos[pairLocation.pairIndex].end(); ++it) { + + // Call the constructor + it->second->~LastFrameCollisionInfo(); + + // Release memory + mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); + } + + lastFrameCollisionInfos.removeAtAndReplaceWithLast(pairLocation.pairIndex); +} + +// Try to find a pair with a given id, return true if the pair is found and the corresponding PairLocation +bool OverlappingPairs::findPair(uint64 pairId, PairLocation& pairLocation) { + + auto it = mMapPairIdToPairIndex.find(pairId); + if (it != mMapPairIdToPairIndex.end()) { + pairLocation = it->second; + return true; + } + + return false; +} + +// Add a new last frame collision info if it does not exist for the given shapes already +LastFrameCollisionInfo* OverlappingPairs::addLastFrameInfoIfNecessary(uint64 pairId, uint shapeId1, uint shapeId2) { + + RP3D_PROFILE("OverlappingPairs::addLastFrameInfoIfNecessary()", mProfiler); + + assert(mMapPairIdToPairIndex.containsKey(pairId)); + + PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; + List>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ? + mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos; + + // Try to get the corresponding last frame collision info + const ShapeIdPair shapeIdPair(shapeId1, shapeId2); + // TODO : Remove test + auto it = lastFrameCollisionInfos[pairLocation.pairIndex].find(shapeIdPair); + + // If there is no collision info for those two shapes already + if (it == lastFrameCollisionInfos[pairLocation.pairIndex].end()) { + + // Create a new collision info + LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo))) + LastFrameCollisionInfo(); + + // Add it into the map of collision infos + lastFrameCollisionInfos[pairLocation.pairIndex].add(Pair(shapeIdPair, collisionInfo)); + + return collisionInfo; + } + else { + + // The existing collision info is not obsolete + it->second->isObsolete = false; + + return it->second; + } +} + +// Delete all the obsolete last frame collision info +void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { + + RP3D_PROFILE("OverlappingPairs::clearObsoleteLastFrameCollisionInfos()", mProfiler); + + // For each convex vs convex overlapping pair + for (uint p=0; p < mConvexLastFrameCollisionInfos.size(); p++) { + + // For each collision info + for (auto it = mConvexLastFrameCollisionInfos[p].begin(); it != mConvexLastFrameCollisionInfos[p].end(); ) { + + // If the collision info is obsolete + if (it->second->isObsolete) { + + // Delete it + it->second->~LastFrameCollisionInfo(); + mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); + + it = mConvexLastFrameCollisionInfos[p].remove(it); + } + else { // If the collision info is not obsolete + + // Do not delete it but mark it as obsolete + it->second->isObsolete = true; + + ++it; + } + } + } + + // For each convex vs concave overlapping pair + for (uint p=0; p < mConcaveLastFrameCollisionInfos.size(); p++) { + + // For each collision info + for (auto it = mConcaveLastFrameCollisionInfos[p].begin(); it != mConcaveLastFrameCollisionInfos[p].end(); ) { + + // If the collision info is obsolete + if (it->second->isObsolete) { + + // Delete it + it->second->~LastFrameCollisionInfo(); + mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); + + it = mConcaveLastFrameCollisionInfos[p].remove(it); + } + else { // If the collision info is not obsolete + + // Do not delete it but mark it as obsolete + it->second->isObsolete = true; + + ++it; + } + } + } +} diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPairs.h similarity index 54% rename from src/engine/OverlappingPair.h rename to src/engine/OverlappingPairs.h index bf46290c..23800c63 100644 --- a/src/engine/OverlappingPair.h +++ b/src/engine/OverlappingPairs.h @@ -32,6 +32,7 @@ #include "containers/Pair.h" #include "containers/containers_common.h" #include "utils/Profiler.h" +#include "components/ProxyShapeComponents.h" #include /// ReactPhysics3D namespace @@ -88,52 +89,97 @@ struct LastFrameCollisionInfo { } }; -// Class OverlappingPair +// Class OverlappingPairs /** - * This class represents a pair of two proxy collision shapes that are overlapping - * during the broad-phase collision detection. It is created when + * This class contains pairs of two proxy collision shapes that are overlapping + * during the broad-phase collision detection. A pair is created when * the two proxy collision shapes start to overlap and is destroyed when they do not - * overlap anymore. This class contains a contact manifold that + * overlap anymore. Each contains a contact manifold that * store all the contact points between the two bodies. */ -class OverlappingPair { +class OverlappingPairs { public: - using OverlappingPairId = Pair; + // TODO : Try to use a pairing function like pairNumbers() here using ShapeIdPair = Pair; private: + /// Structure PairLocation + struct PairLocation { + + /// True if the pair is a convex vs convex overlap + bool isConvexVsConvex; + + /// Index of the overlapping pair in the internal arrays + uint32 pairIndex; + + /// Constructor + PairLocation() :isConvexVsConvex(true), pairIndex(0) { + + } + + /// Constructor + PairLocation(bool isConvexVsConvex, uint32 index) + :isConvexVsConvex(isConvexVsConvex), pairIndex(index) { + + } + }; + // -------------------- Attributes -------------------- // - /// Pair ID - OverlappingPairId mPairID; - - /// Entity of the first proxy-shape of the overlapping pair - Entity mProxyShape1; - - /// Entity of the second proxy-shape of the overlapping pair - Entity mProxyShape2; - /// Persistent memory allocator MemoryAllocator& mPersistentAllocator; /// Memory allocator used to allocated memory for the ContactManifoldInfo and ContactPointInfo MemoryAllocator& mTempMemoryAllocator; + /// Map a pair id to its local location + Map mMapPairIdToPairIndex; + + /// Ids of the convex vs convex pairs + // TODO : Check if we need this array + List mConvexPairIds; + + /// List of Entity of the first proxy-shape of the convex vs convex pairs + List mConvexProxyShapes1; + + /// List of Entity of the second proxy-shape of the convex vs convex pairs + List mConvexProxyShapes2; + + /// Ids of the convex vs concave pairs + // TODO : Check if we need this array + List mConcavePairIds; + + /// List of Entity of the first proxy-shape of the convex vs concave pairs + List mConcaveProxyShapes1; + + /// List of Entity of the second proxy-shape of the convex vs concave pairs + List mConcaveProxyShapes2; + /// Temporal coherence collision data for each overlapping collision shapes of this pair. /// Temporal coherence data store collision information about the last frame. /// If two convex shapes overlap, we have a single collision data but if one shape is concave, /// we might have collision data for several overlapping triangles. The key in the map is the /// shape Ids of the two collision shapes. - Map mLastFrameCollisionInfos; + List> mConvexLastFrameCollisionInfos; - /// World settings - const WorldSettings& mWorldSettings; + /// Temporal coherence collision data for each overlapping collision shapes of this pair. + /// Temporal coherence data store collision information about the last frame. + /// If two convex shapes overlap, we have a single collision data but if one shape is concave, + /// we might have collision data for several overlapping triangles. The key in the map is the + /// shape Ids of the two collision shapes. + List> mConcaveLastFrameCollisionInfos; - /// True if we need to test if the overlapping pair of shapes still overlap - bool mNeedToTestOverlap; + /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap + List mConvexNeedToTestOverlap; + + /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap + List mConcaveNeedToTestOverlap; + + /// Reference to the proxy-shapes components + ProxyShapeComponents& mProxyShapeComponents; #ifdef IS_PROFILING_ACTIVE @@ -147,51 +193,45 @@ class OverlappingPair { // -------------------- Methods -------------------- // /// Constructor - OverlappingPair(ProxyShape* shape1, ProxyShape* shape2, MemoryAllocator& persistentMemoryAllocator, - MemoryAllocator& temporaryMemoryAllocator, const WorldSettings& worldSettings); + OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, + ProxyShapeComponents& proxyShapeComponents); /// Destructor - ~OverlappingPair(); + ~OverlappingPairs(); /// Deleted copy-constructor - OverlappingPair(const OverlappingPair& pair) = delete; + OverlappingPairs(const OverlappingPairs& pair) = delete; /// Deleted assignment operator - OverlappingPair& operator=(const OverlappingPair& pair) = delete; + OverlappingPairs& operator=(const OverlappingPairs& pair) = delete; - /// Return the Id of the pair - OverlappingPairId getId() const; + /// Add an overlapping pair + uint64 addPair(ProxyShape* shape1, ProxyShape* shape2); + + /// Remove an overlapping pair + uint64 removePair(uint64 pairId); + + /// Try to find a pair with a given id, return true if the pair is found and the corresponding PairLocation + bool findPair(uint64 pairId, PairLocation& pairLocation); /// Return the entity of the first proxy-shape - Entity getProxyShape1() const; + Entity getProxyShape1(uint64 pairId) const; /// Return the entity of the second proxy-shape - Entity getProxyShape2() const; + Entity getProxyShape2(uint64 pairId) const; /// Return the last frame collision info - LastFrameCollisionInfo* getLastFrameCollisionInfo(ShapeIdPair& shapeIds); + LastFrameCollisionInfo* getLastFrameCollisionInfo(uint64, ShapeIdPair& shapeIds); /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); - /// Return true if we need to test if the overlapping pair of shapes still overlap - bool needToTestOverlap() const; - - /// Set to true if we need to test if the overlapping pair of shapes still overlap - void setNeedToTestOverlap(bool needToTestOverlap); - /// Add a new last frame collision info if it does not exist for the given shapes already - LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2); - - /// Return the last frame collision info for a given pair of shape ids - LastFrameCollisionInfo* getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const; + LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint64 pairId, uint shapeId1, uint shapeId2); /// Delete all the obsolete last frame collision info void clearObsoleteLastFrameCollisionInfos(); - /// Return the pair of bodies index - static OverlappingPairId computeID(int shape1BroadPhaseId, int shape2BroadPhaseId); - /// Return the pair of bodies index of the pair static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity); @@ -205,27 +245,35 @@ class OverlappingPair { // -------------------- Friendship -------------------- // friend class DynamicsWorld; + friend class CollisionDetectionSystem; }; -// Return the Id of the pair -inline OverlappingPair::OverlappingPairId OverlappingPair::getId() const { - return mPairID; -} - // Return the entity of the first proxy-shape -inline Entity OverlappingPair::getProxyShape1() const { - return mProxyShape1; +inline Entity OverlappingPairs::getProxyShape1(uint64 pairId) const { + assert(mMapPairIdToPairIndex.containsKey(pairId)); + const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; + const List proxyShapes1 = pairLocation.isConvexVsConvex ? mConvexProxyShapes1 : mConcaveProxyShapes1; + return proxyShapes1[pairLocation.pairIndex]; } // Return the entity of the second proxy-shape -inline Entity OverlappingPair::getProxyShape2() const { - return mProxyShape2; -} +inline Entity OverlappingPairs::getProxyShape2(uint64 pairId) const { + assert(mMapPairIdToPairIndex.containsKey(pairId)); + const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; + const List proxyShapes2 = pairLocation.isConvexVsConvex ? mConvexProxyShapes2 : mConcaveProxyShapes2; + return proxyShapes2[pairLocation.pairIndex]; +} // Return the last frame collision info for a given shape id or nullptr if none is found -inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeIdPair& shapeIds) { - Map::Iterator it = mLastFrameCollisionInfos.find(shapeIds); - if (it != mLastFrameCollisionInfos.end()) { +inline LastFrameCollisionInfo* OverlappingPairs::getLastFrameCollisionInfo(uint64 pairId, ShapeIdPair& shapeIds) { + + assert(mMapPairIdToPairIndex.containsKey(pairId)); + const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; + const List>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ? + mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos; + + Map::Iterator it = lastFrameCollisionInfos[pairLocation.pairIndex].find(shapeIds); + if (it != lastFrameCollisionInfos[pairLocation.pairIndex].end()) { return it->second; } @@ -233,19 +281,7 @@ inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeI } // Return the pair of bodies index -inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(int shape1BroadPhaseId, int shape2BroadPhaseId) { - assert(shape1BroadPhaseId >= 0 && shape2BroadPhaseId >= 0); - - // Construct the pair of body index - OverlappingPairId pairID = shape1BroadPhaseId < shape2BroadPhaseId ? - OverlappingPairId(shape1BroadPhaseId, shape2BroadPhaseId) : - OverlappingPairId(shape2BroadPhaseId, shape1BroadPhaseId); - assert(pairID.first != pairID.second); - return pairID; -} - -// Return the pair of bodies index -inline bodypair OverlappingPair::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) { +inline bodypair OverlappingPairs::computeBodiesIndexPair(Entity body1Entity, Entity body2Entity) { // Construct the pair of body index bodypair indexPair = body1Entity.id < body2Entity.id ? @@ -256,29 +292,14 @@ inline bodypair OverlappingPair::computeBodiesIndexPair(Entity body1Entity, Enti } // Return a reference to the temporary memory allocator -inline MemoryAllocator& OverlappingPair::getTemporaryAllocator() { +inline MemoryAllocator& OverlappingPairs::getTemporaryAllocator() { return mTempMemoryAllocator; } -// Return true if we need to test if the overlapping pair of shapes still overlap -inline bool OverlappingPair::needToTestOverlap() const { - return mNeedToTestOverlap; -} - -// Set to true if we need to test if the overlapping pair of shapes still overlap -inline void OverlappingPair::setNeedToTestOverlap(bool needToTestOverlap) { - mNeedToTestOverlap = needToTestOverlap; -} - -// Return the last frame collision info for a given pair of shape ids -inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const { - return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)]; -} - #ifdef IS_PROFILING_ACTIVE // Set the profiler -inline void OverlappingPair::setProfiler(Profiler* profiler) { +inline void OverlappingPairs::setProfiler(Profiler* profiler) { mProfiler = profiler; } diff --git a/src/mathematics/mathematics_functions.cpp b/src/mathematics/mathematics_functions.cpp index 9c87818e..98689953 100755 --- a/src/mathematics/mathematics_functions.cpp +++ b/src/mathematics/mathematics_functions.cpp @@ -404,4 +404,12 @@ bool reactphysics3d::isPrimeNumber(int number) { return number == 2; } +// Return an unique integer from two integer numbers (pairing function) +/// Here we assume that the two parameter numbers are sorted such that +/// number1 = max(number1, number2) +/// http://szudzik.com/ElegantPairing.pdf +uint64 reactphysics3d::pairNumbers(uint32 number1, uint32 number2) { + assert(number1 == std::max(number1, number2)); + return number1 * number1 + number1 + number2; +} diff --git a/src/mathematics/mathematics_functions.h b/src/mathematics/mathematics_functions.h index f81aba84..a60b47b8 100755 --- a/src/mathematics/mathematics_functions.h +++ b/src/mathematics/mathematics_functions.h @@ -129,6 +129,12 @@ decimal computePointToPlaneDistance(const Vector3& point, const Vector3& planeNo /// Return true if the given number is prime bool isPrimeNumber(int number); +/// Return an unique integer from two integer numbers (pairing function) +/// Here we assume that the two parameter numbers are sorted such that +/// number1 = max(number1, number2) +/// http://szudzik.com/ElegantPairing.pdf +uint64 pairNumbers(uint32 number1, uint32 number2); + } diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index a2f2447b..e98f7978 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -55,10 +55,10 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), - mOverlappingPairs(mMemoryManager.getPoolAllocator()), + mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mProxyShapesComponents), mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), - mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator()), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), + mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), // TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), @@ -74,6 +74,7 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS mProfiler = nullptr; mCollisionDispatch.setProfiler(mProfiler); + mOverlappingPairs.setProfiler(mProfiler); #endif @@ -119,9 +120,14 @@ void CollisionDetectionSystem::resetNeedToTestOverlap() { RP3D_PROFILE("CollisionDetectionSystem::resetNeedToTestOverlap()", mProfiler); - // For each possible collision pair of bodies - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { - it->second->setNeedToTestOverlap(true); + // For each possible convex vs convex collision pair of bodies + for (uint i=0; i < mOverlappingPairs.mConvexNeedToTestOverlap.size(); i++) { + mOverlappingPairs.mConvexNeedToTestOverlap[i] = true; + } + + // For each possible convex vs concave collision pair of bodies + for (uint i=0; i < mOverlappingPairs.mConcaveNeedToTestOverlap.size(); i++) { + mOverlappingPairs.mConcaveNeedToTestOverlap[i] = true; } } @@ -130,25 +136,29 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { RP3D_PROFILE("CollisionDetectionSystem::removeNonOverlappingPairs()", mProfiler); - // For each possible collision pair of bodies - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { - - OverlappingPair* pair = it->second; + // For each possible convex vs convex pair of bodies + for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { // Check if we need to test overlap. If so, test if the two shapes are still overlapping. // Otherwise, we destroy the overlapping pair - if (pair->needToTestOverlap() && - !mBroadPhaseSystem.testOverlappingShapes(pair->getProxyShape1(), pair->getProxyShape2())) { + if (mOverlappingPairs.mConvexNeedToTestOverlap[i] && + !mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mConvexProxyShapes1[i], mOverlappingPairs.mConvexProxyShapes2[i])) { - // Destroy the overlapping pair - pair->~OverlappingPair(); - - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - it = mOverlappingPairs.remove(it); - continue; + mOverlappingPairs.removePair(mOverlappingPairs.mConvexPairIds[i]); + i--; } - else { - ++it; + } + + // For each possible convex vs concave pair of bodies + for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { + + // Check if we need to test overlap. If so, test if the two shapes are still overlapping. + // Otherwise, we destroy the overlapping pair + if (mOverlappingPairs.mConcaveNeedToTestOverlap[i] && + !mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mConcaveProxyShapes1[i], mOverlappingPairs.mConcaveProxyShapes2[i])) { + + mOverlappingPairs.removePair(mOverlappingPairs.mConcavePairIds[i]); + i--; } } } @@ -181,11 +191,11 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> if (body1Entity != body2Entity) { // Compute the overlapping pair ID - Pair pairID = OverlappingPair::computeID(nodePair.first, nodePair.second); + const uint64 pairId = pairNumbers(std::max(nodePair.first, nodePair.second), std::min(nodePair.first, nodePair.second)); // Check if the overlapping pair already exists - auto itPair = mOverlappingPairs.find(pairID); - if (itPair == mOverlappingPairs.end()) { + OverlappingPairs::PairLocation pairLocation; + if (!mOverlappingPairs.findPair(pairId, pairLocation)) { unsigned short shape1CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity); unsigned short shape2CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity); @@ -200,26 +210,21 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(proxyShape1Entity); ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(proxyShape2Entity); - // Create the overlapping pair and add it into the set of overlapping pairs - OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair))) - OverlappingPair(shape1, shape2, mMemoryManager.getPoolAllocator(), - mMemoryManager.getSingleFrameAllocator(), mWorld->mConfig); - - assert(newPair != nullptr); - - // Add the new overlapping pair - mOverlappingPairs.add(Pair, OverlappingPair*>(pairID, newPair)); - -#ifdef IS_PROFILING_ACTIVE - newPair->setProfiler(mProfiler); -#endif + // Check that at least one collision shape is convex + if (shape1->getCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) { + // Add the new overlapping pair + mOverlappingPairs.addPair(shape1, shape2); + } } } else { // We do not need to test the pair for overlap because it has just been reported that they still overlap - itPair->second->setNeedToTestOverlap(false); + List& pairsNeedToTestOverlap = pairLocation.isConvexVsConvex ? mOverlappingPairs.mConvexNeedToTestOverlap : + mOverlappingPairs.mConcaveNeedToTestOverlap; + + pairsNeedToTestOverlap[pairLocation.pairIndex] = false; } } } @@ -227,23 +232,21 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> } // Compute the middle-phase collision detection -void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) { +void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingPairs, NarrowPhaseInput& narrowPhaseInput) { RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler); // Reserve memory for the narrow-phase input using cached capacity from previous frame narrowPhaseInput.reserveMemory(); - // For each possible collision pair of bodies - for (auto it = overlappingPairs.begin(); it != overlappingPairs.end(); ++it) { + // Remove the obsolete last frame collision infos and mark all the others as obsolete + overlappingPairs.clearObsoleteLastFrameCollisionInfos(); - OverlappingPair* pair = it->second; + // For each possible convex vs convex pair of bodies + for (uint i=0; i < overlappingPairs.mConvexPairIds.size(); i++) { - // Remove the obsolete last frame collision infos and mark all the others as obsolete - pair->clearObsoleteLastFrameCollisionInfos(); - - const Entity proxyShape1Entity = pair->getProxyShape1(); - const Entity proxyShape2Entity = pair->getProxyShape2(); + const Entity proxyShape1Entity = overlappingPairs.mConvexProxyShapes1[i]; + const Entity proxyShape2Entity = overlappingPairs.mConvexProxyShapes2[i]; assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); @@ -258,64 +261,185 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairMap& overlappin mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; // Check that at least one body is enabled (active and awake) and not static + // TODO : Do not test this every frame bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; if (!isBody1Active && !isBody2Active) continue; // Check if the bodies are in the set of bodies that cannot collide between each other - bodypair bodiesIndex = OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity); + // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation + bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); - const bool isShape1Convex = collisionShape1->isConvex(); - const bool isShape2Convex = collisionShape2->isConvex(); + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), + collisionShape2->getType()); - // If both shapes are convex - if (isShape1Convex && isShape2Convex) { + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mConvexPairIds[i], proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, + mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), + mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), + algorithmType, mMemoryManager.getSingleFrameAllocator()); - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), - collisionShape2->getType()); + } - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pair, collisionShape1, collisionShape2, - mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), - mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), - algorithmType, mMemoryManager.getSingleFrameAllocator()); + // For each possible convex vs concave pair of bodies + for (uint i=0; i < overlappingPairs.mConcavePairIds.size(); i++) { - } - // Concave vs Convex algorithm - else if ((!isShape1Convex && isShape2Convex) || (!isShape2Convex && isShape1Convex)) { + const Entity proxyShape1Entity = overlappingPairs.mConcaveProxyShapes1[i]; + const Entity proxyShape2Entity = overlappingPairs.mConcaveProxyShapes2[i]; - computeConvexVsConcaveMiddlePhase(pair, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); - } - // Concave vs Concave shape - else { - // Not handled - continue; - } + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); + + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + + const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && + mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && + mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + + // Check that at least one body is enabled (active and awake) and not static + // TODO : Do not test this every frame + bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; + if (!isBody1Active && !isBody2Active) continue; + + // Check if the bodies are in the set of bodies that cannot collide between each other + // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation + bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); + if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; + + computeConvexVsConcaveMiddlePhase(overlappingPairs.mConcavePairIds[i], proxyShape1Entity, proxyShape2Entity, + mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); } } +// Compute the middle-phase collision detection +void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput) { + + RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler); + + // Reserve memory for the narrow-phase input using cached capacity from previous frame + narrowPhaseInput.reserveMemory(); + + // Remove the obsolete last frame collision infos and mark all the others as obsolete + mOverlappingPairs.clearObsoleteLastFrameCollisionInfos(); + + // For each possible convex vs convex pair of bodies + for (uint p=0; p < convexPairs.size(); p++) { + + const uint64 pairId = convexPairs[p]; + + OverlappingPairs::PairLocation& pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; + assert(pairLoc.isConvexVsConvex); + const uint pairIndex = pairLoc.pairIndex; + + const Entity proxyShape1Entity = mOverlappingPairs.mConvexProxyShapes1[pairIndex]; + const Entity proxyShape2Entity = mOverlappingPairs.mConvexProxyShapes2[pairIndex]; + + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); + + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + + const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && + mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && + mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + + // Check that at least one body is enabled (active and awake) and not static + // TODO : Do not test this every frame + bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; + if (!isBody1Active && !isBody2Active) continue; + + // Check if the bodies are in the set of bodies that cannot collide between each other + // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation + bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); + if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; + + CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); + CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); + + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), + collisionShape2->getType()); + + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + narrowPhaseInput.addNarrowPhaseTest(pairId, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, + mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), + mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), + algorithmType, mMemoryManager.getSingleFrameAllocator()); + + } + + // For each possible convex vs concave pair of bodies + for (uint p=0; p < concavePairs.size(); p++) { + + const uint64 pairId = concavePairs[p]; + + OverlappingPairs::PairLocation& pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; + assert(!pairLoc.isConvexVsConvex); + const uint pairIndex = pairLoc.pairIndex; + + const Entity proxyShape1Entity = mOverlappingPairs.mConcaveProxyShapes1[pairIndex]; + const Entity proxyShape2Entity = mOverlappingPairs.mConcaveProxyShapes2[pairIndex]; + + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); + + const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); + const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + + const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && + mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && + mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + + // Check that at least one body is enabled (active and awake) and not static + // TODO : Do not test this every frame + bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; + if (!isBody1Active && !isBody2Active) continue; + + // Check if the bodies are in the set of bodies that cannot collide between each other + // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation + bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); + if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; + + computeConvexVsConcaveMiddlePhase(pairId, proxyShape1Entity, proxyShape2Entity, + mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + } +} // Compute the concave vs convex middle-phase algorithm for a given pair of bodies -void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, - NarrowPhaseInput& narrowPhaseInput) { +void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairId, Entity proxyShape1, Entity proxyShape2, + MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { RP3D_PROFILE("CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase()", mProfiler); - ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(pair->getProxyShape1()); - ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(pair->getProxyShape2()); + ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(proxyShape1); + ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(proxyShape2); ProxyShape* convexProxyShape; ProxyShape* concaveProxyShape; ConvexShape* convexShape; ConcaveShape* concaveShape; + const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); + // Collision shape 1 is convex, collision shape 2 is concave - if (shape1->getCollisionShape()->isConvex()) { + if (isShape1Convex) { convexProxyShape = shape1; convexShape = static_cast(shape1->getCollisionShape()); concaveProxyShape = shape2; @@ -366,15 +490,11 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(OverlappingPair #endif - bool isShape1Convex = mProxyShapesComponents.getCollisionShape(pair->getProxyShape1())->isConvex(); - ProxyShape* shape1 = isShape1Convex ? convexProxyShape : concaveProxyShape; - ProxyShape* shape2 = isShape1Convex ? concaveProxyShape : convexProxyShape; - // Create a narrow phase info for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pair, isShape1Convex ? convexShape : triangleShape, + narrowPhaseInput.addNarrowPhaseTest(pairId, proxyShape1, proxyShape2, isShape1Convex ? convexShape : triangleShape, isShape1Convex ? triangleShape : convexShape, - mProxyShapesComponents.getLocalToWorldTransform(shape1->getEntity()), - mProxyShapesComponents.getLocalToWorldTransform(shape2->getEntity()), + mProxyShapesComponents.getLocalToWorldTransform(proxyShape1), + mProxyShapesComponents.getLocalToWorldTransform(proxyShape2), algorithmType, allocator); } } @@ -427,7 +547,7 @@ bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrow // Process the potential contacts after narrow-phase collision detection void CollisionDetectionSystem::processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, + Map* mapPairIdToContactPairIndex, List& potentialContactManifolds, List* contactPairs, Map>& mapBodyToContactPairs) { @@ -543,8 +663,8 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& if (narrowPhaseInfoBatch.isColliding[i]) { // Add the pair of bodies in contact into the list - overlapPairs.add(Pair(mProxyShapesComponents.getBody(narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape1()), - mProxyShapesComponents.getBody(narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape2()))); + overlapPairs.add(Pair(mProxyShapesComponents.getBody(narrowPhaseInfoBatch.proxyShapeEntities1[i]), + mProxyShapesComponents.getBody(narrowPhaseInfoBatch.proxyShapeEntities2[i]))); } narrowPhaseInfoBatch.resetContactPoints(i); @@ -567,7 +687,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn List potentialContactPoints(allocator); List potentialContactManifolds(allocator); - Map mapPairIdToContactPairIndex(allocator); + Map mapPairIdToContactPairIndex(allocator); List contactPairs(allocator); List contactManifolds(allocator); List contactPoints(allocator); @@ -838,30 +958,40 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { // Remove a body from the collision detection void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { - assert(proxyShape->getBroadPhaseId() != -1); - assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShape->getBroadPhaseId())); + const int proxyShapeBroadPhaseId = proxyShape->getBroadPhaseId(); - // Remove all the overlapping pairs involving this proxy shape - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) { + assert(proxyShapeBroadPhaseId != -1); + assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShapeBroadPhaseId)); - OverlappingPair* pair = it->second; + // Remove all the convex vs convex overlapping pairs involving this proxy shape + for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { - if (mProxyShapesComponents.getBroadPhaseId(pair->getProxyShape1()) == proxyShape->getBroadPhaseId() || - mProxyShapesComponents.getBroadPhaseId(pair->getProxyShape2()) == proxyShape->getBroadPhaseId()) { + if (mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConvexProxyShapes1[i]) == proxyShapeBroadPhaseId || + mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConvexProxyShapes2[i]) == proxyShapeBroadPhaseId) { // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved - // Destroy the overlapping pair - pair->~OverlappingPair(); - mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, pair, sizeof(OverlappingPair)); - it = mOverlappingPairs.remove(it); - } - else { - ++it; + // Remove the overlapping pair + mOverlappingPairs.removePair(mOverlappingPairs.mConvexPairIds[i]); + i--; } } - mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShape->getBroadPhaseId()); + // Remove all the convex vs concave overlapping pairs involving this proxy shape + for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { + + if (mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConcaveProxyShapes1[i]) == proxyShapeBroadPhaseId || + mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConcaveProxyShapes2[i]) == proxyShapeBroadPhaseId) { + + // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved + + // Remove the overlapping pair + mOverlappingPairs.removePair(mOverlappingPairs.mConcavePairIds[i]); + i--; + } + } + + mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShapeBroadPhaseId); // Remove the body from the broad-phase mBroadPhaseSystem.removeProxyCollisionShape(proxyShape); @@ -884,7 +1014,7 @@ void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, // Convert the potential contact into actual contacts void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, + Map* mapPairIdToContactPairIndex, List& potentialContactManifolds, List* contactPairs, Map>& mapBodyToContactPairs) { @@ -918,7 +1048,7 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na bool similarManifoldFound = false; // If there is already a contact pair for this overlapping pair - OverlappingPair::OverlappingPairId pairId = narrowPhaseInfoBatch.overlappingPairs[i]->getId(); + const uint64 pairId = narrowPhaseInfoBatch.overlappingPairIds[i]; auto it = mapPairIdToContactPairIndex->find(pairId); ContactPair* pairContact = nullptr; if (it != mapPairIdToContactPairIndex->end()) { @@ -968,8 +1098,8 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na // If the overlapping pair contact does not exists yet if (pairContact == nullptr) { - const Entity proxyShape1Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape1(); - const Entity proxyShape2Entity = narrowPhaseInfoBatch.overlappingPairs[i]->getProxyShape2(); + const Entity proxyShape1Entity = narrowPhaseInfoBatch.proxyShapeEntities1[i]; + const Entity proxyShape2Entity = narrowPhaseInfoBatch.proxyShapeEntities2[i]; const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); @@ -983,7 +1113,7 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na newContactPairIndex, mMemoryManager.getPoolAllocator()); contactPairs->add(overlappingPairContact); pairContact = &((*contactPairs)[newContactPairIndex]); - mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); + mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); auto itbodyContactPairs = mapBodyToContactPairs.find(body1Entity); if (itbodyContactPairs != mapBodyToContactPairs.end()) { @@ -1075,7 +1205,11 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List // If there are two many contact points in the manifold if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { - Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(mOverlappingPairs[manifold.pairId]->getProxyShape1()); + OverlappingPairs::PairLocation pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId]; + Entity proxyShape1 = pairLoc.isConvexVsConvex ? mOverlappingPairs.mConvexProxyShapes1[pairLoc.pairIndex] : + mOverlappingPairs.mConcaveProxyShapes1[pairLoc.pairIndex]; + + Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(proxyShape1); // Reduce the number of contact points in the manifold reduceContactPoints(manifold, shape1LocalToWorldTransoform, potentialContactPoints); @@ -1313,19 +1447,20 @@ void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List< // Return true if two bodies overlap (collide) bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* body2) { - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs); // Compute the broad-phase collision detection computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); - filterOverlappingPairs(body1->getEntity(), body2->getEntity(), overlappingPairs); + List convexPairs(mMemoryManager.getPoolAllocator()); + List concavePairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body1->getEntity(), body2->getEntity(), convexPairs, concavePairs); - if (overlappingPairs.size() > 0) { + if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhase(overlappingPairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); // Compute the narrow-phase collision detection return computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, nullptr); @@ -1337,7 +1472,7 @@ bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* // Report all the bodies that overlap (collide) in the world void CollisionDetectionSystem::testOverlap(OverlapCallback& callback) { - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs); // Compute the broad-phase collision detection computeBroadPhase(); @@ -1352,19 +1487,20 @@ void CollisionDetectionSystem::testOverlap(OverlapCallback& callback) { // Report all the bodies that overlap (collide) with the body in parameter void CollisionDetectionSystem::testOverlap(CollisionBody* body, OverlapCallback& callback) { - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs); // Compute the broad-phase collision detection computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); - filterOverlappingPairs(body->getEntity(), overlappingPairs); + List convexPairs(mMemoryManager.getPoolAllocator()); + List concavePairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body->getEntity(), convexPairs, concavePairs); - if (overlappingPairs.size() > 0) { + if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhase(overlappingPairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); // Compute the narrow-phase collision detection computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback); @@ -1374,19 +1510,20 @@ void CollisionDetectionSystem::testOverlap(CollisionBody* body, OverlapCallback& // Test collision and report contacts between two bodies. void CollisionDetectionSystem::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs); // Compute the broad-phase collision detection computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); - filterOverlappingPairs(body1->getEntity(), body2->getEntity(), overlappingPairs); + List convexPairs(mMemoryManager.getPoolAllocator()); + List concavePairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body1->getEntity(), body2->getEntity(), convexPairs, concavePairs); - if (overlappingPairs.size() > 0) { + if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhase(overlappingPairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); // Compute the narrow-phase collision detection and report contacts computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); @@ -1396,19 +1533,20 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body1, CollisionBody // Test collision and report all the contacts involving the body in parameter void CollisionDetectionSystem::testCollision(CollisionBody* body, CollisionCallback& callback) { - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs); // Compute the broad-phase collision detection computeBroadPhase(); // Filter the overlapping pairs to get only the ones with the selected body involved - OverlappingPairMap overlappingPairs(mMemoryManager.getPoolAllocator()); - filterOverlappingPairs(body->getEntity(), overlappingPairs); + List convexPairs(mMemoryManager.getPoolAllocator()); + List concavePairs(mMemoryManager.getPoolAllocator()); + filterOverlappingPairs(body->getEntity(), convexPairs, concavePairs); - if (overlappingPairs.size() > 0) { + if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhase(overlappingPairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); // Compute the narrow-phase collision detection and report contacts computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); @@ -1418,7 +1556,7 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body, CollisionCallb // Test collision and report contacts between each colliding bodies in the world void CollisionDetectionSystem::testCollision(CollisionCallback& callback) { - NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator()); + NarrowPhaseInput narrowPhaseInput(mMemoryManager.getPoolAllocator(), mOverlappingPairs); // Compute the broad-phase collision detection computeBroadPhase(); @@ -1431,33 +1569,51 @@ void CollisionDetectionSystem::testCollision(CollisionCallback& callback) { } // Filter the overlapping pairs to keep only the pairs where a given body is involved -void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, OverlappingPairMap& outFilteredPairs) const { +void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List& convexPairs, List& concavePairs) const { // For each possible collision pair of bodies - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { - OverlappingPair* pair = it->second; + if (mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == bodyEntity || + mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == bodyEntity) { - if (mProxyShapesComponents.getBody(pair->getProxyShape1()) == bodyEntity || - mProxyShapesComponents.getBody(pair->getProxyShape2()) == bodyEntity) { + convexPairs.add(mOverlappingPairs.mConvexPairIds[i]); + } + } - outFilteredPairs.add(Pair, OverlappingPair*>(it->first, pair)); + // For each possible collision pair of bodies + for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { + + if (mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == bodyEntity || + mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == bodyEntity) { + + concavePairs.add(mOverlappingPairs.mConcavePairIds[i]); } } } // Filter the overlapping pairs to keep only the pairs where two given bodies are involved -void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, OverlappingPairMap& outFilteredPairs) const { +void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List& convexPairs, List& concavePairs) const { + + // TODO : Do not go through all the overlapping pairs here but get all the involded overlapping pairs directly from the bodies // For each possible collision pair of bodies - for (auto it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) { + for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { - OverlappingPair* pair = it->second; + if ((mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == body2Entity) || + (mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == body1Entity)) { - if ((mProxyShapesComponents.getBody(pair->getProxyShape1()) == body1Entity && mProxyShapesComponents.getBody(pair->getProxyShape2()) == body2Entity) || - (mProxyShapesComponents.getBody(pair->getProxyShape1()) == body2Entity && mProxyShapesComponents.getBody(pair->getProxyShape2()) == body1Entity)) { + convexPairs.add(mOverlappingPairs.mConvexPairIds[i]); + } + } - outFilteredPairs.add(Pair, OverlappingPair*>(it->first, pair)); + // For each possible collision pair of bodies + for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { + + if ((mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == body2Entity) || + (mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == body1Entity)) { + + concavePairs.add(mOverlappingPairs.mConcavePairIds[i]); } } } diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index f5264245..5ac964d9 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -35,7 +35,8 @@ #include "collision/ContactManifoldInfo.h" #include "collision/ContactManifold.h" #include "collision/ContactPair.h" -#include "engine/OverlappingPair.h" +#include "engine/OverlappingPairs.h" +#include "engine/OverlappingPairs.h" #include "collision/narrowphase/NarrowPhaseInput.h" #include "collision/narrowphase/CollisionDispatch.h" #include "containers/Map.h" @@ -89,7 +90,7 @@ class CollisionDetectionSystem { CollisionWorld* mWorld; /// Broad-phase overlapping pairs - OverlappingPairMap mOverlappingPairs; + OverlappingPairs mOverlappingPairs; /// Broad-phase system BroadPhaseSystem mBroadPhaseSystem; @@ -122,18 +123,18 @@ class CollisionDetectionSystem { List* mCurrentContactPairs; /// First map of overlapping pair id to the index of the corresponding pair contact - Map mMapPairIdToContactPairIndex1; + Map mMapPairIdToContactPairIndex1; /// Second map of overlapping pair id to the index of the corresponding pair contact - Map mMapPairIdToContactPairIndex2; + Map mMapPairIdToContactPairIndex2; /// Pointer to the map of overlappingPairId to the index of contact pair of the previous frame /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) - Map* mPreviousMapPairIdToContactPairIndex; + Map* mPreviousMapPairIdToContactPairIndex; /// Pointer to the map of overlappingPairId to the index of contact pair of the current frame /// (either mMapPairIdToContactPairIndex1 or mMapPairIdToContactPairIndex2) - Map* mCurrentMapPairIdToContactPairIndex; + Map* mCurrentMapPairIdToContactPairIndex; /// First list with the contact manifolds List mContactManifolds1; @@ -164,8 +165,8 @@ class CollisionDetectionSystem { #ifdef IS_PROFILING_ACTIVE - /// Pointer to the profiler - Profiler* mProfiler; + /// Pointer to the profiler + Profiler* mProfiler; #endif @@ -175,7 +176,10 @@ class CollisionDetectionSystem { void computeBroadPhase(); /// Compute the middle-phase collision detection - void computeMiddlePhase(OverlappingPairMap& overlappingPairs, NarrowPhaseInput& narrowPhaseInput); + void computeMiddlePhase(OverlappingPairs& overlappingPairs, NarrowPhaseInput& narrowPhaseInput); + + // Compute the middle-phase collision detection + void computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput); /// Compute the narrow-phase collision detection void computeNarrowPhase(); @@ -205,7 +209,7 @@ class CollisionDetectionSystem { bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies - void computeConvexVsConcaveMiddlePhase(OverlappingPair* pair, MemoryAllocator& allocator, + void computeConvexVsConcaveMiddlePhase(uint64 pairId, Entity proxyShape1, Entity proxyShape2, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput); /// Swap the previous and current contacts lists @@ -214,13 +218,13 @@ class CollisionDetectionSystem { /// Convert the potential contact into actual contacts void processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, + Map* mapPairIdToContactPairIndex, List& potentialContactManifolds, List* contactPairs, Map>& mapBodyToContactPairs); /// Process the potential contacts after narrow-phase collision detection void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, + Map* mapPairIdToContactPairIndex, List &potentialContactManifolds, List* contactPairs, Map>& mapBodyToContactPairs); @@ -256,10 +260,10 @@ class CollisionDetectionSystem { void processSmoothMeshContacts(OverlappingPair* pair); /// Filter the overlapping pairs to keep only the pairs where a given body is involved - void filterOverlappingPairs(Entity bodyEntity, OverlappingPairMap& outFilteredPairs) const; + void filterOverlappingPairs(Entity bodyEntity, List& convexPairs, List& concavePairs) const; /// Filter the overlapping pairs to keep only the pairs where two given bodies are involved - void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, OverlappingPairMap& outFilteredPairs) const; + void filterOverlappingPairs(Entity body1Entity, Entity body2Entity, List& convexPairs, List& concavePairs) const; public : @@ -377,12 +381,12 @@ inline void CollisionDetectionSystem::addProxyCollisionShape(ProxyShape* proxySh // Add a pair of bodies that cannot collide with each other inline void CollisionDetectionSystem::addNoCollisionPair(Entity body1Entity, Entity body2Entity) { - mNoCollisionPairs.add(OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity)); + mNoCollisionPairs.add(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity)); } // Remove a pair of bodies that cannot collide with each other inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, Entity body2Entity) { - mNoCollisionPairs.remove(OverlappingPair::computeBodiesIndexPair(body1Entity, body2Entity)); + mNoCollisionPairs.remove(OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity)); } // Ask for a collision shape to be tested again during broad-phase. @@ -424,6 +428,7 @@ inline void CollisionDetectionSystem::setProfiler(Profiler* profiler) { mProfiler = profiler; mBroadPhaseSystem.setProfiler(profiler); mCollisionDispatch.setProfiler(profiler); + mOverlappingPairs.setProfiler(profiler); } #endif diff --git a/test/tests/containers/TestList.h b/test/tests/containers/TestList.h index f827fe8a..5fe650da 100644 --- a/test/tests/containers/TestList.h +++ b/test/tests/containers/TestList.h @@ -190,6 +190,22 @@ class TestList : public Test { it = list3.remove(5); rp3d_test((*it) == 6); + list3.clear(); + list3.add(1); + list3.add(2); + list3.add(3); + list3.add(4); + list3.removeAtAndReplaceWithLast(3); + rp3d_test(list3.size() == 3); + rp3d_test(list3[2] == 3); + list3.removeAtAndReplaceWithLast(1); + rp3d_test(list3.size() == 2); + rp3d_test(list3[0] == 2); + rp3d_test(list3[1] == 3); + list3.removeAtAndReplaceWithLast(0); + rp3d_test(list3.size() == 1); + rp3d_test(list3[0] == 3); + // ----- Test addRange() ----- // List list4(mAllocator); From 6b3a65b914f85fe833320a7607c7a0cf09ab93c0 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 17 Nov 2019 20:52:18 +0100 Subject: [PATCH 105/197] Working on middle-phase collision detection --- src/components/Components.cpp | 2 - src/components/Components.h | 3 - src/components/ProxyShapeComponents.cpp | 10 +- src/components/ProxyShapeComponents.h | 14 + src/containers/Map.h | 23 +- src/engine/CollisionWorld.cpp | 2 +- src/engine/DynamicsWorld.cpp | 1 - src/engine/OverlappingPairs.cpp | 453 ++++++++++++++++------- src/engine/OverlappingPairs.h | 191 +++++++--- src/memory/PoolAllocator.cpp | 6 +- src/systems/BroadPhaseSystem.cpp | 34 +- src/systems/BroadPhaseSystem.h | 18 +- src/systems/CollisionDetectionSystem.cpp | 189 ++++------ src/systems/CollisionDetectionSystem.h | 20 +- 14 files changed, 604 insertions(+), 362 deletions(-) diff --git a/src/components/Components.cpp b/src/components/Components.cpp index ea3e3521..3749b0f4 100644 --- a/src/components/Components.cpp +++ b/src/components/Components.cpp @@ -72,8 +72,6 @@ uint32 Components::prepareAddComponent(bool isSleeping) { // Add the component at the end of the array index = mNbComponents; - - mDisabledStartIndex = index; } // If the component to add is not part of a disabled entity else { diff --git a/src/components/Components.h b/src/components/Components.h index af721f5c..3a950af7 100644 --- a/src/components/Components.h +++ b/src/components/Components.h @@ -52,9 +52,6 @@ class Components { /// Number of components to allocated at the beginning const uint32 INIT_NB_ALLOCATED_COMPONENTS = 10; - /// Number of valid entities to hit before stopping garbage collection - const uint32 GARBAGE_COLLECTION_MAX_VALID_ENTITIES = 5; - // -------------------- Attributes -------------------- // /// Memory allocator diff --git a/src/components/ProxyShapeComponents.cpp b/src/components/ProxyShapeComponents.cpp index ab98115b..18089f1d 100644 --- a/src/components/ProxyShapeComponents.cpp +++ b/src/components/ProxyShapeComponents.cpp @@ -37,7 +37,7 @@ using namespace reactphysics3d; ProxyShapeComponents::ProxyShapeComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + - sizeof(unsigned short) + sizeof(Transform)) { + sizeof(unsigned short) + sizeof(Transform) + sizeof(List)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -66,6 +66,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { unsigned short* newCollisionCategoryBits = reinterpret_cast(newMasses + nbComponentsToAllocate); unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); Transform* newLocalToWorldTransforms = reinterpret_cast(newCollideWithMaskBits + nbComponentsToAllocate); + List* newOverlappingPairs = reinterpret_cast*>(newLocalToWorldTransforms + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -81,6 +82,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short)); memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform)); + memcpy(newOverlappingPairs, mOverlappingPairs, mNbComponents * sizeof(List)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -98,6 +100,7 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { mCollisionCategoryBits = newCollisionCategoryBits; mCollideWithMaskBits = newCollideWithMaskBits; mLocalToWorldTransforms = newLocalToWorldTransforms; + mOverlappingPairs = newOverlappingPairs; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -119,6 +122,7 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits); new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform); + new (mOverlappingPairs + index) List(mMemoryAllocator); // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(proxyShapeEntity, index)); @@ -145,6 +149,7 @@ void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]); new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]); + new (mOverlappingPairs + destIndex) List(mOverlappingPairs[srcIndex]); // Destroy the source component destroyComponent(srcIndex); @@ -171,6 +176,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1]; unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; Transform localToWorldTransform1 = mLocalToWorldTransforms[index1]; + List overlappingPairs = mOverlappingPairs[index1]; // Destroy component 1 destroyComponent(index1); @@ -188,6 +194,7 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1); new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1); + new (mOverlappingPairs + index2) List(overlappingPairs); // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(proxyShapeEntity1, index2)); @@ -212,4 +219,5 @@ void ProxyShapeComponents::destroyComponent(uint32 index) { mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; mLocalToWorldTransforms[index].~Transform(); + mOverlappingPairs[index].~List(); } diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index 9c7e5650..1dc72a5a 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -92,6 +92,9 @@ class ProxyShapeComponents : public Components { /// Array with the local-to-world transforms of the proxy-shapes Transform* mLocalToWorldTransforms; + /// Array with the list of involved overlapping pairs for each proxy-shape + List* mOverlappingPairs; + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -185,6 +188,9 @@ class ProxyShapeComponents : public Components { /// Set the local-to-world transform of a proxy-shape void setLocalToWorldTransform(Entity proxyShapeEntity, const Transform& transform); + /// Return a reference to the list of overlapping pairs for a given proxy-shape + List& getOverlappingPairs(Entity proxyShapeEntity); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -302,6 +308,14 @@ inline void ProxyShapeComponents::setLocalToWorldTransform(Entity proxyShapeEnti mLocalToWorldTransforms[mMapEntityToComponentIndex[proxyShapeEntity]] = transform; } +// Return a reference to the list of overlapping pairs for a given proxy-shape +inline List& ProxyShapeComponents::getOverlappingPairs(Entity proxyShapeEntity) { + + assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + + return mOverlappingPairs[mMapEntityToComponentIndex[proxyShapeEntity]]; +} + } #endif diff --git a/src/containers/Map.h b/src/containers/Map.h index c07fbb95..a6457b82 100755 --- a/src/containers/Map.h +++ b/src/containers/Map.h @@ -123,6 +123,7 @@ class Map { // Compute the next larger prime size mCapacity = getPrimeSize(capacity); + assert(mCapacity >= 0); // Allocate memory for the buckets mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); @@ -142,6 +143,8 @@ class Map { mNbUsedEntries = 0; mNbFreeEntries = 0; mFreeIndex = -1; + + assert(size() >= 0); } /// Expand the capacity of the map @@ -200,6 +203,8 @@ class Map { mCapacity = newCapacity; mBuckets = newBuckets; mEntries = newEntries; + + assert(mCapacity >= 0); } /// Return the index of the entry with a given key or -1 if there is no entry with this key @@ -371,6 +376,8 @@ class Map { :mNbUsedEntries(map.mNbUsedEntries), mNbFreeEntries(map.mNbFreeEntries), mCapacity(map.mCapacity), mBuckets(nullptr), mEntries(nullptr), mAllocator(map.mAllocator), mFreeIndex(map.mFreeIndex) { + assert(capacity() >= 0); + if (mCapacity > 0) { // Allocate memory for the buckets @@ -380,7 +387,7 @@ class Map { mEntries = static_cast(mAllocator.allocate(mCapacity * sizeof(Entry))); // Copy the buckets - std::uninitialized_copy(map.mBuckets, map.mBuckets + mCapacity, mBuckets); + std::uninitialized_copy(map.mBuckets, map.mBuckets + mCapacity, mBuckets); // Copy the entries for (int i=0; i < mCapacity; i++) { @@ -392,7 +399,11 @@ class Map { new (mEntries[i].keyValue) Pair(*(map.mEntries[i].keyValue)); } } + } + + assert(size() >= 0); + assert((*this) == map); } /// Destructor @@ -483,6 +494,7 @@ class Map { mNbUsedEntries++; } + assert(size() >= 0); assert(mEntries[entryIndex].keyValue == nullptr); mEntries[entryIndex].hashCode = hashCode; mEntries[entryIndex].next = mBuckets[bucket]; @@ -551,6 +563,8 @@ class Map { } } + assert(size() >= 0); + // Return the end iterator return end(); } @@ -575,6 +589,8 @@ class Map { mFreeIndex = -1; mNbUsedEntries = 0; mNbFreeEntries = 0; + + assert(size() >= 0); } // If elements have been allocated @@ -599,6 +615,7 @@ class Map { /// Return the number of elements in the map int size() const { + assert(mNbUsedEntries - mNbFreeEntries >= 0); return mNbUsedEntries - mNbFreeEntries; } @@ -649,6 +666,7 @@ class Map { } if (entry == -1) { + assert(false); throw std::runtime_error("No item with given key has been found in the map"); } @@ -716,6 +734,7 @@ class Map { // Compute the next larger prime size mCapacity = getPrimeSize(map.mCapacity); + assert(mCapacity >= 0); // Allocate memory for the buckets mBuckets = static_cast(mAllocator.allocate(mCapacity * sizeof(int))); @@ -743,6 +762,8 @@ class Map { } } + assert(size() >= 0); + return *this; } diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 902e8fa9..79f96318 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -43,7 +43,7 @@ CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logge mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), mFixedJointsComponents(mMemoryManager.getBaseAllocator()), mHingeJointsComponents(mMemoryManager.getBaseAllocator()), mSliderJointsComponents(mMemoryManager.getBaseAllocator()), - mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mRigidBodyComponents, mMemoryManager), + mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index e6acd13c..34248f97 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -273,7 +273,6 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { rigidBody->removeAllCollisionShapes(); // Destroy all the joints in which the rigid body to be destroyed is involved - JointListElement* element; const List& joints = mRigidBodyComponents.getJoints(rigidBody->getEntity()); for (uint32 i=0; i < joints.size(); i++) { destroyJoint(mJointsComponents.getJoint(joints[i])); diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index 007af276..7e311df1 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -32,124 +32,107 @@ using namespace reactphysics3d; // Constructor -OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents) +OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents, + CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set &noCollisionPairs) : mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), + mNbPairs(0), mConcavePairsStartIndex(0), mPairDataSize(sizeof(uint64) + sizeof(int32) + sizeof(int32) + sizeof(Entity) + + sizeof(Entity) + sizeof(Map) + + sizeof(bool) + sizeof(bool)), + mNbAllocatedPairs(0), mBuffer(nullptr), mMapPairIdToPairIndex(persistentMemoryAllocator), - mConvexPairIds(mPersistentAllocator), mConvexProxyShapes1(mPersistentAllocator), mConvexProxyShapes2(mPersistentAllocator), - mConcavePairIds(mPersistentAllocator), mConcaveProxyShapes1(mPersistentAllocator), mConcaveProxyShapes2(mPersistentAllocator), - mConvexLastFrameCollisionInfos(mPersistentAllocator), mConcaveLastFrameCollisionInfos(mPersistentAllocator), - mConvexNeedToTestOverlap(mPersistentAllocator), mConcaveNeedToTestOverlap(mPersistentAllocator), - mProxyShapeComponents(proxyShapeComponents) { + mProxyShapeComponents(proxyShapeComponents), mCollisionBodyComponents(collisionBodyComponents), + mRigidBodyComponents(rigidBodyComponents), mNoCollisionPairs(noCollisionPairs) { -} + // Allocate memory for the components data + allocate(INIT_NB_ALLOCATED_PAIRS); +} // Destructor OverlappingPairs::~OverlappingPairs() { + // If there are allocated pairs + if (mNbAllocatedPairs > 0) { + + // Destroy all the remaining pairs + for (uint32 i = 0; i < mNbPairs; i++) { + + // Remove all the remaining last frame collision info + for (auto it = mLastFrameCollisionInfos[i].begin(); it != mLastFrameCollisionInfos[i].end(); ++it) { + + // Call the constructor + it->second->~LastFrameCollisionInfo(); + + // Release memory + mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); + } + + // Remove the involved overlapping pair to the two proxy-shapes + assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[i]).find(mPairIds[i]) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[i]).end()); + assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[i]).find(mPairIds[i]) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[i]).end()); + mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[i]).remove(mPairIds[i]); + mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[i]).remove(mPairIds[i]); + + destroyPair(i); + } + + // Size for the data of a single pair (in bytes) + const size_t totalSizeBytes = mNbAllocatedPairs * mPairDataSize; + + // Release the allocated memory + mPersistentAllocator.release(mBuffer, totalSizeBytes); + } } -/// Add an overlapping pair -uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { +// Compute the index where we need to insert the new pair +uint64 OverlappingPairs::prepareAddPair(bool isConvexVsConvex) { - // TODO : Maybe use entities in parameters - - const CollisionShape* collisionShape1 = mProxyShapeComponents.getCollisionShape(shape1->getEntity()); - const CollisionShape* collisionShape2 = mProxyShapeComponents.getCollisionShape(shape2->getEntity()); - - const uint32 shape1Id = static_cast(shape1->getBroadPhaseId()); - const uint32 shape2Id = static_cast(shape2->getBroadPhaseId()); - - // Compute a unique id for the overlapping pair - const uint64 pairId = pairNumbers(std::max(shape1Id, shape2Id), std::min(shape1Id, shape2Id)); - - // If both shapes are convex - if (collisionShape1->isConvex() && collisionShape2->isConvex()) { - - const uint nbConvexPairs = static_cast(mConvexPairIds.size()); - - mConvexPairIds.add(pairId); - mConvexProxyShapes1.add(shape1->getEntity()); - mConvexProxyShapes2.add(shape2->getEntity()); - mConvexNeedToTestOverlap.add(false); - - // TODO: Make sure we use the correct allocator here - mConvexLastFrameCollisionInfos.add(Map(mPersistentAllocator)); - - // Add a mapping to the index in the internal arrays - mMapPairIdToPairIndex.add(Pair(pairId, PairLocation(true, nbConvexPairs))); + // If we need to allocate more components + if (mNbPairs == mNbAllocatedPairs) { + allocate(mNbAllocatedPairs * 2); } + + uint64 index; + + // If the pair to add is not convex vs convex or there are no concave pairs yet + if (!isConvexVsConvex) { + + // Add the component at the end of the array + index = mNbPairs; + } + // If the pair to add is convex vs convex else { - const uint nbConcavePairs = static_cast(mConcavePairIds.size()); + // If there already are convex vs concave pairs + if (mConcavePairsStartIndex != mNbPairs) { - mConcavePairIds.add(pairId); - mConcaveProxyShapes1.add(shape1->getEntity()); - mConcaveProxyShapes2.add(shape2->getEntity()); - mConcaveNeedToTestOverlap.add(true); + // Move the first convex vs concave pair to the end of the array + movePairToIndex(mConcavePairsStartIndex, mNbPairs); + } - // TODO: Make sure we use the correct allocator here - mConcaveLastFrameCollisionInfos.add(Map(mPersistentAllocator)); + index = mConcavePairsStartIndex; - // Add a mapping to the index in the internal arrays - mMapPairIdToPairIndex.add(Pair(pairId, PairLocation(false, nbConcavePairs))); + mConcavePairsStartIndex++; } - return pairId; + return index; } -// Remove an overlapping pair -uint64 OverlappingPairs::removePair(uint64 pairId) { +// Remove a component at a given index +void OverlappingPairs::removePair(uint64 pairId) { RP3D_PROFILE("OverlappingPairs::removePair()", mProfiler); assert(mMapPairIdToPairIndex.containsKey(pairId)); - const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; + uint64 index = mMapPairIdToPairIndex[pairId]; + assert(index < mNbPairs); - if (pairLocation.isConvexVsConvex) { - - assert(pairLocation.pairIndex < mConvexPairIds.size()); - - const uint64 lastPairId = mConvexPairIds[mConvexPairIds.size() - 1]; - const PairLocation lastPairLocation = mMapPairIdToPairIndex[lastPairId]; - - // Remap the last pair location - if (pairLocation.pairIndex < mConvexPairIds.size() - 1) { - mMapPairIdToPairIndex[lastPairId] = PairLocation(lastPairLocation.isConvexVsConvex, pairLocation.pairIndex); - } - - // Remove the pair (the pair is replaced by the last one of the lists) - mConvexPairIds.removeAtAndReplaceWithLast(pairLocation.pairIndex); - mConvexProxyShapes1.removeAtAndReplaceWithLast(pairLocation.pairIndex); - mConvexProxyShapes2.removeAtAndReplaceWithLast(pairLocation.pairIndex); - mConvexNeedToTestOverlap.removeAtAndReplaceWithLast(pairLocation.pairIndex); - } - else { - - assert(pairLocation.pairIndex < mConcavePairIds.size()); - - const uint64 lastPairId = mConcavePairIds[mConcavePairIds.size() - 1]; - const PairLocation lastPairLocation = mMapPairIdToPairIndex[lastPairId]; - - // Remap the last pair location - if (pairLocation.pairIndex < mConcavePairIds.size() - 1) { - mMapPairIdToPairIndex[lastPairId] = PairLocation(lastPairLocation.isConvexVsConvex, pairLocation.pairIndex); - } - - // Remove the pair (the pair is replaced by the last one of the lists) - mConcavePairIds.removeAtAndReplaceWithLast(pairLocation.pairIndex); - mConcaveProxyShapes1.removeAtAndReplaceWithLast(pairLocation.pairIndex); - mConcaveProxyShapes2.removeAtAndReplaceWithLast(pairLocation.pairIndex); - mConcaveNeedToTestOverlap.removeAtAndReplaceWithLast(pairLocation.pairIndex); - } - - mMapPairIdToPairIndex.remove(pairId); - - List>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ? - mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos; + // We want to keep the arrays tightly packed. Therefore, when a pair is removed, + // we replace it with the last element of the array. But we need to make sure that convex + // and concave pairs stay grouped together. // Remove all the remaining last frame collision info - for (auto it = lastFrameCollisionInfos[pairLocation.pairIndex].begin(); it != lastFrameCollisionInfos[pairLocation.pairIndex].end(); ++it) { + for (auto it = mLastFrameCollisionInfos[index].begin(); it != mLastFrameCollisionInfos[index].end(); ++it) { // Call the constructor it->second->~LastFrameCollisionInfo(); @@ -158,19 +141,223 @@ uint64 OverlappingPairs::removePair(uint64 pairId) { mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); } - lastFrameCollisionInfos.removeAtAndReplaceWithLast(pairLocation.pairIndex); -} + // Remove the involved overlapping pair to the two proxy-shapes + assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[index]).find(pairId) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[index]).end()); + assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[index]).find(pairId) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[index]).end()); + mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[index]).remove(pairId); + mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[index]).remove(pairId); -// Try to find a pair with a given id, return true if the pair is found and the corresponding PairLocation -bool OverlappingPairs::findPair(uint64 pairId, PairLocation& pairLocation) { + // Destroy the pair + destroyPair(index); - auto it = mMapPairIdToPairIndex.find(pairId); - if (it != mMapPairIdToPairIndex.end()) { - pairLocation = it->second; - return true; + // If the pair to remove is convex vs concave + if (index >= mConcavePairsStartIndex) { + + // If the pair is not the last one + if (index != mNbPairs - 1) { + + // We replace it by the last convex vs concave pair + movePairToIndex(mNbPairs - 1, index); + } + } + else { // If the pair to remove is convex vs convex + + // If it not the last convex vs convex pair + if (index != mConcavePairsStartIndex - 1) { + + // We replace it by the last convex vs convex pair + movePairToIndex(mConcavePairsStartIndex - 1, index); + } + + // If there are convex vs concave pairs at the end + if (mConcavePairsStartIndex != mNbPairs) { + + // We replace the last convex vs convex pair by the last convex vs concave pair + movePairToIndex(mNbPairs - 1, mConcavePairsStartIndex - 1); + } + + mConcavePairsStartIndex--; } - return false; + mNbPairs--; + + assert(mConcavePairsStartIndex <= mNbPairs); + assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); +} + +// Allocate memory for a given number of pairs +void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { + + assert(nbPairsToAllocate > mNbAllocatedPairs); + + // Size for the data of a single component (in bytes) + const size_t totalSizeBytes = nbPairsToAllocate * mPairDataSize; + + // Allocate memory + void* newBuffer = mPersistentAllocator.allocate(totalSizeBytes); + assert(newBuffer != nullptr); + + // New pointers to components data + uint64* newPairIds = static_cast(newBuffer); + int32* newPairBroadPhaseId1 = reinterpret_cast(newPairIds + nbPairsToAllocate); + int32* newPairBroadPhaseId2 = reinterpret_cast(newPairBroadPhaseId1 + nbPairsToAllocate); + Entity* newProxyShapes1 = reinterpret_cast(newPairBroadPhaseId2 + nbPairsToAllocate); + Entity* newProxyShapes2 = reinterpret_cast(newProxyShapes1 + nbPairsToAllocate); + Map* newLastFrameCollisionInfos = reinterpret_cast*>(newProxyShapes2 + nbPairsToAllocate); + bool* newNeedToTestOverlap = reinterpret_cast(newLastFrameCollisionInfos + nbPairsToAllocate); + bool* newIsActive = reinterpret_cast(newNeedToTestOverlap + nbPairsToAllocate); + + // If there was already pairs before + if (mNbPairs > 0) { + + // Copy component data from the previous buffer to the new one + memcpy(newPairIds, mPairIds, mNbPairs * sizeof(uint64)); + memcpy(newPairBroadPhaseId1, mPairBroadPhaseId1, mNbPairs * sizeof(int32)); + memcpy(newPairBroadPhaseId2, mPairBroadPhaseId2, mNbPairs * sizeof(int32)); + memcpy(newProxyShapes1, mProxyShapes1, mNbPairs * sizeof(Entity)); + memcpy(newProxyShapes2, mProxyShapes2, mNbPairs * sizeof(Entity)); + memcpy(newLastFrameCollisionInfos, mLastFrameCollisionInfos, mNbPairs * sizeof(Map)); + memcpy(newNeedToTestOverlap, mNeedToTestOverlap, mNbPairs * sizeof(bool)); + memcpy(newIsActive, mIsActive, mNbPairs * sizeof(bool)); + + // Deallocate previous memory + mPersistentAllocator.release(mBuffer, mNbAllocatedPairs * mPairDataSize); + } + + mBuffer = newBuffer; + mPairIds = newPairIds; + mPairBroadPhaseId1 = newPairBroadPhaseId1; + mPairBroadPhaseId2 = newPairBroadPhaseId2; + mProxyShapes1 = newProxyShapes1; + mProxyShapes2 = newProxyShapes2; + mLastFrameCollisionInfos = newLastFrameCollisionInfos; + mNeedToTestOverlap = newNeedToTestOverlap; + mIsActive = newIsActive; + + mNbAllocatedPairs = nbPairsToAllocate; +} + +// Add an overlapping pair +uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2, bool isActive) { + + RP3D_PROFILE("OverlappingPairs::addPair()", mProfiler); + + const CollisionShape* collisionShape1 = mProxyShapeComponents.getCollisionShape(shape1->getEntity()); + const CollisionShape* collisionShape2 = mProxyShapeComponents.getCollisionShape(shape2->getEntity()); + + // Prepare to add new pair (allocate memory if necessary and compute insertion index) + uint64 index = prepareAddPair(collisionShape1->isConvex() && collisionShape2->isConvex()); + + const uint32 shape1Id = static_cast(shape1->getBroadPhaseId()); + const uint32 shape2Id = static_cast(shape2->getBroadPhaseId()); + + // Compute a unique id for the overlapping pair + const uint64 pairId = pairNumbers(std::max(shape1Id, shape2Id), std::min(shape1Id, shape2Id)); + + assert(!mMapPairIdToPairIndex.containsKey(pairId)); + + // Insert the new component data + new (mPairIds + index) uint64(pairId); + new (mPairBroadPhaseId1 + index) int32(shape1->getBroadPhaseId()); + new (mPairBroadPhaseId2 + index) int32(shape2->getBroadPhaseId()); + new (mProxyShapes1 + index) Entity(shape1->getEntity()); + new (mProxyShapes2 + index) Entity(shape2->getEntity()); + new (mLastFrameCollisionInfos + index) Map(mPersistentAllocator); + new (mNeedToTestOverlap + index) bool(false); + new (mIsActive + index) bool(isActive); + + // Map the entity with the new component lookup index + mMapPairIdToPairIndex.add(Pair(pairId, index)); + + // Add the involved overlapping pair to the two proxy-shapes + assert(mProxyShapeComponents.getOverlappingPairs(shape1->getEntity()).find(pairId) == mProxyShapeComponents.getOverlappingPairs(shape1->getEntity()).end()); + assert(mProxyShapeComponents.getOverlappingPairs(shape2->getEntity()).find(pairId) == mProxyShapeComponents.getOverlappingPairs(shape2->getEntity()).end()); + mProxyShapeComponents.getOverlappingPairs(shape1->getEntity()).add(pairId); + mProxyShapeComponents.getOverlappingPairs(shape2->getEntity()).add(pairId); + + mNbPairs++; + + assert(mConcavePairsStartIndex <= mNbPairs); + assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); + + return pairId; +} + +// Move a pair from a source to a destination index in the pairs array +// The destination location must contain a constructed object +void OverlappingPairs::movePairToIndex(uint64 srcIndex, uint64 destIndex) { + + const uint64 pairId = mPairIds[srcIndex]; + + // Copy the data of the source pair to the destination location + mPairIds[destIndex] = mPairIds[srcIndex]; + mPairBroadPhaseId1[destIndex] = mPairBroadPhaseId1[srcIndex]; + mPairBroadPhaseId2[destIndex] = mPairBroadPhaseId2[srcIndex]; + new (mProxyShapes1 + destIndex) Entity(mProxyShapes1[srcIndex]); + new (mProxyShapes2 + destIndex) Entity(mProxyShapes2[srcIndex]); + new (mLastFrameCollisionInfos + destIndex) Map(mLastFrameCollisionInfos[srcIndex]); + mNeedToTestOverlap[destIndex] = mNeedToTestOverlap[srcIndex]; + mIsActive[destIndex] = mIsActive[srcIndex]; + + // Destroy the source pair + destroyPair(srcIndex); + + assert(!mMapPairIdToPairIndex.containsKey(pairId)); + + // Update the pairId to pair index mapping + mMapPairIdToPairIndex.add(Pair(pairId, destIndex)); + + assert(mMapPairIdToPairIndex[mPairIds[destIndex]] == destIndex); +} + +// Swap two pairs in the array +void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { + + // Copy pair 1 data + uint64 pairId = mPairIds[index1]; + int32 pairBroadPhaseId1 = mPairBroadPhaseId1[index1]; + int32 pairBroadPhaseId2 = mPairBroadPhaseId2[index1]; + Entity proxyShape1 = mProxyShapes1[index1]; + Entity proxyShape2 = mProxyShapes2[index1]; + Map lastFrameCollisionInfo(mLastFrameCollisionInfos[index1]); + bool needTestOverlap = mNeedToTestOverlap[index1]; + bool isActive = mIsActive[index1]; + + // Destroy pair 1 + destroyPair(index1); + + movePairToIndex(index2, index1); + + // Reconstruct pair 1 at pair 2 location + mPairIds[index2] = pairId; + mPairBroadPhaseId1[index2] = pairBroadPhaseId1; + mPairBroadPhaseId2[index2] = pairBroadPhaseId2; + new (mProxyShapes1 + index2) Entity(proxyShape1); + new (mProxyShapes2 + index2) Entity(proxyShape2); + new (mLastFrameCollisionInfos + index2) Map(lastFrameCollisionInfo); + mNeedToTestOverlap[index2] = needTestOverlap; + mIsActive[index2] = isActive; + + // Update the pairID to pair index mapping + mMapPairIdToPairIndex.add(Pair(pairId, index2)); + + assert(mMapPairIdToPairIndex[mPairIds[index1]] == index1); + assert(mMapPairIdToPairIndex[mPairIds[index2]] == index2); + assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); +} + +// Destroy a pair at a given index +void OverlappingPairs::destroyPair(uint64 index) { + + assert(index < mNbPairs); + + assert(mMapPairIdToPairIndex[mPairIds[index]] == index); + + mMapPairIdToPairIndex.remove(mPairIds[index]); + + mProxyShapes1[index].~Entity(); + mProxyShapes2[index].~Entity(); + mLastFrameCollisionInfos[index].~Map(); } // Add a new last frame collision info if it does not exist for the given shapes already @@ -180,24 +367,22 @@ LastFrameCollisionInfo* OverlappingPairs::addLastFrameInfoIfNecessary(uint64 pai assert(mMapPairIdToPairIndex.containsKey(pairId)); - PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; - List>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ? - mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos; + const uint64 index = mMapPairIdToPairIndex[pairId]; + assert(index < mNbPairs); // Try to get the corresponding last frame collision info const ShapeIdPair shapeIdPair(shapeId1, shapeId2); - // TODO : Remove test - auto it = lastFrameCollisionInfos[pairLocation.pairIndex].find(shapeIdPair); // If there is no collision info for those two shapes already - if (it == lastFrameCollisionInfos[pairLocation.pairIndex].end()) { + auto it = mLastFrameCollisionInfos[index].find(shapeIdPair); + if (it == mLastFrameCollisionInfos[index].end()) { // Create a new collision info LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo))) LastFrameCollisionInfo(); // Add it into the map of collision infos - lastFrameCollisionInfos[pairLocation.pairIndex].add(Pair(shapeIdPair, collisionInfo)); + mLastFrameCollisionInfos[index].add(Pair(shapeIdPair, collisionInfo)); return collisionInfo; } @@ -216,10 +401,10 @@ void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { RP3D_PROFILE("OverlappingPairs::clearObsoleteLastFrameCollisionInfos()", mProfiler); // For each convex vs convex overlapping pair - for (uint p=0; p < mConvexLastFrameCollisionInfos.size(); p++) { + for (uint64 i=0; i < mNbPairs; i++) { // For each collision info - for (auto it = mConvexLastFrameCollisionInfos[p].begin(); it != mConvexLastFrameCollisionInfos[p].end(); ) { + for (auto it = mLastFrameCollisionInfos[i].begin(); it != mLastFrameCollisionInfos[i].end(); ) { // If the collision info is obsolete if (it->second->isObsolete) { @@ -228,32 +413,7 @@ void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { it->second->~LastFrameCollisionInfo(); mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - it = mConvexLastFrameCollisionInfos[p].remove(it); - } - else { // If the collision info is not obsolete - - // Do not delete it but mark it as obsolete - it->second->isObsolete = true; - - ++it; - } - } - } - - // For each convex vs concave overlapping pair - for (uint p=0; p < mConcaveLastFrameCollisionInfos.size(); p++) { - - // For each collision info - for (auto it = mConcaveLastFrameCollisionInfos[p].begin(); it != mConcaveLastFrameCollisionInfos[p].end(); ) { - - // If the collision info is obsolete - if (it->second->isObsolete) { - - // Delete it - it->second->~LastFrameCollisionInfo(); - mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); - - it = mConcaveLastFrameCollisionInfos[p].remove(it); + it = mLastFrameCollisionInfos[i].remove(it); } else { // If the collision info is not obsolete @@ -265,3 +425,28 @@ void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { } } } + +// Return true if the overlapping pair between two shapes is active +bool OverlappingPairs::computeIsPairActive(ProxyShape* shape1, ProxyShape* shape2) { + + const Entity body1Entity = mProxyShapeComponents.getBody(shape1->getEntity()); + const Entity body2Entity = mProxyShapeComponents.getBody(shape2->getEntity()); + + const bool isStaticRigidBody1 = mRigidBodyComponents.hasComponent(body1Entity) && + mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; + const bool isStaticRigidBody2 = mRigidBodyComponents.hasComponent(body2Entity) && + mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + + // Check that at least one body is enabled (active and awake) and not static + // TODO : Do not test this every frame + bool isBody1Active = !mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; + bool isBody2Active = !mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; + if (!isBody1Active && !isBody2Active) return false; + + // Check if the bodies are in the set of bodies that cannot collide between each other + // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation + bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); + if (mNoCollisionPairs.contains(bodiesIndex) > 0) return false; + + return true; +} diff --git a/src/engine/OverlappingPairs.h b/src/engine/OverlappingPairs.h index 23800c63..6dec1fd6 100644 --- a/src/engine/OverlappingPairs.h +++ b/src/engine/OverlappingPairs.h @@ -30,9 +30,12 @@ #include "collision/ProxyShape.h" #include "containers/Map.h" #include "containers/Pair.h" +#include "containers/Set.h" #include "containers/containers_common.h" #include "utils/Profiler.h" #include "components/ProxyShapeComponents.h" +#include "components/CollisionBodyComponents.h" +#include "components/RigidBodyComponents.h" #include /// ReactPhysics3D namespace @@ -106,26 +109,11 @@ class OverlappingPairs { private: - /// Structure PairLocation - struct PairLocation { + // -------------------- Constants -------------------- // - /// True if the pair is a convex vs convex overlap - bool isConvexVsConvex; - /// Index of the overlapping pair in the internal arrays - uint32 pairIndex; - - /// Constructor - PairLocation() :isConvexVsConvex(true), pairIndex(0) { - - } - - /// Constructor - PairLocation(bool isConvexVsConvex, uint32 index) - :isConvexVsConvex(isConvexVsConvex), pairIndex(index) { - - } - }; + /// Number of pairs to allocated at the beginning + const uint32 INIT_NB_ALLOCATED_PAIRS = 10; // -------------------- Attributes -------------------- // @@ -133,54 +121,68 @@ class OverlappingPairs { MemoryAllocator& mPersistentAllocator; /// Memory allocator used to allocated memory for the ContactManifoldInfo and ContactPointInfo + // TODO : Do we need to keep this ? MemoryAllocator& mTempMemoryAllocator; - /// Map a pair id to its local location - Map mMapPairIdToPairIndex; + /// Current number of components + uint64 mNbPairs; + + /// Index in the array of the first convex vs concave pair + uint64 mConcavePairsStartIndex; + + /// Size (in bytes) of a single pair + size_t mPairDataSize; + + /// Number of allocated pairs + uint64 mNbAllocatedPairs; + + /// Allocated memory for all the data of the pairs + void* mBuffer; + + /// Map a pair id to the internal array index + Map mMapPairIdToPairIndex; /// Ids of the convex vs convex pairs // TODO : Check if we need this array - List mConvexPairIds; + uint64* mPairIds; - /// List of Entity of the first proxy-shape of the convex vs convex pairs - List mConvexProxyShapes1; + /// Array with the broad-phase Ids of the first shape + int32* mPairBroadPhaseId1; - /// List of Entity of the second proxy-shape of the convex vs convex pairs - List mConvexProxyShapes2; + /// Array with the broad-phase Ids of the second shape + int32* mPairBroadPhaseId2; - /// Ids of the convex vs concave pairs - // TODO : Check if we need this array - List mConcavePairIds; + /// Array of Entity of the first proxy-shape of the convex vs convex pairs + Entity* mProxyShapes1; - /// List of Entity of the first proxy-shape of the convex vs concave pairs - List mConcaveProxyShapes1; - - /// List of Entity of the second proxy-shape of the convex vs concave pairs - List mConcaveProxyShapes2; + /// Array of Entity of the second proxy-shape of the convex vs convex pairs + Entity* mProxyShapes2; /// Temporal coherence collision data for each overlapping collision shapes of this pair. /// Temporal coherence data store collision information about the last frame. /// If two convex shapes overlap, we have a single collision data but if one shape is concave, /// we might have collision data for several overlapping triangles. The key in the map is the /// shape Ids of the two collision shapes. - List> mConvexLastFrameCollisionInfos; - - /// Temporal coherence collision data for each overlapping collision shapes of this pair. - /// Temporal coherence data store collision information about the last frame. - /// If two convex shapes overlap, we have a single collision data but if one shape is concave, - /// we might have collision data for several overlapping triangles. The key in the map is the - /// shape Ids of the two collision shapes. - List> mConcaveLastFrameCollisionInfos; + Map* mLastFrameCollisionInfos; /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap - List mConvexNeedToTestOverlap; + bool* mNeedToTestOverlap; - /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap - List mConcaveNeedToTestOverlap; + /// True if the overlapping pair is active (at least one body of the pair is active and not static) + bool* mIsActive; /// Reference to the proxy-shapes components ProxyShapeComponents& mProxyShapeComponents; + /// Reference to the collision body components + CollisionBodyComponents& mCollisionBodyComponents; + + /// Reference to the rigid bodies components + RigidBodyComponents& mRigidBodyComponents; + + /// Reference to the set of bodies that cannot collide with each others + Set& mNoCollisionPairs; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -188,13 +190,31 @@ class OverlappingPairs { #endif + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of pairs + void allocate(uint64 nbPairsToAllocate); + + /// Compute the index where we need to insert the new pair + uint64 prepareAddPair(bool isConvexVsConvex); + + /// Destroy a pair at a given index + void destroyPair(uint64 index); + + // Move a pair from a source to a destination index in the pairs array + void movePairToIndex(uint64 srcIndex, uint64 destIndex); + + /// Swap two pairs in the array + void swapPairs(uint64 index1, uint64 index2); + public: // -------------------- Methods -------------------- // /// Constructor OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, - ProxyShapeComponents& proxyShapeComponents); + ProxyShapeComponents& proxyShapeComponents, CollisionBodyComponents& collisionBodyComponents, + RigidBodyComponents& rigidBodyComponents, Set& noCollisionPairs); /// Destructor ~OverlappingPairs(); @@ -206,13 +226,22 @@ class OverlappingPairs { OverlappingPairs& operator=(const OverlappingPairs& pair) = delete; /// Add an overlapping pair - uint64 addPair(ProxyShape* shape1, ProxyShape* shape2); + uint64 addPair(ProxyShape* shape1, ProxyShape* shape2, bool isActive); - /// Remove an overlapping pair - uint64 removePair(uint64 pairId); + /// Remove a component at a given index + void removePair(uint64 pairId); - /// Try to find a pair with a given id, return true if the pair is found and the corresponding PairLocation - bool findPair(uint64 pairId, PairLocation& pairLocation); + /// Return the number of pairs + uint64 getNbPairs() const; + + /// Return the number of convex vs convex pairs + uint64 getNbConvexVsConvexPairs() const; + + /// Return the number of convex vs concave pairs + uint64 getNbConvexVsConcavePairs() const; + + /// Return the starting index of the convex vs concave pairs + uint64 getConvexVsConcavePairsStartIndex() const; /// Return the entity of the first proxy-shape Entity getProxyShape1(uint64 pairId) const; @@ -220,6 +249,9 @@ class OverlappingPairs { /// Return the entity of the second proxy-shape Entity getProxyShape2(uint64 pairId) const; + /// Notify if a given pair is active or not + void setIsPairActive(uint64 pairId, bool isActive); + /// Return the last frame collision info LastFrameCollisionInfo* getLastFrameCollisionInfo(uint64, ShapeIdPair& shapeIds); @@ -235,6 +267,12 @@ class OverlappingPairs { /// Return the pair of bodies index of the pair static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity); + /// Return true if the overlapping pair between two shapes is active + bool computeIsPairActive(ProxyShape* shape1, ProxyShape* shape2); + + /// Set if we need to test a given pair for overlap + void setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap); + #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -251,29 +289,34 @@ class OverlappingPairs { // Return the entity of the first proxy-shape inline Entity OverlappingPairs::getProxyShape1(uint64 pairId) const { assert(mMapPairIdToPairIndex.containsKey(pairId)); - const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; - const List proxyShapes1 = pairLocation.isConvexVsConvex ? mConvexProxyShapes1 : mConcaveProxyShapes1; - return proxyShapes1[pairLocation.pairIndex]; + assert(mMapPairIdToPairIndex[pairId] < mNbPairs); + return mProxyShapes1[mMapPairIdToPairIndex[pairId]]; } // Return the entity of the second proxy-shape inline Entity OverlappingPairs::getProxyShape2(uint64 pairId) const { assert(mMapPairIdToPairIndex.containsKey(pairId)); - const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; - const List proxyShapes2 = pairLocation.isConvexVsConvex ? mConvexProxyShapes2 : mConcaveProxyShapes2; - return proxyShapes2[pairLocation.pairIndex]; + assert(mMapPairIdToPairIndex[pairId] < mNbPairs); + return mProxyShapes2[mMapPairIdToPairIndex[pairId]]; +} + +// Notify if a given pair is active or not +inline void OverlappingPairs::setIsPairActive(uint64 pairId, bool isActive) { + + assert(mMapPairIdToPairIndex.containsKey(pairId)); + assert(mMapPairIdToPairIndex[pairId] < mNbPairs); + mIsActive[mMapPairIdToPairIndex[pairId]] = isActive; } // Return the last frame collision info for a given shape id or nullptr if none is found inline LastFrameCollisionInfo* OverlappingPairs::getLastFrameCollisionInfo(uint64 pairId, ShapeIdPair& shapeIds) { assert(mMapPairIdToPairIndex.containsKey(pairId)); - const PairLocation& pairLocation = mMapPairIdToPairIndex[pairId]; - const List>& lastFrameCollisionInfos = pairLocation.isConvexVsConvex ? - mConvexLastFrameCollisionInfos : mConcaveLastFrameCollisionInfos; + const uint64 index = mMapPairIdToPairIndex[pairId]; + assert(index < mNbPairs); - Map::Iterator it = lastFrameCollisionInfos[pairLocation.pairIndex].find(shapeIds); - if (it != lastFrameCollisionInfos[pairLocation.pairIndex].end()) { + Map::Iterator it = mLastFrameCollisionInfos[index].find(shapeIds); + if (it != mLastFrameCollisionInfos[index].end()) { return it->second; } @@ -291,11 +334,37 @@ inline bodypair OverlappingPairs::computeBodiesIndexPair(Entity body1Entity, Ent return indexPair; } +// Return the number of pairs +inline uint64 OverlappingPairs::getNbPairs() const { + return mNbPairs; +} + +// Return the number of convex vs convex pairs +inline uint64 OverlappingPairs::getNbConvexVsConvexPairs() const { + return mConcavePairsStartIndex; +} + +// Return the number of convex vs concave pairs +inline uint64 OverlappingPairs::getNbConvexVsConcavePairs() const { + return mNbPairs - mConcavePairsStartIndex; +} + +// Return the starting index of the convex vs concave pairs +inline uint64 OverlappingPairs::getConvexVsConcavePairsStartIndex() const { + return mConcavePairsStartIndex; +} + // Return a reference to the temporary memory allocator inline MemoryAllocator& OverlappingPairs::getTemporaryAllocator() { return mTempMemoryAllocator; } +// Set if we need to test a given pair for overlap +inline void OverlappingPairs::setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap) { + assert(mMapPairIdToPairIndex.containsKey(pairId)); + mNeedToTestOverlap[mMapPairIdToPairIndex[pairId]] = needToTestOverlap; +} + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/memory/PoolAllocator.cpp b/src/memory/PoolAllocator.cpp index 7e9c0a93..3126ff9e 100644 --- a/src/memory/PoolAllocator.cpp +++ b/src/memory/PoolAllocator.cpp @@ -54,7 +54,7 @@ PoolAllocator::PoolAllocator() { // If the mMapSizeToHeapIndex has not been initialized yet if (!isMapSizeToHeadIndexInitialized) { - // Initialize the array that contains the sizes the memory units that will + // Initialize the array that contains the sizes of the memory units that will // be allocated in each different heap for (uint i=0; i < NB_HEAPS; i++) { mUnitSizes[i] = (i+1) * 8; @@ -100,6 +100,8 @@ PoolAllocator::~PoolAllocator() { // allocated memory. void* PoolAllocator::allocate(size_t size) { + assert(size > 0); + // We cannot allocate zero bytes if (size == 0) return nullptr; @@ -173,6 +175,8 @@ void* PoolAllocator::allocate(size_t size) { // Release previously allocated memory. void PoolAllocator::release(void* pointer, size_t size) { + assert(size > 0); + // Cannot release a 0-byte allocated memory if (size == 0) return; diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 1d3b9968..dbcdaf16 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -51,13 +51,10 @@ BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, } // Return true if the two broad-phase collision shapes are overlapping -bool BroadPhaseSystem::testOverlappingShapes(Entity proxyShape1Entity, Entity proxyShape2Entity) const { +bool BroadPhaseSystem::testOverlappingShapes(int32 shape1BroadPhaseId, int32 shape2BroadPhaseId) const { RP3D_PROFILE("CollisionDetectionSystem::testOverlappingShapes()", mProfiler); - const int32 shape1BroadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity); - const int32 shape2BroadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity); - assert(shape1BroadPhaseId != -1 && shape2BroadPhaseId != -1); // Get the two AABBs of the collision shapes @@ -92,7 +89,7 @@ void BroadPhaseSystem::addProxyCollisionShape(ProxyShape* proxyShape, const AABB // Add the collision shape into the array of bodies that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(proxyShape->getBroadPhaseId()); + addMovedCollisionShape(proxyShape->getBroadPhaseId(), proxyShape); } // Remove a proxy collision shape from the broad-phase collision detection @@ -130,11 +127,13 @@ void BroadPhaseSystem::updateProxyShapes(decimal timeStep) { RP3D_PROFILE("BroadPhaseSystem::updateProxyShapes()", mProfiler); // Update all the enabled proxy-shape components - updateProxyShapesComponents(0, mProxyShapesComponents.getNbEnabledComponents(), timeStep); + if (mProxyShapesComponents.getNbEnabledComponents() > 0) { + updateProxyShapesComponents(0, mProxyShapesComponents.getNbEnabledComponents(), timeStep); + } } // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, const AABB& aabb, const Vector3& displacement) { +void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, ProxyShape* proxyShape, const AABB& aabb, const Vector3& displacement) { assert(broadPhaseId >= 0); @@ -147,7 +146,7 @@ void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, const AABB& // Add the collision shape into the array of shapes that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(broadPhaseId); + addMovedCollisionShape(broadPhaseId, proxyShape); } } @@ -167,6 +166,7 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI // For each proxy-shape component to update for (uint32 i = startIndex; i < startIndex + nbItems; i++) { + // TODO : Can we remove this test const int32 broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i]; if (broadPhaseId != -1) { @@ -188,13 +188,27 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI mProxyShapesComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mProxyShapesComponents.mLocalToBodyTransforms[i]); // Update the broad-phase state for the proxy collision shape - updateProxyShapeInternal(broadPhaseId, aabb, displacement); + updateProxyShapeInternal(broadPhaseId, mProxyShapesComponents.mProxyShapes[i], aabb, displacement); } } } + +// Add a collision shape in the array of shapes that have moved in the last simulation step +// and that need to be tested again for broad-phase overlapping. +void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID, ProxyShape* proxyShape) { + + assert(broadPhaseID != -1); + + // Store the broad-phase ID into the array of shapes that have moved + mMovedShapes.add(broadPhaseID); + + // Notify that the overlapping pairs where this shape is involved need to be tested for overlap + mCollisionDetection.notifyOverlappingPairsToTestOverlap(proxyShape); +} + // Compute all the overlapping pairs of collision shapes -void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes) { +void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes) { RP3D_PROFILE("CollisionDetectionSystem::computeOverlappingPairs()", mProfiler); diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 8e44f19e..c3d8b060 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -140,7 +140,7 @@ class BroadPhaseSystem { // -------------------- Methods -------------------- // /// Notify the Dynamic AABB tree that a proxy-shape needs to be updated - void updateProxyShapeInternal(int32 broadPhaseId, const AABB& aabb, const Vector3& displacement); + void updateProxyShapeInternal(int32 broadPhaseId, ProxyShape* proxyShape, const AABB& aabb, const Vector3& displacement); /// Update the broad-phase state of some proxy-shapes components void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); @@ -176,20 +176,20 @@ class BroadPhaseSystem { /// Add a collision shape in the array of shapes that have moved in the last simulation step /// and that need to be tested again for broad-phase overlapping. - void addMovedCollisionShape(int broadPhaseID); + void addMovedCollisionShape(int broadPhaseID, ProxyShape* proxyShape); /// Remove a collision shape from the array of shapes that have moved in the last simulation /// step and that need to be tested again for broad-phase overlapping. void removeMovedCollisionShape(int broadPhaseID); /// Compute all the overlapping pairs of collision shapes - void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); + void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); /// Return the proxy shape corresponding to the broad-phase node id in parameter ProxyShape* getProxyShapeForBroadPhaseId(int broadPhaseId) const; /// Return true if the two broad-phase collision shapes are overlapping - bool testOverlappingShapes(Entity proxyShape1Entity, Entity proxyShape2Entity) const; + bool testOverlappingShapes(int32 shape1BroadPhaseId, int32 shape2BroadPhaseId) const; /// Return the fat AABB of a given broad-phase shape const AABB& getFatAABB(int broadPhaseId) const; @@ -211,16 +211,6 @@ inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { return mDynamicAABBTree.getFatAABB(broadPhaseId); } -// Add a collision shape in the array of shapes that have moved in the last simulation step -// and that need to be tested again for broad-phase overlapping. -inline void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID) { - - assert(broadPhaseID != -1); - - // Store the broad-phase ID into the array of shapes that have moved - mMovedShapes.add(broadPhaseID); -} - // Remove a collision shape from the array of shapes that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. inline void BroadPhaseSystem::removeMovedCollisionShape(int broadPhaseID) { diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index e98f7978..7d5ee9a3 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -52,12 +52,14 @@ using namespace std; // Constructor CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, - RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) + CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), - mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mProxyShapesComponents), + mNoCollisionPairs(mMemoryManager.getPoolAllocator()), + mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mProxyShapesComponents, + collisionBodyComponents, rigidBodyComponents, mNoCollisionPairs), mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents), - mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), + mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), // TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), @@ -100,12 +102,10 @@ void CollisionDetectionSystem::computeBroadPhase() { RP3D_PROFILE("CollisionDetectionSystem::computeBroadPhase()", mProfiler); - resetNeedToTestOverlap(); - // Ask the broad-phase to compute all the shapes overlapping the shapes that // have moved or have been added in the last frame. This call can only add new // overlapping pairs in the collision detection. - List> overlappingNodes(mMemoryManager.getPoolAllocator(), 32); + List> overlappingNodes(mMemoryManager.getPoolAllocator(), 32); mBroadPhaseSystem.computeOverlappingPairs(mMemoryManager, overlappingNodes); // Create new overlapping pairs if necessary @@ -115,63 +115,38 @@ void CollisionDetectionSystem::computeBroadPhase() { removeNonOverlappingPairs(); } -// Set the needToTestOverlap value of each overlapping pair to true -void CollisionDetectionSystem::resetNeedToTestOverlap() { - - RP3D_PROFILE("CollisionDetectionSystem::resetNeedToTestOverlap()", mProfiler); - - // For each possible convex vs convex collision pair of bodies - for (uint i=0; i < mOverlappingPairs.mConvexNeedToTestOverlap.size(); i++) { - mOverlappingPairs.mConvexNeedToTestOverlap[i] = true; - } - - // For each possible convex vs concave collision pair of bodies - for (uint i=0; i < mOverlappingPairs.mConcaveNeedToTestOverlap.size(); i++) { - mOverlappingPairs.mConcaveNeedToTestOverlap[i] = true; - } -} - // Remove pairs that are not overlapping anymore void CollisionDetectionSystem::removeNonOverlappingPairs() { RP3D_PROFILE("CollisionDetectionSystem::removeNonOverlappingPairs()", mProfiler); // For each possible convex vs convex pair of bodies - for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { + for (uint64 i=0; i < mOverlappingPairs.getNbPairs(); i++) { // Check if we need to test overlap. If so, test if the two shapes are still overlapping. // Otherwise, we destroy the overlapping pair - if (mOverlappingPairs.mConvexNeedToTestOverlap[i] && - !mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mConvexProxyShapes1[i], mOverlappingPairs.mConvexProxyShapes2[i])) { + if (mOverlappingPairs.mNeedToTestOverlap[i]) { - mOverlappingPairs.removePair(mOverlappingPairs.mConvexPairIds[i]); - i--; - } - } - - // For each possible convex vs concave pair of bodies - for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { - - // Check if we need to test overlap. If so, test if the two shapes are still overlapping. - // Otherwise, we destroy the overlapping pair - if (mOverlappingPairs.mConcaveNeedToTestOverlap[i] && - !mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mConcaveProxyShapes1[i], mOverlappingPairs.mConcaveProxyShapes2[i])) { - - mOverlappingPairs.removePair(mOverlappingPairs.mConcavePairIds[i]); - i--; + if(mBroadPhaseSystem.testOverlappingShapes(mOverlappingPairs.mPairBroadPhaseId1[i], mOverlappingPairs.mPairBroadPhaseId2[i])) { + mOverlappingPairs.mNeedToTestOverlap[i] = false; + } + else { + mOverlappingPairs.removePair(mOverlappingPairs.mPairIds[i]); + i--; + } } } } // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary -void CollisionDetectionSystem::updateOverlappingPairs(const List>& overlappingNodes) { +void CollisionDetectionSystem::updateOverlappingPairs(const List>& overlappingNodes) { RP3D_PROFILE("CollisionDetectionSystem::updateOverlappingPairs()", mProfiler); // For each overlapping pair of nodes for (uint i=0; i < overlappingNodes.size(); i++) { - Pair nodePair = overlappingNodes[i]; + Pair nodePair = overlappingNodes[i]; assert(nodePair.first != -1); assert(nodePair.second != -1); @@ -194,8 +169,8 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> const uint64 pairId = pairNumbers(std::max(nodePair.first, nodePair.second), std::min(nodePair.first, nodePair.second)); // Check if the overlapping pair already exists - OverlappingPairs::PairLocation pairLocation; - if (!mOverlappingPairs.findPair(pairId, pairLocation)) { + auto it = mOverlappingPairs.mMapPairIdToPairIndex.find(pairId); + if (it == mOverlappingPairs.mMapPairIdToPairIndex.end()) { unsigned short shape1CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape1Entity); unsigned short shape2CollideWithMaskBits = mProxyShapesComponents.getCollideWithMaskBits(proxyShape2Entity); @@ -214,17 +189,14 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List> if (shape1->getCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) { // Add the new overlapping pair - mOverlappingPairs.addPair(shape1, shape2); + mOverlappingPairs.addPair(shape1, shape2, mOverlappingPairs.computeIsPairActive(shape1, shape2)); } } } else { // We do not need to test the pair for overlap because it has just been reported that they still overlap - List& pairsNeedToTestOverlap = pairLocation.isConvexVsConvex ? mOverlappingPairs.mConvexNeedToTestOverlap : - mOverlappingPairs.mConcaveNeedToTestOverlap; - - pairsNeedToTestOverlap[pairLocation.pairIndex] = false; + mOverlappingPairs.mNeedToTestOverlap[it->second] = false; } } } @@ -243,10 +215,10 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP overlappingPairs.clearObsoleteLastFrameCollisionInfos(); // For each possible convex vs convex pair of bodies - for (uint i=0; i < overlappingPairs.mConvexPairIds.size(); i++) { + for (uint64 i=0; i < overlappingPairs.getNbConvexVsConvexPairs(); i++) { - const Entity proxyShape1Entity = overlappingPairs.mConvexProxyShapes1[i]; - const Entity proxyShape2Entity = overlappingPairs.mConvexProxyShapes2[i]; + const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; + const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); @@ -280,7 +252,7 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mConvexPairIds[i], proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, + narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mPairIds[i], proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), algorithmType, mMemoryManager.getSingleFrameAllocator()); @@ -288,10 +260,11 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP } // For each possible convex vs concave pair of bodies - for (uint i=0; i < overlappingPairs.mConcavePairIds.size(); i++) { + uint64 convexVsConcaveStartIndex = overlappingPairs.getConvexVsConcavePairsStartIndex(); + for (uint64 i=convexVsConcaveStartIndex; i < convexVsConcaveStartIndex + overlappingPairs.getNbConvexVsConcavePairs(); i++) { - const Entity proxyShape1Entity = overlappingPairs.mConcaveProxyShapes1[i]; - const Entity proxyShape2Entity = overlappingPairs.mConcaveProxyShapes2[i]; + const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; + const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); @@ -316,7 +289,7 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - computeConvexVsConcaveMiddlePhase(overlappingPairs.mConcavePairIds[i], proxyShape1Entity, proxyShape2Entity, + computeConvexVsConcaveMiddlePhase(overlappingPairs.mPairIds[i], proxyShape1Entity, proxyShape2Entity, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); } } @@ -333,16 +306,15 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& mOverlappingPairs.clearObsoleteLastFrameCollisionInfos(); // For each possible convex vs convex pair of bodies - for (uint p=0; p < convexPairs.size(); p++) { + for (uint64 p=0; p < convexPairs.size(); p++) { const uint64 pairId = convexPairs[p]; - OverlappingPairs::PairLocation& pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - assert(pairLoc.isConvexVsConvex); - const uint pairIndex = pairLoc.pairIndex; + const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; + assert(pairIndex < mOverlappingPairs.getNbPairs()); - const Entity proxyShape1Entity = mOverlappingPairs.mConvexProxyShapes1[pairIndex]; - const Entity proxyShape2Entity = mOverlappingPairs.mConvexProxyShapes2[pairIndex]; + const Entity proxyShape1Entity = mOverlappingPairs.mProxyShapes1[pairIndex]; + const Entity proxyShape2Entity = mOverlappingPairs.mProxyShapes2[pairIndex]; assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); @@ -388,12 +360,10 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& const uint64 pairId = concavePairs[p]; - OverlappingPairs::PairLocation& pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - assert(!pairLoc.isConvexVsConvex); - const uint pairIndex = pairLoc.pairIndex; + const uint pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - const Entity proxyShape1Entity = mOverlappingPairs.mConcaveProxyShapes1[pairIndex]; - const Entity proxyShape2Entity = mOverlappingPairs.mConcaveProxyShapes2[pairIndex]; + const Entity proxyShape1Entity = mOverlappingPairs.mProxyShapes1[pairIndex]; + const Entity proxyShape2Entity = mOverlappingPairs.mProxyShapes2[pairIndex]; assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); @@ -651,6 +621,19 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInput& nar computeSnapshotContactPairs(convexPolyhedronVsConvexPolyhedronBatch, overlapPairs); } +// Notify that the overlapping pairs where a given proxy-shape is involved need to be tested for overlap +void CollisionDetectionSystem::notifyOverlappingPairsToTestOverlap(ProxyShape* proxyShape) { + + // Get the overlapping pairs involved with this proxy-shape + List& overlappingPairs = mProxyShapesComponents.getOverlappingPairs(proxyShape->getEntity()); + + for (uint i=0; i < overlappingPairs.size(); i++) { + + // Notify that the overlapping pair needs to be testbed for overlap + mOverlappingPairs.setNeedToTestOverlap(overlappingPairs[i], true); + } +} + // Convert the potential overlapping bodies for the testOverlap() methods void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const { @@ -963,32 +946,14 @@ void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) assert(proxyShapeBroadPhaseId != -1); assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShapeBroadPhaseId)); - // Remove all the convex vs convex overlapping pairs involving this proxy shape - for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { + // Remove all the overlapping pairs involving this proxy shape + List& overlappingPairs = mProxyShapesComponents.getOverlappingPairs(proxyShape->getEntity()); + while(overlappingPairs.size() > 0) { - if (mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConvexProxyShapes1[i]) == proxyShapeBroadPhaseId || - mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConvexProxyShapes2[i]) == proxyShapeBroadPhaseId) { + // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved - // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved - - // Remove the overlapping pair - mOverlappingPairs.removePair(mOverlappingPairs.mConvexPairIds[i]); - i--; - } - } - - // Remove all the convex vs concave overlapping pairs involving this proxy shape - for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { - - if (mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConcaveProxyShapes1[i]) == proxyShapeBroadPhaseId || - mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mConcaveProxyShapes2[i]) == proxyShapeBroadPhaseId) { - - // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved - - // Remove the overlapping pair - mOverlappingPairs.removePair(mOverlappingPairs.mConcavePairIds[i]); - i--; - } + // Remove the overlapping pair + mOverlappingPairs.removePair(overlappingPairs[0]); } mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShapeBroadPhaseId); @@ -1205,9 +1170,7 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List // If there are two many contact points in the manifold if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { - OverlappingPairs::PairLocation pairLoc = mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId]; - Entity proxyShape1 = pairLoc.isConvexVsConvex ? mOverlappingPairs.mConvexProxyShapes1[pairLoc.pairIndex] : - mOverlappingPairs.mConcaveProxyShapes1[pairLoc.pairIndex]; + Entity proxyShape1 = mOverlappingPairs.mProxyShapes1[mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId]]; Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(proxyShape1); @@ -1572,22 +1535,12 @@ void CollisionDetectionSystem::testCollision(CollisionCallback& callback) { void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List& convexPairs, List& concavePairs) const { // For each possible collision pair of bodies - for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { + for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) { - if (mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == bodyEntity || - mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == bodyEntity) { + if (mProxyShapesComponents.getBody(mOverlappingPairs.mProxyShapes1[i]) == bodyEntity || + mProxyShapesComponents.getBody(mOverlappingPairs.mProxyShapes2[i]) == bodyEntity) { - convexPairs.add(mOverlappingPairs.mConvexPairIds[i]); - } - } - - // For each possible collision pair of bodies - for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { - - if (mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == bodyEntity || - mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == bodyEntity) { - - concavePairs.add(mOverlappingPairs.mConcavePairIds[i]); + convexPairs.add(mOverlappingPairs.mPairIds[i]); } } } @@ -1598,22 +1551,12 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity body1Entity, Entity // TODO : Do not go through all the overlapping pairs here but get all the involded overlapping pairs directly from the bodies // For each possible collision pair of bodies - for (uint i=0; i < mOverlappingPairs.mConvexPairIds.size(); i++) { + for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) { - if ((mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == body2Entity) || - (mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes1[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConvexProxyShapes2[i]) == body1Entity)) { + if ((mProxyShapesComponents.getBody(mOverlappingPairs.mProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mProxyShapes1[i]) == body2Entity) || + (mProxyShapesComponents.getBody(mOverlappingPairs.mProxyShapes2[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mProxyShapes2[i]) == body1Entity)) { - convexPairs.add(mOverlappingPairs.mConvexPairIds[i]); - } - } - - // For each possible collision pair of bodies - for (uint i=0; i < mOverlappingPairs.mConcavePairIds.size(); i++) { - - if ((mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == body1Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == body2Entity) || - (mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes1[i]) == body2Entity && mProxyShapesComponents.getBody(mOverlappingPairs.mConcaveProxyShapes2[i]) == body1Entity)) { - - concavePairs.add(mOverlappingPairs.mConcavePairIds[i]); + convexPairs.add(mOverlappingPairs.mPairIds[i]); } } } diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 5ac964d9..a15a6fde 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -89,15 +89,15 @@ class CollisionDetectionSystem { /// Pointer to the physics world CollisionWorld* mWorld; + /// Set of pair of bodies that cannot collide between each other + Set mNoCollisionPairs; + /// Broad-phase overlapping pairs OverlappingPairs mOverlappingPairs; /// Broad-phase system BroadPhaseSystem mBroadPhaseSystem; - /// Set of pair of bodies that cannot collide between each other - Set mNoCollisionPairs; - /// Map a broad-phase id with the corresponding entity of the proxy-shape Map mMapBroadPhaseIdToProxyShapeEntity; @@ -197,10 +197,7 @@ class CollisionDetectionSystem { void computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const; /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary - void updateOverlappingPairs(const List>& overlappingNodes); - - /// Set the needToTestOverlap value of each overlapping pair to true - void resetNeedToTestOverlap(); + void updateOverlappingPairs(const List >& overlappingNodes); /// Remove pairs that are not overlapping anymore void removeNonOverlappingPairs(); @@ -271,7 +268,7 @@ class CollisionDetectionSystem { /// Constructor CollisionDetectionSystem(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, - TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents, + TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager); /// Destructor @@ -290,7 +287,7 @@ class CollisionDetectionSystem { void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb); /// Remove a proxy collision shape from the collision detection - void removeProxyCollisionShape(ProxyShape* proxyShape); + void removeProxyCollisionShape(ProxyShape *proxyShape); /// Update a proxy collision shape (that has moved for instance) void updateProxyShape(Entity proxyShapeEntity, decimal timeStep); @@ -307,6 +304,9 @@ class CollisionDetectionSystem { /// Ask for a collision shape to be tested again during broad-phase. void askForBroadPhaseCollisionCheck(ProxyShape* shape); + /// Notify that the overlapping pairs where a given proxy-shape is involved need to be tested for overlap + void notifyOverlappingPairsToTestOverlap(ProxyShape* proxyShape); + /// Report contacts void reportContacts(); @@ -395,7 +395,7 @@ inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(ProxyShape* shape) { if (shape->getBroadPhaseId() != -1) { - mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId()); + mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId(), shape); } } From 7dcc86d746270d0cc7f432ec73726301eabc1165 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 18 Nov 2019 07:29:04 +0100 Subject: [PATCH 106/197] Working on middle-phase collision detection --- src/components/ProxyShapeComponents.h | 1 + src/engine/OverlappingPairs.cpp | 20 +++++++++-- src/engine/OverlappingPairs.h | 11 +++++- src/systems/CollisionDetectionSystem.cpp | 44 +++++++++++++----------- 4 files changed, 51 insertions(+), 25 deletions(-) diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index 1dc72a5a..18ab9053 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -194,6 +194,7 @@ class ProxyShapeComponents : public Components { // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; + friend class CollisionDetectionSystem; }; // Return the body entity of a given proxy-shape diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index 7e311df1..a1912e28 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -28,20 +28,22 @@ #include "OverlappingPairs.h" #include "containers/containers_common.h" #include "collision/ContactPointInfo.h" +#include "collision/narrowphase/NarrowPhaseAlgorithm.h" +#include "collision/narrowphase/CollisionDispatch.h" using namespace reactphysics3d; // Constructor OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents, - CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set &noCollisionPairs) + CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set &noCollisionPairs, CollisionDispatch &collisionDispatch) : mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mNbPairs(0), mConcavePairsStartIndex(0), mPairDataSize(sizeof(uint64) + sizeof(int32) + sizeof(int32) + sizeof(Entity) + sizeof(Entity) + sizeof(Map) + - sizeof(bool) + sizeof(bool)), + sizeof(bool) + sizeof(bool) + sizeof(NarrowPhaseAlgorithmType)), mNbAllocatedPairs(0), mBuffer(nullptr), mMapPairIdToPairIndex(persistentMemoryAllocator), mProxyShapeComponents(proxyShapeComponents), mCollisionBodyComponents(collisionBodyComponents), - mRigidBodyComponents(rigidBodyComponents), mNoCollisionPairs(noCollisionPairs) { + mRigidBodyComponents(rigidBodyComponents), mNoCollisionPairs(noCollisionPairs), mCollisionDispatch(collisionDispatch) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_PAIRS); @@ -206,6 +208,7 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { Map* newLastFrameCollisionInfos = reinterpret_cast*>(newProxyShapes2 + nbPairsToAllocate); bool* newNeedToTestOverlap = reinterpret_cast(newLastFrameCollisionInfos + nbPairsToAllocate); bool* newIsActive = reinterpret_cast(newNeedToTestOverlap + nbPairsToAllocate); + NarrowPhaseAlgorithmType* newNarrowPhaseAlgorithmType = reinterpret_cast(newIsActive + nbPairsToAllocate); // If there was already pairs before if (mNbPairs > 0) { @@ -219,6 +222,7 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { memcpy(newLastFrameCollisionInfos, mLastFrameCollisionInfos, mNbPairs * sizeof(Map)); memcpy(newNeedToTestOverlap, mNeedToTestOverlap, mNbPairs * sizeof(bool)); memcpy(newIsActive, mIsActive, mNbPairs * sizeof(bool)); + memcpy(newNarrowPhaseAlgorithmType, mNarrowPhaseAlgorithmType, mNbPairs * sizeof(NarrowPhaseAlgorithmType)); // Deallocate previous memory mPersistentAllocator.release(mBuffer, mNbAllocatedPairs * mPairDataSize); @@ -233,6 +237,7 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { mLastFrameCollisionInfos = newLastFrameCollisionInfos; mNeedToTestOverlap = newNeedToTestOverlap; mIsActive = newIsActive; + mNarrowPhaseAlgorithmType = newNarrowPhaseAlgorithmType; mNbAllocatedPairs = nbPairsToAllocate; } @@ -256,6 +261,9 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2, bool is assert(!mMapPairIdToPairIndex.containsKey(pairId)); + // Select the narrow phase algorithm to use according to the two collision shapes + NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), + collisionShape2->getType()); // Insert the new component data new (mPairIds + index) uint64(pairId); new (mPairBroadPhaseId1 + index) int32(shape1->getBroadPhaseId()); @@ -265,6 +273,8 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2, bool is new (mLastFrameCollisionInfos + index) Map(mPersistentAllocator); new (mNeedToTestOverlap + index) bool(false); new (mIsActive + index) bool(isActive); + new (mNarrowPhaseAlgorithmType + index) NarrowPhaseAlgorithmType(algorithmType); + // Map the entity with the new component lookup index mMapPairIdToPairIndex.add(Pair(pairId, index)); @@ -298,6 +308,7 @@ void OverlappingPairs::movePairToIndex(uint64 srcIndex, uint64 destIndex) { new (mLastFrameCollisionInfos + destIndex) Map(mLastFrameCollisionInfos[srcIndex]); mNeedToTestOverlap[destIndex] = mNeedToTestOverlap[srcIndex]; mIsActive[destIndex] = mIsActive[srcIndex]; + new (mNarrowPhaseAlgorithmType + destIndex) NarrowPhaseAlgorithmType(mNarrowPhaseAlgorithmType[srcIndex]); // Destroy the source pair destroyPair(srcIndex); @@ -322,6 +333,7 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { Map lastFrameCollisionInfo(mLastFrameCollisionInfos[index1]); bool needTestOverlap = mNeedToTestOverlap[index1]; bool isActive = mIsActive[index1]; + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType = mNarrowPhaseAlgorithmType[index1]; // Destroy pair 1 destroyPair(index1); @@ -337,6 +349,7 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { new (mLastFrameCollisionInfos + index2) Map(lastFrameCollisionInfo); mNeedToTestOverlap[index2] = needTestOverlap; mIsActive[index2] = isActive; + new (mNarrowPhaseAlgorithmType + index2) NarrowPhaseAlgorithmType(narrowPhaseAlgorithmType); // Update the pairID to pair index mapping mMapPairIdToPairIndex.add(Pair(pairId, index2)); @@ -358,6 +371,7 @@ void OverlappingPairs::destroyPair(uint64 index) { mProxyShapes1[index].~Entity(); mProxyShapes2[index].~Entity(); mLastFrameCollisionInfos[index].~Map(); + mNarrowPhaseAlgorithmType[index].~NarrowPhaseAlgorithmType(); } // Add a new last frame collision info if it does not exist for the given shapes already diff --git a/src/engine/OverlappingPairs.h b/src/engine/OverlappingPairs.h index 6dec1fd6..34fe478f 100644 --- a/src/engine/OverlappingPairs.h +++ b/src/engine/OverlappingPairs.h @@ -43,7 +43,9 @@ namespace reactphysics3d { // Declarations struct NarrowPhaseInfoBatch; +enum class NarrowPhaseAlgorithmType; class CollisionShape; +class CollisionDispatch; // Structure LastFrameCollisionInfo /** @@ -171,6 +173,9 @@ class OverlappingPairs { /// True if the overlapping pair is active (at least one body of the pair is active and not static) bool* mIsActive; + /// Array with the pointer to the narrow-phase algorithm for each overlapping pair + NarrowPhaseAlgorithmType* mNarrowPhaseAlgorithmType; + /// Reference to the proxy-shapes components ProxyShapeComponents& mProxyShapeComponents; @@ -183,6 +188,9 @@ class OverlappingPairs { /// Reference to the set of bodies that cannot collide with each others Set& mNoCollisionPairs; + /// Reference to the collision dispatch + CollisionDispatch& mCollisionDispatch; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -214,7 +222,8 @@ class OverlappingPairs { /// Constructor OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents, CollisionBodyComponents& collisionBodyComponents, - RigidBodyComponents& rigidBodyComponents, Set& noCollisionPairs); + RigidBodyComponents& rigidBodyComponents, Set& noCollisionPairs, + CollisionDispatch& collisionDispatch); /// Destructor ~OverlappingPairs(); diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 7d5ee9a3..2894dceb 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -57,7 +57,7 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mProxyShapesComponents, - collisionBodyComponents, rigidBodyComponents, mNoCollisionPairs), + collisionBodyComponents, rigidBodyComponents, mNoCollisionPairs, mCollisionDispatch), mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), @@ -220,12 +220,15 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); + const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); + const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); - const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != -1); + assert(mProxyShapesComponents.mBroadPhaseId[proxyShape2Index] != -1); + assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != mProxyShapesComponents.mBroadPhaseId[proxyShape2Index]); + + const Entity body1Entity = mProxyShapesComponents.mBodiesEntities[proxyShape1Index]; + const Entity body2Entity = mProxyShapesComponents.mBodiesEntities[proxyShape2Index]; const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; @@ -243,18 +246,16 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); - CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); + CollisionShape* collisionShape1 = mProxyShapesComponents.mCollisionShapes[proxyShape1Index]; + CollisionShape* collisionShape2 = mProxyShapesComponents.mCollisionShapes[proxyShape2Index]; - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), - collisionShape2->getType()); + NarrowPhaseAlgorithmType algorithmType = overlappingPairs.mNarrowPhaseAlgorithmType[i]; // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mPairIds[i], proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, - mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), - mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), + mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index], + mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index], algorithmType, mMemoryManager.getSingleFrameAllocator()); } @@ -266,12 +267,15 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); + const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); + const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); - const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != -1); + assert(mProxyShapesComponents.mBroadPhaseId[proxyShape2Index] != -1); + assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != mProxyShapesComponents.mBroadPhaseId[proxyShape2Index]); + + const Entity body1Entity = mProxyShapesComponents.mBodiesEntities[proxyShape1Index]; + const Entity body2Entity = mProxyShapesComponents.mBodiesEntities[proxyShape2Index]; const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; @@ -342,9 +346,7 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), - collisionShape2->getType()); + NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex]; // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection From d894a40d2eae9d70fea94f10dc12a9e74d6919b4 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 19 Nov 2019 18:35:22 +0100 Subject: [PATCH 107/197] Working on middle-phase collision detection --- src/body/RigidBody.cpp | 23 +++ src/body/RigidBody.h | 3 + .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 4 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../narrowphase/NarrowPhaseInfoBatch.cpp | 4 +- .../narrowphase/NarrowPhaseInfoBatch.h | 2 +- .../narrowphase/NarrowPhaseInput.cpp | 14 +- src/collision/narrowphase/NarrowPhaseInput.h | 2 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 4 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 4 +- .../SphereVsSphereNarrowPhaseInfoBatch.h | 2 +- src/collision/shapes/CollisionShape.h | 6 +- src/engine/OverlappingPairs.cpp | 132 +++++++------ src/engine/OverlappingPairs.h | 35 ++-- src/systems/CollisionDetectionSystem.cpp | 183 +++++------------- src/systems/CollisionDetectionSystem.h | 3 +- 17 files changed, 200 insertions(+), 225 deletions(-) diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 5bb38982..6712c739 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -98,6 +98,9 @@ void RigidBody::setType(BodyType type) { // Awake the body setIsSleeping(false); + // Update the active status of currently overlapping pairs + updateOverlappingPairs(); + // Ask the broad-phase to test again the collision shapes of the body for collision // detection (as if the body has moved) askForBroadPhaseCollisionCheck(); @@ -683,6 +686,9 @@ void RigidBody::setIsSleeping(bool isSleeping) { // Notify all the components mWorld.setBodyDisabled(mEntity, isSleeping); + // Update the currently overlapping pairs + updateOverlappingPairs(); + if (isSleeping) { mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, Vector3::zero()); @@ -696,6 +702,23 @@ void RigidBody::setIsSleeping(bool isSleeping) { (isSleeping ? "true" : "false")); } +// Update whether the current overlapping pairs where this body is involed are active or not +void RigidBody::updateOverlappingPairs() { + + // For each proxy-shape of the body + const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); + for (uint i=0; i < proxyShapesEntities.size(); i++) { + + // Get the currently overlapping pairs for this proxy-shape + List overlappingPairs = mWorld.mProxyShapesComponents.getOverlappingPairs(proxyShapesEntities[i]); + + for (uint j=0; j < overlappingPairs.size(); j++) { + + mWorld.mCollisionDetection.mOverlappingPairs.updateOverlappingPairIsActive(overlappingPairs[j]); + } + } +} + /// Return the inverse of the inertia tensor in world coordinates. const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity) { diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 0a83d5af..85413051 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -73,6 +73,9 @@ class RigidBody : public CollisionBody { /// Set the variable to know whether or not the body is sleeping void setIsSleeping(bool isSleeping); + /// Update whether the current overlapping pairs where this body is involed are active or not + void updateOverlappingPairs(); + /// Return the inverse of the inertia tensor in world coordinates. static const Matrix3x3 getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp index 879fb258..cba95097 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -38,7 +38,7 @@ CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(Memor } // Add shapes to be tested during narrow-phase collision detection into the batch -void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { assert(shape1->getType() == CollisionShapeType::CAPSULE); @@ -60,7 +60,7 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Ent isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 645ee76c..84366756 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -61,7 +61,7 @@ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index 7e53dd6a..a44fd5b8 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -48,7 +48,7 @@ NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() { } // Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator) { @@ -64,7 +64,7 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.h b/src/collision/narrowphase/NarrowPhaseInfoBatch.h index 9a76642f..37086222 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -103,7 +103,7 @@ struct NarrowPhaseInfoBatch { uint getNbObjects() const; /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator); diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index 6c00889c..a68ab508 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -39,28 +39,28 @@ NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& } // Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) { switch (narrowPhaseAlgorithmType) { case NarrowPhaseAlgorithmType::SphereVsSphere: - mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsCapsule: - mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::CapsuleVsCapsule: - mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: - mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: - mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: - mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::None: // Must never happen diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index f5256155..c37bce67 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -67,7 +67,7 @@ class NarrowPhaseInput { NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseTest(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + void addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator); diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp index b5baa27d..05f25910 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -39,7 +39,7 @@ SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryA } // Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE; @@ -63,7 +63,7 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Enti isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h index 9145967d..e2a4964d 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -61,7 +61,7 @@ struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index 27a67f68..a5a8269f 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -36,7 +36,7 @@ SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAll } // Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { assert(shape1->getType() == CollisionShapeType::SPHERE); @@ -56,7 +56,7 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, Entit isColliding.add(false); // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairId, shape1->getId(), shape2->getId()); + LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); lastFrameCollisionInfos.add(lastFrameInfo); } diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index 4087f90f..f5e352a7 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -55,7 +55,7 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index edf1f9c6..440df9e1 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -73,7 +73,7 @@ class CollisionShape { CollisionShapeName mName; /// Unique identifier of the shape inside an overlapping pair - uint mId; + uint32 mId; #ifdef IS_PROFILING_ACTIVE @@ -125,7 +125,7 @@ class CollisionShape { virtual void getLocalBounds(Vector3& min, Vector3& max) const=0; /// Return the id of the shape - uint getId() const; + uint32 getId() const; /// Return the local inertia tensor of the collision shapes virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0; @@ -166,7 +166,7 @@ inline CollisionShapeType CollisionShape::getType() const { } // Return the id of the shape -inline uint CollisionShape::getId() const { +inline uint32 CollisionShape::getId() const { return mId; } diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index a1912e28..0b1aad3f 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -38,8 +38,9 @@ OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, M CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set &noCollisionPairs, CollisionDispatch &collisionDispatch) : mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mNbPairs(0), mConcavePairsStartIndex(0), mPairDataSize(sizeof(uint64) + sizeof(int32) + sizeof(int32) + sizeof(Entity) + - sizeof(Entity) + sizeof(Map) + - sizeof(bool) + sizeof(bool) + sizeof(NarrowPhaseAlgorithmType)), + sizeof(Entity) + sizeof(Map) + + sizeof(bool) + sizeof(bool) + sizeof(NarrowPhaseAlgorithmType) + + sizeof(bool)), mNbAllocatedPairs(0), mBuffer(nullptr), mMapPairIdToPairIndex(persistentMemoryAllocator), mProxyShapeComponents(proxyShapeComponents), mCollisionBodyComponents(collisionBodyComponents), @@ -205,10 +206,11 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { int32* newPairBroadPhaseId2 = reinterpret_cast(newPairBroadPhaseId1 + nbPairsToAllocate); Entity* newProxyShapes1 = reinterpret_cast(newPairBroadPhaseId2 + nbPairsToAllocate); Entity* newProxyShapes2 = reinterpret_cast(newProxyShapes1 + nbPairsToAllocate); - Map* newLastFrameCollisionInfos = reinterpret_cast*>(newProxyShapes2 + nbPairsToAllocate); + Map* newLastFrameCollisionInfos = reinterpret_cast*>(newProxyShapes2 + nbPairsToAllocate); bool* newNeedToTestOverlap = reinterpret_cast(newLastFrameCollisionInfos + nbPairsToAllocate); bool* newIsActive = reinterpret_cast(newNeedToTestOverlap + nbPairsToAllocate); NarrowPhaseAlgorithmType* newNarrowPhaseAlgorithmType = reinterpret_cast(newIsActive + nbPairsToAllocate); + bool* newIsShape1Convex = reinterpret_cast(newNarrowPhaseAlgorithmType + nbPairsToAllocate); // If there was already pairs before if (mNbPairs > 0) { @@ -219,10 +221,11 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { memcpy(newPairBroadPhaseId2, mPairBroadPhaseId2, mNbPairs * sizeof(int32)); memcpy(newProxyShapes1, mProxyShapes1, mNbPairs * sizeof(Entity)); memcpy(newProxyShapes2, mProxyShapes2, mNbPairs * sizeof(Entity)); - memcpy(newLastFrameCollisionInfos, mLastFrameCollisionInfos, mNbPairs * sizeof(Map)); + memcpy(newLastFrameCollisionInfos, mLastFrameCollisionInfos, mNbPairs * sizeof(Map)); memcpy(newNeedToTestOverlap, mNeedToTestOverlap, mNbPairs * sizeof(bool)); memcpy(newIsActive, mIsActive, mNbPairs * sizeof(bool)); memcpy(newNarrowPhaseAlgorithmType, mNarrowPhaseAlgorithmType, mNbPairs * sizeof(NarrowPhaseAlgorithmType)); + memcpy(newIsShape1Convex, mIsShape1Convex, mNbPairs * sizeof(bool)); // Deallocate previous memory mPersistentAllocator.release(mBuffer, mNbAllocatedPairs * mPairDataSize); @@ -238,43 +241,57 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { mNeedToTestOverlap = newNeedToTestOverlap; mIsActive = newIsActive; mNarrowPhaseAlgorithmType = newNarrowPhaseAlgorithmType; + mIsShape1Convex = newIsShape1Convex; mNbAllocatedPairs = nbPairsToAllocate; } // Add an overlapping pair -uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2, bool isActive) { +uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { RP3D_PROFILE("OverlappingPairs::addPair()", mProfiler); const CollisionShape* collisionShape1 = mProxyShapeComponents.getCollisionShape(shape1->getEntity()); const CollisionShape* collisionShape2 = mProxyShapeComponents.getCollisionShape(shape2->getEntity()); - // Prepare to add new pair (allocate memory if necessary and compute insertion index) - uint64 index = prepareAddPair(collisionShape1->isConvex() && collisionShape2->isConvex()); + const bool isShape1Convex = collisionShape1->isConvex(); + const bool isShape2Convex = collisionShape2->isConvex(); + const bool isConvexVsConvex = isShape1Convex && isShape2Convex; - const uint32 shape1Id = static_cast(shape1->getBroadPhaseId()); - const uint32 shape2Id = static_cast(shape2->getBroadPhaseId()); + // Prepare to add new pair (allocate memory if necessary and compute insertion index) + uint64 index = prepareAddPair(isConvexVsConvex); + + const uint32 broadPhase1Id = static_cast(shape1->getBroadPhaseId()); + const uint32 broadPhase2Id = static_cast(shape2->getBroadPhaseId()); // Compute a unique id for the overlapping pair - const uint64 pairId = pairNumbers(std::max(shape1Id, shape2Id), std::min(shape1Id, shape2Id)); + const uint64 pairId = pairNumbers(std::max(broadPhase1Id, broadPhase2Id), std::min(broadPhase1Id, broadPhase2Id)); assert(!mMapPairIdToPairIndex.containsKey(pairId)); // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), - collisionShape2->getType()); + NarrowPhaseAlgorithmType algorithmType; + if (isConvexVsConvex) { + + algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(collisionShape1->getType(), collisionShape2->getType()); + } + else { + + algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(isShape1Convex ? collisionShape1->getType() : collisionShape2->getType(), + CollisionShapeType::CONVEX_POLYHEDRON); + } + // Insert the new component data new (mPairIds + index) uint64(pairId); new (mPairBroadPhaseId1 + index) int32(shape1->getBroadPhaseId()); new (mPairBroadPhaseId2 + index) int32(shape2->getBroadPhaseId()); new (mProxyShapes1 + index) Entity(shape1->getEntity()); new (mProxyShapes2 + index) Entity(shape2->getEntity()); - new (mLastFrameCollisionInfos + index) Map(mPersistentAllocator); + new (mLastFrameCollisionInfos + index) Map(mPersistentAllocator); new (mNeedToTestOverlap + index) bool(false); - new (mIsActive + index) bool(isActive); + new (mIsActive + index) bool(true); new (mNarrowPhaseAlgorithmType + index) NarrowPhaseAlgorithmType(algorithmType); - + new (mIsShape1Convex + index) bool(isShape1Convex); // Map the entity with the new component lookup index mMapPairIdToPairIndex.add(Pair(pairId, index)); @@ -290,6 +307,8 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2, bool is assert(mConcavePairsStartIndex <= mNbPairs); assert(mNbPairs == static_cast(mMapPairIdToPairIndex.size())); + updateOverlappingPairIsActive(pairId); + return pairId; } @@ -305,10 +324,11 @@ void OverlappingPairs::movePairToIndex(uint64 srcIndex, uint64 destIndex) { mPairBroadPhaseId2[destIndex] = mPairBroadPhaseId2[srcIndex]; new (mProxyShapes1 + destIndex) Entity(mProxyShapes1[srcIndex]); new (mProxyShapes2 + destIndex) Entity(mProxyShapes2[srcIndex]); - new (mLastFrameCollisionInfos + destIndex) Map(mLastFrameCollisionInfos[srcIndex]); + new (mLastFrameCollisionInfos + destIndex) Map(mLastFrameCollisionInfos[srcIndex]); mNeedToTestOverlap[destIndex] = mNeedToTestOverlap[srcIndex]; mIsActive[destIndex] = mIsActive[srcIndex]; new (mNarrowPhaseAlgorithmType + destIndex) NarrowPhaseAlgorithmType(mNarrowPhaseAlgorithmType[srcIndex]); + mIsShape1Convex[destIndex] = mIsShape1Convex[srcIndex]; // Destroy the source pair destroyPair(srcIndex); @@ -330,10 +350,11 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { int32 pairBroadPhaseId2 = mPairBroadPhaseId2[index1]; Entity proxyShape1 = mProxyShapes1[index1]; Entity proxyShape2 = mProxyShapes2[index1]; - Map lastFrameCollisionInfo(mLastFrameCollisionInfos[index1]); + Map lastFrameCollisionInfo(mLastFrameCollisionInfos[index1]); bool needTestOverlap = mNeedToTestOverlap[index1]; bool isActive = mIsActive[index1]; NarrowPhaseAlgorithmType narrowPhaseAlgorithmType = mNarrowPhaseAlgorithmType[index1]; + bool isShape1Convex = mIsShape1Convex[index1]; // Destroy pair 1 destroyPair(index1); @@ -346,10 +367,11 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { mPairBroadPhaseId2[index2] = pairBroadPhaseId2; new (mProxyShapes1 + index2) Entity(proxyShape1); new (mProxyShapes2 + index2) Entity(proxyShape2); - new (mLastFrameCollisionInfos + index2) Map(lastFrameCollisionInfo); + new (mLastFrameCollisionInfos + index2) Map(lastFrameCollisionInfo); mNeedToTestOverlap[index2] = needTestOverlap; mIsActive[index2] = isActive; new (mNarrowPhaseAlgorithmType + index2) NarrowPhaseAlgorithmType(narrowPhaseAlgorithmType); + mIsShape1Convex[index2] = isShape1Convex; // Update the pairID to pair index mapping mMapPairIdToPairIndex.add(Pair(pairId, index2)); @@ -370,33 +392,60 @@ void OverlappingPairs::destroyPair(uint64 index) { mProxyShapes1[index].~Entity(); mProxyShapes2[index].~Entity(); - mLastFrameCollisionInfos[index].~Map(); + mLastFrameCollisionInfos[index].~Map(); mNarrowPhaseAlgorithmType[index].~NarrowPhaseAlgorithmType(); } -// Add a new last frame collision info if it does not exist for the given shapes already -LastFrameCollisionInfo* OverlappingPairs::addLastFrameInfoIfNecessary(uint64 pairId, uint shapeId1, uint shapeId2) { - - RP3D_PROFILE("OverlappingPairs::addLastFrameInfoIfNecessary()", mProfiler); +// Update whether a given overlapping pair is active or not +void OverlappingPairs::updateOverlappingPairIsActive(uint64 pairId) { assert(mMapPairIdToPairIndex.containsKey(pairId)); - const uint64 index = mMapPairIdToPairIndex[pairId]; - assert(index < mNbPairs); + const uint64 pairIndex = mMapPairIdToPairIndex[pairId]; + + const Entity proxyShape1 = mProxyShapes1[pairIndex]; + const Entity proxyShape2 = mProxyShapes2[pairIndex]; + + const Entity body1 = mProxyShapeComponents.getBody(proxyShape1); + const Entity body2 = mProxyShapeComponents.getBody(proxyShape2); + + const bool isBody1Enabled = !mCollisionBodyComponents.getIsEntityDisabled(body1); + const bool isBody2Enabled = !mCollisionBodyComponents.getIsEntityDisabled(body2); + const bool isBody1Static = mRigidBodyComponents.hasComponent(body1) && + mRigidBodyComponents.getBodyType(body1) == BodyType::STATIC; + const bool isBody2Static = mRigidBodyComponents.hasComponent(body2) && + mRigidBodyComponents.getBodyType(body2) == BodyType::STATIC; + + const bool isBody1Active = isBody1Enabled && !isBody1Static; + const bool isBody2Active = isBody2Enabled && !isBody2Static; + + // Check if the bodies are in the set of bodies that cannot collide between each other + bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1, body2); + bool bodiesCanCollide = !mNoCollisionPairs.contains(bodiesIndex); + + mIsActive[pairIndex] = bodiesCanCollide && (isBody1Active || isBody2Active); +} + +// Add a new last frame collision info if it does not exist for the given shapes already +LastFrameCollisionInfo* OverlappingPairs::addLastFrameInfoIfNecessary(uint64 pairIndex, uint32 shapeId1, uint32 shapeId2) { + + RP3D_PROFILE("OverlappingPairs::addLastFrameInfoIfNecessary()", mProfiler); + + assert(pairIndex < mNbPairs); // Try to get the corresponding last frame collision info - const ShapeIdPair shapeIdPair(shapeId1, shapeId2); + const uint64 shapesId = pairNumbers(std::max(shapeId1, shapeId2), std::min(shapeId1, shapeId2)); // If there is no collision info for those two shapes already - auto it = mLastFrameCollisionInfos[index].find(shapeIdPair); - if (it == mLastFrameCollisionInfos[index].end()) { + auto it = mLastFrameCollisionInfos[pairIndex].find(shapesId); + if (it == mLastFrameCollisionInfos[pairIndex].end()) { // Create a new collision info LastFrameCollisionInfo* collisionInfo = new (mPersistentAllocator.allocate(sizeof(LastFrameCollisionInfo))) LastFrameCollisionInfo(); // Add it into the map of collision infos - mLastFrameCollisionInfos[index].add(Pair(shapeIdPair, collisionInfo)); + mLastFrameCollisionInfos[pairIndex].add(Pair(shapesId, collisionInfo)); return collisionInfo; } @@ -439,28 +488,3 @@ void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { } } } - -// Return true if the overlapping pair between two shapes is active -bool OverlappingPairs::computeIsPairActive(ProxyShape* shape1, ProxyShape* shape2) { - - const Entity body1Entity = mProxyShapeComponents.getBody(shape1->getEntity()); - const Entity body2Entity = mProxyShapeComponents.getBody(shape2->getEntity()); - - const bool isStaticRigidBody1 = mRigidBodyComponents.hasComponent(body1Entity) && - mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mRigidBodyComponents.hasComponent(body2Entity) && - mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; - - // Check that at least one body is enabled (active and awake) and not static - // TODO : Do not test this every frame - bool isBody1Active = !mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; - if (!isBody1Active && !isBody2Active) return false; - - // Check if the bodies are in the set of bodies that cannot collide between each other - // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation - bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) return false; - - return true; -} diff --git a/src/engine/OverlappingPairs.h b/src/engine/OverlappingPairs.h index 34fe478f..b4148c2c 100644 --- a/src/engine/OverlappingPairs.h +++ b/src/engine/OverlappingPairs.h @@ -104,11 +104,6 @@ struct LastFrameCollisionInfo { */ class OverlappingPairs { - public: - - // TODO : Try to use a pairing function like pairNumbers() here - using ShapeIdPair = Pair; - private: // -------------------- Constants -------------------- // @@ -165,7 +160,7 @@ class OverlappingPairs { /// If two convex shapes overlap, we have a single collision data but if one shape is concave, /// we might have collision data for several overlapping triangles. The key in the map is the /// shape Ids of the two collision shapes. - Map* mLastFrameCollisionInfos; + Map* mLastFrameCollisionInfos; /// True if we need to test if the convex vs convex overlapping pairs of shapes still overlap bool* mNeedToTestOverlap; @@ -176,6 +171,9 @@ class OverlappingPairs { /// Array with the pointer to the narrow-phase algorithm for each overlapping pair NarrowPhaseAlgorithmType* mNarrowPhaseAlgorithmType; + /// True if the first shape of the pair is convex + bool* mIsShape1Convex; + /// Reference to the proxy-shapes components ProxyShapeComponents& mProxyShapeComponents; @@ -235,7 +233,7 @@ class OverlappingPairs { OverlappingPairs& operator=(const OverlappingPairs& pair) = delete; /// Add an overlapping pair - uint64 addPair(ProxyShape* shape1, ProxyShape* shape2, bool isActive); + uint64 addPair(ProxyShape* shape1, ProxyShape* shape2); /// Remove a component at a given index void removePair(uint64 pairId); @@ -261,14 +259,20 @@ class OverlappingPairs { /// Notify if a given pair is active or not void setIsPairActive(uint64 pairId, bool isActive); + /// Return the index of a given overlapping pair in the internal array + uint64 getPairIndex(uint64 pairId) const; + /// Return the last frame collision info - LastFrameCollisionInfo* getLastFrameCollisionInfo(uint64, ShapeIdPair& shapeIds); + LastFrameCollisionInfo* getLastFrameCollisionInfo(uint64, uint64 shapesId); /// Return a reference to the temporary memory allocator MemoryAllocator& getTemporaryAllocator(); /// Add a new last frame collision info if it does not exist for the given shapes already - LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint64 pairId, uint shapeId1, uint shapeId2); + LastFrameCollisionInfo* addLastFrameInfoIfNecessary(uint64 pairIndex, uint32 shapeId1, uint32 shapeId2); + + /// Update whether a given overlapping pair is active or not + void updateOverlappingPairIsActive(uint64 pairId); /// Delete all the obsolete last frame collision info void clearObsoleteLastFrameCollisionInfos(); @@ -276,9 +280,6 @@ class OverlappingPairs { /// Return the pair of bodies index of the pair static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity); - /// Return true if the overlapping pair between two shapes is active - bool computeIsPairActive(ProxyShape* shape1, ProxyShape* shape2); - /// Set if we need to test a given pair for overlap void setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap); @@ -317,14 +318,20 @@ inline void OverlappingPairs::setIsPairActive(uint64 pairId, bool isActive) { mIsActive[mMapPairIdToPairIndex[pairId]] = isActive; } +// Return the index of a given overlapping pair in the internal array +inline uint64 OverlappingPairs::getPairIndex(uint64 pairId) const { + assert(mMapPairIdToPairIndex.containsKey(pairId)); + return mMapPairIdToPairIndex[pairId]; +} + // Return the last frame collision info for a given shape id or nullptr if none is found -inline LastFrameCollisionInfo* OverlappingPairs::getLastFrameCollisionInfo(uint64 pairId, ShapeIdPair& shapeIds) { +inline LastFrameCollisionInfo* OverlappingPairs::getLastFrameCollisionInfo(uint64 pairId, uint64 shapesId) { assert(mMapPairIdToPairIndex.containsKey(pairId)); const uint64 index = mMapPairIdToPairIndex[pairId]; assert(index < mNbPairs); - Map::Iterator it = mLastFrameCollisionInfos[index].find(shapeIds); + Map::Iterator it = mLastFrameCollisionInfos[index].find(shapesId); if (it != mLastFrameCollisionInfos[index].end()) { return it->second; } diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 2894dceb..165de8ec 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -189,7 +189,7 @@ void CollisionDetectionSystem::updateOverlappingPairs(const ListgetCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) { // Add the new overlapping pair - mOverlappingPairs.addPair(shape1, shape2, mOverlappingPairs.computeIsPairActive(shape1, shape2)); + mOverlappingPairs.addPair(shape1, shape2); } } } @@ -217,84 +217,47 @@ void CollisionDetectionSystem::computeMiddlePhase(OverlappingPairs& overlappingP // For each possible convex vs convex pair of bodies for (uint64 i=0; i < overlappingPairs.getNbConvexVsConvexPairs(); i++) { - const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; - const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; - - const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); - const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); - - assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != -1); - assert(mProxyShapesComponents.mBroadPhaseId[proxyShape2Index] != -1); - assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != mProxyShapesComponents.mBroadPhaseId[proxyShape2Index]); - - const Entity body1Entity = mProxyShapesComponents.mBodiesEntities[proxyShape1Index]; - const Entity body2Entity = mProxyShapesComponents.mBodiesEntities[proxyShape2Index]; - - const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && - mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && - mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + assert(mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes1[i]) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes2[i]) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes1[i]) != mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes2[i])); // Check that at least one body is enabled (active and awake) and not static // TODO : Do not test this every frame - bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; - if (!isBody1Active && !isBody2Active) continue; + if (mOverlappingPairs.mIsActive[i]) { - // Check if the bodies are in the set of bodies that cannot collide between each other - // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation - bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; + const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; + const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; - CollisionShape* collisionShape1 = mProxyShapesComponents.mCollisionShapes[proxyShape1Index]; - CollisionShape* collisionShape2 = mProxyShapesComponents.mCollisionShapes[proxyShape2Index]; + const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); + const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); - NarrowPhaseAlgorithmType algorithmType = overlappingPairs.mNarrowPhaseAlgorithmType[i]; + CollisionShape* collisionShape1 = mProxyShapesComponents.mCollisionShapes[proxyShape1Index]; + CollisionShape* collisionShape2 = mProxyShapesComponents.mCollisionShapes[proxyShape2Index]; - // No middle-phase is necessary, simply create a narrow phase info - // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mPairIds[i], proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, - mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index], - mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index], - algorithmType, mMemoryManager.getSingleFrameAllocator()); + NarrowPhaseAlgorithmType algorithmType = overlappingPairs.mNarrowPhaseAlgorithmType[i]; + // No middle-phase is necessary, simply create a narrow phase info + // for the narrow-phase collision detection + narrowPhaseInput.addNarrowPhaseTest(overlappingPairs.mPairIds[i], i, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, + mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index], + mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index], + algorithmType, mMemoryManager.getSingleFrameAllocator()); + } } // For each possible convex vs concave pair of bodies - uint64 convexVsConcaveStartIndex = overlappingPairs.getConvexVsConcavePairsStartIndex(); + const uint64 convexVsConcaveStartIndex = overlappingPairs.getConvexVsConcavePairsStartIndex(); for (uint64 i=convexVsConcaveStartIndex; i < convexVsConcaveStartIndex + overlappingPairs.getNbConvexVsConcavePairs(); i++) { - const Entity proxyShape1Entity = overlappingPairs.mProxyShapes1[i]; - const Entity proxyShape2Entity = overlappingPairs.mProxyShapes2[i]; - - const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); - const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); - - assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != -1); - assert(mProxyShapesComponents.mBroadPhaseId[proxyShape2Index] != -1); - assert(mProxyShapesComponents.mBroadPhaseId[proxyShape1Index] != mProxyShapesComponents.mBroadPhaseId[proxyShape2Index]); - - const Entity body1Entity = mProxyShapesComponents.mBodiesEntities[proxyShape1Index]; - const Entity body2Entity = mProxyShapesComponents.mBodiesEntities[proxyShape2Index]; - - const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && - mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && - mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; + assert(mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes1[i]) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes2[i]) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes1[i]) != mProxyShapesComponents.getBroadPhaseId(overlappingPairs.mProxyShapes2[i])); // Check that at least one body is enabled (active and awake) and not static - // TODO : Do not test this every frame - bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; - if (!isBody1Active && !isBody2Active) continue; + if (mOverlappingPairs.mIsActive[i]) { - // Check if the bodies are in the set of bodies that cannot collide between each other - // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation - bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - - computeConvexVsConcaveMiddlePhase(overlappingPairs.mPairIds[i], proxyShape1Entity, proxyShape2Entity, - mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + computeConvexVsConcaveMiddlePhase(i, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + } } } @@ -324,25 +287,6 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); - const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); - - const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && - mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && - mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; - - // Check that at least one body is enabled (active and awake) and not static - // TODO : Do not test this every frame - bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; - if (!isBody1Active && !isBody2Active) continue; - - // Check if the bodies are in the set of bodies that cannot collide between each other - // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation - bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); @@ -350,7 +294,7 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pairId, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, + narrowPhaseInput.addNarrowPhaseTest(pairId, pairIndex, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), algorithmType, mMemoryManager.getSingleFrameAllocator()); @@ -361,78 +305,52 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& for (uint p=0; p < concavePairs.size(); p++) { const uint64 pairId = concavePairs[p]; + const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - const uint pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; + assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[pairIndex]) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[pairIndex]) != -1); + assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[pairIndex]) != mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[pairIndex])); - const Entity proxyShape1Entity = mOverlappingPairs.mProxyShapes1[pairIndex]; - const Entity proxyShape2Entity = mOverlappingPairs.mProxyShapes2[pairIndex]; - - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); - - const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); - - const bool isStaticRigidBody1 = mWorld->mRigidBodyComponents.hasComponent(body1Entity) && - mWorld->mRigidBodyComponents.getBodyType(body1Entity) == BodyType::STATIC; - const bool isStaticRigidBody2 = mWorld->mRigidBodyComponents.hasComponent(body2Entity) && - mWorld->mRigidBodyComponents.getBodyType(body2Entity) == BodyType::STATIC; - - // Check that at least one body is enabled (active and awake) and not static - // TODO : Do not test this every frame - bool isBody1Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) && !isStaticRigidBody1; - bool isBody2Active = !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity) && !isStaticRigidBody2; - if (!isBody1Active && !isBody2Active) continue; - - // Check if the bodies are in the set of bodies that cannot collide between each other - // TODO : Do not check this every frame but remove and do not create overlapping pairs of bodies in this situation - bodypair bodiesIndex = OverlappingPairs::computeBodiesIndexPair(body1Entity, body2Entity); - if (mNoCollisionPairs.contains(bodiesIndex) > 0) continue; - - computeConvexVsConcaveMiddlePhase(pairId, proxyShape1Entity, proxyShape2Entity, - mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); + computeConvexVsConcaveMiddlePhase(pairIndex, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); } } // Compute the concave vs convex middle-phase algorithm for a given pair of bodies -void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairId, Entity proxyShape1, Entity proxyShape2, - MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { +void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairIndex, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { RP3D_PROFILE("CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase()", mProfiler); - ProxyShape* shape1 = mProxyShapesComponents.getProxyShape(proxyShape1); - ProxyShape* shape2 = mProxyShapesComponents.getProxyShape(proxyShape2); + const Entity proxyShape1 = mOverlappingPairs.mProxyShapes1[pairIndex]; + const Entity proxyShape2 = mOverlappingPairs.mProxyShapes2[pairIndex]; + + const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1); + const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2); + + ProxyShape* shape1 = mProxyShapesComponents.mProxyShapes[proxyShape1Index]; + ProxyShape* shape2 = mProxyShapesComponents.mProxyShapes[proxyShape2Index]; - ProxyShape* convexProxyShape; - ProxyShape* concaveProxyShape; ConvexShape* convexShape; ConcaveShape* concaveShape; - const bool isShape1Convex = shape1->getCollisionShape()->isConvex(); + const bool isShape1Convex = mOverlappingPairs.mIsShape1Convex[pairIndex]; // Collision shape 1 is convex, collision shape 2 is concave if (isShape1Convex) { - convexProxyShape = shape1; convexShape = static_cast(shape1->getCollisionShape()); - concaveProxyShape = shape2; concaveShape = static_cast(shape2->getCollisionShape()); } else { // Collision shape 2 is convex, collision shape 1 is concave - convexProxyShape = shape2; convexShape = static_cast(shape2->getCollisionShape()); - concaveProxyShape = shape1; concaveShape = static_cast(shape1->getCollisionShape()); } - // Select the narrow phase algorithm to use according to the two collision shapes - NarrowPhaseAlgorithmType algorithmType = mCollisionDispatch.selectNarrowPhaseAlgorithm(convexShape->getType(), - CollisionShapeType::CONVEX_POLYHEDRON); + assert(mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex] != NarrowPhaseAlgorithmType::None); - assert(algorithmType != NarrowPhaseAlgorithmType::None); + Transform& shape1LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index]; + Transform& shape2LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index]; // Compute the convex shape AABB in the local-space of the convex shape - const Transform convexToConcaveTransform = mProxyShapesComponents.getLocalToWorldTransform(concaveProxyShape->getEntity()).getInverse() * - mProxyShapesComponents.getLocalToWorldTransform(convexProxyShape->getEntity()); + const Transform convexToConcaveTransform = (isShape1Convex ? shape2LocalToWorldTransform : shape1LocalToWorldTransform).getInverse() * + (isShape1Convex ? shape1LocalToWorldTransform : shape2LocalToWorldTransform); AABB aabb; convexShape->computeAABB(aabb, convexToConcaveTransform); @@ -463,11 +381,10 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairId, #endif // Create a narrow phase info for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pairId, proxyShape1, proxyShape2, isShape1Convex ? convexShape : triangleShape, + narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[pairIndex], pairIndex, proxyShape1, proxyShape2, isShape1Convex ? convexShape : triangleShape, isShape1Convex ? triangleShape : convexShape, - mProxyShapesComponents.getLocalToWorldTransform(proxyShape1), - mProxyShapesComponents.getLocalToWorldTransform(proxyShape2), - algorithmType, allocator); + shape1LocalToWorldTransform, shape2LocalToWorldTransform, + mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex], allocator); } } diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index a15a6fde..8128c03e 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -206,7 +206,7 @@ class CollisionDetectionSystem { bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies - void computeConvexVsConcaveMiddlePhase(uint64 pairId, Entity proxyShape1, Entity proxyShape2, MemoryAllocator& allocator, + void computeConvexVsConcaveMiddlePhase(uint64 pairIndex, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput); /// Swap the previous and current contacts lists @@ -358,6 +358,7 @@ class CollisionDetectionSystem { friend class DynamicsWorld; friend class ConvexMeshShape; + friend class RigidBody; }; // Return a reference to the collision dispatch configuration From 2746a8cfc093390eb60fc0a6616b8d701168cc20 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 19 Nov 2019 21:58:02 +0100 Subject: [PATCH 108/197] Small modifications --- src/systems/ContactSolverSystem.cpp | 183 ++++++++++++++-------------- src/systems/ContactSolverSystem.h | 4 +- 2 files changed, 95 insertions(+), 92 deletions(-) diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 3d783e35..34a61602 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -124,19 +124,22 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1)); assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2)); + const uint body1Index = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1); + const uint body2Index = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2); + // Get the position of the two bodies - const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); - const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); + const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[body1Index]; + const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[body2Index]; // Initialize the internal contact manifold structure using the external // contact manifold new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); - mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1->getEntity()); - mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2->getEntity()); + mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody1 = body1Index; + mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody2 = body2Index; mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity1); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity2); - mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity()); - mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity()); + mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[body1Index]; + mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[body2Index]; mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); @@ -146,10 +149,10 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero(); // Get the velocities of the bodies - const Vector3& v1 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity1); - const Vector3& w1 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity1); - const Vector3& v2 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity2); - const Vector3& w2 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity2); + const Vector3& v1 = mRigidBodyComponents.mLinearVelocities[body1Index]; + const Vector3& w1 = mRigidBodyComponents.mAngularVelocities[body1Index]; + const Vector3& v2 = mRigidBodyComponents.mLinearVelocities[body2Index]; + const Vector3& w2 = mRigidBodyComponents.mAngularVelocities[body2Index]; // For each contact point of the contact manifold assert(externalManifold.nbContactPoints > 0); @@ -350,22 +353,22 @@ void ContactSolverSystem::warmStart() { Vector3 impulsePenetration(mContactPoints[contactPointIndex].normal.x * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.y * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.z * mContactPoints[contactPointIndex].penetrationImpulse); - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; } else { // If it is a new contact point @@ -405,12 +408,12 @@ void ContactSolverSystem::warmStart() { mContactConstraints[c].r2CrossT1.z * mContactConstraints[c].friction1Impulse); // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Second friction constraint at the center of the contact manifold ----- // @@ -426,18 +429,18 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * mContactConstraints[c].friction2Impulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Twist friction constraint at the center of the contact manifold ------ // @@ -451,10 +454,10 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2.z = mContactConstraints[c].normal.z * mContactConstraints[c].frictionTwistImpulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Rolling resistance at the center of the contact manifold ------ // @@ -462,10 +465,10 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2 = mContactConstraints[c].rollingResistanceImpulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; } else { // If it is a new contact manifold @@ -495,10 +498,10 @@ void ContactSolverSystem::solve() { decimal sumPenetrationImpulse = 0.0; // Get the constrained velocities - const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; - const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; - const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; - const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; + const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; + const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; + const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; + const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; for (short int i=0; i Date: Tue, 19 Nov 2019 22:28:36 +0100 Subject: [PATCH 109/197] Revert "Small modifications" This reverts commit 2746a8cfc093390eb60fc0a6616b8d701168cc20. --- src/systems/ContactSolverSystem.cpp | 183 ++++++++++++++-------------- src/systems/ContactSolverSystem.h | 4 +- 2 files changed, 92 insertions(+), 95 deletions(-) diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 34a61602..3d783e35 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -124,22 +124,19 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1)); assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2)); - const uint body1Index = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1); - const uint body2Index = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2); - // Get the position of the two bodies - const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[body1Index]; - const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[body2Index]; + const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); + const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); // Initialize the internal contact manifold structure using the external // contact manifold new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); - mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody1 = body1Index; - mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody2 = body2Index; + mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1->getEntity()); + mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2->getEntity()); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity1); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity2); - mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[body1Index]; - mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[body2Index]; + mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity()); + mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity()); mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); @@ -149,10 +146,10 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero(); // Get the velocities of the bodies - const Vector3& v1 = mRigidBodyComponents.mLinearVelocities[body1Index]; - const Vector3& w1 = mRigidBodyComponents.mAngularVelocities[body1Index]; - const Vector3& v2 = mRigidBodyComponents.mLinearVelocities[body2Index]; - const Vector3& w2 = mRigidBodyComponents.mAngularVelocities[body2Index]; + const Vector3& v1 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity1); + const Vector3& w1 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity1); + const Vector3& v2 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity2); + const Vector3& w2 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity2); // For each contact point of the contact manifold assert(externalManifold.nbContactPoints > 0); @@ -353,22 +350,22 @@ void ContactSolverSystem::warmStart() { Vector3 impulsePenetration(mContactPoints[contactPointIndex].normal.x * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.y * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.z * mContactPoints[contactPointIndex].penetrationImpulse); - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; } else { // If it is a new contact point @@ -408,12 +405,12 @@ void ContactSolverSystem::warmStart() { mContactConstraints[c].r2CrossT1.z * mContactConstraints[c].friction1Impulse); // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Second friction constraint at the center of the contact manifold ----- // @@ -429,18 +426,18 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * mContactConstraints[c].friction2Impulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Twist friction constraint at the center of the contact manifold ------ // @@ -454,10 +451,10 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2.z = mContactConstraints[c].normal.z * mContactConstraints[c].frictionTwistImpulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Rolling resistance at the center of the contact manifold ------ // @@ -465,10 +462,10 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2 = mContactConstraints[c].rollingResistanceImpulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; } else { // If it is a new contact manifold @@ -498,10 +495,10 @@ void ContactSolverSystem::solve() { decimal sumPenetrationImpulse = 0.0; // Get the constrained velocities - const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; - const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; - const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; - const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; + const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; + const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; + const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; + const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; for (short int i=0; i Date: Thu, 21 Nov 2019 23:23:03 +0100 Subject: [PATCH 110/197] Some optimizations --- src/collision/shapes/CollisionShape.cpp | 2 +- src/collision/shapes/ConcaveMeshShape.cpp | 1 + src/components/ProxyShapeComponents.h | 1 + src/systems/CollisionDetectionSystem.cpp | 75 ++++---- src/systems/CollisionDetectionSystem.h | 2 +- src/systems/ContactSolverSystem.cpp | 205 +++++++++++----------- src/systems/ContactSolverSystem.h | 4 +- src/systems/DynamicsSystem.cpp | 33 ++-- 8 files changed, 161 insertions(+), 162 deletions(-) diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp index f9cc40ec..5a49ecb1 100644 --- a/src/collision/shapes/CollisionShape.cpp +++ b/src/collision/shapes/CollisionShape.cpp @@ -59,7 +59,7 @@ void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const { Vector3 maxBounds; getLocalBounds(minBounds, maxBounds); - const Vector3 translation = transform.getPosition(); + const Vector3& translation = transform.getPosition(); Matrix3x3 matrix = transform.getOrientation().getMatrix(); Vector3 resultMin; Vector3 resultMax; diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 18518bad..90e26078 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -35,6 +35,7 @@ using namespace reactphysics3d; // Constructor ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling) + // TODO : Do not use the default base allocator here : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(MemoryManager::getBaseAllocator()), mScaling(scaling) { mTriangleMesh = triangleMesh; diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index 18ab9053..0514e8b7 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -195,6 +195,7 @@ class ProxyShapeComponents : public Components { friend class BroadPhaseSystem; friend class CollisionDetectionSystem; + friend class DynamicsSystem; }; // Return the body entity of a given proxy-shape diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 165de8ec..d0ea855e 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -91,7 +91,7 @@ void CollisionDetectionSystem::computeCollisionDetection() { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(mOverlappingPairs, mNarrowPhaseInput); + computeMiddlePhase(mNarrowPhaseInput); // Compute the narrow-phase collision detection computeNarrowPhase(); @@ -204,7 +204,7 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List& const Entity proxyShape1Entity = mOverlappingPairs.mProxyShapes1[pairIndex]; const Entity proxyShape2Entity = mOverlappingPairs.mProxyShapes2[pairIndex]; + const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); + const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); + assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); - CollisionShape* collisionShape1 = mProxyShapesComponents.getCollisionShape(proxyShape1Entity); - CollisionShape* collisionShape2 = mProxyShapesComponents.getCollisionShape(proxyShape2Entity); + CollisionShape* collisionShape1 = mProxyShapesComponents.mCollisionShapes[proxyShape1Index]; + CollisionShape* collisionShape2 = mProxyShapesComponents.mCollisionShapes[proxyShape2Index]; NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex]; // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection narrowPhaseInput.addNarrowPhaseTest(pairId, pairIndex, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, - mProxyShapesComponents.getLocalToWorldTransform(proxyShape1Entity), - mProxyShapesComponents.getLocalToWorldTransform(proxyShape2Entity), + mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index], + mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index], algorithmType, mMemoryManager.getSingleFrameAllocator()); } @@ -314,6 +317,7 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& computeConvexVsConcaveMiddlePhase(pairIndex, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); } } + // Compute the concave vs convex middle-phase algorithm for a given pair of bodies void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairIndex, MemoryAllocator& allocator, NarrowPhaseInput& narrowPhaseInput) { @@ -325,32 +329,29 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1); const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2); - ProxyShape* shape1 = mProxyShapesComponents.mProxyShapes[proxyShape1Index]; - ProxyShape* shape2 = mProxyShapesComponents.mProxyShapes[proxyShape2Index]; + Transform& shape1LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index]; + Transform& shape2LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index]; - ConvexShape* convexShape; - ConcaveShape* concaveShape; - - const bool isShape1Convex = mOverlappingPairs.mIsShape1Convex[pairIndex]; + Transform convexToConcaveTransform; // Collision shape 1 is convex, collision shape 2 is concave + ConvexShape* convexShape; + ConcaveShape* concaveShape; + const bool isShape1Convex = mOverlappingPairs.mIsShape1Convex[pairIndex]; if (isShape1Convex) { - convexShape = static_cast(shape1->getCollisionShape()); - concaveShape = static_cast(shape2->getCollisionShape()); + convexShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape1Index]); + concaveShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape2Index]); + convexToConcaveTransform = shape2LocalToWorldTransform.getInverse() * shape1LocalToWorldTransform; } else { // Collision shape 2 is convex, collision shape 1 is concave - convexShape = static_cast(shape2->getCollisionShape()); - concaveShape = static_cast(shape1->getCollisionShape()); + convexShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape1Index]); + concaveShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape2Index]); + convexToConcaveTransform = shape1LocalToWorldTransform.getInverse() * shape2LocalToWorldTransform; } assert(mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex] != NarrowPhaseAlgorithmType::None); - Transform& shape1LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index]; - Transform& shape2LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index]; - // Compute the convex shape AABB in the local-space of the convex shape - const Transform convexToConcaveTransform = (isShape1Convex ? shape2LocalToWorldTransform : shape1LocalToWorldTransform).getInverse() * - (isShape1Convex ? shape1LocalToWorldTransform : shape2LocalToWorldTransform); AABB aabb; convexShape->computeAABB(aabb, convexToConcaveTransform); @@ -1360,7 +1361,7 @@ void CollisionDetectionSystem::testOverlap(OverlapCallback& callback) { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(mOverlappingPairs, narrowPhaseInput); + computeMiddlePhase(narrowPhaseInput); // Compute the narrow-phase collision detection and report overlapping shapes computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback); @@ -1444,7 +1445,7 @@ void CollisionDetectionSystem::testCollision(CollisionCallback& callback) { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(mOverlappingPairs, narrowPhaseInput); + computeMiddlePhase(narrowPhaseInput); // Compute the narrow-phase collision detection and report contacts computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 8128c03e..582d6454 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -176,7 +176,7 @@ class CollisionDetectionSystem { void computeBroadPhase(); /// Compute the middle-phase collision detection - void computeMiddlePhase(OverlappingPairs& overlappingPairs, NarrowPhaseInput& narrowPhaseInput); + void computeMiddlePhase(NarrowPhaseInput& narrowPhaseInput); // Compute the middle-phase collision detection void computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput); diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 3d783e35..a6c9ea0c 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -124,19 +124,21 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity1)); assert(!mBodyComponents.getIsEntityDisabled(externalManifold.bodyEntity2)); - // Get the position of the two bodies - const Vector3& x1 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity1); - const Vector3& x2 = mRigidBodyComponents.getCenterOfMassWorld(externalManifold.bodyEntity2); + const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1); + const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2); - // Initialize the internal contact manifold structure using the external - // contact manifold + // Get the position of the two bodies + const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex1]; + const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex2]; + + // Initialize the internal contact manifold structure using the external contact manifold new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); - mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody1 = mRigidBodyComponents.getEntityIndex(body1->getEntity()); - mContactConstraints[mNbContactManifolds].dynamicsComponentIndexBody2 = mRigidBodyComponents.getEntityIndex(body2->getEntity()); + mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody1 = rigidBodyIndex1; + mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody2 = rigidBodyIndex2; mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity1); mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity2); - mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.getMassInverse(body1->getEntity()); - mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.getMassInverse(body2->getEntity()); + mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1]; + mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2]; mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); @@ -146,15 +148,15 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].frictionPointBody2.setToZero(); // Get the velocities of the bodies - const Vector3& v1 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity1); - const Vector3& w1 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity1); - const Vector3& v2 = mRigidBodyComponents.getLinearVelocity(externalManifold.bodyEntity2); - const Vector3& w2 = mRigidBodyComponents.getAngularVelocity(externalManifold.bodyEntity2); + const Vector3& v1 = mRigidBodyComponents.mLinearVelocities[rigidBodyIndex1]; + const Vector3& w1 = mRigidBodyComponents.mAngularVelocities[rigidBodyIndex1]; + const Vector3& v2 = mRigidBodyComponents.mLinearVelocities[rigidBodyIndex2]; + const Vector3& w2 = mRigidBodyComponents.mAngularVelocities[rigidBodyIndex2]; // For each contact point of the contact manifold assert(externalManifold.nbContactPoints > 0); uint contactPointsStartIndex = externalManifold.contactPointsIndex; - uint nbContactPoints = externalManifold.nbContactPoints; + uint nbContactPoints = static_cast(externalManifold.nbContactPoints); for (uint c=contactPointsStartIndex; c < contactPointsStartIndex + nbContactPoints; c++) { ContactPoint& externalContact = (*mAllContactPoints)[c]; @@ -350,22 +352,22 @@ void ContactSolverSystem::warmStart() { Vector3 impulsePenetration(mContactPoints[contactPointIndex].normal.x * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.y * mContactPoints[contactPointIndex].penetrationImpulse, mContactPoints[contactPointIndex].normal.z * mContactPoints[contactPointIndex].penetrationImpulse); - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * impulsePenetration.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * impulsePenetration.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * impulsePenetration.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * impulsePenetration.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * mContactPoints[contactPointIndex].penetrationImpulse; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * mContactPoints[contactPointIndex].penetrationImpulse; } else { // If it is a new contact point @@ -405,12 +407,12 @@ void ContactSolverSystem::warmStart() { mContactConstraints[c].r2CrossT1.z * mContactConstraints[c].friction1Impulse); // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].massInverseBody2 * linearImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Second friction constraint at the center of the contact manifold ----- // @@ -426,18 +428,18 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2.z = mContactConstraints[c].r2CrossT2.z * mContactConstraints[c].friction2Impulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; - mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.x; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.y; + mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulseBody2.z; - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Twist friction constraint at the center of the contact manifold ------ // @@ -451,10 +453,10 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2.z = mContactConstraints[c].normal.z * mContactConstraints[c].frictionTwistImpulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] += mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody1; // Update the velocities of the body 2 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; // ------ Rolling resistance at the center of the contact manifold ------ // @@ -462,10 +464,10 @@ void ContactSolverSystem::warmStart() { angularImpulseBody2 = mContactConstraints[c].rollingResistanceImpulse; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1] -= mContactConstraints[c].inverseInertiaTensorBody1 * angularImpulseBody2; // Update the velocities of the body 1 by applying the impulse P - mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; + mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2] += mContactConstraints[c].inverseInertiaTensorBody2 * angularImpulseBody2; } else { // If it is a new contact manifold @@ -495,10 +497,10 @@ void ContactSolverSystem::solve() { decimal sumPenetrationImpulse = 0.0; // Get the constrained velocities - const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; - const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1]; - const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; - const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2]; + const Vector3& v1 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; + const Vector3& w1 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody1]; + const Vector3& v2 = mRigidBodyComponents.mConstrainedLinearVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; + const Vector3& w2 = mRigidBodyComponents.mConstrainedAngularVelocities[mContactConstraints[c].rigidBodyComponentIndexBody2]; for (short int i=0; igetMaterial().getBounciness(); decimal restitution2 = body2->getMaterial().getBounciness(); @@ -768,16 +769,14 @@ decimal ContactSolverSystem::computeMixedRestitutionFactor(RigidBody* body1, } // Compute the mixed friction coefficient from the friction coefficient of each body -decimal ContactSolverSystem::computeMixedFrictionCoefficient(RigidBody *body1, - RigidBody *body2) const { +decimal ContactSolverSystem::computeMixedFrictionCoefficient(RigidBody* body1, RigidBody* body2) const { // Use the geometric mean to compute the mixed friction coefficient return std::sqrt(body1->getMaterial().getFrictionCoefficient() * body2->getMaterial().getFrictionCoefficient()); } // Compute th mixed rolling resistance factor between two bodies -inline decimal ContactSolverSystem::computeMixedRollingResistance(RigidBody* body1, - RigidBody* body2) const { +inline decimal ContactSolverSystem::computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const { return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance()); } @@ -825,12 +824,12 @@ void ContactSolverSystem::computeFrictionVectors(const Vector3& deltaVelocity, deltaVelocity.z - normalVelocity.z); // If the velocty difference in the tangential plane is not zero - decimal lengthTangenVelocity = tangentVelocity.length(); - if (lengthTangenVelocity > MACHINE_EPSILON) { + decimal lengthTangentVelocity = tangentVelocity.length(); + if (lengthTangentVelocity > MACHINE_EPSILON) { // Compute the first friction vector in the direction of the tangent // velocity difference - contact.frictionVector1 = tangentVelocity / lengthTangenVelocity; + contact.frictionVector1 = tangentVelocity / lengthTangentVelocity; } else { diff --git a/src/systems/ContactSolverSystem.h b/src/systems/ContactSolverSystem.h index f6c9a2f5..83b7faba 100644 --- a/src/systems/ContactSolverSystem.h +++ b/src/systems/ContactSolverSystem.h @@ -176,10 +176,10 @@ class ContactSolverSystem { ContactManifold* externalContactManifold; /// Index of body 1 in the dynamics components arrays - uint32 dynamicsComponentIndexBody1; + uint32 rigidBodyComponentIndexBody1; /// Index of body 2 in the dynamics components arrays - uint32 dynamicsComponentIndexBody2; + uint32 rigidBodyComponentIndexBody2; /// Inverse of the mass of body 1 decimal massInverseBody1; diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 1b7278a5..63bd575e 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -77,8 +77,8 @@ void DynamicsSystem::updateBodiesState() { for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { // Update the linear and angular velocity of the body - mRigidBodyComponents.setLinearVelocity(mRigidBodyComponents.mBodiesEntities[i], mRigidBodyComponents.mConstrainedLinearVelocities[i]); - mRigidBodyComponents.setAngularVelocity(mRigidBodyComponents.mBodiesEntities[i], mRigidBodyComponents.mConstrainedAngularVelocities[i]); + mRigidBodyComponents.mLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i]; + mRigidBodyComponents.mAngularVelocities[i] = mRigidBodyComponents.mConstrainedAngularVelocities[i]; // Update the position of the center of mass of the body mRigidBodyComponents.mCentersOfMassWorld[i] = mRigidBodyComponents.mConstrainedPositions[i]; @@ -98,17 +98,11 @@ void DynamicsSystem::updateBodiesState() { } // Update the local-to-world transform of the proxy-shapes - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + for (uint32 i=0; i < mProxyShapeComponents.getNbEnabledComponents(); i++) { - // For all the proxy collision shapes of the body - const List& proxyShapesEntities = mCollisionBodyComponents.getProxyShapes(mRigidBodyComponents.mBodiesEntities[i]); - for (uint j=0; j < proxyShapesEntities.size(); j++) { - - // Update the local-to-world transform of the proxy-shape - mProxyShapeComponents.setLocalToWorldTransform(proxyShapesEntities[j], - mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]) * - mProxyShapeComponents.getLocalToBodyTransform(proxyShapesEntities[j])); - } + // Update the local-to-world transform of the proxy-shape + mProxyShapeComponents.mLocalToWorldTransforms[i] = mTransformComponents.getTransform(mProxyShapeComponents.mBodiesEntities[i]) * + mProxyShapeComponents.mLocalToBodyTransforms[i]; } } @@ -141,14 +135,17 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { } // Apply gravity force - for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { + if (mIsGravityEnabled) { - // If the gravity has to be applied to this rigid body - if (mRigidBodyComponents.mIsGravityEnabled[i] && mIsGravityEnabled) { + for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { - // Integrate the gravity force - mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + timeStep * - mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mInitMasses[i] * mGravity; + // If the gravity has to be applied to this rigid body + if (mRigidBodyComponents.mIsGravityEnabled[i]) { + + // Integrate the gravity force + mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + timeStep * + mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mInitMasses[i] * mGravity; + } } } From 58df6cdaff4b90fd7c97c0df023a05c380393683 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 22 Nov 2019 21:31:51 +0100 Subject: [PATCH 111/197] Optimizations --- src/collision/shapes/ConcaveMeshShape.cpp | 20 +++++++++----------- src/containers/List.h | 11 +++++++++++ src/engine/OverlappingPairs.cpp | 9 ++++++++- src/systems/CollisionDetectionSystem.cpp | 1 - src/systems/ContactSolverSystem.h | 1 - 5 files changed, 28 insertions(+), 14 deletions(-) diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 90e26078..240defd8 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -127,8 +127,14 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List overlappingNodes(allocator); mDynamicAABBTree.reportAllShapesOverlappingWithAABB(localAABB, overlappingNodes); + const uint nbOverlappingNodes = overlappingNodes.size(); + + // Add space in the list of triangles vertices/normals for the new triangles + triangleVertices.addWithoutInit(nbOverlappingNodes * 3); + triangleVerticesNormals.addWithoutInit(nbOverlappingNodes * 3); + // For each overlapping node - for (uint i=0; i < overlappingNodes.size(); i++) { + for (uint i=0; i < nbOverlappingNodes; i++) { int nodeId = overlappingNodes[i]; @@ -136,18 +142,10 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List Date: Mon, 25 Nov 2019 17:33:46 +0100 Subject: [PATCH 112/197] Remove TODO --- src/engine/OverlappingPairs.h | 1 - 1 file changed, 1 deletion(-) diff --git a/src/engine/OverlappingPairs.h b/src/engine/OverlappingPairs.h index b4148c2c..a90c8448 100644 --- a/src/engine/OverlappingPairs.h +++ b/src/engine/OverlappingPairs.h @@ -140,7 +140,6 @@ class OverlappingPairs { Map mMapPairIdToPairIndex; /// Ids of the convex vs convex pairs - // TODO : Check if we need this array uint64* mPairIds; /// Array with the broad-phase Ids of the first shape From b94fbf78748c5a1de7a88da99d375d8ce24af443 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 25 Nov 2019 21:22:25 +0100 Subject: [PATCH 113/197] Some optimizations and fix issues in collision detection --- src/components/ProxyShapeComponents.h | 1 + src/containers/List.h | 21 ------------- src/engine/OverlappingPairs.cpp | 18 +++++++---- src/systems/CollisionDetectionSystem.cpp | 40 +++++++++++++++++------- 4 files changed, 41 insertions(+), 39 deletions(-) diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h index 0514e8b7..d8d0838a 100644 --- a/src/components/ProxyShapeComponents.h +++ b/src/components/ProxyShapeComponents.h @@ -196,6 +196,7 @@ class ProxyShapeComponents : public Components { friend class BroadPhaseSystem; friend class CollisionDetectionSystem; friend class DynamicsSystem; + friend class OverlappingPairs; }; // Return the body entity of a given proxy-shape diff --git a/src/containers/List.h b/src/containers/List.h index 31f0dad6..40a1a776 100755 --- a/src/containers/List.h +++ b/src/containers/List.h @@ -353,27 +353,6 @@ class List { return Iterator(mBuffer, index, mSize); } - /// Remove an element from the list at a given index (the deleted item will be replaced by the last one of the list) - void removeAtAndReplaceWithLast(uint index) { - - assert(index >= 0 && index < mSize); - - // Call the destructor on the item to remove - (static_cast(mBuffer)[index]).~T(); - - // If the item to remove is not the last one - if (index < mSize - 1) { - - // Copy the last item of the array to the location of the deleted item - new (static_cast(mBuffer) + index * sizeof(T)) T(static_cast(mBuffer)[mSize - 1]); - - // Call the destructor of the last item of the array - (static_cast(mBuffer)[mSize - 1]).~T(); - } - - mSize--; - } - /// Append another list at the end of the current one void addRange(const List& list) { diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index d5886298..9be12337 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -251,8 +251,14 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { RP3D_PROFILE("OverlappingPairs::addPair()", mProfiler); - const CollisionShape* collisionShape1 = mProxyShapeComponents.getCollisionShape(shape1->getEntity()); - const CollisionShape* collisionShape2 = mProxyShapeComponents.getCollisionShape(shape2->getEntity()); + const Entity proxyShape1 = shape1->getEntity(); + const Entity proxyShape2 = shape2->getEntity(); + + const uint proxyShape1Index = mProxyShapeComponents.getEntityIndex(proxyShape1); + const uint proxyShape2Index = mProxyShapeComponents.getEntityIndex(proxyShape2); + + const CollisionShape* collisionShape1 = mProxyShapeComponents.mCollisionShapes[proxyShape1Index]; + const CollisionShape* collisionShape2 = mProxyShapeComponents.mCollisionShapes[proxyShape2Index]; const bool isShape1Convex = collisionShape1->isConvex(); const bool isShape2Convex = collisionShape2->isConvex(); @@ -297,10 +303,10 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { mMapPairIdToPairIndex.add(Pair(pairId, index)); // Add the involved overlapping pair to the two proxy-shapes - assert(mProxyShapeComponents.getOverlappingPairs(shape1->getEntity()).find(pairId) == mProxyShapeComponents.getOverlappingPairs(shape1->getEntity()).end()); - assert(mProxyShapeComponents.getOverlappingPairs(shape2->getEntity()).find(pairId) == mProxyShapeComponents.getOverlappingPairs(shape2->getEntity()).end()); - mProxyShapeComponents.getOverlappingPairs(shape1->getEntity()).add(pairId); - mProxyShapeComponents.getOverlappingPairs(shape2->getEntity()).add(pairId); + assert(mProxyShapeComponents.mOverlappingPairs[proxyShape1Index].find(pairId) == mProxyShapeComponents.mOverlappingPairs[proxyShape1Index].end()); + assert(mProxyShapeComponents.mOverlappingPairs[proxyShape2Index].find(pairId) == mProxyShapeComponents.mOverlappingPairs[proxyShape2Index].end()); + mProxyShapeComponents.mOverlappingPairs[proxyShape1Index].add(pairId); + mProxyShapeComponents.mOverlappingPairs[proxyShape2Index].add(pairId); mNbPairs++; diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index befdfa94..0da6697a 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -158,9 +158,12 @@ void CollisionDetectionSystem::updateOverlappingPairs(const ListgetCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) { @@ -1459,7 +1462,12 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, List Date: Tue, 26 Nov 2019 07:09:40 +0100 Subject: [PATCH 114/197] Remove code from List tests --- test/tests/containers/TestList.h | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/test/tests/containers/TestList.h b/test/tests/containers/TestList.h index 5fe650da..f827fe8a 100644 --- a/test/tests/containers/TestList.h +++ b/test/tests/containers/TestList.h @@ -190,22 +190,6 @@ class TestList : public Test { it = list3.remove(5); rp3d_test((*it) == 6); - list3.clear(); - list3.add(1); - list3.add(2); - list3.add(3); - list3.add(4); - list3.removeAtAndReplaceWithLast(3); - rp3d_test(list3.size() == 3); - rp3d_test(list3[2] == 3); - list3.removeAtAndReplaceWithLast(1); - rp3d_test(list3.size() == 2); - rp3d_test(list3[0] == 2); - rp3d_test(list3[1] == 3); - list3.removeAtAndReplaceWithLast(0); - rp3d_test(list3.size() == 1); - rp3d_test(list3[0] == 3); - // ----- Test addRange() ----- // List list4(mAllocator); From 2dfe254c86a9c3c9247a6a36e0522a5f0d048b66 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 27 Nov 2019 22:41:38 +0100 Subject: [PATCH 115/197] Use memory allocators from ecs branch --- CMakeLists.txt | 8 +-- src/memory/DefaultAllocator.h | 5 +- src/memory/MemoryAllocator.h | 29 +-------- src/memory/MemoryManager.cpp | 8 +-- src/memory/MemoryManager.h | 61 ++++++------------- ...ultPoolAllocator.cpp => PoolAllocator.cpp} | 18 +++--- ...DefaultPoolAllocator.h => PoolAllocator.h} | 12 ++-- ...Allocator.cpp => SingleFrameAllocator.cpp} | 33 +++++----- ...rameAllocator.h => SingleFrameAllocator.h} | 19 +++--- 9 files changed, 65 insertions(+), 128 deletions(-) rename src/memory/{DefaultPoolAllocator.cpp => PoolAllocator.cpp} (94%) rename src/memory/{DefaultPoolAllocator.h => PoolAllocator.h} (94%) rename src/memory/{DefaultSingleFrameAllocator.cpp => SingleFrameAllocator.cpp} (79%) rename src/memory/{DefaultSingleFrameAllocator.h => SingleFrameAllocator.h} (86%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 351600d0..24464719 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -166,8 +166,8 @@ SET (REACTPHYSICS3D_HEADERS "src/mathematics/Vector3.h" "src/mathematics/Ray.h" "src/memory/MemoryAllocator.h" - "src/memory/DefaultPoolAllocator.h" - "src/memory/DefaultSingleFrameAllocator.h" + "src/memory/PoolAllocator.h" + "src/memory/SingleFrameAllocator.h" "src/memory/DefaultAllocator.h" "src/memory/MemoryManager.h" "src/containers/Stack.h" @@ -263,8 +263,8 @@ SET (REACTPHYSICS3D_SOURCES "src/mathematics/Transform.cpp" "src/mathematics/Vector2.cpp" "src/mathematics/Vector3.cpp" - "src/memory/DefaultPoolAllocator.cpp" - "src/memory/DefaultSingleFrameAllocator.cpp" + "src/memory/PoolAllocator.cpp" + "src/memory/SingleFrameAllocator.cpp" "src/memory/MemoryManager.cpp" "src/utils/Profiler.cpp" "src/utils/Logger.cpp" diff --git a/src/memory/DefaultAllocator.h b/src/memory/DefaultAllocator.h index f3562928..ce4d1741 100644 --- a/src/memory/DefaultAllocator.h +++ b/src/memory/DefaultAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -39,8 +39,6 @@ namespace reactphysics3d { */ class DefaultAllocator : public MemoryAllocator { - protected: - public: /// Destructor @@ -61,7 +59,6 @@ class DefaultAllocator : public MemoryAllocator { /// Release previously allocated memory. virtual void release(void* pointer, size_t size) override { - free(pointer); } }; diff --git a/src/memory/MemoryAllocator.h b/src/memory/MemoryAllocator.h index 63712edd..9811387b 100644 --- a/src/memory/MemoryAllocator.h +++ b/src/memory/MemoryAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -57,33 +57,6 @@ class MemoryAllocator { virtual void release(void* pointer, size_t size)=0; }; -/** - * Abstract class with the basic interface of all single frames memory allocators - */ -class SingleFrameAllocator : public MemoryAllocator{ - - public: - - /// Constructor - SingleFrameAllocator() = default; - - /// Destructor - virtual ~SingleFrameAllocator() override = default; - - /// Assignment operator - SingleFrameAllocator& operator=(SingleFrameAllocator& allocator) = default; - - /// Allocate memory of a given size (in bytes) and return a pointer to the - /// allocated memory. - virtual void* allocate(size_t size) override =0; - - /// Release previously allocated memory. - virtual void release(void* pointer, size_t size) override =0; - - /// Reset the marker of the current allocated memory - virtual void reset()=0; -}; - } #endif diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index 8752c311..7dc80543 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -32,9 +32,3 @@ using namespace reactphysics3d; DefaultAllocator MemoryManager::mDefaultAllocator; MemoryAllocator* MemoryManager::mBaseAllocator = &mDefaultAllocator; -// Constructor -MemoryManager::MemoryManager() { - - mSingleFrameAllocator = &mDefaultSingleFrameAllocator; - mPoolAllocator = &mDefaultPoolAllocator; -} diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h index 423a5303..65797218 100644 --- a/src/memory/MemoryManager.h +++ b/src/memory/MemoryManager.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -28,9 +28,8 @@ // Libraries #include "memory/DefaultAllocator.h" -#include "memory/DefaultPoolAllocator.h" -#include "memory/MemoryAllocator.h" -#include "memory/DefaultSingleFrameAllocator.h" +#include "memory/PoolAllocator.h" +#include "memory/SingleFrameAllocator.h" /// Namespace ReactPhysics3D namespace reactphysics3d { @@ -46,24 +45,18 @@ class MemoryAllocator; class MemoryManager { private: - + /// Default malloc/free memory allocator static DefaultAllocator mDefaultAllocator; - - /// Default single frame memory allocator - DefaultSingleFrameAllocator mDefaultSingleFrameAllocator; - - /// Default pool memory allocator - DefaultPoolAllocator mDefaultPoolAllocator; /// Pointer to the base memory allocator to use static MemoryAllocator* mBaseAllocator; - /// Single frame stack allocator - SingleFrameAllocator* mSingleFrameAllocator; - /// Memory pool allocator - MemoryAllocator* mPoolAllocator; + PoolAllocator mPoolAllocator; + + /// Single frame stack allocator + SingleFrameAllocator mSingleFrameAllocator; public: @@ -75,7 +68,7 @@ class MemoryManager { }; /// Constructor - MemoryManager(); + MemoryManager() = default; /// Destructor ~MemoryManager() = default; @@ -87,23 +80,17 @@ class MemoryManager { void release(AllocationType allocationType, void* pointer, size_t size); /// Return the pool allocator - MemoryAllocator& getPoolAllocator(); + PoolAllocator& getPoolAllocator(); /// Return the single frame stack allocator SingleFrameAllocator& getSingleFrameAllocator(); /// Return the base memory allocator static MemoryAllocator& getBaseAllocator(); - + /// Set the base memory allocator static void setBaseAllocator(MemoryAllocator* memoryAllocator); - /// Set the single frame memory allocator - void setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator); - - /// Set the pool memory allocator - void setPoolAllocator(MemoryAllocator* poolAllocator); - /// Reset the single frame allocator void resetFrameAllocator(); }; @@ -113,8 +100,8 @@ inline void* MemoryManager::allocate(AllocationType allocationType, size_t size) switch (allocationType) { case AllocationType::Base: return mBaseAllocator->allocate(size); - case AllocationType::Pool: return mPoolAllocator->allocate(size); - case AllocationType::Frame: return mSingleFrameAllocator->allocate(size); + case AllocationType::Pool: return mPoolAllocator.allocate(size); + case AllocationType::Frame: return mSingleFrameAllocator.allocate(size); } return nullptr; @@ -125,19 +112,19 @@ inline void MemoryManager::release(AllocationType allocationType, void* pointer, switch (allocationType) { case AllocationType::Base: mBaseAllocator->release(pointer, size); break; - case AllocationType::Pool: mPoolAllocator->release(pointer, size); break; - case AllocationType::Frame: mSingleFrameAllocator->release(pointer, size); break; + case AllocationType::Pool: mPoolAllocator.release(pointer, size); break; + case AllocationType::Frame: mSingleFrameAllocator.release(pointer, size); break; } } // Return the pool allocator -inline MemoryAllocator& MemoryManager::getPoolAllocator() { - return *mPoolAllocator; +inline PoolAllocator& MemoryManager::getPoolAllocator() { + return mPoolAllocator; } // Return the single frame stack allocator inline SingleFrameAllocator& MemoryManager::getSingleFrameAllocator() { - return *mSingleFrameAllocator; + return mSingleFrameAllocator; } // Return the base memory allocator @@ -150,19 +137,9 @@ inline void MemoryManager::setBaseAllocator(MemoryAllocator* baseAllocator) { mBaseAllocator = baseAllocator; } -// Set the base memory allocator -inline void MemoryManager::setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator) { - mSingleFrameAllocator = singleFrameAllocator; -} - -// Set the pool memory allocator -inline void MemoryManager::setPoolAllocator(MemoryAllocator* poolAllocator) { - mPoolAllocator = poolAllocator; -} - // Reset the single frame allocator inline void MemoryManager::resetFrameAllocator() { - mSingleFrameAllocator->reset(); + mSingleFrameAllocator.reset(); } } diff --git a/src/memory/DefaultPoolAllocator.cpp b/src/memory/PoolAllocator.cpp similarity index 94% rename from src/memory/DefaultPoolAllocator.cpp rename to src/memory/PoolAllocator.cpp index 31892902..3126ff9e 100644 --- a/src/memory/DefaultPoolAllocator.cpp +++ b/src/memory/PoolAllocator.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "DefaultPoolAllocator.h" +#include "PoolAllocator.h" #include "MemoryManager.h" #include #include @@ -32,12 +32,12 @@ using namespace reactphysics3d; // Initialization of static variables -bool DefaultPoolAllocator::isMapSizeToHeadIndexInitialized = false; -size_t DefaultPoolAllocator::mUnitSizes[NB_HEAPS]; -int DefaultPoolAllocator::mMapSizeToHeapIndex[MAX_UNIT_SIZE + 1]; +bool PoolAllocator::isMapSizeToHeadIndexInitialized = false; +size_t PoolAllocator::mUnitSizes[NB_HEAPS]; +int PoolAllocator::mMapSizeToHeapIndex[MAX_UNIT_SIZE + 1]; // Constructor -DefaultPoolAllocator::DefaultPoolAllocator() { +PoolAllocator::PoolAllocator() { // Allocate some memory to manage the blocks mNbAllocatedMemoryBlocks = 64; @@ -79,7 +79,7 @@ DefaultPoolAllocator::DefaultPoolAllocator() { } // Destructor -DefaultPoolAllocator::~DefaultPoolAllocator() { +PoolAllocator::~PoolAllocator() { // Release the memory allocated for each block for (uint i=0; i 0); @@ -173,7 +173,7 @@ void* DefaultPoolAllocator::allocate(size_t size) { } // Release previously allocated memory. -void DefaultPoolAllocator::release(void* pointer, size_t size) { +void PoolAllocator::release(void* pointer, size_t size) { assert(size > 0); diff --git a/src/memory/DefaultPoolAllocator.h b/src/memory/PoolAllocator.h similarity index 94% rename from src/memory/DefaultPoolAllocator.h rename to src/memory/PoolAllocator.h index d1e93b91..27c4586d 100644 --- a/src/memory/DefaultPoolAllocator.h +++ b/src/memory/PoolAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -33,14 +33,14 @@ /// ReactPhysics3D namespace namespace reactphysics3d { -// Class DefaultPoolAllocator +// Class PoolAllocator /** * This class is used to efficiently allocate memory on the heap. * It allows us to allocate small blocks of memory (smaller or equal to 1024 bytes) * efficiently. This implementation is inspired by the small block allocator * described here : http://www.codeproject.com/useritems/Small_Block_Allocator.asp */ -class DefaultPoolAllocator : public MemoryAllocator { +class PoolAllocator : public MemoryAllocator { private : @@ -126,13 +126,13 @@ class DefaultPoolAllocator : public MemoryAllocator { // -------------------- Methods -------------------- // /// Constructor - DefaultPoolAllocator(); + PoolAllocator(); /// Destructor - virtual ~DefaultPoolAllocator() override; + virtual ~PoolAllocator() override; /// Assignment operator - DefaultPoolAllocator& operator=(DefaultPoolAllocator& allocator) = default; + PoolAllocator& operator=(PoolAllocator& allocator) = default; /// Allocate memory of a given size (in bytes) and return a pointer to the /// allocated memory. diff --git a/src/memory/DefaultSingleFrameAllocator.cpp b/src/memory/SingleFrameAllocator.cpp similarity index 79% rename from src/memory/DefaultSingleFrameAllocator.cpp rename to src/memory/SingleFrameAllocator.cpp index 8d1691e0..6ffe924b 100644 --- a/src/memory/DefaultSingleFrameAllocator.cpp +++ b/src/memory/SingleFrameAllocator.cpp @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "DefaultSingleFrameAllocator.h" +#include "SingleFrameAllocator.h" #include "MemoryManager.h" #include #include @@ -32,27 +32,26 @@ using namespace reactphysics3d; // Constructor -DefaultSingleFrameAllocator::DefaultSingleFrameAllocator() - : mBaseMemoryAllocator(&MemoryManager::getBaseAllocator()), - mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES), +SingleFrameAllocator::SingleFrameAllocator() + : mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES), mCurrentOffset(0), mNbFramesTooMuchAllocated(0), mNeedToAllocatedMore(false) { // Allocate a whole block of memory at the beginning - mMemoryBufferStart = static_cast(mBaseMemoryAllocator->allocate(mTotalSizeBytes)); + mMemoryBufferStart = static_cast(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes)); assert(mMemoryBufferStart != nullptr); } // Destructor -DefaultSingleFrameAllocator::~DefaultSingleFrameAllocator() { +SingleFrameAllocator::~SingleFrameAllocator() { // Release the memory allocated at the beginning - mBaseMemoryAllocator->release(mMemoryBufferStart, mTotalSizeBytes); + MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes); } // Allocate memory of a given size (in bytes) and return a pointer to the // allocated memory. -void* DefaultSingleFrameAllocator::allocate(size_t size) { +void* SingleFrameAllocator::allocate(size_t size) { // Check that there is enough remaining memory in the buffer if (mCurrentOffset + size > mTotalSizeBytes) { @@ -61,7 +60,7 @@ void* DefaultSingleFrameAllocator::allocate(size_t size) { mNeedToAllocatedMore = true; // Return default memory allocation - return mBaseMemoryAllocator->allocate(size); + return MemoryManager::getBaseAllocator().allocate(size); } // Next available memory location @@ -75,19 +74,19 @@ void* DefaultSingleFrameAllocator::allocate(size_t size) { } // Release previously allocated memory. -void DefaultSingleFrameAllocator::release(void* pointer, size_t size) { +void SingleFrameAllocator::release(void* pointer, size_t size) { // If allocated memory is not within the single frame allocation range char* p = static_cast(pointer); if (p < mMemoryBufferStart || p > mMemoryBufferStart + mTotalSizeBytes) { // Use default deallocation - mBaseMemoryAllocator->release(pointer, size); + MemoryManager::getBaseAllocator().release(pointer, size); } } // Reset the marker of the current allocated memory -void DefaultSingleFrameAllocator::reset() { +void SingleFrameAllocator::reset() { // If too much memory is allocated if (mCurrentOffset < mTotalSizeBytes / 2) { @@ -97,14 +96,14 @@ void DefaultSingleFrameAllocator::reset() { if (mNbFramesTooMuchAllocated > NB_FRAMES_UNTIL_SHRINK) { // Release the memory allocated at the beginning - mBaseMemoryAllocator->release(mMemoryBufferStart, mTotalSizeBytes); + MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes); // Divide the total memory to allocate by two mTotalSizeBytes /= 2; if (mTotalSizeBytes == 0) mTotalSizeBytes = 1; // Allocate a whole block of memory at the beginning - mMemoryBufferStart = static_cast(mBaseMemoryAllocator->allocate(mTotalSizeBytes)); + mMemoryBufferStart = static_cast(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes)); assert(mMemoryBufferStart != nullptr); mNbFramesTooMuchAllocated = 0; @@ -118,13 +117,13 @@ void DefaultSingleFrameAllocator::reset() { if (mNeedToAllocatedMore) { // Release the memory allocated at the beginning - mBaseMemoryAllocator->release(mMemoryBufferStart, mTotalSizeBytes); + MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes); // Multiply the total memory to allocate by two mTotalSizeBytes *= 2; // Allocate a whole block of memory at the beginning - mMemoryBufferStart = static_cast(mBaseMemoryAllocator->allocate(mTotalSizeBytes)); + mMemoryBufferStart = static_cast(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes)); assert(mMemoryBufferStart != nullptr); mNeedToAllocatedMore = false; diff --git a/src/memory/DefaultSingleFrameAllocator.h b/src/memory/SingleFrameAllocator.h similarity index 86% rename from src/memory/DefaultSingleFrameAllocator.h rename to src/memory/SingleFrameAllocator.h index b519fe74..599c0b65 100644 --- a/src/memory/DefaultSingleFrameAllocator.h +++ b/src/memory/SingleFrameAllocator.h @@ -1,6 +1,6 @@ /******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * +* Copyright (c) 2010-2018 Daniel Chappuis * ********************************************************************************* * * * This software is provided 'as-is', without any express or implied warranty. * @@ -33,12 +33,12 @@ /// ReactPhysics3D namespace namespace reactphysics3d { -// Class DefaultSingleFrameAllocator +// Class SingleFrameAllocator /** * This class represent a memory allocator used to efficiently allocate * memory on the heap that is used during a single frame. */ -class DefaultSingleFrameAllocator : public SingleFrameAllocator { +class SingleFrameAllocator : public MemoryAllocator { private : @@ -49,13 +49,10 @@ class DefaultSingleFrameAllocator : public SingleFrameAllocator { static const int NB_FRAMES_UNTIL_SHRINK = 120; /// Initial size (in bytes) of the single frame allocator - static const size_t INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES = 1048576; // 1Mb + size_t INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES = 1048576; // 1Mb // -------------------- Attributes -------------------- // - /// Cached memory allocator used on construction - MemoryAllocator* mBaseMemoryAllocator; - /// Total size (in bytes) of memory of the allocator size_t mTotalSizeBytes; @@ -77,13 +74,13 @@ class DefaultSingleFrameAllocator : public SingleFrameAllocator { // -------------------- Methods -------------------- // /// Constructor - DefaultSingleFrameAllocator(); + SingleFrameAllocator(); /// Destructor - virtual ~DefaultSingleFrameAllocator() override; + virtual ~SingleFrameAllocator() override; /// Assignment operator - DefaultSingleFrameAllocator& operator=(DefaultSingleFrameAllocator& allocator) = default; + SingleFrameAllocator& operator=(SingleFrameAllocator& allocator) = default; /// Allocate memory of a given size (in bytes) virtual void* allocate(size_t size) override; @@ -92,7 +89,7 @@ class DefaultSingleFrameAllocator : public SingleFrameAllocator { virtual void release(void* pointer, size_t size) override; /// Reset the marker of the current allocated memory - virtual void reset() override; + virtual void reset(); }; } From 45b02abaec97169a0975b9bbd36f3061a7dc7b3c Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 12 Dec 2019 07:13:27 +0100 Subject: [PATCH 116/197] Add PhysicsCommon class and use it as a factory for other library objects and add pile demo in testbed application --- CHANGELOG.md | 12 +- CMakeLists.txt | 2 + src/collision/PolyhedronMesh.cpp | 8 +- src/collision/PolyhedronMesh.h | 13 +- src/collision/TriangleMesh.cpp | 9 +- src/collision/TriangleMesh.h | 15 +- src/collision/shapes/BoxShape.cpp | 6 +- src/collision/shapes/BoxShape.h | 16 +- src/collision/shapes/CapsuleShape.h | 16 +- src/collision/shapes/ConcaveMeshShape.cpp | 4 +- src/collision/shapes/ConcaveMeshShape.h | 11 +- src/collision/shapes/ConvexMeshShape.h | 16 +- src/collision/shapes/HeightFieldShape.h | 17 +- src/collision/shapes/SphereShape.h | 16 +- src/collision/shapes/TriangleShape.h | 9 +- src/engine/CollisionWorld.cpp | 4 +- src/engine/CollisionWorld.h | 15 +- src/engine/DynamicsWorld.cpp | 2 +- src/engine/DynamicsWorld.h | 15 +- src/engine/PhysicsCommon.cpp | 340 +++++++++++++++++ src/engine/PhysicsCommon.h | 175 +++++++++ src/memory/MemoryManager.cpp | 11 +- src/memory/MemoryManager.h | 10 +- src/memory/PoolAllocator.cpp | 18 +- src/memory/PoolAllocator.h | 5 +- src/memory/SingleFrameAllocator.cpp | 22 +- src/memory/SingleFrameAllocator.h | 5 +- src/reactphysics3d.h | 1 + src/utils/Profiler.cpp | 42 ++- src/utils/Profiler.h | 13 +- test/tests/collision/TestCollisionWorld.h | 58 +-- test/tests/collision/TestDynamicAABBTree.h | 32 +- test/tests/collision/TestPointInside.h | 26 +- test/tests/collision/TestRaycast.h | 356 ++---------------- testbed/CMakeLists.txt | 2 + testbed/common/Box.cpp | 14 +- testbed/common/Box.h | 5 +- testbed/common/Capsule.cpp | 14 +- testbed/common/Capsule.h | 4 +- testbed/common/ConcaveMesh.cpp | 28 +- testbed/common/ConcaveMesh.h | 6 +- testbed/common/ConvexMesh.cpp | 20 +- testbed/common/ConvexMesh.h | 4 +- testbed/common/Dumbbell.cpp | 20 +- testbed/common/Dumbbell.h | 4 +- testbed/common/HeightField.cpp | 14 +- testbed/common/HeightField.h | 4 +- testbed/common/PhysicsObject.cpp | 5 +- testbed/common/PhysicsObject.h | 7 +- testbed/common/Sphere.cpp | 14 +- testbed/common/Sphere.h | 4 +- testbed/meshes/sandbox.obj | 116 ++++++ .../CollisionDetectionScene.cpp | 22 +- .../collisionshapes/CollisionShapesScene.cpp | 16 +- .../scenes/concavemesh/ConcaveMeshScene.cpp | 16 +- testbed/scenes/cubes/CubesScene.cpp | 8 +- testbed/scenes/cubestack/CubeStackScene.cpp | 8 +- .../scenes/heightfield/HeightFieldScene.cpp | 16 +- testbed/scenes/joints/JointsScene.cpp | 18 +- testbed/scenes/pile/PileScene.cpp | 272 +++++++++++++ testbed/scenes/pile/PileScene.h | 106 ++++++ testbed/scenes/raycast/RaycastScene.cpp | 18 +- testbed/src/Gui.cpp | 23 +- testbed/src/Gui.h | 10 +- testbed/src/SceneDemo.h | 2 + testbed/src/TestbedApplication.cpp | 16 +- testbed/src/TestbedApplication.h | 7 +- 67 files changed, 1515 insertions(+), 648 deletions(-) create mode 100644 src/engine/PhysicsCommon.cpp create mode 100644 src/engine/PhysicsCommon.h create mode 100644 testbed/meshes/sandbox.obj create mode 100644 testbed/scenes/pile/PileScene.cpp create mode 100644 testbed/scenes/pile/PileScene.h diff --git a/CHANGELOG.md b/CHANGELOG.md index 87f0a74b..b63b6457 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,16 @@ - The CollisionWorld::testOverlap() methods do not have the 'categoryMaskBits' parameter anymore. - Many methods in the EventListener class have changed. Check the user manual for more information. - The way to retrieve contacts from a CollisionCallbackInfo object has changed. Check the user manual for more information. + - Now, the collision shapes need be be created with the PhysicsWorld::createXXXShape() methods instead of using the constructor of the shape as before. For instance, you need to use the PhysicsWorld::createBoxShape() method to create a BoxShape. + - There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds. + - An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method. + - An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method. + - An instance of the CapsuleShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createCapsuleShape() method. + - An instance of the ConvexMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConvexMeshShape() method. + - An instance of the HeightFieldShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createHeightFieldShape() method. + - An instance of the ConcaveMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConcaveMeshShape() method. + - An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method. + - An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method. ### Removed @@ -24,7 +34,7 @@ - Make possible for the user to get vertices, normals and triangle indices of a ConcaveMeshShape - Make possible for the user to get vertices and height values of the HeightFieldShape - - Make possible for the user to use a custom single frame and pool memory allocator + - Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library ### Fixed diff --git a/CMakeLists.txt b/CMakeLists.txt index 24464719..7ec405f5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -128,6 +128,7 @@ SET (REACTPHYSICS3D_HEADERS "src/engine/Entity.h" "src/engine/EntityManager.h" "src/engine/CollisionWorld.h" + "src/engine/PhysicsCommon.h" "src/systems/ConstraintSolverSystem.h" "src/systems/ContactSolverSystem.h" "src/systems/DynamicsSystem.h" @@ -228,6 +229,7 @@ SET (REACTPHYSICS3D_SOURCES "src/constraint/Joint.cpp" "src/constraint/SliderJoint.cpp" "src/engine/CollisionWorld.cpp" + "src/engine/PhysicsCommon.cpp" "src/systems/ConstraintSolverSystem.cpp" "src/systems/ContactSolverSystem.cpp" "src/systems/DynamicsSystem.cpp" diff --git a/src/collision/PolyhedronMesh.cpp b/src/collision/PolyhedronMesh.cpp index 2a386e16..3245ff19 100644 --- a/src/collision/PolyhedronMesh.cpp +++ b/src/collision/PolyhedronMesh.cpp @@ -36,10 +36,8 @@ using namespace reactphysics3d; * Create a polyhedron mesh given an array of polygons. * @param polygonVertexArray Pointer to the array of polygons and their vertices */ -PolyhedronMesh::PolyhedronMesh(PolygonVertexArray* polygonVertexArray) - : mHalfEdgeStructure(MemoryManager::getBaseAllocator(), - polygonVertexArray->getNbFaces(), - polygonVertexArray->getNbVertices(), +PolyhedronMesh::PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator &allocator) + : mMemoryAllocator(allocator), mHalfEdgeStructure(allocator, polygonVertexArray->getNbFaces(), polygonVertexArray->getNbVertices(), (polygonVertexArray->getNbFaces() + polygonVertexArray->getNbVertices() - 2) * 2) { mPolygonVertexArray = polygonVertexArray; @@ -76,7 +74,7 @@ void PolyhedronMesh::createHalfEdgeStructure() { // Get the polygon face PolygonVertexArray::PolygonFace* face = mPolygonVertexArray->getPolygonFace(f); - List faceVertices(MemoryManager::getBaseAllocator(), face->nbVertices); + List faceVertices(mMemoryAllocator, face->nbVertices); // For each vertex of the face for (uint v=0; v < face->nbVertices; v++) { diff --git a/src/collision/PolyhedronMesh.h b/src/collision/PolyhedronMesh.h index 0a32614e..a5ae6114 100644 --- a/src/collision/PolyhedronMesh.h +++ b/src/collision/PolyhedronMesh.h @@ -47,6 +47,9 @@ class PolyhedronMesh { // -------------------- Attributes -------------------- // + /// Reference to the memory allocator + MemoryAllocator& mMemoryAllocator; + /// Pointer the the polygon vertex array with vertices and faces /// of the mesh PolygonVertexArray* mPolygonVertexArray; @@ -62,6 +65,9 @@ class PolyhedronMesh { // -------------------- Methods -------------------- // + /// Constructor + PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator& allocator); + /// Create the half-edge structure of the mesh void createHalfEdgeStructure(); @@ -75,9 +81,6 @@ class PolyhedronMesh { // -------------------- Methods -------------------- // - /// Constructor - PolyhedronMesh(PolygonVertexArray* polygonVertexArray); - /// Destructor ~PolyhedronMesh(); @@ -98,6 +101,10 @@ class PolyhedronMesh { /// Return the centroid of the polyhedron Vector3 getCentroid() const; + + // ---------- Friendship ---------- // + + friend class PhysicsCommon; }; // Return the number of vertices diff --git a/src/collision/TriangleMesh.cpp b/src/collision/TriangleMesh.cpp index 59bf2d1e..3596ba24 100644 --- a/src/collision/TriangleMesh.cpp +++ b/src/collision/TriangleMesh.cpp @@ -25,12 +25,15 @@ // Libraries #include "TriangleMesh.h" -#include "memory/MemoryManager.h" using namespace reactphysics3d; // Constructor -TriangleMesh::TriangleMesh() - : mTriangleArrays(MemoryManager::getBaseAllocator()) { +TriangleMesh::TriangleMesh(MemoryAllocator& allocator) : mTriangleArrays(allocator) { + +} + +// Destructor +TriangleMesh::~TriangleMesh() { } diff --git a/src/collision/TriangleMesh.h b/src/collision/TriangleMesh.h index d5708249..f70a7aae 100644 --- a/src/collision/TriangleMesh.h +++ b/src/collision/TriangleMesh.h @@ -29,12 +29,12 @@ // Libraries #include #include "containers/List.h" +#include "memory/MemoryAllocator.h" namespace reactphysics3d { // Declarations class TriangleVertexArray; -class MemoryManager; // Class TriangleMesh /** @@ -51,13 +51,13 @@ class TriangleMesh { /// All the triangle arrays of the mesh (one triangle array per part) List mTriangleArrays; + /// Constructor + TriangleMesh(reactphysics3d::MemoryAllocator& allocator); + public: - /// Constructor - TriangleMesh(); - /// Destructor - ~TriangleMesh() = default; + ~TriangleMesh(); /// Add a subpart of the mesh void addSubpart(TriangleVertexArray* triangleVertexArray); @@ -67,6 +67,11 @@ class TriangleMesh { /// Return the number of subparts of the mesh uint getNbSubparts() const; + + + // ---------- Friendship ---------- // + + friend class PhysicsCommon; }; // Add a subpart of the mesh diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index 32fe47ef..6abab88e 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -37,9 +37,9 @@ using namespace reactphysics3d; /** * @param extent The vector with the three extents of the box (in meters) */ -BoxShape::BoxShape(const Vector3& extent) +BoxShape::BoxShape(const Vector3& extent, MemoryAllocator& allocator) : ConvexPolyhedronShape(CollisionShapeName::BOX), mExtent(extent), - mHalfEdgeStructure(MemoryManager::getBaseAllocator(), 6, 8, 24) { + mHalfEdgeStructure(allocator, 6, 8, 24) { assert(extent.x > decimal(0.0)); assert(extent.y > decimal(0.0)); @@ -55,8 +55,6 @@ BoxShape::BoxShape(const Vector3& extent) mHalfEdgeStructure.addVertex(6); mHalfEdgeStructure.addVertex(7); - MemoryAllocator& allocator = MemoryManager::getBaseAllocator(); - // Faces List face0(allocator, 4); face0.add(0); face0.add(1); face0.add(2); face0.add(3); diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h index d0a5a151..3900f764 100644 --- a/src/collision/shapes/BoxShape.h +++ b/src/collision/shapes/BoxShape.h @@ -58,6 +58,9 @@ class BoxShape : public ConvexPolyhedronShape { // -------------------- Methods -------------------- // + /// Constructor + BoxShape(const Vector3& extent, MemoryAllocator& allocator); + /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -70,16 +73,13 @@ class BoxShape : public ConvexPolyhedronShape { /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; + /// Destructor + virtual ~BoxShape() override = default; + public : // -------------------- Methods -------------------- // - /// Constructor - BoxShape(const Vector3& extent); - - /// Destructor - virtual ~BoxShape() override = default; - /// Deleted copy-constructor BoxShape(const BoxShape& shape) = delete; @@ -124,6 +124,10 @@ class BoxShape : public ConvexPolyhedronShape { /// Return the string representation of the shape virtual std::string to_string() const override; + + // ----- Friendship ----- // + + friend class PhysicsCommon; }; // Return the extents of the box diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h index fed74a70..6eaded49 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/src/collision/shapes/CapsuleShape.h @@ -57,6 +57,9 @@ class CapsuleShape : public ConvexShape { // -------------------- Methods -------------------- // + /// Constructor + CapsuleShape(decimal radius, decimal height); + /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -74,16 +77,13 @@ class CapsuleShape : public ConvexShape { /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; + /// Destructor + virtual ~CapsuleShape() override = default; + public : // -------------------- Methods -------------------- // - /// Constructor - CapsuleShape(decimal radius, decimal height); - - /// Destructor - virtual ~CapsuleShape() override = default; - /// Deleted copy-constructor CapsuleShape(const CapsuleShape& shape) = delete; @@ -107,6 +107,10 @@ class CapsuleShape : public ConvexShape { /// Return the string representation of the shape virtual std::string to_string() const override; + + // ----- Friendship ----- // + + friend class PhysicsCommon; }; // Get the radius of the capsule diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 47c00b94..dd664b04 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -34,9 +34,9 @@ using namespace reactphysics3d; // Constructor -ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling) +ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling) // TODO : Do not use the default base allocator here - : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(MemoryManager::getBaseAllocator()), + : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(allocator), mScaling(scaling) { mTriangleMesh = triangleMesh; mRaycastTestType = TriangleRaycastSide::FRONT; diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index e898f5c7..3b6ac86d 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -146,6 +146,9 @@ class ConcaveMeshShape : public ConcaveShape { // -------------------- Methods -------------------- // + /// Constructor + ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling = Vector3(1, 1, 1)); + /// Raycast method with feedback information virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; @@ -169,14 +172,11 @@ class ConcaveMeshShape : public ConcaveShape { List &triangleVerticesNormals, List& shapeIds, MemoryAllocator& allocator) const override; - public: - - /// Constructor - ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1)); - /// Destructor virtual ~ConcaveMeshShape() override = default; + public: + /// Deleted copy-constructor ConcaveMeshShape(const ConcaveMeshShape& shape) = delete; @@ -215,6 +215,7 @@ class ConcaveMeshShape : public ConcaveShape { friend class ConvexTriangleAABBOverlapCallback; friend class ConcaveMeshRaycastCallback; + friend class PhysicsCommon; }; // Return the number of bytes used by the collision shape diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index 51106eac..9cf931fb 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -66,6 +66,9 @@ class ConvexMeshShape : public ConvexPolyhedronShape { // -------------------- Methods -------------------- // + /// Constructor + ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1)); + /// Recompute the bounds of the mesh void recalculateBounds(); @@ -81,16 +84,13 @@ class ConvexMeshShape : public ConvexPolyhedronShape { /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; + /// Destructor + virtual ~ConvexMeshShape() override = default; + public : // -------------------- Methods -------------------- // - /// Constructor - ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1)); - - /// Destructor - virtual ~ConvexMeshShape() override = default; - /// Deleted copy-constructor ConvexMeshShape(const ConvexMeshShape& shape) = delete; @@ -135,6 +135,10 @@ class ConvexMeshShape : public ConvexPolyhedronShape { /// Return the string representation of the shape virtual std::string to_string() const override; + + // ----- Friendship ----- // + + friend class PhysicsCommon; }; // Return the number of bytes used by the collision shape diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h index 6de59031..ef0b18d5 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/src/collision/shapes/HeightFieldShape.h @@ -96,6 +96,12 @@ class HeightFieldShape : public ConcaveShape { // -------------------- Methods -------------------- // + /// Constructor + HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, + const void* heightFieldData, HeightDataType dataType, + int upAxis = 1, decimal integerHeightScale = 1.0f, + const Vector3& scaling = Vector3(1,1,1)); + /// Raycast method with feedback information virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; @@ -119,17 +125,11 @@ class HeightFieldShape : public ConcaveShape { /// Compute the shape Id for a given triangle uint computeTriangleShapeId(uint iIndex, uint jIndex, uint secondTriangleIncrement) const; - public: - - /// Constructor - HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, - const void* heightFieldData, HeightDataType dataType, - int upAxis = 1, decimal integerHeightScale = 1.0f, - const Vector3& scaling = Vector3(1,1,1)); - /// Destructor virtual ~HeightFieldShape() override = default; + public: + /// Deleted copy-constructor HeightFieldShape(const HeightFieldShape& shape) = delete; @@ -172,6 +172,7 @@ class HeightFieldShape : public ConcaveShape { friend class ConvexTriangleAABBOverlapCallback; friend class ConcaveMeshRaycastCallback; + friend class PhysicsCommon; }; // Return the scaling factor diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h index 4faa9cc0..676780f3 100644 --- a/src/collision/shapes/SphereShape.h +++ b/src/collision/shapes/SphereShape.h @@ -50,6 +50,9 @@ class SphereShape : public ConvexShape { // -------------------- Methods -------------------- // + /// Constructor + SphereShape(decimal radius); + /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -62,16 +65,13 @@ class SphereShape : public ConvexShape { /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; + /// Destructor + virtual ~SphereShape() override = default; + public : // -------------------- Methods -------------------- // - /// Constructor - SphereShape(decimal radius); - - /// Destructor - virtual ~SphereShape() override = default; - /// Deleted copy-constructor SphereShape(const SphereShape& shape) = delete; @@ -95,6 +95,10 @@ class SphereShape : public ConvexShape { /// Return the string representation of the shape virtual std::string to_string() const override; + + // ----- Friendship ----- // + + friend class PhysicsCommon; }; // Get the radius of the sphere diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h index 4de8ea8c..504848b9 100644 --- a/src/collision/shapes/TriangleShape.h +++ b/src/collision/shapes/TriangleShape.h @@ -107,10 +107,6 @@ class TriangleShape : public ConvexPolyhedronShape { const Transform& worldToOtherShapeTransform, decimal penetrationDepth, bool isTriangleShape1, Vector3& outNewLocalContactPointOtherShape, Vector3& outSmoothWorldContactTriangleNormal) const; - public: - - // -------------------- Methods -------------------- // - /// Constructor TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint shapeId, MemoryAllocator& allocator); @@ -118,6 +114,10 @@ class TriangleShape : public ConvexPolyhedronShape { /// Destructor virtual ~TriangleShape() override = default; + public: + + // -------------------- Methods -------------------- // + /// Deleted copy-constructor TriangleShape(const TriangleShape& shape) = delete; @@ -181,6 +181,7 @@ class TriangleShape : public ConvexPolyhedronShape { friend class TriangleOverlapCallback; friend class MiddlePhaseTriangleCallback; friend class HeightFieldShape; + friend class CollisionDetectionSystem; }; // Return the number of bytes used by the collision shape diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 2169239d..7ba4151a 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -36,8 +36,8 @@ using namespace std; uint CollisionWorld::mNbWorlds = 0; // Constructor -CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) - : mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), +CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler, MemoryAllocator* baseMemoryAllocator) + : mMemoryManager(baseMemoryAllocator), mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 8bec62ec..8739f9cf 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -143,23 +143,23 @@ class CollisionWorld { // -------------------- Methods -------------------- // + /// Constructor + CollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, + Profiler* profiler = nullptr, MemoryAllocator* baseMemoryAllocator = nullptr); + /// Notify the world if a body is disabled (slepping or inactive) or not void setBodyDisabled(Entity entity, bool isDisabled); /// Notify the world whether a joint is disabled or not void setJointDisabled(Entity jointEntity, bool isDisabled); + /// Destructor + virtual ~CollisionWorld(); + public : // -------------------- Methods -------------------- // - /// Constructor - CollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, - Profiler* profiler = nullptr); - - /// Destructor - virtual ~CollisionWorld(); - /// Deleted copy-constructor CollisionWorld(const CollisionWorld& world) = delete; @@ -221,6 +221,7 @@ class CollisionWorld { // -------------------- Friendship -------------------- // + friend class PhysicsCommon; friend class CollisionDetectionSystem; friend class CollisionBody; friend class RigidBody; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 12052b91..8b050e6e 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -520,7 +520,7 @@ void DynamicsWorld::createIslands() { uint nbTotalManifolds = 0; - // For each dynamic component + // For each rigid body component for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) { // If the body has already been added to an island, we go to the next body diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 4671a55a..549d5573 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -100,6 +100,10 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Methods -------------------- // + /// Constructor + DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings(), + Logger* logger = nullptr, Profiler* profiler = nullptr); + /// Solve the contacts and constraints void solveContactsAndConstraints(decimal timeStep); @@ -118,17 +122,13 @@ class DynamicsWorld : public CollisionWorld { /// Add the joint to the list of joints of the two bodies involved in the joint void addJointToBodies(Entity body1, Entity body2, Entity joint); + /// Destructor + virtual ~DynamicsWorld() override; + public : // -------------------- Methods -------------------- // - /// Constructor - DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings(), - Logger* logger = nullptr, Profiler* profiler = nullptr); - - /// Destructor - virtual ~DynamicsWorld() override; - /// Deleted copy-constructor DynamicsWorld(const DynamicsWorld& world) = delete; @@ -212,6 +212,7 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Friendship -------------------- // + friend class PhysicsCommon; friend class RigidBody; friend class Joint; friend class BallAndSocketJoint; diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp new file mode 100644 index 00000000..8f72814b --- /dev/null +++ b/src/engine/PhysicsCommon.cpp @@ -0,0 +1,340 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2019 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "PhysicsCommon.h" + +using namespace reactphysics3d; + +/// Constructor +PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + : mMemoryManager(baseMemoryAllocator), mCollisionWorlds(mMemoryManager.getPoolAllocator()), + mDynamicsWorlds(mMemoryManager.getPoolAllocator()), mSphereShapes(mMemoryManager.getPoolAllocator()), + mBoxShapes(mMemoryManager.getPoolAllocator()), mCapsuleShapes(mMemoryManager.getPoolAllocator()), + mConvexMeshShapes(mMemoryManager.getPoolAllocator()), mConcaveMeshShapes(mMemoryManager.getPoolAllocator()), + mHeightFieldShapes(mMemoryManager.getPoolAllocator()), mPolyhedronMeshes(mMemoryManager.getPoolAllocator()), + mTriangleMeshes(mMemoryManager.getPoolAllocator()) { + +} + +// Destructor +PhysicsCommon::~PhysicsCommon() { + + // Release the allocated memory + release(); +} + +// Destroy and release everything that has been allocated +void PhysicsCommon::release() { + + // Destroy the collision worlds + for (auto it = mCollisionWorlds.begin(); it != mCollisionWorlds.end(); ++it) { + destroyCollisionWorld(*it); + } + + // Destroy the dynamics worlds + for (auto it = mDynamicsWorlds.begin(); it != mDynamicsWorlds.end(); ++it) { + destroyDynamicsWorld(*it); + } + + // Destroy the sphere shapes + for (auto it = mSphereShapes.begin(); it != mSphereShapes.end(); ++it) { + destroySphereShape(*it); + } + + // Destroy the box shapes + for (auto it = mBoxShapes.begin(); it != mBoxShapes.end(); ++it) { + destroyBoxShape(*it); + } + + // Destroy the capsule shapes + for (auto it = mCapsuleShapes.begin(); it != mCapsuleShapes.end(); ++it) { + destroyCapsuleShape(*it); + } + + // Destroy the convex mesh shapes + for (auto it = mConvexMeshShapes.begin(); it != mConvexMeshShapes.end(); ++it) { + destroyConvexMeshShape(*it); + } + + // Destroy the heigh-field shapes + for (auto it = mHeightFieldShapes.begin(); it != mHeightFieldShapes.end(); ++it) { + destroyHeightFieldShape(*it); + } + + // Destroy the concave mesh shapes + for (auto it = mConcaveMeshShapes.begin(); it != mConcaveMeshShapes.end(); ++it) { + destroyConcaveMeshShape(*it); + } + + // Destroy the polyhedron mesh + for (auto it = mPolyhedronMeshes.begin(); it != mPolyhedronMeshes.end(); ++it) { + destroyPolyhedronMesh(*it); + } + + // Destroy the triangle mesh + for (auto it = mTriangleMeshes.begin(); it != mTriangleMeshes.end(); ++it) { + destroyTriangleMesh(*it); + } +} + +// Create and return an instance of CollisionWorld +CollisionWorld* PhysicsCommon::createCollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { + + // TODO : Allocate in heap allocator here instead of pool + CollisionWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CollisionWorld))) CollisionWorld(worldSettings, logger, profiler); + mCollisionWorlds.add(world); + + return world; +} + +// Destroy an instance of CollisionWorld +void PhysicsCommon::destroyCollisionWorld(CollisionWorld* world) { + + // Call the destructor of the world + world->~CollisionWorld(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, world, sizeof(CollisionWorld)); + + mCollisionWorlds.remove(world); +} + +// Create and return an instance of DynamicsWorld +DynamicsWorld* PhysicsCommon::createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, + Logger* logger, Profiler* profiler) { + + // TODO : Allocate in heap allocator here instead of pool + DynamicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(DynamicsWorld))) DynamicsWorld(gravity, worldSettings, logger, profiler); + + mDynamicsWorlds.add(world); + + return world; +} + +// Destroy an instance of DynamicsWorld +DynamicsWorld* PhysicsCommon::destroyDynamicsWorld(DynamicsWorld* world) { + + // Call the destructor of the world + world->~DynamicsWorld(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, world, sizeof(DynamicsWorld)); + + mDynamicsWorlds.remove(world); +} + +// Create and return a sphere collision shape +SphereShape* PhysicsCommon::createSphereShape(const decimal radius) { + + SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius); + mSphereShapes.add(shape); + + return shape; +} + +// Destroy a sphere collision shape +void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) { + + // Call the destructor of the shape + sphereShape->~SphereShape(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, sphereShape, sizeof(SphereShape)); + + mSphereShapes.remove(sphereShape); +} + +// Create and return a box collision shape +BoxShape* PhysicsCommon::createBoxShape(const Vector3& extent) { + + // TODO : Pass heap allocator here in parameter + BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(extent, mMemoryManager.getPoolAllocator()); + + mBoxShapes.add(shape); + + return shape; +} + +// Destroy a box collision shape +void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) { + + // Call the destructor of the shape + boxShape->~BoxShape(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, boxShape, sizeof(BoxShape)); + + mBoxShapes.remove(boxShape); +} + +// Create and return a capsule shape +CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) { + + CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height); + + mCapsuleShapes.add(shape); + + return shape; +} + +// Destroy a capsule collision shape +void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) { + + // Call the destructor of the shape + capsuleShape->~CapsuleShape(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, capsuleShape, sizeof(CapsuleShape)); + + mCapsuleShapes.remove(capsuleShape); +} + +// Create and return a convex mesh shape +ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling) { + + ConvexMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConvexMeshShape))) ConvexMeshShape(polyhedronMesh, scaling); + + mConvexMeshShapes.add(shape); + + return shape; +} + +// Destroy a convex mesh shape +void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) { + + // Call the destructor of the shape + convexMeshShape->~ConvexMeshShape(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, convexMeshShape, sizeof(ConvexMeshShape)); + + mConvexMeshShapes.remove(convexMeshShape); +} + +// Create and return a height-field shape +HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, + const void* heightFieldData, HeightFieldShape::HeightDataType dataType, + int upAxis, decimal integerHeightScale, const Vector3& scaling) { + + HeightFieldShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HeightFieldShape))) HeightFieldShape(nbGridColumns, nbGridRows, minHeight, maxHeight, + heightFieldData, dataType, upAxis, integerHeightScale, scaling); + + mHeightFieldShapes.add(shape); + + return shape; +} + +// Destroy a height-field shape +void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) { + + // Call the destructor of the shape + heightFieldShape->~HeightFieldShape(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, heightFieldShape, sizeof(HeightFieldShape)); + + mHeightFieldShapes.remove(heightFieldShape); +} + +// Create and return a concave mesh shape +ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling) { + + // TODO : Pass heap allocator here in parameter + ConcaveMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConcaveMeshShape))) ConcaveMeshShape(triangleMesh, mMemoryManager.getPoolAllocator(), scaling); + + mConcaveMeshShapes.add(shape); + + return shape; +} + +// Destroy a concave mesh shape +void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) { + + // Call the destructor of the shape + concaveMeshShape->~ConcaveMeshShape(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, concaveMeshShape, sizeof(ConcaveMeshShape)); + + mConcaveMeshShapes.remove(concaveMeshShape); +} + +// Create a polyhedron mesh +PolyhedronMesh* PhysicsCommon::createPolyhedronMesh(PolygonVertexArray* polygonVertexArray) { + + // TODO : Pass heap allocator here in parameter + PolyhedronMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(PolyhedronMesh))) PolyhedronMesh(polygonVertexArray, mMemoryManager.getPoolAllocator()); + + mPolyhedronMeshes.add(mesh); + + return mesh; +} + +// Destroy a polyhedron mesh +void PhysicsCommon::destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh) { + + // Call the destructor of the shape + polyhedronMesh->~PolyhedronMesh(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, polyhedronMesh, sizeof(PolyhedronMesh)); + + mPolyhedronMeshes.remove(polyhedronMesh); +} + +// Create a triangle mesh +TriangleMesh* PhysicsCommon::createTriangleMesh() { + + // TODO : Pass heap allocator here in parameter + TriangleMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(TriangleMesh))) TriangleMesh(mMemoryManager.getPoolAllocator()); + + mTriangleMeshes.add(mesh); + + return mesh; +} + +// Destroy a triangle mesh +void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { + + // Call the destructor of the shape + triangleMesh->~TriangleMesh(); + + // Release allocated memory + // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, triangleMesh, sizeof(TriangleMesh)); + + mTriangleMeshes.remove(triangleMesh); +} diff --git a/src/engine/PhysicsCommon.h b/src/engine/PhysicsCommon.h new file mode 100644 index 00000000..e64b37d0 --- /dev/null +++ b/src/engine/PhysicsCommon.h @@ -0,0 +1,175 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2019 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_PHYSICS_COMMON_H +#define REACTPHYSICS3D_PHYSICS_COMMON_H + +// Libraries +#include "memory/MemoryManager.h" +#include "engine/CollisionWorld.h" +#include "engine/DynamicsWorld.h" +#include "collision/shapes/SphereShape.h" +#include "collision/shapes/BoxShape.h" +#include "collision/shapes/CapsuleShape.h" +#include "collision/shapes/HeightFieldShape.h" +#include "collision/shapes/ConvexMeshShape.h" +#include "collision/shapes/ConcaveMeshShape.h" +#include "collision/TriangleMesh.h" + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class PhysicsCommon +/** + * This class is a singleton that needs to be instanciated once at the beginning. + * Then this class is used by the user as a factory to create the physics world and + * other objects. + */ +class PhysicsCommon { + + private : + + // -------------------- Attributes -------------------- // + + /// Memory manager + MemoryManager mMemoryManager; + + /// Set of collision worlds + Set mCollisionWorlds; + + /// Set of dynamics worlds + Set mDynamicsWorlds; + + /// Set of sphere shapes + Set mSphereShapes; + + /// Set of box shapes + Set mBoxShapes; + + /// Set of capsule shapes + Set mCapsuleShapes; + + /// Set of convex mesh shapes + Set mConvexMeshShapes; + + /// Set of concave mesh shapes + Set mConcaveMeshShapes; + + /// Set of height field shapes + Set mHeightFieldShapes; + + /// Set of polyhedron meshes + Set mPolyhedronMeshes; + + /// Set of triangle meshes + Set mTriangleMeshes; + + // -------------------- Methods -------------------- // + + /// Destroy and release everything that has been allocated + void release(); + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + /** + * @param baseMemoryAllocator Pointer to a user custom memory allocator + */ + PhysicsCommon(MemoryAllocator* baseMemoryAllocator = nullptr); + + /// Destructor + ~PhysicsCommon(); + + /// Create and return an instance of CollisionWorld + CollisionWorld* createCollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, + Profiler* profiler = nullptr); + + /// Destroy an instance of CollisionWorld + void destroyCollisionWorld(CollisionWorld* world); + + /// Create and return an instance of DynamicsWorld + DynamicsWorld* createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings = WorldSettings(), + Logger* logger = nullptr, Profiler* profiler = nullptr); + + /// Destroy an instance of DynamicsWorld + DynamicsWorld* destroyDynamicsWorld(DynamicsWorld* world); + + /// Create and return a sphere collision shape + SphereShape* createSphereShape(const decimal radius); + + /// Destroy a sphere collision shape + void destroySphereShape(SphereShape* sphereShape); + + /// Create and return a box collision shape + BoxShape* createBoxShape(const Vector3& extent); + + /// Destroy a box collision shape + void destroyBoxShape(BoxShape* boxShape); + + /// Create and return a capsule shape + CapsuleShape* createCapsuleShape(decimal radius, decimal height); + + /// Destroy a capsule collision shape + void destroyCapsuleShape(CapsuleShape* capsuleShape); + + /// Create and return a convex mesh shape + ConvexMeshShape* createConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1)); + + /// Destroy a convex mesh shape + void destroyConvexMeshShape(ConvexMeshShape* convexMeshShape); + + /// Create and return a height-field shape + HeightFieldShape* createHeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, + const void* heightFieldData, HeightFieldShape::HeightDataType dataType, + int upAxis = 1, decimal integerHeightScale = 1.0f, + const Vector3& scaling = Vector3(1,1,1)); + + /// Destroy a height-field shape + void destroyHeightFieldShape(HeightFieldShape* heightFieldShape); + + /// Create and return a concave mesh shape + ConcaveMeshShape* createConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1)); + + /// Destroy a concave mesh shape + void destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape); + + /// Create a polyhedron mesh + PolyhedronMesh* createPolyhedronMesh(PolygonVertexArray* polygonVertexArray); + + /// Destroy a polyhedron mesh + void destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh); + + /// Create a triangle mesh + TriangleMesh* createTriangleMesh(); + + /// Destroy a triangle mesh + void destroyTriangleMesh(TriangleMesh* triangleMesh); +}; + +} + +#endif diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index 7dc80543..bc197ac6 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -24,11 +24,14 @@ ********************************************************************************/ // Libraries -#include "MemoryManager.h" +#include "memory/MemoryManager.h" using namespace reactphysics3d; -// Static variables -DefaultAllocator MemoryManager::mDefaultAllocator; -MemoryAllocator* MemoryManager::mBaseAllocator = &mDefaultAllocator; +// Constructor +MemoryManager::MemoryManager(MemoryAllocator* baseAllocator) : + mBaseAllocator(baseAllocator == nullptr ? &mDefaultAllocator : baseAllocator), + mPoolAllocator(baseAllocator == nullptr ? mDefaultAllocator : *baseAllocator), + mSingleFrameAllocator(baseAllocator == nullptr ? mDefaultAllocator : *baseAllocator) { +} diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h index 65797218..ae8d4f3e 100644 --- a/src/memory/MemoryManager.h +++ b/src/memory/MemoryManager.h @@ -47,10 +47,10 @@ class MemoryManager { private: /// Default malloc/free memory allocator - static DefaultAllocator mDefaultAllocator; + DefaultAllocator mDefaultAllocator; /// Pointer to the base memory allocator to use - static MemoryAllocator* mBaseAllocator; + MemoryAllocator* mBaseAllocator; /// Memory pool allocator PoolAllocator mPoolAllocator; @@ -68,7 +68,7 @@ class MemoryManager { }; /// Constructor - MemoryManager() = default; + MemoryManager(MemoryAllocator* baseAllocator); /// Destructor ~MemoryManager() = default; @@ -86,10 +86,10 @@ class MemoryManager { SingleFrameAllocator& getSingleFrameAllocator(); /// Return the base memory allocator - static MemoryAllocator& getBaseAllocator(); + MemoryAllocator& getBaseAllocator(); /// Set the base memory allocator - static void setBaseAllocator(MemoryAllocator* memoryAllocator); + void setBaseAllocator(MemoryAllocator* memoryAllocator); /// Reset the single frame allocator void resetFrameAllocator(); diff --git a/src/memory/PoolAllocator.cpp b/src/memory/PoolAllocator.cpp index 3126ff9e..6ae8aecc 100644 --- a/src/memory/PoolAllocator.cpp +++ b/src/memory/PoolAllocator.cpp @@ -37,13 +37,13 @@ size_t PoolAllocator::mUnitSizes[NB_HEAPS]; int PoolAllocator::mMapSizeToHeapIndex[MAX_UNIT_SIZE + 1]; // Constructor -PoolAllocator::PoolAllocator() { +PoolAllocator::PoolAllocator(MemoryAllocator& baseAllocator) : mBaseAllocator(baseAllocator) { // Allocate some memory to manage the blocks mNbAllocatedMemoryBlocks = 64; mNbCurrentMemoryBlocks = 0; const size_t sizeToAllocate = mNbAllocatedMemoryBlocks * sizeof(MemoryBlock); - mMemoryBlocks = static_cast(MemoryManager::getBaseAllocator().allocate(sizeToAllocate)); + mMemoryBlocks = static_cast(baseAllocator.allocate(sizeToAllocate)); memset(mMemoryBlocks, 0, sizeToAllocate); memset(mFreeMemoryUnits, 0, sizeof(mFreeMemoryUnits)); @@ -83,10 +83,10 @@ PoolAllocator::~PoolAllocator() { // Release the memory allocated for each block for (uint i=0; i MAX_UNIT_SIZE) { // Allocate memory using default allocation - return MemoryManager::getBaseAllocator().allocate(size); + return mBaseAllocator.allocate(size); } // Get the index of the heap that will take care of the allocation request @@ -136,16 +136,16 @@ void* PoolAllocator::allocate(size_t size) { // Allocate more memory to contain the blocks MemoryBlock* currentMemoryBlocks = mMemoryBlocks; mNbAllocatedMemoryBlocks += 64; - mMemoryBlocks = static_cast(MemoryManager::getBaseAllocator().allocate(mNbAllocatedMemoryBlocks * sizeof(MemoryBlock))); + mMemoryBlocks = static_cast(mBaseAllocator.allocate(mNbAllocatedMemoryBlocks * sizeof(MemoryBlock))); memcpy(mMemoryBlocks, currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock)); memset(mMemoryBlocks + mNbCurrentMemoryBlocks, 0, 64 * sizeof(MemoryBlock)); - MemoryManager::getBaseAllocator().release(currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock)); + mBaseAllocator.release(currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock)); } // Allocate a new memory blocks for the corresponding heap and divide it in many // memory units MemoryBlock* newBlock = mMemoryBlocks + mNbCurrentMemoryBlocks; - newBlock->memoryUnits = static_cast(MemoryManager::getBaseAllocator().allocate(BLOCK_SIZE)); + newBlock->memoryUnits = static_cast(mBaseAllocator.allocate(BLOCK_SIZE)); assert(newBlock->memoryUnits != nullptr); size_t unitSize = mUnitSizes[indexHeap]; uint nbUnits = BLOCK_SIZE / unitSize; @@ -188,7 +188,7 @@ void PoolAllocator::release(void* pointer, size_t size) { if (size > MAX_UNIT_SIZE) { // Release the memory using the default deallocation - MemoryManager::getBaseAllocator().release(pointer, size); + mBaseAllocator.release(pointer, size); return; } diff --git a/src/memory/PoolAllocator.h b/src/memory/PoolAllocator.h index 27c4586d..cfeb2726 100644 --- a/src/memory/PoolAllocator.h +++ b/src/memory/PoolAllocator.h @@ -101,6 +101,9 @@ class PoolAllocator : public MemoryAllocator { /// True if the mMapSizeToHeapIndex array has already been initialized static bool isMapSizeToHeadIndexInitialized; + /// Base memory allocator + MemoryAllocator& mBaseAllocator; + /// Pointers to the first free memory unit for each heap MemoryUnit* mFreeMemoryUnits[NB_HEAPS]; @@ -126,7 +129,7 @@ class PoolAllocator : public MemoryAllocator { // -------------------- Methods -------------------- // /// Constructor - PoolAllocator(); + PoolAllocator(MemoryAllocator& baseAllocator); /// Destructor virtual ~PoolAllocator() override; diff --git a/src/memory/SingleFrameAllocator.cpp b/src/memory/SingleFrameAllocator.cpp index 6ffe924b..94b6aa0c 100644 --- a/src/memory/SingleFrameAllocator.cpp +++ b/src/memory/SingleFrameAllocator.cpp @@ -32,12 +32,12 @@ using namespace reactphysics3d; // Constructor -SingleFrameAllocator::SingleFrameAllocator() - : mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES), - mCurrentOffset(0), mNbFramesTooMuchAllocated(0), mNeedToAllocatedMore(false) { +SingleFrameAllocator::SingleFrameAllocator(MemoryAllocator& baseAllocator) : mBaseAllocator(baseAllocator), + mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES), + mCurrentOffset(0), mNbFramesTooMuchAllocated(0), mNeedToAllocatedMore(false) { // Allocate a whole block of memory at the beginning - mMemoryBufferStart = static_cast(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes)); + mMemoryBufferStart = static_cast(mBaseAllocator.allocate(mTotalSizeBytes)); assert(mMemoryBufferStart != nullptr); } @@ -45,7 +45,7 @@ SingleFrameAllocator::SingleFrameAllocator() SingleFrameAllocator::~SingleFrameAllocator() { // Release the memory allocated at the beginning - MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes); + mBaseAllocator.release(mMemoryBufferStart, mTotalSizeBytes); } @@ -60,7 +60,7 @@ void* SingleFrameAllocator::allocate(size_t size) { mNeedToAllocatedMore = true; // Return default memory allocation - return MemoryManager::getBaseAllocator().allocate(size); + return mBaseAllocator.allocate(size); } // Next available memory location @@ -81,7 +81,7 @@ void SingleFrameAllocator::release(void* pointer, size_t size) { if (p < mMemoryBufferStart || p > mMemoryBufferStart + mTotalSizeBytes) { // Use default deallocation - MemoryManager::getBaseAllocator().release(pointer, size); + mBaseAllocator.release(pointer, size); } } @@ -96,14 +96,14 @@ void SingleFrameAllocator::reset() { if (mNbFramesTooMuchAllocated > NB_FRAMES_UNTIL_SHRINK) { // Release the memory allocated at the beginning - MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes); + mBaseAllocator.release(mMemoryBufferStart, mTotalSizeBytes); // Divide the total memory to allocate by two mTotalSizeBytes /= 2; if (mTotalSizeBytes == 0) mTotalSizeBytes = 1; // Allocate a whole block of memory at the beginning - mMemoryBufferStart = static_cast(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes)); + mMemoryBufferStart = static_cast(mBaseAllocator.allocate(mTotalSizeBytes)); assert(mMemoryBufferStart != nullptr); mNbFramesTooMuchAllocated = 0; @@ -117,13 +117,13 @@ void SingleFrameAllocator::reset() { if (mNeedToAllocatedMore) { // Release the memory allocated at the beginning - MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes); + mBaseAllocator.release(mMemoryBufferStart, mTotalSizeBytes); // Multiply the total memory to allocate by two mTotalSizeBytes *= 2; // Allocate a whole block of memory at the beginning - mMemoryBufferStart = static_cast(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes)); + mMemoryBufferStart = static_cast(mBaseAllocator.allocate(mTotalSizeBytes)); assert(mMemoryBufferStart != nullptr); mNeedToAllocatedMore = false; diff --git a/src/memory/SingleFrameAllocator.h b/src/memory/SingleFrameAllocator.h index 599c0b65..7db915a2 100644 --- a/src/memory/SingleFrameAllocator.h +++ b/src/memory/SingleFrameAllocator.h @@ -53,6 +53,9 @@ class SingleFrameAllocator : public MemoryAllocator { // -------------------- Attributes -------------------- // + /// Reference to the base memory allocator + MemoryAllocator& mBaseAllocator; + /// Total size (in bytes) of memory of the allocator size_t mTotalSizeBytes; @@ -74,7 +77,7 @@ class SingleFrameAllocator : public MemoryAllocator { // -------------------- Methods -------------------- // /// Constructor - SingleFrameAllocator(); + SingleFrameAllocator(MemoryAllocator& baseAllocator); /// Destructor virtual ~SingleFrameAllocator() override; diff --git a/src/reactphysics3d.h b/src/reactphysics3d.h index 24c95965..a18cff7b 100644 --- a/src/reactphysics3d.h +++ b/src/reactphysics3d.h @@ -39,6 +39,7 @@ #include "mathematics/mathematics.h" #include "body/CollisionBody.h" #include "body/RigidBody.h" +#include "engine/PhysicsCommon.h" #include "engine/DynamicsWorld.h" #include "engine/CollisionWorld.h" #include "engine/Material.h" diff --git a/src/utils/Profiler.cpp b/src/utils/Profiler.cpp index 0bae856e..879d12d5 100644 --- a/src/utils/Profiler.cpp +++ b/src/utils/Profiler.cpp @@ -155,11 +155,15 @@ void ProfileNodeIterator::enterParent() { } // Constructor -Profiler::Profiler() :mRootNode("Root", nullptr), mDestinations(MemoryManager::getBaseAllocator()) { +Profiler::Profiler() :mRootNode("Root", nullptr) { mCurrentNode = &mRootNode; + mNbDestinations = 0; + mNbAllocatedDestinations = 0; mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L; mFrameCounter = 0; + + allocatedDestinations(1); } // Destructor @@ -174,11 +178,11 @@ Profiler::~Profiler() { void Profiler::removeAllDestinations() { // Delete all the destinations - for (uint i=0; igetOutputStream()); + printRecursiveNodeReport(iterator, 0, mDestinations[i]->getOutputStream()); // Destroy the iterator destroyIterator(iterator); @@ -232,15 +236,39 @@ void Profiler::printReport() { // Add a file destination to the profiler void Profiler::addFileDestination(const std::string& filePath, Format format) { + if (mNbAllocatedDestinations == mNbDestinations) { + allocatedDestinations(mNbAllocatedDestinations * 2); + } + FileDestination* destination = new FileDestination(filePath, format); - mDestinations.add(destination); + mDestinations[mNbDestinations] = destination; + + mNbDestinations++; +} + +// Allocate memory for the destinations +void Profiler::allocatedDestinations(uint nbDestinationsToAllocate) { + + if (mNbAllocatedDestinations >= nbDestinationsToAllocate) return; + + Destination** newArray = static_cast(std::malloc(nbDestinationsToAllocate * sizeof(Destination*))); + std::memcpy(newArray, mDestinations, mNbAllocatedDestinations * sizeof(Destination*)); + + mDestinations = newArray; + mNbAllocatedDestinations = nbDestinationsToAllocate; } // Add a stream destination to the profiler void Profiler::addStreamDestination(std::ostream& outputStream, Format format) { + if (mNbAllocatedDestinations == mNbDestinations) { + allocatedDestinations(mNbAllocatedDestinations * 2); + } + StreamDestination* destination = new StreamDestination(outputStream, format); - mDestinations.add(destination); + mDestinations[mNbDestinations] = destination; + + mNbDestinations++; } // Recursively print the report of a given node of the profiler tree diff --git a/src/utils/Profiler.h b/src/utils/Profiler.h index 5cb22309..b1f583f7 100644 --- a/src/utils/Profiler.h +++ b/src/utils/Profiler.h @@ -291,8 +291,14 @@ class Profiler { /// Starting profiling time long double mProfilingStartTime; - /// All the output destinations - List mDestinations; + /// Number of allocated destinations + uint mNbAllocatedDestinations; + + /// Number of destinations + uint mNbDestinations; + + /// Array with all the output destinations + Destination** mDestinations; /// Recursively print the report of a given node of the profiler tree void printRecursiveNodeReport(ProfileNodeIterator* iterator, int spacing, @@ -336,6 +342,9 @@ class Profiler { /// Return an iterator over the profiler tree starting at the root ProfileNodeIterator* getIterator(); + // Allocate memory for the destinations + void allocatedDestinations(uint nbDestinationsToAllocate); + // Add a file destination to the profiler void addFileDestination(const std::string& filePath, Format format); diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 3a218d1c..63cf0280 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -265,6 +265,8 @@ class TestCollisionWorld : public Test { // ---------- Atributes ---------- // + PhysicsCommon mPhysicsCommon; + // Physics world CollisionWorld* mWorld; @@ -330,37 +332,37 @@ class TestCollisionWorld : public Test { TestCollisionWorld(const std::string& name) : Test(name) { // Create the collision world - mWorld = new CollisionWorld(); + mWorld = mPhysicsCommon.createCollisionWorld(); // ---------- Boxes ---------- // Transform boxTransform1(Vector3(-20, 20, 0), Quaternion::identity()); mBoxBody1 = mWorld->createCollisionBody(boxTransform1); - mBoxShape1 = new BoxShape(Vector3(3, 3, 3)); + mBoxShape1 = mPhysicsCommon.createBoxShape(Vector3(3, 3, 3)); mBoxProxyShape1 = mBoxBody1->addCollisionShape(mBoxShape1, Transform::identity()); Transform boxTransform2(Vector3(-10, 20, 0), Quaternion::identity()); mBoxBody2 = mWorld->createCollisionBody(boxTransform2); - mBoxShape2 = new BoxShape(Vector3(4, 2, 8)); + mBoxShape2 = mPhysicsCommon.createBoxShape(Vector3(4, 2, 8)); mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape2, Transform::identity()); // ---------- Spheres ---------- // - mSphereShape1 = new SphereShape(3.0); + mSphereShape1 = mPhysicsCommon.createSphereShape(3.0); Transform sphereTransform1(Vector3(10, 20, 0), Quaternion::identity()); mSphereBody1 = mWorld->createCollisionBody(sphereTransform1); mSphereProxyShape1 = mSphereBody1->addCollisionShape(mSphereShape1, Transform::identity()); - mSphereShape2 = new SphereShape(5.0); + mSphereShape2 = mPhysicsCommon.createSphereShape(5.0); Transform sphereTransform2(Vector3(20, 20, 0), Quaternion::identity()); mSphereBody2 = mWorld->createCollisionBody(sphereTransform2); mSphereProxyShape2 = mSphereBody2->addCollisionShape(mSphereShape2, Transform::identity()); // ---------- Capsules ---------- // - mCapsuleShape1 = new CapsuleShape(2, 6); + mCapsuleShape1 = mPhysicsCommon.createCapsuleShape(2, 6); Transform capsuleTransform1(Vector3(-10, 0, 0), Quaternion::identity()); mCapsuleBody1 = mWorld->createCollisionBody(capsuleTransform1); mCapsuleProxyShape1 = mCapsuleBody1->addCollisionShape(mCapsuleShape1, Transform::identity()); - mCapsuleShape2 = new CapsuleShape(3, 4); + mCapsuleShape2 = mPhysicsCommon.createCapsuleShape(3, 4); Transform capsuleTransform2(Vector3(-20, 0, 0), Quaternion::identity()); mCapsuleBody2 = mWorld->createCollisionBody(capsuleTransform2); mCapsuleProxyShape2 = mCapsuleBody2->addCollisionShape(mCapsuleShape2, Transform::identity()); @@ -393,8 +395,8 @@ class TestCollisionWorld : public Test { &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); - mConvexMesh1PolyhedronMesh = new rp3d::PolyhedronMesh(mConvexMesh1PolygonVertexArray); - mConvexMeshShape1 = new rp3d::ConvexMeshShape(mConvexMesh1PolyhedronMesh); + mConvexMesh1PolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMesh1PolygonVertexArray); + mConvexMeshShape1 = mPhysicsCommon.createConvexMeshShape(mConvexMesh1PolyhedronMesh); Transform convexMeshTransform1(Vector3(10, 0, 0), Quaternion::identity()); mConvexMeshBody1 = mWorld->createCollisionBody(convexMeshTransform1); mConvexMeshProxyShape1 = mConvexMeshBody1->addCollisionShape(mConvexMeshShape1, Transform::identity()); @@ -412,8 +414,8 @@ class TestCollisionWorld : public Test { &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); - mConvexMesh2PolyhedronMesh = new rp3d::PolyhedronMesh(mConvexMesh2PolygonVertexArray); - mConvexMeshShape2 = new rp3d::ConvexMeshShape(mConvexMesh2PolyhedronMesh); + mConvexMesh2PolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMesh2PolygonVertexArray); + mConvexMeshShape2 = mPhysicsCommon.createConvexMeshShape(mConvexMesh2PolyhedronMesh); Transform convexMeshTransform2(Vector3(20, 0, 0), Quaternion::identity()); mConvexMeshBody2 = mWorld->createCollisionBody(convexMeshTransform2); mConvexMeshProxyShape2 = mConvexMeshBody2->addCollisionShape(mConvexMeshShape2, Transform::identity()); @@ -449,9 +451,9 @@ class TestCollisionWorld : public Test { // Add the triangle vertex array of the subpart to the triangle mesh Transform concaveMeshTransform(Vector3(0, -20, 0), Quaternion::identity()); - mConcaveTriangleMesh = new TriangleMesh(); + mConcaveTriangleMesh = mPhysicsCommon.createTriangleMesh(); mConcaveTriangleMesh->addSubpart(mConcaveMeshTriangleVertexArray); - mConcaveMeshShape = new rp3d::ConcaveMeshShape(mConcaveTriangleMesh); + mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh); mConcaveMeshBody = mWorld->createCollisionBody(concaveMeshTransform); mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, rp3d::Transform::identity()); } @@ -459,28 +461,32 @@ class TestCollisionWorld : public Test { /// Destructor virtual ~TestCollisionWorld() { - delete mBoxShape1; - delete mBoxShape2; + mPhysicsCommon.destroyBoxShape(mBoxShape1); + mPhysicsCommon.destroyBoxShape(mBoxShape2); - delete mSphereShape1; - delete mSphereShape2; + mPhysicsCommon.destroySphereShape(mSphereShape1); + mPhysicsCommon.destroySphereShape(mSphereShape2); - delete mCapsuleShape1; - delete mCapsuleShape2; + mPhysicsCommon.destroyCapsuleShape(mCapsuleShape1); + mPhysicsCommon.destroyCapsuleShape(mCapsuleShape2); + + mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape1); + mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape2); + + mPhysicsCommon.destroyPolyhedronMesh(mConvexMesh1PolyhedronMesh); + mPhysicsCommon.destroyPolyhedronMesh(mConvexMesh2PolyhedronMesh); - delete mConvexMeshShape1; - delete mConvexMeshShape2; - delete mConvexMesh1PolyhedronMesh; - delete mConvexMesh2PolyhedronMesh; delete mConvexMesh1PolygonVertexArray; delete mConvexMesh2PolygonVertexArray; delete[] mConvexMeshPolygonFaces; - delete mConcaveMeshShape; - delete mConcaveTriangleMesh; + mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape); + + mPhysicsCommon.destroyTriangleMesh(mConcaveTriangleMesh); + delete mConcaveMeshTriangleVertexArray; - delete mWorld; + mPhysicsCommon.destroyCollisionWorld(mWorld); } /// Run the tests diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 5e5033b7..5c39fb99 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -30,6 +30,7 @@ #include "Test.h" #include "collision/broadphase/DynamicAABBTree.h" #include "memory/MemoryManager.h" +#include "engine/PhysicsCommon.h" #include "utils/Profiler.h" #include @@ -57,6 +58,28 @@ class DynamicTreeRaycastCallback : public DynamicAABBTreeRaycastCallback { } }; +class DefaultTestTreeAllocator : public MemoryAllocator { + + public: + + /// Destructor + virtual ~DefaultTestTreeAllocator() override = default; + + /// Assignment operator + DefaultTestTreeAllocator& operator=(DefaultTestTreeAllocator& allocator) = default; + + /// Allocate memory of a given size (in bytes) and return a pointer to the + /// allocated memory. + virtual void* allocate(size_t size) override { + + return malloc(size); + } + + /// Release previously allocated memory. + virtual void release(void* pointer, size_t size) override { + free(pointer); + } +}; // Class TestDynamicAABBTree /** @@ -68,8 +91,9 @@ class TestDynamicAABBTree : public Test { // ---------- Atributes ---------- // + DefaultTestTreeAllocator mAllocator; + DynamicTreeRaycastCallback mRaycastCallback; - PoolAllocator mAllocator; public : @@ -99,7 +123,7 @@ class TestDynamicAABBTree : public Test { // ------------ Create tree ---------- // // Dynamic AABB Tree - DynamicAABBTree tree(MemoryManager::getBaseAllocator()); + DynamicAABBTree tree(mAllocator); #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -155,7 +179,7 @@ class TestDynamicAABBTree : public Test { // ------------- Create tree ----------- // // Dynamic AABB Tree - DynamicAABBTree tree(MemoryManager::getBaseAllocator()); + DynamicAABBTree tree(mAllocator); #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -356,7 +380,7 @@ class TestDynamicAABBTree : public Test { // ------------- Create tree ----------- // // Dynamic AABB Tree - DynamicAABBTree tree(MemoryManager::getBaseAllocator()); + DynamicAABBTree tree(mAllocator); #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index f0b0cd1e..ba545181 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -33,6 +33,7 @@ #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConvexMeshShape.h" #include "engine/CollisionWorld.h" +#include "engine/PhysicsCommon.h" #include "collision/PolygonVertexArray.h" /// Reactphysics3D namespace @@ -48,6 +49,9 @@ class TestPointInside : public Test { // ---------- Atributes ---------- // + // Physics common + PhysicsCommon mPhysicsCommon; + // Physics world CollisionWorld* mWorld; @@ -93,7 +97,7 @@ class TestPointInside : public Test { TestPointInside(const std::string& name) : Test(name) { // Create the world - mWorld = new CollisionWorld(); + mWorld = mPhysicsCommon.createCollisionWorld(); // Body transform Vector3 position(-3, 2, 7); @@ -120,13 +124,13 @@ class TestPointInside : public Test { mLocalShapeToWorld = mBodyTransform * mShapeTransform; // Create collision shapes - mBoxShape = new BoxShape(Vector3(2, 3, 4)); + mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4)); mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform); - mSphereShape = new SphereShape(3); + mSphereShape = mPhysicsCommon.createSphereShape(3); mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform); - mCapsuleShape = new CapsuleShape(3, 10); + mCapsuleShape = mPhysicsCommon.createCapsuleShape(3, 10); mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform); mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4); @@ -156,8 +160,8 @@ class TestPointInside : public Test { &(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces, PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); - mConvexMeshPolyhedronMesh = new PolyhedronMesh(mConvexMeshPolygonVertexArray); - mConvexMeshShape = new ConvexMeshShape(mConvexMeshPolyhedronMesh); + mConvexMeshPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMeshPolygonVertexArray); + mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mConvexMeshPolyhedronMesh); Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity()); mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform); @@ -172,11 +176,11 @@ class TestPointInside : public Test { /// Destructor virtual ~TestPointInside() { - delete mWorld; - delete mBoxShape; - delete mSphereShape; - delete mCapsuleShape; - delete mConvexMeshShape; + mPhysicsCommon.destroyBoxShape(mBoxShape); + mPhysicsCommon.destroySphereShape(mSphereShape); + mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); + mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape); + mPhysicsCommon.destroyCollisionWorld(mWorld); delete[] mConvexMeshPolygonFaces; delete mConvexMeshPolygonVertexArray; delete mConvexMeshPolyhedronMesh; diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 995108f2..09e3aba8 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -28,6 +28,7 @@ // Libraries #include "Test.h" +#include "engine/PhysicsCommon.h" #include "engine/CollisionWorld.h" #include "body/CollisionBody.h" #include "collision/shapes/BoxShape.h" @@ -40,6 +41,8 @@ #include "collision/TriangleMesh.h" #include "collision/TriangleVertexArray.h" #include "collision/RaycastInfo.h" +#include "collision/PolygonVertexArray.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { @@ -99,6 +102,8 @@ class TestRaycast : public Test { // ---------- Atributes ---------- // + PhysicsCommon mPhysicsCommon; + // Raycast callback class WorldRaycastCallback mCallback; @@ -117,7 +122,6 @@ class TestRaycast : public Test { CollisionBody* mConvexMeshBody; CollisionBody* mCylinderBody; CollisionBody* mCompoundBody; - CollisionBody* mTriangleBody; CollisionBody* mConcaveMeshBody; CollisionBody* mHeightFieldBody; @@ -132,8 +136,7 @@ class TestRaycast : public Test { SphereShape* mSphereShape; CapsuleShape* mCapsuleShape; ConvexMeshShape* mConvexMeshShape; - TriangleShape* mTriangleShape; - ConcaveShape* mConcaveMeshShape; + ConcaveMeshShape* mConcaveMeshShape; HeightFieldShape* mHeightFieldShape; // Proxy Shapes @@ -143,12 +146,11 @@ class TestRaycast : public Test { ProxyShape* mConvexMeshProxyShape; ProxyShape* mCompoundSphereProxyShape; ProxyShape* mCompoundCapsuleProxyShape; - ProxyShape* mTriangleProxyShape; ProxyShape* mConcaveMeshProxyShape; ProxyShape* mHeightFieldProxyShape; // Triangle meshes - TriangleMesh mConcaveTriangleMesh; + TriangleMesh* mConcaveTriangleMesh; std::vector mConcaveMeshVertices; std::vector mConcaveMeshIndices; @@ -170,7 +172,7 @@ class TestRaycast : public Test { epsilon = decimal(0.0001); // Create the world - mWorld = new CollisionWorld(); + mWorld = mPhysicsCommon.createCollisionWorld(); // Body transform Vector3 position(-3, 2, 7); @@ -184,7 +186,6 @@ class TestRaycast : public Test { mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform); mCylinderBody = mWorld->createCollisionBody(mBodyTransform); mCompoundBody = mWorld->createCollisionBody(mBodyTransform); - mTriangleBody = mWorld->createCollisionBody(mBodyTransform); mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform); mHeightFieldBody = mWorld->createCollisionBody(mBodyTransform); @@ -197,21 +198,13 @@ class TestRaycast : public Test { mLocalShapeToWorld = mBodyTransform * mShapeTransform; // Create collision shapes - mBoxShape = new BoxShape(Vector3(2, 3, 4)); + mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4)); mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform); - mSphereShape = new SphereShape(3); + mSphereShape = mPhysicsCommon.createSphereShape(3); mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform); - Vector3 triangleVertices[3]; - triangleVertices[0] = Vector3(100, 100, 0); - triangleVertices[1] = Vector3(105, 100, 0); - triangleVertices[2] = Vector3(100, 103, 0); - Vector3 triangleVerticesNormals[3] = {Vector3(0, 0, 1), Vector3(0, 0, 1), Vector3(0, 0, 1)}; - mTriangleShape = new TriangleShape(triangleVertices, triangleVerticesNormals, 0, mAllocator); - mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, mShapeTransform); - - mCapsuleShape = new CapsuleShape(2, 5); + mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5); mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform); mPolyhedronVertices[0] = Vector3(-2, -3, 4); @@ -244,8 +237,8 @@ class TestRaycast : public Test { PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); - mPolyhedronMesh = new PolyhedronMesh(mPolygonVertexArray); - mConvexMeshShape = new ConvexMeshShape(mPolyhedronMesh); + mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray); + mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform); // Compound shape is a cylinder and a sphere @@ -285,16 +278,15 @@ class TestRaycast : public Test { 12, &(mConcaveMeshIndices[0]), 3 * sizeof(uint), vertexType, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE); - // Add the triangle vertex array of the subpart to the triangle mesh - mConcaveTriangleMesh.addSubpart(mConcaveMeshVertexArray); - mConcaveMeshShape = new ConcaveMeshShape(&mConcaveTriangleMesh); + mConcaveTriangleMesh->addSubpart(mConcaveMeshVertexArray); + mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh); mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform); // Heightfield shape (plane height field at height=4) for (int i=0; i<100; i++) mHeightFieldData[i] = 4; - mHeightFieldShape = new HeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); + mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, mShapeTransform); // Assign proxy shapes to the different categories @@ -304,22 +296,21 @@ class TestRaycast : public Test { mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2); mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2); mCompoundCapsuleProxyShape->setCollisionCategoryBits(CATEGORY2); - mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1); mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2); mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2); } /// Destructor virtual ~TestRaycast() { - delete mWorld; - delete mBoxShape; - delete mSphereShape; - delete mCapsuleShape; - delete mConvexMeshShape; - delete mTriangleShape; - delete mConcaveMeshShape; - delete mHeightFieldShape; + mPhysicsCommon.destroyBoxShape(mBoxShape); + mPhysicsCommon.destroySphereShape(mSphereShape); + mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); + mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape); + mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape); + mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape); + + mPhysicsCommon.destroyCollisionWorld(mWorld); delete mConcaveMeshVertexArray; delete mPolygonVertexArray; @@ -333,7 +324,6 @@ class TestRaycast : public Test { testCapsule(); testConvexMesh(); testCompound(); - testTriangle(); testConcaveMesh(); testHeightField(); } @@ -1000,304 +990,6 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); } - /// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and - /// CollisionWorld::raycast() methods. - void testTriangle() { - - // ----- Test feedback data ----- // - Vector3 point1 = mLocalShapeToWorld * Vector3(101, 101, 400); - Vector3 point2 = mLocalShapeToWorld * Vector3(101, 101, -200); - Ray ray(point1, point2); - Ray rayBackward(point2, point1); - - Vector3 hitPoint = mLocalShapeToWorld * Vector3(101, 101, 0); - Vector3 hitNormal = mLocalShapeToWorld.getOrientation() * Vector3(0, 0, 1); - hitNormal.normalize(); - mCallback.shapeToTest = mTriangleProxyShape; - - // CollisionWorld::raycast() - mCallback.reset(); - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); - mWorld->raycast(ray, &mCallback); - rp3d_test(mCallback.isHit); - rp3d_test(mCallback.raycastInfo.body == mTriangleBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); - rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon)); - - mCallback.reset(); - mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK); - mWorld->raycast(rayBackward, &mCallback); - rp3d_test(mCallback.isHit); - rp3d_test(mCallback.raycastInfo.body == mTriangleBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); - rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon)); - - mCallback.reset(); - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); - mWorld->raycast(ray, &mCallback); - rp3d_test(mCallback.isHit); - rp3d_test(mCallback.raycastInfo.body == mTriangleBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); - rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon)); - - mCallback.reset(); - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); - mWorld->raycast(rayBackward, &mCallback); - rp3d_test(mCallback.isHit); - rp3d_test(mCallback.raycastInfo.body == mTriangleBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape); - rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon)); - rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon)); - - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); - - // Correct category filter mask - mCallback.reset(); - mWorld->raycast(ray, &mCallback, CATEGORY1); - rp3d_test(mCallback.isHit); - - // Wrong category filter mask - mCallback.reset(); - mWorld->raycast(ray, &mCallback, CATEGORY2); - rp3d_test(!mCallback.isHit); - - // CollisionBody::raycast() - RaycastInfo raycastInfo2; - rp3d_test(mTriangleBody->raycast(ray, raycastInfo2)); - rp3d_test(raycastInfo2.body == mTriangleBody); - rp3d_test(raycastInfo2.proxyShape == mTriangleProxyShape); - rp3d_test(approxEqual(raycastInfo2.hitFraction, 0.6666, epsilon)); - rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); - rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); - rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - - // ProxyCollisionShape::raycast() - RaycastInfo raycastInfo3; - rp3d_test(mTriangleProxyShape->raycast(ray, raycastInfo3)); - rp3d_test(raycastInfo3.body == mTriangleBody); - rp3d_test(raycastInfo3.proxyShape == mTriangleProxyShape); - rp3d_test(approxEqual(raycastInfo3.hitFraction, 0.6666, epsilon)); - rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); - rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); - rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); - - Ray ray1(mLocalShapeToWorld * Vector3(-10, 10, 4), mLocalShapeToWorld * Vector3(15, 6, -4)); - Ray ray2(mLocalShapeToWorld * Vector3(102, 107, 5), mLocalShapeToWorld * Vector3(102, 107, -5)); - Ray ray3(mLocalShapeToWorld * Vector3(106, 102, 6), mLocalShapeToWorld * Vector3(106, 102, -8)); - - Ray ray4(mLocalShapeToWorld * Vector3(100.2, 101, 5), mLocalShapeToWorld * Vector3(100.2, 101, -5)); - Ray ray5(mLocalShapeToWorld * Vector3(100.5, 101.5, 4), mLocalShapeToWorld * Vector3(100.5, 101.5, -54)); - Ray ray6(mLocalShapeToWorld * Vector3(102, 101, 1), mLocalShapeToWorld * Vector3(102, 102, -1)); - - Ray ray4Back(mLocalShapeToWorld * Vector3(100.2, 101, -5), mLocalShapeToWorld * Vector3(100.2, 101, 5)); - Ray ray5Back(mLocalShapeToWorld * Vector3(100.5, 101.5, -54), mLocalShapeToWorld * Vector3(100.5, 101.5, 4)); - Ray ray6Back(mLocalShapeToWorld * Vector3(102, 102, -1), mLocalShapeToWorld * Vector3(102, 101, 1)); - - // ----- Test raycast miss ----- // - rp3d_test(!mTriangleBody->raycast(ray1, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray1, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray1, &mCallback); - rp3d_test(!mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback); - rp3d_test(!mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback); - rp3d_test(!mCallback.isHit); - - rp3d_test(!mTriangleBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray2, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray2, &mCallback); - rp3d_test(!mCallback.isHit); - - rp3d_test(!mTriangleBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray3, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray3, &mCallback); - rp3d_test(!mCallback.isHit); - - // Test backward ray against front triangles (not hit should occur) - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); - - rp3d_test(!mTriangleBody->raycast(ray4Back, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray4Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray4Back, &mCallback); - rp3d_test(!mCallback.isHit); - - rp3d_test(!mTriangleBody->raycast(ray5Back, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray5Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray5Back, &mCallback); - rp3d_test(!mCallback.isHit); - - rp3d_test(!mTriangleBody->raycast(ray6Back, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray6Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray6Back, &mCallback); - rp3d_test(!mCallback.isHit); - - // Test front ray against back triangles (not hit should occur) - mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK); - - rp3d_test(!mTriangleBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray4, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray4, &mCallback); - rp3d_test(!mCallback.isHit); - - rp3d_test(!mTriangleBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray5, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray5, &mCallback); - rp3d_test(!mCallback.isHit); - - rp3d_test(!mTriangleBody->raycast(ray6, raycastInfo3)); - rp3d_test(!mTriangleProxyShape->raycast(ray6, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray6, &mCallback); - rp3d_test(!mCallback.isHit); - - // ----- Test raycast hits ----- // - - // Test front ray against front triangles - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT); - - rp3d_test(mTriangleBody->raycast(ray4, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray4, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray4, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray5, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray5, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray5, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray6, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray6, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray6, &mCallback); - mCallback.reset(); - mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback); - - // Test back ray against back triangles - mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK); - - rp3d_test(mTriangleBody->raycast(ray4Back, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray4Back, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray5Back, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray5Back, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray6Back, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray6Back, &mCallback); - mCallback.reset(); - mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback); - - // Test front ray against front-back triangles - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); - - rp3d_test(mTriangleBody->raycast(ray4, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray4, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray4, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray5, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray5, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray5, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray6, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray6, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray6, &mCallback); - mCallback.reset(); - mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback); - - // Test back ray against front-back triangles - mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK); - - rp3d_test(mTriangleBody->raycast(ray4Back, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray4Back, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray5Back, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray5Back, &mCallback); - rp3d_test(mCallback.isHit); - mCallback.reset(); - mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback); - rp3d_test(mCallback.isHit); - - rp3d_test(mTriangleBody->raycast(ray6Back, raycastInfo3)); - rp3d_test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3)); - mCallback.reset(); - mWorld->raycast(ray6Back, &mCallback); - mCallback.reset(); - mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback); - } - /// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testConvexMesh() { diff --git a/testbed/CMakeLists.txt b/testbed/CMakeLists.txt index 7799ca0b..038ff1e4 100755 --- a/testbed/CMakeLists.txt +++ b/testbed/CMakeLists.txt @@ -116,6 +116,8 @@ SET(SCENES_SOURCES scenes/heightfield/HeightFieldScene.cpp scenes/cubestack/CubeStackScene.h scenes/cubestack/CubeStackScene.cpp + scenes/pile/PileScene.h + scenes/pile/PileScene.cpp ) # Add .user file to set debug path in Visual Studio diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 8d55eed9..16a6c1a1 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -38,9 +38,9 @@ openglframework::VertexArrayObject Box::mVAO; int Box::totalNbBoxes = 0; // Constructor -Box::Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* world, +Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "cube.obj") { + : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { // Initialize the size of the box mSize[0] = size.x * 0.5f; @@ -56,7 +56,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* w // Create the collision shape for the rigid body (box shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mBoxShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); + mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); //mBoxShape->setLocalScaling(rp3d::Vector3(2, 2, 2)); mPreviousTransform = rp3d::Transform::identity(); @@ -80,9 +80,9 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* w } // Constructor -Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::DynamicsWorld* world, +Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::DynamicsWorld* world, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "cube.obj") { + : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { // Load the mesh from a file openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "cube.obj", *this); @@ -104,7 +104,7 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Dynam // Create the collision shape for the rigid body (box shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mBoxShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); + mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); mPreviousTransform = rp3d::Transform::identity(); @@ -138,7 +138,7 @@ Box::~Box() { mVBONormals.destroy(); mVAO.destroy(); } - delete mBoxShape; + mPhysicsCommon.destroyBoxShape(mBoxShape); totalNbBoxes--; } diff --git a/testbed/common/Box.h b/testbed/common/Box.h index 21fe0ed1..66dc6430 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -75,10 +75,11 @@ class Box : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath); + Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, + reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath); /// Constructor - Box(const openglframework::Vector3& size, float mass, reactphysics3d::DynamicsWorld *world, const std::string& meshFolderPath); + Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::DynamicsWorld *world, const std::string& meshFolderPath); /// Destructor ~Box(); diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index f2ee3e52..3140d40e 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -34,8 +34,8 @@ openglframework::VertexArrayObject Capsule::mVAO; int Capsule::totalNbCapsules = 0; // Constructor -Capsule::Capsule(float radius, float height, rp3d::CollisionWorld* world, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { +Capsule::Capsule(float radius, float height, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath) + : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, @@ -46,7 +46,7 @@ Capsule::Capsule(float radius, float height, rp3d::CollisionWorld* world, const // Create the collision shape for the rigid body (sphere shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mCapsuleShape = new rp3d::CapsuleShape(mRadius, mHeight); + mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight); //mCapsuleShape->setLocalScaling(rp3d::Vector3(2, 2, 2)); mPreviousTransform = rp3d::Transform::identity(); @@ -68,9 +68,9 @@ Capsule::Capsule(float radius, float height, rp3d::CollisionWorld* world, const } // Constructor -Capsule::Capsule(float radius, float height, float mass, rp3d::DynamicsWorld* dynamicsWorld, +Capsule::Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { + : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, @@ -83,7 +83,7 @@ Capsule::Capsule(float radius, float height, float mass, rp3d::DynamicsWorld* dy // Create the collision shape for the rigid body (sphere shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mCapsuleShape = new rp3d::CapsuleShape(mRadius, mHeight); + mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight); // Create a rigid body corresponding in the dynamics world rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); @@ -118,7 +118,7 @@ Capsule::~Capsule() { mVBOTextureCoords.destroy(); mVAO.destroy(); } - delete mCapsuleShape; + mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); totalNbCapsules--; } diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index 1591f247..f53a0073 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -82,10 +82,10 @@ class Capsule : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Capsule(float radius, float height, rp3d::CollisionWorld* world, const std::string& meshFolderPath); + Capsule(float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath); /// Constructor - Capsule(float radius, float height, float mass, rp3d::DynamicsWorld* dynamicsWorld, + Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); /// Destructor diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index 487312b0..f4a452f2 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -27,14 +27,18 @@ #include "ConcaveMesh.h" // Constructor -ConcaveMesh::ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPath) - : PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER), +ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath) + : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { + mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); + // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4::identity(); + mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); + // For each subpart of the mesh for (unsigned int i=0; iaddSubpart(vertexArray); } // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end - mConcaveShape = new rp3d::ConcaveMeshShape(&mPhysicsTriangleMesh); + mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh); mPreviousTransform = rp3d::Transform::identity(); @@ -68,14 +72,16 @@ ConcaveMesh::ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPat } // Constructor -ConcaveMesh::ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) - : PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER), +ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) + : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4::identity(); + mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); + // For each subpart of the mesh for (unsigned int i=0; iaddSubpart(vertexArray); } // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end - mConcaveShape = new rp3d::ConcaveMeshShape(&mPhysicsTriangleMesh); + mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh); mPreviousTransform = rp3d::Transform::identity(); @@ -114,8 +120,8 @@ ConcaveMesh::ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const s ConcaveMesh::~ConcaveMesh() { // Destroy the triangle mesh data for the physics engine - for (unsigned int i=0; igetNbSubparts(); i++) { + delete mPhysicsTriangleMesh->getSubpart(i); } // Destroy the mesh @@ -128,7 +134,7 @@ ConcaveMesh::~ConcaveMesh() { mVBOTextureCoords.destroy(); mVAO.destroy(); - delete mConcaveShape; + mPhysicsCommon.destroyConcaveMeshShape(mConcaveShape); } // Render the sphere at the correct position and with the correct orientation diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 21d40082..0befd75c 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -64,7 +64,7 @@ class ConcaveMesh : public PhysicsObject { openglframework::VertexArrayObject mVAO; /// Structure with pointer to the shared mesh data (vertices, indices, ...) - rp3d::TriangleMesh mPhysicsTriangleMesh; + rp3d::TriangleMesh* mPhysicsTriangleMesh; // -------------------- Methods -------------------- // @@ -76,10 +76,10 @@ class ConcaveMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPath); + ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath); /// Constructor - ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); + ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); /// Destructor ~ConcaveMesh(); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index c676d165..d29ce40b 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -27,8 +27,8 @@ #include "ConvexMesh.h" // Constructor -ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath) - : PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER), +ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath) + : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -53,11 +53,11 @@ ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath) rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); // Create the polyhedron mesh - mPolyhedronMesh = new rp3d::PolyhedronMesh(mPolygonVertexArray); + mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray); // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end - mConvexShape = new rp3d::ConvexMeshShape(mPolyhedronMesh); + mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); mPreviousTransform = rp3d::Transform::identity(); @@ -74,8 +74,8 @@ ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath) } // Constructor -ConvexMesh::ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) - : PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER), +ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) + : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -100,11 +100,11 @@ ConvexMesh::ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); // Create the polyhedron mesh - mPolyhedronMesh = new rp3d::PolyhedronMesh(mPolygonVertexArray); + mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray); // Create the collision shape for the rigid body (convex mesh shape) and do // not forget to delete it at the end - mConvexShape = new rp3d::ConvexMeshShape(mPolyhedronMesh); + mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); mPreviousTransform = rp3d::Transform::identity(); @@ -135,10 +135,10 @@ ConvexMesh::~ConvexMesh() { mVBOTextureCoords.destroy(); mVAO.destroy(); - delete mPolyhedronMesh; + mPhysicsCommon.destroyConvexMeshShape(mConvexShape); + mPhysicsCommon.destroyPolyhedronMesh(mPolyhedronMesh); delete mPolygonVertexArray; delete[] mPolygonFaces; - delete mConvexShape; } // Render the sphere at the correct position and with the correct orientation diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index cc8c1599..56019d0f 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -79,10 +79,10 @@ class ConvexMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath); + ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath); /// Constructor - ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); + ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); /// Destructor ~ConvexMesh(); diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index 111f63e2..65484c65 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -34,8 +34,8 @@ openglframework::VertexArrayObject Dumbbell::mVAO; int Dumbbell::totalNbDumbbells = 0; // Constructor -Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "dumbbell.obj") { +Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath) + : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj") { // Identity scaling matrix mScalingMatrix.setToIdentity(); @@ -47,7 +47,7 @@ Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFo // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::decimal radiusSphere = rp3d::decimal(1.5); const rp3d::decimal massSphere = rp3d::decimal(2.0); - mSphereShape = new rp3d::SphereShape(radiusSphere); + mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere); // Create a capsule collision shape for the middle of the dumbbell // ReactPhysics3D will clone this object to create an internal one. Therefore, @@ -55,7 +55,7 @@ Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFo const rp3d::decimal radiusCapsule = rp3d::decimal(0.5); const rp3d::decimal heightCapsule = rp3d::decimal(7.0); const rp3d::decimal massCylinder = rp3d::decimal(1.0); - mCapsuleShape = new rp3d::CapsuleShape(radiusCapsule, heightCapsule); + mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule); mPreviousTransform = rp3d::Transform::identity(); @@ -89,8 +89,8 @@ Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFo } // Constructor -Dumbbell::Dumbbell(rp3d::CollisionWorld* world, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "dumbbell.obj"){ +Dumbbell::Dumbbell(reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath) + : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj"){ // Identity scaling matrix mScalingMatrix.setToIdentity(); @@ -101,14 +101,14 @@ Dumbbell::Dumbbell(rp3d::CollisionWorld* world, const std::string& meshFolderPat // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::decimal radiusSphere = rp3d::decimal(1.5); - mSphereShape = new rp3d::SphereShape(radiusSphere); + mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere); // Create a cylinder collision shape for the middle of the dumbbell // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::decimal radiusCapsule = rp3d::decimal(0.5); const rp3d::decimal heightCapsule = rp3d::decimal(7.0); - mCapsuleShape = new rp3d::CapsuleShape(radiusCapsule, heightCapsule); + mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule); // Initial transform of the first sphere collision shape of the dumbbell (in local-space) rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity()); @@ -154,8 +154,8 @@ Dumbbell::~Dumbbell() { mVBOTextureCoords.destroy(); mVAO.destroy(); } - delete mSphereShape; - delete mCapsuleShape; + mPhysicsCommon.destroySphereShape(mSphereShape); + mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); totalNbDumbbells--; } diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h index 8044e434..949d0f63 100644 --- a/testbed/common/Dumbbell.h +++ b/testbed/common/Dumbbell.h @@ -82,10 +82,10 @@ class Dumbbell : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); + Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); /// Constructor - Dumbbell(rp3d::CollisionWorld* world, const std::string& meshFolderPath); + Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath); /// Destructor ~Dumbbell(); diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index e9aee55a..6966c018 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -28,8 +28,8 @@ #include "PerlinNoise.h" // Constructor -HeightField::HeightField(rp3d::CollisionWorld* world) - : mVBOVertices(GL_ARRAY_BUFFER), +HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world) + : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -44,7 +44,7 @@ HeightField::HeightField(rp3d::CollisionWorld* world) // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end - mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, + mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); mPreviousTransform = rp3d::Transform::identity(); @@ -62,8 +62,8 @@ HeightField::HeightField(rp3d::CollisionWorld* world) } // Constructor -HeightField::HeightField(float mass, rp3d::DynamicsWorld* dynamicsWorld) - : mVBOVertices(GL_ARRAY_BUFFER), +HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld) + : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -78,7 +78,7 @@ HeightField::HeightField(float mass, rp3d::DynamicsWorld* dynamicsWorld) // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end - mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, + mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); mPreviousTransform = rp3d::Transform::identity(); @@ -110,7 +110,7 @@ HeightField::~HeightField() { mVBOTextureCoords.destroy(); mVAO.destroy(); - delete mHeightFieldShape; + mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape); } // Render the sphere at the correct position and with the correct orientation diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index e68c8388..16994d62 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -89,10 +89,10 @@ class HeightField : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - HeightField(rp3d::CollisionWorld* world); + HeightField(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world); /// Constructor - HeightField(float mass, rp3d::DynamicsWorld* dynamicsWorld); + HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld); /// Destructor ~HeightField(); diff --git a/testbed/common/PhysicsObject.cpp b/testbed/common/PhysicsObject.cpp index 7f5a8ba2..d511beb9 100644 --- a/testbed/common/PhysicsObject.cpp +++ b/testbed/common/PhysicsObject.cpp @@ -27,7 +27,8 @@ #include "PhysicsObject.h" /// Constructor -PhysicsObject::PhysicsObject() : openglframework::Mesh() { +PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon) + : openglframework::Mesh(), mPhysicsCommon(physicsCommon) { mBody = nullptr; mColor = openglframework::Color(1, 1, 1, 1); @@ -35,7 +36,7 @@ PhysicsObject::PhysicsObject() : openglframework::Mesh() { } /// Constructor -PhysicsObject::PhysicsObject(const std::string& meshPath) : PhysicsObject() { +PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon, const std::string& meshPath) : PhysicsObject(physicsCommon) { // Load the mesh from a file openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); diff --git a/testbed/common/PhysicsObject.h b/testbed/common/PhysicsObject.h index 31e01c4f..444e9962 100644 --- a/testbed/common/PhysicsObject.h +++ b/testbed/common/PhysicsObject.h @@ -35,6 +35,9 @@ class PhysicsObject : public openglframework::Mesh { protected: + /// Reference to the physics common object + rp3d::PhysicsCommon& mPhysicsCommon; + /// Body used to simulate the dynamics of the box rp3d::CollisionBody* mBody; @@ -54,10 +57,10 @@ class PhysicsObject : public openglframework::Mesh { public: /// Constructor - PhysicsObject(); + PhysicsObject(rp3d::PhysicsCommon& physicsCommon); /// Constructor - PhysicsObject(const std::string& meshPath); + PhysicsObject(rp3d::PhysicsCommon& physicsCommon, const std::string& meshPath); /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor)=0; diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index ce8509e8..a758ef40 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -34,9 +34,9 @@ openglframework::VertexArrayObject Sphere::mVAO; int Sphere::totalNbSpheres = 0; // Constructor -Sphere::Sphere(float radius, rp3d::CollisionWorld* world, +Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "sphere.obj"), mRadius(radius) { + : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, @@ -47,7 +47,7 @@ Sphere::Sphere(float radius, rp3d::CollisionWorld* world, // Create the collision shape for the rigid body (sphere shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mCollisionShape = new rp3d::SphereShape(mRadius); + mCollisionShape = mPhysicsCommon.createSphereShape(mRadius); //mCollisionShape->setLocalScaling(rp3d::Vector3(2, 2, 2)); mPreviousTransform = rp3d::Transform::identity(); @@ -69,9 +69,9 @@ Sphere::Sphere(float radius, rp3d::CollisionWorld* world, } // Constructor -Sphere::Sphere(float radius, float mass, reactphysics3d::DynamicsWorld* world, +Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,reactphysics3d::DynamicsWorld* world, const std::string& meshFolderPath) - : PhysicsObject(meshFolderPath + "sphere.obj"), mRadius(radius) { + : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, @@ -82,7 +82,7 @@ Sphere::Sphere(float radius, float mass, reactphysics3d::DynamicsWorld* world, // Create the collision shape for the rigid body (sphere shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mCollisionShape = new rp3d::SphereShape(mRadius); + mCollisionShape = mPhysicsCommon.createSphereShape(mRadius); mPreviousTransform = rp3d::Transform::identity(); @@ -118,7 +118,7 @@ Sphere::~Sphere() { mVBOTextureCoords.destroy(); mVAO.destroy(); } - delete mCollisionShape; + mPhysicsCommon.destroySphereShape(mCollisionShape); totalNbSpheres--; } diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index e1ba6ed6..e23cddea 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -79,10 +79,10 @@ class Sphere : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Sphere(float radius, rp3d::CollisionWorld* world, const std::string& meshFolderPath); + Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath); /// Constructor - Sphere(float radius, float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); + Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); /// Destructor ~Sphere(); diff --git a/testbed/meshes/sandbox.obj b/testbed/meshes/sandbox.obj new file mode 100644 index 00000000..38dbc99d --- /dev/null +++ b/testbed/meshes/sandbox.obj @@ -0,0 +1,116 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +v -31.880749 -0.589469 22.622011 +v -25.786182 -0.589469 22.622011 +v -19.691614 -0.589469 22.622011 +v -13.597046 -0.589469 22.622011 +v -7.502479 -0.589469 22.622011 +v -1.407912 -0.589469 22.622011 +v 4.686658 -0.589469 22.622011 +v 10.781222 -0.589469 22.622011 +v -31.880749 -0.589469 16.527445 +v -25.786182 -0.589469 16.527445 +v -19.691614 -0.589469 16.527445 +v -13.597046 -0.589469 16.527445 +v -7.502479 -0.589469 16.527445 +v -1.407912 -0.589469 16.527445 +v 4.686658 -0.589469 16.527445 +v 10.781222 -0.589469 16.527445 +v -31.880749 -0.589469 10.432877 +v -25.786182 -0.589469 10.432877 +v -19.691614 -13.260081 10.432877 +v -13.597046 -13.260081 10.432877 +v -7.502479 -13.260081 10.432877 +v -1.407912 -13.260081 10.432877 +v 4.686658 -13.260081 10.432877 +v 10.781222 -0.589469 10.432877 +v -31.880749 -0.589469 4.338308 +v -25.786182 -0.589469 4.338308 +v -19.691614 -13.260081 4.338308 +v -13.597046 -13.260081 4.338308 +v -7.502479 -13.260081 4.338308 +v -1.407912 -13.260081 4.338308 +v 4.686658 -13.260081 4.338308 +v 10.781222 -0.589469 4.338308 +v -31.880749 -0.589469 -1.756259 +v -25.786182 -0.589469 -1.756259 +v -19.691614 -13.260081 -1.756259 +v -13.597046 -13.260081 -1.756259 +v -7.502479 -13.260081 -1.756259 +v -1.407912 -13.260081 -1.756259 +v 4.686658 -13.260081 -1.756259 +v 10.781222 -0.589469 -1.756259 +v -31.880749 -0.589469 -7.850826 +v -25.786182 -0.589469 -7.850826 +v -19.691614 -13.260081 -7.850826 +v -13.597046 -13.260081 -7.850826 +v -7.502479 -13.260081 -7.850826 +v -1.407912 -13.260081 -7.850826 +v 4.686658 -13.260081 -7.850826 +v 10.781222 -0.589469 -7.850826 +v -31.880749 -0.589469 -13.945395 +v -25.786182 -0.589469 -13.945395 +v -19.691614 -0.589469 -13.945395 +v -13.597046 -0.589469 -13.945395 +v -7.502479 -0.589469 -13.945395 +v -1.407912 -0.589469 -13.945395 +v 4.686658 -0.589469 -13.945395 +v 10.781222 -0.589469 -13.945395 +v -31.880749 -0.589469 -20.039961 +v -25.786182 -0.589469 -20.039961 +v -19.691614 -0.589469 -20.039961 +v -13.597046 -0.589469 -20.039961 +v -7.502479 -0.589469 -20.039961 +v -1.407912 -0.589469 -20.039961 +v 4.686658 -0.589469 -20.039961 +v 10.781222 -0.589469 -20.039961 +s off +f 1 2 10 9 +f 2 3 11 10 +f 3 4 12 11 +f 4 5 13 12 +f 5 6 14 13 +f 6 7 15 14 +f 7 8 16 15 +f 9 10 18 17 +f 10 11 19 18 +f 11 12 20 19 +f 12 13 21 20 +f 13 14 22 21 +f 14 15 23 22 +f 15 16 24 23 +f 17 18 26 25 +f 18 19 27 26 +f 19 20 28 27 +f 20 21 29 28 +f 21 22 30 29 +f 22 23 31 30 +f 23 24 32 31 +f 25 26 34 33 +f 26 27 35 34 +f 27 28 36 35 +f 28 29 37 36 +f 29 30 38 37 +f 30 31 39 38 +f 31 32 40 39 +f 33 34 42 41 +f 34 35 43 42 +f 35 36 44 43 +f 36 37 45 44 +f 37 38 46 45 +f 38 39 47 46 +f 39 40 48 47 +f 41 42 50 49 +f 42 43 51 50 +f 43 44 52 51 +f 44 45 53 52 +f 45 46 54 53 +f 46 47 55 54 +f 47 48 56 55 +f 49 50 58 57 +f 50 51 59 58 +f 51 52 60 59 +f 52 53 61 60 +f 53 54 62 61 +f 54 55 63 62 +f 55 56 64 63 diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index ecff6b94..1eb39b53 100755 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -52,12 +52,12 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::CollisionWorld(worldSettings); + mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings); // ---------- Sphere 1 ---------- // // Create a sphere and a corresponding collision body in the dynamics world - mSphere1 = new Sphere(4, mPhysicsWorld, mMeshFolderPath); + mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere1); // Set the color @@ -69,7 +69,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Sphere 2 ---------- // // Create a sphere and a corresponding collision body in the dynamics world - mSphere2 = new Sphere(2, mPhysicsWorld, mMeshFolderPath); + mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere2); // Set the color @@ -81,7 +81,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Capsule 1 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); + mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule1); // Set the color @@ -92,7 +92,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Capsule 2 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); + mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule2); // Set the color @@ -103,7 +103,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); mAllShapes.push_back(mConcaveMesh); // Set the color @@ -114,7 +114,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Box 1 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world - mBox1 = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath); + mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox1); // Set the color @@ -125,7 +125,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Box 2 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world - mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsWorld, mMeshFolderPath); + mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox2); // Set the color @@ -136,7 +136,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); mAllShapes.push_back(mConvexMesh); // Set the color @@ -147,7 +147,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mHeightField = new HeightField(mPhysicsWorld); + mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld); // Set the color mHeightField->setColor(mGreyColorDemo); @@ -212,7 +212,7 @@ CollisionDetectionScene::~CollisionDetectionScene() { VisualContactPoint::destroyStaticData(); // Destroy the collision world - delete mPhysicsWorld; + mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld); } // Take a step for the simulation diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 12021ca7..7d2c4a4e 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -49,14 +49,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin worldSettings.worldName = name; // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); dynamicsWorld->setEventListener(this); mPhysicsWorld = dynamicsWorld; for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -75,7 +75,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -94,7 +94,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -117,7 +117,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Create a cylinder and a corresponding rigid in the dynamics world Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, - getDynamicsWorld(), meshFolderPath); + mPhysicsCommon, getDynamicsWorld(), meshFolderPath); capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); @@ -138,7 +138,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -155,7 +155,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // ---------- Create the floor --------- - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mPhysicsObjects.push_back(mFloor); // Set the box color @@ -195,7 +195,7 @@ CollisionShapesScene::~CollisionShapesScene() { } // Destroy the dynamics world - delete mPhysicsWorld; + mPhysicsCommon.destroyDynamicsWorld(static_cast(mPhysicsWorld)); } /// Reset the scene diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 7b73dec4..45d5327f 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -49,7 +49,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett worldSettings.worldName = name; // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); dynamicsWorld->setEventListener(this); mPhysicsWorld = dynamicsWorld; @@ -57,7 +57,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -76,7 +76,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -95,7 +95,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -118,7 +118,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Create a cylinder and a corresponding rigid in the dynamics world Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, - getDynamicsWorld(), meshFolderPath); + mPhysicsCommon, getDynamicsWorld(), meshFolderPath); capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -139,7 +139,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -160,7 +160,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the dynamics world - mConcaveMesh = new ConcaveMesh(mass, getDynamicsWorld(), meshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "city.obj"); // Set the mesh as beeing static mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -202,7 +202,7 @@ ConcaveMeshScene::~ConcaveMeshScene() { } // Destroy the dynamics world - delete getDynamicsWorld(); + mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); } // Reset the scene diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index 66a59215..24da0261 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -47,7 +47,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) worldSettings.worldName = name; // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); dynamicsWorld->setEventListener(this); mPhysicsWorld = dynamicsWorld; @@ -55,7 +55,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -73,7 +73,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) // ------------------------- FLOOR ----------------------- // // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mFloor->setColor(mGreyColorDemo); mFloor->setSleepingColor(mGreyColorDemo); @@ -113,7 +113,7 @@ CubesScene::~CubesScene() { delete mFloor; // Destroy the dynamics world - delete getDynamicsWorld(); + mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); } // Reset the scene diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index 56fb3c35..ab45a5df 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -47,7 +47,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings worldSettings.worldName = name; // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); dynamicsWorld->setEventListener(this); mPhysicsWorld = dynamicsWorld; @@ -57,7 +57,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings for (int j=0; jsetColor(mDemoColors[i % mNbDemoColors]); @@ -76,7 +76,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings // ------------------------- FLOOR ----------------------- // // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mFloor->setColor(mGreyColorDemo); mFloor->setSleepingColor(mGreyColorDemo); @@ -116,7 +116,7 @@ CubeStackScene::~CubeStackScene() { delete mFloor; // Destroy the dynamics world - delete getDynamicsWorld(); + mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); } // Reset the scene diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index d2734bbc..b0fad108 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -49,14 +49,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett worldSettings.worldName = name; // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); dynamicsWorld->setEventListener(this); mPhysicsWorld = dynamicsWorld; for (int i = 0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -75,7 +75,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -94,7 +94,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; igetRigidBody()->getMaterial().setRollingResistance(0.08f); @@ -117,7 +117,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Create a cylinder and a corresponding rigid in the dynamics world Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, - getDynamicsWorld(), meshFolderPath); + mPhysicsCommon, getDynamicsWorld(), meshFolderPath); capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f); @@ -138,7 +138,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mDemoColors[i % mNbDemoColors]); @@ -159,7 +159,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the dynamics world - mHeightField = new HeightField(mass, getDynamicsWorld()); + mHeightField = new HeightField(mass, mPhysicsCommon, getDynamicsWorld()); // Set the mesh as beeing static mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -201,7 +201,7 @@ HeightFieldScene::~HeightFieldScene() { } // Destroy the dynamics world - delete getDynamicsWorld(); + mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); } // Reset the scene diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index 6c6a2bfc..8188eddc 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -48,7 +48,7 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings) worldSettings.worldName = name; // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings); + rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); dynamicsWorld->setEventListener(this); mPhysicsWorld = dynamicsWorld; @@ -115,7 +115,7 @@ JointsScene::~JointsScene() { delete mFloor; // Destroy the dynamics world - delete getDynamicsWorld(); + mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); } // Update the physics world (take a simulation step) @@ -214,7 +214,7 @@ void JointsScene::createBallAndSocketJoints() { // Create a box and a corresponding rigid in the dynamics world mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, boxMass, - getDynamicsWorld(), mMeshFolderPath); + mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mBallAndSocketJointChainBoxes[i]->setTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity())); // Set the box color @@ -266,7 +266,7 @@ void JointsScene::createSliderJoint() { // Create a box and a corresponding rigid in the dynamics world openglframework::Vector3 box1Dimension(2, 4, 2); - mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, getDynamicsWorld(), mMeshFolderPath); + mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -288,7 +288,7 @@ void JointsScene::createSliderJoint() { // Create a box and a corresponding rigid in the dynamics world openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f); - mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); + mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color @@ -330,7 +330,7 @@ void JointsScene::createPropellerHingeJoint() { // Create a box and a corresponding rigid in the dynamics world openglframework::Vector3 boxDimension(10, 1, 1); - mPropellerBox = new Box(boxDimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); + mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -371,7 +371,7 @@ void JointsScene::createFixedJoints() { // Create a box and a corresponding rigid in the dynamics world openglframework::Vector3 boxDimension(1.5, 1.5, 1.5); - mFixedJointBox1 = new Box(boxDimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); + mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -389,7 +389,7 @@ void JointsScene::createFixedJoints() { rp3d::Vector3 positionBox2(-5, 7, 0); // Create a box and a corresponding rigid in the dynamics world - mFixedJointBox2 = new Box(boxDimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath); + mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color @@ -430,7 +430,7 @@ void JointsScene::createFloor() { // Create the floor rp3d::Vector3 floorPosition(0, 0, 0); - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); // Set the box color mFloor->setColor(mGreyColorDemo); diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp new file mode 100644 index 00000000..c6fbd255 --- /dev/null +++ b/testbed/scenes/pile/PileScene.cpp @@ -0,0 +1,272 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "PileScene.h" + +// Namespaces +using namespace openglframework; +using namespace pilescene; + +// Constructor +PileScene::PileScene(const std::string& name, EngineSettings& settings) + : SceneDemo(name, settings, SCENE_RADIUS) { + + std::string meshFolderPath("meshes/"); + + // Compute the radius and the center of the scene + openglframework::Vector3 center(0, 5, 0); + + // Set the center of the scene + setScenePosition(center, SCENE_RADIUS); + + // Gravity vector in the dynamics world + rp3d::Vector3 gravity(0, -9.81f, 0); + + rp3d::WorldSettings worldSettings; + worldSettings.worldName = name; + + // Create the dynamics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); + + for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); + dumbbell->setSleepingColor(mRedColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + + // Add the mesh the list of dumbbells in the scene + mDumbbells.push_back(dumbbell); + mPhysicsObjects.push_back(dumbbell); + } + + // Create all the boxes of the scene + for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); + box->setSleepingColor(mRedColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = box->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + + // Add the sphere the list of sphere in the scene + mBoxes.push_back(box); + mPhysicsObjects.push_back(box); + } + + // Create all the spheres of the scene + for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + + // Set the box color + sphere->setColor(mDemoColors[i % mNbDemoColors]); + sphere->setSleepingColor(mRedColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = sphere->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + + // Add the sphere the list of sphere in the scene + mSpheres.push_back(sphere); + mPhysicsObjects.push_back(sphere); + } + + // Create all the capsules of the scene + for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); + + // Set the box color + capsule->setColor(mDemoColors[i % mNbDemoColors]); + capsule->setSleepingColor(mRedColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = capsule->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + + // Add the cylinder the list of sphere in the scene + mCapsules.push_back(capsule); + mPhysicsObjects.push_back(capsule); + } + + // Create all the convex meshes of the scene + for (int i=0; isetColor(mDemoColors[i % mNbDemoColors]); + mesh->setSleepingColor(mRedColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& material = mesh->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + + // Add the mesh the list of sphere in the scene + mConvexMeshes.push_back(mesh); + mPhysicsObjects.push_back(mesh); + } + + // ---------- Create the triangular mesh ---------- // + + // Position + rp3d::decimal mass = 1.0; + + // Create a convex mesh and a corresponding rigid in the dynamics world + mSandbox = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "sandbox.obj"); + + // Set the mesh as beeing static + mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC); + + // Set the box color + mSandbox->setColor(mGreyColorDemo); + mSandbox->setSleepingColor(mGreyColorDemo); + + mPhysicsObjects.push_back(mSandbox); + + // Change the material properties of the rigid body + rp3d::Material& material = mSandbox->getRigidBody()->getMaterial(); + material.setBounciness(rp3d::decimal(0.2)); + material.setFrictionCoefficient(rp3d::decimal(0.1)); + + // Get the physics engine parameters + mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); + rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); + mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); +} + +// Destructor +PileScene::~PileScene() { + + // Destroy all the physics objects of the scene + for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { + + // Destroy the corresponding rigid body from the dynamics world + getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + + // Destroy the object + delete (*it); + } + + // Destroy the dynamics world + mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); +} + +/// Reset the scene +void PileScene::reset() { + + const float radius = 3.0f; + + for (uint i = 0; isetTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); + } + + // Create all the boxes of the scene + for (uint i = 0; isetTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); + } + + // Create all the spheres of the scene + for (uint i = 0; isetTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); + } + + // Create all the capsules of the scene + for (uint i = 0; isetTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); + } + + // Create all the convex meshes of the scene + for (uint i = 0; isetTransform(rp3d::Transform(position, rp3d::Quaternion::identity())); + } + + // ---------- Create the triangular mesh ---------- // + + mSandbox->setTransform(rp3d::Transform::identity()); +} diff --git a/testbed/scenes/pile/PileScene.h b/testbed/scenes/pile/PileScene.h new file mode 100644 index 00000000..d199f663 --- /dev/null +++ b/testbed/scenes/pile/PileScene.h @@ -0,0 +1,106 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2016 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef PILE_SCENE_H +#define PILE_SCENE_H + +// Libraries +#include "openglframework.h" +#include "reactphysics3d.h" +#include "SceneDemo.h" +#include "Sphere.h" +#include "Box.h" +#include "Capsule.h" +#include "ConvexMesh.h" +#include "ConcaveMesh.h" +#include "Dumbbell.h" +#include "VisualContactPoint.h" + +namespace pilescene { + +// Constants +const float SCENE_RADIUS = 30.0f; +const int NB_BOXES = 150; +const int NB_SPHERES = 80; +const int NB_CAPSULES = 5; +const int NB_MESHES = 0; +const int NB_COMPOUND_SHAPES = 0; +const openglframework::Vector3 BOX_SIZE(2, 2, 2); +const float SPHERE_RADIUS = 1.5f; +const float CONE_RADIUS = 2.0f; +const float CONE_HEIGHT = 3.0f; +const float CYLINDER_RADIUS = 1.0f; +const float CYLINDER_HEIGHT = 5.0f; +const float CAPSULE_RADIUS = 1.0f; +const float CAPSULE_HEIGHT = 1.0f; +const float DUMBBELL_HEIGHT = 1.0f; +const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters +const float BOX_MASS = 1.0f; +const float CONE_MASS = 1.0f; +const float CYLINDER_MASS = 1.0f; +const float CAPSULE_MASS = 1.0f; +const float MESH_MASS = 1.0f; +const float FLOOR_MASS = 100.0f; // Floor mass in kilograms + +// Class PileScene +class PileScene : public SceneDemo { + + private : + + // -------------------- Attributes -------------------- // + + /// All the boxes of the scene + std::vector mBoxes; + + std::vector mSpheres; + + std::vector mCapsules; + + /// All the convex meshes of the scene + std::vector mConvexMeshes; + + /// All the dumbbell of the scene + std::vector mDumbbells; + + /// Sandbox for the floor + ConcaveMesh* mSandbox; + + public: + + // -------------------- Methods -------------------- // + + /// Constructor + PileScene(const std::string& name, EngineSettings& settings); + + /// Destructor + virtual ~PileScene() override; + + /// Reset the scene + virtual void reset() override; +}; + +} + +#endif diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 1c5bb9c0..dd12e116 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -48,12 +48,12 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) worldSettings.worldName = name; // Create the dynamics world for the physics simulation - mPhysicsWorld = new rp3d::CollisionWorld(worldSettings); + mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings); // ---------- Dumbbell ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mDumbbell = new Dumbbell(mPhysicsWorld, mMeshFolderPath); + mDumbbell = new Dumbbell(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color mDumbbell->setColor(mGreyColorDemo); @@ -63,7 +63,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Box ---------- // // Create a box and a corresponding collision body in the dynamics world - mBox = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath); + mBox = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mBox->getCollisionBody()->setIsActive(false); // Set the box color @@ -74,7 +74,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Sphere ---------- // // Create a sphere and a corresponding collision body in the dynamics world - mSphere = new Sphere(SPHERE_RADIUS, mPhysicsWorld, mMeshFolderPath); + mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the color mSphere->setColor(mGreyColorDemo); @@ -85,7 +85,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) openglframework::Vector3 position6(0, 0, 0); // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); + mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the color mCapsule->setColor(mGreyColorDemo); @@ -95,7 +95,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); // Set the color mConvexMesh->setColor(mGreyColorDemo); @@ -105,7 +105,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); // Set the color mConcaveMesh->setColor(mGreyColorDemo); @@ -115,7 +115,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world - mHeightField = new HeightField(mPhysicsWorld); + mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld); // Set the color mHeightField->setColor(mGreyColorDemo); @@ -251,7 +251,7 @@ RaycastScene::~RaycastScene() { VisualContactPoint::destroyStaticData(); // Destroy the collision world - delete mPhysicsWorld; + mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld); // Destroy the lines for (std::vector::iterator it = mLines.begin(); it != mLines.end(); diff --git a/testbed/src/Gui.cpp b/testbed/src/Gui.cpp index 69b89852..d6ab6fe0 100644 --- a/testbed/src/Gui.cpp +++ b/testbed/src/Gui.cpp @@ -36,12 +36,14 @@ double Gui::mScrollY = 0.0; double Gui::mTimeSinceLastProfilingDisplay = 0; double Gui::mCachedFPS = 0; double Gui::mCachedUpdateTime = 0; -double Gui::mCachedPhysicsUpdateTime = 0; +double Gui::mCachedTotalPhysicsUpdateTime = 0; +double Gui::mCachedPhysicsStepTime = 0; // Constructor Gui::Gui(TestbedApplication* app) : mApp(app), mSimulationPanel(nullptr), mSettingsPanel(nullptr), mPhysicsPanel(nullptr), - mRenderingPanel(nullptr), mFPSLabel(nullptr), mFrameTimeLabel(nullptr), mPhysicsTimeLabel(nullptr) + mRenderingPanel(nullptr), mFPSLabel(nullptr), mFrameTimeLabel(nullptr), mTotalPhysicsTimeLabel(nullptr), + mPhysicsStepTimeLabel(nullptr) { } @@ -78,7 +80,8 @@ void Gui::update() { mTimeSinceLastProfilingDisplay = mApp->mCurrentTime; mCachedFPS = mApp->mFPS; mCachedUpdateTime = mApp->mFrameTime; - mCachedPhysicsUpdateTime = mApp->mPhysicsTime; + mCachedTotalPhysicsUpdateTime = mApp->mTotalPhysicsTime; + mCachedPhysicsStepTime = mApp->mPhysicsStepTime; } // Framerate (FPS) @@ -87,8 +90,11 @@ void Gui::update() { // Frame time mFrameTimeLabel->setCaption(std::string("Frame time : ") + floatToString(mCachedUpdateTime * 1000.0, 1) + std::string(" ms")); - // Physics time - mPhysicsTimeLabel->setCaption(std::string("Physics time : ") + floatToString(mCachedPhysicsUpdateTime * 1000.0, 1) + std::string(" ms")); + // Total Physics time + mTotalPhysicsTimeLabel->setCaption(std::string("Total physics time : ") + floatToString(mCachedTotalPhysicsUpdateTime * 1000.0, 1) + std::string(" ms")); + + // Physics step time + mPhysicsStepTimeLabel->setCaption(std::string("Physics step time : ") + floatToString(mCachedPhysicsStepTime * 1000.0, 1) + std::string(" ms")); } void Gui::createSimulationPanel() { @@ -447,8 +453,11 @@ void Gui::createProfilingPanel() { // Update time mFrameTimeLabel = new Label(profilingPanel, std::string("Frame time : ") + floatToString(mCachedUpdateTime * 1000.0, 1) + std::string(" ms"),"sans-bold"); - // Update time - mPhysicsTimeLabel = new Label(profilingPanel, std::string("Physics time : ") + floatToString(mCachedPhysicsUpdateTime * 1000.0, 1) + std::string(" ms"),"sans-bold"); + // Total physics time + mTotalPhysicsTimeLabel = new Label(profilingPanel, std::string("Total physics time : ") + floatToString(mCachedTotalPhysicsUpdateTime * 1000.0, 1) + std::string(" ms"),"sans-bold"); + + // Physics step time + mPhysicsStepTimeLabel = new Label(profilingPanel, std::string("Physics step time : ") + floatToString(mCachedPhysicsStepTime * 1000.0, 1) + std::string(" ms"),"sans-bold"); profilingPanel->setVisible(true); } diff --git a/testbed/src/Gui.h b/testbed/src/Gui.h index 2cdace7a..46427b51 100644 --- a/testbed/src/Gui.h +++ b/testbed/src/Gui.h @@ -69,7 +69,8 @@ class Gui { // Profiling panel Label* mFPSLabel; Label* mFrameTimeLabel; - Label* mPhysicsTimeLabel; + Label* mTotalPhysicsTimeLabel; + Label* mPhysicsStepTimeLabel; std::vector mCheckboxesScenes; @@ -86,8 +87,11 @@ class Gui { /// Cached update time static double mCachedUpdateTime; - // Cached update physics time - static double mCachedPhysicsUpdateTime; + // Cached total update physics time + static double mCachedTotalPhysicsUpdateTime; + + // Cached update single physics step time + static double mCachedPhysicsStepTime; // -------------------- Methods -------------------- // diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 31b832c0..2f427b47 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -96,6 +96,8 @@ class SceneDemo : public Scene { std::string mMeshFolderPath; + rp3d::PhysicsCommon mPhysicsCommon; + std::vector mPhysicsObjects; rp3d::CollisionWorld* mPhysicsWorld; diff --git a/testbed/src/TestbedApplication.cpp b/testbed/src/TestbedApplication.cpp index 4a0963f2..b0fbd01c 100644 --- a/testbed/src/TestbedApplication.cpp +++ b/testbed/src/TestbedApplication.cpp @@ -37,6 +37,7 @@ #include "raycast/RaycastScene.h" #include "concavemesh/ConcaveMeshScene.h" #include "cubestack/CubeStackScene.h" +#include "pile/PileScene.h" using namespace openglframework; using namespace jointsscene; @@ -47,6 +48,7 @@ using namespace trianglemeshscene; using namespace heightfieldscene; using namespace collisiondetectionscene; using namespace cubestackscene; +using namespace pilescene; // Initialization of static variables const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f; @@ -57,7 +59,7 @@ TestbedApplication::TestbedApplication(bool isFullscreen) mIsInitialized(false), mGui(this), mCurrentScene(nullptr), mEngineSettings(EngineSettings::defaultSettings()), mFPS(0), mNbFrames(0), mPreviousTime(0), - mLastTimeComputedFPS(0), mFrameTime(0), mPhysicsTime(0), + mLastTimeComputedFPS(0), mFrameTime(0), mTotalPhysicsTime(0), mPhysicsStepTime(0), mWidth(1280), mHeight(720), mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false), mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true), @@ -125,6 +127,10 @@ void TestbedApplication::createScenes() { ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene("Concave Mesh", mEngineSettings); mScenes.push_back(concaveMeshScene); + // Pile scene + PileScene* pileScene = new PileScene("Pile", mEngineSettings); + mScenes.push_back(pileScene); + assert(mScenes.size() > 0); const int firstSceneIndex = 0; @@ -139,7 +145,7 @@ void TestbedApplication::destroyScenes() { delete mScenes[i]; } - mCurrentScene = NULL; + mCurrentScene = nullptr; } void TestbedApplication::updateSinglePhysicsStep() { @@ -163,9 +169,13 @@ void TestbedApplication::updatePhysics() { // While the time accumulator is not empty while(mTimer.isPossibleToTakeStep(mEngineSettings.timeStep)) { + double currentTime = glfwGetTime(); + // Take a physics simulation step mCurrentScene->updatePhysics(); + mPhysicsStepTime = glfwGetTime() - currentTime; + // Update the timer mTimer.nextStep(mEngineSettings.timeStep); } @@ -186,7 +196,7 @@ void TestbedApplication::update() { } // Compute the physics update time - mPhysicsTime = glfwGetTime() - currentTime; + mTotalPhysicsTime = glfwGetTime() - currentTime; // Compute the interpolation factor float factor = mTimer.computeInterpolationFactor(mEngineSettings.timeStep); diff --git a/testbed/src/TestbedApplication.h b/testbed/src/TestbedApplication.h index c9ca44ee..fc3d53e0 100644 --- a/testbed/src/TestbedApplication.h +++ b/testbed/src/TestbedApplication.h @@ -83,8 +83,11 @@ class TestbedApplication : public Screen { /// Update time (in seconds) double mFrameTime; - /// Physics update time (in seconds) - double mPhysicsTime; + /// Total physics update time (in seconds) + double mTotalPhysicsTime; + + /// Time of a single physics step (in seconds) + double mPhysicsStepTime; /// Width and height of the window int mWidth, mHeight; From 24ac9e36c78486dba343df1eaf356cbac48b2103 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 13 Dec 2019 11:05:59 +0100 Subject: [PATCH 117/197] Edit changelog file --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index b63b6457..63fe99d7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -27,6 +27,7 @@ - The EventListener::beginInternalTick() method has been removed (because internal ticks do not exist anymore). - The EventListener::endInternalTick() method has been removed (because internal ticks do not exist anymore). - The RigidBody::getJointsList() method has been removed. + - It is not possible anymore to set custom pool and stack frame allocators. Only the base allocator can be customized when creating a PhysicsCommon instance. ## Version 0.7.1 (July 01, 2019) From 581f6422802f73250122400d27b70770b0fd6e63 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 13 Dec 2019 11:20:17 +0100 Subject: [PATCH 118/197] Remove the MemoryManager::setBaseAllocator() method --- src/memory/MemoryManager.h | 8 -------- 1 file changed, 8 deletions(-) diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h index ae8d4f3e..9335c074 100644 --- a/src/memory/MemoryManager.h +++ b/src/memory/MemoryManager.h @@ -88,9 +88,6 @@ class MemoryManager { /// Return the base memory allocator MemoryAllocator& getBaseAllocator(); - /// Set the base memory allocator - void setBaseAllocator(MemoryAllocator* memoryAllocator); - /// Reset the single frame allocator void resetFrameAllocator(); }; @@ -132,11 +129,6 @@ inline MemoryAllocator& MemoryManager::getBaseAllocator() { return *mBaseAllocator; } -// Set the base memory allocator -inline void MemoryManager::setBaseAllocator(MemoryAllocator* baseAllocator) { - mBaseAllocator = baseAllocator; -} - // Reset the single frame allocator inline void MemoryManager::resetFrameAllocator() { mSingleFrameAllocator.reset(); From 77940a43f7ef97d6e434ef4649c43384e7387767 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 13 Jan 2020 17:02:59 +0100 Subject: [PATCH 119/197] Add new memory allocator HeapAllocator --- CMakeLists.txt | 2 + src/engine/DynamicsWorld.cpp | 3 + src/memory/HeapAllocator.cpp | 272 ++++++++++++++++++++++++++++ src/memory/HeapAllocator.h | 149 +++++++++++++++ src/memory/MemoryManager.cpp | 5 +- src/memory/MemoryManager.h | 10 +- src/systems/ContactSolverSystem.cpp | 7 + src/systems/ContactSolverSystem.h | 3 + 8 files changed, 448 insertions(+), 3 deletions(-) create mode 100644 src/memory/HeapAllocator.cpp create mode 100644 src/memory/HeapAllocator.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 7ec405f5..2c098296 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -169,6 +169,7 @@ SET (REACTPHYSICS3D_HEADERS "src/memory/MemoryAllocator.h" "src/memory/PoolAllocator.h" "src/memory/SingleFrameAllocator.h" + "src/memory/HeapAllocator.h" "src/memory/DefaultAllocator.h" "src/memory/MemoryManager.h" "src/containers/Stack.h" @@ -267,6 +268,7 @@ SET (REACTPHYSICS3D_SOURCES "src/mathematics/Vector3.cpp" "src/memory/PoolAllocator.cpp" "src/memory/SingleFrameAllocator.cpp" + "src/memory/HeapAllocator.cpp" "src/memory/MemoryManager.cpp" "src/utils/Profiler.cpp" "src/utils/Logger.cpp" diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 8b050e6e..24e55327 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -180,6 +180,9 @@ void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) { } mContactSolverSystem.storeImpulses(); + + // Reset the contact solver + mContactSolverSystem.reset(); } // Solve the position error correction of the constraints diff --git a/src/memory/HeapAllocator.cpp b/src/memory/HeapAllocator.cpp new file mode 100644 index 00000000..2988ab90 --- /dev/null +++ b/src/memory/HeapAllocator.cpp @@ -0,0 +1,272 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include "HeapAllocator.h" +#include "MemoryManager.h" +#include +#include +#include + +using namespace reactphysics3d; + +size_t HeapAllocator::INIT_ALLOCATED_SIZE = 1024; + +// Constructor +HeapAllocator::HeapAllocator(MemoryAllocator& baseAllocator) + : mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr), + mNbTimesAllocateMethodCalled(0), mDebug(baseAllocator) { + + reserve(INIT_ALLOCATED_SIZE); +} + +// Destructor +HeapAllocator::~HeapAllocator() { + + for (auto it = mDebug.begin(); it != mDebug.end(); ++it) { + std::cout << "Size: " << (*it).first << " -> " << (*it).second << std::endl; + } + +#ifndef NDEBUG + // Check that the allocate() and release() methods have been called the same + // number of times to avoid memory leaks. + assert(mNbTimesAllocateMethodCalled == 0); +#endif + + // Release the memory allocated for memory unit + MemoryUnitHeader* unit = mMemoryUnits; + while (unit != nullptr) { + + assert(!unit->isAllocated); + + MemoryUnitHeader* nextUnit = unit->nextUnit; + + // Destroy the unit + unit->~MemoryUnitHeader(); + mBaseAllocator.release(static_cast(unit), unit->size + sizeof(MemoryUnitHeader)); + + unit = nextUnit; + } +} + +/// Split a memory unit in two units. One of size "size" and the second with +/// left over space. The second unit is put into the free memory units +void HeapAllocator::splitMemoryUnit(MemoryUnitHeader* unit, size_t size) { + + assert(size <= unit->size); + assert(!unit->isAllocated); + + // Split the free memory unit in two memory units, one with the requested memory size + // and a second one with the left over space + if (size + sizeof(MemoryUnitHeader) < unit->size) { + + assert(unit->size - size > 0); + + // Create a new memory unit with left over space + unsigned char* newUnitLocation = (reinterpret_cast(unit)) + sizeof(MemoryUnitHeader) + size; + MemoryUnitHeader* newUnit = new (static_cast(newUnitLocation)) MemoryUnitHeader(unit->size - sizeof(MemoryUnitHeader) - size, unit, unit->nextUnit, unit->isNextContiguousMemory); + assert(newUnit->nextUnit != newUnit); + unit->nextUnit = newUnit; + if (newUnit->nextUnit != nullptr) { + newUnit->nextUnit->previousUnit = newUnit; + } + assert(unit->nextUnit != unit); + unit->isNextContiguousMemory = true; + unit->size = size; + + assert(unit->previousUnit == nullptr || unit->previousUnit->nextUnit == unit); + assert(unit->nextUnit == nullptr || unit->nextUnit->previousUnit == unit); + + assert(newUnit->previousUnit == nullptr || newUnit->previousUnit->nextUnit == newUnit); + assert(newUnit->nextUnit == nullptr || newUnit->nextUnit->previousUnit == newUnit); + } +} + +// Allocate memory of a given size (in bytes) and return a pointer to the +// allocated memory. +void* HeapAllocator::allocate(size_t size) { + + assert(size > 0); + + // We cannot allocate zero bytes + if (size == 0) return nullptr; + + if (mDebug.containsKey(size)) { + mDebug[size]++; + } + else { + mDebug.add(Pair(size, 1)); + } + +#ifndef NDEBUG + mNbTimesAllocateMethodCalled++; +#endif + + MemoryUnitHeader* currentUnit = mMemoryUnits; + assert(mMemoryUnits->previousUnit == nullptr); + + // If there is a cached free memory unit + if (mCachedFreeUnit != nullptr) { + assert(!mCachedFreeUnit->isAllocated); + + // If the cached free memory unit matches the request + if (size <= mCachedFreeUnit->size) { + currentUnit = mCachedFreeUnit; + mCachedFreeUnit = nullptr; + } + } + + // For each memory unit + while (currentUnit != nullptr) { + + // If we have found a free memory unit with size large enough for the allocation request + if (!currentUnit->isAllocated && size <= currentUnit->size) { + + // Split the free memory unit in two memory units, one with the requested memory size + // and a second one with the left over space + splitMemoryUnit(currentUnit, size); + + break; + } + + currentUnit = currentUnit->nextUnit; + } + + // If we have not found a large enough memory unit we need to allocate more memory + if (currentUnit == nullptr) { + + reserve((mAllocatedMemory + size) * 2); + + assert(mCachedFreeUnit != nullptr); + assert(!mCachedFreeUnit->isAllocated); + + // The cached free memory unit is large enough at this point + currentUnit = mCachedFreeUnit; + + assert(currentUnit->size >= size); + + splitMemoryUnit(currentUnit, size); + } + + currentUnit->isAllocated = true; + + // Cache the next memory unit if it is not allocated + if (currentUnit->nextUnit != nullptr && !currentUnit->nextUnit->isAllocated) { + mCachedFreeUnit = currentUnit->nextUnit; + } + + // Return a pointer to the memory area inside the unit + return static_cast(reinterpret_cast(currentUnit) + sizeof(MemoryUnitHeader)); +} + +// Release previously allocated memory. +void HeapAllocator::release(void* pointer, size_t size) { + + assert(size > 0); + + // Cannot release a 0-byte allocated memory + if (size == 0) return; + + mDebug[size]--; + if (mDebug[size] == 0) { + mDebug.remove(size); + } + +#ifndef NDEBUG + mNbTimesAllocateMethodCalled--; +#endif + + unsigned char* unitLocation = static_cast(pointer) - sizeof(MemoryUnitHeader); + MemoryUnitHeader* unit = reinterpret_cast(unitLocation); + assert(unit->isAllocated); + unit->isAllocated = false; + + MemoryUnitHeader* currentUnit = unit; + + // If the previous unit is not allocated and memory is contiguous to the current unit + if (unit->previousUnit != nullptr && !unit->previousUnit->isAllocated && unit->previousUnit->isNextContiguousMemory) { + + currentUnit = unit->previousUnit; + + // Merge the two contiguous memory units + mergeUnits(unit->previousUnit, unit); + } + + // If the next unit is not allocated and memory is contiguous to the current unit + if (currentUnit->nextUnit != nullptr && !currentUnit->nextUnit->isAllocated && currentUnit->isNextContiguousMemory) { + + // Merge the two contiguous memory units + mergeUnits(currentUnit, currentUnit->nextUnit); + } + + mCachedFreeUnit = currentUnit; +} + +// Merge two contiguous memory units that are not allocated. +/// Memory unit 2 will be merged into memory unit 1 and memory unit 2 will be removed +void HeapAllocator::mergeUnits(MemoryUnitHeader* unit1, MemoryUnitHeader* unit2) { + + assert(unit2->previousUnit == unit1); + assert(unit1->nextUnit == unit2); + assert(!unit1->isAllocated); + assert(!unit2->isAllocated); + assert(unit1->isNextContiguousMemory); + + unit1->size += unit2->size + sizeof(MemoryUnitHeader); + unit1->nextUnit = unit2->nextUnit; + assert(unit1->nextUnit != unit1); + if (unit2->nextUnit != nullptr) { + unit2->nextUnit->previousUnit = unit1; + } + unit1->isNextContiguousMemory = unit2->isNextContiguousMemory; + + // Destroy unit 2 + unit2->~MemoryUnitHeader(); + + assert(unit1->previousUnit == nullptr || unit1->previousUnit->nextUnit == unit1); + assert(unit1->nextUnit == nullptr || unit1->nextUnit->previousUnit == unit1); +} + +// Reserve more memory for the allocator +void HeapAllocator::reserve(size_t sizeToAllocate) { + + // Allocate memory + void* memory = mBaseAllocator.allocate(sizeToAllocate + sizeof(MemoryUnitHeader)); + assert(memory != nullptr); + + // Create a new memory unit for the allocated memory + MemoryUnitHeader* memoryUnit = new (memory) MemoryUnitHeader(sizeToAllocate, nullptr, mMemoryUnits, false); + + if (mMemoryUnits != nullptr) { + mMemoryUnits->previousUnit = memoryUnit; + } + + // Add the memory unit at the beginning of the linked-list of memory units + mMemoryUnits = memoryUnit; + + mCachedFreeUnit = mMemoryUnits; + + mAllocatedMemory += sizeToAllocate; +} diff --git a/src/memory/HeapAllocator.h b/src/memory/HeapAllocator.h new file mode 100644 index 00000000..28f4e268 --- /dev/null +++ b/src/memory/HeapAllocator.h @@ -0,0 +1,149 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_HEAP_ALLOCATOR_H +#define REACTPHYSICS3D_HEAP_ALLOCATOR_H + +// Libraries +#include "configuration.h" +#include "MemoryAllocator.h" +#include +#include + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class HeapAllocator +/** + * This class is used to efficiently allocate memory on the heap. + * It is used to allocate memory that cannot be allocated in a single frame allocator or a pool allocator. + */ +class HeapAllocator : public MemoryAllocator { + + private : + + // -------------------- Internal Classes -------------------- // + + // Structure MemoryUnitHeader + /** + * Represent the header of a memory unit in the heap + */ + struct MemoryUnitHeader { + + public : + + // -------------------- Attributes -------------------- // + + /// Size in bytes of the allocated memory unit + size_t size; + + /// True if the memory unit is currently allocated + bool isAllocated; + + /// Pointer to the previous memory unit + MemoryUnitHeader* previousUnit; + + /// Pointer to the next memory unit + MemoryUnitHeader* nextUnit; + + /// True if the next memory unit has been allocated with the same call to malloc() + bool isNextContiguousMemory; + + // -------------------- Methods -------------------- // + + MemoryUnitHeader(size_t size, MemoryUnitHeader* previousUnit, MemoryUnitHeader* nextUnit, bool isNextContiguousMemory) + : size(size), isAllocated(false), previousUnit(previousUnit), + nextUnit(nextUnit), isNextContiguousMemory(isNextContiguousMemory) { + + assert(size > 0); + } + + }; + + // -------------------- Constants -------------------- // + + static size_t INIT_ALLOCATED_SIZE; + + // -------------------- Attributes -------------------- // + + /// Base memory allocator + MemoryAllocator& mBaseAllocator; + + /// Allocated memory (in bytes) + size_t mAllocatedMemory; + + /// Pointer to the first memory unit of the linked-list + MemoryUnitHeader* mMemoryUnits; + + /// Pointer to a cached free memory unit + MemoryUnitHeader* mCachedFreeUnit; + + // TODO : REMOVE THIS + Map mDebug; + +#ifndef NDEBUG + /// This variable is incremented by one when the allocate() method has been + /// called and decreased by one when the release() method has been called. + /// This variable is used in debug mode to check that the allocate() and release() + /// methods are called the same number of times + int mNbTimesAllocateMethodCalled; +#endif + + // -------------------- Methods -------------------- // + + /// Split a memory unit in two units. One of size "size" and the second with + /// left over space. The second unit is put into the free memory units + void splitMemoryUnit(MemoryUnitHeader* unit, size_t size); + + // Merge two contiguous memory units that are not allocated. + void mergeUnits(MemoryUnitHeader* unit1, MemoryUnitHeader* unit2); + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + HeapAllocator(MemoryAllocator& baseAllocator); + + /// Destructor + virtual ~HeapAllocator() override; + + /// Assignment operator + HeapAllocator& operator=(HeapAllocator& allocator) = default; + + /// Allocate memory of a given size (in bytes) and return a pointer to the + /// allocated memory. + virtual void* allocate(size_t size) override; + + /// Release previously allocated memory. + virtual void release(void* pointer, size_t size) override; + + /// Reserve more memory for the allocator + void reserve(size_t sizeToAllocate); +}; + +} + +#endif diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index bc197ac6..3590d6d0 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -31,7 +31,8 @@ using namespace reactphysics3d; // Constructor MemoryManager::MemoryManager(MemoryAllocator* baseAllocator) : mBaseAllocator(baseAllocator == nullptr ? &mDefaultAllocator : baseAllocator), - mPoolAllocator(baseAllocator == nullptr ? mDefaultAllocator : *baseAllocator), - mSingleFrameAllocator(baseAllocator == nullptr ? mDefaultAllocator : *baseAllocator) { + mHeapAllocator(*mBaseAllocator), + mPoolAllocator(mHeapAllocator), + mSingleFrameAllocator(mHeapAllocator) { } diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h index 9335c074..1dd05076 100644 --- a/src/memory/MemoryManager.h +++ b/src/memory/MemoryManager.h @@ -29,6 +29,7 @@ // Libraries #include "memory/DefaultAllocator.h" #include "memory/PoolAllocator.h" +#include "memory/HeapAllocator.h" #include "memory/SingleFrameAllocator.h" /// Namespace ReactPhysics3D @@ -40,7 +41,11 @@ class MemoryAllocator; // Class MemoryManager /** * The memory manager is used to store the different memory allocators that are used - * by the library. + * by the library. The base allocator is either the default allocator (malloc/free) of a custom + * allocated specified by the user. The HeapAllocator is used on top of the base allocator. + * The SingleFrameAllocator is used for memory that is allocated only during a frame and the PoolAllocator + * is used to allocated objects of small size. Both SingleFrameAllocator and PoolAllocator will fall back to + * HeapAllocator if an allocation request cannot be fulfilled. */ class MemoryManager { @@ -52,6 +57,9 @@ class MemoryManager { /// Pointer to the base memory allocator to use MemoryAllocator* mBaseAllocator; + /// Memory heap allocator + HeapAllocator mHeapAllocator; + /// Memory pool allocator PoolAllocator mPoolAllocator; diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 06cb7c30..a07c5070 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -99,6 +99,13 @@ void ContactSolverSystem::init(List* contactManifolds, Listsize() > 0) mMemoryManager.release(MemoryManager::AllocationType::Frame, mContactPoints, sizeof(ContactPointSolver) * mAllContactPoints->size()); + if (mAllContactManifolds->size() > 0) mMemoryManager.release(MemoryManager::AllocationType::Frame, mContactConstraints, sizeof(ContactManifoldSolver) * mAllContactManifolds->size()); +} + // Initialize the constraint solver for a given island void ContactSolverSystem::initializeForIsland(uint islandIndex) { diff --git a/src/systems/ContactSolverSystem.h b/src/systems/ContactSolverSystem.h index 7aeceb64..f795e6e4 100644 --- a/src/systems/ContactSolverSystem.h +++ b/src/systems/ContactSolverSystem.h @@ -382,6 +382,9 @@ class ContactSolverSystem { /// Solve the contacts void solve(); + /// Release allocated memory + void reset(); + /// Return true if the split impulses position correction technique is used for contacts bool isSplitImpulseActive() const; From eb270af309510faeb95141b8e25553fb383b226f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 15 Jan 2020 20:18:11 +0100 Subject: [PATCH 120/197] Fix issue and make sure we use the correct memory allocators --- src/collision/shapes/ConcaveMeshShape.cpp | 1 - src/engine/CollisionWorld.cpp | 16 ++++---- src/engine/CollisionWorld.h | 6 +-- src/engine/DynamicsWorld.cpp | 4 +- src/engine/DynamicsWorld.h | 2 +- src/engine/PhysicsCommon.cpp | 45 +++++++---------------- src/memory/DefaultAllocator.h | 4 +- src/memory/HeapAllocator.cpp | 24 ++---------- src/memory/HeapAllocator.h | 5 +-- src/memory/MemoryManager.cpp | 4 +- src/memory/MemoryManager.h | 15 +++++--- src/systems/CollisionDetectionSystem.cpp | 10 +---- test/tests/collision/TestPointInside.h | 2 +- test/tests/collision/TestRaycast.h | 3 +- 14 files changed, 50 insertions(+), 91 deletions(-) diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index dd664b04..f017a471 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -35,7 +35,6 @@ using namespace reactphysics3d; // Constructor ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling) - // TODO : Do not use the default base allocator here : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(allocator), mScaling(scaling) { mTriangleMesh = triangleMesh; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 7ba4151a..97732177 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -36,15 +36,15 @@ using namespace std; uint CollisionWorld::mNbWorlds = 0; // Constructor -CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler, MemoryAllocator* baseMemoryAllocator) - : mMemoryManager(baseMemoryAllocator), mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()), - mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()), - mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()), - mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()), - mFixedJointsComponents(mMemoryManager.getBaseAllocator()), mHingeJointsComponents(mMemoryManager.getBaseAllocator()), - mSliderJointsComponents(mMemoryManager.getBaseAllocator()), +CollisionWorld::CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) + : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), + mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), + mTransformComponents(mMemoryManager.getHeapAllocator()), mProxyShapesComponents(mMemoryManager.getHeapAllocator()), + mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), + mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), + mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), - mBodies(mMemoryManager.getPoolAllocator()), mEventListener(nullptr), + mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 8739f9cf..6259f3f2 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -73,7 +73,7 @@ class CollisionWorld { // -------------------- Attributes -------------------- // /// Memory manager - MemoryManager mMemoryManager; + MemoryManager& mMemoryManager; /// Configuration of the physics world WorldSettings mConfig; @@ -144,8 +144,8 @@ class CollisionWorld { // -------------------- Methods -------------------- // /// Constructor - CollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, - Profiler* profiler = nullptr, MemoryAllocator* baseMemoryAllocator = nullptr); + CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, + Profiler* profiler = nullptr); /// Notify the world if a body is disabled (slepping or inactive) or not void setBodyDisabled(Entity entity, bool isDisabled); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index 24e55327..af2e8afa 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -47,8 +47,8 @@ using namespace std; * @param logger Pointer to the logger * @param profiler Pointer to the profiler */ -DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) - : CollisionWorld(worldSettings, logger, profiler), +DynamicsWorld::DynamicsWorld(const Vector3& gravity, MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) + : CollisionWorld(memoryManager, worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mProxyShapesComponents, mConfig), diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index 549d5573..2f5cc868 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -101,7 +101,7 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Methods -------------------- // /// Constructor - DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings(), + DynamicsWorld(const Vector3& mGravity, MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, Profiler* profiler = nullptr); /// Solve the contacts and constraints diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 8f72814b..0a29c7d4 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -30,13 +30,12 @@ using namespace reactphysics3d; /// Constructor PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator - : mMemoryManager(baseMemoryAllocator), mCollisionWorlds(mMemoryManager.getPoolAllocator()), - mDynamicsWorlds(mMemoryManager.getPoolAllocator()), mSphereShapes(mMemoryManager.getPoolAllocator()), - mBoxShapes(mMemoryManager.getPoolAllocator()), mCapsuleShapes(mMemoryManager.getPoolAllocator()), - mConvexMeshShapes(mMemoryManager.getPoolAllocator()), mConcaveMeshShapes(mMemoryManager.getPoolAllocator()), - mHeightFieldShapes(mMemoryManager.getPoolAllocator()), mPolyhedronMeshes(mMemoryManager.getPoolAllocator()), - mTriangleMeshes(mMemoryManager.getPoolAllocator()) { + : mMemoryManager(baseMemoryAllocator), mCollisionWorlds(mMemoryManager.getHeapAllocator()), + mDynamicsWorlds(mMemoryManager.getHeapAllocator()), mSphereShapes(mMemoryManager.getHeapAllocator()), + mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()), + mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()), + mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()), + mTriangleMeshes(mMemoryManager.getHeapAllocator()) { } @@ -104,8 +103,7 @@ void PhysicsCommon::release() { // Create and return an instance of CollisionWorld CollisionWorld* PhysicsCommon::createCollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { - // TODO : Allocate in heap allocator here instead of pool - CollisionWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CollisionWorld))) CollisionWorld(worldSettings, logger, profiler); + CollisionWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(CollisionWorld))) CollisionWorld(mMemoryManager, worldSettings, logger, profiler); mCollisionWorlds.add(world); return world; @@ -118,8 +116,7 @@ void PhysicsCommon::destroyCollisionWorld(CollisionWorld* world) { world->~CollisionWorld(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator - mMemoryManager.release(MemoryManager::AllocationType::Pool, world, sizeof(CollisionWorld)); + mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(CollisionWorld)); mCollisionWorlds.remove(world); } @@ -128,8 +125,7 @@ void PhysicsCommon::destroyCollisionWorld(CollisionWorld* world) { DynamicsWorld* PhysicsCommon::createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { - // TODO : Allocate in heap allocator here instead of pool - DynamicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(DynamicsWorld))) DynamicsWorld(gravity, worldSettings, logger, profiler); + DynamicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(DynamicsWorld))) DynamicsWorld(gravity, mMemoryManager, worldSettings, logger, profiler); mDynamicsWorlds.add(world); @@ -143,8 +139,7 @@ DynamicsWorld* PhysicsCommon::destroyDynamicsWorld(DynamicsWorld* world) { world->~DynamicsWorld(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator - mMemoryManager.release(MemoryManager::AllocationType::Pool, world, sizeof(DynamicsWorld)); + mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(DynamicsWorld)); mDynamicsWorlds.remove(world); } @@ -165,7 +160,6 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) { sphereShape->~SphereShape(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, sphereShape, sizeof(SphereShape)); mSphereShapes.remove(sphereShape); @@ -174,8 +168,7 @@ void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) { // Create and return a box collision shape BoxShape* PhysicsCommon::createBoxShape(const Vector3& extent) { - // TODO : Pass heap allocator here in parameter - BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(extent, mMemoryManager.getPoolAllocator()); + BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(extent, mMemoryManager.getHeapAllocator()); mBoxShapes.add(shape); @@ -189,7 +182,6 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) { boxShape->~BoxShape(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, boxShape, sizeof(BoxShape)); mBoxShapes.remove(boxShape); @@ -212,7 +204,6 @@ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) { capsuleShape->~CapsuleShape(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, capsuleShape, sizeof(CapsuleShape)); mCapsuleShapes.remove(capsuleShape); @@ -235,7 +226,6 @@ void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) { convexMeshShape->~ConvexMeshShape(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, convexMeshShape, sizeof(ConvexMeshShape)); mConvexMeshShapes.remove(convexMeshShape); @@ -261,7 +251,6 @@ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) heightFieldShape->~HeightFieldShape(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, heightFieldShape, sizeof(HeightFieldShape)); mHeightFieldShapes.remove(heightFieldShape); @@ -270,8 +259,7 @@ void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) // Create and return a concave mesh shape ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling) { - // TODO : Pass heap allocator here in parameter - ConcaveMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConcaveMeshShape))) ConcaveMeshShape(triangleMesh, mMemoryManager.getPoolAllocator(), scaling); + ConcaveMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConcaveMeshShape))) ConcaveMeshShape(triangleMesh, mMemoryManager.getHeapAllocator(), scaling); mConcaveMeshShapes.add(shape); @@ -285,7 +273,6 @@ void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) concaveMeshShape->~ConcaveMeshShape(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, concaveMeshShape, sizeof(ConcaveMeshShape)); mConcaveMeshShapes.remove(concaveMeshShape); @@ -294,8 +281,7 @@ void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) // Create a polyhedron mesh PolyhedronMesh* PhysicsCommon::createPolyhedronMesh(PolygonVertexArray* polygonVertexArray) { - // TODO : Pass heap allocator here in parameter - PolyhedronMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(PolyhedronMesh))) PolyhedronMesh(polygonVertexArray, mMemoryManager.getPoolAllocator()); + PolyhedronMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(PolyhedronMesh))) PolyhedronMesh(polygonVertexArray, mMemoryManager.getHeapAllocator()); mPolyhedronMeshes.add(mesh); @@ -309,7 +295,6 @@ void PhysicsCommon::destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh) { polyhedronMesh->~PolyhedronMesh(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, polyhedronMesh, sizeof(PolyhedronMesh)); mPolyhedronMeshes.remove(polyhedronMesh); @@ -318,8 +303,7 @@ void PhysicsCommon::destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh) { // Create a triangle mesh TriangleMesh* PhysicsCommon::createTriangleMesh() { - // TODO : Pass heap allocator here in parameter - TriangleMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(TriangleMesh))) TriangleMesh(mMemoryManager.getPoolAllocator()); + TriangleMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(TriangleMesh))) TriangleMesh(mMemoryManager.getHeapAllocator()); mTriangleMeshes.add(mesh); @@ -333,7 +317,6 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { triangleMesh->~TriangleMesh(); // Release allocated memory - // TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, triangleMesh, sizeof(TriangleMesh)); mTriangleMeshes.remove(triangleMesh); diff --git a/src/memory/DefaultAllocator.h b/src/memory/DefaultAllocator.h index ce4d1741..451770f7 100644 --- a/src/memory/DefaultAllocator.h +++ b/src/memory/DefaultAllocator.h @@ -29,6 +29,7 @@ // Libraries #include "memory/MemoryAllocator.h" #include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -51,9 +52,6 @@ class DefaultAllocator : public MemoryAllocator { /// allocated memory. virtual void* allocate(size_t size) override { - // TODO : Make sure to reduce the calls to default allocator is not called within a frame. For instance by a call - // to a pool allocator with size too large - return malloc(size); } diff --git a/src/memory/HeapAllocator.cpp b/src/memory/HeapAllocator.cpp index 2988ab90..d2e2315c 100644 --- a/src/memory/HeapAllocator.cpp +++ b/src/memory/HeapAllocator.cpp @@ -32,23 +32,19 @@ using namespace reactphysics3d; -size_t HeapAllocator::INIT_ALLOCATED_SIZE = 1024; +size_t HeapAllocator::INIT_ALLOCATED_SIZE = 5 * 1048576; // 5 Mb // Constructor -HeapAllocator::HeapAllocator(MemoryAllocator& baseAllocator) +HeapAllocator::HeapAllocator(MemoryAllocator& baseAllocator, size_t initAllocatedMemory) : mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr), - mNbTimesAllocateMethodCalled(0), mDebug(baseAllocator) { + mNbTimesAllocateMethodCalled(0) { - reserve(INIT_ALLOCATED_SIZE); + reserve(initAllocatedMemory == 0 ? INIT_ALLOCATED_SIZE : initAllocatedMemory); } // Destructor HeapAllocator::~HeapAllocator() { - for (auto it = mDebug.begin(); it != mDebug.end(); ++it) { - std::cout << "Size: " << (*it).first << " -> " << (*it).second << std::endl; - } - #ifndef NDEBUG // Check that the allocate() and release() methods have been called the same // number of times to avoid memory leaks. @@ -113,13 +109,6 @@ void* HeapAllocator::allocate(size_t size) { // We cannot allocate zero bytes if (size == 0) return nullptr; - if (mDebug.containsKey(size)) { - mDebug[size]++; - } - else { - mDebug.add(Pair(size, 1)); - } - #ifndef NDEBUG mNbTimesAllocateMethodCalled++; #endif @@ -189,11 +178,6 @@ void HeapAllocator::release(void* pointer, size_t size) { // Cannot release a 0-byte allocated memory if (size == 0) return; - mDebug[size]--; - if (mDebug[size] == 0) { - mDebug.remove(size); - } - #ifndef NDEBUG mNbTimesAllocateMethodCalled--; #endif diff --git a/src/memory/HeapAllocator.h b/src/memory/HeapAllocator.h index 28f4e268..437fb3dd 100644 --- a/src/memory/HeapAllocator.h +++ b/src/memory/HeapAllocator.h @@ -100,9 +100,6 @@ class HeapAllocator : public MemoryAllocator { /// Pointer to a cached free memory unit MemoryUnitHeader* mCachedFreeUnit; - // TODO : REMOVE THIS - Map mDebug; - #ifndef NDEBUG /// This variable is incremented by one when the allocate() method has been /// called and decreased by one when the release() method has been called. @@ -125,7 +122,7 @@ class HeapAllocator : public MemoryAllocator { // -------------------- Methods -------------------- // /// Constructor - HeapAllocator(MemoryAllocator& baseAllocator); + HeapAllocator(MemoryAllocator& baseAllocator, size_t initAllocatedMemory = 0); /// Destructor virtual ~HeapAllocator() override; diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index 3590d6d0..a5aff544 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -29,9 +29,9 @@ using namespace reactphysics3d; // Constructor -MemoryManager::MemoryManager(MemoryAllocator* baseAllocator) : +MemoryManager::MemoryManager(MemoryAllocator* baseAllocator, size_t initAllocatedMemory) : mBaseAllocator(baseAllocator == nullptr ? &mDefaultAllocator : baseAllocator), - mHeapAllocator(*mBaseAllocator), + mHeapAllocator(*mBaseAllocator, initAllocatedMemory), mPoolAllocator(mHeapAllocator), mSingleFrameAllocator(mHeapAllocator) { diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h index 1dd05076..838c0ca0 100644 --- a/src/memory/MemoryManager.h +++ b/src/memory/MemoryManager.h @@ -72,11 +72,12 @@ class MemoryManager { enum class AllocationType { Base, // Base memory allocator Pool, // Memory pool allocator + Heap, // Memory pool allocator Frame, // Single frame memory allocator }; /// Constructor - MemoryManager(MemoryAllocator* baseAllocator); + MemoryManager(MemoryAllocator* baseAllocator, size_t initAllocatedMemory = 0); /// Destructor ~MemoryManager() = default; @@ -93,8 +94,8 @@ class MemoryManager { /// Return the single frame stack allocator SingleFrameAllocator& getSingleFrameAllocator(); - /// Return the base memory allocator - MemoryAllocator& getBaseAllocator(); + /// Return the heap allocator + HeapAllocator& getHeapAllocator(); /// Reset the single frame allocator void resetFrameAllocator(); @@ -106,6 +107,7 @@ inline void* MemoryManager::allocate(AllocationType allocationType, size_t size) switch (allocationType) { case AllocationType::Base: return mBaseAllocator->allocate(size); case AllocationType::Pool: return mPoolAllocator.allocate(size); + case AllocationType::Heap: return mHeapAllocator.allocate(size); case AllocationType::Frame: return mSingleFrameAllocator.allocate(size); } @@ -118,6 +120,7 @@ inline void MemoryManager::release(AllocationType allocationType, void* pointer, switch (allocationType) { case AllocationType::Base: mBaseAllocator->release(pointer, size); break; case AllocationType::Pool: mPoolAllocator.release(pointer, size); break; + case AllocationType::Heap: mHeapAllocator.release(pointer, size); break; case AllocationType::Frame: mSingleFrameAllocator.release(pointer, size); break; } } @@ -132,9 +135,9 @@ inline SingleFrameAllocator& MemoryManager::getSingleFrameAllocator() { return mSingleFrameAllocator; } -// Return the base memory allocator -inline MemoryAllocator& MemoryManager::getBaseAllocator() { - return *mBaseAllocator; +// Return the heap allocator +inline HeapAllocator& MemoryManager::getHeapAllocator() { + return mHeapAllocator; } // Reset the single frame allocator diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 0da6697a..c5db7a48 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -61,7 +61,6 @@ CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyS mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents), mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), - // TODO : We should probably use single frame allocator for mPotentialContactPoints, mPotentialContactManifolds, mMapPairIdToOverlappingPairContacts mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), @@ -582,7 +581,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn RP3D_PROFILE("CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot()", mProfiler); - MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); + MemoryAllocator& allocator = mMemoryManager.getHeapAllocator(); // Test the narrow-phase collision detection on the batches to be tested bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, false, allocator); @@ -928,8 +927,6 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na // Add the contact point to the list of potential contact points const uint contactPointIndex = static_cast(potentialContactPoints.size()); - // TODO : We should probably use single frame allocator here for potentialContactPoints - // If so, do not forget to call potentialContactPoints.clear(true) at the end of frame potentialContactPoints.add(contactPoint); bool similarManifoldFound = false; @@ -975,8 +972,6 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na if (!similarManifoldFound) { // Create a new contact manifold for the overlapping pair - // TODO : We should probably use single frame allocator here - // If so, do not forget to call potentialContactPoints.clear(true) at the end of frame ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); // Add the contact point to the manifold @@ -993,11 +988,10 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); - // TODO : We should probably use a single frame allocator here const uint newContactPairIndex = contactPairs->size(); ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, proxyShape1Entity, proxyShape2Entity, - newContactPairIndex, mMemoryManager.getPoolAllocator()); + newContactPairIndex, mMemoryManager.getHeapAllocator()); contactPairs->add(overlappingPairContact); pairContact = &((*contactPairs)[newContactPairIndex]); mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index ba545181..cecc6656 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -181,9 +181,9 @@ class TestPointInside : public Test { mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape); mPhysicsCommon.destroyCollisionWorld(mWorld); + mPhysicsCommon.destroyPolyhedronMesh(mConvexMeshPolyhedronMesh); delete[] mConvexMeshPolygonFaces; delete mConvexMeshPolygonVertexArray; - delete mConvexMeshPolyhedronMesh; } /// Run the tests diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 09e3aba8..ae14883b 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -279,6 +279,7 @@ class TestRaycast : public Test { vertexType, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE); // Add the triangle vertex array of the subpart to the triangle mesh + mConcaveTriangleMesh = mPhysicsCommon.createTriangleMesh(); mConcaveTriangleMesh->addSubpart(mConcaveMeshVertexArray); mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh); mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform); @@ -314,7 +315,7 @@ class TestRaycast : public Test { delete mConcaveMeshVertexArray; delete mPolygonVertexArray; - delete mPolyhedronMesh; + mPhysicsCommon.destroyPolyhedronMesh(mPolyhedronMesh); } /// Run the tests From b0fde22678f590f7548f3db7363a77673ccbef5e Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 20 Jan 2020 21:22:46 +0100 Subject: [PATCH 121/197] Rename ProxyShape to Collider --- CHANGELOG.md | 1 + CMakeLists.txt | 8 +- src/body/CollisionBody.cpp | 233 ++++++----- src/body/CollisionBody.h | 26 +- src/body/RigidBody.cpp | 125 +++--- src/body/RigidBody.h | 12 +- .../{ProxyShape.cpp => Collider.cpp} | 98 ++--- src/collision/{ProxyShape.h => Collider.h} | 76 ++-- src/collision/CollisionCallback.cpp | 12 +- src/collision/CollisionCallback.h | 22 +- src/collision/ContactManifold.cpp | 4 +- src/collision/ContactManifold.h | 12 +- src/collision/ContactPair.h | 14 +- src/collision/OverlapCallback.cpp | 4 +- src/collision/OverlapCallback.h | 6 +- src/collision/RaycastInfo.cpp | 6 +- src/collision/RaycastInfo.h | 18 +- src/collision/broadphase/DynamicAABBTree.cpp | 4 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 14 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 2 +- src/collision/narrowphase/CollisionDispatch.h | 2 +- .../narrowphase/NarrowPhaseAlgorithm.h | 2 +- .../narrowphase/NarrowPhaseInfoBatch.cpp | 16 +- .../narrowphase/NarrowPhaseInfoBatch.h | 10 +- .../narrowphase/NarrowPhaseInput.cpp | 14 +- src/collision/narrowphase/NarrowPhaseInput.h | 2 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 14 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 14 +- .../SphereVsSphereNarrowPhaseInfoBatch.h | 2 +- src/collision/shapes/BoxShape.cpp | 8 +- src/collision/shapes/BoxShape.h | 6 +- src/collision/shapes/CapsuleShape.cpp | 26 +- src/collision/shapes/CapsuleShape.h | 4 +- src/collision/shapes/CollisionShape.h | 8 +- src/collision/shapes/ConcaveMeshShape.cpp | 8 +- src/collision/shapes/ConcaveMeshShape.h | 8 +- src/collision/shapes/ConcaveShape.h | 4 +- src/collision/shapes/ConvexMeshShape.cpp | 8 +- src/collision/shapes/ConvexMeshShape.h | 4 +- src/collision/shapes/HeightFieldShape.cpp | 6 +- src/collision/shapes/HeightFieldShape.h | 2 +- src/collision/shapes/SphereShape.cpp | 8 +- src/collision/shapes/SphereShape.h | 6 +- src/collision/shapes/TriangleShape.cpp | 8 +- src/collision/shapes/TriangleShape.h | 8 +- ...eComponents.cpp => ColliderComponents.cpp} | 76 ++-- src/components/ColliderComponents.h | 324 +++++++++++++++ src/components/CollisionBodyComponents.cpp | 18 +- src/components/CollisionBodyComponents.h | 34 +- src/components/ProxyShapeComponents.h | 324 --------------- src/constraint/ContactPoint.cpp | 2 +- src/constraint/ContactPoint.h | 16 +- src/engine/CollisionWorld.cpp | 26 +- src/engine/CollisionWorld.h | 12 +- src/engine/DynamicsWorld.cpp | 8 +- src/engine/OverlappingPairs.cpp | 90 ++--- src/engine/OverlappingPairs.h | 44 +- src/reactphysics3d.h | 2 +- src/systems/BroadPhaseSystem.cpp | 100 ++--- src/systems/BroadPhaseSystem.h | 48 +-- src/systems/CollisionDetectionSystem.cpp | 192 ++++----- src/systems/CollisionDetectionSystem.h | 66 +-- src/systems/ContactSolverSystem.cpp | 10 +- src/systems/ContactSolverSystem.h | 8 +- src/systems/DynamicsSystem.cpp | 14 +- src/systems/DynamicsSystem.h | 8 +- src/utils/Logger.h | 6 +- test/tests/collision/TestCollisionWorld.h | 378 +++++++++--------- test/tests/collision/TestPointInside.h | 256 ++++++------ test/tests/collision/TestRaycast.h | 346 ++++++++-------- testbed/common/Box.cpp | 4 +- testbed/common/Box.h | 2 +- testbed/common/Capsule.cpp | 4 +- testbed/common/Capsule.h | 2 +- testbed/common/ConcaveMesh.cpp | 4 +- testbed/common/ConcaveMesh.h | 2 +- testbed/common/ConvexMesh.cpp | 4 +- testbed/common/ConvexMesh.h | 2 +- testbed/common/Dumbbell.cpp | 12 +- testbed/common/Dumbbell.h | 6 +- testbed/common/HeightField.cpp | 4 +- testbed/common/HeightField.h | 2 +- testbed/common/Sphere.cpp | 4 +- testbed/common/Sphere.h | 2 +- .../CollisionDetectionScene.cpp | 4 +- testbed/src/Scene.cpp | 2 +- testbed/src/SceneDemo.cpp | 10 +- 88 files changed, 1667 insertions(+), 1708 deletions(-) rename src/collision/{ProxyShape.cpp => Collider.cpp} (65%) rename src/collision/{ProxyShape.h => Collider.h} (72%) rename src/components/{ProxyShapeComponents.cpp => ColliderComponents.cpp} (77%) create mode 100644 src/components/ColliderComponents.h delete mode 100644 src/components/ProxyShapeComponents.h diff --git a/CHANGELOG.md b/CHANGELOG.md index 63fe99d7..77da1294 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -18,6 +18,7 @@ - An instance of the ConcaveMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConcaveMeshShape() method. - An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method. - An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method. + - The ProxyShape class has been renamed to Collider. The CollisionBody::addCollider(), RigidBody::addCollider() methods have to be used to create and add a collider to a body. Then methods CollisionBody::removeCollider(), RigidBody::removeCollider() need to be used to remove a collider. ### Removed diff --git a/CMakeLists.txt b/CMakeLists.txt index 2c098296..eaed4c90 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -112,7 +112,7 @@ SET (REACTPHYSICS3D_HEADERS "src/collision/shapes/ConcaveMeshShape.h" "src/collision/shapes/HeightFieldShape.h" "src/collision/RaycastInfo.h" - "src/collision/ProxyShape.h" + "src/collision/Collider.h" "src/collision/TriangleVertexArray.h" "src/collision/PolygonVertexArray.h" "src/collision/TriangleMesh.h" @@ -149,7 +149,7 @@ SET (REACTPHYSICS3D_HEADERS "src/components/CollisionBodyComponents.h" "src/components/RigidBodyComponents.h" "src/components/TransformComponents.h" - "src/components/ProxyShapeComponents.h" + "src/components/ColliderComponents.h" "src/components/JointComponents.h" "src/components/BallAndSocketJointComponents.h" "src/components/FixedJointComponents.h" @@ -216,7 +216,7 @@ SET (REACTPHYSICS3D_SOURCES "src/collision/shapes/ConcaveMeshShape.cpp" "src/collision/shapes/HeightFieldShape.cpp" "src/collision/RaycastInfo.cpp" - "src/collision/ProxyShape.cpp" + "src/collision/Collider.cpp" "src/collision/TriangleVertexArray.cpp" "src/collision/PolygonVertexArray.cpp" "src/collision/TriangleMesh.cpp" @@ -251,7 +251,7 @@ SET (REACTPHYSICS3D_SOURCES "src/components/CollisionBodyComponents.cpp" "src/components/RigidBodyComponents.cpp" "src/components/TransformComponents.cpp" - "src/components/ProxyShapeComponents.cpp" + "src/components/ColliderComponents.cpp" "src/components/JointComponents.cpp" "src/components/BallAndSocketJointComponents.cpp" "src/components/FixedJointComponents.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 3689496c..be253622 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -57,55 +57,52 @@ CollisionBody::~CollisionBody() { } -// Add a collision shape to the body. Note that you can share a collision -// shape between several bodies using the same collision shape instance to -// when you add the shape to the different bodies. Do not forget to delete -// the collision shape you have created at the end of your program. -/// This method will return a pointer to a new proxy shape. A proxy shape is -/// an object that links a collision shape and a given body. You can use the -/// returned proxy shape to get and set information about the corresponding +// Create a new collider and add it to the body +/// This method will return a pointer to a new collider. A collider is +/// an object with a collision shape that is attached to a body. It is possible to +/// attach multiple colliders to a given body. You can use the +/// returned collider to get and set information about the corresponding /// collision shape for that body. /** - * @param collisionShape A pointer to the collision shape you want to add to the body - * @param transform The transformation of the collision shape that transforms the - * local-space of the collision shape into the local-space of the body - * @return A pointer to the proxy shape that has been created to link the body to - * the new collision shape you have added. + * @param collisionShape A pointer to the collision shape of the new collider + * @param transform The transformation of the collider that transforms the + * local-space of the collider into the local-space of the body + * @return A pointer to the collider that has been created */ -ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, const Transform& transform) { +Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Transform& transform) { - // Create a new entity for the proxy-shape - Entity proxyShapeEntity = mWorld.mEntityManager.createEntity(); + // Create a new entity for the collider + Entity colliderEntity = mWorld.mEntityManager.createEntity(); - // Create a new proxy collision shape to attach the collision shape to the body - ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ProxyShape))) ProxyShape(proxyShapeEntity, this, mWorld.mMemoryManager); + // Create a new collider to attach the collision shape to the body + Collider* collider = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + sizeof(Collider))) Collider(colliderEntity, this, mWorld.mMemoryManager); - // Add the proxy-shape component to the entity of the body + // Add the collider component to the entity of the body Vector3 localBoundsMin; Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; - ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, + ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, decimal(1), 0x0001, 0xFFFF, localToWorldTransform); bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); - mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, !isActive, proxyShapeComponent); + mWorld.mCollidersComponents.addComponent(colliderEntity, !isActive, colliderComponent); - mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); + mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity); #ifdef IS_PROFILING_ACTIVE // Set the profiler - proxyShape->setProfiler(mProfiler); + collider->setProfiler(mProfiler); #endif #ifdef IS_LOGGING_ACTIVE // Set the logger - proxyShape->setLogger(mLogger); + collider->setLogger(mLogger); #endif @@ -114,94 +111,92 @@ ProxyShape* CollisionBody::addCollisionShape(CollisionShape* collisionShape, con collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform); // Notify the collision detection about this new collision shape - mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); + mWorld.mCollisionDetection.addCollider(collider, aabb); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); + "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body"); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(proxyShape->getBroadPhaseId()) + ": collisionShape=" + - proxyShape->getCollisionShape()->to_string()); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + "Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" + + collider->getCollisionShape()->to_string()); // Return a pointer to the collision shape - return proxyShape; + return collider; } -// Return the number of proxy-shapes associated with this body +// Return the number of colliders associated with this body /** -* @return The number of proxy-shapes associated with this body +* @return The number of colliders associated with this body */ -uint CollisionBody::getNbProxyShapes() const { - return static_cast(mWorld.mCollisionBodyComponents.getProxyShapes(mEntity).size()); +uint CollisionBody::getNbColliders() const { + return static_cast(mWorld.mCollisionBodyComponents.getColliders(mEntity).size()); } -// Return a const pointer to a given proxy-shape of the body +// Return a const pointer to a given collider of the body /** -* @return The const pointer of a given proxy-shape of the body +* @return The const pointer of a given collider of the body */ -const ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) const { +const Collider* CollisionBody::getCollider(uint colliderIndex) const { - assert(proxyShapeIndex < getNbProxyShapes()); + assert(colliderIndex < getNbColliders()); - Entity proxyShapeEntity = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; + Entity colliderEntity = mWorld.mCollisionBodyComponents.getColliders(mEntity)[colliderIndex]; - return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity); + return mWorld.mCollidersComponents.getCollider(colliderEntity); } -// Return a pointer to a given proxy-shape of the body +// Return a pointer to a given collider of the body /** -* @return The pointer of a given proxy-shape of the body +* @return The pointer of a given collider of the body */ -ProxyShape* CollisionBody::getProxyShape(uint proxyShapeIndex) { +Collider* CollisionBody::getCollider(uint colliderIndex) { - assert(proxyShapeIndex < getNbProxyShapes()); + assert(colliderIndex < getNbColliders()); - Entity proxyShapeEntity = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity)[proxyShapeIndex]; + Entity colliderEntity = mWorld.mCollisionBodyComponents.getColliders(mEntity)[colliderIndex]; - return mWorld.mProxyShapesComponents.getProxyShape(proxyShapeEntity); + return mWorld.mCollidersComponents.getCollider(colliderEntity); } -// Remove a collision shape from the body -/// To remove a collision shape, you need to specify the pointer to the proxy -/// shape that has been returned when you have added the collision shape to the -/// body +// Remove a collider from the body +/// To remove a collider, you need to specify its pointer /** - * @param proxyShape The pointer of the proxy shape you want to remove + * @param collider The pointer of the collider you want to remove */ -void CollisionBody::removeCollisionShape(ProxyShape* proxyShape) { +void CollisionBody::removeCollider(Collider* collider) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " removed from body"); + "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " removed from body"); - // Remove the proxy-shape from the broad-phase - if (proxyShape->getBroadPhaseId() != -1) { - mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); + // Remove the collider from the broad-phase + if (collider->getBroadPhaseId() != -1) { + mWorld.mCollisionDetection.removeCollider(collider); } - mWorld.mCollisionBodyComponents.removeProxyShapeFromBody(mEntity, proxyShape->getEntity()); + mWorld.mCollisionBodyComponents.removeColliderFromBody(mEntity, collider->getEntity()); - // Remove the proxy-shape component - mWorld.mProxyShapesComponents.removeComponent(proxyShape->getEntity()); + // Remove the collider component + mWorld.mCollidersComponents.removeComponent(collider->getEntity()); // Destroy the entity - mWorld.mEntityManager.destroyEntity(proxyShape->getEntity()); + mWorld.mEntityManager.destroyEntity(collider->getEntity()); - // Call the constructor of the proxy-shape - proxyShape->~ProxyShape(); + // Call the constructor of the collider + collider->~Collider(); - // Release allocated memory for the proxy-shape - mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, proxyShape, sizeof(ProxyShape)); + // Release allocated memory for the collider + mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, collider, sizeof(Collider)); } // Remove all the collision shapes void CollisionBody::removeAllCollisionShapes() { - // Look for the proxy shape that contains the collision shape in parameter. - // Note that we need to copy the list of proxy shapes entities because we are deleting them in a loop. - const List proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // Look for the collider that contains the collision shape in parameter. + // Note that we need to copy the list of collider entities because we are deleting them in a loop. + const List collidersEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < collidersEntities.size(); i++) { - removeCollisionShape(mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i])); + removeCollider(mWorld.mCollidersComponents.getCollider(collidersEntities[i])); } } @@ -218,17 +213,17 @@ const Transform& CollisionBody::getTransform() const { // Update the broad-phase state for this body (because it has moved for instance) void CollisionBody::updateBroadPhaseState(decimal timeStep) const { - // For all the proxy collision shapes of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For all the colliders of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - // Update the local-to-world transform of the proxy-shape - mWorld.mProxyShapesComponents.setLocalToWorldTransform(proxyShapesEntities[i], + // Update the local-to-world transform of the collider + mWorld.mCollidersComponents.setLocalToWorldTransform(colliderEntities[i], mWorld.mTransformComponents.getTransform(mEntity) * - mWorld.mProxyShapesComponents.getLocalToBodyTransform(proxyShapesEntities[i])); + mWorld.mCollidersComponents.getLocalToBodyTransform(colliderEntities[i])); - // Update the proxy - mWorld.mCollisionDetection.updateProxyShape(proxyShapesEntities[i], timeStep); + // Update the collider + mWorld.mCollisionDetection.updateCollider(colliderEntities[i], timeStep); } } @@ -248,32 +243,32 @@ void CollisionBody::setIsActive(bool isActive) { const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - // For each proxy shape of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); // Compute the world-space AABB of the new collision shape AABB aabb; - proxyShape->getCollisionShape()->computeAABB(aabb, transform * mWorld.mProxyShapesComponents.getLocalToBodyTransform(proxyShape->getEntity())); + collider->getCollisionShape()->computeAABB(aabb, transform * mWorld.mCollidersComponents.getLocalToBodyTransform(collider->getEntity())); - // Add the proxy shape to the collision detection - mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); + // Add the collider to the collision detection + mWorld.mCollisionDetection.addCollider(collider, aabb); } } else { // If we have to deactivate the body - // For each proxy shape of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - if (proxyShape->getBroadPhaseId() != -1) { + if (collider->getBroadPhaseId() != -1) { - // Remove the proxy shape from the collision detection - mWorld.mCollisionDetection.removeProxyCollisionShape(proxyShape); + // Remove the collider from the collision detection + mWorld.mCollisionDetection.removeCollider(collider); } } } @@ -287,13 +282,13 @@ void CollisionBody::setIsActive(bool isActive) { // (as if the body has moved). void CollisionBody::askForBroadPhaseCollisionCheck() const { - // For all the proxy collision shapes of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For all the colliders of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(proxyShape); + mWorld.mCollisionDetection.askForBroadPhaseCollisionCheck(collider); } } @@ -305,14 +300,14 @@ void CollisionBody::askForBroadPhaseCollisionCheck() const { */ bool CollisionBody::testPointInside(const Vector3& worldPoint) const { - // For each collision shape of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - // Test if the point is inside the collision shape - if (proxyShape->testPointInside(worldPoint)) return true; + // Test if the point is inside the collider + if (collider->testPointInside(worldPoint)) return true; } return false; @@ -334,14 +329,14 @@ bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { bool isHit = false; Ray rayTemp(ray); - // For each collision shape of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - // Test if the ray hits the collision shape - if (proxyShape->raycast(rayTemp, raycastInfo)) { + // Test if the ray hits the collider + if (collider->raycast(rayTemp, raycastInfo)) { rayTemp.maxFraction = raycastInfo.hitFraction; isHit = true; } @@ -350,7 +345,7 @@ bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) { return isHit; } -// Compute and return the AABB of the body by merging all proxy shapes AABBs +// Compute and return the AABB of the body by merging all colliders AABBs /** * @return The axis-aligned bounding box (AABB) of the body in world-space coordinates */ @@ -358,24 +353,24 @@ AABB CollisionBody::getAABB() const { AABB bodyAABB; - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - if (proxyShapesEntities.size() == 0) return bodyAABB; + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + if (colliderEntities.size() == 0) return bodyAABB; const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[0]); - proxyShape->getCollisionShape()->computeAABB(bodyAABB, transform * proxyShape->getLocalToBodyTransform()); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[0]); + collider->getCollisionShape()->computeAABB(bodyAABB, transform * collider->getLocalToBodyTransform()); - // For each proxy shape of the body - for (uint i=1; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + for (uint i=1; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - // Compute the world-space AABB of the collision shape + // Compute the world-space AABB of the collider AABB aabb; - proxyShape->getCollisionShape()->computeAABB(aabb, transform * proxyShape->getLocalToBodyTransform()); + collider->getCollisionShape()->computeAABB(aabb, transform * collider->getLocalToBodyTransform()); - // Merge the proxy shape AABB with the current body AABB + // Merge the collider AABB with the current body AABB bodyAABB.mergeWithAABB(aabb); } diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 0f5e9dd5..af9a6184 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -38,7 +38,7 @@ namespace reactphysics3d { // Declarations struct ContactManifoldListElement; -class ProxyShape; +class Collider; class CollisionWorld; class CollisionShape; struct RaycastInfo; @@ -125,11 +125,11 @@ class CollisionBody { /// Set the current position and orientation virtual void setTransform(const Transform& transform); - /// Add a collision shape to the body. - virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, const Transform& transform); + /// Create a new collider and add it to the body. + virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform); - /// Remove a collision shape from the body - virtual void removeCollisionShape(ProxyShape *proxyShape); + /// Remove a collider from the body + virtual void removeCollider(Collider* collider); /// Return true if a point is inside the collision body bool testPointInside(const Vector3& worldPoint) const; @@ -140,17 +140,17 @@ class CollisionBody { /// Test if the collision body overlaps with a given AABB bool testAABBOverlap(const AABB& worldAABB) const; - /// Compute and return the AABB of the body by merging all proxy shapes AABBs + /// Compute and return the AABB of the body by merging all colliders AABBs AABB getAABB() const; - /// Return a const pointer to a given proxy-shape of the body - const ProxyShape* getProxyShape(uint proxyShapeIndex) const; + /// Return a const pointer to a given collider of the body + const Collider* getCollider(uint colliderIndex) const; - /// Return a pointer to a given proxy-shape of the body - ProxyShape* getProxyShape(uint proxyShapeIndex); + /// Return a pointer to a given collider of the body + Collider* getCollider(uint colliderIndex); - /// Return the number of proxy-shapes associated with this body - uint getNbProxyShapes() const; + /// Return the number of colliders associated with this body + uint getNbColliders() const; /// Return the world-space coordinates of a point given the local-space coordinates of the body Vector3 getWorldPoint(const Vector3& localPoint) const; @@ -184,7 +184,7 @@ class CollisionBody { friend class CollisionDetectionSystem; friend class BroadPhaseAlgorithm; friend class ConvexMeshShape; - friend class ProxyShape; + friend class Collider; }; /// Test if the collision body overlaps with a given AABB diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 311dcc04..975d9991 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -307,58 +307,53 @@ void RigidBody::setMass(decimal mass) { } -// Add a collision shape to the body. -/// When you add a collision shape to the body, an internal copy of this -/// collision shape will be created internally. Therefore, you can delete it -/// right after calling this method or use it later to add it to another body. -/// This method will return a pointer to a new proxy shape. A proxy shape is -/// an object that links a collision shape and a given body. You can use the -/// returned proxy shape to get and set information about the corresponding +// Create a new collider and add it to the body +/// This method will return a pointer to a new collider. A collider is +/// an object with a collision shape that is attached to a body. It is possible to +/// attach multiple colliders to a given body. You can use the +/// returned collider to get and set information about the corresponding /// collision shape for that body. /** - * @param collisionShape The collision shape you want to add to the body - * @param transform The transformation of the collision shape that transforms the - * local-space of the collision shape into the local-space of the body - * @param mass Mass (in kilograms) of the collision shape you want to add - * @return A pointer to the proxy shape that has been created to link the body to - * the new collision shape you have added. + * @param collisionShape The collision shape of the new collider + * @param transform The transformation of the collider that transforms the + * local-space of the collider into the local-space of the body + * @param mass Mass (in kilograms) of the collider you want to add + * @return A pointer to the collider that has been created */ -ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, - const Transform& transform, - decimal mass) { +Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform& transform, decimal mass) { - // Create a new entity for the proxy-shape - Entity proxyShapeEntity = mWorld.mEntityManager.createEntity(); + // Create a new entity for the collider + Entity colliderEntity = mWorld.mEntityManager.createEntity(); - // Create a new proxy collision shape to attach the collision shape to the body - ProxyShape* proxyShape = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(ProxyShape))) ProxyShape(proxyShapeEntity, this, mWorld.mMemoryManager); + // Create a new collider for the body + Collider* collider = new (mWorld.mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + sizeof(Collider))) Collider(colliderEntity, this, mWorld.mMemoryManager); - // Add the proxy-shape component to the entity of the body + // Add the collider component to the entity of the body Vector3 localBoundsMin; Vector3 localBoundsMax; // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; - ProxyShapeComponents::ProxyShapeComponent proxyShapeComponent(mEntity, proxyShape, + ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax), transform, collisionShape, mass, 0x0001, 0xFFFF, localToWorldTransform); bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); - mWorld.mProxyShapesComponents.addComponent(proxyShapeEntity, isSleeping, proxyShapeComponent); + mWorld.mCollidersComponents.addComponent(colliderEntity, isSleeping, colliderComponent); - mWorld.mCollisionBodyComponents.addProxyShapeToBody(mEntity, proxyShapeEntity); + mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity); #ifdef IS_PROFILING_ACTIVE // Set the profiler - proxyShape->setProfiler(mProfiler); + collider->setProfiler(mProfiler); #endif #ifdef IS_LOGGING_ACTIVE // Set the logger - proxyShape->setLogger(mLogger); + collider->setLogger(mLogger); #endif @@ -367,34 +362,32 @@ ProxyShape* RigidBody::addCollisionShape(CollisionShape* collisionShape, collisionShape->computeAABB(aabb, mWorld.mTransformComponents.getTransform(mEntity) * transform); // Notify the collision detection about this new collision shape - mWorld.mCollisionDetection.addProxyCollisionShape(proxyShape, aabb); + mWorld.mCollisionDetection.addCollider(collider, aabb); // Recompute the center of mass, total mass and inertia tensor of the body with the new // collision shape recomputeMassInformation(); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Proxy shape " + std::to_string(proxyShape->getBroadPhaseId()) + " added to body"); + "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body"); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(proxyShape->getBroadPhaseId()) + ": collisionShape=" + - proxyShape->getCollisionShape()->to_string()); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + "Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" + + collider->getCollisionShape()->to_string()); - // Return a pointer to the proxy collision shape - return proxyShape; + // Return a pointer to the collider + return collider; } -// Remove a collision shape from the body -/// To remove a collision shape, you need to specify the pointer to the proxy -/// shape that has been returned when you have added the collision shape to the -/// body +// Remove a collider from the body +/// To remove a collider, you need to specify its pointer. /** - * @param proxyShape The pointer of the proxy shape you want to remove + * @param collider The pointer of the collider you want to remove */ -void RigidBody::removeCollisionShape(ProxyShape* proxyShape) { +void RigidBody::removeCollider(Collider* collider) { // Remove the collision shape - CollisionBody::removeCollisionShape(proxyShape); + CollisionBody::removeCollider(collider); // Recompute the total mass, center of mass and inertia tensor recomputeMassInformation(); @@ -540,14 +533,14 @@ void RigidBody::recomputeMassInformation() { assert(mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::DYNAMIC); // Compute the total mass of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); - mWorld.mRigidBodyComponents.setInitMass(mEntity, mWorld.mRigidBodyComponents.getInitMass(mEntity) + proxyShape->getMass()); + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + mWorld.mRigidBodyComponents.setInitMass(mEntity, mWorld.mRigidBodyComponents.getInitMass(mEntity) + collider->getMass()); if (!mIsCenterOfMassSetByUser) { mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) + - proxyShape->getLocalToBodyTransform().getPosition() * proxyShape->getMass()); + collider->getLocalToBodyTransform().getPosition() * collider->getMass()); } } @@ -570,22 +563,22 @@ void RigidBody::recomputeMassInformation() { if (!mIsInertiaTensorSetByUser) { - // Compute the inertia tensor using all the collision shapes - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // Compute the inertia tensor using all the colliders + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - // Get the inertia tensor of the collision shape in its local-space + // Get the inertia tensor of the collider in its local-space Matrix3x3 inertiaTensor; - proxyShape->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, proxyShape->getMass()); + collider->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, collider->getMass()); - // Convert the collision shape inertia tensor into the local-space of the body - const Transform& shapeTransform = proxyShape->getLocalToBodyTransform(); + // Convert the collider inertia tensor into the local-space of the body + const Transform& shapeTransform = collider->getLocalToBodyTransform(); Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix(); inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose(); - // Use the parallel axis theorem to convert the inertia tensor w.r.t the collision shape + // Use the parallel axis theorem to convert the inertia tensor w.r.t the collider // center into a inertia tensor w.r.t to the body origin. Vector3 offset = shapeTransform.getPosition() - mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); decimal offsetSquare = offset.lengthSquare(); @@ -596,7 +589,7 @@ void RigidBody::recomputeMassInformation() { offsetMatrix[0] += offset * (-offset.x); offsetMatrix[1] += offset * (-offset.y); offsetMatrix[2] += offset * (-offset.z); - offsetMatrix *= proxyShape->getMass(); + offsetMatrix *= collider->getMass(); inertiaTensorLocal += inertiaTensor + offsetMatrix; } @@ -705,12 +698,12 @@ void RigidBody::setIsSleeping(bool isSleeping) { // Update whether the current overlapping pairs where this body is involed are active or not void RigidBody::updateOverlappingPairs() { - // For each proxy-shape of the body - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - // Get the currently overlapping pairs for this proxy-shape - List overlappingPairs = mWorld.mProxyShapesComponents.getOverlappingPairs(proxyShapesEntities[i]); + // Get the currently overlapping pairs for this collider + List overlappingPairs = mWorld.mCollidersComponents.getOverlappingPairs(colliderEntities[i]); for (uint j=0; j < overlappingPairs.size(); j++) { @@ -779,13 +772,13 @@ void RigidBody::setProfiler(Profiler* profiler) { CollisionBody::setProfiler(profiler); - // Set the profiler for each proxy shape - const List& proxyShapesEntities = mWorld.mCollisionBodyComponents.getProxyShapes(mEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // Set the profiler for each collider + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { - ProxyShape* proxyShape = mWorld.mProxyShapesComponents.getProxyShape(proxyShapesEntities[i]); + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - proxyShape->setProfiler(profiler); + collider->setProfiler(profiler); } } diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index d0af864a..6ee16708 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -182,15 +182,13 @@ class RigidBody : public CollisionBody { /// Set whether or not the body is active virtual void setIsActive(bool isActive) override; - /// Add a collision shape to the body. + /// Create a new collider and add it to the body // TODO : Remove the mass from this parameter so that we can correctly use inheritance here - // The user will then need to call ProxyShape->setMass() to set the mass of the shape - virtual ProxyShape* addCollisionShape(CollisionShape* collisionShape, - const Transform& transform, - decimal mass); + // The user will then need to call Collider->setMass() to set the mass of the shape + virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform, decimal mass); - /// Remove a collision shape from the body - virtual void removeCollisionShape(ProxyShape* proxyShape) override; + /// Remove a collider from the body + virtual void removeCollider(Collider* collider) override; /// Recompute the center of mass, total mass and inertia tensor of the body using all /// the collision shapes attached to the body. diff --git a/src/collision/ProxyShape.cpp b/src/collision/Collider.cpp similarity index 65% rename from src/collision/ProxyShape.cpp rename to src/collision/Collider.cpp index 5e0e2d7c..a9619044 100644 --- a/src/collision/ProxyShape.cpp +++ b/src/collision/Collider.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "ProxyShape.h" +#include "Collider.h" #include "utils/Logger.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" @@ -39,14 +39,14 @@ using namespace reactphysics3d; * @param transform Transformation from collision shape local-space to body local-space * @param mass Mass of the collision shape (in kilograms) */ -ProxyShape::ProxyShape(Entity entity, CollisionBody* body, MemoryManager& memoryManager) +Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mEntity(entity), mBody(body), mUserData(nullptr) { } // Destructor -ProxyShape::~ProxyShape() { +Collider::~Collider() { } @@ -54,8 +54,8 @@ ProxyShape::~ProxyShape() { /** * @return Mass of the collision shape (in kilograms) */ -decimal ProxyShape::getMass() const { - return mBody->mWorld.mProxyShapesComponents.getMass(mEntity); +decimal Collider::getMass() const { + return mBody->mWorld.mCollidersComponents.getMass(mEntity); } @@ -64,30 +64,30 @@ decimal ProxyShape::getMass() const { * @param worldPoint Point to test in world-space coordinates * @return True if the point is inside the collision shape */ -bool ProxyShape::testPointInside(const Vector3& worldPoint) { +bool Collider::testPointInside(const Vector3& worldPoint) { const Transform localToWorld = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()) * - mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(mEntity); + mBody->mWorld.mCollidersComponents.getLocalToBodyTransform(mEntity); const Vector3 localPoint = localToWorld.getInverse() * worldPoint; - const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); + const CollisionShape* collisionShape = mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); return collisionShape->testPointInside(localPoint, this); } // Set the collision category bits /** - * @param collisionCategoryBits The collision category bits mask of the proxy shape + * @param collisionCategoryBits The collision category bits mask of the collider */ -void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) { +void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) { // TODO : Here we should probably remove all overlapping pairs with this shape in the // broad-phase and add the shape in the "has moved" shape list so it is reevaluated // with the new mask bits - mBody->mWorld.mProxyShapesComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits); + mBody->mWorld.mCollidersComponents.setCollisionCategoryBits(mEntity, collisionCategoryBits); - int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); + int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + "Collider " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + std::to_string(collisionCategoryBits)); } @@ -95,49 +95,49 @@ void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) /** * @param collideWithMaskBits The bits mask that specifies with which collision category this shape will collide */ -void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) { +void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) { // TODO : Here we should probably remove all overlapping pairs with this shape in the // broad-phase and add the shape in the "has moved" shape list so it is reevaluated // with the new mask bits - mBody->mWorld.mProxyShapesComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits); + mBody->mWorld.mCollidersComponents.setCollideWithMaskBits(mEntity, collideWithMaskBits); - int broadPhaseId = mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); + int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + "Collider" " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + std::to_string(collideWithMaskBits)); } // Set the local to parent body transform -void ProxyShape::setLocalToBodyTransform(const Transform& transform) { +void Collider::setLocalToBodyTransform(const Transform& transform) { - mBody->mWorld.mProxyShapesComponents.setLocalToBodyTransform(mEntity, transform); + mBody->mWorld.mCollidersComponents.setLocalToBodyTransform(mEntity, transform); // Update the local-to-world transform const Transform& bodyTransform = mBody->mWorld.mTransformComponents.getTransform(mBody->getEntity()); - mBody->mWorld.mProxyShapesComponents.setLocalToWorldTransform(mEntity, bodyTransform * transform); + mBody->mWorld.mCollidersComponents.setLocalToWorldTransform(mEntity, bodyTransform * transform); RigidBody* rigidBody = static_cast(mBody); if (rigidBody != nullptr) { mBody->mWorld.mRigidBodyComponents.setIsSleeping(mBody->getEntity(), false); } - mBody->mWorld.mCollisionDetection.updateProxyShape(mEntity, 0); + mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape, - "ProxyShape " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + "Collider " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" + transform.to_string()); } -// Return the AABB of the proxy shape in world-space +// Return the AABB of the collider in world-space /** - * @return The AABB of the proxy shape in world-space + * @return The AABB of the collider in world-space */ -const AABB ProxyShape::getWorldAABB() const { +const AABB Collider::getWorldAABB() const { AABB aabb; - CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); + CollisionShape* collisionShape = mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); collisionShape->computeAABB(aabb, getLocalToWorldTransform()); return aabb; } @@ -146,21 +146,21 @@ const AABB ProxyShape::getWorldAABB() const { /** * @return Pointer to the internal collision shape */ -const CollisionShape* ProxyShape::getCollisionShape() const { - return mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); +const CollisionShape* Collider::getCollisionShape() const { + return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); } // Return the collision shape /** * @return Pointer to the internal collision shape */ -CollisionShape* ProxyShape::getCollisionShape() { - return mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); +CollisionShape* Collider::getCollisionShape() { + return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); } // Return the broad-phase id -int ProxyShape::getBroadPhaseId() const { - return mBody->mWorld.mProxyShapesComponents.getBroadPhaseId(mEntity); +int Collider::getBroadPhaseId() const { + return mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity); } // Return the local to parent body transform @@ -168,8 +168,8 @@ int ProxyShape::getBroadPhaseId() const { * @return The transformation that transforms the local-space of the collision shape * to the local-space of the parent body */ -const Transform& ProxyShape::getLocalToBodyTransform() const { - return mBody->mWorld.mProxyShapesComponents.getLocalToBodyTransform(mEntity); +const Transform& Collider::getLocalToBodyTransform() const { + return mBody->mWorld.mCollidersComponents.getLocalToBodyTransform(mEntity); } // Raycast method with feedback information @@ -179,19 +179,19 @@ const Transform& ProxyShape::getLocalToBodyTransform() const { * methods returned true * @return True if the ray hits the collision shape */ -bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { +bool Collider::raycast(const Ray& ray, RaycastInfo& raycastInfo) { // If the corresponding body is not active, it cannot be hit by rays if (!mBody->isActive()) return false; // Convert the ray into the local-space of the collision shape - const Transform localToWorldTransform = mBody->mWorld.mProxyShapesComponents.getLocalToWorldTransform(mEntity); + const Transform localToWorldTransform = mBody->mWorld.mCollidersComponents.getLocalToWorldTransform(mEntity); const Transform worldToLocalTransform = localToWorldTransform.getInverse(); Ray rayLocal(worldToLocalTransform * ray.point1, worldToLocalTransform * ray.point2, ray.maxFraction); - const CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); + const CollisionShape* collisionShape = mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); bool isHit = collisionShape->raycast(rayLocal, raycastInfo, this, mMemoryManager.getPoolAllocator()); // Convert the raycast info into world-space @@ -204,18 +204,18 @@ bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) { // Return the collision category bits /** - * @return The collision category bits mask of the proxy shape + * @return The collision category bits mask of the collider */ -unsigned short ProxyShape::getCollisionCategoryBits() const { - return mBody->mWorld.mProxyShapesComponents.getCollisionCategoryBits(mEntity); +unsigned short Collider::getCollisionCategoryBits() const { + return mBody->mWorld.mCollidersComponents.getCollisionCategoryBits(mEntity); } // Return the collision bits mask /** * @return The bits mask that specifies with which collision category this shape will collide */ -unsigned short ProxyShape::getCollideWithMaskBits() const { - return mBody->mWorld.mProxyShapesComponents.getCollideWithMaskBits(mEntity); +unsigned short Collider::getCollideWithMaskBits() const { + return mBody->mWorld.mCollidersComponents.getCollideWithMaskBits(mEntity); } // Return the local to world transform @@ -223,18 +223,18 @@ unsigned short ProxyShape::getCollideWithMaskBits() const { * @return The transformation that transforms the local-space of the collision * shape to the world-space */ -const Transform ProxyShape::getLocalToWorldTransform() const { - return mBody->mWorld.mProxyShapesComponents.getLocalToWorldTransform(mEntity); +const Transform Collider::getLocalToWorldTransform() const { + return mBody->mWorld.mCollidersComponents.getLocalToWorldTransform(mEntity); } #ifdef IS_PROFILING_ACTIVE // Set the profiler -void ProxyShape::setProfiler(Profiler* profiler) { +void Collider::setProfiler(Profiler* profiler) { mProfiler = profiler; - CollisionShape* collisionShape = mBody->mWorld.mProxyShapesComponents.getCollisionShape(mEntity); + CollisionShape* collisionShape = mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); collisionShape->setProfiler(profiler); } diff --git a/src/collision/ProxyShape.h b/src/collision/Collider.h similarity index 72% rename from src/collision/ProxyShape.h rename to src/collision/Collider.h index c861306f..28b6d7df 100644 --- a/src/collision/ProxyShape.h +++ b/src/collision/Collider.h @@ -23,8 +23,8 @@ * * ********************************************************************************/ -#ifndef REACTPHYSICS3D_PROXY_SHAPE_H -#define REACTPHYSICS3D_PROXY_SHAPE_H +#ifndef REACTPHYSICS3D_COLLIDER_H +#define REACTPHYSICS3D_COLLIDER_H // Libraries #include "body/CollisionBody.h" @@ -35,17 +35,17 @@ namespace reactphysics3d { // Declarations class MemoryManager; -// Class ProxyShape +// Class Collider /** * The CollisionShape instances are supposed to be unique for memory optimization. For instance, * consider two rigid bodies with the same sphere collision shape. In this situation, we will have * a unique instance of SphereShape but we need to differentiate between the two instances during * the collision detection. They do not have the same position in the world and they do not - * belong to the same rigid body. The ProxyShape class is used for that purpose by attaching a - * rigid body with one of its collision shape. A body can have multiple proxy shapes (one for + * belong to the same rigid body. The Collider class is used for that purpose by attaching a + * rigid body with one of its collision shape. A body can have multiple colliders (one for * each collision shape attached to the body). */ -class ProxyShape { +class Collider { protected: @@ -60,37 +60,9 @@ class ProxyShape { /// Pointer to the parent body CollisionBody* mBody; - /// Internal collision shape - //CollisionShape* mCollisionShape; - - /// Local-space to parent body-space transform (does not change over time) - //Transform mLocalToBodyTransform; - - /// Mass (in kilogramms) of the corresponding collision shape - //decimal mMass; - - /// Pointer to the next proxy shape of the body (linked list) - //ProxyShape* mNext; - - /// Broad-phase ID (node ID in the dynamic AABB tree) - //int mBroadPhaseID; - /// Pointer to user data void* mUserData; - /// Bits used to define the collision category of this shape. - /// You can set a single bit to one to define a category value for this - /// shape. This value is one (0x0001) by default. This variable can be used - /// together with the mCollideWithMaskBits variable so that given - /// categories of shapes collide with each other and do not collide with - /// other categories. - //unsigned short mCollisionCategoryBits; - - /// Bits mask used to state which collision categories this shape can - /// collide with. This value is 0xFFFF by default. It means that this - /// proxy shape will collide with every collision categories by default. - //unsigned short mCollideWithMaskBits; - #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -114,18 +86,18 @@ class ProxyShape { // -------------------- Methods -------------------- // /// Constructor - ProxyShape(Entity entity, CollisionBody* body, MemoryManager& memoryManager); + Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager); /// Destructor - virtual ~ProxyShape(); + virtual ~Collider(); /// Deleted copy-constructor - ProxyShape(const ProxyShape& proxyShape) = delete; + Collider(const Collider& collider) = delete; /// Deleted assignment operator - ProxyShape& operator=(const ProxyShape& proxyShape) = delete; + Collider& operator=(const Collider& collider) = delete; - /// Return the corresponding entity of the proxy-shape + /// Return the corresponding entity of the collider Entity getEntity() const; /// Return the collision shape @@ -152,10 +124,10 @@ class ProxyShape { /// Return the local to world transform const Transform getLocalToWorldTransform() const; - /// Return the AABB of the proxy shape in world-space + /// Return the AABB of the collider in world-space const AABB getWorldAABB() const; - /// Test if the proxy shape overlaps with a given AABB + /// Test if the collider overlaps with a given AABB bool testAABBOverlap(const AABB& worldAABB) const; /// Return true if a point is inside the collision shape @@ -209,11 +181,11 @@ class ProxyShape { }; -// Return the corresponding entity of the proxy-shape +// Return the corresponding entity of the collider /** - * @return The entity of the proxy-shape + * @return The entity of the collider */ -inline Entity ProxyShape::getEntity() const { +inline Entity Collider::getEntity() const { return mEntity; } @@ -221,39 +193,39 @@ inline Entity ProxyShape::getEntity() const { /** * @return Pointer to the parent body */ -inline CollisionBody* ProxyShape::getBody() const { +inline CollisionBody* Collider::getBody() const { return mBody; } // Return a pointer to the user data attached to this body /** - * @return A pointer to the user data stored into the proxy shape + * @return A pointer to the user data stored into the collider */ -inline void* ProxyShape::getUserData() const { +inline void* Collider::getUserData() const { return mUserData; } // Attach user data to this body /** - * @param userData Pointer to the user data you want to store within the proxy shape + * @param userData Pointer to the user data you want to store within the collider */ -inline void ProxyShape::setUserData(void* userData) { +inline void Collider::setUserData(void* userData) { mUserData = userData; } -/// Test if the proxy shape overlaps with a given AABB +/// Test if the collider overlaps with a given AABB /** * @param worldAABB The AABB (in world-space coordinates) that will be used to test overlap * @return True if the given AABB overlaps with the AABB of the collision body */ -inline bool ProxyShape::testAABBOverlap(const AABB& worldAABB) const { +inline bool Collider::testAABBOverlap(const AABB& worldAABB) const { return worldAABB.testCollision(getWorldAABB()); } #ifdef IS_LOGGING_ACTIVE // Set the logger -inline void ProxyShape::setLogger(Logger* logger) { +inline void Collider::setLogger(Logger* logger) { mLogger = logger; } diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index 0ea1d404..67cc496b 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -55,14 +55,14 @@ CollisionBody* CollisionCallback::ContactPair::getBody2() const { return static_cast(mWorld.mCollisionBodyComponents.getBody(mContactPair.body2Entity)); } -// Return a pointer to the first proxy-shape in contact (in body 1) -ProxyShape* CollisionCallback::ContactPair::getProxyShape1() const { - return mWorld.mProxyShapesComponents.getProxyShape(mContactPair.proxyShape1Entity); +// Return a pointer to the first collider in contact (in body 1) +Collider* CollisionCallback::ContactPair::getCollider1() const { + return mWorld.mCollidersComponents.getCollider(mContactPair.collider1Entity); } -// Return a pointer to the second proxy-shape in contact (in body 1) -ProxyShape* CollisionCallback::ContactPair::getProxyShape2() const { - return mWorld.mProxyShapesComponents.getProxyShape(mContactPair.proxyShape2Entity); +// Return a pointer to the second collider in contact (in body 1) +Collider* CollisionCallback::ContactPair::getCollider2() const { + return mWorld.mCollidersComponents.getCollider(mContactPair.collider2Entity); } // CollisionCallbackInfo Constructor diff --git a/src/collision/CollisionCallback.h b/src/collision/CollisionCallback.h index f8fff095..b0c3dd4d 100644 --- a/src/collision/CollisionCallback.h +++ b/src/collision/CollisionCallback.h @@ -39,7 +39,7 @@ class OverlappingPair; class ContactManifold; struct ContactManifoldListElement; class CollisionBody; -class ProxyShape; +class Collider; class MemoryManager; class CollisionCallbackInfo; @@ -90,10 +90,10 @@ class CollisionCallback { /// Return the world-space contact normal const Vector3& getWorldNormal() const; - /// Return the contact point on the first proxy shape in the local-space of the first proxy shape + /// Return the contact point on the first collider in the local-space of the first collider const Vector3& getLocalPointOnShape1() const; - /// Return the contact point on the second proxy shape in the local-space of the second proxy shape + /// Return the contact point on the second collider in the local-space of the second collider const Vector3& getLocalPointOnShape2() const; // -------------------- Friendship -------------------- // @@ -151,11 +151,11 @@ class CollisionCallback { /// Return a pointer to the second body in contact CollisionBody* getBody2() const; - /// Return a pointer to the first proxy-shape in contact (in body 1) - ProxyShape* getProxyShape1() const; + /// Return a pointer to the first collider in contact (in body 1) + Collider* getCollider1() const; - /// Return a pointer to the second proxy-shape in contact (in body 2) - ProxyShape* getProxyShape2() const; + /// Return a pointer to the second collider in contact (in body 2) + Collider* getCollider2() const; // -------------------- Friendship -------------------- // @@ -253,17 +253,17 @@ inline const Vector3& CollisionCallback::ContactPoint::getWorldNormal() const { return mContactPoint.getNormal(); } -// Return the contact point on the first proxy shape in the local-space of the first proxy shape +// Return the contact point on the first collider in the local-space of the first collider /** - * @return The contact point in the local-space of the first proxy-shape (from body1) in contact + * @return The contact point in the local-space of the first collider (from body1) in contact */ inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape1() const { return mContactPoint.getLocalPointOnShape1(); } -// Return the contact point on the second proxy shape in the local-space of the second proxy shape +// Return the contact point on the second collider in the local-space of the second collider /** - * @return The contact point in the local-space of the second proxy-shape (from body2) in contact + * @return The contact point in the local-space of the second collider (from body2) in contact */ inline const Vector3& CollisionCallback::ContactPoint::getLocalPointOnShape2() const { return mContactPoint.getLocalPointOnShape2(); diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 998d8787..6d85dcad 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -31,10 +31,10 @@ using namespace reactphysics3d; // Constructor -ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, +ContactManifold::ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2, uint contactPointsIndex, int8 nbContactPoints) :contactPointsIndex(contactPointsIndex), bodyEntity1(bodyEntity1), bodyEntity2(bodyEntity2), - proxyShapeEntity1(proxyShapeEntity1), proxyShapeEntity2(proxyShapeEntity2), nbContactPoints(nbContactPoints), frictionImpulse1(0), frictionImpulse2(0), + colliderEntity1(colliderEntity1), colliderEntity2(colliderEntity2), nbContactPoints(nbContactPoints), frictionImpulse1(0), frictionImpulse2(0), frictionTwistImpulse(0), isAlreadyInIsland(false) { } diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index 28683e56..22290fce 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_CONTACT_MANIFOLD_H // Libraries -#include "collision/ProxyShape.h" +#include "collision/Collider.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -71,11 +71,11 @@ class ContactManifold { /// Entity of the second body in contact Entity bodyEntity2; - /// Entity of the first proxy-shape in contact - Entity proxyShapeEntity1; + /// Entity of the first collider in contact + Entity colliderEntity1; - /// Entity of the second proxy-shape in contact - Entity proxyShapeEntity2; + /// Entity of the second collider in contact + Entity colliderEntity2; /// Number of contacts in the cache int8 nbContactPoints; @@ -106,7 +106,7 @@ class ContactManifold { // -------------------- Methods -------------------- // /// Constructor - ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity proxyShapeEntity1, Entity proxyShapeEntity2, + ContactManifold(Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2, uint contactPointsIndex, int8 nbContactPoints); /// Destructor diff --git a/src/collision/ContactPair.h b/src/collision/ContactPair.h index c4e14d43..424e000a 100644 --- a/src/collision/ContactPair.h +++ b/src/collision/ContactPair.h @@ -56,11 +56,11 @@ struct ContactPair { /// Entity of the second body of the contact Entity body2Entity; - /// Entity of the first proxy-shape of the contact - Entity proxyShape1Entity; + /// Entity of the first collider of the contact + Entity collider1Entity; - /// Entity of the second proxy-shape of the contact - Entity proxyShape2Entity; + /// Entity of the second collider of the contact + Entity collider2Entity; /// True if the manifold is already in an island bool isAlreadyInIsland; @@ -83,10 +83,10 @@ struct ContactPair { // -------------------- Methods -------------------- // /// Constructor - ContactPair(uint64 pairId, Entity body1Entity, Entity body2Entity, Entity proxyShape1Entity, - Entity proxyShape2Entity, uint contactPairIndex, MemoryAllocator& allocator) + ContactPair(uint64 pairId, Entity body1Entity, Entity body2Entity, Entity collider1Entity, + Entity collider2Entity, uint contactPairIndex, MemoryAllocator& allocator) : pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity), - proxyShape1Entity(proxyShape1Entity), proxyShape2Entity(proxyShape2Entity), + collider1Entity(collider1Entity), collider2Entity(collider2Entity), isAlreadyInIsland(false), contactPairIndex(contactPairIndex), contactManifoldsIndex(0), nbContactManifolds(0), contactPointsIndex(0), nbToTalContactPoints(0) { diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index 566e2cb1..0fd96401 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -47,7 +47,7 @@ CollisionBody* OverlapCallback::OverlapPair::getBody2() const { } // CollisionCallbackData Constructor -OverlapCallback::CallbackData::CallbackData(List>& overlapBodies, CollisionWorld& world) - :mOverlapBodies(overlapBodies), mWorld(world) { +OverlapCallback::CallbackData::CallbackData(List>& overlapColliders, CollisionWorld& world) + :mOverlapBodies(overlapColliders), mWorld(world) { } diff --git a/src/collision/OverlapCallback.h b/src/collision/OverlapCallback.h index ac32d936..ffc3bd22 100644 --- a/src/collision/OverlapCallback.h +++ b/src/collision/OverlapCallback.h @@ -35,7 +35,7 @@ namespace reactphysics3d { // Declarations class CollisionBody; class CollisionWorld; -class ProxyShape; +class Collider; struct Entity; // Class OverlapCallback @@ -49,7 +49,7 @@ class OverlapCallback { // Class OverlapPair /** - * This class represents the contact between two proxy-shapes of the physics world. + * This class represents the contact between two colliders of the physics world. */ class OverlapPair { @@ -110,7 +110,7 @@ class OverlapCallback { // -------------------- Methods -------------------- // /// Constructor - CallbackData(List>& overlapProxyShapes, CollisionWorld& world); + CallbackData(List>& overlapColliders, CollisionWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; diff --git a/src/collision/RaycastInfo.cpp b/src/collision/RaycastInfo.cpp index cffdfe73..3879e80e 100644 --- a/src/collision/RaycastInfo.cpp +++ b/src/collision/RaycastInfo.cpp @@ -26,12 +26,12 @@ // Libraries #include "decimal.h" #include "RaycastInfo.h" -#include "ProxyShape.h" +#include "Collider.h" using namespace reactphysics3d; -// Ray cast test against a proxy shape -decimal RaycastTest::raycastAgainstShape(ProxyShape* shape, const Ray& ray) { +// Ray cast test against a collider +decimal RaycastTest::raycastAgainstShape(Collider* shape, const Ray& ray) { // Ray casting test against the collision shape RaycastInfo raycastInfo; diff --git a/src/collision/RaycastInfo.h b/src/collision/RaycastInfo.h index 12deb8ef..846b2f04 100644 --- a/src/collision/RaycastInfo.h +++ b/src/collision/RaycastInfo.h @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations class CollisionBody; -class ProxyShape; +class Collider; class CollisionShape; struct Ray; @@ -69,13 +69,13 @@ struct RaycastInfo { /// Pointer to the hit collision body CollisionBody* body; - /// Pointer to the hit proxy collision shape - ProxyShape* proxyShape; + /// Pointer to the hit collider + Collider* collider; // -------------------- Methods -------------------- // /// Constructor - RaycastInfo() : meshSubpart(-1), triangleIndex(-1), body(nullptr), proxyShape(nullptr) { + RaycastInfo() : meshSubpart(-1), triangleIndex(-1), body(nullptr), collider(nullptr) { } @@ -93,7 +93,7 @@ struct RaycastInfo { /** * This class can be used to register a callback for ray casting queries. * You should implement your own class inherited from this one and implement - * the notifyRaycastHit() method. This method will be called for each ProxyShape + * the notifyRaycastHit() method. This method will be called for each collider * that is hit by the ray. */ class RaycastCallback { @@ -107,7 +107,7 @@ class RaycastCallback { } - /// This method will be called for each ProxyShape that is hit by the + /// This method will be called for each collider that is hit by the /// ray. You cannot make any assumptions about the order of the /// calls. You should use the return value to control the continuation /// of the ray. The returned value is the next maxFraction value to use. @@ -117,7 +117,7 @@ class RaycastCallback { /// occurred. If you return the fraction in the parameter (hitFraction /// value in the RaycastInfo object), the current ray will be clipped /// to this fraction in the next queries. If you return -1.0, it will - /// ignore this ProxyShape and continue the ray cast. + /// ignore this collider and continue the ray cast. /** * @param raycastInfo Information about the raycast hit * @return Value that controls the continuation of the ray after a hit @@ -139,8 +139,8 @@ struct RaycastTest { userCallback = callback; } - /// Ray cast test against a proxy shape - decimal raycastAgainstShape(ProxyShape* shape, const Ray& ray); + /// Ray cast test against a collider + decimal raycastAgainstShape(Collider* shape, const Ray& ray); }; } diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 4d91240a..17c3f83e 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -694,7 +694,7 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca Stack stack(mAllocator, 128); stack.push(mRootNodeID); - // Walk through the tree from the root looking for proxy shapes + // Walk through the tree from the root looking for colliders // that overlap with the ray AABB while (stack.size() > 0) { @@ -735,7 +735,7 @@ void DynamicAABBTree::raycast(const Ray& ray, DynamicAABBTreeRaycastCallback& ca } // If the user returned a negative fraction, we continue - // the raycasting as if the proxy shape did not exist + // the raycasting as if the collider did not exist } else { // If the node has children diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp index cba95097..9d7d7232 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -38,7 +38,7 @@ CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(Memor } // Add shapes to be tested during narrow-phase collision detection into the batch -void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { assert(shape1->getType() == CollisionShapeType::CAPSULE); @@ -47,8 +47,8 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uin const CapsuleShape* capsule1 = static_cast(shape1); const CapsuleShape* capsule2 = static_cast(shape2); - proxyShapeEntities1.add(proxyShape1); - proxyShapeEntities2.add(proxyShape2); + colliderEntities1.add(collider1); + colliderEntities2.add(collider2); capsule1Radiuses.add(capsule1->getRadius()); capsule2Radiuses.add(capsule2->getRadius()); capsule1Heights.add(capsule1->getHeight()); @@ -68,8 +68,8 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uin void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { overlappingPairIds.reserve(mCachedCapacity); - proxyShapeEntities1.reserve(mCachedCapacity); - proxyShapeEntities2.reserve(mCachedCapacity); + colliderEntities1.reserve(mCachedCapacity); + colliderEntities2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); @@ -93,8 +93,8 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() { mCachedCapacity = overlappingPairIds.size(); overlappingPairIds.clear(true); - proxyShapeEntities1.clear(true); - proxyShapeEntities2.clear(true); + colliderEntities1.clear(true); + colliderEntities2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); lastFrameCollisionInfos.clear(true); diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 84366756..8741d41a 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -61,7 +61,7 @@ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/narrowphase/CollisionDispatch.h b/src/collision/narrowphase/CollisionDispatch.h index e320b004..d8b87f1c 100644 --- a/src/collision/narrowphase/CollisionDispatch.h +++ b/src/collision/narrowphase/CollisionDispatch.h @@ -54,7 +54,7 @@ enum class NarrowPhaseAlgorithmType { /** * This is the collision dispatch configuration use in ReactPhysics3D. * Collision dispatching decides which collision - * algorithm to use given two types of proxy collision shapes. + * algorithm to use given two types of colliders. */ class CollisionDispatch { diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h index 35024f0c..caa33179 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -62,7 +62,7 @@ class NarrowPhaseCallback { /** * This abstract class is the base class for a narrow-phase collision * detection algorithm. The goal of the narrow phase algorithm is to - * compute information about the contact between two proxy shapes. + * compute information about the contact between two colliders. */ class NarrowPhaseAlgorithm { diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index a44fd5b8..cffab5af 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) : mMemoryAllocator(allocator), mOverlappingPairs(overlappingPairs), overlappingPairIds(allocator), - proxyShapeEntities1(allocator), proxyShapeEntities2(allocator), collisionShapes1(allocator), collisionShapes2(allocator), + colliderEntities1(allocator), colliderEntities2(allocator), collisionShapes1(allocator), collisionShapes2(allocator), shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) { @@ -48,13 +48,13 @@ NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() { } // Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator) { overlappingPairIds.add(pairId); - proxyShapeEntities1.add(proxyShape1); - proxyShapeEntities2.add(proxyShape2); + colliderEntities1.add(collider1); + colliderEntities2.add(collider2); collisionShapes1.add(shape1); collisionShapes2.add(shape2); shape1ToWorldTransforms.add(shape1Transform); @@ -110,8 +110,8 @@ void NarrowPhaseInfoBatch::resetContactPoints(uint index) { void NarrowPhaseInfoBatch::reserveMemory() { overlappingPairIds.reserve(mCachedCapacity); - proxyShapeEntities1.reserve(mCachedCapacity); - proxyShapeEntities2.reserve(mCachedCapacity); + colliderEntities1.reserve(mCachedCapacity); + colliderEntities2.reserve(mCachedCapacity); collisionShapes1.reserve(mCachedCapacity); collisionShapes2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); @@ -149,8 +149,8 @@ void NarrowPhaseInfoBatch::clear() { mCachedCapacity = overlappingPairIds.size(); overlappingPairIds.clear(true); - proxyShapeEntities1.clear(true); - proxyShapeEntities2.clear(true); + colliderEntities1.clear(true); + colliderEntities2.clear(true); collisionShapes1.clear(true); collisionShapes2.clear(true); shape1ToWorldTransforms.clear(true); diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.h b/src/collision/narrowphase/NarrowPhaseInfoBatch.h index 37086222..3593e347 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -63,11 +63,11 @@ struct NarrowPhaseInfoBatch { /// List of Broadphase overlapping pairs ids List overlappingPairIds; - /// List of pointers to the first proxy-shapes to test collision with - List proxyShapeEntities1; + /// List of pointers to the first colliders to test collision with + List colliderEntities1; - /// List of pointers to the second proxy-shapes to test collision with - List proxyShapeEntities2; + /// List of pointers to the second colliders to test collision with + List colliderEntities2; /// List of pointers to the first collision shapes to test collision with List collisionShapes1; @@ -103,7 +103,7 @@ struct NarrowPhaseInfoBatch { uint getNbObjects() const; /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, MemoryAllocator& shapeAllocator); diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index a68ab508..5fa35d4e 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -39,28 +39,28 @@ NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& } // Add shapes to be tested during narrow-phase collision detection into the batch -void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) { switch (narrowPhaseAlgorithmType) { case NarrowPhaseAlgorithmType::SphereVsSphere: - mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsCapsule: - mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::CapsuleVsCapsule: - mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform); + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform); break; case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: - mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: - mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: - mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, proxyShape1, proxyShape2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); break; case NarrowPhaseAlgorithmType::None: // Must never happen diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/src/collision/narrowphase/NarrowPhaseInput.h index c37bce67..bc0f1c1e 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/src/collision/narrowphase/NarrowPhaseInput.h @@ -67,7 +67,7 @@ class NarrowPhaseInput { NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + void addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator); diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp index 05f25910..6be1ded8 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -39,7 +39,7 @@ SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryA } // Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE; @@ -57,8 +57,8 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint shape1ToWorldTransforms.add(shape1Transform); shape2ToWorldTransforms.add(shape2Transform); overlappingPairIds.add(pairId); - proxyShapeEntities1.add(proxyShape1); - proxyShapeEntities2.add(proxyShape2); + colliderEntities1.add(collider1); + colliderEntities2.add(collider2); contactPoints.add(List(mMemoryAllocator)); isColliding.add(false); @@ -71,8 +71,8 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { overlappingPairIds.reserve(mCachedCapacity); - proxyShapeEntities1.reserve(mCachedCapacity); - proxyShapeEntities2.reserve(mCachedCapacity); + colliderEntities1.reserve(mCachedCapacity); + colliderEntities2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); @@ -96,8 +96,8 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::clear() { mCachedCapacity = overlappingPairIds.size(); overlappingPairIds.clear(true); - proxyShapeEntities1.clear(true); - proxyShapeEntities2.clear(true); + colliderEntities1.clear(true); + colliderEntities2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); lastFrameCollisionInfos.clear(true); diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h index e2a4964d..13346f3e 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -61,7 +61,7 @@ struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index a5a8269f..d6234e12 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -36,7 +36,7 @@ SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAll } // Add shapes to be tested during narrow-phase collision detection into the batch -void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2, +void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform) { assert(shape1->getType() == CollisionShapeType::SPHERE); @@ -47,8 +47,8 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint6 sphere1Radiuses.add(sphere1->getRadius()); sphere2Radiuses.add(sphere2->getRadius()); - proxyShapeEntities1.add(proxyShape1); - proxyShapeEntities2.add(proxyShape2); + colliderEntities1.add(collider1); + colliderEntities2.add(collider2); shape1ToWorldTransforms.add(shape1Transform); shape2ToWorldTransforms.add(shape2Transform); overlappingPairIds.add(pairId); @@ -64,8 +64,8 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint6 void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { overlappingPairIds.reserve(mCachedCapacity); - proxyShapeEntities1.reserve(mCachedCapacity); - proxyShapeEntities2.reserve(mCachedCapacity); + colliderEntities1.reserve(mCachedCapacity); + colliderEntities2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); @@ -87,8 +87,8 @@ void SphereVsSphereNarrowPhaseInfoBatch::clear() { mCachedCapacity = overlappingPairIds.size(); overlappingPairIds.clear(true); - proxyShapeEntities1.clear(true); - proxyShapeEntities2.clear(true); + colliderEntities1.clear(true); + colliderEntities2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); lastFrameCollisionInfos.clear(true); diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index f5e352a7..84bcfe72 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -55,7 +55,7 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform); diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index 6abab88e..54290977 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -25,7 +25,7 @@ // Libraries #include "BoxShape.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include "configuration.h" #include "memory/MemoryManager.h" #include "collision/RaycastInfo.h" @@ -96,7 +96,7 @@ void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const } // Raycast method with feedback information -bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { +bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { Vector3 rayDirection = ray.point2 - ray.point1; decimal tMin = DECIMAL_SMALLEST; @@ -151,8 +151,8 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* pro // The ray intersects the three slabs, we compute the hit point Vector3 localHitPoint = ray.point1 + tMin * rayDirection; - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = tMin; raycastInfo.worldPoint = localHitPoint; raycastInfo.worldNormal = normalDirection; diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h index 3900f764..0db3633a 100644 --- a/src/collision/shapes/BoxShape.h +++ b/src/collision/shapes/BoxShape.h @@ -65,10 +65,10 @@ class BoxShape : public ConvexPolyhedronShape { virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override; + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; @@ -167,7 +167,7 @@ inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direct } // Return true if a point is inside the collision shape -inline bool BoxShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const { +inline bool BoxShape::testPointInside(const Vector3& localPoint, Collider* collider) const { return (localPoint.x < mExtent[0] && localPoint.x > -mExtent[0] && localPoint.y < mExtent[1] && localPoint.y > -mExtent[1] && localPoint.z < mExtent[2] && localPoint.z > -mExtent[2]); diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp index ef81d9f4..85aa8653 100644 --- a/src/collision/shapes/CapsuleShape.cpp +++ b/src/collision/shapes/CapsuleShape.cpp @@ -25,7 +25,7 @@ // Libraries #include "CapsuleShape.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include "configuration.h" #include "collision/RaycastInfo.h" #include @@ -70,7 +70,7 @@ void CapsuleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) co } // Return true if a point is inside the collision shape -bool CapsuleShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const { +bool CapsuleShape::testPointInside(const Vector3& localPoint, Collider* collider) const { const decimal diffYCenterSphere1 = localPoint.y - mHalfHeight; const decimal diffYCenterSphere2 = localPoint.y + mHalfHeight; @@ -86,7 +86,7 @@ bool CapsuleShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyS } // Raycast method with feedback information -bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { +bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { const Vector3 n = ray.point2 - ray.point1; @@ -129,8 +129,8 @@ bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* Vector3 hitLocalPoint; decimal hitFraction; if (raycastWithSphereEndCap(ray.point1, ray.point2, p, ray.maxFraction, hitLocalPoint, hitFraction)) { - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = hitFraction; raycastInfo.worldPoint = hitLocalPoint; Vector3 normalDirection = hitLocalPoint - p; @@ -147,8 +147,8 @@ bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* Vector3 hitLocalPoint; decimal hitFraction; if (raycastWithSphereEndCap(ray.point1, ray.point2, q, ray.maxFraction, hitLocalPoint, hitFraction)) { - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = hitFraction; raycastInfo.worldPoint = hitLocalPoint; Vector3 normalDirection = hitLocalPoint - q; @@ -180,8 +180,8 @@ bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* Vector3 hitLocalPoint; decimal hitFraction; if (raycastWithSphereEndCap(ray.point1, ray.point2, p, ray.maxFraction, hitLocalPoint, hitFraction)) { - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = hitFraction; raycastInfo.worldPoint = hitLocalPoint; Vector3 normalDirection = hitLocalPoint - p; @@ -198,8 +198,8 @@ bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* Vector3 hitLocalPoint; decimal hitFraction; if (raycastWithSphereEndCap(ray.point1, ray.point2, q, ray.maxFraction, hitLocalPoint, hitFraction)) { - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = hitFraction; raycastInfo.worldPoint = hitLocalPoint; Vector3 normalDirection = hitLocalPoint - q; @@ -219,8 +219,8 @@ bool CapsuleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* // Compute the hit information Vector3 localHitPoint = ray.point1 + t * n; - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = t; raycastInfo.worldPoint = localHitPoint; Vector3 v = localHitPoint - p; diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h index 6eaded49..24c48519 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/src/collision/shapes/CapsuleShape.h @@ -64,10 +64,10 @@ class CapsuleShape : public ConvexShape { virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override; + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Raycasting method between a ray one of the two spheres end cap of the capsule bool raycastWithSphereEndCap(const Vector3& point1, const Vector3& point2, diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 57667407..3db254a9 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -52,7 +52,7 @@ const int NB_COLLISION_SHAPE_TYPES = 4; enum class CollisionShapeName { TRIANGLE, SPHERE, CAPSULE, BOX, CONVEX_MESH, TRIANGLE_MESH, HEIGHTFIELD }; // Declarations -class ProxyShape; +class Collider; class CollisionBody; // Class CollisionShape @@ -85,10 +85,10 @@ class CollisionShape { // -------------------- Methods -------------------- // /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& worldPoint, ProxyShape* proxyShape) const=0; + virtual bool testPointInside(const Vector3& worldPoint, Collider* collider) const=0; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const=0; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const=0; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const = 0; @@ -145,7 +145,7 @@ class CollisionShape { // -------------------- Friendship -------------------- // - friend class ProxyShape; + friend class Collider; friend class CollisionWorld; }; diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index f017a471..65cd1c19 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -176,12 +176,12 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List= decimal(0.0)); mRaycastInfo.body = raycastInfo.body; - mRaycastInfo.proxyShape = raycastInfo.proxyShape; + mRaycastInfo.collider = raycastInfo.collider; mRaycastInfo.hitFraction = raycastInfo.hitFraction; mRaycastInfo.worldPoint = raycastInfo.worldPoint; mRaycastInfo.worldNormal = raycastInfo.worldNormal; diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index 3b6ac86d..70829827 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -75,7 +75,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { List mHitAABBNodes; const DynamicAABBTree& mDynamicAABBTree; const ConcaveMeshShape& mConcaveMeshShape; - ProxyShape* mProxyShape; + Collider* mCollider; RaycastInfo& mRaycastInfo; const Ray& mRay; bool mIsHit; @@ -92,8 +92,8 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { // Constructor ConcaveMeshRaycastCallback(const DynamicAABBTree& dynamicAABBTree, const ConcaveMeshShape& concaveMeshShape, - ProxyShape* proxyShape, RaycastInfo& raycastInfo, const Ray& ray, MemoryAllocator& allocator) - : mHitAABBNodes(allocator), mDynamicAABBTree(dynamicAABBTree), mConcaveMeshShape(concaveMeshShape), mProxyShape(proxyShape), + Collider* collider, RaycastInfo& raycastInfo, const Ray& ray, MemoryAllocator& allocator) + : mHitAABBNodes(allocator), mDynamicAABBTree(dynamicAABBTree), mConcaveMeshShape(concaveMeshShape), mCollider(collider), mRaycastInfo(raycastInfo), mRay(ray), mIsHit(false), mAllocator(allocator) { } @@ -150,7 +150,7 @@ class ConcaveMeshShape : public ConcaveShape { ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling = Vector3(1, 1, 1)); /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h index 49d5650b..2953d9ce 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/src/collision/shapes/ConcaveShape.h @@ -68,7 +68,7 @@ class ConcaveShape : public CollisionShape { // -------------------- Methods -------------------- // /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override; + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; public : @@ -115,7 +115,7 @@ inline bool ConcaveShape::isPolyhedron() const { } // Return true if a point is inside the collision shape -inline bool ConcaveShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const { +inline bool ConcaveShape::testPointInside(const Vector3& localPoint, Collider* collider) const { return false; } diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp index 74a3da6e..0efa0093 100644 --- a/src/collision/shapes/ConvexMeshShape.cpp +++ b/src/collision/shapes/ConvexMeshShape.cpp @@ -106,7 +106,7 @@ void ConvexMeshShape::recalculateBounds() { // Raycast method with feedback information /// This method implements the technique in the book "Real-time Collision Detection" by /// Christer Ericson. -bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { +bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { // Ray direction Vector3 direction = ray.point2 - ray.point1; @@ -172,8 +172,8 @@ bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySha Vector3 localHitPoint = ray.point1 + tMin * direction; raycastInfo.hitFraction = tMin; - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.worldPoint = localHitPoint; raycastInfo.worldNormal = currentFaceNormal; @@ -184,7 +184,7 @@ bool ConvexMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySha } // Return true if a point is inside the collision shape -bool ConvexMeshShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const { +bool ConvexMeshShape::testPointInside(const Vector3& localPoint, Collider* collider) const { const HalfEdgeStructure& halfEdgeStructure = mPolyhedronMesh->getHalfEdgeStructure(); diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index 9cf931fb..c63ce407 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -76,10 +76,10 @@ class ConvexMeshShape : public ConvexPolyhedronShape { virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override; + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index 2b651a06..a5e52cc6 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -224,7 +224,7 @@ void HeightFieldShape::computeMinMaxGridCoordinates(int* minCoords, int* maxCoor // Raycast method with feedback information /// Note that only the first triangle hit by the ray in the mesh will be returned, even if /// the ray hits many triangles. -bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { +bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { // TODO : Implement raycasting without using an AABB for the ray // but using a dynamic AABB tree or octree instead @@ -265,7 +265,7 @@ bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySh // Ray casting test against the collision shape RaycastInfo triangleRaycastInfo; - bool isTriangleHit = triangleShape.raycast(ray, triangleRaycastInfo, proxyShape, allocator); + bool isTriangleHit = triangleShape.raycast(ray, triangleRaycastInfo, collider, allocator); // If the ray hit the collision shape if (isTriangleHit && triangleRaycastInfo.hitFraction <= smallestHitFraction) { @@ -273,7 +273,7 @@ bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxySh assert(triangleRaycastInfo.hitFraction >= decimal(0.0)); raycastInfo.body = triangleRaycastInfo.body; - raycastInfo.proxyShape = triangleRaycastInfo.proxyShape; + raycastInfo.collider = triangleRaycastInfo.collider; raycastInfo.hitFraction = triangleRaycastInfo.hitFraction; raycastInfo.worldPoint = triangleRaycastInfo.worldPoint; raycastInfo.worldNormal = triangleRaycastInfo.worldNormal; diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h index ef0b18d5..04a1e676 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/src/collision/shapes/HeightFieldShape.h @@ -103,7 +103,7 @@ class HeightFieldShape : public ConcaveShape { const Vector3& scaling = Vector3(1,1,1)); /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp index 8749e024..a0ae8c3b 100644 --- a/src/collision/shapes/SphereShape.cpp +++ b/src/collision/shapes/SphereShape.cpp @@ -25,7 +25,7 @@ // Libraries #include "SphereShape.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include "configuration.h" #include "collision/RaycastInfo.h" #include @@ -60,7 +60,7 @@ void SphereShape::computeAABB(AABB& aabb, const Transform& transform) const { } // Raycast method with feedback information -bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { +bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { const Vector3 m = ray.point1; decimal c = m.dot(m) - mMargin * mMargin; @@ -93,8 +93,8 @@ bool SphereShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* // Compute the intersection information t /= raySquareLength; - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.hitFraction = t; raycastInfo.worldPoint = ray.point1 + t * rayDirection; raycastInfo.worldNormal = raycastInfo.worldPoint; diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h index 676780f3..8b3e1ff0 100644 --- a/src/collision/shapes/SphereShape.h +++ b/src/collision/shapes/SphereShape.h @@ -57,10 +57,10 @@ class SphereShape : public ConvexShape { virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override; + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override; + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const override; @@ -165,7 +165,7 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma } // Return true if a point is inside the collision shape -inline bool SphereShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const { +inline bool SphereShape::testPointInside(const Vector3& localPoint, Collider* collider) const { return (localPoint.lengthSquare() < mMargin * mMargin); } diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp index a8b90292..4163057f 100644 --- a/src/collision/shapes/TriangleShape.cpp +++ b/src/collision/shapes/TriangleShape.cpp @@ -25,7 +25,7 @@ // Libraries #include "TriangleShape.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include "mathematics/mathematics_functions.h" #include "collision/RaycastInfo.h" #include "utils/Profiler.h" @@ -237,7 +237,7 @@ void TriangleShape::computeAABB(AABB& aabb, const Transform& transform) const { // Raycast method with feedback information /// This method use the line vs triangle raycasting technique described in /// Real-time Collision Detection by Christer Ericson. -bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const { +bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const { RP3D_PROFILE("TriangleShape::raycast()", mProfiler); @@ -298,8 +298,8 @@ bool TriangleShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape Vector3 localHitNormal = (mPoints[1] - mPoints[0]).cross(mPoints[2] - mPoints[0]); if (localHitNormal.dot(pq) > decimal(0.0)) localHitNormal = -localHitNormal; - raycastInfo.body = proxyShape->getBody(); - raycastInfo.proxyShape = proxyShape; + raycastInfo.body = collider->getBody(); + raycastInfo.collider = collider; raycastInfo.worldPoint = localHitPoint; raycastInfo.hitFraction = hitFraction; raycastInfo.worldNormal = localHitNormal; diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h index 504848b9..e7a40882 100644 --- a/src/collision/shapes/TriangleShape.h +++ b/src/collision/shapes/TriangleShape.h @@ -87,11 +87,11 @@ class TriangleShape : public ConvexPolyhedronShape { /// Get a smooth contact normal for collision for a triangle of the mesh Vector3 computeSmoothLocalContactNormalForTriangle(const Vector3& localContactPoint) const; - /// Return true if a point is inside the collision shape - virtual bool testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const override; + /// Return true if a point is inside the collider + virtual bool testPointInside(const Vector3& localPoint, Collider* collider) const override; /// Raycast method with feedback information - virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, + virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& allocator) const override; /// Return the number of bytes used by the collision shape @@ -224,7 +224,7 @@ inline void TriangleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal } // Return true if a point is inside the collision shape -inline bool TriangleShape::testPointInside(const Vector3& localPoint, ProxyShape* proxyShape) const { +inline bool TriangleShape::testPointInside(const Vector3& localPoint, Collider* collider) const { return false; } diff --git a/src/components/ProxyShapeComponents.cpp b/src/components/ColliderComponents.cpp similarity index 77% rename from src/components/ProxyShapeComponents.cpp rename to src/components/ColliderComponents.cpp index 18089f1d..24bff83f 100644 --- a/src/components/ProxyShapeComponents.cpp +++ b/src/components/ColliderComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "ProxyShapeComponents.h" +#include "ColliderComponents.h" #include "engine/EntityManager.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include #include @@ -34,8 +34,8 @@ using namespace reactphysics3d; // Constructor -ProxyShapeComponents::ProxyShapeComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(ProxyShape*) + sizeof(int) + +ColliderComponents::ColliderComponents(MemoryAllocator& allocator) + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + sizeof(unsigned short) + sizeof(Transform) + sizeof(List)) { @@ -44,7 +44,7 @@ ProxyShapeComponents::ProxyShapeComponents(MemoryAllocator& allocator) } // Allocate memory for a given number of components -void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { +void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { assert(nbComponentsToAllocate > mNbAllocatedComponents); @@ -56,10 +56,10 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { assert(newBuffer != nullptr); // New pointers to components data - Entity* newProxyShapesEntities = static_cast(newBuffer); - Entity* newBodiesEntities = reinterpret_cast(newProxyShapesEntities + nbComponentsToAllocate); - ProxyShape** newProxyShapes = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); - int32* newBroadPhaseIds = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); + Entity* newCollidersEntities = static_cast(newBuffer); + Entity* newBodiesEntities = reinterpret_cast(newCollidersEntities + nbComponentsToAllocate); + Collider** newColliders = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); + int32* newBroadPhaseIds = reinterpret_cast(newColliders + nbComponentsToAllocate); Transform* newLocalToBodyTransforms = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); @@ -72,9 +72,9 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { if (mNbComponents > 0) { // Copy component data from the previous buffer to the new one - memcpy(newProxyShapesEntities, mProxyShapesEntities, mNbComponents * sizeof(Entity)); + memcpy(newCollidersEntities, mCollidersEntities, mNbComponents * sizeof(Entity)); memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); - memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(ProxyShape*)); + memcpy(newColliders, mColliders, mNbComponents * sizeof(Collider*)); memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int32)); memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*)); @@ -89,10 +89,10 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { } mBuffer = newBuffer; - mProxyShapesEntities = newProxyShapesEntities; + mCollidersEntities = newCollidersEntities; mBodiesEntities = newBodiesEntities; - mProxyShapesEntities = newProxyShapesEntities; - mProxyShapes = newProxyShapes; + mCollidersEntities = newCollidersEntities; + mColliders = newColliders; mBroadPhaseIds = newBroadPhaseIds; mLocalToBodyTransforms = newLocalToBodyTransforms; mCollisionShapes = newCollisionShapes; @@ -106,15 +106,15 @@ void ProxyShapeComponents::allocate(uint32 nbComponentsToAllocate) { } // Add a component -void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component) { +void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, const ColliderComponent& component) { // Prepare to add new component (allocate memory if necessary and compute insertion index) uint32 index = prepareAddComponent(isSleeping); // Insert the new component data - new (mProxyShapesEntities + index) Entity(proxyShapeEntity); + new (mCollidersEntities + index) Entity(colliderEntity); new (mBodiesEntities + index) Entity(component.bodyEntity); - mProxyShapes[index] = component.proxyShape; + mColliders[index] = component.collider; new (mBroadPhaseIds + index) int32(-1); new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); mCollisionShapes[index] = component.collisionShape; @@ -125,7 +125,7 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping new (mOverlappingPairs + index) List(mMemoryAllocator); // Map the entity with the new component lookup index - mMapEntityToComponentIndex.add(Pair(proxyShapeEntity, index)); + mMapEntityToComponentIndex.add(Pair(colliderEntity, index)); mNbComponents++; @@ -134,14 +134,14 @@ void ProxyShapeComponents::addComponent(Entity proxyShapeEntity, bool isSleeping // Move a component from a source to a destination index in the components array // The destination location must contain a constructed object -void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { +void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) { - const Entity proxyShapeEntity = mProxyShapesEntities[srcIndex]; + const Entity colliderEntity = mCollidersEntities[srcIndex]; // Copy the data of the source component to the destination location - new (mProxyShapesEntities + destIndex) Entity(mProxyShapesEntities[srcIndex]); + new (mCollidersEntities + destIndex) Entity(mCollidersEntities[srcIndex]); new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); - mProxyShapes[destIndex] = mProxyShapes[srcIndex]; + mColliders[destIndex] = mColliders[srcIndex]; new (mBroadPhaseIds + destIndex) int32(mBroadPhaseIds[srcIndex]); new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); mCollisionShapes[destIndex] = mCollisionShapes[srcIndex]; @@ -154,21 +154,21 @@ void ProxyShapeComponents::moveComponentToIndex(uint32 srcIndex, uint32 destInde // Destroy the source component destroyComponent(srcIndex); - assert(!mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + assert(!mMapEntityToComponentIndex.containsKey(colliderEntity)); // Update the entity to component index mapping - mMapEntityToComponentIndex.add(Pair(proxyShapeEntity, destIndex)); + mMapEntityToComponentIndex.add(Pair(colliderEntity, destIndex)); - assert(mMapEntityToComponentIndex[mProxyShapesEntities[destIndex]] == destIndex); + assert(mMapEntityToComponentIndex[mCollidersEntities[destIndex]] == destIndex); } // Swap two components in the array -void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { +void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data - Entity proxyShapeEntity1(mProxyShapesEntities[index1]); + Entity colliderEntity1(mCollidersEntities[index1]); Entity bodyEntity1(mBodiesEntities[index1]); - ProxyShape* proxyShape1 = mProxyShapes[index1]; + Collider* collider1 = mColliders[index1]; int32 broadPhaseId1 = mBroadPhaseIds[index1]; Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; CollisionShape* collisionShape1 = mCollisionShapes[index1]; @@ -184,9 +184,9 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { moveComponentToIndex(index2, index1); // Reconstruct component 1 at component 2 location - new (mProxyShapesEntities + index2) Entity(proxyShapeEntity1); + new (mCollidersEntities + index2) Entity(colliderEntity1); new (mBodiesEntities + index2) Entity(bodyEntity1); - mProxyShapes[index2] = proxyShape1; + mColliders[index2] = collider1; new (mBroadPhaseIds + index2) int32(broadPhaseId1); new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); mCollisionShapes[index2] = collisionShape1; @@ -197,25 +197,25 @@ void ProxyShapeComponents::swapComponents(uint32 index1, uint32 index2) { new (mOverlappingPairs + index2) List(overlappingPairs); // Update the entity to component index mapping - mMapEntityToComponentIndex.add(Pair(proxyShapeEntity1, index2)); + mMapEntityToComponentIndex.add(Pair(colliderEntity1, index2)); - assert(mMapEntityToComponentIndex[mProxyShapesEntities[index1]] == index1); - assert(mMapEntityToComponentIndex[mProxyShapesEntities[index2]] == index2); + assert(mMapEntityToComponentIndex[mCollidersEntities[index1]] == index1); + assert(mMapEntityToComponentIndex[mCollidersEntities[index2]] == index2); assert(mNbComponents == static_cast(mMapEntityToComponentIndex.size())); } // Destroy a component at a given index -void ProxyShapeComponents::destroyComponent(uint32 index) { +void ColliderComponents::destroyComponent(uint32 index) { Components::destroyComponent(index); - assert(mMapEntityToComponentIndex[mProxyShapesEntities[index]] == index); + assert(mMapEntityToComponentIndex[mCollidersEntities[index]] == index); - mMapEntityToComponentIndex.remove(mProxyShapesEntities[index]); + mMapEntityToComponentIndex.remove(mCollidersEntities[index]); - mProxyShapesEntities[index].~Entity(); + mCollidersEntities[index].~Entity(); mBodiesEntities[index].~Entity(); - mProxyShapes[index] = nullptr; + mColliders[index] = nullptr; mLocalToBodyTransforms[index].~Transform(); mCollisionShapes[index] = nullptr; mLocalToWorldTransforms[index].~Transform(); diff --git a/src/components/ColliderComponents.h b/src/components/ColliderComponents.h new file mode 100644 index 00000000..0c16a6a3 --- /dev/null +++ b/src/components/ColliderComponents.h @@ -0,0 +1,324 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2018 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_COLLIDERS_COMPONENTS_H +#define REACTPHYSICS3D_COLLIDERS_COMPONENTS_H + +// Libraries +#include "mathematics/Transform.h" +#include "engine/Entity.h" +#include "containers/Map.h" +#include "collision/shapes/AABB.h" +#include "components/Components.h" + +// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class declarations +class MemoryAllocator; +class EntityManager; +class AABB; +class CollisionShape; +class Collider; + +// Class ColliderComponents +/** + * This class represent the component of the ECS that contains data about the the colliders of the + * different bodies. We also make sure that colliders of sleeping entities (bodies) are + * always stored at the end of the array. + */ +class ColliderComponents : public Components { + + private: + + // -------------------- Attributes -------------------- // + + /// Array of body entity of each component + Entity* mBodiesEntities; + + /// Array of collider entity of each component + Entity* mCollidersEntities; + + /// Array of pointer to the colliders + Collider** mColliders; + + /// Ids of the colliders for the broad-phase algorithm + int32* mBroadPhaseIds; + + /// Transform from local-space of the collider to the body-space of its body + Transform* mLocalToBodyTransforms; + + /// Pointers to the collision shapes of the colliders + CollisionShape** mCollisionShapes; + + /// Masses (in kilogramms) of the colliders + decimal* mMasses; + + /// Array of bits used to define the collision category of this shape. + /// You can set a single bit to one to define a category value for this + /// shape. This value is one (0x0001) by default. This variable can be used + /// together with the mCollideWithMaskBits variable so that given + /// categories of shapes collide with each other and do not collide with + /// other categories. + unsigned short* mCollisionCategoryBits; + + /// Array of bits mask used to state which collision categories this shape can + /// collide with. This value is 0xFFFF by default. It means that this + /// collider will collide with every collision categories by default. + unsigned short* mCollideWithMaskBits; + + /// Array with the local-to-world transforms of the colliders + Transform* mLocalToWorldTransforms; + + /// Array with the list of involved overlapping pairs for each collider + List* mOverlappingPairs; + + // -------------------- Methods -------------------- // + + /// Allocate memory for a given number of components + virtual void allocate(uint32 nbComponentsToAllocate) override; + + /// Destroy a component at a given index + virtual void destroyComponent(uint32 index) override; + + /// Move a component from a source to a destination index in the components array + virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; + + /// Swap two components in the array + virtual void swapComponents(uint32 index1, uint32 index2) override; + + public: + + /// Structure for the data of a collider component + struct ColliderComponent { + + Entity bodyEntity; + Collider* collider; + AABB localBounds; + const Transform& localToBodyTransform; + CollisionShape* collisionShape; + decimal mass; + unsigned short collisionCategoryBits; + unsigned short collideWithMaskBits; + const Transform& localToWorldTransform; + + /// Constructor + ColliderComponent(Entity bodyEntity, Collider* collider, AABB localBounds, const Transform& localToBodyTransform, + CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, + unsigned short collideWithMaskBits, const Transform& localToWorldTransform) + :bodyEntity(bodyEntity), collider(collider), localBounds(localBounds), localToBodyTransform(localToBodyTransform), + collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits), + localToWorldTransform(localToWorldTransform) { + + } + }; + + // -------------------- Methods -------------------- // + + /// Constructor + ColliderComponents(MemoryAllocator& allocator); + + /// Destructor + virtual ~ColliderComponents() override = default; + + /// Add a component + void addComponent(Entity colliderEntity, bool isSleeping, const ColliderComponent& component); + + /// Return the body entity of a given collider + Entity getBody(Entity colliderEntity) const; + + /// Return the mass of a collider + decimal getMass(Entity colliderEntity) const; + + /// Return a pointer to a given collider + Collider* getCollider(Entity colliderEntity) const; + + /// Return the local-to-body transform of a collider + const Transform& getLocalToBodyTransform(Entity colliderEntity) const; + + /// Set the local-to-body transform of a collider + void setLocalToBodyTransform(Entity colliderEntity, const Transform& transform); + + /// Return a pointer to the collision shape of a collider + CollisionShape* getCollisionShape(Entity colliderEntity) const; + + /// Return the broad-phase id of a given collider + int32 getBroadPhaseId(Entity colliderEntity) const; + + /// Set the broad-phase id of a given collider + void setBroadPhaseId(Entity colliderEntity, int32 broadPhaseId); + + /// Return the collision category bits of a given collider + unsigned short getCollisionCategoryBits(Entity colliderEntity) const; + + /// Set the collision category bits of a given collider + void setCollisionCategoryBits(Entity colliderEntity, unsigned short collisionCategoryBits); + + /// Return the "collide with" mask bits of a given collider + unsigned short getCollideWithMaskBits(Entity colliderEntity) const; + + /// Set the "collide with" mask bits of a given collider + void setCollideWithMaskBits(Entity colliderEntity, unsigned short collideWithMaskBits); + + /// Return the local-to-world transform of a collider + const Transform& getLocalToWorldTransform(Entity colliderEntity) const; + + /// Set the local-to-world transform of a collider + void setLocalToWorldTransform(Entity colliderEntity, const Transform& transform); + + /// Return a reference to the list of overlapping pairs for a given collider + List& getOverlappingPairs(Entity colliderEntity); + + // -------------------- Friendship -------------------- // + + friend class BroadPhaseSystem; + friend class CollisionDetectionSystem; + friend class DynamicsSystem; + friend class OverlappingPairs; +}; + +// Return the body entity of a given collider +inline Entity ColliderComponents::getBody(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mBodiesEntities[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Return the mass of a collider +inline decimal ColliderComponents::getMass(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mMasses[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Return a pointer to a given collider +inline Collider *ColliderComponents::getCollider(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mColliders[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Return the local-to-body transform of a collider +inline const Transform& ColliderComponents::getLocalToBodyTransform(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mLocalToBodyTransforms[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Set the local-to-body transform of a collider +inline void ColliderComponents::setLocalToBodyTransform(Entity colliderEntity, const Transform& transform) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mLocalToBodyTransforms[mMapEntityToComponentIndex[colliderEntity]] = transform; +} + +// Return a pointer to the collision shape of a collider +inline CollisionShape* ColliderComponents::getCollisionShape(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mCollisionShapes[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Return the broad-phase id of a given collider +inline int32 ColliderComponents::getBroadPhaseId(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mBroadPhaseIds[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Set the broad-phase id of a given collider +inline void ColliderComponents::setBroadPhaseId(Entity colliderEntity, int32 broadPhaseId) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mBroadPhaseIds[mMapEntityToComponentIndex[colliderEntity]] = broadPhaseId; +} + +// Return the collision category bits of a given collider +inline unsigned short ColliderComponents::getCollisionCategoryBits(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mCollisionCategoryBits[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Return the "collide with" mask bits of a given collider +inline unsigned short ColliderComponents::getCollideWithMaskBits(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mCollideWithMaskBits[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Set the collision category bits of a given collider +inline void ColliderComponents::setCollisionCategoryBits(Entity colliderEntity, unsigned short collisionCategoryBits) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mCollisionCategoryBits[mMapEntityToComponentIndex[colliderEntity]] = collisionCategoryBits; +} + +// Set the "collide with" mask bits of a given collider +inline void ColliderComponents::setCollideWithMaskBits(Entity colliderEntity, unsigned short collideWithMaskBits) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mCollideWithMaskBits[mMapEntityToComponentIndex[colliderEntity]] = collideWithMaskBits; +} + +// Return the local-to-world transform of a collider +inline const Transform& ColliderComponents::getLocalToWorldTransform(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mLocalToWorldTransforms[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Set the local-to-world transform of a collider +inline void ColliderComponents::setLocalToWorldTransform(Entity colliderEntity, const Transform& transform) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mLocalToWorldTransforms[mMapEntityToComponentIndex[colliderEntity]] = transform; +} + +// Return a reference to the list of overlapping pairs for a given collider +inline List& ColliderComponents::getOverlappingPairs(Entity colliderEntity) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mOverlappingPairs[mMapEntityToComponentIndex[colliderEntity]]; +} + +} + +#endif diff --git a/src/components/CollisionBodyComponents.cpp b/src/components/CollisionBodyComponents.cpp index d5288292..8151f74c 100644 --- a/src/components/CollisionBodyComponents.cpp +++ b/src/components/CollisionBodyComponents.cpp @@ -56,8 +56,8 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { // New pointers to components data Entity* newBodiesEntities = static_cast(newBuffer); CollisionBody** newBodies = reinterpret_cast(newBodiesEntities + nbComponentsToAllocate); - List* newProxyShapes = reinterpret_cast*>(newBodies + nbComponentsToAllocate); - bool* newIsActive = reinterpret_cast(newProxyShapes + nbComponentsToAllocate); + List* newColliders = reinterpret_cast*>(newBodies + nbComponentsToAllocate); + bool* newIsActive = reinterpret_cast(newColliders + nbComponentsToAllocate); void** newUserData = reinterpret_cast(newIsActive + nbComponentsToAllocate); // If there was already components before @@ -66,7 +66,7 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { // Copy component data from the previous buffer to the new one memcpy(newBodiesEntities, mBodiesEntities, mNbComponents * sizeof(Entity)); memcpy(newBodies, mBodies, mNbComponents * sizeof(CollisionBody*)); - memcpy(newProxyShapes, mProxyShapes, mNbComponents * sizeof(List)); + memcpy(newColliders, mColliders, mNbComponents * sizeof(List)); memcpy(newIsActive, mIsActive, mNbComponents * sizeof(bool)); memcpy(newUserData, mUserData, mNbComponents * sizeof(void*)); @@ -77,7 +77,7 @@ void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) { mBuffer = newBuffer; mBodiesEntities = newBodiesEntities; mBodies = newBodies; - mProxyShapes = newProxyShapes; + mColliders = newColliders; mIsActive = newIsActive; mUserData = newUserData; mNbAllocatedComponents = nbComponentsToAllocate; @@ -92,7 +92,7 @@ void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, c // Insert the new component data new (mBodiesEntities + index) Entity(bodyEntity); mBodies[index] = component.body; - new (mProxyShapes + index) List(mMemoryAllocator); + new (mColliders + index) List(mMemoryAllocator); mIsActive[index] = true; mUserData[index] = nullptr; @@ -114,7 +114,7 @@ void CollisionBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destI // Copy the data of the source component to the destination location new (mBodiesEntities + destIndex) Entity(mBodiesEntities[srcIndex]); mBodies[destIndex] = mBodies[srcIndex]; - new (mProxyShapes + destIndex) List(mProxyShapes[srcIndex]); + new (mColliders + destIndex) List(mColliders[srcIndex]); mIsActive[destIndex] = mIsActive[srcIndex]; mUserData[destIndex] = mUserData[srcIndex]; @@ -135,7 +135,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { // Copy component 1 data Entity entity1(mBodiesEntities[index1]); CollisionBody* body1 = mBodies[index1]; - List proxyShapes1(mProxyShapes[index1]); + List colliders1(mColliders[index1]); bool isActive1 = mIsActive[index1]; void* userData1 = mUserData[index1]; @@ -146,7 +146,7 @@ void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) { // Reconstruct component 1 at component 2 location new (mBodiesEntities + index2) Entity(entity1); - new (mProxyShapes + index2) List(proxyShapes1); + new (mColliders + index2) List(colliders1); mBodies[index2] = body1; mIsActive[index2] = isActive1; mUserData[index2] = userData1; @@ -170,6 +170,6 @@ void CollisionBodyComponents::destroyComponent(uint32 index) { mBodiesEntities[index].~Entity(); mBodies[index] = nullptr; - mProxyShapes[index].~List(); + mColliders[index].~List(); mUserData[index] = nullptr; } diff --git a/src/components/CollisionBodyComponents.h b/src/components/CollisionBodyComponents.h index 8d1d3c39..b3d9ad11 100644 --- a/src/components/CollisionBodyComponents.h +++ b/src/components/CollisionBodyComponents.h @@ -57,8 +57,8 @@ class CollisionBodyComponents : public Components { /// Array of pointers to the corresponding bodies CollisionBody** mBodies; - /// Array with the list of proxy-shapes of each body - List* mProxyShapes; + /// Array with the list of colliders of each body + List* mColliders; /// Array of boolean values to know if the body is active. bool* mIsActive; @@ -104,17 +104,17 @@ class CollisionBodyComponents : public Components { /// Add a component void addComponent(Entity bodyEntity, bool isSleeping, const CollisionBodyComponent& component); - /// Add a proxy-shape to a body component - void addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity); + /// Add a collider to a body component + void addColliderToBody(Entity bodyEntity, Entity colliderEntity); - /// Remove a proxy-shape from a body component - void removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity); + /// Remove a collider from a body component + void removeColliderFromBody(Entity bodyEntity, Entity colliderEntity); /// Return a pointer to a body CollisionBody* getBody(Entity bodyEntity); - /// Return the list of proxy-shapes of a body - const List& getProxyShapes(Entity bodyEntity) const; + /// Return the list of colliders of a body + const List& getColliders(Entity bodyEntity) const; /// Return true if the body is active bool getIsActive(Entity bodyEntity) const; @@ -129,20 +129,20 @@ class CollisionBodyComponents : public Components { void setUserData(Entity bodyEntity, void* userData) const; }; -// Add a proxy-shape to a body component -inline void CollisionBodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity) { +// Add a collider to a body component +inline void CollisionBodyComponents::addColliderToBody(Entity bodyEntity, Entity colliderEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - mProxyShapes[mMapEntityToComponentIndex[bodyEntity]].add(proxyShapeEntity); + mColliders[mMapEntityToComponentIndex[bodyEntity]].add(colliderEntity); } -// Remove a proxy-shape from a body component -inline void CollisionBodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) { +// Remove a collider from a body component +inline void CollisionBodyComponents::removeColliderFromBody(Entity bodyEntity, Entity colliderEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - mProxyShapes[mMapEntityToComponentIndex[bodyEntity]].remove(proxyShapeEntity); + mColliders[mMapEntityToComponentIndex[bodyEntity]].remove(colliderEntity); } // Return a pointer to a body @@ -153,12 +153,12 @@ inline CollisionBody *CollisionBodyComponents::getBody(Entity bodyEntity) { return mBodies[mMapEntityToComponentIndex[bodyEntity]]; } -// Return the list of proxy-shapes of a body -inline const List& CollisionBodyComponents::getProxyShapes(Entity bodyEntity) const { +// Return the list of colliders of a body +inline const List& CollisionBodyComponents::getColliders(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - return mProxyShapes[mMapEntityToComponentIndex[bodyEntity]]; + return mColliders[mMapEntityToComponentIndex[bodyEntity]]; } // Return true if the body is active diff --git a/src/components/ProxyShapeComponents.h b/src/components/ProxyShapeComponents.h deleted file mode 100644 index d8d0838a..00000000 --- a/src/components/ProxyShapeComponents.h +++ /dev/null @@ -1,324 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2018 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_PROXY_SHAPES_COMPONENTS_H -#define REACTPHYSICS3D_PROXY_SHAPES_COMPONENTS_H - -// Libraries -#include "mathematics/Transform.h" -#include "engine/Entity.h" -#include "containers/Map.h" -#include "collision/shapes/AABB.h" -#include "components/Components.h" - -// ReactPhysics3D namespace -namespace reactphysics3d { - -// Class declarations -class MemoryAllocator; -class EntityManager; -class AABB; -class CollisionShape; -class ProxyShape; - -// Class ProxyShapesComponents -/** - * This class represent the component of the ECS that contains data about the the proxy-shapes of the - * different bodies. We also make sure that proxy shapes of sleeping entities (bodies) are - * always stored at the end of the array. - */ -class ProxyShapeComponents : public Components { - - private: - - // -------------------- Attributes -------------------- // - - /// Array of body entity of each component - Entity* mBodiesEntities; - - /// Array of proxy-shape entity of each component - Entity* mProxyShapesEntities; - - /// Array of pointer to the proxy-shapes - ProxyShape** mProxyShapes; - - /// Ids of the proxy-shapes for the broad-phase algorithm - int32* mBroadPhaseIds; - - /// Transform from local-space of the proxy-shape to the body-space of its body - Transform* mLocalToBodyTransforms; - - /// Pointers to the collision shapes of the proxy-shapes - CollisionShape** mCollisionShapes; - - /// Masses (in kilogramms) of the proxy-shapes - decimal* mMasses; - - /// Array of bits used to define the collision category of this shape. - /// You can set a single bit to one to define a category value for this - /// shape. This value is one (0x0001) by default. This variable can be used - /// together with the mCollideWithMaskBits variable so that given - /// categories of shapes collide with each other and do not collide with - /// other categories. - unsigned short* mCollisionCategoryBits; - - /// Array of bits mask used to state which collision categories this shape can - /// collide with. This value is 0xFFFF by default. It means that this - /// proxy shape will collide with every collision categories by default. - unsigned short* mCollideWithMaskBits; - - /// Array with the local-to-world transforms of the proxy-shapes - Transform* mLocalToWorldTransforms; - - /// Array with the list of involved overlapping pairs for each proxy-shape - List* mOverlappingPairs; - - // -------------------- Methods -------------------- // - - /// Allocate memory for a given number of components - virtual void allocate(uint32 nbComponentsToAllocate) override; - - /// Destroy a component at a given index - virtual void destroyComponent(uint32 index) override; - - /// Move a component from a source to a destination index in the components array - virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override; - - /// Swap two components in the array - virtual void swapComponents(uint32 index1, uint32 index2) override; - - public: - - /// Structure for the data of a proxy shape component - struct ProxyShapeComponent { - - Entity bodyEntity; - ProxyShape* proxyShape; - AABB localBounds; - const Transform& localToBodyTransform; - CollisionShape* collisionShape; - decimal mass; - unsigned short collisionCategoryBits; - unsigned short collideWithMaskBits; - const Transform& localToWorldTransform; - - /// Constructor - ProxyShapeComponent(Entity bodyEntity, ProxyShape* proxyShape, AABB localBounds, const Transform& localToBodyTransform, - CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, - unsigned short collideWithMaskBits, const Transform& localToWorldTransform) - :bodyEntity(bodyEntity), proxyShape(proxyShape), localBounds(localBounds), localToBodyTransform(localToBodyTransform), - collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits), - localToWorldTransform(localToWorldTransform) { - - } - }; - - // -------------------- Methods -------------------- // - - /// Constructor - ProxyShapeComponents(MemoryAllocator& allocator); - - /// Destructor - virtual ~ProxyShapeComponents() override = default; - - /// Add a component - void addComponent(Entity proxyShapeEntity, bool isSleeping, const ProxyShapeComponent& component); - - /// Return the body entity of a given proxy-shape - Entity getBody(Entity proxyShapeEntity) const; - - /// Return the mass of a proxy-shape - decimal getMass(Entity proxyShapeEntity) const; - - /// Return a pointer to a given proxy-shape - ProxyShape* getProxyShape(Entity proxyShapeEntity) const; - - /// Return the local-to-body transform of a proxy-shape - const Transform& getLocalToBodyTransform(Entity proxyShapeEntity) const; - - /// Set the local-to-body transform of a proxy-shape - void setLocalToBodyTransform(Entity proxyShapeEntity, const Transform& transform); - - /// Return a pointer to the collision shape of a proxy-shape - CollisionShape* getCollisionShape(Entity proxyShapeEntity) const; - - /// Return the broad-phase id of a given proxy shape - int32 getBroadPhaseId(Entity proxyShapeEntity) const; - - /// Set the broad-phase id of a given proxy shape - void setBroadPhaseId(Entity proxyShapeEntity, int32 broadPhaseId); - - /// Return the collision category bits of a given proxy-shape - unsigned short getCollisionCategoryBits(Entity proxyShapeEntity) const; - - /// Set the collision category bits of a given proxy-shape - void setCollisionCategoryBits(Entity proxyShapeEntity, unsigned short collisionCategoryBits); - - /// Return the "collide with" mask bits of a given proxy-shape - unsigned short getCollideWithMaskBits(Entity proxyShapeEntity) const; - - /// Set the "collide with" mask bits of a given proxy-shape - void setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits); - - /// Return the local-to-world transform of a proxy-shape - const Transform& getLocalToWorldTransform(Entity proxyShapeEntity) const; - - /// Set the local-to-world transform of a proxy-shape - void setLocalToWorldTransform(Entity proxyShapeEntity, const Transform& transform); - - /// Return a reference to the list of overlapping pairs for a given proxy-shape - List& getOverlappingPairs(Entity proxyShapeEntity); - - // -------------------- Friendship -------------------- // - - friend class BroadPhaseSystem; - friend class CollisionDetectionSystem; - friend class DynamicsSystem; - friend class OverlappingPairs; -}; - -// Return the body entity of a given proxy-shape -inline Entity ProxyShapeComponents::getBody(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mBodiesEntities[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Return the mass of a proxy-shape -inline decimal ProxyShapeComponents::getMass(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mMasses[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Return a pointer to a given proxy-shape -inline ProxyShape* ProxyShapeComponents::getProxyShape(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mProxyShapes[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Return the local-to-body transform of a proxy-shape -inline const Transform& ProxyShapeComponents::getLocalToBodyTransform(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mLocalToBodyTransforms[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Set the local-to-body transform of a proxy-shape -inline void ProxyShapeComponents::setLocalToBodyTransform(Entity proxyShapeEntity, const Transform& transform) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - mLocalToBodyTransforms[mMapEntityToComponentIndex[proxyShapeEntity]] = transform; -} - -// Return a pointer to the collision shape of a proxy-shape -inline CollisionShape* ProxyShapeComponents::getCollisionShape(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mCollisionShapes[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Return the broad-phase id of a given proxy shape -inline int32 ProxyShapeComponents::getBroadPhaseId(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mBroadPhaseIds[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Set the broad-phase id of a given proxy shape -inline void ProxyShapeComponents::setBroadPhaseId(Entity proxyShapeEntity, int32 broadPhaseId) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - mBroadPhaseIds[mMapEntityToComponentIndex[proxyShapeEntity]] = broadPhaseId; -} - -// Return the collision category bits of a given proxy-shape -inline unsigned short ProxyShapeComponents::getCollisionCategoryBits(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mCollisionCategoryBits[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Return the "collide with" mask bits of a given proxy-shape -inline unsigned short ProxyShapeComponents::getCollideWithMaskBits(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mCollideWithMaskBits[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Set the collision category bits of a given proxy-shape -inline void ProxyShapeComponents::setCollisionCategoryBits(Entity proxyShapeEntity, unsigned short collisionCategoryBits) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - mCollisionCategoryBits[mMapEntityToComponentIndex[proxyShapeEntity]] = collisionCategoryBits; -} - -// Set the "collide with" mask bits of a given proxy-shape -inline void ProxyShapeComponents::setCollideWithMaskBits(Entity proxyShapeEntity, unsigned short collideWithMaskBits) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - mCollideWithMaskBits[mMapEntityToComponentIndex[proxyShapeEntity]] = collideWithMaskBits; -} - -// Return the local-to-world transform of a proxy-shape -inline const Transform& ProxyShapeComponents::getLocalToWorldTransform(Entity proxyShapeEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mLocalToWorldTransforms[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -// Set the local-to-world transform of a proxy-shape -inline void ProxyShapeComponents::setLocalToWorldTransform(Entity proxyShapeEntity, const Transform& transform) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - mLocalToWorldTransforms[mMapEntityToComponentIndex[proxyShapeEntity]] = transform; -} - -// Return a reference to the list of overlapping pairs for a given proxy-shape -inline List& ProxyShapeComponents::getOverlappingPairs(Entity proxyShapeEntity) { - - assert(mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); - - return mOverlappingPairs[mMapEntityToComponentIndex[proxyShapeEntity]]; -} - -} - -#endif diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp index 0a9d7279..105a4644 100644 --- a/src/constraint/ContactPoint.cpp +++ b/src/constraint/ContactPoint.cpp @@ -25,7 +25,7 @@ // Libraries #include "ContactPoint.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" using namespace reactphysics3d; using namespace std; diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index 8c18a2b7..d7dedd4a 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -54,10 +54,10 @@ class ContactPoint { /// Penetration depth decimal mPenetrationDepth; - /// Contact point on proxy shape 1 in local-space of proxy shape 1 + /// Contact point on collider 1 in local-space of collider 1 Vector3 mLocalPointOnShape1; - /// Contact point on proxy shape 2 in local-space of proxy shape 2 + /// Contact point on collider 2 in local-space of collider 2 Vector3 mLocalPointOnShape2; /// True if the contact is a resting contact (exists for more than one time step) @@ -115,10 +115,10 @@ class ContactPoint { /// Return the normal vector of the contact const Vector3& getNormal() const; - /// Return the contact point on the first proxy shape in the local-space of the proxy shape + /// Return the contact point on the first collider in the local-space of the collider const Vector3& getLocalPointOnShape1() const; - /// Return the contact point on the second proxy shape in the local-space of the proxy shape + /// Return the contact point on the second collider in the local-space of the collider const Vector3& getLocalPointOnShape2() const; /// Return the cached penetration impulse @@ -148,17 +148,17 @@ inline const Vector3& ContactPoint::getNormal() const { return mNormal; } -// Return the contact point on the first proxy shape in the local-space of the proxy shape +// Return the contact point on the first collider in the local-space of the collider /** - * @return The contact point on the first proxy shape in the local-space of the proxy shape + * @return The contact point on the first collider in the local-space of the collider */ inline const Vector3& ContactPoint::getLocalPointOnShape1() const { return mLocalPointOnShape1; } -// Return the contact point on the second proxy shape in the local-space of the proxy shape +// Return the contact point on the second collider in the local-space of the collider /** - * @return The contact point on the second proxy shape in the local-space of the proxy shape + * @return The contact point on the second collider in the local-space of the collider */ inline const Vector3& ContactPoint::getLocalPointOnShape2() const { return mLocalPointOnShape2; diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp index 97732177..d0a78cdb 100644 --- a/src/engine/CollisionWorld.cpp +++ b/src/engine/CollisionWorld.cpp @@ -39,11 +39,11 @@ uint CollisionWorld::mNbWorlds = 0; CollisionWorld::CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), - mTransformComponents(mMemoryManager.getHeapAllocator()), mProxyShapesComponents(mMemoryManager.getHeapAllocator()), + mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), mSliderJointsComponents(mMemoryManager.getHeapAllocator()), - mCollisionDetection(this, mProxyShapesComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), + mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), mIsLoggerCreatedByUser(logger != nullptr) { @@ -137,7 +137,7 @@ CollisionWorld::~CollisionWorld() { assert(mBodies.size() == 0); assert(mCollisionBodyComponents.getNbComponents() == 0); assert(mTransformComponents.getNbComponents() == 0); - assert(mProxyShapesComponents.getNbComponents() == 0); + assert(mCollidersComponents.getNbComponents() == 0); } // Create a collision body and add it to the world @@ -222,11 +222,11 @@ void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); } - // For each proxy-shape of the body - const List& proxyShapesEntities = mCollisionBodyComponents.getProxyShapes(bodyEntity); - for (uint i=0; i < proxyShapesEntities.size(); i++) { + // For each collider of the body + const List& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity); + for (uint i=0; i < collidersEntities.size(); i++) { - mProxyShapesComponents.setIsEntityDisabled(proxyShapesEntities[i], isDisabled); + mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled); } // Disable the joints of the body if necessary @@ -288,16 +288,16 @@ bool CollisionWorld::testOverlap(CollisionBody* body1, CollisionBody* body2) { return mCollisionDetection.testOverlap(body1, body2); } -// Return the current world-space AABB of given proxy shape +// Return the current world-space AABB of given collider /** - * @param proxyShape Pointer to a proxy shape - * @return The AAABB of the proxy shape in world-space + * @param collider Pointer to a collider + * @return The AAABB of the collider in world-space */ -AABB CollisionWorld::getWorldAABB(const ProxyShape* proxyShape) const { +AABB CollisionWorld::getWorldAABB(const Collider* collider) const { - if (proxyShape->getBroadPhaseId() == -1) { + if (collider->getBroadPhaseId() == -1) { return AABB(); } - return mCollisionDetection.getWorldAABB(proxyShape); + return mCollisionDetection.getWorldAABB(collider); } diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h index 6259f3f2..7c7cb7a0 100644 --- a/src/engine/CollisionWorld.h +++ b/src/engine/CollisionWorld.h @@ -36,7 +36,7 @@ #include "components/CollisionBodyComponents.h" #include "components/RigidBodyComponents.h" #include "components/TransformComponents.h" -#include "components/ProxyShapeComponents.h" +#include "components/ColliderComponents.h" #include "components/JointComponents.h" #include "components/BallAndSocketJointComponents.h" #include "components/FixedJointComponents.h" @@ -90,8 +90,8 @@ class CollisionWorld { /// Transform Components TransformComponents mTransformComponents; - /// Proxy-Shapes Components - ProxyShapeComponents mProxyShapesComponents; + /// Collider Components + ColliderComponents mCollidersComponents; /// Joint Components JointComponents mJointsComponents; @@ -213,8 +213,8 @@ class CollisionWorld { #endif - /// Return the current world-space AABB of given proxy shape - AABB getWorldAABB(const ProxyShape* proxyShape) const; + /// Return the current world-space AABB of given collider + AABB getWorldAABB(const Collider* collider) const; /// Return the name of the world const std::string& getName() const; @@ -225,7 +225,7 @@ class CollisionWorld { friend class CollisionDetectionSystem; friend class CollisionBody; friend class RigidBody; - friend class ProxyShape; + friend class Collider; friend class ConvexMeshShape; friend class CollisionCallback::ContactPair; friend class OverlapCallback::OverlapPair; diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index af2e8afa..85334247 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -51,11 +51,11 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, MemoryManager& memoryManage : CollisionWorld(memoryManager, worldSettings, logger, profiler), mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, - mProxyShapesComponents, mConfig), + mCollidersComponents, mConfig), mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents, mSliderJointsComponents), - mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mProxyShapesComponents, mIsGravityEnabled, mGravity), + mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mCollidersComponents, mIsGravityEnabled, mGravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), @@ -142,8 +142,8 @@ void DynamicsWorld::update(decimal timeStep) { // Update the state (positions and velocities) of the bodies mDynamicsSystem.updateBodiesState(); - // Update the proxy-shapes components - mCollisionDetection.updateProxyShapes(timeStep); + // Update the colliders components + mCollisionDetection.updateColliders(timeStep); if (mIsSleepingEnabled) updateSleepingBodies(timeStep); diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index 9be12337..83dc76c7 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -34,7 +34,7 @@ using namespace reactphysics3d; // Constructor -OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ProxyShapeComponents& proxyShapeComponents, +OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, ColliderComponents &colliderComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set &noCollisionPairs, CollisionDispatch &collisionDispatch) : mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator), mNbPairs(0), mConcavePairsStartIndex(0), mPairDataSize(sizeof(uint64) + sizeof(int32) + sizeof(int32) + sizeof(Entity) + @@ -43,7 +43,7 @@ OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, M sizeof(bool)), mNbAllocatedPairs(0), mBuffer(nullptr), mMapPairIdToPairIndex(persistentMemoryAllocator), - mProxyShapeComponents(proxyShapeComponents), mCollisionBodyComponents(collisionBodyComponents), + mColliderComponents(colliderComponents), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mNoCollisionPairs(noCollisionPairs), mCollisionDispatch(collisionDispatch) { // Allocate memory for the components data @@ -69,11 +69,11 @@ OverlappingPairs::~OverlappingPairs() { mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); } - // Remove the involved overlapping pair to the two proxy-shapes - assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[i]).find(mPairIds[i]) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[i]).end()); - assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[i]).find(mPairIds[i]) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[i]).end()); - mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[i]).remove(mPairIds[i]); - mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[i]).remove(mPairIds[i]); + // Remove the involved overlapping pair to the two colliders + assert(mColliderComponents.getOverlappingPairs(mColliders1[i]).find(mPairIds[i]) != mColliderComponents.getOverlappingPairs(mColliders1[i]).end()); + assert(mColliderComponents.getOverlappingPairs(mColliders2[i]).find(mPairIds[i]) != mColliderComponents.getOverlappingPairs(mColliders2[i]).end()); + mColliderComponents.getOverlappingPairs(mColliders1[i]).remove(mPairIds[i]); + mColliderComponents.getOverlappingPairs(mColliders2[i]).remove(mPairIds[i]); destroyPair(i); } @@ -144,11 +144,11 @@ void OverlappingPairs::removePair(uint64 pairId) { mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo)); } - // Remove the involved overlapping pair to the two proxy-shapes - assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[index]).find(pairId) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[index]).end()); - assert(mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[index]).find(pairId) != mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[index]).end()); - mProxyShapeComponents.getOverlappingPairs(mProxyShapes1[index]).remove(pairId); - mProxyShapeComponents.getOverlappingPairs(mProxyShapes2[index]).remove(pairId); + // Remove the involved overlapping pair to the two colliders + assert(mColliderComponents.getOverlappingPairs(mColliders1[index]).find(pairId) != mColliderComponents.getOverlappingPairs(mColliders1[index]).end()); + assert(mColliderComponents.getOverlappingPairs(mColliders2[index]).find(pairId) != mColliderComponents.getOverlappingPairs(mColliders2[index]).end()); + mColliderComponents.getOverlappingPairs(mColliders1[index]).remove(pairId); + mColliderComponents.getOverlappingPairs(mColliders2[index]).remove(pairId); // Destroy the pair destroyPair(index); @@ -204,9 +204,9 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { uint64* newPairIds = static_cast(newBuffer); int32* newPairBroadPhaseId1 = reinterpret_cast(newPairIds + nbPairsToAllocate); int32* newPairBroadPhaseId2 = reinterpret_cast(newPairBroadPhaseId1 + nbPairsToAllocate); - Entity* newProxyShapes1 = reinterpret_cast(newPairBroadPhaseId2 + nbPairsToAllocate); - Entity* newProxyShapes2 = reinterpret_cast(newProxyShapes1 + nbPairsToAllocate); - Map* newLastFrameCollisionInfos = reinterpret_cast*>(newProxyShapes2 + nbPairsToAllocate); + Entity* newColliders1 = reinterpret_cast(newPairBroadPhaseId2 + nbPairsToAllocate); + Entity* newColliders2 = reinterpret_cast(newColliders1 + nbPairsToAllocate); + Map* newLastFrameCollisionInfos = reinterpret_cast*>(newColliders2 + nbPairsToAllocate); bool* newNeedToTestOverlap = reinterpret_cast(newLastFrameCollisionInfos + nbPairsToAllocate); bool* newIsActive = reinterpret_cast(newNeedToTestOverlap + nbPairsToAllocate); NarrowPhaseAlgorithmType* newNarrowPhaseAlgorithmType = reinterpret_cast(newIsActive + nbPairsToAllocate); @@ -219,8 +219,8 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { memcpy(newPairIds, mPairIds, mNbPairs * sizeof(uint64)); memcpy(newPairBroadPhaseId1, mPairBroadPhaseId1, mNbPairs * sizeof(int32)); memcpy(newPairBroadPhaseId2, mPairBroadPhaseId2, mNbPairs * sizeof(int32)); - memcpy(newProxyShapes1, mProxyShapes1, mNbPairs * sizeof(Entity)); - memcpy(newProxyShapes2, mProxyShapes2, mNbPairs * sizeof(Entity)); + memcpy(newColliders1, mColliders1, mNbPairs * sizeof(Entity)); + memcpy(newColliders2, mColliders2, mNbPairs * sizeof(Entity)); memcpy(newLastFrameCollisionInfos, mLastFrameCollisionInfos, mNbPairs * sizeof(Map)); memcpy(newNeedToTestOverlap, mNeedToTestOverlap, mNbPairs * sizeof(bool)); memcpy(newIsActive, mIsActive, mNbPairs * sizeof(bool)); @@ -235,8 +235,8 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { mPairIds = newPairIds; mPairBroadPhaseId1 = newPairBroadPhaseId1; mPairBroadPhaseId2 = newPairBroadPhaseId2; - mProxyShapes1 = newProxyShapes1; - mProxyShapes2 = newProxyShapes2; + mColliders1 = newColliders1; + mColliders2 = newColliders2; mLastFrameCollisionInfos = newLastFrameCollisionInfos; mNeedToTestOverlap = newNeedToTestOverlap; mIsActive = newIsActive; @@ -247,18 +247,18 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { } // Add an overlapping pair -uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { +uint64 OverlappingPairs::addPair(Collider* shape1, Collider* shape2) { RP3D_PROFILE("OverlappingPairs::addPair()", mProfiler); - const Entity proxyShape1 = shape1->getEntity(); - const Entity proxyShape2 = shape2->getEntity(); + const Entity collider1 = shape1->getEntity(); + const Entity collider2 = shape2->getEntity(); - const uint proxyShape1Index = mProxyShapeComponents.getEntityIndex(proxyShape1); - const uint proxyShape2Index = mProxyShapeComponents.getEntityIndex(proxyShape2); + const uint collider1Index = mColliderComponents.getEntityIndex(collider1); + const uint collider2Index = mColliderComponents.getEntityIndex(collider2); - const CollisionShape* collisionShape1 = mProxyShapeComponents.mCollisionShapes[proxyShape1Index]; - const CollisionShape* collisionShape2 = mProxyShapeComponents.mCollisionShapes[proxyShape2Index]; + const CollisionShape* collisionShape1 = mColliderComponents.mCollisionShapes[collider1Index]; + const CollisionShape* collisionShape2 = mColliderComponents.mCollisionShapes[collider2Index]; const bool isShape1Convex = collisionShape1->isConvex(); const bool isShape2Convex = collisionShape2->isConvex(); @@ -291,8 +291,8 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { new (mPairIds + index) uint64(pairId); new (mPairBroadPhaseId1 + index) int32(shape1->getBroadPhaseId()); new (mPairBroadPhaseId2 + index) int32(shape2->getBroadPhaseId()); - new (mProxyShapes1 + index) Entity(shape1->getEntity()); - new (mProxyShapes2 + index) Entity(shape2->getEntity()); + new (mColliders1 + index) Entity(shape1->getEntity()); + new (mColliders2 + index) Entity(shape2->getEntity()); new (mLastFrameCollisionInfos + index) Map(mPersistentAllocator); new (mNeedToTestOverlap + index) bool(false); new (mIsActive + index) bool(true); @@ -302,11 +302,11 @@ uint64 OverlappingPairs::addPair(ProxyShape* shape1, ProxyShape* shape2) { // Map the entity with the new component lookup index mMapPairIdToPairIndex.add(Pair(pairId, index)); - // Add the involved overlapping pair to the two proxy-shapes - assert(mProxyShapeComponents.mOverlappingPairs[proxyShape1Index].find(pairId) == mProxyShapeComponents.mOverlappingPairs[proxyShape1Index].end()); - assert(mProxyShapeComponents.mOverlappingPairs[proxyShape2Index].find(pairId) == mProxyShapeComponents.mOverlappingPairs[proxyShape2Index].end()); - mProxyShapeComponents.mOverlappingPairs[proxyShape1Index].add(pairId); - mProxyShapeComponents.mOverlappingPairs[proxyShape2Index].add(pairId); + // Add the involved overlapping pair to the two colliders + assert(mColliderComponents.mOverlappingPairs[collider1Index].find(pairId) == mColliderComponents.mOverlappingPairs[collider1Index].end()); + assert(mColliderComponents.mOverlappingPairs[collider2Index].find(pairId) == mColliderComponents.mOverlappingPairs[collider2Index].end()); + mColliderComponents.mOverlappingPairs[collider1Index].add(pairId); + mColliderComponents.mOverlappingPairs[collider2Index].add(pairId); mNbPairs++; @@ -328,8 +328,8 @@ void OverlappingPairs::movePairToIndex(uint64 srcIndex, uint64 destIndex) { mPairIds[destIndex] = mPairIds[srcIndex]; mPairBroadPhaseId1[destIndex] = mPairBroadPhaseId1[srcIndex]; mPairBroadPhaseId2[destIndex] = mPairBroadPhaseId2[srcIndex]; - new (mProxyShapes1 + destIndex) Entity(mProxyShapes1[srcIndex]); - new (mProxyShapes2 + destIndex) Entity(mProxyShapes2[srcIndex]); + new (mColliders1 + destIndex) Entity(mColliders1[srcIndex]); + new (mColliders2 + destIndex) Entity(mColliders2[srcIndex]); new (mLastFrameCollisionInfos + destIndex) Map(mLastFrameCollisionInfos[srcIndex]); mNeedToTestOverlap[destIndex] = mNeedToTestOverlap[srcIndex]; mIsActive[destIndex] = mIsActive[srcIndex]; @@ -354,8 +354,8 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { uint64 pairId = mPairIds[index1]; int32 pairBroadPhaseId1 = mPairBroadPhaseId1[index1]; int32 pairBroadPhaseId2 = mPairBroadPhaseId2[index1]; - Entity proxyShape1 = mProxyShapes1[index1]; - Entity proxyShape2 = mProxyShapes2[index1]; + Entity collider1 = mColliders1[index1]; + Entity collider2 = mColliders2[index1]; Map lastFrameCollisionInfo(mLastFrameCollisionInfos[index1]); bool needTestOverlap = mNeedToTestOverlap[index1]; bool isActive = mIsActive[index1]; @@ -371,8 +371,8 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { mPairIds[index2] = pairId; mPairBroadPhaseId1[index2] = pairBroadPhaseId1; mPairBroadPhaseId2[index2] = pairBroadPhaseId2; - new (mProxyShapes1 + index2) Entity(proxyShape1); - new (mProxyShapes2 + index2) Entity(proxyShape2); + new (mColliders1 + index2) Entity(collider1); + new (mColliders2 + index2) Entity(collider2); new (mLastFrameCollisionInfos + index2) Map(lastFrameCollisionInfo); mNeedToTestOverlap[index2] = needTestOverlap; mIsActive[index2] = isActive; @@ -396,8 +396,8 @@ void OverlappingPairs::destroyPair(uint64 index) { mMapPairIdToPairIndex.remove(mPairIds[index]); - mProxyShapes1[index].~Entity(); - mProxyShapes2[index].~Entity(); + mColliders1[index].~Entity(); + mColliders2[index].~Entity(); mLastFrameCollisionInfos[index].~Map(); mNarrowPhaseAlgorithmType[index].~NarrowPhaseAlgorithmType(); } @@ -409,11 +409,11 @@ void OverlappingPairs::updateOverlappingPairIsActive(uint64 pairId) { const uint64 pairIndex = mMapPairIdToPairIndex[pairId]; - const Entity proxyShape1 = mProxyShapes1[pairIndex]; - const Entity proxyShape2 = mProxyShapes2[pairIndex]; + const Entity collider1 = mColliders1[pairIndex]; + const Entity collider2 = mColliders2[pairIndex]; - const Entity body1 = mProxyShapeComponents.getBody(proxyShape1); - const Entity body2 = mProxyShapeComponents.getBody(proxyShape2); + const Entity body1 = mColliderComponents.getBody(collider1); + const Entity body2 = mColliderComponents.getBody(collider2); const bool isBody1Enabled = !mCollisionBodyComponents.getIsEntityDisabled(body1); const bool isBody2Enabled = !mCollisionBodyComponents.getIsEntityDisabled(body2); diff --git a/src/engine/OverlappingPairs.h b/src/engine/OverlappingPairs.h index a90c8448..5e08d000 100644 --- a/src/engine/OverlappingPairs.h +++ b/src/engine/OverlappingPairs.h @@ -27,13 +27,13 @@ #define REACTPHYSICS3D_OVERLAPPING_PAIR_H // Libraries -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include "containers/Map.h" #include "containers/Pair.h" #include "containers/Set.h" #include "containers/containers_common.h" #include "utils/Profiler.h" -#include "components/ProxyShapeComponents.h" +#include "components/ColliderComponents.h" #include "components/CollisionBodyComponents.h" #include "components/RigidBodyComponents.h" #include @@ -96,9 +96,9 @@ struct LastFrameCollisionInfo { // Class OverlappingPairs /** - * This class contains pairs of two proxy collision shapes that are overlapping + * This class contains pairs of two colliders that are overlapping * during the broad-phase collision detection. A pair is created when - * the two proxy collision shapes start to overlap and is destroyed when they do not + * the two colliders start to overlap and is destroyed when they do not * overlap anymore. Each contains a contact manifold that * store all the contact points between the two bodies. */ @@ -148,11 +148,11 @@ class OverlappingPairs { /// Array with the broad-phase Ids of the second shape int32* mPairBroadPhaseId2; - /// Array of Entity of the first proxy-shape of the convex vs convex pairs - Entity* mProxyShapes1; + /// Array of Entity of the first collider of the convex vs convex pairs + Entity* mColliders1; - /// Array of Entity of the second proxy-shape of the convex vs convex pairs - Entity* mProxyShapes2; + /// Array of Entity of the second collider of the convex vs convex pairs + Entity* mColliders2; /// Temporal coherence collision data for each overlapping collision shapes of this pair. /// Temporal coherence data store collision information about the last frame. @@ -173,8 +173,8 @@ class OverlappingPairs { /// True if the first shape of the pair is convex bool* mIsShape1Convex; - /// Reference to the proxy-shapes components - ProxyShapeComponents& mProxyShapeComponents; + /// Reference to the colliders components + ColliderComponents& mColliderComponents; /// Reference to the collision body components CollisionBodyComponents& mCollisionBodyComponents; @@ -218,7 +218,7 @@ class OverlappingPairs { /// Constructor OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator, - ProxyShapeComponents& proxyShapeComponents, CollisionBodyComponents& collisionBodyComponents, + ColliderComponents& colliderComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, Set& noCollisionPairs, CollisionDispatch& collisionDispatch); @@ -232,7 +232,7 @@ class OverlappingPairs { OverlappingPairs& operator=(const OverlappingPairs& pair) = delete; /// Add an overlapping pair - uint64 addPair(ProxyShape* shape1, ProxyShape* shape2); + uint64 addPair(Collider* shape1, Collider* shape2); /// Remove a component at a given index void removePair(uint64 pairId); @@ -249,11 +249,11 @@ class OverlappingPairs { /// Return the starting index of the convex vs concave pairs uint64 getConvexVsConcavePairsStartIndex() const; - /// Return the entity of the first proxy-shape - Entity getProxyShape1(uint64 pairId) const; + /// Return the entity of the first collider + Entity getCollider1(uint64 pairId) const; - /// Return the entity of the second proxy-shape - Entity getProxyShape2(uint64 pairId) const; + /// Return the entity of the second collider + Entity getCollider2(uint64 pairId) const; /// Notify if a given pair is active or not void setIsPairActive(uint64 pairId, bool isActive); @@ -295,18 +295,18 @@ class OverlappingPairs { friend class CollisionDetectionSystem; }; -// Return the entity of the first proxy-shape -inline Entity OverlappingPairs::getProxyShape1(uint64 pairId) const { +// Return the entity of the first collider +inline Entity OverlappingPairs::getCollider1(uint64 pairId) const { assert(mMapPairIdToPairIndex.containsKey(pairId)); assert(mMapPairIdToPairIndex[pairId] < mNbPairs); - return mProxyShapes1[mMapPairIdToPairIndex[pairId]]; + return mColliders1[mMapPairIdToPairIndex[pairId]]; } -// Return the entity of the second proxy-shape -inline Entity OverlappingPairs::getProxyShape2(uint64 pairId) const { +// Return the entity of the second collider +inline Entity OverlappingPairs::getCollider2(uint64 pairId) const { assert(mMapPairIdToPairIndex.containsKey(pairId)); assert(mMapPairIdToPairIndex[pairId] < mNbPairs); - return mProxyShapes2[mMapPairIdToPairIndex[pairId]]; + return mColliders2[mMapPairIdToPairIndex[pairId]]; } // Notify if a given pair is active or not diff --git a/src/reactphysics3d.h b/src/reactphysics3d.h index a18cff7b..9dbf3baf 100644 --- a/src/reactphysics3d.h +++ b/src/reactphysics3d.h @@ -53,7 +53,7 @@ #include "collision/shapes/HeightFieldShape.h" #include "collision/PolyhedronMesh.h" #include "collision/shapes/AABB.h" -#include "collision/ProxyShape.h" +#include "collision/Collider.h" #include "collision/RaycastInfo.h" #include "collision/TriangleMesh.h" #include "collision/PolyhedronMesh.h" diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index d5856a3a..c4e9f953 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -35,10 +35,10 @@ using namespace reactphysics3d; // Constructor -BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ProxyShapeComponents& proxyShapesComponents, +BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ColliderComponents& collidersComponents, TransformComponents& transformComponents, RigidBodyComponents &rigidBodyComponents) :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), - mProxyShapesComponents(proxyShapesComponents), mTransformsComponents(transformComponents), + mCollidersComponents(collidersComponents), mTransformsComponents(transformComponents), mRigidBodyComponents(rigidBodyComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { @@ -76,30 +76,30 @@ void BroadPhaseSystem::raycast(const Ray& ray, RaycastTest& raycastTest, mDynamicAABBTree.raycast(ray, broadPhaseRaycastCallback); } -// Add a proxy collision shape into the broad-phase collision detection -void BroadPhaseSystem::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { +// Add a collider into the broad-phase collision detection +void BroadPhaseSystem::addCollider(Collider* collider, const AABB& aabb) { - assert(proxyShape->getBroadPhaseId() == -1); + assert(collider->getBroadPhaseId() == -1); // Add the collision shape into the dynamic AABB tree and get its broad-phase ID - int nodeId = mDynamicAABBTree.addObject(aabb, proxyShape); + int nodeId = mDynamicAABBTree.addObject(aabb, collider); - // Set the broad-phase ID of the proxy shape - mProxyShapesComponents.setBroadPhaseId(proxyShape->getEntity(), nodeId); + // Set the broad-phase ID of the collider + mCollidersComponents.setBroadPhaseId(collider->getEntity(), nodeId); // Add the collision shape into the array of bodies that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(proxyShape->getBroadPhaseId(), proxyShape); + addMovedCollisionShape(collider->getBroadPhaseId(), collider); } -// Remove a proxy collision shape from the broad-phase collision detection -void BroadPhaseSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { +// Remove a collider from the broad-phase collision detection +void BroadPhaseSystem::removeCollider(Collider* collider) { - assert(proxyShape->getBroadPhaseId() != -1); + assert(collider->getBroadPhaseId() != -1); - int broadPhaseID = proxyShape->getBroadPhaseId(); + int broadPhaseID = collider->getBroadPhaseId(); - mProxyShapesComponents.setBroadPhaseId(proxyShape->getEntity(), -1); + mCollidersComponents.setBroadPhaseId(collider->getEntity(), -1); // Remove the collision shape from the dynamic AABB tree mDynamicAABBTree.removeObject(broadPhaseID); @@ -109,31 +109,31 @@ void BroadPhaseSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { removeMovedCollisionShape(broadPhaseID); } -// Update the broad-phase state of a single proxy-shape -void BroadPhaseSystem::updateProxyShape(Entity proxyShapeEntity, decimal timeStep) { +// Update the broad-phase state of a single collider +void BroadPhaseSystem::updateCollider(Entity colliderEntity, decimal timeStep) { - assert(mProxyShapesComponents.mMapEntityToComponentIndex.containsKey(proxyShapeEntity)); + assert(mCollidersComponents.mMapEntityToComponentIndex.containsKey(colliderEntity)); - // Get the index of the proxy-shape component in the array - uint32 index = mProxyShapesComponents.mMapEntityToComponentIndex[proxyShapeEntity]; + // Get the index of the collider component in the array + uint32 index = mCollidersComponents.mMapEntityToComponentIndex[colliderEntity]; - // Update the proxy-shape component - updateProxyShapesComponents(index, 1, timeStep); + // Update the collider component + updateCollidersComponents(index, 1, timeStep); } -// Update the broad-phase state of all the enabled proxy-shapes -void BroadPhaseSystem::updateProxyShapes(decimal timeStep) { +// Update the broad-phase state of all the enabled colliders +void BroadPhaseSystem::updateColliders(decimal timeStep) { - RP3D_PROFILE("BroadPhaseSystem::updateProxyShapes()", mProfiler); + RP3D_PROFILE("BroadPhaseSystem::updateColliders()", mProfiler); - // Update all the enabled proxy-shape components - if (mProxyShapesComponents.getNbEnabledComponents() > 0) { - updateProxyShapesComponents(0, mProxyShapesComponents.getNbEnabledComponents(), timeStep); + // Update all the enabled collider components + if (mCollidersComponents.getNbEnabledComponents() > 0) { + updateCollidersComponents(0, mCollidersComponents.getNbEnabledComponents(), timeStep); } } // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, ProxyShape* proxyShape, const AABB& aabb, const Vector3& displacement) { +void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement) { assert(broadPhaseId >= 0); @@ -146,33 +146,33 @@ void BroadPhaseSystem::updateProxyShapeInternal(int32 broadPhaseId, ProxyShape* // Add the collision shape into the array of shapes that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(broadPhaseId, proxyShape); + addMovedCollisionShape(broadPhaseId, collider); } } -// Update the broad-phase state of some proxy-shapes components -void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbItems, decimal timeStep) { +// Update the broad-phase state of some colliders components +void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep) { - RP3D_PROFILE("BroadPhaseSystem::updateProxyShapesComponents()", mProfiler); + RP3D_PROFILE("BroadPhaseSystem::updateCollidersComponents()", mProfiler); assert(nbItems > 0); - assert(startIndex < mProxyShapesComponents.getNbComponents()); - assert(startIndex + nbItems <= mProxyShapesComponents.getNbComponents()); + assert(startIndex < mCollidersComponents.getNbComponents()); + assert(startIndex + nbItems <= mCollidersComponents.getNbComponents()); // Make sure we do not update disabled components - startIndex = std::min(startIndex, mProxyShapesComponents.getNbEnabledComponents()); - uint32 endIndex = std::min(startIndex + nbItems, mProxyShapesComponents.getNbEnabledComponents()); + startIndex = std::min(startIndex, mCollidersComponents.getNbEnabledComponents()); + uint32 endIndex = std::min(startIndex + nbItems, mCollidersComponents.getNbEnabledComponents()); nbItems = endIndex - startIndex; assert(nbItems >= 0); - // For each proxy-shape component to update + // For each collider component to update for (uint32 i = startIndex; i < startIndex + nbItems; i++) { // TODO : Can we remove this test - const int32 broadPhaseId = mProxyShapesComponents.mBroadPhaseIds[i]; + const int32 broadPhaseId = mCollidersComponents.mBroadPhaseIds[i]; if (broadPhaseId != -1) { - const Entity& bodyEntity = mProxyShapesComponents.mBodiesEntities[i]; + const Entity& bodyEntity = mCollidersComponents.mBodiesEntities[i]; const Transform& transform = mTransformsComponents.getTransform(bodyEntity); // If there is a dynamics component for the current entity @@ -187,10 +187,10 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI // Recompute the world-space AABB of the collision shape AABB aabb; - mProxyShapesComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mProxyShapesComponents.mLocalToBodyTransforms[i]); + mCollidersComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mCollidersComponents.mLocalToBodyTransforms[i]); - // Update the broad-phase state for the proxy collision shape - updateProxyShapeInternal(broadPhaseId, mProxyShapesComponents.mProxyShapes[i], aabb, displacement); + // Update the broad-phase state for the collider + updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, displacement); } } } @@ -198,7 +198,7 @@ void BroadPhaseSystem::updateProxyShapesComponents(uint32 startIndex, uint32 nbI // Add a collision shape in the array of shapes that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. -void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID, ProxyShape* proxyShape) { +void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID, Collider* collider) { assert(broadPhaseID != -1); @@ -206,7 +206,7 @@ void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID, ProxyShape* prox mMovedShapes.add(broadPhaseID); // Notify that the overlapping pairs where this shape is involved need to be tested for overlap - mCollisionDetection.notifyOverlappingPairsToTestOverlap(proxyShape); + mCollisionDetection.notifyOverlappingPairsToTestOverlap(collider); } // Compute all the overlapping pairs of collision shapes @@ -214,7 +214,7 @@ void BroadPhaseSystem::computeOverlappingPairs(MemoryManager& memoryManager, Lis RP3D_PROFILE("BroadPhaseSystem::computeOverlappingPairs()", mProfiler); - // Get the list of the proxy-shapes that have moved or have been created in the last frame + // Get the list of the colliders that have moved or have been created in the last frame List shapesToTest = mMovedShapes.toList(memoryManager.getPoolAllocator()); // Ask the dynamic AABB tree to report all collision shapes that overlap with the shapes to test @@ -236,16 +236,16 @@ decimal BroadPhaseRaycastCallback::raycastBroadPhaseShape(int32 nodeId, const Ra decimal hitFraction = decimal(-1.0); - // Get the proxy shape from the node - ProxyShape* proxyShape = static_cast(mDynamicAABBTree.getNodeDataPointer(nodeId)); + // Get the collider from the node + Collider* collider = static_cast(mDynamicAABBTree.getNodeDataPointer(nodeId)); // Check if the raycast filtering mask allows raycast against this shape - if ((mRaycastWithCategoryMaskBits & proxyShape->getCollisionCategoryBits()) != 0) { + if ((mRaycastWithCategoryMaskBits & collider->getCollisionCategoryBits()) != 0) { // Ask the collision detection to perform a ray cast test against - // the proxy shape of this node because the ray is overlapping + // the collider of this node because the ray is overlapping // with the shape in the broad-phase - hitFraction = mRaycastTest.raycastAgainstShape(proxyShape, ray); + hitFraction = mRaycastTest.raycastAgainstShape(collider, ray); } return hitFraction; diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 1319a676..710527c9 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -30,7 +30,7 @@ #include "collision/broadphase/DynamicAABBTree.h" #include "containers/LinkedList.h" #include "containers/Set.h" -#include "components/ProxyShapeComponents.h" +#include "components/ColliderComponents.h" #include "components/TransformComponents.h" #include "components/RigidBodyComponents.h" #include @@ -42,7 +42,7 @@ namespace reactphysics3d { class CollisionDetectionSystem; class BroadPhaseSystem; class CollisionBody; -class ProxyShape; +class Collider; class MemoryManager; class Profiler; @@ -100,7 +100,7 @@ class BroadPhaseRaycastCallback : public DynamicAABBTreeRaycastCallback { // Class BroadPhaseSystem /** * This class represents the broad-phase collision detection. The - * goal of the broad-phase collision detection is to compute the pairs of proxy shapes + * goal of the broad-phase collision detection is to compute the pairs of colliders * that have their AABBs overlapping. Only those pairs of bodies will be tested * later for collision during the narrow-phase collision detection. A dynamic AABB * tree data structure is used for fast broad-phase collision detection. @@ -114,8 +114,8 @@ class BroadPhaseSystem { /// Dynamic AABB tree DynamicAABBTree mDynamicAABBTree; - /// Reference to the proxy-shapes components - ProxyShapeComponents& mProxyShapesComponents; + /// Reference to the colliders components + ColliderComponents& mCollidersComponents; /// Reference to the transform components TransformComponents& mTransformsComponents; @@ -139,18 +139,18 @@ class BroadPhaseSystem { #endif // -------------------- Methods -------------------- // - /// Notify the Dynamic AABB tree that a proxy-shape needs to be updated - void updateProxyShapeInternal(int32 broadPhaseId, ProxyShape* proxyShape, const AABB& aabb, const Vector3& displacement); + /// Notify the Dynamic AABB tree that a collider needs to be updated + void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement); - /// Update the broad-phase state of some proxy-shapes components - void updateProxyShapesComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); + /// Update the broad-phase state of some colliders components + void updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); public : // -------------------- Methods -------------------- // /// Constructor - BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ProxyShapeComponents& proxyShapesComponents, + BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ColliderComponents& collidersComponents, TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents); /// Destructor @@ -162,21 +162,21 @@ class BroadPhaseSystem { /// Deleted assignment operator BroadPhaseSystem& operator=(const BroadPhaseSystem& algorithm) = delete; - /// Add a proxy collision shape into the broad-phase collision detection - void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb); + /// Add a collider into the broad-phase collision detection + void addCollider(Collider* collider, const AABB& aabb); - /// Remove a proxy collision shape from the broad-phase collision detection - void removeProxyCollisionShape(ProxyShape* proxyShape); + /// Remove a collider from the broad-phase collision detection + void removeCollider(Collider* collider); - /// Update the broad-phase state of a single proxy-shape - void updateProxyShape(Entity proxyShapeEntity, decimal timeStep); + /// Update the broad-phase state of a single collider + void updateCollider(Entity colliderEntity, decimal timeStep); - /// Update the broad-phase state of all the enabled proxy-shapes - void updateProxyShapes(decimal timeStep); + /// Update the broad-phase state of all the enabled colliders + void updateColliders(decimal timeStep); /// Add a collision shape in the array of shapes that have moved in the last simulation step /// and that need to be tested again for broad-phase overlapping. - void addMovedCollisionShape(int broadPhaseID, ProxyShape* proxyShape); + void addMovedCollisionShape(int broadPhaseID, Collider* collider); /// Remove a collision shape from the array of shapes that have moved in the last simulation /// step and that need to be tested again for broad-phase overlapping. @@ -185,8 +185,8 @@ class BroadPhaseSystem { /// Compute all the overlapping pairs of collision shapes void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); - /// Return the proxy shape corresponding to the broad-phase node id in parameter - ProxyShape* getProxyShapeForBroadPhaseId(int broadPhaseId) const; + /// Return the collider corresponding to the broad-phase node id in parameter + Collider* getColliderForBroadPhaseId(int broadPhaseId) const; /// Return true if the two broad-phase collision shapes are overlapping bool testOverlappingShapes(int32 shape1BroadPhaseId, int32 shape2BroadPhaseId) const; @@ -219,9 +219,9 @@ inline void BroadPhaseSystem::removeMovedCollisionShape(int broadPhaseID) { mMovedShapes.remove(broadPhaseID); } -// Return the proxy shape corresponding to the broad-phase node id in parameter -inline ProxyShape* BroadPhaseSystem::getProxyShapeForBroadPhaseId(int broadPhaseId) const { - return static_cast(mDynamicAABBTree.getNodeDataPointer(broadPhaseId)); +// Return the collider corresponding to the broad-phase node id in parameter +inline Collider* BroadPhaseSystem::getColliderForBroadPhaseId(int broadPhaseId) const { + return static_cast(mDynamicAABBTree.getNodeDataPointer(broadPhaseId)); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index c5db7a48..e403bbf0 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -51,15 +51,15 @@ using namespace std; // Constructor -CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, TransformComponents& transformComponents, +CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) - : mMemoryManager(memoryManager), mProxyShapesComponents(proxyShapesComponents), + : mMemoryManager(memoryManager), mCollidersComponents(collidersComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), mNoCollisionPairs(mMemoryManager.getPoolAllocator()), - mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mProxyShapesComponents, + mOverlappingPairs(mMemoryManager.getPoolAllocator(), mMemoryManager.getSingleFrameAllocator(), mCollidersComponents, collisionBodyComponents, rigidBodyComponents, mNoCollisionPairs, mCollisionDispatch), - mBroadPhaseSystem(*this, mProxyShapesComponents, transformComponents, rigidBodyComponents), - mMapBroadPhaseIdToProxyShapeEntity(memoryManager.getPoolAllocator()), + mBroadPhaseSystem(*this, mCollidersComponents, transformComponents, rigidBodyComponents), + mMapBroadPhaseIdToColliderEntity(memoryManager.getPoolAllocator()), mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), @@ -153,18 +153,18 @@ void CollisionDetectionSystem::updateOverlappingPairs(const ListgetCollisionShape()->isConvex() || shape2->getCollisionShape()->isConvex()) { @@ -219,29 +219,29 @@ void CollisionDetectionSystem::computeMiddlePhase(NarrowPhaseInput& narrowPhaseI // For each possible convex vs convex pair of bodies for (uint64 i=0; i < mOverlappingPairs.getNbConvexVsConvexPairs(); i++) { - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[i]) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[i]) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[i]) != mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[i])); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i]) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i])); // Check that at least one body is enabled (active and awake) and not static if (mOverlappingPairs.mIsActive[i]) { - const Entity proxyShape1Entity = mOverlappingPairs.mProxyShapes1[i]; - const Entity proxyShape2Entity = mOverlappingPairs.mProxyShapes2[i]; + const Entity collider1Entity = mOverlappingPairs.mColliders1[i]; + const Entity collider2Entity = mOverlappingPairs.mColliders2[i]; - const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); - const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); + const uint collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); - CollisionShape* collisionShape1 = mProxyShapesComponents.mCollisionShapes[proxyShape1Index]; - CollisionShape* collisionShape2 = mProxyShapesComponents.mCollisionShapes[proxyShape2Index]; + CollisionShape* collisionShape1 = mCollidersComponents.mCollisionShapes[collider1Index]; + CollisionShape* collisionShape2 = mCollidersComponents.mCollisionShapes[collider2Index]; NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mNarrowPhaseAlgorithmType[i]; // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[i], i, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, - mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index], - mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index], + narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[i], i, collider1Entity, collider2Entity, collisionShape1, collisionShape2, + mCollidersComponents.mLocalToWorldTransforms[collider1Index], + mCollidersComponents.mLocalToWorldTransforms[collider2Index], algorithmType, mMemoryManager.getSingleFrameAllocator()); } } @@ -250,9 +250,9 @@ void CollisionDetectionSystem::computeMiddlePhase(NarrowPhaseInput& narrowPhaseI const uint64 convexVsConcaveStartIndex = mOverlappingPairs.getConvexVsConcavePairsStartIndex(); for (uint64 i=convexVsConcaveStartIndex; i < convexVsConcaveStartIndex + mOverlappingPairs.getNbConvexVsConcavePairs(); i++) { - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[i]) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[i]) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[i]) != mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[i])); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i]) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[i]) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[i])); // Check that at least one body is enabled (active and awake) and not static if (mOverlappingPairs.mIsActive[i]) { @@ -281,26 +281,26 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; assert(pairIndex < mOverlappingPairs.getNbPairs()); - const Entity proxyShape1Entity = mOverlappingPairs.mProxyShapes1[pairIndex]; - const Entity proxyShape2Entity = mOverlappingPairs.mProxyShapes2[pairIndex]; + const Entity collider1Entity = mOverlappingPairs.mColliders1[pairIndex]; + const Entity collider2Entity = mOverlappingPairs.mColliders2[pairIndex]; - const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1Entity); - const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2Entity); + const uint collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(proxyShape1Entity) != mProxyShapesComponents.getBroadPhaseId(proxyShape2Entity)); + assert(mCollidersComponents.getBroadPhaseId(collider1Entity) != -1); + assert(mCollidersComponents.getBroadPhaseId(collider2Entity) != -1); + assert(mCollidersComponents.getBroadPhaseId(collider1Entity) != mCollidersComponents.getBroadPhaseId(collider2Entity)); - CollisionShape* collisionShape1 = mProxyShapesComponents.mCollisionShapes[proxyShape1Index]; - CollisionShape* collisionShape2 = mProxyShapesComponents.mCollisionShapes[proxyShape2Index]; + CollisionShape* collisionShape1 = mCollidersComponents.mCollisionShapes[collider1Index]; + CollisionShape* collisionShape2 = mCollidersComponents.mCollisionShapes[collider2Index]; NarrowPhaseAlgorithmType algorithmType = mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex]; // No middle-phase is necessary, simply create a narrow phase info // for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(pairId, pairIndex, proxyShape1Entity, proxyShape2Entity, collisionShape1, collisionShape2, - mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index], - mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index], + narrowPhaseInput.addNarrowPhaseTest(pairId, pairIndex, collider1Entity, collider2Entity, collisionShape1, collisionShape2, + mCollidersComponents.mLocalToWorldTransforms[collider1Index], + mCollidersComponents.mLocalToWorldTransforms[collider2Index], algorithmType, mMemoryManager.getSingleFrameAllocator()); } @@ -311,9 +311,9 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& const uint64 pairId = concavePairs[p]; const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[pairIndex]) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[pairIndex]) != -1); - assert(mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes1[pairIndex]) != mProxyShapesComponents.getBroadPhaseId(mOverlappingPairs.mProxyShapes2[pairIndex])); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[pairIndex]) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[pairIndex]) != -1); + assert(mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders1[pairIndex]) != mCollidersComponents.getBroadPhaseId(mOverlappingPairs.mColliders2[pairIndex])); computeConvexVsConcaveMiddlePhase(pairIndex, mMemoryManager.getSingleFrameAllocator(), narrowPhaseInput); } @@ -324,14 +324,14 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde RP3D_PROFILE("CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase()", mProfiler); - const Entity proxyShape1 = mOverlappingPairs.mProxyShapes1[pairIndex]; - const Entity proxyShape2 = mOverlappingPairs.mProxyShapes2[pairIndex]; + const Entity collider1 = mOverlappingPairs.mColliders1[pairIndex]; + const Entity collider2 = mOverlappingPairs.mColliders2[pairIndex]; - const uint proxyShape1Index = mProxyShapesComponents.getEntityIndex(proxyShape1); - const uint proxyShape2Index = mProxyShapesComponents.getEntityIndex(proxyShape2); + const uint collider1Index = mCollidersComponents.getEntityIndex(collider1); + const uint collider2Index = mCollidersComponents.getEntityIndex(collider2); - Transform& shape1LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape1Index]; - Transform& shape2LocalToWorldTransform = mProxyShapesComponents.mLocalToWorldTransforms[proxyShape2Index]; + Transform& shape1LocalToWorldTransform = mCollidersComponents.mLocalToWorldTransforms[collider1Index]; + Transform& shape2LocalToWorldTransform = mCollidersComponents.mLocalToWorldTransforms[collider2Index]; Transform convexToConcaveTransform; @@ -340,13 +340,13 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde ConcaveShape* concaveShape; const bool isShape1Convex = mOverlappingPairs.mIsShape1Convex[pairIndex]; if (isShape1Convex) { - convexShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape1Index]); - concaveShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape2Index]); + convexShape = static_cast(mCollidersComponents.mCollisionShapes[collider1Index]); + concaveShape = static_cast(mCollidersComponents.mCollisionShapes[collider2Index]); convexToConcaveTransform = shape2LocalToWorldTransform.getInverse() * shape1LocalToWorldTransform; } else { // Collision shape 2 is convex, collision shape 1 is concave - convexShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape1Index]); - concaveShape = static_cast(mProxyShapesComponents.mCollisionShapes[proxyShape2Index]); + convexShape = static_cast(mCollidersComponents.mCollisionShapes[collider1Index]); + concaveShape = static_cast(mCollidersComponents.mCollisionShapes[collider2Index]); convexToConcaveTransform = shape1LocalToWorldTransform.getInverse() * shape2LocalToWorldTransform; } @@ -383,7 +383,7 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde #endif // Create a narrow phase info for the narrow-phase collision detection - narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[pairIndex], pairIndex, proxyShape1, proxyShape2, isShape1Convex ? convexShape : triangleShape, + narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[pairIndex], pairIndex, collider1, collider2, isShape1Convex ? convexShape : triangleShape, isShape1Convex ? triangleShape : convexShape, shape1LocalToWorldTransform, shape2LocalToWorldTransform, mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex], allocator); @@ -542,11 +542,11 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInput& nar computeSnapshotContactPairs(convexPolyhedronVsConvexPolyhedronBatch, overlapPairs); } -// Notify that the overlapping pairs where a given proxy-shape is involved need to be tested for overlap -void CollisionDetectionSystem::notifyOverlappingPairsToTestOverlap(ProxyShape* proxyShape) { +// Notify that the overlapping pairs where a given collider is involved need to be tested for overlap +void CollisionDetectionSystem::notifyOverlappingPairsToTestOverlap(Collider* collider) { - // Get the overlapping pairs involved with this proxy-shape - List& overlappingPairs = mProxyShapesComponents.getOverlappingPairs(proxyShape->getEntity()); + // Get the overlapping pairs involved with this collider + List& overlappingPairs = mCollidersComponents.getOverlappingPairs(collider->getEntity()); for (uint i=0; i < overlappingPairs.size(); i++) { @@ -567,8 +567,8 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& if (narrowPhaseInfoBatch.isColliding[i]) { // Add the pair of bodies in contact into the list - overlapPairs.add(Pair(mProxyShapesComponents.getBody(narrowPhaseInfoBatch.proxyShapeEntities1[i]), - mProxyShapesComponents.getBody(narrowPhaseInfoBatch.proxyShapeEntities2[i]))); + overlapPairs.add(Pair(mCollidersComponents.getBody(narrowPhaseInfoBatch.colliderEntities1[i]), + mCollidersComponents.getBody(narrowPhaseInfoBatch.colliderEntities2[i]))); } narrowPhaseInfoBatch.resetContactPoints(i); @@ -673,8 +673,8 @@ void CollisionDetectionSystem::createContacts() { contactPair.nbToTalContactPoints += nbContactPoints; // We create a new contact manifold - ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.proxyShape1Entity, - contactPair.proxyShape2Entity, contactPointsIndex, nbContactPoints); + ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity, + contactPair.collider2Entity, contactPointsIndex, nbContactPoints); // Add the contact manifold mCurrentContactManifolds->add(contactManifold); @@ -741,8 +741,8 @@ void CollisionDetectionSystem::createSnapshotContacts(List& contact contactPair.nbToTalContactPoints += nbContactPoints; // We create a new contact manifold - ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.proxyShape1Entity, - contactPair.proxyShape2Entity, contactPointsIndex, nbContactPoints); + ContactManifold contactManifold(contactPair.body1Entity, contactPair.body2Entity, contactPair.collider1Entity, + contactPair.collider2Entity, contactPointsIndex, nbContactPoints); // Add the contact manifold contactManifolds.add(contactManifold); @@ -860,15 +860,15 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { } // Remove a body from the collision detection -void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) { +void CollisionDetectionSystem::removeCollider(Collider* collider) { - const int proxyShapeBroadPhaseId = proxyShape->getBroadPhaseId(); + const int colliderBroadPhaseId = collider->getBroadPhaseId(); - assert(proxyShapeBroadPhaseId != -1); - assert(mMapBroadPhaseIdToProxyShapeEntity.containsKey(proxyShapeBroadPhaseId)); + assert(colliderBroadPhaseId != -1); + assert(mMapBroadPhaseIdToColliderEntity.containsKey(colliderBroadPhaseId)); - // Remove all the overlapping pairs involving this proxy shape - List& overlappingPairs = mProxyShapesComponents.getOverlappingPairs(proxyShape->getEntity()); + // Remove all the overlapping pairs involving this collider + List& overlappingPairs = mCollidersComponents.getOverlappingPairs(collider->getEntity()); while(overlappingPairs.size() > 0) { // TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved @@ -877,10 +877,10 @@ void CollisionDetectionSystem::removeProxyCollisionShape(ProxyShape* proxyShape) mOverlappingPairs.removePair(overlappingPairs[0]); } - mMapBroadPhaseIdToProxyShapeEntity.remove(proxyShapeBroadPhaseId); + mMapBroadPhaseIdToColliderEntity.remove(colliderBroadPhaseId); // Remove the body from the broad-phase - mBroadPhaseSystem.removeProxyCollisionShape(proxyShape); + mBroadPhaseSystem.removeCollider(collider); } // Ray casting method @@ -893,7 +893,7 @@ void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, RaycastTest rayCastTest(raycastCallback); // Ask the broad-phase algorithm to call the testRaycastAgainstShape() - // callback method for each proxy shape hit by the ray in the broad-phase + // callback method for each collider hit by the ray in the broad-phase mBroadPhaseSystem.raycast(ray, rayCastTest, raycastWithCategoryMaskBits); } @@ -980,17 +980,17 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na // If the overlapping pair contact does not exists yet if (pairContact == nullptr) { - const Entity proxyShape1Entity = narrowPhaseInfoBatch.proxyShapeEntities1[i]; - const Entity proxyShape2Entity = narrowPhaseInfoBatch.proxyShapeEntities2[i]; + const Entity collider1Entity = narrowPhaseInfoBatch.colliderEntities1[i]; + const Entity collider2Entity = narrowPhaseInfoBatch.colliderEntities2[i]; - const Entity body1Entity = mProxyShapesComponents.getBody(proxyShape1Entity); - const Entity body2Entity = mProxyShapesComponents.getBody(proxyShape2Entity); + const Entity body1Entity = mCollidersComponents.getBody(collider1Entity); + const Entity body2Entity = mCollidersComponents.getBody(collider2Entity); assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); const uint newContactPairIndex = contactPairs->size(); ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, - proxyShape1Entity, proxyShape2Entity, + collider1Entity, collider2Entity, newContactPairIndex, mMemoryManager.getHeapAllocator()); contactPairs->add(overlappingPairContact); pairContact = &((*contactPairs)[newContactPairIndex]); @@ -1086,9 +1086,9 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List // If there are two many contact points in the manifold if (manifold.potentialContactPointsIndices.size() > MAX_CONTACT_POINTS_IN_MANIFOLD) { - Entity proxyShape1 = mOverlappingPairs.mProxyShapes1[mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId]]; + Entity collider1 = mOverlappingPairs.mColliders1[mOverlappingPairs.mMapPairIdToPairIndex[manifold.pairId]]; - Transform shape1LocalToWorldTransoform = mProxyShapesComponents.getLocalToWorldTransform(proxyShape1); + Transform shape1LocalToWorldTransoform = mCollidersComponents.getLocalToWorldTransform(collider1); // Reduce the number of contact points in the manifold reduceContactPoints(manifold, shape1LocalToWorldTransoform, potentialContactPoints); @@ -1453,8 +1453,8 @@ void CollisionDetectionSystem::filterOverlappingPairs(Entity bodyEntity, ListmEventListener; } -// Return the world-space AABB of a given proxy shape -const AABB CollisionDetectionSystem::getWorldAABB(const ProxyShape* proxyShape) const { - assert(proxyShape->getBroadPhaseId() > -1); - return mBroadPhaseSystem.getFatAABB(proxyShape->getBroadPhaseId()); +// Return the world-space AABB of a given collider +const AABB CollisionDetectionSystem::getWorldAABB(const Collider* collider) const { + assert(collider->getBroadPhaseId() > -1); + return mBroadPhaseSystem.getFatAABB(collider->getBroadPhaseId()); } diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 582d6454..e240d73e 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -41,7 +41,7 @@ #include "collision/narrowphase/CollisionDispatch.h" #include "containers/Map.h" #include "containers/Set.h" -#include "components/ProxyShapeComponents.h" +#include "components/ColliderComponents.h" #include "components/TransformComponents.h" /// ReactPhysics3D namespace @@ -80,8 +80,8 @@ class CollisionDetectionSystem { /// Memory manager MemoryManager& mMemoryManager; - /// Reference the proxy-shape components - ProxyShapeComponents& mProxyShapesComponents; + /// Reference the collider components + ColliderComponents& mCollidersComponents; /// Collision Detection Dispatch configuration CollisionDispatch mCollisionDispatch; @@ -98,8 +98,8 @@ class CollisionDetectionSystem { /// Broad-phase system BroadPhaseSystem mBroadPhaseSystem; - /// Map a broad-phase id with the corresponding entity of the proxy-shape - Map mMapBroadPhaseIdToProxyShapeEntity; + /// Map a broad-phase id with the corresponding entity of the collider + Map mMapBroadPhaseIdToColliderEntity; /// Narrow-phase collision detection input NarrowPhaseInput mNarrowPhaseInput; @@ -267,7 +267,7 @@ class CollisionDetectionSystem { // -------------------- Methods -------------------- // /// Constructor - CollisionDetectionSystem(CollisionWorld* world, ProxyShapeComponents& proxyShapesComponents, + CollisionDetectionSystem(CollisionWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager); @@ -283,17 +283,17 @@ class CollisionDetectionSystem { /// Set the collision dispatch configuration CollisionDispatch& getCollisionDispatch(); - /// Add a proxy collision shape to the collision detection - void addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb); + /// Add a collider to the collision detection + void addCollider(Collider* collider, const AABB& aabb); - /// Remove a proxy collision shape from the collision detection - void removeProxyCollisionShape(ProxyShape *proxyShape); + /// Remove a collider from the collision detection + void removeCollider(Collider* collider); - /// Update a proxy collision shape (that has moved for instance) - void updateProxyShape(Entity proxyShapeEntity, decimal timeStep); + /// Update a collider (that has moved for instance) + void updateCollider(Entity colliderEntity, decimal timeStep); - /// Update all the enabled proxy-shapes - void updateProxyShapes(decimal timeStep); + /// Update all the enabled colliders + void updateColliders(decimal timeStep); /// Add a pair of bodies that cannot collide with each other void addNoCollisionPair(Entity body1Entity, Entity body2Entity); @@ -302,10 +302,10 @@ class CollisionDetectionSystem { void removeNoCollisionPair(Entity body1Entity, Entity body2Entity); /// Ask for a collision shape to be tested again during broad-phase. - void askForBroadPhaseCollisionCheck(ProxyShape* shape); + void askForBroadPhaseCollisionCheck(Collider* shape); - /// Notify that the overlapping pairs where a given proxy-shape is involved need to be tested for overlap - void notifyOverlappingPairsToTestOverlap(ProxyShape* proxyShape); + /// Notify that the overlapping pairs where a given collider is involved need to be tested for overlap + void notifyOverlappingPairsToTestOverlap(Collider* collider); /// Report contacts void reportContacts(); @@ -351,8 +351,8 @@ class CollisionDetectionSystem { #endif - /// Return the world-space AABB of a given proxy shape - const AABB getWorldAABB(const ProxyShape* proxyShape) const; + /// Return the world-space AABB of a given collider + const AABB getWorldAABB(const Collider* collider) const; // -------------------- Friendship -------------------- // @@ -367,17 +367,17 @@ inline CollisionDispatch& CollisionDetectionSystem::getCollisionDispatch() { } // Add a body to the collision detection -inline void CollisionDetectionSystem::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) { +inline void CollisionDetectionSystem::addCollider(Collider* collider, const AABB& aabb) { // Add the body to the broad-phase - mBroadPhaseSystem.addProxyCollisionShape(proxyShape, aabb); + mBroadPhaseSystem.addCollider(collider, aabb); - int broadPhaseId = mProxyShapesComponents.getBroadPhaseId(proxyShape->getEntity()); + int broadPhaseId = mCollidersComponents.getBroadPhaseId(collider->getEntity()); - assert(!mMapBroadPhaseIdToProxyShapeEntity.containsKey(broadPhaseId)); + assert(!mMapBroadPhaseIdToColliderEntity.containsKey(broadPhaseId)); - // Add the mapping between the proxy-shape broad-phase id and its entity - mMapBroadPhaseIdToProxyShapeEntity.add(Pair(broadPhaseId, proxyShape->getEntity())); + // Add the mapping between the collider broad-phase id and its entity + mMapBroadPhaseIdToColliderEntity.add(Pair(broadPhaseId, collider->getEntity())); } // Add a pair of bodies that cannot collide with each other @@ -393,7 +393,7 @@ inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, // Ask for a collision shape to be tested again during broad-phase. /// We simply put the shape in the list of collision shape that have moved in the /// previous frame so that it is tested for collision again in the broad-phase. -inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(ProxyShape* shape) { +inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* shape) { if (shape->getBroadPhaseId() != -1) { mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId(), shape); @@ -410,16 +410,16 @@ inline MemoryManager& CollisionDetectionSystem::getMemoryManager() const { return mMemoryManager; } -// Update a proxy collision shape (that has moved for instance) -inline void CollisionDetectionSystem::updateProxyShape(Entity proxyShapeEntity, decimal timeStep) { +// Update a collider (that has moved for instance) +inline void CollisionDetectionSystem::updateCollider(Entity colliderEntity, decimal timeStep) { - // Update the proxy-shape component - mBroadPhaseSystem.updateProxyShape(proxyShapeEntity, timeStep); + // Update the collider component + mBroadPhaseSystem.updateCollider(colliderEntity, timeStep); } -// Update all the enabled proxy-shapes -inline void CollisionDetectionSystem::updateProxyShapes(decimal timeStep) { - mBroadPhaseSystem.updateProxyShapes(timeStep); +// Update all the enabled colliders +inline void CollisionDetectionSystem::updateColliders(decimal timeStep) { + mBroadPhaseSystem.updateColliders(timeStep); } #ifdef IS_PROFILING_ACTIVE diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index a07c5070..d0e96c80 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -31,7 +31,7 @@ #include "utils/Profiler.h" #include "engine/Island.h" #include "components/CollisionBodyComponents.h" -#include "components/ProxyShapeComponents.h" +#include "components/ColliderComponents.h" #include "collision/ContactManifold.h" using namespace reactphysics3d; @@ -44,12 +44,12 @@ const decimal ContactSolverSystem::SLOP = decimal(0.01); // Constructor ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents, - RigidBodyComponents& rigidBodyComponents, ProxyShapeComponents& proxyShapeComponents, + RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents, const WorldSettings& worldSettings) :mMemoryManager(memoryManager), mWorld(world), mContactConstraints(nullptr), mContactPoints(nullptr), mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), mRigidBodyComponents(rigidBodyComponents), - mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true), + mColliderComponents(colliderComponents), mIsSplitImpulseActive(true), mWorldSettings(worldSettings) { #ifdef IS_PROFILING_ACTIVE @@ -169,8 +169,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { ContactPoint& externalContact = (*mAllContactPoints)[c]; // Get the contact point on the two bodies - Vector3 p1 = mProxyShapeComponents.getLocalToWorldTransform(externalManifold.proxyShapeEntity1) * externalContact.getLocalPointOnShape1(); - Vector3 p2 = mProxyShapeComponents.getLocalToWorldTransform(externalManifold.proxyShapeEntity2) * externalContact.getLocalPointOnShape2(); + Vector3 p1 = mColliderComponents.getLocalToWorldTransform(externalManifold.colliderEntity1) * externalContact.getLocalPointOnShape1(); + Vector3 p2 = mColliderComponents.getLocalToWorldTransform(externalManifold.colliderEntity2) * externalContact.getLocalPointOnShape2(); new (mContactPoints + mNbContactPoints) ContactPointSolver(); mContactPoints[mNbContactPoints].externalContact = &externalContact; diff --git a/src/systems/ContactSolverSystem.h b/src/systems/ContactSolverSystem.h index f795e6e4..dfa4fa05 100644 --- a/src/systems/ContactSolverSystem.h +++ b/src/systems/ContactSolverSystem.h @@ -46,7 +46,7 @@ class RigidBody; class CollisionBodyComponents; class DynamicsComponents; class RigidBodyComponents; -class ProxyShapeComponents; +class ColliderComponents; // Class ContactSolverSystem /** @@ -319,8 +319,8 @@ class ContactSolverSystem { /// Reference to the dynamics components RigidBodyComponents& mRigidBodyComponents; - /// Reference to the proxy-shapes components - ProxyShapeComponents& mProxyShapeComponents; + /// Reference to the colliders components + ColliderComponents& mColliderComponents; /// True if the split impulse position correction is active bool mIsSplitImpulseActive; @@ -363,7 +363,7 @@ class ContactSolverSystem { /// Constructor ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents, - RigidBodyComponents& rigidBodyComponents, ProxyShapeComponents& proxyShapeComponents, + RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents, const WorldSettings& worldSettings); /// Destructor diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 63bd575e..ebf2dee0 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -32,8 +32,8 @@ using namespace reactphysics3d; // Constructor DynamicsSystem::DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, - TransformComponents& transformComponents, ProxyShapeComponents& proxyShapeComponents, bool& isGravityEnabled, Vector3& gravity) - :mWorld(world), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mProxyShapeComponents(proxyShapeComponents), + TransformComponents& transformComponents, ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity) + :mWorld(world), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mColliderComponents(colliderComponents), mIsGravityEnabled(isGravityEnabled), mGravity(gravity) { } @@ -97,12 +97,12 @@ void DynamicsSystem::updateBodiesState() { transform.setPosition(centerOfMassWorld - transform.getOrientation() * centerOfMassLocal); } - // Update the local-to-world transform of the proxy-shapes - for (uint32 i=0; i < mProxyShapeComponents.getNbEnabledComponents(); i++) { + // Update the local-to-world transform of the colliders + for (uint32 i=0; i < mColliderComponents.getNbEnabledComponents(); i++) { - // Update the local-to-world transform of the proxy-shape - mProxyShapeComponents.mLocalToWorldTransforms[i] = mTransformComponents.getTransform(mProxyShapeComponents.mBodiesEntities[i]) * - mProxyShapeComponents.mLocalToBodyTransforms[i]; + // Update the local-to-world transform of the collider + mColliderComponents.mLocalToWorldTransforms[i] = mTransformComponents.getTransform(mColliderComponents.mBodiesEntities[i]) * + mColliderComponents.mLocalToBodyTransforms[i]; } } diff --git a/src/systems/DynamicsSystem.h b/src/systems/DynamicsSystem.h index ed2d7d8a..6e2b5096 100644 --- a/src/systems/DynamicsSystem.h +++ b/src/systems/DynamicsSystem.h @@ -31,7 +31,7 @@ #include "components/CollisionBodyComponents.h" #include "components/RigidBodyComponents.h" #include "components/TransformComponents.h" -#include "components/ProxyShapeComponents.h" +#include "components/ColliderComponents.h" namespace reactphysics3d { @@ -60,8 +60,8 @@ class DynamicsSystem { /// Reference to the transform components TransformComponents& mTransformComponents; - /// Reference to the proxy-shapes components - ProxyShapeComponents& mProxyShapeComponents; + /// Reference to the colliders components + ColliderComponents& mColliderComponents; /// Reference to the variable to know if gravity is enabled in the world bool& mIsGravityEnabled; @@ -82,7 +82,7 @@ class DynamicsSystem { /// Constructor DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, - ProxyShapeComponents& proxyShapeComponents, bool& isGravityEnabled, Vector3& gravity); + ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity); /// Destructor ~DynamicsSystem() = default; diff --git a/src/utils/Logger.h b/src/utils/Logger.h index 44958a85..5065043c 100644 --- a/src/utils/Logger.h +++ b/src/utils/Logger.h @@ -55,7 +55,7 @@ class Logger { enum class Level {Error = 1, Warning = 2, Information = 4}; /// Log categories - enum class Category {World, Body, Joint, ProxyShape}; + enum class Category {World, Body, Joint, Collider}; /// Log verbosity level enum class Format {Text, HTML}; @@ -67,7 +67,7 @@ class Logger { case Category::World: return "World"; case Category::Body: return "Body"; case Category::Joint: return "Joint"; - case Category::ProxyShape: return "ProxyShape"; + case Category::Collider: return "Collider"; } assert(false); @@ -253,7 +253,7 @@ class Logger { ".joint .category, .joint > .message { " "color: #bf8040; " "} " - ".proxyshape .category, .proxyshape > .message { " + ".collider .category, .collider > .message { " "color: #9933ff; " "} " ".warning { " diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 63cf0280..759f33da 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -90,10 +90,10 @@ struct ContactPairData { }; -// Collision data between two proxy shapes +// Collision data between two colliders struct CollisionData { - std::pair proxyShapes; + std::pair colliders; std::pair bodies; std::vector contactPairs; @@ -142,9 +142,9 @@ class WorldCollisionCallback : public CollisionCallback { private: - std::map, CollisionData> mCollisionDatas; + std::map, CollisionData> mCollisionDatas; - std::pair getCollisionKeyPair(std::pair pair) const { + std::pair getCollisionKeyPair(std::pair pair) const { if (pair.first > pair.second) { return std::make_pair(pair.second, pair.first); @@ -169,12 +169,12 @@ class WorldCollisionCallback : public CollisionCallback return mCollisionDatas.size() > 0; } - bool areProxyShapesColliding(const ProxyShape* proxyShape1, const ProxyShape* proxyShape2) { - return mCollisionDatas.find(getCollisionKeyPair(std::make_pair(proxyShape1, proxyShape2))) != mCollisionDatas.end(); + bool areCollidersColliding(const Collider* collider1, const Collider* collider2) { + return mCollisionDatas.find(getCollisionKeyPair(std::make_pair(collider1, collider2))) != mCollisionDatas.end(); } - const CollisionData* getCollisionData(const ProxyShape* proxyShape1, const ProxyShape* proxyShape2) const { - std::map, CollisionData>::const_iterator it = mCollisionDatas.find(getCollisionKeyPair(std::make_pair(proxyShape1, proxyShape2))); + const CollisionData* getCollisionData(const Collider* collider1, const Collider* collider2) const { + std::map, CollisionData>::const_iterator it = mCollisionDatas.find(getCollisionKeyPair(std::make_pair(collider1, collider2))); if (it != mCollisionDatas.end()) { return &(it->second); } @@ -195,7 +195,7 @@ class WorldCollisionCallback : public CollisionCallback ContactPair contactPair = callbackData.getContactPair(p); collisionData.bodies = std::make_pair(contactPair.getBody1(), contactPair.getBody2()); - collisionData.proxyShapes = std::make_pair(contactPair.getProxyShape1(), contactPair.getProxyShape2()); + collisionData.colliders = std::make_pair(contactPair.getCollider1(), contactPair.getCollider2()); // For each contact point for (uint c=0; c < contactPair.getNbContactPoints(); c++) { @@ -209,7 +209,7 @@ class WorldCollisionCallback : public CollisionCallback collisionData.contactPairs.push_back(contactPairData); } - mCollisionDatas.insert(std::make_pair(getCollisionKeyPair(collisionData.proxyShapes), collisionData)); + mCollisionDatas.insert(std::make_pair(getCollisionKeyPair(collisionData.colliders), collisionData)); } }; @@ -292,16 +292,16 @@ class TestCollisionWorld : public Test { ConvexMeshShape* mConvexMeshShape2; ConcaveMeshShape* mConcaveMeshShape; - // Proxy shapes - ProxyShape* mBoxProxyShape1; - ProxyShape* mBoxProxyShape2; - ProxyShape* mSphereProxyShape1; - ProxyShape* mSphereProxyShape2; - ProxyShape* mCapsuleProxyShape1; - ProxyShape* mCapsuleProxyShape2; - ProxyShape* mConvexMeshProxyShape1; - ProxyShape* mConvexMeshProxyShape2; - ProxyShape* mConcaveMeshProxyShape; + // Colliders + Collider* mBoxCollider1; + Collider* mBoxCollider2; + Collider* mSphereCollider1; + Collider* mSphereCollider2; + Collider* mCapsuleCollider1; + Collider* mCapsuleCollider2; + Collider* mConvexMeshCollider1; + Collider* mConvexMeshCollider2; + Collider* mConcaveMeshCollider; PolygonVertexArray* mConvexMesh1PolygonVertexArray; PolygonVertexArray* mConvexMesh2PolygonVertexArray; @@ -338,34 +338,34 @@ class TestCollisionWorld : public Test { Transform boxTransform1(Vector3(-20, 20, 0), Quaternion::identity()); mBoxBody1 = mWorld->createCollisionBody(boxTransform1); mBoxShape1 = mPhysicsCommon.createBoxShape(Vector3(3, 3, 3)); - mBoxProxyShape1 = mBoxBody1->addCollisionShape(mBoxShape1, Transform::identity()); + mBoxCollider1 = mBoxBody1->addCollider(mBoxShape1, Transform::identity()); Transform boxTransform2(Vector3(-10, 20, 0), Quaternion::identity()); mBoxBody2 = mWorld->createCollisionBody(boxTransform2); mBoxShape2 = mPhysicsCommon.createBoxShape(Vector3(4, 2, 8)); - mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape2, Transform::identity()); + mBoxCollider2 = mBoxBody2->addCollider(mBoxShape2, Transform::identity()); // ---------- Spheres ---------- // mSphereShape1 = mPhysicsCommon.createSphereShape(3.0); Transform sphereTransform1(Vector3(10, 20, 0), Quaternion::identity()); mSphereBody1 = mWorld->createCollisionBody(sphereTransform1); - mSphereProxyShape1 = mSphereBody1->addCollisionShape(mSphereShape1, Transform::identity()); + mSphereCollider1 = mSphereBody1->addCollider(mSphereShape1, Transform::identity()); mSphereShape2 = mPhysicsCommon.createSphereShape(5.0); Transform sphereTransform2(Vector3(20, 20, 0), Quaternion::identity()); mSphereBody2 = mWorld->createCollisionBody(sphereTransform2); - mSphereProxyShape2 = mSphereBody2->addCollisionShape(mSphereShape2, Transform::identity()); + mSphereCollider2 = mSphereBody2->addCollider(mSphereShape2, Transform::identity()); // ---------- Capsules ---------- // mCapsuleShape1 = mPhysicsCommon.createCapsuleShape(2, 6); Transform capsuleTransform1(Vector3(-10, 0, 0), Quaternion::identity()); mCapsuleBody1 = mWorld->createCollisionBody(capsuleTransform1); - mCapsuleProxyShape1 = mCapsuleBody1->addCollisionShape(mCapsuleShape1, Transform::identity()); + mCapsuleCollider1 = mCapsuleBody1->addCollider(mCapsuleShape1, Transform::identity()); mCapsuleShape2 = mPhysicsCommon.createCapsuleShape(3, 4); Transform capsuleTransform2(Vector3(-20, 0, 0), Quaternion::identity()); mCapsuleBody2 = mWorld->createCollisionBody(capsuleTransform2); - mCapsuleProxyShape2 = mCapsuleBody2->addCollisionShape(mCapsuleShape2, Transform::identity()); + mCapsuleCollider2 = mCapsuleBody2->addCollider(mCapsuleShape2, Transform::identity()); // ---------- Convex Meshes ---------- // mConvexMesh1CubeVertices[0] = Vector3(-3, -3, 3); @@ -399,7 +399,7 @@ class TestCollisionWorld : public Test { mConvexMeshShape1 = mPhysicsCommon.createConvexMeshShape(mConvexMesh1PolyhedronMesh); Transform convexMeshTransform1(Vector3(10, 0, 0), Quaternion::identity()); mConvexMeshBody1 = mWorld->createCollisionBody(convexMeshTransform1); - mConvexMeshProxyShape1 = mConvexMeshBody1->addCollisionShape(mConvexMeshShape1, Transform::identity()); + mConvexMeshCollider1 = mConvexMeshBody1->addCollider(mConvexMeshShape1, Transform::identity()); mConvexMesh2CubeVertices[0] = Vector3(-4, -2, 8); mConvexMesh2CubeVertices[1] = Vector3(4, -2, 8); @@ -418,7 +418,7 @@ class TestCollisionWorld : public Test { mConvexMeshShape2 = mPhysicsCommon.createConvexMeshShape(mConvexMesh2PolyhedronMesh); Transform convexMeshTransform2(Vector3(20, 0, 0), Quaternion::identity()); mConvexMeshBody2 = mWorld->createCollisionBody(convexMeshTransform2); - mConvexMeshProxyShape2 = mConvexMeshBody2->addCollisionShape(mConvexMeshShape2, Transform::identity()); + mConvexMeshCollider2 = mConvexMeshBody2->addCollider(mConvexMeshShape2, Transform::identity()); // ---------- Concave Meshes ---------- // for (int i = 0; i < 6; i++) { @@ -455,7 +455,7 @@ class TestCollisionWorld : public Test { mConcaveTriangleMesh->addSubpart(mConcaveMeshTriangleVertexArray); mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh); mConcaveMeshBody = mWorld->createCollisionBody(concaveMeshTransform); - mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, rp3d::Transform::identity()); + mConcaveMeshCollider = mConcaveMeshBody->addCollider(mConcaveMeshShape, rp3d::Transform::identity()); } /// Destructor @@ -628,10 +628,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mSphereCollider2)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mSphereCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -652,10 +652,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mSphereCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mSphereCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -673,10 +673,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mSphereCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mSphereCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -694,10 +694,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mSphereBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mSphereProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mSphereCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mSphereProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mSphereCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -744,10 +744,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -768,10 +768,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -789,10 +789,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -810,10 +810,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -850,10 +850,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -874,10 +874,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -895,10 +895,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -916,10 +916,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -956,10 +956,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -980,10 +980,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1001,10 +1001,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1022,10 +1022,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mBoxProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mBoxCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mBoxProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mBoxCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1072,10 +1072,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1096,10 +1096,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1117,10 +1117,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1138,10 +1138,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1178,10 +1178,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1202,10 +1202,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1223,10 +1223,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1244,10 +1244,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1294,10 +1294,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1318,10 +1318,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1339,10 +1339,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1360,10 +1360,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1400,10 +1400,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1424,10 +1424,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1445,10 +1445,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1466,10 +1466,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1506,10 +1506,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1530,10 +1530,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1551,10 +1551,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1572,10 +1572,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConvexMeshProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConvexMeshCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConvexMeshProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConvexMeshCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1622,10 +1622,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConcaveMeshCollider)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1646,10 +1646,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1667,10 +1667,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1688,10 +1688,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mSphereBody1, mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mSphereProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mSphereCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mSphereProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mSphereCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -1738,10 +1738,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mBoxCollider2)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mBoxCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1780,10 +1780,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mBoxCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mBoxCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1809,10 +1809,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mBoxCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mBoxCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1839,10 +1839,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mBoxBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mBoxProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mBoxCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mBoxProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mBoxCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1898,10 +1898,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConvexMeshCollider2)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1940,10 +1940,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConvexMeshCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1969,10 +1969,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConvexMeshCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -1999,10 +1999,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mConvexMeshBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConvexMeshCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConvexMeshProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2058,10 +2058,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConvexMeshCollider2)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2100,10 +2100,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConvexMeshCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2129,10 +2129,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConvexMeshCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2159,10 +2159,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mConvexMeshBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConvexMeshProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConvexMeshCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConvexMeshProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConvexMeshCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2218,10 +2218,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mCapsuleCollider1)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2241,10 +2241,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2262,10 +2262,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2283,10 +2283,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2333,10 +2333,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mCapsuleCollider1)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2356,10 +2356,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2377,10 +2377,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2398,10 +2398,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mCapsuleProxyShape1)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mCapsuleCollider1)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mCapsuleProxyShape1); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mCapsuleCollider1); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2448,10 +2448,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConcaveMeshCollider)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2465,10 +2465,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2482,10 +2482,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2499,10 +2499,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mBoxBody1, mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mBoxProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mBoxCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mBoxProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mBoxCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2546,10 +2546,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConcaveMeshCollider)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2563,10 +2563,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2580,10 +2580,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2597,10 +2597,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConvexMeshBody1, mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mConvexMeshProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mConvexMeshCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mConvexMeshProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mConvexMeshCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 4); @@ -2644,10 +2644,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2668,10 +2668,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2689,10 +2689,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2710,10 +2710,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCapsuleBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2750,10 +2750,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2774,10 +2774,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2795,10 +2795,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2816,10 +2816,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCapsuleBody2, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mCapsuleProxyShape2)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mCapsuleCollider2)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mCapsuleProxyShape2); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mCapsuleCollider2); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2866,10 +2866,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mConcaveMeshCollider)); // Get collision data - const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); + const CollisionData* collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2890,10 +2890,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2911,10 +2911,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); @@ -2932,10 +2932,10 @@ class TestCollisionWorld : public Test { mCollisionCallback.reset(); mWorld->testCollision(mCapsuleBody1, mConcaveMeshBody, mCollisionCallback); - rp3d_test(mCollisionCallback.areProxyShapesColliding(mCapsuleProxyShape1, mConcaveMeshProxyShape)); + rp3d_test(mCollisionCallback.areCollidersColliding(mCapsuleCollider1, mConcaveMeshCollider)); // Get collision data - collisionData = mCollisionCallback.getCollisionData(mCapsuleProxyShape1, mConcaveMeshProxyShape); + collisionData = mCollisionCallback.getCollisionData(mCapsuleCollider1, mConcaveMeshCollider); rp3d_test(collisionData != nullptr); rp3d_test(collisionData->getNbContactPairs() == 1); rp3d_test(collisionData->getTotalNbContactPoints() == 1); diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index cecc6656..26388ffe 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -83,11 +83,11 @@ class TestPointInside : public Test { Transform mLocalShapeToWorld; Transform mLocalShape2ToWorld; - // Proxy Shapes - ProxyShape* mBoxProxyShape; - ProxyShape* mSphereProxyShape; - ProxyShape* mCapsuleProxyShape; - ProxyShape* mConvexMeshProxyShape; + // Colliders + Collider* mBoxCollider; + Collider* mSphereCollider; + Collider* mCapsuleCollider; + Collider* mConvexMeshCollider; public : @@ -125,13 +125,13 @@ class TestPointInside : public Test { // Create collision shapes mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4)); - mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform); + mBoxCollider = mBoxBody->addCollider(mBoxShape, mShapeTransform); mSphereShape = mPhysicsCommon.createSphereShape(3); - mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform); + mSphereCollider = mSphereBody->addCollider(mSphereShape, mShapeTransform); mCapsuleShape = mPhysicsCommon.createCapsuleShape(3, 10); - mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform); + mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform); mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4); mConvexMeshCubeVertices[1] = Vector3(2, -3, 4); @@ -163,15 +163,15 @@ class TestPointInside : public Test { mConvexMeshPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMeshPolygonVertexArray); mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mConvexMeshPolyhedronMesh); Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity()); - mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform); + mConvexMeshCollider = mConvexMeshBody->addCollider(mConvexMeshShape, mShapeTransform); // Compound shape is a capsule and a sphere Vector3 positionShape2(Vector3(4, 2, -3)); Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 * PI / 8, 1.5 * PI/ 3, PI / 13); Transform shapeTransform2(positionShape2, orientationShape2); mLocalShape2ToWorld = mBodyTransform * shapeTransform2; - mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform); - mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2); + mCompoundBody->addCollider(mCapsuleShape, mShapeTransform); + mCompoundBody->addCollider(mSphereShape, shapeTransform2); } /// Destructor @@ -195,7 +195,7 @@ class TestPointInside : public Test { testCompound(); } - /// Test the ProxyBoxShape::testPointInside() and + /// Test the testPointInside() and /// CollisionBody::testPointInside() methods void testBox() { @@ -225,34 +225,34 @@ class TestPointInside : public Test { rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); rp3d_test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); - // Tests with ProxyBoxShape - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); - rp3d_test(mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); + // Tests with Collider + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); + rp3d_test(mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); - rp3d_test(!mBoxProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); + rp3d_test(!mBoxCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); } - /// Test the ProxySphereShape::testPointInside() and + /// Test the Collider::testPointInside() and /// CollisionBody::testPointInside() methods void testSphere() { @@ -278,30 +278,30 @@ class TestPointInside : public Test { rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5))); rp3d_test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5))); - // Tests with ProxySphereShape - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5))); - rp3d_test(mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5))); + // Tests with Collider + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5))); + rp3d_test(mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5))); - rp3d_test(!mSphereProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5))); + rp3d_test(!mSphereCollider->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5))); } - /// Test the ProxyCapsuleShape::testPointInside() and + /// Test the Collider::testPointInside() and /// CollisionBody::testPointInside() methods void testCapsule() { @@ -352,55 +352,55 @@ class TestPointInside : public Test { rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6))); rp3d_test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7))); - // Tests with ProxyCapsuleShape - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4))); - rp3d_test(mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5))); + // Tests with Collider + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -4, -0.9))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4))); + rp3d_test(mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.5))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6))); - rp3d_test(!mCapsuleProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -13.1, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 13.1, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 3.1))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -3.1))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, 5, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 5, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, 2.6))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, 5, -2.7))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 3.1))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -3.1))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(3.1, -5, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -5, 0))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, 2.6))); + rp3d_test(!mCapsuleCollider->testPointInside(mLocalShapeToWorld * Vector3(2.5, -5, -2.7))); } - /// Test the ProxyConvexMeshShape::testPointInside() and + /// Test the Collider::testPointInside() and /// CollisionBody::testPointInside() methods void testConvexMesh() { @@ -430,31 +430,31 @@ class TestPointInside : public Test { rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); rp3d_test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); - // Tests with ProxyConvexMeshShape - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); - rp3d_test(mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); + // Tests with Collider + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5))); + rp3d_test(mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); - rp3d_test(!mConvexMeshProxyShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5))); + rp3d_test(!mConvexMeshCollider->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5))); } /// Test the CollisionBody::testPointInside() method diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index ae14883b..442be520 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -59,7 +59,7 @@ class WorldRaycastCallback : public RaycastCallback { public: RaycastInfo raycastInfo; - ProxyShape* shapeToTest; + Collider* shapeToTest; bool isHit; WorldRaycastCallback() { @@ -72,7 +72,7 @@ class WorldRaycastCallback : public RaycastCallback { if (shapeToTest->getBody()->getEntity() == info.body->getEntity()) { raycastInfo.body = info.body; raycastInfo.hitFraction = info.hitFraction; - raycastInfo.proxyShape = info.proxyShape; + raycastInfo.collider = info.collider; raycastInfo.worldNormal = info.worldNormal; raycastInfo.worldPoint = info.worldPoint; isHit = true; @@ -85,7 +85,7 @@ class WorldRaycastCallback : public RaycastCallback { void reset() { raycastInfo.body = nullptr; raycastInfo.hitFraction = decimal(0.0); - raycastInfo.proxyShape = nullptr; + raycastInfo.collider = nullptr; raycastInfo.worldNormal.setToZero(); raycastInfo.worldPoint.setToZero(); isHit = false; @@ -139,15 +139,15 @@ class TestRaycast : public Test { ConcaveMeshShape* mConcaveMeshShape; HeightFieldShape* mHeightFieldShape; - // Proxy Shapes - ProxyShape* mBoxProxyShape; - ProxyShape* mSphereProxyShape; - ProxyShape* mCapsuleProxyShape; - ProxyShape* mConvexMeshProxyShape; - ProxyShape* mCompoundSphereProxyShape; - ProxyShape* mCompoundCapsuleProxyShape; - ProxyShape* mConcaveMeshProxyShape; - ProxyShape* mHeightFieldProxyShape; + // Collider + Collider* mBoxCollider; + Collider* mSphereCollider; + Collider* mCapsuleCollider; + Collider* mConvexMeshCollider; + Collider* mCompoundSphereCollider; + Collider* mCompoundCapsuleCollider; + Collider* mConcaveMeshCollider; + Collider* mHeightFieldCollider; // Triangle meshes TriangleMesh* mConcaveTriangleMesh; @@ -199,13 +199,13 @@ class TestRaycast : public Test { // Create collision shapes mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4)); - mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform); + mBoxCollider = mBoxBody->addCollider(mBoxShape, mShapeTransform); mSphereShape = mPhysicsCommon.createSphereShape(3); - mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform); + mSphereCollider = mSphereBody->addCollider(mSphereShape, mShapeTransform); mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5); - mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform); + mCapsuleCollider = mCapsuleBody->addCollider(mCapsuleShape, mShapeTransform); mPolyhedronVertices[0] = Vector3(-2, -3, 4); mPolyhedronVertices[1] = Vector3(2, -3, 4); @@ -239,15 +239,15 @@ class TestRaycast : public Test { mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray); mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); - mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform); + mConvexMeshCollider = mConvexMeshBody->addCollider(mConvexMeshShape, mShapeTransform); // Compound shape is a cylinder and a sphere Vector3 positionShape2(Vector3(4, 2, -3)); Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 *PI / 8, 1.5 * PI/ 3, PI / 13); Transform shapeTransform2(positionShape2, orientationShape2); mLocalShape2ToWorld = mBodyTransform * shapeTransform2; - mCompoundCapsuleProxyShape = mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform); - mCompoundSphereProxyShape = mCompoundBody->addCollisionShape(mSphereShape, shapeTransform2); + mCompoundCapsuleCollider = mCompoundBody->addCollider(mCapsuleShape, mShapeTransform); + mCompoundSphereCollider = mCompoundBody->addCollider(mSphereShape, shapeTransform2); // Concave Mesh shape mConcaveMeshVertices.push_back(Vector3(-2, -3, -4)); @@ -282,23 +282,23 @@ class TestRaycast : public Test { mConcaveTriangleMesh = mPhysicsCommon.createTriangleMesh(); mConcaveTriangleMesh->addSubpart(mConcaveMeshVertexArray); mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh); - mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform); + mConcaveMeshCollider = mConcaveMeshBody->addCollider(mConcaveMeshShape, mShapeTransform); // Heightfield shape (plane height field at height=4) for (int i=0; i<100; i++) mHeightFieldData[i] = 4; mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); - mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, mShapeTransform); + mHeightFieldCollider = mHeightFieldBody->addCollider(mHeightFieldShape, mShapeTransform); - // Assign proxy shapes to the different categories - mBoxProxyShape->setCollisionCategoryBits(CATEGORY1); - mSphereProxyShape->setCollisionCategoryBits(CATEGORY1); - mCapsuleProxyShape->setCollisionCategoryBits(CATEGORY1); - mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2); - mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2); - mCompoundCapsuleProxyShape->setCollisionCategoryBits(CATEGORY2); - mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2); - mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2); + // Assign colliders to the different categories + mBoxCollider->setCollisionCategoryBits(CATEGORY1); + mSphereCollider->setCollisionCategoryBits(CATEGORY1); + mCapsuleCollider->setCollisionCategoryBits(CATEGORY1); + mConvexMeshCollider->setCollisionCategoryBits(CATEGORY2); + mCompoundSphereCollider->setCollisionCategoryBits(CATEGORY2); + mCompoundCapsuleCollider->setCollisionCategoryBits(CATEGORY2); + mConcaveMeshCollider->setCollisionCategoryBits(CATEGORY2); + mHeightFieldCollider->setCollisionCategoryBits(CATEGORY2); } /// Destructor @@ -329,7 +329,7 @@ class TestRaycast : public Test { testHeightField(); } - /// Test the ProxyBoxShape::raycast(), CollisionBody::raycast() and + /// Test the Collider::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testBox() { @@ -339,14 +339,14 @@ class TestRaycast : public Test { Ray ray(point1, point2); Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4); - mCallback.shapeToTest = mBoxProxyShape; + mCallback.shapeToTest = mBoxCollider; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mBoxBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mBoxProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mBoxCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); @@ -366,17 +366,17 @@ class TestRaycast : public Test { RaycastInfo raycastInfo2; rp3d_test(mBoxBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mBoxBody); - rp3d_test(raycastInfo2.proxyShape == mBoxProxyShape); + rp3d_test(raycastInfo2.collider == mBoxCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo3; - rp3d_test(mBoxProxyShape->raycast(ray, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mBoxBody); - rp3d_test(raycastInfo3.proxyShape == mBoxProxyShape); + rp3d_test(raycastInfo3.collider == mBoxCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); @@ -401,7 +401,7 @@ class TestRaycast : public Test { // ----- Test raycast miss ----- // rp3d_test(!mBoxBody->raycast(ray1, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray1, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); @@ -413,55 +413,55 @@ class TestRaycast : public Test { rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray2, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray3, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray4, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray5, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray6, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray6, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray7, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray7, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray8, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray8, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray9, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray9, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mBoxBody->raycast(ray10, raycastInfo3)); - rp3d_test(!mBoxProxyShape->raycast(ray10, raycastInfo3)); + rp3d_test(!mBoxCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); @@ -487,7 +487,7 @@ class TestRaycast : public Test { // ----- Test raycast hits ----- // rp3d_test(mBoxBody->raycast(ray11, raycastInfo3)); - rp3d_test(mBoxProxyShape->raycast(ray11, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); @@ -496,7 +496,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray12, raycastInfo3)); - rp3d_test(mBoxProxyShape->raycast(ray12, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); @@ -505,7 +505,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray13, raycastInfo3)); - rp3d_test(mBoxProxyShape->raycast(ray13, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); @@ -514,7 +514,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray14, raycastInfo3)); - rp3d_test(mBoxProxyShape->raycast(ray14, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); @@ -523,7 +523,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray15, raycastInfo3)); - rp3d_test(mBoxProxyShape->raycast(ray15, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); @@ -532,7 +532,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mBoxBody->raycast(ray16, raycastInfo3)); - rp3d_test(mBoxProxyShape->raycast(ray16, raycastInfo3)); + rp3d_test(mBoxCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); @@ -541,7 +541,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); } - /// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and + /// Test the Collider::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testSphere() { @@ -551,14 +551,14 @@ class TestRaycast : public Test { Ray ray(point1, point2); Vector3 hitPoint = mLocalShapeToWorld * Vector3(-3, 0, 0); - mCallback.shapeToTest = mSphereProxyShape; + mCallback.shapeToTest = mSphereCollider; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mSphereBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mSphereProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mSphereCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.2, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); @@ -578,17 +578,17 @@ class TestRaycast : public Test { RaycastInfo raycastInfo2; rp3d_test(mSphereBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mSphereBody); - rp3d_test(raycastInfo2.proxyShape == mSphereProxyShape); + rp3d_test(raycastInfo2.collider == mSphereCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, 0.2, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo3; - rp3d_test(mSphereProxyShape->raycast(ray, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mSphereBody); - rp3d_test(raycastInfo3.proxyShape == mSphereProxyShape); + rp3d_test(raycastInfo3.collider == mSphereCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, 0.2, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); @@ -613,7 +613,7 @@ class TestRaycast : public Test { // ----- Test raycast miss ----- // rp3d_test(!mSphereBody->raycast(ray1, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray1, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); @@ -625,55 +625,55 @@ class TestRaycast : public Test { rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray2, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray3, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray4, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray5, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray6, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray6, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray7, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray7, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray8, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray8, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray9, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray9, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mSphereBody->raycast(ray10, raycastInfo3)); - rp3d_test(!mSphereProxyShape->raycast(ray10, raycastInfo3)); + rp3d_test(!mSphereCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); @@ -699,7 +699,7 @@ class TestRaycast : public Test { // ----- Test raycast hits ----- // rp3d_test(mSphereBody->raycast(ray11, raycastInfo3)); - rp3d_test(mSphereProxyShape->raycast(ray11, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); @@ -708,7 +708,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray12, raycastInfo3)); - rp3d_test(mSphereProxyShape->raycast(ray12, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); @@ -717,14 +717,14 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray13, raycastInfo3)); - rp3d_test(mSphereProxyShape->raycast(ray13, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); mCallback.reset(); mWorld->raycast(Ray(ray13.point1, ray13.point2, decimal(0.8)), &mCallback); rp3d_test(mSphereBody->raycast(ray14, raycastInfo3)); - rp3d_test(mSphereProxyShape->raycast(ray14, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); @@ -733,7 +733,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray15, raycastInfo3)); - rp3d_test(mSphereProxyShape->raycast(ray15, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); @@ -742,7 +742,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mSphereBody->raycast(ray16, raycastInfo3)); - rp3d_test(mSphereProxyShape->raycast(ray16, raycastInfo3)); + rp3d_test(mSphereCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); @@ -751,7 +751,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); } - /// Test the ProxyCapsuleShape::raycast(), CollisionBody::raycast() and + /// Test the Collider::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testCapsule() { @@ -771,14 +771,14 @@ class TestRaycast : public Test { Ray rayBottom(point3A, point3B); Vector3 hitPointBottom = mLocalShapeToWorld * Vector3(0, decimal(-4.5), 0); - mCallback.shapeToTest = mCapsuleProxyShape; + mCallback.shapeToTest = mCapsuleCollider; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mCapsuleBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mCapsuleProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mCapsuleCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); @@ -798,36 +798,36 @@ class TestRaycast : public Test { RaycastInfo raycastInfo2; rp3d_test(mCapsuleBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mCapsuleBody); - rp3d_test(raycastInfo2.proxyShape == mCapsuleProxyShape); + rp3d_test(raycastInfo2.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo3; - rp3d_test(mCapsuleProxyShape->raycast(ray, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mCapsuleBody); - rp3d_test(raycastInfo3.proxyShape == mCapsuleProxyShape); + rp3d_test(raycastInfo3.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); RaycastInfo raycastInfo4; - rp3d_test(mCapsuleProxyShape->raycast(rayTop, raycastInfo4)); + rp3d_test(mCapsuleCollider->raycast(rayTop, raycastInfo4)); rp3d_test(raycastInfo4.body == mCapsuleBody); - rp3d_test(raycastInfo4.proxyShape == mCapsuleProxyShape); + rp3d_test(raycastInfo4.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPointTop.x, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPointTop.y, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPointTop.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo5; - rp3d_test(mCapsuleProxyShape->raycast(rayBottom, raycastInfo5)); + rp3d_test(mCapsuleCollider->raycast(rayBottom, raycastInfo5)); rp3d_test(raycastInfo5.body == mCapsuleBody); - rp3d_test(raycastInfo5.proxyShape == mCapsuleProxyShape); + rp3d_test(raycastInfo5.collider == mCapsuleCollider); rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPointBottom.x, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPointBottom.y, epsilon)); @@ -852,7 +852,7 @@ class TestRaycast : public Test { // ----- Test raycast miss ----- // rp3d_test(!mCapsuleBody->raycast(ray1, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray1, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); @@ -864,54 +864,54 @@ class TestRaycast : public Test { rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray2, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray3, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray4, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray5, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray6, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray6, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray7, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray7, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray7, raycastInfo3)); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray8, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray8, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray9, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray9, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mCapsuleBody->raycast(ray10, raycastInfo3)); - rp3d_test(!mCapsuleProxyShape->raycast(ray10, raycastInfo3)); + rp3d_test(!mCapsuleCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); @@ -937,7 +937,7 @@ class TestRaycast : public Test { // ----- Test raycast hits ----- // rp3d_test(mCapsuleBody->raycast(ray11, raycastInfo3)); - rp3d_test(mCapsuleProxyShape->raycast(ray11, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); @@ -946,7 +946,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray12, raycastInfo3)); - rp3d_test(mCapsuleProxyShape->raycast(ray12, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); @@ -955,7 +955,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray13, raycastInfo3)); - rp3d_test(mCapsuleProxyShape->raycast(ray13, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); @@ -964,7 +964,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray14, raycastInfo3)); - rp3d_test(mCapsuleProxyShape->raycast(ray14, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); @@ -973,7 +973,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray15, raycastInfo3)); - rp3d_test(mCapsuleProxyShape->raycast(ray15, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); @@ -982,7 +982,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mCapsuleBody->raycast(ray16, raycastInfo3)); - rp3d_test(mCapsuleProxyShape->raycast(ray16, raycastInfo3)); + rp3d_test(mCapsuleCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); @@ -991,7 +991,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); } - /// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and + /// Test the Collider::raycast(), CollisionBody::raycast() and /// CollisionWorld::raycast() methods. void testConvexMesh() { @@ -1001,14 +1001,14 @@ class TestRaycast : public Test { Ray ray(point1, point2); Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4); - mCallback.shapeToTest = mConvexMeshProxyShape; + mCallback.shapeToTest = mConvexMeshCollider; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mConvexMeshBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mConvexMeshProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mConvexMeshCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); @@ -1028,17 +1028,17 @@ class TestRaycast : public Test { RaycastInfo raycastInfo2; rp3d_test(mConvexMeshBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mConvexMeshBody); - rp3d_test(raycastInfo2.proxyShape == mConvexMeshProxyShape); + rp3d_test(raycastInfo2.collider == mConvexMeshCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo4; - rp3d_test(mConvexMeshProxyShape->raycast(ray, raycastInfo4)); + rp3d_test(mConvexMeshCollider->raycast(ray, raycastInfo4)); rp3d_test(raycastInfo4.body == mConvexMeshBody); - rp3d_test(raycastInfo4.proxyShape == mConvexMeshProxyShape); + rp3d_test(raycastInfo4.collider == mConvexMeshCollider); rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon)); @@ -1064,7 +1064,7 @@ class TestRaycast : public Test { // ----- Test raycast miss ----- // RaycastInfo raycastInfo3; rp3d_test(!mConvexMeshBody->raycast(ray1, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); @@ -1076,55 +1076,55 @@ class TestRaycast : public Test { rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray2, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray3, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray4, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray5, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray6, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray6, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray7, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray7, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray8, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray8, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray9, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray9, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConvexMeshBody->raycast(ray10, raycastInfo3)); - rp3d_test(!mConvexMeshProxyShape->raycast(ray10, raycastInfo3)); + rp3d_test(!mConvexMeshCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); @@ -1150,7 +1150,7 @@ class TestRaycast : public Test { // ----- Test raycast hits ----- // rp3d_test(mConvexMeshBody->raycast(ray11, raycastInfo3)); - rp3d_test(mConvexMeshProxyShape->raycast(ray11, raycastInfo3)); + rp3d_test(mConvexMeshCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); @@ -1159,7 +1159,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray12, raycastInfo3)); - rp3d_test(mConvexMeshProxyShape->raycast(ray12, raycastInfo3)); + rp3d_test(mConvexMeshCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); @@ -1168,7 +1168,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray13, raycastInfo3)); - rp3d_test(mConvexMeshProxyShape->raycast(ray13, raycastInfo3)); + rp3d_test(mConvexMeshCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); @@ -1177,7 +1177,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray14, raycastInfo3)); - rp3d_test(mConvexMeshProxyShape->raycast(ray14, raycastInfo3)); + rp3d_test(mConvexMeshCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); @@ -1186,7 +1186,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray15, raycastInfo3)); - rp3d_test(mConvexMeshProxyShape->raycast(ray15, raycastInfo3)); + rp3d_test(mConvexMeshCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); @@ -1195,7 +1195,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConvexMeshBody->raycast(ray16, raycastInfo3)); - rp3d_test(mConvexMeshProxyShape->raycast(ray16, raycastInfo3)); + rp3d_test(mConvexMeshCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); @@ -1218,7 +1218,7 @@ class TestRaycast : public Test { Ray ray5(mLocalShape2ToWorld * Vector3(0, -4, 1), mLocalShape2ToWorld * Vector3(0, 30, 1)); Ray ray6(mLocalShape2ToWorld * Vector3(-1, 2, -11), mLocalShape2ToWorld * Vector3(-1, 2, 30)); - mCallback.shapeToTest = mCompoundSphereProxyShape; + mCallback.shapeToTest = mCompoundSphereCollider; // Correct category filter mask mCallback.reset(); @@ -1287,7 +1287,7 @@ class TestRaycast : public Test { Ray ray15(mLocalShapeToWorld * Vector3(0, -9, 1), mLocalShapeToWorld * Vector3(0, 30, 1)); Ray ray16(mLocalShapeToWorld * Vector3(-1, 2, -7), mLocalShapeToWorld * Vector3(-1, 2, 30)); - mCallback.shapeToTest = mCompoundCapsuleProxyShape; + mCallback.shapeToTest = mCompoundCapsuleCollider; rp3d_test(mCompoundBody->raycast(ray11, raycastInfo)); mCallback.reset(); @@ -1347,14 +1347,14 @@ class TestRaycast : public Test { Ray ray(point1, point2); Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4); - mCallback.shapeToTest = mConcaveMeshProxyShape; + mCallback.shapeToTest = mConcaveMeshCollider; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mConcaveMeshBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mConcaveMeshProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mConcaveMeshCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); @@ -1374,37 +1374,37 @@ class TestRaycast : public Test { RaycastInfo raycastInfo2; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mConcaveMeshBody); - rp3d_test(raycastInfo2.proxyShape == mConcaveMeshProxyShape); + rp3d_test(raycastInfo2.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo3; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mConcaveMeshBody); - rp3d_test(raycastInfo3.proxyShape == mConcaveMeshProxyShape); + rp3d_test(raycastInfo3.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo4; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo4)); rp3d_test(raycastInfo4.body == mConcaveMeshBody); - rp3d_test(raycastInfo4.proxyShape == mConcaveMeshProxyShape); + rp3d_test(raycastInfo4.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo4.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo4.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo5; rp3d_test(mConcaveMeshBody->raycast(ray, raycastInfo5)); rp3d_test(raycastInfo5.body == mConcaveMeshBody); - rp3d_test(raycastInfo5.proxyShape == mConcaveMeshProxyShape); + rp3d_test(raycastInfo5.collider == mConcaveMeshCollider); rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.2), epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPoint.y, epsilon)); @@ -1429,7 +1429,7 @@ class TestRaycast : public Test { // ----- Test raycast miss ----- // rp3d_test(!mConcaveMeshBody->raycast(ray1, raycastInfo3)); - //rp3d_test(!mConvexMeshProxyShape->raycast(ray1, raycastInfo3)); + //rp3d_test(!mConvexMeshCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); @@ -1441,55 +1441,55 @@ class TestRaycast : public Test { rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray2, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray3, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray4, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray5, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray6, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray6, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray6, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray6, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray7, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray7, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray7, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray7, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray8, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray8, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray8, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray8, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray9, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray9, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray9, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray9, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mConcaveMeshBody->raycast(ray10, raycastInfo3)); - rp3d_test(!mConcaveMeshProxyShape->raycast(ray10, raycastInfo3)); + rp3d_test(!mConcaveMeshCollider->raycast(ray10, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray10, &mCallback); rp3d_test(!mCallback.isHit); @@ -1515,7 +1515,7 @@ class TestRaycast : public Test { // ----- Test raycast hits ----- // rp3d_test(mConcaveMeshBody->raycast(ray11, raycastInfo3)); - rp3d_test(mConcaveMeshProxyShape->raycast(ray11, raycastInfo3)); + rp3d_test(mConcaveMeshCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); @@ -1524,7 +1524,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray12, raycastInfo3)); - rp3d_test(mConcaveMeshProxyShape->raycast(ray12, raycastInfo3)); + rp3d_test(mConcaveMeshCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); @@ -1533,7 +1533,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray13, raycastInfo3)); - rp3d_test(mConcaveMeshProxyShape->raycast(ray13, raycastInfo3)); + rp3d_test(mConcaveMeshCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); @@ -1542,7 +1542,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray14, raycastInfo3)); - rp3d_test(mConcaveMeshProxyShape->raycast(ray14, raycastInfo3)); + rp3d_test(mConcaveMeshCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); @@ -1551,7 +1551,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray15, raycastInfo3)); - rp3d_test(mConcaveMeshProxyShape->raycast(ray15, raycastInfo3)); + rp3d_test(mConcaveMeshCollider->raycast(ray15, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray15, &mCallback); rp3d_test(mCallback.isHit); @@ -1560,7 +1560,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mConcaveMeshBody->raycast(ray16, raycastInfo3)); - rp3d_test(mConcaveMeshProxyShape->raycast(ray16, raycastInfo3)); + rp3d_test(mConcaveMeshCollider->raycast(ray16, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray16, &mCallback); rp3d_test(mCallback.isHit); @@ -1582,14 +1582,14 @@ class TestRaycast : public Test { Ray rayBottom(point2A, point2B); Vector3 hitPoint2 = mLocalShapeToWorld * Vector3(1, 2, -4); - mCallback.shapeToTest = mHeightFieldProxyShape; + mCallback.shapeToTest = mHeightFieldCollider; // CollisionWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mHeightFieldBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mHeightFieldCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.4), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon)); @@ -1609,17 +1609,17 @@ class TestRaycast : public Test { RaycastInfo raycastInfo2; rp3d_test(mHeightFieldBody->raycast(ray, raycastInfo2)); rp3d_test(raycastInfo2.body == mHeightFieldBody); - rp3d_test(raycastInfo2.proxyShape == mHeightFieldProxyShape); + rp3d_test(raycastInfo2.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo2.hitFraction, decimal(0.4), epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon)); rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo3; - rp3d_test(mHeightFieldProxyShape->raycast(ray, raycastInfo3)); + rp3d_test(mHeightFieldCollider->raycast(ray, raycastInfo3)); rp3d_test(raycastInfo3.body == mHeightFieldBody); - rp3d_test(raycastInfo3.proxyShape == mHeightFieldProxyShape); + rp3d_test(raycastInfo3.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo3.hitFraction, decimal(0.4), epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon)); rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon)); @@ -1629,7 +1629,7 @@ class TestRaycast : public Test { mWorld->raycast(rayBottom, &mCallback); rp3d_test(mCallback.isHit); rp3d_test(mCallback.raycastInfo.body == mHeightFieldBody); - rp3d_test(mCallback.raycastInfo.proxyShape == mHeightFieldProxyShape); + rp3d_test(mCallback.raycastInfo.collider == mHeightFieldCollider); rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, decimal(0.375), epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint2.x, epsilon)); rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint2.y, epsilon)); @@ -1639,17 +1639,17 @@ class TestRaycast : public Test { RaycastInfo raycastInfo5; rp3d_test(mHeightFieldBody->raycast(rayBottom, raycastInfo5)); rp3d_test(raycastInfo5.body == mHeightFieldBody); - rp3d_test(raycastInfo5.proxyShape == mHeightFieldProxyShape); + rp3d_test(raycastInfo5.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo5.hitFraction, decimal(0.375), epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.x, hitPoint2.x, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.y, hitPoint2.y, epsilon)); rp3d_test(approxEqual(raycastInfo5.worldPoint.z, hitPoint2.z, epsilon)); - // ProxyCollisionShape::raycast() + // Collider::raycast() RaycastInfo raycastInfo6; - rp3d_test(mHeightFieldProxyShape->raycast(rayBottom, raycastInfo6)); + rp3d_test(mHeightFieldCollider->raycast(rayBottom, raycastInfo6)); rp3d_test(raycastInfo6.body == mHeightFieldBody); - rp3d_test(raycastInfo6.proxyShape == mHeightFieldProxyShape); + rp3d_test(raycastInfo6.collider == mHeightFieldCollider); rp3d_test(approxEqual(raycastInfo6.hitFraction, decimal(0.375), epsilon)); rp3d_test(approxEqual(raycastInfo6.worldPoint.x, hitPoint2.x, epsilon)); rp3d_test(approxEqual(raycastInfo6.worldPoint.y, hitPoint2.y, epsilon)); @@ -1668,7 +1668,7 @@ class TestRaycast : public Test { // ----- Test raycast miss ----- // rp3d_test(!mHeightFieldBody->raycast(ray1, raycastInfo3)); - rp3d_test(!mHeightFieldProxyShape->raycast(ray1, raycastInfo3)); + rp3d_test(!mHeightFieldCollider->raycast(ray1, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray1, &mCallback); rp3d_test(!mCallback.isHit); @@ -1680,25 +1680,25 @@ class TestRaycast : public Test { rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray2, raycastInfo3)); - rp3d_test(!mHeightFieldProxyShape->raycast(ray2, raycastInfo3)); + rp3d_test(!mHeightFieldCollider->raycast(ray2, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray2, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray3, raycastInfo3)); - rp3d_test(!mHeightFieldProxyShape->raycast(ray3, raycastInfo3)); + rp3d_test(!mHeightFieldCollider->raycast(ray3, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray3, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray4, raycastInfo3)); - rp3d_test(!mHeightFieldProxyShape->raycast(ray4, raycastInfo3)); + rp3d_test(!mHeightFieldCollider->raycast(ray4, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray4, &mCallback); rp3d_test(!mCallback.isHit); rp3d_test(!mHeightFieldBody->raycast(ray5, raycastInfo3)); - rp3d_test(!mHeightFieldProxyShape->raycast(ray5, raycastInfo3)); + rp3d_test(!mHeightFieldCollider->raycast(ray5, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray5, &mCallback); rp3d_test(!mCallback.isHit); @@ -1707,7 +1707,7 @@ class TestRaycast : public Test { // ----- Test raycast hits ----- // rp3d_test(mHeightFieldBody->raycast(ray11, raycastInfo3)); - rp3d_test(mHeightFieldProxyShape->raycast(ray11, raycastInfo3)); + rp3d_test(mHeightFieldCollider->raycast(ray11, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray11, &mCallback); rp3d_test(mCallback.isHit); @@ -1716,7 +1716,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mHeightFieldBody->raycast(ray12, raycastInfo3)); - rp3d_test(mHeightFieldProxyShape->raycast(ray12, raycastInfo3)); + rp3d_test(mHeightFieldCollider->raycast(ray12, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray12, &mCallback); rp3d_test(mCallback.isHit); @@ -1725,7 +1725,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mHeightFieldBody->raycast(ray13, raycastInfo3)); - rp3d_test(mHeightFieldProxyShape->raycast(ray13, raycastInfo3)); + rp3d_test(mHeightFieldCollider->raycast(ray13, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray13, &mCallback); rp3d_test(mCallback.isHit); @@ -1734,7 +1734,7 @@ class TestRaycast : public Test { rp3d_test(mCallback.isHit); rp3d_test(mHeightFieldBody->raycast(ray14, raycastInfo3)); - rp3d_test(mHeightFieldProxyShape->raycast(ray14, raycastInfo3)); + rp3d_test(mHeightFieldCollider->raycast(ray14, raycastInfo3)); mCallback.reset(); mWorld->raycast(ray14, &mCallback); rp3d_test(mCallback.isHit); diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 9bc7cbc6..f0239f7f 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -65,7 +65,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph mBody = world->createCollisionBody(mPreviousTransform); // Add the collision shape to the body - mProxyShape = mBody->addCollisionShape(mBoxShape, rp3d::Transform::identity()); + mCollider = mBody->addCollider(mBoxShape, rp3d::Transform::identity()); // If the Vertex Buffer object has not been created yet if (totalNbBoxes == 0) { @@ -106,7 +106,7 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Physi rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); // Add the collision shape to the body - mProxyShape = body->addCollisionShape(mBoxShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mBoxShape, rp3d::Transform::identity(), mass); mBody = body; diff --git a/testbed/common/Box.h b/testbed/common/Box.h index 66dc6430..a5459bff 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -42,7 +42,7 @@ class Box : public PhysicsObject { float mSize[3]; rp3d::BoxShape* mBoxShape; - rp3d::ProxyShape* mProxyShape; + rp3d::Collider* mCollider; /// Scaling matrix (applied to a cube to obtain the correct box dimensions) openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index 3140d40e..5af29ca1 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -55,7 +55,7 @@ Capsule::Capsule(float radius, float height, rp3d::PhysicsCommon& physicsCommon, mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the shape - mProxyShape = mBody->addCollisionShape(mCapsuleShape, rp3d::Transform::identity()); + mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity()); mTransformMatrix = mTransformMatrix * mScalingMatrix; @@ -89,7 +89,7 @@ Capsule::Capsule(float radius, float height, float mass, reactphysics3d::Physics rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the shape - mProxyShape = body->addCollisionShape(mCapsuleShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass); mBody = body; diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index f53a0073..495d8694 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -49,7 +49,7 @@ class Capsule : public PhysicsObject { /// Collision shape rp3d::CapsuleShape* mCapsuleShape; - rp3d::ProxyShape* mProxyShape; + rp3d::Collider* mCollider; /// Previous transform (for interpolation) rp3d::Transform mPreviousTransform; diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index f4a452f2..196413ac 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -63,7 +63,7 @@ ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape - mProxyShape = mBody->addCollisionShape(mConcaveShape, rp3d::Transform::identity()); + mCollider = mBody->addCollider(mConcaveShape, rp3d::Transform::identity()); // Create the VBOs and VAO createVBOAndVAO(); @@ -106,7 +106,7 @@ ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommo rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape - mProxyShape = body->addCollisionShape(mConcaveShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass); mBody = body; diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 0befd75c..fa426663 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -43,7 +43,7 @@ class ConcaveMesh : public PhysicsObject { /// Collision shape rp3d::ConcaveMeshShape* mConcaveShape; - rp3d::ProxyShape* mProxyShape; + rp3d::Collider* mCollider; /// Scaling matrix openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index e2d3abef..581a85d8 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -79,7 +79,7 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape - mProxyShape = mBody->addCollisionShape(mConvexShape, rp3d::Transform::identity()); + mCollider = mBody->addCollider(mConvexShape, rp3d::Transform::identity()); // Create the VBOs and VAO createVBOAndVAO(); @@ -139,7 +139,7 @@ ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::Dyn rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape - mProxyShape = body->addCollisionShape(mConvexShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass); mBody = body; diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index 5c2f1807..33e37d63 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -49,7 +49,7 @@ class ConvexMesh : public PhysicsObject { /// Collision shape rp3d::ConvexMeshShape* mConvexShape; - rp3d::ProxyShape* mProxyShape; + rp3d::Collider* mCollider; /// Scaling matrix openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index 65484c65..e67695dc 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -72,9 +72,9 @@ Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dyna rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); // Add the three collision shapes to the body and specify the mass and transform of the shapes - mProxyShapeSphere1 = body->addCollisionShape(mSphereShape, transformSphereShape1, massSphere); - mProxyShapeSphere2 = body->addCollisionShape(mSphereShape, transformSphereShape2, massSphere); - mProxyShapeCapsule = body->addCollisionShape(mCapsuleShape, transformCylinderShape, massCylinder); + mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere); + mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere); + mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder); mBody = body; @@ -125,9 +125,9 @@ Dumbbell::Dumbbell(reactphysics3d::PhysicsCommon &physicsCommon, rp3d::Collision mBody = world->createCollisionBody(mPreviousTransform); // Add the three collision shapes to the body and specify the mass and transform of the shapes - mProxyShapeSphere1 = mBody->addCollisionShape(mSphereShape, transformSphereShape1); - mProxyShapeSphere2 = mBody->addCollisionShape(mSphereShape, transformSphereShape2); - mProxyShapeCapsule = mBody->addCollisionShape(mCapsuleShape, transformCylinderShape); + mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1); + mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2); + mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape); mTransformMatrix = mTransformMatrix * mScalingMatrix; diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h index 949d0f63..128e350f 100644 --- a/testbed/common/Dumbbell.h +++ b/testbed/common/Dumbbell.h @@ -44,9 +44,9 @@ class Dumbbell : public PhysicsObject { /// Collision shapes rp3d::CapsuleShape* mCapsuleShape; rp3d::SphereShape* mSphereShape; - rp3d::ProxyShape* mProxyShapeCapsule; - rp3d::ProxyShape* mProxyShapeSphere1; - rp3d::ProxyShape* mProxyShapeSphere2; + rp3d::Collider* mColliderCapsule; + rp3d::Collider* mColliderSphere1; + rp3d::Collider* mColliderSphere2; /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions) openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index 6966c018..82f8f5db 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -53,7 +53,7 @@ HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape - mProxyShape = mBody->addCollisionShape(mHeightFieldShape, rp3d::Transform::identity()); + mCollider = mBody->addCollider(mHeightFieldShape, rp3d::Transform::identity()); // Create the VBOs and VAO createVBOAndVAO(); @@ -87,7 +87,7 @@ HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommo rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape - mProxyShape = body->addCollisionShape(mHeightFieldShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass); mBody = body; diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index 16994d62..7b0c187b 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -50,7 +50,7 @@ class HeightField : public PhysicsObject { /// Collision shape rp3d::HeightFieldShape* mHeightFieldShape; - rp3d::ProxyShape* mProxyShape; + rp3d::Collider* mCollider; /// Scaling matrix openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index a758ef40..3b11a2fa 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -56,7 +56,7 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::Collision mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the shape - mProxyShape = mBody->addCollisionShape(mCollisionShape, rp3d::Transform::identity()); + mCollider = mBody->addCollider(mCollisionShape, rp3d::Transform::identity()); mTransformMatrix = mTransformMatrix * mScalingMatrix; @@ -90,7 +90,7 @@ Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,rea rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the shape - mProxyShape = body->addCollisionShape(mCollisionShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mCollisionShape, rp3d::Transform::identity(), mass); mBody = body; diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index e23cddea..ea7df973 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -43,7 +43,7 @@ class Sphere : public PhysicsObject { /// Collision shape rp3d::SphereShape* mCollisionShape; - rp3d::ProxyShape* mProxyShape; + rp3d::Collider* mCollider; /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions) openglframework::Matrix4 mScalingMatrix; diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 4e1e5f8b..b35c853a 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -331,13 +331,13 @@ void ContactManager::onContact(const CallbackData& callbackData) { openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z); rp3d::Vector3 point1 = contactPoint.getLocalPointOnShape1(); - point1 = contactPair.getProxyShape1()->getLocalToWorldTransform() * point1; + point1 = contactPair.getCollider1()->getLocalToWorldTransform() * point1; openglframework::Vector3 position1(point1.x, point1.y, point1.z); mContactPoints.push_back(SceneContactPoint(position1, contactNormal, openglframework::Color::red())); rp3d::Vector3 point2 = contactPoint.getLocalPointOnShape2(); - point2 = contactPair.getProxyShape2()->getLocalToWorldTransform() * point2; + point2 = contactPair.getCollider2()->getLocalToWorldTransform() * point2; openglframework::Vector3 position2(point2.x, point2.y, point2.z); mContactPoints.push_back(SceneContactPoint(position2, contactNormal, openglframework::Color::blue())); } diff --git a/testbed/src/Scene.cpp b/testbed/src/Scene.cpp index 4f6e31d9..5d0dfcce 100644 --- a/testbed/src/Scene.cpp +++ b/testbed/src/Scene.cpp @@ -199,7 +199,7 @@ void Scene::onContact(const rp3d::CollisionCallback::CallbackData& callbackData) rp3d::CollisionCallback::ContactPoint contactPoint = contactPair.getContactPoint(c); - rp3d::Vector3 point = contactPair.getProxyShape1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1(); + rp3d::Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1(); rp3d::Vector3 normalWorld = contactPoint.getWorldNormal(); openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z); SceneContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red()); diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 4a711862..fff2d65a 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -443,13 +443,13 @@ void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) // For each physics object of the scene for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - // For each proxy shape of the object - for (uint i=0; i < (*it)->getCollisionBody()->getNbProxyShapes(); i++) { + // For each collider of the object + for (uint i=0; i < (*it)->getCollisionBody()->getNbColliders(); i++) { - rp3d::ProxyShape* proxyShape = (*it)->getCollisionBody()->getProxyShape(i); + rp3d::Collider* collider = (*it)->getCollisionBody()->getCollider(i); - // Get the broad-phase AABB corresponding to the proxy shape - rp3d::AABB aabb = mPhysicsWorld->getWorldAABB(proxyShape); + // Get the broad-phase AABB corresponding to the collider + rp3d::AABB aabb = mPhysicsWorld->getWorldAABB(collider); openglframework::Vector3 aabbCenter(aabb.getCenter().x, aabb.getCenter().y, aabb.getCenter().z); openglframework::Vector3 aabbMin(aabb.getMin().x, aabb.getMin().y, aabb.getMin().z); From d36edcdb6e8f1996a481e5b4c26fefaad04be8b4 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 27 Jan 2020 17:46:00 +0100 Subject: [PATCH 122/197] Rename DynamicsWorld class to PhysicsWorld --- CMakeLists.txt | 6 +- src/body/CollisionBody.cpp | 4 +- src/body/CollisionBody.h | 9 +- src/body/RigidBody.cpp | 16 +- src/body/RigidBody.h | 11 +- src/collision/Collider.cpp | 2 +- src/collision/Collider.h | 3 +- src/collision/CollisionCallback.cpp | 6 +- src/collision/CollisionCallback.h | 8 +- src/collision/ContactManifold.h | 2 +- src/collision/OverlapCallback.cpp | 6 +- src/collision/OverlapCallback.h | 10 +- src/collision/shapes/CollisionShape.h | 2 +- src/collision/shapes/ConvexMeshShape.cpp | 2 +- src/collision/shapes/ConvexMeshShape.h | 3 +- src/components/JointComponents.h | 2 +- src/components/RigidBodyComponents.h | 2 +- src/configuration.h | 76 -- src/constraint/BallAndSocketJoint.cpp | 4 +- src/constraint/BallAndSocketJoint.h | 2 +- src/constraint/ContactPoint.cpp | 8 +- src/constraint/ContactPoint.h | 12 +- src/constraint/FixedJoint.cpp | 4 +- src/constraint/FixedJoint.h | 2 +- src/constraint/HingeJoint.cpp | 4 +- src/constraint/HingeJoint.h | 2 +- src/constraint/Joint.cpp | 4 +- src/constraint/Joint.h | 11 +- src/constraint/SliderJoint.cpp | 4 +- src/constraint/SliderJoint.h | 2 +- src/containers/Stack.h | 7 +- src/engine/CollisionWorld.cpp | 303 ------- src/engine/CollisionWorld.h | 356 -------- src/engine/DynamicsWorld.h | 415 --------- src/engine/EventListener.h | 2 +- src/engine/Island.h | 2 +- src/engine/Material.cpp | 10 +- src/engine/Material.h | 12 +- src/engine/OverlappingPairs.h | 2 +- src/engine/PhysicsCommon.cpp | 57 +- src/engine/PhysicsCommon.h | 25 +- .../{DynamicsWorld.cpp => PhysicsWorld.cpp} | 316 ++++++- src/engine/PhysicsWorld.h | 786 ++++++++++++++++++ src/reactphysics3d.h | 3 +- src/systems/BroadPhaseSystem.cpp | 2 +- src/systems/CollisionDetectionSystem.cpp | 10 +- src/systems/CollisionDetectionSystem.h | 12 +- src/systems/ConstraintSolverSystem.cpp | 2 +- src/systems/ConstraintSolverSystem.h | 4 +- src/systems/ContactSolverSystem.cpp | 16 +- src/systems/ContactSolverSystem.h | 16 +- src/systems/DynamicsSystem.cpp | 4 +- src/systems/DynamicsSystem.h | 6 +- src/systems/SolveBallAndSocketJointSystem.cpp | 4 +- src/systems/SolveBallAndSocketJointSystem.h | 6 +- src/systems/SolveFixedJointSystem.cpp | 4 +- src/systems/SolveFixedJointSystem.h | 6 +- src/systems/SolveHingeJointSystem.cpp | 4 +- src/systems/SolveHingeJointSystem.h | 6 +- src/systems/SolveSliderJointSystem.cpp | 4 +- src/systems/SolveSliderJointSystem.h | 6 +- test/tests/collision/TestCollisionWorld.h | 6 +- test/tests/collision/TestPointInside.h | 8 +- test/tests/collision/TestRaycast.h | 30 +- testbed/common/Box.cpp | 8 +- testbed/common/Box.h | 4 +- testbed/common/Capsule.cpp | 57 +- testbed/common/Capsule.h | 7 +- testbed/common/ConcaveMesh.cpp | 10 +- testbed/common/ConcaveMesh.h | 4 +- testbed/common/ConvexMesh.cpp | 10 +- testbed/common/ConvexMesh.h | 4 +- testbed/common/Dumbbell.cpp | 72 +- testbed/common/Dumbbell.h | 6 +- testbed/common/HeightField.cpp | 10 +- testbed/common/HeightField.h | 4 +- testbed/common/Sphere.cpp | 8 +- testbed/common/Sphere.h | 6 +- .../CollisionDetectionScene.cpp | 34 +- .../collisionshapes/CollisionShapesScene.cpp | 62 +- .../scenes/concavemesh/ConcaveMeshScene.cpp | 64 +- testbed/scenes/cubes/CubesScene.cpp | 46 +- testbed/scenes/cubestack/CubeStackScene.cpp | 46 +- .../scenes/heightfield/HeightFieldScene.cpp | 64 +- testbed/scenes/joints/JointsScene.cpp | 116 +-- testbed/scenes/pile/PileScene.cpp | 60 +- testbed/scenes/raycast/RaycastScene.cpp | 38 +- testbed/src/Scene.h | 2 +- testbed/src/SceneDemo.cpp | 26 +- testbed/src/SceneDemo.h | 23 +- 90 files changed, 1621 insertions(+), 1851 deletions(-) delete mode 100644 src/engine/CollisionWorld.cpp delete mode 100644 src/engine/CollisionWorld.h delete mode 100644 src/engine/DynamicsWorld.h rename src/engine/{DynamicsWorld.cpp => PhysicsWorld.cpp} (72%) create mode 100644 src/engine/PhysicsWorld.h diff --git a/CMakeLists.txt b/CMakeLists.txt index eaed4c90..d5962133 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -127,7 +127,6 @@ SET (REACTPHYSICS3D_HEADERS "src/constraint/SliderJoint.h" "src/engine/Entity.h" "src/engine/EntityManager.h" - "src/engine/CollisionWorld.h" "src/engine/PhysicsCommon.h" "src/systems/ConstraintSolverSystem.h" "src/systems/ContactSolverSystem.h" @@ -137,7 +136,7 @@ SET (REACTPHYSICS3D_HEADERS "src/systems/SolveFixedJointSystem.h" "src/systems/SolveHingeJointSystem.h" "src/systems/SolveSliderJointSystem.h" - "src/engine/DynamicsWorld.h" + "src/engine/PhysicsWorld.h" "src/engine/EventListener.h" "src/engine/Island.h" "src/engine/Islands.h" @@ -229,7 +228,6 @@ SET (REACTPHYSICS3D_SOURCES "src/constraint/HingeJoint.cpp" "src/constraint/Joint.cpp" "src/constraint/SliderJoint.cpp" - "src/engine/CollisionWorld.cpp" "src/engine/PhysicsCommon.cpp" "src/systems/ConstraintSolverSystem.cpp" "src/systems/ContactSolverSystem.cpp" @@ -239,7 +237,7 @@ SET (REACTPHYSICS3D_SOURCES "src/systems/SolveFixedJointSystem.cpp" "src/systems/SolveHingeJointSystem.cpp" "src/systems/SolveSliderJointSystem.cpp" - "src/engine/DynamicsWorld.cpp" + "src/engine/PhysicsWorld.cpp" "src/engine/Island.cpp" "src/engine/Material.cpp" "src/engine/OverlappingPairs.cpp" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index be253622..6929a6c0 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -25,7 +25,7 @@ // Libraries #include "CollisionBody.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" #include "collision/ContactManifold.h" #include "collision/RaycastInfo.h" #include "utils/Logger.h" @@ -39,7 +39,7 @@ using namespace reactphysics3d; * @param world The physics world where the body is created * @param id ID of the body */ -CollisionBody::CollisionBody(CollisionWorld& world, Entity entity) +CollisionBody::CollisionBody(PhysicsWorld& world, Entity entity) : mEntity(entity), mWorld(world) { #ifdef IS_LOGGING_ACTIVE diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index af9a6184..5c6c7f8c 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -39,8 +39,8 @@ namespace reactphysics3d { // Declarations struct ContactManifoldListElement; class Collider; -class CollisionWorld; class CollisionShape; +class PhysicsWorld; struct RaycastInfo; class DefaultPoolAllocator; class Profiler; @@ -61,7 +61,7 @@ class CollisionBody { Entity mEntity; /// Reference to the world the body belongs to - CollisionWorld& mWorld; + PhysicsWorld& mWorld; #ifdef IS_LOGGING_ACTIVE @@ -93,7 +93,7 @@ class CollisionBody { // -------------------- Methods -------------------- // /// Constructor - CollisionBody(CollisionWorld& world, Entity entity); + CollisionBody(PhysicsWorld& world, Entity entity); /// Destructor virtual ~CollisionBody(); @@ -179,8 +179,7 @@ class CollisionBody { // -------------------- Friendship -------------------- // - friend class CollisionWorld; - friend class DynamicsWorld; + friend class PhysicsWorld; friend class CollisionDetectionSystem; friend class BroadPhaseAlgorithm; friend class ConvexMeshShape; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 975d9991..8e29c888 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -25,9 +25,8 @@ // Libraries #include "RigidBody.h" -#include "constraint/Joint.h" #include "collision/shapes/CollisionShape.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "utils/Profiler.h" // We want to use the ReactPhysics3D namespace @@ -39,8 +38,9 @@ using namespace reactphysics3d; * @param world The world where the body has been added * @param id The ID of the body */ -RigidBody::RigidBody(CollisionWorld& world, Entity entity) - : CollisionBody(world, entity), mMaterial(world.mConfig), +RigidBody::RigidBody(PhysicsWorld& world, Entity entity) + : CollisionBody(world, entity), + mMaterial(world.mConfig.defaultFrictionCoefficient, world.mConfig.defaultRollingRestistance, world.mConfig.defaultBounciness), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { } @@ -147,7 +147,7 @@ decimal RigidBody::getMass() const { /// generate some torque and therefore, change the angular velocity of the body. /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied forces and that this sum will be -/// reset to zero at the end of each call of the DynamicsWorld::update() method. +/// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** * @param force The force to apply on the body @@ -197,7 +197,7 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { // Apply an external force to the body at its center of mass. /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied forces and that this sum will be -/// reset to zero at the end of each call of the DynamicsWorld::update() method. +/// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** * @param force The external force to apply on the center of mass of the body @@ -632,7 +632,7 @@ bool RigidBody::isGravityEnabled() const { // Apply an external torque to the body. /// If the body is sleeping, calling this method will wake it up. Note that the /// force will we added to the sum of the applied torques and that this sum will be -/// reset to zero at the end of each call of the DynamicsWorld::update() method. +/// reset to zero at the end of each call of the PhyscisWorld::update() method. /// You can only apply a force to a dynamic body otherwise, this method will do nothing. /** * @param torque The external torque to apply on the body @@ -713,7 +713,7 @@ void RigidBody::updateOverlappingPairs() { } /// Return the inverse of the inertia tensor in world coordinates. -const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity) { +const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity) { Matrix3x3 orientation = world.mTransformComponents.getTransform(bodyEntity).getOrientation().getMatrix(); const Matrix3x3& inverseInertiaLocalTensor = world.mRigidBodyComponents.getInertiaTensorLocalInverse(bodyEntity); diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 6ee16708..58995bcf 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -37,8 +37,7 @@ namespace reactphysics3d { // Class declarations struct JointListElement; -class Joint; -class DynamicsWorld; +class PhysicsWorld; class MemoryManager; enum class BodyType; @@ -77,14 +76,14 @@ class RigidBody : public CollisionBody { void updateOverlappingPairs(); /// Return the inverse of the inertia tensor in world coordinates. - static const Matrix3x3 getInertiaTensorInverseWorld(CollisionWorld& world, Entity bodyEntity); + static const Matrix3x3 getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity); public : // -------------------- Methods -------------------- // /// Constructor - RigidBody(CollisionWorld& world, Entity entity); + RigidBody(PhysicsWorld& world, Entity entity); /// Destructor virtual ~RigidBody() override = default; @@ -203,10 +202,9 @@ class RigidBody : public CollisionBody { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; friend class ContactSolverSystem; friend class DynamicsSystem; - friend class Joint; friend class BallAndSocketJoint; friend class SliderJoint; friend class HingeJoint; @@ -215,6 +213,7 @@ class RigidBody : public CollisionBody { friend class SolveFixedJointSystem; friend class SolveHingeJointSystem; friend class SolveSliderJointSystem; + friend class Joint; }; // Return a reference to the material properties of the rigid body diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index a9619044..77198364 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -28,7 +28,7 @@ #include "utils/Logger.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; diff --git a/src/collision/Collider.h b/src/collision/Collider.h index 28b6d7df..eb4d3cba 100644 --- a/src/collision/Collider.h +++ b/src/collision/Collider.h @@ -172,8 +172,7 @@ class Collider { friend class BroadPhaseAlgorithm; friend class DynamicAABBTree; friend class CollisionDetectionSystem; - friend class CollisionWorld; - friend class DynamicsWorld; + friend class PhysicsWorld; friend class GJKAlgorithm; friend class ConvexMeshShape; friend class ContactManifoldSet; diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index 67cc496b..7644ee4c 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -27,7 +27,7 @@ #include "collision/CollisionCallback.h" #include "collision/ContactPair.h" #include "constraint/ContactPoint.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; @@ -39,7 +39,7 @@ CollisionCallback::ContactPoint::ContactPoint(const reactphysics3d::ContactPoint // Contact Pair Constructor CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& contactPair, - List* contactPoints, CollisionWorld& world) + List* contactPoints, PhysicsWorld& world) :mContactPair(contactPair), mContactPoints(contactPoints), mWorld(world) { @@ -67,7 +67,7 @@ Collider* CollisionCallback::ContactPair::getCollider2() const { // CollisionCallbackInfo Constructor CollisionCallback::CallbackData::CallbackData(List* contactPairs, List* manifolds, - List* contactPoints, CollisionWorld& world) + List* contactPoints, PhysicsWorld &world) :mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mWorld(world) { } diff --git a/src/collision/CollisionCallback.h b/src/collision/CollisionCallback.h index b0c3dd4d..570a9a32 100644 --- a/src/collision/CollisionCallback.h +++ b/src/collision/CollisionCallback.h @@ -118,13 +118,13 @@ class CollisionCallback { List* mContactPoints; /// Reference to the physics world - CollisionWorld& mWorld; + PhysicsWorld& mWorld; // -------------------- Methods -------------------- // /// Constructor ContactPair(const reactphysics3d::ContactPair& contactPair, List* contactPoints, - CollisionWorld& world); + PhysicsWorld& world); public: @@ -182,13 +182,13 @@ class CollisionCallback { List* mContactPoints; /// Reference to the physics world - CollisionWorld& mWorld; + PhysicsWorld& mWorld; // -------------------- Methods -------------------- // /// Constructor CallbackData(List* contactPairs, List* manifolds, - List* contactPoints, CollisionWorld& world); + List* contactPoints, PhysicsWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h index 22290fce..600993f3 100644 --- a/src/collision/ContactManifold.h +++ b/src/collision/ContactManifold.h @@ -120,7 +120,7 @@ class ContactManifold { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; friend class Island; friend class CollisionBody; friend class ContactManifoldSet; diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index 0fd96401..70318739 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -25,13 +25,13 @@ // Libraries #include "collision/OverlapCallback.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; // Contact Pair Constructor -OverlapCallback::OverlapPair::OverlapPair(Pair& overlapPair, CollisionWorld& world) +OverlapCallback::OverlapPair::OverlapPair(Pair& overlapPair, PhysicsWorld& world) : mOverlapPair(overlapPair), mWorld(world) { } @@ -47,7 +47,7 @@ CollisionBody* OverlapCallback::OverlapPair::getBody2() const { } // CollisionCallbackData Constructor -OverlapCallback::CallbackData::CallbackData(List>& overlapColliders, CollisionWorld& world) +OverlapCallback::CallbackData::CallbackData(List>& overlapColliders, PhysicsWorld& world) :mOverlapBodies(overlapColliders), mWorld(world) { } diff --git a/src/collision/OverlapCallback.h b/src/collision/OverlapCallback.h index ffc3bd22..7fa9fab4 100644 --- a/src/collision/OverlapCallback.h +++ b/src/collision/OverlapCallback.h @@ -34,7 +34,7 @@ namespace reactphysics3d { // Declarations class CollisionBody; -class CollisionWorld; +class PhysicsWorld; class Collider; struct Entity; @@ -61,12 +61,12 @@ class OverlapCallback { Pair& mOverlapPair; /// Reference to the physics world - CollisionWorld& mWorld; + PhysicsWorld& mWorld; // -------------------- Methods -------------------- // /// Constructor - OverlapPair(Pair& overlapPair, CollisionWorld& world); + OverlapPair(Pair& overlapPair, reactphysics3d::PhysicsWorld& world); public: @@ -105,12 +105,12 @@ class OverlapCallback { List>& mOverlapBodies; /// Reference to the physics world - CollisionWorld& mWorld; + PhysicsWorld& mWorld; // -------------------- Methods -------------------- // /// Constructor - CallbackData(List>& overlapColliders, CollisionWorld& world); + CallbackData(List>& overlapColliders, PhysicsWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 3db254a9..ea0beb8c 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -146,7 +146,7 @@ class CollisionShape { // -------------------- Friendship -------------------- // friend class Collider; - friend class CollisionWorld; + friend class PhyscisWorld; }; // Return the name of the collision shape diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp index 0efa0093..6165a119 100644 --- a/src/collision/shapes/ConvexMeshShape.cpp +++ b/src/collision/shapes/ConvexMeshShape.cpp @@ -26,7 +26,7 @@ // Libraries #include "configuration.h" #include "ConvexMeshShape.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" #include "collision/RaycastInfo.h" using namespace reactphysics3d; diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index c63ce407..a3aeff53 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -35,9 +35,8 @@ namespace reactphysics3d { // Declaration -class CollisionWorld; class GJKAlgorithm; -class CollisionWorld; +class PhysicsWorld; // Class ConvexMeshShape /** diff --git a/src/components/JointComponents.h b/src/components/JointComponents.h index e9986ec2..6056bd07 100644 --- a/src/components/JointComponents.h +++ b/src/components/JointComponents.h @@ -156,7 +156,7 @@ class JointComponents : public Components { friend class BroadPhaseSystem; friend class ConstraintSolverSystem; - friend class DynamicsWorld; + friend class PhysicsWorld; }; // Return the entity of the first body of a joint diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 462e78f5..ef000b3c 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -335,7 +335,7 @@ class RigidBodyComponents : public Components { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; friend class ContactSolverSystem; friend class SolveBallAndSocketJointSystem; friend class SolveFixedJointSystem; diff --git a/src/configuration.h b/src/configuration.h index db36e710..554eeab7 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -112,82 +112,6 @@ constexpr decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7); /// Current version of ReactPhysics3D const std::string RP3D_VERSION = std::string("0.7.1"); -/// Structure WorldSettings -/** - * This class is used to describe some settings of a physics world. - */ -struct WorldSettings { - - /// Name of the world - std::string worldName = ""; - - /// Distance threshold for two contact points for a valid persistent contact (in meters) - decimal persistentContactDistanceThreshold = decimal(0.03); - - /// Default friction coefficient for a rigid body - decimal defaultFrictionCoefficient = decimal(0.3); - - /// Default bounciness factor for a rigid body - decimal defaultBounciness = decimal(0.5); - - /// Velocity threshold for contact velocity restitution - decimal restitutionVelocityThreshold = decimal(0.5); - - /// Default rolling resistance - decimal defaultRollingRestistance = decimal(0.0); - - /// True if the sleeping technique is enabled - bool isSleepingEnabled = true; - - /// Number of iterations when solving the velocity constraints of the Sequential Impulse technique - uint defaultVelocitySolverNbIterations = 10; - - /// Number of iterations when solving the position constraints of the Sequential Impulse technique - uint defaultPositionSolverNbIterations = 5; - - /// Time (in seconds) that a body must stay still to be considered sleeping - float defaultTimeBeforeSleep = 1.0f; - - /// A body with a linear velocity smaller than the sleep linear velocity (in m/s) - /// might enter sleeping mode. - decimal defaultSleepLinearVelocity = decimal(0.02); - - /// A body with angular velocity smaller than the sleep angular velocity (in rad/s) - /// might enter sleeping mode - decimal defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0)); - - /// Maximum number of contact manifolds in an overlapping pair - uint nbMaxContactManifolds = 3; - - /// This is used to test if two contact manifold are similar (same contact normal) in order to - /// merge them. If the cosine of the angle between the normals of the two manifold are larger - /// than the value bellow, the manifold are considered to be similar. - decimal cosAngleSimilarContactManifold = decimal(0.95); - - /// Return a string with the world settings - std::string to_string() const { - - std::stringstream ss; - - ss << "worldName=" << worldName << std::endl; - ss << "persistentContactDistanceThreshold=" << persistentContactDistanceThreshold << std::endl; - ss << "defaultFrictionCoefficient=" << defaultFrictionCoefficient << std::endl; - ss << "defaultBounciness=" << defaultBounciness << std::endl; - ss << "restitutionVelocityThreshold=" << restitutionVelocityThreshold << std::endl; - ss << "defaultRollingRestistance=" << defaultRollingRestistance << std::endl; - ss << "isSleepingEnabled=" << isSleepingEnabled << std::endl; - ss << "defaultVelocitySolverNbIterations=" << defaultVelocitySolverNbIterations << std::endl; - ss << "defaultPositionSolverNbIterations=" << defaultPositionSolverNbIterations << std::endl; - ss << "defaultTimeBeforeSleep=" << defaultTimeBeforeSleep << std::endl; - ss << "defaultSleepLinearVelocity=" << defaultSleepLinearVelocity << std::endl; - ss << "defaultSleepAngularVelocity=" << defaultSleepAngularVelocity << std::endl; - ss << "nbMaxContactManifolds=" << nbMaxContactManifolds << std::endl; - ss << "cosAngleSimilarContactManifold=" << cosAngleSimilarContactManifold << std::endl; - - return ss.str(); - } -}; - } #endif diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 60e611d8..9c94f831 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -27,7 +27,7 @@ #include "BallAndSocketJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; @@ -35,7 +35,7 @@ using namespace reactphysics3d; const decimal BallAndSocketJoint::BETA = decimal(0.2); // Constructor -BallAndSocketJoint::BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo) +BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo) : Joint(entity, world) { // Get the transforms of the two bodies diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h index 667cb5bb..5d913301 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/src/constraint/BallAndSocketJoint.h @@ -88,7 +88,7 @@ class BallAndSocketJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - BallAndSocketJoint(Entity entity, DynamicsWorld& world, const BallAndSocketJointInfo& jointInfo); + BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo); /// Destructor virtual ~BallAndSocketJoint() override = default; diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp index 105a4644..67569efa 100644 --- a/src/constraint/ContactPoint.cpp +++ b/src/constraint/ContactPoint.cpp @@ -31,13 +31,13 @@ using namespace reactphysics3d; using namespace std; // Constructor -ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, const WorldSettings& worldSettings) +ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, decimal persistentContactDistanceThreshold) : mNormal(contactInfo->normal), mPenetrationDepth(contactInfo->penetrationDepth), mLocalPointOnShape1(contactInfo->localPoint1), mLocalPointOnShape2(contactInfo->localPoint2), mIsRestingContact(false), mIsObsolete(false), mNext(nullptr), mPrevious(nullptr), - mWorldSettings(worldSettings) { + mPersistentContactDistanceThreshold(persistentContactDistanceThreshold) { assert(mPenetrationDepth > decimal(0.0)); assert(mNormal.lengthSquare() > decimal(0.8)); @@ -46,13 +46,13 @@ ContactPoint::ContactPoint(const ContactPointInfo* contactInfo, const WorldSetti } // Constructor -ContactPoint::ContactPoint(const ContactPointInfo& contactInfo, const WorldSettings& worldSettings) +ContactPoint::ContactPoint(const ContactPointInfo& contactInfo, decimal persistentContactDistanceThreshold) : mNormal(contactInfo.normal), mPenetrationDepth(contactInfo.penetrationDepth), mLocalPointOnShape1(contactInfo.localPoint1), mLocalPointOnShape2(contactInfo.localPoint2), mIsRestingContact(false), mPenetrationImpulse(0), mIsObsolete(false), - mWorldSettings(worldSettings) { + mPersistentContactDistanceThreshold(persistentContactDistanceThreshold) { assert(mPenetrationDepth > decimal(0.0)); assert(mNormal.lengthSquare() > decimal(0.8)); diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h index d7dedd4a..cf01ade0 100644 --- a/src/constraint/ContactPoint.h +++ b/src/constraint/ContactPoint.h @@ -75,8 +75,8 @@ class ContactPoint { /// Pointer to the previous contact point in the double linked-list ContactPoint* mPrevious; - /// World settings - const WorldSettings& mWorldSettings; + /// Persistent contact distance threshold; + decimal mPersistentContactDistanceThreshold; // -------------------- Methods -------------------- // @@ -98,10 +98,10 @@ class ContactPoint { // -------------------- Methods -------------------- // /// Constructor - ContactPoint(const ContactPointInfo* contactInfo, const WorldSettings& worldSettings); + ContactPoint(const ContactPointInfo* contactInfo, decimal persistentContactDistanceThreshold); /// Constructor - ContactPoint(const ContactPointInfo& contactInfo, const WorldSettings& worldSettings); + ContactPoint(const ContactPointInfo& contactInfo, decimal persistentContactDistanceThreshold); /// Destructor ~ContactPoint() = default; @@ -174,8 +174,8 @@ inline decimal ContactPoint::getPenetrationImpulse() const { // Return true if the contact point is similar (close enougth) to another given contact point inline bool ContactPoint::isSimilarWithContactPoint(const ContactPointInfo* localContactPointBody1) const { - return (localContactPointBody1->localPoint1 - mLocalPointOnShape1).lengthSquare() <= (mWorldSettings.persistentContactDistanceThreshold * - mWorldSettings.persistentContactDistanceThreshold); + return (localContactPointBody1->localPoint1 - mLocalPointOnShape1).lengthSquare() <= (mPersistentContactDistanceThreshold * + mPersistentContactDistanceThreshold); } // Set the cached penetration impulse diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index 7dccf65e..a798e6eb 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -27,12 +27,12 @@ #include "FixedJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; // Constructor -FixedJoint::FixedJoint(Entity entity, DynamicsWorld &world, const FixedJointInfo& jointInfo) +FixedJoint::FixedJoint(Entity entity, PhysicsWorld &world, const FixedJointInfo& jointInfo) : Joint(entity, world) { // Compute the local-space anchor point for each body diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h index f6a89575..b030a805 100644 --- a/src/constraint/FixedJoint.h +++ b/src/constraint/FixedJoint.h @@ -78,7 +78,7 @@ class FixedJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - FixedJoint(Entity entity, DynamicsWorld& world, const FixedJointInfo& jointInfo); + FixedJoint(Entity entity, PhysicsWorld& world, const FixedJointInfo& jointInfo); /// Destructor virtual ~FixedJoint() override = default; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index ec9b8dfe..4d4c8957 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -27,12 +27,12 @@ #include "HingeJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; // Constructor -HingeJoint::HingeJoint(Entity entity, DynamicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) { +HingeJoint::HingeJoint(Entity entity, PhysicsWorld &world, const HingeJointInfo& jointInfo) : Joint(entity, world) { const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity); const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity); diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h index d264b11f..19f104fb 100644 --- a/src/constraint/HingeJoint.h +++ b/src/constraint/HingeJoint.h @@ -160,7 +160,7 @@ class HingeJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - HingeJoint(Entity entity, DynamicsWorld& world, const HingeJointInfo& jointInfo); + HingeJoint(Entity entity, PhysicsWorld& world, const HingeJointInfo& jointInfo); /// Destructor virtual ~HingeJoint() override = default; diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index 0a67bc5e..a1c5507e 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -25,12 +25,12 @@ // Libraries #include "Joint.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; // Constructor -Joint::Joint(Entity entity, DynamicsWorld& world) :mEntity(entity), mWorld(world) { +Joint::Joint(Entity entity, PhysicsWorld& world) :mEntity(entity), mWorld(world) { } diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h index 0b40456f..4a73c01e 100644 --- a/src/constraint/Joint.h +++ b/src/constraint/Joint.h @@ -40,6 +40,7 @@ enum class JointType {BALLSOCKETJOINT, SLIDERJOINT, HINGEJOINT, FIXEDJOINT}; // Class declarations struct ConstraintSolverData; class Joint; +class RigidBody; // Structure JointInfo /** @@ -71,7 +72,9 @@ struct JointInfo { JointInfo(JointType constraintType) : body1(nullptr), body2(nullptr), type(constraintType), positionCorrectionTechnique(JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL), - isCollisionEnabled(true) {} + isCollisionEnabled(true) { + + } /// Constructor JointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, JointType constraintType) @@ -99,7 +102,7 @@ class Joint { Entity mEntity; /// Reference to the physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; // -------------------- Methods -------------------- // @@ -114,7 +117,7 @@ class Joint { // -------------------- Methods -------------------- // /// Constructor - Joint(Entity entity, DynamicsWorld& world); + Joint(Entity entity, PhysicsWorld& world); /// Destructor virtual ~Joint() = default; @@ -145,7 +148,7 @@ class Joint { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; friend class Island; friend class ConstraintSolverSystem; }; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 13dd674c..62ac6a6a 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -27,7 +27,7 @@ #include "SliderJoint.h" #include "systems/ConstraintSolverSystem.h" #include "components/RigidBodyComponents.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; @@ -35,7 +35,7 @@ using namespace reactphysics3d; const decimal SliderJoint::BETA = decimal(0.2); // Constructor -SliderJoint::SliderJoint(Entity entity, DynamicsWorld &world, const SliderJointInfo& jointInfo) +SliderJoint::SliderJoint(Entity entity, PhysicsWorld &world, const SliderJointInfo& jointInfo) : Joint(entity, world) { assert(mWorld.mSliderJointsComponents.getUpperLimit(mEntity) >= decimal(0.0)); diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h index a736b709..fae831f4 100644 --- a/src/constraint/SliderJoint.h +++ b/src/constraint/SliderJoint.h @@ -163,7 +163,7 @@ class SliderJoint : public Joint { // -------------------- Methods -------------------- // /// Constructor - SliderJoint(Entity entity, DynamicsWorld& world, const SliderJointInfo& jointInfo); + SliderJoint(Entity entity, PhysicsWorld& world, const SliderJointInfo& jointInfo); /// Destructor virtual ~SliderJoint() override = default; diff --git a/src/containers/Stack.h b/src/containers/Stack.h index 6af65a00..c3aaf283 100644 --- a/src/containers/Stack.h +++ b/src/containers/Stack.h @@ -119,8 +119,11 @@ class Stack { clear(); - // Release the memory allocated on the heap - mAllocator.release(mArray, mCapacity * sizeof(T)); + if (mCapacity > 0) { + + // Release the memory allocated on the heap + mAllocator.release(mArray, mCapacity * sizeof(T)); + } } /// Remove all the items from the stack diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp deleted file mode 100644 index d0a78cdb..00000000 --- a/src/engine/CollisionWorld.cpp +++ /dev/null @@ -1,303 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "CollisionWorld.h" -#include "utils/Profiler.h" -#include "utils/Logger.h" - -// Namespaces -using namespace reactphysics3d; -using namespace std; - -// Initialization of static fields -uint CollisionWorld::mNbWorlds = 0; - -// Constructor -CollisionWorld::CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) - : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), - mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), - mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), - mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), - mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), - mSliderJointsComponents(mMemoryManager.getHeapAllocator()), - mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), - mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), - mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), - mIsLoggerCreatedByUser(logger != nullptr) { - - // Automatically generate a name for the world - if (mName == "") { - - std::stringstream ss; - ss << "world"; - - if (mNbWorlds > 0) { - ss << mNbWorlds; - } - - mName = ss.str(); - } - -#ifdef IS_PROFILING_ACTIVE - - mProfiler = profiler; - - // If the user has not provided its own profiler, we create one - if (mProfiler == nullptr) { - - mProfiler = new Profiler(); - - // Add a destination file for the profiling data - mProfiler->addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text); - } - - - // Set the profiler - mCollisionDetection.setProfiler(mProfiler); - -#endif - -#ifdef IS_LOGGING_ACTIVE - - mLogger = logger; - - // If the user has not provided its own logger, we create one - if (mLogger == nullptr) { - - mLogger = new Logger(); - - // Add a log destination file - uint logLevel = static_cast(Logger::Level::Information) | static_cast(Logger::Level::Warning) | - static_cast(Logger::Level::Error); - mLogger->addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML); - } - -#endif - - mNbWorlds++; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Collision World: Collision world " + mName + " has been created"); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Collision World: Initial world settings: " + worldSettings.to_string()); -} - -// Destructor -CollisionWorld::~CollisionWorld() { - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Collision World: Collision world " + mName + " has been destroyed"); - - // Destroy all the collision bodies that have not been removed - for (int i=mBodies.size() - 1 ; i >= 0; i--) { - destroyCollisionBody(mBodies[i]); - } - -#ifdef IS_PROFILING_ACTIVE - - /// Delete the profiler - if (!mIsProfilerCreatedByUser) { - delete mProfiler; - } - -#endif - -#ifdef IS_LOGGING_ACTIVE - - /// Delete the logger - if (!mIsLoggerCreatedByUser) { - delete mLogger; - } - -#endif - - assert(mBodies.size() == 0); - assert(mCollisionBodyComponents.getNbComponents() == 0); - assert(mTransformComponents.getNbComponents() == 0); - assert(mCollidersComponents.getNbComponents() == 0); -} - -// Create a collision body and add it to the world -/** - * @param transform Transformation mapping the local-space of the body to world-space - * @return A pointer to the body that has been created in the world - */ -CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) { - - // Create a new entity for the body - Entity entity = mEntityManager.createEntity(); - - mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); - - // Create the collision body - CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, - sizeof(CollisionBody))) - CollisionBody(*this, entity); - - assert(collisionBody != nullptr); - - // Add the components - CollisionBodyComponents::CollisionBodyComponent bodyComponent(collisionBody); - mCollisionBodyComponents.addComponent(entity, false, bodyComponent); - - // Add the collision body to the world - mBodies.add(collisionBody); - -#ifdef IS_PROFILING_ACTIVE - - collisionBody->setProfiler(mProfiler); - -#endif - -#ifdef IS_LOGGING_ACTIVE - collisionBody->setLogger(mLogger); -#endif - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(entity.id) + ": New collision body created"); - - // Return the pointer to the rigid body - return collisionBody; -} - -// Destroy a collision body -/** - * @param collisionBody Pointer to the body to destroy - */ -void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) { - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed"); - - // Remove all the collision shapes of the body - collisionBody->removeAllCollisionShapes(); - - mCollisionBodyComponents.removeComponent(collisionBody->getEntity()); - mTransformComponents.removeComponent(collisionBody->getEntity()); - mEntityManager.destroyEntity(collisionBody->getEntity()); - - // Call the destructor of the collision body - collisionBody->~CollisionBody(); - - // Remove the collision body from the list of bodies - mBodies.remove(collisionBody); - - // Free the object from the memory allocator - mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody)); -} - -// Notify the world if a body is disabled (sleeping) or not -void CollisionWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { - - if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return; - - // Notify all the components - mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); - mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); - - if (mRigidBodyComponents.hasComponent(bodyEntity)) { - mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); - } - - // For each collider of the body - const List& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity); - for (uint i=0; i < collidersEntities.size(); i++) { - - mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled); - } - - // Disable the joints of the body if necessary - if (mRigidBodyComponents.hasComponent(bodyEntity)) { - - // For each joint of the body - const List& joints = mRigidBodyComponents.getJoints(bodyEntity); - for(uint32 i=0; i < joints.size(); i++) { - - const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); - const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); - - // If both bodies of the joint are disabled - if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) && - mRigidBodyComponents.getIsEntityDisabled(body2Entity)) { - - // We disable the joint - setJointDisabled(joints[i], true); - } - else { - - // Enable the joint - setJointDisabled(joints[i], false); - } - } - } -} - -// Notify the world whether a joint is disabled or not -void CollisionWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { - - if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return; - - mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); - if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) { - mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); - } - if (mFixedJointsComponents.hasComponent(jointEntity)) { - mFixedJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); - } - if (mHingeJointsComponents.hasComponent(jointEntity)) { - mHingeJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); - } - if (mSliderJointsComponents.hasComponent(jointEntity)) { - mSliderJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); - } -} - -// Return true if two bodies overlap -/// Use this method if you are not interested in contacts but if you simply want to know -/// if the two bodies overlap. If you want to get the contacts, you need to use the -/// testCollision() method instead. -/** - * @param body1 Pointer to the first body - * @param body2 Pointer to a second body - * @return True if the two bodies overlap - */ -bool CollisionWorld::testOverlap(CollisionBody* body1, CollisionBody* body2) { - return mCollisionDetection.testOverlap(body1, body2); -} - -// Return the current world-space AABB of given collider -/** - * @param collider Pointer to a collider - * @return The AAABB of the collider in world-space - */ -AABB CollisionWorld::getWorldAABB(const Collider* collider) const { - - if (collider->getBroadPhaseId() == -1) { - return AABB(); - } - - return mCollisionDetection.getWorldAABB(collider); -} diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h deleted file mode 100644 index 7c7cb7a0..00000000 --- a/src/engine/CollisionWorld.h +++ /dev/null @@ -1,356 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_COLLISION_WORLD_H -#define REACTPHYSICS3D_COLLISION_WORLD_H - -// Libraries -#include "mathematics/mathematics.h" -#include "containers/List.h" -#include "systems/CollisionDetectionSystem.h" -#include "constraint/Joint.h" -#include "memory/MemoryManager.h" -#include "engine/EntityManager.h" -#include "components/CollisionBodyComponents.h" -#include "components/RigidBodyComponents.h" -#include "components/TransformComponents.h" -#include "components/ColliderComponents.h" -#include "components/JointComponents.h" -#include "components/BallAndSocketJointComponents.h" -#include "components/FixedJointComponents.h" -#include "components/HingeJointComponents.h" -#include "components/SliderJointComponents.h" -#include "collision/CollisionCallback.h" -#include "collision/OverlapCallback.h" - -/// Namespace reactphysics3d -namespace reactphysics3d { - -// Declarations -class Profiler; -class Logger; -class EventListener; -class Joint; -class ContactPoint; -class OverlappingPair; -class CollisionBody; -struct RaycastInfo; -class CollisionCallback; -class OverlapCallback; - -// Class CollisionWorld -/** - * This class represent a world where it is possible to move bodies - * by hand and to test collision between each other. In this kind of - * world, the bodies movement is not computed using the laws of physics. - */ -class CollisionWorld { - - protected : - - // -------------------- Attributes -------------------- // - - /// Memory manager - MemoryManager& mMemoryManager; - - /// Configuration of the physics world - WorldSettings mConfig; - - /// Entity Manager for the ECS - EntityManager mEntityManager; - - /// Collision Body Components - CollisionBodyComponents mCollisionBodyComponents; - - /// Rigid Body Components - RigidBodyComponents mRigidBodyComponents; - - /// Transform Components - TransformComponents mTransformComponents; - - /// Collider Components - ColliderComponents mCollidersComponents; - - /// Joint Components - JointComponents mJointsComponents; - - /// Ball And Socket joints Components - BallAndSocketJointComponents mBallAndSocketJointsComponents; - - /// Fixed joints Components - FixedJointComponents mFixedJointsComponents; - - /// Hinge joints Components - HingeJointComponents mHingeJointsComponents; - - /// Slider joints Components - SliderJointComponents mSliderJointsComponents; - - /// Reference to the collision detection - CollisionDetectionSystem mCollisionDetection; - - /// All the bodies (rigid and soft) of the world - List mBodies; - - /// Pointer to an event listener object - EventListener* mEventListener; - - /// Name of the collision world - std::string mName; - -#ifdef IS_PROFILING_ACTIVE - - /// Real-time hierarchical profiler - Profiler* mProfiler; -#endif - -#ifdef IS_LOGGING_ACTIVE - - /// Logger - Logger* mLogger; -#endif - - /// True if the profiler has been created by the user - bool mIsProfilerCreatedByUser; - - /// True if the logger has been created by the user - bool mIsLoggerCreatedByUser; - - /// Total number of worlds - static uint mNbWorlds; - - // -------------------- Methods -------------------- // - - /// Constructor - CollisionWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, - Profiler* profiler = nullptr); - - /// Notify the world if a body is disabled (slepping or inactive) or not - void setBodyDisabled(Entity entity, bool isDisabled); - - /// Notify the world whether a joint is disabled or not - void setJointDisabled(Entity jointEntity, bool isDisabled); - - /// Destructor - virtual ~CollisionWorld(); - - public : - - // -------------------- Methods -------------------- // - - /// Deleted copy-constructor - CollisionWorld(const CollisionWorld& world) = delete; - - /// Deleted assignment operator - CollisionWorld& operator=(const CollisionWorld& world) = delete; - - /// Create a collision body - CollisionBody* createCollisionBody(const Transform& transform); - - /// Destroy a collision body - void destroyCollisionBody(CollisionBody* collisionBody); - - /// Get the collision dispatch configuration - CollisionDispatch& getCollisionDispatch(); - - /// Ray cast method - void raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits = 0xFFFF) const; - - /// Return true if two bodies overlap (collide) - bool testOverlap(CollisionBody* body1, CollisionBody* body2); - - /// Report all the bodies that overlap (collide) with the body in parameter - void testOverlap(CollisionBody* body, OverlapCallback& overlapCallback); - - /// Report all the bodies that overlap (collide) in the world - void testOverlap(OverlapCallback& overlapCallback); - - /// Test collision and report contacts between two bodies. - void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback); - - /// Test collision and report all the contacts involving the body in parameter - void testCollision(CollisionBody* body, CollisionCallback& callback); - - /// Test collision and report contacts between each colliding bodies in the world - void testCollision(CollisionCallback& callback); - - /// Return a reference to the memory manager of the world - MemoryManager& getMemoryManager(); - -#ifdef IS_PROFILING_ACTIVE - - /// Return a reference to the profiler - Profiler* getProfiler(); - -#endif - -#ifdef IS_LOGGING_ACTIVE - - /// Return a reference to the logger - Logger* getLogger(); - -#endif - - /// Return the current world-space AABB of given collider - AABB getWorldAABB(const Collider* collider) const; - - /// Return the name of the world - const std::string& getName() const; - - // -------------------- Friendship -------------------- // - - friend class PhysicsCommon; - friend class CollisionDetectionSystem; - friend class CollisionBody; - friend class RigidBody; - friend class Collider; - friend class ConvexMeshShape; - friend class CollisionCallback::ContactPair; - friend class OverlapCallback::OverlapPair; -}; - -// Set the collision dispatch configuration -/// This can be used to replace default collision detection algorithms by your -/// custom algorithm for instance. -/** - * @param CollisionDispatch Pointer to a collision dispatch object describing - * which collision detection algorithm to use for two given collision shapes - */ -inline CollisionDispatch& CollisionWorld::getCollisionDispatch() { - return mCollisionDetection.getCollisionDispatch(); -} - -// Ray cast method -/** - * @param ray Ray to use for raycasting - * @param raycastCallback Pointer to the class with the callback method - * @param raycastWithCategoryMaskBits Bits mask corresponding to the category of - * bodies to be raycasted - */ -inline void CollisionWorld::raycast(const Ray& ray, - RaycastCallback* raycastCallback, - unsigned short raycastWithCategoryMaskBits) const { - mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits); -} - -// Test collision and report contacts between two bodies. -/// Use this method if you only want to get all the contacts between two bodies. -/// All the contacts will be reported using the callback object in paramater. -/// If you are not interested in the contacts but you only want to know if the bodies collide, -/// you can use the testOverlap() method instead. -/** - * @param body1 Pointer to the first body to test - * @param body2 Pointer to the second body to test - * @param callback Pointer to the object with the callback method - */ -inline void CollisionWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { - mCollisionDetection.testCollision(body1, body2, callback); -} - -// Test collision and report all the contacts involving the body in parameter -/// Use this method if you only want to get all the contacts involving a given body. -/// All the contacts will be reported using the callback object in paramater. -/// If you are not interested in the contacts but you only want to know if the bodies collide, -/// you can use the testOverlap() method instead. -/** - * @param body Pointer to the body against which we need to test collision - * @param callback Pointer to the object with the callback method to report contacts - */ -inline void CollisionWorld::testCollision(CollisionBody* body, CollisionCallback& callback) { - mCollisionDetection.testCollision(body, callback); -} - -// Test collision and report contacts between each colliding bodies in the world -/// Use this method if you want to get all the contacts between colliding bodies in the world. -/// All the contacts will be reported using the callback object in paramater. -/// If you are not interested in the contacts but you only want to know if the bodies collide, -/// you can use the testOverlap() method instead. -/** - * @param callback Pointer to the object with the callback method to report contacts - */ -inline void CollisionWorld::testCollision(CollisionCallback& callback) { - mCollisionDetection.testCollision(callback); -} - -// Report all the bodies that overlap (collide) with the body in parameter -/// Use this method if you are not interested in contacts but if you simply want to know -/// which bodies overlap with the body in parameter. If you want to get the contacts, you need to use the -/// testCollision() method instead. -/** - * @param body Pointer to the collision body to test overlap with - * @param overlapCallback Pointer to the callback class to report overlap - */ -inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) { - mCollisionDetection.testOverlap(body, overlapCallback); -} - -// Report all the bodies that overlap (collide) in the world -/// Use this method if you are not interested in contacts but if you simply want to know -/// which bodies overlap. If you want to get the contacts, you need to use the -/// testCollision() method instead. -inline void CollisionWorld::testOverlap(OverlapCallback& overlapCallback) { - mCollisionDetection.testOverlap(overlapCallback); -} - -// Return a reference to the memory manager of the world -inline MemoryManager& CollisionWorld::getMemoryManager() { - return mMemoryManager; -} - -// Return the name of the world -/** - * @return Name of the world - */ -inline const std::string& CollisionWorld::getName() const { - return mName; -} - -#ifdef IS_PROFILING_ACTIVE - -// Return a pointer to the profiler -/** - * @return A pointer to the profiler - */ -inline Profiler* CollisionWorld::getProfiler() { - return mProfiler; -} - -#endif - -#ifdef IS_LOGGING_ACTIVE - -// Return a pointer to the logger -/** - * @return A pointer to the logger - */ -inline Logger* CollisionWorld::getLogger() { - return mLogger; -} - -#endif - -} - -#endif diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h deleted file mode 100644 index 2f5cc868..00000000 --- a/src/engine/DynamicsWorld.h +++ /dev/null @@ -1,415 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2019 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_DYNAMICS_WORLD_H -#define REACTPHYSICS3D_DYNAMICS_WORLD_H - -// Libraries -#include "CollisionWorld.h" -#include "systems/ConstraintSolverSystem.h" -#include "configuration.h" -#include "utils/Logger.h" -#include "systems/ContactSolverSystem.h" -#include "systems/DynamicsSystem.h" -#include "engine/Islands.h" - -/// Namespace ReactPhysics3D -namespace reactphysics3d { - -// Declarations -class CollisionDetectionSystem; -class Island; -class RigidBody; - -// Class DynamicsWorld -/** - * This class represents a dynamics world. This class inherits from - * the CollisionWorld class. In a dynamics world, bodies can collide - * and their movements are simulated using the laws of physics. - */ -class DynamicsWorld : public CollisionWorld { - - protected : - - // -------------------- Attributes -------------------- // - - /// All the islands of bodies of the current frame - Islands mIslands; - - /// Contact solver system - ContactSolverSystem mContactSolverSystem; - - /// Constraint solver system - ConstraintSolverSystem mConstraintSolverSystem; - - /// Dynamics system - DynamicsSystem mDynamicsSystem; - - /// Number of iterations for the velocity solver of the Sequential Impulses technique - uint mNbVelocitySolverIterations; - - /// Number of iterations for the position solver of the Sequential Impulses technique - uint mNbPositionSolverIterations; - - /// True if the spleeping technique for inactive bodies is enabled - bool mIsSleepingEnabled; - - /// All the rigid bodies of the physics world - List mRigidBodies; - - /// Gravity vector of the world - Vector3 mGravity; - - /// True if the gravity force is on - bool mIsGravityEnabled; - - /// Sleep linear velocity threshold - decimal mSleepLinearVelocity; - - /// Sleep angular velocity threshold - decimal mSleepAngularVelocity; - - /// Time (in seconds) before a body is put to sleep if its velocity - /// becomes smaller than the sleep velocity. - decimal mTimeBeforeSleep; - - /// Current joint id - uint mCurrentJointId; - - // -------------------- Methods -------------------- // - - /// Constructor - DynamicsWorld(const Vector3& mGravity, MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), - Logger* logger = nullptr, Profiler* profiler = nullptr); - - /// Solve the contacts and constraints - void solveContactsAndConstraints(decimal timeStep); - - /// Solve the position error correction of the constraints - void solvePositionCorrection(); - - /// Compute the islands of awake bodies. - void computeIslands(); - - /// Compute the islands using potential contacts and joints and create the actual contacts. - void createIslands(); - - /// Put bodies to sleep if needed. - void updateSleepingBodies(decimal timeStep); - - /// Add the joint to the list of joints of the two bodies involved in the joint - void addJointToBodies(Entity body1, Entity body2, Entity joint); - - /// Destructor - virtual ~DynamicsWorld() override; - - public : - - // -------------------- Methods -------------------- // - - /// Deleted copy-constructor - DynamicsWorld(const DynamicsWorld& world) = delete; - - /// Deleted assignment operator - DynamicsWorld& operator=(const DynamicsWorld& world) = delete; - - /// Update the physics simulation - void update(decimal timeStep); - - /// Get the number of iterations for the velocity constraint solver - uint getNbIterationsVelocitySolver() const; - - /// Set the number of iterations for the velocity constraint solver - void setNbIterationsVelocitySolver(uint nbIterations); - - /// Get the number of iterations for the position constraint solver - uint getNbIterationsPositionSolver() const; - - /// Set the number of iterations for the position constraint solver - void setNbIterationsPositionSolver(uint nbIterations); - - /// Set the position correction technique used for contacts - void setContactsPositionCorrectionTechnique(ContactsPositionCorrectionTechnique technique); - - /// Set the position correction technique used for joints - void setJointsPositionCorrectionTechnique(JointsPositionCorrectionTechnique technique); - - /// Create a rigid body into the physics world. - RigidBody* createRigidBody(const Transform& transform); - - /// Disable the joints for pair of sleeping bodies - void disableJointsOfSleepingBodies(); - - /// Destroy a rigid body and all the joints which it belongs - void destroyRigidBody(RigidBody* rigidBody); - - /// Create a joint between two bodies in the world and return a pointer to the new joint - Joint* createJoint(const JointInfo& jointInfo); - - /// Destroy a joint - void destroyJoint(Joint* joint); - - /// Return the gravity vector of the world - Vector3 getGravity() const; - - /// Set the gravity vector of the world - void setGravity(Vector3& gravity); - - /// Return if the gravity is on - bool isGravityEnabled() const; - - /// Enable/Disable the gravity - void setIsGratityEnabled(bool isGravityEnabled); - - /// Return true if the sleeping technique is enabled - bool isSleepingEnabled() const; - - /// Enable/Disable the sleeping technique - void enableSleeping(bool isSleepingEnabled); - - /// Return the current sleep linear velocity - decimal getSleepLinearVelocity() const; - - /// Set the sleep linear velocity. - void setSleepLinearVelocity(decimal sleepLinearVelocity); - - /// Return the current sleep angular velocity - decimal getSleepAngularVelocity() const; - - /// Set the sleep angular velocity. - void setSleepAngularVelocity(decimal sleepAngularVelocity); - - /// Return the time a body is required to stay still before sleeping - decimal getTimeBeforeSleep() const; - - /// Set the time a body is required to stay still before sleeping - void setTimeBeforeSleep(decimal timeBeforeSleep); - - /// Set an event listener object to receive events callbacks. - void setEventListener(EventListener* eventListener); - - // -------------------- Friendship -------------------- // - - friend class PhysicsCommon; - friend class RigidBody; - friend class Joint; - friend class BallAndSocketJoint; - friend class FixedJoint; - friend class HingeJoint; - friend class SliderJoint; -}; - -// Get the number of iterations for the velocity constraint solver -/** - * @return The number of iterations of the velocity constraint solver - */ -inline uint DynamicsWorld::getNbIterationsVelocitySolver() const { - return mNbVelocitySolverIterations; -} - -// Set the number of iterations for the velocity constraint solver -/** - * @param nbIterations Number of iterations for the velocity solver - */ -inline void DynamicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { - mNbVelocitySolverIterations = nbIterations; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: Set nb iterations velocity solver to " + std::to_string(nbIterations)); -} - -// Get the number of iterations for the position constraint solver -/** - * @return The number of iterations of the position constraint solver - */ -inline uint DynamicsWorld::getNbIterationsPositionSolver() const { - return mNbPositionSolverIterations; -} - -// Set the number of iterations for the position constraint solver -/** - * @param nbIterations Number of iterations for the position solver - */ -inline void DynamicsWorld::setNbIterationsPositionSolver(uint nbIterations) { - mNbPositionSolverIterations = nbIterations; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: Set nb iterations position solver to " + std::to_string(nbIterations)); -} - -// Set the position correction technique used for contacts -/** - * @param technique Technique used for the position correction (Baumgarte or Split Impulses) - */ -inline void DynamicsWorld::setContactsPositionCorrectionTechnique( - ContactsPositionCorrectionTechnique technique) { - if (technique == ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS) { - mContactSolverSystem.setIsSplitImpulseActive(false); - } - else { - mContactSolverSystem.setIsSplitImpulseActive(true); - } -} - -// Set the position correction technique used for joints -/** - * @param technique Technique used for the joins position correction (Baumgarte or Non Linear Gauss Seidel) - */ -inline void DynamicsWorld::setJointsPositionCorrectionTechnique( - JointsPositionCorrectionTechnique technique) { - if (technique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { - mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(false); - } - else { - mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(true); - } -} - -// Return the gravity vector of the world -/** - * @return The current gravity vector (in meter per seconds squared) - */ -inline Vector3 DynamicsWorld::getGravity() const { - return mGravity; -} - -// Set the gravity vector of the world -/** - * @param gravity The gravity vector (in meter per seconds squared) - */ -inline void DynamicsWorld::setGravity(Vector3& gravity) { - mGravity = gravity; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: Set gravity vector to " + gravity.to_string()); -} - -// Return if the gravity is enaled -/** - * @return True if the gravity is enabled in the world - */ -inline bool DynamicsWorld::isGravityEnabled() const { - return mIsGravityEnabled; -} - -// Enable/Disable the gravity -/** - * @param isGravityEnabled True if you want to enable the gravity in the world - * and false otherwise - */ -inline void DynamicsWorld::setIsGratityEnabled(bool isGravityEnabled) { - mIsGravityEnabled = isGravityEnabled; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false"))); -} - -// Return true if the sleeping technique is enabled -/** - * @return True if the sleeping technique is enabled and false otherwise - */ -inline bool DynamicsWorld::isSleepingEnabled() const { - return mIsSleepingEnabled; -} - -// Return the current sleep linear velocity -/** - * @return The sleep linear velocity (in meters per second) - */ -inline decimal DynamicsWorld::getSleepLinearVelocity() const { - return mSleepLinearVelocity; -} - -// Set the sleep linear velocity. -/// When the velocity of a body becomes smaller than the sleep linear/angular -/// velocity for a given amount of time, the body starts sleeping and does not need -/// to be simulated anymore. -/** - * @param sleepLinearVelocity The sleep linear velocity (in meters per second) - */ -inline void DynamicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) { - assert(sleepLinearVelocity >= decimal(0.0)); - mSleepLinearVelocity = sleepLinearVelocity; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity)); -} - -// Return the current sleep angular velocity -/** - * @return The sleep angular velocity (in radian per second) - */ -inline decimal DynamicsWorld::getSleepAngularVelocity() const { - return mSleepAngularVelocity; -} - -// Set the sleep angular velocity. -/// When the velocity of a body becomes smaller than the sleep linear/angular -/// velocity for a given amount of time, the body starts sleeping and does not need -/// to be simulated anymore. -/** - * @param sleepAngularVelocity The sleep angular velocity (in radian per second) - */ -inline void DynamicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) { - assert(sleepAngularVelocity >= decimal(0.0)); - mSleepAngularVelocity = sleepAngularVelocity; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity)); -} - -// Return the time a body is required to stay still before sleeping -/** - * @return Time a body is required to stay still before sleeping (in seconds) - */ -inline decimal DynamicsWorld::getTimeBeforeSleep() const { - return mTimeBeforeSleep; -} - -// Set the time a body is required to stay still before sleeping -/** - * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds) - */ -inline void DynamicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) { - assert(timeBeforeSleep >= decimal(0.0)); - mTimeBeforeSleep = timeBeforeSleep; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep)); -} - -// Set an event listener object to receive events callbacks. -/// If you use "nullptr" as an argument, the events callbacks will be disabled. -/** - * @param eventListener Pointer to the event listener object that will receive - * event callbacks during the simulation - */ -inline void DynamicsWorld::setEventListener(EventListener* eventListener) { - mEventListener = eventListener; -} - -} - -#endif diff --git a/src/engine/EventListener.h b/src/engine/EventListener.h index 402c4b73..97a9f6ec 100644 --- a/src/engine/EventListener.h +++ b/src/engine/EventListener.h @@ -36,7 +36,7 @@ namespace reactphysics3d { * This class can be used to receive event callbacks from the physics engine. * In order to receive callbacks, you need to create a new class that inherits from * this one and you must override the methods you need. Then, you need to register your - * new event listener class to the physics world using the DynamicsWorld::setEventListener() + * new event listener class to the physics world using the PhysicsWorld::setEventListener() * method. */ class EventListener : public CollisionCallback { diff --git a/src/engine/Island.h b/src/engine/Island.h index 08a3228f..9d8da4c4 100644 --- a/src/engine/Island.h +++ b/src/engine/Island.h @@ -101,7 +101,7 @@ class Island { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; }; // Add a body into the island diff --git a/src/engine/Material.cpp b/src/engine/Material.cpp index 94ff516e..22a751e5 100644 --- a/src/engine/Material.cpp +++ b/src/engine/Material.cpp @@ -29,16 +29,14 @@ using namespace reactphysics3d; // Constructor -Material::Material(const WorldSettings& worldSettings) - : mFrictionCoefficient(worldSettings.defaultFrictionCoefficient), - mRollingResistance(worldSettings.defaultRollingRestistance), - mBounciness(worldSettings.defaultBounciness) { +Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness) + : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness) { } // Copy-constructor Material::Material(const Material& material) - : mFrictionCoefficient(material.mFrictionCoefficient), - mRollingResistance(material.mRollingResistance), mBounciness(material.mBounciness) { + : mFrictionCoefficient(material.mFrictionCoefficient), mRollingResistance(material.mRollingResistance), + mBounciness(material.mBounciness) { } diff --git a/src/engine/Material.h b/src/engine/Material.h index 4df3fd23..c122b00b 100644 --- a/src/engine/Material.h +++ b/src/engine/Material.h @@ -53,12 +53,10 @@ class Material { /// Bounciness during collisions (between 0 and 1) where 1 is for a very bouncy body decimal mBounciness; - public : - // -------------------- Methods -------------------- // /// Constructor - Material(const WorldSettings& worldSettings); + Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness); /// Copy-constructor Material(const Material& material); @@ -66,6 +64,10 @@ class Material { /// Destructor ~Material() = default; + public : + + // -------------------- Methods -------------------- // + /// Return the bounciness decimal getBounciness() const; @@ -89,6 +91,10 @@ class Material { /// Overloaded assignment operator Material& operator=(const Material& material); + + // ---------- Friendship ---------- // + + friend class RigidBody; }; // Return the bounciness diff --git a/src/engine/OverlappingPairs.h b/src/engine/OverlappingPairs.h index 5e08d000..80948c13 100644 --- a/src/engine/OverlappingPairs.h +++ b/src/engine/OverlappingPairs.h @@ -291,7 +291,7 @@ class OverlappingPairs { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; friend class CollisionDetectionSystem; }; diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 0a29c7d4..1944e6cc 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -30,8 +30,8 @@ using namespace reactphysics3d; /// Constructor PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) - : mMemoryManager(baseMemoryAllocator), mCollisionWorlds(mMemoryManager.getHeapAllocator()), - mDynamicsWorlds(mMemoryManager.getHeapAllocator()), mSphereShapes(mMemoryManager.getHeapAllocator()), + : mMemoryManager(baseMemoryAllocator), + mPhysicsWorlds(mMemoryManager.getHeapAllocator()), mSphereShapes(mMemoryManager.getHeapAllocator()), mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()), mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()), mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()), @@ -49,14 +49,9 @@ PhysicsCommon::~PhysicsCommon() { // Destroy and release everything that has been allocated void PhysicsCommon::release() { - // Destroy the collision worlds - for (auto it = mCollisionWorlds.begin(); it != mCollisionWorlds.end(); ++it) { - destroyCollisionWorld(*it); - } - - // Destroy the dynamics worlds - for (auto it = mDynamicsWorlds.begin(); it != mDynamicsWorlds.end(); ++it) { - destroyDynamicsWorld(*it); + // Destroy the physics worlds + for (auto it = mPhysicsWorlds.begin(); it != mPhysicsWorlds.end(); ++it) { + destroyPhysicsWorld(*it); } // Destroy the sphere shapes @@ -100,48 +95,26 @@ void PhysicsCommon::release() { } } -// Create and return an instance of CollisionWorld -CollisionWorld* PhysicsCommon::createCollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { +// Create and return an instance of PhysicsWorld +PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { - CollisionWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(CollisionWorld))) CollisionWorld(mMemoryManager, worldSettings, logger, profiler); - mCollisionWorlds.add(world); + PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler); + + mPhysicsWorlds.add(world); return world; } -// Destroy an instance of CollisionWorld -void PhysicsCommon::destroyCollisionWorld(CollisionWorld* world) { +// Destroy an instance of PhysicsWorld +PhysicsWorld* PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) { // Call the destructor of the world - world->~CollisionWorld(); + world->~PhysicsWorld(); // Release allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(CollisionWorld)); + mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(PhysicsWorld)); - mCollisionWorlds.remove(world); -} - -// Create and return an instance of DynamicsWorld -DynamicsWorld* PhysicsCommon::createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings, - Logger* logger, Profiler* profiler) { - - DynamicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(DynamicsWorld))) DynamicsWorld(gravity, mMemoryManager, worldSettings, logger, profiler); - - mDynamicsWorlds.add(world); - - return world; -} - -// Destroy an instance of DynamicsWorld -DynamicsWorld* PhysicsCommon::destroyDynamicsWorld(DynamicsWorld* world) { - - // Call the destructor of the world - world->~DynamicsWorld(); - - // Release allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Heap, world, sizeof(DynamicsWorld)); - - mDynamicsWorlds.remove(world); + mPhysicsWorlds.remove(world); } // Create and return a sphere collision shape diff --git a/src/engine/PhysicsCommon.h b/src/engine/PhysicsCommon.h index e64b37d0..d454aa01 100644 --- a/src/engine/PhysicsCommon.h +++ b/src/engine/PhysicsCommon.h @@ -28,8 +28,7 @@ // Libraries #include "memory/MemoryManager.h" -#include "engine/CollisionWorld.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "collision/shapes/SphereShape.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/CapsuleShape.h" @@ -56,11 +55,8 @@ class PhysicsCommon { /// Memory manager MemoryManager mMemoryManager; - /// Set of collision worlds - Set mCollisionWorlds; - - /// Set of dynamics worlds - Set mDynamicsWorlds; + /// Set of physics worlds + Set mPhysicsWorlds; /// Set of sphere shapes Set mSphereShapes; @@ -104,19 +100,12 @@ class PhysicsCommon { /// Destructor ~PhysicsCommon(); - /// Create and return an instance of CollisionWorld - CollisionWorld* createCollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr, - Profiler* profiler = nullptr); - - /// Destroy an instance of CollisionWorld - void destroyCollisionWorld(CollisionWorld* world); - - /// Create and return an instance of DynamicsWorld - DynamicsWorld* createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings = WorldSettings(), + /// Create and return an instance of PhysicsWorld + PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(), Logger* logger = nullptr, Profiler* profiler = nullptr); - /// Destroy an instance of DynamicsWorld - DynamicsWorld* destroyDynamicsWorld(DynamicsWorld* world); + /// Destroy an instance of PhysicsWorld + PhysicsWorld* destroyPhysicsWorld(PhysicsWorld* world); /// Create and return a sphere collision shape SphereShape* createSphereShape(const decimal radius); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/PhysicsWorld.cpp similarity index 72% rename from src/engine/DynamicsWorld.cpp rename to src/engine/PhysicsWorld.cpp index 85334247..e064fe1f 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "DynamicsWorld.h" +#include "PhysicsWorld.h" #include "constraint/BallAndSocketJoint.h" #include "constraint/SliderJoint.h" #include "constraint/HingeJoint.h" @@ -32,7 +32,6 @@ #include "utils/Profiler.h" #include "engine/EventListener.h" #include "engine/Island.h" -#include "engine/Islands.h" #include "collision/ContactManifold.h" #include "containers/Stack.h" @@ -40,6 +39,10 @@ using namespace reactphysics3d; using namespace std; +// Static initializations + +uint PhysicsWorld::mNbWorlds = 0; + // Constructor /** * @param gravity Gravity vector in the world (in meters per second squared) @@ -47,38 +50,129 @@ using namespace std; * @param logger Pointer to the logger * @param profiler Pointer to the profiler */ -DynamicsWorld::DynamicsWorld(const Vector3& gravity, MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) - : CollisionWorld(memoryManager, worldSettings, logger, profiler), - mIslands(mMemoryManager.getSingleFrameAllocator()), +PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) + : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), + mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), + mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), + mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), + mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), + mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, + mMemoryManager), + mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), + mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), + mIsLoggerCreatedByUser(logger != nullptr), mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, - mCollidersComponents, mConfig), + mCollidersComponents, mConfig.restitutionVelocityThreshold), mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents, mSliderJointsComponents), - mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mCollidersComponents, mIsGravityEnabled, mGravity), + mDynamicsSystem(*this, mCollisionBodyComponents, mRigidBodyComponents, mTransformComponents, mCollidersComponents, mIsGravityEnabled, mConfig.gravity), mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), - mGravity(gravity), mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), + mIsGravityEnabled(true), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep), mCurrentJointId(0) { + // Automatically generate a name for the world + if (mName == "") { + + std::stringstream ss; + ss << "world"; + + if (mNbWorlds > 0) { + ss << mNbWorlds; + } + + mName = ss.str(); + } + #ifdef IS_PROFILING_ACTIVE - // Set the profiler + mProfiler = profiler; + + // If the user has not provided its own profiler, we create one + if (mProfiler == nullptr) { + + mProfiler = new Profiler(); + + // Add a destination file for the profiling data + mProfiler->addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text); + } + + + // Set the profiler mConstraintSolverSystem.setProfiler(mProfiler); mContactSolverSystem.setProfiler(mProfiler); mDynamicsSystem.setProfiler(mProfiler); + mCollisionDetection.setProfiler(mProfiler); #endif +#ifdef IS_LOGGING_ACTIVE + + mLogger = logger; + + // If the user has not provided its own logger, we create one + if (mLogger == nullptr) { + + mLogger = new Logger(); + + // Add a log destination file + uint logLevel = static_cast(Logger::Level::Information) | static_cast(Logger::Level::Warning) | + static_cast(Logger::Level::Error); + mLogger->addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML); + } + +#endif + + mNbWorlds++; + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: Dynamics world " + mName + " has been created"); + "Physics World: Physics world " + mName + " has been created"); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Initial world settings: " + worldSettings.to_string()); + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Physics world " + mName + " has been created"); } // Destructor -DynamicsWorld::~DynamicsWorld() { +PhysicsWorld::~PhysicsWorld() { + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Physics world " + mName + " has been destroyed"); + + // Destroy all the collision bodies that have not been removed + for (int i=mBodies.size() - 1 ; i >= 0; i--) { + destroyCollisionBody(mBodies[i]); + } + +#ifdef IS_PROFILING_ACTIVE + + /// Delete the profiler + if (!mIsProfilerCreatedByUser) { + delete mProfiler; + } + + // Print the profiling report into the destinations + mProfiler->printReport(); + +#endif + +#ifdef IS_LOGGING_ACTIVE + + /// Delete the logger + if (!mIsLoggerCreatedByUser) { + delete mLogger; + } + +#endif + + assert(mBodies.size() == 0); + assert(mCollisionBodyComponents.getNbComponents() == 0); + assert(mTransformComponents.getNbComponents() == 0); + assert(mCollidersComponents.getNbComponents() == 0); // Destroy all the joints that have not been removed for (uint32 i=0; i < mJointsComponents.getNbComponents(); i++) { destroyJoint(mJointsComponents.mJoints[i]); @@ -92,28 +186,184 @@ DynamicsWorld::~DynamicsWorld() { assert(mJointsComponents.getNbComponents() == 0); assert(mRigidBodies.size() == 0); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Physics world " + mName + " has been destroyed"); +} + +// Create a collision body and add it to the world +/** + * @param transform Transformation mapping the local-space of the body to world-space + * @return A pointer to the body that has been created in the world + */ +CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { + + // Create a new entity for the body + Entity entity = mEntityManager.createEntity(); + + mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform)); + + // Create the collision body + CollisionBody* collisionBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, + sizeof(CollisionBody))) + CollisionBody(*this, entity); + + assert(collisionBody != nullptr); + + // Add the components + CollisionBodyComponents::CollisionBodyComponent bodyComponent(collisionBody); + mCollisionBodyComponents.addComponent(entity, false, bodyComponent); + + // Add the collision body to the world + mBodies.add(collisionBody); + #ifdef IS_PROFILING_ACTIVE - // Print the profiling report into the destinations - mProfiler->printReport(); + collisionBody->setProfiler(mProfiler); + #endif - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: Dynamics world " + mName + " has been destroyed"); +#ifdef IS_LOGGING_ACTIVE + collisionBody->setLogger(mLogger); +#endif + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(entity.id) + ": New collision body created"); + + // Return the pointer to the rigid body + return collisionBody; +} + +// Destroy a collision body +/** + * @param collisionBody Pointer to the body to destroy + */ +void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) { + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed"); + + // Remove all the collision shapes of the body + collisionBody->removeAllCollisionShapes(); + + mCollisionBodyComponents.removeComponent(collisionBody->getEntity()); + mTransformComponents.removeComponent(collisionBody->getEntity()); + mEntityManager.destroyEntity(collisionBody->getEntity()); + + // Call the destructor of the collision body + collisionBody->~CollisionBody(); + + // Remove the collision body from the list of bodies + mBodies.remove(collisionBody); + + // Free the object from the memory allocator + mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody)); +} + +// Notify the world if a body is disabled (sleeping) or not +void PhysicsWorld::setBodyDisabled(Entity bodyEntity, bool isDisabled) { + + if (isDisabled == mCollisionBodyComponents.getIsEntityDisabled(bodyEntity)) return; + + // Notify all the components + mCollisionBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); + mTransformComponents.setIsEntityDisabled(bodyEntity, isDisabled); + + if (mRigidBodyComponents.hasComponent(bodyEntity)) { + mRigidBodyComponents.setIsEntityDisabled(bodyEntity, isDisabled); + } + + // For each collider of the body + const List& collidersEntities = mCollisionBodyComponents.getColliders(bodyEntity); + for (uint i=0; i < collidersEntities.size(); i++) { + + mCollidersComponents.setIsEntityDisabled(collidersEntities[i], isDisabled); + } + + // Disable the joints of the body if necessary + if (mRigidBodyComponents.hasComponent(bodyEntity)) { + + // For each joint of the body + const List& joints = mRigidBodyComponents.getJoints(bodyEntity); + for(uint32 i=0; i < joints.size(); i++) { + + const Entity body1Entity = mJointsComponents.getBody1Entity(joints[i]); + const Entity body2Entity = mJointsComponents.getBody2Entity(joints[i]); + + // If both bodies of the joint are disabled + if (mRigidBodyComponents.getIsEntityDisabled(body1Entity) && + mRigidBodyComponents.getIsEntityDisabled(body2Entity)) { + + // We disable the joint + setJointDisabled(joints[i], true); + } + else { + + // Enable the joint + setJointDisabled(joints[i], false); + } + } + } +} + +// Notify the world whether a joint is disabled or not +void PhysicsWorld::setJointDisabled(Entity jointEntity, bool isDisabled) { + + if (isDisabled == mJointsComponents.getIsEntityDisabled(jointEntity)) return; + + mJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + if (mBallAndSocketJointsComponents.hasComponent(jointEntity)) { + mBallAndSocketJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } + if (mFixedJointsComponents.hasComponent(jointEntity)) { + mFixedJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } + if (mHingeJointsComponents.hasComponent(jointEntity)) { + mHingeJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } + if (mSliderJointsComponents.hasComponent(jointEntity)) { + mSliderJointsComponents.setIsEntityDisabled(jointEntity, isDisabled); + } +} + +// Return true if two bodies overlap +/// Use this method if you are not interested in contacts but if you simply want to know +/// if the two bodies overlap. If you want to get the contacts, you need to use the +/// testCollision() method instead. +/** + * @param body1 Pointer to the first body + * @param body2 Pointer to a second body + * @return True if the two bodies overlap + */ +bool PhysicsWorld::testOverlap(CollisionBody* body1, CollisionBody* body2) { + return mCollisionDetection.testOverlap(body1, body2); +} + +// Return the current world-space AABB of given collider +/** + * @param collider Pointer to a collider + * @return The AAABB of the collider in world-space + */ +AABB PhysicsWorld::getWorldAABB(const Collider* collider) const { + + if (collider->getBroadPhaseId() == -1) { + return AABB(); + } + + return mCollisionDetection.getWorldAABB(collider); } // Update the physics simulation /** * @param timeStep The amount of time to step the simulation by (in seconds) */ -void DynamicsWorld::update(decimal timeStep) { +void PhysicsWorld::update(decimal timeStep) { #ifdef IS_PROFILING_ACTIVE // Increment the frame counter of the profiler mProfiler->incrementFrameCounter(); #endif - RP3D_PROFILE("DynamicsWorld::update()", mProfiler); + RP3D_PROFILE("PhysicsWorld::update()", mProfiler); // Compute the collision detection mCollisionDetection.computeCollisionDetection(); @@ -159,9 +409,9 @@ void DynamicsWorld::update(decimal timeStep) { // Solve the contacts and constraints -void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) { +void PhysicsWorld::solveContactsAndConstraints(decimal timeStep) { - RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler); + RP3D_PROFILE("PhysicsWorld::solveContactsAndConstraints()", mProfiler); // ---------- Solve velocity constraints for joints and contacts ---------- // @@ -186,9 +436,9 @@ void DynamicsWorld::solveContactsAndConstraints(decimal timeStep) { } // Solve the position error correction of the constraints -void DynamicsWorld::solvePositionCorrection() { +void PhysicsWorld::solvePositionCorrection() { - RP3D_PROFILE("DynamicsWorld::solvePositionCorrection()", mProfiler); + RP3D_PROFILE("PhysicsWorld::solvePositionCorrection()", mProfiler); // ---------- Solve the position error correction for the constraints ---------- // @@ -201,7 +451,7 @@ void DynamicsWorld::solvePositionCorrection() { } // Disable the joints for pair of sleeping bodies -void DynamicsWorld::disableJointsOfSleepingBodies() { +void PhysicsWorld::disableJointsOfSleepingBodies() { // For each joint for (uint32 i=0; i < mJointsComponents.getNbEnabledComponents(); i++) { @@ -223,7 +473,7 @@ void DynamicsWorld::disableJointsOfSleepingBodies() { * @param transform Transformation from body local-space to world-space * @return A pointer to the body that has been created in the world */ -RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { +RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { // Create a new entity for the body Entity entity = mEntityManager.createEntity(); @@ -267,7 +517,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) { /** * @param rigidBody Pointer to the body you want to destroy */ -void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { +void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed"); @@ -303,7 +553,7 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) { * @param jointInfo The information that is necessary to create the joint * @return A pointer to the joint that has been created in the world */ -Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { +Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) { // Create a new entity for the joint Entity entity = mEntityManager.createEntity(); @@ -426,7 +676,7 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) { /** * @param joint Pointer to the joint you want to destroy */ -void DynamicsWorld::destroyJoint(Joint* joint) { +void PhysicsWorld::destroyJoint(Joint* joint) { assert(joint != nullptr); @@ -479,7 +729,7 @@ void DynamicsWorld::destroyJoint(Joint* joint) { } // Add the joint to the list of joints of the two bodies involved in the joint -void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { +void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { mRigidBodyComponents.addJointToBody(body1, joint); @@ -502,12 +752,12 @@ void DynamicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { /// (graph where nodes are the bodies and where the edges are the constraints between the bodies) to /// find all the bodies that are connected with it (the bodies that share joints or contacts with /// it). Then, we create an island with this group of connected bodies. -void DynamicsWorld::createIslands() { +void PhysicsWorld::createIslands() { // list of contact pairs involving a non-rigid body List nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator()); - RP3D_PROFILE("DynamicsWorld::createIslands()", mProfiler); + RP3D_PROFILE("PhysicsWorld::createIslands()", mProfiler); // Reset all the isAlreadyInIsland variables of bodies and joints for (uint b=0; b < mRigidBodyComponents.getNbComponents(); b++) { @@ -640,9 +890,9 @@ void DynamicsWorld::createIslands() { // Put bodies to sleep if needed. /// For each island, if all the bodies have been almost still for a long enough period of /// time, we put all the bodies of the island to sleep. -void DynamicsWorld::updateSleepingBodies(decimal timeStep) { +void PhysicsWorld::updateSleepingBodies(decimal timeStep) { - RP3D_PROFILE("DynamicsWorld::updateSleepingBodies()", mProfiler); + RP3D_PROFILE("PhysicsWorld::updateSleepingBodies()", mProfiler); const decimal sleepLinearVelocitySquare = mSleepLinearVelocity * mSleepLinearVelocity; const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity; @@ -704,7 +954,7 @@ void DynamicsWorld::updateSleepingBodies(decimal timeStep) { * @param isSleepingEnabled True if you want to enable the sleeping technique * and false otherwise */ -void DynamicsWorld::enableSleeping(bool isSleepingEnabled) { +void PhysicsWorld::enableSleeping(bool isSleepingEnabled) { mIsSleepingEnabled = isSleepingEnabled; if (!mIsSleepingEnabled) { @@ -719,5 +969,5 @@ void DynamicsWorld::enableSleeping(bool isSleepingEnabled) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Dynamics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) ); + "Physics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) ); } diff --git a/src/engine/PhysicsWorld.h b/src/engine/PhysicsWorld.h new file mode 100644 index 00000000..5d02c876 --- /dev/null +++ b/src/engine/PhysicsWorld.h @@ -0,0 +1,786 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2019 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_PHYSICS_WORLD_H +#define REACTPHYSICS3D_PHYSICS_WORLD_H + +// Libraries +#include "mathematics/mathematics.h" +#include "containers/List.h" +#include "constraint/Joint.h" +#include "memory/MemoryManager.h" +#include "engine/EntityManager.h" +#include "components/CollisionBodyComponents.h" +#include "components/RigidBodyComponents.h" +#include "components/TransformComponents.h" +#include "components/ColliderComponents.h" +#include "components/JointComponents.h" +#include "components/BallAndSocketJointComponents.h" +#include "components/FixedJointComponents.h" +#include "components/HingeJointComponents.h" +#include "components/SliderJointComponents.h" +#include "collision/CollisionCallback.h" +#include "collision/OverlapCallback.h" +#include "configuration.h" +#include "utils/Logger.h" +#include "systems/ConstraintSolverSystem.h" +#include "systems/CollisionDetectionSystem.h" +#include "systems/ContactSolverSystem.h" +#include "systems/DynamicsSystem.h" +#include "engine/Islands.h" +#include + +/// Namespace ReactPhysics3D +namespace reactphysics3d { + +// Declarations +class Island; +class RigidBody; +struct JointInfo; + +// Class PhysicsWorld +/** + * This class represents a physics world. + */ +class PhysicsWorld { + + public: + + /// Structure WorldSettings + /** + * This class is used to describe some settings of a physics world. + */ + struct WorldSettings { + + /// Name of the world + std::string worldName; + + /// Gravity vector of the world + Vector3 gravity; + + /// Distance threshold for two contact points for a valid persistent contact (in meters) + decimal persistentContactDistanceThreshold; + + /// Default friction coefficient for a rigid body + decimal defaultFrictionCoefficient; + + /// Default bounciness factor for a rigid body + decimal defaultBounciness; + + /// Velocity threshold for contact velocity restitution + decimal restitutionVelocityThreshold; + + /// Default rolling resistance + decimal defaultRollingRestistance; + + /// True if the sleeping technique is enabled + bool isSleepingEnabled; + + /// Number of iterations when solving the velocity constraints of the Sequential Impulse technique + uint defaultVelocitySolverNbIterations; + + /// Number of iterations when solving the position constraints of the Sequential Impulse technique + uint defaultPositionSolverNbIterations; + + /// Time (in seconds) that a body must stay still to be considered sleeping + float defaultTimeBeforeSleep; + + /// A body with a linear velocity smaller than the sleep linear velocity (in m/s) + /// might enter sleeping mode. + decimal defaultSleepLinearVelocity; + + /// A body with angular velocity smaller than the sleep angular velocity (in rad/s) + /// might enter sleeping mode + decimal defaultSleepAngularVelocity; + + /// Maximum number of contact manifolds in an overlapping pair + uint nbMaxContactManifolds; + + /// This is used to test if two contact manifold are similar (same contact normal) in order to + /// merge them. If the cosine of the angle between the normals of the two manifold are larger + /// than the value bellow, the manifold are considered to be similar. + decimal cosAngleSimilarContactManifold; + + WorldSettings() { + + worldName = ""; + gravity = Vector3(0, decimal(-9.81), 0); + persistentContactDistanceThreshold = decimal(0.03); + defaultFrictionCoefficient = decimal(0.3); + defaultBounciness = decimal(0.5); + restitutionVelocityThreshold = decimal(0.5); + defaultRollingRestistance = decimal(0.0); + isSleepingEnabled = true; + defaultVelocitySolverNbIterations = 10; + defaultPositionSolverNbIterations = 5; + defaultTimeBeforeSleep = 1.0f; + defaultSleepLinearVelocity = decimal(0.02); + defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0)); + nbMaxContactManifolds = 3; + cosAngleSimilarContactManifold = decimal(0.95); + + } + + ~WorldSettings() = default; + + /// Return a string with the world settings + std::string to_string() const { + + std::stringstream ss; + + ss << "worldName=" << worldName << std::endl; + ss << "gravity=" << gravity.to_string() << std::endl; + ss << "persistentContactDistanceThreshold=" << persistentContactDistanceThreshold << std::endl; + ss << "defaultFrictionCoefficient=" << defaultFrictionCoefficient << std::endl; + ss << "defaultBounciness=" << defaultBounciness << std::endl; + ss << "restitutionVelocityThreshold=" << restitutionVelocityThreshold << std::endl; + ss << "defaultRollingRestistance=" << defaultRollingRestistance << std::endl; + ss << "isSleepingEnabled=" << isSleepingEnabled << std::endl; + ss << "defaultVelocitySolverNbIterations=" << defaultVelocitySolverNbIterations << std::endl; + ss << "defaultPositionSolverNbIterations=" << defaultPositionSolverNbIterations << std::endl; + ss << "defaultTimeBeforeSleep=" << defaultTimeBeforeSleep << std::endl; + ss << "defaultSleepLinearVelocity=" << defaultSleepLinearVelocity << std::endl; + ss << "defaultSleepAngularVelocity=" << defaultSleepAngularVelocity << std::endl; + ss << "nbMaxContactManifolds=" << nbMaxContactManifolds << std::endl; + ss << "cosAngleSimilarContactManifold=" << cosAngleSimilarContactManifold << std::endl; + + return ss.str(); + } + }; + + protected : + + // -------------------- Attributes -------------------- // + + /// Memory manager + MemoryManager& mMemoryManager; + + /// Configuration of the physics world + WorldSettings mConfig; + + /// Entity Manager for the ECS + EntityManager mEntityManager; + + /// Collision Body Components + CollisionBodyComponents mCollisionBodyComponents; + + /// Rigid Body Components + RigidBodyComponents mRigidBodyComponents; + + /// Transform Components + TransformComponents mTransformComponents; + + /// Collider Components + ColliderComponents mCollidersComponents; + + /// Joint Components + JointComponents mJointsComponents; + + /// Ball And Socket joints Components + BallAndSocketJointComponents mBallAndSocketJointsComponents; + + /// Fixed joints Components + FixedJointComponents mFixedJointsComponents; + + /// Hinge joints Components + HingeJointComponents mHingeJointsComponents; + + /// Slider joints Components + SliderJointComponents mSliderJointsComponents; + + /// Reference to the collision detection + CollisionDetectionSystem mCollisionDetection; + + /// All the bodies (rigid and soft) of the world + List mBodies; + + /// Pointer to an event listener object + EventListener* mEventListener; + + /// Name of the physics world + std::string mName; + +#ifdef IS_PROFILING_ACTIVE + + /// Real-time hierarchical profiler + Profiler* mProfiler; +#endif + +#ifdef IS_LOGGING_ACTIVE + + /// Logger + Logger* mLogger; +#endif + + /// True if the profiler has been created by the user + bool mIsProfilerCreatedByUser; + + /// True if the logger has been created by the user + bool mIsLoggerCreatedByUser; + + /// Total number of worlds + static uint mNbWorlds; + + /// All the islands of bodies of the current frame + Islands mIslands; + + /// Contact solver system + ContactSolverSystem mContactSolverSystem; + + /// Constraint solver system + ConstraintSolverSystem mConstraintSolverSystem; + + /// Dynamics system + DynamicsSystem mDynamicsSystem; + + /// Number of iterations for the velocity solver of the Sequential Impulses technique + uint mNbVelocitySolverIterations; + + /// Number of iterations for the position solver of the Sequential Impulses technique + uint mNbPositionSolverIterations; + + /// True if the spleeping technique for inactive bodies is enabled + bool mIsSleepingEnabled; + + /// All the rigid bodies of the physics world + List mRigidBodies; + + /// True if the gravity force is on + bool mIsGravityEnabled; + + /// Sleep linear velocity threshold + decimal mSleepLinearVelocity; + + /// Sleep angular velocity threshold + decimal mSleepAngularVelocity; + + /// Time (in seconds) before a body is put to sleep if its velocity + /// becomes smaller than the sleep velocity. + decimal mTimeBeforeSleep; + + /// Current joint id + uint mCurrentJointId; + + // -------------------- Methods -------------------- // + + /// Constructor + PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), + Logger* logger = nullptr, Profiler* profiler = nullptr); + + /// Notify the world if a body is disabled (slepping or inactive) or not + void setBodyDisabled(Entity entity, bool isDisabled); + + /// Notify the world whether a joint is disabled or not + void setJointDisabled(Entity jointEntity, bool isDisabled); + + /// Solve the contacts and constraints + void solveContactsAndConstraints(decimal timeStep); + + /// Solve the position error correction of the constraints + void solvePositionCorrection(); + + /// Compute the islands of awake bodies. + void computeIslands(); + + /// Compute the islands using potential contacts and joints and create the actual contacts. + void createIslands(); + + /// Put bodies to sleep if needed. + void updateSleepingBodies(decimal timeStep); + + /// Add the joint to the list of joints of the two bodies involved in the joint + void addJointToBodies(Entity body1, Entity body2, Entity joint); + + /// Destructor + ~PhysicsWorld(); + + public : + + // -------------------- Methods -------------------- // + + /// Create a collision body + CollisionBody* createCollisionBody(const Transform& transform); + + /// Destroy a collision body + void destroyCollisionBody(CollisionBody* collisionBody); + + /// Get the collision dispatch configuration + CollisionDispatch& getCollisionDispatch(); + + /// Ray cast method + void raycast(const Ray& ray, RaycastCallback* raycastCallback, unsigned short raycastWithCategoryMaskBits = 0xFFFF) const; + + /// Return true if two bodies overlap (collide) + bool testOverlap(CollisionBody* body1, CollisionBody* body2); + + /// Report all the bodies that overlap (collide) with the body in parameter + void testOverlap(CollisionBody* body, OverlapCallback& overlapCallback); + + /// Report all the bodies that overlap (collide) in the world + void testOverlap(OverlapCallback& overlapCallback); + + /// Test collision and report contacts between two bodies. + void testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback); + + /// Test collision and report all the contacts involving the body in parameter + void testCollision(CollisionBody* body, CollisionCallback& callback); + + /// Test collision and report contacts between each colliding bodies in the world + void testCollision(CollisionCallback& callback); + + /// Return a reference to the memory manager of the world + MemoryManager& getMemoryManager(); + + /// Return the current world-space AABB of given collider + AABB getWorldAABB(const Collider* collider) const; + + /// Return the name of the world + const std::string& getName() const; + + /// Deleted copy-constructor + PhysicsWorld(const PhysicsWorld& world) = delete; + + /// Deleted assignment operator + PhysicsWorld& operator=(const PhysicsWorld& world) = delete; + + /// Update the physics simulation + void update(decimal timeStep); + + /// Get the number of iterations for the velocity constraint solver + uint getNbIterationsVelocitySolver() const; + + /// Set the number of iterations for the velocity constraint solver + void setNbIterationsVelocitySolver(uint nbIterations); + + /// Get the number of iterations for the position constraint solver + uint getNbIterationsPositionSolver() const; + + /// Set the number of iterations for the position constraint solver + void setNbIterationsPositionSolver(uint nbIterations); + + /// Set the position correction technique used for contacts + void setContactsPositionCorrectionTechnique(ContactsPositionCorrectionTechnique technique); + + /// Set the position correction technique used for joints + void setJointsPositionCorrectionTechnique(JointsPositionCorrectionTechnique technique); + + /// Create a rigid body into the physics world. + RigidBody* createRigidBody(const Transform& transform); + + /// Disable the joints for pair of sleeping bodies + void disableJointsOfSleepingBodies(); + + /// Destroy a rigid body and all the joints which it belongs + void destroyRigidBody(RigidBody* rigidBody); + + /// Create a joint between two bodies in the world and return a pointer to the new joint + Joint* createJoint(const JointInfo& jointInfo); + + /// Destroy a joint + void destroyJoint(Joint* joint); + + /// Return the gravity vector of the world + Vector3 getGravity() const; + + /// Set the gravity vector of the world + void setGravity(Vector3& gravity); + + /// Return if the gravity is on + bool isGravityEnabled() const; + + /// Enable/Disable the gravity + void setIsGratityEnabled(bool isGravityEnabled); + + /// Return true if the sleeping technique is enabled + bool isSleepingEnabled() const; + + /// Enable/Disable the sleeping technique + void enableSleeping(bool isSleepingEnabled); + + /// Return the current sleep linear velocity + decimal getSleepLinearVelocity() const; + + /// Set the sleep linear velocity. + void setSleepLinearVelocity(decimal sleepLinearVelocity); + + /// Return the current sleep angular velocity + decimal getSleepAngularVelocity() const; + + /// Set the sleep angular velocity. + void setSleepAngularVelocity(decimal sleepAngularVelocity); + + /// Return the time a body is required to stay still before sleeping + decimal getTimeBeforeSleep() const; + + /// Set the time a body is required to stay still before sleeping + void setTimeBeforeSleep(decimal timeBeforeSleep); + + /// Set an event listener object to receive events callbacks. + void setEventListener(EventListener* eventListener); + +#ifdef IS_PROFILING_ACTIVE + + /// Return a reference to the profiler + Profiler* getProfiler(); + +#endif + +#ifdef IS_LOGGING_ACTIVE + + /// Return a reference to the logger + Logger* getLogger(); + +#endif + + // -------------------- Friendship -------------------- // + + friend class CollisionDetectionSystem; + friend class CollisionBody; + friend class Collider; + friend class ConvexMeshShape; + friend class CollisionCallback::ContactPair; + friend class OverlapCallback::OverlapPair; + friend class PhysicsCommon; + friend class RigidBody; + friend class Joint; + friend class BallAndSocketJoint; + friend class FixedJoint; + friend class HingeJoint; + friend class SliderJoint; +}; + +// Set the collision dispatch configuration +/// This can be used to replace default collision detection algorithms by your +/// custom algorithm for instance. +/** + * @param CollisionDispatch Pointer to a collision dispatch object describing + * which collision detection algorithm to use for two given collision shapes + */ +inline CollisionDispatch& PhysicsWorld::getCollisionDispatch() { + return mCollisionDetection.getCollisionDispatch(); +} + +// Ray cast method +/** + * @param ray Ray to use for raycasting + * @param raycastCallback Pointer to the class with the callback method + * @param raycastWithCategoryMaskBits Bits mask corresponding to the category of + * bodies to be raycasted + */ +inline void PhysicsWorld::raycast(const Ray& ray, + RaycastCallback* raycastCallback, + unsigned short raycastWithCategoryMaskBits) const { + mCollisionDetection.raycast(raycastCallback, ray, raycastWithCategoryMaskBits); +} + +// Test collision and report contacts between two bodies. +/// Use this method if you only want to get all the contacts between two bodies. +/// All the contacts will be reported using the callback object in paramater. +/// If you are not interested in the contacts but you only want to know if the bodies collide, +/// you can use the testOverlap() method instead. +/** + * @param body1 Pointer to the first body to test + * @param body2 Pointer to the second body to test + * @param callback Pointer to the object with the callback method + */ +inline void PhysicsWorld::testCollision(CollisionBody* body1, CollisionBody* body2, CollisionCallback& callback) { + mCollisionDetection.testCollision(body1, body2, callback); +} + +// Test collision and report all the contacts involving the body in parameter +/// Use this method if you only want to get all the contacts involving a given body. +/// All the contacts will be reported using the callback object in paramater. +/// If you are not interested in the contacts but you only want to know if the bodies collide, +/// you can use the testOverlap() method instead. +/** + * @param body Pointer to the body against which we need to test collision + * @param callback Pointer to the object with the callback method to report contacts + */ +inline void PhysicsWorld::testCollision(CollisionBody* body, CollisionCallback& callback) { + mCollisionDetection.testCollision(body, callback); +} + +// Test collision and report contacts between each colliding bodies in the world +/// Use this method if you want to get all the contacts between colliding bodies in the world. +/// All the contacts will be reported using the callback object in paramater. +/// If you are not interested in the contacts but you only want to know if the bodies collide, +/// you can use the testOverlap() method instead. +/** + * @param callback Pointer to the object with the callback method to report contacts + */ +inline void PhysicsWorld::testCollision(CollisionCallback& callback) { + mCollisionDetection.testCollision(callback); +} + +// Report all the bodies that overlap (collide) with the body in parameter +/// Use this method if you are not interested in contacts but if you simply want to know +/// which bodies overlap with the body in parameter. If you want to get the contacts, you need to use the +/// testCollision() method instead. +/** + * @param body Pointer to the collision body to test overlap with + * @param overlapCallback Pointer to the callback class to report overlap + */ +inline void PhysicsWorld::testOverlap(CollisionBody* body, OverlapCallback& overlapCallback) { + mCollisionDetection.testOverlap(body, overlapCallback); +} + +// Report all the bodies that overlap (collide) in the world +/// Use this method if you are not interested in contacts but if you simply want to know +/// which bodies overlap. If you want to get the contacts, you need to use the +/// testCollision() method instead. +inline void PhysicsWorld::testOverlap(OverlapCallback& overlapCallback) { + mCollisionDetection.testOverlap(overlapCallback); +} + +// Return a reference to the memory manager of the world +inline MemoryManager& PhysicsWorld::getMemoryManager() { + return mMemoryManager; +} + +// Return the name of the world +/** + * @return Name of the world + */ +inline const std::string& PhysicsWorld::getName() const { + return mName; +} + +#ifdef IS_PROFILING_ACTIVE + +// Return a pointer to the profiler +/** + * @return A pointer to the profiler + */ +inline Profiler* PhysicsWorld::getProfiler() { + return mProfiler; +} + +#endif + +#ifdef IS_LOGGING_ACTIVE + +// Return a pointer to the logger +/** + * @return A pointer to the logger + */ +inline Logger* PhysicsWorld::getLogger() { + return mLogger; +} + +#endif + +// Get the number of iterations for the velocity constraint solver +/** + * @return The number of iterations of the velocity constraint solver + */ +inline uint PhysicsWorld::getNbIterationsVelocitySolver() const { + return mNbVelocitySolverIterations; +} + +// Set the number of iterations for the velocity constraint solver +/** + * @param nbIterations Number of iterations for the velocity solver + */ +inline void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { + mNbVelocitySolverIterations = nbIterations; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations)); +} + +// Get the number of iterations for the position constraint solver +/** + * @return The number of iterations of the position constraint solver + */ +inline uint PhysicsWorld::getNbIterationsPositionSolver() const { + return mNbPositionSolverIterations; +} + +// Set the number of iterations for the position constraint solver +/** + * @param nbIterations Number of iterations for the position solver + */ +inline void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) { + mNbPositionSolverIterations = nbIterations; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Set nb iterations position solver to " + std::to_string(nbIterations)); +} + +// Set the position correction technique used for contacts +/** + * @param technique Technique used for the position correction (Baumgarte or Split Impulses) + */ +inline void PhysicsWorld::setContactsPositionCorrectionTechnique( + ContactsPositionCorrectionTechnique technique) { + if (technique == ContactsPositionCorrectionTechnique::BAUMGARTE_CONTACTS) { + mContactSolverSystem.setIsSplitImpulseActive(false); + } + else { + mContactSolverSystem.setIsSplitImpulseActive(true); + } +} + +// Set the position correction technique used for joints +/** + * @param technique Technique used for the joins position correction (Baumgarte or Non Linear Gauss Seidel) + */ +inline void PhysicsWorld::setJointsPositionCorrectionTechnique( + JointsPositionCorrectionTechnique technique) { + if (technique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) { + mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(false); + } + else { + mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(true); + } +} + +// Return the gravity vector of the world +/** + * @return The current gravity vector (in meter per seconds squared) + */ +inline Vector3 PhysicsWorld::getGravity() const { + return mConfig.gravity; +} + +// Set the gravity vector of the world +/** + * @param gravity The gravity vector (in meter per seconds squared) + */ +inline void PhysicsWorld::setGravity(Vector3& gravity) { + + mConfig.gravity = gravity; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: Set gravity vector to " + gravity.to_string()); +} + +// Return if the gravity is enaled +/** + * @return True if the gravity is enabled in the world + */ +inline bool PhysicsWorld::isGravityEnabled() const { + return mIsGravityEnabled; +} + +// Enable/Disable the gravity +/** + * @param isGravityEnabled True if you want to enable the gravity in the world + * and false otherwise + */ +inline void PhysicsWorld::setIsGratityEnabled(bool isGravityEnabled) { + mIsGravityEnabled = isGravityEnabled; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false"))); +} + +// Return true if the sleeping technique is enabled +/** + * @return True if the sleeping technique is enabled and false otherwise + */ +inline bool PhysicsWorld::isSleepingEnabled() const { + return mIsSleepingEnabled; +} + +// Return the current sleep linear velocity +/** + * @return The sleep linear velocity (in meters per second) + */ +inline decimal PhysicsWorld::getSleepLinearVelocity() const { + return mSleepLinearVelocity; +} + +// Set the sleep linear velocity. +/// When the velocity of a body becomes smaller than the sleep linear/angular +/// velocity for a given amount of time, the body starts sleeping and does not need +/// to be simulated anymore. +/** + * @param sleepLinearVelocity The sleep linear velocity (in meters per second) + */ +inline void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) { + assert(sleepLinearVelocity >= decimal(0.0)); + mSleepLinearVelocity = sleepLinearVelocity; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity)); +} + +// Return the current sleep angular velocity +/** + * @return The sleep angular velocity (in radian per second) + */ +inline decimal PhysicsWorld::getSleepAngularVelocity() const { + return mSleepAngularVelocity; +} + +// Set the sleep angular velocity. +/// When the velocity of a body becomes smaller than the sleep linear/angular +/// velocity for a given amount of time, the body starts sleeping and does not need +/// to be simulated anymore. +/** + * @param sleepAngularVelocity The sleep angular velocity (in radian per second) + */ +inline void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) { + assert(sleepAngularVelocity >= decimal(0.0)); + mSleepAngularVelocity = sleepAngularVelocity; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity)); +} + +// Return the time a body is required to stay still before sleeping +/** + * @return Time a body is required to stay still before sleeping (in seconds) + */ +inline decimal PhysicsWorld::getTimeBeforeSleep() const { + return mTimeBeforeSleep; +} + +// Set the time a body is required to stay still before sleeping +/** + * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds) + */ +inline void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) { + assert(timeBeforeSleep >= decimal(0.0)); + mTimeBeforeSleep = timeBeforeSleep; + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + "Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep)); +} + +// Set an event listener object to receive events callbacks. +/// If you use "nullptr" as an argument, the events callbacks will be disabled. +/** + * @param eventListener Pointer to the event listener object that will receive + * event callbacks during the simulation + */ +inline void PhysicsWorld::setEventListener(EventListener* eventListener) { + mEventListener = eventListener; +} + +} + +#endif diff --git a/src/reactphysics3d.h b/src/reactphysics3d.h index 9dbf3baf..b878ba7b 100644 --- a/src/reactphysics3d.h +++ b/src/reactphysics3d.h @@ -40,8 +40,7 @@ #include "body/CollisionBody.h" #include "body/RigidBody.h" #include "engine/PhysicsCommon.h" -#include "engine/DynamicsWorld.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" #include "engine/Material.h" #include "engine/EventListener.h" #include "collision/shapes/CollisionShape.h" diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index c4e9f953..2135080d 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -29,7 +29,7 @@ #include "utils/Profiler.h" #include "collision/RaycastInfo.h" #include "memory/MemoryManager.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index e403bbf0..a9ba5357 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "systems/CollisionDetectionSystem.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" #include "collision/OverlapCallback.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/ConcaveShape.h" @@ -40,7 +40,6 @@ #include "utils/Profiler.h" #include "engine/EventListener.h" #include "collision/RaycastInfo.h" -#include "engine/Islands.h" #include "containers/Pair.h" #include #include @@ -49,9 +48,8 @@ using namespace reactphysics3d; using namespace std; - // Constructor -CollisionDetectionSystem::CollisionDetectionSystem(CollisionWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, +CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager) : mMemoryManager(memoryManager), mCollidersComponents(collidersComponents), mCollisionDispatch(mMemoryManager.getPoolAllocator()), mWorld(world), @@ -687,7 +685,7 @@ void CollisionDetectionSystem::createContacts() { ContactPointInfo& potentialContactPoint = mPotentialContactPoints[potentialManifold.potentialContactPointsIndices[c]]; // Create a new contact point - ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig); + ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold); // Add the contact point mCurrentContactPoints->add(contactPoint); @@ -755,7 +753,7 @@ void CollisionDetectionSystem::createSnapshotContacts(List& contact ContactPointInfo& potentialContactPoint = potentialContactPoints[potentialManifold.potentialContactPointsIndices[c]]; // Create a new contact point - ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig); + ContactPoint contactPoint(potentialContactPoint, mWorld->mConfig.persistentContactDistanceThreshold); // Add the contact point contactPoints.add(contactPoint); diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index e240d73e..48d982c1 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -48,7 +48,7 @@ namespace reactphysics3d { // Declarations -class CollisionWorld; +class PhysicsWorld; class CollisionCallback; class OverlapCallback; class RaycastCallback; @@ -87,7 +87,7 @@ class CollisionDetectionSystem { CollisionDispatch mCollisionDispatch; /// Pointer to the physics world - CollisionWorld* mWorld; + PhysicsWorld* mWorld; /// Set of pair of bodies that cannot collide between each other Set mNoCollisionPairs; @@ -267,7 +267,7 @@ class CollisionDetectionSystem { // -------------------- Methods -------------------- // /// Constructor - CollisionDetectionSystem(CollisionWorld* world, ColliderComponents& collidersComponents, + CollisionDetectionSystem(PhysicsWorld* world, ColliderComponents& collidersComponents, TransformComponents& transformComponents, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, MemoryManager& memoryManager); @@ -339,7 +339,7 @@ class CollisionDetectionSystem { MemoryManager& getMemoryManager() const; /// Return a pointer to the world - CollisionWorld* getWorld(); + PhysicsWorld* getWorld(); /// Return the world event listener EventListener* getWorldEventListener(); @@ -356,7 +356,7 @@ class CollisionDetectionSystem { // -------------------- Friendship -------------------- // - friend class DynamicsWorld; + friend class PhysicsWorld; friend class ConvexMeshShape; friend class RigidBody; }; @@ -401,7 +401,7 @@ inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* s } // Return a pointer to the world -inline CollisionWorld* CollisionDetectionSystem::getWorld() { +inline PhysicsWorld* CollisionDetectionSystem::getWorld() { return mWorld; } diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 53dd41c8..d77fbab0 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -33,7 +33,7 @@ using namespace reactphysics3d; // Constructor -ConstraintSolverSystem::ConstraintSolverSystem(DynamicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents, +ConstraintSolverSystem::ConstraintSolverSystem(PhysicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents, diff --git a/src/systems/ConstraintSolverSystem.h b/src/systems/ConstraintSolverSystem.h index 28d6133d..ff88f4fd 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/src/systems/ConstraintSolverSystem.h @@ -29,7 +29,6 @@ // Libraries #include "configuration.h" #include "mathematics/mathematics.h" -#include "engine/Islands.h" #include "systems/SolveBallAndSocketJointSystem.h" #include "systems/SolveFixedJointSystem.h" #include "systems/SolveHingeJointSystem.h" @@ -40,6 +39,7 @@ namespace reactphysics3d { // Declarations class Joint; class Island; +struct Islands; class Profiler; class RigidBodyComponents; class JointComponents; @@ -184,7 +184,7 @@ class ConstraintSolverSystem { // -------------------- Methods -------------------- // /// Constructor - ConstraintSolverSystem(DynamicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents, + ConstraintSolverSystem(PhysicsWorld& world, Islands& islands, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents, diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index d0e96c80..4c008c3b 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "systems/ContactSolverSystem.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "body/RigidBody.h" #include "constraint/ContactPoint.h" #include "utils/Profiler.h" @@ -43,14 +43,14 @@ const decimal ContactSolverSystem::BETA_SPLIT_IMPULSE = decimal(0.2); const decimal ContactSolverSystem::SLOP = decimal(0.01); // Constructor -ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents, - RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents, - const WorldSettings& worldSettings) - :mMemoryManager(memoryManager), mWorld(world), mContactConstraints(nullptr), mContactPoints(nullptr), +ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, PhysicsWorld& world, Islands& islands, + CollisionBodyComponents& bodyComponents, RigidBodyComponents& rigidBodyComponents, + ColliderComponents& colliderComponents, decimal& restitutionVelocityThreshold) + :mMemoryManager(memoryManager), mWorld(world), mRestitutionVelocityThreshold(restitutionVelocityThreshold), + mContactConstraints(nullptr), mContactPoints(nullptr), mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents), mRigidBodyComponents(rigidBodyComponents), - mColliderComponents(colliderComponents), mIsSplitImpulseActive(true), - mWorldSettings(worldSettings) { + mColliderComponents(colliderComponents), mIsSplitImpulseActive(true) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -237,7 +237,7 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { deltaV.y * mContactPoints[mNbContactPoints].normal.y + deltaV.z * mContactPoints[mNbContactPoints].normal.z; const decimal restitutionFactor = computeMixedRestitutionFactor(body1, body2); - if (deltaVDotN < -mWorldSettings.restitutionVelocityThreshold) { + if (deltaVDotN < -mRestitutionVelocityThreshold) { mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN; } diff --git a/src/systems/ContactSolverSystem.h b/src/systems/ContactSolverSystem.h index dfa4fa05..996951fb 100644 --- a/src/systems/ContactSolverSystem.h +++ b/src/systems/ContactSolverSystem.h @@ -30,7 +30,6 @@ #include "configuration.h" #include "mathematics/Vector3.h" #include "mathematics/Matrix3x3.h" -#include "engine/Islands.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -42,7 +41,9 @@ class ContactManifold; class MemoryManager; class Profiler; class Island; +struct Islands; class RigidBody; +class PhysicsWorld; class CollisionBodyComponents; class DynamicsComponents; class RigidBodyComponents; @@ -285,11 +286,14 @@ class ContactSolverSystem { MemoryManager& mMemoryManager; /// Physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; /// Current time step decimal mTimeStep; + /// Reference to the velocity threshold for contact velocity restitution + decimal& mRestitutionVelocityThreshold; + /// Contact constraints // TODO : Use List<> here ContactManifoldSolver* mContactConstraints; @@ -325,9 +329,6 @@ class ContactSolverSystem { /// True if the split impulse position correction is active bool mIsSplitImpulseActive; - /// World settings - const WorldSettings& mWorldSettings; - #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -362,9 +363,8 @@ class ContactSolverSystem { // -------------------- Methods -------------------- // /// Constructor - ContactSolverSystem(MemoryManager& memoryManager, DynamicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents, - RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents, - const WorldSettings& worldSettings); + ContactSolverSystem(MemoryManager& memoryManager, PhysicsWorld& world, Islands& islands, CollisionBodyComponents& bodyComponents, + RigidBodyComponents& rigidBodyComponents, ColliderComponents& colliderComponents, decimal& restitutionVelocityThreshold); /// Destructor ~ContactSolverSystem() = default; diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index ebf2dee0..071adb7a 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -26,12 +26,12 @@ // Libraries #include "systems/DynamicsSystem.h" #include "body/RigidBody.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" using namespace reactphysics3d; // Constructor -DynamicsSystem::DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, +DynamicsSystem::DynamicsSystem(PhysicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity) :mWorld(world), mCollisionBodyComponents(collisionBodyComponents), mRigidBodyComponents(rigidBodyComponents), mTransformComponents(transformComponents), mColliderComponents(colliderComponents), mIsGravityEnabled(isGravityEnabled), mGravity(gravity) { diff --git a/src/systems/DynamicsSystem.h b/src/systems/DynamicsSystem.h index 6e2b5096..fb3b35e6 100644 --- a/src/systems/DynamicsSystem.h +++ b/src/systems/DynamicsSystem.h @@ -35,7 +35,7 @@ namespace reactphysics3d { -class DynamicsWorld; +class PhysicsWorld; // Class DynamicsSystem /** @@ -49,7 +49,7 @@ class DynamicsSystem { // -------------------- Attributes -------------------- // /// Physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; /// Reference to the collision body components CollisionBodyComponents& mCollisionBodyComponents; @@ -80,7 +80,7 @@ class DynamicsSystem { // -------------------- Methods -------------------- // /// Constructor - DynamicsSystem(DynamicsWorld& world, CollisionBodyComponents& collisionBodyComponents, + DynamicsSystem(PhysicsWorld& world, CollisionBodyComponents& collisionBodyComponents, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity); diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index 66d242dd..91838b08 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "systems/SolveBallAndSocketJointSystem.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "body/RigidBody.h" using namespace reactphysics3d; @@ -34,7 +34,7 @@ using namespace reactphysics3d; const decimal SolveBallAndSocketJointSystem::BETA = decimal(0.2); // Constructor -SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, +SolveBallAndSocketJointSystem::SolveBallAndSocketJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents) diff --git a/src/systems/SolveBallAndSocketJointSystem.h b/src/systems/SolveBallAndSocketJointSystem.h index d78d21a5..5655a850 100644 --- a/src/systems/SolveBallAndSocketJointSystem.h +++ b/src/systems/SolveBallAndSocketJointSystem.h @@ -36,7 +36,7 @@ namespace reactphysics3d { // Forward declarations -class DynamicsWorld; +class PhysicsWorld; // Class SolveBallAndSocketJointSystem /** @@ -54,7 +54,7 @@ class SolveBallAndSocketJointSystem { // -------------------- Attributes -------------------- // /// Physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -85,7 +85,7 @@ class SolveBallAndSocketJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveBallAndSocketJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + SolveBallAndSocketJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, BallAndSocketJointComponents& ballAndSocketJointComponents); diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp index d36aba73..ddd7f464 100644 --- a/src/systems/SolveFixedJointSystem.cpp +++ b/src/systems/SolveFixedJointSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "systems/SolveFixedJointSystem.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "body/RigidBody.h" using namespace reactphysics3d; @@ -34,7 +34,7 @@ using namespace reactphysics3d; const decimal SolveFixedJointSystem::BETA = decimal(0.2); // Constructor -SolveFixedJointSystem::SolveFixedJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, +SolveFixedJointSystem::SolveFixedJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, FixedJointComponents& fixedJointComponents) diff --git a/src/systems/SolveFixedJointSystem.h b/src/systems/SolveFixedJointSystem.h index 283e99cc..a2151a85 100644 --- a/src/systems/SolveFixedJointSystem.h +++ b/src/systems/SolveFixedJointSystem.h @@ -35,7 +35,7 @@ namespace reactphysics3d { -class DynamicsWorld; +class PhysicsWorld; // Class SolveFixedJointSystem /** @@ -53,7 +53,7 @@ class SolveFixedJointSystem { // -------------------- Attributes -------------------- // /// Physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -84,7 +84,7 @@ class SolveFixedJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveFixedJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, + SolveFixedJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, FixedJointComponents& fixedJointComponents); /// Destructor diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp index 5d9416bf..535e0838 100644 --- a/src/systems/SolveHingeJointSystem.cpp +++ b/src/systems/SolveHingeJointSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "systems/SolveHingeJointSystem.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "body/RigidBody.h" using namespace reactphysics3d; @@ -34,7 +34,7 @@ using namespace reactphysics3d; const decimal SolveHingeJointSystem::BETA = decimal(0.2); // Constructor -SolveHingeJointSystem::SolveHingeJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, +SolveHingeJointSystem::SolveHingeJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, HingeJointComponents& hingeJointComponents) diff --git a/src/systems/SolveHingeJointSystem.h b/src/systems/SolveHingeJointSystem.h index e9367789..36d876ee 100644 --- a/src/systems/SolveHingeJointSystem.h +++ b/src/systems/SolveHingeJointSystem.h @@ -35,7 +35,7 @@ namespace reactphysics3d { -class DynamicsWorld; +class PhysicsWorld; // Class SolveHingeJointSystem /** @@ -53,7 +53,7 @@ class SolveHingeJointSystem { // -------------------- Attributes -------------------- // /// Physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -100,7 +100,7 @@ class SolveHingeJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveHingeJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + SolveHingeJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, HingeJointComponents& hingeJointComponents); diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp index e2f32ae4..51d4d47a 100644 --- a/src/systems/SolveSliderJointSystem.cpp +++ b/src/systems/SolveSliderJointSystem.cpp @@ -25,7 +25,7 @@ // Libraries #include "systems/SolveSliderJointSystem.h" -#include "engine/DynamicsWorld.h" +#include "engine/PhysicsWorld.h" #include "body/RigidBody.h" using namespace reactphysics3d; @@ -34,7 +34,7 @@ using namespace reactphysics3d; const decimal SolveSliderJointSystem::BETA = decimal(0.2); // Constructor -SolveSliderJointSystem::SolveSliderJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, +SolveSliderJointSystem::SolveSliderJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, SliderJointComponents& sliderJointComponents) diff --git a/src/systems/SolveSliderJointSystem.h b/src/systems/SolveSliderJointSystem.h index 3a26b043..faac19ce 100644 --- a/src/systems/SolveSliderJointSystem.h +++ b/src/systems/SolveSliderJointSystem.h @@ -35,7 +35,7 @@ namespace reactphysics3d { -class DynamicsWorld; +class PhysicsWorld; // Class SolveSliderJointSystem /** @@ -53,7 +53,7 @@ class SolveSliderJointSystem { // -------------------- Attributes -------------------- // /// Physics world - DynamicsWorld& mWorld; + PhysicsWorld& mWorld; /// Reference to the rigid body components RigidBodyComponents& mRigidBodyComponents; @@ -86,7 +86,7 @@ class SolveSliderJointSystem { // -------------------- Methods -------------------- // /// Constructor - SolveSliderJointSystem(DynamicsWorld& world, RigidBodyComponents& rigidBodyComponents, + SolveSliderJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents, JointComponents& jointComponents, SliderJointComponents& sliderJointComponents); diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 759f33da..c2ce10d9 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -268,7 +268,7 @@ class TestCollisionWorld : public Test { PhysicsCommon mPhysicsCommon; // Physics world - CollisionWorld* mWorld; + PhysicsWorld* mWorld; // Bodies CollisionBody* mBoxBody1; @@ -332,7 +332,7 @@ class TestCollisionWorld : public Test { TestCollisionWorld(const std::string& name) : Test(name) { // Create the collision world - mWorld = mPhysicsCommon.createCollisionWorld(); + mWorld = mPhysicsCommon.createPhysicsWorld(); // ---------- Boxes ---------- // Transform boxTransform1(Vector3(-20, 20, 0), Quaternion::identity()); @@ -486,7 +486,7 @@ class TestCollisionWorld : public Test { delete mConcaveMeshTriangleVertexArray; - mPhysicsCommon.destroyCollisionWorld(mWorld); + mPhysicsCommon.destroyPhysicsWorld(mWorld); } /// Run the tests diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index 26388ffe..f5398f02 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -32,7 +32,7 @@ #include "collision/shapes/SphereShape.h" #include "collision/shapes/CapsuleShape.h" #include "collision/shapes/ConvexMeshShape.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" #include "engine/PhysicsCommon.h" #include "collision/PolygonVertexArray.h" @@ -53,7 +53,7 @@ class TestPointInside : public Test { PhysicsCommon mPhysicsCommon; // Physics world - CollisionWorld* mWorld; + PhysicsWorld* mWorld; // Bodies CollisionBody* mBoxBody; @@ -97,7 +97,7 @@ class TestPointInside : public Test { TestPointInside(const std::string& name) : Test(name) { // Create the world - mWorld = mPhysicsCommon.createCollisionWorld(); + mWorld = mPhysicsCommon.createPhysicsWorld(); // Body transform Vector3 position(-3, 2, 7); @@ -180,7 +180,7 @@ class TestPointInside : public Test { mPhysicsCommon.destroySphereShape(mSphereShape); mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape); - mPhysicsCommon.destroyCollisionWorld(mWorld); + mPhysicsCommon.destroyPhysicsWorld(mWorld); mPhysicsCommon.destroyPolyhedronMesh(mConvexMeshPolyhedronMesh); delete[] mConvexMeshPolygonFaces; delete mConvexMeshPolygonVertexArray; diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 442be520..20afac7a 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -29,7 +29,7 @@ // Libraries #include "Test.h" #include "engine/PhysicsCommon.h" -#include "engine/CollisionWorld.h" +#include "engine/PhysicsWorld.h" #include "body/CollisionBody.h" #include "collision/shapes/BoxShape.h" #include "collision/shapes/SphereShape.h" @@ -113,7 +113,7 @@ class TestRaycast : public Test { decimal epsilon; // Physics world - CollisionWorld* mWorld; + PhysicsWorld* mWorld; // Bodies CollisionBody* mBoxBody; @@ -172,7 +172,7 @@ class TestRaycast : public Test { epsilon = decimal(0.0001); // Create the world - mWorld = mPhysicsCommon.createCollisionWorld(); + mWorld = mPhysicsCommon.createPhysicsWorld(); // Body transform Vector3 position(-3, 2, 7); @@ -311,7 +311,7 @@ class TestRaycast : public Test { mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape); mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape); - mPhysicsCommon.destroyCollisionWorld(mWorld); + mPhysicsCommon.destroyPhysicsWorld(mWorld); delete mConcaveMeshVertexArray; delete mPolygonVertexArray; @@ -330,7 +330,7 @@ class TestRaycast : public Test { } /// Test the Collider::raycast(), CollisionBody::raycast() and - /// CollisionWorld::raycast() methods. + /// PhysicsWorld::raycast() methods. void testBox() { // ----- Test feedback data ----- // @@ -341,7 +341,7 @@ class TestRaycast : public Test { mCallback.shapeToTest = mBoxCollider; - // CollisionWorld::raycast() + // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); @@ -542,7 +542,7 @@ class TestRaycast : public Test { } /// Test the Collider::raycast(), CollisionBody::raycast() and - /// CollisionWorld::raycast() methods. + /// PhysicsWorld::raycast() methods. void testSphere() { // ----- Test feedback data ----- // @@ -553,7 +553,7 @@ class TestRaycast : public Test { mCallback.shapeToTest = mSphereCollider; - // CollisionWorld::raycast() + // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); @@ -752,7 +752,7 @@ class TestRaycast : public Test { } /// Test the Collider::raycast(), CollisionBody::raycast() and - /// CollisionWorld::raycast() methods. + /// PhysicsWorld::raycast() methods. void testCapsule() { // ----- Test feedback data ----- // @@ -773,7 +773,7 @@ class TestRaycast : public Test { mCallback.shapeToTest = mCapsuleCollider; - // CollisionWorld::raycast() + // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); @@ -992,7 +992,7 @@ class TestRaycast : public Test { } /// Test the Collider::raycast(), CollisionBody::raycast() and - /// CollisionWorld::raycast() methods. + /// PhysicsWorld::raycast() methods. void testConvexMesh() { // ----- Test feedback data ----- // @@ -1003,7 +1003,7 @@ class TestRaycast : public Test { mCallback.shapeToTest = mConvexMeshCollider; - // CollisionWorld::raycast() + // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); @@ -1205,7 +1205,7 @@ class TestRaycast : public Test { } /// Test the CollisionBody::raycast() and - /// CollisionWorld::raycast() methods. + /// PhysicsWorld::raycast() methods. void testCompound() { // ----- Test feedback data ----- // @@ -1349,7 +1349,7 @@ class TestRaycast : public Test { mCallback.shapeToTest = mConcaveMeshCollider; - // CollisionWorld::raycast() + // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); @@ -1584,7 +1584,7 @@ class TestRaycast : public Test { mCallback.shapeToTest = mHeightFieldCollider; - // CollisionWorld::raycast() + // PhysicsWorld::raycast() mCallback.reset(); mWorld->raycast(ray, &mCallback); rp3d_test(mCallback.isHit); diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index f0239f7f..a4bbc95f 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -38,7 +38,7 @@ openglframework::VertexArrayObject Box::mVAO; int Box::totalNbBoxes = 0; // Constructor -Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::CollisionWorld* world, +Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { @@ -61,7 +61,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body in the dynamics world + // Create a rigid body in the physics world mBody = world->createCollisionBody(mPreviousTransform); // Add the collision shape to the body @@ -80,7 +80,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph } // Constructor -Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::DynamicsWorld* world, +Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { @@ -102,7 +102,7 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Physi mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body in the dynamics world + // Create a rigid body in the physics world rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); // Add the collision shape to the body diff --git a/testbed/common/Box.h b/testbed/common/Box.h index a5459bff..61a80d89 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -76,10 +76,10 @@ class Box : public PhysicsObject { /// Constructor Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, - reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath); + reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath); /// Constructor - Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::DynamicsWorld *world, const std::string& meshFolderPath); + Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath); /// Destructor ~Box(); diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index 5af29ca1..faca6239 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -34,41 +34,7 @@ openglframework::VertexArrayObject Capsule::mVAO; int Capsule::totalNbCapsules = 0; // Constructor -Capsule::Capsule(float radius, float height, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { - - // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, - 0, (mHeight + 2.0f * mRadius) / 3, 0,0, - 0, 0, mRadius, 0, - 0, 0, 0, 1.0f); - - // Create the collision shape for the rigid body (sphere shape) - // ReactPhysics3D will clone this object to create an internal one. Therefore, - // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight); - //mCapsuleShape->setLocalScaling(rp3d::Vector3(2, 2, 2)); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body corresponding in the dynamics world - mBody = world->createCollisionBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the shape - mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity()); - - mTransformMatrix = mTransformMatrix * mScalingMatrix; - - // Create the VBOs and VAO - if (totalNbCapsules == 0) { - createVBOAndVAO(); - } - - totalNbCapsules++; -} - -// Constructor -Capsule::Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, +Capsule::Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { @@ -85,13 +51,24 @@ Capsule::Capsule(float radius, float height, float mass, reactphysics3d::Physics // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight); - // Create a rigid body corresponding in the dynamics world - rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); + // Create a body corresponding in the physics world + if (createRigidBody) { - // Add a collision shape to the body and specify the mass of the shape - mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass); + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - mBody = body; + // Add a collision shape to the body and specify the mass of the shape + mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass); + + mBody = body; + } + else { + + // Create a rigid body corresponding in the physics world + mBody = physicsWorld->createCollisionBody(mPreviousTransform); + + // Add a collision shape to the body and specify the mass of the shape + mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity()); + } mTransformMatrix = mTransformMatrix * mScalingMatrix; diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index 495d8694..53d9bac4 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -82,11 +82,8 @@ class Capsule : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Capsule(float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath); - - /// Constructor - Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, - const std::string& meshFolderPath); + Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + const std::string& meshFolderPath); /// Destructor ~Capsule(); diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index 196413ac..bd6d79d8 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -27,7 +27,7 @@ #include "ConcaveMesh.h" // Constructor -ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath) +ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -59,7 +59,7 @@ ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world + // Create a rigid body corresponding to the sphere in the physics world mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape @@ -72,7 +72,7 @@ ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl } // Constructor -ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) +ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -102,8 +102,8 @@ ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommo mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world - rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); + // Create a rigid body corresponding to the sphere in the physics world + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass); diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index fa426663..460fceb9 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -76,10 +76,10 @@ class ConcaveMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath); + ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath); /// Constructor - ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); + ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor ~ConcaveMesh(); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 581a85d8..15663c34 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -28,7 +28,7 @@ #include // Constructor -ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath) +ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -75,7 +75,7 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world + // Create a rigid body corresponding to the sphere in the physics world mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape @@ -88,7 +88,7 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* } // Constructor -ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) +ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -135,8 +135,8 @@ ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::Dyn mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world - rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); + // Create a rigid body corresponding to the sphere in the physics world + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass); diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index 33e37d63..01adff73 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -89,10 +89,10 @@ class ConvexMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath); + ConvexMesh(rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshPath); /// Constructor - ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); + ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor ~ConvexMesh(); diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index e67695dc..1dda496e 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -34,7 +34,7 @@ openglframework::VertexArrayObject Dumbbell::mVAO; int Dumbbell::totalNbDumbbells = 0; // Constructor -Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath) +Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj") { // Identity scaling matrix @@ -68,66 +68,28 @@ Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dyna // Initial transform of the cylinder collision shape of the dumbell (in local-space) rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity()); - // Create a rigid body corresponding to the dumbbell in the dynamics world - rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); + // Create a body corresponding to the dumbbell in the physics world + if (createRigidBody) { - // Add the three collision shapes to the body and specify the mass and transform of the shapes - mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere); - mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere); - mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder); + rp3d::RigidBody* body; + body = physicsWorld->createRigidBody(mPreviousTransform); - mBody = body; + // Add the three collision shapes to the body and specify the mass and transform of the shapes + mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere); + mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere); + mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder); - mTransformMatrix = mTransformMatrix * mScalingMatrix; - - // Create the VBOs and VAO - if (totalNbDumbbells == 0) { - createVBOAndVAO(); + mBody = body; } + else { - totalNbDumbbells++; -} + mBody = physicsWorld->createCollisionBody(mPreviousTransform); -// Constructor -Dumbbell::Dumbbell(reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj"){ - - // Identity scaling matrix - mScalingMatrix.setToIdentity(); - - mDistanceBetweenSphere = 8.0f; - - // Create a sphere collision shape for the two ends of the dumbbell - // ReactPhysics3D will clone this object to create an internal one. Therefore, - // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - const rp3d::decimal radiusSphere = rp3d::decimal(1.5); - mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere); - - // Create a cylinder collision shape for the middle of the dumbbell - // ReactPhysics3D will clone this object to create an internal one. Therefore, - // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - const rp3d::decimal radiusCapsule = rp3d::decimal(0.5); - const rp3d::decimal heightCapsule = rp3d::decimal(7.0); - mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule); - - // Initial transform of the first sphere collision shape of the dumbbell (in local-space) - rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity()); - - // Initial transform of the second sphere collision shape of the dumbell (in local-space) - rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity()); - - // Initial transform of the cylinder collision shape of the dumbell (in local-space) - rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity()); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body corresponding to the dumbbell in the dynamics world - mBody = world->createCollisionBody(mPreviousTransform); - - // Add the three collision shapes to the body and specify the mass and transform of the shapes - mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1); - mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2); - mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape); + // Add the three collision shapes to the body and specify the mass and transform of the shapes + mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1); + mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2); + mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape); + } mTransformMatrix = mTransformMatrix * mScalingMatrix; diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h index 128e350f..ce1e38e7 100644 --- a/testbed/common/Dumbbell.h +++ b/testbed/common/Dumbbell.h @@ -82,10 +82,8 @@ class Dumbbell : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); - - /// Constructor - Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath); + Dumbbell(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + const std::string& meshFolderPath); /// Destructor ~Dumbbell(); diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index 82f8f5db..af3ad301 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -28,7 +28,7 @@ #include "PerlinNoise.h" // Constructor -HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world) +HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world) : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -49,7 +49,7 @@ HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world + // Create a rigid body corresponding to the sphere in the physics world mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape @@ -62,7 +62,7 @@ HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorl } // Constructor -HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld) +HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld) : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -83,8 +83,8 @@ HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommo mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world - rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform); + // Create a rigid body corresponding to the sphere in the physics world + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the collision shape mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass); diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index 7b0c187b..af46aa1f 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -89,10 +89,10 @@ class HeightField : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - HeightField(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world); + HeightField(reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world); /// Constructor - HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld); + HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld); /// Destructor ~HeightField(); diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index 3b11a2fa..ba46f143 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -34,7 +34,7 @@ openglframework::VertexArrayObject Sphere::mVAO; int Sphere::totalNbSpheres = 0; // Constructor -Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, +Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { @@ -52,7 +52,7 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::Collision mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world + // Create a rigid body corresponding to the sphere in the physics world mBody = world->createCollisionBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the shape @@ -69,7 +69,7 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::Collision } // Constructor -Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,reactphysics3d::DynamicsWorld* world, +Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { @@ -86,7 +86,7 @@ Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,rea mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the dynamics world + // Create a rigid body corresponding to the sphere in the physics world rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); // Add a collision shape to the body and specify the mass of the shape diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index ea7df973..9a517173 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -79,13 +79,13 @@ class Sphere : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath); + Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath); /// Constructor - Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); + Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath); /// Destructor - ~Sphere(); + virtual ~Sphere() override; /// Render the sphere at the correct position and with the correct orientation void virtual render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override; diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index b35c853a..2ffc9fb5 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -48,15 +48,15 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings); + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); // ---------- Sphere 1 ---------- // - // Create a sphere and a corresponding collision body in the dynamics world + // Create a sphere and a corresponding collision body in the physics world mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere1); @@ -68,7 +68,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Sphere 2 ---------- // - // Create a sphere and a corresponding collision body in the dynamics world + // Create a sphere and a corresponding collision body in the physics world mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere2); @@ -80,8 +80,8 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Capsule 1 ---------- // - // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + // Create a cylinder and a corresponding collision body in the physics world + mCapsule1 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule1); // Set the color @@ -91,8 +91,8 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Capsule 2 ---------- // - // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + // Create a cylinder and a corresponding collision body in the physics world + mCapsule2 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule2); // Set the color @@ -102,7 +102,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Concave Mesh ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world + // Create a convex mesh and a corresponding collision body in the physics world mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); mAllShapes.push_back(mConcaveMesh); @@ -113,7 +113,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Box 1 ---------- // - // Create a cylinder and a corresponding collision body in the dynamics world + // Create a cylinder and a corresponding collision body in the physics world mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox1); @@ -124,7 +124,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Box 2 ---------- // - // Create a cylinder and a corresponding collision body in the dynamics world + // Create a cylinder and a corresponding collision body in the physics world mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox2); @@ -135,7 +135,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Convex Mesh ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world + // Create a convex mesh and a corresponding collision body in the physics world mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); mAllShapes.push_back(mConvexMesh); @@ -146,7 +146,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Heightfield ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world + // Create a convex mesh and a corresponding collision body in the physics world mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld); // Set the color @@ -176,7 +176,7 @@ void CollisionDetectionScene::reset() { // Destructor CollisionDetectionScene::~CollisionDetectionScene() { - // Destroy the box rigid body from the dynamics world + // Destroy the box rigid body from the physics world //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); //delete mBox; @@ -211,8 +211,8 @@ CollisionDetectionScene::~CollisionDetectionScene() { // Destroy the static data for the visual contact points VisualContactPoint::destroyStaticData(); - // Destroy the collision world - mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } // Take a step for the simulation diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 186657de..40854ff1 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -32,7 +32,7 @@ using namespace collisionshapesscene; // Constructor CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { std::string meshFolderPath("meshes/"); @@ -42,21 +42,21 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, -9.81f, 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); - dynamicsWorld->setEventListener(this); - mPhysicsWorld = dynamicsWorld; + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; for (int i=0; isetColor(mObjectColorDemo); @@ -74,8 +74,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Create all the boxes of the scene for (int i=0; isetColor(mObjectColorDemo); @@ -93,8 +93,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Create all the spheres of the scene for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -115,9 +115,9 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Create all the capsules of the scene for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); @@ -137,8 +137,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // Create all the convex meshes of the scene for (int i=0; isetColor(mObjectColorDemo); @@ -155,7 +155,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // ---------- Create the floor --------- - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mPhysicsObjects.push_back(mFloor); // Set the box color @@ -170,15 +170,15 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin material.setBounciness(rp3d::decimal(0.2)); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor @@ -187,15 +187,15 @@ CollisionShapesScene::~CollisionShapesScene() { // Destroy all the physics objects of the scene for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + // Destroy the corresponding rigid body from the physics world + mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the object delete (*it); } - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(static_cast(mPhysicsWorld)); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(static_cast(mPhysicsWorld)); } /// Reset the scene diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index e00afdf7..43fb7e9b 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -32,7 +32,7 @@ using namespace trianglemeshscene; // Constructor ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { std::string meshFolderPath("meshes/"); @@ -42,22 +42,22 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); - dynamicsWorld->setEventListener(this); - mPhysicsWorld = dynamicsWorld; + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; // ---------- Create the boxes ----------- // for (int i = 0; isetColor(mObjectColorDemo); @@ -75,8 +75,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Create all the boxes of the scene for (int i = 0; isetColor(mObjectColorDemo); @@ -94,8 +94,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Create all the spheres of the scene for (int i = 0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -116,9 +116,9 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Create all the capsules of the scene for (int i = 0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -138,8 +138,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Create all the convex meshes of the scene for (int i = 0; isetColor(mObjectColorDemo); @@ -159,8 +159,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // Position rp3d::decimal mass = 1.0; - // Create a convex mesh and a corresponding rigid in the dynamics world - mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "city.obj"); + // Create a convex mesh and a corresponding rigid in the physics world + mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj"); // Set the mesh as beeing static mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -177,15 +177,15 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett material.setFrictionCoefficient(rp3d::decimal(0.1)); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor @@ -194,15 +194,15 @@ ConcaveMeshScene::~ConcaveMeshScene() { // Destroy all the physics objects of the scene for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + // Destroy the corresponding rigid body from the physics world + mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the object delete (*it); } - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } // Reset the scene diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index 743a1787..5c8424d5 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -32,7 +32,7 @@ using namespace cubesscene; // Constructor CubesScene::CubesScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { // Compute the radius and the center of the scene openglframework::Vector3 center(0, 5, 0); @@ -40,22 +40,22 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); - dynamicsWorld->setEventListener(this); - mPhysicsWorld = dynamicsWorld; + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; // Create all the cubes of the scene for (int i=0; isetColor(mObjectColorDemo); @@ -73,7 +73,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) // ------------------------- FLOOR ----------------------- // // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFloor->setColor(mFloorColorDemo); mFloor->setSleepingColor(mFloorColorDemo); @@ -82,15 +82,15 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) mPhysicsObjects.push_back(mFloor); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor @@ -99,21 +99,21 @@ CubesScene::~CubesScene() { // Destroy all the cubes of the scene for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + // Destroy the corresponding rigid body from the physics world + mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the cube delete (*it); } // Destroy the rigid body of the floor - getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody()); // Destroy the floor delete mFloor; - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } // Reset the scene diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index 40e9d48c..6188ddb4 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -32,7 +32,7 @@ using namespace cubestackscene; // Constructor CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { // Compute the radius and the center of the scene openglframework::Vector3 center(0, 5, 0); @@ -40,24 +40,24 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); - dynamicsWorld->setEventListener(this); - mPhysicsWorld = dynamicsWorld; + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; // Create all the cubes of the scene for (int i=1; i<=NB_FLOORS; i++) { for (int j=0; jsetColor(mObjectColorDemo); @@ -76,7 +76,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings // ------------------------- FLOOR ----------------------- // // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFloor->setColor(mFloorColorDemo); mFloor->setSleepingColor(mFloorColorDemo); @@ -85,15 +85,15 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings mPhysicsObjects.push_back(mFloor); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor @@ -102,21 +102,21 @@ CubeStackScene::~CubeStackScene() { // Destroy all the cubes of the scene for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + // Destroy the corresponding rigid body from the physics world + mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the cube delete (*it); } // Destroy the rigid body of the floor - getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody()); // Destroy the floor delete mFloor; - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } // Reset the scene diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index fb815335..fbea65e5 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -32,7 +32,7 @@ using namespace heightfieldscene; // Constructor HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { std::string meshFolderPath("meshes/"); @@ -42,21 +42,21 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); - dynamicsWorld->setEventListener(this); - mPhysicsWorld = dynamicsWorld; + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; for (int i = 0; isetColor(mObjectColorDemo); @@ -74,8 +74,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Create all the boxes of the scene for (int i = 0; isetColor(mObjectColorDemo); @@ -93,8 +93,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Create all the spheres of the scene for (int i = 0; igetRigidBody()->getMaterial().setRollingResistance(0.08f); @@ -115,9 +115,9 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Create all the capsules of the scene for (int i = 0; igetRigidBody()->getMaterial().setRollingResistance(0.08f); @@ -137,8 +137,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Create all the convex meshes of the scene for (int i = 0; isetColor(mObjectColorDemo); @@ -158,8 +158,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // Position rp3d::decimal mass = 1.0; - // Create a convex mesh and a corresponding rigid in the dynamics world - mHeightField = new HeightField(mass, mPhysicsCommon, getDynamicsWorld()); + // Create a convex mesh and a corresponding rigid in the physics world + mHeightField = new HeightField(mass, mPhysicsCommon, mPhysicsWorld); // Set the mesh as beeing static mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -176,15 +176,15 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett material.setFrictionCoefficient(0.1f); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor @@ -193,15 +193,15 @@ HeightFieldScene::~HeightFieldScene() { // Destroy all the physics objects of the scene for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + // Destroy the corresponding rigid body from the physics world + mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the object delete (*it); } - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } // Reset the scene diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index 42154c3e..b3c5df71 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -33,7 +33,7 @@ using namespace jointsscene; // Constructor JointsScene::JointsScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { // Compute the radius and the center of the scene openglframework::Vector3 center(0, 5, 0); @@ -41,16 +41,16 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings) // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); - dynamicsWorld->setEventListener(this); - mPhysicsWorld = dynamicsWorld; + // Create the physics world for the physics simulation + rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); + physicsWorld->setEventListener(this); + mPhysicsWorld = physicsWorld; // Create the Ball-and-Socket joint createBallAndSocketJoints(); @@ -68,37 +68,37 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings) createFloor(); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor JointsScene::~JointsScene() { // Destroy the joints - getDynamicsWorld()->destroyJoint(mSliderJoint); - getDynamicsWorld()->destroyJoint(mPropellerHingeJoint); - getDynamicsWorld()->destroyJoint(mFixedJoint1); - getDynamicsWorld()->destroyJoint(mFixedJoint2); + mPhysicsWorld->destroyJoint(mSliderJoint); + mPhysicsWorld->destroyJoint(mPropellerHingeJoint); + mPhysicsWorld->destroyJoint(mFixedJoint1); + mPhysicsWorld->destroyJoint(mFixedJoint2); for (int i=0; idestroyJoint(mBallAndSocketJoints[i]); + mPhysicsWorld->destroyJoint(mBallAndSocketJoints[i]); } // Destroy all the rigid bodies of the scene - getDynamicsWorld()->destroyRigidBody(mSliderJointBottomBox->getRigidBody()); - getDynamicsWorld()->destroyRigidBody(mSliderJointTopBox->getRigidBody()); - getDynamicsWorld()->destroyRigidBody(mPropellerBox->getRigidBody()); - getDynamicsWorld()->destroyRigidBody(mFixedJointBox1->getRigidBody()); - getDynamicsWorld()->destroyRigidBody(mFixedJointBox2->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mPropellerBox->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody()); for (int i=0; idestroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody()); } delete mSliderJointBottomBox; @@ -111,11 +111,11 @@ JointsScene::~JointsScene() { } // Destroy the floor - getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody()); + mPhysicsWorld->destroyRigidBody(mFloor->getRigidBody()); delete mFloor; - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } // Update the physics world (take a simulation step) @@ -143,7 +143,7 @@ void JointsScene::reset() { rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transform(initPosition, initOrientation); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world mBallAndSocketJointChainBoxes[i]->setTransform(transform); positionBox.y -= boxDimension.y + 0.5f; @@ -157,7 +157,7 @@ void JointsScene::reset() { rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transformBottomBox(initPosition, initOrientation); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world mSliderJointBottomBox->setTransform(transformBottomBox); // Position of the box @@ -166,7 +166,7 @@ void JointsScene::reset() { initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transformTopBox(initPosition, initOrientation); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world mSliderJointTopBox->setTransform(transformTopBox); // --------------- Propeller Hinge joint --------------- // @@ -177,7 +177,7 @@ void JointsScene::reset() { initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transformHingeBox(initPosition, initOrientation); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world mPropellerBox->setTransform(transformHingeBox); // --------------- Fixed joint --------------- // @@ -188,7 +188,7 @@ void JointsScene::reset() { initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transformFixedBox1(initPosition, initOrientation); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world mFixedJointBox1->setTransform(transformFixedBox1); // Position of the box @@ -197,7 +197,7 @@ void JointsScene::reset() { initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transformFixedBox2(initPosition, initOrientation); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world mFixedJointBox2->setTransform(transformFixedBox2); } @@ -212,9 +212,9 @@ void JointsScene::createBallAndSocketJoints() { for (int i=0; isetTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity())); // Set the box color @@ -250,9 +250,9 @@ void JointsScene::createBallAndSocketJoints() { const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position); rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace); - // Create the joint in the dynamics world + // Create the joint in the physics world mBallAndSocketJoints[i] = dynamic_cast( - getDynamicsWorld()->createJoint(jointInfo)); + mPhysicsWorld->createJoint(jointInfo)); } } @@ -264,9 +264,9 @@ void JointsScene::createSliderJoint() { // Position of the box rp3d::Vector3 positionBox1(0, 2.1f, 0); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world openglframework::Vector3 box1Dimension(2, 4, 2); - mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -286,9 +286,9 @@ void JointsScene::createSliderJoint() { // Position of the box rp3d::Vector3 positionBox2(0, 4.2f, 0); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f); - mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color @@ -316,8 +316,8 @@ void JointsScene::createSliderJoint() { jointInfo.maxMotorForce = 10000.0; jointInfo.isCollisionEnabled = false; - // Create the joint in the dynamics world - mSliderJoint = dynamic_cast(getDynamicsWorld()->createJoint(jointInfo)); + // Create the joint in the physics world + mSliderJoint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); } /// Create the boxes and joint for the Hinge joint example @@ -328,9 +328,9 @@ void JointsScene::createPropellerHingeJoint() { // Position of the box rp3d::Vector3 positionBox1(0, 7, 0); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world openglframework::Vector3 boxDimension(10, 1, 1); - mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -357,8 +357,8 @@ void JointsScene::createPropellerHingeJoint() { jointInfo.maxMotorTorque = rp3d::decimal(60.0); jointInfo.isCollisionEnabled = false; - // Create the joint in the dynamics world - mPropellerHingeJoint = dynamic_cast(getDynamicsWorld()->createJoint(jointInfo)); + // Create the joint in the physics world + mPropellerHingeJoint = dynamic_cast(mPhysicsWorld->createJoint(jointInfo)); } /// Create the boxes and joints for the fixed joints @@ -369,9 +369,9 @@ void JointsScene::createFixedJoints() { // Position of the box rp3d::Vector3 positionBox1(5, 7, 0); - // Create a box and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the physics world openglframework::Vector3 boxDimension(1.5, 1.5, 1.5); - mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -388,8 +388,8 @@ void JointsScene::createFixedJoints() { // Position of the box rp3d::Vector3 positionBox2(-5, 7, 0); - // Create a box and a corresponding rigid in the dynamics world - mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + // Create a box and a corresponding rigid in the physics world + mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color @@ -410,8 +410,8 @@ void JointsScene::createFixedJoints() { rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1); jointInfo1.isCollisionEnabled = false; - // Create the joint in the dynamics world - mFixedJoint1 = dynamic_cast(getDynamicsWorld()->createJoint(jointInfo1)); + // Create the joint in the physics world + mFixedJoint1 = dynamic_cast(mPhysicsWorld->createJoint(jointInfo1)); // --------------- Create the second fixed joint --------------- // @@ -421,8 +421,8 @@ void JointsScene::createFixedJoints() { rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2); jointInfo2.isCollisionEnabled = false; - // Create the joint in the dynamics world - mFixedJoint2 = dynamic_cast(getDynamicsWorld()->createJoint(jointInfo2)); + // Create the joint in the physics world + mFixedJoint2 = dynamic_cast(mPhysicsWorld->createJoint(jointInfo2)); } // Create the floor @@ -430,7 +430,7 @@ void JointsScene::createFloor() { // Create the floor rp3d::Vector3 floorPosition(0, 0, 0); - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath); + mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color mFloor->setColor(mFloorColorDemo); diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp index 18b7b9ff..49c206e6 100644 --- a/testbed/scenes/pile/PileScene.cpp +++ b/testbed/scenes/pile/PileScene.cpp @@ -32,7 +32,7 @@ using namespace pilescene; // Constructor PileScene::PileScene(const std::string& name, EngineSettings& settings) - : SceneDemo(name, settings, SCENE_RADIUS) { + : SceneDemo(name, settings, true, SCENE_RADIUS) { std::string meshFolderPath("meshes/"); @@ -42,19 +42,19 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - // Gravity vector in the dynamics world + // Gravity vector in the physics world rp3d::Vector3 gravity(0, -9.81f, 0); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - mPhysicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings); + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); for (int i=0; isetColor(mObjectColorDemo); @@ -72,8 +72,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Create all the boxes of the scene for (int i=0; isetColor(mObjectColorDemo); @@ -91,8 +91,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Create all the spheres of the scene for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -113,9 +113,9 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Create all the capsules of the scene for (int i=0; igetRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); @@ -135,8 +135,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Create all the convex meshes of the scene for (int i=0; isetColor(mObjectColorDemo); @@ -156,8 +156,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) // Position rp3d::decimal mass = 1.0; - // Create a convex mesh and a corresponding rigid in the dynamics world - mSandbox = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "sandbox.obj"); + // Create a convex mesh and a corresponding rigid in the physics world + mSandbox = new ConcaveMesh(mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj"); // Set the mesh as beeing static mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC); @@ -174,15 +174,15 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) material.setFrictionCoefficient(rp3d::decimal(0.1)); // Get the physics engine parameters - mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled(); - rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity(); + mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled(); + rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); - mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled(); - mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity(); - mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity(); - mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver(); - mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver(); - mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep(); + mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled(); + mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity(); + mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity(); + mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver(); + mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver(); + mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep(); } // Destructor @@ -191,15 +191,15 @@ PileScene::~PileScene() { // Destroy all the physics objects of the scene for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - // Destroy the corresponding rigid body from the dynamics world - getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody()); + // Destroy the corresponding rigid body from the physics world + mPhysicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the object delete (*it); } - // Destroy the dynamics world - mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld()); + // Destroy the physics world + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); } /// Reset the scene diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 6194e206..d47c9715 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -44,16 +44,16 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // Set the center of the scene setScenePosition(center, SCENE_RADIUS); - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; - // Create the dynamics world for the physics simulation - mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings); + // Create the physics world for the physics simulation + mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); // ---------- Dumbbell ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world - mDumbbell = new Dumbbell(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + // Create a convex mesh and a corresponding collision body in the physics world + mDumbbell = new Dumbbell(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color mDumbbell->setColor(mObjectColorDemo); @@ -62,7 +62,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Box ---------- // - // Create a box and a corresponding collision body in the dynamics world + // Create a box and a corresponding collision body in the physics world mBox = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mBox->getCollisionBody()->setIsActive(false); @@ -73,7 +73,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Sphere ---------- // - // Create a sphere and a corresponding collision body in the dynamics world + // Create a sphere and a corresponding collision body in the physics world mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the color @@ -84,8 +84,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Capsule ---------- // openglframework::Vector3 position6(0, 0, 0); - // Create a cylinder and a corresponding collision body in the dynamics world - mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + // Create a cylinder and a corresponding collision body in the physics world + mCapsule = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the color mCapsule->setColor(mObjectColorDemo); @@ -94,7 +94,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Convex Mesh ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world + // Create a convex mesh and a corresponding collision body in the physics world mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); // Set the color @@ -104,7 +104,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Concave Mesh ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world + // Create a convex mesh and a corresponding collision body in the physics world mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); // Set the color @@ -114,7 +114,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Heightfield ---------- // - // Create a convex mesh and a corresponding collision body in the dynamics world + // Create a convex mesh and a corresponding collision body in the physics world mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld); // Set the color @@ -207,7 +207,7 @@ void RaycastScene::reset() { // Destructor RaycastScene::~RaycastScene() { - // Destroy the box rigid body from the dynamics world + // Destroy the box rigid body from the physics world mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); delete mBox; @@ -215,31 +215,31 @@ RaycastScene::~RaycastScene() { mPhysicsWorld->destroyCollisionBody(mSphere->getCollisionBody()); delete mSphere; - // Destroy the corresponding rigid body from the dynamics world + // Destroy the corresponding rigid body from the physics world mPhysicsWorld->destroyCollisionBody(mCapsule->getCollisionBody()); // Destroy the sphere delete mCapsule; - // Destroy the corresponding rigid body from the dynamics world + // Destroy the corresponding rigid body from the physics world mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); // Destroy the convex mesh delete mConvexMesh; - // Destroy the corresponding rigid body from the dynamics world + // Destroy the corresponding rigid body from the physics world mPhysicsWorld->destroyCollisionBody(mDumbbell->getCollisionBody()); // Destroy the dumbbell delete mDumbbell; - // Destroy the corresponding rigid body from the dynamics world + // Destroy the corresponding rigid body from the physics world mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); // Destroy the convex mesh delete mConcaveMesh; - // Destroy the corresponding rigid body from the dynamics world + // Destroy the corresponding rigid body from the physics world mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); // Destroy the convex mesh @@ -251,7 +251,7 @@ RaycastScene::~RaycastScene() { VisualContactPoint::destroyStaticData(); // Destroy the collision world - mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld); + mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld); // Destroy the lines for (std::vector::iterator it = mLines.begin(); it != mLines.end(); diff --git a/testbed/src/Scene.h b/testbed/src/Scene.h index a014a3a1..775dd7b4 100644 --- a/testbed/src/Scene.h +++ b/testbed/src/Scene.h @@ -72,7 +72,7 @@ struct EngineSettings { EngineSettings defaultSettings; - rp3d::WorldSettings worldSettings; + rp3d::PhysicsWorld::WorldSettings worldSettings; defaultSettings.timeStep = 1.0f / 60.0f; defaultSettings.nbVelocitySolverIterations = worldSettings.defaultVelocitySolverNbIterations; defaultSettings.nbPositionSolverIterations = worldSettings.defaultPositionSolverNbIterations; diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index fff2d65a..b049f20f 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -39,14 +39,14 @@ openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f, openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f); // Constructor -SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled) +SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled) : Scene(name, settings, isShadowMappingEnabled), mIsShadowMappingInitialized(false), mDepthShader("shaders/depth.vert", "shaders/depth.frag"), mPhongShader("shaders/phong.vert", "shaders/phong.frag"), mColorShader("shaders/color.vert", "shaders/color.frag"), mQuadShader("shaders/quad.vert", "shaders/quad.frag"), mVBOQuad(GL_ARRAY_BUFFER), mMeshFolderPath("meshes/"), - mPhysicsWorld(nullptr) { + mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated) { shadowMapTextureLevel++; @@ -143,10 +143,10 @@ void SceneDemo::updatePhysics() { // Clear contacts points mContactPoints.clear(); - if (getDynamicsWorld() != nullptr) { + if (mIsPhysicsWorldSimulated) { // Take a simulation step - getDynamicsWorld()->update(mEngineSettings.timeStep); + mPhysicsWorld->update(mEngineSettings.timeStep); } } @@ -474,18 +474,18 @@ void SceneDemo::removeAllVisualContactPoints() { // Update the engine settings void SceneDemo::updateEngineSettings() { - if (getDynamicsWorld() != nullptr) { + if (mIsPhysicsWorldSimulated) { // Update the physics engine parameters - getDynamicsWorld()->setIsGratityEnabled(mEngineSettings.isGravityEnabled); + mPhysicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled); rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); - getDynamicsWorld()->setGravity(gravity); - getDynamicsWorld()->enableSleeping(mEngineSettings.isSleepingEnabled); - getDynamicsWorld()->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); - getDynamicsWorld()->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); - getDynamicsWorld()->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); - getDynamicsWorld()->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); - getDynamicsWorld()->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); + mPhysicsWorld->setGravity(gravity); + mPhysicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled); + mPhysicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); + mPhysicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); + mPhysicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); + mPhysicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); + mPhysicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); } } diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 459385ce..1d36f6d1 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -106,7 +106,10 @@ class SceneDemo : public Scene { std::vector mPhysicsObjects; - rp3d::CollisionWorld* mPhysicsWorld; + rp3d::PhysicsWorld* mPhysicsWorld; + + /// True if we need to step the physics simulation each frame + bool mIsPhysicsWorldSimulated; // -------------------- Methods -------------------- // @@ -132,18 +135,12 @@ class SceneDemo : public Scene { /// Remove all contact points void removeAllVisualContactPoints(); - /// Return a reference to the dynamics world - rp3d::DynamicsWorld* getDynamicsWorld(); - - /// Return a reference to the dynamics world - const rp3d::DynamicsWorld* getDynamicsWorld() const; - public: // -------------------- Methods -------------------- // /// Constructor - SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled = true); + SceneDemo(const std::string& name, EngineSettings& settings, bool isPhysicsWorldSimulated, float sceneRadius, bool isShadowMappingEnabled = true); /// Destructor virtual ~SceneDemo() override; @@ -178,14 +175,4 @@ inline void SceneDemo::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { } } -// Return a reference to the dynamics world -inline rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() { - return dynamic_cast(mPhysicsWorld); -} - -// Return a reference to the dynamics world -inline const rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() const { - return dynamic_cast(mPhysicsWorld); -} - #endif From 36bdfe803713b9d267089035eefecbd17574d87f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 27 Jan 2020 17:49:44 +0100 Subject: [PATCH 123/197] Edit changelog file --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 77da1294..9570734e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,6 +9,8 @@ - Many methods in the EventListener class have changed. Check the user manual for more information. - The way to retrieve contacts from a CollisionCallbackInfo object has changed. Check the user manual for more information. - Now, the collision shapes need be be created with the PhysicsWorld::createXXXShape() methods instead of using the constructor of the shape as before. For instance, you need to use the PhysicsWorld::createBoxShape() method to create a BoxShape. + - DynamicsWorld and CollisionWorld classes have been merged into a single class called PhysicsWorld. + - ProxyShape class has been renamed into Collider. - There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds. - An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method. - An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method. From c5873dbc6bd176b527beb29951823b72067ec013 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 1 Feb 2020 13:41:30 +0100 Subject: [PATCH 124/197] The Material is now part of the Collider instead of the RigidBody, fixes compilation errors with Logger and Profiler. --- CHANGELOG.md | 4 + src/body/RigidBody.cpp | 15 +--- src/body/RigidBody.h | 18 ---- src/collision/Collider.cpp | 6 +- src/collision/Collider.h | 46 ++++++++-- src/engine/Material.h | 2 +- src/engine/PhysicsCommon.cpp | 88 ++++++++++++++++++- src/engine/PhysicsCommon.h | 25 +++++- src/engine/PhysicsWorld.cpp | 40 +-------- src/engine/PhysicsWorld.h | 6 -- src/memory/HeapAllocator.cpp | 7 +- src/systems/ContactSolverSystem.cpp | 33 ++++--- src/systems/ContactSolverSystem.h | 16 ++-- src/utils/Logger.cpp | 18 ++-- src/utils/Logger.h | 30 +++++-- src/utils/Profiler.h | 15 ++-- test/tests/collision/TestDynamicAABBTree.h | 28 ------ testbed/common/Box.h | 10 ++- testbed/common/Capsule.h | 13 ++- testbed/common/ConcaveMesh.h | 14 ++- testbed/common/ConvexMesh.h | 13 ++- testbed/common/Dumbbell.h | 29 +++++- testbed/common/HeightField.h | 13 ++- testbed/common/Sphere.h | 11 ++- .../collisionshapes/CollisionShapesScene.cpp | 22 +++-- .../scenes/concavemesh/ConcaveMeshScene.cpp | 22 +++-- testbed/scenes/cubes/CubesScene.cpp | 2 +- testbed/scenes/cubestack/CubeStackScene.cpp | 2 +- .../scenes/heightfield/HeightFieldScene.cpp | 22 +++-- testbed/scenes/joints/JointsScene.cpp | 14 +-- testbed/scenes/pile/PileScene.cpp | 22 +++-- 31 files changed, 378 insertions(+), 228 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 9570734e..9c1a1cbf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -11,6 +11,10 @@ - Now, the collision shapes need be be created with the PhysicsWorld::createXXXShape() methods instead of using the constructor of the shape as before. For instance, you need to use the PhysicsWorld::createBoxShape() method to create a BoxShape. - DynamicsWorld and CollisionWorld classes have been merged into a single class called PhysicsWorld. - ProxyShape class has been renamed into Collider. + - The Material is now part of the Collider instead of the RigidBody. Therefore, it is now possible to have a RigidBody with multiple + colliders and a different material per Collider. + - The Logger has to be instanciated using the PhysicsCommon::createLogger() method instead of using its constructor. + - The Profiler has to be instanciated using the PhysicsCommon::createProfiler() method instead of using its constructor. - There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds. - An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method. - An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method. diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 8e29c888..165ebe10 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -39,9 +39,7 @@ using namespace reactphysics3d; * @param id The ID of the body */ RigidBody::RigidBody(PhysicsWorld& world, Entity entity) - : CollisionBody(world, entity), - mMaterial(world.mConfig.defaultFrictionCoefficient, world.mConfig.defaultRollingRestistance, world.mConfig.defaultBounciness), - mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { + : CollisionBody(world, entity), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { } @@ -431,17 +429,6 @@ void RigidBody::setAngularDamping(decimal angularDamping) { "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping)); } -// Set a new material for this rigid body -/** - * @param material The material you want to set to the body - */ -void RigidBody::setMaterial(const Material& material) { - mMaterial = material; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string()); -} - // Set the linear velocity of the rigid body. /** * @param linearVelocity Linear velocity vector of the body diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 58995bcf..5f1b780a 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -29,7 +29,6 @@ // Libraries #include #include "CollisionBody.h" -#include "engine/Material.h" #include "mathematics/mathematics.h" /// Namespace reactphysics3d @@ -58,9 +57,6 @@ class RigidBody : public CollisionBody { /// by the user with respect to the center of mass of the body Matrix3x3 mUserInertiaTensorLocalInverse; - /// Material properties of the rigid body - Material mMaterial; - /// True if the center of mass is set by the user bool mIsCenterOfMassSetByUser; @@ -142,12 +138,6 @@ class RigidBody : public CollisionBody { /// Set the variable to know if the gravity is applied to this rigid body void enableGravity(bool isEnabled); - /// Return a reference to the material properties of the rigid body - Material& getMaterial(); - - /// Set a new material for this rigid body - void setMaterial(const Material& material); - /// Return the linear velocity damping factor decimal getLinearDamping() const; @@ -216,14 +206,6 @@ class RigidBody : public CollisionBody { friend class Joint; }; -// Return a reference to the material properties of the rigid body -/** - * @return A reference to the material of the body - */ -inline Material& RigidBody::getMaterial() { - return mMaterial; -} - } #endif diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index 77198364..8f2afaf7 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -41,6 +41,8 @@ using namespace reactphysics3d; */ Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mEntity(entity), mBody(body), + mMaterial(body->mWorld.mConfig.defaultFrictionCoefficient, body->mWorld.mConfig.defaultRollingRestistance, + body->mWorld.mConfig.defaultBounciness), mUserData(nullptr) { } @@ -106,7 +108,7 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) { int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, - "Collider" " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + + "Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + std::to_string(collideWithMaskBits)); } @@ -127,7 +129,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) { mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, - "Collider " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" + + "Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" + transform.to_string()); } diff --git a/src/collision/Collider.h b/src/collision/Collider.h index eb4d3cba..7d2b46f0 100644 --- a/src/collision/Collider.h +++ b/src/collision/Collider.h @@ -29,6 +29,8 @@ // Libraries #include "body/CollisionBody.h" #include "collision/shapes/CollisionShape.h" +#include "engine/Material.h" +#include "utils/Logger.h" namespace reactphysics3d { @@ -37,13 +39,10 @@ class MemoryManager; // Class Collider /** - * The CollisionShape instances are supposed to be unique for memory optimization. For instance, - * consider two rigid bodies with the same sphere collision shape. In this situation, we will have - * a unique instance of SphereShape but we need to differentiate between the two instances during - * the collision detection. They do not have the same position in the world and they do not - * belong to the same rigid body. The Collider class is used for that purpose by attaching a - * rigid body with one of its collision shape. A body can have multiple colliders (one for - * each collision shape attached to the body). + * A collider has a collision shape (box, sphere, capsule, ...) and is attached to a CollisionBody or + * RigidBody. A body can have multiple colliders. The collider also have a mass value and a Material + * with many physics parameters like friction or bounciness. When you create a body, you need to attach + * at least one collider to it if you want that body to be able to collide in the physics world. */ class Collider { @@ -60,6 +59,9 @@ class Collider { /// Pointer to the parent body CollisionBody* mBody; + /// Material properties of the rigid body + Material mMaterial; + /// Pointer to user data void* mUserData; @@ -151,6 +153,12 @@ class Collider { /// Return the broad-phase id int getBroadPhaseId() const; + /// Return a reference to the material properties of the collider + Material& getMaterial(); + + /// Set a new material for this collider + void setMaterial(const Material& material); + #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -221,6 +229,30 @@ inline bool Collider::testAABBOverlap(const AABB& worldAABB) const { return worldAABB.testCollision(getWorldAABB()); } +// Return a reference to the material properties of the collider +/** + * @return A reference to the material of the body + */ +inline Material& Collider::getMaterial() { + return mMaterial; +} + +// Set a new material for this rigid body +/** + * @param material The material you want to set to the body + */ +inline void Collider::setMaterial(const Material& material) { + + mMaterial = material; + +#ifdef IS_LOGGING_ACTIVE + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string()); +#endif + +} + #ifdef IS_LOGGING_ACTIVE // Set the logger diff --git a/src/engine/Material.h b/src/engine/Material.h index c122b00b..a989f4bc 100644 --- a/src/engine/Material.h +++ b/src/engine/Material.h @@ -94,7 +94,7 @@ class Material { // ---------- Friendship ---------- // - friend class RigidBody; + friend class Collider; }; // Return the bounciness diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 1944e6cc..3f4a256e 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -35,7 +35,8 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()), mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()), mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()), - mTriangleMeshes(mMemoryManager.getHeapAllocator()) { + mTriangleMeshes(mMemoryManager.getHeapAllocator()), mLoggers(mMemoryManager.getHeapAllocator()), + mProfilers(mMemoryManager.getHeapAllocator()) { } @@ -93,11 +94,49 @@ void PhysicsCommon::release() { for (auto it = mTriangleMeshes.begin(); it != mTriangleMeshes.end(); ++it) { destroyTriangleMesh(*it); } + + // Destroy the loggers + for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) { + destroyLogger(*it); + } + + // Destroy the profilers + for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) { + destroyProfiler(*it); + } } // Create and return an instance of PhysicsWorld PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { +#ifdef IS_PROFILING_ACTIVE + + // If the user has not provided its own profiler, we create one + if (profiler == nullptr) { + + profiler = createProfiler(); + + // Add a destination file for the profiling data + profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text); + } + +#endif + +#ifdef IS_LOGGING_ACTIVE + + // If the user has not provided its own logger, we create one + if (logger == nullptr) { + + logger = createLogger(); + + // Add a log destination file + uint logLevel = static_cast(Logger::Level::Information) | static_cast(Logger::Level::Warning) | + static_cast(Logger::Level::Error); + logger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, Logger::Format::HTML); + } + +#endif + PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler); mPhysicsWorlds.add(world); @@ -106,7 +145,7 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting } // Destroy an instance of PhysicsWorld -PhysicsWorld* PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) { +void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) { // Call the destructor of the world world->~PhysicsWorld(); @@ -294,3 +333,48 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { mTriangleMeshes.remove(triangleMesh); } + +// Create and return a new logger +Logger* PhysicsCommon::createLogger() { + + Logger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Logger))) Logger(mMemoryManager.getHeapAllocator()); + + mLoggers.add(logger); + + return logger; +} + +// Destroy a logger +void PhysicsCommon::destroyLogger(Logger* logger) { + + // Call the destructor of the logger + logger->~Logger(); + + // Release allocated memory + mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(Logger)); + + mLoggers.remove(logger); +} + +// Create and return a new profiler +/// Note that you need to use a different profiler for each PhysicsWorld. +Profiler* PhysicsCommon::createProfiler() { + + Profiler* profiler = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Profiler))) Profiler(); + + mProfilers.add(profiler); + + return profiler; +} + +// Destroy a profiler +void PhysicsCommon::destroyProfiler(Profiler* profiler) { + + // Call the destructor of the profiler + profiler->~Profiler(); + + // Release allocated memory + mMemoryManager.release(MemoryManager::AllocationType::Pool, profiler, sizeof(Profiler)); + + mProfilers.remove(profiler); +} diff --git a/src/engine/PhysicsCommon.h b/src/engine/PhysicsCommon.h index d454aa01..8d1dc977 100644 --- a/src/engine/PhysicsCommon.h +++ b/src/engine/PhysicsCommon.h @@ -82,6 +82,12 @@ class PhysicsCommon { /// Set of triangle meshes Set mTriangleMeshes; + /// Set of loggers + Set mLoggers; + + /// Set of loggers + Set mProfilers; + // -------------------- Methods -------------------- // /// Destroy and release everything that has been allocated @@ -100,12 +106,15 @@ class PhysicsCommon { /// Destructor ~PhysicsCommon(); + // TODO : Add better code documentation for all methods in this class (document + // the method parameters with the "@param" keyword for Doxygen + /// Create and return an instance of PhysicsWorld PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(), - Logger* logger = nullptr, Profiler* profiler = nullptr); + Logger* logger = nullptr, Profiler* profiler = nullptr); /// Destroy an instance of PhysicsWorld - PhysicsWorld* destroyPhysicsWorld(PhysicsWorld* world); + void destroyPhysicsWorld(PhysicsWorld* world); /// Create and return a sphere collision shape SphereShape* createSphereShape(const decimal radius); @@ -157,6 +166,18 @@ class PhysicsCommon { /// Destroy a triangle mesh void destroyTriangleMesh(TriangleMesh* triangleMesh); + + /// Create and return a new logger + Logger* createLogger(); + + /// Destroy a logger + void destroyLogger(Logger* logger); + + /// Create and return a new profiler + Profiler* createProfiler(); + + /// Destroy a profiler + void destroyProfiler(Profiler* profiler); }; } diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index e064fe1f..bf41d5fb 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -59,8 +59,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), - mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr), - mIsLoggerCreatedByUser(logger != nullptr), mIslands(mMemoryManager.getSingleFrameAllocator()), + mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mCollidersComponents, mConfig.restitutionVelocityThreshold), mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, @@ -88,18 +87,9 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo #ifdef IS_PROFILING_ACTIVE + assert(profiler != nullptr); mProfiler = profiler; - // If the user has not provided its own profiler, we create one - if (mProfiler == nullptr) { - - mProfiler = new Profiler(); - - // Add a destination file for the profiling data - mProfiler->addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text); - } - - // Set the profiler mConstraintSolverSystem.setProfiler(mProfiler); mContactSolverSystem.setProfiler(mProfiler); @@ -110,19 +100,9 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo #ifdef IS_LOGGING_ACTIVE + assert(logger != nullptr); mLogger = logger; - // If the user has not provided its own logger, we create one - if (mLogger == nullptr) { - - mLogger = new Logger(); - - // Add a log destination file - uint logLevel = static_cast(Logger::Level::Information) | static_cast(Logger::Level::Warning) | - static_cast(Logger::Level::Error); - mLogger->addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML); - } - #endif mNbWorlds++; @@ -150,23 +130,9 @@ PhysicsWorld::~PhysicsWorld() { #ifdef IS_PROFILING_ACTIVE - /// Delete the profiler - if (!mIsProfilerCreatedByUser) { - delete mProfiler; - } - // Print the profiling report into the destinations mProfiler->printReport(); -#endif - -#ifdef IS_LOGGING_ACTIVE - - /// Delete the logger - if (!mIsLoggerCreatedByUser) { - delete mLogger; - } - #endif assert(mBodies.size() == 0); diff --git a/src/engine/PhysicsWorld.h b/src/engine/PhysicsWorld.h index 5d02c876..c70de69d 100644 --- a/src/engine/PhysicsWorld.h +++ b/src/engine/PhysicsWorld.h @@ -234,12 +234,6 @@ class PhysicsWorld { Logger* mLogger; #endif - /// True if the profiler has been created by the user - bool mIsProfilerCreatedByUser; - - /// True if the logger has been created by the user - bool mIsLoggerCreatedByUser; - /// Total number of worlds static uint mNbWorlds; diff --git a/src/memory/HeapAllocator.cpp b/src/memory/HeapAllocator.cpp index d2e2315c..c1537a98 100644 --- a/src/memory/HeapAllocator.cpp +++ b/src/memory/HeapAllocator.cpp @@ -36,8 +36,11 @@ size_t HeapAllocator::INIT_ALLOCATED_SIZE = 5 * 1048576; // 5 Mb // Constructor HeapAllocator::HeapAllocator(MemoryAllocator& baseAllocator, size_t initAllocatedMemory) - : mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr), - mNbTimesAllocateMethodCalled(0) { + : mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr) { + +#ifndef NDEBUG + mNbTimesAllocateMethodCalled = 0; +#endif reserve(initAllocatedMemory == 0 ? INIT_ALLOCATED_SIZE : initAllocatedMemory); } diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 4c008c3b..16f02a89 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -30,6 +30,7 @@ #include "constraint/ContactPoint.h" #include "utils/Profiler.h" #include "engine/Island.h" +#include "collision/Collider.h" #include "components/CollisionBodyComponents.h" #include "components/ColliderComponents.h" #include "collision/ContactManifold.h" @@ -134,6 +135,9 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1); const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2); + Collider* collider1 = mColliderComponents.getCollider(externalManifold.colliderEntity1); + Collider* collider2 = mColliderComponents.getCollider(externalManifold.colliderEntity2); + // Get the position of the two bodies const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex1]; const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex2]; @@ -147,8 +151,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1]; mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2]; mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; - mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2); - mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2); + mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(collider1, collider2); + mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(collider1, collider2); mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold; mContactConstraints[mNbContactManifolds].normal.setToZero(); mContactConstraints[mNbContactManifolds].frictionPointBody1.setToZero(); @@ -236,7 +240,7 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { decimal deltaVDotN = deltaV.x * mContactPoints[mNbContactPoints].normal.x + deltaV.y * mContactPoints[mNbContactPoints].normal.y + deltaV.z * mContactPoints[mNbContactPoints].normal.z; - const decimal restitutionFactor = computeMixedRestitutionFactor(body1, body2); + const decimal restitutionFactor = computeMixedRestitutionFactor(collider1, collider2); if (deltaVDotN < -mRestitutionVelocityThreshold) { mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN; } @@ -769,25 +773,26 @@ void ContactSolverSystem::solve() { } } -// Compute the collision restitution factor from the restitution factor of each body -decimal ContactSolverSystem::computeMixedRestitutionFactor(RigidBody* body1, RigidBody* body2) const { - decimal restitution1 = body1->getMaterial().getBounciness(); - decimal restitution2 = body2->getMaterial().getBounciness(); +// Compute the collision restitution factor from the restitution factor of each collider +decimal ContactSolverSystem::computeMixedRestitutionFactor(Collider* collider1, Collider* collider2) const { + decimal restitution1 = collider1->getMaterial().getBounciness(); + decimal restitution2 = collider2->getMaterial().getBounciness(); // Return the largest restitution factor return (restitution1 > restitution2) ? restitution1 : restitution2; } -// Compute the mixed friction coefficient from the friction coefficient of each body -decimal ContactSolverSystem::computeMixedFrictionCoefficient(RigidBody* body1, RigidBody* body2) const { +// Compute the mixed friction coefficient from the friction coefficient of each collider +decimal ContactSolverSystem::computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const { + // Use the geometric mean to compute the mixed friction coefficient - return std::sqrt(body1->getMaterial().getFrictionCoefficient() * - body2->getMaterial().getFrictionCoefficient()); + return std::sqrt(collider1->getMaterial().getFrictionCoefficient() * + collider2->getMaterial().getFrictionCoefficient()); } -// Compute th mixed rolling resistance factor between two bodies -inline decimal ContactSolverSystem::computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const { - return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance()); +// Compute th mixed rolling resistance factor between two colliders +inline decimal ContactSolverSystem::computeMixedRollingResistance(Collider* collider1, Collider* collider2) const { + return decimal(0.5f) * (collider1->getMaterial().getRollingResistance() + collider2->getMaterial().getRollingResistance()); } // Store the computed impulses to use them to diff --git a/src/systems/ContactSolverSystem.h b/src/systems/ContactSolverSystem.h index 996951fb..a056a4b2 100644 --- a/src/systems/ContactSolverSystem.h +++ b/src/systems/ContactSolverSystem.h @@ -43,6 +43,7 @@ class Profiler; class Island; struct Islands; class RigidBody; +class Collider; class PhysicsWorld; class CollisionBodyComponents; class DynamicsComponents; @@ -338,16 +339,15 @@ class ContactSolverSystem { // -------------------- Methods -------------------- // - /// Compute the collision restitution factor from the restitution factor of each body - decimal computeMixedRestitutionFactor(RigidBody* body1, - RigidBody* body2) const; + /// Compute the collision restitution factor from the restitution factor of each collider + decimal computeMixedRestitutionFactor(Collider* collider1, + Collider* collider2) const; - /// Compute the mixed friction coefficient from the friction coefficient of each body - decimal computeMixedFrictionCoefficient(RigidBody* body1, - RigidBody* body2) const; + /// Compute the mixed friction coefficient from the friction coefficient of each collider + decimal computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const; - /// Compute th mixed rolling resistance factor between two bodies - decimal computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const; + /// Compute th mixed rolling resistance factor between two colliders + decimal computeMixedRollingResistance(Collider* collider1, Collider* collider2) const; /// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction /// plane for a contact manifold. The two vectors have to be diff --git a/src/utils/Logger.cpp b/src/utils/Logger.cpp index 19d7a98d..853c8a59 100644 --- a/src/utils/Logger.cpp +++ b/src/utils/Logger.cpp @@ -32,10 +32,9 @@ using namespace reactphysics3d; // Constructor -Logger::Logger() - : mDestinations(MemoryManager::getBaseAllocator()), mFormatters(MemoryManager::getBaseAllocator()) +Logger::Logger(MemoryAllocator& allocator) + : mAllocator(allocator), mDestinations(allocator), mFormatters(allocator) { - // Create the log formatters mFormatters.add(Pair(Format::Text, new TextFormatter())); mFormatters.add(Pair(Format::HTML, new HtmlFormatter())); @@ -46,7 +45,7 @@ Logger::~Logger() { removeAllDestinations(); - // Remove all the loggers + // Remove all the formatters for (auto it = mFormatters.begin(); it != mFormatters.end(); ++it) { delete it->second; @@ -67,14 +66,14 @@ Logger::Formatter* Logger::getFormatter(Format format) const { // Add a log file destination to the logger void Logger::addFileDestination(const std::string& filePath, uint logLevelFlag, Format format) { - FileDestination* destination = new FileDestination(filePath, logLevelFlag, getFormatter(format)); + FileDestination* destination = new (mAllocator.allocate(sizeof(FileDestination))) FileDestination(filePath, logLevelFlag, getFormatter(format)); mDestinations.add(destination); } /// Add a stream destination to the logger void Logger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format) { - StreamDestination* destination = new StreamDestination(outputStream, logLevelFlag, getFormatter(format)); + StreamDestination* destination = new (mAllocator.allocate(sizeof(StreamDestination))) StreamDestination(outputStream, logLevelFlag, getFormatter(format)); mDestinations.add(destination); } @@ -83,7 +82,12 @@ void Logger::removeAllDestinations() { // Delete all the destinations for (uint i=0; igetSizeBytes(); + + mDestinations[i]->~Destination(); + + mAllocator.release(mDestinations[i], size); } mDestinations.clear(); diff --git a/src/utils/Logger.h b/src/utils/Logger.h index 5065043c..a1bbc6c0 100644 --- a/src/utils/Logger.h +++ b/src/utils/Logger.h @@ -343,6 +343,9 @@ class Logger { /// Write a message into the output stream virtual void write(const time_t& time, const std::string& message, Level level, Category category) = 0; + + /// Return the size in bytes of the type + virtual size_t getSizeBytes() const=0; }; class FileDestination : public Destination { @@ -386,6 +389,11 @@ class Logger { virtual void write(const time_t& time, const std::string& message, Level level, Category category) override { mFileStream << formatter->format(time, message, level, category) << std::endl << std::flush; } + + /// Return the size in bytes of the type + virtual size_t getSizeBytes() const override { + return sizeof(FileDestination); + } }; /// Stream destination to output the logs into a stream @@ -417,6 +425,11 @@ class Logger { virtual void write(const time_t& time, const std::string& message, Level level, Category category) override { mOutputStream << formatter->format(time, message, level, category) << std::endl << std::flush; } + + /// Return the size in bytes of the type + virtual size_t getSizeBytes() const override { + return sizeof(StreamDestination); + } }; @@ -424,6 +437,9 @@ class Logger { // -------------------- Attributes -------------------- // + /// Memory allocator + MemoryAllocator& mAllocator; + /// All the log destinations List mDestinations; @@ -438,16 +454,16 @@ class Logger { /// Return the corresponding formatter Formatter* getFormatter(Format format) const; - public : - - // -------------------- Methods -------------------- // - /// Constructor - Logger(); + Logger(MemoryAllocator& allocator); /// Destructor ~Logger(); + public : + + // -------------------- Methods -------------------- // + /// Add a file destination to the logger void addFileDestination(const std::string& filePath, uint logLevelFlag, Format format); @@ -459,6 +475,10 @@ class Logger { /// Log something void log(Level level, Category category, const std::string& message); + + // ---------- Friendship ---------- // + + friend class PhysicsCommon; }; } diff --git a/src/utils/Profiler.h b/src/utils/Profiler.h index b1f583f7..0d88c292 100644 --- a/src/utils/Profiler.h +++ b/src/utils/Profiler.h @@ -310,16 +310,16 @@ class Profiler { /// Destroy the profiler (release the memory) void destroy(); + /// Constructor + Profiler(); + + /// Destructor + ~Profiler(); + public : // -------------------- Methods -------------------- // - /// Constructor - Profiler(); - - /// Destructor - ~Profiler(); - /// Method called when we want to start profiling a block of code. void startProfilingBlock(const char *name); @@ -356,6 +356,9 @@ class Profiler { /// Print the report of the profiler in every output destinations void printReport(); + + // ---------- Friendship ---------- // + friend class PhysicsCommon; }; // Class ProfileSample diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 5c39fb99..15c04edd 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -125,12 +125,6 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); -#ifdef IS_PROFILING_ACTIVE - /// Pointer to the profiler - Profiler* profiler = new Profiler(); - tree.setProfiler(profiler); -#endif - int object1Data = 56; int object2Data = 23; int object3Data = 13; @@ -168,10 +162,6 @@ class TestDynamicAABBTree : public Test { rp3d_test(*(int*)(tree.getNodeDataPointer(object2Id)) == object2Data); rp3d_test(*(int*)(tree.getNodeDataPointer(object3Id)) == object3Data); rp3d_test(*(int*)(tree.getNodeDataPointer(object4Id)) == object4Data); - -#ifdef IS_PROFILING_ACTIVE - delete profiler; -#endif } void testOverlapping() { @@ -181,12 +171,6 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); -#ifdef IS_PROFILING_ACTIVE - /// Pointer to the profiler - Profiler* profiler = new Profiler(); - tree.setProfiler(profiler); -#endif - int object1Data = 56; int object2Data = 23; int object3Data = 13; @@ -370,9 +354,6 @@ class TestDynamicAABBTree : public Test { rp3d_test(!isOverlapping(object3Id, overlappingNodes)); rp3d_test(!isOverlapping(object4Id, overlappingNodes)); -#ifdef IS_PROFILING_ACTIVE - delete profiler; -#endif } void testRaycast() { @@ -382,12 +363,6 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); -#ifdef IS_PROFILING_ACTIVE - /// Pointer to the profiler - Profiler* profiler = new Profiler(); - tree.setProfiler(profiler); -#endif - int object1Data = 56; int object2Data = 23; int object3Data = 13; @@ -551,9 +526,6 @@ class TestDynamicAABBTree : public Test { rp3d_test(mRaycastCallback.isHit(object3Id)); rp3d_test(mRaycastCallback.isHit(object4Id)); -#ifdef IS_PROFILING_ACTIVE - delete profiler; -#endif } }; diff --git a/testbed/common/Box.h b/testbed/common/Box.h index 61a80d89..9ff20b1d 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -82,13 +82,16 @@ class Box : public PhysicsObject { Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath); /// Destructor - ~Box(); + virtual ~Box() override; /// Render the cube at the correct position and with the correct orientation virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override; /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the collider + rp3d::Collider* getCollider(); }; // Update the transform matrix of the object @@ -96,5 +99,10 @@ inline void Box::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the collider +inline rp3d::Collider* Box::getCollider() { + return mCollider; +} + #endif diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index 53d9bac4..92f11066 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -51,9 +51,6 @@ class Capsule : public PhysicsObject { rp3d::CapsuleShape* mCapsuleShape; rp3d::Collider* mCollider; - /// Previous transform (for interpolation) - rp3d::Transform mPreviousTransform; - /// Vertex Buffer Object for the vertices data static openglframework::VertexBufferObject mVBOVertices; @@ -86,13 +83,16 @@ class Capsule : public PhysicsObject { const std::string& meshFolderPath); /// Destructor - ~Capsule(); + virtual ~Capsule() override; /// Render the sphere at the correct position and with the correct orientation virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override; /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the collider + rp3d::Collider* getCollider(); }; // Update the transform matrix of the object @@ -100,4 +100,9 @@ inline void Capsule::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the collider +inline rp3d::Collider* Capsule::getCollider() { + return mCollider; +} + #endif diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 460fceb9..345363f4 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -38,9 +38,6 @@ class ConcaveMesh : public PhysicsObject { // -------------------- Attributes -------------------- // - /// Previous transform (for interpolation) - rp3d::Transform mPreviousTransform; - /// Collision shape rp3d::ConcaveMeshShape* mConcaveShape; rp3d::Collider* mCollider; @@ -82,7 +79,7 @@ class ConcaveMesh : public PhysicsObject { ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor - ~ConcaveMesh(); + virtual ~ConcaveMesh() override; /// Render the mesh at the correct position and with the correct orientation void render(openglframework::Shader& shader, @@ -90,6 +87,10 @@ class ConcaveMesh : public PhysicsObject { /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the collider + rp3d::Collider* getCollider(); + }; // Update the transform matrix of the object @@ -97,4 +98,9 @@ inline void ConcaveMesh::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the collider +inline rp3d::Collider* ConcaveMesh::getCollider() { + return mCollider; +} + #endif diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index 01adff73..ae25149d 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -38,9 +38,6 @@ class ConvexMesh : public PhysicsObject { // -------------------- Attributes -------------------- // - /// Previous transform (for interpolation) - rp3d::Transform mPreviousTransform; - rp3d::PolygonVertexArray::PolygonFace* mPolygonFaces; rp3d::PolygonVertexArray* mPolygonVertexArray; @@ -95,13 +92,16 @@ class ConvexMesh : public PhysicsObject { ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor - ~ConvexMesh(); + virtual ~ConvexMesh() override; /// Render the mesh at the correct position and with the correct orientation virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override; /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the collider + rp3d::Collider* getCollider(); }; // Update the transform matrix of the object @@ -109,4 +109,9 @@ inline void ConvexMesh::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the collider +inline rp3d::Collider* ConvexMesh::getCollider() { + return mCollider; +} + #endif diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h index ce1e38e7..3c411a55 100644 --- a/testbed/common/Dumbbell.h +++ b/testbed/common/Dumbbell.h @@ -51,9 +51,6 @@ class Dumbbell : public PhysicsObject { /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions) openglframework::Matrix4 mScalingMatrix; - /// Previous transform (for interpolation) - rp3d::Transform mPreviousTransform; - /// Vertex Buffer Object for the vertices data static openglframework::VertexBufferObject mVBOVertices; @@ -86,13 +83,22 @@ class Dumbbell : public PhysicsObject { const std::string& meshFolderPath); /// Destructor - ~Dumbbell(); + virtual ~Dumbbell() override; /// Render the sphere at the correct position and with the correct orientation virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override; /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the capsule collider + rp3d::Collider* getCapsuleCollider(); + + /// Return the first sphere collider + rp3d::Collider* getSphere1Collider(); + + /// Return the second sphere collider + rp3d::Collider* getSphere2Collider(); }; // Update the transform matrix of the object @@ -100,4 +106,19 @@ inline void Dumbbell::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the capsule collider +inline rp3d::Collider* Dumbbell::getCapsuleCollider() { + return mColliderCapsule; +} + +// Return the first sphere collider +inline rp3d::Collider* Dumbbell::getSphere1Collider() { + return mColliderSphere1; +} + +// Return the second sphere collider +inline rp3d::Collider* Dumbbell::getSphere2Collider() { + return mColliderSphere2; +} + #endif diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index af46aa1f..1599aa79 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -45,9 +45,6 @@ class HeightField : public PhysicsObject { /// Height field data float mHeightData[NB_POINTS_WIDTH * NB_POINTS_LENGTH]; - /// Previous transform (for interpolation) - rp3d::Transform mPreviousTransform; - /// Collision shape rp3d::HeightFieldShape* mHeightFieldShape; rp3d::Collider* mCollider; @@ -95,7 +92,7 @@ class HeightField : public PhysicsObject { HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld); /// Destructor - ~HeightField(); + virtual ~HeightField() override; /// Render the mesh at the correct position and with the correct orientation void render(openglframework::Shader& shader, @@ -103,6 +100,9 @@ class HeightField : public PhysicsObject { /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the collider + rp3d::Collider* getCollider(); }; // Update the transform matrix of the object @@ -110,4 +110,9 @@ inline void HeightField::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the collider +inline rp3d::Collider* HeightField::getCollider() { + return mCollider; +} + #endif diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index 9a517173..a31d287c 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -48,9 +48,6 @@ class Sphere : public PhysicsObject { /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions) openglframework::Matrix4 mScalingMatrix; - /// Previous transform (for interpolation) - rp3d::Transform mPreviousTransform; - /// Vertex Buffer Object for the vertices data static openglframework::VertexBufferObject mVBOVertices; @@ -92,6 +89,9 @@ class Sphere : public PhysicsObject { /// Update the transform matrix of the object virtual void updateTransform(float interpolationFactor) override; + + /// Return the collider + rp3d::Collider* getCollider(); }; // Update the transform matrix of the object @@ -99,4 +99,9 @@ inline void Sphere::updateTransform(float interpolationFactor) { mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix); } +// Return the collider +inline rp3d::Collider* Sphere::getCollider() { + return mCollider; +} + #endif diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 40854ff1..e8601c5f 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -63,8 +63,12 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial(); + capsuleMaterial.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial(); + sphere1Material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial(); + sphere2Material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of dumbbells in the scene mDumbbells.push_back(dumbbell); @@ -82,7 +86,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = box->getRigidBody()->getMaterial(); + rp3d::Material& material = box->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -97,14 +101,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); // Add some rolling resistance - sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color sphere->setColor(mObjectColorDemo); sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = sphere->getRigidBody()->getMaterial(); + rp3d::Material& material = sphere->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -119,14 +123,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); - capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); + capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); // Set the box color capsule->setColor(mObjectColorDemo); capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = capsule->getRigidBody()->getMaterial(); + rp3d::Material& material = capsule->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the cylinder the list of sphere in the scene @@ -145,7 +149,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = mesh->getRigidBody()->getMaterial(); + rp3d::Material& material = mesh->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of sphere in the scene @@ -166,7 +170,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); // Change the material properties of the rigid body - rp3d::Material& material = mFloor->getRigidBody()->getMaterial(); + rp3d::Material& material = mFloor->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Get the physics engine parameters diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 43fb7e9b..7e7d6cfa 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -64,8 +64,12 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial(); + capsuleMaterial.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial(); + sphere1Material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial(); + sphere2Material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of dumbbells in the scene mDumbbells.push_back(dumbbell); @@ -83,7 +87,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = box->getRigidBody()->getMaterial(); + rp3d::Material& material = box->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -98,14 +102,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); // Add some rolling resistance - sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color sphere->setColor(mObjectColorDemo); sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = sphere->getRigidBody()->getMaterial(); + rp3d::Material& material = sphere->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -120,14 +124,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); - capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color capsule->setColor(mObjectColorDemo); capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = capsule->getRigidBody()->getMaterial(); + rp3d::Material& material = capsule->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the cylinder the list of sphere in the scene @@ -146,7 +150,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = mesh->getRigidBody()->getMaterial(); + rp3d::Material& material = mesh->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of sphere in the scene @@ -172,7 +176,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett mPhysicsObjects.push_back(mConcaveMesh); // Change the material properties of the rigid body - rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial(); + rp3d::Material& material = mConcaveMesh->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); material.setFrictionCoefficient(rp3d::decimal(0.1)); diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index 5c8424d5..c1283c2d 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -62,7 +62,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) cube->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = cube->getRigidBody()->getMaterial(); + rp3d::Material& material = cube->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.4)); // Add the box the list of box in the scene diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index 6188ddb4..4df85758 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -64,7 +64,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings cube->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = cube->getRigidBody()->getMaterial(); + rp3d::Material& material = cube->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.4)); // Add the box the list of box in the scene diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index fbea65e5..3d41046c 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -63,8 +63,12 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial(); + capsuleMaterial.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial(); + sphere1Material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial(); + sphere2Material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of dumbbells in the scene mDumbbells.push_back(dumbbell); @@ -82,7 +86,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = box->getRigidBody()->getMaterial(); + rp3d::Material& material = box->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -97,14 +101,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); // Add some rolling resistance - sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f); + sphere->getCollider()->getMaterial().setRollingResistance(0.08f); // Set the box color sphere->setColor(mObjectColorDemo); sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = sphere->getRigidBody()->getMaterial(); + rp3d::Material& material = sphere->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -119,14 +123,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); - capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f); + capsule->getCollider()->getMaterial().setRollingResistance(0.08f); // Set the box color capsule->setColor(mObjectColorDemo); capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = capsule->getRigidBody()->getMaterial(); + rp3d::Material& material = capsule->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the cylinder the list of sphere in the scene @@ -145,7 +149,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = mesh->getRigidBody()->getMaterial(); + rp3d::Material& material = mesh->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of sphere in the scene @@ -171,7 +175,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett mHeightField->setSleepingColor(mFloorColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = mHeightField->getRigidBody()->getMaterial(); + rp3d::Material& material = mHeightField->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); material.setFrictionCoefficient(0.1f); diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index b3c5df71..c8f03ce7 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -230,7 +230,7 @@ void JointsScene::createBallAndSocketJoints() { mBallAndSocketJointChainBoxes[i]->getRigidBody()->setAngularDamping(rp3d::decimal(0.2)); // Change the material properties of the rigid body - rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial(); + rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.4)); mPhysicsObjects.push_back(mBallAndSocketJointChainBoxes[i]); @@ -277,7 +277,7 @@ void JointsScene::createSliderJoint() { mSliderJointBottomBox->getRigidBody()->setType(rp3d::BodyType::STATIC); // Change the material properties of the rigid body - rp3d::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial(); + rp3d::Material& material1 = mSliderJointBottomBox->getCollider()->getMaterial(); material1.setBounciness(0.4f); mPhysicsObjects.push_back(mSliderJointBottomBox); @@ -296,7 +296,7 @@ void JointsScene::createSliderJoint() { mSliderJointTopBox->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial(); + rp3d::Material& material2 = mSliderJointTopBox->getCollider()->getMaterial(); material2.setBounciness(0.4f); mPhysicsObjects.push_back(mSliderJointTopBox); @@ -338,7 +338,7 @@ void JointsScene::createPropellerHingeJoint() { mPropellerBox->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial(); + rp3d::Material& material = mPropellerBox->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.4)); mPhysicsObjects.push_back(mPropellerBox); @@ -379,7 +379,7 @@ void JointsScene::createFixedJoints() { mFixedJointBox1->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial(); + rp3d::Material& material1 = mFixedJointBox1->getCollider()->getMaterial(); material1.setBounciness(rp3d::decimal(0.4)); mPhysicsObjects.push_back(mFixedJointBox1); @@ -397,7 +397,7 @@ void JointsScene::createFixedJoints() { mFixedJointBox2->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial(); + rp3d::Material& material2 = mFixedJointBox2->getCollider()->getMaterial(); material2.setBounciness(rp3d::decimal(0.4)); mPhysicsObjects.push_back(mFixedJointBox2); @@ -440,7 +440,7 @@ void JointsScene::createFloor() { mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC); // Change the material properties of the rigid body - rp3d::Material& material = mFloor->getRigidBody()->getMaterial(); + rp3d::Material& material = mFloor->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.3)); mPhysicsObjects.push_back(mFloor); } diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp index 49c206e6..ceb3b9c8 100644 --- a/testbed/scenes/pile/PileScene.cpp +++ b/testbed/scenes/pile/PileScene.cpp @@ -61,8 +61,12 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) dumbbell->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = dumbbell->getRigidBody()->getMaterial(); - material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial(); + capsuleMaterial.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial(); + sphere1Material.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial(); + sphere2Material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of dumbbells in the scene mDumbbells.push_back(dumbbell); @@ -80,7 +84,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) box->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = box->getRigidBody()->getMaterial(); + rp3d::Material& material = box->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -95,14 +99,14 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); // Add some rolling resistance - sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); + sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); // Set the box color sphere->setColor(mObjectColorDemo); sphere->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = sphere->getRigidBody()->getMaterial(); + rp3d::Material& material = sphere->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the sphere the list of sphere in the scene @@ -117,14 +121,14 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath); - capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); + capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); // Set the box color capsule->setColor(mObjectColorDemo); capsule->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = capsule->getRigidBody()->getMaterial(); + rp3d::Material& material = capsule->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the cylinder the list of sphere in the scene @@ -143,7 +147,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) mesh->setSleepingColor(mSleepingColorDemo); // Change the material properties of the rigid body - rp3d::Material& material = mesh->getRigidBody()->getMaterial(); + rp3d::Material& material = mesh->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); // Add the mesh the list of sphere in the scene @@ -169,7 +173,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) mPhysicsObjects.push_back(mSandbox); // Change the material properties of the rigid body - rp3d::Material& material = mSandbox->getRigidBody()->getMaterial(); + rp3d::Material& material = mSandbox->getCollider()->getMaterial(); material.setBounciness(rp3d::decimal(0.2)); material.setFrictionCoefficient(rp3d::decimal(0.1)); From 9d776e32dcf4b30dc2e640ef623db978f0591e36 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Thu, 6 Feb 2020 07:21:13 +0100 Subject: [PATCH 125/197] Make possible to change the size of the collision shapes after their creation --- CHANGELOG.md | 11 +++ src/collision/shapes/AABB.h | 9 +++ src/collision/shapes/BoxShape.cpp | 30 ++++---- src/collision/shapes/BoxShape.h | 47 +++++++----- src/collision/shapes/CapsuleShape.cpp | 1 + src/collision/shapes/CapsuleShape.h | 31 ++++++++ src/collision/shapes/ConcaveMeshShape.cpp | 52 ++++++------- src/collision/shapes/ConcaveMeshShape.h | 20 ++--- src/collision/shapes/ConcaveShape.cpp | 5 +- src/collision/shapes/ConcaveShape.h | 23 +++++- src/collision/shapes/ConvexMeshShape.cpp | 10 +-- src/collision/shapes/ConvexMeshShape.h | 29 ++++--- src/collision/shapes/HeightFieldShape.cpp | 14 ++-- src/collision/shapes/HeightFieldShape.h | 11 --- src/collision/shapes/SphereShape.cpp | 2 +- src/collision/shapes/SphereShape.h | 16 +++- test/tests/collision/TestAABB.h | 12 +++ testbed/common/ConcaveMesh.cpp | 64 +++------------- testbed/common/ConcaveMesh.h | 5 +- testbed/common/ConvexMesh.cpp | 76 +++---------------- testbed/common/ConvexMesh.h | 5 +- testbed/common/HeightField.cpp | 57 ++++---------- testbed/common/HeightField.h | 5 +- .../CollisionDetectionScene.cpp | 6 +- .../collisionshapes/CollisionShapesScene.cpp | 2 +- .../scenes/concavemesh/ConcaveMeshScene.cpp | 4 +- .../scenes/heightfield/HeightFieldScene.cpp | 4 +- testbed/scenes/pile/PileScene.cpp | 4 +- testbed/scenes/raycast/RaycastScene.cpp | 6 +- 29 files changed, 263 insertions(+), 298 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 9c1a1cbf..d10a1d92 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,15 @@ ## Develop +### Added + + - It is now possible to change the size of a BoxShape using the BoxShape::setHalfExtents() method + - It is now possible to change the radius of a SphereShape using the SphereShape::setRadius() method + - It is now possible to change the height and radius of a CapsuleShape using the CapsuleShape::setHeight() and CapsuleShape::setRadius methods + - It is now possible to change the scale of a ConvexMeshShape using the ConvexMeshShape::setScale() method + - It is now possible to change the scale of a ConcaveMeshShape using the ConcaveMeshShape::setScale() method + - It is now possible to change the scale of a HeightFieldShape using the HeightFieldShape::setScale() method + ### Changed - The CollisionWorld::testCollision() methods do not have the 'categoryMaskBits' parameter anymore. @@ -16,6 +25,7 @@ - The Logger has to be instanciated using the PhysicsCommon::createLogger() method instead of using its constructor. - The Profiler has to be instanciated using the PhysicsCommon::createProfiler() method instead of using its constructor. - There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds. + - The Box::getExtent() method has been renamed to Box::getHalfExtents() - An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method. - An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method. - An instance of the CapsuleShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createCapsuleShape() method. @@ -25,6 +35,7 @@ - An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method. - An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method. - The ProxyShape class has been renamed to Collider. The CollisionBody::addCollider(), RigidBody::addCollider() methods have to be used to create and add a collider to a body. Then methods CollisionBody::removeCollider(), RigidBody::removeCollider() need to be used to remove a collider. + - The rendering in the testbed application has been improved ### Removed diff --git a/src/collision/shapes/AABB.h b/src/collision/shapes/AABB.h index 65e404a6..5a7b4740 100644 --- a/src/collision/shapes/AABB.h +++ b/src/collision/shapes/AABB.h @@ -112,6 +112,9 @@ class AABB { /// Return true if the ray intersects the AABB bool testRayIntersect(const Ray& ray) const; + /// Apply a scale factor to the AABB + void applyScale(const Vector3& scale); + /// Create and return an AABB for a triangle static AABB createAABBForTriangle(const Vector3* trianglePoints); @@ -199,6 +202,12 @@ inline bool AABB::contains(const Vector3& point) const { point.z >= mMinCoordinates.z - MACHINE_EPSILON && point.z <= mMaxCoordinates.z + MACHINE_EPSILON); } +// Apply a scale factor to the AABB +inline void AABB::applyScale(const Vector3& scale) { + mMinCoordinates = mMinCoordinates * scale; + mMaxCoordinates = mMaxCoordinates * scale; +} + // Assignment operator inline AABB& AABB::operator=(const AABB& aabb) { if (this != &aabb) { diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index 54290977..01b3c08c 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -35,15 +35,15 @@ using namespace reactphysics3d; // Constructor /** - * @param extent The vector with the three extents of the box (in meters) + * @param halfExtents The vector with the three half-extents of the box */ -BoxShape::BoxShape(const Vector3& extent, MemoryAllocator& allocator) - : ConvexPolyhedronShape(CollisionShapeName::BOX), mExtent(extent), +BoxShape::BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator) + : ConvexPolyhedronShape(CollisionShapeName::BOX), mHalfExtents(halfExtents), mHalfEdgeStructure(allocator, 6, 8, 24) { - assert(extent.x > decimal(0.0)); - assert(extent.y > decimal(0.0)); - assert(extent.z > decimal(0.0)); + assert(halfExtents.x > decimal(0.0)); + assert(halfExtents.y > decimal(0.0)); + assert(halfExtents.z > decimal(0.0)); // Vertices mHalfEdgeStructure.addVertex(0); @@ -87,9 +87,9 @@ BoxShape::BoxShape(const Vector3& extent, MemoryAllocator& allocator) */ void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { decimal factor = (decimal(1.0) / decimal(3.0)) * mass; - decimal xSquare = mExtent.x * mExtent.x; - decimal ySquare = mExtent.y * mExtent.y; - decimal zSquare = mExtent.z * mExtent.z; + decimal xSquare = mHalfExtents.x * mHalfExtents.x; + decimal ySquare = mHalfExtents.y * mHalfExtents.y; + decimal zSquare = mHalfExtents.z * mHalfExtents.z; tensor.setAllValues(factor * (ySquare + zSquare), 0.0, 0.0, 0.0, factor * (xSquare + zSquare), 0.0, 0.0, 0.0, factor * (xSquare + ySquare)); @@ -111,17 +111,17 @@ bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* colli if (std::abs(rayDirection[i]) < MACHINE_EPSILON) { // If the ray's origin is not inside the slab, there is no hit - if (ray.point1[i] > mExtent[i] || ray.point1[i] < -mExtent[i]) return false; + if (ray.point1[i] > mHalfExtents[i] || ray.point1[i] < -mHalfExtents[i]) return false; } else { // Compute the intersection of the ray with the near and far plane of the slab decimal oneOverD = decimal(1.0) / rayDirection[i]; - decimal t1 = (-mExtent[i] - ray.point1[i]) * oneOverD; - decimal t2 = (mExtent[i] - ray.point1[i]) * oneOverD; - currentNormal[0] = (i == 0) ? -mExtent[i] : decimal(0.0); - currentNormal[1] = (i == 1) ? -mExtent[i] : decimal(0.0); - currentNormal[2] = (i == 2) ? -mExtent[i] : decimal(0.0); + decimal t1 = (-mHalfExtents[i] - ray.point1[i]) * oneOverD; + decimal t2 = (mHalfExtents[i] - ray.point1[i]) * oneOverD; + currentNormal[0] = (i == 0) ? -mHalfExtents[i] : decimal(0.0); + currentNormal[1] = (i == 1) ? -mHalfExtents[i] : decimal(0.0); + currentNormal[2] = (i == 2) ? -mHalfExtents[i] : decimal(0.0); // Swap t1 and t2 if need so that t1 is intersection with near plane and // t2 with far plane diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h index 0db3633a..ebec551c 100644 --- a/src/collision/shapes/BoxShape.h +++ b/src/collision/shapes/BoxShape.h @@ -50,8 +50,8 @@ class BoxShape : public ConvexPolyhedronShape { // -------------------- Attributes -------------------- // - /// Extent sizes of the box in the x, y and z direction - Vector3 mExtent; + /// Half-extents of the box in the x, y and z direction + Vector3 mHalfExtents; /// Half-edge structure of the polyhedron HalfEdgeStructure mHalfEdgeStructure; @@ -59,7 +59,7 @@ class BoxShape : public ConvexPolyhedronShape { // -------------------- Methods -------------------- // /// Constructor - BoxShape(const Vector3& extent, MemoryAllocator& allocator); + BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator); /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -86,8 +86,11 @@ class BoxShape : public ConvexPolyhedronShape { /// Deleted assignment operator BoxShape& operator=(const BoxShape& shape) = delete; - /// Return the extents of the box - Vector3 getExtent() const; + /// Return the half-extents of the box + Vector3 getHalfExtents() const; + + /// Set the half-extents of the box + void setHalfExtents(const Vector3& halfExtents); /// Return the local bounds of the shape in x, y and z directions virtual void getLocalBounds(Vector3& min, Vector3& max) const override; @@ -132,10 +135,20 @@ class BoxShape : public ConvexPolyhedronShape { // Return the extents of the box /** - * @return The vector with the three extents of the box shape (in meters) + * @return The vector with the three half-extents of the box shape */ -inline Vector3 BoxShape::getExtent() const { - return mExtent; +inline Vector3 BoxShape::getHalfExtents() const { + return mHalfExtents; +} + +// Set the half-extents of the box +/// Note that you might want to recompute the inertia tensor and center of mass of the body +/// after changing the size of the collision shape +/** + * @param halfExtents The vector with the three half-extents of the box + */ +inline void BoxShape::setHalfExtents(const Vector3& halfExtents) { + mHalfExtents = halfExtents; } // Return the local bounds of the shape in x, y and z directions @@ -147,7 +160,7 @@ inline Vector3 BoxShape::getExtent() const { inline void BoxShape::getLocalBounds(Vector3& min, Vector3& max) const { // Maximum bounds - max = mExtent; + max = mHalfExtents; // Minimum bounds min = -max; @@ -161,16 +174,16 @@ inline size_t BoxShape::getSizeInBytes() const { // Return a local support point in a given direction without the object margin inline Vector3 BoxShape::getLocalSupportPointWithoutMargin(const Vector3& direction) const { - return Vector3(direction.x < decimal(0.0) ? -mExtent.x : mExtent.x, - direction.y < decimal(0.0) ? -mExtent.y : mExtent.y, - direction.z < decimal(0.0) ? -mExtent.z : mExtent.z); + return Vector3(direction.x < decimal(0.0) ? -mHalfExtents.x : mHalfExtents.x, + direction.y < decimal(0.0) ? -mHalfExtents.y : mHalfExtents.y, + direction.z < decimal(0.0) ? -mHalfExtents.z : mHalfExtents.z); } // Return true if a point is inside the collision shape inline bool BoxShape::testPointInside(const Vector3& localPoint, Collider* collider) const { - return (localPoint.x < mExtent[0] && localPoint.x > -mExtent[0] && - localPoint.y < mExtent[1] && localPoint.y > -mExtent[1] && - localPoint.z < mExtent[2] && localPoint.z > -mExtent[2]); + return (localPoint.x < mHalfExtents[0] && localPoint.x > -mHalfExtents[0] && + localPoint.y < mHalfExtents[1] && localPoint.y > -mHalfExtents[1] && + localPoint.z < mHalfExtents[2] && localPoint.z > -mHalfExtents[2]); } // Return the number of faces of the polyhedron @@ -199,7 +212,7 @@ inline HalfEdgeStructure::Vertex BoxShape::getVertex(uint vertexIndex) const { inline Vector3 BoxShape::getVertexPosition(uint vertexIndex) const { assert(vertexIndex < getNbVertices()); - Vector3 extent = getExtent(); + Vector3 extent = getHalfExtents(); switch(vertexIndex) { case 0: return Vector3(-extent.x, -extent.y, extent.z); @@ -240,7 +253,7 @@ inline Vector3 BoxShape::getCentroid() const { // Return the string representation of the shape inline std::string BoxShape::to_string() const { - return "BoxShape{extents=" + mExtent.to_string() + "}"; + return "BoxShape{extents=" + mHalfExtents.to_string() + "}"; } // Return the number of half-edges of the polyhedron diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp index 85aa8653..7730c5fa 100644 --- a/src/collision/shapes/CapsuleShape.cpp +++ b/src/collision/shapes/CapsuleShape.cpp @@ -39,6 +39,7 @@ using namespace reactphysics3d; */ CapsuleShape::CapsuleShape(decimal radius, decimal height) : ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, radius), mHalfHeight(height * decimal(0.5)) { + // TODO : Throw a library error here if radius or height is not larger than zero assert(radius > decimal(0.0)); assert(height > decimal(0.0)); } diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h index 24c48519..37d87d55 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/src/collision/shapes/CapsuleShape.h @@ -93,9 +93,15 @@ class CapsuleShape : public ConvexShape { /// Return the radius of the capsule decimal getRadius() const; + /// Set the radius of the capsule + void setRadius(decimal radius); + /// Return the height of the capsule decimal getHeight() const; + /// Set the height of the capsule + void setHeight(decimal height); + /// Return the local bounds of the shape in x, y and z directions virtual void getLocalBounds(Vector3& min, Vector3& max) const override; @@ -121,6 +127,18 @@ inline decimal CapsuleShape::getRadius() const { return mMargin; } +// Set the radius of the capsule +/// Note that you might want to recompute the inertia tensor and center of mass of the body +/// after changing the radius of the collision shape +/** + * @param radius The radius of the capsule (in meters) + */ +inline void CapsuleShape::setRadius(decimal radius) { + // TODO : Throw a library error here if radius is not larger than zero + assert(radius > decimal(0.0)); + mMargin = radius; +} + // Return the height of the capsule /** * @return The height of the capsule shape (in meters) @@ -129,6 +147,19 @@ inline decimal CapsuleShape::getHeight() const { return mHalfHeight + mHalfHeight; } +// Set the height of the capsule +/// Note that you might want to recompute the inertia tensor and center of mass of the body +/// after changing the height of the collision shape +/** + * @param height The height of the capsule (in meters) + */ +inline void CapsuleShape::setHeight(decimal height) { + + // TODO : Throw a library error here if radius is not larger than zero + assert(height > decimal(0.0)); + mHalfHeight = height * decimal(0.5); +} + // Return the number of bytes used by the collision shape inline size_t CapsuleShape::getSizeInBytes() const { return sizeof(CapsuleShape); diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 65cd1c19..0a332914 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -35,8 +35,8 @@ using namespace reactphysics3d; // Constructor ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling) - : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(allocator), - mScaling(scaling) { + : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, scaling), mDynamicAABBTree(allocator) { + mTriangleMesh = triangleMesh; mRaycastTestType = TriangleRaycastSide::FRONT; @@ -63,17 +63,6 @@ void ConcaveMeshShape::initBVHTree() { // Get the triangle vertices triangleVertexArray->getTriangleVertices(triangleIndex, trianglePoints); - // Apply the scaling factor to the vertices - trianglePoints[0].x *= mScaling.x; - trianglePoints[0].y *= mScaling.y; - trianglePoints[0].z *= mScaling.z; - trianglePoints[1].x *= mScaling.x; - trianglePoints[1].y *= mScaling.y; - trianglePoints[1].z *= mScaling.z; - trianglePoints[2].x *= mScaling.x; - trianglePoints[2].y *= mScaling.y; - trianglePoints[2].z *= mScaling.z; - // Create the AABB for the triangle AABB aabb = AABB::createAABBForTriangle(trianglePoints); @@ -93,15 +82,15 @@ void ConcaveMeshShape::getTriangleVertices(uint subPart, uint triangleIndex, Vec triangleVertexArray->getTriangleVertices(triangleIndex, outTriangleVertices); // Apply the scaling factor to the vertices - outTriangleVertices[0].x *= mScaling.x; - outTriangleVertices[0].y *= mScaling.y; - outTriangleVertices[0].z *= mScaling.z; - outTriangleVertices[1].x *= mScaling.x; - outTriangleVertices[1].y *= mScaling.y; - outTriangleVertices[1].z *= mScaling.z; - outTriangleVertices[2].x *= mScaling.x; - outTriangleVertices[2].y *= mScaling.y; - outTriangleVertices[2].z *= mScaling.z; + outTriangleVertices[0].x *= mScale.x; + outTriangleVertices[0].y *= mScale.y; + outTriangleVertices[0].z *= mScale.z; + outTriangleVertices[1].x *= mScale.x; + outTriangleVertices[1].y *= mScale.y; + outTriangleVertices[1].z *= mScale.z; + outTriangleVertices[2].x *= mScale.x; + outTriangleVertices[2].y *= mScale.y; + outTriangleVertices[2].z *= mScale.z; } // Return the three vertex normals (in the array outVerticesNormals) of a triangle @@ -144,9 +133,14 @@ void ConcaveMeshShape::computeOverlappingTriangles(const AABB& localAABB, List overlappingNodes(allocator); - mDynamicAABBTree.reportAllShapesOverlappingWithAABB(localAABB, overlappingNodes); + mDynamicAABBTree.reportAllShapesOverlappingWithAABB(aabb, overlappingNodes); const uint nbOverlappingNodes = overlappingNodes.size(); @@ -180,8 +174,13 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide RP3D_PROFILE("ConcaveMeshShape::raycast()", mProfiler); + // Apply the concave mesh inverse scale factor because the mesh is stored without scaling + // inside the dynamic AABB tree + const Vector3 inverseScale(decimal(1.0) / mScale.x, decimal(1.0) / mScale.y, decimal(1.0) / mScale.z); + Ray scaledRay(ray.point1 * inverseScale, ray.point2 * inverseScale, ray.maxFraction); + // Create the callback object that will compute ray casting against triangles - ConcaveMeshRaycastCallback raycastCallback(mDynamicAABBTree, *this, collider, raycastInfo, ray, allocator); + ConcaveMeshRaycastCallback raycastCallback(mDynamicAABBTree, *this, collider, raycastInfo, scaledRay, mScale, allocator); #ifdef IS_PROFILING_ACTIVE @@ -193,7 +192,7 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide // Ask the Dynamic AABB Tree to report all AABB nodes that are hit by the ray. // The raycastCallback object will then compute ray casting against the triangles // in the hit AABBs. - mDynamicAABBTree.raycast(ray, raycastCallback); + mDynamicAABBTree.raycast(scaledRay, raycastCallback); raycastCallback.raycastTriangles(); @@ -269,7 +268,7 @@ void ConcaveMeshRaycastCallback::raycastTriangles() { mRaycastInfo.body = raycastInfo.body; mRaycastInfo.collider = raycastInfo.collider; mRaycastInfo.hitFraction = raycastInfo.hitFraction; - mRaycastInfo.worldPoint = raycastInfo.worldPoint; + mRaycastInfo.worldPoint = raycastInfo.worldPoint * mMeshScale; mRaycastInfo.worldNormal = raycastInfo.worldNormal; mRaycastInfo.meshSubpart = data[0]; mRaycastInfo.triangleIndex = data[1]; @@ -277,7 +276,6 @@ void ConcaveMeshRaycastCallback::raycastTriangles() { smallestHitFraction = raycastInfo.hitFraction; mIsHit = true; } - } } diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index 70829827..40bb8448 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -80,6 +80,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { const Ray& mRay; bool mIsHit; MemoryAllocator& mAllocator; + const Vector3& mMeshScale; #ifdef IS_PROFILING_ACTIVE @@ -92,9 +93,9 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { // Constructor ConcaveMeshRaycastCallback(const DynamicAABBTree& dynamicAABBTree, const ConcaveMeshShape& concaveMeshShape, - Collider* collider, RaycastInfo& raycastInfo, const Ray& ray, MemoryAllocator& allocator) + Collider* collider, RaycastInfo& raycastInfo, const Ray& ray, const Vector3& meshScale, MemoryAllocator& allocator) : mHitAABBNodes(allocator), mDynamicAABBTree(dynamicAABBTree), mConcaveMeshShape(concaveMeshShape), mCollider(collider), - mRaycastInfo(raycastInfo), mRay(ray), mIsHit(false), mAllocator(allocator) { + mRaycastInfo(raycastInfo), mRay(ray), mIsHit(false), mAllocator(allocator), mMeshScale(meshScale) { } @@ -131,7 +132,7 @@ class ConcaveMeshShape : public ConcaveShape { // -------------------- Attributes -------------------- // - /// Triangle mesh + /// Pointer to the triangle mesh TriangleMesh* mTriangleMesh; /// Dynamic AABB tree to accelerate collision with the triangles @@ -141,9 +142,6 @@ class ConcaveMeshShape : public ConcaveShape { /// if the user did not provide its own vertices normals) Vector3** mComputedVerticesNormals; - /// Scaling - const Vector3 mScaling; - // -------------------- Methods -------------------- // /// Constructor @@ -168,7 +166,7 @@ class ConcaveMeshShape : public ConcaveShape { uint computeTriangleShapeId(uint subPart, uint triangleIndex) const; /// Compute all the triangles of the mesh that are overlapping with the AABB in parameter - virtual void computeOverlappingTriangles(const AABB& localAABB, List &triangleVertices, + virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, List &triangleVerticesNormals, List& shapeIds, MemoryAllocator& allocator) const override; @@ -183,9 +181,6 @@ class ConcaveMeshShape : public ConcaveShape { /// Deleted assignment operator ConcaveMeshShape& operator=(const ConcaveMeshShape& shape) = delete; - /// Return the scaling vector - const Vector3& getScaling() const; - /// Return the number of sub parts contained in this mesh uint getNbSubparts() const; @@ -223,11 +218,6 @@ inline size_t ConcaveMeshShape::getSizeInBytes() const { return sizeof(ConcaveMeshShape); } -// Return the scaling vector -inline const Vector3& ConcaveMeshShape::getScaling() const { - return mScaling; -} - // Return the local bounds of the shape in x, y and z directions. // This method is used to compute the AABB of the box /** diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp index 3d7aa38b..de8dae05 100644 --- a/src/collision/shapes/ConcaveShape.cpp +++ b/src/collision/shapes/ConcaveShape.cpp @@ -31,7 +31,8 @@ using namespace reactphysics3d; // Constructor -ConcaveShape::ConcaveShape(CollisionShapeName name) - : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE), mRaycastTestType(TriangleRaycastSide::FRONT) { +ConcaveShape::ConcaveShape(CollisionShapeName name, const Vector3& scaling) + : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE), mRaycastTestType(TriangleRaycastSide::FRONT), + mScale(scaling) { } diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h index 2953d9ce..bebf12f2 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/src/collision/shapes/ConcaveShape.h @@ -65,6 +65,9 @@ class ConcaveShape : public CollisionShape { /// Raycast test type for the triangle (front, back, front-back) TriangleRaycastSide mRaycastTestType; + /// Scale of the shape + Vector3 mScale; + // -------------------- Methods -------------------- // /// Return true if a point is inside the collision shape @@ -75,7 +78,7 @@ class ConcaveShape : public CollisionShape { // -------------------- Methods -------------------- // /// Constructor - ConcaveShape(CollisionShapeName name); + ConcaveShape(CollisionShapeName name, const Vector3& scaling); /// Destructor virtual ~ConcaveShape() override = default; @@ -92,6 +95,12 @@ class ConcaveShape : public CollisionShape { // Set the raycast test type (front, back, front-back) void setRaycastTestType(TriangleRaycastSide testType); + /// Return the scale of the shape + const Vector3& getScale() const; + + /// Set the scale of the shape + void setScale(const Vector3& scale); + /// Return true if the collision shape is convex, false if it is concave virtual bool isConvex() const override; @@ -132,6 +141,18 @@ inline void ConcaveShape::setRaycastTestType(TriangleRaycastSide testType) { mRaycastTestType = testType; } +// Return the scale of the shape +inline const Vector3& ConcaveShape::getScale() const { + return mScale; +} + +// Set the scale of the shape +/// Note that you might want to recompute the inertia tensor and center of mass of the body +/// after changing the scale of a collision shape +inline void ConcaveShape::setScale(const Vector3& scale) { + mScale = scale; +} + } #endif diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp index 6165a119..6cc1322f 100644 --- a/src/collision/shapes/ConvexMeshShape.cpp +++ b/src/collision/shapes/ConvexMeshShape.cpp @@ -39,9 +39,9 @@ using namespace reactphysics3d; * @param stride Stride between the beginning of two elements in the vertices array * @param margin Collision margin (in meters) around the collision shape */ -ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling) +ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scale) : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH), mPolyhedronMesh(polyhedronMesh), - mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0), mScaling(scaling) { + mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0), mScale(scale) { // Recalculate the bounds of the mesh recalculateBounds(); @@ -76,7 +76,7 @@ Vector3 ConvexMeshShape::getLocalSupportPointWithoutMargin(const Vector3& direct assert(maxDotProduct >= decimal(0.0)); // Return the vertex with the largest dot product in the support direction - return mPolyhedronMesh->getVertex(indexMaxDotProduct) * mScaling; + return mPolyhedronMesh->getVertex(indexMaxDotProduct) * mScale; } // Recompute the bounds of the mesh @@ -99,8 +99,8 @@ void ConvexMeshShape::recalculateBounds() { } // Apply the local scaling factor - mMaxBounds = mMaxBounds * mScaling; - mMinBounds = mMinBounds * mScaling; + mMaxBounds = mMaxBounds * mScale; + mMinBounds = mMinBounds * mScale; } // Raycast method with feedback information diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index a3aeff53..bbcc8319 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -60,13 +60,13 @@ class ConvexMeshShape : public ConvexPolyhedronShape { /// Mesh maximum bounds in the three local x, y and z directions Vector3 mMaxBounds; - /// Local scaling - const Vector3 mScaling; + /// Scale of the mesh + Vector3 mScale; // -------------------- Methods -------------------- // /// Constructor - ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1)); + ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scale = Vector3(1,1,1)); /// Recompute the bounds of the mesh void recalculateBounds(); @@ -96,8 +96,11 @@ class ConvexMeshShape : public ConvexPolyhedronShape { /// Deleted assignment operator ConvexMeshShape& operator=(const ConvexMeshShape& shape) = delete; - /// Return the scaling vector - const Vector3& getScaling() const; + /// Return the scale + const Vector3& getScale() const; + + /// Set the scale + void setScale(const Vector3& scale); /// Return the local bounds of the shape in x, y and z directions virtual void getLocalBounds(Vector3& min, Vector3& max) const override; @@ -146,8 +149,16 @@ inline size_t ConvexMeshShape::getSizeInBytes() const { } // Return the scaling vector -inline const Vector3& ConvexMeshShape::getScaling() const { - return mScaling; +inline const Vector3& ConvexMeshShape::getScale() const { + return mScale; +} + +// Set the scale +/// Note that you might want to recompute the inertia tensor and center of mass of the body +/// after changing the scale of a collision shape +inline void ConvexMeshShape::setScale(const Vector3& scale) { + mScale = scale; + recalculateBounds(); } // Return the local bounds of the shape in x, y and z directions @@ -216,7 +227,7 @@ inline const HalfEdgeStructure::Edge& ConvexMeshShape::getHalfEdge(uint edgeInde // Return the position of a given vertex inline Vector3 ConvexMeshShape::getVertexPosition(uint vertexIndex) const { assert(vertexIndex < getNbVertices()); - return mPolyhedronMesh->getVertex(vertexIndex) * mScaling; + return mPolyhedronMesh->getVertex(vertexIndex) * mScale; } // Return the normal vector of a given face of the polyhedron @@ -227,7 +238,7 @@ inline Vector3 ConvexMeshShape::getFaceNormal(uint faceIndex) const { // Return the centroid of the polyhedron inline Vector3 ConvexMeshShape::getCentroid() const { - return mPolyhedronMesh->getCentroid() * mScaling; + return mPolyhedronMesh->getCentroid() * mScale; } } diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index a5e52cc6..e038d6a1 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -44,10 +44,10 @@ using namespace reactphysics3d; HeightFieldShape::HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, const void* heightFieldData, HeightDataType dataType, int upAxis, decimal integerHeightScale, const Vector3& scaling) - : ConcaveShape(CollisionShapeName::HEIGHTFIELD), mNbColumns(nbGridColumns), mNbRows(nbGridRows), + : ConcaveShape(CollisionShapeName::HEIGHTFIELD, scaling), mNbColumns(nbGridColumns), mNbRows(nbGridRows), mWidth(nbGridColumns - 1), mLength(nbGridRows - 1), mMinHeight(minHeight), mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale), - mHeightDataType(dataType), mScaling(scaling) { + mHeightDataType(dataType) { assert(nbGridColumns >= 2); assert(nbGridRows >= 2); @@ -83,8 +83,8 @@ HeightFieldShape::HeightFieldShape(int nbGridColumns, int nbGridRows, decimal mi * @param max The maximum bounds of the shape in local-space coordinates */ void HeightFieldShape::getLocalBounds(Vector3& min, Vector3& max) const { - min = mAABB.getMin() * mScaling; - max = mAABB.getMax() * mScaling; + min = mAABB.getMin() * mScale; + max = mAABB.getMax() * mScale; } // Test collision with the triangles of the height field shape. The idea is to use the AABB @@ -98,8 +98,8 @@ void HeightFieldShape::computeOverlappingTriangles(const AABB& localAABB, List decimal(0.0)); + mMargin = radius; +} + // Return true if the collision shape is a polyhedron /** * @return False because the sphere shape is not a polyhedron diff --git a/test/tests/collision/TestAABB.h b/test/tests/collision/TestAABB.h index 9e6cb16d..073c7391 100644 --- a/test/tests/collision/TestAABB.h +++ b/test/tests/collision/TestAABB.h @@ -177,6 +177,18 @@ class TestAABB : public Test { rp3d_test(approxEqual(mAABB1.getVolume(), 8000)); rp3d_test(approxEqual(mAABB2.getVolume(), 2880)); + + // -------- Test applyScale() -------- // + + AABB aabb7(Vector3(1,2,3), Vector3(5, 6, 7)); + aabb7.applyScale(Vector3(1, 2, 3)); + + rp3d_test(approxEqual(aabb7.getMin().x, 1)); + rp3d_test(approxEqual(aabb7.getMin().y, 4)); + rp3d_test(approxEqual(aabb7.getMin().z, 9)); + rp3d_test(approxEqual(aabb7.getMax().x, 5)); + rp3d_test(approxEqual(aabb7.getMax().y, 12)); + rp3d_test(approxEqual(aabb7.getMax().z, 21)); } void testMergeMethods() { diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index bd6d79d8..e3d1e81b 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -27,52 +27,7 @@ #include "ConcaveMesh.h" // Constructor -ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath) - : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), - mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), - mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { - - mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); - - // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4::identity(); - - mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); - - // For each subpart of the mesh - for (unsigned int i=0; iaddSubpart(vertexArray); - } - - // Create the collision shape for the rigid body (convex mesh shape) and - // do not forget to delete it at the end - mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body corresponding to the sphere in the physics world - mBody = world->createCollisionBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the collision shape - mCollider = mBody->addCollider(mConcaveShape, rp3d::Transform::identity()); - - // Create the VBOs and VAO - createVBOAndVAO(); - - mTransformMatrix = mTransformMatrix * mScalingMatrix; -} - -// Constructor -ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) +ConcaveMesh::ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -102,13 +57,16 @@ ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommo mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the physics world - rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the collision shape - mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass); - - mBody = body; + // Create the body + if (createRigidBody) { + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); + mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass); + mBody = body; + } + else { + mBody = physicsWorld->createCollisionBody(mPreviousTransform); + mCollider = mBody->addCollider(mConcaveShape, rp3d::Transform::identity()); + } // Create the VBOs and VAO createVBOAndVAO(); diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 345363f4..8fadf835 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -73,10 +73,7 @@ class ConcaveMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath); - - /// Constructor - ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); + ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor virtual ~ConcaveMesh() override; diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 15663c34..77d4f5c5 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -28,67 +28,7 @@ #include // Constructor -ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshPath) - : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), - mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), - mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { - - // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4::identity(); - - // Polygon faces descriptions for the polyhedron - mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)]; - rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces; - for (int f=0; f < getNbFaces(0); f++) { - - for (int v = 0; v < 3; v++) { - - const openglframework::Vector3 vertex = mVertices[mIndices[0][f*3 + v]]; - int vIndex = findVertexIndex(mConvexMeshVertices, vertex); - if (vIndex == -1) { - vIndex = mConvexMeshVertices.size(); - mConvexMeshVertices.push_back(vertex); - } - - mConvexMeshIndices.push_back(vIndex); - } - - face->indexBase = f * 3; - face->nbVertices = 3; - face++; - } - - // Create the polygon vertex array - mPolygonVertexArray = - new rp3d::PolygonVertexArray(mConvexMeshVertices.size(), &(mConvexMeshVertices[0]), sizeof(openglframework::Vector3), - &(mConvexMeshIndices[0]), sizeof(int), - getNbFaces(0), mPolygonFaces, - rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, - rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE); - - // Create the polyhedron mesh - mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray); - - // Create the collision shape for the rigid body (convex mesh shape) and - // do not forget to delete it at the end - mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body corresponding to the sphere in the physics world - mBody = world->createCollisionBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the collision shape - mCollider = mBody->addCollider(mConvexShape, rp3d::Transform::identity()); - - // Create the VBOs and VAO - createVBOAndVAO(); - - mTransformMatrix = mTransformMatrix * mScalingMatrix; -} - -// Constructor -ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) +ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -136,12 +76,16 @@ ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::Phy mPreviousTransform = rp3d::Transform::identity(); // Create a rigid body corresponding to the sphere in the physics world - rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); + if (createRigidBody) { + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); + mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass); + mBody = body; + } + else { - // Add a collision shape to the body and specify the mass of the collision shape - mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass); - - mBody = body; + mBody = physicsWorld->createCollisionBody(mPreviousTransform); + mCollider = mBody->addCollider(mConvexShape, rp3d::Transform::identity()); + } // Create the VBOs and VAO createVBOAndVAO(); diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index ae25149d..eac1e86c 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -86,10 +86,7 @@ class ConvexMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConvexMesh(rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshPath); - - /// Constructor - ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); + ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor virtual ~ConvexMesh() override; diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index af3ad301..0238d6b8 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -28,47 +28,14 @@ #include "PerlinNoise.h" // Constructor -HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world) +HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld) : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4::identity(); - - // Generate the height field - generateHeightField(); - - // Generate the graphics mesh - generateGraphicsMesh(); - - // Create the collision shape for the rigid body (convex mesh shape) and - // do not forget to delete it at the end - mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, - mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body corresponding to the sphere in the physics world - mBody = world->createCollisionBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the collision shape - mCollider = mBody->addCollider(mHeightFieldShape, rp3d::Transform::identity()); - - // Create the VBOs and VAO - createVBOAndVAO(); - - mTransformMatrix = mTransformMatrix * mScalingMatrix; -} - -// Constructor -HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld) - : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), - mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), - mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { - - // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4::identity(); + //mScalingMatrix = openglframework::Matrix4::identity(); + mScalingMatrix = openglframework::Matrix4(2, 0, 0, 0, 0, 2, 0, 0, 0, 0, 2, 0, 0, 0, 0, 1); // Generate the height field generateHeightField(); @@ -80,16 +47,20 @@ HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommo // do not forget to delete it at the end mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight, mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE); + mHeightFieldShape->setScale(rp3d::Vector3(2, 2, 2)); mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the physics world - rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the collision shape - mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass); - - mBody = body; + // Create a body + if (createRigidBody) { + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); + mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass); + mBody = body; + } + else { + mBody = physicsWorld->createCollisionBody(mPreviousTransform); + mCollider = mBody->addCollider(mHeightFieldShape, rp3d::Transform::identity()); + } // Create the VBOs and VAO createVBOAndVAO(); diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index 1599aa79..fde7c026 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -86,10 +86,7 @@ class HeightField : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - HeightField(reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world); - - /// Constructor - HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld); + HeightField(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld); /// Destructor virtual ~HeightField() override; diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 2ffc9fb5..542adfaf 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -103,7 +103,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); mAllShapes.push_back(mConcaveMesh); // Set the color @@ -136,7 +136,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mConvexMesh = new ConvexMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); mAllShapes.push_back(mConvexMesh); // Set the color @@ -147,7 +147,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld); + mHeightField = new HeightField(false, 1.0f, mPhysicsCommon, mPhysicsWorld); // Set the color mHeightField->setColor(mObjectColorDemo); diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index e8601c5f..07fb1b0d 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -142,7 +142,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; isetColor(mObjectColorDemo); diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 7e7d6cfa..fcbd925a 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -143,7 +143,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -164,7 +164,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the physics world - mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(true, mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj"); // Set the mesh as beeing static mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 3d41046c..27d8e97e 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -142,7 +142,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -163,7 +163,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the physics world - mHeightField = new HeightField(mass, mPhysicsCommon, mPhysicsWorld); + mHeightField = new HeightField(true, mass, mPhysicsCommon, mPhysicsWorld); // Set the mesh as beeing static mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp index ceb3b9c8..83ad00ce 100644 --- a/testbed/scenes/pile/PileScene.cpp +++ b/testbed/scenes/pile/PileScene.cpp @@ -140,7 +140,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; isetColor(mObjectColorDemo); @@ -161,7 +161,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the physics world - mSandbox = new ConcaveMesh(mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj"); + mSandbox = new ConcaveMesh(true, mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj"); // Set the mesh as beeing static mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index d47c9715..02d3a114 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -95,7 +95,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mConvexMesh = new ConvexMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); // Set the color mConvexMesh->setColor(mObjectColorDemo); @@ -105,7 +105,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); // Set the color mConcaveMesh->setColor(mObjectColorDemo); @@ -115,7 +115,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld); + mHeightField = new HeightField(false, 1.0f, mPhysicsCommon, mPhysicsWorld); // Set the color mHeightField->setColor(mObjectColorDemo); From 7477460e4fc71a7dc4309984cb33c2df15564049 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 11 Feb 2020 21:56:42 +0100 Subject: [PATCH 126/197] Make possible to resize the collision shapes after their creation --- src/body/CollisionBody.cpp | 6 +++++ src/body/RigidBody.cpp | 3 +++ src/collision/Collider.cpp | 20 ++++++-------- src/collision/Collider.h | 12 +++++---- src/collision/broadphase/DynamicAABBTree.cpp | 20 +++++++------- src/collision/broadphase/DynamicAABBTree.h | 3 ++- src/collision/shapes/BoxShape.cpp | 2 +- src/collision/shapes/BoxShape.h | 2 ++ src/collision/shapes/CapsuleShape.cpp | 4 +-- src/collision/shapes/CapsuleShape.h | 6 ++++- src/collision/shapes/CollisionShape.cpp | 13 +++++++-- src/collision/shapes/CollisionShape.h | 27 ++++++++++++++++++- src/collision/shapes/ConcaveMeshShape.cpp | 2 +- src/collision/shapes/ConcaveShape.cpp | 4 +-- src/collision/shapes/ConcaveShape.h | 4 ++- src/collision/shapes/ConvexMeshShape.cpp | 4 +-- src/collision/shapes/ConvexMeshShape.h | 3 ++- .../shapes/ConvexPolyhedronShape.cpp | 4 +-- src/collision/shapes/ConvexPolyhedronShape.h | 2 +- src/collision/shapes/ConvexShape.cpp | 4 +-- src/collision/shapes/ConvexShape.h | 2 +- src/collision/shapes/HeightFieldShape.cpp | 4 +-- src/collision/shapes/HeightFieldShape.h | 2 +- src/collision/shapes/SphereShape.cpp | 4 +-- src/collision/shapes/SphereShape.h | 4 ++- src/collision/shapes/TriangleShape.cpp | 2 +- src/components/ColliderComponents.cpp | 9 ++++++- src/components/ColliderComponents.h | 27 +++++++++++++++++++ src/engine/PhysicsCommon.cpp | 8 +++--- src/systems/BroadPhaseSystem.cpp | 25 ++++++++++------- src/systems/BroadPhaseSystem.h | 15 ++++++----- src/systems/CollisionDetectionSystem.cpp | 2 +- src/systems/CollisionDetectionSystem.h | 2 +- 33 files changed, 174 insertions(+), 77 deletions(-) diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 6929a6c0..e9354080 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -92,6 +92,9 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity); + // Assign the collider with the collision shape + collisionShape->addCollider(collider); + #ifdef IS_PROFILING_ACTIVE // Set the profiler @@ -175,6 +178,9 @@ void CollisionBody::removeCollider(Collider* collider) { mWorld.mCollisionBodyComponents.removeColliderFromBody(mEntity, collider->getEntity()); + // Unassign the collider from the collision shape + collider->getCollisionShape()->removeCollider(collider); + // Remove the collider component mWorld.mCollidersComponents.removeComponent(collider->getEntity()); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 165ebe10..f68ad07b 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -341,6 +341,9 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity); + // Assign the collider with the collision shape + collisionShape->addCollider(collider); + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index 8f2afaf7..14176b29 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -42,8 +42,7 @@ using namespace reactphysics3d; Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager) :mMemoryManager(memoryManager), mEntity(entity), mBody(body), mMaterial(body->mWorld.mConfig.defaultFrictionCoefficient, body->mWorld.mConfig.defaultRollingRestistance, - body->mWorld.mConfig.defaultBounciness), - mUserData(nullptr) { + body->mWorld.mConfig.defaultBounciness), mUserData(nullptr) { } @@ -144,19 +143,11 @@ const AABB Collider::getWorldAABB() const { return aabb; } -// Return the collision shape +// Return a pointer to the collision shape /** * @return Pointer to the internal collision shape */ -const CollisionShape* Collider::getCollisionShape() const { - return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); -} - -// Return the collision shape -/** -* @return Pointer to the internal collision shape -*/ -CollisionShape* Collider::getCollisionShape() { +CollisionShape* Collider::getCollisionShape() const { return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); } @@ -220,6 +211,11 @@ unsigned short Collider::getCollideWithMaskBits() const { return mBody->mWorld.mCollidersComponents.getCollideWithMaskBits(mEntity); } +// Notify the collider that the size of the collision shape has been changed by the user +void Collider::setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize) { + mBody->mWorld.mCollidersComponents.setHasCollisionShapeChangedSize(mEntity, hasCollisionShapeChangedSize); +} + // Return the local to world transform /** * @return The transformation that transforms the local-space of the collision diff --git a/src/collision/Collider.h b/src/collision/Collider.h index 7d2b46f0..50599103 100644 --- a/src/collision/Collider.h +++ b/src/collision/Collider.h @@ -80,8 +80,9 @@ class Collider { // -------------------- Methods -------------------- // - /// Return the collision shape - CollisionShape* getCollisionShape(); + /// Notify the collider that the size of the collision shape has been + /// changed by the user + void setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize); public: @@ -102,8 +103,8 @@ class Collider { /// Return the corresponding entity of the collider Entity getEntity() const; - /// Return the collision shape - const CollisionShape* getCollisionShape() const; + /// Return a pointer to the collision shape + CollisionShape* getCollisionShape() const; /// Return the parent body CollisionBody* getBody() const; @@ -183,7 +184,8 @@ class Collider { friend class PhysicsWorld; friend class GJKAlgorithm; friend class ConvexMeshShape; - friend class ContactManifoldSet; + friend class CollisionShape; + friend class ContactManifoldSet; friend class MiddlePhaseTriangleCallback; }; diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 17c3f83e..60d2c568 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -169,8 +169,10 @@ void DynamicAABBTree::removeObject(int32 nodeID) { /// nothing is done. Otherwise, the corresponding node is removed and reinserted into the tree. /// The method returns true if the object has been reinserted into the tree. The "displacement" /// argument is the linear velocity of the AABB multiplied by the elapsed time between two -/// frames. -bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement) { +/// frames. If the "forceReInsert" parameter is true, we force the existing AABB to take the size +/// of the "newAABB" parameter even if it is larger than "newAABB". This can be used to shrink the +/// AABB in the tree for instance if the corresponding collision shape has been shrunk. +bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement, bool forceReinsert) { RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler); @@ -179,7 +181,7 @@ bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vect assert(mNodes[nodeID].height >= 0); // If the new AABB is still inside the fat AABB of the node - if (mNodes[nodeID].aabb.contains(newAABB)) { + if (!forceReinsert && mNodes[nodeID].aabb.contains(newAABB)) { return false; } @@ -194,22 +196,22 @@ bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vect // Inflate the fat AABB in direction of the linear motion of the AABB if (displacement.x < decimal(0.0)) { - mNodes[nodeID].aabb.mMinCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.x; + mNodes[nodeID].aabb.mMinCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.x; } else { - mNodes[nodeID].aabb.mMaxCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.x; + mNodes[nodeID].aabb.mMaxCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.x; } if (displacement.y < decimal(0.0)) { - mNodes[nodeID].aabb.mMinCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.y; + mNodes[nodeID].aabb.mMinCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.y; } else { - mNodes[nodeID].aabb.mMaxCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.y; + mNodes[nodeID].aabb.mMaxCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.y; } if (displacement.z < decimal(0.0)) { - mNodes[nodeID].aabb.mMinCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.z; + mNodes[nodeID].aabb.mMinCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.z; } else { - mNodes[nodeID].aabb.mMaxCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.z; + mNodes[nodeID].aabb.mMaxCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.z; } assert(mNodes[nodeID].aabb.contains(newAABB)); diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index a2919ada..3f6415b5 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -225,7 +225,8 @@ class DynamicAABBTree { void removeObject(int32 nodeID); /// Update the dynamic tree after an object has moved. - bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement); + bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement, + bool forceReinsert = false); /// Return the fat AABB corresponding to a given node ID const AABB& getFatAABB(int32 nodeID) const; diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index 01b3c08c..7f4c410f 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -38,7 +38,7 @@ using namespace reactphysics3d; * @param halfExtents The vector with the three half-extents of the box */ BoxShape::BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator) - : ConvexPolyhedronShape(CollisionShapeName::BOX), mHalfExtents(halfExtents), + : ConvexPolyhedronShape(CollisionShapeName::BOX, allocator), mHalfExtents(halfExtents), mHalfEdgeStructure(allocator, 6, 8, 24) { assert(halfExtents.x > decimal(0.0)); diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h index ebec551c..ded03c63 100644 --- a/src/collision/shapes/BoxShape.h +++ b/src/collision/shapes/BoxShape.h @@ -149,6 +149,8 @@ inline Vector3 BoxShape::getHalfExtents() const { */ inline void BoxShape::setHalfExtents(const Vector3& halfExtents) { mHalfExtents = halfExtents; + + notifyColliderAboutChangedSize(); } // Return the local bounds of the shape in x, y and z directions diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp index 7730c5fa..d7cf2189 100644 --- a/src/collision/shapes/CapsuleShape.cpp +++ b/src/collision/shapes/CapsuleShape.cpp @@ -37,8 +37,8 @@ using namespace reactphysics3d; * @param radius The radius of the capsule (in meters) * @param height The height of the capsule (in meters) */ -CapsuleShape::CapsuleShape(decimal radius, decimal height) - : ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, radius), mHalfHeight(height * decimal(0.5)) { +CapsuleShape::CapsuleShape(decimal radius, decimal height, MemoryAllocator& allocator) + : ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, allocator, radius), mHalfHeight(height * decimal(0.5)) { // TODO : Throw a library error here if radius or height is not larger than zero assert(radius > decimal(0.0)); assert(height > decimal(0.0)); diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h index 37d87d55..4b37bdc5 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/src/collision/shapes/CapsuleShape.h @@ -58,7 +58,7 @@ class CapsuleShape : public ConvexShape { // -------------------- Methods -------------------- // /// Constructor - CapsuleShape(decimal radius, decimal height); + CapsuleShape(decimal radius, decimal height, MemoryAllocator& allocator); /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -137,6 +137,8 @@ inline void CapsuleShape::setRadius(decimal radius) { // TODO : Throw a library error here if radius is not larger than zero assert(radius > decimal(0.0)); mMargin = radius; + + notifyColliderAboutChangedSize(); } // Return the height of the capsule @@ -158,6 +160,8 @@ inline void CapsuleShape::setHeight(decimal height) { // TODO : Throw a library error here if radius is not larger than zero assert(height > decimal(0.0)); mHalfHeight = height * decimal(0.5); + + notifyColliderAboutChangedSize(); } // Return the number of bytes used by the collision shape diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp index 0acfcc34..576e6ff4 100644 --- a/src/collision/shapes/CollisionShape.cpp +++ b/src/collision/shapes/CollisionShape.cpp @@ -27,13 +27,14 @@ #include "CollisionShape.h" #include "utils/Profiler.h" #include "body/CollisionBody.h" +#include "collision/Collider.h" // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; // Constructor -CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type) - : mType(type), mName(name), mId(0) { +CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator) + : mType(type), mName(name), mId(0), mColliders(allocator) { #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; @@ -90,3 +91,11 @@ void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const { aabb.setMin(resultMin); aabb.setMax(resultMax); } + +/// Notify all the assign colliders that the size of the collision shape has changed +void CollisionShape::notifyColliderAboutChangedSize() { + + for (uint i=0; i < mColliders.size(); i++) { + mColliders[i]->setHasCollisionShapeChangedSize(true); + } +} diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index ea0beb8c..853de58a 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -75,6 +75,9 @@ class CollisionShape { /// Unique identifier of the shape inside an overlapping pair uint32 mId; + /// List of the colliders associated with this shape + List mColliders; + #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -93,12 +96,21 @@ class CollisionShape { /// Return the number of bytes used by the collision shape virtual size_t getSizeInBytes() const = 0; + /// Assign a new collider to the collision shape + void addCollider(Collider* collider); + + /// Remove an assigned collider from the collision shape + void removeCollider(Collider* collider); + + /// Notify all the assign colliders that the size of the collision shape has changed + void notifyColliderAboutChangedSize(); + public : // -------------------- Methods -------------------- // /// Constructor - CollisionShape(CollisionShapeName name, CollisionShapeType type); + CollisionShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator); /// Destructor virtual ~CollisionShape() = default; @@ -146,7 +158,10 @@ class CollisionShape { // -------------------- Friendship -------------------- // friend class Collider; + friend class CollisionBody; + friend class RigidBody; friend class PhyscisWorld; + friend class BroadPhaseSystem; }; // Return the name of the collision shape @@ -170,6 +185,16 @@ inline uint32 CollisionShape::getId() const { return mId; } +// Assign a new collider to the collision shape +inline void CollisionShape::addCollider(Collider* collider) { + mColliders.add(collider); +} + +// Remove an assigned collider from the collision shape +inline void CollisionShape::removeCollider(Collider* collider) { + mColliders.remove(collider); +} + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 0a332914..a5f873fc 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // Constructor ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling) - : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, scaling), mDynamicAABBTree(allocator) { + : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, allocator, scaling), mDynamicAABBTree(allocator) { mTriangleMesh = triangleMesh; mRaycastTestType = TriangleRaycastSide::FRONT; diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp index de8dae05..41f4069b 100644 --- a/src/collision/shapes/ConcaveShape.cpp +++ b/src/collision/shapes/ConcaveShape.cpp @@ -31,8 +31,8 @@ using namespace reactphysics3d; // Constructor -ConcaveShape::ConcaveShape(CollisionShapeName name, const Vector3& scaling) - : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE), mRaycastTestType(TriangleRaycastSide::FRONT), +ConcaveShape::ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator, const Vector3& scaling) + : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE, allocator), mRaycastTestType(TriangleRaycastSide::FRONT), mScale(scaling) { } diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h index bebf12f2..421a57ea 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/src/collision/shapes/ConcaveShape.h @@ -78,7 +78,7 @@ class ConcaveShape : public CollisionShape { // -------------------- Methods -------------------- // /// Constructor - ConcaveShape(CollisionShapeName name, const Vector3& scaling); + ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator, const Vector3& scaling); /// Destructor virtual ~ConcaveShape() override = default; @@ -151,6 +151,8 @@ inline const Vector3& ConcaveShape::getScale() const { /// after changing the scale of a collision shape inline void ConcaveShape::setScale(const Vector3& scale) { mScale = scale; + + notifyColliderAboutChangedSize(); } } diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp index 6cc1322f..df105a5e 100644 --- a/src/collision/shapes/ConvexMeshShape.cpp +++ b/src/collision/shapes/ConvexMeshShape.cpp @@ -39,8 +39,8 @@ using namespace reactphysics3d; * @param stride Stride between the beginning of two elements in the vertices array * @param margin Collision margin (in meters) around the collision shape */ -ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scale) - : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH), mPolyhedronMesh(polyhedronMesh), +ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, MemoryAllocator& allocator, const Vector3& scale) + : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH, allocator), mPolyhedronMesh(polyhedronMesh), mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0), mScale(scale) { // Recalculate the bounds of the mesh diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index bbcc8319..8313fe92 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -66,7 +66,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape { // -------------------- Methods -------------------- // /// Constructor - ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scale = Vector3(1,1,1)); + ConvexMeshShape(PolyhedronMesh* polyhedronMesh, MemoryAllocator& allocator, const Vector3& scale = Vector3(1,1,1)); /// Recompute the bounds of the mesh void recalculateBounds(); @@ -159,6 +159,7 @@ inline const Vector3& ConvexMeshShape::getScale() const { inline void ConvexMeshShape::setScale(const Vector3& scale) { mScale = scale; recalculateBounds(); + notifyColliderAboutChangedSize(); } // Return the local bounds of the shape in x, y and z directions diff --git a/src/collision/shapes/ConvexPolyhedronShape.cpp b/src/collision/shapes/ConvexPolyhedronShape.cpp index f4df61d8..53bb92c8 100644 --- a/src/collision/shapes/ConvexPolyhedronShape.cpp +++ b/src/collision/shapes/ConvexPolyhedronShape.cpp @@ -31,8 +31,8 @@ using namespace reactphysics3d; // Constructor -ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name) - : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON) { +ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name, MemoryAllocator& allocator) + : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON, allocator) { } diff --git a/src/collision/shapes/ConvexPolyhedronShape.h b/src/collision/shapes/ConvexPolyhedronShape.h index c316d4bf..2bd41437 100644 --- a/src/collision/shapes/ConvexPolyhedronShape.h +++ b/src/collision/shapes/ConvexPolyhedronShape.h @@ -47,7 +47,7 @@ class ConvexPolyhedronShape : public ConvexShape { // -------------------- Methods -------------------- // /// Constructor - ConvexPolyhedronShape(CollisionShapeName name); + ConvexPolyhedronShape(CollisionShapeName name, MemoryAllocator& allocator); /// Destructor virtual ~ConvexPolyhedronShape() override = default; diff --git a/src/collision/shapes/ConvexShape.cpp b/src/collision/shapes/ConvexShape.cpp index e93a1d06..2b9c3d81 100644 --- a/src/collision/shapes/ConvexShape.cpp +++ b/src/collision/shapes/ConvexShape.cpp @@ -31,8 +31,8 @@ using namespace reactphysics3d; // Constructor -ConvexShape::ConvexShape(CollisionShapeName name, CollisionShapeType type, decimal margin) - : CollisionShape(name, type), mMargin(margin) { +ConvexShape::ConvexShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator, decimal margin) + : CollisionShape(name, type, allocator), mMargin(margin) { } diff --git a/src/collision/shapes/ConvexShape.h b/src/collision/shapes/ConvexShape.h index 7e5484bf..49266389 100644 --- a/src/collision/shapes/ConvexShape.h +++ b/src/collision/shapes/ConvexShape.h @@ -59,7 +59,7 @@ class ConvexShape : public CollisionShape { // -------------------- Methods -------------------- // /// Constructor - ConvexShape(CollisionShapeName name, CollisionShapeType type, decimal margin = decimal(0.0)); + ConvexShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator, decimal margin = decimal(0.0)); /// Destructor virtual ~ConvexShape() override = default; diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index e038d6a1..f2ffa0b5 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -42,9 +42,9 @@ using namespace reactphysics3d; * @param integerHeightScale Scaling factor used to scale the height values (only when height values type is integer) */ HeightFieldShape::HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, - const void* heightFieldData, HeightDataType dataType, int upAxis, + const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator, int upAxis, decimal integerHeightScale, const Vector3& scaling) - : ConcaveShape(CollisionShapeName::HEIGHTFIELD, scaling), mNbColumns(nbGridColumns), mNbRows(nbGridRows), + : ConcaveShape(CollisionShapeName::HEIGHTFIELD, allocator, scaling), mNbColumns(nbGridColumns), mNbRows(nbGridRows), mWidth(nbGridColumns - 1), mLength(nbGridRows - 1), mMinHeight(minHeight), mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale), mHeightDataType(dataType) { diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h index c2044349..d3092dd8 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/src/collision/shapes/HeightFieldShape.h @@ -95,7 +95,7 @@ class HeightFieldShape : public ConcaveShape { /// Constructor HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight, - const void* heightFieldData, HeightDataType dataType, + const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator, int upAxis = 1, decimal integerHeightScale = 1.0f, const Vector3& scaling = Vector3(1,1,1)); diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp index 613ded67..db3955bc 100644 --- a/src/collision/shapes/SphereShape.cpp +++ b/src/collision/shapes/SphereShape.cpp @@ -36,8 +36,8 @@ using namespace reactphysics3d; /** * @param radius Radius of the sphere */ -SphereShape::SphereShape(decimal radius) - : ConvexShape(CollisionShapeName::SPHERE, CollisionShapeType::SPHERE, radius) { +SphereShape::SphereShape(decimal radius, MemoryAllocator& allocator) + : ConvexShape(CollisionShapeName::SPHERE, CollisionShapeType::SPHERE, allocator, radius) { assert(radius > decimal(0.0)); } diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h index 61f18eeb..a5d7bd95 100644 --- a/src/collision/shapes/SphereShape.h +++ b/src/collision/shapes/SphereShape.h @@ -51,7 +51,7 @@ class SphereShape : public ConvexShape { // -------------------- Methods -------------------- // /// Constructor - SphereShape(decimal radius); + SphereShape(decimal radius, MemoryAllocator& allocator); /// Return a local support point in a given direction without the object margin virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override; @@ -121,6 +121,8 @@ inline decimal SphereShape::getRadius() const { inline void SphereShape::setRadius(decimal radius) { assert(radius > decimal(0.0)); mMargin = radius; + + notifyColliderAboutChangedSize(); } // Return true if the collision shape is a polyhedron diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp index 4163057f..fda8c200 100644 --- a/src/collision/shapes/TriangleShape.cpp +++ b/src/collision/shapes/TriangleShape.cpp @@ -47,7 +47,7 @@ using namespace reactphysics3d; */ TriangleShape::TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint shapeId, MemoryAllocator& allocator) - : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE), mFaces{HalfEdgeStructure::Face(allocator), HalfEdgeStructure::Face(allocator)} { + : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE, allocator), mFaces{HalfEdgeStructure::Face(allocator), HalfEdgeStructure::Face(allocator)} { mPoints[0] = vertices[0]; mPoints[1] = vertices[1]; diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp index 24bff83f..7cd9de62 100644 --- a/src/components/ColliderComponents.cpp +++ b/src/components/ColliderComponents.cpp @@ -37,7 +37,7 @@ using namespace reactphysics3d; ColliderComponents::ColliderComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + - sizeof(unsigned short) + sizeof(Transform) + sizeof(List)) { + sizeof(unsigned short) + sizeof(Transform) + sizeof(List) + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -67,6 +67,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); Transform* newLocalToWorldTransforms = reinterpret_cast(newCollideWithMaskBits + nbComponentsToAllocate); List* newOverlappingPairs = reinterpret_cast*>(newLocalToWorldTransforms + nbComponentsToAllocate); + bool* hasCollisionShapeChangedSize = reinterpret_cast(newOverlappingPairs + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -83,6 +84,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform)); memcpy(newOverlappingPairs, mOverlappingPairs, mNbComponents * sizeof(List)); + memcpy(hasCollisionShapeChangedSize, mHasCollisionShapeChangedSize, mNbComponents * sizeof(bool)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -101,6 +103,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { mCollideWithMaskBits = newCollideWithMaskBits; mLocalToWorldTransforms = newLocalToWorldTransforms; mOverlappingPairs = newOverlappingPairs; + mHasCollisionShapeChangedSize = hasCollisionShapeChangedSize; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -123,6 +126,7 @@ void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, co new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform); new (mOverlappingPairs + index) List(mMemoryAllocator); + mHasCollisionShapeChangedSize[index] = false; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(colliderEntity, index)); @@ -150,6 +154,7 @@ void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]); new (mOverlappingPairs + destIndex) List(mOverlappingPairs[srcIndex]); + mHasCollisionShapeChangedSize[destIndex] = mHasCollisionShapeChangedSize[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -177,6 +182,7 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; Transform localToWorldTransform1 = mLocalToWorldTransforms[index1]; List overlappingPairs = mOverlappingPairs[index1]; + bool hasCollisionShapeChangedSize = mHasCollisionShapeChangedSize[index1]; // Destroy component 1 destroyComponent(index1); @@ -195,6 +201,7 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1); new (mOverlappingPairs + index2) List(overlappingPairs); + mHasCollisionShapeChangedSize[index2] = hasCollisionShapeChangedSize; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(colliderEntity1, index2)); diff --git a/src/components/ColliderComponents.h b/src/components/ColliderComponents.h index 0c16a6a3..e30a844b 100644 --- a/src/components/ColliderComponents.h +++ b/src/components/ColliderComponents.h @@ -95,6 +95,11 @@ class ColliderComponents : public Components { /// Array with the list of involved overlapping pairs for each collider List* mOverlappingPairs; + /// True if the size of the collision shape associated with the collider + /// has been changed by the user + bool* mHasCollisionShapeChangedSize; + + // -------------------- Methods -------------------- // /// Allocate memory for a given number of components @@ -191,6 +196,12 @@ class ColliderComponents : public Components { /// Return a reference to the list of overlapping pairs for a given collider List& getOverlappingPairs(Entity colliderEntity); + /// Return true if the size of collision shape of the collider has been changed by the user + bool getHasCollisionShapeChangedSize(Entity colliderEntity) const; + + /// Return true if the size of collision shape of the collider has been changed by the user + void setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -319,6 +330,22 @@ inline List& ColliderComponents::getOverlappingPairs(Entity colliderEnti return mOverlappingPairs[mMapEntityToComponentIndex[colliderEntity]]; } +// Return true if the size of collision shape of the collider has been changed by the user +inline bool ColliderComponents::getHasCollisionShapeChangedSize(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mHasCollisionShapeChangedSize[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Return true if the size of collision shape of the collider has been changed by the user +inline void ColliderComponents::setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mHasCollisionShapeChangedSize[mMapEntityToComponentIndex[colliderEntity]] = hasCollisionShapeChangedSize; +} + } #endif diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 3f4a256e..e2d93fe6 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -159,7 +159,7 @@ void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) { // Create and return a sphere collision shape SphereShape* PhysicsCommon::createSphereShape(const decimal radius) { - SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius); + SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius, mMemoryManager.getHeapAllocator()); mSphereShapes.add(shape); return shape; @@ -202,7 +202,7 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) { // Create and return a capsule shape CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) { - CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height); + CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height, mMemoryManager.getHeapAllocator()); mCapsuleShapes.add(shape); @@ -224,7 +224,7 @@ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) { // Create and return a convex mesh shape ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling) { - ConvexMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConvexMeshShape))) ConvexMeshShape(polyhedronMesh, scaling); + ConvexMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConvexMeshShape))) ConvexMeshShape(polyhedronMesh, mMemoryManager.getHeapAllocator(), scaling); mConvexMeshShapes.add(shape); @@ -249,7 +249,7 @@ HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int n int upAxis, decimal integerHeightScale, const Vector3& scaling) { HeightFieldShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HeightFieldShape))) HeightFieldShape(nbGridColumns, nbGridRows, minHeight, maxHeight, - heightFieldData, dataType, upAxis, integerHeightScale, scaling); + heightFieldData, dataType, mMemoryManager.getHeapAllocator(), upAxis, integerHeightScale, scaling); mHeightFieldShapes.add(shape); diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 2135080d..2e6cb7bd 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -89,7 +89,7 @@ void BroadPhaseSystem::addCollider(Collider* collider, const AABB& aabb) { // Add the collision shape into the array of bodies that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(collider->getBroadPhaseId(), collider); + addMovedCollider(collider->getBroadPhaseId(), collider); } // Remove a collider from the broad-phase collision detection @@ -106,7 +106,7 @@ void BroadPhaseSystem::removeCollider(Collider* collider) { // Remove the collision shape into the array of shapes that have moved (or have been created) // during the last simulation step - removeMovedCollisionShape(broadPhaseID); + removeMovedCollider(broadPhaseID); } // Update the broad-phase state of a single collider @@ -133,12 +133,13 @@ void BroadPhaseSystem::updateColliders(decimal timeStep) { } // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement) { +void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement, + bool forceReInsert) { assert(broadPhaseId >= 0); // Update the dynamic AABB tree according to the movement of the collision shape - bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, displacement); + bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, displacement, forceReInsert); // If the collision shape has moved out of its fat AABB (and therefore has been reinserted // into the tree). @@ -146,7 +147,7 @@ void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* coll // Add the collision shape into the array of shapes that have moved (or have been created) // during the last simulation step - addMovedCollisionShape(broadPhaseId, collider); + addMovedCollider(broadPhaseId, collider); } } @@ -189,16 +190,22 @@ void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbIte AABB aabb; mCollidersComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mCollidersComponents.mLocalToBodyTransforms[i]); - // Update the broad-phase state for the collider - updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, displacement); + // If the size of the collision shape has been changed by the user, + // we need to reset the broad-phase AABB to its new size + const bool forceReInsert = mCollidersComponents.mHasCollisionShapeChangedSize[i]; + + // Update the broad-phase state of the collider + updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, displacement, forceReInsert); + + mCollidersComponents.mHasCollisionShapeChangedSize[i] = false; } } } -// Add a collision shape in the array of shapes that have moved in the last simulation step +// Add a collider in the array of colliders that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. -void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID, Collider* collider) { +void BroadPhaseSystem::addMovedCollider(int broadPhaseID, Collider* collider) { assert(broadPhaseID != -1); diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index 710527c9..b550b62f 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -140,7 +140,8 @@ class BroadPhaseSystem { // -------------------- Methods -------------------- // /// Notify the Dynamic AABB tree that a collider needs to be updated - void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement); + void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement, + bool forceReInsert); /// Update the broad-phase state of some colliders components void updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep); @@ -174,13 +175,13 @@ class BroadPhaseSystem { /// Update the broad-phase state of all the enabled colliders void updateColliders(decimal timeStep); - /// Add a collision shape in the array of shapes that have moved in the last simulation step + /// Add a collider in the array of colliders that have moved in the last simulation step /// and that need to be tested again for broad-phase overlapping. - void addMovedCollisionShape(int broadPhaseID, Collider* collider); + void addMovedCollider(int broadPhaseID, Collider* collider); - /// Remove a collision shape from the array of shapes that have moved in the last simulation + /// Remove a collider from the array of colliders that have moved in the last simulation /// step and that need to be tested again for broad-phase overlapping. - void removeMovedCollisionShape(int broadPhaseID); + void removeMovedCollider(int broadPhaseID); /// Compute all the overlapping pairs of collision shapes void computeOverlappingPairs(MemoryManager& memoryManager, List>& overlappingNodes); @@ -211,9 +212,9 @@ inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const { return mDynamicAABBTree.getFatAABB(broadPhaseId); } -// Remove a collision shape from the array of shapes that have moved in the last simulation step +// Remove a collider from the array of colliders that have moved in the last simulation step // and that need to be tested again for broad-phase overlapping. -inline void BroadPhaseSystem::removeMovedCollisionShape(int broadPhaseID) { +inline void BroadPhaseSystem::removeMovedCollider(int broadPhaseID) { // Remove the broad-phase ID from the set mMovedShapes.remove(broadPhaseID); diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index a9ba5357..9f872399 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -99,7 +99,7 @@ void CollisionDetectionSystem::computeBroadPhase() { RP3D_PROFILE("CollisionDetectionSystem::computeBroadPhase()", mProfiler); - // Ask the broad-phase to compute all the shapes overlapping the shapes that + // Ask the broad-phase to compute all the shapes overlapping with the shapes that // have moved or have been added in the last frame. This call can only add new // overlapping pairs in the collision detection. List> overlappingNodes(mMemoryManager.getPoolAllocator(), 32); diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h index 48d982c1..bb56d0d5 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/src/systems/CollisionDetectionSystem.h @@ -396,7 +396,7 @@ inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity, inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* shape) { if (shape->getBroadPhaseId() != -1) { - mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId(), shape); + mBroadPhaseSystem.addMovedCollider(shape->getBroadPhaseId(), shape); } } From 0ec26f5184706ec72d3e1b1f87594ff8fdbba911 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 14 Feb 2020 17:08:02 +0100 Subject: [PATCH 127/197] =?UTF-8?q?Compute=20the=20fat=20AABB=20by=20addin?= =?UTF-8?q?g=20a=20percentage=20of=20the=20size=20of=20the=20initial=20AAB?= =?UTF-8?q?B=20instead=20of=20using=20a=20constant=20offset.=C2=A0Do=20not?= =?UTF-8?q?=20use=20linear=20displacement=20anymore=20in=20inflate=20the?= =?UTF-8?q?=20AABB=20in=20direction=20of=20the=20motion=20in=20the=20broad?= =?UTF-8?q?-phase?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/collision/broadphase/DynamicAABBTree.cpp | 39 +++++-------------- src/collision/broadphase/DynamicAABBTree.h | 10 ++--- src/configuration.h | 11 ++---- src/systems/BroadPhaseSystem.cpp | 20 +++------- src/systems/BroadPhaseSystem.h | 2 +- test/tests/collision/TestDynamicAABBTree.h | 40 ++++++++++---------- 6 files changed, 42 insertions(+), 80 deletions(-) diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 60d2c568..4c0e667a 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -35,8 +35,8 @@ using namespace reactphysics3d; const int32 TreeNode::NULL_TREE_NODE = -1; // Constructor -DynamicAABBTree::DynamicAABBTree(MemoryAllocator& allocator, decimal extraAABBGap) - : mAllocator(allocator), mExtraAABBGap(extraAABBGap) { +DynamicAABBTree::DynamicAABBTree(MemoryAllocator& allocator, decimal fatAABBInflatePercentage) + : mAllocator(allocator), mFatAABBInflatePercentage(fatAABBInflatePercentage) { init(); } @@ -135,8 +135,8 @@ int32 DynamicAABBTree::addObjectInternal(const AABB& aabb) { // Get the next available node (or allocate new ones if necessary) int32 nodeID = allocateNode(); - // Create the fat aabb to use in the tree - const Vector3 gap(mExtraAABBGap, mExtraAABBGap, mExtraAABBGap); + // Create the fat aabb to use in the tree (inflate the aabb by a constant percentage of its size) + const Vector3 gap(aabb.getExtent() * mFatAABBInflatePercentage * decimal(0.5f)); mNodes[nodeID].aabb.setMin(aabb.getMin() - gap); mNodes[nodeID].aabb.setMax(aabb.getMax() + gap); @@ -167,12 +167,11 @@ void DynamicAABBTree::removeObject(int32 nodeID) { // Update the dynamic tree after an object has moved. /// If the new AABB of the object that has moved is still inside its fat AABB, then /// nothing is done. Otherwise, the corresponding node is removed and reinserted into the tree. -/// The method returns true if the object has been reinserted into the tree. The "displacement" -/// argument is the linear velocity of the AABB multiplied by the elapsed time between two -/// frames. If the "forceReInsert" parameter is true, we force the existing AABB to take the size +/// The method returns true if the object has been reinserted into the tree. +/// If the "forceReInsert" parameter is true, we force the existing AABB to take the size /// of the "newAABB" parameter even if it is larger than "newAABB". This can be used to shrink the /// AABB in the tree for instance if the corresponding collision shape has been shrunk. -bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement, bool forceReinsert) { +bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, bool forceReinsert) { RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler); @@ -188,32 +187,12 @@ bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vect // If the new AABB is outside the fat AABB, we remove the corresponding node removeLeafNode(nodeID); - // Compute the fat AABB by inflating the AABB with a constant gap + // Compute the fat AABB by inflating the AABB with by a constant percentage of the size of the AABB mNodes[nodeID].aabb = newAABB; - const Vector3 gap(mExtraAABBGap, mExtraAABBGap, mExtraAABBGap); + const Vector3 gap(newAABB.getExtent() * mFatAABBInflatePercentage * decimal(0.5f)); mNodes[nodeID].aabb.mMinCoordinates -= gap; mNodes[nodeID].aabb.mMaxCoordinates += gap; - // Inflate the fat AABB in direction of the linear motion of the AABB - if (displacement.x < decimal(0.0)) { - mNodes[nodeID].aabb.mMinCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.x; - } - else { - mNodes[nodeID].aabb.mMaxCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.x; - } - if (displacement.y < decimal(0.0)) { - mNodes[nodeID].aabb.mMinCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.y; - } - else { - mNodes[nodeID].aabb.mMaxCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.y; - } - if (displacement.z < decimal(0.0)) { - mNodes[nodeID].aabb.mMinCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.z; - } - else { - mNodes[nodeID].aabb.mMaxCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.z; - } - assert(mNodes[nodeID].aabb.contains(newAABB)); // Reinsert the node into the tree diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h index 3f6415b5..84dc25cc 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/src/collision/broadphase/DynamicAABBTree.h @@ -158,9 +158,8 @@ class DynamicAABBTree { /// Number of nodes in the tree int32 mNbNodes; - /// Extra AABB Gap used to allow the collision shape to move a little bit - /// without triggering a large modification of the tree which can be costly - decimal mExtraAABBGap; + /// The fat AABB is the initial AABB inflated by a given percentage of its size. + decimal mFatAABBInflatePercentage; #ifdef IS_PROFILING_ACTIVE @@ -210,7 +209,7 @@ class DynamicAABBTree { // -------------------- Methods -------------------- // /// Constructor - DynamicAABBTree(MemoryAllocator& allocator, decimal extraAABBGap = decimal(0.0)); + DynamicAABBTree(MemoryAllocator& allocator, decimal fatAABBInflatePercentage = decimal(0.0)); /// Destructor ~DynamicAABBTree(); @@ -225,8 +224,7 @@ class DynamicAABBTree { void removeObject(int32 nodeID); /// Update the dynamic tree after an object has moved. - bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement, - bool forceReinsert = false); + bool updateObject(int32 nodeID, const AABB& newAABB, bool forceReinsert = false); /// Return the fat AABB corresponding to a given node ID const AABB& getFatAABB(int32 nodeID) const; diff --git a/src/configuration.h b/src/configuration.h index 554eeab7..339c875e 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -100,14 +100,9 @@ constexpr decimal PI = decimal(3.14159265); constexpr decimal PI_TIMES_2 = decimal(6.28318530); /// In the broad-phase collision detection (dynamic AABB tree), the AABBs are -/// inflated with a constant gap to allow the collision shape to move a little bit -/// without triggering a large modification of the tree which can be costly -constexpr decimal DYNAMIC_TREE_AABB_GAP = decimal(0.1); - -/// In the broad-phase collision detection (dynamic AABB tree), the AABBs are -/// also inflated in direction of the linear motion of the body by mutliplying the -/// followin constant with the linear velocity and the elapsed time between two frames. -constexpr decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7); +/// inflated by a constant percentage of its size to allow the collision shape to move a little bit +/// without triggering a large modification of the tree each frame which can be costly +constexpr decimal DYNAMIC_TREE_FAT_AABB_INFLATE_PERCENTAGE = decimal(0.08); /// Current version of ReactPhysics3D const std::string RP3D_VERSION = std::string("0.7.1"); diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 2e6cb7bd..06459032 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -36,8 +36,8 @@ using namespace reactphysics3d; // Constructor BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ColliderComponents& collidersComponents, - TransformComponents& transformComponents, RigidBodyComponents &rigidBodyComponents) - :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP), + TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents) + :mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_FAT_AABB_INFLATE_PERCENTAGE), mCollidersComponents(collidersComponents), mTransformsComponents(transformComponents), mRigidBodyComponents(rigidBodyComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { @@ -133,13 +133,13 @@ void BroadPhaseSystem::updateColliders(decimal timeStep) { } // Notify the broad-phase that a collision shape has moved and need to be updated -void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement, +void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, bool forceReInsert) { assert(broadPhaseId >= 0); // Update the dynamic AABB tree according to the movement of the collision shape - bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, displacement, forceReInsert); + bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, forceReInsert); // If the collision shape has moved out of its fat AABB (and therefore has been reinserted // into the tree). @@ -176,16 +176,6 @@ void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbIte const Entity& bodyEntity = mCollidersComponents.mBodiesEntities[i]; const Transform& transform = mTransformsComponents.getTransform(bodyEntity); - // If there is a dynamics component for the current entity - Vector3 displacement(0, 0, 0); - if (mRigidBodyComponents.hasComponent(bodyEntity)) { - - // Get the linear velocity from the dynamics component - const Vector3& linearVelocity = mRigidBodyComponents.getLinearVelocity(bodyEntity); - - displacement = timeStep * linearVelocity; - } - // Recompute the world-space AABB of the collision shape AABB aabb; mCollidersComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mCollidersComponents.mLocalToBodyTransforms[i]); @@ -195,7 +185,7 @@ void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbIte const bool forceReInsert = mCollidersComponents.mHasCollisionShapeChangedSize[i]; // Update the broad-phase state of the collider - updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, displacement, forceReInsert); + updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, forceReInsert); mCollidersComponents.mHasCollisionShapeChangedSize[i] = false; } diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h index b550b62f..f37efe56 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/src/systems/BroadPhaseSystem.h @@ -140,7 +140,7 @@ class BroadPhaseSystem { // -------------------- Methods -------------------- // /// Notify the Dynamic AABB tree that a collider needs to be updated - void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement, + void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, bool forceReInsert); /// Update the broad-phase state of some colliders components diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 15c04edd..465ae241 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -238,10 +238,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero()); - tree.updateObject(object2Id, aabb2, Vector3::zero()); - tree.updateObject(object3Id, aabb3, Vector3::zero()); - tree.updateObject(object4Id, aabb4, Vector3::zero()); + tree.updateObject(object1Id, aabb1); + tree.updateObject(object2Id, aabb2); + tree.updateObject(object3Id, aabb3); + tree.updateObject(object4Id, aabb4); // AABB overlapping nothing overlappingNodes.clear(); @@ -285,10 +285,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero()); - tree.updateObject(object2Id, aabb2, Vector3::zero()); - tree.updateObject(object3Id, aabb3, Vector3::zero()); - tree.updateObject(object4Id, aabb4, Vector3::zero()); + tree.updateObject(object1Id, aabb1); + tree.updateObject(object2Id, aabb2); + tree.updateObject(object3Id, aabb3); + tree.updateObject(object4Id, aabb4); // AABB overlapping nothing overlappingNodes.clear(); @@ -333,10 +333,10 @@ class TestDynamicAABBTree : public Test { // ---- Move objects 2 and 3 ----- // AABB newAABB2(Vector3(-7, 10, -3), Vector3(1, 13, 3)); - tree.updateObject(object2Id, newAABB2, Vector3::zero()); + tree.updateObject(object2Id, newAABB2); AABB newAABB3(Vector3(7, -6, -3), Vector3(9, 1, 3)); - tree.updateObject(object3Id, newAABB3, Vector3::zero()); + tree.updateObject(object3Id, newAABB3); // AABB overlapping object 3 overlappingNodes.clear(); @@ -424,10 +424,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (no reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero()); - tree.updateObject(object2Id, aabb2, Vector3::zero()); - tree.updateObject(object3Id, aabb3, Vector3::zero()); - tree.updateObject(object4Id, aabb4, Vector3::zero()); + tree.updateObject(object1Id, aabb1); + tree.updateObject(object2Id, aabb2); + tree.updateObject(object3Id, aabb3); + tree.updateObject(object4Id, aabb4); // Ray with no hits mRaycastCallback.reset(); @@ -463,10 +463,10 @@ class TestDynamicAABBTree : public Test { // ---- Update the object AABBs with the initial AABBs (with reinsertion) ----- // - tree.updateObject(object1Id, aabb1, Vector3::zero()); - tree.updateObject(object2Id, aabb2, Vector3::zero()); - tree.updateObject(object3Id, aabb3, Vector3::zero()); - tree.updateObject(object4Id, aabb4, Vector3::zero()); + tree.updateObject(object1Id, aabb1); + tree.updateObject(object2Id, aabb2); + tree.updateObject(object3Id, aabb3); + tree.updateObject(object4Id, aabb4); // Ray with no hits mRaycastCallback.reset(); @@ -503,10 +503,10 @@ class TestDynamicAABBTree : public Test { // ---- Move objects 2 and 3 ----- // AABB newAABB2(Vector3(-7, 10, -3), Vector3(1, 13, 3)); - tree.updateObject(object2Id, newAABB2, Vector3::zero()); + tree.updateObject(object2Id, newAABB2); AABB newAABB3(Vector3(7, -6, -3), Vector3(9, 1, 3)); - tree.updateObject(object3Id, newAABB3, Vector3::zero()); + tree.updateObject(object3Id, newAABB3); // Ray that hits object 1, 2 Ray ray5(Vector3(-4, -5, 0), Vector3(-4, 12, 0)); From 28560d034e42b036c81ab50fed7f61b912e8f774 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 17 Feb 2020 17:36:44 +0100 Subject: [PATCH 128/197] Add methods for the user to retrieve Colliders, CollisionBodies and RigidBodies --- CHANGELOG.md | 2 + src/body/CollisionBody.cpp | 2 + src/collision/Collider.cpp | 10 ++++- src/collision/Collider.h | 5 ++- src/engine/PhysicsWorld.cpp | 14 +++--- src/engine/PhysicsWorld.h | 89 ++++++++++++++++++++++++++++++++++++- 6 files changed, 110 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index d10a1d92..29b8b182 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -10,6 +10,8 @@ - It is now possible to change the scale of a ConvexMeshShape using the ConvexMeshShape::setScale() method - It is now possible to change the scale of a ConcaveMeshShape using the ConcaveMeshShape::setScale() method - It is now possible to change the scale of a HeightFieldShape using the HeightFieldShape::setScale() method + - A method PhysicsWorld::getCollisionBody(uint index) has been added on a physics world to retrieve a given CollisionBody + - A method PhysicsWorld::getRigidBody(uint index) has been added on a physics world to retrieve a given RigidBody ### Changed diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index e9354080..fdd8b12b 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -137,6 +137,7 @@ uint CollisionBody::getNbColliders() const { // Return a const pointer to a given collider of the body /** +* @param index Index of a Collider of the body * @return The const pointer of a given collider of the body */ const Collider* CollisionBody::getCollider(uint colliderIndex) const { @@ -150,6 +151,7 @@ const Collider* CollisionBody::getCollider(uint colliderIndex) const { // Return a pointer to a given collider of the body /** +* @param index Index of a Collider of the body * @return The pointer of a given collider of the body */ Collider* CollisionBody::getCollider(uint colliderIndex) { diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index 14176b29..d2c24076 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -147,7 +147,15 @@ const AABB Collider::getWorldAABB() const { /** * @return Pointer to the internal collision shape */ -CollisionShape* Collider::getCollisionShape() const { +CollisionShape* Collider::getCollisionShape() { + return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); +} + +// Return a const pointer to the collision shape +/** + * @return Pointer to the internal collision shape + */ +const CollisionShape* Collider::getCollisionShape() const { return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity); } diff --git a/src/collision/Collider.h b/src/collision/Collider.h index 50599103..66f9f818 100644 --- a/src/collision/Collider.h +++ b/src/collision/Collider.h @@ -104,7 +104,10 @@ class Collider { Entity getEntity() const; /// Return a pointer to the collision shape - CollisionShape* getCollisionShape() const; + CollisionShape* getCollisionShape(); + + /// Return a const pointer to the collision shape + const CollisionShape* getCollisionShape() const; /// Return the parent body CollisionBody* getBody() const; diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index bf41d5fb..efe1ec73 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -58,7 +58,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents, mMemoryManager), - mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), + mCollisionBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()), mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents, mCollidersComponents, mConfig.restitutionVelocityThreshold), @@ -124,8 +124,8 @@ PhysicsWorld::~PhysicsWorld() { "Physics World: Physics world " + mName + " has been destroyed"); // Destroy all the collision bodies that have not been removed - for (int i=mBodies.size() - 1 ; i >= 0; i--) { - destroyCollisionBody(mBodies[i]); + for (int i=mCollisionBodies.size() - 1 ; i >= 0; i--) { + destroyCollisionBody(mCollisionBodies[i]); } #ifdef IS_PROFILING_ACTIVE @@ -135,7 +135,7 @@ PhysicsWorld::~PhysicsWorld() { #endif - assert(mBodies.size() == 0); + assert(mCollisionBodies.size() == 0); assert(mCollisionBodyComponents.getNbComponents() == 0); assert(mTransformComponents.getNbComponents() == 0); assert(mCollidersComponents.getNbComponents() == 0); @@ -180,7 +180,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { mCollisionBodyComponents.addComponent(entity, false, bodyComponent); // Add the collision body to the world - mBodies.add(collisionBody); + mCollisionBodies.add(collisionBody); #ifdef IS_PROFILING_ACTIVE @@ -219,7 +219,7 @@ void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) { collisionBody->~CollisionBody(); // Remove the collision body from the list of bodies - mBodies.remove(collisionBody); + mCollisionBodies.remove(collisionBody); // Free the object from the memory allocator mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody)); @@ -461,7 +461,6 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getInitMass(entity)); // Add the rigid body to the physics world - mBodies.add(rigidBody); mRigidBodies.add(rigidBody); #ifdef IS_PROFILING_ACTIVE @@ -507,7 +506,6 @@ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { rigidBody->~RigidBody(); // Remove the rigid body from the list of rigid bodies - mBodies.remove(rigidBody); mRigidBodies.remove(rigidBody); // Free the object from the memory allocator diff --git a/src/engine/PhysicsWorld.h b/src/engine/PhysicsWorld.h index c70de69d..30b800e1 100644 --- a/src/engine/PhysicsWorld.h +++ b/src/engine/PhysicsWorld.h @@ -213,8 +213,8 @@ class PhysicsWorld { /// Reference to the collision detection CollisionDetectionSystem mCollisionDetection; - /// All the bodies (rigid and soft) of the world - List mBodies; + /// All the collision bodies of the world + List mCollisionBodies; /// Pointer to an event listener object EventListener* mEventListener; @@ -434,6 +434,24 @@ class PhysicsWorld { /// Set an event listener object to receive events callbacks. void setEventListener(EventListener* eventListener); + /// Return the number of CollisionBody in the physics world + uint getNbCollisionBodies() const; + + /// Return a constant pointer to a given CollisionBody of the world + const CollisionBody* getCollisionBody(uint index) const; + + /// Return a pointer to a given CollisionBody of the world + CollisionBody* getCollisionBody(uint index) ; + + /// Return the number of RigidBody in the physics world + uint getNbRigidBodies() const; + + /// Return a constant pointer to a given RigidBody of the world + const RigidBody* getRigidBody(uint index) const; + + /// Return a pointer to a given RigidBody of the world + RigidBody* getRigidBody(uint index) ; + #ifdef IS_PROFILING_ACTIVE /// Return a reference to the profiler @@ -775,6 +793,73 @@ inline void PhysicsWorld::setEventListener(EventListener* eventListener) { mEventListener = eventListener; } +// Return the number of CollisionBody in the physics world +/// Note that even if a RigidBody is also a collision body, this method does not return the rigid bodies +inline uint PhysicsWorld::getNbCollisionBodies() const { + return mCollisionBodies.size(); +} + +// Return a constant pointer to a given CollisionBody of the world +/** + * @param index Index of a CollisionBody in the world + * @return Constant pointer to a given CollisionBody + */ +inline const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const { + + assert(index < mCollisionBodies.size()); + + // TODO : Report error here if index is not within bounds + + return mCollisionBodies[index]; +} + +// Return a pointer to a given CollisionBody of the world +/** + * @param index Index of a CollisionBody in the world + * @return Pointer to a given CollisionBody + */ +inline CollisionBody* PhysicsWorld::getCollisionBody(uint index) { + + assert(index < mCollisionBodies.size()); + + // TODO : Report error here if index is not within bounds + + return mCollisionBodies[index]; +} + +// Return the number of RigidBody in the physics world +inline uint PhysicsWorld::getNbRigidBodies() const { + return mRigidBodies.size(); +} + + +// Return a constant pointer to a given RigidBody of the world +/** + * @param index Index of a RigidBody in the world + * @return Constant pointer to a given RigidBody + */ +inline const RigidBody* PhysicsWorld::getRigidBody(uint index) const { + assert(index < mRigidBodies.size()); + + // TODO : Report error here if index is not within bounds + + return mRigidBodies[index]; +} + +// Return a pointer to a given RigidBody of the world +/** + * @param index Index of a RigidBody in the world + * @return Pointer to a given RigidBody + */ +inline RigidBody* PhysicsWorld::getRigidBody(uint index) { + + assert(index < mRigidBodies.size()); + + // TODO : Report error here if index is not within bounds + + return mRigidBodies[index]; +} + } #endif From cda466f9daed4c71a7d93d0005a194ad942456cf Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 1 Mar 2020 16:39:16 +0100 Subject: [PATCH 129/197] Refactor the way to set/update the center of mass, mass and inertia tensor of a rigid body --- CHANGELOG.md | 17 +- src/body/CollisionBody.cpp | 6 +- src/body/CollisionBody.h | 2 +- src/body/RigidBody.cpp | 469 +++++++++++------- src/body/RigidBody.h | 57 +-- src/collision/Collider.cpp | 9 - src/collision/Collider.h | 3 - src/collision/PolyhedronMesh.cpp | 46 ++ src/collision/PolyhedronMesh.h | 6 + src/collision/shapes/BoxShape.h | 8 + src/collision/shapes/CapsuleShape.h | 8 + src/collision/shapes/CollisionShape.h | 4 + src/collision/shapes/ConcaveShape.cpp | 16 + src/collision/shapes/ConcaveShape.h | 4 + src/collision/shapes/ConvexMeshShape.h | 9 + src/collision/shapes/SphereShape.h | 8 + src/collision/shapes/TriangleShape.h | 8 + src/components/ColliderComponents.cpp | 13 +- src/components/ColliderComponents.h | 19 +- src/components/RigidBodyComponents.cpp | 28 +- src/components/RigidBodyComponents.h | 58 ++- src/engine/Material.cpp | 5 +- src/engine/Material.h | 27 +- src/engine/PhysicsCommon.cpp | 45 ++ src/engine/PhysicsCommon.h | 11 + src/engine/PhysicsWorld.cpp | 6 +- src/systems/DynamicsSystem.cpp | 4 +- test/tests/collision/TestCollisionWorld.h | 3 +- test/tests/collision/TestPointInside.h | 2 +- test/tests/collision/TestRaycast.h | 2 +- testbed/common/Box.cpp | 59 +-- testbed/common/Box.h | 5 +- testbed/common/Capsule.cpp | 10 +- testbed/common/Capsule.h | 2 +- testbed/common/ConcaveMesh.cpp | 5 +- testbed/common/ConcaveMesh.h | 2 +- testbed/common/ConvexMesh.cpp | 8 +- testbed/common/ConvexMesh.h | 2 +- testbed/common/Dumbbell.cpp | 20 +- testbed/common/HeightField.cpp | 6 +- testbed/common/HeightField.h | 2 +- testbed/common/Sphere.cpp | 52 +- testbed/common/Sphere.h | 5 +- .../CollisionDetectionScene.cpp | 18 +- .../collisionshapes/CollisionShapesScene.cpp | 10 +- .../collisionshapes/CollisionShapesScene.h | 6 - .../scenes/concavemesh/ConcaveMeshScene.cpp | 13 +- testbed/scenes/concavemesh/ConcaveMeshScene.h | 5 - testbed/scenes/cubes/CubesScene.cpp | 6 +- testbed/scenes/cubes/CubesScene.h | 4 +- testbed/scenes/cubestack/CubeStackScene.cpp | 4 +- testbed/scenes/cubestack/CubeStackScene.h | 2 - .../scenes/heightfield/HeightFieldScene.cpp | 14 +- testbed/scenes/heightfield/HeightFieldScene.h | 6 - testbed/scenes/joints/JointsScene.cpp | 15 +- testbed/scenes/joints/JointsScene.h | 2 - testbed/scenes/pile/PileScene.cpp | 10 +- testbed/scenes/pile/PileScene.h | 6 - testbed/scenes/raycast/RaycastScene.cpp | 12 +- 59 files changed, 708 insertions(+), 506 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 29b8b182..097bce98 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,14 @@ - It is now possible to change the scale of a HeightFieldShape using the HeightFieldShape::setScale() method - A method PhysicsWorld::getCollisionBody(uint index) has been added on a physics world to retrieve a given CollisionBody - A method PhysicsWorld::getRigidBody(uint index) has been added on a physics world to retrieve a given RigidBody + - The Material of a Collider now has a mass density parameter that is used to compute its mass + - A RigidBody::getLocalCenterOfMass() method has been added to retrieve the current center of mass of a rigid body + - Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library + - The RigidBody::updateLocalCenterOfMassFromColliders() method has been added to compute and set the center of mass of a body using its colliders + - The RigidBody::updateLocalInertiaTensorFromColliders() method has been added to compute and set the local inertia tensor of a body using its colliders + - The RigidBody::getLocalInertiaTensor() method has been added to retrieve the local-space inertia tensor of a rigid body. + - The RigidBody::updateMassFromColliders() method has been added to compute and set the mass of a body using its colliders + - A Material nows has a mass density parameter that can be set using the Material::setMassDensity() method. The mass density is used to compute the mass of a collider when computing the mass of a rigid body ### Changed @@ -37,6 +45,11 @@ - An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method. - An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method. - The ProxyShape class has been renamed to Collider. The CollisionBody::addCollider(), RigidBody::addCollider() methods have to be used to create and add a collider to a body. Then methods CollisionBody::removeCollider(), RigidBody::removeCollider() need to be used to remove a collider. + - The RigidBody::addCollider() method (previously addProxyShape() method) does not take a "mass" parameter anymore. + - The RigidBody::setCenterOfMassLocal() method has been renamed to RigidBody::setLocalCenterOfMass() + - The RigidBody::setInertiaTensorLocal() method has been renamed to RigidBody::setLocalInertiaTensor() + - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders. + - Now, you need to manually call the RigidBody::recomputeMassInformation() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass - The rendering in the testbed application has been improved ### Removed @@ -48,6 +61,9 @@ - The EventListener::endInternalTick() method has been removed (because internal ticks do not exist anymore). - The RigidBody::getJointsList() method has been removed. - It is not possible anymore to set custom pool and stack frame allocators. Only the base allocator can be customized when creating a PhysicsCommon instance. + - The RigidBody::setInverseInertiaTensorLocal() method has been removed. The RigidBody::setInertiaTensorLocal() has to be used instead. + - The RigidBody::getInverseInertiaTensorWorld() method has been removed. + - The Collider::getMass() method has been removed. ## Version 0.7.1 (July 01, 2019) @@ -55,7 +71,6 @@ - Make possible for the user to get vertices, normals and triangle indices of a ConcaveMeshShape - Make possible for the user to get vertices and height values of the HeightFieldShape - - Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library ### Fixed diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index fdd8b12b..e21884e4 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -86,7 +86,7 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, decimal(1), 0x0001, 0xFFFF, localToWorldTransform); + transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform); bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity); mWorld.mCollidersComponents.addComponent(colliderEntity, !isActive, colliderComponent); @@ -196,8 +196,8 @@ void CollisionBody::removeCollider(Collider* collider) { mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, collider, sizeof(Collider)); } -// Remove all the collision shapes -void CollisionBody::removeAllCollisionShapes() { +// Remove all the colliders +void CollisionBody::removeAllColliders() { // Look for the collider that contains the collision shape in parameter. // Note that we need to copy the list of collider entities because we are deleting them in a loop. diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index 5c6c7f8c..402b2169 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -79,7 +79,7 @@ class CollisionBody { // -------------------- Methods -------------------- // /// Remove all the collision shapes - void removeAllCollisionShapes(); + void removeAllColliders(); /// Update the broad-phase state for this body (because it has moved for instance) void updateBroadPhaseState(decimal timeStep) const; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index f68ad07b..f7e83dec 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -38,8 +38,7 @@ using namespace reactphysics3d; * @param world The world where the body has been added * @param id The ID of the body */ -RigidBody::RigidBody(PhysicsWorld& world, Entity entity) - : CollisionBody(world, entity), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) { +RigidBody::RigidBody(PhysicsWorld& world, Entity entity) : CollisionBody(world, entity) { } @@ -50,12 +49,12 @@ BodyType RigidBody::getType() const { // Set the type of the body /// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow: -/// STATIC : A static body has infinite mass, zero velocity but the position can be +/// STATIC : A static body is simulated as if it has infinite mass, zero velocity but its position can be /// changed manually. A static body does not collide with other static or kinematic bodies. -/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its +/// KINEMATIC : A kinematic body is simulated as if it has infinite mass, its velocity can be changed manually and its /// position is computed by the physics engine. A kinematic body does not collide with /// other static or kinematic bodies. -/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its +/// DYNAMIC : A dynamic body has non-zero mass, its velocity is determined by forces and its /// position is determined by the physics engine. A dynamic body can collide with other /// dynamic, static or kinematic bodies. /** @@ -67,9 +66,6 @@ void RigidBody::setType(BodyType type) { mWorld.mRigidBodyComponents.setBodyType(mEntity, type); - // Recompute the total mass, center of mass and inertia tensor - recomputeMassInformation(); - // If it is a static body if (type == BodyType::STATIC) { @@ -86,10 +82,23 @@ void RigidBody::setType(BodyType type) { mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); } else { // If it is a dynamic body - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); - if (mIsInertiaTensorSetByUser) { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); + const decimal mass = mWorld.mRigidBodyComponents.getMass(mEntity); + + if (mass > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass) ; + } + else { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + } + + // Compute the inverse local inertia tensor + const Matrix3x3& inertiaTensorLocal = mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity); + if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + } + else { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); } } @@ -112,32 +121,12 @@ void RigidBody::setType(BodyType type) { (type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic"))); } -// Get the inverse local inertia tensor of the body (in body coordinates) -const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const { - return mWorld.mRigidBodyComponents.getInertiaTensorLocalInverse(mEntity); -} - -// Return the inverse of the inertia tensor in world coordinates. -/// The inertia tensor I_w in world coordinates is computed with the -/// local inverse inertia tensor I_b^-1 in body coordinates -/// by I_w = R * I_b^-1 * R^T -/// where R is the rotation matrix (and R^T its transpose) of the -/// current orientation quaternion of the body -/** - * @return The 3x3 inverse inertia tensor matrix of the body in world-space - * coordinates - */ -const Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const { - - return getInertiaTensorInverseWorld(mWorld, mEntity); -} - // Method that return the mass of the body /** * @return The mass (in kilograms) of the body */ decimal RigidBody::getMass() const { - return mWorld.mRigidBodyComponents.getInitMass(mEntity); + return mWorld.mRigidBodyComponents.getMass(mEntity); } // Apply an external force to the body at a given point (in world-space coordinates). @@ -171,22 +160,29 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) { mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + (point - centerOfMassWorld).cross(force)); } +// Return the local inertia tensor of the body (in body coordinates) +const Matrix3x3& RigidBody::getLocalInertiaTensor() const { + + return mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity); +} + // Set the local inertia tensor of the body (in local-space coordinates) -/// If the inertia tensor is set with this method, it will not be computed -/// using the collision shapes of the body. +/// Note that an inertia tensor with a zero value on its diagonal is interpreted as infinite inertia. /** * @param inertiaTensorLocal The 3x3 inertia tensor matrix of the body in local-space * coordinates */ -void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) { +void RigidBody::setLocalInertiaTensor(const Matrix3x3& inertiaTensorLocal) { - mUserInertiaTensorLocalInverse = inertiaTensorLocal.getInverse(); - mIsInertiaTensorSetByUser = true; - - if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); // Compute the inverse local inertia tensor - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); + if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + } + else { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); + } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); @@ -231,45 +227,18 @@ decimal RigidBody::getAngularDamping() const { return mWorld.mRigidBodyComponents.getAngularDamping(mEntity); } -// Set the inverse local inertia tensor of the body (in local-space coordinates) -/// If the inverse inertia tensor is set with this method, it will not be computed -/// using the collision shapes of the body. +// Set the center of mass of the body (in local-space coordinates) +/// This method does not move the rigid body in the world. /** - * @param inverseInertiaTensorLocal The 3x3 inverse inertia tensor matrix of the body in local-space - * coordinates + * @param centerOfMass The center of mass of the body in local-space coordinates */ -void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTensorLocal) { - - mUserInertiaTensorLocalInverse = inverseInertiaTensorLocal; - mIsInertiaTensorSetByUser = true; - - if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; - - // Compute the inverse local inertia tensor - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse); - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set inverseInertiaTensorLocal=" + inverseInertiaTensorLocal.to_string()); -} - -// Set the local center of mass of the body (in local-space coordinates) -/// If you set the center of mass with the method, it will not be computed -/// automatically using collision shapes. -/** - * @param centerOfMassLocal The center of mass of the body in local-space - * coordinates - */ -void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { - - if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; - - mIsCenterOfMassSetByUser = true; +void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) { const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); - mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); + mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMass); // Compute the center of mass in world-space coordinates - mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMass); // Update the linear velocity of the center of mass Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); @@ -278,26 +247,258 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) { linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMass.to_string()); +} + +// Return the center of mass of the body (in local-space coordinates) +const Vector3& RigidBody::getLocalCenterOfMass() const { + return mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); +} + +// Compute and set the local-space center of mass of the body using its colliders +/// This method uses the shape, mass density and transforms of the colliders to set +/// the center of mass of the body. Note that calling this method will overwrite the +/// mass that has been previously set with the RigidBody::setCenterOfMass() method. Moreover, this method +/// does not use the mass set by the user with the RigidBody::setMass() method to compute the center +/// of mass but only the mass density and volume of the colliders. +void RigidBody::updateLocalCenterOfMassFromColliders() { + + const Vector3 oldCenterOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); + + Vector3 centerOfMassLocal = computeCenterOfMass(); + + const Vector3 centerOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal; + + // Set the center of mass + mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld); + + // Update the linear velocity of the center of mass + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); } +// Compute and return the local-space center of mass of the body using its colliders +Vector3 RigidBody::computeCenterOfMass() const { + + decimal totalMass = decimal(0.0); + Vector3 centerOfMassLocal(0, 0, 0); + + // Compute the local center of mass + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { + + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + + const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume(); + const decimal colliderMassDensity = collider->getMaterial().getMassDensity(); + + const decimal colliderMass = colliderVolume * colliderMassDensity; + + totalMass += colliderMass; + centerOfMassLocal += colliderMass * mWorld.mCollidersComponents.getLocalToBodyTransform(colliderEntities[i]).getPosition(); + } + + if (totalMass > decimal(0.0)) { + centerOfMassLocal /= totalMass; + } + + return centerOfMassLocal; +} + +// Compute the local-space inertia tensor and total mass of the body using its colliders +void RigidBody::computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, decimal& totalMass) const { + + inertiaTensorLocal.setToZero(); + totalMass = decimal(0.0); + + const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); + + // Compute the inertia tensor using all the colliders + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { + + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + + const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume(); + const decimal colliderMassDensity = collider->getMaterial().getMassDensity(); + const decimal colliderMass = colliderVolume * colliderMassDensity; + + totalMass += colliderMass; + + // Get the inertia tensor of the collider in its local-space + Matrix3x3 inertiaTensor; + collider->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, colliderMass); + + // Convert the collider inertia tensor into the local-space of the body + const Transform& shapeTransform = collider->getLocalToBodyTransform(); + Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix(); + inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose(); + + // Use the parallel axis theorem to convert the inertia tensor w.r.t the collider + // center into a inertia tensor w.r.t to the body origin. + Vector3 offset = shapeTransform.getPosition() - centerOfMassLocal; + decimal offsetSquare = offset.lengthSquare(); + Matrix3x3 offsetMatrix; + offsetMatrix[0].setAllValues(offsetSquare, decimal(0.0), decimal(0.0)); + offsetMatrix[1].setAllValues(decimal(0.0), offsetSquare, decimal(0.0)); + offsetMatrix[2].setAllValues(decimal(0.0), decimal(0.0), offsetSquare); + offsetMatrix[0] += offset * (-offset.x); + offsetMatrix[1] += offset * (-offset.y); + offsetMatrix[2] += offset * (-offset.z); + offsetMatrix *= colliderMass; + + inertiaTensorLocal += inertiaTensor + offsetMatrix; + } +} + +// Compute and set the local-space inertia tensor of the body using its colliders +/// This method uses the shape, mass density and transforms of the colliders to set +/// the local-space inertia tensor of the body. Note that calling this method will overwrite the +/// mass that has been set with the RigidBody::setInertiaTensorLocal() method. +void RigidBody::updateLocalInertiaTensorFromColliders() { + + const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); + + // Compute the local-space inertia tensor + Matrix3x3 inertiaTensorLocal; + decimal totalMass; + computeMassAndInertiaTensorLocal(inertiaTensorLocal, totalMass); + + mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); + + // Compute the inverse local inertia tensor + if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + } + else { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); + } + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); +} + +// Compute and set the mass of the body using its colliders +/// This method uses the shape, mass density and transforms of the colliders to set +/// the total mass of the body. Note that calling this method will overwrite the +/// mass that has been set with the RigidBody::setMass() method +void RigidBody::updateMassFromColliders() { + + decimal totalMass = decimal(0.0); + + // Compute the total mass of the body + const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); + for (uint i=0; i < colliderEntities.size(); i++) { + Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); + + const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume(); + const decimal colliderMassDensity = collider->getMaterial().getMassDensity(); + + const decimal colliderMass = colliderVolume * colliderMassDensity; + + totalMass += colliderMass; + } + + // Set the mass + mWorld.mRigidBodyComponents.setMass(mEntity, totalMass); + + // Compute the inverse mass + if (totalMass > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass); + } + else { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + } + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass)); +} + +// Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders +/// This method uses the shape, mass density and transform of the colliders of the body to set +/// the total mass, the center of mass and the local inertia tensor of the body. +/// Note that calling this method will overwrite the +/// mass that has been set with the RigidBody::setMass(), the center of mass that has been +/// set with RigidBody::setCenterOfMass() and the local inertia tensor that has been set with +/// RigidBody::setInertiaTensorLocal(). +void RigidBody::updateMassPropertiesFromColliders() { + + const Vector3 oldCenterOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); + + // Compute the local center of mass + Vector3 centerOfMassLocal = computeCenterOfMass(); + + const Vector3 centerOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal; + + // Set the center of mass + mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal); + mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld); + + // Update the linear velocity of the center of mass + Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); + linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); + mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); + + // Compute the mass and local-space inertia tensor + Matrix3x3 inertiaTensorLocal; + decimal totalMass; + computeMassAndInertiaTensorLocal(inertiaTensorLocal, totalMass); + + mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); + + // Compute the inverse local inertia tensor + if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + } + else { + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); + } + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); + + // Set the mass + mWorld.mRigidBodyComponents.setMass(mEntity, totalMass); + + // Compute the inverse mass + if (totalMass > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass); + } + else { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + } + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass)); +} + // Set the mass of the rigid body +/// Note that a mass of zero is interpreted as infinite mass. /** * @param mass The mass (in kilograms) of the body */ void RigidBody::setMass(decimal mass) { - if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + mWorld.mRigidBodyComponents.setMass(mEntity, mass); - mWorld.mRigidBodyComponents.setInitMass(mEntity, mass); + // TODO : Report error if mass is negative - if (mWorld.mRigidBodyComponents.getInitMass(mEntity) > decimal(0.0)) { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); + if (mWorld.mRigidBodyComponents.getMass(mEntity) > decimal(0.0)) { + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass); } else { - mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(1.0)); - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0)); + mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, @@ -315,10 +516,9 @@ void RigidBody::setMass(decimal mass) { * @param collisionShape The collision shape of the new collider * @param transform The transformation of the collider that transforms the * local-space of the collider into the local-space of the body - * @param mass Mass (in kilograms) of the collider you want to add * @return A pointer to the collider that has been created */ -Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform& transform, decimal mass) { +Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform& transform) { // Create a new entity for the collider Entity colliderEntity = mWorld.mEntityManager.createEntity(); @@ -333,9 +533,8 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform // TODO : Maybe this method can directly returns an AABB collisionShape->getLocalBounds(localBoundsMin, localBoundsMax); const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform; - ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, - AABB(localBoundsMin, localBoundsMax), - transform, collisionShape, mass, 0x0001, 0xFFFF, localToWorldTransform); + ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax), + transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform); bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity); mWorld.mCollidersComponents.addComponent(colliderEntity, isSleeping, colliderComponent); @@ -365,10 +564,6 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addCollider(collider, aabb); - // Recompute the center of mass, total mass and inertia tensor of the body with the new - // collision shape - recomputeMassInformation(); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body"); @@ -389,9 +584,6 @@ void RigidBody::removeCollider(Collider* collider) { // Remove the collision shape CollisionBody::removeCollider(collider); - - // Recompute the total mass, center of mass and inertia tensor - recomputeMassInformation(); } // Set the variable to know if the gravity is applied to this rigid body @@ -500,101 +692,6 @@ void RigidBody::setTransform(const Transform& transform) { setIsSleeping(false); } -// Recompute the center of mass, total mass and inertia tensor of the body using all -// the collision shapes attached to the body. -void RigidBody::recomputeMassInformation() { - - mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(0.0)); - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); - if (!mIsInertiaTensorSetByUser) mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - if (!mIsCenterOfMassSetByUser) mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, Vector3::zero()); - Matrix3x3 inertiaTensorLocal; - inertiaTensorLocal.setToZero(); - - const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity); - - // If it is a STATIC or a KINEMATIC body - BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity); - if (type == BodyType::STATIC || type == BodyType::KINEMATIC) { - mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); - return; - } - - assert(mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::DYNAMIC); - - // Compute the total mass of the body - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { - Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - mWorld.mRigidBodyComponents.setInitMass(mEntity, mWorld.mRigidBodyComponents.getInitMass(mEntity) + collider->getMass()); - - if (!mIsCenterOfMassSetByUser) { - mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) + - collider->getLocalToBodyTransform().getPosition() * collider->getMass()); - } - } - - if (mWorld.mRigidBodyComponents.getInitMass(mEntity) > decimal(0.0)) { - mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity)); - } - else { - mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform.getPosition()); - return; - } - - // Compute the center of mass - const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); - - if (!mIsCenterOfMassSetByUser) { - mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) * mWorld.mRigidBodyComponents.getMassInverse(mEntity)); - } - - mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform * mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity)); - - if (!mIsInertiaTensorSetByUser) { - - // Compute the inertia tensor using all the colliders - const List& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity); - for (uint i=0; i < colliderEntities.size(); i++) { - - Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]); - - // Get the inertia tensor of the collider in its local-space - Matrix3x3 inertiaTensor; - collider->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, collider->getMass()); - - // Convert the collider inertia tensor into the local-space of the body - const Transform& shapeTransform = collider->getLocalToBodyTransform(); - Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix(); - inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose(); - - // Use the parallel axis theorem to convert the inertia tensor w.r.t the collider - // center into a inertia tensor w.r.t to the body origin. - Vector3 offset = shapeTransform.getPosition() - mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); - decimal offsetSquare = offset.lengthSquare(); - Matrix3x3 offsetMatrix; - offsetMatrix[0].setAllValues(offsetSquare, decimal(0.0), decimal(0.0)); - offsetMatrix[1].setAllValues(decimal(0.0), offsetSquare, decimal(0.0)); - offsetMatrix[2].setAllValues(decimal(0.0), decimal(0.0), offsetSquare); - offsetMatrix[0] += offset * (-offset.x); - offsetMatrix[1] += offset * (-offset.y); - offsetMatrix[2] += offset * (-offset.z); - offsetMatrix *= collider->getMass(); - - inertiaTensorLocal += inertiaTensor + offsetMatrix; - } - - // Compute the local inverse inertia tensor - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); - } - - // Update the linear velocity of the center of mass - Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity); - Vector3 angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity); - linearVelocity += angularVelocity.cross(mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity) - oldCenterOfMass); - mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); -} - // Return the linear velocity /** * @return The linear velocity vector of the body diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 5f1b780a..2ecee142 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -51,18 +51,6 @@ class RigidBody : public CollisionBody { protected : - // -------------------- Attributes -------------------- // - - /// Inverse Local inertia tensor of the body (in local-space) set - /// by the user with respect to the center of mass of the body - Matrix3x3 mUserInertiaTensorLocalInverse; - - /// True if the center of mass is set by the user - bool mIsCenterOfMassSetByUser; - - /// True if the inertia tensor is set by the user - bool mIsInertiaTensorSetByUser; - // -------------------- Methods -------------------- // /// Set the variable to know whether or not the body is sleeping @@ -71,6 +59,12 @@ class RigidBody : public CollisionBody { /// Update whether the current overlapping pairs where this body is involed are active or not void updateOverlappingPairs(); + /// Compute and return the local-space center of mass of the body using its colliders + Vector3 computeCenterOfMass() const; + + /// Compute the local-space inertia tensor and total mass of the body using its colliders + void computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, decimal& totalMass) const; + /// Return the inverse of the inertia tensor in world coordinates. static const Matrix3x3 getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity); @@ -96,6 +90,9 @@ class RigidBody : public CollisionBody { /// Return the mass of the body decimal getMass() const; + /// Set the mass of the rigid body + void setMass(decimal mass); + /// Return the linear velocity Vector3 getLinearVelocity() const; @@ -108,23 +105,29 @@ class RigidBody : public CollisionBody { /// Set the angular velocity. void setAngularVelocity(const Vector3& angularVelocity); + /// Return the local inertia tensor of the body (in body coordinates) + const Matrix3x3& getLocalInertiaTensor() const; + /// Set the local inertia tensor of the body (in body coordinates) - void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal); + void setLocalInertiaTensor(const Matrix3x3& inertiaTensorLocal); - /// Set the inverse local inertia tensor of the body (in body coordinates) - void setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTensorLocal); + /// Return the center of mass of the body (in local-space coordinates) + const Vector3& getLocalCenterOfMass() const; - /// Get the inverse local inertia tensor of the body (in body coordinates) - const Matrix3x3& getInverseInertiaTensorLocal() const; + /// Set the center of mass of the body (in local-space coordinates) + void setLocalCenterOfMass(const Vector3& centerOfMass); - /// Return the inverse of the inertia tensor in world coordinates. - const Matrix3x3 getInertiaTensorInverseWorld() const; + /// Compute and set the local-space center of mass of the body using its colliders + void updateLocalCenterOfMassFromColliders(); - /// Set the local center of mass of the body (in local-space coordinates) - void setCenterOfMassLocal(const Vector3& centerOfMassLocal); + /// Compute and set the local-space inertia tensor of the body using its colliders + void updateLocalInertiaTensorFromColliders(); - /// Set the mass of the rigid body - void setMass(decimal mass); + /// Compute and set the mass of the body using its colliders + void updateMassFromColliders(); + + /// Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders + void updateMassPropertiesFromColliders(); /// Return the type of the body BodyType getType() const; @@ -172,17 +175,11 @@ class RigidBody : public CollisionBody { virtual void setIsActive(bool isActive) override; /// Create a new collider and add it to the body - // TODO : Remove the mass from this parameter so that we can correctly use inheritance here - // The user will then need to call Collider->setMass() to set the mass of the shape - virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform, decimal mass); + virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform) override; /// Remove a collider from the body virtual void removeCollider(Collider* collider) override; - /// Recompute the center of mass, total mass and inertia tensor of the body using all - /// the collision shapes attached to the body. - void recomputeMassInformation(); - #ifdef IS_PROFILING_ACTIVE /// Set the profiler diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index d2c24076..2ada633a 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -51,15 +51,6 @@ Collider::~Collider() { } -// Return the mass of the collision shape -/** - * @return Mass of the collision shape (in kilograms) - */ -decimal Collider::getMass() const { - return mBody->mWorld.mCollidersComponents.getMass(mEntity); -} - - // Return true if a point is inside the collision shape /** * @param worldPoint Point to test in world-space coordinates diff --git a/src/collision/Collider.h b/src/collision/Collider.h index 66f9f818..fd849800 100644 --- a/src/collision/Collider.h +++ b/src/collision/Collider.h @@ -112,9 +112,6 @@ class Collider { /// Return the parent body CollisionBody* getBody() const; - /// Return the mass of the collision shape - decimal getMass() const; - /// Return a pointer to the user data attached to this body void* getUserData() const; diff --git a/src/collision/PolyhedronMesh.cpp b/src/collision/PolyhedronMesh.cpp index 3245ff19..e4f53ed3 100644 --- a/src/collision/PolyhedronMesh.cpp +++ b/src/collision/PolyhedronMesh.cpp @@ -27,6 +27,7 @@ #include "PolyhedronMesh.h" #include "memory/MemoryManager.h" #include "collision/PolygonVertexArray.h" +#include using namespace reactphysics3d; @@ -153,3 +154,48 @@ void PolyhedronMesh::computeCentroid() { mCentroid /= getNbVertices(); } + +// Compute and return the area of a face +decimal PolyhedronMesh::getFaceArea(uint faceIndex) const { + + Vector3 sumCrossProducts(0, 0, 0); + + const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(faceIndex); + assert(face.faceVertices.size() >= 3); + + Vector3 v1 = getVertex(face.faceVertices[0]); + + // For each vertex of the face + for (uint i=2; i < face.faceVertices.size(); i++) { + + const Vector3 v2 = getVertex(face.faceVertices[i-1]); + const Vector3 v3 = getVertex(face.faceVertices[i]); + + const Vector3 v1v2 = v2 - v1; + const Vector3 v1v3 = v3 - v1; + + sumCrossProducts += v1v2.cross(v1v3); + } + + return decimal(0.5) * sumCrossProducts.length(); +} + +// Compute and return the volume of the polyhedron +/// We use the divergence theorem to compute the volume of the polyhedron using a sum over its faces. +decimal PolyhedronMesh::getVolume() const { + + decimal sum = 0.0; + + // For each face of the polyhedron + for (uint f=0; f < getNbFaces(); f++) { + + const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(f); + const decimal faceArea = getFaceArea(f); + const Vector3 faceNormal = mFacesNormals[f]; + const Vector3 faceVertex = getVertex(face.faceVertices[0]); + + sum += faceVertex.dot(faceNormal) * faceArea; + } + + return std::abs(sum) / decimal(3.0); +} diff --git a/src/collision/PolyhedronMesh.h b/src/collision/PolyhedronMesh.h index a5ae6114..4b3696f4 100644 --- a/src/collision/PolyhedronMesh.h +++ b/src/collision/PolyhedronMesh.h @@ -77,6 +77,9 @@ class PolyhedronMesh { /// Compute the centroid of the polyhedron void computeCentroid() ; + /// Compute and return the area of a face + decimal getFaceArea(uint faceIndex) const; + public: // -------------------- Methods -------------------- // @@ -102,6 +105,9 @@ class PolyhedronMesh { /// Return the centroid of the polyhedron Vector3 getCentroid() const; + /// Compute and return the volume of the polyhedron + decimal getVolume() const; + // ---------- Friendship ---------- // friend class PhysicsCommon; diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h index ded03c63..a885662a 100644 --- a/src/collision/shapes/BoxShape.h +++ b/src/collision/shapes/BoxShape.h @@ -98,6 +98,9 @@ class BoxShape : public ConvexPolyhedronShape { /// Return the local inertia tensor of the collision shape virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const override; + /// Return the number of faces of the polyhedron virtual uint getNbFaces() const override; @@ -253,6 +256,11 @@ inline Vector3 BoxShape::getCentroid() const { return Vector3::zero(); } +// Compute and return the volume of the collision shape +inline decimal BoxShape::getVolume() const { + return 8 * mHalfExtents.x * mHalfExtents.y * mHalfExtents.z; +} + // Return the string representation of the shape inline std::string BoxShape::to_string() const { return "BoxShape{extents=" + mHalfExtents.to_string() + "}"; diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h index 4b37bdc5..0e8565c1 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/src/collision/shapes/CapsuleShape.h @@ -105,6 +105,9 @@ class CapsuleShape : public ConvexShape { /// Return the local bounds of the shape in x, y and z directions virtual void getLocalBounds(Vector3& min, Vector3& max) const override; + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const override; + /// Return true if the collision shape is a polyhedron virtual bool isPolyhedron() const override; @@ -188,6 +191,11 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const { min.z = min.x; } +// Compute and return the volume of the collision shape +inline decimal CapsuleShape::getVolume() const { + return reactphysics3d::PI * mMargin * mMargin * (decimal(4.0) * mMargin / decimal(3.0) + decimal(2.0) * mHalfHeight); +} + // Return true if the collision shape is a polyhedron inline bool CapsuleShape::isPolyhedron() const { return false; diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 853de58a..8d609946 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -30,6 +30,7 @@ #include #include "configuration.h" #include "utils/Profiler.h" +#include "containers/List.h" /// ReactPhysics3D namespace namespace reactphysics3d { @@ -142,6 +143,9 @@ class CollisionShape { /// Return the local inertia tensor of the collision shapes virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0; + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const=0; + /// Compute the world-space AABB of the collision shape given a transform virtual void computeAABB(AABB& aabb, const Transform& transform) const; diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp index 41f4069b..d60862d0 100644 --- a/src/collision/shapes/ConcaveShape.cpp +++ b/src/collision/shapes/ConcaveShape.cpp @@ -36,3 +36,19 @@ ConcaveShape::ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator, mScale(scaling) { } + +// Compute and return the volume of the collision shape +/// Note that we approximate the volume of a concave shape with the volume of its AABB +decimal ConcaveShape::getVolume() const { + Vector3 minBounds, maxBounds; + + // Compute the local bounds + getLocalBounds(minBounds, maxBounds); + + const decimal lengthX = maxBounds.x - minBounds.x; + const decimal lengthY = maxBounds.y - minBounds.y; + const decimal lengthZ = maxBounds.z - minBounds.z; + + // Approximate the volume of the concave shape as the volume of its AABB + return lengthX * lengthY * lengthZ; +} diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h index 421a57ea..3eeb5285 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/src/collision/shapes/ConcaveShape.h @@ -111,6 +111,9 @@ class ConcaveShape : public CollisionShape { virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, List& triangleVerticesNormals, List& shapeIds, MemoryAllocator& allocator) const=0; + + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const override; }; // Return true if the collision shape is convex, false if it is concave @@ -155,6 +158,7 @@ inline void ConcaveShape::setScale(const Vector3& scale) { notifyColliderAboutChangedSize(); } + } #endif diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index 8313fe92..af2c4e4d 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -135,6 +135,9 @@ class ConvexMeshShape : public ConvexPolyhedronShape { /// Return the centroid of the polyhedron virtual Vector3 getCentroid() const override; + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const override; + /// Return the string representation of the shape virtual std::string to_string() const override; @@ -242,6 +245,12 @@ inline Vector3 ConvexMeshShape::getCentroid() const { return mPolyhedronMesh->getCentroid() * mScale; } + +// Compute and return the volume of the collision shape +inline decimal ConvexMeshShape::getVolume() const { + return mPolyhedronMesh->getVolume(); +} + } #endif diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h index a5d7bd95..6f2cd086 100644 --- a/src/collision/shapes/SphereShape.h +++ b/src/collision/shapes/SphereShape.h @@ -93,6 +93,9 @@ class SphereShape : public ConvexShape { /// Return the local inertia tensor of the collision shape virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const override; + /// Update the AABB of a body using its collision shape virtual void computeAABB(AABB& aabb, const Transform& transform) const override; @@ -180,6 +183,11 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma 0.0, 0.0, diag); } +// Compute and return the volume of the collision shape +inline decimal SphereShape::getVolume() const { + return decimal(4.0) / decimal(3.0) * reactphysics3d::PI * mMargin * mMargin * mMargin; +} + // Return true if a point is inside the collision shape inline bool SphereShape::testPointInside(const Vector3& localPoint, Collider* collider) const { return (localPoint.lengthSquare() < mMargin * mMargin); diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h index e7a40882..9d2a827c 100644 --- a/src/collision/shapes/TriangleShape.h +++ b/src/collision/shapes/TriangleShape.h @@ -166,6 +166,9 @@ class TriangleShape : public ConvexPolyhedronShape { /// Return the centroid of the polyhedron virtual Vector3 getCentroid() const override; + /// Compute and return the volume of the collision shape + virtual decimal getVolume() const override; + /// This method compute the smooth mesh contact with a triangle in case one of the two collision shapes is a triangle. The idea in this case is to use a smooth vertex normal of the triangle mesh static void computeSmoothTriangleMeshContact(const CollisionShape* shape1, const CollisionShape* shape2, Vector3& localContactPointShape1, Vector3& localContactPointShape2, @@ -304,6 +307,11 @@ inline std::string TriangleShape::to_string() const { "v3=" + mPoints[2].to_string() + "}"; } +// Compute and return the volume of the collision shape +inline decimal TriangleShape::getVolume() const { + return decimal(0.0); +} + } #endif diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp index 7cd9de62..7d890e39 100644 --- a/src/components/ColliderComponents.cpp +++ b/src/components/ColliderComponents.cpp @@ -35,8 +35,8 @@ using namespace reactphysics3d; // Constructor ColliderComponents::ColliderComponents(MemoryAllocator& allocator) - :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int) + - sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) + + :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int32) + + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(unsigned short) + sizeof(unsigned short) + sizeof(Transform) + sizeof(List) + sizeof(bool)) { // Allocate memory for the components data @@ -62,8 +62,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { int32* newBroadPhaseIds = reinterpret_cast(newColliders + nbComponentsToAllocate); Transform* newLocalToBodyTransforms = reinterpret_cast(newBroadPhaseIds + nbComponentsToAllocate); CollisionShape** newCollisionShapes = reinterpret_cast(newLocalToBodyTransforms + nbComponentsToAllocate); - decimal* newMasses = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); - unsigned short* newCollisionCategoryBits = reinterpret_cast(newMasses + nbComponentsToAllocate); + unsigned short* newCollisionCategoryBits = reinterpret_cast(newCollisionShapes + nbComponentsToAllocate); unsigned short* newCollideWithMaskBits = reinterpret_cast(newCollisionCategoryBits + nbComponentsToAllocate); Transform* newLocalToWorldTransforms = reinterpret_cast(newCollideWithMaskBits + nbComponentsToAllocate); List* newOverlappingPairs = reinterpret_cast*>(newLocalToWorldTransforms + nbComponentsToAllocate); @@ -79,7 +78,6 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int32)); memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform)); memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*)); - memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short)); memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short)); memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform)); @@ -98,7 +96,6 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { mBroadPhaseIds = newBroadPhaseIds; mLocalToBodyTransforms = newLocalToBodyTransforms; mCollisionShapes = newCollisionShapes; - mMasses = newMasses; mCollisionCategoryBits = newCollisionCategoryBits; mCollideWithMaskBits = newCollideWithMaskBits; mLocalToWorldTransforms = newLocalToWorldTransforms; @@ -121,7 +118,6 @@ void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, co new (mBroadPhaseIds + index) int32(-1); new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform); mCollisionShapes[index] = component.collisionShape; - new (mMasses + index) decimal(component.mass); new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits); new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits); new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform); @@ -149,7 +145,6 @@ void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mBroadPhaseIds + destIndex) int32(mBroadPhaseIds[srcIndex]); new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]); mCollisionShapes[destIndex] = mCollisionShapes[srcIndex]; - new (mMasses + destIndex) decimal(mMasses[srcIndex]); new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]); new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]); new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]); @@ -177,7 +172,6 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { int32 broadPhaseId1 = mBroadPhaseIds[index1]; Transform localToBodyTransform1 = mLocalToBodyTransforms[index1]; CollisionShape* collisionShape1 = mCollisionShapes[index1]; - decimal mass1 = mMasses[index1]; unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1]; unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1]; Transform localToWorldTransform1 = mLocalToWorldTransforms[index1]; @@ -196,7 +190,6 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { new (mBroadPhaseIds + index2) int32(broadPhaseId1); new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1); mCollisionShapes[index2] = collisionShape1; - new (mMasses + index2) decimal(mass1); new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1); new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1); new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1); diff --git a/src/components/ColliderComponents.h b/src/components/ColliderComponents.h index e30a844b..e96d72c1 100644 --- a/src/components/ColliderComponents.h +++ b/src/components/ColliderComponents.h @@ -73,9 +73,6 @@ class ColliderComponents : public Components { /// Pointers to the collision shapes of the colliders CollisionShape** mCollisionShapes; - /// Masses (in kilogramms) of the colliders - decimal* mMasses; - /// Array of bits used to define the collision category of this shape. /// You can set a single bit to one to define a category value for this /// shape. This value is one (0x0001) by default. This variable can be used @@ -124,17 +121,16 @@ class ColliderComponents : public Components { AABB localBounds; const Transform& localToBodyTransform; CollisionShape* collisionShape; - decimal mass; unsigned short collisionCategoryBits; unsigned short collideWithMaskBits; const Transform& localToWorldTransform; /// Constructor ColliderComponent(Entity bodyEntity, Collider* collider, AABB localBounds, const Transform& localToBodyTransform, - CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits, + CollisionShape* collisionShape, unsigned short collisionCategoryBits, unsigned short collideWithMaskBits, const Transform& localToWorldTransform) :bodyEntity(bodyEntity), collider(collider), localBounds(localBounds), localToBodyTransform(localToBodyTransform), - collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits), + collisionShape(collisionShape), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits), localToWorldTransform(localToWorldTransform) { } @@ -154,9 +150,6 @@ class ColliderComponents : public Components { /// Return the body entity of a given collider Entity getBody(Entity colliderEntity) const; - /// Return the mass of a collider - decimal getMass(Entity colliderEntity) const; - /// Return a pointer to a given collider Collider* getCollider(Entity colliderEntity) const; @@ -218,14 +211,6 @@ inline Entity ColliderComponents::getBody(Entity colliderEntity) const { return mBodiesEntities[mMapEntityToComponentIndex[colliderEntity]]; } -// Return the mass of a collider -inline decimal ColliderComponents::getMass(Entity colliderEntity) const { - - assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); - - return mMasses[mMapEntityToComponentIndex[colliderEntity]]; -} - // Return a pointer to a given collider inline Collider *ColliderComponents::getCollider(Entity colliderEntity) const { diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index ae15df20..7e12fc5c 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -40,7 +40,7 @@ RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + - sizeof(Vector3) + sizeof(Vector3) + + sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + sizeof(bool) + sizeof(List)) { @@ -74,9 +74,10 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { Vector3* newExternalTorques = reinterpret_cast(newExternalForces + nbComponentsToAllocate); decimal* newLinearDampings = reinterpret_cast(newExternalTorques + nbComponentsToAllocate); decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); - decimal* newInitMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); - decimal* newInverseMasses = reinterpret_cast(newInitMasses + nbComponentsToAllocate); - Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); + decimal* newMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); + decimal* newInverseMasses = reinterpret_cast(newMasses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorLocal = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); + Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInertiaTensorLocal + nbComponentsToAllocate); Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); @@ -105,8 +106,9 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3)); memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal)); memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); - memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal)); + memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); + memcpy(newInertiaTensorLocal, mLocalInertiaTensors, mNbComponents * sizeof(Matrix3x3)); memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); @@ -138,8 +140,9 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { mExternalTorques = newExternalTorques; mLinearDampings = newLinearDampings; mAngularDampings = newAngularDampings; - mInitMasses = newInitMasses; + mMasses = newMasses; mInverseMasses = newInverseMasses; + mLocalInertiaTensors = newInertiaTensorLocal; mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses; mConstrainedLinearVelocities = newConstrainedLinearVelocities; mConstrainedAngularVelocities = newConstrainedAngularVelocities; @@ -173,8 +176,9 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const new (mExternalTorques + index) Vector3(0, 0, 0); mLinearDampings[index] = decimal(0.0); mAngularDampings[index] = decimal(0.0); - mInitMasses[index] = decimal(1.0); + mMasses[index] = decimal(1.0); mInverseMasses[index] = decimal(1.0); + new (mLocalInertiaTensors + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); @@ -216,8 +220,9 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]); mLinearDampings[destIndex] = mLinearDampings[srcIndex]; mAngularDampings[destIndex] = mAngularDampings[srcIndex]; - mInitMasses[destIndex] = mInitMasses[srcIndex]; + mMasses[destIndex] = mMasses[srcIndex]; mInverseMasses[destIndex] = mInverseMasses[srcIndex]; + new (mLocalInertiaTensors + destIndex) Matrix3x3(mLocalInertiaTensors[srcIndex]); new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]); new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); @@ -258,8 +263,9 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { Vector3 externalTorque1(mExternalTorques[index1]); decimal linearDamping1 = mLinearDampings[index1]; decimal angularDamping1 = mAngularDampings[index1]; - decimal initMass1 = mInitMasses[index1]; + decimal mass1 = mMasses[index1]; decimal inverseMass1 = mInverseMasses[index1]; + Matrix3x3 inertiaTensorLocal1 = mLocalInertiaTensors[index1]; Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); @@ -291,8 +297,9 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { new (mExternalTorques + index2) Vector3(externalTorque1); mLinearDampings[index2] = linearDamping1; mAngularDampings[index2] = angularDamping1; - mInitMasses[index2] = initMass1; + mMasses[index2] = mass1; mInverseMasses[index2] = inverseMass1; + mLocalInertiaTensors[index2] = inertiaTensorLocal1; mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1; new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1); new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1); @@ -329,6 +336,7 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mAngularVelocities[index].~Vector3(); mExternalForces[index].~Vector3(); mExternalTorques[index].~Vector3(); + mLocalInertiaTensors[index].~Matrix3x3(); mInverseInertiaTensorsLocal[index].~Matrix3x3(); mConstrainedLinearVelocities[index].~Vector3(); mConstrainedAngularVelocities[index].~Vector3(); diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index ef000b3c..12fbb425 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -100,13 +100,17 @@ class RigidBodyComponents : public Components { /// Array with the angular damping factor of each component decimal* mAngularDampings; - /// Array with the initial mass of each component - decimal* mInitMasses; + /// Array with the mass of each component + decimal* mMasses; /// Array with the inverse mass of each component decimal* mInverseMasses; + /// Array with the inertia tensor of each component + Matrix3x3* mLocalInertiaTensors; + /// Array with the inverse of the inertia tensor of each component + // TODO : We should use a Vector3 here for the diagonal instead of a Matrix3x3 Matrix3x3* mInverseInertiaTensorsLocal; /// Array with the constrained linear velocity of each component @@ -234,12 +238,24 @@ class RigidBodyComponents : public Components { /// Return the angular damping factor of an entity decimal getAngularDamping(Entity bodyEntity) const; - /// Return the initial mass of an entity - decimal getInitMass(Entity bodyEntity) const; + /// Return the mass of an entity + decimal getMass(Entity bodyEntity) const; + + /// Set the mass of an entity + void setMass(Entity bodyEntity, decimal mass); /// Return the mass inverse of an entity decimal getMassInverse(Entity bodyEntity) const; + /// Set the inverse mass of an entity + void setMassInverse(Entity bodyEntity, decimal inverseMass); + + /// Return the local inertia tensor of an entity + const Matrix3x3& getLocalInertiaTensor(Entity bodyEntity); + + /// Set the local inertia tensor of an entity + void setLocalInertiaTensor(Entity bodyEntity, const Matrix3x3& inertiaTensorLocal); + /// Return the inverse local inertia tensor of an entity const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity); @@ -255,12 +271,6 @@ class RigidBodyComponents : public Components { /// Set the angular damping factor of an entity void setAngularDamping(Entity bodyEntity, decimal angularDamping); - /// Set the initial mass of an entity - void setInitMass(Entity bodyEntity, decimal initMass); - - /// Set the inverse mass of an entity - void setMassInverse(Entity bodyEntity, decimal inverseMass); - /// Set the inverse local inertia tensor of an entity void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse); @@ -484,12 +494,12 @@ inline decimal RigidBodyComponents::getAngularDamping(Entity bodyEntity) const { return mAngularDampings[mMapEntityToComponentIndex[bodyEntity]]; } -// Return the initial mass of an entity -inline decimal RigidBodyComponents::getInitMass(Entity bodyEntity) const { +// Return the mass of an entity +inline decimal RigidBodyComponents::getMass(Entity bodyEntity) const { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - return mInitMasses[mMapEntityToComponentIndex[bodyEntity]]; + return mMasses[mMapEntityToComponentIndex[bodyEntity]]; } // Return the inverse mass of an entity @@ -540,12 +550,12 @@ inline void RigidBodyComponents::setAngularDamping(Entity bodyEntity, decimal an mAngularDampings[mMapEntityToComponentIndex[bodyEntity]] = angularDamping; } -// Set the initial mass of an entity -inline void RigidBodyComponents::setInitMass(Entity bodyEntity, decimal initMass) { +// Set the mass of an entity +inline void RigidBodyComponents::setMass(Entity bodyEntity, decimal mass) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); - mInitMasses[mMapEntityToComponentIndex[bodyEntity]] = initMass; + mMasses[mMapEntityToComponentIndex[bodyEntity]] = mass; } // Set the mass inverse of an entity @@ -556,6 +566,22 @@ inline void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inver mInverseMasses[mMapEntityToComponentIndex[bodyEntity]] = inverseMass; } +// Return the local inertia tensor of an entity +inline const Matrix3x3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEntity) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + return mLocalInertiaTensors[mMapEntityToComponentIndex[bodyEntity]]; +} + +// Set the local inertia tensor of an entity +inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const Matrix3x3& inertiaTensorLocal) { + + assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); + + mLocalInertiaTensors[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorLocal; +} + // Set the inverse local inertia tensor of an entity inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse) { diff --git a/src/engine/Material.cpp b/src/engine/Material.cpp index 22a751e5..f121c589 100644 --- a/src/engine/Material.cpp +++ b/src/engine/Material.cpp @@ -29,8 +29,9 @@ using namespace reactphysics3d; // Constructor -Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness) - : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness) { +Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness, decimal massDensity) + : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness), + mMassDensity(massDensity) { } diff --git a/src/engine/Material.h b/src/engine/Material.h index a989f4bc..342beec4 100644 --- a/src/engine/Material.h +++ b/src/engine/Material.h @@ -34,7 +34,7 @@ namespace reactphysics3d { // Class Material /** - * This class contains the material properties of a rigid body that will be use for + * This class contains the material properties of a collider that will be use for * the dynamics simulation like the friction coefficient or the bounciness of the rigid * body. */ @@ -53,10 +53,14 @@ class Material { /// Bounciness during collisions (between 0 and 1) where 1 is for a very bouncy body decimal mBounciness; + /// Density of mass used to compute the mass of the collider + decimal mMassDensity; + // -------------------- Methods -------------------- // /// Constructor - Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness); + Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness, + decimal massDensity = decimal(1.0)); /// Copy-constructor Material(const Material& material); @@ -86,6 +90,12 @@ class Material { /// Set the rolling resistance factor void setRollingResistance(decimal rollingResistance); + /// Return the mass density of the collider + decimal getMassDensity() const; + + /// Set the mass density of the collider + void setMassDensity(decimal massDensity); + /// Return a string representation for the material std::string to_string() const; @@ -156,6 +166,19 @@ inline void Material::setRollingResistance(decimal rollingResistance) { mRollingResistance = rollingResistance; } +// Return the mass density of the collider +inline decimal Material::getMassDensity() const { + return mMassDensity; +} + +// Set the mass density of the collider +/** + * @param massDensity The mass density of the collider + */ +inline void Material::setMassDensity(decimal massDensity) { + mMassDensity = massDensity; +} + // Return a string representation for the material inline std::string Material::to_string() const { diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index e2d93fe6..fb2b9d90 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -95,15 +95,26 @@ void PhysicsCommon::release() { destroyTriangleMesh(*it); } +// If logging is enabled +#ifdef IS_LOGGING_ACTIVE + // Destroy the loggers for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) { destroyLogger(*it); } +#endif + +// If profiling is enabled +#ifdef IS_PROFILING_ACTIVE + // Destroy the profilers for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) { destroyProfiler(*it); } + +#endif + } // Create and return an instance of PhysicsWorld @@ -168,6 +179,10 @@ SphereShape* PhysicsCommon::createSphereShape(const decimal radius) { // Destroy a sphere collision shape void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) { + // TODO Test if collision shape is still part of some colliders, if so throw error + + assert(sphereShape->mColliders.size() == 0); + // Call the destructor of the shape sphereShape->~SphereShape(); @@ -190,6 +205,10 @@ BoxShape* PhysicsCommon::createBoxShape(const Vector3& extent) { // Destroy a box collision shape void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) { + // TODO Test if collision shape is still part of some colliders, if so throw error + + assert(boxShape->mColliders.size() == 0); + // Call the destructor of the shape boxShape->~BoxShape(); @@ -212,6 +231,10 @@ CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) // Destroy a capsule collision shape void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) { + // TODO Test if collision shape is still part of some colliders, if so throw error + + assert(capsuleShape->mColliders.size() == 0); + // Call the destructor of the shape capsuleShape->~CapsuleShape(); @@ -234,6 +257,10 @@ ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedron // Destroy a convex mesh shape void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) { + // TODO Test if collision shape is still part of some colliders, if so throw error + + assert(convexMeshShape->mColliders.size() == 0); + // Call the destructor of the shape convexMeshShape->~ConvexMeshShape(); @@ -259,6 +286,10 @@ HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int n // Destroy a height-field shape void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) { + // TODO Test if collision shape is still part of some colliders, if so throw error + + assert(heightFieldShape->mColliders.size() == 0); + // Call the destructor of the shape heightFieldShape->~HeightFieldShape(); @@ -281,6 +312,10 @@ ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMe // Destroy a concave mesh shape void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) { + // TODO Test if collision shape is still part of some colliders, if so throw error + + assert(concaveMeshShape->mColliders.size() == 0); + // Call the destructor of the shape concaveMeshShape->~ConcaveMeshShape(); @@ -334,6 +369,9 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { mTriangleMeshes.remove(triangleMesh); } +// If logging is enabled +#ifdef IS_LOGGING_ACTIVE + // Create and return a new logger Logger* PhysicsCommon::createLogger() { @@ -356,6 +394,11 @@ void PhysicsCommon::destroyLogger(Logger* logger) { mLoggers.remove(logger); } +#endif + +// If profiling is enabled +#ifdef IS_PROFILING_ACTIVE + // Create and return a new profiler /// Note that you need to use a different profiler for each PhysicsWorld. Profiler* PhysicsCommon::createProfiler() { @@ -378,3 +421,5 @@ void PhysicsCommon::destroyProfiler(Profiler* profiler) { mProfilers.remove(profiler); } + +#endif diff --git a/src/engine/PhysicsCommon.h b/src/engine/PhysicsCommon.h index 8d1dc977..a983ec86 100644 --- a/src/engine/PhysicsCommon.h +++ b/src/engine/PhysicsCommon.h @@ -167,17 +167,28 @@ class PhysicsCommon { /// Destroy a triangle mesh void destroyTriangleMesh(TriangleMesh* triangleMesh); +// If logging is enabled +#ifdef IS_LOGGING_ACTIVE + /// Create and return a new logger Logger* createLogger(); /// Destroy a logger void destroyLogger(Logger* logger); +#endif + +// If profiling is enabled +#ifdef IS_PROFILING_ACTIVE + /// Create and return a new profiler Profiler* createProfiler(); /// Destroy a profiler void destroyProfiler(Profiler* profiler); + +#endif + }; } diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index efe1ec73..4a600efd 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -209,7 +209,7 @@ void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) { "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed"); // Remove all the collision shapes of the body - collisionBody->removeAllCollisionShapes(); + collisionBody->removeAllColliders(); mCollisionBodyComponents.removeComponent(collisionBody->getEntity()); mTransformComponents.removeComponent(collisionBody->getEntity()); @@ -458,7 +458,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent); // Compute the inverse mass - mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getInitMass(entity)); + mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getMass(entity)); // Add the rigid body to the physics world mRigidBodies.add(rigidBody); @@ -488,7 +488,7 @@ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed"); // Remove all the collision shapes of the body - rigidBody->removeAllCollisionShapes(); + rigidBody->removeAllColliders(); // Destroy all the joints in which the rigid body to be destroyed is involved const List& joints = mRigidBodyComponents.getJoints(rigidBody->getEntity()); diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 071adb7a..1539add2 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -88,7 +88,7 @@ void DynamicsSystem::updateBodiesState() { mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).setOrientation(constrainedOrientation.getUnit()); } - // Update the transform of the body (using the new center of mass and new orientation) + // Update the position of the body (using the new center of mass and new orientation) for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) { Transform& transform = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]); @@ -144,7 +144,7 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { // Integrate the gravity force mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + timeStep * - mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mInitMasses[i] * mGravity; + mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mMasses[i] * mGravity; } } } diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index c2ce10d9..3b89d777 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -461,6 +461,8 @@ class TestCollisionWorld : public Test { /// Destructor virtual ~TestCollisionWorld() { + mPhysicsCommon.destroyPhysicsWorld(mWorld); + mPhysicsCommon.destroyBoxShape(mBoxShape1); mPhysicsCommon.destroyBoxShape(mBoxShape2); @@ -486,7 +488,6 @@ class TestCollisionWorld : public Test { delete mConcaveMeshTriangleVertexArray; - mPhysicsCommon.destroyPhysicsWorld(mWorld); } /// Run the tests diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index f5398f02..9606898d 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -176,11 +176,11 @@ class TestPointInside : public Test { /// Destructor virtual ~TestPointInside() { + mPhysicsCommon.destroyPhysicsWorld(mWorld); mPhysicsCommon.destroyBoxShape(mBoxShape); mPhysicsCommon.destroySphereShape(mSphereShape); mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape); - mPhysicsCommon.destroyPhysicsWorld(mWorld); mPhysicsCommon.destroyPolyhedronMesh(mConvexMeshPolyhedronMesh); delete[] mConvexMeshPolygonFaces; delete mConvexMeshPolygonVertexArray; diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 20afac7a..4b876df1 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -304,6 +304,7 @@ class TestRaycast : public Test { /// Destructor virtual ~TestRaycast() { + mPhysicsCommon.destroyPhysicsWorld(mWorld); mPhysicsCommon.destroyBoxShape(mBoxShape); mPhysicsCommon.destroySphereShape(mSphereShape); mPhysicsCommon.destroyCapsuleShape(mCapsuleShape); @@ -311,7 +312,6 @@ class TestRaycast : public Test { mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape); mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape); - mPhysicsCommon.destroyPhysicsWorld(mWorld); delete mConcaveMeshVertexArray; delete mPolygonVertexArray; diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index a4bbc95f..4e8bd28a 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -38,7 +38,7 @@ openglframework::VertexArrayObject Box::mVAO; int Box::totalNbBoxes = 0; // Constructor -Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, +Box::Box(bool createRigidBody, const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { @@ -57,58 +57,23 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); - //mBoxShape->setLocalScaling(rp3d::Vector3(2, 2, 2)); mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body in the physics world - mBody = world->createCollisionBody(mPreviousTransform); + if (createRigidBody) { - // Add the collision shape to the body - mCollider = mBody->addCollider(mBoxShape, rp3d::Transform::identity()); - - // If the Vertex Buffer object has not been created yet - if (totalNbBoxes == 0) { - - // Create the Vertex Buffer - createVBOAndVAO(); + // Create a rigid body in the physics world + rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); + mCollider = body->addCollider(mBoxShape, rp3d::Transform::identity()); + body->updateMassPropertiesFromColliders(); + mBody = body; } + else { - totalNbBoxes++; - - mTransformMatrix = mTransformMatrix * mScalingMatrix; -} - -// Constructor -Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::PhysicsWorld* world, - const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") { - - // Initialize the size of the box - mSize[0] = size.x * 0.5f; - mSize[1] = size.y * 0.5f; - mSize[2] = size.z * 0.5f; - - // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0, - 0, mSize[1], 0, 0, - 0, 0, mSize[2], 0, - 0, 0, 0, 1); - - // Create the collision shape for the rigid body (box shape) - // ReactPhysics3D will clone this object to create an internal one. Therefore, - // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body in the physics world - rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); - - // Add the collision shape to the body - mCollider = body->addCollider(mBoxShape, rp3d::Transform::identity(), mass); - - mBody = body; + // Create a body in the physics world + mBody = world->createCollisionBody(mPreviousTransform); + mCollider = mBody->addCollider(mBoxShape, rp3d::Transform::identity()); + } // If the Vertex Buffer object has not been created yet if (totalNbBoxes == 0) { diff --git a/testbed/common/Box.h b/testbed/common/Box.h index 9ff20b1d..9564bf6f 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -75,12 +75,9 @@ class Box : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, + Box(bool createRigidBody, const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath); - /// Constructor - Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath); - /// Destructor virtual ~Box() override; diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index faca6239..4d7a46a9 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -34,7 +34,7 @@ openglframework::VertexArrayObject Capsule::mVAO; int Capsule::totalNbCapsules = 0; // Constructor -Capsule::Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, +Capsule::Capsule(bool createRigidBody, float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) { @@ -55,18 +55,14 @@ Capsule::Capsule(bool createRigidBody, float radius, float height, float mass, r if (createRigidBody) { rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the shape - mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass); - + mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity()); + body->updateMassPropertiesFromColliders(); mBody = body; } else { // Create a rigid body corresponding in the physics world mBody = physicsWorld->createCollisionBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the shape mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity()); } diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index 92f11066..289b0b9f 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -79,7 +79,7 @@ class Capsule : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, + Capsule(bool createRigidBody, float radius, float height, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath); /// Destructor diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index e3d1e81b..16a2226f 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -27,7 +27,7 @@ #include "ConcaveMesh.h" // Constructor -ConcaveMesh::ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) +ConcaveMesh::ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -60,7 +60,8 @@ ConcaveMesh::ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::Physi // Create the body if (createRigidBody) { rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity()); + body->updateMassPropertiesFromColliders(); mBody = body; } else { diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 8fadf835..9fdc3271 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -73,7 +73,7 @@ class ConcaveMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); + ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor virtual ~ConcaveMesh() override; diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 77d4f5c5..38178b23 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -28,7 +28,7 @@ #include // Constructor -ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) +ConvexMesh::ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -39,7 +39,7 @@ ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& ph // Polygon faces descriptions for the polyhedron mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)]; rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces; - for (int f=0; f < getNbFaces(0); f++) { + for (uint f=0; f < getNbFaces(0); f++) { for (int v = 0; v < 3; v++) { @@ -78,7 +78,8 @@ ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& ph // Create a rigid body corresponding to the sphere in the physics world if (createRigidBody) { rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity()); + body->updateMassPropertiesFromColliders(); mBody = body; } else { @@ -87,6 +88,7 @@ ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& ph mCollider = mBody->addCollider(mConvexShape, rp3d::Transform::identity()); } + // Create the VBOs and VAO createVBOAndVAO(); diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index eac1e86c..0060ca5b 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -86,7 +86,7 @@ class ConvexMesh : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); + ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath); /// Destructor virtual ~ConvexMesh() override; diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index 1dda496e..6dcff269 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -46,7 +46,6 @@ Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3 // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::decimal radiusSphere = rp3d::decimal(1.5); - const rp3d::decimal massSphere = rp3d::decimal(2.0); mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere); // Create a capsule collision shape for the middle of the dumbbell @@ -54,7 +53,6 @@ Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3 // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::decimal radiusCapsule = rp3d::decimal(0.5); const rp3d::decimal heightCapsule = rp3d::decimal(7.0); - const rp3d::decimal massCylinder = rp3d::decimal(1.0); mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule); mPreviousTransform = rp3d::Transform::identity(); @@ -71,26 +69,24 @@ Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3 // Create a body corresponding to the dumbbell in the physics world if (createRigidBody) { - rp3d::RigidBody* body; - body = physicsWorld->createRigidBody(mPreviousTransform); - - // Add the three collision shapes to the body and specify the mass and transform of the shapes - mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere); - mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere); - mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder); - + rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); + mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1); + mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2); + mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape); + mColliderSphere1->getMaterial().setMassDensity(2); + mColliderSphere2->getMaterial().setMassDensity(2); + body->updateMassPropertiesFromColliders(); mBody = body; } else { mBody = physicsWorld->createCollisionBody(mPreviousTransform); - - // Add the three collision shapes to the body and specify the mass and transform of the shapes mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1); mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2); mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape); } + mTransformMatrix = mTransformMatrix * mScalingMatrix; // Create the VBOs and VAO diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index 0238d6b8..a03e9d2f 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -28,7 +28,7 @@ #include "PerlinNoise.h" // Constructor -HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld) +HeightField::HeightField(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld) : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { @@ -54,7 +54,8 @@ HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::Physi // Create a body if (createRigidBody) { rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); - mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass); + mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity()); + body->updateMassPropertiesFromColliders(); mBody = body; } else { @@ -62,6 +63,7 @@ HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::Physi mCollider = mBody->addCollider(mHeightFieldShape, rp3d::Transform::identity()); } + // Create the VBOs and VAO createVBOAndVAO(); diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index fde7c026..c896a593 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -86,7 +86,7 @@ class HeightField : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - HeightField(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld); + HeightField(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld); /// Destructor virtual ~HeightField() override; diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index ba46f143..016511a2 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -34,7 +34,7 @@ openglframework::VertexArrayObject Sphere::mVAO; int Sphere::totalNbSpheres = 0; // Constructor -Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, +Sphere::Sphere(bool createRigidBody, float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world, const std::string& meshFolderPath) : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { @@ -48,51 +48,23 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWo // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() mCollisionShape = mPhysicsCommon.createSphereShape(mRadius); - //mCollisionShape->setLocalScaling(rp3d::Vector3(2, 2, 2)); mPreviousTransform = rp3d::Transform::identity(); - // Create a rigid body corresponding to the sphere in the physics world - mBody = world->createCollisionBody(mPreviousTransform); + if (createRigidBody) { - // Add a collision shape to the body and specify the mass of the shape - mCollider = mBody->addCollider(mCollisionShape, rp3d::Transform::identity()); - - mTransformMatrix = mTransformMatrix * mScalingMatrix; - - // Create the VBOs and VAO - if (totalNbSpheres == 0) { - createVBOAndVAO(); + // Create a rigid body corresponding to the sphere in the physics world + rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); + mCollider = body->addCollider(mCollisionShape, rp3d::Transform::identity()); + body->updateMassPropertiesFromColliders(); + mBody = body; } + else { - totalNbSpheres++; -} - -// Constructor -Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,reactphysics3d::PhysicsWorld* world, - const std::string& meshFolderPath) - : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) { - - // Compute the scaling matrix - mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0, - 0, mRadius, 0, 0, - 0, 0, mRadius, 0, - 0, 0, 0, 1); - - // Create the collision shape for the rigid body (sphere shape) - // ReactPhysics3D will clone this object to create an internal one. Therefore, - // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() - mCollisionShape = mPhysicsCommon.createSphereShape(mRadius); - - mPreviousTransform = rp3d::Transform::identity(); - - // Create a rigid body corresponding to the sphere in the physics world - rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform); - - // Add a collision shape to the body and specify the mass of the shape - mCollider = body->addCollider(mCollisionShape, rp3d::Transform::identity(), mass); - - mBody = body; + // Create a body corresponding to the sphere in the physics world + mBody = world->createCollisionBody(mPreviousTransform); + mCollider = mBody->addCollider(mCollisionShape, rp3d::Transform::identity()); + } mTransformMatrix = mTransformMatrix * mScalingMatrix; diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index a31d287c..8cdfdd1e 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -76,10 +76,7 @@ class Sphere : public PhysicsObject { // -------------------- Methods -------------------- // /// Constructor - Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath); - - /// Constructor - Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath); + Sphere(bool createRigidBody, float radius, rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath); /// Destructor virtual ~Sphere() override; diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 542adfaf..6b1f54e0 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -57,7 +57,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Sphere 1 ---------- // // Create a sphere and a corresponding collision body in the physics world - mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mSphere1 = new Sphere(false, 4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere1); // Set the color @@ -69,7 +69,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Sphere 2 ---------- // // Create a sphere and a corresponding collision body in the physics world - mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mSphere2 = new Sphere(false, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere2); // Set the color @@ -81,7 +81,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Capsule 1 ---------- // // Create a cylinder and a corresponding collision body in the physics world - mCapsule1 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mCapsule1 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule1); // Set the color @@ -92,7 +92,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Capsule 2 ---------- // // Create a cylinder and a corresponding collision body in the physics world - mCapsule2 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mCapsule2 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule2); // Set the color @@ -103,7 +103,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConcaveMesh = new ConcaveMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); mAllShapes.push_back(mConcaveMesh); // Set the color @@ -114,7 +114,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Box 1 ---------- // // Create a cylinder and a corresponding collision body in the physics world - mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox1 = new Box(false, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox1); // Set the color @@ -125,7 +125,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Box 2 ---------- // // Create a cylinder and a corresponding collision body in the physics world - mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox2 = new Box(false, openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox2); // Set the color @@ -136,7 +136,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConvexMesh = new ConvexMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mConvexMesh = new ConvexMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); mAllShapes.push_back(mConvexMesh); // Set the color @@ -147,7 +147,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mHeightField = new HeightField(false, 1.0f, mPhysicsCommon, mPhysicsWorld); + mHeightField = new HeightField(false, mPhysicsCommon, mPhysicsWorld); // Set the color mHeightField->setColor(mObjectColorDemo); diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 07fb1b0d..d4aac4b3 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -79,7 +79,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; isetColor(mObjectColorDemo); @@ -98,7 +98,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -120,7 +120,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); @@ -142,7 +142,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin for (int i=0; isetColor(mObjectColorDemo); @@ -159,7 +159,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin // ---------- Create the floor --------- - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mPhysicsObjects.push_back(mFloor); // Set the box color diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.h b/testbed/scenes/collisionshapes/CollisionShapesScene.h index d10b3644..2b074a9e 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.h +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.h @@ -57,12 +57,6 @@ const float CAPSULE_RADIUS = 1.0f; const float CAPSULE_HEIGHT = 1.0f; const float DUMBBELL_HEIGHT = 1.0f; const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters -const float BOX_MASS = 1.0f; -const float CONE_MASS = 1.0f; -const float CYLINDER_MASS = 1.0f; -const float CAPSULE_MASS = 1.0f; -const float MESH_MASS = 1.0f; -const float FLOOR_MASS = 100.0f; // Floor mass in kilograms // Class CollisionShapesScene class CollisionShapesScene : public SceneDemo { diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index fcbd925a..7139de6f 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -80,7 +80,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -99,7 +99,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -121,7 +121,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -143,7 +143,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -160,11 +160,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett // ---------- Create the triangular mesh ---------- // - // Position - rp3d::decimal mass = 1.0; - // Create a convex mesh and a corresponding rigid in the physics world - mConcaveMesh = new ConcaveMesh(true, mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj"); // Set the mesh as beeing static mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.h b/testbed/scenes/concavemesh/ConcaveMeshScene.h index 16dcb753..e3e450a3 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.h +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.h @@ -56,11 +56,6 @@ const float CYLINDER_HEIGHT = 5.0f; const float CAPSULE_RADIUS = 1.0f; const float CAPSULE_HEIGHT = 1.0f; const float DUMBBELL_HEIGHT = 1.0f; -const float BOX_MASS = 1.0f; -const float CONE_MASS = 1.0f; -const float CYLINDER_MASS = 1.0f; -const float CAPSULE_MASS = 1.0f; -const float MESH_MASS = 1.0f; // Class TriangleMeshScene class ConcaveMeshScene : public SceneDemo { diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index c1283c2d..228aff4f 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -34,6 +34,8 @@ using namespace cubesscene; CubesScene::CubesScene(const std::string& name, EngineSettings& settings) : SceneDemo(name, settings, true, SCENE_RADIUS) { + iter = 0; + // Compute the radius and the center of the scene openglframework::Vector3 center(0, 5, 0); @@ -55,7 +57,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) for (int i=0; isetColor(mObjectColorDemo); @@ -73,7 +75,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) // ------------------------- FLOOR ----------------------- // // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFloor->setColor(mFloorColorDemo); mFloor->setSleepingColor(mFloorColorDemo); diff --git a/testbed/scenes/cubes/CubesScene.h b/testbed/scenes/cubes/CubesScene.h index 4e39637a..dcd2a71a 100755 --- a/testbed/scenes/cubes/CubesScene.h +++ b/testbed/scenes/cubes/CubesScene.h @@ -39,8 +39,6 @@ const float SCENE_RADIUS = 30.0f; // Radius of the sce const int NB_CUBES = 30; // Number of boxes in the scene const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters const openglframework::Vector3 FLOOR_SIZE(50, 1, 50); // Floor dimensions in meters -const float BOX_MASS = 1.0f; // Box mass in kilograms -const float FLOOR_MASS = 100.0f; // Floor mass in kilograms // Class CubesScene class CubesScene : public SceneDemo { @@ -55,6 +53,8 @@ class CubesScene : public SceneDemo { /// Box for the floor Box* mFloor; + uint iter; + public: // -------------------- Methods -------------------- // diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index 4df85758..c03fa1c7 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -57,7 +57,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings for (int j=0; jsetColor(mObjectColorDemo); @@ -76,7 +76,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings // ------------------------- FLOOR ----------------------- // // Create the floor - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFloor->setColor(mFloorColorDemo); mFloor->setSleepingColor(mFloorColorDemo); diff --git a/testbed/scenes/cubestack/CubeStackScene.h b/testbed/scenes/cubestack/CubeStackScene.h index 3e3abd2e..2bd25a70 100644 --- a/testbed/scenes/cubestack/CubeStackScene.h +++ b/testbed/scenes/cubestack/CubeStackScene.h @@ -39,8 +39,6 @@ const float SCENE_RADIUS = 30.0f; // Radius of the sce const int NB_FLOORS = 15; // Number of boxes in the scene const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters const openglframework::Vector3 FLOOR_SIZE(50, 1, 50); // Floor dimensions in meters -const float BOX_MASS = 1.0f; // Box mass in kilograms -const float FLOOR_MASS = 100.0f; // Floor mass in kilograms // Class CubeStackScene class CubeStackScene : public SceneDemo { diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 27d8e97e..593a4675 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -79,7 +79,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -98,7 +98,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; igetCollider()->getMaterial().setRollingResistance(0.08f); @@ -120,8 +120,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; igetCollider()->getMaterial().setRollingResistance(0.08f); @@ -142,7 +141,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett for (int i = 0; isetColor(mObjectColorDemo); @@ -159,11 +158,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett // ---------- Create the height field ---------- // - // Position - rp3d::decimal mass = 1.0; - // Create a convex mesh and a corresponding rigid in the physics world - mHeightField = new HeightField(true, mass, mPhysicsCommon, mPhysicsWorld); + mHeightField = new HeightField(true, mPhysicsCommon, mPhysicsWorld); // Set the mesh as beeing static mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/heightfield/HeightFieldScene.h b/testbed/scenes/heightfield/HeightFieldScene.h index 5ceee07c..c427f349 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.h +++ b/testbed/scenes/heightfield/HeightFieldScene.h @@ -56,12 +56,6 @@ const float CAPSULE_RADIUS = 1.0f; const float CAPSULE_HEIGHT = 1.0f; const float DUMBBELL_HEIGHT = 1.0f; const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters -const float BOX_MASS = 1.0f; -const float CONE_MASS = 1.0f; -const float CYLINDER_MASS = 1.0f; -const float CAPSULE_MASS = 1.0f; -const float MESH_MASS = 1.0f; -const float FLOOR_MASS = 100.0f; // Class HeightFieldScene class HeightFieldScene : public SceneDemo { diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index c8f03ce7..e6bbd067 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -213,8 +213,7 @@ void JointsScene::createBallAndSocketJoints() { for (int i=0; isetTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity())); // Set the box color @@ -266,7 +265,7 @@ void JointsScene::createSliderJoint() { // Create a box and a corresponding rigid in the physics world openglframework::Vector3 box1Dimension(2, 4, 2); - mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mSliderJointBottomBox = new Box(true, box1Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -288,7 +287,7 @@ void JointsScene::createSliderJoint() { // Create a box and a corresponding rigid in the physics world openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f); - mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mSliderJointTopBox = new Box(true, box2Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color @@ -330,7 +329,7 @@ void JointsScene::createPropellerHingeJoint() { // Create a box and a corresponding rigid in the physics world openglframework::Vector3 boxDimension(10, 1, 1); - mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mPropellerBox = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -371,7 +370,7 @@ void JointsScene::createFixedJoints() { // Create a box and a corresponding rigid in the physics world openglframework::Vector3 boxDimension(1.5, 1.5, 1.5); - mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFixedJointBox1 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity())); // Set the box color @@ -389,7 +388,7 @@ void JointsScene::createFixedJoints() { rp3d::Vector3 positionBox2(-5, 7, 0); // Create a box and a corresponding rigid in the physics world - mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFixedJointBox2 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity())); // Set the box color @@ -430,7 +429,7 @@ void JointsScene::createFloor() { // Create the floor rp3d::Vector3 floorPosition(0, 0, 0); - mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the box color mFloor->setColor(mFloorColorDemo); diff --git a/testbed/scenes/joints/JointsScene.h b/testbed/scenes/joints/JointsScene.h index 4a4d1c2d..c1567904 100644 --- a/testbed/scenes/joints/JointsScene.h +++ b/testbed/scenes/joints/JointsScene.h @@ -38,8 +38,6 @@ namespace jointsscene { const float SCENE_RADIUS = 30.0f; const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters -const float BOX_MASS = 1.0f; // Box mass in kilograms -const float FLOOR_MASS = 100.0f; // Floor mass in kilograms const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp index 83ad00ce..da5bfd26 100644 --- a/testbed/scenes/pile/PileScene.cpp +++ b/testbed/scenes/pile/PileScene.cpp @@ -77,7 +77,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; isetColor(mObjectColorDemo); @@ -96,7 +96,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08)); @@ -118,7 +118,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; igetCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f)); @@ -140,7 +140,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) for (int i=0; isetColor(mObjectColorDemo); @@ -161,7 +161,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the physics world - mSandbox = new ConcaveMesh(true, mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj"); + mSandbox = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj"); // Set the mesh as beeing static mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC); diff --git a/testbed/scenes/pile/PileScene.h b/testbed/scenes/pile/PileScene.h index d199f663..e85b747d 100644 --- a/testbed/scenes/pile/PileScene.h +++ b/testbed/scenes/pile/PileScene.h @@ -57,12 +57,6 @@ const float CAPSULE_RADIUS = 1.0f; const float CAPSULE_HEIGHT = 1.0f; const float DUMBBELL_HEIGHT = 1.0f; const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters -const float BOX_MASS = 1.0f; -const float CONE_MASS = 1.0f; -const float CYLINDER_MASS = 1.0f; -const float CAPSULE_MASS = 1.0f; -const float MESH_MASS = 1.0f; -const float FLOOR_MASS = 100.0f; // Floor mass in kilograms // Class PileScene class PileScene : public SceneDemo { diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 02d3a114..98c1f62c 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -63,7 +63,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Box ---------- // // Create a box and a corresponding collision body in the physics world - mBox = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mBox = new Box(false, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); mBox->getCollisionBody()->setIsActive(false); // Set the box color @@ -74,7 +74,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Sphere ---------- // // Create a sphere and a corresponding collision body in the physics world - mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mSphere = new Sphere(false, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the color mSphere->setColor(mObjectColorDemo); @@ -85,7 +85,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) openglframework::Vector3 position6(0, 0, 0); // Create a cylinder and a corresponding collision body in the physics world - mCapsule = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); + mCapsule = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath); // Set the color mCapsule->setColor(mObjectColorDemo); @@ -95,7 +95,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConvexMesh = new ConvexMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); + mConvexMesh = new ConvexMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); // Set the color mConvexMesh->setColor(mObjectColorDemo); @@ -105,7 +105,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mConcaveMesh = new ConcaveMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); + mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj"); // Set the color mConcaveMesh->setColor(mObjectColorDemo); @@ -115,7 +115,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the physics world - mHeightField = new HeightField(false, 1.0f, mPhysicsCommon, mPhysicsWorld); + mHeightField = new HeightField(false, mPhysicsCommon, mPhysicsWorld); // Set the color mHeightField->setColor(mObjectColorDemo); From 7dde393fa58f92177d33c5dc115166d024207503 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 10 Mar 2020 07:23:51 +0100 Subject: [PATCH 130/197] Use Vector3 instead of Matrix3x3 for the local inertia tensor of a rigid body --- CHANGELOG.md | 1 + src/body/RigidBody.cpp | 80 ++++++++++--------- src/body/RigidBody.h | 8 +- src/collision/shapes/BoxShape.cpp | 16 ++-- src/collision/shapes/BoxShape.h | 2 +- src/collision/shapes/CapsuleShape.cpp | 30 +++---- src/collision/shapes/CapsuleShape.h | 2 +- src/collision/shapes/CollisionShape.h | 2 +- src/collision/shapes/ConcaveMeshShape.h | 20 ----- src/collision/shapes/ConcaveShape.h | 16 ++++ src/collision/shapes/ConvexMeshShape.h | 20 ++--- src/collision/shapes/HeightFieldShape.h | 20 ----- src/collision/shapes/SphereShape.h | 10 +-- src/collision/shapes/TriangleShape.h | 6 +- src/components/RigidBodyComponents.cpp | 28 +++---- src/components/RigidBodyComponents.h | 20 ++--- src/systems/ContactSolverSystem.cpp | 4 +- src/systems/DynamicsSystem.cpp | 2 +- src/systems/SolveBallAndSocketJointSystem.cpp | 8 +- src/systems/SolveFixedJointSystem.cpp | 8 +- src/systems/SolveHingeJointSystem.cpp | 8 +- src/systems/SolveSliderJointSystem.cpp | 8 +- 22 files changed, 142 insertions(+), 177 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 097bce98..83c7b7cf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -48,6 +48,7 @@ - The RigidBody::addCollider() method (previously addProxyShape() method) does not take a "mass" parameter anymore. - The RigidBody::setCenterOfMassLocal() method has been renamed to RigidBody::setLocalCenterOfMass() - The RigidBody::setInertiaTensorLocal() method has been renamed to RigidBody::setLocalInertiaTensor() + - Now, the local inertia tensor of a rigid body has to be set using a Vector3 instead of a Matrix3x3. You only need to provide the diagonal values of the matrix - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders. - Now, you need to manually call the RigidBody::recomputeMassInformation() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass - The rendering in the testbed application has been improved diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index f7e83dec..4f6a7ad5 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -79,7 +79,7 @@ void RigidBody::setType(BodyType type) { // Reset the inverse mass and inverse inertia tensor to zero mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0)); - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Vector3::zero()); } else { // If it is a dynamic body @@ -93,13 +93,11 @@ void RigidBody::setType(BodyType type) { } // Compute the inverse local inertia tensor - const Matrix3x3& inertiaTensorLocal = mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity); - if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - } - else { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); - } + const Vector3& inertiaTensorLocal = mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity); + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); } // Awake the body @@ -161,7 +159,7 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) { } // Return the local inertia tensor of the body (in body coordinates) -const Matrix3x3& RigidBody::getLocalInertiaTensor() const { +const Vector3& RigidBody::getLocalInertiaTensor() const { return mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity); } @@ -172,17 +170,15 @@ const Matrix3x3& RigidBody::getLocalInertiaTensor() const { * @param inertiaTensorLocal The 3x3 inertia tensor matrix of the body in local-space * coordinates */ -void RigidBody::setLocalInertiaTensor(const Matrix3x3& inertiaTensorLocal) { +void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) { mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); // Compute the inverse local inertia tensor - if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - } - else { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); - } + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); @@ -313,11 +309,13 @@ Vector3 RigidBody::computeCenterOfMass() const { } // Compute the local-space inertia tensor and total mass of the body using its colliders -void RigidBody::computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, decimal& totalMass) const { +void RigidBody::computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, decimal& totalMass) const { inertiaTensorLocal.setToZero(); totalMass = decimal(0.0); + Matrix3x3 tempLocalInertiaTensor = Matrix3x3::zero(); + const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); // Compute the inertia tensor using all the colliders @@ -333,13 +331,16 @@ void RigidBody::computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, totalMass += colliderMass; // Get the inertia tensor of the collider in its local-space - Matrix3x3 inertiaTensor; - collider->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, colliderMass); + Vector3 shapeLocalInertiaTensor = collider->getCollisionShape()->getLocalInertiaTensor(colliderMass); // Convert the collider inertia tensor into the local-space of the body const Transform& shapeTransform = collider->getLocalToBodyTransform(); Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix(); - inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose(); + Matrix3x3 rotationMatrixTranspose = rotationMatrix.getTranspose(); + rotationMatrixTranspose[0] *= shapeLocalInertiaTensor.x; + rotationMatrixTranspose[1] *= shapeLocalInertiaTensor.y; + rotationMatrixTranspose[2] *= shapeLocalInertiaTensor.z; + Matrix3x3 inertiaTensor = rotationMatrix * rotationMatrixTranspose; // Use the parallel axis theorem to convert the inertia tensor w.r.t the collider // center into a inertia tensor w.r.t to the body origin. @@ -354,8 +355,11 @@ void RigidBody::computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, offsetMatrix[2] += offset * (-offset.z); offsetMatrix *= colliderMass; - inertiaTensorLocal += inertiaTensor + offsetMatrix; + tempLocalInertiaTensor += inertiaTensor + offsetMatrix; } + + // Get the diagonal value of the computed local inertia tensor + inertiaTensorLocal.setAllValues(tempLocalInertiaTensor[0][0], tempLocalInertiaTensor[1][1], tempLocalInertiaTensor[2][2]); } // Compute and set the local-space inertia tensor of the body using its colliders @@ -367,19 +371,17 @@ void RigidBody::updateLocalInertiaTensorFromColliders() { const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity); // Compute the local-space inertia tensor - Matrix3x3 inertiaTensorLocal; + Vector3 inertiaTensorLocal; decimal totalMass; computeMassAndInertiaTensorLocal(inertiaTensorLocal, totalMass); mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); // Compute the inverse local inertia tensor - if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - } - else { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); - } + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); @@ -451,19 +453,17 @@ void RigidBody::updateMassPropertiesFromColliders() { "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); // Compute the mass and local-space inertia tensor - Matrix3x3 inertiaTensorLocal; + Vector3 inertiaTensorLocal; decimal totalMass; computeMassAndInertiaTensorLocal(inertiaTensorLocal, totalMass); mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal); // Compute the inverse local inertia tensor - if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero()); - } - else { - mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse()); - } + Vector3 inverseInertiaTensorLocal(inertiaTensorLocal.x != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.x : 0, + inertiaTensorLocal.y != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.y : 0, + inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); + mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); @@ -800,11 +800,15 @@ void RigidBody::updateOverlappingPairs() { } /// Return the inverse of the inertia tensor in world coordinates. -const Matrix3x3 RigidBody::getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity) { +const Matrix3x3 RigidBody::getWorldInertiaTensorInverse(PhysicsWorld& world, Entity bodyEntity) { Matrix3x3 orientation = world.mTransformComponents.getTransform(bodyEntity).getOrientation().getMatrix(); - const Matrix3x3& inverseInertiaLocalTensor = world.mRigidBodyComponents.getInertiaTensorLocalInverse(bodyEntity); - return orientation * inverseInertiaLocalTensor * orientation.getTranspose(); + const Vector3& inverseInertiaLocalTensor = world.mRigidBodyComponents.getInertiaTensorLocalInverse(bodyEntity); + Matrix3x3 orientationTranspose = orientation.getTranspose(); + orientationTranspose[0] *= inverseInertiaLocalTensor.x; + orientationTranspose[1] *= inverseInertiaLocalTensor.y; + orientationTranspose[2] *= inverseInertiaLocalTensor.z; + return orientation * orientationTranspose; } // Set whether or not the body is allowed to go to sleep diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h index 2ecee142..595aa3e1 100644 --- a/src/body/RigidBody.h +++ b/src/body/RigidBody.h @@ -63,10 +63,10 @@ class RigidBody : public CollisionBody { Vector3 computeCenterOfMass() const; /// Compute the local-space inertia tensor and total mass of the body using its colliders - void computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, decimal& totalMass) const; + void computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, decimal& totalMass) const; /// Return the inverse of the inertia tensor in world coordinates. - static const Matrix3x3 getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity); + static const Matrix3x3 getWorldInertiaTensorInverse(PhysicsWorld& world, Entity bodyEntity); public : @@ -106,10 +106,10 @@ class RigidBody : public CollisionBody { void setAngularVelocity(const Vector3& angularVelocity); /// Return the local inertia tensor of the body (in body coordinates) - const Matrix3x3& getLocalInertiaTensor() const; + const Vector3& getLocalInertiaTensor() const; /// Set the local inertia tensor of the body (in body coordinates) - void setLocalInertiaTensor(const Matrix3x3& inertiaTensorLocal); + void setLocalInertiaTensor(const Vector3& inertiaTensorLocal); /// Return the center of mass of the body (in local-space coordinates) const Vector3& getLocalCenterOfMass() const; diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index 7f4c410f..ae93f986 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -81,18 +81,14 @@ BoxShape::BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator) // Return the local inertia tensor of the collision shape /** - * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space - * coordinates * @param mass Mass to use to compute the inertia tensor of the collision shape */ -void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { - decimal factor = (decimal(1.0) / decimal(3.0)) * mass; - decimal xSquare = mHalfExtents.x * mHalfExtents.x; - decimal ySquare = mHalfExtents.y * mHalfExtents.y; - decimal zSquare = mHalfExtents.z * mHalfExtents.z; - tensor.setAllValues(factor * (ySquare + zSquare), 0.0, 0.0, - 0.0, factor * (xSquare + zSquare), 0.0, - 0.0, 0.0, factor * (xSquare + ySquare)); +Vector3 BoxShape::getLocalInertiaTensor(decimal mass) const { + const decimal factor = (decimal(1.0) / decimal(3.0)) * mass; + const decimal xSquare = mHalfExtents.x * mHalfExtents.x; + const decimal ySquare = mHalfExtents.y * mHalfExtents.y; + const decimal zSquare = mHalfExtents.z * mHalfExtents.z; + return Vector3(factor * (ySquare + zSquare), factor * (xSquare + zSquare), factor * (xSquare + ySquare)); } // Raycast method with feedback information diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h index a885662a..4cb9ab12 100644 --- a/src/collision/shapes/BoxShape.h +++ b/src/collision/shapes/BoxShape.h @@ -96,7 +96,7 @@ class BoxShape : public ConvexPolyhedronShape { virtual void getLocalBounds(Vector3& min, Vector3& max) const override; /// Return the local inertia tensor of the collision shape - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + virtual Vector3 getLocalInertiaTensor(decimal mass) const override; /// Compute and return the volume of the collision shape virtual decimal getVolume() const override; diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp index d7cf2189..13a29b6c 100644 --- a/src/collision/shapes/CapsuleShape.cpp +++ b/src/collision/shapes/CapsuleShape.cpp @@ -46,28 +46,24 @@ CapsuleShape::CapsuleShape(decimal radius, decimal height, MemoryAllocator& allo // Return the local inertia tensor of the capsule /** - * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space - * coordinates * @param mass Mass to use to compute the inertia tensor of the collision shape */ -void CapsuleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { +Vector3 CapsuleShape::getLocalInertiaTensor(decimal mass) const { // The inertia tensor formula for a capsule can be found in : Game Engine Gems, Volume 1 - decimal height = mHalfHeight + mHalfHeight; - decimal radiusSquare = mMargin * mMargin; - decimal heightSquare = height * height; - decimal radiusSquareDouble = radiusSquare + radiusSquare; - decimal factor1 = decimal(2.0) * mMargin / (decimal(4.0) * mMargin + decimal(3.0) * height); - decimal factor2 = decimal(3.0) * height / (decimal(4.0) * mMargin + decimal(3.0) * height); - decimal sum1 = decimal(0.4) * radiusSquareDouble; - decimal sum2 = decimal(0.75) * height * mMargin + decimal(0.5) * heightSquare; - decimal sum3 = decimal(0.25) * radiusSquare + decimal(1.0 / 12.0) * heightSquare; - decimal IxxAndzz = factor1 * mass * (sum1 + sum2) + factor2 * mass * sum3; - decimal Iyy = factor1 * mass * sum1 + factor2 * mass * decimal(0.25) * radiusSquareDouble; - tensor.setAllValues(IxxAndzz, 0.0, 0.0, - 0.0, Iyy, 0.0, - 0.0, 0.0, IxxAndzz); + const decimal height = mHalfHeight + mHalfHeight; + const decimal radiusSquare = mMargin * mMargin; + const decimal heightSquare = height * height; + const decimal radiusSquareDouble = radiusSquare + radiusSquare; + const decimal factor1 = decimal(2.0) * mMargin / (decimal(4.0) * mMargin + decimal(3.0) * height); + const decimal factor2 = decimal(3.0) * height / (decimal(4.0) * mMargin + decimal(3.0) * height); + const decimal sum1 = decimal(0.4) * radiusSquareDouble; + const decimal sum2 = decimal(0.75) * height * mMargin + decimal(0.5) * heightSquare; + const decimal sum3 = decimal(0.25) * radiusSquare + decimal(1.0 / 12.0) * heightSquare; + const decimal IxxAndzz = factor1 * mass * (sum1 + sum2) + factor2 * mass * sum3; + const decimal Iyy = factor1 * mass * sum1 + factor2 * mass * decimal(0.25) * radiusSquareDouble; + return Vector3(IxxAndzz, Iyy, IxxAndzz); } // Return true if a point is inside the collision shape diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h index 0e8565c1..3778f407 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/src/collision/shapes/CapsuleShape.h @@ -112,7 +112,7 @@ class CapsuleShape : public ConvexShape { virtual bool isPolyhedron() const override; /// Return the local inertia tensor of the collision shape - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + virtual Vector3 getLocalInertiaTensor(decimal mass) const override; /// Return the string representation of the shape virtual std::string to_string() const override; diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h index 8d609946..92315411 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/src/collision/shapes/CollisionShape.h @@ -141,7 +141,7 @@ class CollisionShape { uint32 getId() const; /// Return the local inertia tensor of the collision shapes - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0; + virtual Vector3 getLocalInertiaTensor(decimal mass) const=0; /// Compute and return the volume of the collision shape virtual decimal getVolume() const=0; diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h index 40bb8448..67fa3187 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/src/collision/shapes/ConcaveMeshShape.h @@ -193,9 +193,6 @@ class ConcaveMeshShape : public ConcaveShape { /// Return the local bounds of the shape in x, y and z directions. virtual void getLocalBounds(Vector3& min, Vector3& max) const override; - /// Return the local inertia tensor of the collision shape - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; - /// Return the string representation of the shape virtual std::string to_string() const override; @@ -233,23 +230,6 @@ inline void ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { max = treeAABB.getMax(); } -// Return the local inertia tensor of the shape -/** - * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space - * coordinates - * @param mass Mass to use to compute the inertia tensor of the collision shape - */ -inline void ConcaveMeshShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { - - // Default inertia tensor - // Note that this is not very realistic for a concave triangle mesh. - // However, in most cases, it will only be used static bodies and therefore, - // the inertia tensor is not used. - tensor.setAllValues(mass, 0, 0, - 0, mass, 0, - 0, 0, mass); -} - // Called when a overlapping node has been found during the call to // DynamicAABBTree:reportAllShapesOverlappingWithAABB() inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId) { diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h index 3eeb5285..5b5c9cdf 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/src/collision/shapes/ConcaveShape.h @@ -101,6 +101,9 @@ class ConcaveShape : public CollisionShape { /// Set the scale of the shape void setScale(const Vector3& scale); + /// Return the local inertia tensor of the collision shape + virtual Vector3 getLocalInertiaTensor(decimal mass) const override; + /// Return true if the collision shape is convex, false if it is concave virtual bool isConvex() const override; @@ -158,6 +161,19 @@ inline void ConcaveShape::setScale(const Vector3& scale) { notifyColliderAboutChangedSize(); } +// Return the local inertia tensor of the shape +/** + * @param mass Mass to use to compute the inertia tensor of the collision shape + */ +inline Vector3 ConcaveShape::getLocalInertiaTensor(decimal mass) const { + + // Default inertia tensor + // Note that this is not very realistic for a concave triangle mesh. + // However, in most cases, it will only be used static bodies and therefore, + // the inertia tensor is not used. + return Vector3(mass, mass, mass); +} + } diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h index af2c4e4d..f94cafb3 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/src/collision/shapes/ConvexMeshShape.h @@ -106,7 +106,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape { virtual void getLocalBounds(Vector3& min, Vector3& max) const override; /// Return the local inertia tensor of the collision shape. - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + virtual Vector3 getLocalInertiaTensor(decimal mass) const override; /// Return the number of faces of the polyhedron virtual uint getNbFaces() const override; @@ -179,20 +179,16 @@ inline void ConvexMeshShape::getLocalBounds(Vector3& min, Vector3& max) const { /// The local inertia tensor of the convex mesh is approximated using the inertia tensor /// of its bounding box. /** -* @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space -* coordinates * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline void ConvexMeshShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { - decimal factor = (decimal(1.0) / decimal(3.0)) * mass; - Vector3 realExtent = decimal(0.5) * (mMaxBounds - mMinBounds); +inline Vector3 ConvexMeshShape::getLocalInertiaTensor(decimal mass) const { + const decimal factor = (decimal(1.0) / decimal(3.0)) * mass; + const Vector3 realExtent = decimal(0.5) * (mMaxBounds - mMinBounds); assert(realExtent.x > 0 && realExtent.y > 0 && realExtent.z > 0); - decimal xSquare = realExtent.x * realExtent.x; - decimal ySquare = realExtent.y * realExtent.y; - decimal zSquare = realExtent.z * realExtent.z; - tensor.setAllValues(factor * (ySquare + zSquare), 0.0, 0.0, - 0.0, factor * (xSquare + zSquare), 0.0, - 0.0, 0.0, factor * (xSquare + ySquare)); + const decimal xSquare = realExtent.x * realExtent.x; + const decimal ySquare = realExtent.y * realExtent.y; + const decimal zSquare = realExtent.z * realExtent.z; + return Vector3(factor * (ySquare + zSquare), factor * (xSquare + zSquare), factor * (xSquare + ySquare)); } // Return the number of faces of the polyhedron diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h index d3092dd8..d446e996 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/src/collision/shapes/HeightFieldShape.h @@ -151,9 +151,6 @@ class HeightFieldShape : public ConcaveShape { /// Return the local bounds of the shape in x, y and z directions. virtual void getLocalBounds(Vector3& min, Vector3& max) const override; - /// Return the local inertia tensor of the collision shape - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; - /// Use a callback method on all triangles of the concave shape inside a given AABB virtual void computeOverlappingTriangles(const AABB& localAABB, List& triangleVertices, List& triangleVerticesNormals, List& shapeIds, @@ -205,23 +202,6 @@ inline int HeightFieldShape::computeIntegerGridValue(decimal value) const { return (value < decimal(0.0)) ? value - decimal(0.5) : value + decimal(0.5); } -// Return the local inertia tensor -/** - * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space - * coordinates - * @param mass Mass to use to compute the inertia tensor of the collision shape - */ -inline void HeightFieldShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { - - // Default inertia tensor - // Note that this is not very realistic for a concave triangle mesh. - // However, in most cases, it will only be used static bodies and therefore, - // the inertia tensor is not used. - tensor.setAllValues(mass, 0, 0, - 0, mass, 0, - 0, 0, mass); -} - // Compute the shape Id for a given triangle inline uint HeightFieldShape::computeTriangleShapeId(uint iIndex, uint jIndex, uint secondTriangleIncrement) const { diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h index 6f2cd086..9719daa6 100644 --- a/src/collision/shapes/SphereShape.h +++ b/src/collision/shapes/SphereShape.h @@ -91,7 +91,7 @@ class SphereShape : public ConvexShape { virtual void getLocalBounds(Vector3& min, Vector3& max) const override; /// Return the local inertia tensor of the collision shape - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + virtual Vector3 getLocalInertiaTensor(decimal mass) const override; /// Compute and return the volume of the collision shape virtual decimal getVolume() const override; @@ -172,15 +172,11 @@ inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const { // Return the local inertia tensor of the sphere /** - * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space - * coordinates * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { +inline Vector3 SphereShape::getLocalInertiaTensor(decimal mass) const { decimal diag = decimal(0.4) * mass * mMargin * mMargin; - tensor.setAllValues(diag, 0.0, 0.0, - 0.0, diag, 0.0, - 0.0, 0.0, diag); + return Vector3(diag, diag, diag); } // Compute and return the volume of the collision shape diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h index 9d2a827c..9c8ae62f 100644 --- a/src/collision/shapes/TriangleShape.h +++ b/src/collision/shapes/TriangleShape.h @@ -128,7 +128,7 @@ class TriangleShape : public ConvexPolyhedronShape { virtual void getLocalBounds(Vector3& min, Vector3& max) const override; /// Return the local inertia tensor of the collision shape - virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override; + virtual Vector3 getLocalInertiaTensor(decimal mass) const override; /// Update the AABB of a body using its collision shape virtual void computeAABB(AABB& aabb, const Transform& transform) const override; @@ -222,8 +222,8 @@ inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const { * coordinates * @param mass Mass to use to compute the inertia tensor of the collision shape */ -inline void TriangleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const { - tensor.setToZero(); +inline Vector3 TriangleShape::getLocalInertiaTensor(decimal mass) const { + return Vector3(0, 0, 0); } // Return true if a point is inside the collision shape diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index 7e12fc5c..58b98845 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -39,8 +39,8 @@ RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator) sizeof(bool) + sizeof(bool) + sizeof(decimal) + sizeof(BodyType) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) + - sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) + - sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) + + sizeof(decimal) + sizeof(decimal) + sizeof(Vector3) + + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool) + sizeof(bool) + sizeof(List)) { @@ -76,8 +76,8 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { decimal* newAngularDampings = reinterpret_cast(newLinearDampings + nbComponentsToAllocate); decimal* newMasses = reinterpret_cast(newAngularDampings + nbComponentsToAllocate); decimal* newInverseMasses = reinterpret_cast(newMasses + nbComponentsToAllocate); - Matrix3x3* newInertiaTensorLocal = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); - Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast(newInertiaTensorLocal + nbComponentsToAllocate); + Vector3* newInertiaTensorLocal = reinterpret_cast(newInverseMasses + nbComponentsToAllocate); + Vector3* newInertiaTensorLocalInverses = reinterpret_cast(newInertiaTensorLocal + nbComponentsToAllocate); Vector3* newConstrainedLinearVelocities = reinterpret_cast(newInertiaTensorLocalInverses + nbComponentsToAllocate); Vector3* newConstrainedAngularVelocities = reinterpret_cast(newConstrainedLinearVelocities + nbComponentsToAllocate); Vector3* newSplitLinearVelocities = reinterpret_cast(newConstrainedAngularVelocities + nbComponentsToAllocate); @@ -108,8 +108,8 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal)); memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal)); memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal)); - memcpy(newInertiaTensorLocal, mLocalInertiaTensors, mNbComponents * sizeof(Matrix3x3)); - memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3)); + memcpy(newInertiaTensorLocal, mLocalInertiaTensors, mNbComponents * sizeof(Vector3)); + memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3)); memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3)); memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3)); @@ -178,8 +178,8 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const mAngularDampings[index] = decimal(0.0); mMasses[index] = decimal(1.0); mInverseMasses[index] = decimal(1.0); - new (mLocalInertiaTensors + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); - new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); + new (mLocalInertiaTensors + index) Vector3(1.0, 1.0, 1.0); + new (mInverseInertiaTensorsLocal + index) Vector3(1.0, 1.0, 1.0); new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0); new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0); new (mSplitLinearVelocities + index) Vector3(0, 0, 0); @@ -222,8 +222,8 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex mAngularDampings[destIndex] = mAngularDampings[srcIndex]; mMasses[destIndex] = mMasses[srcIndex]; mInverseMasses[destIndex] = mInverseMasses[srcIndex]; - new (mLocalInertiaTensors + destIndex) Matrix3x3(mLocalInertiaTensors[srcIndex]); - new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]); + new (mLocalInertiaTensors + destIndex) Vector3(mLocalInertiaTensors[srcIndex]); + new (mInverseInertiaTensorsLocal + destIndex) Vector3(mInverseInertiaTensorsLocal[srcIndex]); new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]); new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]); new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]); @@ -265,8 +265,8 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) { decimal angularDamping1 = mAngularDampings[index1]; decimal mass1 = mMasses[index1]; decimal inverseMass1 = mInverseMasses[index1]; - Matrix3x3 inertiaTensorLocal1 = mLocalInertiaTensors[index1]; - Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; + Vector3 inertiaTensorLocal1 = mLocalInertiaTensors[index1]; + Vector3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1]; Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]); Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]); Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]); @@ -336,8 +336,8 @@ void RigidBodyComponents::destroyComponent(uint32 index) { mAngularVelocities[index].~Vector3(); mExternalForces[index].~Vector3(); mExternalTorques[index].~Vector3(); - mLocalInertiaTensors[index].~Matrix3x3(); - mInverseInertiaTensorsLocal[index].~Matrix3x3(); + mLocalInertiaTensors[index].~Vector3(); + mInverseInertiaTensorsLocal[index].~Vector3(); mConstrainedLinearVelocities[index].~Vector3(); mConstrainedAngularVelocities[index].~Vector3(); mSplitLinearVelocities[index].~Vector3(); diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h index 12fbb425..df22407d 100644 --- a/src/components/RigidBodyComponents.h +++ b/src/components/RigidBodyComponents.h @@ -107,11 +107,11 @@ class RigidBodyComponents : public Components { decimal* mInverseMasses; /// Array with the inertia tensor of each component - Matrix3x3* mLocalInertiaTensors; + Vector3* mLocalInertiaTensors; /// Array with the inverse of the inertia tensor of each component // TODO : We should use a Vector3 here for the diagonal instead of a Matrix3x3 - Matrix3x3* mInverseInertiaTensorsLocal; + Vector3* mInverseInertiaTensorsLocal; /// Array with the constrained linear velocity of each component Vector3* mConstrainedLinearVelocities; @@ -251,13 +251,13 @@ class RigidBodyComponents : public Components { void setMassInverse(Entity bodyEntity, decimal inverseMass); /// Return the local inertia tensor of an entity - const Matrix3x3& getLocalInertiaTensor(Entity bodyEntity); + const Vector3& getLocalInertiaTensor(Entity bodyEntity); /// Set the local inertia tensor of an entity - void setLocalInertiaTensor(Entity bodyEntity, const Matrix3x3& inertiaTensorLocal); + void setLocalInertiaTensor(Entity bodyEntity, const Vector3& inertiaTensorLocal); /// Return the inverse local inertia tensor of an entity - const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity); + const Vector3& getInertiaTensorLocalInverse(Entity bodyEntity); /// Set the external force of an entity void setExternalForce(Entity bodyEntity, const Vector3& externalForce); @@ -272,7 +272,7 @@ class RigidBodyComponents : public Components { void setAngularDamping(Entity bodyEntity, decimal angularDamping); /// Set the inverse local inertia tensor of an entity - void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse); + void setInverseInertiaTensorLocal(Entity bodyEntity, const Vector3& inertiaTensorLocalInverse); /// Return the constrained linear velocity of an entity const Vector3& getConstrainedLinearVelocity(Entity bodyEntity) const; @@ -511,7 +511,7 @@ inline decimal RigidBodyComponents::getMassInverse(Entity bodyEntity) const { } // Return the inverse local inertia tensor of an entity -inline const Matrix3x3& RigidBodyComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { +inline const Vector3& RigidBodyComponents::getInertiaTensorLocalInverse(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -567,7 +567,7 @@ inline void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inver } // Return the local inertia tensor of an entity -inline const Matrix3x3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEntity) { +inline const Vector3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEntity) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -575,7 +575,7 @@ inline const Matrix3x3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEn } // Set the local inertia tensor of an entity -inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const Matrix3x3& inertiaTensorLocal) { +inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const Vector3& inertiaTensorLocal) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); @@ -583,7 +583,7 @@ inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const } // Set the inverse local inertia tensor of an entity -inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse) { +inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Vector3& inertiaTensorLocalInverse) { assert(mMapEntityToComponentIndex.containsKey(bodyEntity)); diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 16f02a89..a72bfe94 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -146,8 +146,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) { new (mContactConstraints + mNbContactManifolds) ContactManifoldSolver(); mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody1 = rigidBodyIndex1; mContactConstraints[mNbContactManifolds].rigidBodyComponentIndexBody2 = rigidBodyIndex2; - mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity1); - mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getInertiaTensorInverseWorld(mWorld, externalManifold.bodyEntity2); + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody1 = RigidBody::getWorldInertiaTensorInverse(mWorld, externalManifold.bodyEntity1); + mContactConstraints[mNbContactManifolds].inverseInertiaTensorBody2 = RigidBody::getWorldInertiaTensorInverse(mWorld, externalManifold.bodyEntity2); mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1]; mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2]; mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints; diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 1539add2..58575d05 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -131,7 +131,7 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) { mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + timeStep * mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mExternalForces[i]; mRigidBodyComponents.mConstrainedAngularVelocities[i] = angularVelocity + timeStep * - RigidBody::getInertiaTensorInverseWorld(mWorld, mRigidBodyComponents.mBodiesEntities[i]) * mRigidBodyComponents.mExternalTorques[i]; + RigidBody::getWorldInertiaTensorInverse(mWorld, mRigidBodyComponents.mBodiesEntities[i]) * mRigidBodyComponents.mExternalTorques[i]; } // Apply gravity force diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index 91838b08..586d36d3 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -60,8 +60,8 @@ void SolveBallAndSocketJointSystem::initBeforeSolve() { assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mBallAndSocketJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mBallAndSocketJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mBallAndSocketJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mBallAndSocketJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint @@ -261,8 +261,8 @@ void SolveBallAndSocketJointSystem::solvePositionConstraint() { const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Recompute the inverse inertia tensors - mBallAndSocketJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mBallAndSocketJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mBallAndSocketJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mBallAndSocketJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint component diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp index ddd7f464..4dc43220 100644 --- a/src/systems/SolveFixedJointSystem.cpp +++ b/src/systems/SolveFixedJointSystem.cpp @@ -60,8 +60,8 @@ void SolveFixedJointSystem::initBeforeSolve() { assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mFixedJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mFixedJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mFixedJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mFixedJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint @@ -347,8 +347,8 @@ void SolveFixedJointSystem::solvePositionConstraint() { const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Recompute the inverse inertia tensors - mFixedJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mFixedJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mFixedJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mFixedJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp index 535e0838..050826e5 100644 --- a/src/systems/SolveHingeJointSystem.cpp +++ b/src/systems/SolveHingeJointSystem.cpp @@ -60,8 +60,8 @@ void SolveHingeJointSystem::initBeforeSolve() { assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mHingeJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mHingeJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mHingeJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mHingeJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint @@ -540,8 +540,8 @@ void SolveHingeJointSystem::solvePositionConstraint() { Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Recompute the inverse inertia tensors - mHingeJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mHingeJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mHingeJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mHingeJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint component diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp index 51d4d47a..912f1721 100644 --- a/src/systems/SolveSliderJointSystem.cpp +++ b/src/systems/SolveSliderJointSystem.cpp @@ -60,8 +60,8 @@ void SolveSliderJointSystem::initBeforeSolve() { assert(!mRigidBodyComponents.getIsEntityDisabled(body2Entity)); // Get the inertia tensor of bodies - mSliderJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mSliderJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mSliderJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mSliderJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint @@ -620,8 +620,8 @@ void SolveSliderJointSystem::solvePositionConstraint() { const Entity body2Entity = mJointComponents.getBody2Entity(jointEntity); // Recompute the inverse inertia tensors - mSliderJointComponents.mI1[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body1Entity); - mSliderJointComponents.mI2[i] = RigidBody::getInertiaTensorInverseWorld(mWorld, body2Entity); + mSliderJointComponents.mI1[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body1Entity); + mSliderJointComponents.mI2[i] = RigidBody::getWorldInertiaTensorInverse(mWorld, body2Entity); } // For each joint component From a190bba8c05a0fb70ba2f4b914e66c9ab9fc92f6 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 18 Mar 2020 07:28:34 +0100 Subject: [PATCH 131/197] Refactor where the headers are store for better installation of the library --- CHANGELOG.md | 4 + CMakeLists.txt | 222 +++++++++--------- .../reactphysics3d}/body/CollisionBody.h | 8 +- .../reactphysics3d}/body/RigidBody.h | 4 +- .../reactphysics3d}/collision/Collider.h | 8 +- .../collision/CollisionCallback.h | 6 +- .../collision/ContactManifold.h | 2 +- .../collision/ContactManifoldInfo.h | 6 +- .../reactphysics3d}/collision/ContactPair.h | 6 +- .../collision/ContactPointInfo.h | 4 +- .../collision/HalfEdgeStructure.h | 2 +- .../collision/OverlapCallback.h | 2 +- .../collision/PolygonVertexArray.h | 2 +- .../collision/PolyhedronMesh.h | 2 +- .../reactphysics3d}/collision/RaycastInfo.h | 2 +- .../reactphysics3d}/collision/TriangleMesh.h | 4 +- .../collision/TriangleVertexArray.h | 2 +- .../collision/broadphase/DynamicAABBTree.h | 6 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 4 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../CapsuleVsConvexPolyhedronAlgorithm.h | 2 +- .../collision/narrowphase/CollisionDispatch.h | 15 +- ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 2 +- .../collision/narrowphase/GJK/GJKAlgorithm.h | 4 +- .../narrowphase/GJK/VoronoiSimplex.h | 2 +- .../narrowphase/NarrowPhaseAlgorithm.h | 2 +- .../narrowphase/NarrowPhaseInfoBatch.h | 2 +- .../collision/narrowphase/NarrowPhaseInput.h | 10 +- .../collision/narrowphase/SAT/SATAlgorithm.h | 4 +- .../narrowphase/SphereVsCapsuleAlgorithm.h | 3 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 2 +- .../SphereVsConvexPolyhedronAlgorithm.h | 2 +- .../narrowphase/SphereVsSphereAlgorithm.h | 2 +- .../SphereVsSphereNarrowPhaseInfoBatch.h | 2 +- .../reactphysics3d}/collision/shapes/AABB.h | 2 +- .../collision/shapes/BoxShape.h | 4 +- .../collision/shapes/CapsuleShape.h | 4 +- .../collision/shapes/CollisionShape.h | 6 +- .../collision/shapes/ConcaveMeshShape.h | 6 +- .../collision/shapes/ConcaveShape.h | 4 +- .../collision/shapes/ConvexMeshShape.h | 6 +- .../collision/shapes/ConvexPolyhedronShape.h | 4 +- .../collision/shapes/ConvexShape.h | 2 +- .../collision/shapes/HeightFieldShape.h | 4 +- .../collision/shapes/SphereShape.h | 4 +- .../collision/shapes/TriangleShape.h | 4 +- .../components/BallAndSocketJointComponents.h | 10 +- .../components/ColliderComponents.h | 10 +- .../components/CollisionBodyComponents.h | 8 +- .../reactphysics3d}/components/Components.h | 6 +- .../components/FixedJointComponents.h | 10 +- .../components/HingeJointComponents.h | 12 +- .../components/JointComponents.h | 8 +- .../components/RigidBodyComponents.h | 10 +- .../components/SliderJointComponents.h | 12 +- .../components/TransformComponents.h | 8 +- .../reactphysics3d}/configuration.h | 4 +- .../constraint/BallAndSocketJoint.h | 4 +- .../reactphysics3d}/constraint/ContactPoint.h | 6 +- .../reactphysics3d}/constraint/FixedJoint.h | 4 +- .../reactphysics3d}/constraint/HingeJoint.h | 4 +- .../reactphysics3d}/constraint/Joint.h | 6 +- .../reactphysics3d}/constraint/SliderJoint.h | 6 +- .../reactphysics3d}/containers/Deque.h | 4 +- .../reactphysics3d}/containers/LinkedList.h | 2 +- .../reactphysics3d}/containers/List.h | 4 +- .../reactphysics3d}/containers/Map.h | 7 +- .../reactphysics3d}/containers/Pair.h | 6 +- .../reactphysics3d}/containers/Set.h | 4 +- .../reactphysics3d}/containers/Stack.h | 4 +- .../containers/containers_common.h | 0 {src => include/reactphysics3d}/decimal.h | 0 .../reactphysics3d}/engine/Entity.h | 2 +- .../reactphysics3d}/engine/EntityManager.h | 8 +- .../reactphysics3d}/engine/EventListener.h | 2 +- .../reactphysics3d}/engine/Island.h | 2 +- .../reactphysics3d}/engine/Islands.h | 8 +- .../reactphysics3d}/engine/Material.h | 2 +- .../reactphysics3d}/engine/OverlappingPairs.h | 18 +- .../reactphysics3d}/engine/PhysicsCommon.h | 18 +- .../reactphysics3d}/engine/PhysicsWorld.h | 46 ++-- .../reactphysics3d}/engine/Timer.h | 2 +- .../reactphysics3d}/mathematics/Matrix2x2.h | 2 +- .../reactphysics3d}/mathematics/Matrix3x3.h | 2 +- .../reactphysics3d}/mathematics/Quaternion.h | 4 +- .../reactphysics3d}/mathematics/Ray.h | 2 +- .../reactphysics3d}/mathematics/Transform.h | 4 +- .../reactphysics3d}/mathematics/Vector2.h | 5 +- .../reactphysics3d}/mathematics/Vector3.h | 5 +- .../reactphysics3d}/mathematics/mathematics.h | 18 +- .../mathematics/mathematics_functions.h | 6 +- .../reactphysics3d}/memory/DefaultAllocator.h | 2 +- .../reactphysics3d}/memory/HeapAllocator.h | 6 +- .../reactphysics3d}/memory/MemoryAllocator.h | 0 .../reactphysics3d}/memory/MemoryManager.h | 8 +- .../reactphysics3d}/memory/PoolAllocator.h | 4 +- .../memory/SingleFrameAllocator.h | 4 +- .../reactphysics3d}/reactphysics3d.h | 60 ++--- .../systems/BroadPhaseSystem.h | 12 +- .../systems/CollisionDetectionSystem.h | 32 +-- .../systems/ConstraintSolverSystem.h | 12 +- .../systems/ContactSolverSystem.h | 6 +- .../reactphysics3d}/systems/DynamicsSystem.h | 10 +- .../systems/SolveBallAndSocketJointSystem.h | 10 +- .../systems/SolveFixedJointSystem.h | 10 +- .../systems/SolveHingeJointSystem.h | 10 +- .../systems/SolveSliderJointSystem.h | 10 +- .../reactphysics3d}/utils/Logger.h | 4 +- .../reactphysics3d}/utils/Profiler.h | 0 src/body/CollisionBody.cpp | 10 +- src/body/RigidBody.cpp | 8 +- src/collision/Collider.cpp | 10 +- src/collision/CollisionCallback.cpp | 8 +- src/collision/ContactManifold.cpp | 6 +- src/collision/HalfEdgeStructure.cpp | 8 +- src/collision/OverlapCallback.cpp | 4 +- src/collision/PolygonVertexArray.cpp | 2 +- src/collision/PolyhedronMesh.cpp | 6 +- src/collision/RaycastInfo.cpp | 6 +- src/collision/TriangleMesh.cpp | 2 +- src/collision/TriangleVertexArray.cpp | 4 +- src/collision/broadphase/DynamicAABBTree.cpp | 8 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 6 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 4 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 14 +- .../narrowphase/CollisionDispatch.cpp | 2 +- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 8 +- .../narrowphase/GJK/GJKAlgorithm.cpp | 18 +- .../narrowphase/GJK/VoronoiSimplex.cpp | 4 +- .../narrowphase/NarrowPhaseInfoBatch.cpp | 8 +- .../narrowphase/NarrowPhaseInput.cpp | 4 +- .../narrowphase/SAT/SATAlgorithm.cpp | 20 +- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 8 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 6 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 8 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 6 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 4 +- src/collision/shapes/AABB.cpp | 4 +- src/collision/shapes/BoxShape.cpp | 10 +- src/collision/shapes/CapsuleShape.cpp | 8 +- src/collision/shapes/CollisionShape.cpp | 8 +- src/collision/shapes/ConcaveMeshShape.cpp | 12 +- src/collision/shapes/ConcaveShape.cpp | 3 +- src/collision/shapes/ConvexMeshShape.cpp | 8 +- .../shapes/ConvexPolyhedronShape.cpp | 2 +- src/collision/shapes/ConvexShape.cpp | 4 +- src/collision/shapes/HeightFieldShape.cpp | 6 +- src/collision/shapes/SphereShape.cpp | 8 +- src/collision/shapes/TriangleShape.cpp | 12 +- .../BallAndSocketJointComponents.cpp | 6 +- src/components/ColliderComponents.cpp | 6 +- src/components/CollisionBodyComponents.cpp | 4 +- src/components/Components.cpp | 2 +- src/components/FixedJointComponents.cpp | 6 +- src/components/HingeJointComponents.cpp | 6 +- src/components/JointComponents.cpp | 4 +- src/components/RigidBodyComponents.cpp | 6 +- src/components/SliderJointComponents.cpp | 6 +- src/components/TransformComponents.cpp | 4 +- src/constraint/BallAndSocketJoint.cpp | 8 +- src/constraint/ContactPoint.cpp | 4 +- src/constraint/FixedJoint.cpp | 8 +- src/constraint/HingeJoint.cpp | 8 +- src/constraint/Joint.cpp | 4 +- src/constraint/SliderJoint.cpp | 8 +- src/engine/Entity.cpp | 2 +- src/engine/EntityManager.cpp | 4 +- src/engine/Island.cpp | 4 +- src/engine/Material.cpp | 2 +- src/engine/OverlappingPairs.cpp | 10 +- src/engine/PhysicsCommon.cpp | 2 +- src/engine/PhysicsWorld.cpp | 20 +- src/engine/Timer.cpp | 2 +- src/mathematics/Matrix2x2.cpp | 2 +- src/mathematics/Matrix3x3.cpp | 2 +- src/mathematics/Quaternion.cpp | 6 +- src/mathematics/Transform.cpp | 4 +- src/mathematics/Vector2.cpp | 2 +- src/mathematics/Vector3.cpp | 2 +- src/mathematics/mathematics_functions.cpp | 6 +- src/memory/HeapAllocator.cpp | 4 +- src/memory/MemoryManager.cpp | 2 +- src/memory/PoolAllocator.cpp | 4 +- src/memory/SingleFrameAllocator.cpp | 4 +- src/systems/BroadPhaseSystem.cpp | 12 +- src/systems/CollisionDetectionSystem.cpp | 34 +-- src/systems/ConstraintSolverSystem.cpp | 10 +- src/systems/ContactSolverSystem.cpp | 20 +- src/systems/DynamicsSystem.cpp | 6 +- src/systems/SolveBallAndSocketJointSystem.cpp | 6 +- src/systems/SolveFixedJointSystem.cpp | 6 +- src/systems/SolveHingeJointSystem.cpp | 6 +- src/systems/SolveSliderJointSystem.cpp | 6 +- src/utils/Logger.cpp | 4 +- src/utils/Profiler.cpp | 2 +- test/tests/collision/TestAABB.h | 2 +- test/tests/collision/TestCollisionWorld.h | 6 +- test/tests/collision/TestDynamicAABBTree.h | 8 +- test/tests/collision/TestHalfEdgeStructure.h | 2 +- test/tests/collision/TestPointInside.h | 14 +- test/tests/collision/TestRaycast.h | 28 +-- .../tests/collision/TestTriangleVertexArray.h | 2 +- test/tests/containers/TestDeque.h | 4 +- test/tests/containers/TestList.h | 4 +- test/tests/containers/TestMap.h | 4 +- test/tests/containers/TestSet.h | 4 +- test/tests/containers/TestStack.h | 4 +- .../mathematics/TestMathematicsFunctions.h | 4 +- test/tests/mathematics/TestMatrix2x2.h | 2 +- test/tests/mathematics/TestMatrix3x3.h | 2 +- test/tests/mathematics/TestQuaternion.h | 2 +- test/tests/mathematics/TestTransform.h | 4 +- test/tests/mathematics/TestVector2.h | 2 +- test/tests/mathematics/TestVector3.h | 2 +- testbed/common/AABB.h | 2 +- testbed/common/Box.h | 2 +- testbed/common/Capsule.h | 2 +- testbed/common/ConcaveMesh.h | 2 +- testbed/common/ConvexMesh.h | 2 +- testbed/common/Dumbbell.h | 2 +- testbed/common/HeightField.h | 2 +- testbed/common/Line.h | 2 +- testbed/common/PhysicsObject.h | 2 +- testbed/common/Sphere.h | 2 +- .../CollisionDetectionScene.cpp | 4 +- .../CollisionDetectionScene.h | 2 +- .../collisionshapes/CollisionShapesScene.h | 2 +- testbed/scenes/concavemesh/ConcaveMeshScene.h | 2 +- testbed/scenes/cubes/CubesScene.h | 2 +- testbed/scenes/cubestack/CubeStackScene.h | 2 +- testbed/scenes/heightfield/HeightFieldScene.h | 2 +- testbed/scenes/joints/JointsScene.h | 2 +- testbed/scenes/pile/PileScene.h | 2 +- testbed/scenes/raycast/RaycastScene.h | 2 +- testbed/src/Scene.h | 2 +- testbed/src/SceneDemo.cpp | 4 +- testbed/src/SceneDemo.h | 2 +- testbed/src/Timer.h | 2 +- 238 files changed, 821 insertions(+), 821 deletions(-) rename {src => include/reactphysics3d}/body/CollisionBody.h (97%) rename {src => include/reactphysics3d}/body/RigidBody.h (98%) rename {src => include/reactphysics3d}/collision/Collider.h (97%) rename {src => include/reactphysics3d}/collision/CollisionCallback.h (98%) rename {src => include/reactphysics3d}/collision/ContactManifold.h (99%) rename {src => include/reactphysics3d}/collision/ContactManifoldInfo.h (95%) rename {src => include/reactphysics3d}/collision/ContactPair.h (96%) rename {src => include/reactphysics3d}/collision/ContactPointInfo.h (97%) rename {src => include/reactphysics3d}/collision/HalfEdgeStructure.h (99%) rename {src => include/reactphysics3d}/collision/OverlapCallback.h (99%) rename {src => include/reactphysics3d}/collision/PolygonVertexArray.h (99%) rename {src => include/reactphysics3d}/collision/PolyhedronMesh.h (99%) rename {src => include/reactphysics3d}/collision/RaycastInfo.h (99%) rename {src => include/reactphysics3d}/collision/TriangleMesh.h (97%) rename {src => include/reactphysics3d}/collision/TriangleVertexArray.h (99%) rename {src => include/reactphysics3d}/collision/broadphase/DynamicAABBTree.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h (94%) rename {src => include/reactphysics3d}/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/CollisionDispatch.h (94%) rename {src => include/reactphysics3d}/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/GJK/GJKAlgorithm.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/GJK/VoronoiSimplex.h (99%) rename {src => include/reactphysics3d}/collision/narrowphase/NarrowPhaseAlgorithm.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/NarrowPhaseInfoBatch.h (99%) rename {src => include/reactphysics3d}/collision/narrowphase/NarrowPhaseInput.h (93%) rename {src => include/reactphysics3d}/collision/narrowphase/SAT/SATAlgorithm.h (99%) rename {src => include/reactphysics3d}/collision/narrowphase/SphereVsCapsuleAlgorithm.h (96%) rename {src => include/reactphysics3d}/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h (98%) rename {src => include/reactphysics3d}/collision/narrowphase/SphereVsSphereAlgorithm.h (95%) rename {src => include/reactphysics3d}/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h (98%) rename {src => include/reactphysics3d}/collision/shapes/AABB.h (99%) rename {src => include/reactphysics3d}/collision/shapes/BoxShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/CapsuleShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/CollisionShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/ConcaveMeshShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/ConcaveShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/ConvexMeshShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/ConvexPolyhedronShape.h (97%) rename {src => include/reactphysics3d}/collision/shapes/ConvexShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/HeightFieldShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/SphereShape.h (98%) rename {src => include/reactphysics3d}/collision/shapes/TriangleShape.h (99%) rename {src => include/reactphysics3d}/components/BallAndSocketJointComponents.h (98%) rename {src => include/reactphysics3d}/components/ColliderComponents.h (98%) rename {src => include/reactphysics3d}/components/CollisionBodyComponents.h (97%) rename {src => include/reactphysics3d}/components/Components.h (97%) rename {src => include/reactphysics3d}/components/FixedJointComponents.h (98%) rename {src => include/reactphysics3d}/components/HingeJointComponents.h (99%) rename {src => include/reactphysics3d}/components/JointComponents.h (98%) rename {src => include/reactphysics3d}/components/RigidBodyComponents.h (99%) rename {src => include/reactphysics3d}/components/SliderJointComponents.h (99%) rename {src => include/reactphysics3d}/components/TransformComponents.h (96%) rename {src => include/reactphysics3d}/configuration.h (98%) rename {src => include/reactphysics3d}/constraint/BallAndSocketJoint.h (97%) rename {src => include/reactphysics3d}/constraint/ContactPoint.h (98%) rename {src => include/reactphysics3d}/constraint/FixedJoint.h (97%) rename {src => include/reactphysics3d}/constraint/HingeJoint.h (99%) rename {src => include/reactphysics3d}/constraint/Joint.h (97%) rename {src => include/reactphysics3d}/constraint/SliderJoint.h (98%) rename {src => include/reactphysics3d}/containers/Deque.h (99%) rename {src => include/reactphysics3d}/containers/LinkedList.h (98%) rename {src => include/reactphysics3d}/containers/List.h (99%) rename {src => include/reactphysics3d}/containers/Map.h (99%) rename {src => include/reactphysics3d}/containers/Pair.h (96%) rename {src => include/reactphysics3d}/containers/Set.h (99%) rename {src => include/reactphysics3d}/containers/Stack.h (98%) rename {src => include/reactphysics3d}/containers/containers_common.h (100%) rename {src => include/reactphysics3d}/decimal.h (100%) rename {src => include/reactphysics3d}/engine/Entity.h (99%) rename {src => include/reactphysics3d}/engine/EntityManager.h (94%) rename {src => include/reactphysics3d}/engine/EventListener.h (98%) rename {src => include/reactphysics3d}/engine/Island.h (99%) rename {src => include/reactphysics3d}/engine/Islands.h (96%) rename {src => include/reactphysics3d}/engine/Material.h (99%) rename {src => include/reactphysics3d}/engine/OverlappingPairs.h (96%) rename {src => include/reactphysics3d}/engine/PhysicsCommon.h (93%) rename {src => include/reactphysics3d}/engine/PhysicsWorld.h (96%) rename {src => include/reactphysics3d}/engine/Timer.h (99%) rename {src => include/reactphysics3d}/mathematics/Matrix2x2.h (99%) rename {src => include/reactphysics3d}/mathematics/Matrix3x3.h (99%) rename {src => include/reactphysics3d}/mathematics/Quaternion.h (99%) rename {src => include/reactphysics3d}/mathematics/Ray.h (98%) rename {src => include/reactphysics3d}/mathematics/Transform.h (99%) rename {src => include/reactphysics3d}/mathematics/Vector2.h (99%) rename {src => include/reactphysics3d}/mathematics/Vector3.h (99%) rename {src => include/reactphysics3d}/mathematics/mathematics.h (82%) rename {src => include/reactphysics3d}/mathematics/mathematics_functions.h (96%) rename {src => include/reactphysics3d}/memory/DefaultAllocator.h (98%) rename {src => include/reactphysics3d}/memory/HeapAllocator.h (97%) rename {src => include/reactphysics3d}/memory/MemoryAllocator.h (100%) rename {src => include/reactphysics3d}/memory/MemoryManager.h (96%) rename {src => include/reactphysics3d}/memory/PoolAllocator.h (98%) rename {src => include/reactphysics3d}/memory/SingleFrameAllocator.h (97%) rename {src => include/reactphysics3d}/reactphysics3d.h (62%) rename {src => include/reactphysics3d}/systems/BroadPhaseSystem.h (96%) rename {src => include/reactphysics3d}/systems/CollisionDetectionSystem.h (95%) rename {src => include/reactphysics3d}/systems/ConstraintSolverSystem.h (96%) rename {src => include/reactphysics3d}/systems/ContactSolverSystem.h (99%) rename {src => include/reactphysics3d}/systems/DynamicsSystem.h (94%) rename {src => include/reactphysics3d}/systems/SolveBallAndSocketJointSystem.h (94%) rename {src => include/reactphysics3d}/systems/SolveFixedJointSystem.h (94%) rename {src => include/reactphysics3d}/systems/SolveHingeJointSystem.h (95%) rename {src => include/reactphysics3d}/systems/SolveSliderJointSystem.h (94%) rename {src => include/reactphysics3d}/utils/Logger.h (99%) rename {src => include/reactphysics3d}/utils/Profiler.h (100%) diff --git a/CHANGELOG.md b/CHANGELOG.md index 83c7b7cf..27a22bc4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -21,6 +21,10 @@ - The RigidBody::updateMassFromColliders() method has been added to compute and set the mass of a body using its colliders - A Material nows has a mass density parameter that can be set using the Material::setMassDensity() method. The mass density is used to compute the mass of a collider when computing the mass of a rigid body +### Fixed + + - Issues [#125](https://github.com/DanielChappuis/reactphysics3d/issues/125) and [#106](https://github.com/DanielChappuis/reactphysics3d/issues/106) have been fixed. + ### Changed - The CollisionWorld::testCollision() methods do not have the 'categoryMaskBits' parameter anymore. diff --git a/CMakeLists.txt b/CMakeLists.txt index d5962133..cd10251e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -72,114 +72,114 @@ IF(RP3D_DOUBLE_PRECISION_ENABLED) ADD_DEFINITIONS(-DIS_DOUBLE_PRECISION_ENABLED) ENDIF() -# Headers files +# Headers filen1s SET (REACTPHYSICS3D_HEADERS - "src/configuration.h" - "src/decimal.h" - "src/reactphysics3d.h" - "src/body/CollisionBody.h" - "src/body/RigidBody.h" - "src/collision/ContactPointInfo.h" - "src/collision/ContactManifoldInfo.h" - "src/collision/ContactPair.h" - "src/collision/broadphase/DynamicAABBTree.h" - "src/collision/narrowphase/CollisionDispatch.h" - "src/collision/narrowphase/GJK/VoronoiSimplex.h" - "src/collision/narrowphase/GJK/GJKAlgorithm.h" - "src/collision/narrowphase/SAT/SATAlgorithm.h" - "src/collision/narrowphase/NarrowPhaseAlgorithm.h" - "src/collision/narrowphase/SphereVsSphereAlgorithm.h" - "src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h" - "src/collision/narrowphase/SphereVsCapsuleAlgorithm.h" - "src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h" - "src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h" - "src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" - "src/collision/narrowphase/NarrowPhaseInput.h" - "src/collision/narrowphase/NarrowPhaseInfoBatch.h" - "src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" - "src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" - "src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" - "src/collision/shapes/AABB.h" - "src/collision/shapes/ConvexShape.h" - "src/collision/shapes/ConvexPolyhedronShape.h" - "src/collision/shapes/ConcaveShape.h" - "src/collision/shapes/BoxShape.h" - "src/collision/shapes/CapsuleShape.h" - "src/collision/shapes/CollisionShape.h" - "src/collision/shapes/ConvexMeshShape.h" - "src/collision/shapes/SphereShape.h" - "src/collision/shapes/TriangleShape.h" - "src/collision/shapes/ConcaveMeshShape.h" - "src/collision/shapes/HeightFieldShape.h" - "src/collision/RaycastInfo.h" - "src/collision/Collider.h" - "src/collision/TriangleVertexArray.h" - "src/collision/PolygonVertexArray.h" - "src/collision/TriangleMesh.h" - "src/collision/PolyhedronMesh.h" - "src/collision/HalfEdgeStructure.h" - "src/collision/ContactManifold.h" - "src/constraint/BallAndSocketJoint.h" - "src/constraint/ContactPoint.h" - "src/constraint/FixedJoint.h" - "src/constraint/HingeJoint.h" - "src/constraint/Joint.h" - "src/constraint/SliderJoint.h" - "src/engine/Entity.h" - "src/engine/EntityManager.h" - "src/engine/PhysicsCommon.h" - "src/systems/ConstraintSolverSystem.h" - "src/systems/ContactSolverSystem.h" - "src/systems/DynamicsSystem.h" - "src/systems/CollisionDetectionSystem.h" - "src/systems/SolveBallAndSocketJointSystem.h" - "src/systems/SolveFixedJointSystem.h" - "src/systems/SolveHingeJointSystem.h" - "src/systems/SolveSliderJointSystem.h" - "src/engine/PhysicsWorld.h" - "src/engine/EventListener.h" - "src/engine/Island.h" - "src/engine/Islands.h" - "src/engine/Material.h" - "src/engine/OverlappingPairs.h" - "src/engine/Timer.h" - "src/systems/BroadPhaseSystem.h" - "src/components/Components.h" - "src/components/CollisionBodyComponents.h" - "src/components/RigidBodyComponents.h" - "src/components/TransformComponents.h" - "src/components/ColliderComponents.h" - "src/components/JointComponents.h" - "src/components/BallAndSocketJointComponents.h" - "src/components/FixedJointComponents.h" - "src/components/HingeJointComponents.h" - "src/components/SliderJointComponents.h" - "src/collision/CollisionCallback.h" - "src/collision/OverlapCallback.h" - "src/mathematics/mathematics.h" - "src/mathematics/mathematics_functions.h" - "src/mathematics/Matrix2x2.h" - "src/mathematics/Matrix3x3.h" - "src/mathematics/Quaternion.h" - "src/mathematics/Transform.h" - "src/mathematics/Vector2.h" - "src/mathematics/Vector3.h" - "src/mathematics/Ray.h" - "src/memory/MemoryAllocator.h" - "src/memory/PoolAllocator.h" - "src/memory/SingleFrameAllocator.h" - "src/memory/HeapAllocator.h" - "src/memory/DefaultAllocator.h" - "src/memory/MemoryManager.h" - "src/containers/Stack.h" - "src/containers/LinkedList.h" - "src/containers/List.h" - "src/containers/Map.h" - "src/containers/Set.h" - "src/containers/Pair.h" - "src/containers/Deque.h" - "src/utils/Profiler.h" - "src/utils/Logger.h" + "include/reactphysics3d/configuration.h" + "include/reactphysics3d/decimal.h" + "include/reactphysics3d/reactphysics3d.h" + "include/reactphysics3d/body/CollisionBody.h" + "include/reactphysics3d/body/RigidBody.h" + "include/reactphysics3d/collision/ContactPointInfo.h" + "include/reactphysics3d/collision/ContactManifoldInfo.h" + "include/reactphysics3d/collision/ContactPair.h" + "include/reactphysics3d/collision/broadphase/DynamicAABBTree.h" + "include/reactphysics3d/collision/narrowphase/CollisionDispatch.h" + "include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h" + "include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" + "include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h" + "include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h" + "include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" + "include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" + "include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" + "include/reactphysics3d/collision/shapes/AABB.h" + "include/reactphysics3d/collision/shapes/ConvexShape.h" + "include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h" + "include/reactphysics3d/collision/shapes/ConcaveShape.h" + "include/reactphysics3d/collision/shapes/BoxShape.h" + "include/reactphysics3d/collision/shapes/CapsuleShape.h" + "include/reactphysics3d/collision/shapes/CollisionShape.h" + "include/reactphysics3d/collision/shapes/ConvexMeshShape.h" + "include/reactphysics3d/collision/shapes/SphereShape.h" + "include/reactphysics3d/collision/shapes/TriangleShape.h" + "include/reactphysics3d/collision/shapes/ConcaveMeshShape.h" + "include/reactphysics3d/collision/shapes/HeightFieldShape.h" + "include/reactphysics3d/collision/RaycastInfo.h" + "include/reactphysics3d/collision/Collider.h" + "include/reactphysics3d/collision/TriangleVertexArray.h" + "include/reactphysics3d/collision/PolygonVertexArray.h" + "include/reactphysics3d/collision/TriangleMesh.h" + "include/reactphysics3d/collision/PolyhedronMesh.h" + "include/reactphysics3d/collision/HalfEdgeStructure.h" + "include/reactphysics3d/collision/ContactManifold.h" + "include/reactphysics3d/constraint/BallAndSocketJoint.h" + "include/reactphysics3d/constraint/ContactPoint.h" + "include/reactphysics3d/constraint/FixedJoint.h" + "include/reactphysics3d/constraint/HingeJoint.h" + "include/reactphysics3d/constraint/Joint.h" + "include/reactphysics3d/constraint/SliderJoint.h" + "include/reactphysics3d/engine/Entity.h" + "include/reactphysics3d/engine/EntityManager.h" + "include/reactphysics3d/engine/PhysicsCommon.h" + "include/reactphysics3d/systems/ConstraintSolverSystem.h" + "include/reactphysics3d/systems/ContactSolverSystem.h" + "include/reactphysics3d/systems/DynamicsSystem.h" + "include/reactphysics3d/systems/CollisionDetectionSystem.h" + "include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h" + "include/reactphysics3d/systems/SolveFixedJointSystem.h" + "include/reactphysics3d/systems/SolveHingeJointSystem.h" + "include/reactphysics3d/systems/SolveSliderJointSystem.h" + "include/reactphysics3d/engine/PhysicsWorld.h" + "include/reactphysics3d/engine/EventListener.h" + "include/reactphysics3d/engine/Island.h" + "include/reactphysics3d/engine/Islands.h" + "include/reactphysics3d/engine/Material.h" + "include/reactphysics3d/engine/OverlappingPairs.h" + "include/reactphysics3d/engine/Timer.h" + "include/reactphysics3d/systems/BroadPhaseSystem.h" + "include/reactphysics3d/components/Components.h" + "include/reactphysics3d/components/CollisionBodyComponents.h" + "include/reactphysics3d/components/RigidBodyComponents.h" + "include/reactphysics3d/components/TransformComponents.h" + "include/reactphysics3d/components/ColliderComponents.h" + "include/reactphysics3d/components/JointComponents.h" + "include/reactphysics3d/components/BallAndSocketJointComponents.h" + "include/reactphysics3d/components/FixedJointComponents.h" + "include/reactphysics3d/components/HingeJointComponents.h" + "include/reactphysics3d/components/SliderJointComponents.h" + "include/reactphysics3d/collision/CollisionCallback.h" + "include/reactphysics3d/collision/OverlapCallback.h" + "include/reactphysics3d/mathematics/mathematics.h" + "include/reactphysics3d/mathematics/mathematics_functions.h" + "include/reactphysics3d/mathematics/Matrix2x2.h" + "include/reactphysics3d/mathematics/Matrix3x3.h" + "include/reactphysics3d/mathematics/Quaternion.h" + "include/reactphysics3d/mathematics/Transform.h" + "include/reactphysics3d/mathematics/Vector2.h" + "include/reactphysics3d/mathematics/Vector3.h" + "include/reactphysics3d/mathematics/Ray.h" + "include/reactphysics3d/memory/MemoryAllocator.h" + "include/reactphysics3d/memory/PoolAllocator.h" + "include/reactphysics3d/memory/SingleFrameAllocator.h" + "include/reactphysics3d/memory/HeapAllocator.h" + "include/reactphysics3d/memory/DefaultAllocator.h" + "include/reactphysics3d/memory/MemoryManager.h" + "include/reactphysics3d/containers/Stack.h" + "include/reactphysics3d/containers/LinkedList.h" + "include/reactphysics3d/containers/List.h" + "include/reactphysics3d/containers/Map.h" + "include/reactphysics3d/containers/Set.h" + "include/reactphysics3d/containers/Pair.h" + "include/reactphysics3d/containers/Deque.h" + "include/reactphysics3d/utils/Profiler.h" + "include/reactphysics3d/utils/Logger.h" ) # Source files @@ -277,7 +277,7 @@ ADD_LIBRARY(reactphysics3d ${REACTPHYSICS3D_HEADERS} ${REACTPHYSICS3D_SOURCES}) # Headers TARGET_INCLUDE_DIRECTORIES(reactphysics3d PUBLIC - $ + $ $ ) @@ -291,7 +291,7 @@ IF(RP3D_COMPILE_TESTS) add_subdirectory(test/) ENDIF() -SET_TARGET_PROPERTIES(reactphysics3d PROPERTIES PUBLIC_HEADER "${REACTPHYSICS3D_HEADERS}") +#SET_TARGET_PROPERTIES(reactphysics3d PROPERTIES PUBLIC_HEADER "${REACTPHYSICS3D_HEADERS}") # Version number and soname for the library SET_TARGET_PROPERTIES(reactphysics3d PROPERTIES @@ -304,5 +304,7 @@ INSTALL(TARGETS reactphysics3d ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} - PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/reactphysics3d ) + +# Install the headers separately (because INSTALL(TARGETS ... PUBLIC_HEADER DESTINATION ...) does not support subfolders +INSTALL(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) diff --git a/src/body/CollisionBody.h b/include/reactphysics3d/body/CollisionBody.h similarity index 97% rename from src/body/CollisionBody.h rename to include/reactphysics3d/body/CollisionBody.h index 402b2169..184ec429 100644 --- a/src/body/CollisionBody.h +++ b/include/reactphysics3d/body/CollisionBody.h @@ -28,10 +28,10 @@ // Libraries #include -#include "engine/Entity.h" -#include "collision/shapes/AABB.h" -#include "mathematics/Transform.h" -#include "configuration.h" +#include +#include +#include +#include /// Namespace reactphysics3d namespace reactphysics3d { diff --git a/src/body/RigidBody.h b/include/reactphysics3d/body/RigidBody.h similarity index 98% rename from src/body/RigidBody.h rename to include/reactphysics3d/body/RigidBody.h index 595aa3e1..4fb585c6 100644 --- a/src/body/RigidBody.h +++ b/include/reactphysics3d/body/RigidBody.h @@ -28,8 +28,8 @@ // Libraries #include -#include "CollisionBody.h" -#include "mathematics/mathematics.h" +#include +#include /// Namespace reactphysics3d namespace reactphysics3d { diff --git a/src/collision/Collider.h b/include/reactphysics3d/collision/Collider.h similarity index 97% rename from src/collision/Collider.h rename to include/reactphysics3d/collision/Collider.h index fd849800..041a3535 100644 --- a/src/collision/Collider.h +++ b/include/reactphysics3d/collision/Collider.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_COLLIDER_H // Libraries -#include "body/CollisionBody.h" -#include "collision/shapes/CollisionShape.h" -#include "engine/Material.h" -#include "utils/Logger.h" +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/collision/CollisionCallback.h b/include/reactphysics3d/collision/CollisionCallback.h similarity index 98% rename from src/collision/CollisionCallback.h rename to include/reactphysics3d/collision/CollisionCallback.h index 570a9a32..04c5dbc7 100644 --- a/src/collision/CollisionCallback.h +++ b/include/reactphysics3d/collision/CollisionCallback.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_COLLISION_CALLBACK_H // Libraries -#include "containers/List.h" -#include "collision/ContactPair.h" -#include "constraint/ContactPoint.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/ContactManifold.h b/include/reactphysics3d/collision/ContactManifold.h similarity index 99% rename from src/collision/ContactManifold.h rename to include/reactphysics3d/collision/ContactManifold.h index 600993f3..1ec1c396 100644 --- a/src/collision/ContactManifold.h +++ b/include/reactphysics3d/collision/ContactManifold.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_CONTACT_MANIFOLD_H // Libraries -#include "collision/Collider.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/ContactManifoldInfo.h b/include/reactphysics3d/collision/ContactManifoldInfo.h similarity index 95% rename from src/collision/ContactManifoldInfo.h rename to include/reactphysics3d/collision/ContactManifoldInfo.h index 8d08ce26..d60af3a9 100644 --- a/src/collision/ContactManifoldInfo.h +++ b/include/reactphysics3d/collision/ContactManifoldInfo.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_CONTACT_MANIFOLD_INFO_H // Libraries -#include "mathematics/mathematics.h" -#include "configuration.h" -#include "engine/OverlappingPairs.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/ContactPair.h b/include/reactphysics3d/collision/ContactPair.h similarity index 96% rename from src/collision/ContactPair.h rename to include/reactphysics3d/collision/ContactPair.h index 424e000a..518c29de 100644 --- a/src/collision/ContactPair.h +++ b/include/reactphysics3d/collision/ContactPair.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_OVERLAPPING_PAIR_CONTACT_H // Libraries -#include "mathematics/mathematics.h" -#include "configuration.h" -#include "engine/OverlappingPairs.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/ContactPointInfo.h b/include/reactphysics3d/collision/ContactPointInfo.h similarity index 97% rename from src/collision/ContactPointInfo.h rename to include/reactphysics3d/collision/ContactPointInfo.h index d10d6279..adfff315 100644 --- a/src/collision/ContactPointInfo.h +++ b/include/reactphysics3d/collision/ContactPointInfo.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_CONTACT_POINT_INFO_H // Libraries -#include "mathematics/mathematics.h" -#include "configuration.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/HalfEdgeStructure.h b/include/reactphysics3d/collision/HalfEdgeStructure.h similarity index 99% rename from src/collision/HalfEdgeStructure.h rename to include/reactphysics3d/collision/HalfEdgeStructure.h index 9eeee208..9f7e679b 100644 --- a/src/collision/HalfEdgeStructure.h +++ b/include/reactphysics3d/collision/HalfEdgeStructure.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_HALF_EDGE_STRUCTURE_MESH_H // Libraries -#include "mathematics/mathematics.h" +#include namespace reactphysics3d { diff --git a/src/collision/OverlapCallback.h b/include/reactphysics3d/collision/OverlapCallback.h similarity index 99% rename from src/collision/OverlapCallback.h rename to include/reactphysics3d/collision/OverlapCallback.h index 7fa9fab4..7b54dd27 100644 --- a/src/collision/OverlapCallback.h +++ b/include/reactphysics3d/collision/OverlapCallback.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_OVERLAP_CALLBACK_H // Libraries -#include "containers/List.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/PolygonVertexArray.h b/include/reactphysics3d/collision/PolygonVertexArray.h similarity index 99% rename from src/collision/PolygonVertexArray.h rename to include/reactphysics3d/collision/PolygonVertexArray.h index b3fb17f6..3f6e515b 100644 --- a/src/collision/PolygonVertexArray.h +++ b/include/reactphysics3d/collision/PolygonVertexArray.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_POLYGON_VERTEX_ARRAY_H // Libraries -#include "configuration.h" +#include #include namespace reactphysics3d { diff --git a/src/collision/PolyhedronMesh.h b/include/reactphysics3d/collision/PolyhedronMesh.h similarity index 99% rename from src/collision/PolyhedronMesh.h rename to include/reactphysics3d/collision/PolyhedronMesh.h index 4b3696f4..c6e62070 100644 --- a/src/collision/PolyhedronMesh.h +++ b/include/reactphysics3d/collision/PolyhedronMesh.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_POLYHEDRON_MESH_H // Libraries -#include "mathematics/mathematics.h" +#include #include "HalfEdgeStructure.h" namespace reactphysics3d { diff --git a/src/collision/RaycastInfo.h b/include/reactphysics3d/collision/RaycastInfo.h similarity index 99% rename from src/collision/RaycastInfo.h rename to include/reactphysics3d/collision/RaycastInfo.h index 846b2f04..3f020f43 100644 --- a/src/collision/RaycastInfo.h +++ b/include/reactphysics3d/collision/RaycastInfo.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_RAYCAST_INFO_H // Libraries -#include "mathematics/Vector3.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/TriangleMesh.h b/include/reactphysics3d/collision/TriangleMesh.h similarity index 97% rename from src/collision/TriangleMesh.h rename to include/reactphysics3d/collision/TriangleMesh.h index f70a7aae..09b84c40 100644 --- a/src/collision/TriangleMesh.h +++ b/include/reactphysics3d/collision/TriangleMesh.h @@ -28,8 +28,8 @@ // Libraries #include -#include "containers/List.h" -#include "memory/MemoryAllocator.h" +#include +#include namespace reactphysics3d { diff --git a/src/collision/TriangleVertexArray.h b/include/reactphysics3d/collision/TriangleVertexArray.h similarity index 99% rename from src/collision/TriangleVertexArray.h rename to include/reactphysics3d/collision/TriangleVertexArray.h index 9902af32..cf9482dc 100644 --- a/src/collision/TriangleVertexArray.h +++ b/include/reactphysics3d/collision/TriangleVertexArray.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_TRIANGLE_VERTEX_ARRAY_H // Libraries -#include "configuration.h" +#include namespace reactphysics3d { diff --git a/src/collision/broadphase/DynamicAABBTree.h b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h similarity index 98% rename from src/collision/broadphase/DynamicAABBTree.h rename to include/reactphysics3d/collision/broadphase/DynamicAABBTree.h index 84dc25cc..535b2819 100644 --- a/src/collision/broadphase/DynamicAABBTree.h +++ b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_DYNAMIC_AABB_TREE_H // Libraries -#include "configuration.h" -#include "collision/shapes/AABB.h" -#include "containers/Set.h" +#include +#include +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h similarity index 94% rename from src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index 82f42094..7ad58b44 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_CAPSULE_VS_CAPSULE_ALGORITHM_H // Libraries -#include "NarrowPhaseAlgorithm.h" -#include "configuration.h" +#include +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h similarity index 98% rename from src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h rename to include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 8741d41a..8d628e37 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_CAPSULE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H // Libraries -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h similarity index 98% rename from src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index d95cd620..cce8396f 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_CAPSULE_VS_CONVEX_POLYHEDRON_ALGORITHM_H // Libraries -#include "NarrowPhaseAlgorithm.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/CollisionDispatch.h b/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h similarity index 94% rename from src/collision/narrowphase/CollisionDispatch.h rename to include/reactphysics3d/collision/narrowphase/CollisionDispatch.h index d8b87f1c..692c9e1f 100644 --- a/src/collision/narrowphase/CollisionDispatch.h +++ b/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h @@ -27,14 +27,13 @@ #define REACTPHYSICS3D_COLLISION_DISPATCH_H // Libraries -#include "CollisionDispatch.h" -#include "SphereVsSphereAlgorithm.h" -#include "SphereVsConvexPolyhedronAlgorithm.h" -#include "SphereVsCapsuleAlgorithm.h" -#include "CapsuleVsCapsuleAlgorithm.h" -#include "CapsuleVsConvexPolyhedronAlgorithm.h" -#include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" -#include "collision/shapes/CollisionShape.h" +#include +#include +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h similarity index 98% rename from src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index 306b9728..9b7393e3 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_CONVEX_POLYHEDRON_VS_CONVEX_POLYHEDRON_ALGORITHM_H // Libraries -#include "NarrowPhaseAlgorithm.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.h b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h similarity index 98% rename from src/collision/narrowphase/GJK/GJKAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h index 4cfce43f..bd7f72b5 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_GJK_ALGORITHM_H // Libraries -#include "decimal.h" -#include "configuration.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/narrowphase/GJK/VoronoiSimplex.h b/include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h similarity index 99% rename from src/collision/narrowphase/GJK/VoronoiSimplex.h rename to include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h index 5bd51f57..597aa3fe 100644 --- a/src/collision/narrowphase/GJK/VoronoiSimplex.h +++ b/include/reactphysics3d/collision/narrowphase/GJK/VoronoiSimplex.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_VORONOI_SIMPLEX_H // Libraries -#include "mathematics/Vector3.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h similarity index 98% rename from src/collision/narrowphase/NarrowPhaseAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h index caa33179..82ce4b90 100644 --- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_NARROW_PHASE_ALGORITHM_H // Libraries -#include "configuration.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h similarity index 99% rename from src/collision/narrowphase/NarrowPhaseInfoBatch.h rename to include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h index 3593e347..1e0ac81f 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_NARROW_PHASE_INFO_BATCH_H // Libraries -#include "engine/OverlappingPairs.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/NarrowPhaseInput.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h similarity index 93% rename from src/collision/narrowphase/NarrowPhaseInput.h rename to include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h index bc0f1c1e..6d2bb759 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_NARROW_PHASE_INPUT_H // Libraries -#include "containers/List.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" -#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" -#include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" -#include "collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" +#include +#include +#include +#include +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h similarity index 99% rename from src/collision/narrowphase/SAT/SATAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h index bb302d2a..ec5a5751 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_SAT_ALGORITHM_H // Libraries -#include "decimal.h" -#include "collision/HalfEdgeStructure.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h similarity index 96% rename from src/collision/narrowphase/SphereVsCapsuleAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h index f2dc5ad7..dbecf770 100644 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -27,8 +27,7 @@ #define REACTPHYSICS3D_SPHERE_VS_CAPSULE_ALGORITHM_H // Libraries -#include "NarrowPhaseAlgorithm.h" - +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h similarity index 98% rename from src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h rename to include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h index 13346f3e..7781af01 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_SPHERE_VS_CAPSULE_NARROW_PHASE_INFO_BATCH_H // Libraries -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h similarity index 98% rename from src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 5a7d9f7b..5143d1ff 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_SPHERE_VS_CONVEX_POLYHEDRON_ALGORITHM_H // Libraries -#include "NarrowPhaseAlgorithm.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h similarity index 95% rename from src/collision/narrowphase/SphereVsSphereAlgorithm.h rename to include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h index 87831a4b..7171c3cb 100644 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_SPHERE_VS_SPHERE_ALGORITHM_H // Libraries -#include "NarrowPhaseAlgorithm.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h similarity index 98% rename from src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h rename to include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index 84bcfe72..25fa4773 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_SPHERE_VS_SPHERE_NARROW_PHASE_INFO_BATCH_H // Libraries -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/collision/shapes/AABB.h b/include/reactphysics3d/collision/shapes/AABB.h similarity index 99% rename from src/collision/shapes/AABB.h rename to include/reactphysics3d/collision/shapes/AABB.h index 5a7b4740..c0598cc9 100644 --- a/src/collision/shapes/AABB.h +++ b/include/reactphysics3d/collision/shapes/AABB.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_AABB_H // Libraries -#include "mathematics/mathematics.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/BoxShape.h b/include/reactphysics3d/collision/shapes/BoxShape.h similarity index 98% rename from src/collision/shapes/BoxShape.h rename to include/reactphysics3d/collision/shapes/BoxShape.h index 4cb9ab12..ced455f9 100644 --- a/src/collision/shapes/BoxShape.h +++ b/include/reactphysics3d/collision/shapes/BoxShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_BOX_SHAPE_H // Libraries -#include "ConvexPolyhedronShape.h" -#include "mathematics/mathematics.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/CapsuleShape.h b/include/reactphysics3d/collision/shapes/CapsuleShape.h similarity index 98% rename from src/collision/shapes/CapsuleShape.h rename to include/reactphysics3d/collision/shapes/CapsuleShape.h index 3778f407..0aaf3b99 100644 --- a/src/collision/shapes/CapsuleShape.h +++ b/include/reactphysics3d/collision/shapes/CapsuleShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_CAPSULE_SHAPE_H // Libraries -#include "ConvexShape.h" -#include "mathematics/mathematics.h" +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/CollisionShape.h b/include/reactphysics3d/collision/shapes/CollisionShape.h similarity index 98% rename from src/collision/shapes/CollisionShape.h rename to include/reactphysics3d/collision/shapes/CollisionShape.h index 92315411..90b25b1d 100644 --- a/src/collision/shapes/CollisionShape.h +++ b/include/reactphysics3d/collision/shapes/CollisionShape.h @@ -28,9 +28,9 @@ // Libraries #include -#include "configuration.h" -#include "utils/Profiler.h" -#include "containers/List.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/ConcaveMeshShape.h b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h similarity index 98% rename from src/collision/shapes/ConcaveMeshShape.h rename to include/reactphysics3d/collision/shapes/ConcaveMeshShape.h index 67fa3187..32832547 100644 --- a/src/collision/shapes/ConcaveMeshShape.h +++ b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_CONCAVE_MESH_SHAPE_H // Libraries -#include "ConcaveShape.h" -#include "collision/broadphase/DynamicAABBTree.h" -#include "containers/List.h" +#include +#include +#include namespace reactphysics3d { diff --git a/src/collision/shapes/ConcaveShape.h b/include/reactphysics3d/collision/shapes/ConcaveShape.h similarity index 98% rename from src/collision/shapes/ConcaveShape.h rename to include/reactphysics3d/collision/shapes/ConcaveShape.h index 5b5c9cdf..6cc85efe 100644 --- a/src/collision/shapes/ConcaveShape.h +++ b/include/reactphysics3d/collision/shapes/ConcaveShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_CONCAVE_SHAPE_H // Libraries -#include "CollisionShape.h" -#include "TriangleShape.h" +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/ConvexMeshShape.h b/include/reactphysics3d/collision/shapes/ConvexMeshShape.h similarity index 98% rename from src/collision/shapes/ConvexMeshShape.h rename to include/reactphysics3d/collision/shapes/ConvexMeshShape.h index f94cafb3..cb266ddd 100644 --- a/src/collision/shapes/ConvexMeshShape.h +++ b/include/reactphysics3d/collision/shapes/ConvexMeshShape.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_CONVEX_MESH_SHAPE_H // Libraries -#include "ConvexPolyhedronShape.h" -#include "mathematics/mathematics.h" -#include "collision/PolyhedronMesh.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/ConvexPolyhedronShape.h b/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h similarity index 97% rename from src/collision/shapes/ConvexPolyhedronShape.h rename to include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h index 2bd41437..30d1785c 100644 --- a/src/collision/shapes/ConvexPolyhedronShape.h +++ b/include/reactphysics3d/collision/shapes/ConvexPolyhedronShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_CONVEX_POLYHEDRON_H // Libraries -#include "ConvexShape.h" -#include "collision/HalfEdgeStructure.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/ConvexShape.h b/include/reactphysics3d/collision/shapes/ConvexShape.h similarity index 98% rename from src/collision/shapes/ConvexShape.h rename to include/reactphysics3d/collision/shapes/ConvexShape.h index 49266389..d0d64b3e 100644 --- a/src/collision/shapes/ConvexShape.h +++ b/include/reactphysics3d/collision/shapes/ConvexShape.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_CONVEX_SHAPE_H // Libraries -#include "CollisionShape.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/HeightFieldShape.h b/include/reactphysics3d/collision/shapes/HeightFieldShape.h similarity index 98% rename from src/collision/shapes/HeightFieldShape.h rename to include/reactphysics3d/collision/shapes/HeightFieldShape.h index d446e996..fa639f46 100644 --- a/src/collision/shapes/HeightFieldShape.h +++ b/include/reactphysics3d/collision/shapes/HeightFieldShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_HEIGHTFIELD_SHAPE_H // Libraries -#include "ConcaveShape.h" -#include "collision/shapes/AABB.h" +#include +#include namespace reactphysics3d { diff --git a/src/collision/shapes/SphereShape.h b/include/reactphysics3d/collision/shapes/SphereShape.h similarity index 98% rename from src/collision/shapes/SphereShape.h rename to include/reactphysics3d/collision/shapes/SphereShape.h index 9719daa6..f4d27296 100644 --- a/src/collision/shapes/SphereShape.h +++ b/include/reactphysics3d/collision/shapes/SphereShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_SPHERE_SHAPE_H // Libraries -#include "ConvexShape.h" -#include "mathematics/mathematics.h" +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/collision/shapes/TriangleShape.h b/include/reactphysics3d/collision/shapes/TriangleShape.h similarity index 99% rename from src/collision/shapes/TriangleShape.h rename to include/reactphysics3d/collision/shapes/TriangleShape.h index 9c8ae62f..90ccc382 100644 --- a/src/collision/shapes/TriangleShape.h +++ b/include/reactphysics3d/collision/shapes/TriangleShape.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_TRIANGLE_SHAPE_H // Libraries -#include "mathematics/mathematics.h" -#include "ConvexPolyhedronShape.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/BallAndSocketJointComponents.h b/include/reactphysics3d/components/BallAndSocketJointComponents.h similarity index 98% rename from src/components/BallAndSocketJointComponents.h rename to include/reactphysics3d/components/BallAndSocketJointComponents.h index 3af8e569..d849e339 100644 --- a/src/components/BallAndSocketJointComponents.h +++ b/include/reactphysics3d/components/BallAndSocketJointComponents.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "mathematics/Matrix3x3.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/ColliderComponents.h b/include/reactphysics3d/components/ColliderComponents.h similarity index 98% rename from src/components/ColliderComponents.h rename to include/reactphysics3d/components/ColliderComponents.h index e96d72c1..16e51604 100644 --- a/src/components/ColliderComponents.h +++ b/include/reactphysics3d/components/ColliderComponents.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_COLLIDERS_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "engine/Entity.h" -#include "containers/Map.h" -#include "collision/shapes/AABB.h" -#include "components/Components.h" +#include +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/CollisionBodyComponents.h b/include/reactphysics3d/components/CollisionBodyComponents.h similarity index 97% rename from src/components/CollisionBodyComponents.h rename to include/reactphysics3d/components/CollisionBodyComponents.h index b3d9ad11..99c5a0ff 100644 --- a/src/components/CollisionBodyComponents.h +++ b/include/reactphysics3d/components/CollisionBodyComponents.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_COLLISION_BODY_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/Components.h b/include/reactphysics3d/components/Components.h similarity index 97% rename from src/components/Components.h rename to include/reactphysics3d/components/Components.h index 3a950af7..4697990b 100644 --- a/src/components/Components.h +++ b/include/reactphysics3d/components/Components.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_COMPONENTS_H // Libraries -#include "configuration.h" -#include "engine/Entity.h" -#include "containers/Map.h" +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/FixedJointComponents.h b/include/reactphysics3d/components/FixedJointComponents.h similarity index 98% rename from src/components/FixedJointComponents.h rename to include/reactphysics3d/components/FixedJointComponents.h index a6c10a69..41d5146a 100644 --- a/src/components/FixedJointComponents.h +++ b/include/reactphysics3d/components/FixedJointComponents.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_FIXED_JOINT_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "mathematics/Matrix3x3.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/HingeJointComponents.h b/include/reactphysics3d/components/HingeJointComponents.h similarity index 99% rename from src/components/HingeJointComponents.h rename to include/reactphysics3d/components/HingeJointComponents.h index 6e0bba85..c7beb995 100644 --- a/src/components/HingeJointComponents.h +++ b/include/reactphysics3d/components/HingeJointComponents.h @@ -27,12 +27,12 @@ #define REACTPHYSICS3D_HINGE_JOINT_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "mathematics/Matrix3x3.h" -#include "mathematics/Matrix2x2.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/JointComponents.h b/include/reactphysics3d/components/JointComponents.h similarity index 98% rename from src/components/JointComponents.h rename to include/reactphysics3d/components/JointComponents.h index 6056bd07..002a925c 100644 --- a/src/components/JointComponents.h +++ b/include/reactphysics3d/components/JointComponents.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_JOINT_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/RigidBodyComponents.h b/include/reactphysics3d/components/RigidBodyComponents.h similarity index 99% rename from src/components/RigidBodyComponents.h rename to include/reactphysics3d/components/RigidBodyComponents.h index df22407d..826b706b 100644 --- a/src/components/RigidBodyComponents.h +++ b/include/reactphysics3d/components/RigidBodyComponents.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_RIGID_BODY_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "mathematics/Matrix3x3.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/SliderJointComponents.h b/include/reactphysics3d/components/SliderJointComponents.h similarity index 99% rename from src/components/SliderJointComponents.h rename to include/reactphysics3d/components/SliderJointComponents.h index 5b30dffd..65d7c475 100644 --- a/src/components/SliderJointComponents.h +++ b/include/reactphysics3d/components/SliderJointComponents.h @@ -27,12 +27,12 @@ #define REACTPHYSICS3D_SLIDER_JOINT_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "mathematics/Matrix3x3.h" -#include "mathematics/Matrix2x2.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/components/TransformComponents.h b/include/reactphysics3d/components/TransformComponents.h similarity index 96% rename from src/components/TransformComponents.h rename to include/reactphysics3d/components/TransformComponents.h index 5ca00332..8d01893c 100644 --- a/src/components/TransformComponents.h +++ b/include/reactphysics3d/components/TransformComponents.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_TRANSFORM_COMPONENTS_H // Libraries -#include "mathematics/Transform.h" -#include "engine/Entity.h" -#include "components/Components.h" -#include "containers/Map.h" +#include +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/configuration.h b/include/reactphysics3d/configuration.h similarity index 98% rename from src/configuration.h rename to include/reactphysics3d/configuration.h index 339c875e..f90c2b11 100644 --- a/src/configuration.h +++ b/include/reactphysics3d/configuration.h @@ -32,8 +32,8 @@ #include #include #include -#include "decimal.h" -#include "containers/Pair.h" +#include +#include // Windows platform #if defined(WIN32) ||defined(_WIN32) || defined(_WIN64) ||defined(__WIN32__) || defined(__WINDOWS__) diff --git a/src/constraint/BallAndSocketJoint.h b/include/reactphysics3d/constraint/BallAndSocketJoint.h similarity index 97% rename from src/constraint/BallAndSocketJoint.h rename to include/reactphysics3d/constraint/BallAndSocketJoint.h index 5d913301..7c863532 100644 --- a/src/constraint/BallAndSocketJoint.h +++ b/include/reactphysics3d/constraint/BallAndSocketJoint.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_H // Libraries -#include "Joint.h" -#include "mathematics/mathematics.h" +#include +#include namespace reactphysics3d { diff --git a/src/constraint/ContactPoint.h b/include/reactphysics3d/constraint/ContactPoint.h similarity index 98% rename from src/constraint/ContactPoint.h rename to include/reactphysics3d/constraint/ContactPoint.h index cf01ade0..149c2b5b 100644 --- a/src/constraint/ContactPoint.h +++ b/include/reactphysics3d/constraint/ContactPoint.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_CONTACT_POINT_H // Libraries -#include "configuration.h" -#include "mathematics/mathematics.h" -#include "collision/ContactPointInfo.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/constraint/FixedJoint.h b/include/reactphysics3d/constraint/FixedJoint.h similarity index 97% rename from src/constraint/FixedJoint.h rename to include/reactphysics3d/constraint/FixedJoint.h index b030a805..1909f2f0 100644 --- a/src/constraint/FixedJoint.h +++ b/include/reactphysics3d/constraint/FixedJoint.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_FIXED_JOINT_H // Libraries -#include "Joint.h" -#include "mathematics/mathematics.h" +#include +#include namespace reactphysics3d { diff --git a/src/constraint/HingeJoint.h b/include/reactphysics3d/constraint/HingeJoint.h similarity index 99% rename from src/constraint/HingeJoint.h rename to include/reactphysics3d/constraint/HingeJoint.h index 19f104fb..24c0df21 100644 --- a/src/constraint/HingeJoint.h +++ b/include/reactphysics3d/constraint/HingeJoint.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_HINGE_JOINT_H // Libraries -#include "Joint.h" -#include "mathematics/mathematics.h" +#include +#include namespace reactphysics3d { diff --git a/src/constraint/Joint.h b/include/reactphysics3d/constraint/Joint.h similarity index 97% rename from src/constraint/Joint.h rename to include/reactphysics3d/constraint/Joint.h index 4a73c01e..a2e8cc1d 100644 --- a/src/constraint/Joint.h +++ b/include/reactphysics3d/constraint/Joint.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_CONSTRAINT_H // Libraries -#include "configuration.h" -#include "body/RigidBody.h" -#include "mathematics/mathematics.h" +#include +#include +#include // ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/constraint/SliderJoint.h b/include/reactphysics3d/constraint/SliderJoint.h similarity index 98% rename from src/constraint/SliderJoint.h rename to include/reactphysics3d/constraint/SliderJoint.h index fae831f4..015a05dc 100644 --- a/src/constraint/SliderJoint.h +++ b/include/reactphysics3d/constraint/SliderJoint.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_SLIDER_JOINT_H // Libraries -#include "mathematics/mathematics.h" -#include "body/RigidBody.h" -#include "Joint.h" +#include +#include +#include namespace reactphysics3d { diff --git a/src/containers/Deque.h b/include/reactphysics3d/containers/Deque.h similarity index 99% rename from src/containers/Deque.h rename to include/reactphysics3d/containers/Deque.h index 7c4f47d6..ca037308 100644 --- a/src/containers/Deque.h +++ b/include/reactphysics3d/containers/Deque.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_DEQUE_H // Libraries -#include "configuration.h" -#include "memory/MemoryAllocator.h" +#include +#include #include #include #include diff --git a/src/containers/LinkedList.h b/include/reactphysics3d/containers/LinkedList.h similarity index 98% rename from src/containers/LinkedList.h rename to include/reactphysics3d/containers/LinkedList.h index 71eb48a8..6efe3377 100644 --- a/src/containers/LinkedList.h +++ b/include/reactphysics3d/containers/LinkedList.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_LINKED_LIST_H // Libraries -#include "memory/MemoryAllocator.h" +#include namespace reactphysics3d { diff --git a/src/containers/List.h b/include/reactphysics3d/containers/List.h similarity index 99% rename from src/containers/List.h rename to include/reactphysics3d/containers/List.h index 079fd12c..0aa12b6a 100755 --- a/src/containers/List.h +++ b/include/reactphysics3d/containers/List.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_LIST_H // Libraries -#include "configuration.h" -#include "memory/MemoryAllocator.h" +#include +#include #include #include #include diff --git a/src/containers/Map.h b/include/reactphysics3d/containers/Map.h similarity index 99% rename from src/containers/Map.h rename to include/reactphysics3d/containers/Map.h index 44b435ad..22e92536 100755 --- a/src/containers/Map.h +++ b/include/reactphysics3d/containers/Map.h @@ -27,15 +27,14 @@ #define REACTPHYSICS3D_MAP_H // Libraries -#include "memory/MemoryAllocator.h" -#include "mathematics/mathematics_functions.h" -#include "containers/Pair.h" +#include +#include +#include #include #include #include #include - namespace reactphysics3d { // Class Map diff --git a/src/containers/Pair.h b/include/reactphysics3d/containers/Pair.h similarity index 96% rename from src/containers/Pair.h rename to include/reactphysics3d/containers/Pair.h index cb093a05..12f231fe 100644 --- a/src/containers/Pair.h +++ b/include/reactphysics3d/containers/Pair.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_PAIR_H // Libraries -#include "configuration.h" -#include "memory/MemoryAllocator.h" -#include "containers/containers_common.h" +#include +#include +#include #include #include diff --git a/src/containers/Set.h b/include/reactphysics3d/containers/Set.h similarity index 99% rename from src/containers/Set.h rename to include/reactphysics3d/containers/Set.h index bdedc484..88d1b70d 100755 --- a/src/containers/Set.h +++ b/include/reactphysics3d/containers/Set.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_SET_H // Libraries -#include "memory/MemoryAllocator.h" -#include "mathematics/mathematics_functions.h" +#include +#include #include #include #include diff --git a/src/containers/Stack.h b/include/reactphysics3d/containers/Stack.h similarity index 98% rename from src/containers/Stack.h rename to include/reactphysics3d/containers/Stack.h index c3aaf283..01d46b02 100644 --- a/src/containers/Stack.h +++ b/include/reactphysics3d/containers/Stack.h @@ -28,8 +28,8 @@ // Libraries #include -#include "configuration.h" -#include "memory/MemoryAllocator.h" +#include +#include namespace reactphysics3d { diff --git a/src/containers/containers_common.h b/include/reactphysics3d/containers/containers_common.h similarity index 100% rename from src/containers/containers_common.h rename to include/reactphysics3d/containers/containers_common.h diff --git a/src/decimal.h b/include/reactphysics3d/decimal.h similarity index 100% rename from src/decimal.h rename to include/reactphysics3d/decimal.h diff --git a/src/engine/Entity.h b/include/reactphysics3d/engine/Entity.h similarity index 99% rename from src/engine/Entity.h rename to include/reactphysics3d/engine/Entity.h index 7d82925b..d37b9631 100644 --- a/src/engine/Entity.h +++ b/include/reactphysics3d/engine/Entity.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_ENTITY_H // Libraries -#include "configuration.h" +#include /// Namespace reactphysics3d namespace reactphysics3d { diff --git a/src/engine/EntityManager.h b/include/reactphysics3d/engine/EntityManager.h similarity index 94% rename from src/engine/EntityManager.h rename to include/reactphysics3d/engine/EntityManager.h index 9c1bacc3..be87a13f 100644 --- a/src/engine/EntityManager.h +++ b/include/reactphysics3d/engine/EntityManager.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_ENTITY_MANAGER_H // Libraries -#include "configuration.h" -#include "containers/List.h" -#include "containers/Deque.h" -#include "engine/Entity.h" +#include +#include +#include +#include /// Namespace reactphysics3d namespace reactphysics3d { diff --git a/src/engine/EventListener.h b/include/reactphysics3d/engine/EventListener.h similarity index 98% rename from src/engine/EventListener.h rename to include/reactphysics3d/engine/EventListener.h index 97a9f6ec..0db10123 100644 --- a/src/engine/EventListener.h +++ b/include/reactphysics3d/engine/EventListener.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_EVENT_LISTENER_H // Libraries -#include "collision/CollisionCallback.h" +#include namespace reactphysics3d { diff --git a/src/engine/Island.h b/include/reactphysics3d/engine/Island.h similarity index 99% rename from src/engine/Island.h rename to include/reactphysics3d/engine/Island.h index 9d8da4c4..94ed1fda 100644 --- a/src/engine/Island.h +++ b/include/reactphysics3d/engine/Island.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_ISLAND_H // Libraries -#include "constraint/Joint.h" +#include namespace reactphysics3d { diff --git a/src/engine/Islands.h b/include/reactphysics3d/engine/Islands.h similarity index 96% rename from src/engine/Islands.h rename to include/reactphysics3d/engine/Islands.h index 26011fa3..0ba50e2b 100644 --- a/src/engine/Islands.h +++ b/include/reactphysics3d/engine/Islands.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_ISLANDS_H // Libraries -#include "configuration.h" -#include "containers/List.h" -#include "engine/Entity.h" -#include "constraint/Joint.h" +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/engine/Material.h b/include/reactphysics3d/engine/Material.h similarity index 99% rename from src/engine/Material.h rename to include/reactphysics3d/engine/Material.h index 342beec4..96122132 100644 --- a/src/engine/Material.h +++ b/include/reactphysics3d/engine/Material.h @@ -28,7 +28,7 @@ // Libraries #include -#include "configuration.h" +#include namespace reactphysics3d { diff --git a/src/engine/OverlappingPairs.h b/include/reactphysics3d/engine/OverlappingPairs.h similarity index 96% rename from src/engine/OverlappingPairs.h rename to include/reactphysics3d/engine/OverlappingPairs.h index 80948c13..676ccc22 100644 --- a/src/engine/OverlappingPairs.h +++ b/include/reactphysics3d/engine/OverlappingPairs.h @@ -27,15 +27,15 @@ #define REACTPHYSICS3D_OVERLAPPING_PAIR_H // Libraries -#include "collision/Collider.h" -#include "containers/Map.h" -#include "containers/Pair.h" -#include "containers/Set.h" -#include "containers/containers_common.h" -#include "utils/Profiler.h" -#include "components/ColliderComponents.h" -#include "components/CollisionBodyComponents.h" -#include "components/RigidBodyComponents.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include #include /// ReactPhysics3D namespace diff --git a/src/engine/PhysicsCommon.h b/include/reactphysics3d/engine/PhysicsCommon.h similarity index 93% rename from src/engine/PhysicsCommon.h rename to include/reactphysics3d/engine/PhysicsCommon.h index a983ec86..2564a289 100644 --- a/src/engine/PhysicsCommon.h +++ b/include/reactphysics3d/engine/PhysicsCommon.h @@ -27,15 +27,15 @@ #define REACTPHYSICS3D_PHYSICS_COMMON_H // Libraries -#include "memory/MemoryManager.h" -#include "engine/PhysicsWorld.h" -#include "collision/shapes/SphereShape.h" -#include "collision/shapes/BoxShape.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/shapes/HeightFieldShape.h" -#include "collision/shapes/ConvexMeshShape.h" -#include "collision/shapes/ConcaveMeshShape.h" -#include "collision/TriangleMesh.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h similarity index 96% rename from src/engine/PhysicsWorld.h rename to include/reactphysics3d/engine/PhysicsWorld.h index 30b800e1..e6092c28 100644 --- a/src/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -27,29 +27,29 @@ #define REACTPHYSICS3D_PHYSICS_WORLD_H // Libraries -#include "mathematics/mathematics.h" -#include "containers/List.h" -#include "constraint/Joint.h" -#include "memory/MemoryManager.h" -#include "engine/EntityManager.h" -#include "components/CollisionBodyComponents.h" -#include "components/RigidBodyComponents.h" -#include "components/TransformComponents.h" -#include "components/ColliderComponents.h" -#include "components/JointComponents.h" -#include "components/BallAndSocketJointComponents.h" -#include "components/FixedJointComponents.h" -#include "components/HingeJointComponents.h" -#include "components/SliderJointComponents.h" -#include "collision/CollisionCallback.h" -#include "collision/OverlapCallback.h" -#include "configuration.h" -#include "utils/Logger.h" -#include "systems/ConstraintSolverSystem.h" -#include "systems/CollisionDetectionSystem.h" -#include "systems/ContactSolverSystem.h" -#include "systems/DynamicsSystem.h" -#include "engine/Islands.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include /// Namespace ReactPhysics3D diff --git a/src/engine/Timer.h b/include/reactphysics3d/engine/Timer.h similarity index 99% rename from src/engine/Timer.h rename to include/reactphysics3d/engine/Timer.h index e1fd2a3c..a7e4ed52 100644 --- a/src/engine/Timer.h +++ b/include/reactphysics3d/engine/Timer.h @@ -29,7 +29,7 @@ // Libraries #include #include -#include "configuration.h" +#include #if defined(WINDOWS_OS) // For Windows platform #define NOMINMAX // This is used to avoid definition of max() and min() macros diff --git a/src/mathematics/Matrix2x2.h b/include/reactphysics3d/mathematics/Matrix2x2.h similarity index 99% rename from src/mathematics/Matrix2x2.h rename to include/reactphysics3d/mathematics/Matrix2x2.h index 58063766..35a44357 100644 --- a/src/mathematics/Matrix2x2.h +++ b/include/reactphysics3d/mathematics/Matrix2x2.h @@ -28,7 +28,7 @@ // Libraries #include -#include "Vector2.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/mathematics/Matrix3x3.h b/include/reactphysics3d/mathematics/Matrix3x3.h similarity index 99% rename from src/mathematics/Matrix3x3.h rename to include/reactphysics3d/mathematics/Matrix3x3.h index f56ddd4b..f779f825 100644 --- a/src/mathematics/Matrix3x3.h +++ b/include/reactphysics3d/mathematics/Matrix3x3.h @@ -29,7 +29,7 @@ // Libraries #include -#include "Vector3.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/mathematics/Quaternion.h b/include/reactphysics3d/mathematics/Quaternion.h similarity index 99% rename from src/mathematics/Quaternion.h rename to include/reactphysics3d/mathematics/Quaternion.h index 3401f601..3d58ca29 100644 --- a/src/mathematics/Quaternion.h +++ b/include/reactphysics3d/mathematics/Quaternion.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_QUATERNION_H // Libraries -#include "decimal.h" -#include "Vector3.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/mathematics/Ray.h b/include/reactphysics3d/mathematics/Ray.h similarity index 98% rename from src/mathematics/Ray.h rename to include/reactphysics3d/mathematics/Ray.h index 287d4928..2dc05f83 100644 --- a/src/mathematics/Ray.h +++ b/include/reactphysics3d/mathematics/Ray.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_RAY_H // Libraries -#include "Vector3.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/mathematics/Transform.h b/include/reactphysics3d/mathematics/Transform.h similarity index 99% rename from src/mathematics/Transform.h rename to include/reactphysics3d/mathematics/Transform.h index 4ea670ec..8933f20b 100644 --- a/src/mathematics/Transform.h +++ b/include/reactphysics3d/mathematics/Transform.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_TRANSFORM_H // Libraries -#include "Vector3.h" -#include "Quaternion.h" +#include +#include // ReactPhysiscs3D namespace namespace reactphysics3d { diff --git a/src/mathematics/Vector2.h b/include/reactphysics3d/mathematics/Vector2.h similarity index 99% rename from src/mathematics/Vector2.h rename to include/reactphysics3d/mathematics/Vector2.h index cefeb561..102d43c7 100644 --- a/src/mathematics/Vector2.h +++ b/include/reactphysics3d/mathematics/Vector2.h @@ -28,9 +28,8 @@ // Libraries #include -#include "mathematics_functions.h" -#include "decimal.h" - +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/mathematics/Vector3.h b/include/reactphysics3d/mathematics/Vector3.h similarity index 99% rename from src/mathematics/Vector3.h rename to include/reactphysics3d/mathematics/Vector3.h index e0fd7ce3..722fca58 100644 --- a/src/mathematics/Vector3.h +++ b/include/reactphysics3d/mathematics/Vector3.h @@ -28,9 +28,8 @@ // Libraries #include -#include "mathematics_functions.h" -#include "decimal.h" - +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/mathematics/mathematics.h b/include/reactphysics3d/mathematics/mathematics.h similarity index 82% rename from src/mathematics/mathematics.h rename to include/reactphysics3d/mathematics/mathematics.h index c9a290fc..bfbf525e 100644 --- a/src/mathematics/mathematics.h +++ b/include/reactphysics3d/mathematics/mathematics.h @@ -27,15 +27,15 @@ #define REACTPHYSICS3D_MATHEMATICS_H // Libraries -#include "Matrix3x3.h" -#include "Matrix2x2.h" -#include "Quaternion.h" -#include "Vector3.h" -#include "Vector2.h" -#include "Transform.h" -#include "Ray.h" -#include "configuration.h" -#include "mathematics_functions.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include #include diff --git a/src/mathematics/mathematics_functions.h b/include/reactphysics3d/mathematics/mathematics_functions.h similarity index 96% rename from src/mathematics/mathematics_functions.h rename to include/reactphysics3d/mathematics/mathematics_functions.h index 94c623a7..30156d2e 100755 --- a/src/mathematics/mathematics_functions.h +++ b/include/reactphysics3d/mathematics/mathematics_functions.h @@ -27,12 +27,12 @@ #define REACTPHYSICS3D_MATHEMATICS_FUNCTIONS_H // Libraries -#include "configuration.h" -#include "decimal.h" +#include +#include #include #include #include -#include "containers/List.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/memory/DefaultAllocator.h b/include/reactphysics3d/memory/DefaultAllocator.h similarity index 98% rename from src/memory/DefaultAllocator.h rename to include/reactphysics3d/memory/DefaultAllocator.h index 451770f7..c061961a 100644 --- a/src/memory/DefaultAllocator.h +++ b/include/reactphysics3d/memory/DefaultAllocator.h @@ -27,7 +27,7 @@ #define REACTPHYSICS3D_DEFAULT_ALLOCATOR_H // Libraries -#include "memory/MemoryAllocator.h" +#include #include #include diff --git a/src/memory/HeapAllocator.h b/include/reactphysics3d/memory/HeapAllocator.h similarity index 97% rename from src/memory/HeapAllocator.h rename to include/reactphysics3d/memory/HeapAllocator.h index 437fb3dd..64c192ab 100644 --- a/src/memory/HeapAllocator.h +++ b/include/reactphysics3d/memory/HeapAllocator.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_HEAP_ALLOCATOR_H // Libraries -#include "configuration.h" -#include "MemoryAllocator.h" +#include +#include #include -#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/memory/MemoryAllocator.h b/include/reactphysics3d/memory/MemoryAllocator.h similarity index 100% rename from src/memory/MemoryAllocator.h rename to include/reactphysics3d/memory/MemoryAllocator.h diff --git a/src/memory/MemoryManager.h b/include/reactphysics3d/memory/MemoryManager.h similarity index 96% rename from src/memory/MemoryManager.h rename to include/reactphysics3d/memory/MemoryManager.h index 838c0ca0..ba0783fa 100644 --- a/src/memory/MemoryManager.h +++ b/include/reactphysics3d/memory/MemoryManager.h @@ -27,10 +27,10 @@ #define REACTPHYSICS3D_MEMORY_MANAGER_H // Libraries -#include "memory/DefaultAllocator.h" -#include "memory/PoolAllocator.h" -#include "memory/HeapAllocator.h" -#include "memory/SingleFrameAllocator.h" +#include +#include +#include +#include /// Namespace ReactPhysics3D namespace reactphysics3d { diff --git a/src/memory/PoolAllocator.h b/include/reactphysics3d/memory/PoolAllocator.h similarity index 98% rename from src/memory/PoolAllocator.h rename to include/reactphysics3d/memory/PoolAllocator.h index cfeb2726..8b3f799f 100644 --- a/src/memory/PoolAllocator.h +++ b/include/reactphysics3d/memory/PoolAllocator.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_POOL_ALLOCATOR_H // Libraries -#include "configuration.h" -#include "MemoryAllocator.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/memory/SingleFrameAllocator.h b/include/reactphysics3d/memory/SingleFrameAllocator.h similarity index 97% rename from src/memory/SingleFrameAllocator.h rename to include/reactphysics3d/memory/SingleFrameAllocator.h index 7db915a2..cf4d5a49 100644 --- a/src/memory/SingleFrameAllocator.h +++ b/include/reactphysics3d/memory/SingleFrameAllocator.h @@ -27,8 +27,8 @@ #define REACTPHYSICS3D_SINGLE_FRAME_ALLOCATOR_H // Libraries -#include "MemoryAllocator.h" -#include "configuration.h" +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/reactphysics3d.h b/include/reactphysics3d/reactphysics3d.h similarity index 62% rename from src/reactphysics3d.h rename to include/reactphysics3d/reactphysics3d.h index b878ba7b..57e9f202 100644 --- a/src/reactphysics3d.h +++ b/include/reactphysics3d/reactphysics3d.h @@ -35,36 +35,36 @@ #define REACTPHYSICS3D_H // Libraries -#include "configuration.h" -#include "mathematics/mathematics.h" -#include "body/CollisionBody.h" -#include "body/RigidBody.h" -#include "engine/PhysicsCommon.h" -#include "engine/PhysicsWorld.h" -#include "engine/Material.h" -#include "engine/EventListener.h" -#include "collision/shapes/CollisionShape.h" -#include "collision/shapes/BoxShape.h" -#include "collision/shapes/SphereShape.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/shapes/ConvexMeshShape.h" -#include "collision/shapes/ConcaveMeshShape.h" -#include "collision/shapes/HeightFieldShape.h" -#include "collision/PolyhedronMesh.h" -#include "collision/shapes/AABB.h" -#include "collision/Collider.h" -#include "collision/RaycastInfo.h" -#include "collision/TriangleMesh.h" -#include "collision/PolyhedronMesh.h" -#include "collision/TriangleVertexArray.h" -#include "collision/PolygonVertexArray.h" -#include "collision/CollisionCallback.h" -#include "collision/OverlapCallback.h" -#include "constraint/BallAndSocketJoint.h" -#include "constraint/SliderJoint.h" -#include "constraint/HingeJoint.h" -#include "constraint/FixedJoint.h" -#include "containers/List.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include /// Alias to the ReactPhysics3D namespace namespace rp3d = reactphysics3d; diff --git a/src/systems/BroadPhaseSystem.h b/include/reactphysics3d/systems/BroadPhaseSystem.h similarity index 96% rename from src/systems/BroadPhaseSystem.h rename to include/reactphysics3d/systems/BroadPhaseSystem.h index f37efe56..ee29832b 100644 --- a/src/systems/BroadPhaseSystem.h +++ b/include/reactphysics3d/systems/BroadPhaseSystem.h @@ -27,12 +27,12 @@ #define REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H // Libraries -#include "collision/broadphase/DynamicAABBTree.h" -#include "containers/LinkedList.h" -#include "containers/Set.h" -#include "components/ColliderComponents.h" -#include "components/TransformComponents.h" -#include "components/RigidBodyComponents.h" +#include +#include +#include +#include +#include +#include #include /// Namespace ReactPhysics3D diff --git a/src/systems/CollisionDetectionSystem.h b/include/reactphysics3d/systems/CollisionDetectionSystem.h similarity index 95% rename from src/systems/CollisionDetectionSystem.h rename to include/reactphysics3d/systems/CollisionDetectionSystem.h index bb56d0d5..3a6e467c 100644 --- a/src/systems/CollisionDetectionSystem.h +++ b/include/reactphysics3d/systems/CollisionDetectionSystem.h @@ -27,22 +27,22 @@ #define REACTPHYSICS3D_COLLISION_DETECTION_SYSTEM_H // Libraries -#include "body/CollisionBody.h" -#include "systems/BroadPhaseSystem.h" -#include "collision/shapes/CollisionShape.h" -#include "collision/ContactPointInfo.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifoldInfo.h" -#include "collision/ContactManifold.h" -#include "collision/ContactPair.h" -#include "engine/OverlappingPairs.h" -#include "engine/OverlappingPairs.h" -#include "collision/narrowphase/NarrowPhaseInput.h" -#include "collision/narrowphase/CollisionDispatch.h" -#include "containers/Map.h" -#include "containers/Set.h" -#include "components/ColliderComponents.h" -#include "components/TransformComponents.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/systems/ConstraintSolverSystem.h b/include/reactphysics3d/systems/ConstraintSolverSystem.h similarity index 96% rename from src/systems/ConstraintSolverSystem.h rename to include/reactphysics3d/systems/ConstraintSolverSystem.h index ff88f4fd..5460cac2 100644 --- a/src/systems/ConstraintSolverSystem.h +++ b/include/reactphysics3d/systems/ConstraintSolverSystem.h @@ -27,12 +27,12 @@ #define REACTPHYSICS3D_CONSTRAINT_SOLVER_SYSTEM_H // Libraries -#include "configuration.h" -#include "mathematics/mathematics.h" -#include "systems/SolveBallAndSocketJointSystem.h" -#include "systems/SolveFixedJointSystem.h" -#include "systems/SolveHingeJointSystem.h" -#include "systems/SolveSliderJointSystem.h" +#include +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/systems/ContactSolverSystem.h b/include/reactphysics3d/systems/ContactSolverSystem.h similarity index 99% rename from src/systems/ContactSolverSystem.h rename to include/reactphysics3d/systems/ContactSolverSystem.h index a056a4b2..b98c294b 100644 --- a/src/systems/ContactSolverSystem.h +++ b/include/reactphysics3d/systems/ContactSolverSystem.h @@ -27,9 +27,9 @@ #define REACTPHYSICS3D_CONTACT_SOLVER_SYSTEM_H // Libraries -#include "configuration.h" -#include "mathematics/Vector3.h" -#include "mathematics/Matrix3x3.h" +#include +#include +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/systems/DynamicsSystem.h b/include/reactphysics3d/systems/DynamicsSystem.h similarity index 94% rename from src/systems/DynamicsSystem.h rename to include/reactphysics3d/systems/DynamicsSystem.h index fb3b35e6..4b52a45e 100644 --- a/src/systems/DynamicsSystem.h +++ b/include/reactphysics3d/systems/DynamicsSystem.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_DYNAMICS_SYSTEM_H // Libraries -#include "utils/Profiler.h" -#include "components/CollisionBodyComponents.h" -#include "components/RigidBodyComponents.h" -#include "components/TransformComponents.h" -#include "components/ColliderComponents.h" +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/systems/SolveBallAndSocketJointSystem.h b/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h similarity index 94% rename from src/systems/SolveBallAndSocketJointSystem.h rename to include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h index 5655a850..2e18ba79 100644 --- a/src/systems/SolveBallAndSocketJointSystem.h +++ b/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_SOLVE_BALL_SOCKET_JOINT_SYSTEM_H // Libraries -#include "utils/Profiler.h" -#include "components/RigidBodyComponents.h" -#include "components/JointComponents.h" -#include "components/BallAndSocketJointComponents.h" -#include "components/TransformComponents.h" +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/systems/SolveFixedJointSystem.h b/include/reactphysics3d/systems/SolveFixedJointSystem.h similarity index 94% rename from src/systems/SolveFixedJointSystem.h rename to include/reactphysics3d/systems/SolveFixedJointSystem.h index a2151a85..7640f096 100644 --- a/src/systems/SolveFixedJointSystem.h +++ b/include/reactphysics3d/systems/SolveFixedJointSystem.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_SOLVE_FIXED_JOINT_SYSTEM_H // Libraries -#include "utils/Profiler.h" -#include "components/RigidBodyComponents.h" -#include "components/JointComponents.h" -#include "components/FixedJointComponents.h" -#include "components/TransformComponents.h" +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/systems/SolveHingeJointSystem.h b/include/reactphysics3d/systems/SolveHingeJointSystem.h similarity index 95% rename from src/systems/SolveHingeJointSystem.h rename to include/reactphysics3d/systems/SolveHingeJointSystem.h index 36d876ee..9e120863 100644 --- a/src/systems/SolveHingeJointSystem.h +++ b/include/reactphysics3d/systems/SolveHingeJointSystem.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_SOLVE_HINGE_JOINT_SYSTEM_H // Libraries -#include "utils/Profiler.h" -#include "components/RigidBodyComponents.h" -#include "components/JointComponents.h" -#include "components/HingeJointComponents.h" -#include "components/TransformComponents.h" +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/systems/SolveSliderJointSystem.h b/include/reactphysics3d/systems/SolveSliderJointSystem.h similarity index 94% rename from src/systems/SolveSliderJointSystem.h rename to include/reactphysics3d/systems/SolveSliderJointSystem.h index faac19ce..651aafbe 100644 --- a/src/systems/SolveSliderJointSystem.h +++ b/include/reactphysics3d/systems/SolveSliderJointSystem.h @@ -27,11 +27,11 @@ #define REACTPHYSICS3D_SOLVE_SLIDER_JOINT_SYSTEM_H // Libraries -#include "utils/Profiler.h" -#include "components/RigidBodyComponents.h" -#include "components/JointComponents.h" -#include "components/SliderJointComponents.h" -#include "components/TransformComponents.h" +#include +#include +#include +#include +#include namespace reactphysics3d { diff --git a/src/utils/Logger.h b/include/reactphysics3d/utils/Logger.h similarity index 99% rename from src/utils/Logger.h rename to include/reactphysics3d/utils/Logger.h index a1bbc6c0..124673a9 100644 --- a/src/utils/Logger.h +++ b/include/reactphysics3d/utils/Logger.h @@ -30,8 +30,8 @@ #ifdef IS_LOGGING_ACTIVE // Libraries -#include "containers/List.h" -#include "containers/Map.h" +#include +#include #include #include #include diff --git a/src/utils/Profiler.h b/include/reactphysics3d/utils/Profiler.h similarity index 100% rename from src/utils/Profiler.h rename to include/reactphysics3d/utils/Profiler.h diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index e21884e4..eff3f1c6 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -24,11 +24,11 @@ ********************************************************************************/ // Libraries -#include "CollisionBody.h" -#include "engine/PhysicsWorld.h" -#include "collision/ContactManifold.h" -#include "collision/RaycastInfo.h" -#include "utils/Logger.h" +#include +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 4f6a7ad5..5fbab075 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "RigidBody.h" -#include "collision/shapes/CollisionShape.h" -#include "engine/PhysicsWorld.h" -#include "utils/Profiler.h" +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index 2ada633a..d4193baa 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -24,11 +24,11 @@ ********************************************************************************/ // Libraries -#include "Collider.h" -#include "utils/Logger.h" -#include "collision/RaycastInfo.h" -#include "memory/MemoryManager.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index 7644ee4c..58507b6c 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "collision/CollisionCallback.h" -#include "collision/ContactPair.h" -#include "constraint/ContactPoint.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/ContactManifold.cpp b/src/collision/ContactManifold.cpp index 6d85dcad..0844f962 100644 --- a/src/collision/ContactManifold.cpp +++ b/src/collision/ContactManifold.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "ContactManifold.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifoldInfo.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/HalfEdgeStructure.cpp b/src/collision/HalfEdgeStructure.cpp index 02382711..0c178871 100644 --- a/src/collision/HalfEdgeStructure.cpp +++ b/src/collision/HalfEdgeStructure.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "HalfEdgeStructure.h" -#include "containers/Map.h" -#include "containers/Pair.h" -#include "containers/containers_common.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index 70318739..b0448486 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "collision/OverlapCallback.h" -#include "engine/PhysicsWorld.h" +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/PolygonVertexArray.cpp b/src/collision/PolygonVertexArray.cpp index 202d15be..b764d583 100644 --- a/src/collision/PolygonVertexArray.cpp +++ b/src/collision/PolygonVertexArray.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "PolygonVertexArray.h" +#include using namespace reactphysics3d; diff --git a/src/collision/PolyhedronMesh.cpp b/src/collision/PolyhedronMesh.cpp index e4f53ed3..37aef5b9 100644 --- a/src/collision/PolyhedronMesh.cpp +++ b/src/collision/PolyhedronMesh.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "PolyhedronMesh.h" -#include "memory/MemoryManager.h" -#include "collision/PolygonVertexArray.h" +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/RaycastInfo.cpp b/src/collision/RaycastInfo.cpp index 3879e80e..bca91a34 100644 --- a/src/collision/RaycastInfo.cpp +++ b/src/collision/RaycastInfo.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "decimal.h" -#include "RaycastInfo.h" -#include "Collider.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/TriangleMesh.cpp b/src/collision/TriangleMesh.cpp index 3596ba24..b7f522c9 100644 --- a/src/collision/TriangleMesh.cpp +++ b/src/collision/TriangleMesh.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "TriangleMesh.h" +#include using namespace reactphysics3d; diff --git a/src/collision/TriangleVertexArray.cpp b/src/collision/TriangleVertexArray.cpp index 65591bf0..f86febc1 100644 --- a/src/collision/TriangleVertexArray.cpp +++ b/src/collision/TriangleVertexArray.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "TriangleVertexArray.h" -#include "mathematics/Vector3.h" +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp index 4c0e667a..3621f736 100644 --- a/src/collision/broadphase/DynamicAABBTree.cpp +++ b/src/collision/broadphase/DynamicAABBTree.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "DynamicAABBTree.h" -#include "systems/BroadPhaseSystem.h" -#include "containers/Stack.h" -#include "utils/Profiler.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index 7dbbb271..7f69964c 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "CapsuleVsCapsuleAlgorithm.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h" +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp index 9d7d7232..c8780c02 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "CapsuleVsCapsuleNarrowPhaseInfoBatch.h" -#include "collision/shapes/CapsuleShape.h" +#include +#include using namespace reactphysics3d; diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index d1498de6..0342487b 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -24,13 +24,13 @@ ********************************************************************************/ // Libraries -#include "CapsuleVsConvexPolyhedronAlgorithm.h" -#include "SAT/SATAlgorithm.h" -#include "GJK/GJKAlgorithm.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/shapes/ConvexPolyhedronShape.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" -#include "collision/ContactPointInfo.h" +#include +#include +#include +#include +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/collision/narrowphase/CollisionDispatch.cpp b/src/collision/narrowphase/CollisionDispatch.cpp index bb0a948e..a015548e 100644 --- a/src/collision/narrowphase/CollisionDispatch.cpp +++ b/src/collision/narrowphase/CollisionDispatch.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "CollisionDispatch.h" +#include using namespace reactphysics3d; diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index 652116bf..ac4791c1 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "ConvexPolyhedronVsConvexPolyhedronAlgorithm.h" -#include "GJK/GJKAlgorithm.h" -#include "SAT/SATAlgorithm.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index 97056eee..ff39943d 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -24,15 +24,15 @@ ********************************************************************************/ // Libraries -#include "GJKAlgorithm.h" -#include "constraint/ContactPoint.h" -#include "engine/OverlappingPairs.h" -#include "collision/shapes/TriangleShape.h" -#include "configuration.h" -#include "utils/Profiler.h" -#include "containers/List.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" -#include "collision/narrowphase/GJK/VoronoiSimplex.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/collision/narrowphase/GJK/VoronoiSimplex.cpp b/src/collision/narrowphase/GJK/VoronoiSimplex.cpp index b9359abd..0befd387 100644 --- a/src/collision/narrowphase/GJK/VoronoiSimplex.cpp +++ b/src/collision/narrowphase/GJK/VoronoiSimplex.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "VoronoiSimplex.h" -#include "mathematics/Vector2.h" +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index cffab5af..f7a5ce21 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "NarrowPhaseInfoBatch.h" -#include "collision/ContactPointInfo.h" -#include "collision/shapes/TriangleShape.h" -#include "engine/OverlappingPairs.h" +#include +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index 5fa35d4e..aff929ed 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "collision/narrowphase/NarrowPhaseInput.h" -#include "collision/narrowphase/CollisionDispatch.h" +#include +#include using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 018c4fcd..e9c89853 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -24,16 +24,16 @@ ********************************************************************************/ // Libraries -#include "SATAlgorithm.h" -#include "constraint/ContactPoint.h" -#include "collision/PolyhedronMesh.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/shapes/SphereShape.h" -#include "engine/OverlappingPairs.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" -#include "collision/shapes/TriangleShape.h" -#include "configuration.h" -#include "utils/Profiler.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index 19ee161d..fe2dab68 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "SphereVsCapsuleAlgorithm.h" -#include "collision/shapes/SphereShape.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h" +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp index 6be1ded8..7d33d609 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "SphereVsCapsuleNarrowPhaseInfoBatch.h" -#include "collision/shapes/SphereShape.h" -#include "collision/shapes/CapsuleShape.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index 98326bfd..64ee7f87 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "SphereVsConvexPolyhedronAlgorithm.h" -#include "GJK/GJKAlgorithm.h" -#include "SAT/SATAlgorithm.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index e31c7aae..4af07480 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "SphereVsSphereAlgorithm.h" -#include "collision/shapes/SphereShape.h" -#include "collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h" +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index d6234e12..76914285 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "SphereVsSphereNarrowPhaseInfoBatch.h" -#include "collision/shapes/SphereShape.h" +#include +#include using namespace reactphysics3d; diff --git a/src/collision/shapes/AABB.cpp b/src/collision/shapes/AABB.cpp index 93b994d6..098a5604 100644 --- a/src/collision/shapes/AABB.cpp +++ b/src/collision/shapes/AABB.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "AABB.h" -#include "configuration.h" +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp index ae93f986..e243423d 100644 --- a/src/collision/shapes/BoxShape.cpp +++ b/src/collision/shapes/BoxShape.cpp @@ -24,11 +24,11 @@ ********************************************************************************/ // Libraries -#include "BoxShape.h" -#include "collision/Collider.h" -#include "configuration.h" -#include "memory/MemoryManager.h" -#include "collision/RaycastInfo.h" +#include +#include +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp index 13a29b6c..c1004c9b 100644 --- a/src/collision/shapes/CapsuleShape.cpp +++ b/src/collision/shapes/CapsuleShape.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "CapsuleShape.h" -#include "collision/Collider.h" -#include "configuration.h" -#include "collision/RaycastInfo.h" +#include +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp index 576e6ff4..e49aa2e8 100644 --- a/src/collision/shapes/CollisionShape.cpp +++ b/src/collision/shapes/CollisionShape.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "CollisionShape.h" -#include "utils/Profiler.h" -#include "body/CollisionBody.h" -#include "collision/Collider.h" +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index a5f873fc..37c3c729 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -24,12 +24,12 @@ ********************************************************************************/ // Libraries -#include "ConcaveMeshShape.h" -#include "memory/MemoryManager.h" -#include "collision/RaycastInfo.h" -#include "collision/TriangleMesh.h" -#include "utils/Profiler.h" -#include "collision/TriangleVertexArray.h" +#include +#include +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp index d60862d0..37bd6fa6 100644 --- a/src/collision/shapes/ConcaveShape.cpp +++ b/src/collision/shapes/ConcaveShape.cpp @@ -24,8 +24,7 @@ ********************************************************************************/ // Libraries -#include "ConcaveShape.h" - +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp index df105a5e..aaafe693 100644 --- a/src/collision/shapes/ConvexMeshShape.cpp +++ b/src/collision/shapes/ConvexMeshShape.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "configuration.h" -#include "ConvexMeshShape.h" -#include "engine/PhysicsWorld.h" -#include "collision/RaycastInfo.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/shapes/ConvexPolyhedronShape.cpp b/src/collision/shapes/ConvexPolyhedronShape.cpp index 53bb92c8..b9cd8c9c 100644 --- a/src/collision/shapes/ConvexPolyhedronShape.cpp +++ b/src/collision/shapes/ConvexPolyhedronShape.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "ConvexPolyhedronShape.h" +#include // We want to use the ReactPhysics3D namespace diff --git a/src/collision/shapes/ConvexShape.cpp b/src/collision/shapes/ConvexShape.cpp index 2b9c3d81..11744a89 100644 --- a/src/collision/shapes/ConvexShape.cpp +++ b/src/collision/shapes/ConvexShape.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "ConvexShape.h" -#include "mathematics/Vector3.h" +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index f2ffa0b5..7553960d 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "HeightFieldShape.h" -#include "collision/RaycastInfo.h" -#include "utils/Profiler.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp index db3955bc..b20c2b18 100644 --- a/src/collision/shapes/SphereShape.cpp +++ b/src/collision/shapes/SphereShape.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "SphereShape.h" -#include "collision/Collider.h" -#include "configuration.h" -#include "collision/RaycastInfo.h" +#include +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp index fda8c200..046dd800 100644 --- a/src/collision/shapes/TriangleShape.cpp +++ b/src/collision/shapes/TriangleShape.cpp @@ -24,12 +24,12 @@ ********************************************************************************/ // Libraries -#include "TriangleShape.h" -#include "collision/Collider.h" -#include "mathematics/mathematics_functions.h" -#include "collision/RaycastInfo.h" -#include "utils/Profiler.h" -#include "configuration.h" +#include +#include +#include +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/components/BallAndSocketJointComponents.cpp b/src/components/BallAndSocketJointComponents.cpp index f1791575..317f265e 100644 --- a/src/components/BallAndSocketJointComponents.cpp +++ b/src/components/BallAndSocketJointComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "BallAndSocketJointComponents.h" -#include "engine/EntityManager.h" -#include "mathematics/Matrix3x3.h" +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp index 7d890e39..33a47503 100644 --- a/src/components/ColliderComponents.cpp +++ b/src/components/ColliderComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "ColliderComponents.h" -#include "engine/EntityManager.h" -#include "collision/Collider.h" +#include +#include +#include #include #include diff --git a/src/components/CollisionBodyComponents.cpp b/src/components/CollisionBodyComponents.cpp index 8151f74c..fbea0a6d 100644 --- a/src/components/CollisionBodyComponents.cpp +++ b/src/components/CollisionBodyComponents.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "CollisionBodyComponents.h" -#include "engine/EntityManager.h" +#include +#include #include #include diff --git a/src/components/Components.cpp b/src/components/Components.cpp index 3749b0f4..d9a38e1d 100644 --- a/src/components/Components.cpp +++ b/src/components/Components.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Components.h" +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/components/FixedJointComponents.cpp b/src/components/FixedJointComponents.cpp index fb261de0..81cafefd 100644 --- a/src/components/FixedJointComponents.cpp +++ b/src/components/FixedJointComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "FixedJointComponents.h" -#include "engine/EntityManager.h" -#include "mathematics/Matrix3x3.h" +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/components/HingeJointComponents.cpp b/src/components/HingeJointComponents.cpp index 253e56dd..a4a6ad0b 100644 --- a/src/components/HingeJointComponents.cpp +++ b/src/components/HingeJointComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "HingeJointComponents.h" -#include "engine/EntityManager.h" -#include "mathematics/Matrix3x3.h" +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/components/JointComponents.cpp b/src/components/JointComponents.cpp index 71a33aba..d2597a12 100644 --- a/src/components/JointComponents.cpp +++ b/src/components/JointComponents.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "JointComponents.h" -#include "engine/EntityManager.h" +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp index 58b98845..416e1045 100644 --- a/src/components/RigidBodyComponents.cpp +++ b/src/components/RigidBodyComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "RigidBodyComponents.h" -#include "engine/EntityManager.h" -#include "body/RigidBody.h" +#include +#include +#include #include #include diff --git a/src/components/SliderJointComponents.cpp b/src/components/SliderJointComponents.cpp index c1e1ce4c..cbabb681 100644 --- a/src/components/SliderJointComponents.cpp +++ b/src/components/SliderJointComponents.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "SliderJointComponents.h" -#include "engine/EntityManager.h" -#include "mathematics/Matrix3x3.h" +#include +#include +#include #include // We want to use the ReactPhysics3D namespace diff --git a/src/components/TransformComponents.cpp b/src/components/TransformComponents.cpp index b705e130..6c590861 100644 --- a/src/components/TransformComponents.cpp +++ b/src/components/TransformComponents.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "TransformComponents.h" -#include "engine/EntityManager.h" +#include +#include #include #include diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp index 9c94f831..bfbb21fd 100644 --- a/src/constraint/BallAndSocketJoint.cpp +++ b/src/constraint/BallAndSocketJoint.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "BallAndSocketJoint.h" -#include "systems/ConstraintSolverSystem.h" -#include "components/RigidBodyComponents.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp index 67569efa..5f72fb61 100644 --- a/src/constraint/ContactPoint.cpp +++ b/src/constraint/ContactPoint.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "ContactPoint.h" -#include "collision/Collider.h" +#include +#include using namespace reactphysics3d; using namespace std; diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp index a798e6eb..d3483e87 100644 --- a/src/constraint/FixedJoint.cpp +++ b/src/constraint/FixedJoint.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "FixedJoint.h" -#include "systems/ConstraintSolverSystem.h" -#include "components/RigidBodyComponents.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp index 4d4c8957..eff142ff 100644 --- a/src/constraint/HingeJoint.cpp +++ b/src/constraint/HingeJoint.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "HingeJoint.h" -#include "systems/ConstraintSolverSystem.h" -#include "components/RigidBodyComponents.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/constraint/Joint.cpp b/src/constraint/Joint.cpp index a1c5507e..44df5bee 100644 --- a/src/constraint/Joint.cpp +++ b/src/constraint/Joint.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "Joint.h" -#include "engine/PhysicsWorld.h" +#include +#include using namespace reactphysics3d; diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp index 62ac6a6a..9df878d5 100644 --- a/src/constraint/SliderJoint.cpp +++ b/src/constraint/SliderJoint.cpp @@ -24,10 +24,10 @@ ********************************************************************************/ // Libraries -#include "SliderJoint.h" -#include "systems/ConstraintSolverSystem.h" -#include "components/RigidBodyComponents.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/engine/Entity.cpp b/src/engine/Entity.cpp index 7696e038..70324a16 100644 --- a/src/engine/Entity.cpp +++ b/src/engine/Entity.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Entity.h" +#include #include using namespace reactphysics3d; diff --git a/src/engine/EntityManager.cpp b/src/engine/EntityManager.cpp index 6fb33eee..39c68c00 100644 --- a/src/engine/EntityManager.cpp +++ b/src/engine/EntityManager.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "EntityManager.h" -#include "Entity.h" +#include +#include using namespace reactphysics3d; diff --git a/src/engine/Island.cpp b/src/engine/Island.cpp index d30c8903..84a0122a 100644 --- a/src/engine/Island.cpp +++ b/src/engine/Island.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "Island.h" -#include "memory/MemoryManager.h" +#include +#include using namespace reactphysics3d; diff --git a/src/engine/Material.cpp b/src/engine/Material.cpp index f121c589..e806232c 100644 --- a/src/engine/Material.cpp +++ b/src/engine/Material.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Material.h" +#include using namespace reactphysics3d; diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index 83dc76c7..f9f60460 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -25,11 +25,11 @@ // Libraries #include -#include "OverlappingPairs.h" -#include "containers/containers_common.h" -#include "collision/ContactPointInfo.h" -#include "collision/narrowphase/NarrowPhaseAlgorithm.h" -#include "collision/narrowphase/CollisionDispatch.h" +#include +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index fb2b9d90..ccff5a14 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "PhysicsCommon.h" +#include using namespace reactphysics3d; diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index 4a600efd..4cc9d062 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -24,16 +24,16 @@ ********************************************************************************/ // Libraries -#include "PhysicsWorld.h" -#include "constraint/BallAndSocketJoint.h" -#include "constraint/SliderJoint.h" -#include "constraint/HingeJoint.h" -#include "constraint/FixedJoint.h" -#include "utils/Profiler.h" -#include "engine/EventListener.h" -#include "engine/Island.h" -#include "collision/ContactManifold.h" -#include "containers/Stack.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include // Namespaces using namespace reactphysics3d; diff --git a/src/engine/Timer.cpp b/src/engine/Timer.cpp index 5ed3aa93..e05937fa 100644 --- a/src/engine/Timer.cpp +++ b/src/engine/Timer.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Timer.h" +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/mathematics/Matrix2x2.cpp b/src/mathematics/Matrix2x2.cpp index 3d483573..558ea931 100644 --- a/src/mathematics/Matrix2x2.cpp +++ b/src/mathematics/Matrix2x2.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Matrix2x2.h" +#include using namespace reactphysics3d; diff --git a/src/mathematics/Matrix3x3.cpp b/src/mathematics/Matrix3x3.cpp index 89c7cec7..aaf8f73f 100644 --- a/src/mathematics/Matrix3x3.cpp +++ b/src/mathematics/Matrix3x3.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Matrix3x3.h" +#include // Namespaces using namespace reactphysics3d; diff --git a/src/mathematics/Quaternion.cpp b/src/mathematics/Quaternion.cpp index 33f0f34c..af55f4d3 100644 --- a/src/mathematics/Quaternion.cpp +++ b/src/mathematics/Quaternion.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "Quaternion.h" -#include "Vector3.h" -#include "Matrix3x3.h" +#include +#include +#include #include // Namespace diff --git a/src/mathematics/Transform.cpp b/src/mathematics/Transform.cpp index f4205645..bb69cdd4 100644 --- a/src/mathematics/Transform.cpp +++ b/src/mathematics/Transform.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "Transform.h" -#include "Matrix3x3.h" +#include +#include // Namespaces using namespace reactphysics3d; diff --git a/src/mathematics/Vector2.cpp b/src/mathematics/Vector2.cpp index 04fdf104..b52bf370 100644 --- a/src/mathematics/Vector2.cpp +++ b/src/mathematics/Vector2.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Vector2.h" +#include // Namespaces using namespace reactphysics3d; diff --git a/src/mathematics/Vector3.cpp b/src/mathematics/Vector3.cpp index b1d443f0..3d6d49ab 100644 --- a/src/mathematics/Vector3.cpp +++ b/src/mathematics/Vector3.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "Vector3.h" +#include // Namespaces using namespace reactphysics3d; diff --git a/src/mathematics/mathematics_functions.cpp b/src/mathematics/mathematics_functions.cpp index 51bd7be9..b05a9485 100755 --- a/src/mathematics/mathematics_functions.cpp +++ b/src/mathematics/mathematics_functions.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "mathematics_functions.h" -#include "Vector3.h" -#include "Vector2.h" +#include +#include +#include #include using namespace reactphysics3d; diff --git a/src/memory/HeapAllocator.cpp b/src/memory/HeapAllocator.cpp index c1537a98..5d9b95d0 100644 --- a/src/memory/HeapAllocator.cpp +++ b/src/memory/HeapAllocator.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "HeapAllocator.h" -#include "MemoryManager.h" +#include +#include #include #include #include diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp index a5aff544..e9a27fc8 100644 --- a/src/memory/MemoryManager.cpp +++ b/src/memory/MemoryManager.cpp @@ -24,7 +24,7 @@ ********************************************************************************/ // Libraries -#include "memory/MemoryManager.h" +#include using namespace reactphysics3d; diff --git a/src/memory/PoolAllocator.cpp b/src/memory/PoolAllocator.cpp index 6ae8aecc..4a406dd4 100644 --- a/src/memory/PoolAllocator.cpp +++ b/src/memory/PoolAllocator.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "PoolAllocator.h" -#include "MemoryManager.h" +#include +#include #include #include diff --git a/src/memory/SingleFrameAllocator.cpp b/src/memory/SingleFrameAllocator.cpp index 94b6aa0c..63be5a24 100644 --- a/src/memory/SingleFrameAllocator.cpp +++ b/src/memory/SingleFrameAllocator.cpp @@ -24,8 +24,8 @@ ********************************************************************************/ // Libraries -#include "SingleFrameAllocator.h" -#include "MemoryManager.h" +#include +#include #include #include diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index 06459032..fdd0594e 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -24,12 +24,12 @@ ********************************************************************************/ // Libraries -#include "BroadPhaseSystem.h" -#include "systems/CollisionDetectionSystem.h" -#include "utils/Profiler.h" -#include "collision/RaycastInfo.h" -#include "memory/MemoryManager.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include +#include +#include +#include // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 9f872399..1b3ac912 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -24,23 +24,23 @@ ********************************************************************************/ // Libraries -#include "systems/CollisionDetectionSystem.h" -#include "engine/PhysicsWorld.h" -#include "collision/OverlapCallback.h" -#include "collision/shapes/BoxShape.h" -#include "collision/shapes/ConcaveShape.h" -#include "collision/ContactManifoldInfo.h" -#include "constraint/ContactPoint.h" -#include "body/RigidBody.h" -#include "configuration.h" -#include "collision/CollisionCallback.h" -#include "collision/OverlapCallback.h" -#include "collision/narrowphase/NarrowPhaseInfoBatch.h" -#include "collision/ContactManifold.h" -#include "utils/Profiler.h" -#include "engine/EventListener.h" -#include "collision/RaycastInfo.h" -#include "containers/Pair.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include #include diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index d77fbab0..43f56330 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -24,11 +24,11 @@ ********************************************************************************/ // Libraries -#include "systems/ConstraintSolverSystem.h" -#include "components/JointComponents.h" -#include "components/BallAndSocketJointComponents.h" -#include "utils/Profiler.h" -#include "engine/Island.h" +#include +#include +#include +#include +#include using namespace reactphysics3d; diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index a72bfe94..157cab57 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -24,16 +24,16 @@ ********************************************************************************/ // Libraries -#include "systems/ContactSolverSystem.h" -#include "engine/PhysicsWorld.h" -#include "body/RigidBody.h" -#include "constraint/ContactPoint.h" -#include "utils/Profiler.h" -#include "engine/Island.h" -#include "collision/Collider.h" -#include "components/CollisionBodyComponents.h" -#include "components/ColliderComponents.h" -#include "collision/ContactManifold.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include using namespace reactphysics3d; using namespace std; diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp index 58575d05..9ad3c52e 100644 --- a/src/systems/DynamicsSystem.cpp +++ b/src/systems/DynamicsSystem.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "systems/DynamicsSystem.h" -#include "body/RigidBody.h" -#include "engine/PhysicsWorld.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/systems/SolveBallAndSocketJointSystem.cpp b/src/systems/SolveBallAndSocketJointSystem.cpp index 586d36d3..1b689322 100644 --- a/src/systems/SolveBallAndSocketJointSystem.cpp +++ b/src/systems/SolveBallAndSocketJointSystem.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "systems/SolveBallAndSocketJointSystem.h" -#include "engine/PhysicsWorld.h" -#include "body/RigidBody.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/systems/SolveFixedJointSystem.cpp b/src/systems/SolveFixedJointSystem.cpp index 4dc43220..603faadc 100644 --- a/src/systems/SolveFixedJointSystem.cpp +++ b/src/systems/SolveFixedJointSystem.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "systems/SolveFixedJointSystem.h" -#include "engine/PhysicsWorld.h" -#include "body/RigidBody.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp index 050826e5..7fa29a4e 100644 --- a/src/systems/SolveHingeJointSystem.cpp +++ b/src/systems/SolveHingeJointSystem.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "systems/SolveHingeJointSystem.h" -#include "engine/PhysicsWorld.h" -#include "body/RigidBody.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/systems/SolveSliderJointSystem.cpp b/src/systems/SolveSliderJointSystem.cpp index 912f1721..d2c72019 100644 --- a/src/systems/SolveSliderJointSystem.cpp +++ b/src/systems/SolveSliderJointSystem.cpp @@ -24,9 +24,9 @@ ********************************************************************************/ // Libraries -#include "systems/SolveSliderJointSystem.h" -#include "engine/PhysicsWorld.h" -#include "body/RigidBody.h" +#include +#include +#include using namespace reactphysics3d; diff --git a/src/utils/Logger.cpp b/src/utils/Logger.cpp index 853c8a59..2c7dd916 100644 --- a/src/utils/Logger.cpp +++ b/src/utils/Logger.cpp @@ -26,8 +26,8 @@ #ifdef IS_LOGGING_ACTIVE // Libraries -#include "Logger.h" -#include "memory/MemoryManager.h" +#include +#include using namespace reactphysics3d; diff --git a/src/utils/Profiler.cpp b/src/utils/Profiler.cpp index 879d12d5..a3cba657 100644 --- a/src/utils/Profiler.cpp +++ b/src/utils/Profiler.cpp @@ -29,7 +29,7 @@ // Libraries #include "Profiler.h" #include -#include "memory/MemoryManager.h" +#include using namespace reactphysics3d; diff --git a/test/tests/collision/TestAABB.h b/test/tests/collision/TestAABB.h index 073c7391..d51972dd 100644 --- a/test/tests/collision/TestAABB.h +++ b/test/tests/collision/TestAABB.h @@ -27,7 +27,7 @@ #define TEST_AABB_H // Libraries -#include "reactphysics3d.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h index 3b89d777..d5e337f7 100644 --- a/test/tests/collision/TestCollisionWorld.h +++ b/test/tests/collision/TestCollisionWorld.h @@ -27,10 +27,10 @@ #define TEST_COLLISION_WORLD_H // Libraries -#include "reactphysics3d.h" +#include #include "Test.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifold.h" +#include +#include #include #include diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 465ae241..4f80b0c9 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -28,10 +28,10 @@ // Libraries #include "Test.h" -#include "collision/broadphase/DynamicAABBTree.h" -#include "memory/MemoryManager.h" -#include "engine/PhysicsCommon.h" -#include "utils/Profiler.h" +#include +#include +#include +#include #include /// Reactphysics3D namespace diff --git a/test/tests/collision/TestHalfEdgeStructure.h b/test/tests/collision/TestHalfEdgeStructure.h index 67aed24f..447c1c97 100644 --- a/test/tests/collision/TestHalfEdgeStructure.h +++ b/test/tests/collision/TestHalfEdgeStructure.h @@ -2,7 +2,7 @@ #define TEST_HALF_EDGE_STRUCTURE_H // Libraries -#include "reactphysics3d.h" +#include #include "Test.h" #include diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h index 9606898d..9170a2d8 100644 --- a/test/tests/collision/TestPointInside.h +++ b/test/tests/collision/TestPointInside.h @@ -28,13 +28,13 @@ // Libraries #include "Test.h" -#include "collision/shapes/BoxShape.h" -#include "collision/shapes/SphereShape.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/shapes/ConvexMeshShape.h" -#include "engine/PhysicsWorld.h" -#include "engine/PhysicsCommon.h" -#include "collision/PolygonVertexArray.h" +#include +#include +#include +#include +#include +#include +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h index 4b876df1..51f6f7de 100644 --- a/test/tests/collision/TestRaycast.h +++ b/test/tests/collision/TestRaycast.h @@ -28,20 +28,20 @@ // Libraries #include "Test.h" -#include "engine/PhysicsCommon.h" -#include "engine/PhysicsWorld.h" -#include "body/CollisionBody.h" -#include "collision/shapes/BoxShape.h" -#include "collision/shapes/SphereShape.h" -#include "collision/shapes/CapsuleShape.h" -#include "collision/shapes/ConvexMeshShape.h" -#include "collision/shapes/TriangleShape.h" -#include "collision/shapes/ConcaveMeshShape.h" -#include "collision/shapes/HeightFieldShape.h" -#include "collision/TriangleMesh.h" -#include "collision/TriangleVertexArray.h" -#include "collision/RaycastInfo.h" -#include "collision/PolygonVertexArray.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include #include /// Reactphysics3D namespace diff --git a/test/tests/collision/TestTriangleVertexArray.h b/test/tests/collision/TestTriangleVertexArray.h index 30dd3fd5..49161d23 100644 --- a/test/tests/collision/TestTriangleVertexArray.h +++ b/test/tests/collision/TestTriangleVertexArray.h @@ -27,7 +27,7 @@ #define TEST_TRIANGLE_VERTEX_ARRAY_H // Libraries -#include "reactphysics3d.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/containers/TestDeque.h b/test/tests/containers/TestDeque.h index 8f3c9709..545771ec 100644 --- a/test/tests/containers/TestDeque.h +++ b/test/tests/containers/TestDeque.h @@ -28,8 +28,8 @@ // Libraries #include "Test.h" -#include "containers/Deque.h" -#include "memory/DefaultAllocator.h" +#include +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/containers/TestList.h b/test/tests/containers/TestList.h index f827fe8a..5190e341 100644 --- a/test/tests/containers/TestList.h +++ b/test/tests/containers/TestList.h @@ -28,8 +28,8 @@ // Libraries #include "Test.h" -#include "containers/List.h" -#include "memory/DefaultAllocator.h" +#include +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/containers/TestMap.h b/test/tests/containers/TestMap.h index 4505ab1a..9ede266a 100644 --- a/test/tests/containers/TestMap.h +++ b/test/tests/containers/TestMap.h @@ -28,8 +28,8 @@ // Libraries #include "Test.h" -#include "containers/Map.h" -#include "memory/DefaultAllocator.h" +#include +#include // Key to test map with always same hash values namespace reactphysics3d { diff --git a/test/tests/containers/TestSet.h b/test/tests/containers/TestSet.h index 5b75cd71..0d1f4091 100644 --- a/test/tests/containers/TestSet.h +++ b/test/tests/containers/TestSet.h @@ -28,8 +28,8 @@ // Libraries #include "Test.h" -#include "containers/Set.h" -#include "memory/DefaultAllocator.h" +#include +#include // Key to test map with always same hash values namespace reactphysics3d { diff --git a/test/tests/containers/TestStack.h b/test/tests/containers/TestStack.h index e014fc4b..d655e3f6 100644 --- a/test/tests/containers/TestStack.h +++ b/test/tests/containers/TestStack.h @@ -28,8 +28,8 @@ // Libraries #include "Test.h" -#include "containers/Stack.h" -#include "memory/DefaultAllocator.h" +#include +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestMathematicsFunctions.h b/test/tests/mathematics/TestMathematicsFunctions.h index f6283d3f..5a8c5623 100644 --- a/test/tests/mathematics/TestMathematicsFunctions.h +++ b/test/tests/mathematics/TestMathematicsFunctions.h @@ -27,8 +27,8 @@ #define TEST_MATHEMATICS_FUNCTIONS_H // Libraries -#include "containers/List.h" -#include "memory/DefaultAllocator.h" +#include +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestMatrix2x2.h b/test/tests/mathematics/TestMatrix2x2.h index 8189cb51..d6b8eb3d 100644 --- a/test/tests/mathematics/TestMatrix2x2.h +++ b/test/tests/mathematics/TestMatrix2x2.h @@ -28,7 +28,7 @@ // Libraries #include "Test.h" -#include "mathematics/Matrix2x2.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestMatrix3x3.h b/test/tests/mathematics/TestMatrix3x3.h index c369bde9..4e7d95a9 100644 --- a/test/tests/mathematics/TestMatrix3x3.h +++ b/test/tests/mathematics/TestMatrix3x3.h @@ -28,7 +28,7 @@ // Libraries #include "Test.h" -#include "mathematics/Matrix3x3.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestQuaternion.h b/test/tests/mathematics/TestQuaternion.h index f15c9f72..3a25cba9 100644 --- a/test/tests/mathematics/TestQuaternion.h +++ b/test/tests/mathematics/TestQuaternion.h @@ -28,7 +28,7 @@ // Libraries #include "Test.h" -#include "mathematics/Quaternion.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestTransform.h b/test/tests/mathematics/TestTransform.h index e9eef1c6..cb020df9 100644 --- a/test/tests/mathematics/TestTransform.h +++ b/test/tests/mathematics/TestTransform.h @@ -28,8 +28,8 @@ // Libraries #include "Test.h" -#include "mathematics/Transform.h" -#include "mathematics/Matrix3x3.h" +#include +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestVector2.h b/test/tests/mathematics/TestVector2.h index e3f1d892..618972c1 100644 --- a/test/tests/mathematics/TestVector2.h +++ b/test/tests/mathematics/TestVector2.h @@ -28,7 +28,7 @@ // Libraries #include "Test.h" -#include "mathematics/Vector2.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/test/tests/mathematics/TestVector3.h b/test/tests/mathematics/TestVector3.h index 76d64564..68c45ebd 100644 --- a/test/tests/mathematics/TestVector3.h +++ b/test/tests/mathematics/TestVector3.h @@ -28,7 +28,7 @@ // Libraries #include "Test.h" -#include "mathematics/Vector3.h" +#include /// Reactphysics3D namespace namespace reactphysics3d { diff --git a/testbed/common/AABB.h b/testbed/common/AABB.h index 2e8f82e1..ffd54950 100644 --- a/testbed/common/AABB.h +++ b/testbed/common/AABB.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include // Class AABB class AABB { diff --git a/testbed/common/Box.h b/testbed/common/Box.h index 9564bf6f..e1aefd00 100644 --- a/testbed/common/Box.h +++ b/testbed/common/Box.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Class Box diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h index 289b0b9f..8df832d0 100644 --- a/testbed/common/Capsule.h +++ b/testbed/common/Capsule.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Class Sphere diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index 9fdc3271..9dc25aa0 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Class ConcaveMesh diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index 0060ca5b..342b9a13 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Class ConvexMesh diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h index 3c411a55..1b919663 100644 --- a/testbed/common/Dumbbell.h +++ b/testbed/common/Dumbbell.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Class Dumbbell diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h index c896a593..5c43cda1 100644 --- a/testbed/common/HeightField.h +++ b/testbed/common/HeightField.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" diff --git a/testbed/common/Line.h b/testbed/common/Line.h index 85872330..7c6f3eb8 100644 --- a/testbed/common/Line.h +++ b/testbed/common/Line.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include // Class Line class Line : public openglframework::Object3D { diff --git a/testbed/common/PhysicsObject.h b/testbed/common/PhysicsObject.h index 444e9962..b8cfd38d 100644 --- a/testbed/common/PhysicsObject.h +++ b/testbed/common/PhysicsObject.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include // Class PhysicsObject class PhysicsObject : public openglframework::Mesh { diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h index 8cdfdd1e..ae49848e 100644 --- a/testbed/common/Sphere.h +++ b/testbed/common/Sphere.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Class Sphere diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 6b1f54e0..88bda0d4 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -25,8 +25,8 @@ // Libraries #include "CollisionDetectionScene.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifold.h" +#include +#include // Namespaces using namespace openglframework; diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.h b/testbed/scenes/collisiondetection/CollisionDetectionScene.h index 27ab3419..613ddd33 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.h +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.h @@ -29,7 +29,7 @@ // Libraries #include #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "SceneDemo.h" #include "Sphere.h" #include "Box.h" diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.h b/testbed/scenes/collisionshapes/CollisionShapesScene.h index 2b074a9e..0d2cabd6 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.h +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "SceneDemo.h" #include "Sphere.h" #include "Box.h" diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.h b/testbed/scenes/concavemesh/ConcaveMeshScene.h index e3e450a3..8838b5d3 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.h +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "Box.h" #include "SceneDemo.h" #include "ConcaveMesh.h" diff --git a/testbed/scenes/cubes/CubesScene.h b/testbed/scenes/cubes/CubesScene.h index dcd2a71a..9e7766ff 100755 --- a/testbed/scenes/cubes/CubesScene.h +++ b/testbed/scenes/cubes/CubesScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "Box.h" #include "SceneDemo.h" diff --git a/testbed/scenes/cubestack/CubeStackScene.h b/testbed/scenes/cubestack/CubeStackScene.h index 2bd25a70..2a0aa5d5 100644 --- a/testbed/scenes/cubestack/CubeStackScene.h +++ b/testbed/scenes/cubestack/CubeStackScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "Box.h" #include "SceneDemo.h" diff --git a/testbed/scenes/heightfield/HeightFieldScene.h b/testbed/scenes/heightfield/HeightFieldScene.h index c427f349..a5d95d86 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.h +++ b/testbed/scenes/heightfield/HeightFieldScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "Box.h" #include "Sphere.h" #include "ConvexMesh.h" diff --git a/testbed/scenes/joints/JointsScene.h b/testbed/scenes/joints/JointsScene.h index c1567904..31a45a8c 100644 --- a/testbed/scenes/joints/JointsScene.h +++ b/testbed/scenes/joints/JointsScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "Box.h" #include "SceneDemo.h" diff --git a/testbed/scenes/pile/PileScene.h b/testbed/scenes/pile/PileScene.h index e85b747d..f32cf1d3 100644 --- a/testbed/scenes/pile/PileScene.h +++ b/testbed/scenes/pile/PileScene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "SceneDemo.h" #include "Sphere.h" #include "Box.h" diff --git a/testbed/scenes/raycast/RaycastScene.h b/testbed/scenes/raycast/RaycastScene.h index 6de17c45..b516fe63 100644 --- a/testbed/scenes/raycast/RaycastScene.h +++ b/testbed/scenes/raycast/RaycastScene.h @@ -30,7 +30,7 @@ #define _USE_MATH_DEFINES #include #include "openglframework.h" -#include "reactphysics3d.h" +#include #include "SceneDemo.h" #include "Sphere.h" #include "Box.h" diff --git a/testbed/src/Scene.h b/testbed/src/Scene.h index 775dd7b4..9ae7b203 100644 --- a/testbed/src/Scene.h +++ b/testbed/src/Scene.h @@ -28,7 +28,7 @@ // Libraries #include "openglframework.h" -#include "reactphysics3d.h" +#include // Structure ContactPoint struct SceneContactPoint { diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index b049f20f..5efced08 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -27,8 +27,8 @@ #include "SceneDemo.h" #include #include "AABB.h" -#include "constraint/ContactPoint.h" -#include "collision/ContactManifold.h" +#include +#include using namespace openglframework; diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 1d36f6d1..1049c93e 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -29,7 +29,7 @@ // Libraries #include "Scene.h" #include "VisualContactPoint.h" -#include "reactphysics3d.h" +#include #include "PhysicsObject.h" // Constants diff --git a/testbed/src/Timer.h b/testbed/src/Timer.h index cddc7ca5..9983cd93 100644 --- a/testbed/src/Timer.h +++ b/testbed/src/Timer.h @@ -31,7 +31,7 @@ #include #include #include -#include "configuration.h" +#include #if defined(WINDOWS_OS) // For Windows platform #define NOMINMAX // This is used to avoid definition of max() and min() macros From dcd71ef103c03cdf66039bce6c7681da075a5dae Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 18 Apr 2020 20:43:13 +0200 Subject: [PATCH 132/197] Improve EventListener: add onTrigger() method, add event types, add triggers, ... --- CHANGELOG.md | 3 + include/reactphysics3d/collision/Collider.h | 6 + .../collision/CollisionCallback.h | 42 +- .../reactphysics3d/collision/ContactPair.h | 10 +- .../collision/OverlapCallback.h | 61 ++- .../narrowphase/CapsuleVsCapsuleAlgorithm.h | 2 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.h | 8 +- .../CapsuleVsConvexPolyhedronAlgorithm.h | 2 +- ...vexPolyhedronVsConvexPolyhedronAlgorithm.h | 2 +- .../collision/narrowphase/GJK/GJKAlgorithm.h | 2 +- .../narrowphase/NarrowPhaseInfoBatch.h | 7 +- .../collision/narrowphase/NarrowPhaseInput.h | 15 +- .../collision/narrowphase/SAT/SATAlgorithm.h | 8 +- .../narrowphase/SphereVsCapsuleAlgorithm.h | 2 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.h | 8 +- .../SphereVsConvexPolyhedronAlgorithm.h | 2 +- .../narrowphase/SphereVsSphereAlgorithm.h | 2 +- .../SphereVsSphereNarrowPhaseInfoBatch.h | 4 +- .../components/ColliderComponents.h | 28 +- .../components/RigidBodyComponents.h | 1 - include/reactphysics3d/engine/EventListener.h | 7 + .../reactphysics3d/engine/OverlappingPairs.h | 27 ++ include/reactphysics3d/engine/PhysicsWorld.h | 2 + .../systems/CollisionDetectionSystem.h | 32 +- src/collision/Collider.cpp | 10 + src/collision/CollisionCallback.cpp | 45 +- src/collision/OverlapCallback.cpp | 49 +- .../narrowphase/CapsuleVsCapsuleAlgorithm.cpp | 6 +- .../CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp | 36 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 9 +- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 5 +- .../narrowphase/GJK/GJKAlgorithm.cpp | 5 +- .../narrowphase/NarrowPhaseInfoBatch.cpp | 8 +- .../narrowphase/NarrowPhaseInput.cpp | 14 +- .../narrowphase/SAT/SATAlgorithm.cpp | 134 +++--- .../narrowphase/SphereVsCapsuleAlgorithm.cpp | 5 +- .../SphereVsCapsuleNarrowPhaseInfoBatch.cpp | 37 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 6 +- .../narrowphase/SphereVsSphereAlgorithm.cpp | 10 +- .../SphereVsSphereNarrowPhaseInfoBatch.cpp | 36 +- src/components/ColliderComponents.cpp | 10 +- src/engine/OverlappingPairs.cpp | 28 +- src/engine/PhysicsWorld.cpp | 13 +- src/systems/CollisionDetectionSystem.cpp | 421 +++++++++++------- testbed/src/Scene.cpp | 4 + testbed/src/Scene.h | 2 + 46 files changed, 758 insertions(+), 418 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 27a22bc4..535ce246 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -20,6 +20,9 @@ - The RigidBody::getLocalInertiaTensor() method has been added to retrieve the local-space inertia tensor of a rigid body. - The RigidBody::updateMassFromColliders() method has been added to compute and set the mass of a body using its colliders - A Material nows has a mass density parameter that can be set using the Material::setMassDensity() method. The mass density is used to compute the mass of a collider when computing the mass of a rigid body + - A Collider can now be a trigger. This collider will be used to only report collisions with another collider but no collision response will be applied. You can use the Collider::setIsTrigger() method for this. + - The EventListener class now has a onTrigger() method that is called when a trigger collider is colling with another collider. + - In the EventListener, the onContact() and onTrigger() method now reports the type of event (start, stay, exit) for each contact. This way the user can know whether it's a new contact or not or when two colliders are not in contact anymore. ### Fixed diff --git a/include/reactphysics3d/collision/Collider.h b/include/reactphysics3d/collision/Collider.h index 041a3535..1abdb1d3 100644 --- a/include/reactphysics3d/collision/Collider.h +++ b/include/reactphysics3d/collision/Collider.h @@ -160,6 +160,12 @@ class Collider { /// Set a new material for this collider void setMaterial(const Material& material); + /// Return true if the collider is a trigger + bool getIsTrigger() const; + + /// Set whether the collider is a trigger + void setIsTrigger(bool isTrigger) const; + #ifdef IS_PROFILING_ACTIVE /// Set the profiler diff --git a/include/reactphysics3d/collision/CollisionCallback.h b/include/reactphysics3d/collision/CollisionCallback.h index 04c5dbc7..b6f29a76 100644 --- a/include/reactphysics3d/collision/CollisionCallback.h +++ b/include/reactphysics3d/collision/CollisionCallback.h @@ -108,6 +108,22 @@ class CollisionCallback { */ class ContactPair { + public: + + /// Enumeration EventType that describes the type of contact event + enum class EventType { + + /// This contact is a new contact between the two + /// colliders (the colliders where not touching in the previous frame) + ContactStart, + + /// The two colliders were already touching in the previous frame and this is a new or updated contact + ContactStay, + + /// The two colliders were in contact in the previous frame and are not in contact anymore + ContactExit + }; + private: // -------------------- Attributes -------------------- // @@ -120,11 +136,14 @@ class CollisionCallback { /// Reference to the physics world PhysicsWorld& mWorld; + /// True if this is a lost contact pair (contact pair colliding in previous frame but not in current one) + bool mIsLostContactPair; + // -------------------- Methods -------------------- // /// Constructor - ContactPair(const reactphysics3d::ContactPair& contactPair, List* contactPoints, - PhysicsWorld& world); + ContactPair(const reactphysics3d::ContactPair& contactPair, List* contactPoints, + PhysicsWorld& world, bool mIsLostContactPair); public: @@ -157,6 +176,9 @@ class CollisionCallback { /// Return a pointer to the second collider in contact (in body 2) Collider* getCollider2() const; + /// Return the corresponding type of event for this contact pair + EventType getEventType() const; + // -------------------- Friendship -------------------- // friend class CollisionCallback; @@ -172,7 +194,7 @@ class CollisionCallback { // -------------------- Attributes -------------------- // - /// Pointer to the list of contact pairs + /// Pointer to the list of contact pairs (contains contacts and triggers events) List* mContactPairs; /// Pointer to the list of contact manifolds @@ -181,6 +203,15 @@ class CollisionCallback { /// Pointer to the contact points List* mContactPoints; + /// Pointer to the list of lost contact pairs (contains contacts and triggers events) + List& mLostContactPairs; + + /// List of indices of the mContactPairs list that are contact events (not overlap/triggers) + List mContactPairsIndices; + + /// List of indices of the mLostContactPairs list that are contact events (not overlap/triggers) + List mLostContactPairsIndices; + /// Reference to the physics world PhysicsWorld& mWorld; @@ -188,7 +219,8 @@ class CollisionCallback { /// Constructor CallbackData(List* contactPairs, List* manifolds, - List* contactPoints, PhysicsWorld& world); + List* contactPoints, List& lostContactPairs, + PhysicsWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; @@ -226,7 +258,7 @@ class CollisionCallback { * @return The number of contact pairs */ inline uint CollisionCallback::CallbackData::getNbContactPairs() const { - return mContactPairs->size(); + return mContactPairsIndices.size() + mLostContactPairsIndices.size(); } // Return the number of contact points in the contact pair diff --git a/include/reactphysics3d/collision/ContactPair.h b/include/reactphysics3d/collision/ContactPair.h index 518c29de..2a661ea7 100644 --- a/include/reactphysics3d/collision/ContactPair.h +++ b/include/reactphysics3d/collision/ContactPair.h @@ -80,15 +80,21 @@ struct ContactPair { /// Total number of contact points in all the manifolds of the contact pair uint nbToTalContactPoints; + /// True if the colliders of the pair were already colliding in the previous frame + bool collidingInPreviousFrame; + + /// True if one of the two involved colliders is a trigger + bool isTrigger; + // -------------------- Methods -------------------- // /// Constructor ContactPair(uint64 pairId, Entity body1Entity, Entity body2Entity, Entity collider1Entity, - Entity collider2Entity, uint contactPairIndex, MemoryAllocator& allocator) + Entity collider2Entity, uint contactPairIndex, bool collidingInPreviousFrame, bool isTrigger, MemoryAllocator& allocator) : pairId(pairId), potentialContactManifoldsIndices(allocator), body1Entity(body1Entity), body2Entity(body2Entity), collider1Entity(collider1Entity), collider2Entity(collider2Entity), isAlreadyInIsland(false), contactPairIndex(contactPairIndex), contactManifoldsIndex(0), nbContactManifolds(0), - contactPointsIndex(0), nbToTalContactPoints(0) { + contactPointsIndex(0), nbToTalContactPoints(0), collidingInPreviousFrame(collidingInPreviousFrame), isTrigger(isTrigger) { } }; diff --git a/include/reactphysics3d/collision/OverlapCallback.h b/include/reactphysics3d/collision/OverlapCallback.h index 7b54dd27..6f3ba12e 100644 --- a/include/reactphysics3d/collision/OverlapCallback.h +++ b/include/reactphysics3d/collision/OverlapCallback.h @@ -28,6 +28,7 @@ // Libraries #include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -53,20 +54,39 @@ class OverlapCallback { */ class OverlapPair { + public: + + /// Enumeration EventType that describes the type of overlapping event + enum class EventType { + + /// This overlap is a new overlap between the two + /// colliders (the colliders where not overlapping in the previous frame) + OverlapStart, + + /// The two colliders were already overlapping in the previous frame and this is a new or updated overlap + OverlapStay, + + /// The two colliders were overlapping in the previous frame and are not overlapping anymore + OverlapExit + }; + private: // -------------------- Attributes -------------------- // - /// Pair of overlapping body entities - Pair& mOverlapPair; + /// Contact pair + ContactPair& mContactPair; /// Reference to the physics world PhysicsWorld& mWorld; + /// True if the pair were overlapping in the previous frame but not in the current one + bool mIsLostOverlapPair; + // -------------------- Methods -------------------- // /// Constructor - OverlapPair(Pair& overlapPair, reactphysics3d::PhysicsWorld& world); + OverlapPair(ContactPair& contactPair, reactphysics3d::PhysicsWorld& world, bool isLostOverlappingPair); public: @@ -81,12 +101,21 @@ class OverlapCallback { /// Destructor ~OverlapPair() = default; + /// Return a pointer to the first collider in contact + Collider* getCollider1() const; + + /// Return a pointer to the second collider in contact + Collider* getCollider2() const; + /// Return a pointer to the first body in contact CollisionBody* getBody1() const; /// Return a pointer to the second body in contact CollisionBody* getBody2() const; + /// Return the corresponding type of event for this overlapping pair + EventType getEventType() const; + // -------------------- Friendship -------------------- // friend class OverlapCallback; @@ -102,7 +131,17 @@ class OverlapCallback { // -------------------- Attributes -------------------- // - List>& mOverlapBodies; + /// Reference to the list of contact pairs (contains contacts and triggers events) + List& mContactPairs; + + /// Reference to the list of lost contact pairs (contains contacts and triggers events) + List& mLostContactPairs; + + /// List of indices of the mContactPairs list that are overlap/triggers events (not contact events) + List mContactPairsIndices; + + /// List of indices of the mLostContactPairs list that are overlap/triggers events (not contact events) + List mLostContactPairsIndices; /// Reference to the physics world PhysicsWorld& mWorld; @@ -110,7 +149,7 @@ class OverlapCallback { // -------------------- Methods -------------------- // /// Constructor - CallbackData(List>& overlapColliders, PhysicsWorld& world); + CallbackData(List& contactPairs, List& lostContactPairs, PhysicsWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; @@ -147,7 +186,7 @@ class OverlapCallback { // Return the number of overlapping pairs of bodies inline uint OverlapCallback::CallbackData::getNbOverlappingPairs() const { - return mOverlapBodies.size(); + return mContactPairsIndices.size() + mLostContactPairsIndices.size(); } // Return a given overlapping pair of bodies @@ -158,7 +197,15 @@ inline OverlapCallback::OverlapPair OverlapCallback::CallbackData::getOverlappin assert(index < getNbOverlappingPairs()); - return OverlapPair(mOverlapBodies[index], mWorld); + if (index < mContactPairsIndices.size()) { + // Return a contact pair + return OverlapCallback::OverlapPair((mContactPairs)[mContactPairsIndices[index]], mWorld, false); + } + else { + + // Return a lost contact pair + return OverlapCallback::OverlapPair(mLostContactPairs[mLostContactPairsIndices[index - mContactPairsIndices.size()]], mWorld, true); + } } } diff --git a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h index 7ad58b44..9e6d209f 100644 --- a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleAlgorithm.h @@ -67,7 +67,7 @@ class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between two capsules bool testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); + uint batchNbItems, MemoryAllocator& memoryAllocator); }; } diff --git a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h index 8d628e37..fef287fc 100644 --- a/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.h @@ -58,18 +58,18 @@ struct CapsuleVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { CapsuleVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Destructor - virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() = default; + virtual ~CapsuleVsCapsuleNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform); + const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) override; // Initialize the containers using cached capacity - virtual void reserveMemory(); + virtual void reserveMemory() override; /// Clear all the objects in the batch - virtual void clear(); + virtual void clear() override; }; } diff --git a/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h index cce8396f..644bf7e5 100644 --- a/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.h @@ -70,7 +70,7 @@ class CapsuleVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between a capsule and a polyhedron bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, + uint batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; diff --git a/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h index 9b7393e3..971816cc 100644 --- a/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h @@ -64,7 +64,7 @@ class ConvexPolyhedronVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm ConvexPolyhedronVsConvexPolyhedronAlgorithm& operator=(const ConvexPolyhedronVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between two convex polyhedra - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; diff --git a/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h index bd7f72b5..ab1d605d 100644 --- a/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h @@ -98,7 +98,7 @@ class GJKAlgorithm { /// Compute a contact info if the two bounding volumes collide. void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, List& gjkResults, bool reportContacts); + uint batchNbItems, List& gjkResults); #ifdef IS_PROFILING_ACTIVE diff --git a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h index 1e0ac81f..b67bf19f 100644 --- a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.h @@ -81,6 +81,9 @@ struct NarrowPhaseInfoBatch { /// List of transforms that maps from collision shape 2 local-space to world-space List shape2ToWorldTransforms; + /// True for each pair of objects that we need to report contacts (false for triggers for instance) + List reportContacts; + /// Result of the narrow-phase collision detection test List isColliding; @@ -103,9 +106,9 @@ struct NarrowPhaseInfoBatch { uint getNbObjects() const; /// Add shapes to be tested during narrow-phase collision detection into the batch - void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, MemoryAllocator& shapeAllocator); + const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator); /// Add a new contact point virtual void addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, diff --git a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h index 6d2bb759..38740997 100644 --- a/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseInput.h @@ -61,6 +61,7 @@ class NarrowPhaseInput { NarrowPhaseInfoBatch mSphereVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mCapsuleVsConvexPolyhedronBatch; NarrowPhaseInfoBatch mConvexPolyhedronVsConvexPolyhedronBatch; + public: /// Constructor @@ -69,7 +70,7 @@ class NarrowPhaseInput { /// Add shapes to be tested during narrow-phase collision detection into the batch void addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, + const Transform& shape2Transform, NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, bool reportContacts, MemoryAllocator& shapeAllocator); /// Get a reference to the sphere vs sphere batch @@ -98,32 +99,32 @@ class NarrowPhaseInput { }; -// Get a reference to the sphere vs sphere batch +// Get a reference to the sphere vs sphere batch contacts inline SphereVsSphereNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsSphereBatch() { return mSphereVsSphereBatch; } -// Get a reference to the sphere vs capsule batch +// Get a reference to the sphere vs capsule batch contacts inline SphereVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsCapsuleBatch() { return mSphereVsCapsuleBatch; } -// Get a reference to the capsule vs capsule batch +// Get a reference to the capsule vs capsule batch contacts inline CapsuleVsCapsuleNarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsCapsuleBatch() { return mCapsuleVsCapsuleBatch; } -// Get a reference to the sphere vs convex polyhedron batch +// Get a reference to the sphere vs convex polyhedron batch contacts inline NarrowPhaseInfoBatch& NarrowPhaseInput::getSphereVsConvexPolyhedronBatch() { return mSphereVsConvexPolyhedronBatch; } -// Get a reference to the capsule vs convex polyhedron batch +// Get a reference to the capsule vs convex polyhedron batch contacts inline NarrowPhaseInfoBatch& NarrowPhaseInput::getCapsuleVsConvexPolyhedronBatch() { return mCapsuleVsConvexPolyhedronBatch; } -// Get a reference to the convex polyhedron vs convex polyhedron batch +// Get a reference to the convex polyhedron vs convex polyhedron batch contacts inline NarrowPhaseInfoBatch& NarrowPhaseInput::getConvexPolyhedronVsConvexPolyhedronBatch() { return mConvexPolyhedronVsConvexPolyhedronBatch; } diff --git a/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h index ec5a5751..30479921 100644 --- a/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h @@ -154,11 +154,10 @@ class SATAlgorithm { /// Test collision between a sphere and a convex mesh bool testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - uint batchStartIndex, uint batchNbItems, - bool reportContacts) const; + uint batchStartIndex, uint batchNbItems) const; /// Test collision between a capsule and a convex mesh - bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool reportContacts) const; + bool testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const; /// Compute the two contact points between a polyhedron and a capsule when the separating axis is a face normal of the polyhedron bool computeCapsulePolyhedronFaceContactPoints(uint referenceFaceIndex, decimal capsuleRadius, const ConvexPolyhedronShape* polyhedron, @@ -172,8 +171,7 @@ class SATAlgorithm { const Vector3& edgeAdjacentFace2Normal) const; /// Test collision between two convex meshes - bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts) const; + bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems) const; #ifdef IS_PROFILING_ACTIVE diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h index dbecf770..f531b352 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleAlgorithm.h @@ -66,7 +66,7 @@ class SphereVsCapsuleAlgorithm : public NarrowPhaseAlgorithm { /// Compute the narrow-phase collision detection between a sphere and a capsule bool testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); + uint batchNbItems, MemoryAllocator& memoryAllocator); }; } diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h index 7781af01..4c1b45a8 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.h @@ -58,18 +58,18 @@ struct SphereVsCapsuleNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs); /// Destructor - virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() = default; + virtual ~SphereVsCapsuleNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform); + const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) override; // Initialize the containers using cached capacity - virtual void reserveMemory(); + virtual void reserveMemory() override; /// Clear all the objects in the batch - virtual void clear(); + virtual void clear() override; }; } diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h index 5143d1ff..fabeeba3 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.h @@ -70,7 +70,7 @@ class SphereVsConvexPolyhedronAlgorithm : public NarrowPhaseAlgorithm { SphereVsConvexPolyhedronAlgorithm& operator=(const SphereVsConvexPolyhedronAlgorithm& algorithm) = delete; /// Compute the narrow-phase collision detection between a sphere and a convex polyhedron - bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts, + bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator); }; diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h index 7171c3cb..0f7f2a09 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsSphereAlgorithm.h @@ -66,7 +66,7 @@ class SphereVsSphereAlgorithm : public NarrowPhaseAlgorithm { /// Compute a contact info if the two bounding volume collide bool testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, bool reportContacts, MemoryAllocator& memoryAllocator); + uint batchNbItems, MemoryAllocator& memoryAllocator); }; } diff --git a/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h b/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h index 25fa4773..73d040c6 100644 --- a/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h +++ b/include/reactphysics3d/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.h @@ -55,9 +55,9 @@ struct SphereVsSphereNarrowPhaseInfoBatch : public NarrowPhaseInfoBatch { virtual ~SphereVsSphereNarrowPhaseInfoBatch() override = default; /// Add shapes to be tested during narrow-phase collision detection into the batch - virtual void addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, + virtual void addNarrowPhaseInfo(uint64 airId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, - const Transform& shape2Transform); + const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) override; // Initialize the containers using cached capacity virtual void reserveMemory() override; diff --git a/include/reactphysics3d/components/ColliderComponents.h b/include/reactphysics3d/components/ColliderComponents.h index 16e51604..6f8cfa1c 100644 --- a/include/reactphysics3d/components/ColliderComponents.h +++ b/include/reactphysics3d/components/ColliderComponents.h @@ -96,6 +96,9 @@ class ColliderComponents : public Components { /// has been changed by the user bool* mHasCollisionShapeChangedSize; + /// True if the collider is a trigger + bool* mIsTrigger; + // -------------------- Methods -------------------- // @@ -192,9 +195,15 @@ class ColliderComponents : public Components { /// Return true if the size of collision shape of the collider has been changed by the user bool getHasCollisionShapeChangedSize(Entity colliderEntity) const; - /// Return true if the size of collision shape of the collider has been changed by the user + /// Set whether the size of collision shape of the collider has been changed by the user void setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize); + /// Return true if a collider is a trigger + bool getIsTrigger(Entity colliderEntity) const; + + /// Set whether a collider is a trigger + void setIsTrigger(Entity colliderEntity, bool isTrigger); + // -------------------- Friendship -------------------- // friend class BroadPhaseSystem; @@ -331,6 +340,23 @@ inline void ColliderComponents::setHasCollisionShapeChangedSize(Entity colliderE mHasCollisionShapeChangedSize[mMapEntityToComponentIndex[colliderEntity]] = hasCollisionShapeChangedSize; } + +// Return true if a collider is a trigger +inline bool ColliderComponents::getIsTrigger(Entity colliderEntity) const { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + return mIsTrigger[mMapEntityToComponentIndex[colliderEntity]]; +} + +// Set whether a collider is a trigger +inline void ColliderComponents::setIsTrigger(Entity colliderEntity, bool isTrigger) { + + assert(mMapEntityToComponentIndex.containsKey(colliderEntity)); + + mIsTrigger[mMapEntityToComponentIndex[colliderEntity]] = isTrigger; +} + } #endif diff --git a/include/reactphysics3d/components/RigidBodyComponents.h b/include/reactphysics3d/components/RigidBodyComponents.h index 826b706b..a618b896 100644 --- a/include/reactphysics3d/components/RigidBodyComponents.h +++ b/include/reactphysics3d/components/RigidBodyComponents.h @@ -110,7 +110,6 @@ class RigidBodyComponents : public Components { Vector3* mLocalInertiaTensors; /// Array with the inverse of the inertia tensor of each component - // TODO : We should use a Vector3 here for the diagonal instead of a Matrix3x3 Vector3* mInverseInertiaTensorsLocal; /// Array with the constrained linear velocity of each component diff --git a/include/reactphysics3d/engine/EventListener.h b/include/reactphysics3d/engine/EventListener.h index 0db10123..e797b58c 100644 --- a/include/reactphysics3d/engine/EventListener.h +++ b/include/reactphysics3d/engine/EventListener.h @@ -28,6 +28,7 @@ // Libraries #include +#include namespace reactphysics3d { @@ -54,6 +55,12 @@ class EventListener : public CollisionCallback { * @param collisionInfo Information about the contacts */ virtual void onContact(const CollisionCallback::CallbackData& callbackData) override {} + + /// Called when some trigger events occur + virtual void onTrigger(const OverlapCallback::CallbackData& callbackData) {} + + /// Called to report rigid bodies that started to sleep or has woken up in the previous frame + virtual void onSleep() {} }; } diff --git a/include/reactphysics3d/engine/OverlappingPairs.h b/include/reactphysics3d/engine/OverlappingPairs.h index 676ccc22..35a5342f 100644 --- a/include/reactphysics3d/engine/OverlappingPairs.h +++ b/include/reactphysics3d/engine/OverlappingPairs.h @@ -173,6 +173,12 @@ class OverlappingPairs { /// True if the first shape of the pair is convex bool* mIsShape1Convex; + /// True if the colliders of the overlapping pair were colliding in the previous frame + bool* mCollidingInPreviousFrame; + + /// True if the colliders of the overlapping pair are colliding in the current frame + bool* mCollidingInCurrentFrame; + /// Reference to the colliders components ColliderComponents& mColliderComponents; @@ -276,12 +282,21 @@ class OverlappingPairs { /// Delete all the obsolete last frame collision info void clearObsoleteLastFrameCollisionInfos(); + /// Set the collidingInPreviousFrame value with the collidinginCurrentFrame value for each pair + void updateCollidingInPreviousFrame(); + /// Return the pair of bodies index of the pair static bodypair computeBodiesIndexPair(Entity body1Entity, Entity body2Entity); /// Set if we need to test a given pair for overlap void setNeedToTestOverlap(uint64 pairId, bool needToTestOverlap); + /// Return true if the two colliders of the pair were already colliding the previous frame + bool getCollidingInPreviousFrame(uint64 pairId) const; + + /// Set to true if the two colliders of the pair were already colliding the previous frame + void setCollidingInPreviousFrame(uint64 pairId, bool wereCollidingInPreviousFrame); + #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -380,6 +395,18 @@ inline void OverlappingPairs::setNeedToTestOverlap(uint64 pairId, bool needToTes mNeedToTestOverlap[mMapPairIdToPairIndex[pairId]] = needToTestOverlap; } +// Return true if the two colliders of the pair were already colliding the previous frame +inline bool OverlappingPairs::getCollidingInPreviousFrame(uint64 pairId) const { + assert(mMapPairIdToPairIndex.containsKey(pairId)); + return mCollidingInPreviousFrame[mMapPairIdToPairIndex[pairId]]; +} + +// Set to true if the two colliders of the pair were already colliding the previous frame +inline void OverlappingPairs::setCollidingInPreviousFrame(uint64 pairId, bool wereCollidingInPreviousFrame) { + assert(mMapPairIdToPairIndex.containsKey(pairId)); + mCollidingInPreviousFrame[mMapPairIdToPairIndex[pairId]] = wereCollidingInPreviousFrame; +} + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h index e6092c28..6ddcdb63 100644 --- a/include/reactphysics3d/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -481,6 +481,8 @@ class PhysicsWorld { friend class FixedJoint; friend class HingeJoint; friend class SliderJoint; + friend class CollisionCallback::CallbackData; + friend class OverlapCallback::CallbackData; }; // Set the collision dispatch configuration diff --git a/include/reactphysics3d/systems/CollisionDetectionSystem.h b/include/reactphysics3d/systems/CollisionDetectionSystem.h index 3a6e467c..08057cfb 100644 --- a/include/reactphysics3d/systems/CollisionDetectionSystem.h +++ b/include/reactphysics3d/systems/CollisionDetectionSystem.h @@ -122,6 +122,9 @@ class CollisionDetectionSystem { /// Pointer to the list of contact pairs of the current frame (either mContactPairs1 or mContactPairs2) List* mCurrentContactPairs; + /// List of lost contact pairs (contact pairs in contact in previous frame but not in the current one) + List mLostContactPairs; + /// First map of overlapping pair id to the index of the corresponding pair contact Map mMapPairIdToContactPairIndex1; @@ -176,10 +179,11 @@ class CollisionDetectionSystem { void computeBroadPhase(); /// Compute the middle-phase collision detection - void computeMiddlePhase(NarrowPhaseInput& narrowPhaseInput); + void computeMiddlePhase(NarrowPhaseInput& narrowPhaseInput, bool needToReportContacts); // Compute the middle-phase collision detection - void computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput); + void computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput, + bool reportContacts); /// Compute the narrow-phase collision detection void computeNarrowPhase(); @@ -191,10 +195,11 @@ class CollisionDetectionSystem { bool computeNarrowPhaseCollisionSnapshot(NarrowPhaseInput& narrowPhaseInput, CollisionCallback& callback); /// Process the potential contacts after narrow-phase collision detection - void computeSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List>& overlapPairs) const; + void computeOverlapSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List& contactPairs) const; /// Convert the potential contact into actual contacts - void computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const; + void computeOverlapSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List& contactPairs, + Set& setOverlapContactPairId) const; /// Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary void updateOverlappingPairs(const List >& overlappingNodes); @@ -202,8 +207,11 @@ class CollisionDetectionSystem { /// Remove pairs that are not overlapping anymore void removeNonOverlappingPairs(); + /// Add a lost contact pair (pair of colliders that are not in contact anymore) + void addLostContactPair(uint64 overlappingPairIndex); + /// Execute the narrow-phase collision detection algorithm on batches - bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator); + bool testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator); /// Compute the concave vs convex middle-phase algorithm for a given pair of bodies void computeConvexVsConcaveMiddlePhase(uint64 pairIndex, MemoryAllocator& allocator, @@ -222,7 +230,7 @@ class CollisionDetectionSystem { /// Process the potential contacts after narrow-phase collision detection void processAllPotentialContacts(NarrowPhaseInput& narrowPhaseInput, bool updateLastFrameInfo, List& potentialContactPoints, Map* mapPairIdToContactPairIndex, - List &potentialContactManifolds, List* contactPairs, + List& potentialContactManifolds, List* contactPairs, Map>& mapBodyToContactPairs); /// Reduce the potential contact manifolds and contact points of the overlapping pair contacts @@ -232,6 +240,9 @@ class CollisionDetectionSystem { /// Create the actual contact manifolds and contacts points (from potential contacts) for a given contact pair void createContacts(); + /// Compute the lost contact pairs (contact pairs in contact in the previous frame but not in the current one) + void computeLostContactPairs(); + /// Create the actual contact manifolds and contacts points for testCollision() methods void createSnapshotContacts(List& contactPairs, List &contactManifolds, List& contactPoints, @@ -247,7 +258,10 @@ class CollisionDetectionSystem { /// Report contacts void reportContacts(CollisionCallback& callback, List* contactPairs, - List* manifolds, List* contactPoints); + List* manifolds, List* contactPoints, List& lostContactPairs); + + /// Report all triggers + void reportTriggers(EventListener& eventListener, List* contactPairs, List& lostContactPairs); /// Return the largest depth of all the contact points of a potential manifold decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, @@ -307,8 +321,8 @@ class CollisionDetectionSystem { /// Notify that the overlapping pairs where a given collider is involved need to be tested for overlap void notifyOverlappingPairsToTestOverlap(Collider* collider); - /// Report contacts - void reportContacts(); + /// Report contacts and triggers + void reportContactsAndTriggers(); /// Compute the collision detection void computeCollisionDetection(); diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index d4193baa..ce11510d 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -224,6 +224,16 @@ const Transform Collider::getLocalToWorldTransform() const { return mBody->mWorld.mCollidersComponents.getLocalToWorldTransform(mEntity); } +// Return true if the collider is a trigger +bool Collider::getIsTrigger() const { + return mBody->mWorld.mCollidersComponents.getIsTrigger(mEntity); +} + +// Set whether the collider is a trigger +void Collider::setIsTrigger(bool isTrigger) const { + mBody->mWorld.mCollidersComponents.setIsTrigger(mEntity, isTrigger); +} + #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/src/collision/CollisionCallback.cpp b/src/collision/CollisionCallback.cpp index 58507b6c..81825d00 100644 --- a/src/collision/CollisionCallback.cpp +++ b/src/collision/CollisionCallback.cpp @@ -39,9 +39,9 @@ CollisionCallback::ContactPoint::ContactPoint(const reactphysics3d::ContactPoint // Contact Pair Constructor CollisionCallback::ContactPair::ContactPair(const reactphysics3d::ContactPair& contactPair, - List* contactPoints, PhysicsWorld& world) + List* contactPoints, PhysicsWorld& world, bool isLostContactPair) :mContactPair(contactPair), mContactPoints(contactPoints), - mWorld(world) { + mWorld(world), mIsLostContactPair(isLostContactPair) { } @@ -65,11 +65,38 @@ Collider* CollisionCallback::ContactPair::getCollider2() const { return mWorld.mCollidersComponents.getCollider(mContactPair.collider2Entity); } +// Return the corresponding type of event for this contact pair +CollisionCallback::ContactPair::EventType CollisionCallback::ContactPair::getEventType() const { + + if (mIsLostContactPair) return EventType::ContactExit; + + if (mContactPair.collidingInPreviousFrame) return EventType::ContactStay; + + return EventType::ContactStart; +} + // CollisionCallbackInfo Constructor CollisionCallback::CallbackData::CallbackData(List* contactPairs, List* manifolds, - List* contactPoints, PhysicsWorld &world) - :mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mWorld(world) { + List* contactPoints, List& lostContactPairs, PhysicsWorld& world) + :mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mLostContactPairs(lostContactPairs), + mContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mLostContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mWorld(world) { + // Filter the contact pairs to only keep the contact events (not the overlap/trigger events) + for (uint i=0; i < mContactPairs->size(); i++) { + + // If the contact pair contains contacts (and is therefore not an overlap/trigger event) + if (!(*mContactPairs)[i].isTrigger) { + mContactPairsIndices.add(i); + } + } + // Filter the lost contact pairs to only keep the contact events (not the overlap/trigger events) + for (uint i=0; i < mLostContactPairs.size(); i++) { + + // If the contact pair contains contacts (and is therefore not an overlap/trigger event) + if (!mLostContactPairs[i].isTrigger) { + mLostContactPairsIndices.add(i); + } + } } // Return a given contact point of the contact pair @@ -91,5 +118,13 @@ CollisionCallback::ContactPair CollisionCallback::CallbackData::getContactPair(u assert(index < getNbContactPairs()); - return CollisionCallback::ContactPair((*mContactPairs)[index], mContactPoints, mWorld); + if (index < mContactPairsIndices.size()) { + // Return a contact pair + return CollisionCallback::ContactPair((*mContactPairs)[mContactPairsIndices[index]], mContactPoints, mWorld, false); + } + else { + + // Return a lost contact pair + return CollisionCallback::ContactPair(mLostContactPairs[mLostContactPairsIndices[index - mContactPairsIndices.size()]], mContactPoints, mWorld, true); + } } diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index b0448486..af5f17ff 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -31,23 +31,60 @@ using namespace reactphysics3d; // Contact Pair Constructor -OverlapCallback::OverlapPair::OverlapPair(Pair& overlapPair, PhysicsWorld& world) - : mOverlapPair(overlapPair), mWorld(world) { +OverlapCallback::OverlapPair::OverlapPair(ContactPair& contactPair, PhysicsWorld& world, bool isLostOverlappingPair) + : mContactPair(contactPair), mWorld(world), mIsLostOverlapPair(isLostOverlappingPair) { } +// Return a pointer to the first collider in contact +Collider* OverlapCallback::OverlapPair::getCollider1() const { + return static_cast(mWorld.mCollidersComponents.getCollider(mContactPair.collider1Entity)); +} + +// Return a pointer to the second collider in contact +Collider* OverlapCallback::OverlapPair::getCollider2() const { + return static_cast(mWorld.mCollidersComponents.getCollider(mContactPair.collider2Entity)); +} + // Return a pointer to the first body in contact CollisionBody* OverlapCallback::OverlapPair::getBody1() const { - return static_cast(mWorld.mCollisionBodyComponents.getBody(mOverlapPair.first)); + return static_cast(mWorld.mCollisionBodyComponents.getBody(mContactPair.body1Entity)); } // Return a pointer to the second body in contact CollisionBody* OverlapCallback::OverlapPair::getBody2() const { - return static_cast(mWorld.mCollisionBodyComponents.getBody(mOverlapPair.second)); + return static_cast(mWorld.mCollisionBodyComponents.getBody(mContactPair.body2Entity)); +} + +// Return the corresponding type of event for this overlapping pair +OverlapCallback::OverlapPair::EventType OverlapCallback::OverlapPair::getEventType() const { + + if (mIsLostOverlapPair) return EventType::OverlapExit; + + if (mContactPair.collidingInPreviousFrame) return EventType::OverlapStay; + + return EventType::OverlapStart; } // CollisionCallbackData Constructor -OverlapCallback::CallbackData::CallbackData(List>& overlapColliders, PhysicsWorld& world) - :mOverlapBodies(overlapColliders), mWorld(world) { +OverlapCallback::CallbackData::CallbackData(List& contactPairs, List& lostContactPairs, PhysicsWorld& world) + :mContactPairs(contactPairs), mLostContactPairs(lostContactPairs), + mContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mLostContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mWorld(world) { + // Filter the contact pairs to only keep the overlap/trigger events (not the contact events) + for (uint i=0; i < mContactPairs.size(); i++) { + + // If the contact pair contains contacts (and is therefore not an overlap/trigger event) + if (mContactPairs[i].isTrigger) { + mContactPairsIndices.add(i); + } + } + // Filter the lost contact pairs to only keep the overlap/trigger events (not the contact events) + for (uint i=0; i < mLostContactPairs.size(); i++) { + + // If the contact pair contains contacts (and is therefore not an overlap/trigger event) + if (mLostContactPairs[i].isTrigger) { + mLostContactPairsIndices.add(i); + } + } } diff --git a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp index 7f69964c..4def6d9d 100755 --- a/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleAlgorithm.cpp @@ -35,7 +35,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { + MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -95,7 +95,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat // If the segments were overlapping (the clip segment is valid) if (t1 > decimal(0.0) && t2 > decimal(0.0)) { - if (reportContacts) { + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { // Clip the inner segment of capsule 2 if (t1 > decimal(1.0)) t1 = decimal(1.0); @@ -171,7 +171,7 @@ bool CapsuleVsCapsuleAlgorithm::testCollision(CapsuleVsCapsuleNarrowPhaseInfoBat // If the collision shapes overlap if (closestPointsDistanceSquare < sumRadius * sumRadius) { - if (reportContacts) { + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { // If the distance between the inner segments is not zero if (closestPointsDistanceSquare > MACHINE_EPSILON) { diff --git a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp index c8780c02..48d772d9 100644 --- a/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/CapsuleVsCapsuleNarrowPhaseInfoBatch.cpp @@ -39,7 +39,10 @@ CapsuleVsCapsuleNarrowPhaseInfoBatch::CapsuleVsCapsuleNarrowPhaseInfoBatch(Memor // Add shapes to be tested during narrow-phase collision detection into the batch void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform) { + const Transform& shape1Transform, const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator &shapeAllocator) { + + NarrowPhaseInfoBatch::addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, + shape2Transform, needToReportContacts, shapeAllocator); assert(shape1->getType() == CollisionShapeType::CAPSULE); assert(shape2->getType() == CollisionShapeType::CAPSULE); @@ -47,34 +50,16 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uin const CapsuleShape* capsule1 = static_cast(shape1); const CapsuleShape* capsule2 = static_cast(shape2); - colliderEntities1.add(collider1); - colliderEntities2.add(collider2); capsule1Radiuses.add(capsule1->getRadius()); capsule2Radiuses.add(capsule2->getRadius()); capsule1Heights.add(capsule1->getHeight()); capsule2Heights.add(capsule2->getHeight()); - shape1ToWorldTransforms.add(shape1Transform); - shape2ToWorldTransforms.add(shape2Transform); - overlappingPairIds.add(pairId); - contactPoints.add(List(mMemoryAllocator)); - isColliding.add(false); - - // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); - lastFrameCollisionInfos.add(lastFrameInfo); } // Initialize the containers using cached capacity void CapsuleVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - overlappingPairIds.reserve(mCachedCapacity); - colliderEntities1.reserve(mCachedCapacity); - colliderEntities2.reserve(mCachedCapacity); - shape1ToWorldTransforms.reserve(mCachedCapacity); - shape2ToWorldTransforms.reserve(mCachedCapacity); - lastFrameCollisionInfos.reserve(mCachedCapacity); - isColliding.reserve(mCachedCapacity); - contactPoints.reserve(mCachedCapacity); + NarrowPhaseInfoBatch::reserveMemory(); capsule1Radiuses.reserve(mCachedCapacity); capsule2Radiuses.reserve(mCachedCapacity); @@ -90,16 +75,7 @@ void CapsuleVsCapsuleNarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairIds.size(); - - overlappingPairIds.clear(true); - colliderEntities1.clear(true); - colliderEntities2.clear(true); - shape1ToWorldTransforms.clear(true); - shape2ToWorldTransforms.clear(true); - lastFrameCollisionInfos.clear(true); - isColliding.clear(true); - contactPoints.clear(true); + NarrowPhaseInfoBatch::clear(); capsule1Radiuses.clear(true); capsule2Radiuses.clear(true); diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index 0342487b..efcaf3c3 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -41,7 +41,7 @@ using namespace reactphysics3d; // by Dirk Gregorius. bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool clipWithPreviousAxisIfStillColliding, + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -59,7 +59,7 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar // Run the GJK algorithm List gjkResults(memoryAllocator); - gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults, reportContacts); + gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults); assert(gjkResults.size() == batchNbItems); for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { @@ -78,7 +78,8 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar // If we have found a contact point inside the margins (shallow penetration) if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) { - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { bool noContact = false; @@ -173,7 +174,7 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar if (gjkResults[batchIndex] == GJKAlgorithm::GJKResult::INTERPENETRATE) { // Run the SAT algorithm to find the separating axis and compute contact point - narrowPhaseInfoBatch.isColliding[batchIndex] = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, reportContacts); + narrowPhaseInfoBatch.isColliding[batchIndex] = satAlgorithm.testCollisionCapsuleVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex); lastFrameCollisionInfo->wasUsingGJK = false; lastFrameCollisionInfo->wasUsingSAT = true; diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index ac4791c1..7cea8c2b 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -37,7 +37,7 @@ using namespace reactphysics3d; // by Dirk Gregorius. bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { // Run the SAT algorithm to find the separating axis and compute contact point SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); @@ -48,8 +48,7 @@ bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB #endif - bool isCollisionFound = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, - batchNbItems, reportContacts); + bool isCollisionFound = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, batchNbItems); for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) { diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp index ff39943d..30b30e60 100644 --- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp +++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp @@ -48,7 +48,7 @@ using namespace reactphysics3d; /// origin, they we give that simplex polytope to the EPA algorithm which will compute /// the correct penetration depth and contact points between the enlarged objects. void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, - uint batchNbItems, List& gjkResults, bool reportContacts) { + uint batchNbItems, List& gjkResults) { RP3D_PROFILE("GJKAlgorithm::testCollision()", mProfiler); @@ -214,7 +214,8 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin continue; } - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle TriangleShape::computeSmoothTriangleMeshContact(shape1, shape2, pA, pB, transform1, transform2, diff --git a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp index f7a5ce21..56f01f98 100644 --- a/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/NarrowPhaseInfoBatch.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator, OverlappingPairs& overlappingPairs) : mMemoryAllocator(allocator), mOverlappingPairs(overlappingPairs), overlappingPairIds(allocator), colliderEntities1(allocator), colliderEntities2(allocator), collisionShapes1(allocator), collisionShapes2(allocator), - shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), + shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator), reportContacts(allocator), isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) { @@ -49,7 +49,7 @@ NarrowPhaseInfoBatch::~NarrowPhaseInfoBatch() { // Add shapes to be tested during narrow-phase collision detection into the batch void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform, + const Transform& shape1Transform, const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator& shapeAllocator) { overlappingPairIds.add(pairId); @@ -59,6 +59,7 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, E collisionShapes2.add(shape2); shape1ToWorldTransforms.add(shape1Transform); shape2ToWorldTransforms.add(shape2Transform); + reportContacts.add(needToReportContacts); collisionShapeAllocators.add(&shapeAllocator); contactPoints.add(List(mMemoryAllocator)); isColliding.add(false); @@ -72,6 +73,7 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, E void NarrowPhaseInfoBatch::addContactPoint(uint index, const Vector3& contactNormal, decimal penDepth, const Vector3& localPt1, const Vector3& localPt2) { + assert(reportContacts[index]); assert(penDepth > decimal(0.0)); // Get the memory allocator @@ -116,6 +118,7 @@ void NarrowPhaseInfoBatch::reserveMemory() { collisionShapes2.reserve(mCachedCapacity); shape1ToWorldTransforms.reserve(mCachedCapacity); shape2ToWorldTransforms.reserve(mCachedCapacity); + reportContacts.reserve(mCachedCapacity); collisionShapeAllocators.reserve(mCachedCapacity); lastFrameCollisionInfos.reserve(mCachedCapacity); isColliding.reserve(mCachedCapacity); @@ -155,6 +158,7 @@ void NarrowPhaseInfoBatch::clear() { collisionShapes2.clear(true); shape1ToWorldTransforms.clear(true); shape2ToWorldTransforms.clear(true); + reportContacts.clear(true); collisionShapeAllocators.clear(true); lastFrameCollisionInfos.clear(true); isColliding.clear(true); diff --git a/src/collision/narrowphase/NarrowPhaseInput.cpp b/src/collision/narrowphase/NarrowPhaseInput.cpp index aff929ed..3ca8d4b6 100644 --- a/src/collision/narrowphase/NarrowPhaseInput.cpp +++ b/src/collision/narrowphase/NarrowPhaseInput.cpp @@ -41,26 +41,26 @@ NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator, OverlappingPairs& // Add shapes to be tested during narrow-phase collision detection into the batch void NarrowPhaseInput::addNarrowPhaseTest(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, const Transform& shape1Transform, const Transform& shape2Transform, - NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) { + NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, bool reportContacts, MemoryAllocator& shapeAllocator) { switch (narrowPhaseAlgorithmType) { case NarrowPhaseAlgorithmType::SphereVsSphere: - mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsSphereBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); break; case NarrowPhaseAlgorithmType::SphereVsCapsule: - mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform); + mSphereVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); break; case NarrowPhaseAlgorithmType::CapsuleVsCapsule: - mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform); + mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); break; case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron: - mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); break; case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron: - mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); break; case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron: - mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator); + mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, shape2Transform, reportContacts, shapeAllocator); break; case NarrowPhaseAlgorithmType::None: // Must never happen diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index e9c89853..69b0c236 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -55,8 +55,7 @@ SATAlgorithm::SATAlgorithm(bool clipWithPreviousAxisIfStillColliding, MemoryAllo // Test collision between a sphere and a convex mesh bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, - uint batchStartIndex, uint batchNbItems, - bool reportContacts) const { + uint batchStartIndex, uint batchNbItems) const { bool isCollisionFound = false; @@ -114,7 +113,8 @@ bool SATAlgorithm::testCollisionSphereVsConvexPolyhedron(NarrowPhaseInfoBatch& n continue; } - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { const Vector3 minFaceNormal = polyhedron->getFaceNormal(minFaceIndex); Vector3 minFaceNormalWorld = polyhedronToWorldTransform.getOrientation() * minFaceNormal; @@ -162,7 +162,7 @@ decimal SATAlgorithm::computePolyhedronFaceVsSpherePenetrationDepth(uint faceInd } // Test collision between a capsule and a convex mesh -bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex, bool reportContacts) const { +bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchIndex) const { RP3D_PROFILE("SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron()", mProfiler); @@ -277,7 +277,8 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& // We need to clip the inner capsule segment with the adjacent faces of the separating face if (isMinPenetrationFaceNormal) { - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { return computeCapsulePolyhedronFaceContactPoints(minFaceIndex, capsuleRadius, polyhedron, minPenetrationDepth, polyhedronToCapsuleTransform, normalWorld, separatingAxisCapsuleSpace, @@ -287,7 +288,8 @@ bool SATAlgorithm::testCollisionCapsuleVsConvexPolyhedron(NarrowPhaseInfoBatch& } else { // The separating axis is the cross product of a polyhedron edge and the inner capsule segment - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { // Compute the closest points between the inner capsule segment and the // edge of the polyhedron in polyhedron local-space @@ -475,7 +477,7 @@ bool SATAlgorithm::isMinkowskiFaceCapsuleVsEdge(const Vector3& capsuleSegment, c } // Test collision between two convex polyhedrons -bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, bool reportContacts) const { +bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems) const { RP3D_PROFILE("SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron()", mProfiler); @@ -485,6 +487,7 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn assert(narrowPhaseInfoBatch.collisionShapes1[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); assert(narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::CONVEX_POLYHEDRON); + assert(narrowPhaseInfoBatch.contactPoints[batchIndex].size() == 0); const ConvexPolyhedronShape* polyhedron1 = static_cast(narrowPhaseInfoBatch.collisionShapes1[batchIndex]); const ConvexPolyhedronShape* polyhedron2 = static_cast(narrowPhaseInfoBatch.collisionShapes2[batchIndex]); @@ -646,32 +649,37 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn decimal t2 = vec2.dot(edge1Direction) / edge1LengthSquare; if (t1 >= decimal(0.0) && t1 <= decimal(1) && t2 >= decimal(0.0) && t2 <= decimal(1.0)) { - // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 - Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; + // If we need to report contact points + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { + + // Compute the contact point on polyhedron 1 edge in the local-space of polyhedron 1 + Vector3 closestPointPolyhedron1EdgeLocalSpace = polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge; + + // Compute the world normal + // We use the direction from the centroid to the edge of the shape that is not a triangle + // to avoid possible degeneracies when axis direction is orthogonal to triangle normal + Vector3 normal; + if (isShape1Triangle) { + normal = polyhedron2->getCentroid() - closestPointPolyhedron2Edge; + } + else { + normal = polyhedron1ToPolyhedron2.getOrientation() * ((polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge) - polyhedron1->getCentroid()); + } + + //Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; + Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normal.getUnit(); + + // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + penetrationDepth, normalWorld); + + // Create the contact point + narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, + closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge); - // Compute the world normal - // We use the direction from the centroid to the edge of the shape that is not a triangle - // to avoid possible degeneracies when axis direction is orthogonal to triangle normal - Vector3 normal; - if (isShape1Triangle) { - normal = polyhedron2->getCentroid() - closestPointPolyhedron2Edge; } - else { - normal = polyhedron1ToPolyhedron2.getOrientation() * ((polyhedron2ToPolyhedron1 * closestPointPolyhedron1Edge) - polyhedron1->getCentroid()); - } - - //Vector3 normalWorld = narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * minEdgeVsEdgeSeparatingAxisPolyhedron2Space; - Vector3 normalWorld = narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex].getOrientation() * normal.getUnit(); - - // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], - closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], - penetrationDepth, normalWorld); - - // Create the contact point - narrowPhaseInfoBatch.addContactPoint(batchIndex, normalWorld, penetrationDepth, - closestPointPolyhedron1EdgeLocalSpace, closestPointPolyhedron2Edge); // The shapes are overlapping on the previous axis (the contact manifold is not empty). Therefore // we return without running the whole SAT algorithm @@ -819,24 +827,21 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn // If the minimum separating axis is a face normal if (isMinPenetrationFaceNormal) { - if (reportContacts) { + // Compute the contact points between two faces of two convex polyhedra. + bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, + polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, + minFaceIndex, narrowPhaseInfoBatch, batchIndex); - // Compute the contact points between two faces of two convex polyhedra. - bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, - polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, - minFaceIndex, narrowPhaseInfoBatch, batchIndex); + // There should be clipping points here. If it is not the case, it might be + // because of a numerical issue + if (!contactsFound) { - // There should be clipping points here. If it is not the case, it might be - // because of a numerical issue - if (!contactsFound) { + lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; + lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1; - lastFrameCollisionInfo->satMinAxisFaceIndex = minFaceIndex; - - // Return no collision - continue; - } + // Return no collision + continue; } lastFrameCollisionInfo->satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1; @@ -845,7 +850,8 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn } else { // If we have an edge vs edge contact - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { // Compute the closest points between the two edges (in the local-space of poylhedron 2) Vector3 closestPointPolyhedron1Edge, closestPointPolyhedron2Edge; @@ -981,25 +987,29 @@ bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPene contactPointsFound = true; - Vector3 outWorldNormal = normalWorld; + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { - // Convert the clip incident polyhedron vertex into the incident polyhedron local-space - Vector3 contactPointIncidentPolyhedron = referenceToIncidentTransform * clipPolygonVertices[i]; + Vector3 outWorldNormal = normalWorld; - // Project the contact point onto the reference face - Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(clipPolygonVertices[i], axisReferenceSpace, referenceFaceVertex); + // Convert the clip incident polyhedron vertex into the incident polyhedron local-space + Vector3 contactPointIncidentPolyhedron = referenceToIncidentTransform * clipPolygonVertices[i]; - // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle - TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], - isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, - isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron, - narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], - penetrationDepth, outWorldNormal); + // Project the contact point onto the reference face + Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(clipPolygonVertices[i], axisReferenceSpace, referenceFaceVertex); - // Create a new contact point - narrowPhaseInfoBatch.addContactPoint(batchIndex, outWorldNormal, penetrationDepth, - isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, - isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron); + // Compute smooth triangle mesh contact if one of the two collision shapes is a triangle + TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfoBatch.collisionShapes1[batchIndex], narrowPhaseInfoBatch.collisionShapes2[batchIndex], + isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, + isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron, + narrowPhaseInfoBatch.shape1ToWorldTransforms[batchIndex], narrowPhaseInfoBatch.shape2ToWorldTransforms[batchIndex], + penetrationDepth, outWorldNormal); + + // Create a new contact point + narrowPhaseInfoBatch.addContactPoint(batchIndex, outWorldNormal, penetrationDepth, + isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron, + isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron); + } } } diff --git a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp index fe2dab68..0a272672 100755 --- a/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleAlgorithm.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { + MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -79,7 +79,8 @@ bool SphereVsCapsuleAlgorithm::testCollision(SphereVsCapsuleNarrowPhaseInfoBatch Vector3 contactPointSphereLocal; Vector3 contactPointCapsuleLocal; - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { // If the sphere center is not on the capsule inner segment if (sphereSegmentDistanceSquare > MACHINE_EPSILON) { diff --git a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp index 7d33d609..630fd202 100644 --- a/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsCapsuleNarrowPhaseInfoBatch.cpp @@ -40,7 +40,11 @@ SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryA // Add shapes to be tested during narrow-phase collision detection into the batch void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform) { + const Transform& shape1Transform, const Transform& shape2Transform, + bool needToReportContacts, MemoryAllocator& shapeAllocator) { + + NarrowPhaseInfoBatch::addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, + shape2Transform, needToReportContacts, shapeAllocator); bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE; isSpheresShape1.add(isSphereShape1); @@ -54,30 +58,12 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint sphereRadiuses.add(sphereShape->getRadius()); capsuleRadiuses.add(capsuleShape->getRadius()); capsuleHeights.add(capsuleShape->getHeight()); - shape1ToWorldTransforms.add(shape1Transform); - shape2ToWorldTransforms.add(shape2Transform); - overlappingPairIds.add(pairId); - colliderEntities1.add(collider1); - colliderEntities2.add(collider2); - contactPoints.add(List(mMemoryAllocator)); - isColliding.add(false); - - // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); - lastFrameCollisionInfos.add(lastFrameInfo); } // Initialize the containers using cached capacity void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() { - overlappingPairIds.reserve(mCachedCapacity); - colliderEntities1.reserve(mCachedCapacity); - colliderEntities2.reserve(mCachedCapacity); - shape1ToWorldTransforms.reserve(mCachedCapacity); - shape2ToWorldTransforms.reserve(mCachedCapacity); - lastFrameCollisionInfos.reserve(mCachedCapacity); - isColliding.reserve(mCachedCapacity); - contactPoints.reserve(mCachedCapacity); + NarrowPhaseInfoBatch::reserveMemory(); isSpheresShape1.reserve(mCachedCapacity); sphereRadiuses.reserve(mCachedCapacity); @@ -93,16 +79,7 @@ void SphereVsCapsuleNarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairIds.size(); - - overlappingPairIds.clear(true); - colliderEntities1.clear(true); - colliderEntities2.clear(true); - shape1ToWorldTransforms.clear(true); - shape2ToWorldTransforms.clear(true); - lastFrameCollisionInfos.clear(true); - isColliding.clear(true); - contactPoints.clear(true); + NarrowPhaseInfoBatch::clear(); isSpheresShape1.clear(true); sphereRadiuses.clear(true); diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index 64ee7f87..9c677fa4 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -36,7 +36,7 @@ using namespace reactphysics3d; // This technique is based on the "Robust Contact Creation for Physics Simulations" presentation // by Dirk Gregorius. bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) { // First, we run the GJK algorithm GJKAlgorithm gjkAlgorithm; @@ -50,7 +50,7 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr #endif List gjkResults(memoryAllocator); - gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults, reportContacts); + gjkAlgorithm.testCollision(narrowPhaseInfoBatch, batchStartIndex, batchNbItems, gjkResults); assert(gjkResults.size() == batchNbItems); // For each item in the batch @@ -88,7 +88,7 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr #endif - isCollisionFound |= satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1, reportContacts); + isCollisionFound |= satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfoBatch, batchIndex, 1); lastFrameCollisionInfo->wasUsingGJK = false; lastFrameCollisionInfo->wasUsingSAT = true; diff --git a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp index 4af07480..9334a618 100755 --- a/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsSphereAlgorithm.cpp @@ -31,8 +31,7 @@ // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; -bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, - bool reportContacts, MemoryAllocator& memoryAllocator) { +bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, MemoryAllocator& memoryAllocator) { bool isCollisionFound = false; @@ -59,10 +58,11 @@ bool SphereVsSphereAlgorithm::testCollision(SphereVsSphereNarrowPhaseInfoBatch& // If the sphere collision shapes intersect if (squaredDistanceBetweenCenters < sumRadiusesProducts) { - if (reportContacts) { + // If we need to report contacts + if (narrowPhaseInfoBatch.reportContacts[batchIndex]) { - Transform transform1Inverse = transform1.getInverse(); - Transform transform2Inverse = transform2.getInverse(); + const Transform transform1Inverse = transform1.getInverse(); + const Transform transform2Inverse = transform2.getInverse(); decimal penetrationDepth = sumRadiuses - std::sqrt(squaredDistanceBetweenCenters); Vector3 intersectionOnBody1; diff --git a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp index 76914285..f476af97 100644 --- a/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp +++ b/src/collision/narrowphase/SphereVsSphereNarrowPhaseInfoBatch.cpp @@ -37,7 +37,10 @@ SphereVsSphereNarrowPhaseInfoBatch::SphereVsSphereNarrowPhaseInfoBatch(MemoryAll // Add shapes to be tested during narrow-phase collision detection into the batch void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity collider1, Entity collider2, CollisionShape* shape1, CollisionShape* shape2, - const Transform& shape1Transform, const Transform& shape2Transform) { + const Transform& shape1Transform, const Transform& shape2Transform, bool needToReportContacts, MemoryAllocator &shapeAllocator) { + + NarrowPhaseInfoBatch::addNarrowPhaseInfo(pairId, pairIndex, collider1, collider2, shape1, shape2, shape1Transform, + shape2Transform, needToReportContacts, shapeAllocator); assert(shape1->getType() == CollisionShapeType::SPHERE); assert(shape2->getType() == CollisionShapeType::SPHERE); @@ -47,30 +50,12 @@ void SphereVsSphereNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint6 sphere1Radiuses.add(sphere1->getRadius()); sphere2Radiuses.add(sphere2->getRadius()); - colliderEntities1.add(collider1); - colliderEntities2.add(collider2); - shape1ToWorldTransforms.add(shape1Transform); - shape2ToWorldTransforms.add(shape2Transform); - overlappingPairIds.add(pairId); - contactPoints.add(List(mMemoryAllocator)); - isColliding.add(false); - - // Add a collision info for the two collision shapes into the overlapping pair (if not present yet) - LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId()); - lastFrameCollisionInfos.add(lastFrameInfo); } // Initialize the containers using cached capacity void SphereVsSphereNarrowPhaseInfoBatch::reserveMemory() { - overlappingPairIds.reserve(mCachedCapacity); - colliderEntities1.reserve(mCachedCapacity); - colliderEntities2.reserve(mCachedCapacity); - shape1ToWorldTransforms.reserve(mCachedCapacity); - shape2ToWorldTransforms.reserve(mCachedCapacity); - lastFrameCollisionInfos.reserve(mCachedCapacity); - isColliding.reserve(mCachedCapacity); - contactPoints.reserve(mCachedCapacity); + NarrowPhaseInfoBatch::reserveMemory(); sphere1Radiuses.reserve(mCachedCapacity); sphere2Radiuses.reserve(mCachedCapacity); @@ -84,16 +69,7 @@ void SphereVsSphereNarrowPhaseInfoBatch::clear() { // allocated in the next frame at a possibly different location in memory (remember that the // location of the allocated memory of a single frame allocator might change between two frames) - mCachedCapacity = overlappingPairIds.size(); - - overlappingPairIds.clear(true); - colliderEntities1.clear(true); - colliderEntities2.clear(true); - shape1ToWorldTransforms.clear(true); - shape2ToWorldTransforms.clear(true); - lastFrameCollisionInfos.clear(true); - isColliding.clear(true); - contactPoints.clear(true); + NarrowPhaseInfoBatch::clear(); sphere1Radiuses.clear(true); sphere2Radiuses.clear(true); diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp index 33a47503..0d879f83 100644 --- a/src/components/ColliderComponents.cpp +++ b/src/components/ColliderComponents.cpp @@ -37,7 +37,8 @@ using namespace reactphysics3d; ColliderComponents::ColliderComponents(MemoryAllocator& allocator) :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int32) + sizeof(Transform) + sizeof(CollisionShape*) + sizeof(unsigned short) + - sizeof(unsigned short) + sizeof(Transform) + sizeof(List) + sizeof(bool)) { + sizeof(unsigned short) + sizeof(Transform) + sizeof(List) + sizeof(bool) + + sizeof(bool)) { // Allocate memory for the components data allocate(INIT_NB_ALLOCATED_COMPONENTS); @@ -67,6 +68,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { Transform* newLocalToWorldTransforms = reinterpret_cast(newCollideWithMaskBits + nbComponentsToAllocate); List* newOverlappingPairs = reinterpret_cast*>(newLocalToWorldTransforms + nbComponentsToAllocate); bool* hasCollisionShapeChangedSize = reinterpret_cast(newOverlappingPairs + nbComponentsToAllocate); + bool* isTrigger = reinterpret_cast(hasCollisionShapeChangedSize + nbComponentsToAllocate); // If there was already components before if (mNbComponents > 0) { @@ -83,6 +85,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform)); memcpy(newOverlappingPairs, mOverlappingPairs, mNbComponents * sizeof(List)); memcpy(hasCollisionShapeChangedSize, mHasCollisionShapeChangedSize, mNbComponents * sizeof(bool)); + memcpy(isTrigger, mIsTrigger, mNbComponents * sizeof(bool)); // Deallocate previous memory mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize); @@ -101,6 +104,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) { mLocalToWorldTransforms = newLocalToWorldTransforms; mOverlappingPairs = newOverlappingPairs; mHasCollisionShapeChangedSize = hasCollisionShapeChangedSize; + mIsTrigger = isTrigger; mNbAllocatedComponents = nbComponentsToAllocate; } @@ -123,6 +127,7 @@ void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, co new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform); new (mOverlappingPairs + index) List(mMemoryAllocator); mHasCollisionShapeChangedSize[index] = false; + mIsTrigger[index] = false; // Map the entity with the new component lookup index mMapEntityToComponentIndex.add(Pair(colliderEntity, index)); @@ -150,6 +155,7 @@ void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]); new (mOverlappingPairs + destIndex) List(mOverlappingPairs[srcIndex]); mHasCollisionShapeChangedSize[destIndex] = mHasCollisionShapeChangedSize[srcIndex]; + mIsTrigger[destIndex] = mIsTrigger[srcIndex]; // Destroy the source component destroyComponent(srcIndex); @@ -177,6 +183,7 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { Transform localToWorldTransform1 = mLocalToWorldTransforms[index1]; List overlappingPairs = mOverlappingPairs[index1]; bool hasCollisionShapeChangedSize = mHasCollisionShapeChangedSize[index1]; + bool isTrigger = mIsTrigger[index1]; // Destroy component 1 destroyComponent(index1); @@ -195,6 +202,7 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) { new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1); new (mOverlappingPairs + index2) List(overlappingPairs); mHasCollisionShapeChangedSize[index2] = hasCollisionShapeChangedSize; + mIsTrigger[index2] = isTrigger; // Update the entity to component index mapping mMapEntityToComponentIndex.add(Pair(colliderEntity1, index2)); diff --git a/src/engine/OverlappingPairs.cpp b/src/engine/OverlappingPairs.cpp index f9f60460..9580a833 100644 --- a/src/engine/OverlappingPairs.cpp +++ b/src/engine/OverlappingPairs.cpp @@ -40,7 +40,7 @@ OverlappingPairs::OverlappingPairs(MemoryAllocator& persistentMemoryAllocator, M mNbPairs(0), mConcavePairsStartIndex(0), mPairDataSize(sizeof(uint64) + sizeof(int32) + sizeof(int32) + sizeof(Entity) + sizeof(Entity) + sizeof(Map) + sizeof(bool) + sizeof(bool) + sizeof(NarrowPhaseAlgorithmType) + - sizeof(bool)), + sizeof(bool) + sizeof(bool) + sizeof(bool)), mNbAllocatedPairs(0), mBuffer(nullptr), mMapPairIdToPairIndex(persistentMemoryAllocator), mColliderComponents(colliderComponents), mCollisionBodyComponents(collisionBodyComponents), @@ -211,6 +211,8 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { bool* newIsActive = reinterpret_cast(newNeedToTestOverlap + nbPairsToAllocate); NarrowPhaseAlgorithmType* newNarrowPhaseAlgorithmType = reinterpret_cast(newIsActive + nbPairsToAllocate); bool* newIsShape1Convex = reinterpret_cast(newNarrowPhaseAlgorithmType + nbPairsToAllocate); + bool* wereCollidingInPreviousFrame = reinterpret_cast(newIsShape1Convex + nbPairsToAllocate); + bool* areCollidingInCurrentFrame = reinterpret_cast(wereCollidingInPreviousFrame + nbPairsToAllocate); // If there was already pairs before if (mNbPairs > 0) { @@ -226,6 +228,8 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { memcpy(newIsActive, mIsActive, mNbPairs * sizeof(bool)); memcpy(newNarrowPhaseAlgorithmType, mNarrowPhaseAlgorithmType, mNbPairs * sizeof(NarrowPhaseAlgorithmType)); memcpy(newIsShape1Convex, mIsShape1Convex, mNbPairs * sizeof(bool)); + memcpy(wereCollidingInPreviousFrame, mCollidingInPreviousFrame, mNbPairs * sizeof(bool)); + memcpy(areCollidingInCurrentFrame, mCollidingInCurrentFrame, mNbPairs * sizeof(bool)); // Deallocate previous memory mPersistentAllocator.release(mBuffer, mNbAllocatedPairs * mPairDataSize); @@ -242,6 +246,8 @@ void OverlappingPairs::allocate(uint64 nbPairsToAllocate) { mIsActive = newIsActive; mNarrowPhaseAlgorithmType = newNarrowPhaseAlgorithmType; mIsShape1Convex = newIsShape1Convex; + mCollidingInPreviousFrame = wereCollidingInPreviousFrame; + mCollidingInCurrentFrame = areCollidingInCurrentFrame; mNbAllocatedPairs = nbPairsToAllocate; } @@ -298,6 +304,8 @@ uint64 OverlappingPairs::addPair(Collider* shape1, Collider* shape2) { new (mIsActive + index) bool(true); new (mNarrowPhaseAlgorithmType + index) NarrowPhaseAlgorithmType(algorithmType); new (mIsShape1Convex + index) bool(isShape1Convex); + new (mCollidingInPreviousFrame + index) bool(false); + new (mCollidingInCurrentFrame + index) bool(false); // Map the entity with the new component lookup index mMapPairIdToPairIndex.add(Pair(pairId, index)); @@ -335,6 +343,8 @@ void OverlappingPairs::movePairToIndex(uint64 srcIndex, uint64 destIndex) { mIsActive[destIndex] = mIsActive[srcIndex]; new (mNarrowPhaseAlgorithmType + destIndex) NarrowPhaseAlgorithmType(mNarrowPhaseAlgorithmType[srcIndex]); mIsShape1Convex[destIndex] = mIsShape1Convex[srcIndex]; + mCollidingInPreviousFrame[destIndex] = mCollidingInPreviousFrame[srcIndex]; + mCollidingInCurrentFrame[destIndex] = mCollidingInCurrentFrame[srcIndex]; // Destroy the source pair destroyPair(srcIndex); @@ -361,6 +371,8 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { bool isActive = mIsActive[index1]; NarrowPhaseAlgorithmType narrowPhaseAlgorithmType = mNarrowPhaseAlgorithmType[index1]; bool isShape1Convex = mIsShape1Convex[index1]; + bool wereCollidingInPreviousFrame = mCollidingInPreviousFrame[index1]; + bool areCollidingInCurrentFrame = mCollidingInCurrentFrame[index1]; // Destroy pair 1 destroyPair(index1); @@ -378,6 +390,8 @@ void OverlappingPairs::swapPairs(uint64 index1, uint64 index2) { mIsActive[index2] = isActive; new (mNarrowPhaseAlgorithmType + index2) NarrowPhaseAlgorithmType(narrowPhaseAlgorithmType); mIsShape1Convex[index2] = isShape1Convex; + mCollidingInPreviousFrame[index2] = wereCollidingInPreviousFrame; + mCollidingInCurrentFrame[index2] = areCollidingInCurrentFrame; // Update the pairID to pair index mapping mMapPairIdToPairIndex.add(Pair(pairId, index2)); @@ -476,7 +490,7 @@ void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { RP3D_PROFILE("OverlappingPairs::clearObsoleteLastFrameCollisionInfos()", mProfiler); - // For each convex vs convex overlapping pair + // For each overlapping pair for (uint64 i=0; i < mNbPairs; i++) { // For each collision info @@ -501,3 +515,13 @@ void OverlappingPairs::clearObsoleteLastFrameCollisionInfos() { } } } + +// Set the collidingInPreviousFrame value with the collidinginCurrentFrame value for each pair +void OverlappingPairs::updateCollidingInPreviousFrame() { + + // For each overlapping pair + for (uint64 i=0; i < mNbPairs; i++) { + + mCollidingInPreviousFrame[i] = mCollidingInCurrentFrame[i]; + } +} diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index 4cc9d062..9c73abe3 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -338,7 +338,7 @@ void PhysicsWorld::update(decimal timeStep) { createIslands(); // Report the contacts to the user - mCollisionDetection.reportContacts(); + mCollisionDetection.reportContactsAndTriggers(); // Disable the joints for pair of sleeping bodies disableJointsOfSleepingBodies(); @@ -718,9 +718,6 @@ void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { /// it). Then, we create an island with this group of connected bodies. void PhysicsWorld::createIslands() { - // list of contact pairs involving a non-rigid body - List nonRigidBodiesContactPairs(mMemoryManager.getSingleFrameAllocator()); - RP3D_PROFILE("PhysicsWorld::createIslands()", mProfiler); // Reset all the isAlreadyInIsland variables of bodies and joints @@ -783,14 +780,15 @@ void PhysicsWorld::createIslands() { for (uint p=0; p < contactPairs.size(); p++) { ContactPair& pair = (*mCollisionDetection.mCurrentContactPairs)[contactPairs[p]]; - assert(pair.potentialContactManifoldsIndices.size() > 0); // Check if the current contact pair has already been added into an island if (pair.isAlreadyInIsland) continue; - // If the colliding body is a RigidBody (and not a CollisionBody instead) - if (mRigidBodyComponents.hasComponent(pair.body1Entity) && mRigidBodyComponents.hasComponent(pair.body2Entity)) { + // If the colliding body is a RigidBody (and not a CollisionBody) and is not a trigger + if (mRigidBodyComponents.hasComponent(pair.body1Entity) && mRigidBodyComponents.hasComponent(pair.body2Entity) + && !mCollidersComponents.getIsTrigger(pair.collider1Entity) && !mCollidersComponents.getIsTrigger(pair.collider2Entity)) { + assert(pair.potentialContactManifoldsIndices.size() > 0); nbTotalManifolds += pair.potentialContactManifoldsIndices.size(); // Add the contact manifold into the island @@ -809,7 +807,6 @@ void PhysicsWorld::createIslands() { else { // Add the contact pair index in the list of contact pairs that won't be part of islands - nonRigidBodiesContactPairs.add(pair.contactPairIndex); pair.isAlreadyInIsland = true; } } diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 1b3ac912..2d104d37 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -61,10 +61,10 @@ CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, Collider mNarrowPhaseInput(mMemoryManager.getSingleFrameAllocator(), mOverlappingPairs), mPotentialContactPoints(mMemoryManager.getSingleFrameAllocator()), mPotentialContactManifolds(mMemoryManager.getSingleFrameAllocator()), mContactPairs1(mMemoryManager.getPoolAllocator()), mContactPairs2(mMemoryManager.getPoolAllocator()), mPreviousContactPairs(&mContactPairs1), mCurrentContactPairs(&mContactPairs2), - mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), - mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2), - mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()), - mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), + mLostContactPairs(mMemoryManager.getSingleFrameAllocator()), mMapPairIdToContactPairIndex1(mMemoryManager.getPoolAllocator()), + mMapPairIdToContactPairIndex2(mMemoryManager.getPoolAllocator()), mPreviousMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex1), + mCurrentMapPairIdToContactPairIndex(&mMapPairIdToContactPairIndex2), mContactManifolds1(mMemoryManager.getPoolAllocator()), + mContactManifolds2(mMemoryManager.getPoolAllocator()), mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2), mContactPoints1(mMemoryManager.getPoolAllocator()), mContactPoints2(mMemoryManager.getPoolAllocator()), mPreviousContactPoints(&mContactPoints1), mCurrentContactPoints(&mContactPoints2), mMapBodyToContactPairs(mMemoryManager.getSingleFrameAllocator()) { @@ -88,7 +88,7 @@ void CollisionDetectionSystem::computeCollisionDetection() { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(mNarrowPhaseInput); + computeMiddlePhase(mNarrowPhaseInput, true); // Compute the narrow-phase collision detection computeNarrowPhase(); @@ -117,7 +117,6 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { RP3D_PROFILE("CollisionDetectionSystem::removeNonOverlappingPairs()", mProfiler); - // For each possible convex vs convex pair of bodies for (uint64 i=0; i < mOverlappingPairs.getNbPairs(); i++) { // Check if we need to test overlap. If so, test if the two shapes are still overlapping. @@ -128,6 +127,14 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { mOverlappingPairs.mNeedToTestOverlap[i] = false; } else { + + // If the two colliders of the pair were colliding in the previous frame + if (mOverlappingPairs.mCollidingInPreviousFrame[i]) { + + // Create a new lost contact pair + addLostContactPair(i); + } + mOverlappingPairs.removePair(mOverlappingPairs.mPairIds[i]); i--; } @@ -135,6 +142,25 @@ void CollisionDetectionSystem::removeNonOverlappingPairs() { } } +// Add a lost contact pair (pair of colliders that are not in contact anymore) +void CollisionDetectionSystem::addLostContactPair(uint64 overlappingPairIndex) { + + const Entity collider1Entity = mOverlappingPairs.mColliders1[overlappingPairIndex]; + const Entity collider2Entity = mOverlappingPairs.mColliders2[overlappingPairIndex]; + + const Entity body1Entity = mCollidersComponents.getBody(collider1Entity); + const Entity body2Entity = mCollidersComponents.getBody(collider2Entity); + + const bool isCollider1Trigger = mCollidersComponents.getIsTrigger(collider1Entity); + const bool isCollider2Trigger = mCollidersComponents.getIsTrigger(collider2Entity); + const bool isTrigger = isCollider1Trigger || isCollider2Trigger; + + // Create a lost contact pair + ContactPair lostContactPair(mOverlappingPairs.mPairIds[overlappingPairIndex], body1Entity, body2Entity, collider1Entity, collider2Entity, mLostContactPairs.size(), + true, isTrigger, mMemoryManager.getHeapAllocator()); + mLostContactPairs.add(lostContactPair); +} + // Take a list of overlapping nodes in the broad-phase and create new overlapping pairs if necessary void CollisionDetectionSystem::updateOverlappingPairs(const List>& overlappingNodes) { @@ -204,7 +230,7 @@ void CollisionDetectionSystem::updateOverlappingPairs(const List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput) { +void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& convexPairs, List& concavePairs, NarrowPhaseInput& narrowPhaseInput, + bool reportContacts) { RP3D_PROFILE("CollisionDetectionSystem::computeMiddlePhase()", mProfiler); @@ -299,7 +334,7 @@ void CollisionDetectionSystem::computeMiddlePhaseCollisionSnapshot(List& narrowPhaseInput.addNarrowPhaseTest(pairId, pairIndex, collider1Entity, collider2Entity, collisionShape1, collisionShape2, mCollidersComponents.mLocalToWorldTransforms[collider1Index], mCollidersComponents.mLocalToWorldTransforms[collider2Index], - algorithmType, mMemoryManager.getSingleFrameAllocator()); + algorithmType, reportContacts, mMemoryManager.getSingleFrameAllocator()); } @@ -365,6 +400,10 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde assert(triangleVertices.size() % 3 == 0); assert(triangleVerticesNormals.size() % 3 == 0); + const bool isCollider1Trigger = mCollidersComponents.mIsTrigger[collider1Index]; + const bool isCollider2Trigger = mCollidersComponents.mIsTrigger[collider2Index]; + const bool reportContacts = !isCollider1Trigger && !isCollider2Trigger; + // For each overlapping triangle for (uint i=0; i < shapeIds.size(); i++) { @@ -384,13 +423,13 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde narrowPhaseInput.addNarrowPhaseTest(mOverlappingPairs.mPairIds[pairIndex], pairIndex, collider1, collider2, isShape1Convex ? convexShape : triangleShape, isShape1Convex ? triangleShape : convexShape, shape1LocalToWorldTransform, shape2LocalToWorldTransform, - mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex], allocator); + mOverlappingPairs.mNarrowPhaseAlgorithmType[pairIndex], reportContacts, allocator); } } // Execute the narrow-phase collision detection algorithm on batches -bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, bool reportContacts, - bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator) { +bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrowPhaseInput, + bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& allocator) { bool contactFound = false; @@ -402,32 +441,32 @@ bool CollisionDetectionSystem::testNarrowPhaseCollision(NarrowPhaseInput& narrow CapsuleVsConvexPolyhedronAlgorithm* capsuleVsConvexPolyAlgo = mCollisionDispatch.getCapsuleVsConvexPolyhedronAlgorithm(); ConvexPolyhedronVsConvexPolyhedronAlgorithm* convexPolyVsConvexPolyAlgo = mCollisionDispatch.getConvexPolyhedronVsConvexPolyhedronAlgorithm(); - // get the narrow-phase batches to test for collision - SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); - SphereVsCapsuleNarrowPhaseInfoBatch& sphereVsCapsuleBatch = narrowPhaseInput.getSphereVsCapsuleBatch(); - CapsuleVsCapsuleNarrowPhaseInfoBatch& capsuleVsCapsuleBatch = narrowPhaseInput.getCapsuleVsCapsuleBatch(); - NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatch = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); - NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatch = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); - NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); + // get the narrow-phase batches to test for collision for contacts + SphereVsSphereNarrowPhaseInfoBatch& sphereVsSphereBatchContacts = narrowPhaseInput.getSphereVsSphereBatch(); + SphereVsCapsuleNarrowPhaseInfoBatch& sphereVsCapsuleBatchContacts = narrowPhaseInput.getSphereVsCapsuleBatch(); + CapsuleVsCapsuleNarrowPhaseInfoBatch& capsuleVsCapsuleBatchContacts = narrowPhaseInput.getCapsuleVsCapsuleBatch(); + NarrowPhaseInfoBatch& sphereVsConvexPolyhedronBatchContacts = narrowPhaseInput.getSphereVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& capsuleVsConvexPolyhedronBatchContacts = narrowPhaseInput.getCapsuleVsConvexPolyhedronBatch(); + NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatchContacts = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); - // Compute the narrow-phase collision detection for each kind of collision shapes - if (sphereVsSphereBatch.getNbObjects() > 0) { - contactFound |= sphereVsSphereAlgo->testCollision(sphereVsSphereBatch, 0, sphereVsSphereBatch.getNbObjects(), reportContacts, allocator); + // Compute the narrow-phase collision detection for each kind of collision shapes (for contacts) + if (sphereVsSphereBatchContacts.getNbObjects() > 0) { + contactFound |= sphereVsSphereAlgo->testCollision(sphereVsSphereBatchContacts, 0, sphereVsSphereBatchContacts.getNbObjects(), allocator); } - if (sphereVsCapsuleBatch.getNbObjects() > 0) { - contactFound |= sphereVsCapsuleAlgo->testCollision(sphereVsCapsuleBatch, 0, sphereVsCapsuleBatch.getNbObjects(), reportContacts, allocator); + if (sphereVsCapsuleBatchContacts.getNbObjects() > 0) { + contactFound |= sphereVsCapsuleAlgo->testCollision(sphereVsCapsuleBatchContacts, 0, sphereVsCapsuleBatchContacts.getNbObjects(), allocator); } - if (capsuleVsCapsuleBatch.getNbObjects() > 0) { - contactFound |= capsuleVsCapsuleAlgo->testCollision(capsuleVsCapsuleBatch, 0, capsuleVsCapsuleBatch.getNbObjects(), reportContacts, allocator); + if (capsuleVsCapsuleBatchContacts.getNbObjects() > 0) { + contactFound |= capsuleVsCapsuleAlgo->testCollision(capsuleVsCapsuleBatchContacts, 0, capsuleVsCapsuleBatchContacts.getNbObjects(), allocator); } - if (sphereVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatch, 0, sphereVsConvexPolyhedronBatch.getNbObjects(), reportContacts, clipWithPreviousAxisIfStillColliding, allocator); + if (sphereVsConvexPolyhedronBatchContacts.getNbObjects() > 0) { + contactFound |= sphereVsConvexPolyAlgo->testCollision(sphereVsConvexPolyhedronBatchContacts, 0, sphereVsConvexPolyhedronBatchContacts.getNbObjects(), clipWithPreviousAxisIfStillColliding, allocator); } - if (capsuleVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatch, 0, capsuleVsConvexPolyhedronBatch.getNbObjects(), reportContacts, clipWithPreviousAxisIfStillColliding, allocator); + if (capsuleVsConvexPolyhedronBatchContacts.getNbObjects() > 0) { + contactFound |= capsuleVsConvexPolyAlgo->testCollision(capsuleVsConvexPolyhedronBatchContacts, 0, capsuleVsConvexPolyhedronBatchContacts.getNbObjects(), clipWithPreviousAxisIfStillColliding, allocator); } - if (convexPolyhedronVsConvexPolyhedronBatch.getNbObjects() > 0) { - contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatch, 0, convexPolyhedronVsConvexPolyhedronBatch.getNbObjects(), reportContacts, clipWithPreviousAxisIfStillColliding, allocator); + if (convexPolyhedronVsConvexPolyhedronBatchContacts.getNbObjects() > 0) { + contactFound |= convexPolyVsConvexPolyAlgo->testCollision(convexPolyhedronVsConvexPolyhedronBatchContacts, 0, convexPolyhedronVsConvexPolyhedronBatchContacts.getNbObjects(), clipWithPreviousAxisIfStillColliding, allocator); } return contactFound; @@ -478,7 +517,7 @@ void CollisionDetectionSystem::computeNarrowPhase() { swapPreviousAndCurrentContacts(); // Test the narrow-phase collision detection on the batches to be tested - testNarrowPhaseCollision(mNarrowPhaseInput, true, true, allocator); + testNarrowPhaseCollision(mNarrowPhaseInput, true, allocator); // Process all the potential contacts after narrow-phase collision processAllPotentialContacts(mNarrowPhaseInput, true, mPotentialContactPoints, mCurrentMapPairIdToContactPairIndex, @@ -505,15 +544,16 @@ bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInpu MemoryAllocator& allocator = mMemoryManager.getPoolAllocator(); // Test the narrow-phase collision detection on the batches to be tested - bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, false, false, allocator); + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, false, allocator); if (collisionFound && callback != nullptr) { - // Compute the overlapping bodies - List> overlapBodies(allocator); - computeSnapshotContactPairs(narrowPhaseInput, overlapBodies); + // Compute the overlapping colliders + List contactPairs(allocator); + List lostContactPairs(allocator); // Always empty in this case (snapshot) + computeOverlapSnapshotContactPairs(narrowPhaseInput, contactPairs); - // Report overlapping bodies - OverlapCallback::CallbackData callbackData(overlapBodies, *mWorld); + // Report overlapping colliders + OverlapCallback::CallbackData callbackData(contactPairs, lostContactPairs, *mWorld); (*callback).onOverlap(callbackData); } @@ -521,7 +561,9 @@ bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInpu } // Process the potential overlapping bodies for the testOverlap() methods -void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List>& overlapPairs) const { +void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInput& narrowPhaseInput, List& contactPairs) const { + + Set setOverlapContactPairId(mMemoryManager.getHeapAllocator()); // get the narrow-phase batches to test for collision NarrowPhaseInfoBatch& sphereVsSphereBatch = narrowPhaseInput.getSphereVsSphereBatch(); @@ -532,12 +574,12 @@ void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInput& nar NarrowPhaseInfoBatch& convexPolyhedronVsConvexPolyhedronBatch = narrowPhaseInput.getConvexPolyhedronVsConvexPolyhedronBatch(); // Process the potential contacts - computeSnapshotContactPairs(sphereVsSphereBatch, overlapPairs); - computeSnapshotContactPairs(sphereVsCapsuleBatch, overlapPairs); - computeSnapshotContactPairs(capsuleVsCapsuleBatch, overlapPairs); - computeSnapshotContactPairs(sphereVsConvexPolyhedronBatch, overlapPairs); - computeSnapshotContactPairs(capsuleVsConvexPolyhedronBatch, overlapPairs); - computeSnapshotContactPairs(convexPolyhedronVsConvexPolyhedronBatch, overlapPairs); + computeOverlapSnapshotContactPairs(sphereVsSphereBatch, contactPairs, setOverlapContactPairId); + computeOverlapSnapshotContactPairs(sphereVsCapsuleBatch, contactPairs, setOverlapContactPairId); + computeOverlapSnapshotContactPairs(capsuleVsCapsuleBatch, contactPairs, setOverlapContactPairId); + computeOverlapSnapshotContactPairs(sphereVsConvexPolyhedronBatch, contactPairs, setOverlapContactPairId); + computeOverlapSnapshotContactPairs(capsuleVsConvexPolyhedronBatch, contactPairs, setOverlapContactPairId); + computeOverlapSnapshotContactPairs(convexPolyhedronVsConvexPolyhedronBatch, contactPairs, setOverlapContactPairId); } // Notify that the overlapping pairs where a given collider is involved need to be tested for overlap @@ -554,19 +596,38 @@ void CollisionDetectionSystem::notifyOverlappingPairsToTestOverlap(Collider* col } // Convert the potential overlapping bodies for the testOverlap() methods -void CollisionDetectionSystem::computeSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List>& overlapPairs) const { +void CollisionDetectionSystem::computeOverlapSnapshotContactPairs(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, List& contactPairs, + Set& setOverlapContactPairId) const { RP3D_PROFILE("CollisionDetectionSystem::computeSnapshotContactPairs()", mProfiler); // For each narrow phase info object for(uint i=0; i < narrowPhaseInfoBatch.getNbObjects(); i++) { - // If there is a contact + // If there is a collision if (narrowPhaseInfoBatch.isColliding[i]) { - // Add the pair of bodies in contact into the list - overlapPairs.add(Pair(mCollidersComponents.getBody(narrowPhaseInfoBatch.colliderEntities1[i]), - mCollidersComponents.getBody(narrowPhaseInfoBatch.colliderEntities2[i]))); + // If the contact pair does not already exist + if (!setOverlapContactPairId.contains(narrowPhaseInfoBatch.overlappingPairIds[i])) { + + const Entity collider1Entity = narrowPhaseInfoBatch.colliderEntities1[i]; + const Entity collider2Entity = narrowPhaseInfoBatch.colliderEntities2[i]; + + const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); + + const Entity body1Entity = mCollidersComponents.mBodiesEntities[collider1Index]; + const Entity body2Entity = mCollidersComponents.mBodiesEntities[collider2Index]; + + const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index]; + + // Create a new contact pair + ContactPair contactPair(narrowPhaseInfoBatch.overlappingPairIds[i], body1Entity, body2Entity, collider1Entity, collider2Entity, + contactPairs.size(), isTrigger, false, mMemoryManager.getHeapAllocator()); + contactPairs.add(contactPair); + + setOverlapContactPairId.add(narrowPhaseInfoBatch.overlappingPairIds[i]); + } } narrowPhaseInfoBatch.resetContactPoints(i); @@ -582,7 +643,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn MemoryAllocator& allocator = mMemoryManager.getHeapAllocator(); // Test the narrow-phase collision detection on the batches to be tested - bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, true, false, allocator); + bool collisionFound = testNarrowPhaseCollision(narrowPhaseInput, false, allocator); // If collision has been found, create contacts if (collisionFound) { @@ -591,6 +652,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn List potentialContactManifolds(allocator); Map mapPairIdToContactPairIndex(allocator); List contactPairs(allocator); + List lostContactPairs(allocator); // Not used during collision snapshots List contactManifolds(allocator); List contactPoints(allocator); Map> mapBodyToContactPairs(allocator); @@ -607,7 +669,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseCollisionSnapshot(NarrowPhaseIn potentialContactPoints); // Report the contacts to the user - reportContacts(callback, &contactPairs, &contactManifolds, &contactPoints); + reportContacts(callback, &contactPairs, &contactManifolds, &contactPoints, lostContactPairs); } return collisionFound; @@ -654,7 +716,6 @@ void CollisionDetectionSystem::createContacts() { for (uint p=0; p < (*mCurrentContactPairs).size(); p++) { ContactPair& contactPair = (*mCurrentContactPairs)[p]; - assert(contactPair.potentialContactManifoldsIndices.size() > 0); contactPair.contactManifoldsIndex = mCurrentContactManifolds->size(); contactPair.nbContactManifolds = contactPair.potentialContactManifoldsIndices.size(); @@ -696,16 +757,38 @@ void CollisionDetectionSystem::createContacts() { // Initialize the current contacts with the contacts from the previous frame (for warmstarting) initContactsWithPreviousOnes(); - // Report contacts to the user - if (mWorld->mEventListener != nullptr) { - reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, mCurrentContactPoints); - } + // Compute the lost contacts (contact pairs that were colliding in previous frame but not in this one) + computeLostContactPairs(); + + mPreviousContactPoints->clear(); + mPreviousContactManifolds->clear(); + mPreviousContactPairs->clear(); + mPreviousMapPairIdToContactPairIndex->clear(); // Reset the potential contacts mPotentialContactPoints.clear(true); mPotentialContactManifolds.clear(true); } +// Compute the lost contact pairs (contact pairs in contact in the previous frame but not in the current one) +void CollisionDetectionSystem::computeLostContactPairs() { + + // For each overlapping pair + for (uint i=0; i < mOverlappingPairs.getNbPairs(); i++) { + + // If the two colliders of the pair were colliding in the previous frame but not in the current one + if (mOverlappingPairs.mCollidingInPreviousFrame[i] && !mOverlappingPairs.mCollidingInCurrentFrame[i]) { + + // If both bodies still exist + if (mCollidersComponents.hasComponent(mOverlappingPairs.mColliders1[i]) && mCollidersComponents.hasComponent(mOverlappingPairs.mColliders2[i])) { + + // Create a lost contact pair + addLostContactPair(i); + } + } + } +} + // Create the actual contact manifolds and contacts points for testCollision() methods void CollisionDetectionSystem::createSnapshotContacts(List& contactPairs, List& contactManifolds, @@ -784,7 +867,7 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { const uint contactManifoldsIndex = currentContactPair.contactManifoldsIndex; const uint nbContactManifolds = currentContactPair.nbContactManifolds; - // For each current contact manifold of the contact pair + // For each current contact manifold of the current contact pair for (uint m=contactManifoldsIndex; m < contactManifoldsIndex + nbContactManifolds; m++) { assert(m < mCurrentContactManifolds->size()); @@ -823,7 +906,7 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { const uint contactPointsIndex = currentContactPair.contactPointsIndex; const uint nbTotalContactPoints = currentContactPair.nbToTalContactPoints; - // For each current contact point of the contact pair + // For each current contact point of the current contact pair for (uint c=contactPointsIndex; c < contactPointsIndex + nbTotalContactPoints; c++) { assert(c < mCurrentContactPoints->size()); @@ -850,11 +933,6 @@ void CollisionDetectionSystem::initContactsWithPreviousOnes() { } } } - - mPreviousContactPoints->clear(); - mPreviousContactManifolds->clear(); - mPreviousContactPairs->clear(); - mPreviousMapPairIdToContactPairIndex->clear(); } // Remove a body from the collision detection @@ -897,11 +975,11 @@ void CollisionDetectionSystem::raycast(RaycastCallback* raycastCallback, // Convert the potential contact into actual contacts void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, bool updateLastFrameInfo, - List& potentialContactPoints, - Map* mapPairIdToContactPairIndex, - List& potentialContactManifolds, - List* contactPairs, - Map>& mapBodyToContactPairs) { + List& potentialContactPoints, + Map* mapPairIdToContactPairIndex, + List& potentialContactManifolds, + List* contactPairs, + Map>& mapBodyToContactPairs) { RP3D_PROFILE("CollisionDetectionSystem::processPotentialContacts()", mProfiler); @@ -915,32 +993,82 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na narrowPhaseInfoBatch.lastFrameCollisionInfos[i]->isValid = true; } - // Add the potential contacts - for (uint j=0; j < narrowPhaseInfoBatch.contactPoints[i].size(); j++) { + const uint64 pairId = narrowPhaseInfoBatch.overlappingPairIds[i]; + const uint64 pairIndex = mOverlappingPairs.mMapPairIdToPairIndex[pairId]; - assert(narrowPhaseInfoBatch.isColliding[i]); + // If the two colliders are colliding + if (narrowPhaseInfoBatch.isColliding[i]) { - const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); + mOverlappingPairs.mCollidingInCurrentFrame[pairIndex] = true; - // Add the contact point to the list of potential contact points - const uint contactPointIndex = static_cast(potentialContactPoints.size()); - - potentialContactPoints.add(contactPoint); - - bool similarManifoldFound = false; - - // If there is already a contact pair for this overlapping pair - const uint64 pairId = narrowPhaseInfoBatch.overlappingPairIds[i]; + // If there is not already a contact pair for this overlapping pair auto it = mapPairIdToContactPairIndex->find(pairId); ContactPair* pairContact = nullptr; - if (it != mapPairIdToContactPairIndex->end()) { + if (it == mapPairIdToContactPairIndex->end()) { + + // Create a new ContactPair + + const Entity collider1Entity = narrowPhaseInfoBatch.colliderEntities1[i]; + const Entity collider2Entity = narrowPhaseInfoBatch.colliderEntities2[i]; + + const uint32 collider1Index = mCollidersComponents.getEntityIndex(collider1Entity); + const uint32 collider2Index = mCollidersComponents.getEntityIndex(collider2Entity); + + const Entity body1Entity = mCollidersComponents.mBodiesEntities[collider1Index]; + const Entity body2Entity = mCollidersComponents.mBodiesEntities[collider2Index]; + + const bool isTrigger = mCollidersComponents.mIsTrigger[collider1Index] || mCollidersComponents.mIsTrigger[collider2Index]; + + assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); + + const uint newContactPairIndex = contactPairs->size(); + ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, + collider1Entity, collider2Entity, + newContactPairIndex, mOverlappingPairs.getCollidingInPreviousFrame(pairId), isTrigger, mMemoryManager.getHeapAllocator()); + contactPairs->add(overlappingPairContact); + pairContact = &((*contactPairs)[newContactPairIndex]); + mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); + + auto itbodyContactPairs = mapBodyToContactPairs.find(body1Entity); + if (itbodyContactPairs != mapBodyToContactPairs.end()) { + itbodyContactPairs->second.add(newContactPairIndex); + } + else { + List contactPairs(mMemoryManager.getPoolAllocator(), 1); + contactPairs.add(newContactPairIndex); + mapBodyToContactPairs.add(Pair>(body1Entity, contactPairs)); + } + itbodyContactPairs = mapBodyToContactPairs.find(body2Entity); + if (itbodyContactPairs != mapBodyToContactPairs.end()) { + itbodyContactPairs->second.add(newContactPairIndex); + } + else { + List contactPairs(mMemoryManager.getPoolAllocator(), 1); + contactPairs.add(newContactPairIndex); + mapBodyToContactPairs.add(Pair>(body2Entity, contactPairs)); + } + } + else { // If a ContactPair already exists for this overlapping pair, we use this one assert(it->first == pairId); const uint pairContactIndex = it->second; pairContact = &((*contactPairs)[pairContactIndex]); + } - assert(pairContact->potentialContactManifoldsIndices.size() > 0); + assert(pairContact != nullptr); + + // Add the potential contacts + for (uint j=0; j < narrowPhaseInfoBatch.contactPoints[i].size(); j++) { + + const ContactPointInfo& contactPoint = *(narrowPhaseInfoBatch.contactPoints[i][j]); + + // Add the contact point to the list of potential contact points + const uint contactPointIndex = static_cast(potentialContactPoints.size()); + + potentialContactPoints.add(contactPoint); + + bool similarManifoldFound = false; // For each contact manifold of the overlapping pair for (uint m=0; m < pairContact->potentialContactManifoldsIndices.size(); m++) { @@ -964,71 +1092,32 @@ void CollisionDetectionSystem::processPotentialContacts(NarrowPhaseInfoBatch& na break; } } - } - // If we have not found a manifold with a similar contact normal for the contact point - if (!similarManifoldFound) { + // If we have not found a manifold with a similar contact normal for the contact point + if (!similarManifoldFound) { - // Create a new contact manifold for the overlapping pair - ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); + // Create a new contact manifold for the overlapping pair + ContactManifoldInfo contactManifoldInfo(pairId, mMemoryManager.getPoolAllocator()); - // Add the contact point to the manifold - contactManifoldInfo.potentialContactPointsIndices.add(contactPointIndex); + // Add the contact point to the manifold + contactManifoldInfo.potentialContactPointsIndices.add(contactPointIndex); - // If the overlapping pair contact does not exists yet - if (pairContact == nullptr) { + assert(pairContact != nullptr); - const Entity collider1Entity = narrowPhaseInfoBatch.colliderEntities1[i]; - const Entity collider2Entity = narrowPhaseInfoBatch.colliderEntities2[i]; + // Add the potential contact manifold + uint contactManifoldIndex = static_cast(potentialContactManifolds.size()); + potentialContactManifolds.add(contactManifoldInfo); - const Entity body1Entity = mCollidersComponents.getBody(collider1Entity); - const Entity body2Entity = mCollidersComponents.getBody(collider2Entity); - - assert(!mWorld->mCollisionBodyComponents.getIsEntityDisabled(body1Entity) || !mWorld->mCollisionBodyComponents.getIsEntityDisabled(body2Entity)); - - const uint newContactPairIndex = contactPairs->size(); - ContactPair overlappingPairContact(pairId, body1Entity, body2Entity, - collider1Entity, collider2Entity, - newContactPairIndex, mMemoryManager.getHeapAllocator()); - contactPairs->add(overlappingPairContact); - pairContact = &((*contactPairs)[newContactPairIndex]); - mapPairIdToContactPairIndex->add(Pair(pairId, newContactPairIndex)); - - auto itbodyContactPairs = mapBodyToContactPairs.find(body1Entity); - if (itbodyContactPairs != mapBodyToContactPairs.end()) { - itbodyContactPairs->second.add(newContactPairIndex); - } - else { - List contactPairs(mMemoryManager.getPoolAllocator(), 1); - contactPairs.add(newContactPairIndex); - mapBodyToContactPairs.add(Pair>(body1Entity, contactPairs)); - } - itbodyContactPairs = mapBodyToContactPairs.find(body2Entity); - if (itbodyContactPairs != mapBodyToContactPairs.end()) { - itbodyContactPairs->second.add(newContactPairIndex); - } - else { - List contactPairs(mMemoryManager.getPoolAllocator(), 1); - contactPairs.add(newContactPairIndex); - mapBodyToContactPairs.add(Pair>(body2Entity, contactPairs)); - } + // Add the contact manifold to the overlapping pair contact + assert(pairContact->pairId == contactManifoldInfo.pairId); + pairContact->potentialContactManifoldsIndices.add(contactManifoldIndex); } - assert(pairContact != nullptr); - - // Add the potential contact manifold - uint contactManifoldIndex = static_cast(potentialContactManifolds.size()); - potentialContactManifolds.add(contactManifoldInfo); - - // Add the contact manifold to the overlapping pair contact - assert(pairContact->pairId == contactManifoldInfo.pairId); - pairContact->potentialContactManifoldsIndices.add(contactManifoldIndex); + assert(pairContact->potentialContactManifoldsIndices.size() > 0); } - assert(pairContact->potentialContactManifoldsIndices.size() > 0); + narrowPhaseInfoBatch.resetContactPoints(i); } - - narrowPhaseInfoBatch.resetContactPoints(i); } } @@ -1044,8 +1133,6 @@ void CollisionDetectionSystem::reducePotentialContactManifolds(List ContactPair& contactPair = (*contactPairs)[i]; - assert(contactPair.potentialContactManifoldsIndices.size() > 0); - // While there are too many manifolds in the contact pair while(contactPair.potentialContactManifoldsIndices.size() > mWorld->mConfig.nbMaxContactManifolds) { @@ -1296,31 +1383,51 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold manifold.potentialContactPointsIndices.add(pointsToKeepIndices[3]); } -// Report contacts -void CollisionDetectionSystem::reportContacts() { +// Report contacts and triggers +void CollisionDetectionSystem::reportContactsAndTriggers() { - if (mWorld->mEventListener != nullptr) { - reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, - mCurrentContactPoints); - } + if (mWorld->mEventListener != nullptr) { + + reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, mCurrentContactPoints, mLostContactPairs); + reportTriggers(*(mWorld->mEventListener), mCurrentContactPairs, mLostContactPairs); + } + + mOverlappingPairs.updateCollidingInPreviousFrame(); + + mLostContactPairs.clear(true); } // Report all contacts void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List* contactPairs, - List* manifolds, List* contactPoints) { + List* manifolds, List* contactPoints, List& lostContactPairs) { RP3D_PROFILE("CollisionDetectionSystem::reportContacts()", mProfiler); // If there are contacts - if (contactPairs->size() > 0) { + if (contactPairs->size() + lostContactPairs.size() > 0) { - CollisionCallback::CallbackData callbackData(contactPairs, manifolds, contactPoints, *mWorld); + CollisionCallback::CallbackData callbackData(contactPairs, manifolds, contactPoints, lostContactPairs, *mWorld); // Call the callback method to report the contacts callback.onContact(callbackData); } } +// Report all triggers +void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, List* contactPairs, List& lostContactPairs) { + + RP3D_PROFILE("CollisionDetectionSystem::reportTriggers()", mProfiler); + + // If there are contacts + if (contactPairs->size() + lostContactPairs.size() > 0) { + + OverlapCallback::CallbackData callbackData(*contactPairs, lostContactPairs, *mWorld); + + // Call the callback method to report the overlapping shapes + eventListener.onTrigger(callbackData); + } +} + // Return true if two bodies overlap (collide) bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* body2) { @@ -1337,7 +1444,7 @@ bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput, false); // Compute the narrow-phase collision detection return computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, nullptr); @@ -1355,7 +1462,7 @@ void CollisionDetectionSystem::testOverlap(OverlapCallback& callback) { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(narrowPhaseInput); + computeMiddlePhase(narrowPhaseInput, false); // Compute the narrow-phase collision detection and report overlapping shapes computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback); @@ -1377,7 +1484,7 @@ void CollisionDetectionSystem::testOverlap(CollisionBody* body, OverlapCallback& if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput, false); // Compute the narrow-phase collision detection computeNarrowPhaseOverlapSnapshot(narrowPhaseInput, &callback); @@ -1400,7 +1507,7 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body1, CollisionBody if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput, true); // Compute the narrow-phase collision detection and report contacts computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); @@ -1423,7 +1530,7 @@ void CollisionDetectionSystem::testCollision(CollisionBody* body, CollisionCallb if (convexPairs.size() > 0 || concavePairs.size() > 0) { // Compute the middle-phase collision detection - computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput); + computeMiddlePhaseCollisionSnapshot(convexPairs, concavePairs, narrowPhaseInput, true); // Compute the narrow-phase collision detection and report contacts computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); @@ -1439,7 +1546,7 @@ void CollisionDetectionSystem::testCollision(CollisionCallback& callback) { computeBroadPhase(); // Compute the middle-phase collision detection - computeMiddlePhase(narrowPhaseInput); + computeMiddlePhase(narrowPhaseInput, true); // Compute the narrow-phase collision detection and report contacts computeNarrowPhaseCollisionSnapshot(narrowPhaseInput, callback); diff --git a/testbed/src/Scene.cpp b/testbed/src/Scene.cpp index 5d0dfcce..c3883d04 100644 --- a/testbed/src/Scene.cpp +++ b/testbed/src/Scene.cpp @@ -207,3 +207,7 @@ void Scene::onContact(const rp3d::CollisionCallback::CallbackData& callbackData) } } } + +void Scene::onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData) { + +} diff --git a/testbed/src/Scene.h b/testbed/src/Scene.h index 9ae7b203..a2d920c8 100644 --- a/testbed/src/Scene.h +++ b/testbed/src/Scene.h @@ -238,6 +238,8 @@ class Scene : public rp3d::EventListener { /// Called when some contacts occur virtual void onContact(const rp3d::CollisionCallback::CallbackData& callbackData) override; + + virtual void onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData) override; }; // Called when a keyboard event occurs From e03ee084621559efc865c4291e84053b09961e9d Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 26 Apr 2020 18:41:59 +0200 Subject: [PATCH 133/197] Rename Logger class to DefaultLogger and create abstract Logger class --- CHANGELOG.md | 2 + CMakeLists.txt | 3 +- include/reactphysics3d/collision/Collider.h | 2 +- include/reactphysics3d/engine/EventListener.h | 17 +- include/reactphysics3d/engine/PhysicsCommon.h | 15 +- include/reactphysics3d/engine/PhysicsWorld.h | 16 +- include/reactphysics3d/utils/DefaultLogger.h | 495 ++++++++++++++++++ include/reactphysics3d/utils/Logger.h | 411 +-------------- src/body/CollisionBody.cpp | 10 +- src/body/RigidBody.cpp | 69 ++- src/collision/Collider.cpp | 6 +- src/engine/PhysicsCommon.cpp | 23 +- src/engine/PhysicsWorld.cpp | 30 +- src/utils/{Logger.cpp => DefaultLogger.cpp} | 18 +- 14 files changed, 632 insertions(+), 485 deletions(-) create mode 100644 include/reactphysics3d/utils/DefaultLogger.h rename src/utils/{Logger.cpp => DefaultLogger.cpp} (85%) diff --git a/CHANGELOG.md b/CHANGELOG.md index 535ce246..c415f9a5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -59,6 +59,8 @@ - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders. - Now, you need to manually call the RigidBody::recomputeMassInformation() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass - The rendering in the testbed application has been improved + - The old Logger class has been renamed to DefaultLogger + - The Logger class is now an abstract class that you can inherit from in order to receive log events from the library ### Removed diff --git a/CMakeLists.txt b/CMakeLists.txt index cd10251e..b8ca3512 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -180,6 +180,7 @@ SET (REACTPHYSICS3D_HEADERS "include/reactphysics3d/containers/Deque.h" "include/reactphysics3d/utils/Profiler.h" "include/reactphysics3d/utils/Logger.h" + "include/reactphysics3d/utils/DefaultLogger.h" ) # Source files @@ -269,7 +270,7 @@ SET (REACTPHYSICS3D_SOURCES "src/memory/HeapAllocator.cpp" "src/memory/MemoryManager.cpp" "src/utils/Profiler.cpp" - "src/utils/Logger.cpp" + "src/utils/DefaultLogger.cpp" ) # Create the library diff --git a/include/reactphysics3d/collision/Collider.h b/include/reactphysics3d/collision/Collider.h index 1abdb1d3..b370c645 100644 --- a/include/reactphysics3d/collision/Collider.h +++ b/include/reactphysics3d/collision/Collider.h @@ -256,7 +256,7 @@ inline void Collider::setMaterial(const Material& material) { #ifdef IS_LOGGING_ACTIVE RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, - "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string()); + "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string(), __FILE__, __LINE__); #endif } diff --git a/include/reactphysics3d/engine/EventListener.h b/include/reactphysics3d/engine/EventListener.h index e797b58c..2f59894f 100644 --- a/include/reactphysics3d/engine/EventListener.h +++ b/include/reactphysics3d/engine/EventListener.h @@ -44,6 +44,15 @@ class EventListener : public CollisionCallback { public : + enum class ErrorType { + Warning, + InvalidParameter, + InvalidOperation, + InternalError + }; + + // ---------- Methods ---------- // + /// Constructor EventListener() = default; @@ -52,15 +61,15 @@ class EventListener : public CollisionCallback { /// Called when some contacts occur /** - * @param collisionInfo Information about the contacts + * @param callbackData Contains information about all the contacts */ virtual void onContact(const CollisionCallback::CallbackData& callbackData) override {} /// Called when some trigger events occur + /** + * @param callbackData Contains information about all the triggers that are colliding + */ virtual void onTrigger(const OverlapCallback::CallbackData& callbackData) {} - - /// Called to report rigid bodies that started to sleep or has woken up in the previous frame - virtual void onSleep() {} }; } diff --git a/include/reactphysics3d/engine/PhysicsCommon.h b/include/reactphysics3d/engine/PhysicsCommon.h index 2564a289..dc5917e6 100644 --- a/include/reactphysics3d/engine/PhysicsCommon.h +++ b/include/reactphysics3d/engine/PhysicsCommon.h @@ -36,6 +36,7 @@ #include #include #include +#include /// ReactPhysics3D namespace namespace reactphysics3d { @@ -82,8 +83,12 @@ class PhysicsCommon { /// Set of triangle meshes Set mTriangleMeshes; +#ifdef IS_LOGGING_ACTIVE + /// Set of loggers - Set mLoggers; + Set mLoggers; + +#endif /// Set of loggers Set mProfilers; @@ -170,11 +175,11 @@ class PhysicsCommon { // If logging is enabled #ifdef IS_LOGGING_ACTIVE - /// Create and return a new logger - Logger* createLogger(); + /// Create and return a new default logger + DefaultLogger* createDefaultLogger(); - /// Destroy a logger - void destroyLogger(Logger* logger); + /// Destroy a default logger + void destroyDefaultLogger(DefaultLogger* logger); #endif diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h index 6ddcdb63..23d5d6f3 100644 --- a/include/reactphysics3d/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -618,10 +618,11 @@ inline uint PhysicsWorld::getNbIterationsVelocitySolver() const { * @param nbIterations Number of iterations for the velocity solver */ inline void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { + mNbVelocitySolverIterations = nbIterations; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations)); + "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations), __FILE__, __LINE__); } // Get the number of iterations for the position constraint solver @@ -637,10 +638,11 @@ inline uint PhysicsWorld::getNbIterationsPositionSolver() const { * @param nbIterations Number of iterations for the position solver */ inline void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) { + mNbPositionSolverIterations = nbIterations; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Set nb iterations position solver to " + std::to_string(nbIterations)); + "Physics World: Set nb iterations position solver to " + std::to_string(nbIterations), __FILE__, __LINE__); } // Set the position correction technique used for contacts @@ -688,7 +690,7 @@ inline void PhysicsWorld::setGravity(Vector3& gravity) { mConfig.gravity = gravity; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Set gravity vector to " + gravity.to_string()); + "Physics World: Set gravity vector to " + gravity.to_string(), __FILE__, __LINE__); } // Return if the gravity is enaled @@ -708,7 +710,7 @@ inline void PhysicsWorld::setIsGratityEnabled(bool isGravityEnabled) { mIsGravityEnabled = isGravityEnabled; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false"))); + "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")), __FILE__, __LINE__); } // Return true if the sleeping technique is enabled @@ -739,7 +741,7 @@ inline void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) { mSleepLinearVelocity = sleepLinearVelocity; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity)); + "Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity), __FILE__, __LINE__); } // Return the current sleep angular velocity @@ -762,7 +764,7 @@ inline void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) mSleepAngularVelocity = sleepAngularVelocity; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity)); + "Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity), __FILE__, __LINE__); } // Return the time a body is required to stay still before sleeping @@ -782,7 +784,7 @@ inline void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) { mTimeBeforeSleep = timeBeforeSleep; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep)); + "Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep), __FILE__, __LINE__); } // Set an event listener object to receive events callbacks. diff --git a/include/reactphysics3d/utils/DefaultLogger.h b/include/reactphysics3d/utils/DefaultLogger.h new file mode 100644 index 00000000..106ef2c6 --- /dev/null +++ b/include/reactphysics3d/utils/DefaultLogger.h @@ -0,0 +1,495 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2019 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_DEFAULT_LOGGER_H +#define REACTPHYSICS3D_DEFAULT_LOGGER_H + +// If logging is enabled +#ifdef IS_LOGGING_ACTIVE + +// Libraries +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Class Logger +/** + * This class is the default logger class used to log information, warnings + * or errors during the execution of the library code for easier debugging. + */ +class DefaultLogger : public Logger { + + public: + + /// Log verbosity level + enum class Format {Text, HTML}; + + /// Log formatter + class Formatter { + + public: + + /// Constructor + Formatter() { + + } + + /// Destructor + virtual ~Formatter() { + + } + + /// Return the header to write at the beginning of the stream + virtual std::string getHeader() const { + return ""; + } + + /// Return the tail to write at the end of the stream + virtual std::string getTail() const { + return ""; + } + + /// Format a log message + virtual std::string format(const time_t& time, const std::string& message, Level level, Category category, + const char* filename, int lineNumber) = 0; + }; + + class TextFormatter : public Formatter { + + public: + + /// Constructor + TextFormatter() { + + } + + /// Destructor + virtual ~TextFormatter() override { + + } + + /// Return the header to write at the beginning of the stream + virtual std::string getHeader() const override { + + // Get current date + auto now = std::chrono::system_clock::now(); + auto time = std::chrono::system_clock::to_time_t(now); + + std::stringstream ss; + ss << "ReactPhysics3D Logs" << std::endl; + ss << "ReactPhysics3D Version: " << RP3D_VERSION << std::endl; + ss << "Date: " << std::put_time(std::localtime(&time), "%Y-%m-%d") << std::endl; + ss << "---------------------------------------------------------" << std::endl; + + return ss.str(); + } + + /// Format a log message + virtual std::string format(const time_t& time, const std::string& message, + Level level, Category category, const char* filename, int lineNumber) override { + std::stringstream ss; + + // Time + ss << std::put_time(std::localtime(&time), "%X") << " "; + + // Level + ss << getLevelName(level) << " "; + + // Category + ss << getCategoryName(category) << " "; + + // Message + ss << message << std::endl; + + // Filename + ss << " (in file " << std::string(filename); + + // Line number + ss << " at line " << std::to_string(lineNumber) << ")"; + + return ss.str(); + } + }; + + class HtmlFormatter : public Formatter { + + private: + + /// Return the header to write at the beginning of the stream + virtual std::string getHeader() const override { + + // Get current date + auto now = std::chrono::system_clock::now(); + auto time = std::chrono::system_clock::to_time_t(now); + + std::stringstream ss; + ss << "" << std::endl; + ss << "" << std::endl; + ss << "" << std::endl; + ss << "ReactPhysics3D Logs" << std::endl; + ss << "" << std::endl; + ss << "" << std::endl; + ss << "" << std::endl; + ss << "

ReactPhysics3D Logs

" << std::endl; + ss << "
" << std::endl; + ss << "

ReactPhysics3D version: " << RP3D_VERSION << "

" << std::endl; + ss << "

Date: " << std::put_time(std::localtime(&time), "%Y-%m-%d") << "

" << std::endl; + ss << "
" << std::endl; + ss << "
"; + + return ss.str(); + } + + /// Return the tail to write at the end of the stream + virtual std::string getTail() const override { + + std::stringstream ss; + + ss << "" << std::endl; + ss << "" << std::endl; + + return ss.str(); + } + + std::string generateCSS() const { + return "body {" + " background-color: #e6e6e6;" + " font-family: SFMono-Regular,Menlo,Monaco,Consolas,'Liberation Mono','Courier New',monospace; " + "} " + "body > div { clear:both; } " + "body > div > div { float: left; } " + "h1 {" + " margin: 5px 5px 5px 5px;" + "} " + ".general_info > p {" + "margin: 5px;" + "font-weight: bold;" + "} " + ".line { " + "font-size: 13px; " + "color: #212529; " + "margin: 5px 5px 5px 5px; " + "padding: 5px 0px 5px 0px; " + "} " + ".time { " + "margin-right: 20px; " + "width: 10%; " + "} " + ".level { " + "margin-right: 20px; " + "width: 10%; " + "}" + ".category { " + "margin-right: 20px; " + "width: 10%; " + "font-weight: bold; " + "}" + ".message { " + "margin-right: 20px; " + "color: #2e2e2e; " + "word-wrap: break-word; " + "width: 40%; " + "} " + ".file { " + "margin-right: 20px; " + "word-wrap: break-word; " + "width: 20%; " + "}" + ".body > .category, .body > .message { " + "color: #00994d;" + "} " + ".world > .category, .world > .message { " + "color: #3477DB; " + "} " + ".joint .category, .joint > .message { " + "color: #bf8040; " + "} " + ".collider .category, .collider > .message { " + "color: #9933ff; " + "} " + ".warning { " + "color: #ff9900 !important; " + "} " + ".error { " + "color: red !important; " + "} "; + } + + /// Convert a string to lower case + std::string toLowerCase(const std::string& text) { + std::string textLower = text; + std::transform(textLower.begin(), textLower.end(), textLower.begin(), ::tolower); + return textLower; + } + + public: + + /// Constructor + HtmlFormatter() { + + } + + /// Destructor + virtual ~HtmlFormatter() override { + + } + + /// Format a log message + virtual std::string format(const time_t& time, const std::string& message, Level level, + Category category, const char* filename, int lineNumber) override { + + std::stringstream ss; + + ss << "
"; + + // Time + ss << "
"; + ss << std::put_time(std::localtime(&time), "%X"); + ss << "
"; + + // Level + ss << "
"; + ss << getLevelName(level); + ss << "
"; + + // Category + ss << "
"; + ss << getCategoryName(category); + ss << "
"; + + // Message + ss << "
" << std::endl; + ss << message; + ss << "
"; + + // Filename + line number + ss << "
(in file " << std::string(filename) << + " at line " << std::to_string(lineNumber) << ")" << std::endl; + ss << "
"; + + ss << "
"; + + return ss.str(); + } + }; + + + /// Log destination + class Destination { + + public: + + /// Maximum Log level flag for this destination + uint maxLevelFlag; + + /// Pointer to the formatter + Formatter* formatter; + + /// Constructor + Destination(uint maxLevelFlag, Formatter* logFormatter) + : maxLevelFlag(maxLevelFlag), formatter(logFormatter) { + + } + + /// Destructor + virtual ~Destination() { + + } + + /// Write a message into the output stream + virtual void write(const time_t& time, const std::string& message, Level level, Category category, const char* filename, int lineNumber) = 0; + + /// Return the size in bytes of the type + virtual size_t getSizeBytes() const=0; + }; + + class FileDestination : public Destination { + + private: + + std::string mFilePath; + + /// Output file stream + std::ofstream mFileStream; + + public: + + /// Constructor + FileDestination(const std::string& filePath, uint maxLevelFlag, Formatter* formatter) + :Destination(maxLevelFlag, formatter), mFilePath(filePath), + mFileStream(filePath, std::ios::binary) { + + if(!mFileStream.is_open()) { + throw(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath)); + } + + // Writer the head + mFileStream << formatter->getHeader() << std::endl; + } + + /// Destructor + virtual ~FileDestination() override { + + // Writer the tail + mFileStream << formatter->getTail() << std::endl; + + if (mFileStream.is_open()) { + + // Close the stream + mFileStream.close(); + } + } + + /// Write a message into the output stream + virtual void write(const time_t& time, const std::string& message, Level level, Category category, + const char* filename, int lineNumber) override { + + if (static_cast(level) <= static_cast(maxLevelFlag)) { + mFileStream << formatter->format(time, message, level, category, filename, lineNumber) << std::endl << std::flush; + } + } + + /// Return the size in bytes of the type + virtual size_t getSizeBytes() const override { + return sizeof(FileDestination); + } + }; + + /// Stream destination to output the logs into a stream + class StreamDestination : public Destination { + + private: + + /// Output stream + std::ostream& mOutputStream; + + public: + + /// Constructor + StreamDestination(std::ostream& outputStream, uint maxlevelFlag, Formatter* formatter) + :Destination(maxlevelFlag, formatter), mOutputStream(outputStream) { + + // Writer the head + mOutputStream << formatter->getHeader() << std::endl; + } + + /// Destructor + virtual ~StreamDestination() override { + + // Writer the tail + mOutputStream << formatter->getTail() << std::endl; + } + + /// Write a message into the output stream + virtual void write(const time_t& time, const std::string& message, Level level, Category category, + const char* filename, int lineNumber) override { + + if (static_cast(level) <= static_cast(maxLevelFlag)) { + mOutputStream << formatter->format(time, message, level, category, filename, lineNumber) << std::endl << std::flush; + } + } + + /// Return the size in bytes of the type + virtual size_t getSizeBytes() const override { + return sizeof(StreamDestination); + } + }; + + + protected: + + // -------------------- Attributes -------------------- // + + /// Memory allocator + MemoryAllocator& mAllocator; + + /// All the log destinations + List mDestinations; + + /// Map a log format to the given formatter object + Map mFormatters; + + /// Mutex + std::mutex mMutex; + + // -------------------- Methods -------------------- // + + /// Return the corresponding formatter + Formatter* getFormatter(Format format) const; + + /// Constructor + DefaultLogger(MemoryAllocator& allocator); + + /// Destructor + virtual ~DefaultLogger() override; + + public : + + // -------------------- Methods -------------------- // + + /// Add a file destination to the logger + void addFileDestination(const std::string& filePath, uint logLevelFlag, Format format); + + /// Add a stream destination to the logger + void addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format); + + /// Remove all logs destination previously set + void removeAllDestinations(); + + /// Log something + virtual void log(Level level, Category category, const std::string& message, const char* filename, int lineNumber) override; + + // ---------- Friendship ---------- // + + friend class PhysicsCommon; +}; + +} + +// Hash function for struct VerticesPair +namespace std { + + template<> struct hash { + + size_t operator()(const reactphysics3d::DefaultLogger::Format format) const { + + return static_cast(format); + } + }; +} + +#endif + +#endif diff --git a/include/reactphysics3d/utils/Logger.h b/include/reactphysics3d/utils/Logger.h index 124673a9..fa6517bc 100644 --- a/include/reactphysics3d/utils/Logger.h +++ b/include/reactphysics3d/utils/Logger.h @@ -34,17 +34,13 @@ #include #include #include -#include -#include -#include -#include /// ReactPhysics3D namespace namespace reactphysics3d { // Class Logger /** - * This class is used to log information, warnings or errors during the execution of the + * This abstract class is the base class used to log information, warnings or errors during the execution of the * library code for easier debugging. */ class Logger { @@ -57,9 +53,6 @@ class Logger { /// Log categories enum class Category {World, Body, Joint, Collider}; - /// Log verbosity level - enum class Format {Text, HTML}; - /// Return the name of a category static std::string getCategoryName(Category category) { @@ -87,394 +80,18 @@ class Logger { return ""; } - /// Log formatter - class Formatter { - - public: - - /// Constructor - Formatter() { - - } - - /// Destructor - virtual ~Formatter() { - - } - - /// Return the header to write at the beginning of the stream - virtual std::string getHeader() const { - return ""; - } - - /// Return the tail to write at the end of the stream - virtual std::string getTail() const { - return ""; - } - - /// Format a log message - virtual std::string format(const time_t& time, const std::string& message, Level level, Category category) = 0; - }; - - class TextFormatter : public Formatter { - - public: - - /// Constructor - TextFormatter() { - - } - - /// Destructor - virtual ~TextFormatter() override { - - } - - /// Return the header to write at the beginning of the stream - virtual std::string getHeader() const override { - - // Get current date - auto now = std::chrono::system_clock::now(); - auto time = std::chrono::system_clock::to_time_t(now); - - std::stringstream ss; - ss << "ReactPhysics3D Logs" << std::endl; - ss << "ReactPhysics3D Version: " << RP3D_VERSION << std::endl; - ss << "Date: " << std::put_time(std::localtime(&time), "%Y-%m-%d") << std::endl; - ss << "---------------------------------------------------------" << std::endl; - - return ss.str(); - } - - /// Format a log message - virtual std::string format(const time_t& time, const std::string& message, - Level level, Category category) override { - std::stringstream ss; - - // Time - ss << std::put_time(std::localtime(&time), "%X") << " "; - - // Level - ss << getLevelName(level) << " "; - - // Category - ss << getCategoryName(category) << " "; - - // Message - ss << message << std::endl; - - return ss.str(); - } - }; - - class HtmlFormatter : public Formatter { - - private: - - /// Return the header to write at the beginning of the stream - virtual std::string getHeader() const override { - - // Get current date - auto now = std::chrono::system_clock::now(); - auto time = std::chrono::system_clock::to_time_t(now); - - std::stringstream ss; - ss << "" << std::endl; - ss << "" << std::endl; - ss << "" << std::endl; - ss << "ReactPhysics3D Logs" << std::endl; - ss << "" << std::endl; - ss << "" << std::endl; - ss << "" << std::endl; - ss << "

ReactPhysics3D Logs

" << std::endl; - ss << "
" << std::endl; - ss << "

ReactPhysics3D version: " << RP3D_VERSION << "

" << std::endl; - ss << "

Date: " << std::put_time(std::localtime(&time), "%Y-%m-%d") << "

" << std::endl; - ss << "
" << std::endl; - ss << "
"; - - return ss.str(); - } - - /// Return the tail to write at the end of the stream - virtual std::string getTail() const override { - - std::stringstream ss; - - ss << "" << std::endl; - ss << "" << std::endl; - - return ss.str(); - } - - std::string generateCSS() const { - return "body {" - " background-color: #e6e6e6;" - " font-family: SFMono-Regular,Menlo,Monaco,Consolas,'Liberation Mono','Courier New',monospace; " - "} " - "body > div { clear:both; } " - "body > div > div { float: left; } " - "h1 {" - " margin: 5px 5px 5px 5px;" - "} " - ".general_info > p {" - "margin: 5px;" - "font-weight: bold;" - "} " - ".line { " - "font-size: 13px; " - "color: #212529; " - "margin: 0px 5px 2px 5px; " - "} " - ".time { " - "margin-right: 20px; " - "width:80px; " - "} " - ".level { " - "margin-right: 20px; " - "width: 90px; " - "}" - ".category { " - "margin-right: 20px; " - "width: 100px; " - "font-weight: bold; " - "}" - ".message { " - "color: #2e2e2e; " - "word-wrap: break-word; " - "max-width: 800px; " - "} " - ".body > .category, .body > .message { " - "color: #00994d;" - "} " - ".world > .category, .world > .message { " - "color: #3477DB; " - "} " - ".joint .category, .joint > .message { " - "color: #bf8040; " - "} " - ".collider .category, .collider > .message { " - "color: #9933ff; " - "} " - ".warning { " - "color: #ff9900 !important; " - "} " - ".error { " - "color: red !important; " - "} "; - } - - /// Convert a string to lower case - std::string toLowerCase(const std::string& text) { - std::string textLower = text; - std::transform(textLower.begin(), textLower.end(), textLower.begin(), ::tolower); - return textLower; - } - - public: - - /// Constructor - HtmlFormatter() { - - } - - /// Destructor - virtual ~HtmlFormatter() override { - - } - - /// Format a log message - virtual std::string format(const time_t& time, const std::string& message, - Level level, Category category) override { - - std::stringstream ss; - - ss << "
"; - - // Time - ss << "
"; - ss << std::put_time(std::localtime(&time), "%X"); - ss << "
"; - - // Level - ss << "
"; - ss << getLevelName(level); - ss << "
"; - - // Category - ss << "
"; - ss << getCategoryName(category); - ss << "
"; - - // Message - ss << "
" << std::endl; - ss << message; - ss << "
"; - - ss << "
"; - - return ss.str(); - } - }; - - - /// Log destination - class Destination { - - public: - - /// Log level flag for this destination - uint levelFlag; - - /// Pointer to the formatter - Formatter* formatter; - - /// Constructor - Destination(uint levelFlag, Formatter* logFormatter) - : levelFlag(levelFlag), formatter(logFormatter) { - - } - - /// Destructor - virtual ~Destination() { - - } - - /// Write a message into the output stream - virtual void write(const time_t& time, const std::string& message, Level level, Category category) = 0; - - /// Return the size in bytes of the type - virtual size_t getSizeBytes() const=0; - }; - - class FileDestination : public Destination { - - private: - - std::string mFilePath; - - /// Output file stream - std::ofstream mFileStream; - - public: - - /// Constructor - FileDestination(const std::string& filePath, uint levelFlag, Formatter* formatter) - :Destination(levelFlag, formatter), mFilePath(filePath), - mFileStream(filePath, std::ios::binary) { - - if(!mFileStream.is_open()) { - throw(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath)); - } - - // Writer the head - mFileStream << formatter->getHeader() << std::endl; - } - - /// Destructor - virtual ~FileDestination() override { - - // Writer the tail - mFileStream << formatter->getTail() << std::endl; - - if (mFileStream.is_open()) { - - // Close the stream - mFileStream.close(); - } - } - - /// Write a message into the output stream - virtual void write(const time_t& time, const std::string& message, Level level, Category category) override { - mFileStream << formatter->format(time, message, level, category) << std::endl << std::flush; - } - - /// Return the size in bytes of the type - virtual size_t getSizeBytes() const override { - return sizeof(FileDestination); - } - }; - - /// Stream destination to output the logs into a stream - class StreamDestination : public Destination { - - private: - - /// Output stream - std::ostream& mOutputStream; - - public: - - /// Constructor - StreamDestination(std::ostream& outputStream, uint levelFlag, Formatter* formatter) - :Destination(levelFlag, formatter), mOutputStream(outputStream) { - - // Writer the head - mOutputStream << formatter->getHeader() << std::endl; - } - - /// Destructor - virtual ~StreamDestination() override { - - // Writer the tail - mOutputStream << formatter->getTail() << std::endl; - } - - /// Write a message into the output stream - virtual void write(const time_t& time, const std::string& message, Level level, Category category) override { - mOutputStream << formatter->format(time, message, level, category) << std::endl << std::flush; - } - - /// Return the size in bytes of the type - virtual size_t getSizeBytes() const override { - return sizeof(StreamDestination); - } - }; - - - private: - - // -------------------- Attributes -------------------- // - - /// Memory allocator - MemoryAllocator& mAllocator; - - /// All the log destinations - List mDestinations; - - /// Map a log format to the given formatter object - Map mFormatters; - - /// Mutex - std::mutex mMutex; - - // -------------------- Methods -------------------- // - - /// Return the corresponding formatter - Formatter* getFormatter(Format format) const; - - /// Constructor - Logger(MemoryAllocator& allocator); - - /// Destructor - ~Logger(); - public : // -------------------- Methods -------------------- // - /// Add a file destination to the logger - void addFileDestination(const std::string& filePath, uint logLevelFlag, Format format); + /// Constructor + Logger() = default; - /// Add a stream destination to the logger - void addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format); - - /// Remove all logs destination previously set - void removeAllDestinations(); + /// Destructor + virtual ~Logger() = default; /// Log something - void log(Level level, Category category, const std::string& message); + virtual void log(Level level, Category category, const std::string& message, const char* filename, int lineNumber)=0; // ---------- Friendship ---------- // @@ -483,26 +100,14 @@ class Logger { } -// Hash function for struct VerticesPair -namespace std { - - template<> struct hash { - - size_t operator()(const reactphysics3d::Logger::Format format) const { - - return static_cast(format); - } - }; -} - // Use this macro to log something -#define RP3D_LOG(logger, level, category, message) logger->log(level, category, message) +#define RP3D_LOG(logger, level, category, message, filename, lineNumber) logger->log(level, category, message, filename, lineNumber) // If the logging is not enabled #else // Empty macro in case logs are not enabled -#define RP3D_LOG(logger, level, category, message) +#define RP3D_LOG(logger, level, category, message, filename, lineNumber) #endif diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index eff3f1c6..cd6a7b8a 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -117,11 +117,11 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans mWorld.mCollisionDetection.addCollider(collider, aabb); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body"); + "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body", __FILE__, __LINE__); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" + - collider->getCollisionShape()->to_string()); + collider->getCollisionShape()->to_string(), __FILE__, __LINE__); // Return a pointer to the collision shape return collider; @@ -171,7 +171,7 @@ Collider* CollisionBody::getCollider(uint colliderIndex) { void CollisionBody::removeCollider(Collider* collider) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " removed from body"); + "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " removed from body", __FILE__, __LINE__); // Remove the collider from the broad-phase if (collider->getBroadPhaseId() != -1) { @@ -283,7 +283,7 @@ void CollisionBody::setIsActive(bool isActive) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isActive=" + - (isActive ? "true" : "false")); + (isActive ? "true" : "false"), __FILE__, __LINE__); } // Ask the broad-phase to test again the collision shapes of the body for collision @@ -399,7 +399,7 @@ void CollisionBody::setTransform(const Transform& transform) { updateBroadPhaseState(0); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string(), __FILE__, __LINE__); } // Return true if the body is active diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 5fbab075..94f49ba6 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -116,7 +116,7 @@ void RigidBody::setType(BodyType type) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set type=" + - (type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic"))); + (type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")), __FILE__, __LINE__); } // Method that return the mass of the body @@ -181,7 +181,7 @@ void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) { mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); } // Apply an external force to the body at its center of mass. @@ -244,7 +244,7 @@ void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) { mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMass.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMass.to_string(), __FILE__, __LINE__); } // Return the center of mass of the body (in local-space coordinates) @@ -277,7 +277,7 @@ void RigidBody::updateLocalCenterOfMassFromColliders() { mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__); } // Compute and return the local-space center of mass of the body using its colliders @@ -384,7 +384,7 @@ void RigidBody::updateLocalInertiaTensorFromColliders() { mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); } // Compute and set the mass of the body using its colliders @@ -420,7 +420,7 @@ void RigidBody::updateMassFromColliders() { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass)); + "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass), __FILE__, __LINE__); } // Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders @@ -450,7 +450,7 @@ void RigidBody::updateMassPropertiesFromColliders() { mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__); // Compute the mass and local-space inertia tensor Vector3 inertiaTensorLocal; @@ -466,7 +466,7 @@ void RigidBody::updateMassPropertiesFromColliders() { mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); // Set the mass mWorld.mRigidBodyComponents.setMass(mEntity, totalMass); @@ -480,7 +480,7 @@ void RigidBody::updateMassPropertiesFromColliders() { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass)); + "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass), __FILE__, __LINE__); } // Set the mass of the rigid body @@ -499,10 +499,16 @@ void RigidBody::setMass(decimal mass) { } else { mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); + + if (mWorld.mRigidBodyComponents.getMass(mEntity) < decimal(0.0)) { + + RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body, + "Error when setting mass of body " + std::to_string(mEntity.id) + ": mass cannot be negative", __FILE__, __LINE__); + } } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass)); + "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass), __FILE__, __LINE__); } @@ -565,11 +571,11 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform mWorld.mCollisionDetection.addCollider(collider, aabb); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body"); + "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body", __FILE__, __LINE__); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" + - collider->getCollisionShape()->to_string()); + collider->getCollisionShape()->to_string(), __FILE__, __LINE__); // Return a pointer to the collider return collider; @@ -595,7 +601,7 @@ void RigidBody::enableGravity(bool isEnabled) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isGravityEnabled=" + - (isEnabled ? "true" : "false")); + (isEnabled ? "true" : "false"), __FILE__, __LINE__); } // Set the linear damping factor. This is the ratio of the linear velocity @@ -605,10 +611,19 @@ void RigidBody::enableGravity(bool isEnabled) { */ void RigidBody::setLinearDamping(decimal linearDamping) { assert(linearDamping >= decimal(0.0)); - mWorld.mRigidBodyComponents.setLinearDamping(mEntity, linearDamping); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set linearDamping=" + std::to_string(linearDamping)); + if (linearDamping >= decimal(0.0)) { + + mWorld.mRigidBodyComponents.setLinearDamping(mEntity, linearDamping); + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set linearDamping=" + std::to_string(linearDamping), __FILE__, __LINE__); + } + else { + + RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body, + "Error when setting the linear damping of body " + std::to_string(mEntity.id) + ": linear damping cannot be negative", __FILE__, __LINE__); + } } // Set the angular damping factor. This is the ratio of the angular velocity @@ -618,10 +633,18 @@ void RigidBody::setLinearDamping(decimal linearDamping) { */ void RigidBody::setAngularDamping(decimal angularDamping) { assert(angularDamping >= decimal(0.0)); - mWorld.mRigidBodyComponents.setAngularDamping(mEntity, angularDamping); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping)); + if (angularDamping >= decimal(0.0)) { + + mWorld.mRigidBodyComponents.setAngularDamping(mEntity, angularDamping); + + RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping), __FILE__, __LINE__); + } + else { + RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body, + "Error when setting the angular damping of body " + std::to_string(mEntity.id) + ": angular damping cannot be negative", __FILE__, __LINE__); + } } // Set the linear velocity of the rigid body. @@ -642,7 +665,7 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set linearVelocity=" + linearVelocity.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set linearVelocity=" + linearVelocity.to_string(), __FILE__, __LINE__); } // Set the angular velocity. @@ -663,7 +686,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(mEntity.id) + ": Set angularVelocity=" + angularVelocity.to_string()); + "Body " + std::to_string(mEntity.id) + ": Set angularVelocity=" + angularVelocity.to_string(), __FILE__, __LINE__); } // Set the current position and orientation @@ -779,7 +802,7 @@ void RigidBody::setIsSleeping(bool isSleeping) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + - (isSleeping ? "true" : "false")); + (isSleeping ? "true" : "false"), __FILE__, __LINE__); } // Update whether the current overlapping pairs where this body is involed are active or not @@ -823,7 +846,7 @@ void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" + - (isAllowedToSleep ? "true" : "false")); + (isAllowedToSleep ? "true" : "false"), __FILE__, __LINE__); } // Return whether or not the body is allowed to sleep diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index ce11510d..a1832af8 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -80,7 +80,7 @@ void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + - std::to_string(collisionCategoryBits)); + std::to_string(collisionCategoryBits), __FILE__, __LINE__); } // Set the collision bits mask @@ -99,7 +99,7 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, "Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + - std::to_string(collideWithMaskBits)); + std::to_string(collideWithMaskBits), __FILE__, __LINE__); } // Set the local to parent body transform @@ -120,7 +120,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" + - transform.to_string()); + transform.to_string(), __FILE__, __LINE__); } // Return the AABB of the collider in world-space diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index ccff5a14..0b029551 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -35,7 +35,10 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()), mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()), mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()), - mTriangleMeshes(mMemoryManager.getHeapAllocator()), mLoggers(mMemoryManager.getHeapAllocator()), + mTriangleMeshes(mMemoryManager.getHeapAllocator()), +#ifdef IS_LOGGING_ACTIVE + mLoggers(mMemoryManager.getHeapAllocator()), +#endif mProfilers(mMemoryManager.getHeapAllocator()) { } @@ -100,7 +103,7 @@ void PhysicsCommon::release() { // Destroy the loggers for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) { - destroyLogger(*it); + destroyDefaultLogger(*it); } #endif @@ -138,12 +141,14 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting // If the user has not provided its own logger, we create one if (logger == nullptr) { - logger = createLogger(); + DefaultLogger* defaultLogger = createDefaultLogger(); // Add a log destination file uint logLevel = static_cast(Logger::Level::Information) | static_cast(Logger::Level::Warning) | static_cast(Logger::Level::Error); - logger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, Logger::Format::HTML); + defaultLogger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, DefaultLogger::Format::HTML); + + logger = defaultLogger; } #endif @@ -373,9 +378,9 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { #ifdef IS_LOGGING_ACTIVE // Create and return a new logger -Logger* PhysicsCommon::createLogger() { +DefaultLogger* PhysicsCommon::createDefaultLogger() { - Logger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Logger))) Logger(mMemoryManager.getHeapAllocator()); + DefaultLogger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(DefaultLogger))) DefaultLogger(mMemoryManager.getHeapAllocator()); mLoggers.add(logger); @@ -383,13 +388,13 @@ Logger* PhysicsCommon::createLogger() { } // Destroy a logger -void PhysicsCommon::destroyLogger(Logger* logger) { +void PhysicsCommon::destroyDefaultLogger(DefaultLogger* logger) { // Call the destructor of the logger - logger->~Logger(); + logger->~DefaultLogger(); // Release allocated memory - mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(Logger)); + mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(DefaultLogger)); mLoggers.remove(logger); } diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index 9c73abe3..b11ea6df 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -108,12 +108,12 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo mNbWorlds++; RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Physics world " + mName + " has been created"); + "Physics World: Physics world " + mName + " has been created", __FILE__, __LINE__); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Initial world settings: " + worldSettings.to_string()); + "Physics World: Initial world settings: " + worldSettings.to_string(), __FILE__, __LINE__); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Physics world " + mName + " has been created"); + "Physics World: Physics world " + mName + " has been created", __FILE__, __LINE__); } @@ -121,7 +121,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo PhysicsWorld::~PhysicsWorld() { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Physics world " + mName + " has been destroyed"); + "Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__); // Destroy all the collision bodies that have not been removed for (int i=mCollisionBodies.size() - 1 ; i >= 0; i--) { @@ -153,7 +153,7 @@ PhysicsWorld::~PhysicsWorld() { assert(mRigidBodies.size() == 0); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Physics world " + mName + " has been destroyed"); + "Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__); } // Create a collision body and add it to the world @@ -193,7 +193,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { #endif RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(entity.id) + ": New collision body created"); + "Body " + std::to_string(entity.id) + ": New collision body created", __FILE__, __LINE__); // Return the pointer to the rigid body return collisionBody; @@ -206,7 +206,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed"); + "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed", __FILE__, __LINE__); // Remove all the collision shapes of the body collisionBody->removeAllColliders(); @@ -472,7 +472,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { #endif RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(entity.id) + ": New collision body created"); + "Body " + std::to_string(entity.id) + ": New collision body created", __FILE__, __LINE__); // Return the pointer to the rigid body return rigidBody; @@ -485,7 +485,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed"); + "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed", __FILE__, __LINE__); // Remove all the collision shapes of the body rigidBody->removeAllColliders(); @@ -625,9 +625,9 @@ Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, - "Joint " + std::to_string(newJoint->getEntity().id) + ": New joint created"); + "Joint " + std::to_string(newJoint->getEntity().id) + ": New joint created", __FILE__, __LINE__); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, - "Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string()); + "Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string(), __FILE__, __LINE__); // Add the joint into the joint list of the bodies involved in the joint addJointToBodies(jointInfo.body1->getEntity(), jointInfo.body2->getEntity(), entity); @@ -645,7 +645,7 @@ void PhysicsWorld::destroyJoint(Joint* joint) { assert(joint != nullptr); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, - "Joint " + std::to_string(joint->getEntity().id) + ": joint destroyed"); + "Joint " + std::to_string(joint->getEntity().id) + ": joint destroyed", __FILE__, __LINE__); // If the collision between the two bodies of the constraint was disabled if (!joint->isCollisionEnabled()) { @@ -698,12 +698,12 @@ void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { mRigidBodyComponents.addJointToBody(body1, joint); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(body1.id) + ": Joint " + std::to_string(joint.id) + " added to body"); + "Body " + std::to_string(body1.id) + ": Joint " + std::to_string(joint.id) + " added to body", __FILE__, __LINE__); mRigidBodyComponents.addJointToBody(body2, joint); RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, - "Body " + std::to_string(body2.id) + ": Joint " + std::to_string(joint.id) + " added to body"); + "Body " + std::to_string(body2.id) + ": Joint " + std::to_string(joint.id) + " added to body", __FILE__, __LINE__); } // Compute the islands using potential contacts and joints @@ -930,5 +930,5 @@ void PhysicsWorld::enableSleeping(bool isSleepingEnabled) { } RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) ); + "Physics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) , __FILE__, __LINE__); } diff --git a/src/utils/Logger.cpp b/src/utils/DefaultLogger.cpp similarity index 85% rename from src/utils/Logger.cpp rename to src/utils/DefaultLogger.cpp index 2c7dd916..8957cf61 100644 --- a/src/utils/Logger.cpp +++ b/src/utils/DefaultLogger.cpp @@ -26,13 +26,13 @@ #ifdef IS_LOGGING_ACTIVE // Libraries -#include +#include #include using namespace reactphysics3d; // Constructor -Logger::Logger(MemoryAllocator& allocator) +DefaultLogger::DefaultLogger(MemoryAllocator& allocator) : mAllocator(allocator), mDestinations(allocator), mFormatters(allocator) { // Create the log formatters @@ -41,7 +41,7 @@ Logger::Logger(MemoryAllocator& allocator) } // Destructor -Logger::~Logger() { +DefaultLogger::~DefaultLogger() { removeAllDestinations(); @@ -53,7 +53,7 @@ Logger::~Logger() { } // Return the corresponding formatter -Logger::Formatter* Logger::getFormatter(Format format) const { +DefaultLogger::Formatter* DefaultLogger::getFormatter(Format format) const { auto it = mFormatters.find(format); if (it != mFormatters.end()) { @@ -64,21 +64,21 @@ Logger::Formatter* Logger::getFormatter(Format format) const { } // Add a log file destination to the logger -void Logger::addFileDestination(const std::string& filePath, uint logLevelFlag, Format format) { +void DefaultLogger::addFileDestination(const std::string& filePath, uint logLevelFlag, Format format) { FileDestination* destination = new (mAllocator.allocate(sizeof(FileDestination))) FileDestination(filePath, logLevelFlag, getFormatter(format)); mDestinations.add(destination); } /// Add a stream destination to the logger -void Logger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format) { +void DefaultLogger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format) { StreamDestination* destination = new (mAllocator.allocate(sizeof(StreamDestination))) StreamDestination(outputStream, logLevelFlag, getFormatter(format)); mDestinations.add(destination); } // Remove all logs destination previously set -void Logger::removeAllDestinations() { +void DefaultLogger::removeAllDestinations() { // Delete all the destinations for (uint i=0; iwrite(time, message, level, category); + (*it)->write(time, message, level, category, filename, lineNumber); } mMutex.unlock(); From 2efe9d65da5541d7fc698c7c27a5db20a519664f Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 27 Apr 2020 15:54:57 +0200 Subject: [PATCH 134/197] Fix issue with overlap callback --- include/reactphysics3d/collision/OverlapCallback.h | 2 +- src/collision/OverlapCallback.cpp | 6 +++--- src/systems/CollisionDetectionSystem.cpp | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/include/reactphysics3d/collision/OverlapCallback.h b/include/reactphysics3d/collision/OverlapCallback.h index 6f3ba12e..79923e47 100644 --- a/include/reactphysics3d/collision/OverlapCallback.h +++ b/include/reactphysics3d/collision/OverlapCallback.h @@ -149,7 +149,7 @@ class OverlapCallback { // -------------------- Methods -------------------- // /// Constructor - CallbackData(List& contactPairs, List& lostContactPairs, PhysicsWorld& world); + CallbackData(List& contactPairs, List& lostContactPairs, bool onlyReportTriggers, PhysicsWorld& world); /// Deleted copy constructor CallbackData(const CallbackData& callbackData) = delete; diff --git a/src/collision/OverlapCallback.cpp b/src/collision/OverlapCallback.cpp index af5f17ff..39678e67 100644 --- a/src/collision/OverlapCallback.cpp +++ b/src/collision/OverlapCallback.cpp @@ -67,7 +67,7 @@ OverlapCallback::OverlapPair::EventType OverlapCallback::OverlapPair::getEventTy } // CollisionCallbackData Constructor -OverlapCallback::CallbackData::CallbackData(List& contactPairs, List& lostContactPairs, PhysicsWorld& world) +OverlapCallback::CallbackData::CallbackData(List& contactPairs, List& lostContactPairs, bool onlyReportTriggers, PhysicsWorld& world) :mContactPairs(contactPairs), mLostContactPairs(lostContactPairs), mContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mLostContactPairsIndices(world.mMemoryManager.getHeapAllocator()), mWorld(world) { @@ -75,7 +75,7 @@ OverlapCallback::CallbackData::CallbackData(List& contactPairs, Lis for (uint i=0; i < mContactPairs.size(); i++) { // If the contact pair contains contacts (and is therefore not an overlap/trigger event) - if (mContactPairs[i].isTrigger) { + if (!onlyReportTriggers || mContactPairs[i].isTrigger) { mContactPairsIndices.add(i); } } @@ -83,7 +83,7 @@ OverlapCallback::CallbackData::CallbackData(List& contactPairs, Lis for (uint i=0; i < mLostContactPairs.size(); i++) { // If the contact pair contains contacts (and is therefore not an overlap/trigger event) - if (mLostContactPairs[i].isTrigger) { + if (!onlyReportTriggers || mLostContactPairs[i].isTrigger) { mLostContactPairsIndices.add(i); } } diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 2d104d37..2413f915 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -553,7 +553,7 @@ bool CollisionDetectionSystem::computeNarrowPhaseOverlapSnapshot(NarrowPhaseInpu computeOverlapSnapshotContactPairs(narrowPhaseInput, contactPairs); // Report overlapping colliders - OverlapCallback::CallbackData callbackData(contactPairs, lostContactPairs, *mWorld); + OverlapCallback::CallbackData callbackData(contactPairs, lostContactPairs, false, *mWorld); (*callback).onOverlap(callbackData); } @@ -1421,7 +1421,7 @@ void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, List // If there are contacts if (contactPairs->size() + lostContactPairs.size() > 0) { - OverlapCallback::CallbackData callbackData(*contactPairs, lostContactPairs, *mWorld); + OverlapCallback::CallbackData callbackData(*contactPairs, lostContactPairs, true, *mWorld); // Call the callback method to report the overlapping shapes eventListener.onTrigger(callbackData); From 92aa06ac35195ecf5157340aed2ee2c39efd0d84 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 27 Apr 2020 18:16:46 +0200 Subject: [PATCH 135/197] Fix compilation error --- include/reactphysics3d/utils/Profiler.h | 6 +++--- src/utils/Profiler.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/include/reactphysics3d/utils/Profiler.h b/include/reactphysics3d/utils/Profiler.h index 0d88c292..85ec9698 100644 --- a/include/reactphysics3d/utils/Profiler.h +++ b/include/reactphysics3d/utils/Profiler.h @@ -30,10 +30,10 @@ #ifdef IS_PROFILING_ACTIVE // Libraries -#include "configuration.h" -#include "engine/Timer.h" +#include +#include #include -#include "containers/List.h" +#include /// ReactPhysics3D namespace namespace reactphysics3d { diff --git a/src/utils/Profiler.cpp b/src/utils/Profiler.cpp index a3cba657..6c1b6e10 100644 --- a/src/utils/Profiler.cpp +++ b/src/utils/Profiler.cpp @@ -27,7 +27,7 @@ #ifdef IS_PROFILING_ACTIVE // Libraries -#include "Profiler.h" +#include #include #include From fb0d3b52e9e8c94ff77cd53803e8220d8b273d7b Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 27 Apr 2020 20:38:12 +0200 Subject: [PATCH 136/197] Fix compilation error --- test/tests/collision/TestDynamicAABBTree.h | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 4f80b0c9..dc121d2d 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -95,6 +95,12 @@ class TestDynamicAABBTree : public Test { DynamicTreeRaycastCallback mRaycastCallback; + PhysicsCommon mPhysicsCommon; + +#ifdef IS_PROFILING_ACTIVE + Profiler* mProfiler; +#endif + public : // ---------- Methods ---------- // @@ -102,7 +108,9 @@ class TestDynamicAABBTree : public Test { /// Constructor TestDynamicAABBTree(const std::string& name): Test(name) { - +#ifdef IS_PROFILING_ACTIVE + mProfiler = mPhysicsCommon.createProfiler(); +#endif } bool isOverlapping(int nodeId, const List& overlappingNodes) const { @@ -124,6 +132,9 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); +#ifdef IS_PROFILING_ACTIVE + tree.setProfiler(mProfiler); +#endif int object1Data = 56; int object2Data = 23; @@ -170,6 +181,9 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); +#ifdef IS_PROFILING_ACTIVE + tree.setProfiler(mProfiler); +#endif int object1Data = 56; int object2Data = 23; @@ -362,6 +376,9 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); +#ifdef IS_PROFILING_ACTIVE + tree.setProfiler(mProfiler); +#endif int object1Data = 56; int object2Data = 23; From 56077bba6b9a4373b49c6ed5eaf4f145ebeff78e Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 6 May 2020 00:34:56 +0200 Subject: [PATCH 137/197] Working on debug renderer --- CMakeLists.txt | 2 + include/reactphysics3d/body/CollisionBody.h | 1 - .../collision/CollisionCallback.h | 1 - .../collision/shapes/ConcaveMeshShape.h | 1 + .../collision/shapes/HeightFieldShape.h | 3 + include/reactphysics3d/engine/PhysicsWorld.h | 32 ++ .../systems/CollisionDetectionSystem.h | 6 +- include/reactphysics3d/utils/DebugRenderer.h | 300 ++++++++++++ src/engine/PhysicsWorld.cpp | 12 +- src/systems/CollisionDetectionSystem.cpp | 34 +- src/utils/DebugRenderer.cpp | 462 ++++++++++++++++++ testbed/common/AABB.cpp | 3 +- testbed/common/Box.cpp | 2 +- testbed/common/Capsule.cpp | 2 +- testbed/common/ConcaveMesh.cpp | 2 +- testbed/common/ConvexMesh.cpp | 2 +- testbed/common/Dumbbell.cpp | 2 +- testbed/common/HeightField.cpp | 2 +- testbed/common/Line.cpp | 6 +- testbed/common/Sphere.cpp | 2 +- testbed/common/VisualContactPoint.cpp | 6 +- testbed/opengl-framework/src/Shader.h | 2 +- .../src/VertexBufferObject.cpp | 10 + .../opengl-framework/src/VertexBufferObject.h | 6 + .../collisionshapes/CollisionShapesScene.cpp | 7 + .../collisionshapes/CollisionShapesScene.h | 10 +- testbed/scenes/cubes/CubesScene.h | 2 +- .../scenes/heightfield/HeightFieldScene.cpp | 2 +- testbed/scenes/raycast/RaycastScene.cpp | 3 +- testbed/shaders/color.frag | 15 +- testbed/shaders/color.vert | 7 + testbed/shaders/phong.frag | 4 +- testbed/src/SceneDemo.cpp | 173 ++++++- testbed/src/SceneDemo.h | 31 +- 34 files changed, 1111 insertions(+), 44 deletions(-) create mode 100644 include/reactphysics3d/utils/DebugRenderer.h create mode 100644 src/utils/DebugRenderer.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index b8ca3512..3c1fdaba 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -181,6 +181,7 @@ SET (REACTPHYSICS3D_HEADERS "include/reactphysics3d/utils/Profiler.h" "include/reactphysics3d/utils/Logger.h" "include/reactphysics3d/utils/DefaultLogger.h" + "include/reactphysics3d/utils/DebugRenderer.h" ) # Source files @@ -271,6 +272,7 @@ SET (REACTPHYSICS3D_SOURCES "src/memory/MemoryManager.cpp" "src/utils/Profiler.cpp" "src/utils/DefaultLogger.cpp" + "src/utils/DebugRenderer.cpp" ) # Create the library diff --git a/include/reactphysics3d/body/CollisionBody.h b/include/reactphysics3d/body/CollisionBody.h index 184ec429..f01c896f 100644 --- a/include/reactphysics3d/body/CollisionBody.h +++ b/include/reactphysics3d/body/CollisionBody.h @@ -37,7 +37,6 @@ namespace reactphysics3d { // Declarations -struct ContactManifoldListElement; class Collider; class CollisionShape; class PhysicsWorld; diff --git a/include/reactphysics3d/collision/CollisionCallback.h b/include/reactphysics3d/collision/CollisionCallback.h index b6f29a76..ef99e631 100644 --- a/include/reactphysics3d/collision/CollisionCallback.h +++ b/include/reactphysics3d/collision/CollisionCallback.h @@ -37,7 +37,6 @@ namespace reactphysics3d { // Declarations class OverlappingPair; class ContactManifold; -struct ContactManifoldListElement; class CollisionBody; class Collider; class MemoryManager; diff --git a/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h index 32832547..087e7092 100644 --- a/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h +++ b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h @@ -208,6 +208,7 @@ class ConcaveMeshShape : public ConcaveShape { friend class ConvexTriangleAABBOverlapCallback; friend class ConcaveMeshRaycastCallback; friend class PhysicsCommon; + friend class DebugRenderer; }; // Return the number of bytes used by the collision shape diff --git a/include/reactphysics3d/collision/shapes/HeightFieldShape.h b/include/reactphysics3d/collision/shapes/HeightFieldShape.h index fa639f46..eac36f36 100644 --- a/include/reactphysics3d/collision/shapes/HeightFieldShape.h +++ b/include/reactphysics3d/collision/shapes/HeightFieldShape.h @@ -189,6 +189,9 @@ inline size_t HeightFieldShape::getSizeInBytes() const { // Return the height of a given (x,y) point in the height field inline decimal HeightFieldShape::getHeightAt(int x, int y) const { + assert(x >= 0 && x < mNbColumns); + assert(y >= 0 && y < mNbRows); + switch(mHeightDataType) { case HeightDataType::HEIGHT_FLOAT_TYPE : return ((float*)mHeightFieldData)[y * mNbColumns + x]; case HeightDataType::HEIGHT_DOUBLE_TYPE : return ((double*)mHeightFieldData)[y * mNbColumns + x]; diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h index 23d5d6f3..6bafe402 100644 --- a/include/reactphysics3d/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -50,6 +50,7 @@ #include #include #include +#include #include /// Namespace ReactPhysics3D @@ -183,6 +184,12 @@ class PhysicsWorld { /// Entity Manager for the ECS EntityManager mEntityManager; + /// Debug renderer + DebugRenderer mDebugRenderer; + + /// True if debug rendering is enabled + bool mIsDebugRenderingEnabled; + /// Collision Body Components CollisionBodyComponents mCollisionBodyComponents; @@ -452,6 +459,15 @@ class PhysicsWorld { /// Return a pointer to a given RigidBody of the world RigidBody* getRigidBody(uint index) ; + /// Return true if the debug rendering is enabled + bool getIsDebugRenderingEnabled() const; + + /// Set to true if debug rendering is enabled + void setIsDebugRenderingEnabled(bool isEnabled); + + /// Return a reference to the Debug Renderer of the world + DebugRenderer& getDebugRenderer(); + #ifdef IS_PROFILING_ACTIVE /// Return a reference to the profiler @@ -483,6 +499,7 @@ class PhysicsWorld { friend class SliderJoint; friend class CollisionCallback::CallbackData; friend class OverlapCallback::CallbackData; + friend class DebugRenderer; }; // Set the collision dispatch configuration @@ -864,6 +881,21 @@ inline RigidBody* PhysicsWorld::getRigidBody(uint index) { return mRigidBodies[index]; } +// Return true if the debug rendering is enabled +inline bool PhysicsWorld::getIsDebugRenderingEnabled() const { + return mIsDebugRenderingEnabled; +} + +// Set to true if debug rendering is enabled +inline void PhysicsWorld::setIsDebugRenderingEnabled(bool isEnabled) { + mIsDebugRenderingEnabled = isEnabled; +} + +// Return a reference to the Debug Renderer of the world +inline DebugRenderer& PhysicsWorld::getDebugRenderer() { + return mDebugRenderer; +} + } #endif diff --git a/include/reactphysics3d/systems/CollisionDetectionSystem.h b/include/reactphysics3d/systems/CollisionDetectionSystem.h index 08057cfb..f2928fa3 100644 --- a/include/reactphysics3d/systems/CollisionDetectionSystem.h +++ b/include/reactphysics3d/systems/CollisionDetectionSystem.h @@ -73,7 +73,7 @@ class CollisionDetectionSystem { // -------------------- Constants -------------------- // /// Maximum number of contact points in a reduced contact manifold - const int8 MAX_CONTACT_POINTS_IN_MANIFOLD = 4; + static const int8 MAX_CONTACT_POINTS_IN_MANIFOLD = 4; // -------------------- Attributes -------------------- // @@ -263,6 +263,9 @@ class CollisionDetectionSystem { /// Report all triggers void reportTriggers(EventListener& eventListener, List* contactPairs, List& lostContactPairs); + /// Report all contacts for debug rendering + void reportDebugRenderingContacts(List* contactPairs, List* manifolds, List* contactPoints, List& lostContactPairs); + /// Return the largest depth of all the contact points of a potential manifold decimal computePotentialManifoldLargestContactDepth(const ContactManifoldInfo& manifold, const List& potentialContactPoints) const; @@ -373,6 +376,7 @@ class CollisionDetectionSystem { friend class PhysicsWorld; friend class ConvexMeshShape; friend class RigidBody; + friend class DebugRenderer; }; // Return a reference to the collision dispatch configuration diff --git a/include/reactphysics3d/utils/DebugRenderer.h b/include/reactphysics3d/utils/DebugRenderer.h new file mode 100644 index 00000000..b5978e4e --- /dev/null +++ b/include/reactphysics3d/utils/DebugRenderer.h @@ -0,0 +1,300 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2019 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +#ifndef REACTPHYSICS3D_DEBUG_RENDERER_H +#define REACTPHYSICS3D_DEBUG_RENDERER_H + +// Libraries +#include +#include +#include +#include +#include + +/// ReactPhysics3D namespace +namespace reactphysics3d { + +// Forward declarations +class ConcaveMeshShape; +class ConvexMeshShape; +class HeightFieldShape; +class Collider; +class PhysicsWorld; + +// Class DebugRenderer +/** + * This class is used to display physics debug information directly into the user application view. + * For instance, it is possible to display AABBs of colliders, colliders or contact points. This class + * can be used to get the debug information as lists of basic primitives (points, linges, triangles, ...). + * You can use this to render physics debug information in your simulation on top of your object. Note that + * you should use this only for debugging purpose and you should disable it when you compile the final release + * version of your application because computing/rendering phyiscs debug information can be expensive. + */ +class DebugRenderer : public EventListener { + + public: + + /// Enumeration with basic colors + enum class DebugColor { + + RED = 0xff0000, + GREEN = 0x00ff00, + BLUE = 0x0000ff, + BLACK = 0x000000, + WHITE = 0xffffff, + YELLOW = 0xffff00, + MAGENTA = 0xff00ff, + CYAN = 0x00ffff, + }; + + /// Enumeration with debug item to renderer + enum class DebugItem { + COLLIDER_AABB = 1 << 0, + COLLIDER_BROADPHASE_AABB = 1 << 1, + COLLISION_SHAPE = 1 << 2, + CONTACT_POINT = 1 << 3, + }; + + /// Struture that represents a point of the DebugRenderer + struct DebugPoint { + + /// Constructor + DebugPoint(const Vector3& point, uint32 color) :point(point), color(color) { + + } + + Vector3 point; + uint32 color; + }; + + /// Struture that represents a line of the DebugRenderer + struct DebugLine { + + /// Constructor + DebugLine(const Vector3& point1, const Vector3& point2, uint32 color) + :point1(point1), color1(color), point2(point2), color2(color) { + + } + + Vector3 point1; + uint32 color1; + Vector3 point2; + uint32 color2; + }; + + /// Struture that represents a triangle of the DebugRenderer + struct DebugTriangle { + + /// Constructor + DebugTriangle(const Vector3& point1, const Vector3& point2, const Vector3& point3, uint32 color) + :point1(point1), color1(color), point2(point2), color2(color), point3(point3), color3(color) { + + } + + Vector3 point1; + uint32 color1; + Vector3 point2; + uint32 color2; + Vector3 point3; + uint32 color3; + }; + + private: + + // -------------------- Constants -------------------- // + + /// Number of sectors used to draw a sphere or a capsule + static constexpr int NB_SECTORS_SPHERE = 18; + + /// Number of stacks used to draw a sphere or a capsule + static constexpr int NB_STACKS_SPHERE = 10; + + /// Default radius of the sphere displayed to represent contact points + static constexpr decimal DEFAULT_CONTACT_POINT_SPHERE_RADIUS = decimal(0.1); + + // -------------------- Attributes -------------------- // + + /// Memory allocator + MemoryAllocator& mAllocator; + + /// List with all the debug lines + List mLines; + + /// List with all the debug triangles + List mTriangles; + + /// 32-bits integer that contains all the flags of debug items to display + uint32 mDisplayedDebugItems; + + /// Map a debug item with the color used to display it + Map mMapDebugItemWithColor; + + /// Radius of the sphere displayed to represent contact points + decimal mContactPointSphereRadius; + + // -------------------- Methods -------------------- // + + /// Draw an AABB + void drawAABB(const AABB& aabb, uint32 color); + + /// Draw a box + void drawBox(const Transform& transform, const Vector3& extents, uint32 color); + + /// Draw a sphere + void drawSphere(const Vector3& position, decimal radius, uint32 color); + + /// Draw a capsule + void drawCapsule(const Transform& transform, decimal radius, decimal height, uint32 color); + + /// Draw a convex mesh + void drawConvexMesh(const Transform& transform, const ConvexMeshShape* convexMesh, uint32 color); + + /// Draw a concave mesh shape + void drawConcaveMeshShape(const Transform& transform, const ConcaveMeshShape* concaveMeshShape, uint32 color); + + /// Draw a height field shape + void drawHeightFieldShape(const Transform& transform, const HeightFieldShape* heightFieldShape, uint32 color); + + /// Draw the collision shape of a collider + void drawCollisionShapeOfCollider(const Collider* collider, uint32 color); + + public : + + // -------------------- Methods -------------------- // + + /// Constructor + DebugRenderer(MemoryAllocator& allocator); + + /// Destructor + ~DebugRenderer(); + + /// Return the number of points + uint32 getNbPoints() const; + + /// Return a reference to the list of points + const List& getPoints() const; + + /// Return a pointer to the array of points + const DebugPoint* getPointsArray() const; + + /// Return the number of lines + uint32 getNbLines() const; + + /// Return a reference to the list of lines + const List& getLines() const; + + /// Return a pointer to the array of lines + const DebugLine* getLinesArray() const; + + /// Return the number of triangles + uint32 getNbTriangles() const; + + /// Return a reference to the list of triangles + const List& getTriangles() const; + + /// Return a pointer to the array of triangles + const DebugTriangle* getTrianglesArray() const; + + /// Return whether a debug item is displayed or not + bool getIsDebugItemDisplayed(DebugItem item) const; + + /// Set whether a debug info is displayed or not + void setIsDebugItemDisplayed(DebugItem item, bool isDisplayed); + + /// Get the contact point sphere radius + decimal getContactPointSphereRadius() const; + + /// Set the contact point sphere radius + void setContactPointSphereRadius(decimal radius); + + /// Generate the rendering primitives (triangles, lines, ...) of a physics world + void computeDebugRenderingPrimitives(const PhysicsWorld& world); + + /// Clear all the debugging primitives (points, lines, triangles, ...) + void reset(); + + /// Called when some contacts occur + virtual void onContact(const CollisionCallback::CallbackData& callbackData) override; +}; + +// Return the number of lines +inline uint32 DebugRenderer::getNbLines() const { + return mLines.size(); +} + +// Return a reference to the list of lines +inline const List& DebugRenderer::getLines() const { + return mLines; +} + +// Return a pointer to the array of lines +inline const DebugRenderer::DebugLine* DebugRenderer::getLinesArray() const { + return &(mLines[0]); +} + +// Return the number of triangles +inline uint32 DebugRenderer::getNbTriangles() const { + return mTriangles.size(); +} + +// Return a reference to the list of triangles +inline const List& DebugRenderer::getTriangles() const { + return mTriangles; +} + +// Return a pointer to the array of triangles +inline const DebugRenderer::DebugTriangle* DebugRenderer::getTrianglesArray() const { + return &(mTriangles[0]); +} + +// Return whether a debug item is displayed or not +inline bool DebugRenderer::getIsDebugItemDisplayed(DebugItem item) const { + return mDisplayedDebugItems & static_cast(item); +} + +// Set whether a debug info is displayed or not +inline void DebugRenderer::setIsDebugItemDisplayed(DebugItem item, bool isDisplayed) { + const uint32 itemFlag = static_cast(item); + uint32 resetBit = ~(itemFlag); + mDisplayedDebugItems &= resetBit; + if (isDisplayed) { + mDisplayedDebugItems |= itemFlag; + } +} + +// Get the contact point sphere radius +inline decimal DebugRenderer::getContactPointSphereRadius() const { + return mContactPointSphereRadius; +} + +// Set the contact point sphere radius +inline void DebugRenderer::setContactPointSphereRadius(decimal radius) { + assert(radius > decimal(0.0)); + mContactPointSphereRadius = radius; +} + +} + +#endif diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index b11ea6df..ef94ea4f 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -51,7 +51,7 @@ uint PhysicsWorld::mNbWorlds = 0; * @param profiler Pointer to the profiler */ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) - : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), + : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mDebugRenderer(mMemoryManager.getHeapAllocator()), mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), @@ -331,6 +331,11 @@ void PhysicsWorld::update(decimal timeStep) { RP3D_PROFILE("PhysicsWorld::update()", mProfiler); + // Reset the debug renderer + if (mIsDebugRenderingEnabled) { + mDebugRenderer.reset(); + } + // Compute the collision detection mCollisionDetection.computeCollisionDetection(); @@ -369,6 +374,11 @@ void PhysicsWorld::update(decimal timeStep) { // Reset the islands mIslands.clear(); + // Generate debug rendering primitives (if enabled) + if (mIsDebugRenderingEnabled) { + mDebugRenderer.computeDebugRenderingPrimitives(*this); + } + // Reset the single frame memory allocator mMemoryManager.resetFrameAllocator(); } diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 2413f915..0cf1ddec 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -1386,18 +1386,25 @@ void CollisionDetectionSystem::reduceContactPoints(ContactManifoldInfo& manifold // Report contacts and triggers void CollisionDetectionSystem::reportContactsAndTriggers() { - if (mWorld->mEventListener != nullptr) { + // Report contacts and triggers to the user + if (mWorld->mEventListener != nullptr) { reportContacts(*(mWorld->mEventListener), mCurrentContactPairs, mCurrentContactManifolds, mCurrentContactPoints, mLostContactPairs); reportTriggers(*(mWorld->mEventListener), mCurrentContactPairs, mLostContactPairs); - } + } - mOverlappingPairs.updateCollidingInPreviousFrame(); + // Report contacts for debug rendering (if enabled) + if (mWorld->mIsDebugRenderingEnabled) { - mLostContactPairs.clear(true); + reportDebugRenderingContacts(mCurrentContactPairs, mCurrentContactManifolds, mCurrentContactPoints, mLostContactPairs); + } + + mOverlappingPairs.updateCollidingInPreviousFrame(); + + mLostContactPairs.clear(true); } -// Report all contacts +// Report all contacts to the user void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List* contactPairs, List* manifolds, List* contactPoints, List& lostContactPairs) { @@ -1413,7 +1420,7 @@ void CollisionDetectionSystem::reportContacts(CollisionCallback& callback, List< } } -// Report all triggers +// Report all triggers to the user void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, List* contactPairs, List& lostContactPairs) { RP3D_PROFILE("CollisionDetectionSystem::reportTriggers()", mProfiler); @@ -1428,6 +1435,21 @@ void CollisionDetectionSystem::reportTriggers(EventListener& eventListener, List } } +// Report all contacts for debug rendering +void CollisionDetectionSystem::reportDebugRenderingContacts(List* contactPairs, List* manifolds, List* contactPoints, List& lostContactPairs) { + + RP3D_PROFILE("CollisionDetectionSystem::reportDebugRenderingContacts()", mProfiler); + + // If there are contacts + if (contactPairs->size() + lostContactPairs.size() > 0) { + + CollisionCallback::CallbackData callbackData(contactPairs, manifolds, contactPoints, lostContactPairs, *mWorld); + + // Call the callback method to report the contacts + mWorld->mDebugRenderer.onContact(callbackData); + } +} + // Return true if two bodies overlap (collide) bool CollisionDetectionSystem::testOverlap(CollisionBody* body1, CollisionBody* body2) { diff --git a/src/utils/DebugRenderer.cpp b/src/utils/DebugRenderer.cpp new file mode 100644 index 00000000..43362052 --- /dev/null +++ b/src/utils/DebugRenderer.cpp @@ -0,0 +1,462 @@ +/******************************************************************************** +* ReactPhysics3D physics library, http://www.reactphysics3d.com * +* Copyright (c) 2010-2019 Daniel Chappuis * +********************************************************************************* +* * +* This software is provided 'as-is', without any express or implied warranty. * +* In no event will the authors be held liable for any damages arising from the * +* use of this software. * +* * +* Permission is granted to anyone to use this software for any purpose, * +* including commercial applications, and to alter it and redistribute it * +* freely, subject to the following restrictions: * +* * +* 1. The origin of this software must not be misrepresented; you must not claim * +* that you wrote the original software. If you use this software in a * +* product, an acknowledgment in the product documentation would be * +* appreciated but is not required. * +* * +* 2. Altered source versions must be plainly marked as such, and must not be * +* misrepresented as being the original software. * +* * +* 3. This notice may not be removed or altered from any source distribution. * +* * +********************************************************************************/ + +// Libraries +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace reactphysics3d; + +// Constructor +DebugRenderer::DebugRenderer(MemoryAllocator& allocator) + :mAllocator(allocator), mLines(allocator), mTriangles(allocator), mDisplayedDebugItems(0), mMapDebugItemWithColor(allocator), + mContactPointSphereRadius(DEFAULT_CONTACT_POINT_SPHERE_RADIUS) { + + mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_AABB, static_cast(DebugColor::MAGENTA))); + mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_BROADPHASE_AABB, static_cast(DebugColor::YELLOW))); + mMapDebugItemWithColor.add(Pair(DebugItem::COLLISION_SHAPE, static_cast(DebugColor::GREEN))); + mMapDebugItemWithColor.add(Pair(DebugItem::CONTACT_POINT, static_cast(DebugColor::RED))); +} + +// Destructor +DebugRenderer::~DebugRenderer() { + +} + +// Clear all the debugging primitives (points, lines, triangles, ...) +void DebugRenderer::reset() { + + mLines.clear(); + mTriangles.clear(); +} + +// Draw an AABB +void DebugRenderer::drawAABB(const AABB& aabb, uint32 color) { + + const Vector3& min = aabb.getMin(); + const Vector3& max = aabb.getMax(); + + // Bottom edges + mLines.add(DebugLine(Vector3(min.x, min.y, max.z), Vector3(max.x, min.y, max.z), color)); + mLines.add(DebugLine(Vector3(max.x, min.y, max.z), Vector3(max.x, min.y, min.z), color)); + mLines.add(DebugLine(Vector3(max.x, min.y, min.z), Vector3(min.x, min.y, min.z), color)); + mLines.add(DebugLine(Vector3(min.x, min.y, min.z), Vector3(min.x, min.y, max.z), color)); + + // Top edges + mLines.add(DebugLine(Vector3(min.x, max.y, max.z), Vector3(max.x, max.y, max.z), color)); + mLines.add(DebugLine(Vector3(max.x, max.y, max.z), Vector3(max.x, max.y, min.z), color)); + mLines.add(DebugLine(Vector3(max.x, max.y, min.z), Vector3(min.x, max.y, min.z), color)); + mLines.add(DebugLine(Vector3(min.x, max.y, min.z), Vector3(min.x, max.y, max.z), color)); + + // Side edges + mLines.add(DebugLine(Vector3(min.x, min.y, max.z), Vector3(min.x, max.y, max.z), color)); + mLines.add(DebugLine(Vector3(max.x, min.y, max.z), Vector3(max.x, max.y, max.z), color)); + mLines.add(DebugLine(Vector3(max.x, min.y, min.z), Vector3(max.x, max.y, min.z), color)); + mLines.add(DebugLine(Vector3(min.x, min.y, min.z), Vector3(min.x, max.y, min.z), color)); +} + +// Draw a box +void DebugRenderer::drawBox(const Transform& transform, const Vector3& halfExtents, uint32 color) { + + Vector3 vertices[8]; + + // Vertices + vertices[0] = transform * Vector3(-halfExtents.x, -halfExtents.y, halfExtents.z); + vertices[1] = transform * Vector3(halfExtents.x, -halfExtents.y, halfExtents.z); + vertices[2] = transform * Vector3(halfExtents.x, -halfExtents.y, -halfExtents.z); + vertices[3] = transform * Vector3(-halfExtents.x, -halfExtents.y, -halfExtents.z); + vertices[4] = transform * Vector3(-halfExtents.x, halfExtents.y, halfExtents.z); + vertices[5] = transform * Vector3(halfExtents.x, halfExtents.y, halfExtents.z); + vertices[6] = transform * Vector3(halfExtents.x, halfExtents.y, -halfExtents.z); + vertices[7] = transform * Vector3(-halfExtents.x, halfExtents.y, -halfExtents.z); + + // Triangle faces + mTriangles.add(DebugTriangle(vertices[0], vertices[1], vertices[5], color)); + mTriangles.add(DebugTriangle(vertices[0], vertices[5], vertices[4], color)); + mTriangles.add(DebugTriangle(vertices[1], vertices[2], vertices[6], color)); + mTriangles.add(DebugTriangle(vertices[1], vertices[6], vertices[5], color)); + mTriangles.add(DebugTriangle(vertices[2], vertices[3], vertices[6], color)); + mTriangles.add(DebugTriangle(vertices[3], vertices[7], vertices[6], color)); + mTriangles.add(DebugTriangle(vertices[0], vertices[7], vertices[3], color)); + mTriangles.add(DebugTriangle(vertices[0], vertices[4], vertices[7], color)); + mTriangles.add(DebugTriangle(vertices[0], vertices[2], vertices[1], color)); + mTriangles.add(DebugTriangle(vertices[0], vertices[3], vertices[2], color)); + mTriangles.add(DebugTriangle(vertices[5], vertices[6], vertices[4], color)); + mTriangles.add(DebugTriangle(vertices[4], vertices[6], vertices[7], color)); +} + +/// Draw a sphere +void DebugRenderer::drawSphere(const Vector3& position, decimal radius, uint32 color) { + + Vector3 vertices[(NB_SECTORS_SPHERE + 1) * (NB_STACKS_SPHERE + 1) + (NB_SECTORS_SPHERE + 1)]; + + // Vertices + const decimal sectorStep = 2 * PI / NB_SECTORS_SPHERE; + const decimal stackStep = PI / NB_STACKS_SPHERE; + + for (uint i = 0; i <= NB_STACKS_SPHERE; i++) { + + const decimal stackAngle = PI / 2 - i * stackStep; + const decimal radiusCosStackAngle = radius * std::cos(stackAngle); + const decimal z = radius * std::sin(stackAngle); + + for (uint j = 0; j <= NB_SECTORS_SPHERE; j++) { + + const decimal sectorAngle = j * sectorStep; + const decimal x = radiusCosStackAngle * std::cos(sectorAngle); + const decimal y = radiusCosStackAngle * std::sin(sectorAngle); + + vertices[i * (NB_SECTORS_SPHERE + 1) + j] = position + Vector3(x, y, z); + } + } + + // Faces + for (uint i = 0; i < NB_STACKS_SPHERE; i++) { + + uint a1 = i * (NB_SECTORS_SPHERE + 1); + uint a2 = a1 + NB_SECTORS_SPHERE + 1; + + for (uint j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { + + // 2 triangles per sector except for the first and last stacks + + if (i != 0) { + + mTriangles.add(DebugTriangle(vertices[a1], vertices[a2], vertices[a1 + 1], color)); + } + + if (i != (NB_STACKS_SPHERE - 1)) { + + mTriangles.add(DebugTriangle(vertices[a1 + 1], vertices[a2], vertices[a2 + 1], color)); + } + } + } +} + +// Draw a capsule +void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, decimal height, uint32 color) { + + Vector3 vertices[(NB_SECTORS_SPHERE + 1) * (NB_STACKS_SPHERE + 1) + (NB_SECTORS_SPHERE + 1)]; + + const decimal halfHeight = 0.5 * height; + + // Use an even number of stacks + const uint nbStacks = NB_STACKS_SPHERE % 2 == 0 ? NB_STACKS_SPHERE : NB_STACKS_SPHERE - 1; + const uint nbHalfStacks = nbStacks / 2; + + // Vertices + const decimal sectorStep = 2 * PI / NB_SECTORS_SPHERE; + const decimal stackStep = PI / nbStacks; + + uint vertexIndex = 0; + + // Top cap sphere vertices + for (uint i = 0; i <= nbHalfStacks; i++) { + + const decimal stackAngle = PI / 2 - i * stackStep; + const decimal radiusCosStackAngle = radius * std::cos(stackAngle); + const decimal y = radius * std::sin(stackAngle); + + for (uint j = 0; j <= NB_SECTORS_SPHERE; j++) { + + const decimal sectorAngle = j * sectorStep; + const decimal x = radiusCosStackAngle * std::sin(sectorAngle); + const decimal z = radiusCosStackAngle * std::cos(sectorAngle); + + assert(vertexIndex < (NB_SECTORS_SPHERE + 1) * (nbStacks + 1) + (NB_SECTORS_SPHERE + 1)); + vertices[vertexIndex] = transform * Vector3(x, y + halfHeight, z); + + vertexIndex++; + } + } + + // Bottom cap sphere vertices + for (uint i = 0; i <= nbHalfStacks; i++) { + + const decimal stackAngle = PI / 2 - (nbHalfStacks + i) * stackStep; + const decimal radiusCosStackAngle = radius * std::cos(stackAngle); + const decimal y = radius * std::sin(stackAngle); + + for (uint j = 0; j <= NB_SECTORS_SPHERE; j++) { + + const decimal sectorAngle = j * sectorStep; + const decimal x = radiusCosStackAngle * std::sin(sectorAngle); + const decimal z = radiusCosStackAngle * std::cos(sectorAngle); + + assert(vertexIndex < (NB_SECTORS_SPHERE + 1) * (nbStacks + 1) + (NB_SECTORS_SPHERE + 1)); + vertices[vertexIndex] = transform * Vector3(x, y - halfHeight, z); + + vertexIndex++; + } + } + + // Faces of the top cap sphere + for (uint i = 0; i < nbHalfStacks; i++) { + + uint a1 = i * (NB_SECTORS_SPHERE + 1); + uint a2 = a1 + NB_SECTORS_SPHERE + 1; + + for (uint j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { + + // 2 triangles per sector except for the first stack + + if (i != 0) { + + mTriangles.add(DebugTriangle(vertices[a1], vertices[a2], vertices[a1 + 1], color)); + } + + mTriangles.add(DebugTriangle(vertices[a1 + 1], vertices[a2], vertices[a2 + 1], color)); + } + } + + // Faces of the bottom cap sphere + for (uint i = 0; i < nbHalfStacks; i++) { + + uint a1 = (nbHalfStacks + 1) * (NB_SECTORS_SPHERE + 1) + i * (NB_SECTORS_SPHERE + 1); + uint a2 = a1 + NB_SECTORS_SPHERE + 1; + + for (uint j = 0; j < NB_SECTORS_SPHERE; j++, a1++, a2++) { + + // 2 triangles per sector except for the last stack + + mTriangles.add(DebugTriangle(vertices[a1], vertices[a2], vertices[a1 + 1], color)); + + if (i != (nbHalfStacks - 1)) { + + mTriangles.add(DebugTriangle(vertices[a1 + 1], vertices[a2], vertices[a2 + 1], color)); + } + } + } + + // Faces of the cylinder between the two spheres + uint a1 = nbHalfStacks * (NB_SECTORS_SPHERE + 1); + uint a2 = a1 + NB_SECTORS_SPHERE + 1; + for (uint i = 0; i < NB_SECTORS_SPHERE; i++, a1++, a2++) { + + mTriangles.add(DebugTriangle(vertices[a1 + 1], vertices[a2], vertices[a2 + 1], color)); + } +} + +// Draw a convex mesh +void DebugRenderer::drawConvexMesh(const Transform& transform, const ConvexMeshShape* convexMesh, uint32 color) { + + // For each face of the convex mesh + for (uint32 f = 0; f < convexMesh->getNbFaces(); f++) { + + const HalfEdgeStructure::Face& face = convexMesh->getFace(f); + assert(face.faceVertices.size() >= 3); + + // Perform a fan triangulation of the convex polygon face + for (uint32 v = 2; v < face.faceVertices.size(); v++) { + + uint v1Index = face.faceVertices[v - 2]; + uint v2Index = face.faceVertices[v - 1]; + uint v3Index = face.faceVertices[v]; + + Vector3 v1 = convexMesh->getVertexPosition(v1Index); + Vector3 v2 = convexMesh->getVertexPosition(v2Index); + Vector3 v3 = convexMesh->getVertexPosition(v3Index); + + v1 = transform * v1; + v2 = transform * v2; + v3 = transform * v3; + + mTriangles.add(DebugTriangle(v1, v2, v3, color)); + } + } +} + +// Draw a concave mesh shape +void DebugRenderer::drawConcaveMeshShape(const Transform& transform, const ConcaveMeshShape* concaveMeshShape, uint32 color) { + + // For each sub-part of the mesh + for (uint p = 0; p < concaveMeshShape->getNbSubparts(); p++) { + + // For each triangle of the sub-part + for (uint t = 0; t < concaveMeshShape->getNbTriangles(p); t++) { + + Vector3 triangleVertices[3]; + concaveMeshShape->getTriangleVertices(p, t, triangleVertices); + + triangleVertices[0] = transform * triangleVertices[0]; + triangleVertices[1] = transform * triangleVertices[1]; + triangleVertices[2] = transform * triangleVertices[2]; + + mTriangles.add(DebugTriangle(triangleVertices[0], triangleVertices[1], triangleVertices[2], color)); + } + } +} + +// Draw a height field shape +void DebugRenderer::drawHeightFieldShape(const Transform& transform, const HeightFieldShape* heightFieldShape, uint32 color) { + + // For each sub-grid points (except the last ones one each dimension) + for (int i = 0; i < heightFieldShape->getNbColumns() - 1; i++) { + for (int j = 0; j < heightFieldShape->getNbRows() - 1; j++) { + + // Compute the four point of the current quad + Vector3 p1 = heightFieldShape->getVertexAt(i, j); + Vector3 p2 = heightFieldShape->getVertexAt(i, j + 1); + Vector3 p3 = heightFieldShape->getVertexAt(i + 1, j); + Vector3 p4 = heightFieldShape->getVertexAt(i + 1, j + 1); + + p1 = transform * p1; + p2 = transform * p2; + p3 = transform * p3; + p4 = transform * p4; + + mTriangles.add(DebugTriangle(p1, p2, p3, color)); + mTriangles.add(DebugTriangle(p3, p2, p4, color)); + } + } +} + +// Draw the collision shape of a collider +void DebugRenderer::drawCollisionShapeOfCollider(const Collider* collider, uint32 color) { + + switch (collider->getCollisionShape()->getName()) { + + case CollisionShapeName::BOX: + { + const BoxShape* boxShape = static_cast(collider->getCollisionShape()); + drawBox(collider->getLocalToWorldTransform(), boxShape->getHalfExtents(), color); + break; + } + case CollisionShapeName::SPHERE: + { + const SphereShape* sphereShape = static_cast(collider->getCollisionShape()); + drawSphere(collider->getLocalToWorldTransform().getPosition(), sphereShape->getRadius(), color); + break; + } + case CollisionShapeName::CAPSULE: + { + const CapsuleShape* capsuleShape = static_cast(collider->getCollisionShape()); + drawCapsule(collider->getLocalToWorldTransform(), capsuleShape->getRadius(), capsuleShape->getHeight(), color); + break; + } + case CollisionShapeName::CONVEX_MESH: + { + const ConvexMeshShape* convexMeshShape = static_cast(collider->getCollisionShape()); + drawConvexMesh(collider->getLocalToWorldTransform(), convexMeshShape, color); + break; + } + case CollisionShapeName::TRIANGLE_MESH: + { + const ConcaveMeshShape* concaveMeshShape = static_cast(collider->getCollisionShape()); + drawConcaveMeshShape(collider->getLocalToWorldTransform(), concaveMeshShape, color); + break; + } + case CollisionShapeName::HEIGHTFIELD: + { + const HeightFieldShape* heighFieldShape = static_cast(collider->getCollisionShape()); + drawHeightFieldShape(collider->getLocalToWorldTransform(), heighFieldShape, color); + break; + } + default: + { + assert(false); + } + } +} + +// Generate the rendering primitives (triangles, lines, ...) of a physics world +void DebugRenderer::computeDebugRenderingPrimitives(const PhysicsWorld& world) { + + const bool drawColliderAABB = getIsDebugItemDisplayed(DebugItem::COLLIDER_AABB); + const bool drawColliderBroadphaseAABB = getIsDebugItemDisplayed(DebugItem::COLLIDER_BROADPHASE_AABB); + const bool drawCollisionShape = getIsDebugItemDisplayed(DebugItem::COLLISION_SHAPE); + + const uint nbCollisionBodies = world.getNbCollisionBodies(); + const uint nbRigidBodies = world.getNbRigidBodies(); + + // For each body of the world + for (uint b = 0; b < nbCollisionBodies + nbRigidBodies; b++) { + + // Get a body + const CollisionBody* body = b < nbCollisionBodies ? world.getCollisionBody(b) : world.getRigidBody(b - nbCollisionBodies); + + // For each collider of the body + for (uint c = 0; c < body->getNbColliders(); c++) { + + // Get a collider + const Collider* collider = body->getCollider(c); + + // If we need to draw the collider AABB + if (drawColliderAABB) { + + drawAABB(collider->getWorldAABB(), mMapDebugItemWithColor[DebugItem::COLLIDER_AABB]); + } + + // If we need to draw the collider broad-phase AABB + if (drawColliderBroadphaseAABB) { + + drawAABB(world.mCollisionDetection.mBroadPhaseSystem.getFatAABB(collider->getBroadPhaseId()), mMapDebugItemWithColor[DebugItem::COLLIDER_BROADPHASE_AABB]); + } + + // If we need to draw the collision shape + if (drawCollisionShape) { + + drawCollisionShapeOfCollider(collider, mMapDebugItemWithColor[DebugItem::COLLISION_SHAPE]); + } + } + } +} + +// Called when some contacts occur +void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackData) { + + // If we need to draw contact points + if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) { + + // For each contact pair + for (uint p = 0; p < callbackData.getNbContactPairs(); p++) { + + CollisionCallback::ContactPair contactPair = callbackData.getContactPair(p); + + if (contactPair.getEventType() != CollisionCallback::ContactPair::EventType::ContactExit) { + + // For each contact point of the contact pair + for (uint c = 0; c < contactPair.getNbContactPoints(); c++) { + + CollisionCallback::ContactPoint contactPoint = contactPair.getContactPoint(c); + + Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1(); + + drawSphere(point, DEFAULT_CONTACT_POINT_SPHERE_RADIUS, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]); + } + } + } + } +} diff --git a/testbed/common/AABB.cpp b/testbed/common/AABB.cpp index 8c43700c..45d9b235 100644 --- a/testbed/common/AABB.cpp +++ b/testbed/common/AABB.cpp @@ -87,7 +87,8 @@ void AABB::render(const openglframework::Vector3& position, const openglframewor // Set the vertex color openglframework::Vector4 colorVec(color.r, color.g, color.b, color.a); - shader.setVector4Uniform("vertexColor", colorVec, false); + shader.setIntUniform("isGlobalVertexColorEnabled", 1, false); + shader.setVector4Uniform("globalVertexColor", colorVec, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp index 4e8bd28a..99b91af2 100644 --- a/testbed/common/Box.cpp +++ b/testbed/common/Box.cpp @@ -122,7 +122,7 @@ void Box::render(openglframework::Shader& shader, const openglframework::Matrix4 rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp index 4d7a46a9..a5131ac2 100644 --- a/testbed/common/Capsule.cpp +++ b/testbed/common/Capsule.cpp @@ -117,7 +117,7 @@ void Capsule::render(openglframework::Shader& shader, rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index 16a2226f..fce0bdfb 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -118,7 +118,7 @@ void ConcaveMesh::render(openglframework::Shader& shader, rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 38178b23..be91c09b 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -136,7 +136,7 @@ void ConvexMesh::render(openglframework::Shader& shader, rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp index 6dcff269..56433cb1 100644 --- a/testbed/common/Dumbbell.cpp +++ b/testbed/common/Dumbbell.cpp @@ -139,7 +139,7 @@ void Dumbbell::render(openglframework::Shader& shader, rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp index a03e9d2f..ad5b15b9 100644 --- a/testbed/common/HeightField.cpp +++ b/testbed/common/HeightField.cpp @@ -108,7 +108,7 @@ void HeightField::render(openglframework::Shader& shader, rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/Line.cpp b/testbed/common/Line.cpp index 30c0f57a..2d4a17fb 100644 --- a/testbed/common/Line.cpp +++ b/testbed/common/Line.cpp @@ -40,8 +40,7 @@ Line::~Line() { } // Render the sphere at the correct position and with the correct orientation -void Line::render(openglframework::Shader& shader, - const openglframework::Matrix4& worldToCameraMatrix) { +void Line::render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Bind the shader shader.bind(); @@ -52,7 +51,8 @@ void Line::render(openglframework::Shader& shader, // Set the vertex color openglframework::Vector4 color(1, 0, 0, 1); - shader.setVector4Uniform("vertexColor", color, false); + shader.setIntUniform("isGlobalVertexColorEnabled", 1, false); + shader.setVector4Uniform("globalVertexColor", color, false); /* glBegin(GL_LINES); diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp index 016511a2..09bfefb6 100644 --- a/testbed/common/Sphere.cpp +++ b/testbed/common/Sphere.cpp @@ -115,7 +115,7 @@ void Sphere::render(openglframework::Shader& shader, const openglframework::Matr rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Bind the VAO mVAO.bind(); diff --git a/testbed/common/VisualContactPoint.cpp b/testbed/common/VisualContactPoint.cpp index db3706a1..16bf32f8 100644 --- a/testbed/common/VisualContactPoint.cpp +++ b/testbed/common/VisualContactPoint.cpp @@ -101,7 +101,8 @@ void VisualContactPoint::render(openglframework::Shader& shader, const openglfra // Set the vertex color openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a); - shader.setVector4Uniform("vertexColor", color, false); + shader.setIntUniform("isGlobalVertexColorEnabled", 1, false); + shader.setVector4Uniform("globalVertexColor", color, false); mVBOVertices.bind(); @@ -172,7 +173,8 @@ void VisualContactPoint::renderContactNormalLine(openglframework::Shader& shader // Set the vertex color openglframework::Vector4 color(0, 1, 0, 1); - shader.setVector4Uniform("vertexColor", color, false); + shader.setIntUniform("isGlobalVertexColorEnabled", 1, false); + shader.setVector4Uniform("globalVertexColor", color, false); // Get the location of shader attribute variables GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition"); diff --git a/testbed/opengl-framework/src/Shader.h b/testbed/opengl-framework/src/Shader.h index c01c880c..0bde6e84 100644 --- a/testbed/opengl-framework/src/Shader.h +++ b/testbed/opengl-framework/src/Shader.h @@ -176,7 +176,7 @@ inline GLint Shader::getAttribLocation(const std::string& variableName, bool err GLint location = glGetAttribLocation(mProgramObjectID, variableName.c_str()); if (location == -1 && errorIfMissing) { std::cerr << "Error in vertex shader " << mFilenameVertexShader << " or in fragment shader" - << mFilenameFragmentShader << " : No Uniform variable : " << variableName + << mFilenameFragmentShader << " : No variable : " << variableName << std::endl; throw std::logic_error("Error in Shader"); } diff --git a/testbed/opengl-framework/src/VertexBufferObject.cpp b/testbed/opengl-framework/src/VertexBufferObject.cpp index f5fe3b0c..a23dfaaf 100644 --- a/testbed/opengl-framework/src/VertexBufferObject.cpp +++ b/testbed/opengl-framework/src/VertexBufferObject.cpp @@ -67,6 +67,16 @@ void VertexBufferObject::copyDataIntoVBO(GLsizei size, const void* data, GLenum glBufferData(mTargetData, size, data, usage); } +// Map VBO data memory into client's memory +void* VertexBufferObject::mapBuffer(GLenum access) { + return glMapBuffer(mTargetData, access); +} + +// Unmap VBO data memory from client's memory +void VertexBufferObject::unmapBuffer() { + glUnmapBuffer(mTargetData); +} + // Destroy the VBO void VertexBufferObject::destroy() { diff --git a/testbed/opengl-framework/src/VertexBufferObject.h b/testbed/opengl-framework/src/VertexBufferObject.h index b720efa1..93fcfb86 100644 --- a/testbed/opengl-framework/src/VertexBufferObject.h +++ b/testbed/opengl-framework/src/VertexBufferObject.h @@ -65,6 +65,12 @@ class VertexBufferObject { /// Copy data into the VBO void copyDataIntoVBO(GLsizei size, const void* data, GLenum usage); + /// Map VBO data memory into client's memory + void* mapBuffer(GLenum access); + + /// Unmap VBO data memory from client's memory + void unmapBuffer(); + /// Bind the VBO void bind() const; diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index d4aac4b3..dd60fdbd 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -53,6 +53,13 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin physicsWorld->setEventListener(this); mPhysicsWorld = physicsWorld; + // TODO : Do not enable by default + mPhysicsWorld->setIsDebugRenderingEnabled(true); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_AABB, true); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_BROADPHASE_AABB, true); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLISION_SHAPE, true); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true); + for (int i=0; isetEventListener(this); mPhysicsWorld = physicsWorld; - for (int i = 0; i> 16, (vertexColor & 0x00FF00u) >> 8, vertexColor & 0x0000FFu, 0xFF); } diff --git a/testbed/shaders/phong.frag b/testbed/shaders/phong.frag index 099e0ff8..8ae8096e 100644 --- a/testbed/shaders/phong.frag +++ b/testbed/shaders/phong.frag @@ -38,7 +38,7 @@ uniform sampler2D shadowMapSampler0; // Shadow map texture sampler uniform sampler2D shadowMapSampler1; // Shadow map texture sampler uniform sampler2D shadowMapSampler2; // Shadow map texture sampler uniform bool isTexture; // True if we need to use the texture -uniform vec4 vertexColor; // Vertex color +uniform vec4 globalVertexColor; // Vertex color uniform bool isShadowEnabled; // True if shadow mapping is enabled uniform vec2 shadowMapDimension; // Shadow map dimension @@ -64,7 +64,7 @@ void main() { vec3 ambient = lightAmbientColor; // Get the texture color - vec3 textureColor = vertexColor.rgb; + vec3 textureColor = globalVertexColor.rgb; if (isTexture) textureColor = texture(textureSampler, texCoords).rgb; // Compute the surface normal vector diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 5efced08..e1ff38ca 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -45,8 +45,8 @@ SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isP mPhongShader("shaders/phong.vert", "shaders/phong.frag"), mColorShader("shaders/color.vert", "shaders/color.frag"), mQuadShader("shaders/quad.vert", "shaders/quad.frag"), - mVBOQuad(GL_ARRAY_BUFFER), mMeshFolderPath("meshes/"), - mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated) { + mVBOQuad(GL_ARRAY_BUFFER), mDebugVBOLinesVertices(GL_ARRAY_BUFFER), mDebugVBOTrianglesVertices(GL_ARRAY_BUFFER), + mMeshFolderPath("meshes/"), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated) { shadowMapTextureLevel++; @@ -91,6 +91,8 @@ SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isP createQuadVBO(); + createDebugVBO(); + // Init rendering for the AABBs AABB::init(); @@ -153,6 +155,9 @@ void SceneDemo::updatePhysics() { // Render the scene (in multiple passes for shadow mapping) void SceneDemo::render() { + // Update the VBO for the debug infos + updateDebugVBO(); + glEnable(GL_DEPTH_TEST); glEnable(GL_CULL_FACE); @@ -274,6 +279,11 @@ void SceneDemo::render() { renderAABBs(worldToCameraMatrix); } + // Render the debug infos + if (mPhysicsWorld->getIsDebugRenderingEnabled()) { + renderDebugInfos(mColorShader, worldToCameraMatrix); + } + // Is shadow mapping is enabled if (mIsShadowMappingEnabled) { @@ -367,6 +377,44 @@ void SceneDemo::createQuadVBO() { mVAOQuad.unbind(); } +// Create a the VAO and VBOs to render the debug infos +void SceneDemo::createDebugVBO() { + + // ----- Lines ----- // + + // Create the VBO for the vertices data + mDebugVBOLinesVertices.create(); + + // Create the VAO for both VBOs + mDebugLinesVAO.create(); + mDebugLinesVAO.bind(); + + // Bind the VBO of vertices + mDebugVBOLinesVertices.bind(); + + // Unbind the VAO + mDebugLinesVAO.unbind(); + + mDebugVBOLinesVertices.unbind(); + + // ----- Triangles ----- // + + // Create the VBO for the vertices data + mDebugVBOTrianglesVertices.create(); + + // Create the VAO for both VBOs + mDebugTrianglesVAO.create(); + mDebugTrianglesVAO.bind(); + + // Bind the VBO of vertices + mDebugVBOTrianglesVertices.bind(); + + // Unbind the VAO + mDebugTrianglesVAO.unbind(); + + mDebugVBOTrianglesVertices.unbind(); +} + void SceneDemo::drawTextureQuad() { glViewport(mViewportX, mViewportY, mViewportWidth, mViewportHeight); @@ -437,6 +485,127 @@ void SceneDemo::renderContactPoints(openglframework::Shader& shader, const openg } } +// Update VBO with vertices and indices of debug info +void SceneDemo::updateDebugVBO() { + + rp3d::DebugRenderer& debugRenderer = mPhysicsWorld->getDebugRenderer(); + + if (mPhysicsWorld->getIsDebugRenderingEnabled()) { + + // ----- Lines ---- // + + const uint nbLines = debugRenderer.getNbLines(); + + if (nbLines > 0) { + + // Vertices + mDebugVBOLinesVertices.bind(); + GLsizei sizeVertices = static_cast(nbLines * sizeof(rp3d::DebugRenderer::DebugLine)); + mDebugVBOLinesVertices.copyDataIntoVBO(sizeVertices, debugRenderer.getLinesArray(), GL_STREAM_DRAW); + mDebugVBOLinesVertices.unbind(); + } + + // ----- Triangles ---- // + + const uint nbTriangles = debugRenderer.getNbTriangles(); + + if (nbTriangles > 0) { + + // Vertices + mDebugVBOTrianglesVertices.bind(); + GLsizei sizeVertices = static_cast(nbTriangles * sizeof(rp3d::DebugRenderer::DebugTriangle)); + mDebugVBOTrianglesVertices.copyDataIntoVBO(sizeVertices, debugRenderer.getTrianglesArray(), GL_STREAM_DRAW); + mDebugVBOTrianglesVertices.unbind(); + } + } +} + +// Render Debug Infos +void SceneDemo::renderDebugInfos(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { + + rp3d::DebugRenderer& debugRenderer = mPhysicsWorld->getDebugRenderer(); + + // Render in wireframe mode + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + + // Bind the shader + shader.bind(); + + // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the + // model-view matrix) + const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix; + const openglframework::Matrix3 normalMatrix = localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose(); + shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); + + // Set the model to camera matrix + shader.setMatrix4x4Uniform("localToWorldMatrix", openglframework::Matrix4::identity()); + shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix); + + shader.setIntUniform("isGlobalVertexColorEnabled", 0, false); + + // Get the location of shader attribute variables + GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition"); + GLint vertexColorLoc = shader.getAttribLocation("vertexColor"); + + // Lines + if (debugRenderer.getNbLines() > 0) { + + // Bind the VAO + mDebugLinesVAO.bind(); + + mDebugVBOLinesVertices.bind(); + + glEnableVertexAttribArray(vertexPositionLoc); + glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, sizeof(rp3d::Vector3) + sizeof(rp3d::uint32), (char*)nullptr); + + glEnableVertexAttribArray(vertexColorLoc); + glVertexAttribIPointer(vertexColorLoc, 3, GL_UNSIGNED_INT, sizeof(rp3d::Vector3) + sizeof(rp3d::uint32), (void*)sizeof(rp3d::Vector3)); + + // Draw the lines geometry + glDrawArrays(GL_LINES, 0, debugRenderer.getNbLines() * 2); + + glDisableVertexAttribArray(vertexPositionLoc); + glDisableVertexAttribArray(vertexColorLoc); + + mDebugVBOLinesVertices.unbind(); + + // Unbind the VAO + mDebugLinesVAO.unbind(); + } + + // Triangles + if (debugRenderer.getNbTriangles() > 0) { + + // Bind the VAO + mDebugTrianglesVAO.bind(); + + mDebugVBOTrianglesVertices.bind(); + + glEnableVertexAttribArray(vertexPositionLoc); + glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, sizeof(rp3d::Vector3) + sizeof(rp3d::uint32), (char*)nullptr); + + glEnableVertexAttribArray(vertexColorLoc); + glVertexAttribIPointer(vertexColorLoc, 3, GL_UNSIGNED_INT, sizeof(rp3d::Vector3) + sizeof(rp3d::uint32), (void*)sizeof(rp3d::Vector3)); + + // Draw the triangles geometry + glDrawArrays(GL_TRIANGLES, 0, debugRenderer.getNbTriangles() * 3); + + glDisableVertexAttribArray(vertexPositionLoc); + glDisableVertexAttribArray(vertexColorLoc); + + mDebugVBOTrianglesVertices.unbind(); + + // Unbind the VAO + mDebugTrianglesVAO.unbind(); + } + + // Unbind the shader + shader.unbind(); + + // Disable wireframe mode + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); +} + // Render the AABBs void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) { diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 1049c93e..84f202f0 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -95,6 +95,18 @@ class SceneDemo : public Scene { openglframework::VertexBufferObject mVBOQuad; + /// Vertex Buffer Object for the debug info lines vertices data + openglframework::VertexBufferObject mDebugVBOLinesVertices; + + /// Vertex Array Object for the lines vertex data + openglframework::VertexArrayObject mDebugLinesVAO; + + /// Vertex Buffer Object for the debug info trinangles vertices data + openglframework::VertexBufferObject mDebugVBOTrianglesVertices; + + /// Vertex Array Object for the triangles vertex data + openglframework::VertexArrayObject mDebugTrianglesVAO; + static openglframework::Color mObjectColorDemo; static openglframework::Color mFloorColorDemo; static openglframework::Color mSleepingColorDemo; @@ -113,22 +125,31 @@ class SceneDemo : public Scene { // -------------------- Methods -------------------- // - // Create the Shadow map FBO and texture + /// Create the Shadow map FBO and texture void createShadowMapFBOAndTexture(); - // Used for debugging shadow maps + /// Used for debugging shadow maps void createQuadVBO(); - // TODO : Delete this + /// Create a the VAO and VBOs to render the debug infos + void createDebugVBO(); + + /// TODO : Delete this void drawTextureQuad(); - // Update the contact points + /// Update the contact points void updateContactPoints(); - // Render the contact points + /// Render the contact points void renderContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); + /// Update VBO with vertices and indices of debug info + void updateDebugVBO(); + + /// Render Debug Infos + void renderDebugInfos(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); + /// Render the AABBs void renderAABBs(const openglframework::Matrix4& worldToCameraMatrix); From 0321cf4f896ec859a97aa91b718faf4d004dc8fb Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Wed, 6 May 2020 15:21:25 +0200 Subject: [PATCH 138/197] Working on debug renderer --- include/reactphysics3d/utils/DebugRenderer.h | 28 +++++++++++++++++-- src/utils/DebugRenderer.cpp | 17 +++++++++-- .../collisionshapes/CollisionShapesScene.cpp | 1 + 3 files changed, 41 insertions(+), 5 deletions(-) diff --git a/include/reactphysics3d/utils/DebugRenderer.h b/include/reactphysics3d/utils/DebugRenderer.h index b5978e4e..01344d7e 100644 --- a/include/reactphysics3d/utils/DebugRenderer.h +++ b/include/reactphysics3d/utils/DebugRenderer.h @@ -75,7 +75,8 @@ class DebugRenderer : public EventListener { COLLIDER_BROADPHASE_AABB = 1 << 1, COLLISION_SHAPE = 1 << 2, CONTACT_POINT = 1 << 3, - }; + CONTACT_NORMAL = 1 << 4, + }; /// Struture that represents a point of the DebugRenderer struct DebugPoint { @@ -134,6 +135,9 @@ class DebugRenderer : public EventListener { /// Default radius of the sphere displayed to represent contact points static constexpr decimal DEFAULT_CONTACT_POINT_SPHERE_RADIUS = decimal(0.1); + /// Default radius of the sphere displayed to represent contact points + static constexpr decimal DEFAULT_CONTACT_NORMAL_LENGTH = decimal(1.0); + // -------------------- Attributes -------------------- // /// Memory allocator @@ -154,6 +158,9 @@ class DebugRenderer : public EventListener { /// Radius of the sphere displayed to represent contact points decimal mContactPointSphereRadius; + /// Lenght of contact normal + decimal mContactNormalLength; + // -------------------- Methods -------------------- // /// Draw an AABB @@ -229,7 +236,13 @@ class DebugRenderer : public EventListener { /// Set the contact point sphere radius void setContactPointSphereRadius(decimal radius); - /// Generate the rendering primitives (triangles, lines, ...) of a physics world + /// Return the length of contact normal + decimal getContactNormalLength() const; + + /// Return the length of contact normal + void setContactNormalLength(decimal contactNormalLength); + + /// Generate the rendering primitives (triangles, lines, ...) of a physics world void computeDebugRenderingPrimitives(const PhysicsWorld& world); /// Clear all the debugging primitives (points, lines, triangles, ...) @@ -295,6 +308,17 @@ inline void DebugRenderer::setContactPointSphereRadius(decimal radius) { mContactPointSphereRadius = radius; } + +// Return the length of contact normal +inline decimal DebugRenderer::getContactNormalLength() const { + return mContactNormalLength; +} + +// Return the length of contact normal +inline void DebugRenderer::setContactNormalLength(decimal contactNormalLength) { + mContactNormalLength = contactNormalLength; +} + } #endif diff --git a/src/utils/DebugRenderer.cpp b/src/utils/DebugRenderer.cpp index 43362052..979920ba 100644 --- a/src/utils/DebugRenderer.cpp +++ b/src/utils/DebugRenderer.cpp @@ -42,12 +42,13 @@ using namespace reactphysics3d; // Constructor DebugRenderer::DebugRenderer(MemoryAllocator& allocator) :mAllocator(allocator), mLines(allocator), mTriangles(allocator), mDisplayedDebugItems(0), mMapDebugItemWithColor(allocator), - mContactPointSphereRadius(DEFAULT_CONTACT_POINT_SPHERE_RADIUS) { + mContactPointSphereRadius(DEFAULT_CONTACT_POINT_SPHERE_RADIUS), mContactNormalLength(DEFAULT_CONTACT_NORMAL_LENGTH) { mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_AABB, static_cast(DebugColor::MAGENTA))); mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_BROADPHASE_AABB, static_cast(DebugColor::YELLOW))); mMapDebugItemWithColor.add(Pair(DebugItem::COLLISION_SHAPE, static_cast(DebugColor::GREEN))); mMapDebugItemWithColor.add(Pair(DebugItem::CONTACT_POINT, static_cast(DebugColor::RED))); + mMapDebugItemWithColor.add(Pair(DebugItem::CONTACT_NORMAL, static_cast(DebugColor::WHITE))); } // Destructor @@ -438,7 +439,7 @@ void DebugRenderer::computeDebugRenderingPrimitives(const PhysicsWorld& world) { void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackData) { // If we need to draw contact points - if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) { + if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT) || getIsDebugItemDisplayed(DebugItem::CONTACT_NORMAL)) { // For each contact pair for (uint p = 0; p < callbackData.getNbContactPairs(); p++) { @@ -454,7 +455,17 @@ void DebugRenderer::onContact(const CollisionCallback::CallbackData& callbackDat Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1(); - drawSphere(point, DEFAULT_CONTACT_POINT_SPHERE_RADIUS, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]); + if (getIsDebugItemDisplayed(DebugItem::CONTACT_POINT)) { + + // Contact point + drawSphere(point, DEFAULT_CONTACT_POINT_SPHERE_RADIUS, mMapDebugItemWithColor[DebugItem::CONTACT_POINT]); + } + + if (getIsDebugItemDisplayed(DebugItem::CONTACT_NORMAL)) { + + // Contact normal + mLines.add(DebugLine(point, point + contactPoint.getWorldNormal() * mContactNormalLength, mMapDebugItemWithColor[DebugItem::CONTACT_NORMAL])); + } } } } diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index dd60fdbd..1958bb76 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -59,6 +59,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_BROADPHASE_AABB, true); mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLISION_SHAPE, true); mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true); for (int i=0; i Date: Thu, 7 May 2020 15:12:59 +0200 Subject: [PATCH 139/197] Working on debug renderer --- CHANGELOG.md | 1 + include/reactphysics3d/utils/DebugRenderer.h | 51 ++++++++------ src/utils/DebugRenderer.cpp | 47 +++++++------ .../CollisionDetectionScene.cpp | 10 ++- .../CollisionDetectionScene.h | 6 +- .../collisionshapes/CollisionShapesScene.cpp | 8 --- testbed/scenes/raycast/RaycastScene.cpp | 19 +++-- testbed/scenes/raycast/RaycastScene.h | 16 ++--- testbed/src/Gui.cpp | 64 +++++++++++++---- testbed/src/Scene.cpp | 29 +------- testbed/src/Scene.h | 69 ++++++++++++++----- testbed/src/SceneDemo.cpp | 66 +++++------------- testbed/src/SceneDemo.h | 15 ++-- testbed/src/TestbedApplication.cpp | 62 ++++++++--------- testbed/src/TestbedApplication.h | 27 ++++++-- 15 files changed, 267 insertions(+), 223 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c415f9a5..23eac7c6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -23,6 +23,7 @@ - A Collider can now be a trigger. This collider will be used to only report collisions with another collider but no collision response will be applied. You can use the Collider::setIsTrigger() method for this. - The EventListener class now has a onTrigger() method that is called when a trigger collider is colling with another collider. - In the EventListener, the onContact() and onTrigger() method now reports the type of event (start, stay, exit) for each contact. This way the user can know whether it's a new contact or not or when two colliders are not in contact anymore. + - A DebugRenderer class has been added in order to display debug info (colliders, AABBs, contacts, ...) using graphics primities (lines, triangles). ### Fixed diff --git a/include/reactphysics3d/utils/DebugRenderer.h b/include/reactphysics3d/utils/DebugRenderer.h index 01344d7e..93f22b5c 100644 --- a/include/reactphysics3d/utils/DebugRenderer.h +++ b/include/reactphysics3d/utils/DebugRenderer.h @@ -71,25 +71,23 @@ class DebugRenderer : public EventListener { /// Enumeration with debug item to renderer enum class DebugItem { + + /// Display the AABB for each collider COLLIDER_AABB = 1 << 0, + + /// Display the fat AABB of the broad phase collision detection for each collider COLLIDER_BROADPHASE_AABB = 1 << 1, + + /// Display the collision shape of each collider COLLISION_SHAPE = 1 << 2, + + /// Display the contact points CONTACT_POINT = 1 << 3, + + /// Display the contact normals CONTACT_NORMAL = 1 << 4, }; - /// Struture that represents a point of the DebugRenderer - struct DebugPoint { - - /// Constructor - DebugPoint(const Vector3& point, uint32 color) :point(point), color(color) { - - } - - Vector3 point; - uint32 color; - }; - /// Struture that represents a line of the DebugRenderer struct DebugLine { @@ -99,9 +97,16 @@ class DebugRenderer : public EventListener { } + /// First point of the line Vector3 point1; + + /// Color of the first point uint32 color1; + + /// Second point of the line Vector3 point2; + + /// Color of the second point uint32 color2; }; @@ -114,11 +119,22 @@ class DebugRenderer : public EventListener { } - Vector3 point1; + /// First point of the triangle + Vector3 point1; + + /// Color of the first point uint32 color1; + + /// Second point of the triangle Vector3 point2; + + /// Color of the second point uint32 color2; + + /// Third point of the triangle Vector3 point3; + + /// Color of the third point uint32 color3; }; @@ -197,15 +213,6 @@ class DebugRenderer : public EventListener { /// Destructor ~DebugRenderer(); - /// Return the number of points - uint32 getNbPoints() const; - - /// Return a reference to the list of points - const List& getPoints() const; - - /// Return a pointer to the array of points - const DebugPoint* getPointsArray() const; - /// Return the number of lines uint32 getNbLines() const; diff --git a/src/utils/DebugRenderer.cpp b/src/utils/DebugRenderer.cpp index 979920ba..4a811cbb 100644 --- a/src/utils/DebugRenderer.cpp +++ b/src/utils/DebugRenderer.cpp @@ -45,7 +45,7 @@ DebugRenderer::DebugRenderer(MemoryAllocator& allocator) mContactPointSphereRadius(DEFAULT_CONTACT_POINT_SPHERE_RADIUS), mContactNormalLength(DEFAULT_CONTACT_NORMAL_LENGTH) { mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_AABB, static_cast(DebugColor::MAGENTA))); - mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_BROADPHASE_AABB, static_cast(DebugColor::YELLOW))); + mMapDebugItemWithColor.add(Pair(DebugItem::COLLIDER_BROADPHASE_AABB, static_cast(DebugColor::YELLOW))); mMapDebugItemWithColor.add(Pair(DebugItem::COLLISION_SHAPE, static_cast(DebugColor::GREEN))); mMapDebugItemWithColor.add(Pair(DebugItem::CONTACT_POINT, static_cast(DebugColor::RED))); mMapDebugItemWithColor.add(Pair(DebugItem::CONTACT_NORMAL, static_cast(DebugColor::WHITE))); @@ -408,30 +408,35 @@ void DebugRenderer::computeDebugRenderingPrimitives(const PhysicsWorld& world) { // Get a body const CollisionBody* body = b < nbCollisionBodies ? world.getCollisionBody(b) : world.getRigidBody(b - nbCollisionBodies); - // For each collider of the body - for (uint c = 0; c < body->getNbColliders(); c++) { + if (body->isActive()) { - // Get a collider - const Collider* collider = body->getCollider(c); + // For each collider of the body + for (uint c = 0; c < body->getNbColliders(); c++) { - // If we need to draw the collider AABB - if (drawColliderAABB) { + // Get a collider + const Collider* collider = body->getCollider(c); - drawAABB(collider->getWorldAABB(), mMapDebugItemWithColor[DebugItem::COLLIDER_AABB]); + // If we need to draw the collider AABB + if (drawColliderAABB) { + + drawAABB(collider->getWorldAABB(), mMapDebugItemWithColor[DebugItem::COLLIDER_AABB]); + } + + // If we need to draw the collider broad-phase AABB + if (drawColliderBroadphaseAABB) { + + if (collider->getBroadPhaseId() != -1) { + drawAABB(world.mCollisionDetection.mBroadPhaseSystem.getFatAABB(collider->getBroadPhaseId()), mMapDebugItemWithColor[DebugItem::COLLIDER_BROADPHASE_AABB]); + } + } + + // If we need to draw the collision shape + if (drawCollisionShape) { + + drawCollisionShapeOfCollider(collider, mMapDebugItemWithColor[DebugItem::COLLISION_SHAPE]); + } } - - // If we need to draw the collider broad-phase AABB - if (drawColliderBroadphaseAABB) { - - drawAABB(world.mCollisionDetection.mBroadPhaseSystem.getFatAABB(collider->getBroadPhaseId()), mMapDebugItemWithColor[DebugItem::COLLIDER_BROADPHASE_AABB]); - } - - // If we need to draw the collision shape - if (drawCollisionShape) { - - drawCollisionShapeOfCollider(collider, mMapDebugItemWithColor[DebugItem::COLLISION_SHAPE]); - } - } + } } } diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 88bda0d4..6b9e4e18 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -35,11 +35,12 @@ using namespace collisiondetectionscene; // Constructor CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings) : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), - mContactManager(mPhongShader, mMeshFolderPath, mContactPoints), + mContactManager(mPhongShader, mMeshFolderPath, mSnapshotsContactPoints), mAreNormalsDisplayed(false) { mSelectedShapeIndex = 0; - mIsContactPointsDisplayed = true; + mAreContactPointsDisplayed = true; + mAreContactNormalsDisplayed = false; mIsWireframeEnabled = true; // Compute the radius and the center of the scene @@ -218,7 +219,10 @@ CollisionDetectionScene::~CollisionDetectionScene() { // Take a step for the simulation void CollisionDetectionScene::update() { - mContactPoints.clear(); + // Compute debug rendering primitives + mPhysicsWorld->getDebugRenderer().reset(); + mPhysicsWorld->getDebugRenderer().computeDebugRenderingPrimitives(*mPhysicsWorld); + mSnapshotsContactPoints.clear(); mPhysicsWorld->testCollision(mContactManager); diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.h b/testbed/scenes/collisiondetection/CollisionDetectionScene.h index 613ddd33..83dc6bef 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.h +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.h @@ -142,7 +142,7 @@ class CollisionDetectionScene : public SceneDemo { virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override; /// Display/Hide the contact points - virtual void setIsContactPointsDisplayed(bool display) override; + virtual void setAreContactPointsDisplayed(bool display) override; }; // Display or not the surface normals at hit points @@ -156,8 +156,8 @@ inline void CollisionDetectionScene::setIsShadowMappingEnabled(bool isShadowMapp } // Display/Hide the contact points -inline void CollisionDetectionScene::setIsContactPointsDisplayed(bool display) { - SceneDemo::setIsContactPointsDisplayed(true); +inline void CollisionDetectionScene::setAreContactPointsDisplayed(bool display) { + SceneDemo::setAreContactPointsDisplayed(true); } } diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index 1958bb76..d4aac4b3 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -53,14 +53,6 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin physicsWorld->setEventListener(this); mPhysicsWorld = physicsWorld; - // TODO : Do not enable by default - mPhysicsWorld->setIsDebugRenderingEnabled(true); - mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_AABB, true); - mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_BROADPHASE_AABB, true); - mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLISION_SHAPE, true); - mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true); - mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true); - for (int i=0; igetDebugRenderer().reset(); + mPhysicsWorld->getDebugRenderer().computeDebugRenderingPrimitives(*mPhysicsWorld); + mRaycastManager.resetPoints(); // For each line of the scene - for (std::vector::iterator it = mLines.begin(); it != mLines.end(); - ++it) { + for (std::vector::iterator it = mLines.begin(); it != mLines.end(); ++it) { Line* line = *it; @@ -294,6 +295,10 @@ void RaycastScene::update() { // Render the scene void RaycastScene::renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { + if (mIsWireframeEnabled) { + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + } + // Bind the VAO mVAO.bind(); @@ -342,6 +347,10 @@ void RaycastScene::renderSinglePass(openglframework::Shader& shader, const openg // Unbind the shader shader.unbind(); + + if (mIsWireframeEnabled) { + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + } } // Create the Vertex Buffer Objects used to render with OpenGL. diff --git a/testbed/scenes/raycast/RaycastScene.h b/testbed/scenes/raycast/RaycastScene.h index b516fe63..9317b026 100644 --- a/testbed/scenes/raycast/RaycastScene.h +++ b/testbed/scenes/raycast/RaycastScene.h @@ -72,9 +72,8 @@ class RaycastManager : public rp3d::RaycastCallback { public: - RaycastManager(openglframework::Shader& shader, const std::string& meshFolderPath, - std::vector& hitPoints) - : mMeshFolderPath(meshFolderPath), mHitPoints(hitPoints) { + RaycastManager(const std::string& meshFolderPath, std::vector& hitPoints) + : mHitPoints(hitPoints), mMeshFolderPath(meshFolderPath) { } @@ -94,10 +93,6 @@ class RaycastManager : public rp3d::RaycastCallback { mHitPoints.clear(); } - - std::vector getHitPoints() const { - return mHitPoints; - } }; // Class RaycastScene @@ -146,7 +141,6 @@ class RaycastScene : public SceneDemo { // Create the Vertex Buffer Objects used to render with OpenGL. void createVBOAndVAO(); - public: // -------------------- Methods -------------------- // @@ -180,7 +174,7 @@ class RaycastScene : public SceneDemo { virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override; /// Display/Hide the contact points - virtual void setIsContactPointsDisplayed(bool display) override; + virtual void setAreContactPointsDisplayed(bool display) override; }; // Display or not the surface normals at hit points @@ -194,8 +188,8 @@ inline void RaycastScene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) } // Display/Hide the contact points -inline void RaycastScene::setIsContactPointsDisplayed(bool display) { - SceneDemo::setIsContactPointsDisplayed(true); +inline void RaycastScene::setAreContactPointsDisplayed(bool display) { + SceneDemo::setAreContactPointsDisplayed(true); } } diff --git a/testbed/src/Gui.cpp b/testbed/src/Gui.cpp index d6ab6fe0..2a139062 100644 --- a/testbed/src/Gui.cpp +++ b/testbed/src/Gui.cpp @@ -399,19 +399,55 @@ void Gui::createSettingsPanel() { mRenderingPanel = new Widget(mSettingsPanel); mRenderingPanel->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 0, 5)); + // Display/Hide contact points + CheckBox* checkboxDebugRendererEnabled = new CheckBox(mRenderingPanel, "Debug rendering"); + checkboxDebugRendererEnabled->setChecked(mApp->mIsDebugRendererEnabled); + // Display/Hide contact points CheckBox* checkboxContactPoints = new CheckBox(mRenderingPanel, "Contact points"); - checkboxContactPoints->setChecked(mApp->mIsContactPointsDisplayed); + checkboxContactPoints->setChecked(mApp->mAreContactPointsDisplayed); + checkboxContactPoints->setEnabled(false); checkboxContactPoints->setCallback([&](bool value) { - mApp->mIsContactPointsDisplayed = value; + mApp->mAreContactPointsDisplayed = value; }); + // Display/Hide contact normals + CheckBox* checkboxContactNormals = new CheckBox(mRenderingPanel, "Contact normals"); + checkboxContactNormals->setChecked(mApp->mAreContactNormalsDisplayed); + checkboxContactNormals->setEnabled(false); + checkboxContactNormals->setCallback([&](bool value) { + mApp->mAreContactNormalsDisplayed = value; + }); - // Display/Hide the AABBs - CheckBox* checkboxAABBs = new CheckBox(mRenderingPanel, "AABBs"); - checkboxAABBs->setChecked(mApp->mIsAABBsDisplayed); - checkboxAABBs->setCallback([&](bool value) { - mApp->mIsAABBsDisplayed = value; + // Display/Hide the Broad-phase AABBs + CheckBox* checkboxBroadPhaseAABBs = new CheckBox(mRenderingPanel, "Broad phase AABBs"); + checkboxBroadPhaseAABBs->setChecked(mApp->mAreBroadPhaseAABBsDisplayed); + checkboxBroadPhaseAABBs->setEnabled(false); + checkboxBroadPhaseAABBs->setCallback([&](bool value) { + mApp->mAreBroadPhaseAABBsDisplayed = value; + }); + + // Display/Hide the colliders AABBs + CheckBox* checkboxColliderAABBs = new CheckBox(mRenderingPanel, "Colliders AABBs"); + checkboxColliderAABBs->setChecked(mApp->mAreCollidersAABBsDisplayed); + checkboxColliderAABBs->setEnabled(false); + checkboxColliderAABBs->setCallback([&](bool value) { + mApp->mAreCollidersAABBsDisplayed = value; + }); + + // Display/Hide the collision shapes + CheckBox* checkboxCollisionShapes = new CheckBox(mRenderingPanel, "Collision shapes"); + checkboxCollisionShapes->setChecked(mApp->mAreCollisionShapesDisplayed); + checkboxCollisionShapes->setEnabled(false); + checkboxCollisionShapes->setCallback([&](bool value) { + mApp->mAreCollisionShapesDisplayed = value; + }); + + // Enable/Disable wireframe mode + CheckBox* checkboxWireframe = new CheckBox(mRenderingPanel, "Objects Wireframe"); + checkboxWireframe->setChecked(mApp->mAreObjectsWireframeEnabled); + checkboxWireframe->setCallback([&](bool value) { + mApp->mAreObjectsWireframeEnabled = value; }); // Enabled/Disable VSync @@ -428,11 +464,15 @@ void Gui::createSettingsPanel() { mApp->mIsShadowMappingEnabled = value; }); - // Enable/Disable wireframe mode - CheckBox* checkboxWireframe = new CheckBox(mRenderingPanel, "Wireframe"); - checkboxWireframe->setChecked(mApp->mIsWireframeEnabled); - checkboxWireframe->setCallback([&](bool value) { - mApp->mIsWireframeEnabled = value; + checkboxDebugRendererEnabled->setCallback([&, checkboxContactPoints, checkboxContactNormals, + checkboxBroadPhaseAABBs, checkboxColliderAABBs, + checkboxCollisionShapes](bool value) { + mApp->mIsDebugRendererEnabled = value; + checkboxContactPoints->setEnabled(value); + checkboxContactNormals->setEnabled(value); + checkboxBroadPhaseAABBs->setEnabled(value); + checkboxColliderAABBs->setEnabled(value); + checkboxCollisionShapes->setEnabled(value); }); mPhysicsPanel->setVisible(true); diff --git a/testbed/src/Scene.cpp b/testbed/src/Scene.cpp index c3883d04..fe2b8b71 100644 --- a/testbed/src/Scene.cpp +++ b/testbed/src/Scene.cpp @@ -33,7 +33,8 @@ using namespace openglframework; Scene::Scene(const std::string& name, EngineSettings& engineSettings, bool isShadowMappingEnabled) : mName(name), mEngineSettings(engineSettings), mLastMouseX(0), mLastMouseY(0), mInterpolationFactor(0.0f), mViewportX(0), mViewportY(0), mViewportWidth(0), mViewportHeight(0), mIsShadowMappingEnabled(isShadowMappingEnabled), - mIsContactPointsDisplayed(true), mIsAABBsDisplayed(false), mIsWireframeEnabled(false) { + mAreContactPointsDisplayed(true), mAreContactNormalsDisplayed(false), mAreBroadPhaseAABBsDisplayed(false), + mAreCollidersAABBsDisplayed(false), mAreCollisionShapesDisplayed(false), mIsWireframeEnabled(false) { } @@ -185,29 +186,3 @@ void Scene::rotate(int xMouse, int yMouse) { } } } - -// Called when some contacts occur -void Scene::onContact(const rp3d::CollisionCallback::CallbackData& callbackData) { - - // For each contact pair - for (uint p=0; p < callbackData.getNbContactPairs(); p++) { - - rp3d::CollisionCallback::ContactPair contactPair = callbackData.getContactPair(p); - - // For each contact point of the contact pair - for (uint c=0; c < contactPair.getNbContactPoints(); c++) { - - rp3d::CollisionCallback::ContactPoint contactPoint = contactPair.getContactPoint(c); - - rp3d::Vector3 point = contactPair.getCollider1()->getLocalToWorldTransform() * contactPoint.getLocalPointOnShape1(); - rp3d::Vector3 normalWorld = contactPoint.getWorldNormal(); - openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z); - SceneContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red()); - mContactPoints.push_back(contact); - } - } -} - -void Scene::onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData) { - -} diff --git a/testbed/src/Scene.h b/testbed/src/Scene.h index a2d920c8..58e31f83 100644 --- a/testbed/src/Scene.h +++ b/testbed/src/Scene.h @@ -128,16 +128,25 @@ class Scene : public rp3d::EventListener { bool mIsShadowMappingEnabled; /// True if contact points are displayed - bool mIsContactPointsDisplayed; + bool mAreContactPointsDisplayed; - /// True if the AABBs of the physics objects are displayed - bool mIsAABBsDisplayed; + /// True if contact normals are displayed + bool mAreContactNormalsDisplayed; + + /// True if the broad phase AABBs of the physics objects are displayed + bool mAreBroadPhaseAABBsDisplayed; + + /// True if the AABBs of the colliders are displayed + bool mAreCollidersAABBsDisplayed; + + /// True if the AABBs of the colliders are displayed + bool mAreCollisionShapesDisplayed; /// True if we render shapes in wireframe mode bool mIsWireframeEnabled; - /// Contact points - std::vector mContactPoints; + /// Snapshots Contact points (computed with PhysicsWorld::testCollision() or PhysicsWorld::raycast() methods) + std::vector mSnapshotsContactPoints; // -------------------- Methods -------------------- // @@ -222,10 +231,19 @@ class Scene : public rp3d::EventListener { void virtual setIsShadowMappingEnabled(bool isShadowMappingEnabled); /// Display/Hide the contact points - void virtual setIsContactPointsDisplayed(bool display); + void virtual setAreContactPointsDisplayed(bool display); + + /// Display/Hide the contact normals + void setAreContactNormalsDisplayed(bool display); /// Display/Hide the AABBs - void setIsAABBsDisplayed(bool display); + void setAreBroadPhaseAABBsDisplayed(bool display); + + /// Display/Hide the colliders AABBs + void setAreCollidersAABBsDisplayed(bool display); + + /// Display/Hide the collision shapes + void setAreCollisionShapesDisplayed(bool display); /// Return true if wireframe rendering is enabled bool getIsWireframeEnabled() const; @@ -233,13 +251,11 @@ class Scene : public rp3d::EventListener { /// Enable/disbale wireframe rendering void setIsWireframeEnabled(bool isEnabled); + /// Enable/disable debug rendering + virtual void setIsDebugRendererEnabled(bool isEnabled)=0; + /// Update the engine settings virtual void updateEngineSettings() = 0; - - /// Called when some contacts occur - virtual void onContact(const rp3d::CollisionCallback::CallbackData& callbackData) override; - - virtual void onTrigger(const rp3d::OverlapCallback::CallbackData& callbackData) override; }; // Called when a keyboard event occurs @@ -254,7 +270,7 @@ inline void Scene::reshape(int width, int height) { // Reset the scene inline void Scene::reset() { - mContactPoints.clear(); + mSnapshotsContactPoints.clear(); } // Return a reference to the camera @@ -297,13 +313,28 @@ inline void Scene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { } // Display/Hide the contact points -inline void Scene::setIsContactPointsDisplayed(bool display) { - mIsContactPointsDisplayed = display; +inline void Scene::setAreContactPointsDisplayed(bool display) { + mAreContactPointsDisplayed = display; } -// Display/Hide the AABBs -inline void Scene::setIsAABBsDisplayed(bool display) { - mIsAABBsDisplayed = display; +// Display/Hide the contact normals +inline void Scene::setAreContactNormalsDisplayed(bool display) { + mAreContactNormalsDisplayed = display; +} + +// Display/Hide the broad phase AABBs +inline void Scene::setAreBroadPhaseAABBsDisplayed(bool display) { + mAreBroadPhaseAABBsDisplayed = display; +} + +// Display/Hide the colliders AABBs +inline void Scene::setAreCollidersAABBsDisplayed(bool display) { + mAreCollidersAABBsDisplayed = display; +} + +// Display/Hide the collision shapes +inline void Scene::setAreCollisionShapesDisplayed(bool display) { + mAreCollisionShapesDisplayed = display; } // Return true if wireframe rendering is enabled @@ -311,7 +342,7 @@ inline bool Scene::getIsWireframeEnabled() const { return mIsWireframeEnabled; } -// Enable/disbale wireframe rendering +// Enable/disable wireframe rendering inline void Scene::setIsWireframeEnabled(bool isEnabled) { mIsWireframeEnabled = isEnabled; } diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index e1ff38ca..5e825a16 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -127,8 +127,14 @@ SceneDemo::~SceneDemo() { // Update the scene void SceneDemo::update() { + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, mAreContactPointsDisplayed); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, mAreContactNormalsDisplayed); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_BROADPHASE_AABB, mAreBroadPhaseAABBsDisplayed); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLIDER_AABB, mAreCollidersAABBsDisplayed); + mPhysicsWorld->getDebugRenderer().setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::COLLISION_SHAPE, mAreCollisionShapesDisplayed); + // Update the contact points - updateContactPoints(); + updateSnapshotContactPoints(); // Update the position and orientation of the physics objects for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { @@ -143,7 +149,7 @@ void SceneDemo::update() { void SceneDemo::updatePhysics() { // Clear contacts points - mContactPoints.clear(); + mSnapshotsContactPoints.clear(); if (mIsPhysicsWorldSimulated) { @@ -269,15 +275,8 @@ void SceneDemo::render() { // Render the objects of the scene renderSinglePass(mPhongShader, worldToCameraMatrix); - // Render the contact points - if (mIsContactPointsDisplayed) { - renderContactPoints(mPhongShader, worldToCameraMatrix); - } - - // Render the AABBs - if (mIsAABBsDisplayed) { - renderAABBs(worldToCameraMatrix); - } + // Render the snapshots contact points + renderSnapshotsContactPoints(mPhongShader, worldToCameraMatrix); // Render the debug infos if (mPhysicsWorld->getIsDebugRenderingEnabled()) { @@ -456,27 +455,24 @@ void SceneDemo::drawTextureQuad() { mVAOQuad.unbind(); } -// Gather and create contact points -void SceneDemo::updateContactPoints() { +// Gather and create snapshots contact points +void SceneDemo::updateSnapshotContactPoints() { // Remove the previous contact points removeAllVisualContactPoints(); - if (mIsContactPointsDisplayed) { + // For each contact point + std::vector::const_iterator it; + for (it = mSnapshotsContactPoints.begin(); it != mSnapshotsContactPoints.end(); ++it) { - // For each contact point - std::vector::const_iterator it; - for (it = mContactPoints.begin(); it != mContactPoints.end(); ++it) { - - // Create a visual contact point for rendering - VisualContactPoint* point = new VisualContactPoint(it->point, mMeshFolderPath, it->point + it->normal, it->color); - mVisualContactPoints.push_back(point); - } + // Create a visual contact point for rendering + VisualContactPoint* point = new VisualContactPoint(it->point, mMeshFolderPath, it->point + it->normal, it->color); + mVisualContactPoints.push_back(point); } } // Render the contact points -void SceneDemo::renderContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { +void SceneDemo::renderSnapshotsContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Render all the contact points for (std::vector::iterator it = mVisualContactPoints.begin(); @@ -606,30 +602,6 @@ void SceneDemo::renderDebugInfos(openglframework::Shader& shader, const openglfr glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); } -// Render the AABBs -void SceneDemo::renderAABBs(const openglframework::Matrix4& worldToCameraMatrix) { - - // For each physics object of the scene - for (std::vector::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) { - - // For each collider of the object - for (uint i=0; i < (*it)->getCollisionBody()->getNbColliders(); i++) { - - rp3d::Collider* collider = (*it)->getCollisionBody()->getCollider(i); - - // Get the broad-phase AABB corresponding to the collider - rp3d::AABB aabb = mPhysicsWorld->getWorldAABB(collider); - - openglframework::Vector3 aabbCenter(aabb.getCenter().x, aabb.getCenter().y, aabb.getCenter().z); - openglframework::Vector3 aabbMin(aabb.getMin().x, aabb.getMin().y, aabb.getMin().z); - openglframework::Vector3 aabbMax(aabb.getMax().x, aabb.getMax().y, aabb.getMax().z); - - // Render the AABB - AABB::render(aabbCenter, aabbMax - aabbMin, Color::green(), mColorShader, worldToCameraMatrix); - } - } -} - void SceneDemo::removeAllVisualContactPoints() { // Destroy all the visual contact points diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h index 84f202f0..34b78155 100644 --- a/testbed/src/SceneDemo.h +++ b/testbed/src/SceneDemo.h @@ -138,10 +138,10 @@ class SceneDemo : public Scene { void drawTextureQuad(); /// Update the contact points - void updateContactPoints(); + void updateSnapshotContactPoints(); /// Render the contact points - void renderContactPoints(openglframework::Shader& shader, + void renderSnapshotsContactPoints(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); /// Update VBO with vertices and indices of debug info @@ -150,9 +150,6 @@ class SceneDemo : public Scene { /// Render Debug Infos void renderDebugInfos(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); - /// Render the AABBs - void renderAABBs(const openglframework::Matrix4& worldToCameraMatrix); - /// Remove all contact points void removeAllVisualContactPoints(); @@ -184,6 +181,9 @@ class SceneDemo : public Scene { /// Enabled/Disable the shadow mapping virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override; + + /// Enable/disable debug rendering + virtual void setIsDebugRendererEnabled(bool isEnabled) override; }; // Enabled/Disable the shadow mapping @@ -196,4 +196,9 @@ inline void SceneDemo::setIsShadowMappingEnabled(bool isShadowMappingEnabled) { } } +// Enable/disable debug rendering +inline void SceneDemo::setIsDebugRendererEnabled(bool isEnabled) { + mPhysicsWorld->setIsDebugRenderingEnabled(isEnabled); +} + #endif diff --git a/testbed/src/TestbedApplication.cpp b/testbed/src/TestbedApplication.cpp index 0842e715..1f29f583 100644 --- a/testbed/src/TestbedApplication.cpp +++ b/testbed/src/TestbedApplication.cpp @@ -63,8 +63,10 @@ TestbedApplication::TestbedApplication(bool isFullscreen, int windowWidth, int w mWidth(windowWidth), mHeight(windowHeight), mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false), mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true), - mIsContactPointsDisplayed(false), mIsAABBsDisplayed(false), mIsWireframeEnabled(false), - mIsVSyncEnabled(true) { + mAreContactPointsDisplayed(false), mAreContactNormalsDisplayed(false), + mAreBroadPhaseAABBsDisplayed(false), mAreCollidersAABBsDisplayed(false), + mAreCollisionShapesDisplayed(false), mAreObjectsWireframeEnabled(false), + mIsVSyncEnabled(true), mIsDebugRendererEnabled(false) { init(); @@ -89,6 +91,10 @@ void TestbedApplication::init() { mTimer.start(); + // Enable OpenGL error reporting + glEnable(GL_DEBUG_OUTPUT); + glDebugMessageCallback(onOpenGLError, 0); + mIsInitialized = true; } @@ -185,6 +191,8 @@ void TestbedApplication::update() { double currentTime = glfwGetTime(); + mCurrentScene->setIsDebugRendererEnabled(mIsDebugRendererEnabled); + // Update the physics if (mSinglePhysicsStepEnabled && !mSinglePhysicsStepDone) { updateSinglePhysicsStep(); @@ -208,13 +216,22 @@ void TestbedApplication::update() { mCurrentScene->setIsShadowMappingEnabled(mIsShadowMappingEnabled); // Display/Hide contact points - mCurrentScene->setIsContactPointsDisplayed(mIsContactPointsDisplayed); + mCurrentScene->setAreContactPointsDisplayed(mAreContactPointsDisplayed); - // Display/Hide the AABBs - mCurrentScene->setIsAABBsDisplayed(mIsAABBsDisplayed); + // Display/Hide contact normals + mCurrentScene->setAreContactNormalsDisplayed(mAreContactNormalsDisplayed); + + // Display/Hide the broad phase AABBs + mCurrentScene->setAreBroadPhaseAABBsDisplayed(mAreBroadPhaseAABBsDisplayed); + + // Display/Hide the colliders AABBs + mCurrentScene->setAreCollidersAABBsDisplayed(mAreCollidersAABBsDisplayed); + + // Display/Hide the collision shapes + mCurrentScene->setAreCollisionShapesDisplayed(mAreCollisionShapesDisplayed); // Enable/Disable wireframe mode - mCurrentScene->setIsWireframeEnabled(mIsWireframeEnabled); + mCurrentScene->setIsWireframeEnabled(mAreObjectsWireframeEnabled); // Update the scene mCurrentScene->update(); @@ -234,9 +251,6 @@ void TestbedApplication::drawContents() { // Render the scene mCurrentScene->render(); - // Check the OpenGL errors - checkOpenGLErrors(); - mGui.update(); // Compute the current framerate @@ -283,34 +297,16 @@ void TestbedApplication::notifyEngineSetttingsChanged() { mCurrentScene->updateEngineSettings(); } -// Check the OpenGL errors -void TestbedApplication::checkOpenGLErrorsInternal(const char* file, int line) { - GLenum glError; +void GLAPIENTRY TestbedApplication::onOpenGLError(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, + const GLchar* message, const void* userParam ) { - // Get the OpenGL errors - glError = glGetError(); - - // While there are errors - while (glError != GL_NO_ERROR) { - - std::string error; - - switch(glError) { - case GL_INVALID_OPERATION: error="INVALID_OPERATION"; break; - case GL_INVALID_ENUM: error="INVALID_ENUM"; break; - case GL_INVALID_VALUE: error="INVALID_VALUE"; break; - case GL_OUT_OF_MEMORY: error="OUT_OF_MEMORY"; break; - case GL_INVALID_FRAMEBUFFER_OPERATION: error="INVALID_FRAMEBUFFER_OPERATION"; break; - } - - std::cerr << "OpenGL Error #" << error.c_str() << " - " << file << ": " << line << std::endl; - - // Get the next error - glError = glGetError(); + if (type == GL_DEBUG_TYPE_ERROR) { + fprintf( stderr, "GL CALLBACK: %s type = 0x%x, severity = 0x%x, message = %s\n", + ("** GL ERROR **" ), + type, severity, message ); } } - // Compute the FPS void TestbedApplication::computeFPS() { diff --git a/testbed/src/TestbedApplication.h b/testbed/src/TestbedApplication.h index 505de188..93e99257 100644 --- a/testbed/src/TestbedApplication.h +++ b/testbed/src/TestbedApplication.h @@ -104,17 +104,29 @@ class TestbedApplication : public Screen { bool mIsShadowMappingEnabled; /// True if contact points are displayed - bool mIsContactPointsDisplayed; + bool mAreContactPointsDisplayed; - /// True if the AABBs of physics objects are displayed - bool mIsAABBsDisplayed; + /// True if contact normals are displayed + bool mAreContactNormalsDisplayed; + + /// True if the broad phase AABBs are displayed + bool mAreBroadPhaseAABBsDisplayed; + + /// True if the AABBs of the colliders are displayed + bool mAreCollidersAABBsDisplayed; + + /// True if the collision shapes are displayed + bool mAreCollisionShapesDisplayed; /// True if the wireframe rendering is enabled - bool mIsWireframeEnabled; + bool mAreObjectsWireframeEnabled; /// True if vsync is enabled bool mIsVSyncEnabled; + /// True if the debug renderer is enabled + bool mIsDebugRendererEnabled; + // -------------------- Methods -------------------- // /// Private copy-constructor (for the singleton class) @@ -132,9 +144,6 @@ class TestbedApplication : public Screen { /// Update the simulation by taking a single physics step void updateSinglePhysicsStep(); - /// Check the OpenGL errors - static void checkOpenGLErrorsInternal(const char* file, int line); - /// Compute the FPS void computeFPS(); @@ -202,6 +211,10 @@ class TestbedApplication : public Screen { /// Notify that the engine settings have changed void notifyEngineSetttingsChanged(); + /// Called when an OpenGL Error occurs + static void GLAPIENTRY onOpenGLError(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, + const GLchar* message, const void* userParam ); + // -------------------- Friendship -------------------- // friend class Gui; From 862db8f379247acbf6f1f4467f3675cde2cce15e Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Fri, 8 May 2020 23:56:12 +0200 Subject: [PATCH 140/197] Edit change log file --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 23eac7c6..6a6c4c5e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -28,6 +28,7 @@ ### Fixed - Issues [#125](https://github.com/DanielChappuis/reactphysics3d/issues/125) and [#106](https://github.com/DanielChappuis/reactphysics3d/issues/106) have been fixed. + - Issue [#141](https://github.com/DanielChappuis/reactphysics3d/issues/141) with limits of hinge and slider joints has been fixed. ### Changed From e04565fb48b326bc4d9adab8fdb38b2937ca2132 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sat, 9 May 2020 00:09:38 +0200 Subject: [PATCH 141/197] Rename RigidBody::applyForce() to RigidBody::applyForceAtWorldPosition() and add RigidBody::applyForceAtLocalPosition() method --- CHANGELOG.md | 2 ++ include/reactphysics3d/body/RigidBody.h | 5 +++- src/body/RigidBody.cpp | 34 ++++++++++++++++++++++++- 3 files changed, 39 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 6a6c4c5e..2adbeabb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -24,6 +24,7 @@ - The EventListener class now has a onTrigger() method that is called when a trigger collider is colling with another collider. - In the EventListener, the onContact() and onTrigger() method now reports the type of event (start, stay, exit) for each contact. This way the user can know whether it's a new contact or not or when two colliders are not in contact anymore. - A DebugRenderer class has been added in order to display debug info (colliders, AABBs, contacts, ...) using graphics primities (lines, triangles). + - A RigidBody::applyForceAtLocalPosition() method has been added to apply a force at a given position of the rigid body in local-space. ### Fixed @@ -60,6 +61,7 @@ - Now, the local inertia tensor of a rigid body has to be set using a Vector3 instead of a Matrix3x3. You only need to provide the diagonal values of the matrix - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders. - Now, you need to manually call the RigidBody::recomputeMassInformation() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass + - The RigidBody::applyForce() method has been renamed to RigidBody::applyForceAtWorldPosition() - The rendering in the testbed application has been improved - The old Logger class has been renamed to DefaultLogger - The Logger class is now an abstract class that you can inherit from in order to receive log events from the library diff --git a/include/reactphysics3d/body/RigidBody.h b/include/reactphysics3d/body/RigidBody.h index 4fb585c6..eb544e98 100644 --- a/include/reactphysics3d/body/RigidBody.h +++ b/include/reactphysics3d/body/RigidBody.h @@ -156,8 +156,11 @@ class RigidBody : public CollisionBody { /// Apply an external force to the body at its center of mass. void applyForceToCenterOfMass(const Vector3& force); + /// Apply an external force to the body at a given point (in local-space coordinates). + void applyForceAtLocalPosition(const Vector3& force, const Vector3& point); + /// Apply an external force to the body at a given point (in world-space coordinates). - void applyForce(const Vector3& force, const Vector3& point); + void applyForceAtWorldPosition(const Vector3& force, const Vector3& point); /// Apply an external torque to the body. void applyTorque(const Vector3& torque); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 94f49ba6..e0f43338 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -127,6 +127,38 @@ decimal RigidBody::getMass() const { return mWorld.mRigidBodyComponents.getMass(mEntity); } +// Apply an external force to the body at a given point (in local-space coordinates). +/// If the point is not at the center of mass of the body, it will also +/// generate some torque and therefore, change the angular velocity of the body. +/// If the body is sleeping, calling this method will wake it up. Note that the +/// force will we added to the sum of the applied forces and that this sum will be +/// reset to zero at the end of each call of the PhyscisWorld::update() method. +/// You can only apply a force to a dynamic body otherwise, this method will do nothing. +/** + * @param force The force to apply on the body + * @param point The point where the force is applied (in local-space coordinates) + */ +void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& point) { + + // If it is not a dynamic body, we do nothing + if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; + + // Awake the body if it was sleeping + if (mWorld.mRigidBodyComponents.getIsSleeping(mEntity)) { + setIsSleeping(false); + } + + // Add the force + const Vector3& externalForce = mWorld.mRigidBodyComponents.getExternalForce(mEntity); + mWorld.mRigidBodyComponents.setExternalForce(mEntity, externalForce + force); + + // Add the torque + const Vector3& externalTorque = mWorld.mRigidBodyComponents.getExternalTorque(mEntity); + const Vector3& centerOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity); + const Vector3 worldPoint = mWorld.mTransformComponents.getTransform(mEntity) * point; + mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + (worldPoint - centerOfMassWorld).cross(force)); +} + // Apply an external force to the body at a given point (in world-space coordinates). /// If the point is not at the center of mass of the body, it will also /// generate some torque and therefore, change the angular velocity of the body. @@ -138,7 +170,7 @@ decimal RigidBody::getMass() const { * @param force The force to apply on the body * @param point The point where the force is applied (in world-space coordinates) */ -void RigidBody::applyForce(const Vector3& force, const Vector3& point) { +void RigidBody::applyForceAtWorldPosition(const Vector3& force, const Vector3& point) { // If it is not a dynamic body, we do nothing if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return; From ee0203a34307f1a347f4bbe987bf609aeab208d5 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Sun, 10 May 2020 16:11:03 +0200 Subject: [PATCH 142/197] =?UTF-8?q?Fix=20compilation=20error=20on=20Mac=20?= =?UTF-8?q?OS=C2=A0X?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- include/reactphysics3d/utils/DebugRenderer.h | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/include/reactphysics3d/utils/DebugRenderer.h b/include/reactphysics3d/utils/DebugRenderer.h index 93f22b5c..8c1b90e3 100644 --- a/include/reactphysics3d/utils/DebugRenderer.h +++ b/include/reactphysics3d/utils/DebugRenderer.h @@ -328,4 +328,16 @@ inline void DebugRenderer::setContactNormalLength(decimal contactNormalLength) { } +// Hash function for a DebugItem +namespace std { + + template <> struct hash { + + size_t operator()(const reactphysics3d::DebugRenderer::DebugItem& debugItem) const { + + return std::hash{}(static_cast(debugItem)); + } + }; +} + #endif From 3df602edfa40b6b8124757f0e6ab20b9e2804e36 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 11 May 2020 11:13:26 +0200 Subject: [PATCH 143/197] Refactor the way to create a logger and a profiler --- include/reactphysics3d/body/CollisionBody.h | 21 --- include/reactphysics3d/collision/Collider.h | 38 ----- include/reactphysics3d/engine/PhysicsCommon.h | 58 +++++--- include/reactphysics3d/engine/PhysicsWorld.h | 120 +-------------- include/reactphysics3d/utils/DefaultLogger.h | 37 +++-- include/reactphysics3d/utils/Logger.h | 16 +- include/reactphysics3d/utils/Profiler.h | 9 +- src/body/CollisionBody.cpp | 22 +-- src/body/RigidBody.cpp | 52 +++---- src/collision/Collider.cpp | 19 ++- src/engine/PhysicsCommon.cpp | 59 ++------ src/engine/PhysicsWorld.cpp | 140 ++++++++++++++---- src/utils/DefaultLogger.cpp | 8 +- test/tests/collision/TestDynamicAABBTree.h | 12 +- .../CollisionDetectionScene.cpp | 7 + .../collisionshapes/CollisionShapesScene.cpp | 7 + .../scenes/concavemesh/ConcaveMeshScene.cpp | 7 + testbed/scenes/cubes/CubesScene.cpp | 7 + testbed/scenes/cubestack/CubeStackScene.cpp | 7 + .../scenes/heightfield/HeightFieldScene.cpp | 7 + testbed/scenes/joints/JointsScene.cpp | 7 + testbed/scenes/pile/PileScene.cpp | 7 + testbed/scenes/raycast/RaycastScene.cpp | 7 + testbed/src/SceneDemo.cpp | 2 +- 24 files changed, 310 insertions(+), 366 deletions(-) diff --git a/include/reactphysics3d/body/CollisionBody.h b/include/reactphysics3d/body/CollisionBody.h index f01c896f..c7a14826 100644 --- a/include/reactphysics3d/body/CollisionBody.h +++ b/include/reactphysics3d/body/CollisionBody.h @@ -62,12 +62,6 @@ class CollisionBody { /// Reference to the world the body belongs to PhysicsWorld& mWorld; -#ifdef IS_LOGGING_ACTIVE - - /// Logger - Logger* mLogger; -#endif - #ifdef IS_PROFILING_ACTIVE /// Pointer to the profiler @@ -163,12 +157,6 @@ class CollisionBody { /// Return the body local-space coordinates of a vector given in the world-space coordinates Vector3 getLocalVector(const Vector3& worldVector) const; -#ifdef IS_LOGGING_ACTIVE - - /// Set the logger - void setLogger(Logger* logger); -#endif - #ifdef IS_PROFILING_ACTIVE /// Set the profiler @@ -202,15 +190,6 @@ inline Entity CollisionBody::getEntity() const { return mEntity; } -#ifdef IS_LOGGING_ACTIVE - -// Set the logger -inline void CollisionBody::setLogger(Logger* logger) { - mLogger = logger; -} - -#endif - #ifdef IS_PROFILING_ACTIVE // Set the profiler diff --git a/include/reactphysics3d/collision/Collider.h b/include/reactphysics3d/collision/Collider.h index b370c645..92d50d1d 100644 --- a/include/reactphysics3d/collision/Collider.h +++ b/include/reactphysics3d/collision/Collider.h @@ -72,12 +72,6 @@ class Collider { #endif -#ifdef IS_LOGGING_ACTIVE - - /// Logger - Logger* mLogger; -#endif - // -------------------- Methods -------------------- // /// Notify the collider that the size of the collision shape has been @@ -173,12 +167,6 @@ class Collider { #endif -#ifdef IS_LOGGING_ACTIVE - - /// Set the logger - void setLogger(Logger* logger); -#endif - // -------------------- Friendship -------------------- // friend class OverlappingPair; @@ -245,32 +233,6 @@ inline Material& Collider::getMaterial() { return mMaterial; } -// Set a new material for this rigid body -/** - * @param material The material you want to set to the body - */ -inline void Collider::setMaterial(const Material& material) { - - mMaterial = material; - -#ifdef IS_LOGGING_ACTIVE - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, - "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string(), __FILE__, __LINE__); -#endif - -} - -#ifdef IS_LOGGING_ACTIVE - -// Set the logger -inline void Collider::setLogger(Logger* logger) { - - mLogger = logger; -} - -#endif - } #endif diff --git a/include/reactphysics3d/engine/PhysicsCommon.h b/include/reactphysics3d/engine/PhysicsCommon.h index dc5917e6..54de743f 100644 --- a/include/reactphysics3d/engine/PhysicsCommon.h +++ b/include/reactphysics3d/engine/PhysicsCommon.h @@ -83,21 +83,31 @@ class PhysicsCommon { /// Set of triangle meshes Set mTriangleMeshes; -#ifdef IS_LOGGING_ACTIVE + /// Pointer to the current logger + static Logger* mLogger; - /// Set of loggers - Set mLoggers; - -#endif - - /// Set of loggers + /// Set of profilers Set mProfilers; + /// Set of default loggers + Set mDefaultLoggers; + // -------------------- Methods -------------------- // /// Destroy and release everything that has been allocated void release(); +// If profiling is enabled +#ifdef IS_PROFILING_ACTIVE + + /// Create and return a new profiler + Profiler* createProfiler(); + + /// Destroy a profiler + void destroyProfiler(Profiler* profiler); + +#endif + public : // -------------------- Methods -------------------- // @@ -115,8 +125,7 @@ class PhysicsCommon { // the method parameters with the "@param" keyword for Doxygen /// Create and return an instance of PhysicsWorld - PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(), - Logger* logger = nullptr, Profiler* profiler = nullptr); + PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings()); /// Destroy an instance of PhysicsWorld void destroyPhysicsWorld(PhysicsWorld* world); @@ -172,30 +181,33 @@ class PhysicsCommon { /// Destroy a triangle mesh void destroyTriangleMesh(TriangleMesh* triangleMesh); -// If logging is enabled -#ifdef IS_LOGGING_ACTIVE - /// Create and return a new default logger DefaultLogger* createDefaultLogger(); /// Destroy a default logger void destroyDefaultLogger(DefaultLogger* logger); -#endif + /// Return the current logger + static Logger* getLogger(); -// If profiling is enabled -#ifdef IS_PROFILING_ACTIVE - - /// Create and return a new profiler - Profiler* createProfiler(); - - /// Destroy a profiler - void destroyProfiler(Profiler* profiler); - -#endif + /// Set the logger + static void setLogger(Logger* logger); }; +// Return the current logger +inline Logger* PhysicsCommon::getLogger() { + return mLogger; +} + +// Set the logger +inline void PhysicsCommon::setLogger(Logger* logger) { + mLogger = logger; +} + +// Use this macro to log something +#define RP3D_LOG(physicsWorldName, level, category, message, filename, lineNumber) if (reactphysics3d::PhysicsCommon::getLogger() != nullptr) PhysicsCommon::getLogger()->log(level, physicsWorldName, category, message, filename, lineNumber) + } #endif diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h index 6bafe402..2a894ae4 100644 --- a/include/reactphysics3d/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -235,12 +235,6 @@ class PhysicsWorld { Profiler* mProfiler; #endif -#ifdef IS_LOGGING_ACTIVE - - /// Logger - Logger* mLogger; -#endif - /// Total number of worlds static uint mNbWorlds; @@ -287,8 +281,7 @@ class PhysicsWorld { // -------------------- Methods -------------------- // /// Constructor - PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), - Logger* logger = nullptr, Profiler* profiler = nullptr); + PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings = WorldSettings(), Profiler* profiler = nullptr); /// Notify the world if a body is disabled (slepping or inactive) or not void setBodyDisabled(Entity entity, bool isDisabled); @@ -412,7 +405,7 @@ class PhysicsWorld { bool isGravityEnabled() const; /// Enable/Disable the gravity - void setIsGratityEnabled(bool isGravityEnabled); + void setIsGravityEnabled(bool isGravityEnabled); /// Return true if the sleeping technique is enabled bool isSleepingEnabled() const; @@ -473,13 +466,6 @@ class PhysicsWorld { /// Return a reference to the profiler Profiler* getProfiler(); -#endif - -#ifdef IS_LOGGING_ACTIVE - - /// Return a reference to the logger - Logger* getLogger(); - #endif // -------------------- Friendship -------------------- // @@ -610,18 +596,6 @@ inline Profiler* PhysicsWorld::getProfiler() { #endif -#ifdef IS_LOGGING_ACTIVE - -// Return a pointer to the logger -/** - * @return A pointer to the logger - */ -inline Logger* PhysicsWorld::getLogger() { - return mLogger; -} - -#endif - // Get the number of iterations for the velocity constraint solver /** * @return The number of iterations of the velocity constraint solver @@ -630,18 +604,6 @@ inline uint PhysicsWorld::getNbIterationsVelocitySolver() const { return mNbVelocitySolverIterations; } -// Set the number of iterations for the velocity constraint solver -/** - * @param nbIterations Number of iterations for the velocity solver - */ -inline void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { - - mNbVelocitySolverIterations = nbIterations; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations), __FILE__, __LINE__); -} - // Get the number of iterations for the position constraint solver /** * @return The number of iterations of the position constraint solver @@ -650,18 +612,6 @@ inline uint PhysicsWorld::getNbIterationsPositionSolver() const { return mNbPositionSolverIterations; } -// Set the number of iterations for the position constraint solver -/** - * @param nbIterations Number of iterations for the position solver - */ -inline void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) { - - mNbPositionSolverIterations = nbIterations; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Set nb iterations position solver to " + std::to_string(nbIterations), __FILE__, __LINE__); -} - // Set the position correction technique used for contacts /** * @param technique Technique used for the position correction (Baumgarte or Split Impulses) @@ -698,18 +648,6 @@ inline Vector3 PhysicsWorld::getGravity() const { return mConfig.gravity; } -// Set the gravity vector of the world -/** - * @param gravity The gravity vector (in meter per seconds squared) - */ -inline void PhysicsWorld::setGravity(Vector3& gravity) { - - mConfig.gravity = gravity; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: Set gravity vector to " + gravity.to_string(), __FILE__, __LINE__); -} - // Return if the gravity is enaled /** * @return True if the gravity is enabled in the world @@ -718,18 +656,6 @@ inline bool PhysicsWorld::isGravityEnabled() const { return mIsGravityEnabled; } -// Enable/Disable the gravity -/** - * @param isGravityEnabled True if you want to enable the gravity in the world - * and false otherwise - */ -inline void PhysicsWorld::setIsGratityEnabled(bool isGravityEnabled) { - mIsGravityEnabled = isGravityEnabled; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")), __FILE__, __LINE__); -} - // Return true if the sleeping technique is enabled /** * @return True if the sleeping technique is enabled and false otherwise @@ -746,21 +672,6 @@ inline decimal PhysicsWorld::getSleepLinearVelocity() const { return mSleepLinearVelocity; } -// Set the sleep linear velocity. -/// When the velocity of a body becomes smaller than the sleep linear/angular -/// velocity for a given amount of time, the body starts sleeping and does not need -/// to be simulated anymore. -/** - * @param sleepLinearVelocity The sleep linear velocity (in meters per second) - */ -inline void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) { - assert(sleepLinearVelocity >= decimal(0.0)); - mSleepLinearVelocity = sleepLinearVelocity; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity), __FILE__, __LINE__); -} - // Return the current sleep angular velocity /** * @return The sleep angular velocity (in radian per second) @@ -769,21 +680,6 @@ inline decimal PhysicsWorld::getSleepAngularVelocity() const { return mSleepAngularVelocity; } -// Set the sleep angular velocity. -/// When the velocity of a body becomes smaller than the sleep linear/angular -/// velocity for a given amount of time, the body starts sleeping and does not need -/// to be simulated anymore. -/** - * @param sleepAngularVelocity The sleep angular velocity (in radian per second) - */ -inline void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) { - assert(sleepAngularVelocity >= decimal(0.0)); - mSleepAngularVelocity = sleepAngularVelocity; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity), __FILE__, __LINE__); -} - // Return the time a body is required to stay still before sleeping /** * @return Time a body is required to stay still before sleeping (in seconds) @@ -792,18 +688,6 @@ inline decimal PhysicsWorld::getTimeBeforeSleep() const { return mTimeBeforeSleep; } -// Set the time a body is required to stay still before sleeping -/** - * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds) - */ -inline void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) { - assert(timeBeforeSleep >= decimal(0.0)); - mTimeBeforeSleep = timeBeforeSleep; - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, - "Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep), __FILE__, __LINE__); -} - // Set an event listener object to receive events callbacks. /// If you use "nullptr" as an argument, the events callbacks will be disabled. /** diff --git a/include/reactphysics3d/utils/DefaultLogger.h b/include/reactphysics3d/utils/DefaultLogger.h index 106ef2c6..2e30267a 100644 --- a/include/reactphysics3d/utils/DefaultLogger.h +++ b/include/reactphysics3d/utils/DefaultLogger.h @@ -26,9 +26,6 @@ #ifndef REACTPHYSICS3D_DEFAULT_LOGGER_H #define REACTPHYSICS3D_DEFAULT_LOGGER_H -// If logging is enabled -#ifdef IS_LOGGING_ACTIVE - // Libraries #include #include @@ -81,7 +78,7 @@ class DefaultLogger : public Logger { } /// Format a log message - virtual std::string format(const time_t& time, const std::string& message, Level level, Category category, + virtual std::string format(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) = 0; }; @@ -116,13 +113,16 @@ class DefaultLogger : public Logger { } /// Format a log message - virtual std::string format(const time_t& time, const std::string& message, + virtual std::string format(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) override { std::stringstream ss; // Time ss << std::put_time(std::localtime(&time), "%X") << " "; + // World + ss << "World:" << physicsWorldName << std::endl; + // Level ss << getLevelName(level) << " "; @@ -204,8 +204,12 @@ class DefaultLogger : public Logger { "} " ".time { " "margin-right: 20px; " - "width: 10%; " + "width: 5%; " "} " + ".world-name { " + "margin-right: 20px; " + "width: 5%; " + "}" ".level { " "margin-right: 20px; " "width: 10%; " @@ -266,7 +270,7 @@ class DefaultLogger : public Logger { } /// Format a log message - virtual std::string format(const time_t& time, const std::string& message, Level level, + virtual std::string format(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) override { std::stringstream ss; @@ -278,6 +282,11 @@ class DefaultLogger : public Logger { ss << std::put_time(std::localtime(&time), "%X"); ss << ""; + // Message + ss << "
"; + ss << physicsWorldName; + ss << "
"; + // Level ss << "
"; ss << getLevelName(level); @@ -329,7 +338,7 @@ class DefaultLogger : public Logger { } /// Write a message into the output stream - virtual void write(const time_t& time, const std::string& message, Level level, Category category, const char* filename, int lineNumber) = 0; + virtual void write(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) = 0; /// Return the size in bytes of the type virtual size_t getSizeBytes() const=0; @@ -373,11 +382,11 @@ class DefaultLogger : public Logger { } /// Write a message into the output stream - virtual void write(const time_t& time, const std::string& message, Level level, Category category, + virtual void write(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) override { if (static_cast(level) <= static_cast(maxLevelFlag)) { - mFileStream << formatter->format(time, message, level, category, filename, lineNumber) << std::endl << std::flush; + mFileStream << formatter->format(time, physicsWorldName, message, level, category, filename, lineNumber) << std::endl << std::flush; } } @@ -413,11 +422,11 @@ class DefaultLogger : public Logger { } /// Write a message into the output stream - virtual void write(const time_t& time, const std::string& message, Level level, Category category, + virtual void write(const time_t& time, const std::string& physicsWorldName, const std::string& message, Level level, Category category, const char* filename, int lineNumber) override { if (static_cast(level) <= static_cast(maxLevelFlag)) { - mOutputStream << formatter->format(time, message, level, category, filename, lineNumber) << std::endl << std::flush; + mOutputStream << formatter->format(time, physicsWorldName, message, level, category, filename, lineNumber) << std::endl << std::flush; } } @@ -469,7 +478,7 @@ class DefaultLogger : public Logger { void removeAllDestinations(); /// Log something - virtual void log(Level level, Category category, const std::string& message, const char* filename, int lineNumber) override; + virtual void log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) override; // ---------- Friendship ---------- // @@ -491,5 +500,3 @@ namespace std { } #endif - -#endif diff --git a/include/reactphysics3d/utils/Logger.h b/include/reactphysics3d/utils/Logger.h index fa6517bc..db94a84a 100644 --- a/include/reactphysics3d/utils/Logger.h +++ b/include/reactphysics3d/utils/Logger.h @@ -26,9 +26,6 @@ #ifndef REACTPHYSICS3D_LOGGER_H #define REACTPHYSICS3D_LOGGER_H -// If logging is enabled -#ifdef IS_LOGGING_ACTIVE - // Libraries #include #include @@ -91,7 +88,7 @@ class Logger { virtual ~Logger() = default; /// Log something - virtual void log(Level level, Category category, const std::string& message, const char* filename, int lineNumber)=0; + virtual void log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber)=0; // ---------- Friendship ---------- // @@ -100,15 +97,4 @@ class Logger { } -// Use this macro to log something -#define RP3D_LOG(logger, level, category, message, filename, lineNumber) logger->log(level, category, message, filename, lineNumber) - -// If the logging is not enabled -#else - -// Empty macro in case logs are not enabled -#define RP3D_LOG(logger, level, category, message, filename, lineNumber) - -#endif - #endif diff --git a/include/reactphysics3d/utils/Profiler.h b/include/reactphysics3d/utils/Profiler.h index 85ec9698..631cc7e6 100644 --- a/include/reactphysics3d/utils/Profiler.h +++ b/include/reactphysics3d/utils/Profiler.h @@ -310,16 +310,17 @@ class Profiler { /// Destroy the profiler (release the memory) void destroy(); + + public : + + // -------------------- Methods -------------------- // + /// Constructor Profiler(); /// Destructor ~Profiler(); - public : - - // -------------------- Methods -------------------- // - /// Method called when we want to start profiling a block of code. void startProfilingBlock(const char *name); diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index cd6a7b8a..fedb9f7b 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -25,6 +25,7 @@ // Libraries #include +#include #include #include #include @@ -42,10 +43,6 @@ using namespace reactphysics3d; CollisionBody::CollisionBody(PhysicsWorld& world, Entity entity) : mEntity(entity), mWorld(world) { -#ifdef IS_LOGGING_ACTIVE - mLogger = nullptr; -#endif - #ifdef IS_PROFILING_ACTIVE mProfiler = nullptr; #endif @@ -100,13 +97,6 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans // Set the profiler collider->setProfiler(mProfiler); -#endif - -#ifdef IS_LOGGING_ACTIVE - - // Set the logger - collider->setLogger(mLogger); - #endif // Compute the world-space AABB of the new collision shape @@ -116,10 +106,10 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addCollider(collider, aabb); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body", __FILE__, __LINE__); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" + collider->getCollisionShape()->to_string(), __FILE__, __LINE__); @@ -170,7 +160,7 @@ Collider* CollisionBody::getCollider(uint colliderIndex) { */ void CollisionBody::removeCollider(Collider* collider) { - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " removed from body", __FILE__, __LINE__); // Remove the collider from the broad-phase @@ -281,7 +271,7 @@ void CollisionBody::setIsActive(bool isActive) { } } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isActive=" + (isActive ? "true" : "false"), __FILE__, __LINE__); } @@ -398,7 +388,7 @@ void CollisionBody::setTransform(const Transform& transform) { // Update the broad-phase state of the body updateBroadPhaseState(0); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set transform=" + transform.to_string(), __FILE__, __LINE__); } diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index e0f43338..2c242c48 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -25,6 +25,7 @@ // Libraries #include +#include #include #include #include @@ -114,7 +115,7 @@ void RigidBody::setType(BodyType type) { mWorld.mRigidBodyComponents.setExternalForce(mEntity, Vector3::zero()); mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3::zero()); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set type=" + (type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")), __FILE__, __LINE__); } @@ -212,7 +213,7 @@ void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) { inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); } @@ -275,7 +276,7 @@ void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) { linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMass.to_string(), __FILE__, __LINE__); } @@ -308,7 +309,7 @@ void RigidBody::updateLocalCenterOfMassFromColliders() { linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__); } @@ -415,7 +416,7 @@ void RigidBody::updateLocalInertiaTensorFromColliders() { inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); } @@ -451,7 +452,7 @@ void RigidBody::updateMassFromColliders() { mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass), __FILE__, __LINE__); } @@ -481,7 +482,7 @@ void RigidBody::updateMassPropertiesFromColliders() { linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld); mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string(), __FILE__, __LINE__); // Compute the mass and local-space inertia tensor @@ -497,7 +498,7 @@ void RigidBody::updateMassPropertiesFromColliders() { inertiaTensorLocal.z != decimal(0.0) ? decimal(1.0) / inertiaTensorLocal.z : 0); mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inverseInertiaTensorLocal); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string(), __FILE__, __LINE__); // Set the mass @@ -511,7 +512,7 @@ void RigidBody::updateMassPropertiesFromColliders() { mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0)); } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass), __FILE__, __LINE__); } @@ -534,12 +535,12 @@ void RigidBody::setMass(decimal mass) { if (mWorld.mRigidBodyComponents.getMass(mEntity) < decimal(0.0)) { - RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body, "Error when setting mass of body " + std::to_string(mEntity.id) + ": mass cannot be negative", __FILE__, __LINE__); } } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(mass), __FILE__, __LINE__); } @@ -586,13 +587,6 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform // Set the profiler collider->setProfiler(mProfiler); -#endif - -#ifdef IS_LOGGING_ACTIVE - - // Set the logger - collider->setLogger(mLogger); - #endif // Compute the world-space AABB of the new collision shape @@ -602,10 +596,10 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform // Notify the collision detection about this new collision shape mWorld.mCollisionDetection.addCollider(collider, aabb); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body", __FILE__, __LINE__); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(collider->getBroadPhaseId()) + ": collisionShape=" + collider->getCollisionShape()->to_string(), __FILE__, __LINE__); @@ -631,7 +625,7 @@ void RigidBody::removeCollider(Collider* collider) { void RigidBody::enableGravity(bool isEnabled) { mWorld.mRigidBodyComponents.setIsGravityEnabled(mEntity, isEnabled); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isGravityEnabled=" + (isEnabled ? "true" : "false"), __FILE__, __LINE__); } @@ -648,12 +642,12 @@ void RigidBody::setLinearDamping(decimal linearDamping) { mWorld.mRigidBodyComponents.setLinearDamping(mEntity, linearDamping); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set linearDamping=" + std::to_string(linearDamping), __FILE__, __LINE__); } else { - RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body, "Error when setting the linear damping of body " + std::to_string(mEntity.id) + ": linear damping cannot be negative", __FILE__, __LINE__); } } @@ -670,11 +664,11 @@ void RigidBody::setAngularDamping(decimal angularDamping) { mWorld.mRigidBodyComponents.setAngularDamping(mEntity, angularDamping); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping), __FILE__, __LINE__); } else { - RP3D_LOG(mLogger, Logger::Level::Error, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Error, Logger::Category::Body, "Error when setting the angular damping of body " + std::to_string(mEntity.id) + ": angular damping cannot be negative", __FILE__, __LINE__); } } @@ -696,7 +690,7 @@ void RigidBody::setLinearVelocity(const Vector3& linearVelocity) { setIsSleeping(false); } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set linearVelocity=" + linearVelocity.to_string(), __FILE__, __LINE__); } @@ -717,7 +711,7 @@ void RigidBody::setAngularVelocity(const Vector3& angularVelocity) { setIsSleeping(false); } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set angularVelocity=" + angularVelocity.to_string(), __FILE__, __LINE__); } @@ -832,7 +826,7 @@ void RigidBody::setIsSleeping(bool isSleeping) { mWorld.mRigidBodyComponents.setExternalTorque(mEntity, Vector3::zero()); } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isSleeping=" + (isSleeping ? "true" : "false"), __FILE__, __LINE__); } @@ -876,7 +870,7 @@ void RigidBody::setIsAllowedToSleep(bool isAllowedToSleep) { if (!isAllowedToSleep) setIsSleeping(false); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(mEntity.id) + ": Set isAllowedToSleep=" + (isAllowedToSleep ? "true" : "false"), __FILE__, __LINE__); } diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index a1832af8..68ed01de 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -29,6 +29,7 @@ #include #include #include +#include using namespace reactphysics3d; @@ -78,7 +79,7 @@ void Collider::setCollisionCategoryBits(unsigned short collisionCategoryBits) { int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(broadPhaseId) + ": Set collisionCategoryBits=" + std::to_string(collisionCategoryBits), __FILE__, __LINE__); } @@ -97,7 +98,7 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) { int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, "Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" + std::to_string(collideWithMaskBits), __FILE__, __LINE__); } @@ -118,7 +119,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) { mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider, + RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, "Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" + transform.to_string(), __FILE__, __LINE__); } @@ -215,6 +216,18 @@ void Collider::setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize mBody->mWorld.mCollidersComponents.setHasCollisionShapeChangedSize(mEntity, hasCollisionShapeChangedSize); } +// Set a new material for this rigid body +/** + * @param material The material you want to set to the body + */ +void Collider::setMaterial(const Material& material) { + + mMaterial = material; + + RP3D_LOG(mBody->mWorld.mConfig.worldName, Logger::Level::Information, Logger::Category::Collider, + "Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string(), __FILE__, __LINE__); +} + // Return the local to world transform /** * @return The transformation that transforms the local-space of the collision diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 0b029551..6f08486c 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -28,6 +28,9 @@ using namespace reactphysics3d; +// Static variables +Logger* PhysicsCommon::mLogger = nullptr; + /// Constructor PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) : mMemoryManager(baseMemoryAllocator), @@ -36,10 +39,7 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator) mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()), mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()), mTriangleMeshes(mMemoryManager.getHeapAllocator()), -#ifdef IS_LOGGING_ACTIVE - mLoggers(mMemoryManager.getHeapAllocator()), -#endif - mProfilers(mMemoryManager.getHeapAllocator()) { + mProfilers(mMemoryManager.getHeapAllocator()), mDefaultLoggers(mMemoryManager.getHeapAllocator()) { } @@ -98,16 +98,11 @@ void PhysicsCommon::release() { destroyTriangleMesh(*it); } -// If logging is enabled -#ifdef IS_LOGGING_ACTIVE - - // Destroy the loggers - for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) { + // Destroy the default loggers + for (auto it = mDefaultLoggers.begin(); it != mDefaultLoggers.end(); ++it) { destroyDefaultLogger(*it); } -#endif - // If profiling is enabled #ifdef IS_PROFILING_ACTIVE @@ -121,39 +116,20 @@ void PhysicsCommon::release() { } // Create and return an instance of PhysicsWorld -PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) { +PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings) { + + Profiler* profiler = nullptr; #ifdef IS_PROFILING_ACTIVE - // If the user has not provided its own profiler, we create one - if (profiler == nullptr) { + profiler = createProfiler(); - profiler = createProfiler(); - - // Add a destination file for the profiling data - profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text); - } + // Add a destination file for the profiling data + profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text); #endif -#ifdef IS_LOGGING_ACTIVE - - // If the user has not provided its own logger, we create one - if (logger == nullptr) { - - DefaultLogger* defaultLogger = createDefaultLogger(); - - // Add a log destination file - uint logLevel = static_cast(Logger::Level::Information) | static_cast(Logger::Level::Warning) | - static_cast(Logger::Level::Error); - defaultLogger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, DefaultLogger::Format::HTML); - - logger = defaultLogger; - } - -#endif - - PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler); + PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, profiler); mPhysicsWorlds.add(world); @@ -374,15 +350,12 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) { mTriangleMeshes.remove(triangleMesh); } -// If logging is enabled -#ifdef IS_LOGGING_ACTIVE - // Create and return a new logger DefaultLogger* PhysicsCommon::createDefaultLogger() { DefaultLogger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(DefaultLogger))) DefaultLogger(mMemoryManager.getHeapAllocator()); - mLoggers.add(logger); + mDefaultLoggers.add(logger); return logger; } @@ -396,11 +369,9 @@ void PhysicsCommon::destroyDefaultLogger(DefaultLogger* logger) { // Release allocated memory mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(DefaultLogger)); - mLoggers.remove(logger); + mDefaultLoggers.remove(logger); } -#endif - // If profiling is enabled #ifdef IS_PROFILING_ACTIVE diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index ef94ea4f..8480f640 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -24,6 +24,7 @@ ********************************************************************************/ // Libraries +#include #include #include #include @@ -47,10 +48,9 @@ uint PhysicsWorld::mNbWorlds = 0; /** * @param gravity Gravity vector in the world (in meters per second squared) * @param worldSettings The settings of the world - * @param logger Pointer to the logger * @param profiler Pointer to the profiler */ -PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) +PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& worldSettings, Profiler* profiler) : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mDebugRenderer(mMemoryManager.getHeapAllocator()), mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), @@ -96,23 +96,16 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo mDynamicsSystem.setProfiler(mProfiler); mCollisionDetection.setProfiler(mProfiler); -#endif - -#ifdef IS_LOGGING_ACTIVE - - assert(logger != nullptr); - mLogger = logger; - #endif mNbWorlds++; - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, "Physics World: Physics world " + mName + " has been created", __FILE__, __LINE__); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, "Physics World: Initial world settings: " + worldSettings.to_string(), __FILE__, __LINE__); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, "Physics World: Physics world " + mName + " has been created", __FILE__, __LINE__); } @@ -120,7 +113,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo // Destructor PhysicsWorld::~PhysicsWorld() { - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, "Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__); // Destroy all the collision bodies that have not been removed @@ -152,7 +145,7 @@ PhysicsWorld::~PhysicsWorld() { assert(mJointsComponents.getNbComponents() == 0); assert(mRigidBodies.size() == 0); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, "Physics World: Physics world " + mName + " has been destroyed", __FILE__, __LINE__); } @@ -188,11 +181,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { #endif -#ifdef IS_LOGGING_ACTIVE - collisionBody->setLogger(mLogger); -#endif - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(entity.id) + ": New collision body created", __FILE__, __LINE__); // Return the pointer to the rigid body @@ -205,7 +194,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { */ void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) { - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed", __FILE__, __LINE__); // Remove all the collision shapes of the body @@ -477,11 +466,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { rigidBody->setProfiler(mProfiler); #endif -#ifdef IS_LOGGING_ACTIVE - rigidBody->setLogger(mLogger); -#endif - - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(entity.id) + ": New collision body created", __FILE__, __LINE__); // Return the pointer to the rigid body @@ -494,7 +479,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { */ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) { - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed", __FILE__, __LINE__); // Remove all the collision shapes of the body @@ -634,9 +619,9 @@ Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) { mCollisionDetection.addNoCollisionPair(jointInfo.body1->getEntity(), jointInfo.body2->getEntity()); } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint, "Joint " + std::to_string(newJoint->getEntity().id) + ": New joint created", __FILE__, __LINE__); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint, "Joint " + std::to_string(newJoint->getEntity().id) + ": " + newJoint->to_string(), __FILE__, __LINE__); // Add the joint into the joint list of the bodies involved in the joint @@ -654,7 +639,7 @@ void PhysicsWorld::destroyJoint(Joint* joint) { assert(joint != nullptr); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Joint, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Joint, "Joint " + std::to_string(joint->getEntity().id) + ": joint destroyed", __FILE__, __LINE__); // If the collision between the two bodies of the constraint was disabled @@ -702,17 +687,30 @@ void PhysicsWorld::destroyJoint(Joint* joint) { mMemoryManager.release(MemoryManager::AllocationType::Pool, joint, nbBytes); } + +// Set the number of iterations for the velocity constraint solver +/** + * @param nbIterations Number of iterations for the velocity solver + */ +void PhysicsWorld::setNbIterationsVelocitySolver(uint nbIterations) { + + mNbVelocitySolverIterations = nbIterations; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: Set nb iterations velocity solver to " + std::to_string(nbIterations), __FILE__, __LINE__); +} + // Add the joint to the list of joints of the two bodies involved in the joint void PhysicsWorld::addJointToBodies(Entity body1, Entity body2, Entity joint) { mRigidBodyComponents.addJointToBody(body1, joint); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(body1.id) + ": Joint " + std::to_string(joint.id) + " added to body", __FILE__, __LINE__); mRigidBodyComponents.addJointToBody(body2, joint); - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body, "Body " + std::to_string(body2.id) + ": Joint " + std::to_string(joint.id) + " added to body", __FILE__, __LINE__); } @@ -939,6 +937,84 @@ void PhysicsWorld::enableSleeping(bool isSleepingEnabled) { } } - RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::World, + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, "Physics World: isSleepingEnabled=" + (isSleepingEnabled ? std::string("true") : std::string("false")) , __FILE__, __LINE__); } + +// Set the number of iterations for the position constraint solver +/** + * @param nbIterations Number of iterations for the position solver + */ +void PhysicsWorld::setNbIterationsPositionSolver(uint nbIterations) { + + mNbPositionSolverIterations = nbIterations; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: Set nb iterations position solver to " + std::to_string(nbIterations), __FILE__, __LINE__); +} + +// Set the gravity vector of the world +/** + * @param gravity The gravity vector (in meter per seconds squared) + */ +void PhysicsWorld::setGravity(Vector3& gravity) { + + mConfig.gravity = gravity; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: Set gravity vector to " + gravity.to_string(), __FILE__, __LINE__); +} + +// Set the sleep linear velocity. +/// When the velocity of a body becomes smaller than the sleep linear/angular +/// velocity for a given amount of time, the body starts sleeping and does not need +/// to be simulated anymore. +/** + * @param sleepLinearVelocity The sleep linear velocity (in meters per second) + */ +void PhysicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) { + assert(sleepLinearVelocity >= decimal(0.0)); + mSleepLinearVelocity = sleepLinearVelocity; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: sleepLinearVelocity= " + std::to_string(sleepLinearVelocity), __FILE__, __LINE__); +} + +// Set the sleep angular velocity. +/// When the velocity of a body becomes smaller than the sleep linear/angular +/// velocity for a given amount of time, the body starts sleeping and does not need +/// to be simulated anymore. +/** + * @param sleepAngularVelocity The sleep angular velocity (in radian per second) + */ +void PhysicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) { + assert(sleepAngularVelocity >= decimal(0.0)); + mSleepAngularVelocity = sleepAngularVelocity; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: sleepAngularVelocity= " + std::to_string(sleepAngularVelocity), __FILE__, __LINE__); +} + +// Set the time a body is required to stay still before sleeping +/** + * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds) + */ +void PhysicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) { + assert(timeBeforeSleep >= decimal(0.0)); + mTimeBeforeSleep = timeBeforeSleep; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: timeBeforeSleep= " + std::to_string(timeBeforeSleep), __FILE__, __LINE__); +} + +// Enable/Disable the gravity +/** + * @param isGravityEnabled True if you want to enable the gravity in the world + * and false otherwise + */ +void PhysicsWorld::setIsGravityEnabled(bool isGravityEnabled) { + mIsGravityEnabled = isGravityEnabled; + + RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::World, + "Physics World: isGravityEnabled= " + (isGravityEnabled ? std::string("true") : std::string("false")), __FILE__, __LINE__); +} diff --git a/src/utils/DefaultLogger.cpp b/src/utils/DefaultLogger.cpp index 8957cf61..92806b6c 100644 --- a/src/utils/DefaultLogger.cpp +++ b/src/utils/DefaultLogger.cpp @@ -23,8 +23,6 @@ * * ********************************************************************************/ -#ifdef IS_LOGGING_ACTIVE - // Libraries #include #include @@ -94,7 +92,7 @@ void DefaultLogger::removeAllDestinations() { } // Log something -void DefaultLogger::log(Level level, Category category, const std::string& message, const char* filename, int lineNumber) { +void DefaultLogger::log(Level level, const std::string& physicsWorldName, Category category, const std::string& message, const char* filename, int lineNumber) { // Get current time auto now = std::chrono::system_clock::now(); @@ -105,10 +103,8 @@ void DefaultLogger::log(Level level, Category category, const std::string& messa // For each destination for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) { - (*it)->write(time, message, level, category, filename, lineNumber); + (*it)->write(time, physicsWorldName, message, level, category, filename, lineNumber); } mMutex.unlock(); } - -#endif diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index dc121d2d..8150f165 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -109,8 +109,18 @@ class TestDynamicAABBTree : public Test { TestDynamicAABBTree(const std::string& name): Test(name) { #ifdef IS_PROFILING_ACTIVE - mProfiler = mPhysicsCommon.createProfiler(); + mProfiler = new Profiler(); #endif + + } + + /// Constructor + ~TestDynamicAABBTree() { + +#ifdef IS_PROFILING_ACTIVE + delete mProfiler; +#endif + } bool isOverlapping(int nodeId, const List& overlappingNodes) const { diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp index 6b9e4e18..06b809f1 100644 --- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp +++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp @@ -52,6 +52,13 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp index d4aac4b3..0cc97c8e 100644 --- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp +++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp @@ -48,6 +48,13 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); physicsWorld->setEventListener(this); diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 7139de6f..e08ef540 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -48,6 +48,13 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); physicsWorld->setEventListener(this); diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp index 228aff4f..7c45e15b 100644 --- a/testbed/scenes/cubes/CubesScene.cpp +++ b/testbed/scenes/cubes/CubesScene.cpp @@ -48,6 +48,13 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings) rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); physicsWorld->setEventListener(this); diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp index c03fa1c7..b45f4977 100644 --- a/testbed/scenes/cubestack/CubeStackScene.cpp +++ b/testbed/scenes/cubestack/CubeStackScene.cpp @@ -46,6 +46,13 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); physicsWorld->setEventListener(this); diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 6c763a4a..53ac20c7 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -47,6 +47,13 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp index e6bbd067..00b1e1ca 100644 --- a/testbed/scenes/joints/JointsScene.cpp +++ b/testbed/scenes/joints/JointsScene.cpp @@ -47,6 +47,13 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings) rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); physicsWorld->setEventListener(this); diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp index da5bfd26..d5d6a938 100644 --- a/testbed/scenes/pile/PileScene.cpp +++ b/testbed/scenes/pile/PileScene.cpp @@ -48,6 +48,13 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings) rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index 65024669..338d4ce3 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -45,6 +45,13 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings) rp3d::PhysicsWorld::WorldSettings worldSettings; worldSettings.worldName = name; + // Logger + rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger(); + uint logLevel = static_cast(rp3d::Logger::Level::Information) | static_cast(rp3d::Logger::Level::Warning) | + static_cast(rp3d::Logger::Level::Error); + defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML); + mPhysicsCommon.setLogger(defaultLogger); + // Create the physics world for the physics simulation mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings); diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp index 5e825a16..1464322c 100644 --- a/testbed/src/SceneDemo.cpp +++ b/testbed/src/SceneDemo.cpp @@ -618,7 +618,7 @@ void SceneDemo::updateEngineSettings() { if (mIsPhysicsWorldSimulated) { // Update the physics engine parameters - mPhysicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled); + mPhysicsWorld->setIsGravityEnabled(mEngineSettings.isGravityEnabled); rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); mPhysicsWorld->setGravity(gravity); From 39bbd6ec6d3dcc00ce46fe4498525c98524b4db6 Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Mon, 11 May 2020 12:38:59 +0200 Subject: [PATCH 144/197] Refactor CMakeLists.txt files to use more modern CMAKE --- .travis.yml | 18 +-- CMakeLists.txt | 120 ++++++++---------- include/reactphysics3d/body/CollisionBody.h | 6 +- include/reactphysics3d/body/RigidBody.h | 2 +- include/reactphysics3d/collision/Collider.h | 4 +- .../collision/broadphase/DynamicAABBTree.h | 6 +- .../collision/narrowphase/CollisionDispatch.h | 6 +- .../collision/narrowphase/GJK/GJKAlgorithm.h | 6 +- .../narrowphase/NarrowPhaseAlgorithm.h | 6 +- .../collision/narrowphase/SAT/SATAlgorithm.h | 6 +- .../collision/shapes/CollisionShape.h | 6 +- .../collision/shapes/ConcaveMeshShape.h | 8 +- include/reactphysics3d/decimal.h | 2 +- .../reactphysics3d/engine/OverlappingPairs.h | 6 +- include/reactphysics3d/engine/PhysicsCommon.h | 2 +- include/reactphysics3d/engine/PhysicsWorld.h | 6 +- .../reactphysics3d/systems/BroadPhaseSystem.h | 6 +- .../systems/CollisionDetectionSystem.h | 6 +- .../systems/ConstraintSolverSystem.h | 6 +- .../systems/ContactSolverSystem.h | 6 +- .../reactphysics3d/systems/DynamicsSystem.h | 6 +- .../systems/SolveBallAndSocketJointSystem.h | 6 +- .../systems/SolveFixedJointSystem.h | 6 +- .../systems/SolveHingeJointSystem.h | 6 +- .../systems/SolveSliderJointSystem.h | 6 +- include/reactphysics3d/utils/Profiler.h | 3 +- src/body/CollisionBody.cpp | 6 +- src/body/RigidBody.cpp | 6 +- src/collision/Collider.cpp | 3 +- .../CapsuleVsConvexPolyhedronAlgorithm.cpp | 3 +- ...xPolyhedronVsConvexPolyhedronAlgorithm.cpp | 3 +- .../narrowphase/SAT/SATAlgorithm.cpp | 3 +- .../SphereVsConvexPolyhedronAlgorithm.cpp | 6 +- src/collision/shapes/CollisionShape.cpp | 3 +- src/collision/shapes/ConcaveMeshShape.cpp | 6 +- src/collision/shapes/HeightFieldShape.cpp | 3 +- src/engine/PhysicsCommon.cpp | 9 +- src/engine/PhysicsWorld.cpp | 15 ++- src/systems/BroadPhaseSystem.cpp | 3 +- src/systems/CollisionDetectionSystem.cpp | 6 +- src/systems/ConstraintSolverSystem.cpp | 3 +- src/systems/ContactSolverSystem.cpp | 3 +- src/utils/Profiler.cpp | 3 +- test/CMakeLists.txt | 16 +-- test/tests/collision/TestDynamicAABBTree.h | 18 ++- testbed/CMakeLists.txt | 40 +++--- 46 files changed, 218 insertions(+), 207 deletions(-) diff --git a/.travis.yml b/.travis.yml index 2dee5e61..d578b516 100644 --- a/.travis.yml +++ b/.travis.yml @@ -55,7 +55,7 @@ matrix: packages: - g++-7 env: - - MATRIX_EVAL="CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" LOGGER="True" Profiler="True" + - MATRIX_EVAL="CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Debug" DOUBLE_PRECISION="False" Profiler="True" - os: linux addons: apt: @@ -64,7 +64,7 @@ matrix: packages: - g++-7 env: - - MATRIX_EVAL="CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Release" DOUBLE_PRECISION="False" LOGGER="True" Profiler="True" + - MATRIX_EVAL="CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Release" DOUBLE_PRECISION="False" Profiler="True" - os: linux addons: apt: @@ -108,11 +108,11 @@ matrix: #- os: osx # osx_image: xcode9.3 # env: - # - MATRIX_EVAL="brew update && brew install gcc && CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" LOGGER="True" PROFILER="True" + # - MATRIX_EVAL="brew update && brew install gcc && CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" PROFILER="True" #- os: osx # osx_image: xcode9.3 # env: - # - MATRIX_EVAL="brew update && brew install gcc && CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Release" DOUBLE_PRECISION="True" LOGGER="True" PROFILER="True" + # - MATRIX_EVAL="brew update && brew install gcc && CC=gcc-7 && CXX=g++-7" BUILD_TYPE="Release" DOUBLE_PRECISION="True" PROFILER="True" # ----- Linux / Clang ----- - os: linux @@ -172,7 +172,7 @@ matrix: - clang-3.8 - g++-7 env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" LOGGER="True" PROFILER="True" + - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Debug" DOUBLE_PRECISION="True" PROFILER="True" - os: linux addons: apt: @@ -183,7 +183,7 @@ matrix: - clang-3.8 - g++-7 env: - - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Release" DOUBLE_PRECISION="True" LOGGER="True" PROFILER="True" + - MATRIX_EVAL="CC=clang-3.8 && CXX=clang++-3.8" BUILD_TYPE="Release" DOUBLE_PRECISION="True" PROFILER="True" # ----- OS X / Clang ----- - os: osx @@ -209,12 +209,12 @@ matrix: - os: osx osx_image: xcode8 env: - - BUILD_TYPE="Debug" DOUBLE_PRECISION="True" LOGGER="True" PROFILER="True" + - BUILD_TYPE="Debug" DOUBLE_PRECISION="True" PROFILER="True" - os: osx osx_image: xcode8 env: - - BUILD_TYPE="Release" DOUBLE_PRECISION="True" LOGGER="True" PROFILER="True" + - BUILD_TYPE="Release" DOUBLE_PRECISION="True" PROFILER="True" before_install: - eval "${MATRIX_EVAL}" @@ -227,7 +227,7 @@ branches: script: - mkdir build_directory - cd build_directory - - cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} —DRP3D_DOUBLE_PRECISION_ENABLED=${DOUBLE_PRECISION} -DRP3D_COMPILE_TESTS=True -DRP3D_LOGS_ENABLE=${LOGGER} -DRP3D_PROFILING_ENABLED=${PROFILER} -DRP3D_CODE_COVERAGE_ENABLED=${CODE_COVERAGE} ../ + - cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} —DRP3D_DOUBLE_PRECISION_ENABLED=${DOUBLE_PRECISION} -DRP3D_COMPILE_TESTS=True -DRP3D_PROFILING_ENABLED=${PROFILER} -DRP3D_CODE_COVERAGE_ENABLED=${CODE_COVERAGE} ../ - make && make test ARGS="-V" - if [ "${VALGRIND}" == "True" ]; then valgrind --leak-check=full --show-leak-kinds=all --track-origins=yes --verbose --error-exitcode=1 test/tests; diff --git a/CMakeLists.txt b/CMakeLists.txt index 960fd1c7..658cb441 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,79 +1,46 @@ # Minimum cmake version required -CMAKE_MINIMUM_REQUIRED(VERSION 3.2 FATAL_ERROR) +cmake_minimum_required(VERSION 3.8) # Project configuration -PROJECT(REACTPHYSICS3D LANGUAGES CXX) +project(REACTPHYSICS3D LANGUAGES CXX) # In order to install libraries into correct locations on all platforms. include(GNUInstallDirs) -# Build type -IF (NOT CMAKE_BUILD_TYPE) - SET(CMAKE_BUILD_TYPE "Release") -ENDIF() - -# Where to build the library -SET(LIBRARY_OUTPUT_PATH "lib") - -# Where to build the executables -SET(OUR_EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin") +# Set default build type +set(default_build_type "Release") +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + message(STATUS "Setting build type to '${default_build_type}' as none was specified.") + set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE + STRING "Choose the type of build." FORCE) + # Set the possible values of build type for cmake-gui + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS + "Debug" "Release" "MinSizeRel" "RelWithDebInfo") +endif() # CMake modules path -SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules) +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules) # Enable testing -ENABLE_TESTING() +enable_testing() # Options -OPTION(RP3D_COMPILE_TESTBED "Select this if you want to build the testbed application" OFF) -OPTION(RP3D_COMPILE_TESTS "Select this if you want to build the tests" OFF) -OPTION(RP3D_PROFILING_ENABLED "Select this if you want to compile with enabled profiling" OFF) -OPTION(RP3D_LOGS_ENABLED "Select this if you want to compile with logs enabled during execution" OFF) -OPTION(RP3D_CODE_COVERAGE_ENABLED "Select this if you need to build for code coverage calculation" OFF) -OPTION(RP3D_DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating - values" OFF) +option(RP3D_COMPILE_TESTBED "Select this if you want to build the testbed application with demos" OFF) +option(RP3D_COMPILE_TESTS "Select this if you want to build the unit tests" OFF) +option(RP3D_PROFILING_ENABLED "Select this if you want to compile for performanace profiling" OFF) +option(RP3D_CODE_COVERAGE_ENABLED "Select this if you need to build for code coverage calculation" OFF) +option(RP3D_DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating values" OFF) -# Warning Compiler flags -SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall") - -IF(RP3D_CODE_COVERAGE_ENABLED) - IF(CMAKE_COMPILER_IS_GNUCXX) +if(RP3D_CODE_COVERAGE_ENABLED) + if(CMAKE_COMPILER_IS_GNUCXX) INCLUDE(CodeCoverage) SETUP_TARGET_FOR_COVERAGE(${PROJECT_NAME}_coverage tests coverage) - ENDIF() - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage") -ENDIF() - -# C++11 flags -IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU") - include(CheckCXXCompilerFlag) - CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) - IF(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") - ELSE() - message("The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") - ENDIF() -ENDIF() - -# Use libc++ with Clang -#IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang") -# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++") -#ENDIF() - -IF(RP3D_PROFILING_ENABLED) - ADD_DEFINITIONS(-DIS_PROFILING_ACTIVE) -ENDIF() - -IF(RP3D_LOGS_ENABLED) - ADD_DEFINITIONS(-DIS_LOGGING_ACTIVE) -ENDIF() - -IF(RP3D_DOUBLE_PRECISION_ENABLED) - ADD_DEFINITIONS(-DIS_DOUBLE_PRECISION_ENABLED) -ENDIF() + endif() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage") +endif() # Headers filen1s -SET (REACTPHYSICS3D_HEADERS +set (REACTPHYSICS3D_HEADERS "include/reactphysics3d/configuration.h" "include/reactphysics3d/decimal.h" "include/reactphysics3d/reactphysics3d.h" @@ -185,7 +152,7 @@ SET (REACTPHYSICS3D_HEADERS ) # Source files -SET (REACTPHYSICS3D_SOURCES +set (REACTPHYSICS3D_SOURCES "src/body/CollisionBody.cpp" "src/body/RigidBody.cpp" "src/collision/broadphase/DynamicAABBTree.cpp" @@ -276,38 +243,53 @@ SET (REACTPHYSICS3D_SOURCES ) # Create the library -ADD_LIBRARY(reactphysics3d ${REACTPHYSICS3D_HEADERS} ${REACTPHYSICS3D_SOURCES}) +add_library(reactphysics3d ${REACTPHYSICS3D_HEADERS} ${REACTPHYSICS3D_SOURCES}) + +# C++11 compiler features +target_compile_features(reactphysics3d PUBLIC cxx_std_11) +set_target_properties(reactphysics3d PROPERTIES CXX_EXTENSIONS OFF) + +# Compile with warning messages +target_compile_options(reactphysics3d PRIVATE -Wall) # Headers -TARGET_INCLUDE_DIRECTORIES(reactphysics3d PUBLIC +target_include_directories(reactphysics3d PUBLIC $ $ ) # If we need to compile the testbed application -IF(RP3D_COMPILE_TESTBED) +if(RP3D_COMPILE_TESTBED) add_subdirectory(testbed/) -ENDIF() +endif() # If we need to compile the tests -IF(RP3D_COMPILE_TESTS) +if(RP3D_COMPILE_TESTS) add_subdirectory(test/) -ENDIF() +endif() -#SET_TARGET_PROPERTIES(reactphysics3d PROPERTIES PUBLIC_HEADER "${REACTPHYSICS3D_HEADERS}") +# Enable profiling if necessary +if(RP3D_PROFILING_ENABLED) + target_compile_definitions(reactphysics3d PUBLIC IS_RP3D_PROFILING_ENABLED) +endif() + +# Enable double precision if necessary +if(RP3D_DOUBLE_PRECISION_ENABLED) + target_compile_definitions(reactphysics3d PUBLIC IS_RP3D_DOUBLE_PRECISION_ENABLED) +endif() # Version number and soname for the library -SET_TARGET_PROPERTIES(reactphysics3d PROPERTIES +set_target_properties(reactphysics3d PROPERTIES VERSION "0.7.1" SOVERSION "0.7" ) # Install target (install library only, not headers) -INSTALL(TARGETS reactphysics3d +install(TARGETS reactphysics3d ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} ) # Install the headers separately (because INSTALL(TARGETS ... PUBLIC_HEADER DESTINATION ...) does not support subfolders -INSTALL(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) +install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) diff --git a/include/reactphysics3d/body/CollisionBody.h b/include/reactphysics3d/body/CollisionBody.h index c7a14826..70cb5d55 100644 --- a/include/reactphysics3d/body/CollisionBody.h +++ b/include/reactphysics3d/body/CollisionBody.h @@ -62,7 +62,7 @@ class CollisionBody { /// Reference to the world the body belongs to PhysicsWorld& mWorld; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -157,7 +157,7 @@ class CollisionBody { /// Return the body local-space coordinates of a vector given in the world-space coordinates Vector3 getLocalVector(const Vector3& worldVector) const; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler virtual void setProfiler(Profiler* profiler); @@ -190,7 +190,7 @@ inline Entity CollisionBody::getEntity() const { return mEntity; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void CollisionBody::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/body/RigidBody.h b/include/reactphysics3d/body/RigidBody.h index eb544e98..7024804d 100644 --- a/include/reactphysics3d/body/RigidBody.h +++ b/include/reactphysics3d/body/RigidBody.h @@ -183,7 +183,7 @@ class RigidBody : public CollisionBody { /// Remove a collider from the body virtual void removeCollider(Collider* collider) override; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler) override; diff --git a/include/reactphysics3d/collision/Collider.h b/include/reactphysics3d/collision/Collider.h index 92d50d1d..e24af1fe 100644 --- a/include/reactphysics3d/collision/Collider.h +++ b/include/reactphysics3d/collision/Collider.h @@ -65,7 +65,7 @@ class Collider { /// Pointer to user data void* mUserData; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -160,7 +160,7 @@ class Collider { /// Set whether the collider is a trigger void setIsTrigger(bool isTrigger) const; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); diff --git a/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h index 535b2819..70cd46ca 100644 --- a/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h +++ b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h @@ -161,7 +161,7 @@ class DynamicAABBTree { /// The fat AABB is the initial AABB inflated by a given percentage of its size. decimal mFatAABBInflatePercentage; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -254,7 +254,7 @@ class DynamicAABBTree { /// Clear all the nodes and reset the tree void reset(); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -316,7 +316,7 @@ inline int32 DynamicAABBTree::addObject(const AABB& aabb, void* data) { return nodeId; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void DynamicAABBTree::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h b/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h index 692c9e1f..d6175073 100644 --- a/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h +++ b/include/reactphysics3d/collision/narrowphase/CollisionDispatch.h @@ -105,7 +105,7 @@ class CollisionDispatch { /// use between two types of collision shapes. NarrowPhaseAlgorithmType selectAlgorithm(int type1, int type2); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -163,7 +163,7 @@ class CollisionDispatch { NarrowPhaseAlgorithmType selectNarrowPhaseAlgorithm(const CollisionShapeType& shape1Type, const CollisionShapeType& shape2Type) const; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -202,7 +202,7 @@ inline ConvexPolyhedronVsConvexPolyhedronAlgorithm* CollisionDispatch::getConvex return mConvexPolyhedronVsConvexPolyhedronAlgorithm; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void CollisionDispatch::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h index ab1d605d..7b4474de 100644 --- a/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h @@ -65,7 +65,7 @@ class GJKAlgorithm { // -------------------- Attributes -------------------- // -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -100,7 +100,7 @@ class GJKAlgorithm { void testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems, List& gjkResults); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -109,7 +109,7 @@ class GJKAlgorithm { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void GJKAlgorithm::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h b/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h index 82ce4b90..49d26a35 100644 --- a/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h @@ -70,7 +70,7 @@ class NarrowPhaseAlgorithm { // -------------------- Attributes -------------------- // -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -94,7 +94,7 @@ class NarrowPhaseAlgorithm { /// Deleted assignment operator NarrowPhaseAlgorithm& operator=(const NarrowPhaseAlgorithm& algorithm) = delete; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -103,7 +103,7 @@ class NarrowPhaseAlgorithm { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void NarrowPhaseAlgorithm::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h index 30479921..c9fa31f6 100644 --- a/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h +++ b/include/reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h @@ -78,7 +78,7 @@ class SATAlgorithm { /// Memory allocator MemoryAllocator& mMemoryAllocator; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -173,7 +173,7 @@ class SATAlgorithm { /// Test collision between two convex meshes bool testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint batchStartIndex, uint batchNbItems) const; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -182,7 +182,7 @@ class SATAlgorithm { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void SATAlgorithm::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/collision/shapes/CollisionShape.h b/include/reactphysics3d/collision/shapes/CollisionShape.h index 90b25b1d..803545de 100644 --- a/include/reactphysics3d/collision/shapes/CollisionShape.h +++ b/include/reactphysics3d/collision/shapes/CollisionShape.h @@ -79,7 +79,7 @@ class CollisionShape { /// List of the colliders associated with this shape List mColliders; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -152,7 +152,7 @@ class CollisionShape { /// Return the string representation of the shape virtual std::string to_string() const=0; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler virtual void setProfiler(Profiler* profiler); @@ -199,7 +199,7 @@ inline void CollisionShape::removeCollider(Collider* collider) { mColliders.remove(collider); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void CollisionShape::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h index 087e7092..16721c62 100644 --- a/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h +++ b/include/reactphysics3d/collision/shapes/ConcaveMeshShape.h @@ -82,7 +82,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { MemoryAllocator& mAllocator; const Vector3& mMeshScale; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -110,7 +110,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback { return mIsHit; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler) { @@ -196,7 +196,7 @@ class ConcaveMeshShape : public ConcaveShape { /// Return the string representation of the shape virtual std::string to_string() const override; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler virtual void setProfiler(Profiler* profiler) override; @@ -250,7 +250,7 @@ inline void ConvexTriangleAABBOverlapCallback::notifyOverlappingNode(int nodeId) mTriangleTestCallback.testTriangle(trianglePoints, verticesNormals, mConcaveMeshShape.computeTriangleShapeId(data[0], data[1])); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void ConcaveMeshShape::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/decimal.h b/include/reactphysics3d/decimal.h index 5722d949..f3bd1631 100644 --- a/include/reactphysics3d/decimal.h +++ b/include/reactphysics3d/decimal.h @@ -29,7 +29,7 @@ /// ReactPhysiscs3D namespace namespace reactphysics3d { -#if defined(IS_DOUBLE_PRECISION_ENABLED) // If we are compiling for double precision +#if defined(IS_RP3D_DOUBLE_PRECISION_ENABLED) // If we are compiling for double precision using decimal = double; #else // If we are compiling for single precision using decimal = float; diff --git a/include/reactphysics3d/engine/OverlappingPairs.h b/include/reactphysics3d/engine/OverlappingPairs.h index 35a5342f..1aa7ddf6 100644 --- a/include/reactphysics3d/engine/OverlappingPairs.h +++ b/include/reactphysics3d/engine/OverlappingPairs.h @@ -194,7 +194,7 @@ class OverlappingPairs { /// Reference to the collision dispatch CollisionDispatch& mCollisionDispatch; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -297,7 +297,7 @@ class OverlappingPairs { /// Set to true if the two colliders of the pair were already colliding the previous frame void setCollidingInPreviousFrame(uint64 pairId, bool wereCollidingInPreviousFrame); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -407,7 +407,7 @@ inline void OverlappingPairs::setCollidingInPreviousFrame(uint64 pairId, bool we mCollidingInPreviousFrame[mMapPairIdToPairIndex[pairId]] = wereCollidingInPreviousFrame; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void OverlappingPairs::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/engine/PhysicsCommon.h b/include/reactphysics3d/engine/PhysicsCommon.h index 54de743f..ba117d05 100644 --- a/include/reactphysics3d/engine/PhysicsCommon.h +++ b/include/reactphysics3d/engine/PhysicsCommon.h @@ -98,7 +98,7 @@ class PhysicsCommon { void release(); // If profiling is enabled -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Create and return a new profiler Profiler* createProfiler(); diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h index 2a894ae4..e3ce366b 100644 --- a/include/reactphysics3d/engine/PhysicsWorld.h +++ b/include/reactphysics3d/engine/PhysicsWorld.h @@ -229,7 +229,7 @@ class PhysicsWorld { /// Name of the physics world std::string mName; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Real-time hierarchical profiler Profiler* mProfiler; @@ -461,7 +461,7 @@ class PhysicsWorld { /// Return a reference to the Debug Renderer of the world DebugRenderer& getDebugRenderer(); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Return a reference to the profiler Profiler* getProfiler(); @@ -584,7 +584,7 @@ inline const std::string& PhysicsWorld::getName() const { return mName; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Return a pointer to the profiler /** diff --git a/include/reactphysics3d/systems/BroadPhaseSystem.h b/include/reactphysics3d/systems/BroadPhaseSystem.h index ee29832b..66a2cacc 100644 --- a/include/reactphysics3d/systems/BroadPhaseSystem.h +++ b/include/reactphysics3d/systems/BroadPhaseSystem.h @@ -131,7 +131,7 @@ class BroadPhaseSystem { /// Reference to the collision detection object CollisionDetectionSystem& mCollisionDetection; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -198,7 +198,7 @@ class BroadPhaseSystem { /// Ray casting method void raycast(const Ray& ray, RaycastTest& raycastTest, unsigned short raycastWithCategoryMaskBits) const; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -225,7 +225,7 @@ inline Collider* BroadPhaseSystem::getColliderForBroadPhaseId(int broadPhaseId) return static_cast(mDynamicAABBTree.getNodeDataPointer(broadPhaseId)); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void BroadPhaseSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/CollisionDetectionSystem.h b/include/reactphysics3d/systems/CollisionDetectionSystem.h index f2928fa3..677b6733 100644 --- a/include/reactphysics3d/systems/CollisionDetectionSystem.h +++ b/include/reactphysics3d/systems/CollisionDetectionSystem.h @@ -166,7 +166,7 @@ class CollisionDetectionSystem { /// Map a body entity to the list of contact pairs in which it is involved Map> mMapBodyToContactPairs; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -361,7 +361,7 @@ class CollisionDetectionSystem { /// Return the world event listener EventListener* getWorldEventListener(); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -440,7 +440,7 @@ inline void CollisionDetectionSystem::updateColliders(decimal timeStep) { mBroadPhaseSystem.updateColliders(timeStep); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void CollisionDetectionSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/ConstraintSolverSystem.h b/include/reactphysics3d/systems/ConstraintSolverSystem.h index 5460cac2..3458b1ee 100644 --- a/include/reactphysics3d/systems/ConstraintSolverSystem.h +++ b/include/reactphysics3d/systems/ConstraintSolverSystem.h @@ -173,7 +173,7 @@ class ConstraintSolverSystem { /// Solver for the SliderJoint constraints SolveSliderJointSystem mSolveSliderJointSystem; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -209,7 +209,7 @@ class ConstraintSolverSystem { /// Enable/Disable the Non-Linear-Gauss-Seidel position correction technique. void setIsNonLinearGaussSeidelPositionCorrectionActive(bool isActive); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -218,7 +218,7 @@ class ConstraintSolverSystem { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void ConstraintSolverSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/ContactSolverSystem.h b/include/reactphysics3d/systems/ContactSolverSystem.h index b98c294b..6afc3d5f 100644 --- a/include/reactphysics3d/systems/ContactSolverSystem.h +++ b/include/reactphysics3d/systems/ContactSolverSystem.h @@ -330,7 +330,7 @@ class ContactSolverSystem { /// True if the split impulse position correction is active bool mIsSplitImpulseActive; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -391,7 +391,7 @@ class ContactSolverSystem { /// Activate or Deactivate the split impulses for contacts void setIsSplitImpulseActive(bool isActive); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -409,7 +409,7 @@ inline void ContactSolverSystem::setIsSplitImpulseActive(bool isActive) { mIsSplitImpulseActive = isActive; } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void ContactSolverSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/DynamicsSystem.h b/include/reactphysics3d/systems/DynamicsSystem.h index 4b52a45e..ca0a90f5 100644 --- a/include/reactphysics3d/systems/DynamicsSystem.h +++ b/include/reactphysics3d/systems/DynamicsSystem.h @@ -69,7 +69,7 @@ class DynamicsSystem { /// Reference to the world gravity vector Vector3& mGravity; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -87,7 +87,7 @@ class DynamicsSystem { /// Destructor ~DynamicsSystem() = default; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -111,7 +111,7 @@ class DynamicsSystem { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void DynamicsSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h b/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h index 2e18ba79..fbfde73a 100644 --- a/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h +++ b/include/reactphysics3d/systems/SolveBallAndSocketJointSystem.h @@ -74,7 +74,7 @@ class SolveBallAndSocketJointSystem { /// True if warm starting of the solver is active bool mIsWarmStartingActive; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -111,7 +111,7 @@ class SolveBallAndSocketJointSystem { /// Set to true to enable warm starting void setIsWarmStartingActive(bool isWarmStartingActive); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -120,7 +120,7 @@ class SolveBallAndSocketJointSystem { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void SolveBallAndSocketJointSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/SolveFixedJointSystem.h b/include/reactphysics3d/systems/SolveFixedJointSystem.h index 7640f096..45d6f53f 100644 --- a/include/reactphysics3d/systems/SolveFixedJointSystem.h +++ b/include/reactphysics3d/systems/SolveFixedJointSystem.h @@ -73,7 +73,7 @@ class SolveFixedJointSystem { /// True if warm starting of the solver is active bool mIsWarmStartingActive; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -108,7 +108,7 @@ class SolveFixedJointSystem { /// Set to true to enable warm starting void setIsWarmStartingActive(bool isWarmStartingActive); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -117,7 +117,7 @@ class SolveFixedJointSystem { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void SolveFixedJointSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/SolveHingeJointSystem.h b/include/reactphysics3d/systems/SolveHingeJointSystem.h index 9e120863..94e38de3 100644 --- a/include/reactphysics3d/systems/SolveHingeJointSystem.h +++ b/include/reactphysics3d/systems/SolveHingeJointSystem.h @@ -73,7 +73,7 @@ class SolveHingeJointSystem { /// True if warm starting of the solver is active bool mIsWarmStartingActive; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -126,7 +126,7 @@ class SolveHingeJointSystem { /// Set to true to enable warm starting void setIsWarmStartingActive(bool isWarmStartingActive); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -135,7 +135,7 @@ class SolveHingeJointSystem { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void SolveHingeJointSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/systems/SolveSliderJointSystem.h b/include/reactphysics3d/systems/SolveSliderJointSystem.h index 651aafbe..f0e56c87 100644 --- a/include/reactphysics3d/systems/SolveSliderJointSystem.h +++ b/include/reactphysics3d/systems/SolveSliderJointSystem.h @@ -73,7 +73,7 @@ class SolveSliderJointSystem { /// True if warm starting of the solver is active bool mIsWarmStartingActive; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Pointer to the profiler Profiler* mProfiler; @@ -112,7 +112,7 @@ class SolveSliderJointSystem { /// Set to true to enable warm starting void setIsWarmStartingActive(bool isWarmStartingActive); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED /// Set the profiler void setProfiler(Profiler* profiler); @@ -121,7 +121,7 @@ class SolveSliderJointSystem { }; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED // Set the profiler inline void SolveSliderJointSystem::setProfiler(Profiler* profiler) { diff --git a/include/reactphysics3d/utils/Profiler.h b/include/reactphysics3d/utils/Profiler.h index 631cc7e6..fc582fc2 100644 --- a/include/reactphysics3d/utils/Profiler.h +++ b/include/reactphysics3d/utils/Profiler.h @@ -27,7 +27,8 @@ #define REACTPHYSICS3D_PROFILER_H // If profiling is enabled -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Libraries #include diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index fedb9f7b..47ca30fc 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -43,7 +43,8 @@ using namespace reactphysics3d; CollisionBody::CollisionBody(PhysicsWorld& world, Entity entity) : mEntity(entity), mWorld(world) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; #endif @@ -92,7 +93,8 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans // Assign the collider with the collision shape collisionShape->addCollider(collider); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler collider->setProfiler(mProfiler); diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 2c242c48..e099adb9 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -582,7 +582,8 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform // Assign the collider with the collision shape collisionShape->addCollider(collider); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler collider->setProfiler(mProfiler); @@ -905,7 +906,8 @@ void RigidBody::setIsActive(bool isActive) { CollisionBody::setIsActive(isActive); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler void RigidBody::setProfiler(Profiler* profiler) { diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp index 68ed01de..85059f7b 100644 --- a/src/collision/Collider.cpp +++ b/src/collision/Collider.cpp @@ -247,7 +247,8 @@ void Collider::setIsTrigger(bool isTrigger) const { mBody->mWorld.mCollidersComponents.setIsTrigger(mEntity, isTrigger); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler void Collider::setProfiler(Profiler* profiler) { diff --git a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp index efcaf3c3..643e569f 100644 --- a/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp @@ -50,7 +50,8 @@ bool CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar GJKAlgorithm gjkAlgorithm; SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + gjkAlgorithm.setProfiler(mProfiler); satAlgorithm.setProfiler(mProfiler); diff --git a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp index 7cea8c2b..021d533b 100644 --- a/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp @@ -42,7 +42,8 @@ bool ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB // Run the SAT algorithm to find the separating axis and compute contact point SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + satAlgorithm.setProfiler(mProfiler); diff --git a/src/collision/narrowphase/SAT/SATAlgorithm.cpp b/src/collision/narrowphase/SAT/SATAlgorithm.cpp index 69b0c236..6c11b444 100644 --- a/src/collision/narrowphase/SAT/SATAlgorithm.cpp +++ b/src/collision/narrowphase/SAT/SATAlgorithm.cpp @@ -47,7 +47,8 @@ const decimal SATAlgorithm::SEPARATING_AXIS_ABSOLUTE_TOLERANCE = decimal(0.0005) SATAlgorithm::SATAlgorithm(bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) : mClipWithPreviousAxisIfStillColliding(clipWithPreviousAxisIfStillColliding), mMemoryAllocator(memoryAllocator) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; #endif diff --git a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp index 9c677fa4..260e5be9 100644 --- a/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp +++ b/src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp @@ -43,7 +43,8 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr bool isCollisionFound = false; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + gjkAlgorithm.setProfiler(mProfiler); @@ -82,7 +83,8 @@ bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr // Run the SAT algorithm to find the separating axis and compute contact point SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + satAlgorithm.setProfiler(mProfiler); diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp index e49aa2e8..50879915 100644 --- a/src/collision/shapes/CollisionShape.cpp +++ b/src/collision/shapes/CollisionShape.cpp @@ -36,7 +36,8 @@ using namespace reactphysics3d; CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator) : mType(type), mName(name), mId(0), mColliders(allocator) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; #endif diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp index 37c3c729..053d221f 100644 --- a/src/collision/shapes/ConcaveMeshShape.cpp +++ b/src/collision/shapes/ConcaveMeshShape.cpp @@ -182,7 +182,8 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide // Create the callback object that will compute ray casting against triangles ConcaveMeshRaycastCallback raycastCallback(mDynamicAABBTree, *this, collider, raycastInfo, scaledRay, mScale, allocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler raycastCallback.setProfiler(mProfiler); @@ -249,7 +250,8 @@ void ConcaveMeshRaycastCallback::raycastTriangles() { TriangleShape triangleShape(trianglePoints, verticesNormals, mConcaveMeshShape.computeTriangleShapeId(data[0], data[1]), mAllocator); triangleShape.setRaycastTestType(mConcaveMeshShape.getRaycastTestType()); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler to the triangle shape triangleShape.setProfiler(mProfiler); diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp index 7553960d..892f5238 100644 --- a/src/collision/shapes/HeightFieldShape.cpp +++ b/src/collision/shapes/HeightFieldShape.cpp @@ -256,7 +256,8 @@ bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide TriangleShape triangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], allocator); triangleShape.setRaycastTestType(getRaycastTestType()); - #ifdef IS_PROFILING_ACTIVE + #ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler to the triangle shape triangleShape.setProfiler(mProfiler); diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp index 6f08486c..3d3235e4 100644 --- a/src/engine/PhysicsCommon.cpp +++ b/src/engine/PhysicsCommon.cpp @@ -104,7 +104,8 @@ void PhysicsCommon::release() { } // If profiling is enabled -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Destroy the profilers for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) { @@ -120,7 +121,8 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting Profiler* profiler = nullptr; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + profiler = createProfiler(); @@ -373,7 +375,8 @@ void PhysicsCommon::destroyDefaultLogger(DefaultLogger* logger) { } // If profiling is enabled -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Create and return a new profiler /// Note that you need to use a different profiler for each PhysicsWorld. diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp index 8480f640..bc04aaad 100644 --- a/src/engine/PhysicsWorld.cpp +++ b/src/engine/PhysicsWorld.cpp @@ -85,7 +85,8 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo mName = ss.str(); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + assert(profiler != nullptr); mProfiler = profiler; @@ -121,7 +122,8 @@ PhysicsWorld::~PhysicsWorld() { destroyCollisionBody(mCollisionBodies[i]); } -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Print the profiling report into the destinations mProfiler->printReport(); @@ -175,7 +177,8 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) { // Add the collision body to the world mCollisionBodies.add(collisionBody); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + collisionBody->setProfiler(mProfiler); @@ -313,7 +316,8 @@ AABB PhysicsWorld::getWorldAABB(const Collider* collider) const { */ void PhysicsWorld::update(decimal timeStep) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Increment the frame counter of the profiler mProfiler->incrementFrameCounter(); #endif @@ -462,7 +466,8 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) { // Add the rigid body to the physics world mRigidBodies.add(rigidBody); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + rigidBody->setProfiler(mProfiler); #endif diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp index fdd0594e..58b270e0 100644 --- a/src/systems/BroadPhaseSystem.cpp +++ b/src/systems/BroadPhaseSystem.cpp @@ -42,7 +42,8 @@ BroadPhaseSystem::BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, mRigidBodyComponents(rigidBodyComponents), mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()), mCollisionDetection(collisionDetection) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp index 0cf1ddec..817fb12e 100644 --- a/src/systems/CollisionDetectionSystem.cpp +++ b/src/systems/CollisionDetectionSystem.cpp @@ -69,7 +69,8 @@ CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, Collider mContactPoints2(mMemoryManager.getPoolAllocator()), mPreviousContactPoints(&mContactPoints1), mCurrentContactPoints(&mContactPoints2), mMapBodyToContactPairs(mMemoryManager.getSingleFrameAllocator()) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; mCollisionDispatch.setProfiler(mProfiler); @@ -412,7 +413,8 @@ void CollisionDetectionSystem::computeConvexVsConcaveMiddlePhase(uint64 pairInde TriangleShape* triangleShape = new (allocator.allocate(sizeof(TriangleShape))) TriangleShape(&(triangleVertices[i * 3]), &(triangleVerticesNormals[i * 3]), shapeIds[i], allocator); - #ifdef IS_PROFILING_ACTIVE + #ifdef IS_RP3D_PROFILING_ENABLED + // Set the profiler to the triangle shape triangleShape->setProfiler(mProfiler); diff --git a/src/systems/ConstraintSolverSystem.cpp b/src/systems/ConstraintSolverSystem.cpp index 43f56330..844a7afc 100644 --- a/src/systems/ConstraintSolverSystem.cpp +++ b/src/systems/ConstraintSolverSystem.cpp @@ -47,7 +47,8 @@ ConstraintSolverSystem::ConstraintSolverSystem(PhysicsWorld& world, Islands& isl mSolveHingeJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, hingeJointComponents), mSolveSliderJointSystem(world, rigidBodyComponents, transformComponents, jointComponents, sliderJointComponents) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; diff --git a/src/systems/ContactSolverSystem.cpp b/src/systems/ContactSolverSystem.cpp index 157cab57..a454d1f9 100644 --- a/src/systems/ContactSolverSystem.cpp +++ b/src/systems/ContactSolverSystem.cpp @@ -53,7 +53,8 @@ ContactSolverSystem::ContactSolverSystem(MemoryManager& memoryManager, PhysicsWo mBodyComponents(bodyComponents), mRigidBodyComponents(rigidBodyComponents), mColliderComponents(colliderComponents), mIsSplitImpulseActive(true) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = nullptr; #endif diff --git a/src/utils/Profiler.cpp b/src/utils/Profiler.cpp index 6c1b6e10..152bb531 100644 --- a/src/utils/Profiler.cpp +++ b/src/utils/Profiler.cpp @@ -24,7 +24,8 @@ ********************************************************************************/ // If profiling is enabled -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + // Libraries #include diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 69e5c45e..804f7cb8 100755 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -1,11 +1,11 @@ # Minimum cmake version required -CMAKE_MINIMUM_REQUIRED(VERSION 3.2 FATAL_ERROR) +cmake_minimum_required(VERSION 3.8) # Project configuration -PROJECT(TESTS) +project(TESTS) # Header files -SET (RP3D_TESTS_HEADERS +set (RP3D_TESTS_HEADERS "Test.h" "TestSuite.h" "tests/collision/TestAABB.h" @@ -30,20 +30,20 @@ SET (RP3D_TESTS_HEADERS ) # Source files -SET (RP3D_TESTS_SOURCES +set (RP3D_TESTS_SOURCES "main.cpp" "Test.cpp" "TestSuite.cpp" ) # Create the tests executable -ADD_EXECUTABLE(tests ${RP3D_TESTS_HEADERS} ${RP3D_TESTS_SOURCES}) +add_executable(tests ${RP3D_TESTS_HEADERS} ${RP3D_TESTS_SOURCES}) # Headers -TARGET_INCLUDE_DIRECTORIES(reactphysics3d PUBLIC +target_include_directories(reactphysics3d PUBLIC $ ) -TARGET_LINK_LIBRARIES(tests reactphysics3d) +target_link_libraries(tests reactphysics3d) -ADD_TEST(Test tests) +add_test(Test tests) diff --git a/test/tests/collision/TestDynamicAABBTree.h b/test/tests/collision/TestDynamicAABBTree.h index 8150f165..69b876be 100755 --- a/test/tests/collision/TestDynamicAABBTree.h +++ b/test/tests/collision/TestDynamicAABBTree.h @@ -97,7 +97,8 @@ class TestDynamicAABBTree : public Test { PhysicsCommon mPhysicsCommon; -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + Profiler* mProfiler; #endif @@ -108,7 +109,8 @@ class TestDynamicAABBTree : public Test { /// Constructor TestDynamicAABBTree(const std::string& name): Test(name) { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + mProfiler = new Profiler(); #endif @@ -117,7 +119,8 @@ class TestDynamicAABBTree : public Test { /// Constructor ~TestDynamicAABBTree() { -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + delete mProfiler; #endif @@ -142,7 +145,8 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + tree.setProfiler(mProfiler); #endif @@ -191,7 +195,8 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + tree.setProfiler(mProfiler); #endif @@ -386,7 +391,8 @@ class TestDynamicAABBTree : public Test { // Dynamic AABB Tree DynamicAABBTree tree(mAllocator); -#ifdef IS_PROFILING_ACTIVE +#ifdef IS_RP3D_PROFILING_ENABLED + tree.setProfiler(mProfiler); #endif diff --git a/testbed/CMakeLists.txt b/testbed/CMakeLists.txt index 038ff1e4..0ff2051f 100755 --- a/testbed/CMakeLists.txt +++ b/testbed/CMakeLists.txt @@ -1,28 +1,22 @@ # Minimum cmake version required -CMAKE_MINIMUM_REQUIRED(VERSION 3.2 FATAL_ERROR) +cmake_minimum_required(VERSION 3.8) # Project configuration -PROJECT(Testbed) +project(Testbed) -# Where to build the executables -SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/testbed") -SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}) -SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${EXECUTABLE_OUTPUT_PATH}) -SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH}) - -ADD_SUBDIRECTORY(nanogui/) +add_subdirectory(nanogui/) # Copy the shaders used for the demo into the build directory -FILE(COPY "shaders/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/shaders/") +file(COPY "shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/") # Copy the meshes used for the demo into the build directory -FILE(COPY "meshes/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/meshes/") +file(COPY "meshes/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/meshes/") # Headers -INCLUDE_DIRECTORIES("src/" "nanogui/include/" "opengl-framework/src/" "common/" "scenes/" ${NANOGUI_EXTRA_INCS}) +include_directories("src/" "nanogui/include/" "opengl-framework/src/" "common/" "scenes/" ${NANOGUI_EXTRA_INCS}) # OpenGLFramework source files -SET(OPENGLFRAMEWORK_SOURCES +set(OPENGLFRAMEWORK_SOURCES opengl-framework/src/maths/Color.h opengl-framework/src/maths/Matrix3.h opengl-framework/src/maths/Matrix4.h @@ -56,7 +50,7 @@ SET(OPENGLFRAMEWORK_SOURCES ) # Testbed source files -SET(TESTBED_SOURCES +set(TESTBED_SOURCES src/Main.cpp src/TestbedApplication.h src/TestbedApplication.cpp @@ -71,7 +65,7 @@ SET(TESTBED_SOURCES ) # Common source files -SET(COMMON_SOURCES +set(COMMON_SOURCES common/Box.h common/Box.cpp common/Sphere.h @@ -99,7 +93,7 @@ SET(COMMON_SOURCES ) # Examples scenes source files -SET(SCENES_SOURCES +set(SCENES_SOURCES scenes/cubes/CubesScene.h scenes/cubes/CubesScene.cpp scenes/joints/JointsScene.h @@ -121,20 +115,20 @@ SET(SCENES_SOURCES ) # Add .user file to set debug path in Visual Studio -SET(USER_FILE testbed.vcxproj.user) -SET(VS_USERFILE_WORKING_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH}) -SET(OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}/${USER_FILE}) -CONFIGURE_FILE(VisualStudioUserTemplate.user ${USER_FILE} @ONLY) +set(USER_FILE testbed.vcxproj.user) +set(VS_USERFILE_WORKING_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH}) +set(OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}/${USER_FILE}) +configure_file(VisualStudioUserTemplate.user ${USER_FILE} @ONLY) # Compile definitions -ADD_DEFINITIONS(${NANOGUI_EXTRA_DEFS}) +add_definitions(${NANOGUI_EXTRA_DEFS}) # Create the executable -ADD_EXECUTABLE(testbed ${TESTBED_SOURCES} ${SCENES_SOURCES} ${COMMON_SOURCES} ${OPENGLFRAMEWORK_SOURCES}) +add_executable(testbed ${TESTBED_SOURCES} ${SCENES_SOURCES} ${COMMON_SOURCES} ${OPENGLFRAMEWORK_SOURCES}) # Enable C++11 features set_property(TARGET testbed PROPERTY CXX_STANDARD 11) set_property(TARGET testbed PROPERTY CXX_STANDARD_REQUIRED ON) # Link with libraries -TARGET_LINK_LIBRARIES(testbed reactphysics3d nanogui ${NANOGUI_EXTRA_LIBS}) +target_link_libraries(testbed reactphysics3d nanogui ${NANOGUI_EXTRA_LIBS}) From 65be9827ced250e24d6d0cf1941d742726a183bc Mon Sep 17 00:00:00 2001 From: Daniel Chappuis Date: Tue, 12 May 2020 22:50:46 +0200 Subject: [PATCH 145/197] Use more modern CMake and include nanogui using git submodule instead of static source code --- .gitmodules | 3 + testbed/CMakeLists.txt | 53 +- testbed/extern/nanogui | 1 + testbed/nanogui/CMakeLists.txt | 575 - testbed/nanogui/CONTRIBUTING.rst | 48 - testbed/nanogui/LICENSE.txt | 36 - testbed/nanogui/README.md | 142 - testbed/nanogui/README.rst | 217 - testbed/nanogui/ext/coro/LICENSE | 26 - testbed/nanogui/ext/coro/README | 6 - testbed/nanogui/ext/coro/coro.c | 803 - testbed/nanogui/ext/coro/coro.h | 425 - testbed/nanogui/ext/eigen/CMakeLists.txt | 597 - testbed/nanogui/ext/eigen/COPYING.BSD | 26 - testbed/nanogui/ext/eigen/COPYING.GPL | 674 - testbed/nanogui/ext/eigen/COPYING.LGPL | 502 - testbed/nanogui/ext/eigen/COPYING.MINPACK | 52 - testbed/nanogui/ext/eigen/COPYING.MPL2 | 373 - testbed/nanogui/ext/eigen/COPYING.README | 18 - testbed/nanogui/ext/eigen/CTestConfig.cmake | 17 - .../nanogui/ext/eigen/CTestCustom.cmake.in | 3 - .../nanogui/ext/eigen/Eigen/CMakeLists.txt | 19 - testbed/nanogui/ext/eigen/Eigen/Cholesky | 41 - .../nanogui/ext/eigen/Eigen/CholmodSupport | 48 - testbed/nanogui/ext/eigen/Eigen/Core | 540 - testbed/nanogui/ext/eigen/Eigen/Dense | 7 - testbed/nanogui/ext/eigen/Eigen/Eigen | 2 - testbed/nanogui/ext/eigen/Eigen/Eigenvalues | 57 - testbed/nanogui/ext/eigen/Eigen/Geometry | 61 - testbed/nanogui/ext/eigen/Eigen/Householder | 30 - .../ext/eigen/Eigen/IterativeLinearSolvers | 48 - testbed/nanogui/ext/eigen/Eigen/Jacobi | 33 - testbed/nanogui/ext/eigen/Eigen/LU | 46 - testbed/nanogui/ext/eigen/Eigen/MetisSupport | 35 - .../nanogui/ext/eigen/Eigen/OrderingMethods | 73 - testbed/nanogui/ext/eigen/Eigen/PaStiXSupport | 48 - .../nanogui/ext/eigen/Eigen/PardisoSupport | 35 - testbed/nanogui/ext/eigen/Eigen/QR | 47 - .../nanogui/ext/eigen/Eigen/QtAlignedMalloc | 40 - testbed/nanogui/ext/eigen/Eigen/SPQRSupport | 34 - testbed/nanogui/ext/eigen/Eigen/SVD | 47 - testbed/nanogui/ext/eigen/Eigen/Sparse | 36 - .../nanogui/ext/eigen/Eigen/SparseCholesky | 45 - testbed/nanogui/ext/eigen/Eigen/SparseCore | 69 - testbed/nanogui/ext/eigen/Eigen/SparseLU | 46 - testbed/nanogui/ext/eigen/Eigen/SparseQR | 37 - testbed/nanogui/ext/eigen/Eigen/StdDeque | 27 - testbed/nanogui/ext/eigen/Eigen/StdList | 26 - testbed/nanogui/ext/eigen/Eigen/StdVector | 27 - .../nanogui/ext/eigen/Eigen/SuperLUSupport | 64 - .../nanogui/ext/eigen/Eigen/UmfPackSupport | 40 - .../ext/eigen/Eigen/src/Cholesky/LDLT.h | 668 - .../ext/eigen/Eigen/src/Cholesky/LLT.h | 533 - .../eigen/Eigen/src/Cholesky/LLT_LAPACKE.h | 99 - .../Eigen/src/CholmodSupport/CholmodSupport.h | 682 - .../eigen/Eigen/src/Core/ArithmeticSequence.h | 350 - .../nanogui/ext/eigen/Eigen/src/Core/Array.h | 325 - .../ext/eigen/Eigen/src/Core/ArrayBase.h | 226 - .../ext/eigen/Eigen/src/Core/ArrayWrapper.h | 207 - .../nanogui/ext/eigen/Eigen/src/Core/Assign.h | 90 - .../eigen/Eigen/src/Core/AssignEvaluator.h | 935 - .../ext/eigen/Eigen/src/Core/Assign_MKL.h | 176 - .../ext/eigen/Eigen/src/Core/BandMatrix.h | 353 - .../nanogui/ext/eigen/Eigen/src/Core/Block.h | 452 - .../ext/eigen/Eigen/src/Core/BooleanRedux.h | 162 - .../eigen/Eigen/src/Core/CommaInitializer.h | 160 - .../eigen/Eigen/src/Core/ConditionEstimator.h | 175 - .../ext/eigen/Eigen/src/Core/CoreEvaluators.h | 1728 -- .../ext/eigen/Eigen/src/Core/CoreIterators.h | 132 - .../ext/eigen/Eigen/src/Core/CwiseBinaryOp.h | 183 - .../ext/eigen/Eigen/src/Core/CwiseNullaryOp.h | 866 - .../ext/eigen/Eigen/src/Core/CwiseTernaryOp.h | 197 - .../ext/eigen/Eigen/src/Core/CwiseUnaryOp.h | 103 - .../ext/eigen/Eigen/src/Core/CwiseUnaryView.h | 128 - .../ext/eigen/Eigen/src/Core/DenseBase.h | 615 - .../eigen/Eigen/src/Core/DenseCoeffsBase.h | 681 - .../ext/eigen/Eigen/src/Core/DenseStorage.h | 570 - .../ext/eigen/Eigen/src/Core/Diagonal.h | 259 - .../ext/eigen/Eigen/src/Core/DiagonalMatrix.h | 343 - .../eigen/Eigen/src/Core/DiagonalProduct.h | 28 - .../nanogui/ext/eigen/Eigen/src/Core/Dot.h | 315 - .../ext/eigen/Eigen/src/Core/EigenBase.h | 158 - .../eigen/Eigen/src/Core/ForceAlignedAccess.h | 146 - .../nanogui/ext/eigen/Eigen/src/Core/Fuzzy.h | 155 - .../ext/eigen/Eigen/src/Core/GeneralProduct.h | 454 - .../eigen/Eigen/src/Core/GenericPacketMath.h | 598 - .../eigen/Eigen/src/Core/GlobalFunctions.h | 188 - testbed/nanogui/ext/eigen/Eigen/src/Core/IO.h | 225 - .../ext/eigen/Eigen/src/Core/IndexedView.h | 207 - .../ext/eigen/Eigen/src/Core/Inverse.h | 118 - .../nanogui/ext/eigen/Eigen/src/Core/Map.h | 164 - .../ext/eigen/Eigen/src/Core/MapBase.h | 299 - .../ext/eigen/Eigen/src/Core/MathFunctions.h | 1667 -- .../eigen/Eigen/src/Core/MathFunctionsImpl.h | 73 - .../nanogui/ext/eigen/Eigen/src/Core/Matrix.h | 461 - .../ext/eigen/Eigen/src/Core/MatrixBase.h | 530 - .../ext/eigen/Eigen/src/Core/NestByValue.h | 110 - .../ext/eigen/Eigen/src/Core/NoAlias.h | 108 - .../ext/eigen/Eigen/src/Core/NumTraits.h | 246 - .../eigen/Eigen/src/Core/PermutationMatrix.h | 633 - .../eigen/Eigen/src/Core/PlainObjectBase.h | 1031 - .../ext/eigen/Eigen/src/Core/Product.h | 186 - .../eigen/Eigen/src/Core/ProductEvaluators.h | 1099 -- .../nanogui/ext/eigen/Eigen/src/Core/Random.h | 182 - .../nanogui/ext/eigen/Eigen/src/Core/Redux.h | 505 - .../nanogui/ext/eigen/Eigen/src/Core/Ref.h | 283 - .../ext/eigen/Eigen/src/Core/Replicate.h | 142 - .../ext/eigen/Eigen/src/Core/ReturnByValue.h | 117 - .../ext/eigen/Eigen/src/Core/Reverse.h | 211 - .../nanogui/ext/eigen/Eigen/src/Core/Select.h | 162 - .../eigen/Eigen/src/Core/SelfAdjointView.h | 350 - .../eigen/Eigen/src/Core/SelfCwiseBinaryOp.h | 51 - .../nanogui/ext/eigen/Eigen/src/Core/Solve.h | 188 - .../eigen/Eigen/src/Core/SolveTriangular.h | 232 - .../ext/eigen/Eigen/src/Core/SolverBase.h | 130 - .../ext/eigen/Eigen/src/Core/StableNorm.h | 221 - .../nanogui/ext/eigen/Eigen/src/Core/Stride.h | 111 - .../nanogui/ext/eigen/Eigen/src/Core/Swap.h | 67 - .../ext/eigen/Eigen/src/Core/Transpose.h | 403 - .../ext/eigen/Eigen/src/Core/Transpositions.h | 407 - .../eigen/Eigen/src/Core/TriangularMatrix.h | 984 - .../ext/eigen/Eigen/src/Core/VectorBlock.h | 96 - .../ext/eigen/Eigen/src/Core/VectorwiseOp.h | 695 - .../ext/eigen/Eigen/src/Core/Visitor.h | 273 - .../eigen/Eigen/src/Core/arch/AVX/Complex.h | 483 - .../Eigen/src/Core/arch/AVX/MathFunctions.h | 439 - .../Eigen/src/Core/arch/AVX/PacketMath.h | 643 - .../Eigen/src/Core/arch/AVX/TypeCasting.h | 51 - .../src/Core/arch/AVX512/MathFunctions.h | 396 - .../Eigen/src/Core/arch/AVX512/PacketMath.h | 1286 -- .../Eigen/src/Core/arch/AltiVec/Complex.h | 461 - .../src/Core/arch/AltiVec/MathFunctions.h | 322 - .../Eigen/src/Core/arch/AltiVec/PacketMath.h | 1033 - .../eigen/Eigen/src/Core/arch/CUDA/Complex.h | 103 - .../ext/eigen/Eigen/src/Core/arch/CUDA/Half.h | 604 - .../Eigen/src/Core/arch/CUDA/MathFunctions.h | 103 - .../Eigen/src/Core/arch/CUDA/PacketMath.h | 333 - .../Eigen/src/Core/arch/CUDA/PacketMathHalf.h | 1132 -- .../Eigen/src/Core/arch/CUDA/TypeCasting.h | 212 - .../Eigen/src/Core/arch/Default/Settings.h | 49 - .../eigen/Eigen/src/Core/arch/NEON/Complex.h | 486 - .../Eigen/src/Core/arch/NEON/MathFunctions.h | 91 - .../Eigen/src/Core/arch/NEON/PacketMath.h | 729 - .../eigen/Eigen/src/Core/arch/SSE/Complex.h | 503 - .../Eigen/src/Core/arch/SSE/MathFunctions.h | 562 - .../Eigen/src/Core/arch/SSE/PacketMath.h | 931 - .../Eigen/src/Core/arch/SSE/TypeCasting.h | 77 - .../Eigen/src/Core/arch/ZVector/Complex.h | 394 - .../src/Core/arch/ZVector/MathFunctions.h | 137 - .../Eigen/src/Core/arch/ZVector/PacketMath.h | 945 - .../src/Core/functors/AssignmentFunctors.h | 168 - .../Eigen/src/Core/functors/BinaryFunctors.h | 482 - .../Eigen/src/Core/functors/NullaryFunctors.h | 189 - .../Eigen/src/Core/functors/StlFunctors.h | 132 - .../Eigen/src/Core/functors/TernaryFunctors.h | 25 - .../Eigen/src/Core/functors/UnaryFunctors.h | 830 - .../Core/products/GeneralBlockPanelKernel.h | 2149 -- .../src/Core/products/GeneralMatrixMatrix.h | 492 - .../products/GeneralMatrixMatrixTriangular.h | 306 - .../GeneralMatrixMatrixTriangular_BLAS.h | 141 - .../Core/products/GeneralMatrixMatrix_BLAS.h | 115 - .../src/Core/products/GeneralMatrixVector.h | 405 - .../Core/products/GeneralMatrixVector_BLAS.h | 129 - .../Eigen/src/Core/products/Parallelizer.h | 163 - .../Core/products/SelfadjointMatrixMatrix.h | 521 - .../products/SelfadjointMatrixMatrix_BLAS.h | 275 - .../Core/products/SelfadjointMatrixVector.h | 260 - .../products/SelfadjointMatrixVector_BLAS.h | 111 - .../src/Core/products/SelfadjointProduct.h | 133 - .../Core/products/SelfadjointRank2Update.h | 93 - .../Core/products/TriangularMatrixMatrix.h | 441 - .../products/TriangularMatrixMatrix_BLAS.h | 302 - .../Core/products/TriangularMatrixVector.h | 336 - .../products/TriangularMatrixVector_BLAS.h | 241 - .../Core/products/TriangularSolverMatrix.h | 335 - .../products/TriangularSolverMatrix_BLAS.h | 151 - .../Core/products/TriangularSolverVector.h | 145 - .../ext/eigen/Eigen/src/Core/util/BlasUtil.h | 403 - .../ext/eigen/Eigen/src/Core/util/Constants.h | 551 - .../src/Core/util/DisableStupidWarnings.h | 77 - .../Eigen/src/Core/util/ForwardDeclarations.h | 303 - .../Eigen/src/Core/util/IndexedViewHelper.h | 187 - .../Eigen/src/Core/util/IntegralConstant.h | 270 - .../eigen/Eigen/src/Core/util/MKL_support.h | 128 - .../ext/eigen/Eigen/src/Core/util/Macros.h | 1018 - .../ext/eigen/Eigen/src/Core/util/Memory.h | 977 - .../ext/eigen/Eigen/src/Core/util/Meta.h | 550 - .../ext/eigen/Eigen/src/Core/util/NonMPL2.h | 3 - .../src/Core/util/ReenableStupidWarnings.h | 27 - .../eigen/Eigen/src/Core/util/StaticAssert.h | 216 - .../eigen/Eigen/src/Core/util/SymbolicIndex.h | 300 - .../ext/eigen/Eigen/src/Core/util/XprHelper.h | 823 - .../src/Eigenvalues/ComplexEigenSolver.h | 346 - .../Eigen/src/Eigenvalues/ComplexSchur.h | 459 - .../src/Eigenvalues/ComplexSchur_LAPACKE.h | 91 - .../eigen/Eigen/src/Eigenvalues/EigenSolver.h | 622 - .../src/Eigenvalues/GeneralizedEigenSolver.h | 419 - .../GeneralizedSelfAdjointEigenSolver.h | 226 - .../src/Eigenvalues/HessenbergDecomposition.h | 374 - .../src/Eigenvalues/MatrixBaseEigenvalues.h | 160 - .../ext/eigen/Eigen/src/Eigenvalues/RealQZ.h | 654 - .../eigen/Eigen/src/Eigenvalues/RealSchur.h | 546 - .../Eigen/src/Eigenvalues/RealSchur_LAPACKE.h | 77 - .../src/Eigenvalues/SelfAdjointEigenSolver.h | 870 - .../SelfAdjointEigenSolver_LAPACKE.h | 90 - .../src/Eigenvalues/Tridiagonalization.h | 556 - .../ext/eigen/Eigen/src/Geometry/AlignedBox.h | 392 - .../ext/eigen/Eigen/src/Geometry/AngleAxis.h | 247 - .../eigen/Eigen/src/Geometry/EulerAngles.h | 114 - .../eigen/Eigen/src/Geometry/Homogeneous.h | 497 - .../ext/eigen/Eigen/src/Geometry/Hyperplane.h | 282 - .../eigen/Eigen/src/Geometry/OrthoMethods.h | 234 - .../Eigen/src/Geometry/ParametrizedLine.h | 232 - .../ext/eigen/Eigen/src/Geometry/Quaternion.h | 811 - .../ext/eigen/Eigen/src/Geometry/Rotation2D.h | 199 - .../eigen/Eigen/src/Geometry/RotationBase.h | 206 - .../ext/eigen/Eigen/src/Geometry/Scaling.h | 170 - .../ext/eigen/Eigen/src/Geometry/Transform.h | 1542 -- .../eigen/Eigen/src/Geometry/Translation.h | 208 - .../ext/eigen/Eigen/src/Geometry/Umeyama.h | 166 - .../Eigen/src/Geometry/arch/Geometry_SSE.h | 141 - .../Eigen/src/Householder/BlockHouseholder.h | 103 - .../eigen/Eigen/src/Householder/Householder.h | 172 - .../src/Householder/HouseholderSequence.h | 470 - .../BasicPreconditioners.h | 211 - .../src/IterativeLinearSolvers/BiCGSTAB.h | 228 - .../ConjugateGradient.h | 245 - .../IncompleteCholesky.h | 400 - .../IterativeLinearSolvers/IncompleteLUT.h | 462 - .../IterativeSolverBase.h | 394 - .../LeastSquareConjugateGradient.h | 216 - .../IterativeLinearSolvers/SolveWithGuess.h | 115 - .../ext/eigen/Eigen/src/Jacobi/Jacobi.h | 433 - .../ext/eigen/Eigen/src/LU/Determinant.h | 101 - .../ext/eigen/Eigen/src/LU/FullPivLU.h | 889 - .../ext/eigen/Eigen/src/LU/InverseImpl.h | 415 - .../ext/eigen/Eigen/src/LU/PartialPivLU.h | 611 - .../eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h | 83 - .../ext/eigen/Eigen/src/LU/arch/Inverse_SSE.h | 338 - .../Eigen/src/MetisSupport/MetisSupport.h | 137 - .../ext/eigen/Eigen/src/OrderingMethods/Amd.h | 445 - .../Eigen/src/OrderingMethods/Eigen_Colamd.h | 1843 -- .../Eigen/src/OrderingMethods/Ordering.h | 157 - .../Eigen/src/PaStiXSupport/PaStiXSupport.h | 678 - .../Eigen/src/PardisoSupport/PardisoSupport.h | 543 - .../eigen/Eigen/src/QR/ColPivHouseholderQR.h | 652 - .../src/QR/ColPivHouseholderQR_LAPACKE.h | 97 - .../src/QR/CompleteOrthogonalDecomposition.h | 562 - .../eigen/Eigen/src/QR/FullPivHouseholderQR.h | 675 - .../ext/eigen/Eigen/src/QR/HouseholderQR.h | 408 - .../Eigen/src/QR/HouseholderQR_LAPACKE.h | 68 - .../src/SPQRSupport/SuiteSparseQRSupport.h | 313 - .../nanogui/ext/eigen/Eigen/src/SVD/BDCSVD.h | 1230 -- .../ext/eigen/Eigen/src/SVD/JacobiSVD.h | 804 - .../eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h | 90 - .../nanogui/ext/eigen/Eigen/src/SVD/SVDBase.h | 312 - .../Eigen/src/SVD/UpperBidiagonalization.h | 412 - .../src/SparseCholesky/SimplicialCholesky.h | 689 - .../SparseCholesky/SimplicialCholesky_impl.h | 199 - .../eigen/Eigen/src/SparseCore/AmbiVector.h | 377 - .../Eigen/src/SparseCore/CompressedStorage.h | 258 - .../ConservativeSparseSparseProduct.h | 345 - .../Eigen/src/SparseCore/MappedSparseMatrix.h | 67 - .../eigen/Eigen/src/SparseCore/SparseAssign.h | 216 - .../eigen/Eigen/src/SparseCore/SparseBlock.h | 603 - .../Eigen/src/SparseCore/SparseColEtree.h | 206 - .../src/SparseCore/SparseCompressedBase.h | 357 - .../src/SparseCore/SparseCwiseBinaryOp.h | 722 - .../Eigen/src/SparseCore/SparseCwiseUnaryOp.h | 148 - .../Eigen/src/SparseCore/SparseDenseProduct.h | 320 - .../src/SparseCore/SparseDiagonalProduct.h | 138 - .../eigen/Eigen/src/SparseCore/SparseDot.h | 98 - .../eigen/Eigen/src/SparseCore/SparseFuzzy.h | 29 - .../eigen/Eigen/src/SparseCore/SparseMap.h | 305 - .../eigen/Eigen/src/SparseCore/SparseMatrix.h | 1403 -- .../Eigen/src/SparseCore/SparseMatrixBase.h | 405 - .../Eigen/src/SparseCore/SparsePermutation.h | 178 - .../Eigen/src/SparseCore/SparseProduct.h | 169 - .../eigen/Eigen/src/SparseCore/SparseRedux.h | 49 - .../eigen/Eigen/src/SparseCore/SparseRef.h | 397 - .../src/SparseCore/SparseSelfAdjointView.h | 655 - .../Eigen/src/SparseCore/SparseSolverBase.h | 124 - .../SparseSparseProductWithPruning.h | 198 - .../Eigen/src/SparseCore/SparseTranspose.h | 92 - .../src/SparseCore/SparseTriangularView.h | 189 - .../eigen/Eigen/src/SparseCore/SparseUtil.h | 178 - .../eigen/Eigen/src/SparseCore/SparseVector.h | 478 - .../eigen/Eigen/src/SparseCore/SparseView.h | 253 - .../Eigen/src/SparseCore/TriangularSolver.h | 315 - .../ext/eigen/Eigen/src/SparseLU/SparseLU.h | 775 - .../eigen/Eigen/src/SparseLU/SparseLUImpl.h | 66 - .../Eigen/src/SparseLU/SparseLU_Memory.h | 226 - .../Eigen/src/SparseLU/SparseLU_Structs.h | 110 - .../src/SparseLU/SparseLU_SupernodalMatrix.h | 301 - .../eigen/Eigen/src/SparseLU/SparseLU_Utils.h | 80 - .../Eigen/src/SparseLU/SparseLU_column_bmod.h | 181 - .../Eigen/src/SparseLU/SparseLU_column_dfs.h | 179 - .../src/SparseLU/SparseLU_copy_to_ucol.h | 107 - .../Eigen/src/SparseLU/SparseLU_gemm_kernel.h | 280 - .../src/SparseLU/SparseLU_heap_relax_snode.h | 126 - .../Eigen/src/SparseLU/SparseLU_kernel_bmod.h | 130 - .../Eigen/src/SparseLU/SparseLU_panel_bmod.h | 223 - .../Eigen/src/SparseLU/SparseLU_panel_dfs.h | 258 - .../Eigen/src/SparseLU/SparseLU_pivotL.h | 137 - .../Eigen/src/SparseLU/SparseLU_pruneL.h | 136 - .../Eigen/src/SparseLU/SparseLU_relax_snode.h | 83 - .../ext/eigen/Eigen/src/SparseQR/SparseQR.h | 739 - .../ext/eigen/Eigen/src/StlSupport/StdDeque.h | 126 - .../ext/eigen/Eigen/src/StlSupport/StdList.h | 106 - .../eigen/Eigen/src/StlSupport/StdVector.h | 131 - .../ext/eigen/Eigen/src/StlSupport/details.h | 84 - .../Eigen/src/SuperLUSupport/SuperLUSupport.h | 1027 - .../Eigen/src/UmfPackSupport/UmfPackSupport.h | 506 - .../nanogui/ext/eigen/Eigen/src/misc/Image.h | 82 - .../nanogui/ext/eigen/Eigen/src/misc/Kernel.h | 79 - .../ext/eigen/Eigen/src/misc/RealSvd2x2.h | 55 - .../nanogui/ext/eigen/Eigen/src/misc/blas.h | 440 - .../nanogui/ext/eigen/Eigen/src/misc/lapack.h | 152 - .../ext/eigen/Eigen/src/misc/lapacke.h | 16292 ---------------- .../eigen/Eigen/src/misc/lapacke_mangling.h | 17 - .../Eigen/src/plugins/ArrayCwiseBinaryOps.h | 332 - .../Eigen/src/plugins/ArrayCwiseUnaryOps.h | 567 - .../eigen/Eigen/src/plugins/BlockMethods.h | 1356 -- .../Eigen/src/plugins/CommonCwiseBinaryOps.h | 115 - .../Eigen/src/plugins/CommonCwiseUnaryOps.h | 163 - .../Eigen/src/plugins/IndexedViewMethods.h | 267 - .../Eigen/src/plugins/MatrixCwiseBinaryOps.h | 152 - .../Eigen/src/plugins/MatrixCwiseUnaryOps.h | 85 - testbed/nanogui/ext/eigen/INSTALL | 35 - testbed/nanogui/ext/eigen/README.md | 3 - .../nanogui/ext/eigen/bench/BenchSparseUtil.h | 149 - testbed/nanogui/ext/eigen/bench/BenchTimer.h | 195 - testbed/nanogui/ext/eigen/bench/BenchUtil.h | 92 - testbed/nanogui/ext/eigen/bench/README.txt | 55 - .../eigen/bench/analyze-blocking-sizes.cpp | 876 - .../ext/eigen/bench/basicbench.cxxlist | 28 - .../ext/eigen/bench/basicbenchmark.cpp | 35 - .../nanogui/ext/eigen/bench/basicbenchmark.h | 63 - .../nanogui/ext/eigen/bench/benchBlasGemm.cpp | 219 - .../nanogui/ext/eigen/bench/benchCholesky.cpp | 142 - .../ext/eigen/bench/benchEigenSolver.cpp | 212 - testbed/nanogui/ext/eigen/bench/benchFFT.cpp | 115 - .../nanogui/ext/eigen/bench/benchGeometry.cpp | 134 - .../nanogui/ext/eigen/bench/benchVecAdd.cpp | 135 - .../nanogui/ext/eigen/bench/bench_gemm.cpp | 340 - .../ext/eigen/bench/bench_multi_compilers.sh | 28 - .../nanogui/ext/eigen/bench/bench_norm.cpp | 360 - .../nanogui/ext/eigen/bench/bench_reverse.cpp | 84 - testbed/nanogui/ext/eigen/bench/bench_sum.cpp | 18 - .../nanogui/ext/eigen/bench/bench_unrolling | 12 - .../eigen/bench/benchmark-blocking-sizes.cpp | 677 - testbed/nanogui/ext/eigen/bench/benchmark.cpp | 39 - .../ext/eigen/bench/benchmarkSlice.cpp | 38 - .../nanogui/ext/eigen/bench/benchmarkX.cpp | 36 - .../ext/eigen/bench/benchmarkXcwise.cpp | 35 - .../nanogui/ext/eigen/bench/benchmark_suite | 18 - .../ext/eigen/bench/btl/CMakeLists.txt | 107 - testbed/nanogui/ext/eigen/bench/btl/COPYING | 340 - testbed/nanogui/ext/eigen/bench/btl/README | 154 - .../bench/btl/actions/action_aat_product.hh | 145 - .../bench/btl/actions/action_ata_product.hh | 145 - .../bench/btl/actions/action_atv_product.hh | 134 - .../eigen/bench/btl/actions/action_axpby.hh | 127 - .../eigen/bench/btl/actions/action_axpy.hh | 139 - .../bench/btl/actions/action_cholesky.hh | 128 - .../ext/eigen/bench/btl/actions/action_ger.hh | 128 - .../bench/btl/actions/action_hessenberg.hh | 233 - .../bench/btl/actions/action_lu_decomp.hh | 124 - .../bench/btl/actions/action_lu_solve.hh | 136 - .../actions/action_matrix_matrix_product.hh | 150 - .../action_matrix_matrix_product_bis.hh | 152 - .../actions/action_matrix_vector_product.hh | 153 - .../bench/btl/actions/action_partial_lu.hh | 125 - .../ext/eigen/bench/btl/actions/action_rot.hh | 116 - .../eigen/bench/btl/actions/action_symv.hh | 139 - .../eigen/bench/btl/actions/action_syr2.hh | 133 - .../bench/btl/actions/action_trisolve.hh | 137 - .../btl/actions/action_trisolve_matrix.hh | 165 - .../eigen/bench/btl/actions/action_trmm.hh | 165 - .../eigen/bench/btl/actions/basic_actions.hh | 21 - .../ext/eigen/bench/btl/cmake/FindACML.cmake | 51 - .../ext/eigen/bench/btl/cmake/FindATLAS.cmake | 31 - .../ext/eigen/bench/btl/cmake/FindBLAZE.cmake | 31 - .../ext/eigen/bench/btl/cmake/FindBlitz.cmake | 40 - .../ext/eigen/bench/btl/cmake/FindCBLAS.cmake | 35 - .../ext/eigen/bench/btl/cmake/FindGMM.cmake | 17 - .../ext/eigen/bench/btl/cmake/FindMKL.cmake | 65 - .../ext/eigen/bench/btl/cmake/FindMTL4.cmake | 31 - .../eigen/bench/btl/cmake/FindOPENBLAS.cmake | 17 - .../cmake/FindPackageHandleStandardArgs.cmake | 60 - .../ext/eigen/bench/btl/cmake/FindTvmet.cmake | 32 - .../cmake/MacroOptionalAddSubdirectory.cmake | 31 - .../ext/eigen/bench/btl/data/CMakeLists.txt | 32 - .../eigen/bench/btl/data/action_settings.txt | 19 - .../bench/btl/data/gnuplot_common_settings.hh | 87 - .../nanogui/ext/eigen/bench/btl/data/go_mean | 58 - .../nanogui/ext/eigen/bench/btl/data/mean.cxx | 182 - .../eigen/bench/btl/data/mk_gnuplot_script.sh | 68 - .../eigen/bench/btl/data/mk_mean_script.sh | 52 - .../eigen/bench/btl/data/mk_new_gnuplot.sh | 54 - .../bench/btl/data/perlib_plot_settings.txt | 16 - .../ext/eigen/bench/btl/data/regularize.cxx | 131 - .../ext/eigen/bench/btl/data/smooth.cxx | 198 - .../ext/eigen/bench/btl/data/smooth_all.sh | 68 - .../eigen/bench/btl/generic_bench/bench.hh | 168 - .../btl/generic_bench/bench_parameter.hh | 53 - .../ext/eigen/bench/btl/generic_bench/btl.hh | 242 - .../btl/generic_bench/init/init_function.hh | 54 - .../btl/generic_bench/init/init_matrix.hh | 64 - .../btl/generic_bench/init/init_vector.hh | 37 - .../btl/generic_bench/static/bench_static.hh | 80 - .../static/intel_bench_fixed_size.hh | 66 - .../static/static_size_generator.hh | 57 - .../generic_bench/timers/STL_perf_analyzer.hh | 82 - .../btl/generic_bench/timers/STL_timer.hh | 78 - .../timers/mixed_perf_analyzer.hh | 73 - .../timers/portable_perf_analyzer.hh | 103 - .../timers/portable_perf_analyzer_old.hh | 134 - .../generic_bench/timers/portable_timer.hh | 187 - .../generic_bench/timers/x86_perf_analyzer.hh | 108 - .../btl/generic_bench/timers/x86_timer.hh | 246 - .../btl/generic_bench/utils/size_lin_log.hh | 70 - .../bench/btl/generic_bench/utils/size_log.hh | 54 - .../bench/btl/generic_bench/utils/utilities.h | 90 - .../bench/btl/generic_bench/utils/xy_file.hh | 75 - .../eigen/bench/btl/libs/BLAS/CMakeLists.txt | 47 - .../ext/eigen/bench/btl/libs/BLAS/blas.h | 675 - .../bench/btl/libs/BLAS/blas_interface.hh | 83 - .../btl/libs/BLAS/blas_interface_impl.hh | 147 - .../bench/btl/libs/BLAS/c_interface_base.h | 73 - .../ext/eigen/bench/btl/libs/BLAS/main.cpp | 73 - .../eigen/bench/btl/libs/STL/CMakeLists.txt | 2 - .../eigen/bench/btl/libs/STL/STL_interface.hh | 244 - .../ext/eigen/bench/btl/libs/STL/main.cpp | 42 - .../eigen/bench/btl/libs/blaze/CMakeLists.txt | 13 - .../bench/btl/libs/blaze/blaze_interface.hh | 141 - .../ext/eigen/bench/btl/libs/blaze/main.cpp | 40 - .../eigen/bench/btl/libs/blitz/CMakeLists.txt | 17 - .../libs/blitz/blitz_LU_solve_interface.hh | 192 - .../bench/btl/libs/blitz/blitz_interface.hh | 147 - .../eigen/bench/btl/libs/blitz/btl_blitz.cpp | 51 - .../bench/btl/libs/blitz/btl_tiny_blitz.cpp | 38 - .../btl/libs/blitz/tiny_blitz_interface.hh | 106 - .../bench/btl/libs/eigen2/CMakeLists.txt | 19 - .../bench/btl/libs/eigen2/btl_tiny_eigen2.cpp | 46 - .../bench/btl/libs/eigen2/eigen2_interface.hh | 168 - .../eigen/bench/btl/libs/eigen2/main_adv.cpp | 44 - .../bench/btl/libs/eigen2/main_linear.cpp | 34 - .../bench/btl/libs/eigen2/main_matmat.cpp | 35 - .../bench/btl/libs/eigen2/main_vecmat.cpp | 36 - .../bench/btl/libs/eigen3/CMakeLists.txt | 65 - .../bench/btl/libs/eigen3/btl_tiny_eigen3.cpp | 46 - .../bench/btl/libs/eigen3/eigen3_interface.hh | 242 - .../eigen/bench/btl/libs/eigen3/main_adv.cpp | 44 - .../bench/btl/libs/eigen3/main_linear.cpp | 35 - .../bench/btl/libs/eigen3/main_matmat.cpp | 35 - .../bench/btl/libs/eigen3/main_vecmat.cpp | 36 - .../eigen/bench/btl/libs/gmm/CMakeLists.txt | 6 - .../btl/libs/gmm/gmm_LU_solve_interface.hh | 192 - .../eigen/bench/btl/libs/gmm/gmm_interface.hh | 144 - .../ext/eigen/bench/btl/libs/gmm/main.cpp | 51 - .../eigen/bench/btl/libs/mtl4/.kdbgrc.main | 12 - .../eigen/bench/btl/libs/mtl4/CMakeLists.txt | 6 - .../ext/eigen/bench/btl/libs/mtl4/main.cpp | 46 - .../btl/libs/mtl4/mtl4_LU_solve_interface.hh | 192 - .../bench/btl/libs/mtl4/mtl4_interface.hh | 144 - .../bench/btl/libs/tensors/CMakeLists.txt | 44 - .../bench/btl/libs/tensors/main_linear.cpp | 23 - .../bench/btl/libs/tensors/main_matmat.cpp | 21 - .../bench/btl/libs/tensors/main_vecmat.cpp | 21 - .../btl/libs/tensors/tensor_interface.hh | 105 - .../eigen/bench/btl/libs/tvmet/CMakeLists.txt | 6 - .../ext/eigen/bench/btl/libs/tvmet/main.cpp | 40 - .../bench/btl/libs/tvmet/tvmet_interface.hh | 104 - .../eigen/bench/btl/libs/ublas/CMakeLists.txt | 7 - .../ext/eigen/bench/btl/libs/ublas/main.cpp | 44 - .../bench/btl/libs/ublas/ublas_interface.hh | 141 - .../ext/eigen/bench/check_cache_queries.cpp | 101 - .../nanogui/ext/eigen/bench/dense_solvers.cpp | 186 - testbed/nanogui/ext/eigen/bench/eig33.cpp | 195 - testbed/nanogui/ext/eigen/bench/geometry.cpp | 126 - .../bench/perf_monitoring/changesets.txt | 71 - .../ext/eigen/bench/perf_monitoring/gemm.cpp | 12 - .../eigen/bench/perf_monitoring/gemm_common.h | 67 - .../bench/perf_monitoring/gemm_settings.txt | 15 - .../perf_monitoring/gemm_square_settings.txt | 11 - .../ext/eigen/bench/perf_monitoring/gemv.cpp | 12 - .../eigen/bench/perf_monitoring/gemv_common.h | 69 - .../bench/perf_monitoring/gemv_settings.txt | 11 - .../perf_monitoring/gemv_square_settings.txt | 13 - .../ext/eigen/bench/perf_monitoring/gemvt.cpp | 12 - .../eigen/bench/perf_monitoring/lazy_gemm.cpp | 101 - .../perf_monitoring/lazy_gemm_settings.txt | 15 - .../ext/eigen/bench/perf_monitoring/llt.cpp | 15 - .../eigen/bench/perf_monitoring/make_plot.sh | 98 - .../resources/chart_footer.html | 37 - .../resources/chart_header.html | 46 - .../perf_monitoring/resources/footer.html | 3 - .../perf_monitoring/resources/header.html | 42 - .../bench/perf_monitoring/resources/s1.js | 1 - .../bench/perf_monitoring/resources/s2.js | 1 - .../ext/eigen/bench/perf_monitoring/run.sh | 172 - .../ext/eigen/bench/perf_monitoring/runall.sh | 63 - .../eigen/bench/perf_monitoring/trmv_lo.cpp | 12 - .../eigen/bench/perf_monitoring/trmv_lot.cpp | 12 - .../eigen/bench/perf_monitoring/trmv_up.cpp | 12 - .../eigen/bench/perf_monitoring/trmv_upt.cpp | 12 - .../ext/eigen/bench/product_threshold.cpp | 143 - .../nanogui/ext/eigen/bench/quat_slerp.cpp | 247 - testbed/nanogui/ext/eigen/bench/quatmul.cpp | 47 - .../ext/eigen/bench/sparse_cholesky.cpp | 216 - .../ext/eigen/bench/sparse_dense_product.cpp | 187 - testbed/nanogui/ext/eigen/bench/sparse_lu.cpp | 132 - .../ext/eigen/bench/sparse_product.cpp | 323 - .../ext/eigen/bench/sparse_randomsetter.cpp | 125 - .../nanogui/ext/eigen/bench/sparse_setter.cpp | 485 - .../ext/eigen/bench/sparse_transpose.cpp | 104 - .../ext/eigen/bench/sparse_trisolver.cpp | 220 - .../ext/eigen/bench/spbench/CMakeLists.txt | 78 - .../ext/eigen/bench/spbench/sp_solver.cpp | 125 - .../ext/eigen/bench/spbench/spbench.dtd | 31 - .../ext/eigen/bench/spbench/spbenchsolver.cpp | 87 - .../ext/eigen/bench/spbench/spbenchsolver.h | 554 - .../ext/eigen/bench/spbench/spbenchstyle.h | 95 - .../ext/eigen/bench/spbench/test_sparseLU.cpp | 93 - testbed/nanogui/ext/eigen/bench/spmv.cpp | 233 - .../nanogui/ext/eigen/bench/tensors/README | 21 - .../ext/eigen/bench/tensors/benchmark.h | 49 - .../ext/eigen/bench/tensors/benchmark_main.cc | 237 - .../tensors/contraction_benchmarks_cpu.cc | 39 - .../eigen/bench/tensors/tensor_benchmarks.h | 478 - .../bench/tensors/tensor_benchmarks_cpu.cc | 168 - .../tensors/tensor_benchmarks_fp16_gpu.cu | 77 - .../bench/tensors/tensor_benchmarks_gpu.cu | 75 - .../bench/tensors/tensor_benchmarks_sycl.cc | 20 - testbed/nanogui/ext/eigen/bench/vdw_new.cpp | 56 - .../ext/eigen/blas/BandTriangularSolver.h | 97 - testbed/nanogui/ext/eigen/blas/CMakeLists.txt | 57 - .../ext/eigen/blas/GeneralRank1Update.h | 44 - .../ext/eigen/blas/PackedSelfadjointProduct.h | 53 - .../eigen/blas/PackedTriangularMatrixVector.h | 79 - .../eigen/blas/PackedTriangularSolverVector.h | 88 - testbed/nanogui/ext/eigen/blas/README.txt | 6 - testbed/nanogui/ext/eigen/blas/Rank2Update.h | 57 - testbed/nanogui/ext/eigen/blas/common.h | 163 - .../nanogui/ext/eigen/blas/complex_double.cpp | 20 - .../nanogui/ext/eigen/blas/complex_single.cpp | 20 - testbed/nanogui/ext/eigen/blas/double.cpp | 32 - testbed/nanogui/ext/eigen/blas/f2c/chbmv.c | 487 - testbed/nanogui/ext/eigen/blas/f2c/chpmv.c | 438 - .../nanogui/ext/eigen/blas/f2c/complexdots.c | 84 - testbed/nanogui/ext/eigen/blas/f2c/ctbmv.c | 647 - testbed/nanogui/ext/eigen/blas/f2c/d_cnjg.c | 6 - .../nanogui/ext/eigen/blas/f2c/datatypes.h | 24 - testbed/nanogui/ext/eigen/blas/f2c/drotm.c | 215 - testbed/nanogui/ext/eigen/blas/f2c/drotmg.c | 293 - testbed/nanogui/ext/eigen/blas/f2c/dsbmv.c | 366 - testbed/nanogui/ext/eigen/blas/f2c/dspmv.c | 316 - testbed/nanogui/ext/eigen/blas/f2c/dtbmv.c | 428 - testbed/nanogui/ext/eigen/blas/f2c/lsame.c | 117 - testbed/nanogui/ext/eigen/blas/f2c/r_cnjg.c | 6 - testbed/nanogui/ext/eigen/blas/f2c/srotm.c | 216 - testbed/nanogui/ext/eigen/blas/f2c/srotmg.c | 295 - testbed/nanogui/ext/eigen/blas/f2c/ssbmv.c | 368 - testbed/nanogui/ext/eigen/blas/f2c/sspmv.c | 316 - testbed/nanogui/ext/eigen/blas/f2c/stbmv.c | 428 - testbed/nanogui/ext/eigen/blas/f2c/zhbmv.c | 488 - testbed/nanogui/ext/eigen/blas/f2c/zhpmv.c | 438 - testbed/nanogui/ext/eigen/blas/f2c/ztbmv.c | 647 - .../ext/eigen/blas/fortran/complexdots.f | 43 - .../nanogui/ext/eigen/blas/level1_cplx_impl.h | 133 - testbed/nanogui/ext/eigen/blas/level1_impl.h | 166 - .../nanogui/ext/eigen/blas/level1_real_impl.h | 100 - .../nanogui/ext/eigen/blas/level2_cplx_impl.h | 360 - testbed/nanogui/ext/eigen/blas/level2_impl.h | 553 - .../nanogui/ext/eigen/blas/level2_real_impl.h | 306 - testbed/nanogui/ext/eigen/blas/level3_impl.h | 702 - testbed/nanogui/ext/eigen/blas/single.cpp | 22 - .../ext/eigen/blas/testing/CMakeLists.txt | 40 - .../nanogui/ext/eigen/blas/testing/cblat1.f | 724 - .../nanogui/ext/eigen/blas/testing/cblat2.dat | 35 - .../nanogui/ext/eigen/blas/testing/cblat2.f | 3279 ---- .../nanogui/ext/eigen/blas/testing/cblat3.dat | 23 - .../nanogui/ext/eigen/blas/testing/cblat3.f | 3492 ---- .../nanogui/ext/eigen/blas/testing/dblat1.f | 1065 - .../nanogui/ext/eigen/blas/testing/dblat2.dat | 34 - .../nanogui/ext/eigen/blas/testing/dblat2.f | 3176 --- .../nanogui/ext/eigen/blas/testing/dblat3.dat | 20 - .../nanogui/ext/eigen/blas/testing/dblat3.f | 2873 --- .../ext/eigen/blas/testing/runblastest.sh | 45 - .../nanogui/ext/eigen/blas/testing/sblat1.f | 1021 - .../nanogui/ext/eigen/blas/testing/sblat2.dat | 34 - .../nanogui/ext/eigen/blas/testing/sblat2.f | 3176 --- .../nanogui/ext/eigen/blas/testing/sblat3.dat | 20 - .../nanogui/ext/eigen/blas/testing/sblat3.f | 2873 --- .../nanogui/ext/eigen/blas/testing/zblat1.f | 724 - .../nanogui/ext/eigen/blas/testing/zblat2.dat | 35 - .../nanogui/ext/eigen/blas/testing/zblat2.f | 3287 ---- .../nanogui/ext/eigen/blas/testing/zblat3.dat | 23 - .../nanogui/ext/eigen/blas/testing/zblat3.f | 3502 ---- testbed/nanogui/ext/eigen/blas/xerbla.cpp | 23 - .../ext/eigen/cmake/Eigen3Config.cmake.in | 21 - .../eigen/cmake/Eigen3ConfigLegacy.cmake.in | 30 - .../eigen/cmake/EigenConfigureTesting.cmake | 61 - .../eigen/cmake/EigenDetermineOSVersion.cmake | 46 - .../cmake/EigenDetermineVSServicePack.cmake | 41 - .../ext/eigen/cmake/EigenTesting.cmake | 723 - .../ext/eigen/cmake/EigenUninstall.cmake | 40 - .../nanogui/ext/eigen/cmake/FindAdolc.cmake | 20 - .../nanogui/ext/eigen/cmake/FindBLAS.cmake | 419 - .../nanogui/ext/eigen/cmake/FindCholmod.cmake | 89 - .../ext/eigen/cmake/FindComputeCpp.cmake | 245 - .../nanogui/ext/eigen/cmake/FindEigen2.cmake | 80 - .../nanogui/ext/eigen/cmake/FindEigen3.cmake | 97 - .../nanogui/ext/eigen/cmake/FindFFTW.cmake | 119 - .../nanogui/ext/eigen/cmake/FindGLEW.cmake | 105 - testbed/nanogui/ext/eigen/cmake/FindGMP.cmake | 21 - testbed/nanogui/ext/eigen/cmake/FindGSL.cmake | 170 - .../ext/eigen/cmake/FindGoogleHash.cmake | 23 - .../nanogui/ext/eigen/cmake/FindLAPACK.cmake | 273 - .../nanogui/ext/eigen/cmake/FindMPFR.cmake | 83 - .../nanogui/ext/eigen/cmake/FindMetis.cmake | 59 - .../nanogui/ext/eigen/cmake/FindPastix.cmake | 25 - .../nanogui/ext/eigen/cmake/FindSPQR.cmake | 41 - .../nanogui/ext/eigen/cmake/FindScotch.cmake | 24 - .../eigen/cmake/FindStandardMathLibrary.cmake | 64 - .../nanogui/ext/eigen/cmake/FindSuperLU.cmake | 97 - .../nanogui/ext/eigen/cmake/FindUmfpack.cmake | 53 - .../nanogui/ext/eigen/cmake/FindXsmm.cmake | 25 - .../nanogui/ext/eigen/cmake/RegexUtils.cmake | 19 - .../nanogui/ext/eigen/cmake/UseEigen3.cmake | 6 - .../ext/eigen/cmake/language_support.cmake | 67 - .../nanogui/ext/eigen/debug/gdb/__init__.py | 1 - .../nanogui/ext/eigen/debug/gdb/printers.py | 314 - .../nanogui/ext/eigen/debug/msvc/eigen.natvis | 235 - .../eigen/debug/msvc/eigen_autoexp_part.dat | 295 - .../nanogui/ext/eigen/demos/CMakeLists.txt | 13 - .../ext/eigen/demos/mandelbrot/CMakeLists.txt | 21 - .../nanogui/ext/eigen/demos/mandelbrot/README | 10 - .../ext/eigen/demos/mandelbrot/mandelbrot.cpp | 213 - .../ext/eigen/demos/mandelbrot/mandelbrot.h | 71 - .../ext/eigen/demos/mix_eigen_and_c/README | 9 - .../demos/mix_eigen_and_c/binary_library.cpp | 185 - .../demos/mix_eigen_and_c/binary_library.h | 71 - .../ext/eigen/demos/mix_eigen_and_c/example.c | 65 - .../ext/eigen/demos/opengl/CMakeLists.txt | 28 - testbed/nanogui/ext/eigen/demos/opengl/README | 13 - .../nanogui/ext/eigen/demos/opengl/camera.cpp | 264 - .../nanogui/ext/eigen/demos/opengl/camera.h | 118 - .../ext/eigen/demos/opengl/gpuhelper.cpp | 126 - .../ext/eigen/demos/opengl/gpuhelper.h | 207 - .../ext/eigen/demos/opengl/icosphere.cpp | 120 - .../ext/eigen/demos/opengl/icosphere.h | 30 - .../eigen/demos/opengl/quaternion_demo.cpp | 656 - .../ext/eigen/demos/opengl/quaternion_demo.h | 114 - .../ext/eigen/demos/opengl/trackball.cpp | 59 - .../ext/eigen/demos/opengl/trackball.h | 42 - .../ext/eigen/doc/A05_PortingFrom2To3.dox | 299 - .../ext/eigen/doc/AsciiQuickReference.txt | 215 - .../ext/eigen/doc/B01_Experimental.dox | 52 - testbed/nanogui/ext/eigen/doc/CMakeLists.txt | 112 - .../nanogui/ext/eigen/doc/ClassHierarchy.dox | 129 - .../eigen/doc/CoeffwiseMathFunctionsTable.dox | 525 - .../doc/CustomizingEigen_CustomScalar.dox | 120 - .../doc/CustomizingEigen_InheritingMatrix.dox | 34 - .../doc/CustomizingEigen_NullaryExpr.dox | 86 - .../eigen/doc/CustomizingEigen_Plugins.dox | 69 - .../eigen/doc/DenseDecompositionBenchmark.dox | 42 - testbed/nanogui/ext/eigen/doc/Doxyfile.in | 1898 -- .../eigen/doc/Eigen_Silly_Professor_64x64.png | Bin 8355 -> 0 bytes .../ext/eigen/doc/FixedSizeVectorizable.dox | 38 - .../eigen/doc/FunctionsTakingEigenTypes.dox | 217 - .../nanogui/ext/eigen/doc/HiPerformance.dox | 128 - .../ext/eigen/doc/InplaceDecomposition.dox | 115 - .../ext/eigen/doc/InsideEigenExample.dox | 495 - .../nanogui/ext/eigen/doc/LeastSquares.dox | 70 - testbed/nanogui/ext/eigen/doc/Manual.dox | 189 - .../ext/eigen/doc/MatrixfreeSolverExample.dox | 20 - .../ext/eigen/doc/NewExpressionType.dox | 143 - testbed/nanogui/ext/eigen/doc/Overview.dox | 30 - .../nanogui/ext/eigen/doc/PassingByValue.dox | 40 - testbed/nanogui/ext/eigen/doc/Pitfalls.dox | 38 - .../ext/eigen/doc/PreprocessorDirectives.dox | 170 - .../nanogui/ext/eigen/doc/QuickReference.dox | 785 - .../nanogui/ext/eigen/doc/QuickStartGuide.dox | 100 - .../ext/eigen/doc/SparseLinearSystems.dox | 229 - .../ext/eigen/doc/SparseQuickReference.dox | 272 - .../nanogui/ext/eigen/doc/StlContainers.dox | 62 - .../nanogui/ext/eigen/doc/StorageOrders.dox | 86 - .../eigen/doc/StructHavingEigenMembers.dox | 190 - .../nanogui/ext/eigen/doc/TemplateKeyword.dox | 133 - .../nanogui/ext/eigen/doc/TopicAliasing.dox | 237 - .../nanogui/ext/eigen/doc/TopicAssertions.dox | 108 - .../nanogui/ext/eigen/doc/TopicCMakeGuide.dox | 56 - .../doc/TopicEigenExpressionTemplates.dox | 12 - .../ext/eigen/doc/TopicLazyEvaluation.dox | 65 - .../doc/TopicLinearAlgebraDecompositions.dox | 263 - .../ext/eigen/doc/TopicMultithreading.dox | 54 - .../nanogui/ext/eigen/doc/TopicResizing.dox | 11 - .../ext/eigen/doc/TopicScalarTypes.dox | 12 - .../ext/eigen/doc/TopicVectorization.dox | 9 - .../doc/TutorialAdvancedInitialization.dox | 162 - .../ext/eigen/doc/TutorialArrayClass.dox | 192 - .../ext/eigen/doc/TutorialBlockOperations.dox | 228 - .../ext/eigen/doc/TutorialGeometry.dox | 242 - .../ext/eigen/doc/TutorialLinearAlgebra.dox | 272 - .../ext/eigen/doc/TutorialMapClass.dox | 86 - .../eigen/doc/TutorialMatrixArithmetic.dox | 214 - .../ext/eigen/doc/TutorialMatrixClass.dox | 265 - ...TutorialReductionsVisitorsBroadcasting.dox | 266 - .../ext/eigen/doc/TutorialReshapeSlicing.dox | 65 - .../nanogui/ext/eigen/doc/TutorialSparse.dox | 365 - .../doc/TutorialSparse_example_details.dox | 4 - .../ext/eigen/doc/UnalignedArrayAssert.dox | 129 - .../ext/eigen/doc/UsingBlasLapackBackends.dox | 133 - .../nanogui/ext/eigen/doc/UsingIntelMKL.dox | 107 - testbed/nanogui/ext/eigen/doc/UsingNVCC.dox | 32 - .../ext/eigen/doc/WrongStackAlignment.dox | 56 - .../ext/eigen/doc/eigen_navtree_hacks.js | 240 - testbed/nanogui/ext/eigen/doc/eigendoxy.css | 221 - .../ext/eigen/doc/eigendoxy_footer.html.in | 36 - .../ext/eigen/doc/eigendoxy_header.html.in | 61 - .../ext/eigen/doc/eigendoxy_layout.xml.in | 178 - .../nanogui/ext/eigen/doc/eigendoxy_tabs.css | 59 - testbed/nanogui/ext/eigen/doc/examples/.krazy | 2 - .../ext/eigen/doc/examples/CMakeLists.txt | 21 - .../examples/CustomizingEigen_Inheritance.cpp | 30 - .../ext/eigen/doc/examples/Cwise_erf.cpp | 9 - .../ext/eigen/doc/examples/Cwise_erfc.cpp | 9 - .../ext/eigen/doc/examples/Cwise_lgamma.cpp | 9 - .../doc/examples/DenseBase_middleCols_int.cpp | 15 - .../doc/examples/DenseBase_middleRows_int.cpp | 15 - .../DenseBase_template_int_middleCols.cpp | 15 - .../DenseBase_template_int_middleRows.cpp | 15 - .../eigen/doc/examples/QuickStart_example.cpp | 14 - .../examples/QuickStart_example2_dynamic.cpp | 15 - .../examples/QuickStart_example2_fixed.cpp | 15 - .../doc/examples/TemplateKeyword_flexible.cpp | 22 - .../doc/examples/TemplateKeyword_simple.cpp | 20 - .../eigen/doc/examples/TutorialInplaceLU.cpp | 61 - .../examples/TutorialLinAlgComputeTwice.cpp | 23 - .../TutorialLinAlgExComputeSolveError.cpp | 14 - ...torialLinAlgExSolveColPivHouseholderQR.cpp | 17 - .../examples/TutorialLinAlgExSolveLDLT.cpp | 16 - .../TutorialLinAlgInverseDeterminant.cpp | 16 - .../examples/TutorialLinAlgRankRevealing.cpp | 20 - .../doc/examples/TutorialLinAlgSVDSolve.cpp | 15 - .../TutorialLinAlgSelfAdjointEigenSolver.cpp | 18 - .../examples/TutorialLinAlgSetThreshold.cpp | 16 - .../Tutorial_ArrayClass_accessors.cpp | 24 - .../examples/Tutorial_ArrayClass_addition.cpp | 23 - .../Tutorial_ArrayClass_cwise_other.cpp | 19 - .../examples/Tutorial_ArrayClass_interop.cpp | 22 - .../Tutorial_ArrayClass_interop_matrix.cpp | 26 - .../doc/examples/Tutorial_ArrayClass_mult.cpp | 16 - ...orial_BlockOperations_block_assignment.cpp | 18 - .../Tutorial_BlockOperations_colrow.cpp | 17 - .../Tutorial_BlockOperations_corner.cpp | 17 - .../Tutorial_BlockOperations_print_block.cpp | 20 - .../Tutorial_BlockOperations_vector.cpp | 14 - .../doc/examples/Tutorial_PartialLU_solve.cpp | 18 - ...ionsVisitorsBroadcasting_broadcast_1nn.cpp | 24 - ...sVisitorsBroadcasting_broadcast_simple.cpp | 21 - ...sBroadcasting_broadcast_simple_rowwise.cpp | 20 - ...ReductionsVisitorsBroadcasting_colwise.cpp | 13 - ...ReductionsVisitorsBroadcasting_maxnorm.cpp | 20 - ...nsVisitorsBroadcasting_reductions_bool.cpp | 21 - ...nsVisitorsBroadcasting_reductions_norm.cpp | 28 - ...rsBroadcasting_reductions_operatornorm.cpp | 18 - ...ReductionsVisitorsBroadcasting_rowwise.cpp | 13 - ...eductionsVisitorsBroadcasting_visitors.cpp | 26 - .../Tutorial_simple_example_dynamic_size.cpp | 22 - .../Tutorial_simple_example_fixed_size.cpp | 15 - .../ext/eigen/doc/examples/class_Block.cpp | 27 - .../doc/examples/class_CwiseBinaryOp.cpp | 18 - .../eigen/doc/examples/class_CwiseUnaryOp.cpp | 19 - .../examples/class_CwiseUnaryOp_ptrfun.cpp | 20 - .../eigen/doc/examples/class_FixedBlock.cpp | 27 - .../doc/examples/class_FixedVectorBlock.cpp | 27 - .../eigen/doc/examples/class_VectorBlock.cpp | 27 - .../examples/function_taking_eigenbase.cpp | 18 - .../doc/examples/function_taking_ref.cpp | 19 - .../ext/eigen/doc/examples/make_circulant.cpp | 11 - .../doc/examples/make_circulant.cpp.entry | 5 - .../doc/examples/make_circulant.cpp.evaluator | 32 - .../examples/make_circulant.cpp.expression | 20 - .../doc/examples/make_circulant.cpp.main | 8 - .../doc/examples/make_circulant.cpp.preamble | 4 - .../doc/examples/make_circulant.cpp.traits | 19 - .../eigen/doc/examples/make_circulant2.cpp | 52 - .../ext/eigen/doc/examples/matrixfree_cg.cpp | 128 - .../eigen/doc/examples/nullary_indexing.cpp | 66 - .../doc/examples/tut_arithmetic_add_sub.cpp | 22 - .../doc/examples/tut_arithmetic_dot_cross.cpp | 15 - .../examples/tut_arithmetic_matrix_mul.cpp | 19 - .../examples/tut_arithmetic_redux_basic.cpp | 16 - .../tut_arithmetic_scalar_mul_div.cpp | 17 - .../tut_matrix_coefficient_accessors.cpp | 18 - .../eigen/doc/examples/tut_matrix_resize.cpp | 18 - .../examples/tut_matrix_resize_fixed_size.cpp | 12 - testbed/nanogui/ext/eigen/doc/ftv2node.png | Bin 86 -> 0 bytes testbed/nanogui/ext/eigen/doc/ftv2pnode.png | Bin 229 -> 0 bytes testbed/nanogui/ext/eigen/doc/snippets/.krazy | 2 - .../doc/snippets/AngleAxis_mimic_euler.cpp | 5 - .../eigen/doc/snippets/BiCGSTAB_simple.cpp | 11 - .../doc/snippets/BiCGSTAB_step_by_step.cpp | 14 - .../ext/eigen/doc/snippets/CMakeLists.txt | 26 - .../snippets/ColPivHouseholderQR_solve.cpp | 8 - .../snippets/ComplexEigenSolver_compute.cpp | 16 - .../ComplexEigenSolver_eigenvalues.cpp | 4 - .../ComplexEigenSolver_eigenvectors.cpp | 4 - .../doc/snippets/ComplexSchur_compute.cpp | 6 - .../doc/snippets/ComplexSchur_matrixT.cpp | 4 - .../doc/snippets/ComplexSchur_matrixU.cpp | 4 - .../ext/eigen/doc/snippets/Cwise_abs.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_abs2.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_acos.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_arg.cpp | 3 - .../doc/snippets/Cwise_array_power_array.cpp | 4 - .../ext/eigen/doc/snippets/Cwise_asin.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_atan.cpp | 2 - .../eigen/doc/snippets/Cwise_boolean_and.cpp | 2 - .../eigen/doc/snippets/Cwise_boolean_not.cpp | 5 - .../eigen/doc/snippets/Cwise_boolean_or.cpp | 2 - .../eigen/doc/snippets/Cwise_boolean_xor.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_ceil.cpp | 3 - .../ext/eigen/doc/snippets/Cwise_cos.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_cosh.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_cube.cpp | 2 - .../eigen/doc/snippets/Cwise_equal_equal.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_exp.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_floor.cpp | 3 - .../ext/eigen/doc/snippets/Cwise_greater.cpp | 2 - .../doc/snippets/Cwise_greater_equal.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_inverse.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_isFinite.cpp | 5 - .../ext/eigen/doc/snippets/Cwise_isInf.cpp | 5 - .../ext/eigen/doc/snippets/Cwise_isNaN.cpp | 5 - .../ext/eigen/doc/snippets/Cwise_less.cpp | 2 - .../eigen/doc/snippets/Cwise_less_equal.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_log.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_log10.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_max.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_min.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_minus.cpp | 2 - .../eigen/doc/snippets/Cwise_minus_equal.cpp | 3 - .../eigen/doc/snippets/Cwise_not_equal.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_plus.cpp | 2 - .../eigen/doc/snippets/Cwise_plus_equal.cpp | 3 - .../ext/eigen/doc/snippets/Cwise_pow.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_product.cpp | 4 - .../ext/eigen/doc/snippets/Cwise_quotient.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_round.cpp | 3 - .../doc/snippets/Cwise_scalar_power_array.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_sign.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_sin.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_sinh.cpp | 2 - .../eigen/doc/snippets/Cwise_slash_equal.cpp | 3 - .../ext/eigen/doc/snippets/Cwise_sqrt.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_square.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_tan.cpp | 2 - .../ext/eigen/doc/snippets/Cwise_tanh.cpp | 2 - .../eigen/doc/snippets/Cwise_times_equal.cpp | 3 - .../doc/snippets/DenseBase_LinSpaced.cpp | 2 - .../doc/snippets/DenseBase_LinSpacedInt.cpp | 8 - .../doc/snippets/DenseBase_LinSpaced_seq.cpp | 2 - .../doc/snippets/DenseBase_setLinSpaced.cpp | 3 - .../snippets/DirectionWise_hnormalized.cpp | 7 - .../doc/snippets/DirectionWise_replicate.cpp | 4 - .../snippets/DirectionWise_replicate_int.cpp | 4 - .../EigenSolver_EigenSolver_MatrixType.cpp | 16 - .../doc/snippets/EigenSolver_compute.cpp | 6 - .../doc/snippets/EigenSolver_eigenvalues.cpp | 4 - .../doc/snippets/EigenSolver_eigenvectors.cpp | 4 - .../EigenSolver_pseudoEigenvectors.cpp | 9 - .../snippets/FullPivHouseholderQR_solve.cpp | 8 - .../eigen/doc/snippets/FullPivLU_image.cpp | 9 - .../eigen/doc/snippets/FullPivLU_kernel.cpp | 7 - .../eigen/doc/snippets/FullPivLU_solve.cpp | 11 - .../doc/snippets/GeneralizedEigenSolver.cpp | 7 - .../HessenbergDecomposition_compute.cpp | 6 - .../HessenbergDecomposition_matrixH.cpp | 8 - .../HessenbergDecomposition_packedMatrix.cpp | 9 - .../snippets/HouseholderQR_householderQ.cpp | 7 - .../doc/snippets/HouseholderQR_solve.cpp | 9 - ...ouseholderSequence_HouseholderSequence.cpp | 31 - .../ext/eigen/doc/snippets/IOFormat.cpp | 14 - .../eigen/doc/snippets/JacobiSVD_basic.cpp | 9 - .../eigen/doc/snippets/Jacobi_makeGivens.cpp | 6 - .../eigen/doc/snippets/Jacobi_makeJacobi.cpp | 8 - .../ext/eigen/doc/snippets/LLT_example.cpp | 12 - .../ext/eigen/doc/snippets/LLT_solve.cpp | 8 - .../snippets/LeastSquaresNormalEquations.cpp | 4 - .../ext/eigen/doc/snippets/LeastSquaresQR.cpp | 4 - .../eigen/doc/snippets/Map_general_stride.cpp | 5 - .../eigen/doc/snippets/Map_inner_stride.cpp | 5 - .../eigen/doc/snippets/Map_outer_stride.cpp | 3 - .../eigen/doc/snippets/Map_placement_new.cpp | 5 - .../ext/eigen/doc/snippets/Map_simple.cpp | 3 - .../eigen/doc/snippets/MatrixBase_adjoint.cpp | 3 - .../ext/eigen/doc/snippets/MatrixBase_all.cpp | 7 - .../snippets/MatrixBase_applyOnTheLeft.cpp | 7 - .../snippets/MatrixBase_applyOnTheRight.cpp | 9 - .../eigen/doc/snippets/MatrixBase_array.cpp | 4 - .../doc/snippets/MatrixBase_array_const.cpp | 4 - .../doc/snippets/MatrixBase_asDiagonal.cpp | 1 - .../doc/snippets/MatrixBase_block_int_int.cpp | 5 - .../MatrixBase_block_int_int_int_int.cpp | 5 - .../MatrixBase_bottomLeftCorner_int_int.cpp | 6 - .../MatrixBase_bottomRightCorner_int_int.cpp | 6 - .../snippets/MatrixBase_bottomRows_int.cpp | 6 - .../eigen/doc/snippets/MatrixBase_cast.cpp | 3 - .../ext/eigen/doc/snippets/MatrixBase_col.cpp | 3 - .../eigen/doc/snippets/MatrixBase_colwise.cpp | 5 - ...trixBase_computeInverseAndDetWithCheck.cpp | 13 - .../MatrixBase_computeInverseWithCheck.cpp | 11 - .../doc/snippets/MatrixBase_cwiseAbs.cpp | 4 - .../doc/snippets/MatrixBase_cwiseAbs2.cpp | 4 - .../doc/snippets/MatrixBase_cwiseEqual.cpp | 7 - .../doc/snippets/MatrixBase_cwiseInverse.cpp | 4 - .../doc/snippets/MatrixBase_cwiseMax.cpp | 2 - .../doc/snippets/MatrixBase_cwiseMin.cpp | 2 - .../doc/snippets/MatrixBase_cwiseNotEqual.cpp | 7 - .../doc/snippets/MatrixBase_cwiseProduct.cpp | 4 - .../doc/snippets/MatrixBase_cwiseQuotient.cpp | 2 - .../doc/snippets/MatrixBase_cwiseSign.cpp | 4 - .../doc/snippets/MatrixBase_cwiseSqrt.cpp | 2 - .../doc/snippets/MatrixBase_diagonal.cpp | 4 - .../doc/snippets/MatrixBase_diagonal_int.cpp | 5 - .../MatrixBase_diagonal_template_int.cpp | 5 - .../doc/snippets/MatrixBase_eigenvalues.cpp | 3 - .../eigen/doc/snippets/MatrixBase_end_int.cpp | 5 - .../eigen/doc/snippets/MatrixBase_eval.cpp | 12 - .../MatrixBase_fixedBlock_int_int.cpp | 5 - .../doc/snippets/MatrixBase_hnormalized.cpp | 6 - .../doc/snippets/MatrixBase_homogeneous.cpp | 6 - .../doc/snippets/MatrixBase_identity.cpp | 1 - .../snippets/MatrixBase_identity_int_int.cpp | 1 - .../eigen/doc/snippets/MatrixBase_inverse.cpp | 3 - .../doc/snippets/MatrixBase_isDiagonal.cpp | 6 - .../doc/snippets/MatrixBase_isIdentity.cpp | 5 - .../eigen/doc/snippets/MatrixBase_isOnes.cpp | 5 - .../doc/snippets/MatrixBase_isOrthogonal.cpp | 6 - .../doc/snippets/MatrixBase_isUnitary.cpp | 5 - .../eigen/doc/snippets/MatrixBase_isZero.cpp | 5 - .../doc/snippets/MatrixBase_leftCols_int.cpp | 6 - .../eigen/doc/snippets/MatrixBase_noalias.cpp | 3 - .../eigen/doc/snippets/MatrixBase_ones.cpp | 2 - .../doc/snippets/MatrixBase_ones_int.cpp | 2 - .../doc/snippets/MatrixBase_ones_int_int.cpp | 1 - .../doc/snippets/MatrixBase_operatorNorm.cpp | 3 - .../eigen/doc/snippets/MatrixBase_prod.cpp | 3 - .../eigen/doc/snippets/MatrixBase_random.cpp | 1 - .../doc/snippets/MatrixBase_random_int.cpp | 1 - .../snippets/MatrixBase_random_int_int.cpp | 1 - .../doc/snippets/MatrixBase_replicate.cpp | 4 - .../snippets/MatrixBase_replicate_int_int.cpp | 4 - .../eigen/doc/snippets/MatrixBase_reverse.cpp | 8 - .../doc/snippets/MatrixBase_rightCols_int.cpp | 6 - .../ext/eigen/doc/snippets/MatrixBase_row.cpp | 3 - .../eigen/doc/snippets/MatrixBase_rowwise.cpp | 5 - .../snippets/MatrixBase_segment_int_int.cpp | 5 - .../eigen/doc/snippets/MatrixBase_select.cpp | 6 - .../snippets/MatrixBase_selfadjointView.cpp | 6 - .../ext/eigen/doc/snippets/MatrixBase_set.cpp | 13 - .../doc/snippets/MatrixBase_setIdentity.cpp | 3 - .../eigen/doc/snippets/MatrixBase_setOnes.cpp | 3 - .../doc/snippets/MatrixBase_setRandom.cpp | 3 - .../eigen/doc/snippets/MatrixBase_setZero.cpp | 3 - .../doc/snippets/MatrixBase_start_int.cpp | 5 - .../MatrixBase_template_int_bottomRows.cpp | 6 - .../snippets/MatrixBase_template_int_end.cpp | 5 - ...template_int_int_block_int_int_int_int.cpp | 5 - ...Base_template_int_int_bottomLeftCorner.cpp | 6 - ...plate_int_int_bottomLeftCorner_int_int.cpp | 6 - ...ase_template_int_int_bottomRightCorner.cpp | 6 - ...late_int_int_bottomRightCorner_int_int.cpp | 6 - ...rixBase_template_int_int_topLeftCorner.cpp | 6 - ...template_int_int_topLeftCorner_int_int.cpp | 6 - ...ixBase_template_int_int_topRightCorner.cpp | 6 - ...emplate_int_int_topRightCorner_int_int.cpp | 6 - .../MatrixBase_template_int_leftCols.cpp | 6 - .../MatrixBase_template_int_rightCols.cpp | 6 - .../MatrixBase_template_int_segment.cpp | 5 - .../MatrixBase_template_int_start.cpp | 5 - .../MatrixBase_template_int_topRows.cpp | 6 - .../MatrixBase_topLeftCorner_int_int.cpp | 6 - .../MatrixBase_topRightCorner_int_int.cpp | 6 - .../doc/snippets/MatrixBase_topRows_int.cpp | 6 - .../doc/snippets/MatrixBase_transpose.cpp | 8 - .../snippets/MatrixBase_triangularView.cpp | 9 - .../eigen/doc/snippets/MatrixBase_zero.cpp | 2 - .../doc/snippets/MatrixBase_zero_int.cpp | 2 - .../doc/snippets/MatrixBase_zero_int_int.cpp | 1 - .../snippets/Matrix_resize_NoChange_int.cpp | 3 - .../eigen/doc/snippets/Matrix_resize_int.cpp | 6 - .../snippets/Matrix_resize_int_NoChange.cpp | 3 - .../doc/snippets/Matrix_resize_int_int.cpp | 9 - .../doc/snippets/Matrix_setConstant_int.cpp | 3 - .../snippets/Matrix_setConstant_int_int.cpp | 3 - .../snippets/Matrix_setIdentity_int_int.cpp | 3 - .../eigen/doc/snippets/Matrix_setOnes_int.cpp | 3 - .../doc/snippets/Matrix_setOnes_int_int.cpp | 3 - .../doc/snippets/Matrix_setRandom_int.cpp | 3 - .../doc/snippets/Matrix_setRandom_int_int.cpp | 3 - .../eigen/doc/snippets/Matrix_setZero_int.cpp | 3 - .../doc/snippets/Matrix_setZero_int_int.cpp | 3 - .../eigen/doc/snippets/PartialPivLU_solve.cpp | 7 - .../eigen/doc/snippets/PartialRedux_count.cpp | 5 - .../doc/snippets/PartialRedux_maxCoeff.cpp | 3 - .../doc/snippets/PartialRedux_minCoeff.cpp | 3 - .../eigen/doc/snippets/PartialRedux_norm.cpp | 3 - .../eigen/doc/snippets/PartialRedux_prod.cpp | 3 - .../doc/snippets/PartialRedux_squaredNorm.cpp | 3 - .../eigen/doc/snippets/PartialRedux_sum.cpp | 3 - .../ext/eigen/doc/snippets/RealQZ_compute.cpp | 17 - .../RealSchur_RealSchur_MatrixType.cpp | 10 - .../eigen/doc/snippets/RealSchur_compute.cpp | 6 - ...ointEigenSolver_SelfAdjointEigenSolver.cpp | 7 - ...lver_SelfAdjointEigenSolver_MatrixType.cpp | 17 - ...ver_SelfAdjointEigenSolver_MatrixType2.cpp | 16 - ...fAdjointEigenSolver_compute_MatrixType.cpp | 7 - ...AdjointEigenSolver_compute_MatrixType2.cpp | 9 - .../SelfAdjointEigenSolver_eigenvalues.cpp | 4 - .../SelfAdjointEigenSolver_eigenvectors.cpp | 4 - ...AdjointEigenSolver_operatorInverseSqrt.cpp | 9 - .../SelfAdjointEigenSolver_operatorSqrt.cpp | 8 - .../snippets/SelfAdjointView_eigenvalues.cpp | 3 - .../snippets/SelfAdjointView_operatorNorm.cpp | 3 - .../doc/snippets/SparseMatrix_coeffs.cpp | 9 - .../doc/snippets/TopicAliasing_block.cpp | 7 - .../snippets/TopicAliasing_block_correct.cpp | 7 - .../doc/snippets/TopicAliasing_cwise.cpp | 20 - .../doc/snippets/TopicAliasing_mult1.cpp | 4 - .../doc/snippets/TopicAliasing_mult2.cpp | 10 - .../doc/snippets/TopicAliasing_mult3.cpp | 4 - .../doc/snippets/TopicAliasing_mult4.cpp | 5 - .../doc/snippets/TopicAliasing_mult5.cpp | 5 - .../snippets/TopicStorageOrders_example.cpp | 18 - .../eigen/doc/snippets/Triangular_solve.cpp | 11 - ...lization_Tridiagonalization_MatrixType.cpp | 9 - .../snippets/Tridiagonalization_compute.cpp | 9 - .../Tridiagonalization_decomposeInPlace.cpp | 10 - .../snippets/Tridiagonalization_diagonal.cpp | 13 - ...iagonalization_householderCoefficients.cpp | 6 - .../Tridiagonalization_packedMatrix.cpp | 8 - .../Tutorial_AdvancedInitialization_Block.cpp | 5 - ..._AdvancedInitialization_CommaTemporary.cpp | 4 - .../Tutorial_AdvancedInitialization_Join.cpp | 11 - ...orial_AdvancedInitialization_LinSpaced.cpp | 7 - ...orial_AdvancedInitialization_ThreeWays.cpp | 20 - .../Tutorial_AdvancedInitialization_Zero.cpp | 13 - .../doc/snippets/Tutorial_Map_rowmajor.cpp | 7 - .../eigen/doc/snippets/Tutorial_Map_using.cpp | 21 - .../doc/snippets/Tutorial_ReshapeMat2Mat.cpp | 6 - .../doc/snippets/Tutorial_ReshapeMat2Vec.cpp | 11 - .../doc/snippets/Tutorial_SlicingCol.cpp | 11 - .../doc/snippets/Tutorial_SlicingVec.cpp | 4 - .../doc/snippets/Tutorial_commainit_01.cpp | 5 - .../doc/snippets/Tutorial_commainit_01b.cpp | 5 - .../doc/snippets/Tutorial_commainit_02.cpp | 7 - .../Tutorial_solve_matrix_inverse.cpp | 6 - .../snippets/Tutorial_solve_multiple_rhs.cpp | 10 - .../Tutorial_solve_reuse_decomposition.cpp | 13 - .../doc/snippets/Tutorial_solve_singular.cpp | 9 - .../snippets/Tutorial_solve_triangular.cpp | 8 - .../Tutorial_solve_triangular_inplace.cpp | 6 - .../doc/snippets/VectorwiseOp_homogeneous.cpp | 7 - .../eigen/doc/snippets/Vectorwise_reverse.cpp | 10 - .../eigen/doc/snippets/class_FullPivLU.cpp | 16 - .../eigen/doc/snippets/compile_snippet.cpp.in | 20 - .../snippets/tut_arithmetic_redux_minmax.cpp | 12 - .../tut_arithmetic_transpose_aliasing.cpp | 5 - .../tut_arithmetic_transpose_conjugate.cpp | 12 - .../tut_arithmetic_transpose_inplace.cpp | 6 - .../tut_matrix_assignment_resizing.cpp | 5 - .../eigen/doc/special_examples/CMakeLists.txt | 35 - .../Tutorial_sparse_example.cpp | 34 - .../Tutorial_sparse_example_details.cpp | 44 - .../doc/special_examples/random_cpp11.cpp | 14 - testbed/nanogui/ext/eigen/doc/tutorial.cpp | 62 - testbed/nanogui/ext/eigen/eigen3.pc.in | 9 - .../nanogui/ext/eigen/failtest/CMakeLists.txt | 75 - .../nanogui/ext/eigen/failtest/bdcsvd_int.cpp | 14 - .../block_nonconst_ctor_on_const_xpr_0.cpp | 15 - .../block_nonconst_ctor_on_const_xpr_1.cpp | 15 - .../block_nonconst_ctor_on_const_xpr_2.cpp | 16 - .../block_on_const_type_actually_const_0.cpp | 16 - .../block_on_const_type_actually_const_1.cpp | 16 - .../ext/eigen/failtest/colpivqr_int.cpp | 14 - .../const_qualified_block_method_retval_0.cpp | 15 - .../const_qualified_block_method_retval_1.cpp | 15 - ...const_qualified_diagonal_method_retval.cpp | 15 - ...onst_qualified_transpose_method_retval.cpp | 15 - ...seunaryview_nonconst_ctor_on_const_xpr.cpp | 15 - ...unaryview_on_const_type_actually_const.cpp | 16 - .../diagonal_nonconst_ctor_on_const_xpr.cpp | 15 - .../diagonal_on_const_type_actually_const.cpp | 16 - .../ext/eigen/failtest/eigensolver_cplx.cpp | 14 - .../ext/eigen/failtest/eigensolver_int.cpp | 14 - .../eigen/failtest/failtest_sanity_check.cpp | 5 - .../ext/eigen/failtest/fullpivlu_int.cpp | 14 - .../ext/eigen/failtest/fullpivqr_int.cpp | 14 - .../ext/eigen/failtest/jacobisvd_int.cpp | 14 - .../nanogui/ext/eigen/failtest/ldlt_int.cpp | 14 - .../nanogui/ext/eigen/failtest/llt_int.cpp | 14 - .../map_nonconst_ctor_on_const_ptr_0.cpp | 15 - .../map_nonconst_ctor_on_const_ptr_1.cpp | 15 - .../map_nonconst_ctor_on_const_ptr_2.cpp | 15 - .../map_nonconst_ctor_on_const_ptr_3.cpp | 15 - .../map_nonconst_ctor_on_const_ptr_4.cpp | 15 - .../map_on_const_type_actually_const_0.cpp | 15 - .../map_on_const_type_actually_const_1.cpp | 15 - .../ext/eigen/failtest/partialpivlu_int.cpp | 14 - testbed/nanogui/ext/eigen/failtest/qr_int.cpp | 14 - testbed/nanogui/ext/eigen/failtest/ref_1.cpp | 18 - testbed/nanogui/ext/eigen/failtest/ref_2.cpp | 15 - testbed/nanogui/ext/eigen/failtest/ref_3.cpp | 15 - testbed/nanogui/ext/eigen/failtest/ref_4.cpp | 15 - testbed/nanogui/ext/eigen/failtest/ref_5.cpp | 16 - ...adjointview_nonconst_ctor_on_const_xpr.cpp | 15 - ...jointview_on_const_type_actually_const.cpp | 16 - .../ext/eigen/failtest/sparse_ref_1.cpp | 18 - .../ext/eigen/failtest/sparse_ref_2.cpp | 15 - .../ext/eigen/failtest/sparse_ref_3.cpp | 15 - .../ext/eigen/failtest/sparse_ref_4.cpp | 15 - .../ext/eigen/failtest/sparse_ref_5.cpp | 16 - .../failtest/sparse_storage_mismatch.cpp | 16 - testbed/nanogui/ext/eigen/failtest/swap_1.cpp | 14 - testbed/nanogui/ext/eigen/failtest/swap_2.cpp | 14 - .../nanogui/ext/eigen/failtest/ternary_1.cpp | 13 - .../nanogui/ext/eigen/failtest/ternary_2.cpp | 13 - .../transpose_nonconst_ctor_on_const_xpr.cpp | 15 - ...transpose_on_const_type_actually_const.cpp | 16 - ...angularview_nonconst_ctor_on_const_xpr.cpp | 15 - ...gularview_on_const_type_actually_const.cpp | 16 - .../nanogui/ext/eigen/lapack/CMakeLists.txt | 449 - testbed/nanogui/ext/eigen/lapack/cholesky.cpp | 72 - testbed/nanogui/ext/eigen/lapack/clacgv.f | 116 - testbed/nanogui/ext/eigen/lapack/cladiv.f | 97 - testbed/nanogui/ext/eigen/lapack/clarf.f | 232 - testbed/nanogui/ext/eigen/lapack/clarfb.f | 771 - testbed/nanogui/ext/eigen/lapack/clarfg.f | 203 - testbed/nanogui/ext/eigen/lapack/clarft.f | 328 - .../ext/eigen/lapack/complex_double.cpp | 18 - .../ext/eigen/lapack/complex_single.cpp | 18 - testbed/nanogui/ext/eigen/lapack/dladiv.f | 128 - testbed/nanogui/ext/eigen/lapack/dlamch.f | 189 - testbed/nanogui/ext/eigen/lapack/dlapy2.f | 104 - testbed/nanogui/ext/eigen/lapack/dlapy3.f | 111 - testbed/nanogui/ext/eigen/lapack/dlarf.f | 227 - testbed/nanogui/ext/eigen/lapack/dlarfb.f | 762 - testbed/nanogui/ext/eigen/lapack/dlarfg.f | 196 - testbed/nanogui/ext/eigen/lapack/dlarft.f | 326 - testbed/nanogui/ext/eigen/lapack/double.cpp | 18 - .../nanogui/ext/eigen/lapack/dsecnd_NONE.f | 52 - .../nanogui/ext/eigen/lapack/eigenvalues.cpp | 62 - testbed/nanogui/ext/eigen/lapack/ilaclc.f | 118 - testbed/nanogui/ext/eigen/lapack/ilaclr.f | 121 - testbed/nanogui/ext/eigen/lapack/iladlc.f | 118 - testbed/nanogui/ext/eigen/lapack/iladlr.f | 121 - testbed/nanogui/ext/eigen/lapack/ilaslc.f | 118 - testbed/nanogui/ext/eigen/lapack/ilaslr.f | 121 - testbed/nanogui/ext/eigen/lapack/ilazlc.f | 118 - testbed/nanogui/ext/eigen/lapack/ilazlr.f | 121 - .../nanogui/ext/eigen/lapack/lapack_common.h | 29 - testbed/nanogui/ext/eigen/lapack/lu.cpp | 89 - .../nanogui/ext/eigen/lapack/second_NONE.f | 52 - testbed/nanogui/ext/eigen/lapack/single.cpp | 18 - testbed/nanogui/ext/eigen/lapack/sladiv.f | 128 - testbed/nanogui/ext/eigen/lapack/slamch.f | 192 - testbed/nanogui/ext/eigen/lapack/slapy2.f | 104 - testbed/nanogui/ext/eigen/lapack/slapy3.f | 111 - testbed/nanogui/ext/eigen/lapack/slarf.f | 227 - testbed/nanogui/ext/eigen/lapack/slarfb.f | 763 - testbed/nanogui/ext/eigen/lapack/slarfg.f | 196 - testbed/nanogui/ext/eigen/lapack/slarft.f | 326 - testbed/nanogui/ext/eigen/lapack/svd.cpp | 138 - testbed/nanogui/ext/eigen/lapack/zlacgv.f | 116 - testbed/nanogui/ext/eigen/lapack/zladiv.f | 97 - testbed/nanogui/ext/eigen/lapack/zlarf.f | 232 - testbed/nanogui/ext/eigen/lapack/zlarfb.f | 774 - testbed/nanogui/ext/eigen/lapack/zlarfg.f | 203 - testbed/nanogui/ext/eigen/lapack/zlarft.f | 327 - .../nanogui/ext/eigen/scripts/CMakeLists.txt | 6 - .../nanogui/ext/eigen/scripts/buildtests.in | 22 - .../ext/eigen/scripts/cdashtesting.cmake.in | 49 - testbed/nanogui/ext/eigen/scripts/check.in | 21 - testbed/nanogui/ext/eigen/scripts/debug.in | 3 - .../ext/eigen/scripts/eigen_gen_credits.cpp | 232 - .../nanogui/ext/eigen/scripts/eigen_gen_docs | 24 - .../ext/eigen/scripts/eigen_monitor_perf.sh | 25 - testbed/nanogui/ext/eigen/scripts/release.in | 3 - .../nanogui/ext/eigen/scripts/relicense.py | 69 - .../eigen/signature_of_eigen3_matrix_library | 1 - testbed/nanogui/ext/eigen/test/CMakeLists.txt | 384 - testbed/nanogui/ext/eigen/test/adjoint.cpp | 200 - testbed/nanogui/ext/eigen/test/array.cpp | 498 - .../ext/eigen/test/array_for_matrix.cpp | 284 - .../ext/eigen/test/array_of_string.cpp | 32 - .../ext/eigen/test/array_replicate.cpp | 82 - .../nanogui/ext/eigen/test/array_reverse.cpp | 146 - testbed/nanogui/ext/eigen/test/bandmatrix.cpp | 71 - testbed/nanogui/ext/eigen/test/basicstuff.cpp | 296 - testbed/nanogui/ext/eigen/test/bdcsvd.cpp | 111 - testbed/nanogui/ext/eigen/test/bicgstab.cpp | 34 - testbed/nanogui/ext/eigen/test/block.cpp | 283 - .../nanogui/ext/eigen/test/boostmultiprec.cpp | 201 - testbed/nanogui/ext/eigen/test/bug1213.cpp | 13 - testbed/nanogui/ext/eigen/test/bug1213.h | 8 - .../nanogui/ext/eigen/test/bug1213_main.cpp | 18 - testbed/nanogui/ext/eigen/test/cholesky.cpp | 509 - .../ext/eigen/test/cholmod_support.cpp | 69 - .../ext/eigen/test/commainitializer.cpp | 106 - .../ext/eigen/test/conjugate_gradient.cpp | 34 - .../ext/eigen/test/conservative_resize.cpp | 134 - .../nanogui/ext/eigen/test/constructor.cpp | 84 - testbed/nanogui/ext/eigen/test/corners.cpp | 118 - testbed/nanogui/ext/eigen/test/ctorleak.cpp | 69 - testbed/nanogui/ext/eigen/test/cuda_basic.cu | 173 - testbed/nanogui/ext/eigen/test/cuda_common.h | 101 - testbed/nanogui/ext/eigen/test/denseLM.cpp | 190 - .../nanogui/ext/eigen/test/dense_storage.cpp | 76 - .../nanogui/ext/eigen/test/determinant.cpp | 67 - testbed/nanogui/ext/eigen/test/diagonal.cpp | 101 - .../ext/eigen/test/diagonalmatrices.cpp | 129 - testbed/nanogui/ext/eigen/test/dontalign.cpp | 63 - testbed/nanogui/ext/eigen/test/dynalloc.cpp | 175 - .../nanogui/ext/eigen/test/eigen2support.cpp | 66 - .../ext/eigen/test/eigensolver_complex.cpp | 177 - .../test/eigensolver_generalized_real.cpp | 97 - .../ext/eigen/test/eigensolver_generic.cpp | 166 - .../eigen/test/eigensolver_selfadjoint.cpp | 274 - .../nanogui/ext/eigen/test/evaluator_common.h | 0 testbed/nanogui/ext/eigen/test/evaluators.cpp | 499 - testbed/nanogui/ext/eigen/test/exceptions.cpp | 113 - testbed/nanogui/ext/eigen/test/fastmath.cpp | 99 - .../nanogui/ext/eigen/test/first_aligned.cpp | 51 - .../nanogui/ext/eigen/test/geo_alignedbox.cpp | 198 - .../ext/eigen/test/geo_eulerangles.cpp | 112 - .../ext/eigen/test/geo_homogeneous.cpp | 125 - .../nanogui/ext/eigen/test/geo_hyperplane.cpp | 198 - .../ext/eigen/test/geo_orthomethods.cpp | 133 - .../ext/eigen/test/geo_parametrizedline.cpp | 131 - .../nanogui/ext/eigen/test/geo_quaternion.cpp | 289 - .../ext/eigen/test/geo_transformations.cpp | 645 - testbed/nanogui/ext/eigen/test/half_float.cpp | 257 - testbed/nanogui/ext/eigen/test/hessenberg.cpp | 62 - .../nanogui/ext/eigen/test/householder.cpp | 138 - .../ext/eigen/test/incomplete_cholesky.cpp | 65 - .../nanogui/ext/eigen/test/indexed_view.cpp | 378 - .../ext/eigen/test/inplace_decomposition.cpp | 110 - .../nanogui/ext/eigen/test/integer_types.cpp | 169 - testbed/nanogui/ext/eigen/test/inverse.cpp | 117 - .../nanogui/ext/eigen/test/is_same_dense.cpp | 33 - testbed/nanogui/ext/eigen/test/jacobi.cpp | 81 - testbed/nanogui/ext/eigen/test/jacobisvd.cpp | 126 - .../ext/eigen/test/linearstructure.cpp | 149 - testbed/nanogui/ext/eigen/test/lscg.cpp | 29 - testbed/nanogui/ext/eigen/test/lu.cpp | 281 - testbed/nanogui/ext/eigen/test/main.h | 746 - .../nanogui/ext/eigen/test/mapped_matrix.cpp | 211 - .../ext/eigen/test/mapstaticmethods.cpp | 175 - testbed/nanogui/ext/eigen/test/mapstride.cpp | 181 - testbed/nanogui/ext/eigen/test/meta.cpp | 97 - .../nanogui/ext/eigen/test/metis_support.cpp | 25 - .../nanogui/ext/eigen/test/miscmatrices.cpp | 47 - .../nanogui/ext/eigen/test/mixingtypes.cpp | 300 - testbed/nanogui/ext/eigen/test/mpl2only.cpp | 22 - .../nanogui/ext/eigen/test/nesting_ops.cpp | 107 - testbed/nanogui/ext/eigen/test/nomalloc.cpp | 229 - testbed/nanogui/ext/eigen/test/nullary.cpp | 304 - testbed/nanogui/ext/eigen/test/packetmath.cpp | 642 - .../ext/eigen/test/pardiso_support.cpp | 29 - .../nanogui/ext/eigen/test/pastix_support.cpp | 54 - .../ext/eigen/test/permutationmatrices.cpp | 156 - .../ext/eigen/test/prec_inverse_4x4.cpp | 83 - testbed/nanogui/ext/eigen/test/product.h | 231 - .../nanogui/ext/eigen/test/product_extra.cpp | 375 - .../nanogui/ext/eigen/test/product_large.cpp | 107 - .../nanogui/ext/eigen/test/product_mmtr.cpp | 89 - .../ext/eigen/test/product_notemporary.cpp | 159 - .../ext/eigen/test/product_selfadjoint.cpp | 87 - .../nanogui/ext/eigen/test/product_small.cpp | 293 - .../nanogui/ext/eigen/test/product_symm.cpp | 112 - .../nanogui/ext/eigen/test/product_syrk.cpp | 136 - .../nanogui/ext/eigen/test/product_trmm.cpp | 115 - .../nanogui/ext/eigen/test/product_trmv.cpp | 91 - .../ext/eigen/test/product_trsolve.cpp | 101 - testbed/nanogui/ext/eigen/test/qr.cpp | 132 - .../nanogui/ext/eigen/test/qr_colpivoting.cpp | 342 - .../ext/eigen/test/qr_fullpivoting.cpp | 159 - testbed/nanogui/ext/eigen/test/qtvector.cpp | 158 - testbed/nanogui/ext/eigen/test/rand.cpp | 118 - testbed/nanogui/ext/eigen/test/real_qz.cpp | 95 - testbed/nanogui/ext/eigen/test/redux.cpp | 178 - testbed/nanogui/ext/eigen/test/ref.cpp | 280 - testbed/nanogui/ext/eigen/test/resize.cpp | 41 - .../nanogui/ext/eigen/test/rvalue_types.cpp | 64 - .../nanogui/ext/eigen/test/schur_complex.cpp | 91 - testbed/nanogui/ext/eigen/test/schur_real.cpp | 112 - .../nanogui/ext/eigen/test/selfadjoint.cpp | 72 - .../ext/eigen/test/simplicial_cholesky.cpp | 47 - testbed/nanogui/ext/eigen/test/sizeof.cpp | 47 - .../nanogui/ext/eigen/test/sizeoverflow.cpp | 64 - .../nanogui/ext/eigen/test/smallvectors.cpp | 67 - testbed/nanogui/ext/eigen/test/sparse.h | 210 - testbed/nanogui/ext/eigen/test/sparseLM.cpp | 176 - .../nanogui/ext/eigen/test/sparse_basic.cpp | 688 - .../nanogui/ext/eigen/test/sparse_block.cpp | 317 - .../ext/eigen/test/sparse_permutations.cpp | 236 - .../nanogui/ext/eigen/test/sparse_product.cpp | 381 - testbed/nanogui/ext/eigen/test/sparse_ref.cpp | 139 - .../nanogui/ext/eigen/test/sparse_solver.h | 565 - .../nanogui/ext/eigen/test/sparse_solvers.cpp | 112 - .../nanogui/ext/eigen/test/sparse_vector.cpp | 163 - testbed/nanogui/ext/eigen/test/sparselu.cpp | 45 - testbed/nanogui/ext/eigen/test/sparseqr.cpp | 106 - .../ext/eigen/test/special_numbers.cpp | 58 - .../nanogui/ext/eigen/test/spqr_support.cpp | 64 - .../nanogui/ext/eigen/test/stable_norm.cpp | 192 - testbed/nanogui/ext/eigen/test/stddeque.cpp | 132 - .../ext/eigen/test/stddeque_overload.cpp | 158 - testbed/nanogui/ext/eigen/test/stdlist.cpp | 132 - .../ext/eigen/test/stdlist_overload.cpp | 192 - testbed/nanogui/ext/eigen/test/stdvector.cpp | 148 - .../ext/eigen/test/stdvector_overload.cpp | 161 - .../ext/eigen/test/superlu_support.cpp | 23 - testbed/nanogui/ext/eigen/test/svd_common.h | 483 - testbed/nanogui/ext/eigen/test/svd_fill.h | 119 - testbed/nanogui/ext/eigen/test/swap.cpp | 94 - .../nanogui/ext/eigen/test/symbolic_index.cpp | 104 - testbed/nanogui/ext/eigen/test/triangular.cpp | 247 - testbed/nanogui/ext/eigen/test/umeyama.cpp | 183 - .../ext/eigen/test/umfpack_support.cpp | 32 - .../ext/eigen/test/unalignedassert.cpp | 180 - .../nanogui/ext/eigen/test/unalignedcount.cpp | 53 - .../ext/eigen/test/upperbidiagonalization.cpp | 43 - .../ext/eigen/test/vectorization_logic.cpp | 419 - .../nanogui/ext/eigen/test/vectorwiseop.cpp | 252 - testbed/nanogui/ext/eigen/test/visitor.cpp | 135 - testbed/nanogui/ext/eigen/test/zerosized.cpp | 102 - .../ext/eigen/unsupported/CMakeLists.txt | 9 - .../ext/eigen/unsupported/Eigen/AdolcForward | 156 - .../eigen/unsupported/Eigen/AlignedVector3 | 224 - .../ext/eigen/unsupported/Eigen/ArpackSupport | 31 - .../ext/eigen/unsupported/Eigen/AutoDiff | 40 - .../nanogui/ext/eigen/unsupported/Eigen/BVH | 95 - .../eigen/unsupported/Eigen/CMakeLists.txt | 32 - .../unsupported/Eigen/CXX11/CMakeLists.txt | 8 - .../ext/eigen/unsupported/Eigen/CXX11/Tensor | 159 - .../unsupported/Eigen/CXX11/TensorSymmetry | 42 - .../eigen/unsupported/Eigen/CXX11/ThreadPool | 78 - .../Eigen/CXX11/src/Tensor/README.md | 1755 -- .../Eigen/CXX11/src/Tensor/Tensor.h | 527 - .../Eigen/CXX11/src/Tensor/TensorArgMax.h | 299 - .../Eigen/CXX11/src/Tensor/TensorAssign.h | 181 - .../Eigen/CXX11/src/Tensor/TensorBase.h | 1016 - .../CXX11/src/Tensor/TensorBroadcasting.h | 392 - .../Eigen/CXX11/src/Tensor/TensorChipping.h | 400 - .../CXX11/src/Tensor/TensorConcatenation.h | 367 - .../CXX11/src/Tensor/TensorContraction.h | 909 - .../src/Tensor/TensorContractionBlocking.h | 190 - .../CXX11/src/Tensor/TensorContractionCuda.h | 1386 -- .../src/Tensor/TensorContractionMapper.h | 493 - .../CXX11/src/Tensor/TensorContractionSycl.h | 400 - .../src/Tensor/TensorContractionThreadPool.h | 1252 -- .../Eigen/CXX11/src/Tensor/TensorConversion.h | 282 - .../CXX11/src/Tensor/TensorConvolution.h | 1104 -- .../CXX11/src/Tensor/TensorConvolutionSycl.h | 476 - .../Eigen/CXX11/src/Tensor/TensorCostModel.h | 212 - .../Eigen/CXX11/src/Tensor/TensorCustomOp.h | 313 - .../Eigen/CXX11/src/Tensor/TensorDevice.h | 68 - .../Eigen/CXX11/src/Tensor/TensorDeviceCuda.h | 340 - .../CXX11/src/Tensor/TensorDeviceDefault.h | 81 - .../Eigen/CXX11/src/Tensor/TensorDeviceSycl.h | 415 - .../CXX11/src/Tensor/TensorDeviceThreadPool.h | 268 - .../CXX11/src/Tensor/TensorDimensionList.h | 236 - .../Eigen/CXX11/src/Tensor/TensorDimensions.h | 430 - .../Eigen/CXX11/src/Tensor/TensorEvalTo.h | 184 - .../Eigen/CXX11/src/Tensor/TensorEvaluator.h | 640 - .../Eigen/CXX11/src/Tensor/TensorExecutor.h | 288 - .../Eigen/CXX11/src/Tensor/TensorExpr.h | 371 - .../Eigen/CXX11/src/Tensor/TensorFFT.h | 651 - .../Eigen/CXX11/src/Tensor/TensorFixedSize.h | 389 - .../Eigen/CXX11/src/Tensor/TensorForcedEval.h | 162 - .../src/Tensor/TensorForwardDeclarations.h | 121 - .../Eigen/CXX11/src/Tensor/TensorFunctors.h | 489 - .../Eigen/CXX11/src/Tensor/TensorGenerator.h | 185 - .../CXX11/src/Tensor/TensorGlobalFunctions.h | 33 - .../Eigen/CXX11/src/Tensor/TensorIO.h | 79 - .../Eigen/CXX11/src/Tensor/TensorImagePatch.h | 509 - .../Eigen/CXX11/src/Tensor/TensorIndexList.h | 725 - .../Eigen/CXX11/src/Tensor/TensorInflation.h | 229 - .../CXX11/src/Tensor/TensorInitializer.h | 82 - .../Eigen/CXX11/src/Tensor/TensorIntDiv.h | 263 - .../Eigen/CXX11/src/Tensor/TensorLayoutSwap.h | 209 - .../Eigen/CXX11/src/Tensor/TensorMacros.h | 62 - .../Eigen/CXX11/src/Tensor/TensorMap.h | 321 - .../Eigen/CXX11/src/Tensor/TensorMeta.h | 219 - .../Eigen/CXX11/src/Tensor/TensorMorphing.h | 921 - .../Eigen/CXX11/src/Tensor/TensorPadding.h | 404 - .../Eigen/CXX11/src/Tensor/TensorPatch.h | 269 - .../Eigen/CXX11/src/Tensor/TensorRandom.h | 276 - .../Eigen/CXX11/src/Tensor/TensorReduction.h | 799 - .../CXX11/src/Tensor/TensorReductionCuda.h | 749 - .../CXX11/src/Tensor/TensorReductionSycl.h | 175 - .../Eigen/CXX11/src/Tensor/TensorRef.h | 429 - .../Eigen/CXX11/src/Tensor/TensorReverse.h | 293 - .../Eigen/CXX11/src/Tensor/TensorScan.h | 287 - .../Eigen/CXX11/src/Tensor/TensorShuffling.h | 270 - .../Eigen/CXX11/src/Tensor/TensorStorage.h | 146 - .../Eigen/CXX11/src/Tensor/TensorStriding.h | 348 - .../Eigen/CXX11/src/Tensor/TensorSycl.h | 94 - .../TensorSyclConvertToDeviceExpression.h | 165 - .../src/Tensor/TensorSyclExprConstructor.h | 401 - .../src/Tensor/TensorSyclExtractAccessor.h | 239 - .../src/Tensor/TensorSyclExtractFunctors.h | 319 - .../CXX11/src/Tensor/TensorSyclFunctors.h | 245 - .../CXX11/src/Tensor/TensorSyclLeafCount.h | 166 - .../src/Tensor/TensorSyclPlaceHolderExpr.h | 232 - .../Eigen/CXX11/src/Tensor/TensorSyclRun.h | 97 - .../Eigen/CXX11/src/Tensor/TensorSyclTuple.h | 236 - .../Eigen/CXX11/src/Tensor/TensorTraits.h | 278 - .../Eigen/CXX11/src/Tensor/TensorUInt128.h | 249 - .../CXX11/src/Tensor/TensorVolumePatch.h | 608 - .../src/TensorSymmetry/DynamicSymmetry.h | 293 - .../CXX11/src/TensorSymmetry/StaticSymmetry.h | 236 - .../Eigen/CXX11/src/TensorSymmetry/Symmetry.h | 338 - .../TensorSymmetry/util/TemplateGroupTheory.h | 666 - .../Eigen/CXX11/src/ThreadPool/EventCount.h | 233 - .../src/ThreadPool/NonBlockingThreadPool.h | 344 - .../Eigen/CXX11/src/ThreadPool/RunQueue.h | 217 - .../CXX11/src/ThreadPool/SimpleThreadPool.h | 162 - .../Eigen/CXX11/src/ThreadPool/ThreadCancel.h | 23 - .../CXX11/src/ThreadPool/ThreadEnvironment.h | 40 - .../Eigen/CXX11/src/ThreadPool/ThreadLocal.h | 22 - .../src/ThreadPool/ThreadPoolInterface.h | 39 - .../Eigen/CXX11/src/ThreadPool/ThreadYield.h | 20 - .../Eigen/CXX11/src/util/CXX11Meta.h | 546 - .../Eigen/CXX11/src/util/CXX11Workarounds.h | 88 - .../Eigen/CXX11/src/util/EmulateArray.h | 256 - .../Eigen/CXX11/src/util/EmulateCXX11Meta.h | 311 - .../Eigen/CXX11/src/util/MaxSizeVector.h | 141 - .../ext/eigen/unsupported/Eigen/EulerAngles | 43 - .../nanogui/ext/eigen/unsupported/Eigen/FFT | 418 - .../eigen/unsupported/Eigen/IterativeSolvers | 42 - .../eigen/unsupported/Eigen/KroneckerProduct | 36 - .../unsupported/Eigen/LevenbergMarquardt | 45 - .../ext/eigen/unsupported/Eigen/MPRealSupport | 209 - .../eigen/unsupported/Eigen/MatrixFunctions | 501 - .../eigen/unsupported/Eigen/MoreVectorization | 24 - .../unsupported/Eigen/NonLinearOptimization | 134 - .../ext/eigen/unsupported/Eigen/NumericalDiff | 56 - .../ext/eigen/unsupported/Eigen/OpenGLSupport | 322 - .../ext/eigen/unsupported/Eigen/Polynomials | 138 - .../ext/eigen/unsupported/Eigen/Skyline | 39 - .../ext/eigen/unsupported/Eigen/SparseExtra | 53 - .../eigen/unsupported/Eigen/SpecialFunctions | 63 - .../ext/eigen/unsupported/Eigen/Splines | 31 - .../Eigen/src/AutoDiff/AutoDiffJacobian.h | 108 - .../Eigen/src/AutoDiff/AutoDiffScalar.h | 686 - .../Eigen/src/AutoDiff/AutoDiffVector.h | 220 - .../unsupported/Eigen/src/BVH/BVAlgorithms.h | 293 - .../eigen/unsupported/Eigen/src/BVH/KdBVH.h | 222 - .../ArpackSelfAdjointEigenSolver.h | 805 - .../Eigen/src/EulerAngles/CMakeLists.txt | 6 - .../Eigen/src/EulerAngles/EulerAngles.h | 355 - .../Eigen/src/EulerAngles/EulerSystem.h | 306 - .../unsupported/Eigen/src/FFT/ei_fftw_impl.h | 261 - .../Eigen/src/FFT/ei_kissfft_impl.h | 420 - .../IterativeSolvers/ConstrainedConjGrad.h | 189 - .../Eigen/src/IterativeSolvers/DGMRES.h | 513 - .../Eigen/src/IterativeSolvers/GMRES.h | 343 - .../Eigen/src/IterativeSolvers/IncompleteLU.h | 90 - .../IterativeSolvers/IterationController.h | 154 - .../Eigen/src/IterativeSolvers/MINRES.h | 289 - .../Eigen/src/IterativeSolvers/Scaling.h | 187 - .../KroneckerProduct/KroneckerTensorProduct.h | 305 - .../LevenbergMarquardt/CopyrightMINPACK.txt | 52 - .../Eigen/src/LevenbergMarquardt/LMcovar.h | 84 - .../Eigen/src/LevenbergMarquardt/LMonestep.h | 202 - .../Eigen/src/LevenbergMarquardt/LMpar.h | 160 - .../Eigen/src/LevenbergMarquardt/LMqrsolv.h | 188 - .../LevenbergMarquardt/LevenbergMarquardt.h | 396 - .../src/MatrixFunctions/MatrixExponential.h | 432 - .../src/MatrixFunctions/MatrixFunction.h | 581 - .../src/MatrixFunctions/MatrixLogarithm.h | 373 - .../Eigen/src/MatrixFunctions/MatrixPower.h | 709 - .../src/MatrixFunctions/MatrixSquareRoot.h | 370 - .../Eigen/src/MatrixFunctions/StemFunction.h | 117 - .../src/MoreVectorization/MathFunctions.h | 95 - .../HybridNonLinearSolver.h | 601 - .../LevenbergMarquardt.h | 657 - .../Eigen/src/NonLinearOptimization/chkder.h | 66 - .../Eigen/src/NonLinearOptimization/covar.h | 70 - .../Eigen/src/NonLinearOptimization/dogleg.h | 107 - .../Eigen/src/NonLinearOptimization/fdjac1.h | 79 - .../Eigen/src/NonLinearOptimization/lmpar.h | 298 - .../Eigen/src/NonLinearOptimization/qrsolv.h | 91 - .../Eigen/src/NonLinearOptimization/r1mpyq.h | 30 - .../Eigen/src/NonLinearOptimization/r1updt.h | 99 - .../Eigen/src/NonLinearOptimization/rwupdt.h | 49 - .../Eigen/src/NumericalDiff/NumericalDiff.h | 130 - .../Eigen/src/Polynomials/Companion.h | 276 - .../Eigen/src/Polynomials/PolynomialSolver.h | 408 - .../Eigen/src/Polynomials/PolynomialUtils.h | 143 - .../Eigen/src/Skyline/SkylineInplaceLU.h | 352 - .../Eigen/src/Skyline/SkylineMatrix.h | 862 - .../Eigen/src/Skyline/SkylineMatrixBase.h | 212 - .../Eigen/src/Skyline/SkylineProduct.h | 295 - .../Eigen/src/Skyline/SkylineStorage.h | 259 - .../Eigen/src/Skyline/SkylineUtil.h | 89 - .../SparseExtra/BlockOfDynamicSparseMatrix.h | 122 - .../Eigen/src/SparseExtra/BlockSparseMatrix.h | 1079 - .../src/SparseExtra/DynamicSparseMatrix.h | 392 - .../Eigen/src/SparseExtra/MarketIO.h | 281 - .../src/SparseExtra/MatrixMarketIterator.h | 247 - .../Eigen/src/SparseExtra/RandomSetter.h | 327 - .../SpecialFunctionsArrayAPI.h | 124 - .../SpecialFunctionsFunctors.h | 236 - .../SpecialFunctions/SpecialFunctionsHalf.h | 47 - .../SpecialFunctions/SpecialFunctionsImpl.h | 1565 -- .../SpecialFunctionsPacketMath.h | 58 - .../arch/CUDA/CudaSpecialFunctions.h | 165 - .../unsupported/Eigen/src/Splines/Spline.h | 512 - .../Eigen/src/Splines/SplineFitting.h | 430 - .../unsupported/Eigen/src/Splines/SplineFwd.h | 93 - .../nanogui/ext/eigen/unsupported/README.txt | 50 - .../ext/eigen/unsupported/bench/bench_svd.cpp | 123 - .../ext/eigen/unsupported/doc/CMakeLists.txt | 4 - .../ext/eigen/unsupported/doc/Overview.dox | 28 - .../unsupported/doc/eigendoxy_layout.xml.in | 177 - .../unsupported/doc/examples/BVH_Example.cpp | 50 - .../unsupported/doc/examples/CMakeLists.txt | 20 - .../unsupported/doc/examples/EulerAngles.cpp | 46 - .../eigen/unsupported/doc/examples/FFT.cpp | 118 - .../doc/examples/MatrixExponential.cpp | 16 - .../doc/examples/MatrixFunction.cpp | 23 - .../doc/examples/MatrixLogarithm.cpp | 15 - .../unsupported/doc/examples/MatrixPower.cpp | 16 - .../doc/examples/MatrixPower_optimal.cpp | 17 - .../unsupported/doc/examples/MatrixSine.cpp | 20 - .../unsupported/doc/examples/MatrixSinh.cpp | 20 - .../doc/examples/MatrixSquareRoot.cpp | 16 - .../doc/examples/PolynomialSolver1.cpp | 53 - .../doc/examples/PolynomialUtils1.cpp | 20 - .../unsupported/doc/snippets/CMakeLists.txt | 26 - .../ext/eigen/unsupported/test/BVH.cpp | 222 - .../ext/eigen/unsupported/test/CMakeLists.txt | 278 - .../eigen/unsupported/test/EulerAngles.cpp | 292 - .../ext/eigen/unsupported/test/FFT.cpp | 2 - .../ext/eigen/unsupported/test/FFTW.cpp | 262 - .../test/NonLinearOptimization.cpp | 1878 -- .../eigen/unsupported/test/NumericalDiff.cpp | 114 - .../eigen/unsupported/test/alignedvector3.cpp | 84 - .../ext/eigen/unsupported/test/autodiff.cpp | 367 - .../unsupported/test/autodiff_scalar.cpp | 83 - .../unsupported/test/cxx11_eventcount.cpp | 142 - .../ext/eigen/unsupported/test/cxx11_meta.cpp | 357 - .../test/cxx11_non_blocking_thread_pool.cpp | 125 - .../eigen/unsupported/test/cxx11_runqueue.cpp | 235 - .../unsupported/test/cxx11_tensor_argmax.cpp | 294 - .../test/cxx11_tensor_argmax_cuda.cu | 254 - .../unsupported/test/cxx11_tensor_assign.cpp | 370 - .../test/cxx11_tensor_broadcast_sycl.cpp | 144 - .../test/cxx11_tensor_broadcasting.cpp | 194 - .../test/cxx11_tensor_builtins_sycl.cpp | 267 - .../test/cxx11_tensor_cast_float16_cuda.cu | 82 - .../unsupported/test/cxx11_tensor_casts.cpp | 115 - .../test/cxx11_tensor_chipping.cpp | 425 - .../test/cxx11_tensor_chipping_sycl.cpp | 622 - .../test/cxx11_tensor_comparisons.cpp | 84 - .../test/cxx11_tensor_complex_cuda.cu | 153 - .../cxx11_tensor_complex_cwise_ops_cuda.cu | 97 - .../test/cxx11_tensor_concatenation.cpp | 137 - .../test/cxx11_tensor_concatenation_sycl.cpp | 180 - .../unsupported/test/cxx11_tensor_const.cpp | 62 - .../test/cxx11_tensor_contract_cuda.cu | 216 - .../test/cxx11_tensor_contract_sycl.cpp | 290 - .../test/cxx11_tensor_contraction.cpp | 545 - .../test/cxx11_tensor_convolution.cpp | 149 - .../test/cxx11_tensor_convolution_sycl.cpp | 469 - .../unsupported/test/cxx11_tensor_cuda.cu | 1287 -- .../test/cxx11_tensor_custom_index.cpp | 100 - .../test/cxx11_tensor_custom_op.cpp | 111 - .../unsupported/test/cxx11_tensor_device.cu | 390 - .../test/cxx11_tensor_device_sycl.cpp | 77 - .../test/cxx11_tensor_dimension.cpp | 69 - .../unsupported/test/cxx11_tensor_empty.cpp | 40 - .../unsupported/test/cxx11_tensor_expr.cpp | 360 - .../unsupported/test/cxx11_tensor_fft.cpp | 273 - .../test/cxx11_tensor_fixed_size.cpp | 261 - .../test/cxx11_tensor_forced_eval.cpp | 79 - .../test/cxx11_tensor_forced_eval_sycl.cpp | 76 - .../test/cxx11_tensor_generator.cpp | 91 - .../unsupported/test/cxx11_tensor_ifft.cpp | 154 - .../test/cxx11_tensor_image_patch.cpp | 757 - .../test/cxx11_tensor_index_list.cpp | 386 - .../test/cxx11_tensor_inflation.cpp | 81 - .../unsupported/test/cxx11_tensor_intdiv.cpp | 147 - .../unsupported/test/cxx11_tensor_io.cpp | 136 - .../test/cxx11_tensor_layout_swap.cpp | 61 - .../unsupported/test/cxx11_tensor_lvalue.cpp | 42 - .../unsupported/test/cxx11_tensor_map.cpp | 277 - .../unsupported/test/cxx11_tensor_math.cpp | 46 - .../test/cxx11_tensor_mixed_indices.cpp | 53 - .../test/cxx11_tensor_morphing.cpp | 485 - .../test/cxx11_tensor_morphing_sycl.cpp | 248 - .../test/cxx11_tensor_notification.cpp | 72 - .../test/cxx11_tensor_of_complex.cpp | 103 - .../test/cxx11_tensor_of_const_values.cpp | 105 - .../test/cxx11_tensor_of_float16_cuda.cu | 500 - .../test/cxx11_tensor_of_strings.cpp | 152 - .../unsupported/test/cxx11_tensor_padding.cpp | 93 - .../test/cxx11_tensor_padding_sycl.cpp | 157 - .../unsupported/test/cxx11_tensor_patch.cpp | 172 - .../unsupported/test/cxx11_tensor_random.cpp | 78 - .../test/cxx11_tensor_random_cuda.cu | 88 - .../test/cxx11_tensor_reduction.cpp | 508 - .../test/cxx11_tensor_reduction_cuda.cu | 157 - .../test/cxx11_tensor_reduction_sycl.cpp | 181 - .../unsupported/test/cxx11_tensor_ref.cpp | 248 - .../unsupported/test/cxx11_tensor_reverse.cpp | 190 - .../test/cxx11_tensor_reverse_sycl.cpp | 221 - .../test/cxx11_tensor_roundings.cpp | 62 - .../unsupported/test/cxx11_tensor_scan.cpp | 110 - .../test/cxx11_tensor_scan_cuda.cu | 79 - .../test/cxx11_tensor_shuffling.cpp | 228 - .../test/cxx11_tensor_shuffling_sycl.cpp | 119 - .../unsupported/test/cxx11_tensor_simple.cpp | 327 - .../test/cxx11_tensor_striding.cpp | 119 - .../test/cxx11_tensor_striding_sycl.cpp | 203 - .../unsupported/test/cxx11_tensor_sugar.cpp | 81 - .../unsupported/test/cxx11_tensor_sycl.cpp | 276 - .../test/cxx11_tensor_symmetry.cpp | 818 - .../test/cxx11_tensor_thread_pool.cpp | 373 - .../unsupported/test/cxx11_tensor_uint128.cpp | 160 - .../test/cxx11_tensor_volume_patch.cpp | 112 - .../ext/eigen/unsupported/test/dgmres.cpp | 31 - .../eigen/unsupported/test/forward_adolc.cpp | 141 - .../ext/eigen/unsupported/test/gmres.cpp | 31 - .../unsupported/test/kronecker_product.cpp | 252 - .../unsupported/test/levenberg_marquardt.cpp | 1477 -- .../unsupported/test/matrix_exponential.cpp | 141 - .../unsupported/test/matrix_function.cpp | 193 - .../eigen/unsupported/test/matrix_functions.h | 67 - .../eigen/unsupported/test/matrix_power.cpp | 204 - .../unsupported/test/matrix_square_root.cpp | 31 - .../ext/eigen/unsupported/test/minres.cpp | 44 - .../eigen/unsupported/test/mpreal/mpreal.h | 3104 --- .../eigen/unsupported/test/mpreal_support.cpp | 65 - .../eigen/unsupported/test/openglsupport.cpp | 337 - .../unsupported/test/polynomialsolver.cpp | 216 - .../unsupported/test/polynomialutils.cpp | 113 - .../eigen/unsupported/test/sparse_extra.cpp | 170 - .../unsupported/test/special_functions.cpp | 345 - .../ext/eigen/unsupported/test/splines.cpp | 281 - .../ext/glad/include/KHR/khrplatform.h | 285 - testbed/nanogui/ext/glad/include/glad/glad.h | 2155 -- testbed/nanogui/ext/glad/src/glad.c | 993 - testbed/nanogui/ext/glfw/.appveyor.yml | 22 - .../nanogui/ext/glfw/.github/CONTRIBUTING.md | 106 - testbed/nanogui/ext/glfw/.gitignore | 86 - testbed/nanogui/ext/glfw/.travis.yml | 30 - .../ext/glfw/CMake/MacOSXBundleInfo.plist.in | 38 - .../ext/glfw/CMake/amd64-mingw32msvc.cmake | 13 - .../ext/glfw/CMake/i586-mingw32msvc.cmake | 13 - .../ext/glfw/CMake/i686-pc-mingw32.cmake | 13 - .../ext/glfw/CMake/i686-w64-mingw32.cmake | 13 - .../ext/glfw/CMake/modules/FindMir.cmake | 18 - .../ext/glfw/CMake/modules/FindVulkan.cmake | 31 - .../CMake/modules/FindWaylandProtocols.cmake | 26 - .../glfw/CMake/modules/FindXKBCommon.cmake | 34 - .../ext/glfw/CMake/x86_64-w64-mingw32.cmake | 13 - testbed/nanogui/ext/glfw/CMakeLists.txt | 403 - testbed/nanogui/ext/glfw/COPYING.txt | 22 - testbed/nanogui/ext/glfw/README.md | 291 - .../nanogui/ext/glfw/cmake_uninstall.cmake.in | 29 - .../nanogui/ext/glfw/deps/KHR/khrplatform.h | 282 - testbed/nanogui/ext/glfw/deps/getopt.c | 230 - testbed/nanogui/ext/glfw/deps/getopt.h | 57 - testbed/nanogui/ext/glfw/deps/glad.c | 1555 -- testbed/nanogui/ext/glfw/deps/glad/glad.h | 3520 ---- testbed/nanogui/ext/glfw/deps/linmath.h | 571 - .../ext/glfw/deps/mingw/_mingw_dxhelper.h | 117 - testbed/nanogui/ext/glfw/deps/mingw/dinput.h | 2467 --- testbed/nanogui/ext/glfw/deps/mingw/xinput.h | 239 - testbed/nanogui/ext/glfw/deps/tinycthread.c | 594 - testbed/nanogui/ext/glfw/deps/tinycthread.h | 441 - .../ext/glfw/deps/vulkan/vk_platform.h | 120 - testbed/nanogui/ext/glfw/deps/vulkan/vulkan.h | 3835 ---- testbed/nanogui/ext/glfw/docs/CMakeLists.txt | 32 - testbed/nanogui/ext/glfw/docs/Doxyfile.in | 1859 -- .../nanogui/ext/glfw/docs/DoxygenLayout.xml | 188 - testbed/nanogui/ext/glfw/docs/build.dox | 323 - testbed/nanogui/ext/glfw/docs/compat.dox | 224 - testbed/nanogui/ext/glfw/docs/compile.dox | 279 - testbed/nanogui/ext/glfw/docs/context.dox | 346 - testbed/nanogui/ext/glfw/docs/extra.css | 1 - testbed/nanogui/ext/glfw/docs/extra.less | 370 - testbed/nanogui/ext/glfw/docs/footer.html | 7 - testbed/nanogui/ext/glfw/docs/header.html | 34 - testbed/nanogui/ext/glfw/docs/input.dox | 664 - testbed/nanogui/ext/glfw/docs/internal.dox | 116 - testbed/nanogui/ext/glfw/docs/intro.dox | 369 - testbed/nanogui/ext/glfw/docs/main.dox | 47 - testbed/nanogui/ext/glfw/docs/monitor.dox | 215 - testbed/nanogui/ext/glfw/docs/moving.dox | 506 - testbed/nanogui/ext/glfw/docs/news.dox | 376 - testbed/nanogui/ext/glfw/docs/quick.dox | 364 - testbed/nanogui/ext/glfw/docs/spaces.svg | 872 - testbed/nanogui/ext/glfw/docs/vulkan.dox | 212 - testbed/nanogui/ext/glfw/docs/window.dox | 1002 - .../nanogui/ext/glfw/examples/CMakeLists.txt | 67 - testbed/nanogui/ext/glfw/examples/boing.c | 678 - testbed/nanogui/ext/glfw/examples/gears.c | 357 - testbed/nanogui/ext/glfw/examples/glfw.icns | Bin 27988 -> 0 bytes testbed/nanogui/ext/glfw/examples/glfw.ico | Bin 21630 -> 0 bytes testbed/nanogui/ext/glfw/examples/glfw.rc | 3 - testbed/nanogui/ext/glfw/examples/heightmap.c | 511 - testbed/nanogui/ext/glfw/examples/particles.c | 1068 - testbed/nanogui/ext/glfw/examples/simple.c | 163 - testbed/nanogui/ext/glfw/examples/splitview.c | 545 - testbed/nanogui/ext/glfw/examples/wave.c | 460 - testbed/nanogui/ext/glfw/include/GLFW/glfw3.h | 4235 ---- .../ext/glfw/include/GLFW/glfw3native.h | 456 - testbed/nanogui/ext/glfw/src/CMakeLists.txt | 128 - testbed/nanogui/ext/glfw/src/cocoa_init.m | 399 - testbed/nanogui/ext/glfw/src/cocoa_joystick.h | 67 - testbed/nanogui/ext/glfw/src/cocoa_joystick.m | 511 - testbed/nanogui/ext/glfw/src/cocoa_monitor.m | 415 - testbed/nanogui/ext/glfw/src/cocoa_platform.h | 153 - testbed/nanogui/ext/glfw/src/cocoa_time.c | 60 - testbed/nanogui/ext/glfw/src/cocoa_window.m | 1651 -- testbed/nanogui/ext/glfw/src/context.c | 706 - testbed/nanogui/ext/glfw/src/egl_context.c | 708 - testbed/nanogui/ext/glfw/src/egl_context.h | 213 - testbed/nanogui/ext/glfw/src/glfw3.pc.in | 13 - .../nanogui/ext/glfw/src/glfw3Config.cmake.in | 1 - testbed/nanogui/ext/glfw/src/glfw_config.h.in | 63 - testbed/nanogui/ext/glfw/src/glx_context.c | 650 - testbed/nanogui/ext/glfw/src/glx_context.h | 183 - testbed/nanogui/ext/glfw/src/init.c | 202 - testbed/nanogui/ext/glfw/src/input.c | 659 - testbed/nanogui/ext/glfw/src/internal.h | 1053 - testbed/nanogui/ext/glfw/src/linux_joystick.c | 341 - testbed/nanogui/ext/glfw/src/linux_joystick.h | 69 - testbed/nanogui/ext/glfw/src/mir_init.c | 241 - testbed/nanogui/ext/glfw/src/mir_monitor.c | 182 - testbed/nanogui/ext/glfw/src/mir_platform.h | 133 - testbed/nanogui/ext/glfw/src/mir_window.c | 846 - testbed/nanogui/ext/glfw/src/monitor.c | 477 - testbed/nanogui/ext/glfw/src/nsgl_context.h | 61 - testbed/nanogui/ext/glfw/src/nsgl_context.m | 305 - testbed/nanogui/ext/glfw/src/posix_time.c | 85 - testbed/nanogui/ext/glfw/src/posix_time.h | 48 - testbed/nanogui/ext/glfw/src/posix_tls.c | 68 - testbed/nanogui/ext/glfw/src/posix_tls.h | 49 - testbed/nanogui/ext/glfw/src/vulkan.c | 287 - testbed/nanogui/ext/glfw/src/wgl_context.c | 705 - testbed/nanogui/ext/glfw/src/wgl_context.h | 155 - testbed/nanogui/ext/glfw/src/win32_init.c | 473 - testbed/nanogui/ext/glfw/src/win32_joystick.c | 763 - testbed/nanogui/ext/glfw/src/win32_joystick.h | 64 - testbed/nanogui/ext/glfw/src/win32_monitor.c | 401 - testbed/nanogui/ext/glfw/src/win32_platform.h | 355 - testbed/nanogui/ext/glfw/src/win32_time.c | 74 - testbed/nanogui/ext/glfw/src/win32_tls.c | 69 - testbed/nanogui/ext/glfw/src/win32_window.c | 1756 -- testbed/nanogui/ext/glfw/src/window.c | 901 - testbed/nanogui/ext/glfw/src/wl_init.c | 661 - testbed/nanogui/ext/glfw/src/wl_monitor.c | 269 - testbed/nanogui/ext/glfw/src/wl_platform.h | 183 - testbed/nanogui/ext/glfw/src/wl_window.c | 1048 - testbed/nanogui/ext/glfw/src/x11_init.c | 838 - testbed/nanogui/ext/glfw/src/x11_monitor.c | 491 - testbed/nanogui/ext/glfw/src/x11_platform.h | 301 - testbed/nanogui/ext/glfw/src/x11_window.c | 2461 --- testbed/nanogui/ext/glfw/src/xkb_unicode.c | 889 - testbed/nanogui/ext/glfw/src/xkb_unicode.h | 33 - testbed/nanogui/ext/glfw/tests/CMakeLists.txt | 78 - testbed/nanogui/ext/glfw/tests/clipboard.c | 157 - testbed/nanogui/ext/glfw/tests/cursor.c | 317 - testbed/nanogui/ext/glfw/tests/empty.c | 131 - testbed/nanogui/ext/glfw/tests/events.c | 620 - testbed/nanogui/ext/glfw/tests/gamma.c | 185 - testbed/nanogui/ext/glfw/tests/glfwinfo.c | 900 - testbed/nanogui/ext/glfw/tests/icon.c | 148 - testbed/nanogui/ext/glfw/tests/iconify.c | 298 - testbed/nanogui/ext/glfw/tests/joysticks.c | 216 - testbed/nanogui/ext/glfw/tests/monitors.c | 243 - testbed/nanogui/ext/glfw/tests/msaa.c | 163 - testbed/nanogui/ext/glfw/tests/reopen.c | 192 - testbed/nanogui/ext/glfw/tests/sharing.c | 186 - testbed/nanogui/ext/glfw/tests/tearing.c | 214 - testbed/nanogui/ext/glfw/tests/threads.c | 143 - testbed/nanogui/ext/glfw/tests/timeout.c | 97 - testbed/nanogui/ext/glfw/tests/title.c | 78 - testbed/nanogui/ext/glfw/tests/vulkan.c | 2245 --- testbed/nanogui/ext/glfw/tests/windows.c | 166 - testbed/nanogui/ext/nanovg/.gitignore | 28 - testbed/nanogui/ext/nanovg/LICENSE.txt | 18 - testbed/nanogui/ext/nanovg/README.md | 119 - .../ext/nanovg/example/LICENSE_OFL.txt | 92 - .../ext/nanovg/example/NotoEmoji-Regular.ttf | Bin 418804 -> 0 bytes .../ext/nanovg/example/Roboto-Bold.ttf | Bin 135820 -> 0 bytes .../ext/nanovg/example/Roboto-Light.ttf | Bin 140276 -> 0 bytes .../ext/nanovg/example/Roboto-Regular.ttf | Bin 145348 -> 0 bytes testbed/nanogui/ext/nanovg/example/demo.c | 1226 -- testbed/nanogui/ext/nanovg/example/demo.h | 26 - testbed/nanogui/ext/nanovg/example/entypo.ttf | Bin 35392 -> 0 bytes .../nanogui/ext/nanovg/example/example_fbo.c | 272 - .../nanogui/ext/nanovg/example/example_gl2.c | 161 - .../nanogui/ext/nanovg/example/example_gl3.c | 197 - .../ext/nanovg/example/example_gles2.c | 154 - .../ext/nanovg/example/example_gles3.c | 154 - testbed/nanogui/ext/nanovg/example/images.txt | 13 - .../ext/nanovg/example/images/image1.jpg | Bin 25760 -> 0 bytes .../ext/nanovg/example/images/image10.jpg | Bin 3439 -> 0 bytes .../ext/nanovg/example/images/image11.jpg | Bin 3818 -> 0 bytes .../ext/nanovg/example/images/image12.jpg | Bin 5452 -> 0 bytes .../ext/nanovg/example/images/image2.jpg | Bin 24091 -> 0 bytes .../ext/nanovg/example/images/image3.jpg | Bin 29282 -> 0 bytes .../ext/nanovg/example/images/image4.jpg | Bin 23830 -> 0 bytes .../ext/nanovg/example/images/image5.jpg | Bin 27131 -> 0 bytes .../ext/nanovg/example/images/image6.jpg | Bin 25116 -> 0 bytes .../ext/nanovg/example/images/image7.jpg | Bin 25590 -> 0 bytes .../ext/nanovg/example/images/image8.jpg | Bin 24607 -> 0 bytes .../ext/nanovg/example/images/image9.jpg | Bin 4035 -> 0 bytes testbed/nanogui/ext/nanovg/example/perf.c | 186 - testbed/nanogui/ext/nanovg/example/perf.h | 46 - .../ext/nanovg/example/screenshot-01.png | Bin 989424 -> 0 bytes .../ext/nanovg/example/screenshot-02.png | Bin 229443 -> 0 bytes .../ext/nanovg/example/stb_image_write.h | 511 - .../nanogui/ext/nanovg/obsolete/nanovg_gl2.h | 952 - .../nanogui/ext/nanovg/obsolete/nanovg_gl3.h | 957 - .../nanogui/ext/nanovg/obsolete/obsolete.md | 6 - testbed/nanogui/ext/nanovg/premake4.lua | 226 - testbed/nanogui/ext/nanovg/src/fontstash.h | 1718 -- testbed/nanogui/ext/nanovg/src/nanovg.c | 2870 --- testbed/nanogui/ext/nanovg/src/nanovg.h | 697 - testbed/nanogui/ext/nanovg/src/nanovg_gl.h | 1594 -- .../nanogui/ext/nanovg/src/nanovg_gl_utils.h | 143 - testbed/nanogui/ext/nanovg/src/stb_image.h | 6614 ------- testbed/nanogui/ext/nanovg/src/stb_truetype.h | 3250 --- testbed/nanogui/ext/pybind11/.appveyor.yml | 34 - testbed/nanogui/ext/pybind11/.gitignore | 37 - testbed/nanogui/ext/pybind11/.gitmodules | 3 - testbed/nanogui/ext/pybind11/.travis.yml | 142 - testbed/nanogui/ext/pybind11/CMakeLists.txt | 136 - testbed/nanogui/ext/pybind11/CONTRIBUTING.md | 37 - testbed/nanogui/ext/pybind11/LICENSE | 36 - testbed/nanogui/ext/pybind11/MANIFEST.in | 2 - testbed/nanogui/ext/pybind11/README.md | 128 - .../pybind11/docs/_static/theme_overrides.css | 11 - .../pybind11/docs/advanced/cast/chrono.rst | 81 - .../pybind11/docs/advanced/cast/custom.rst | 85 - .../ext/pybind11/docs/advanced/cast/eigen.rst | 50 - .../docs/advanced/cast/functional.rst | 113 - .../ext/pybind11/docs/advanced/cast/index.rst | 41 - .../pybind11/docs/advanced/cast/overview.rst | 146 - .../ext/pybind11/docs/advanced/cast/stl.rst | 154 - .../ext/pybind11/docs/advanced/classes.rst | 643 - .../ext/pybind11/docs/advanced/exceptions.rst | 142 - .../ext/pybind11/docs/advanced/functions.rst | 311 - .../ext/pybind11/docs/advanced/misc.rst | 229 - .../pybind11/docs/advanced/pycpp/index.rst | 13 - .../pybind11/docs/advanced/pycpp/numpy.rst | 302 - .../pybind11/docs/advanced/pycpp/object.rst | 96 - .../docs/advanced/pycpp/utilities.rst | 57 - .../ext/pybind11/docs/advanced/smart_ptrs.rst | 156 - testbed/nanogui/ext/pybind11/docs/basics.rst | 289 - .../nanogui/ext/pybind11/docs/benchmark.py | 90 - .../nanogui/ext/pybind11/docs/benchmark.rst | 99 - .../nanogui/ext/pybind11/docs/changelog.rst | 464 - testbed/nanogui/ext/pybind11/docs/classes.rst | 439 - .../nanogui/ext/pybind11/docs/compiling.rst | 185 - testbed/nanogui/ext/pybind11/docs/conf.py | 308 - testbed/nanogui/ext/pybind11/docs/faq.rst | 253 - testbed/nanogui/ext/pybind11/docs/index.rst | 45 - testbed/nanogui/ext/pybind11/docs/intro.rst | 95 - .../nanogui/ext/pybind11/docs/limitations.rst | 20 - .../ext/pybind11/docs/pybind11-logo.png | Bin 58510 -> 0 bytes .../docs/pybind11_vs_boost_python1.png | Bin 44653 -> 0 bytes .../docs/pybind11_vs_boost_python1.svg | 427 - .../docs/pybind11_vs_boost_python2.png | Bin 41121 -> 0 bytes .../docs/pybind11_vs_boost_python2.svg | 427 - .../nanogui/ext/pybind11/docs/reference.rst | 247 - testbed/nanogui/ext/pybind11/docs/release.rst | 23 - .../ext/pybind11/include/pybind11/attr.h | 386 - .../ext/pybind11/include/pybind11/cast.h | 1473 -- .../ext/pybind11/include/pybind11/chrono.h | 160 - .../ext/pybind11/include/pybind11/common.h | 617 - .../ext/pybind11/include/pybind11/complex.h | 47 - .../ext/pybind11/include/pybind11/descr.h | 183 - .../ext/pybind11/include/pybind11/eigen.h | 241 - .../ext/pybind11/include/pybind11/eval.h | 112 - .../pybind11/include/pybind11/functional.h | 81 - .../ext/pybind11/include/pybind11/numpy.h | 1171 -- .../ext/pybind11/include/pybind11/operators.h | 154 - .../ext/pybind11/include/pybind11/options.h | 65 - .../ext/pybind11/include/pybind11/pybind11.h | 1837 -- .../ext/pybind11/include/pybind11/pytypes.h | 925 - .../ext/pybind11/include/pybind11/stl.h | 276 - .../ext/pybind11/include/pybind11/stl_bind.h | 541 - .../ext/pybind11/include/pybind11/typeid.h | 53 - .../nanogui/ext/pybind11/pybind11/__init__.py | 11 - .../nanogui/ext/pybind11/pybind11/_version.py | 2 - testbed/nanogui/ext/pybind11/setup.cfg | 10 - testbed/nanogui/ext/pybind11/setup.py | 74 - .../nanogui/ext/pybind11/tests/CMakeLists.txt | 164 - .../nanogui/ext/pybind11/tests/conftest.py | 239 - .../ext/pybind11/tests/constructor_stats.h | 276 - testbed/nanogui/ext/pybind11/tests/object.h | 175 - .../ext/pybind11/tests/pybind11_tests.cpp | 45 - .../ext/pybind11/tests/pybind11_tests.h | 12 - .../tests/test_alias_initialization.cpp | 62 - .../tests/test_alias_initialization.py | 80 - .../ext/pybind11/tests/test_buffers.cpp | 117 - .../ext/pybind11/tests/test_buffers.py | 62 - .../ext/pybind11/tests/test_callbacks.cpp | 149 - .../ext/pybind11/tests/test_callbacks.py | 98 - .../ext/pybind11/tests/test_chrono.cpp | 59 - .../nanogui/ext/pybind11/tests/test_chrono.py | 116 - .../ext/pybind11/tests/test_class_args.cpp | 68 - .../ext/pybind11/tests/test_class_args.py | 8 - .../installed_function/CMakeLists.txt | 12 - .../installed_target/CMakeLists.txt | 18 - .../pybind11/tests/test_cmake_build/main.cpp | 10 - .../subdirectory_function/CMakeLists.txt | 8 - .../subdirectory_target/CMakeLists.txt | 15 - .../pybind11/tests/test_cmake_build/test.py | 5 - .../tests/test_constants_and_functions.cpp | 104 - .../tests/test_constants_and_functions.py | 43 - .../tests/test_copy_move_policies.cpp | 41 - .../pybind11/tests/test_copy_move_policies.py | 15 - .../pybind11/tests/test_docstring_options.cpp | 53 - .../pybind11/tests/test_docstring_options.py | 32 - .../nanogui/ext/pybind11/tests/test_eigen.cpp | 134 - .../nanogui/ext/pybind11/tests/test_eigen.py | 145 - .../nanogui/ext/pybind11/tests/test_enum.cpp | 68 - .../nanogui/ext/pybind11/tests/test_enum.py | 108 - .../nanogui/ext/pybind11/tests/test_eval.cpp | 79 - .../nanogui/ext/pybind11/tests/test_eval.py | 19 - .../ext/pybind11/tests/test_eval_call.py | 4 - .../ext/pybind11/tests/test_exceptions.cpp | 173 - .../ext/pybind11/tests/test_exceptions.py | 74 - .../ext/pybind11/tests/test_inheritance.cpp | 100 - .../ext/pybind11/tests/test_inheritance.py | 55 - .../ext/pybind11/tests/test_issues.cpp | 401 - .../nanogui/ext/pybind11/tests/test_issues.py | 251 - .../ext/pybind11/tests/test_keep_alive.cpp | 40 - .../ext/pybind11/tests/test_keep_alive.py | 97 - .../tests/test_kwargs_and_defaults.cpp | 56 - .../tests/test_kwargs_and_defaults.py | 57 - .../tests/test_methods_and_attributes.cpp | 186 - .../tests/test_methods_and_attributes.py | 205 - .../ext/pybind11/tests/test_modules.cpp | 58 - .../ext/pybind11/tests/test_modules.py | 54 - .../tests/test_multiple_inheritance.cpp | 83 - .../tests/test_multiple_inheritance.py | 62 - .../ext/pybind11/tests/test_numpy_array.cpp | 153 - .../ext/pybind11/tests/test_numpy_array.py | 274 - .../ext/pybind11/tests/test_numpy_dtypes.cpp | 363 - .../ext/pybind11/tests/test_numpy_dtypes.py | 225 - .../pybind11/tests/test_numpy_vectorize.cpp | 41 - .../pybind11/tests/test_numpy_vectorize.py | 76 - .../ext/pybind11/tests/test_opaque_types.cpp | 62 - .../ext/pybind11/tests/test_opaque_types.py | 49 - .../tests/test_operator_overloading.cpp | 76 - .../tests/test_operator_overloading.py | 40 - .../ext/pybind11/tests/test_pickling.cpp | 83 - .../ext/pybind11/tests/test_pickling.py | 35 - .../ext/pybind11/tests/test_python_types.cpp | 429 - .../ext/pybind11/tests/test_python_types.py | 412 - .../tests/test_sequences_and_iterators.cpp | 275 - .../tests/test_sequences_and_iterators.py | 90 - .../ext/pybind11/tests/test_smart_ptr.cpp | 240 - .../ext/pybind11/tests/test_smart_ptr.py | 203 - .../ext/pybind11/tests/test_stl_binders.cpp | 100 - .../ext/pybind11/tests/test_stl_binders.py | 140 - .../pybind11/tests/test_virtual_functions.cpp | 347 - .../pybind11/tests/test_virtual_functions.py | 259 - .../ext/pybind11/tools/FindEigen3.cmake | 81 - .../pybind11/tools/FindPythonLibsNew.cmake | 194 - .../nanogui/ext/pybind11/tools/check-style.sh | 83 - .../ext/pybind11/tools/clang/.gitignore | 4 - .../ext/pybind11/tools/clang/LICENSE.TXT | 63 - .../ext/pybind11/tools/clang/README.md | 2 - .../ext/pybind11/tools/clang/__init__.py | 24 - .../ext/pybind11/tools/clang/cindex.py | 3751 ---- .../ext/pybind11/tools/clang/enumerations.py | 34 - testbed/nanogui/ext/pybind11/tools/libsize.py | 38 - testbed/nanogui/ext/pybind11/tools/mkdoc.py | 309 - .../pybind11/tools/pybind11Config.cmake.in | 92 - .../ext/pybind11/tools/pybind11Tools.cmake | 163 - testbed/nanogui/include/nanogui/button.h | 177 - testbed/nanogui/include/nanogui/checkbox.h | 128 - testbed/nanogui/include/nanogui/colorpicker.h | 127 - testbed/nanogui/include/nanogui/colorwheel.h | 114 - testbed/nanogui/include/nanogui/combobox.h | 91 - testbed/nanogui/include/nanogui/common.h | 530 - testbed/nanogui/include/nanogui/compat.h | 24 - testbed/nanogui/include/nanogui/entypo.h | 2551 --- testbed/nanogui/include/nanogui/formhelper.h | 434 - testbed/nanogui/include/nanogui/glcanvas.h | 93 - testbed/nanogui/include/nanogui/glutil.h | 947 - testbed/nanogui/include/nanogui/graph.h | 63 - testbed/nanogui/include/nanogui/imagepanel.h | 55 - testbed/nanogui/include/nanogui/imageview.h | 174 - testbed/nanogui/include/nanogui/label.h | 66 - testbed/nanogui/include/nanogui/layout.h | 499 - .../nanogui/include/nanogui/messagedialog.h | 50 - testbed/nanogui/include/nanogui/nanogui.h | 41 - testbed/nanogui/include/nanogui/object.h | 171 - testbed/nanogui/include/nanogui/opengl.h | 87 - testbed/nanogui/include/nanogui/popup.h | 76 - testbed/nanogui/include/nanogui/popupbutton.h | 58 - testbed/nanogui/include/nanogui/progressbar.h | 42 - testbed/nanogui/include/nanogui/python.h | 76 - testbed/nanogui/include/nanogui/screen.h | 210 - .../nanogui/include/nanogui/serializer/core.h | 407 - .../include/nanogui/serializer/opengl.h | 119 - .../include/nanogui/serializer/sparse.h | 87 - testbed/nanogui/include/nanogui/slider.h | 64 - .../nanogui/include/nanogui/stackedwidget.h | 44 - testbed/nanogui/include/nanogui/tabheader.h | 181 - testbed/nanogui/include/nanogui/tabwidget.h | 192 - testbed/nanogui/include/nanogui/textbox.h | 366 - testbed/nanogui/include/nanogui/theme.h | 234 - testbed/nanogui/include/nanogui/toolbutton.h | 36 - .../nanogui/include/nanogui/vscrollpanel.h | 50 - testbed/nanogui/include/nanogui/widget.h | 342 - testbed/nanogui/include/nanogui/window.h | 74 - testbed/nanogui/resources/Roboto-Bold.ttf | Bin 135820 -> 0 bytes testbed/nanogui/resources/Roboto-Regular.ttf | Bin 145348 -> 0 bytes testbed/nanogui/resources/bin2c.cmake | 31 - testbed/nanogui/resources/check-style.sh | 83 - testbed/nanogui/resources/entypo.ttf | Bin 67000 -> 0 bytes testbed/nanogui/resources/screenshot.png | Bin 1155583 -> 0 bytes testbed/nanogui/resources/screenshot2.png | Bin 47727 -> 0 bytes testbed/nanogui/src/button.cpp | 244 - testbed/nanogui/src/checkbox.cpp | 109 - testbed/nanogui/src/colorpicker.cpp | 100 - testbed/nanogui/src/colorwheel.cpp | 324 - testbed/nanogui/src/combobox.cpp | 98 - testbed/nanogui/src/common.cpp | 342 - testbed/nanogui/src/darwin.mm | 53 - testbed/nanogui/src/example1.cpp | 635 - testbed/nanogui/src/example2.cpp | 87 - testbed/nanogui/src/example3.cpp | 193 - testbed/nanogui/src/example4.cpp | 250 - testbed/nanogui/src/example_icons.cpp | 479 - testbed/nanogui/src/glcanvas.cpp | 92 - testbed/nanogui/src/glutil.cpp | 543 - testbed/nanogui/src/graph.cpp | 108 - testbed/nanogui/src/imagepanel.cpp | 113 - testbed/nanogui/src/imageview.cpp | 452 - testbed/nanogui/src/label.cpp | 84 - testbed/nanogui/src/layout.cpp | 486 - testbed/nanogui/src/messagedialog.cpp | 54 - testbed/nanogui/src/popup.cpp | 103 - testbed/nanogui/src/popupbutton.cpp | 102 - testbed/nanogui/src/progressbar.cpp | 65 - testbed/nanogui/src/screen.cpp | 713 - testbed/nanogui/src/serializer.cpp | 186 - testbed/nanogui/src/slider.cpp | 146 - testbed/nanogui/src/stackedwidget.cpp | 57 - testbed/nanogui/src/tabheader.cpp | 478 - testbed/nanogui/src/tabwidget.cpp | 201 - testbed/nanogui/src/textbox.cpp | 671 - testbed/nanogui/src/theme.cpp | 93 - testbed/nanogui/src/vscrollpanel.cpp | 138 - testbed/nanogui/src/widget.cpp | 255 - testbed/nanogui/src/window.cpp | 202 - testbed/src/Gui.cpp | 284 +- testbed/src/Main.cpp | 4 +- testbed/src/TestbedApplication.cpp | 48 +- testbed/src/TestbedApplication.h | 12 +- 2080 files changed, 221 insertions(+), 461094 deletions(-) create mode 100644 .gitmodules create mode 160000 testbed/extern/nanogui delete mode 100755 testbed/nanogui/CMakeLists.txt delete mode 100644 testbed/nanogui/CONTRIBUTING.rst delete mode 100644 testbed/nanogui/LICENSE.txt delete mode 100644 testbed/nanogui/README.md delete mode 100644 testbed/nanogui/README.rst delete mode 100644 testbed/nanogui/ext/coro/LICENSE delete mode 100644 testbed/nanogui/ext/coro/README delete mode 100644 testbed/nanogui/ext/coro/coro.c delete mode 100644 testbed/nanogui/ext/coro/coro.h delete mode 100644 testbed/nanogui/ext/eigen/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/COPYING.BSD delete mode 100644 testbed/nanogui/ext/eigen/COPYING.GPL delete mode 100644 testbed/nanogui/ext/eigen/COPYING.LGPL delete mode 100644 testbed/nanogui/ext/eigen/COPYING.MINPACK delete mode 100644 testbed/nanogui/ext/eigen/COPYING.MPL2 delete mode 100644 testbed/nanogui/ext/eigen/COPYING.README delete mode 100644 testbed/nanogui/ext/eigen/CTestConfig.cmake delete mode 100644 testbed/nanogui/ext/eigen/CTestCustom.cmake.in delete mode 100644 testbed/nanogui/ext/eigen/Eigen/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Cholesky delete mode 100644 testbed/nanogui/ext/eigen/Eigen/CholmodSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Core delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Dense delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Eigen delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Eigenvalues delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Geometry delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Householder delete mode 100644 testbed/nanogui/ext/eigen/Eigen/IterativeLinearSolvers delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Jacobi delete mode 100644 testbed/nanogui/ext/eigen/Eigen/LU delete mode 100644 testbed/nanogui/ext/eigen/Eigen/MetisSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/OrderingMethods delete mode 100644 testbed/nanogui/ext/eigen/Eigen/PaStiXSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/PardisoSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/QR delete mode 100644 testbed/nanogui/ext/eigen/Eigen/QtAlignedMalloc delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SPQRSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SVD delete mode 100644 testbed/nanogui/ext/eigen/Eigen/Sparse delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SparseCholesky delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SparseCore delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SparseLU delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SparseQR delete mode 100644 testbed/nanogui/ext/eigen/Eigen/StdDeque delete mode 100644 testbed/nanogui/ext/eigen/Eigen/StdList delete mode 100644 testbed/nanogui/ext/eigen/Eigen/StdVector delete mode 100644 testbed/nanogui/ext/eigen/Eigen/SuperLUSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/UmfPackSupport delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LDLT.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/CholmodSupport/CholmodSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ArithmeticSequence.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Array.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayWrapper.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Assign.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/AssignEvaluator.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Assign_MKL.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/BandMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Block.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/BooleanRedux.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CommaInitializer.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ConditionEstimator.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CoreEvaluators.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CoreIterators.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseBinaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseNullaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseTernaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryView.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/DenseBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/DenseCoeffsBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/DenseStorage.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Diagonal.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Dot.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/EigenBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ForceAlignedAccess.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Fuzzy.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/GeneralProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/GenericPacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/GlobalFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/IO.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/IndexedView.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Inverse.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Map.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/MapBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctionsImpl.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Matrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/MatrixBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/NestByValue.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/NoAlias.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/NumTraits.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/PermutationMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/PlainObjectBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Product.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ProductEvaluators.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Random.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Redux.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Ref.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Replicate.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/ReturnByValue.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Reverse.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Select.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/SelfAdjointView.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/SelfCwiseBinaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Solve.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/SolveTriangular.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/SolverBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/StableNorm.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Stride.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Swap.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Transpose.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Transpositions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/TriangularMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/VectorBlock.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/VectorwiseOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/Visitor.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AVX/Complex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AVX/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AVX/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AVX/TypeCasting.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AVX512/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AVX512/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AltiVec/Complex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AltiVec/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/CUDA/Complex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/CUDA/Half.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/CUDA/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/CUDA/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/CUDA/PacketMathHalf.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/CUDA/TypeCasting.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/Default/Settings.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/NEON/Complex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/NEON/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/NEON/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/SSE/Complex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/SSE/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/SSE/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/SSE/TypeCasting.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/ZVector/Complex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/ZVector/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/arch/ZVector/PacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/functors/AssignmentFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/functors/BinaryFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/functors/NullaryFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/functors/StlFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/functors/TernaryFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/functors/UnaryFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralMatrixVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/Parallelizer.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/SelfadjointProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/SelfadjointRank2Update.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularMatrixVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularSolverMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/products/TriangularSolverVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/BlasUtil.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/Constants.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/DisableStupidWarnings.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/ForwardDeclarations.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/IndexedViewHelper.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/IntegralConstant.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/MKL_support.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/Macros.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/Memory.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/Meta.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/NonMPL2.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/ReenableStupidWarnings.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/StaticAssert.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/SymbolicIndex.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Core/util/XprHelper.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/ComplexSchur.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/EigenSolver.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/RealQZ.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/RealSchur.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Eigenvalues/Tridiagonalization.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/AlignedBox.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/AngleAxis.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/EulerAngles.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Homogeneous.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Hyperplane.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/OrthoMethods.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/ParametrizedLine.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Quaternion.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Rotation2D.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/RotationBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Scaling.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Transform.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Translation.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/Umeyama.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Geometry/arch/Geometry_SSE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Householder/BlockHouseholder.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Householder/Householder.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Householder/HouseholderSequence.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/Jacobi/Jacobi.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/LU/Determinant.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/LU/FullPivLU.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/LU/InverseImpl.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/LU/PartialPivLU.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/LU/PartialPivLU_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/LU/arch/Inverse_SSE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/MetisSupport/MetisSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/OrderingMethods/Amd.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/OrderingMethods/Eigen_Colamd.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/OrderingMethods/Ordering.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/PardisoSupport/PardisoSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/QR/ColPivHouseholderQR.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/QR/CompleteOrthogonalDecomposition.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/QR/FullPivHouseholderQR.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/QR/HouseholderQR.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/QR/HouseholderQR_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SVD/BDCSVD.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SVD/JacobiSVD.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SVD/JacobiSVD_LAPACKE.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SVD/SVDBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SVD/UpperBidiagonalization.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/AmbiVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/CompressedStorage.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/MappedSparseMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseAssign.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseBlock.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseColEtree.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseCompressedBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseDenseProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseDot.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseFuzzy.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseMap.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseMatrixBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparsePermutation.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseProduct.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseRedux.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseRef.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseSolverBase.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseTranspose.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseTriangularView.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseUtil.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/SparseView.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseCore/TriangularSolver.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLUImpl.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_Memory.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_Structs.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_Utils.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_column_bmod.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_column_dfs.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_gemm_kernel.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_kernel_bmod.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_panel_bmod.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_panel_dfs.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_pivotL.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_pruneL.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseLU/SparseLU_relax_snode.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SparseQR/SparseQR.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/StlSupport/StdDeque.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/StlSupport/StdList.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/StlSupport/StdVector.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/StlSupport/details.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/Image.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/Kernel.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/RealSvd2x2.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/blas.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/lapack.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/lapacke.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/misc/lapacke_mangling.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/BlockMethods.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/IndexedViewMethods.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h delete mode 100644 testbed/nanogui/ext/eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h delete mode 100644 testbed/nanogui/ext/eigen/INSTALL delete mode 100644 testbed/nanogui/ext/eigen/README.md delete mode 100644 testbed/nanogui/ext/eigen/bench/BenchSparseUtil.h delete mode 100644 testbed/nanogui/ext/eigen/bench/BenchTimer.h delete mode 100644 testbed/nanogui/ext/eigen/bench/BenchUtil.h delete mode 100644 testbed/nanogui/ext/eigen/bench/README.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/analyze-blocking-sizes.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/basicbench.cxxlist delete mode 100644 testbed/nanogui/ext/eigen/bench/basicbenchmark.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/basicbenchmark.h delete mode 100644 testbed/nanogui/ext/eigen/bench/benchBlasGemm.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchCholesky.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchEigenSolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchFFT.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchGeometry.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchVecAdd.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/bench_gemm.cpp delete mode 100755 testbed/nanogui/ext/eigen/bench/bench_multi_compilers.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/bench_norm.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/bench_reverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/bench_sum.cpp delete mode 100755 testbed/nanogui/ext/eigen/bench/bench_unrolling delete mode 100644 testbed/nanogui/ext/eigen/bench/benchmark-blocking-sizes.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchmark.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchmarkSlice.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchmarkX.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/benchmarkXcwise.cpp delete mode 100755 testbed/nanogui/ext/eigen/bench/benchmark_suite delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/COPYING delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/README delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_aat_product.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_ata_product.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_atv_product.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_axpby.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_axpy.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_cholesky.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_ger.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_hessenberg.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_decomp.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_solve.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product_bis.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_vector_product.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_partial_lu.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_rot.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_symv.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_syr2.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve_matrix.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/action_trmm.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/actions/basic_actions.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindACML.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindATLAS.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindBLAZE.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindBlitz.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindCBLAS.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindGMM.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindMKL.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindMTL4.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindOPENBLAS.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindPackageHandleStandardArgs.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/FindTvmet.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/cmake/MacroOptionalAddSubdirectory.cmake delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/action_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/gnuplot_common_settings.hh delete mode 100755 testbed/nanogui/ext/eigen/bench/btl/data/go_mean delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/mean.cxx delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/mk_gnuplot_script.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/mk_mean_script.sh delete mode 100755 testbed/nanogui/ext/eigen/bench/btl/data/mk_new_gnuplot.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/perlib_plot_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/regularize.cxx delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/data/smooth.cxx delete mode 100755 testbed/nanogui/ext/eigen/bench/btl/data/smooth_all.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench_parameter.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/btl.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_function.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_matrix.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_vector.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/static/bench_static.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/static/static_size_generator.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/STL_perf_analyzer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/STL_timer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/mixed_perf_analyzer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/portable_perf_analyzer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/portable_perf_analyzer_old.hh delete mode 100755 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/portable_timer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/x86_perf_analyzer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/x86_timer.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/size_lin_log.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/size_log.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/utilities.h delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/xy_file.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas.h delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface_impl.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/c_interface_base.h delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/STL/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/STL/STL_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/STL/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blaze/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blaze/blaze_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blaze/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blitz/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_LU_solve_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_blitz.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_tiny_blitz.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/blitz/tiny_blitz_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/btl_tiny_eigen2.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/eigen2_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_adv.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_linear.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_matmat.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_vecmat.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/btl_tiny_eigen3.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/eigen3_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_adv.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_linear.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_matmat.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_vecmat.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/gmm/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_LU_solve_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/gmm/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/.kdbgrc.main delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_LU_solve_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tensors/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_linear.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_matmat.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_vecmat.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tensors/tensor_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/tvmet_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/ublas/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/ublas/main.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/btl/libs/ublas/ublas_interface.hh delete mode 100644 testbed/nanogui/ext/eigen/bench/check_cache_queries.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/dense_solvers.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/eig33.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/geometry.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/changesets.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_common.h delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_square_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_common.h delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_square_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/gemvt.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm_settings.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/llt.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/make_plot.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_footer.html delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_header.html delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/footer.html delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/header.html delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/s1.js delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/s2.js delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/run.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/runall.sh delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/trmv_lo.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/trmv_lot.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/trmv_up.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/perf_monitoring/trmv_upt.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/product_threshold.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/quat_slerp.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/quatmul.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_cholesky.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_dense_product.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_lu.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_product.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_randomsetter.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_setter.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_transpose.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/sparse_trisolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/sp_solver.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/spbench.dtd delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/spbenchsolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/spbenchsolver.h delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/spbenchstyle.h delete mode 100644 testbed/nanogui/ext/eigen/bench/spbench/test_sparseLU.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/spmv.cpp delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/README delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/benchmark.h delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/benchmark_main.cc delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/contraction_benchmarks_cpu.cc delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/tensor_benchmarks.h delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/tensor_benchmarks_cpu.cc delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/tensor_benchmarks_fp16_gpu.cu delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/tensor_benchmarks_gpu.cu delete mode 100644 testbed/nanogui/ext/eigen/bench/tensors/tensor_benchmarks_sycl.cc delete mode 100644 testbed/nanogui/ext/eigen/bench/vdw_new.cpp delete mode 100644 testbed/nanogui/ext/eigen/blas/BandTriangularSolver.h delete mode 100644 testbed/nanogui/ext/eigen/blas/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/blas/GeneralRank1Update.h delete mode 100644 testbed/nanogui/ext/eigen/blas/PackedSelfadjointProduct.h delete mode 100644 testbed/nanogui/ext/eigen/blas/PackedTriangularMatrixVector.h delete mode 100644 testbed/nanogui/ext/eigen/blas/PackedTriangularSolverVector.h delete mode 100644 testbed/nanogui/ext/eigen/blas/README.txt delete mode 100644 testbed/nanogui/ext/eigen/blas/Rank2Update.h delete mode 100644 testbed/nanogui/ext/eigen/blas/common.h delete mode 100644 testbed/nanogui/ext/eigen/blas/complex_double.cpp delete mode 100644 testbed/nanogui/ext/eigen/blas/complex_single.cpp delete mode 100644 testbed/nanogui/ext/eigen/blas/double.cpp delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/chbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/chpmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/complexdots.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/ctbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/d_cnjg.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/datatypes.h delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/drotm.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/drotmg.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/dsbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/dspmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/dtbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/lsame.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/r_cnjg.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/srotm.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/srotmg.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/ssbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/sspmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/stbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/zhbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/zhpmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/f2c/ztbmv.c delete mode 100644 testbed/nanogui/ext/eigen/blas/fortran/complexdots.f delete mode 100644 testbed/nanogui/ext/eigen/blas/level1_cplx_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/level1_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/level1_real_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/level2_cplx_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/level2_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/level2_real_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/level3_impl.h delete mode 100644 testbed/nanogui/ext/eigen/blas/single.cpp delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/cblat1.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/cblat2.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/cblat2.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/cblat3.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/cblat3.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/dblat1.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/dblat2.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/dblat2.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/dblat3.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/dblat3.f delete mode 100755 testbed/nanogui/ext/eigen/blas/testing/runblastest.sh delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/sblat1.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/sblat2.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/sblat2.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/sblat3.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/sblat3.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/zblat1.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/zblat2.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/zblat2.f delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/zblat3.dat delete mode 100644 testbed/nanogui/ext/eigen/blas/testing/zblat3.f delete mode 100644 testbed/nanogui/ext/eigen/blas/xerbla.cpp delete mode 100644 testbed/nanogui/ext/eigen/cmake/Eigen3Config.cmake.in delete mode 100644 testbed/nanogui/ext/eigen/cmake/Eigen3ConfigLegacy.cmake.in delete mode 100644 testbed/nanogui/ext/eigen/cmake/EigenConfigureTesting.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/EigenDetermineOSVersion.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/EigenDetermineVSServicePack.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/EigenTesting.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/EigenUninstall.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindAdolc.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindBLAS.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindCholmod.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindComputeCpp.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindEigen2.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindEigen3.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindFFTW.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindGLEW.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindGMP.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindGSL.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindGoogleHash.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindLAPACK.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindMPFR.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindMetis.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindPastix.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindSPQR.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindScotch.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindStandardMathLibrary.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindSuperLU.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindUmfpack.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/FindXsmm.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/RegexUtils.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/UseEigen3.cmake delete mode 100644 testbed/nanogui/ext/eigen/cmake/language_support.cmake delete mode 100644 testbed/nanogui/ext/eigen/debug/gdb/__init__.py delete mode 100644 testbed/nanogui/ext/eigen/debug/gdb/printers.py delete mode 100644 testbed/nanogui/ext/eigen/debug/msvc/eigen.natvis delete mode 100644 testbed/nanogui/ext/eigen/debug/msvc/eigen_autoexp_part.dat delete mode 100644 testbed/nanogui/ext/eigen/demos/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/demos/mandelbrot/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/demos/mandelbrot/README delete mode 100644 testbed/nanogui/ext/eigen/demos/mandelbrot/mandelbrot.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/mandelbrot/mandelbrot.h delete mode 100644 testbed/nanogui/ext/eigen/demos/mix_eigen_and_c/README delete mode 100644 testbed/nanogui/ext/eigen/demos/mix_eigen_and_c/binary_library.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/mix_eigen_and_c/binary_library.h delete mode 100644 testbed/nanogui/ext/eigen/demos/mix_eigen_and_c/example.c delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/README delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/camera.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/camera.h delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/gpuhelper.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/gpuhelper.h delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/icosphere.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/icosphere.h delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/quaternion_demo.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/quaternion_demo.h delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/trackball.cpp delete mode 100644 testbed/nanogui/ext/eigen/demos/opengl/trackball.h delete mode 100644 testbed/nanogui/ext/eigen/doc/A05_PortingFrom2To3.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/AsciiQuickReference.txt delete mode 100644 testbed/nanogui/ext/eigen/doc/B01_Experimental.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/doc/ClassHierarchy.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/CoeffwiseMathFunctionsTable.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/CustomizingEigen_CustomScalar.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/CustomizingEigen_InheritingMatrix.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/CustomizingEigen_NullaryExpr.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/CustomizingEigen_Plugins.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/DenseDecompositionBenchmark.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/Doxyfile.in delete mode 100644 testbed/nanogui/ext/eigen/doc/Eigen_Silly_Professor_64x64.png delete mode 100644 testbed/nanogui/ext/eigen/doc/FixedSizeVectorizable.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/FunctionsTakingEigenTypes.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/HiPerformance.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/InplaceDecomposition.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/InsideEigenExample.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/LeastSquares.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/Manual.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/MatrixfreeSolverExample.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/NewExpressionType.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/Overview.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/PassingByValue.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/Pitfalls.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/PreprocessorDirectives.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/QuickReference.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/QuickStartGuide.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/SparseLinearSystems.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/SparseQuickReference.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/StlContainers.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/StorageOrders.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/StructHavingEigenMembers.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TemplateKeyword.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicAliasing.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicAssertions.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicCMakeGuide.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicEigenExpressionTemplates.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicLazyEvaluation.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicLinearAlgebraDecompositions.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicMultithreading.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicResizing.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicScalarTypes.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TopicVectorization.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialAdvancedInitialization.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialArrayClass.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialBlockOperations.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialGeometry.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialLinearAlgebra.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialMapClass.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialMatrixArithmetic.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialMatrixClass.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialReductionsVisitorsBroadcasting.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialReshapeSlicing.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialSparse.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/TutorialSparse_example_details.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/UnalignedArrayAssert.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/UsingBlasLapackBackends.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/UsingIntelMKL.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/UsingNVCC.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/WrongStackAlignment.dox delete mode 100644 testbed/nanogui/ext/eigen/doc/eigen_navtree_hacks.js delete mode 100644 testbed/nanogui/ext/eigen/doc/eigendoxy.css delete mode 100644 testbed/nanogui/ext/eigen/doc/eigendoxy_footer.html.in delete mode 100644 testbed/nanogui/ext/eigen/doc/eigendoxy_header.html.in delete mode 100644 testbed/nanogui/ext/eigen/doc/eigendoxy_layout.xml.in delete mode 100644 testbed/nanogui/ext/eigen/doc/eigendoxy_tabs.css delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/.krazy delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/CustomizingEigen_Inheritance.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Cwise_erf.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Cwise_erfc.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Cwise_lgamma.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleCols_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleRows_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleCols.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleRows.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/QuickStart_example.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_dynamic.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_fixed.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_flexible.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_simple.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialInplaceLU.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgComputeTwice.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExComputeSolveError.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveLDLT.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgInverseDeterminant.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgRankRevealing.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSVDSolve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSelfAdjointEigenSolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSetThreshold.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_accessors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_addition.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_cwise_other.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop_matrix.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_mult.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_block_assignment.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_colrow.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_corner.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_print_block.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_vector.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_PartialLU_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_simple_example_dynamic_size.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/Tutorial_simple_example_fixed_size.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_Block.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_CwiseBinaryOp.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp_ptrfun.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_FixedBlock.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_FixedVectorBlock.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/class_VectorBlock.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/function_taking_eigenbase.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/function_taking_ref.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.entry delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.evaluator delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.expression delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.main delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.preamble delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.traits delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/make_circulant2.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/matrixfree_cg.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/nullary_indexing.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_add_sub.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_dot_cross.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_matrix_mul.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_redux_basic.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_scalar_mul_div.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_matrix_coefficient_accessors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize_fixed_size.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/ftv2node.png delete mode 100644 testbed/nanogui/ext/eigen/doc/ftv2pnode.png delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/.krazy delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/AngleAxis_mimic_euler.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_simple.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_step_by_step.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ColPivHouseholderQR_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvalues.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvectors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixT.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixU.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs2.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_acos.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_arg.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_array_power_array.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_asin.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_atan.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_and.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_not.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_or.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_xor.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_ceil.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_cos.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_cosh.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_cube.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_equal_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_exp.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_floor.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_greater.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_greater_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_inverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_isFinite.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_isInf.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_isNaN.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_less.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_less_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_log.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_log10.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_max.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_min.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_minus.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_minus_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_not_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_plus.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_plus_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_pow.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_product.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_quotient.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_round.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_scalar_power_array.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_sign.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_sin.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_sinh.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_slash_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_sqrt.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_square.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_tan.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_tanh.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Cwise_times_equal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpacedInt.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced_seq.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DenseBase_setLinSpaced.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_hnormalized.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvalues.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvectors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_pseudoEigenvectors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/FullPivHouseholderQR_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_image.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_kernel.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/GeneralizedEigenSolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_matrixH.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_packedMatrix.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_householderQ.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/HouseholderSequence_HouseholderSequence.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/IOFormat.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/JacobiSVD_basic.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeGivens.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeJacobi.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/LLT_example.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/LLT_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresNormalEquations.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresQR.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Map_general_stride.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Map_inner_stride.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Map_outer_stride.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Map_placement_new.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Map_simple.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_adjoint.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_all.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheLeft.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheRight.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_asDiagonal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRows_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cast.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_col.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_colwise.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseAndDetWithCheck.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseWithCheck.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs2.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseEqual.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseInverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMax.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMin.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseNotEqual.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseProduct.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseQuotient.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSign.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSqrt.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_template_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eigenvalues.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_end_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eval.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_fixedBlock_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_hnormalized.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_homogeneous.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_inverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isDiagonal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isIdentity.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOnes.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOrthogonal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isUnitary.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isZero.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_leftCols_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_noalias.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_operatorNorm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_prod.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_reverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rightCols_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_row.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rowwise.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_segment_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_select.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_selfadjointView.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_set.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setIdentity.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setOnes.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setRandom.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setZero.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_start_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_bottomRows.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_end.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_block_int_int_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_leftCols.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_segment.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_start.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_topRows.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topLeftCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRightCorner_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRows_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_transpose.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_triangularView.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_NoChange_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_NoChange.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setIdentity_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialPivLU_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_count.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_maxCoeff.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_minCoeff.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_norm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_prod.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_squaredNorm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_sum.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/RealQZ_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/RealSchur_RealSchur_MatrixType.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/RealSchur_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType2.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvectors.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorInverseSqrt.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorSqrt.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_eigenvalues.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_operatorNorm.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/SparseMatrix_coeffs.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block_correct.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_cwise.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult1.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult2.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult3.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult4.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult5.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/TopicStorageOrders_example.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Triangular_solve.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_Tridiagonalization_MatrixType.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_compute.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_decomposeInPlace.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_diagonal.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_householderCoefficients.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_packedMatrix.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_ThreeWays.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_rowmajor.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_using.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Mat.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Vec.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingCol.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingVec.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01b.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_02.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_matrix_inverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_multiple_rhs.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_reuse_decomposition.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_singular.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular_inplace.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/VectorwiseOp_homogeneous.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/Vectorwise_reverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/class_FullPivLU.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/compile_snippet.cpp.in delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_redux_minmax.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_conjugate.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_inplace.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/snippets/tut_matrix_assignment_resizing.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/special_examples/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example_details.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/special_examples/random_cpp11.cpp delete mode 100644 testbed/nanogui/ext/eigen/doc/tutorial.cpp delete mode 100644 testbed/nanogui/ext/eigen/eigen3.pc.in delete mode 100644 testbed/nanogui/ext/eigen/failtest/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/failtest/bdcsvd_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_0.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_2.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_0.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/colpivqr_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_0.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/const_qualified_diagonal_method_retval.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/const_qualified_transpose_method_retval.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/cwiseunaryview_on_const_type_actually_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/diagonal_on_const_type_actually_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/eigensolver_cplx.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/eigensolver_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/failtest_sanity_check.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/fullpivlu_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/fullpivqr_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/jacobisvd_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ldlt_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/llt_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_0.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_2.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_3.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_4.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_0.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/partialpivlu_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/qr_int.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ref_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ref_2.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ref_3.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ref_4.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ref_5.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/selfadjointview_on_const_type_actually_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/sparse_ref_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/sparse_ref_2.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/sparse_ref_3.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/sparse_ref_4.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/sparse_ref_5.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/sparse_storage_mismatch.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/swap_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/swap_2.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ternary_1.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/ternary_2.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/transpose_nonconst_ctor_on_const_xpr.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/transpose_on_const_type_actually_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp delete mode 100644 testbed/nanogui/ext/eigen/failtest/triangularview_on_const_type_actually_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/lapack/cholesky.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/clacgv.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/cladiv.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/clarf.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/clarfb.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/clarfg.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/clarft.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/complex_double.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/complex_single.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/dladiv.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlamch.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlapy2.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlapy3.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlarf.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlarfb.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlarfg.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/dlarft.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/double.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/dsecnd_NONE.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/eigenvalues.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/ilaclc.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/ilaclr.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/iladlc.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/iladlr.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/ilaslc.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/ilaslr.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/ilazlc.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/ilazlr.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/lapack_common.h delete mode 100644 testbed/nanogui/ext/eigen/lapack/lu.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/second_NONE.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/single.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/sladiv.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slamch.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slapy2.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slapy3.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slarf.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slarfb.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slarfg.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/slarft.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/svd.cpp delete mode 100644 testbed/nanogui/ext/eigen/lapack/zlacgv.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/zladiv.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/zlarf.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/zlarfb.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/zlarfg.f delete mode 100644 testbed/nanogui/ext/eigen/lapack/zlarft.f delete mode 100644 testbed/nanogui/ext/eigen/scripts/CMakeLists.txt delete mode 100755 testbed/nanogui/ext/eigen/scripts/buildtests.in delete mode 100644 testbed/nanogui/ext/eigen/scripts/cdashtesting.cmake.in delete mode 100755 testbed/nanogui/ext/eigen/scripts/check.in delete mode 100755 testbed/nanogui/ext/eigen/scripts/debug.in delete mode 100644 testbed/nanogui/ext/eigen/scripts/eigen_gen_credits.cpp delete mode 100644 testbed/nanogui/ext/eigen/scripts/eigen_gen_docs delete mode 100644 testbed/nanogui/ext/eigen/scripts/eigen_monitor_perf.sh delete mode 100755 testbed/nanogui/ext/eigen/scripts/release.in delete mode 100644 testbed/nanogui/ext/eigen/scripts/relicense.py delete mode 100644 testbed/nanogui/ext/eigen/signature_of_eigen3_matrix_library delete mode 100644 testbed/nanogui/ext/eigen/test/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/test/adjoint.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/array.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/array_for_matrix.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/array_of_string.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/array_replicate.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/array_reverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/bandmatrix.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/basicstuff.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/bdcsvd.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/bicgstab.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/block.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/boostmultiprec.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/bug1213.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/bug1213.h delete mode 100644 testbed/nanogui/ext/eigen/test/bug1213_main.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/cholesky.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/cholmod_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/commainitializer.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/conjugate_gradient.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/conservative_resize.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/constructor.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/corners.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/ctorleak.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/cuda_basic.cu delete mode 100644 testbed/nanogui/ext/eigen/test/cuda_common.h delete mode 100644 testbed/nanogui/ext/eigen/test/denseLM.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/dense_storage.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/determinant.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/diagonal.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/diagonalmatrices.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/dontalign.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/dynalloc.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/eigen2support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/eigensolver_complex.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/eigensolver_generalized_real.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/eigensolver_generic.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/eigensolver_selfadjoint.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/evaluator_common.h delete mode 100644 testbed/nanogui/ext/eigen/test/evaluators.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/exceptions.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/fastmath.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/first_aligned.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_alignedbox.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_eulerangles.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_homogeneous.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_hyperplane.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_orthomethods.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_parametrizedline.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_quaternion.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/geo_transformations.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/half_float.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/hessenberg.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/householder.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/incomplete_cholesky.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/indexed_view.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/inplace_decomposition.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/integer_types.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/inverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/is_same_dense.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/jacobi.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/jacobisvd.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/linearstructure.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/lscg.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/lu.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/main.h delete mode 100644 testbed/nanogui/ext/eigen/test/mapped_matrix.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/mapstaticmethods.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/mapstride.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/meta.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/metis_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/miscmatrices.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/mixingtypes.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/mpl2only.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/nesting_ops.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/nomalloc.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/nullary.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/packetmath.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/pardiso_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/pastix_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/permutationmatrices.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/prec_inverse_4x4.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product.h delete mode 100644 testbed/nanogui/ext/eigen/test/product_extra.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_large.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_mmtr.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_notemporary.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_selfadjoint.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_small.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_symm.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_syrk.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_trmm.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_trmv.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/product_trsolve.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/qr.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/qr_colpivoting.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/qr_fullpivoting.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/qtvector.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/rand.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/real_qz.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/redux.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/ref.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/resize.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/rvalue_types.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/schur_complex.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/schur_real.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/selfadjoint.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/simplicial_cholesky.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sizeof.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sizeoverflow.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/smallvectors.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse.h delete mode 100644 testbed/nanogui/ext/eigen/test/sparseLM.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_basic.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_block.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_permutations.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_product.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_ref.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_solver.h delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_solvers.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparse_vector.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparselu.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/sparseqr.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/special_numbers.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/spqr_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stable_norm.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stddeque.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stddeque_overload.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stdlist.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stdlist_overload.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stdvector.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/stdvector_overload.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/superlu_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/svd_common.h delete mode 100644 testbed/nanogui/ext/eigen/test/svd_fill.h delete mode 100644 testbed/nanogui/ext/eigen/test/swap.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/symbolic_index.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/triangular.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/umeyama.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/umfpack_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/unalignedassert.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/unalignedcount.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/upperbidiagonalization.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/vectorization_logic.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/vectorwiseop.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/visitor.cpp delete mode 100644 testbed/nanogui/ext/eigen/test/zerosized.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/AdolcForward delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/AlignedVector3 delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/ArpackSupport delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/AutoDiff delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/BVH delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/Tensor delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/TensorSymmetry delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/ThreadPool delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/README.md delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolutionSycl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionSycl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRef.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorScan.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStorage.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSycl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclConvertToDeviceExpression.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExprConstructor.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractAccessor.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclLeafCount.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/RunQueue.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/SimpleThreadPool.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadCancel.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadEnvironment.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadLocal.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadPoolInterface.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/ThreadPool/ThreadYield.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/util/CXX11Meta.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/util/CXX11Workarounds.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/util/EmulateArray.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/util/EmulateCXX11Meta.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/util/MaxSizeVector.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/EulerAngles delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/FFT delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/IterativeSolvers delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/KroneckerProduct delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/LevenbergMarquardt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/MPRealSupport delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/MatrixFunctions delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/MoreVectorization delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/NonLinearOptimization delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/NumericalDiff delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/OpenGLSupport delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/Polynomials delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/Skyline delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/SparseExtra delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/SpecialFunctions delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/Splines delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/BVH/KdBVH.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/EulerAngles/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/EulerAngles/EulerAngles.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/EulerAngles/EulerSystem.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/DGMRES.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/MINRES.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/covar.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/dogleg.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/lmpar.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/r1updt.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Polynomials/Companion.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Splines/Spline.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Splines/SplineFitting.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/Eigen/src/Splines/SplineFwd.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/README.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/bench/bench_svd.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/Overview.dox delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/eigendoxy_layout.xml.in delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/BVH_Example.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/EulerAngles.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/FFT.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixExponential.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixFunction.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixLogarithm.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixPower.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixPower_optimal.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixSine.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixSinh.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/MatrixSquareRoot.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/PolynomialSolver1.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/examples/PolynomialUtils1.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/doc/snippets/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/BVH.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/EulerAngles.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/FFT.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/FFTW.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/NonLinearOptimization.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/NumericalDiff.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/alignedvector3.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/autodiff.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/autodiff_scalar.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_eventcount.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_meta.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_non_blocking_thread_pool.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_runqueue.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_argmax.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_argmax_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_assign.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_broadcast_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_broadcasting.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_builtins_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_cast_float16_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_casts.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_chipping.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_chipping_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_comparisons.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_complex_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_complex_cwise_ops_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_concatenation.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_concatenation_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_const.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_contract_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_contract_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_contraction.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_convolution.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_convolution_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_custom_index.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_custom_op.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_device.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_device_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_dimension.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_empty.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_expr.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_fft.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_fixed_size.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_forced_eval.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_forced_eval_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_generator.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_ifft.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_image_patch.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_index_list.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_inflation.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_intdiv.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_io.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_layout_swap.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_lvalue.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_map.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_math.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_mixed_indices.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_morphing.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_morphing_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_notification.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_of_complex.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_of_const_values.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_of_float16_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_of_strings.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_padding.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_padding_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_patch.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_random.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_random_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_reduction.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_reduction_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_reduction_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_ref.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_reverse.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_reverse_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_roundings.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_scan.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_scan_cuda.cu delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_shuffling.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_shuffling_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_simple.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_striding.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_striding_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_sugar.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_sycl.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_symmetry.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_thread_pool.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_uint128.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/cxx11_tensor_volume_patch.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/dgmres.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/forward_adolc.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/gmres.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/kronecker_product.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/levenberg_marquardt.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/matrix_exponential.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/matrix_function.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/matrix_functions.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/matrix_power.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/matrix_square_root.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/minres.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/mpreal/mpreal.h delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/mpreal_support.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/openglsupport.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/polynomialsolver.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/polynomialutils.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/sparse_extra.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/special_functions.cpp delete mode 100644 testbed/nanogui/ext/eigen/unsupported/test/splines.cpp delete mode 100644 testbed/nanogui/ext/glad/include/KHR/khrplatform.h delete mode 100644 testbed/nanogui/ext/glad/include/glad/glad.h delete mode 100644 testbed/nanogui/ext/glad/src/glad.c delete mode 100644 testbed/nanogui/ext/glfw/.appveyor.yml delete mode 100644 testbed/nanogui/ext/glfw/.github/CONTRIBUTING.md delete mode 100644 testbed/nanogui/ext/glfw/.gitignore delete mode 100644 testbed/nanogui/ext/glfw/.travis.yml delete mode 100644 testbed/nanogui/ext/glfw/CMake/MacOSXBundleInfo.plist.in delete mode 100644 testbed/nanogui/ext/glfw/CMake/amd64-mingw32msvc.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/i586-mingw32msvc.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/i686-pc-mingw32.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/i686-w64-mingw32.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/modules/FindMir.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/modules/FindVulkan.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/modules/FindWaylandProtocols.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/modules/FindXKBCommon.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMake/x86_64-w64-mingw32.cmake delete mode 100644 testbed/nanogui/ext/glfw/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/glfw/COPYING.txt delete mode 100644 testbed/nanogui/ext/glfw/README.md delete mode 100644 testbed/nanogui/ext/glfw/cmake_uninstall.cmake.in delete mode 100644 testbed/nanogui/ext/glfw/deps/KHR/khrplatform.h delete mode 100644 testbed/nanogui/ext/glfw/deps/getopt.c delete mode 100644 testbed/nanogui/ext/glfw/deps/getopt.h delete mode 100644 testbed/nanogui/ext/glfw/deps/glad.c delete mode 100644 testbed/nanogui/ext/glfw/deps/glad/glad.h delete mode 100644 testbed/nanogui/ext/glfw/deps/linmath.h delete mode 100644 testbed/nanogui/ext/glfw/deps/mingw/_mingw_dxhelper.h delete mode 100644 testbed/nanogui/ext/glfw/deps/mingw/dinput.h delete mode 100644 testbed/nanogui/ext/glfw/deps/mingw/xinput.h delete mode 100644 testbed/nanogui/ext/glfw/deps/tinycthread.c delete mode 100644 testbed/nanogui/ext/glfw/deps/tinycthread.h delete mode 100644 testbed/nanogui/ext/glfw/deps/vulkan/vk_platform.h delete mode 100644 testbed/nanogui/ext/glfw/deps/vulkan/vulkan.h delete mode 100644 testbed/nanogui/ext/glfw/docs/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/glfw/docs/Doxyfile.in delete mode 100644 testbed/nanogui/ext/glfw/docs/DoxygenLayout.xml delete mode 100644 testbed/nanogui/ext/glfw/docs/build.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/compat.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/compile.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/context.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/extra.css delete mode 100644 testbed/nanogui/ext/glfw/docs/extra.less delete mode 100644 testbed/nanogui/ext/glfw/docs/footer.html delete mode 100644 testbed/nanogui/ext/glfw/docs/header.html delete mode 100644 testbed/nanogui/ext/glfw/docs/input.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/internal.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/intro.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/main.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/monitor.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/moving.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/news.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/quick.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/spaces.svg delete mode 100644 testbed/nanogui/ext/glfw/docs/vulkan.dox delete mode 100644 testbed/nanogui/ext/glfw/docs/window.dox delete mode 100644 testbed/nanogui/ext/glfw/examples/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/glfw/examples/boing.c delete mode 100644 testbed/nanogui/ext/glfw/examples/gears.c delete mode 100644 testbed/nanogui/ext/glfw/examples/glfw.icns delete mode 100644 testbed/nanogui/ext/glfw/examples/glfw.ico delete mode 100644 testbed/nanogui/ext/glfw/examples/glfw.rc delete mode 100644 testbed/nanogui/ext/glfw/examples/heightmap.c delete mode 100644 testbed/nanogui/ext/glfw/examples/particles.c delete mode 100644 testbed/nanogui/ext/glfw/examples/simple.c delete mode 100644 testbed/nanogui/ext/glfw/examples/splitview.c delete mode 100644 testbed/nanogui/ext/glfw/examples/wave.c delete mode 100644 testbed/nanogui/ext/glfw/include/GLFW/glfw3.h delete mode 100644 testbed/nanogui/ext/glfw/include/GLFW/glfw3native.h delete mode 100644 testbed/nanogui/ext/glfw/src/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_init.m delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_joystick.h delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_joystick.m delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_monitor.m delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_platform.h delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_time.c delete mode 100644 testbed/nanogui/ext/glfw/src/cocoa_window.m delete mode 100644 testbed/nanogui/ext/glfw/src/context.c delete mode 100644 testbed/nanogui/ext/glfw/src/egl_context.c delete mode 100644 testbed/nanogui/ext/glfw/src/egl_context.h delete mode 100644 testbed/nanogui/ext/glfw/src/glfw3.pc.in delete mode 100644 testbed/nanogui/ext/glfw/src/glfw3Config.cmake.in delete mode 100644 testbed/nanogui/ext/glfw/src/glfw_config.h.in delete mode 100644 testbed/nanogui/ext/glfw/src/glx_context.c delete mode 100644 testbed/nanogui/ext/glfw/src/glx_context.h delete mode 100644 testbed/nanogui/ext/glfw/src/init.c delete mode 100644 testbed/nanogui/ext/glfw/src/input.c delete mode 100644 testbed/nanogui/ext/glfw/src/internal.h delete mode 100644 testbed/nanogui/ext/glfw/src/linux_joystick.c delete mode 100644 testbed/nanogui/ext/glfw/src/linux_joystick.h delete mode 100644 testbed/nanogui/ext/glfw/src/mir_init.c delete mode 100644 testbed/nanogui/ext/glfw/src/mir_monitor.c delete mode 100644 testbed/nanogui/ext/glfw/src/mir_platform.h delete mode 100644 testbed/nanogui/ext/glfw/src/mir_window.c delete mode 100644 testbed/nanogui/ext/glfw/src/monitor.c delete mode 100644 testbed/nanogui/ext/glfw/src/nsgl_context.h delete mode 100644 testbed/nanogui/ext/glfw/src/nsgl_context.m delete mode 100644 testbed/nanogui/ext/glfw/src/posix_time.c delete mode 100644 testbed/nanogui/ext/glfw/src/posix_time.h delete mode 100644 testbed/nanogui/ext/glfw/src/posix_tls.c delete mode 100644 testbed/nanogui/ext/glfw/src/posix_tls.h delete mode 100644 testbed/nanogui/ext/glfw/src/vulkan.c delete mode 100644 testbed/nanogui/ext/glfw/src/wgl_context.c delete mode 100644 testbed/nanogui/ext/glfw/src/wgl_context.h delete mode 100644 testbed/nanogui/ext/glfw/src/win32_init.c delete mode 100644 testbed/nanogui/ext/glfw/src/win32_joystick.c delete mode 100644 testbed/nanogui/ext/glfw/src/win32_joystick.h delete mode 100644 testbed/nanogui/ext/glfw/src/win32_monitor.c delete mode 100644 testbed/nanogui/ext/glfw/src/win32_platform.h delete mode 100644 testbed/nanogui/ext/glfw/src/win32_time.c delete mode 100644 testbed/nanogui/ext/glfw/src/win32_tls.c delete mode 100644 testbed/nanogui/ext/glfw/src/win32_window.c delete mode 100644 testbed/nanogui/ext/glfw/src/window.c delete mode 100644 testbed/nanogui/ext/glfw/src/wl_init.c delete mode 100644 testbed/nanogui/ext/glfw/src/wl_monitor.c delete mode 100644 testbed/nanogui/ext/glfw/src/wl_platform.h delete mode 100644 testbed/nanogui/ext/glfw/src/wl_window.c delete mode 100644 testbed/nanogui/ext/glfw/src/x11_init.c delete mode 100644 testbed/nanogui/ext/glfw/src/x11_monitor.c delete mode 100644 testbed/nanogui/ext/glfw/src/x11_platform.h delete mode 100644 testbed/nanogui/ext/glfw/src/x11_window.c delete mode 100644 testbed/nanogui/ext/glfw/src/xkb_unicode.c delete mode 100644 testbed/nanogui/ext/glfw/src/xkb_unicode.h delete mode 100644 testbed/nanogui/ext/glfw/tests/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/glfw/tests/clipboard.c delete mode 100644 testbed/nanogui/ext/glfw/tests/cursor.c delete mode 100644 testbed/nanogui/ext/glfw/tests/empty.c delete mode 100644 testbed/nanogui/ext/glfw/tests/events.c delete mode 100644 testbed/nanogui/ext/glfw/tests/gamma.c delete mode 100644 testbed/nanogui/ext/glfw/tests/glfwinfo.c delete mode 100644 testbed/nanogui/ext/glfw/tests/icon.c delete mode 100644 testbed/nanogui/ext/glfw/tests/iconify.c delete mode 100644 testbed/nanogui/ext/glfw/tests/joysticks.c delete mode 100644 testbed/nanogui/ext/glfw/tests/monitors.c delete mode 100644 testbed/nanogui/ext/glfw/tests/msaa.c delete mode 100644 testbed/nanogui/ext/glfw/tests/reopen.c delete mode 100644 testbed/nanogui/ext/glfw/tests/sharing.c delete mode 100644 testbed/nanogui/ext/glfw/tests/tearing.c delete mode 100644 testbed/nanogui/ext/glfw/tests/threads.c delete mode 100644 testbed/nanogui/ext/glfw/tests/timeout.c delete mode 100644 testbed/nanogui/ext/glfw/tests/title.c delete mode 100644 testbed/nanogui/ext/glfw/tests/vulkan.c delete mode 100644 testbed/nanogui/ext/glfw/tests/windows.c delete mode 100644 testbed/nanogui/ext/nanovg/.gitignore delete mode 100644 testbed/nanogui/ext/nanovg/LICENSE.txt delete mode 100644 testbed/nanogui/ext/nanovg/README.md delete mode 100644 testbed/nanogui/ext/nanovg/example/LICENSE_OFL.txt delete mode 100644 testbed/nanogui/ext/nanovg/example/NotoEmoji-Regular.ttf delete mode 100755 testbed/nanogui/ext/nanovg/example/Roboto-Bold.ttf delete mode 100755 testbed/nanogui/ext/nanovg/example/Roboto-Light.ttf delete mode 100755 testbed/nanogui/ext/nanovg/example/Roboto-Regular.ttf delete mode 100644 testbed/nanogui/ext/nanovg/example/demo.c delete mode 100644 testbed/nanogui/ext/nanovg/example/demo.h delete mode 100644 testbed/nanogui/ext/nanovg/example/entypo.ttf delete mode 100644 testbed/nanogui/ext/nanovg/example/example_fbo.c delete mode 100644 testbed/nanogui/ext/nanovg/example/example_gl2.c delete mode 100644 testbed/nanogui/ext/nanovg/example/example_gl3.c delete mode 100644 testbed/nanogui/ext/nanovg/example/example_gles2.c delete mode 100644 testbed/nanogui/ext/nanovg/example/example_gles3.c delete mode 100644 testbed/nanogui/ext/nanovg/example/images.txt delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image1.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image10.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image11.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image12.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image2.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image3.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image4.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image5.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image6.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image7.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image8.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/images/image9.jpg delete mode 100644 testbed/nanogui/ext/nanovg/example/perf.c delete mode 100644 testbed/nanogui/ext/nanovg/example/perf.h delete mode 100644 testbed/nanogui/ext/nanovg/example/screenshot-01.png delete mode 100644 testbed/nanogui/ext/nanovg/example/screenshot-02.png delete mode 100644 testbed/nanogui/ext/nanovg/example/stb_image_write.h delete mode 100644 testbed/nanogui/ext/nanovg/obsolete/nanovg_gl2.h delete mode 100644 testbed/nanogui/ext/nanovg/obsolete/nanovg_gl3.h delete mode 100644 testbed/nanogui/ext/nanovg/obsolete/obsolete.md delete mode 100644 testbed/nanogui/ext/nanovg/premake4.lua delete mode 100644 testbed/nanogui/ext/nanovg/src/fontstash.h delete mode 100644 testbed/nanogui/ext/nanovg/src/nanovg.c delete mode 100644 testbed/nanogui/ext/nanovg/src/nanovg.h delete mode 100644 testbed/nanogui/ext/nanovg/src/nanovg_gl.h delete mode 100644 testbed/nanogui/ext/nanovg/src/nanovg_gl_utils.h delete mode 100644 testbed/nanogui/ext/nanovg/src/stb_image.h delete mode 100644 testbed/nanogui/ext/nanovg/src/stb_truetype.h delete mode 100644 testbed/nanogui/ext/pybind11/.appveyor.yml delete mode 100644 testbed/nanogui/ext/pybind11/.gitignore delete mode 100644 testbed/nanogui/ext/pybind11/.gitmodules delete mode 100644 testbed/nanogui/ext/pybind11/.travis.yml delete mode 100644 testbed/nanogui/ext/pybind11/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/pybind11/CONTRIBUTING.md delete mode 100644 testbed/nanogui/ext/pybind11/LICENSE delete mode 100644 testbed/nanogui/ext/pybind11/MANIFEST.in delete mode 100644 testbed/nanogui/ext/pybind11/README.md delete mode 100644 testbed/nanogui/ext/pybind11/docs/_static/theme_overrides.css delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/chrono.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/custom.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/eigen.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/functional.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/index.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/overview.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/cast/stl.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/classes.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/exceptions.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/functions.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/misc.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/pycpp/index.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/pycpp/numpy.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/pycpp/object.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/pycpp/utilities.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/advanced/smart_ptrs.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/basics.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/benchmark.py delete mode 100644 testbed/nanogui/ext/pybind11/docs/benchmark.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/changelog.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/classes.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/compiling.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/conf.py delete mode 100644 testbed/nanogui/ext/pybind11/docs/faq.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/index.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/intro.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/limitations.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/pybind11-logo.png delete mode 100644 testbed/nanogui/ext/pybind11/docs/pybind11_vs_boost_python1.png delete mode 100644 testbed/nanogui/ext/pybind11/docs/pybind11_vs_boost_python1.svg delete mode 100644 testbed/nanogui/ext/pybind11/docs/pybind11_vs_boost_python2.png delete mode 100644 testbed/nanogui/ext/pybind11/docs/pybind11_vs_boost_python2.svg delete mode 100644 testbed/nanogui/ext/pybind11/docs/reference.rst delete mode 100644 testbed/nanogui/ext/pybind11/docs/release.rst delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/attr.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/cast.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/chrono.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/common.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/complex.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/descr.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/eigen.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/eval.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/functional.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/numpy.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/operators.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/options.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/pybind11.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/pytypes.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/stl.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/stl_bind.h delete mode 100644 testbed/nanogui/ext/pybind11/include/pybind11/typeid.h delete mode 100644 testbed/nanogui/ext/pybind11/pybind11/__init__.py delete mode 100644 testbed/nanogui/ext/pybind11/pybind11/_version.py delete mode 100644 testbed/nanogui/ext/pybind11/setup.cfg delete mode 100644 testbed/nanogui/ext/pybind11/setup.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/pybind11/tests/conftest.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/constructor_stats.h delete mode 100644 testbed/nanogui/ext/pybind11/tests/object.h delete mode 100644 testbed/nanogui/ext/pybind11/tests/pybind11_tests.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/pybind11_tests.h delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_alias_initialization.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_alias_initialization.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_buffers.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_buffers.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_callbacks.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_callbacks.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_chrono.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_chrono.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_class_args.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_class_args.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_cmake_build/main.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_cmake_build/test.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_constants_and_functions.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_constants_and_functions.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_copy_move_policies.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_copy_move_policies.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_docstring_options.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_docstring_options.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_eigen.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_eigen.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_enum.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_enum.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_eval.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_eval.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_eval_call.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_exceptions.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_exceptions.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_inheritance.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_inheritance.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_issues.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_issues.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_keep_alive.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_keep_alive.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_kwargs_and_defaults.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_kwargs_and_defaults.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_methods_and_attributes.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_methods_and_attributes.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_modules.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_modules.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_multiple_inheritance.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_multiple_inheritance.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_numpy_array.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_numpy_array.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_numpy_dtypes.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_numpy_dtypes.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_numpy_vectorize.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_numpy_vectorize.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_opaque_types.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_opaque_types.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_operator_overloading.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_operator_overloading.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_pickling.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_pickling.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_python_types.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_python_types.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_sequences_and_iterators.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_sequences_and_iterators.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_smart_ptr.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_smart_ptr.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_stl_binders.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_stl_binders.py delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_virtual_functions.cpp delete mode 100644 testbed/nanogui/ext/pybind11/tests/test_virtual_functions.py delete mode 100644 testbed/nanogui/ext/pybind11/tools/FindEigen3.cmake delete mode 100644 testbed/nanogui/ext/pybind11/tools/FindPythonLibsNew.cmake delete mode 100755 testbed/nanogui/ext/pybind11/tools/check-style.sh delete mode 100644 testbed/nanogui/ext/pybind11/tools/clang/.gitignore delete mode 100644 testbed/nanogui/ext/pybind11/tools/clang/LICENSE.TXT delete mode 100644 testbed/nanogui/ext/pybind11/tools/clang/README.md delete mode 100644 testbed/nanogui/ext/pybind11/tools/clang/__init__.py delete mode 100644 testbed/nanogui/ext/pybind11/tools/clang/cindex.py delete mode 100644 testbed/nanogui/ext/pybind11/tools/clang/enumerations.py delete mode 100644 testbed/nanogui/ext/pybind11/tools/libsize.py delete mode 100644 testbed/nanogui/ext/pybind11/tools/mkdoc.py delete mode 100644 testbed/nanogui/ext/pybind11/tools/pybind11Config.cmake.in delete mode 100644 testbed/nanogui/ext/pybind11/tools/pybind11Tools.cmake delete mode 100644 testbed/nanogui/include/nanogui/button.h delete mode 100644 testbed/nanogui/include/nanogui/checkbox.h delete mode 100644 testbed/nanogui/include/nanogui/colorpicker.h delete mode 100644 testbed/nanogui/include/nanogui/colorwheel.h delete mode 100644 testbed/nanogui/include/nanogui/combobox.h delete mode 100644 testbed/nanogui/include/nanogui/common.h delete mode 100644 testbed/nanogui/include/nanogui/compat.h delete mode 100644 testbed/nanogui/include/nanogui/entypo.h delete mode 100644 testbed/nanogui/include/nanogui/formhelper.h delete mode 100644 testbed/nanogui/include/nanogui/glcanvas.h delete mode 100644 testbed/nanogui/include/nanogui/glutil.h delete mode 100644 testbed/nanogui/include/nanogui/graph.h delete mode 100644 testbed/nanogui/include/nanogui/imagepanel.h delete mode 100644 testbed/nanogui/include/nanogui/imageview.h delete mode 100644 testbed/nanogui/include/nanogui/label.h delete mode 100644 testbed/nanogui/include/nanogui/layout.h delete mode 100644 testbed/nanogui/include/nanogui/messagedialog.h delete mode 100644 testbed/nanogui/include/nanogui/nanogui.h delete mode 100644 testbed/nanogui/include/nanogui/object.h delete mode 100644 testbed/nanogui/include/nanogui/opengl.h delete mode 100644 testbed/nanogui/include/nanogui/popup.h delete mode 100644 testbed/nanogui/include/nanogui/popupbutton.h delete mode 100644 testbed/nanogui/include/nanogui/progressbar.h delete mode 100644 testbed/nanogui/include/nanogui/python.h delete mode 100644 testbed/nanogui/include/nanogui/screen.h delete mode 100644 testbed/nanogui/include/nanogui/serializer/core.h delete mode 100644 testbed/nanogui/include/nanogui/serializer/opengl.h delete mode 100644 testbed/nanogui/include/nanogui/serializer/sparse.h delete mode 100644 testbed/nanogui/include/nanogui/slider.h delete mode 100644 testbed/nanogui/include/nanogui/stackedwidget.h delete mode 100644 testbed/nanogui/include/nanogui/tabheader.h delete mode 100644 testbed/nanogui/include/nanogui/tabwidget.h delete mode 100644 testbed/nanogui/include/nanogui/textbox.h delete mode 100644 testbed/nanogui/include/nanogui/theme.h delete mode 100644 testbed/nanogui/include/nanogui/toolbutton.h delete mode 100644 testbed/nanogui/include/nanogui/vscrollpanel.h delete mode 100644 testbed/nanogui/include/nanogui/widget.h delete mode 100644 testbed/nanogui/include/nanogui/window.h delete mode 100644 testbed/nanogui/resources/Roboto-Bold.ttf delete mode 100644 testbed/nanogui/resources/Roboto-Regular.ttf delete mode 100644 testbed/nanogui/resources/bin2c.cmake delete mode 100755 testbed/nanogui/resources/check-style.sh delete mode 100644 testbed/nanogui/resources/entypo.ttf delete mode 100644 testbed/nanogui/resources/screenshot.png delete mode 100644 testbed/nanogui/resources/screenshot2.png delete mode 100644 testbed/nanogui/src/button.cpp delete mode 100644 testbed/nanogui/src/checkbox.cpp delete mode 100644 testbed/nanogui/src/colorpicker.cpp delete mode 100644 testbed/nanogui/src/colorwheel.cpp delete mode 100644 testbed/nanogui/src/combobox.cpp delete mode 100644 testbed/nanogui/src/common.cpp delete mode 100644 testbed/nanogui/src/darwin.mm delete mode 100644 testbed/nanogui/src/example1.cpp delete mode 100644 testbed/nanogui/src/example2.cpp delete mode 100644 testbed/nanogui/src/example3.cpp delete mode 100644 testbed/nanogui/src/example4.cpp delete mode 100644 testbed/nanogui/src/example_icons.cpp delete mode 100644 testbed/nanogui/src/glcanvas.cpp delete mode 100644 testbed/nanogui/src/glutil.cpp delete mode 100644 testbed/nanogui/src/graph.cpp delete mode 100644 testbed/nanogui/src/imagepanel.cpp delete mode 100644 testbed/nanogui/src/imageview.cpp delete mode 100644 testbed/nanogui/src/label.cpp delete mode 100644 testbed/nanogui/src/layout.cpp delete mode 100644 testbed/nanogui/src/messagedialog.cpp delete mode 100644 testbed/nanogui/src/popup.cpp delete mode 100644 testbed/nanogui/src/popupbutton.cpp delete mode 100644 testbed/nanogui/src/progressbar.cpp delete mode 100644 testbed/nanogui/src/screen.cpp delete mode 100644 testbed/nanogui/src/serializer.cpp delete mode 100644 testbed/nanogui/src/slider.cpp delete mode 100644 testbed/nanogui/src/stackedwidget.cpp delete mode 100644 testbed/nanogui/src/tabheader.cpp delete mode 100644 testbed/nanogui/src/tabwidget.cpp delete mode 100644 testbed/nanogui/src/textbox.cpp delete mode 100644 testbed/nanogui/src/theme.cpp delete mode 100644 testbed/nanogui/src/vscrollpanel.cpp delete mode 100644 testbed/nanogui/src/widget.cpp delete mode 100644 testbed/nanogui/src/window.cpp diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..615d5fcd --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "testbed/extern/nanogui"] + path = testbed/extern/nanogui + url = https://github.com/mitsuba-renderer/nanogui.git diff --git a/testbed/CMakeLists.txt b/testbed/CMakeLists.txt index 0ff2051f..cf3a5a8c 100755 --- a/testbed/CMakeLists.txt +++ b/testbed/CMakeLists.txt @@ -4,7 +4,29 @@ cmake_minimum_required(VERSION 3.8) # Project configuration project(Testbed) -add_subdirectory(nanogui/) +# Disable building extras of nanogui we won't need (pure C++ project) +set(NANOGUI_BUILD_EXAMPLES OFF CACHE BOOL " " FORCE) +set(NANOGUI_BUILD_PYTHON OFF CACHE BOOL " " FORCE) +set(NANOGUI_INSTALL OFF CACHE BOOL " " FORCE) + +# ---- Make sure to recursively clone all the git submodules for external libraries (nanogui) --- # +find_package(Git QUIET) +if(GIT_FOUND AND EXISTS "${PROJECT_SOURCE_DIR}/.git") + # Update submodules as needed + option(CLONE_GIT_SUBMODULES "Check submodules during build" ON) + if(CLONE_GIT_SUBMODULES) + message(STATUS "Git Submodules update") + execute_process(COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + RESULT_VARIABLE GIT_SUBMOD_RESULT) + if(NOT GIT_SUBMOD_RESULT EQUAL "0") + message(FATAL_ERROR "git submodule update --init failed with ${GIT_SUBMOD_RESULT}, please checkout submodules") + endif() + endif() +endif() + +# Add the configurations from nanogui +add_subdirectory(extern/nanogui) # Copy the shaders used for the demo into the build directory file(COPY "shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/") @@ -12,9 +34,6 @@ file(COPY "shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/") # Copy the meshes used for the demo into the build directory file(COPY "meshes/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/meshes/") -# Headers -include_directories("src/" "nanogui/include/" "opengl-framework/src/" "common/" "scenes/" ${NANOGUI_EXTRA_INCS}) - # OpenGLFramework source files set(OPENGLFRAMEWORK_SOURCES opengl-framework/src/maths/Color.h @@ -120,15 +139,29 @@ set(VS_USERFILE_WORKING_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH}) set(OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}/${USER_FILE}) configure_file(VisualStudioUserTemplate.user ${USER_FILE} @ONLY) -# Compile definitions -add_definitions(${NANOGUI_EXTRA_DEFS}) - # Create the executable add_executable(testbed ${TESTBED_SOURCES} ${SCENES_SOURCES} ${COMMON_SOURCES} ${OPENGLFRAMEWORK_SOURCES}) -# Enable C++11 features -set_property(TARGET testbed PROPERTY CXX_STANDARD 11) -set_property(TARGET testbed PROPERTY CXX_STANDARD_REQUIRED ON) +# Headers +target_include_directories(testbed PRIVATE + $ + $ + $ + $ + $ +) +foreach(p ${NANOGUI_EXTRA_INCS}) + target_include_directories(testbed PRIVATE $<1:${p}>) +endforeach() + + +# Compile definitions +target_compile_definitions(testbed PRIVATE ${NANOGUI_EXTRA_DEFS}) + +# C++17 compiler features +target_compile_features(testbed PUBLIC cxx_std_17) +set_target_properties(testbed PROPERTIES CXX_EXTENSIONS OFF) # Link with libraries target_link_libraries(testbed reactphysics3d nanogui ${NANOGUI_EXTRA_LIBS}) + diff --git a/testbed/extern/nanogui b/testbed/extern/nanogui new file mode 160000 index 00000000..21e5cbc8 --- /dev/null +++ b/testbed/extern/nanogui @@ -0,0 +1 @@ +Subproject commit 21e5cbc880b2e26b28b2a35085a9e6706da1e2a8 diff --git a/testbed/nanogui/CMakeLists.txt b/testbed/nanogui/CMakeLists.txt deleted file mode 100755 index f175d863..00000000 --- a/testbed/nanogui/CMakeLists.txt +++ /dev/null @@ -1,575 +0,0 @@ -cmake_minimum_required (VERSION 2.8.12) - -if (POLICY CMP0048) - # cmake warns if loaded from a min-3.0-required parent dir, so silence the warning: - cmake_policy(SET CMP0048 NEW) -endif() - -project("NanoGUI") - -if (POLICY CMP0058) - cmake_policy(SET CMP0058 NEW) -endif() - -if (NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/ext/glfw/src") - message(FATAL_ERROR "The NanoGUI dependency repositories (GLFW, etc.) are missing! " - "You probably did not clone the project with --recursive. It is possible to recover " - "by calling \"git submodule update --init --recursive\"") -endif() - -if (WIN32) - set(NANOGUI_USE_GLAD_DEFAULT ON) -else() - set(NANOGUI_USE_GLAD_DEFAULT OFF) -endif() - -option(NANOGUI_BUILD_EXAMPLE "Build NanoGUI example application?" OFF) -option(NANOGUI_BUILD_SHARED "Build NanoGUI as a shared library?" ON) -option(NANOGUI_BUILD_PYTHON "Build a Python plugin for NanoGUI?" OFF) -option(NANOGUI_USE_GLAD "Use Glad OpenGL loader library?" ${NANOGUI_USE_GLAD_DEFAULT}) -option(NANOGUI_INSTALL "Install NanoGUI on `make install`?" ON) - -set(NANOGUI_PYTHON_VERSION "" CACHE STRING "Python version to use for compiling the Python plugin") - -# Required libraries, flags, and include files for compiling and linking against nanogui (all targets) -set(NANOGUI_EXTRA_LIBS "") -set(NANOGUI_EXTRA_DEFS "") -set(NANOGUI_EXTRA_INCS "") - -# Platform-dependent files for libnanogui -set(LIBNANOGUI_EXTRA_SOURCE "") -set(LIBNANOGUI_PYTHON_EXTRA_SOURCE "") - -if(APPLE AND NANOGUI_BUILD_SHARED) - set(CMAKE_MACOSX_RPATH ON) -endif() - -include(CheckCXXCompilerFlag) -include(CheckCXXSourceRuns) - -if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) - message(STATUS "Setting build type to 'Release' as none was specified.") - set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE) - set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" - "MinSizeRel" "RelWithDebInfo") -endif() -string(TOUPPER "${CMAKE_BUILD_TYPE}" U_CMAKE_BUILD_TYPE) - -macro(CHECK_CXX_COMPILER_AND_LINKER_FLAGS _RESULT _CXX_FLAGS _LINKER_FLAGS) - set(CMAKE_REQUIRED_FLAGS ${_CXX_FLAGS}) - set(CMAKE_REQUIRED_LIBRARIES ${_LINKER_FLAGS}) - set(CMAKE_REQUIRED_QUIET TRUE) - check_cxx_source_runs("int main(int argc, char **argv) { return 0; }" ${_RESULT}) - set(CMAKE_REQUIRED_FLAGS "") - set(CMAKE_REQUIRED_LIBRARIES "") -endmacro() - -# Compile GLFW -set(GLFW_BUILD_EXAMPLES OFF CACHE BOOL " " FORCE) -set(GLFW_BUILD_TESTS OFF CACHE BOOL " " FORCE) -set(GLFW_BUILD_DOCS OFF CACHE BOOL " " FORCE) -set(GLFW_BUILD_INSTALL OFF CACHE BOOL " " FORCE) -set(GLFW_INSTALL OFF CACHE BOOL " " FORCE) -set(GLFW_USE_CHDIR OFF CACHE BOOL " " FORCE) -set(BUILD_SHARED_LIBS ${NANOGUI_BUILD_SHARED} CACHE BOOL " " FORCE) - -if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") - # Quench annoying deprecation warnings when compiling GLFW on OSX - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-deprecated-declarations") -endif() - -add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/ext/glfw" "ext_build/glfw") -# Two targets have now been defined: `glfw_objects`, which will be merged into -# NanoGUI at the end, and `glfw`. The `glfw` target is the library itself -# (e.g., libglfw.so), but can be skipped as we do not need to link against it -# (because we merge `glfw_objects` into NanoGUI). Skipping is required for -# XCode, but preferable for all build systems (reduces build artifacts). -set_target_properties(glfw PROPERTIES EXCLUDE_FROM_ALL 1 EXCLUDE_FROM_DEFAULT_BUILD 1) - -# Python support: add NANOGUI_PYTHON flag to all targets -if (NANOGUI_BUILD_PYTHON) - list(APPEND NANOGUI_EXTRA_DEFS -DNANOGUI_PYTHON) -endif() - -# Shared library mode: add dllimport/dllexport flags to all symbols -if (NANOGUI_BUILD_SHARED) - list(APPEND NANOGUI_EXTRA_DEFS -DNANOGUI_SHARED -DNVG_SHARED -DGLAD_GLAPI_EXPORT) -endif() - -if (MSVC) - # Disable annoying MSVC warnings (all targets) - add_definitions(/D "_CRT_SECURE_NO_WARNINGS") - - # Parallel build on MSVC (all targets) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP") - - if (NOT CMAKE_SIZEOF_VOID_P EQUAL 8) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2") - - # Disable Eigen vectorization for Windows 32 bit builds (issues with unaligned access segfaults) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /DNANOGUI_EIGEN_DONT_ALIGN") - endif() -endif() - -# Compile with compiler warnings turned on -if(MSVC) - if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]") - string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") - else() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4") - endif() -elseif (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra") -endif() - -if (CMAKE_CXX_COMPILER_ID MATCHES "^(GNU|Clang|Intel)$") - CHECK_CXX_COMPILER_FLAG("-std=c++14" HAS_CPP14_FLAG) - CHECK_CXX_COMPILER_FLAG("-std=c++11" HAS_CPP11_FLAG) - - if (HAS_CPP14_FLAG) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") - elseif (HAS_CPP11_FLAG) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") - else() - message(FATAL_ERROR "Unsupported compiler -- pybind11 requires C++11 support!") - endif() -endif() - -# Various optimizations for shared library release builds -if (NANOGUI_BUILD_SHARED) - if (U_CMAKE_BUILD_TYPE MATCHES REL AND CMAKE_CXX_COMPILER_ID MATCHES "^(GNU|Clang)$") - # Set the default symbol visibility to hidden - if (NOT CMAKE_CXX_FLAGS MATCHES "-fvisibility") - set(CMAKE_CXX_FLAGS "-fvisibility=hidden ${CMAKE_CXX_FLAGS}") - endif() - - # Enable link time optimization - if (NOT CMAKE_CXX_FLAGS MATCHES "-flto") - if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") - set(LTO_CXX_FLAGS "-flto=thin") - set(LTO_LINKER_FLAGS "-flto=thin") - if (NOT APPLE AND U_CMAKE_BUILD_TYPE MATCHES MINSIZEREL) - # Clang Gold plugin does not support -Os - set(LTO_CXX_FLAGS "${LTO_CXX_FLAGS} -O3") - endif() - else() - set(LTO_CXX_FLAGS "-flto -fno-fat-lto-objects") - set(LTO_LINKER_FLAGS "-flto") - endif() - - CHECK_CXX_COMPILER_AND_LINKER_FLAGS(HAS_LTO ${LTO_CXX_FLAGS} ${LTO_LINKER_FLAGS}) - - if (HAS_LTO) - message(STATUS "NanoGUI: LTO support enabled.") - set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${LTO_LINKER_FLAGS}") - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${LTO_LINKER_FLAGS}") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${LTO_CXX_FLAGS}") - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${LTO_CXX_FLAGS}") - else() - message(STATUS "NanoGUI: LTO not supported by the compiler.") - endif() - endif() - elseif(MSVC) - set(Configurations RELEASE RELWITHDEBINFO MINSIZEREL) - set(LinkTypes EXE SHARED MODULE STATIC) - foreach(Configuration ${Configurations}) - set("CMAKE_CXX_FLAGS_${Configuration}" "${CMAKE_CXX_FLAGS_${Configuration}} /GL") - foreach(LinkType ${LinkTypes}) - set("CMAKE_${LinkType}_LINKER_FLAGS_${Configuration}" "${CMAKE_${LinkType}_LINKER_FLAGS_${Configuration}} /LTCG") - endforeach() - endforeach() - message(STATUS "NanoGUI: LTO support enabled.") - endif() -endif() - -# Always use libc++ on Clang -if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") - CHECK_CXX_COMPILER_AND_LINKER_FLAGS(HAS_LIBCPP "-stdlib=libc++" "-stdlib=libc++") - if (HAS_LIBCPP) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++") - set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -stdlib=libc++") - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -stdlib=libc++") - CHECK_CXX_COMPILER_AND_LINKER_FLAGS(HAS_LIBCPPABI "-stdlib=libc++" "-stdlib=libc++ -lc++abi") - if(HAS_LIBCPPABI) - set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lc++abi") - set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -lc++abi") - message(STATUS "NanoGUI: using libc++ and libc++abi.") - else() - message(STATUS "NanoGUI: using libc++.") - endif() - else() - message(STATUS "NanoGUI: NOT using libc++.") - endif() -endif() - -if (NANOGUI_USE_GLAD) - # Build and include GLAD on Windows - list(APPEND LIBNANOGUI_EXTRA_SOURCE - "${CMAKE_CURRENT_SOURCE_DIR}/ext/glad/src/glad.c" - "${CMAKE_CURRENT_SOURCE_DIR}/ext/glad/include/glad/glad.h" - "${CMAKE_CURRENT_SOURCE_DIR}/ext/glad/include/KHR/khrplatform.h") - if (MSVC) - set_source_files_properties("${CMAKE_CURRENT_SOURCE_DIR}/ext/glad/src/glad.c" - PROPERTIES COMPILE_FLAGS "/wd4055 ") - endif() - include_directories(ext/glad/include) - list(APPEND NANOGUI_EXTRA_DEFS -DNANOGUI_GLAD) - list(APPEND NANOGUI_EXTRA_INCS "${CMAKE_CURRENT_SOURCE_DIR}/ext/glad/include") -endif() - -list(APPEND NANOGUI_EXTRA_INCS - "${CMAKE_CURRENT_SOURCE_DIR}/ext/glfw/include" - "${CMAKE_CURRENT_SOURCE_DIR}/ext/nanovg/src" -) - -if (NOT NANOGUI_EIGEN_INCLUDE_DIR) - set(NANOGUI_EIGEN_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ext/eigen") - list(APPEND NANOGUI_EXTRA_INCS "${NANOGUI_EIGEN_INCLUDE_DIR}") -endif() - -if (${CMAKE_SYSTEM_NAME} MATCHES "BSD") - include_directories(/usr/local/include) - link_directories(/usr/local/lib) - if(${CMAKE_SYSTEM_NAME} MATCHES "OpenBSD") - include_directories(/usr/X11R6/include/) - link_directories(/usr/X11R6/lib) - endif() -endif() - -# Required core libraries on various platforms -if (WIN32) - list(APPEND NANOGUI_EXTRA_LIBS opengl32) -elseif (APPLE) - find_library(cocoa_library Cocoa) - find_library(opengl_library OpenGL) - find_library(corevideo_library CoreVideo) - find_library(iokit_library IOKit) - list(APPEND NANOGUI_EXTRA_LIBS ${cocoa_library} ${opengl_library} ${corevideo_library} ${iokit_library}) - list(APPEND LIBNANOGUI_EXTRA_SOURCE src/darwin.mm) -elseif(CMAKE_SYSTEM MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "BSD") - list(APPEND NANOGUI_EXTRA_LIBS GL Xxf86vm Xrandr Xinerama Xcursor Xi X11 pthread ) - if (NOT CMAKE_SYSTEM_NAME MATCHES "OpenBSD") - list(APPEND NANOGUI_EXTRA_LIBS rt) - endif() - if(CMAKE_SYSTEM MATCHES "Linux") - list(APPEND NANOGUI_EXTRA_LIBS dl) - endif() -endif() - -include_directories(${NANOGUI_EIGEN_INCLUDE_DIR} ext/glfw/include ext/nanovg/src include ${CMAKE_CURRENT_BINARY_DIR}) - - -# Run simple cmake converter to put font files into the data segment - -# Glob up resource files -file(GLOB resources "${CMAKE_CURRENT_SOURCE_DIR}/resources/*.ttf") - -# Concatenate resource files into a comma separated string -string (REGEX REPLACE "([^\\]|^);" "\\1," resources_string "${resources}") -string (REGEX REPLACE "[\\](.)" "\\1" resources_string "${resources_string}") - -# Create command line for running bin2c cmake script -set(bin2c_cmdline - -DOUTPUT_C=nanogui_resources.cpp - -DOUTPUT_H=nanogui_resources.h - "-DINPUT_FILES=${resources_string}" - -P "${CMAKE_CURRENT_SOURCE_DIR}/resources/bin2c.cmake") - -# Run bin2c on resource files -add_custom_command( - OUTPUT nanogui_resources.cpp nanogui_resources.h - COMMAND ${CMAKE_COMMAND} ARGS ${bin2c_cmdline} - DEPENDS ${resources} - COMMENT "Running bin2c" - PRE_BUILD VERBATIM) - -# Needed to generated files -include_directories(${CMAKE_CURRENT_BINARY_DIR}) - -# Set library type -if (NANOGUI_BUILD_SHARED) - set(NANOGUI_LIBRARY_TYPE "SHARED") -else() - set(NANOGUI_LIBRARY_TYPE "STATIC") -endif() - -if (APPLE OR CMAKE_SYSTEM MATCHES "Linux") - # Include coroutine support for running the mainloop in detached mode - add_definitions(-DCORO_SJLJ) - include_directories(ext/coro) - list(APPEND LIBNANOGUI_PYTHON_EXTRA_SOURCE ext/coro/coro.c) -endif() - -if (APPLE) - # Use automatic reference counting for Objective-C portions - add_compile_options(-fobjc-arc) -endif() - -add_definitions(${NANOGUI_EXTRA_DEFS}) - -# Compile main NanoGUI library -add_library(nanogui-obj OBJECT - # Merge NanoVG into the NanoGUI library - ext/nanovg/src/nanovg.c - # Merge GLAD into the NanoGUI library (only if needed) - ${LIBNANOGUI_EXTRA_SOURCE} - # Fonts etc. - nanogui_resources.cpp - include/nanogui/glutil.h src/glutil.cpp - include/nanogui/common.h src/common.cpp - include/nanogui/widget.h src/widget.cpp - include/nanogui/theme.h src/theme.cpp - include/nanogui/layout.h src/layout.cpp - include/nanogui/screen.h src/screen.cpp - include/nanogui/label.h src/label.cpp - include/nanogui/window.h src/window.cpp - include/nanogui/popup.h src/popup.cpp - include/nanogui/checkbox.h src/checkbox.cpp - include/nanogui/button.h src/button.cpp - include/nanogui/popupbutton.h src/popupbutton.cpp - include/nanogui/combobox.h src/combobox.cpp - include/nanogui/progressbar.h src/progressbar.cpp - include/nanogui/slider.h src/slider.cpp - include/nanogui/messagedialog.h src/messagedialog.cpp - include/nanogui/textbox.h src/textbox.cpp - include/nanogui/imagepanel.h src/imagepanel.cpp - include/nanogui/imageview.h src/imageview.cpp - include/nanogui/vscrollpanel.h src/vscrollpanel.cpp - include/nanogui/colorwheel.h src/colorwheel.cpp - include/nanogui/colorpicker.h src/colorpicker.cpp - include/nanogui/graph.h src/graph.cpp - include/nanogui/stackedwidget.h src/stackedwidget.cpp - include/nanogui/tabheader.h src/tabheader.cpp - include/nanogui/tabwidget.h src/tabwidget.cpp - include/nanogui/glcanvas.h src/glcanvas.cpp - include/nanogui/formhelper.h - include/nanogui/toolbutton.h - include/nanogui/opengl.h - include/nanogui/nanogui.h - include/nanogui/serializer/core.h - include/nanogui/serializer/opengl.h - include/nanogui/serializer/sparse.h - src/serializer.cpp -) - -# XCode has a serious bug where the XCode project produces an invalid target -# that will not get linked if it consists only of objects from object libraries, -# it will not generate any products (executables, libraries). The only work -# around is to add a dummy source file to the library definition. This is an -# XCode, not a CMake bug. See: https://itk.org/Bug/view.php?id=14044 -if (CMAKE_GENERATOR STREQUAL Xcode) - set(XCODE_DUMMY ${CMAKE_CURRENT_BINARY_DIR}/xcode_dummy.cpp) - file(WRITE ${XCODE_DUMMY} "") - add_library(nanogui ${NANOGUI_LIBRARY_TYPE} - ${XCODE_DUMMY} - $ - $ - ) -else() - add_library(nanogui ${NANOGUI_LIBRARY_TYPE} - $ - $ - ) -endif() - -if (NANOGUI_BUILD_SHARED) - set_property(TARGET nanogui-obj PROPERTY POSITION_INDEPENDENT_CODE ON) -endif() - -# Compile/link flags for NanoGUI -set_property(TARGET nanogui-obj APPEND PROPERTY COMPILE_DEFINITIONS "NANOGUI_BUILD;NVG_BUILD") - -if (NANOGUI_USE_GLAD AND NANOGUI_BUILD_SHARED) - set_property(TARGET nanogui-obj APPEND PROPERTY COMPILE_DEFINITIONS - "GLAD_GLAPI_EXPORT;GLAD_GLAPI_EXPORT_BUILD") -endif() - -if (NANOGUI_BUILD_SHARED) - target_link_libraries(nanogui ${NANOGUI_EXTRA_LIBS}) -endif() - -if (NANOGUI_INSTALL) - install(TARGETS nanogui - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib) - - install(DIRECTORY include/nanogui DESTINATION include - FILES_MATCHING PATTERN "*.h") -endif() - -if (NANOGUI_BUILD_SHARED) - # When GLFW is merged into the NanoGUI library, this flag must be specified - set_property(TARGET nanogui-obj APPEND PROPERTY COMPILE_DEFINITIONS "_GLFW_BUILD_DLL;NVG_SHARED") -endif() - -if (NANOGUI_BUILD_SHARED AND NOT ${U_CMAKE_BUILD_TYPE} MATCHES DEB) - # Platform-specific strip flags for reducing the library size. - if (APPLE) - # Strip .dylib library on OSX - add_custom_command(TARGET nanogui POST_BUILD COMMAND strip -u -r "$/$") - elseif(UNIX) - # Strip .so library on Linux - add_custom_command(TARGET nanogui POST_BUILD COMMAND strip "$/$") - endif() -endif() - -# Quench warnings while compiling NanoVG -if (CMAKE_COMPILER_IS_GNUCC) - set_source_files_properties(ext/nanovg/src/nanovg.c PROPERTIES COMPILE_FLAGS -Wno-unused-result) -elseif(MSVC) - set_source_files_properties(ext/nanovg/src/nanovg.c PROPERTIES COMPILE_FLAGS "/wd4005 /wd4456 /wd4457") -endif() - -# Build example application if desired -if(NANOGUI_BUILD_EXAMPLE) - add_executable(example1 src/example1.cpp) - add_executable(example2 src/example2.cpp) - add_executable(example3 src/example3.cpp) - add_executable(example4 src/example4.cpp) - add_executable(example_icons src/example_icons.cpp) - target_link_libraries(example1 nanogui ${NANOGUI_EXTRA_LIBS}) - target_link_libraries(example2 nanogui ${NANOGUI_EXTRA_LIBS}) - target_link_libraries(example3 nanogui ${NANOGUI_EXTRA_LIBS}) - target_link_libraries(example4 nanogui ${NANOGUI_EXTRA_LIBS}) - target_link_libraries(example_icons nanogui ${NANOGUI_EXTRA_LIBS}) - - # Copy icons for example application - file(COPY resources/icons DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) -endif() - -if (NANOGUI_BUILD_PYTHON) - # Detect Python - - # Try to autodetect Python (can be overridden manually if needed) - list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/ext/pybind11/tools") - set(Python_ADDITIONAL_VERSIONS 3.7 3.6 3.5 3.4) - find_package(PythonLibsNew ${NANOGUI_PYTHON_VERSION}) - if (NOT PYTHONLIBS_FOUND) - # Python not found -- disable the plugin - set(NANOGUI_BUILD_PYTHON OFF CACHE BOOL "Build a Python plugin for NanoGUI?" FORCE) - message(WARNING "NanoGUI: not building the Python plugin!") - else() - message(STATUS "NanoGUI: building the Python plugin.") - endif() -endif() - -if (NANOGUI_BUILD_PYTHON) - # Need PIC code in libnanogui even when compiled as a static library - set_target_properties(nanogui-obj PROPERTIES POSITION_INDEPENDENT_CODE ON) - set_target_properties(glfw_objects PROPERTIES POSITION_INDEPENDENT_CODE ON) - - include_directories("ext/pybind11/include" ${PYTHON_INCLUDE_DIR}) - add_library(nanogui-python-obj OBJECT - python/main.cpp - python/constants_glfw.cpp - python/constants_entypo.cpp - python/eigen.cpp - python/widget.cpp - python/layout.cpp - python/basics.cpp - python/button.cpp - python/tabs.cpp - python/textbox.cpp - python/glcanvas.cpp - python/formhelper.cpp - python/misc.cpp - python/glutil.cpp - python/nanovg.cpp - python/python.h python/py_doc.h - ${LIBNANOGUI_PYTHON_EXTRA_SOURCE}) - - add_library(nanogui-python SHARED $) - set_property(TARGET nanogui-python-obj PROPERTY POSITION_INDEPENDENT_CODE ON) - set_target_properties(nanogui-python PROPERTIES OUTPUT_NAME "nanogui") - target_link_libraries(nanogui-python nanogui ${NANOGUI_EXTRA_LIBS}) - - # Quench warnings on GCC - if (CMAKE_COMPILER_IS_GNUCC) - set_property(TARGET nanogui-python-obj APPEND PROPERTY COMPILE_OPTIONS "-Wno-unused-variable") - endif() - - set_target_properties(nanogui-python PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/python) - # The prefix and extension are provided by FindPythonLibsNew.cmake - set_target_properties(nanogui-python PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}") - set_target_properties(nanogui-python PROPERTIES SUFFIX "${PYTHON_MODULE_EXTENSION}") - - if (WIN32) - # Set output path - set_target_properties(nanogui-python PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_RELEASE "Release/python") - set_target_properties(nanogui-python PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_DEBUG "Debug/python") - set_target_properties(nanogui-python PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_MINSIZEREL "MinSizeRel/python") - set_target_properties(nanogui-python PROPERTIES ARCHIVE_OUTPUT_DIRECTORY_RELWITHDEBINFO "RelWithDebInfo/python") - set_target_properties(nanogui-python PROPERTIES RUNTIME_OUTPUT_DIRECTORY_RELEASE "Release/python") - set_target_properties(nanogui-python PROPERTIES RUNTIME_OUTPUT_DIRECTORY_DEBUG "Debug/python") - set_target_properties(nanogui-python PROPERTIES RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL "MinSizeRel/python") - set_target_properties(nanogui-python PROPERTIES RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO "RelWithDebInfo/python") - - # Link against the Python shared library - target_link_libraries(nanogui-python ${PYTHON_LIBRARY}) - - if (MSVC) - # Optimize for size, /bigobj is needed for due to the heavy template metaprogramming in pybind11 - set_property(TARGET nanogui-python-obj APPEND PROPERTY COMPILE_OPTIONS - "/bigobj" "$<$:/Os>" "$<$:/Os>" - "$<$:/Os>") - endif() - elseif(UNIX) - # Optimize for size - if (U_CMAKE_BUILD_TYPE MATCHES REL) - set_property(TARGET nanogui-python-obj APPEND PROPERTY COMPILE_OPTIONS "-Os") - endif() - - # Strip unnecessary sections of the binary on Linux/Mac OS - if(APPLE) - set_target_properties(nanogui-python PROPERTIES MACOSX_RPATH ".") - set_target_properties(nanogui-python PROPERTIES LINK_FLAGS "-undefined dynamic_lookup ") - - if (NOT ${U_CMAKE_BUILD_TYPE} MATCHES DEB) - add_custom_command(TARGET nanogui-python POST_BUILD COMMAND strip -u -r $) - endif() - else() - if (NOT ${U_CMAKE_BUILD_TYPE} MATCHES DEB) - add_custom_command(TARGET nanogui-python POST_BUILD COMMAND strip $) - endif() - endif() - endif() - - if (NANOGUI_INSTALL) - install(TARGETS nanogui-python - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib) - endif() -endif() - -get_directory_property(NANOGUI_HAS_PARENT PARENT_DIRECTORY) -if(NANOGUI_HAS_PARENT) - # This project is included from somewhere else. Export NANOGUI_EXTRA_LIBS variable - set(NANOGUI_EXTRA_LIBS ${NANOGUI_EXTRA_LIBS} PARENT_SCOPE) - set(NANOGUI_EXTRA_DEFS ${NANOGUI_EXTRA_DEFS} PARENT_SCOPE) - set(NANOGUI_EXTRA_INCS ${NANOGUI_EXTRA_INCS} PARENT_SCOPE) -else() - # Create documentation for python plugin (optional target for developers) - - string(REPLACE " " ";" MKDOC_CXX_FLAGS_LIST ${CMAKE_CXX_FLAGS}) - get_property(MKDOC_INCLUDE_DIRECTORIES DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES) - get_property(MKDOC_COMPILE_DEFINITIONS DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY COMPILE_DEFINITIONS) - - foreach (value ${MKDOC_INCLUDE_DIRECTORIES}) - list(APPEND MKDOC_CXX_FLAGS_LIST -I${value}) - endforeach() - - # Make sure platform specific code gets kept in py_doc.h (specifically __doc_nanogui_chdir_to_bundle_parent) - list(APPEND MKDOC_COMPILE_DEFINITIONS "DOXYGEN_DOCUMENTATION_BUILD") - foreach (value ${MKDOC_COMPILE_DEFINITIONS}) - list(APPEND MKDOC_CXX_FLAGS_LIST -D${value}) - endforeach() - - add_custom_target(mkdoc COMMAND - python3 ${PROJECT_SOURCE_DIR}/docs/mkdoc_rst.py - ${MKDOC_CXX_FLAGS_LIST} - ${PROJECT_SOURCE_DIR}/include/nanogui/*.h - > ${CMAKE_CURRENT_SOURCE_DIR}/python/py_doc.h) - -endif() - -# vim: set et ts=2 sw=2 ft=cmake nospell: diff --git a/testbed/nanogui/CONTRIBUTING.rst b/testbed/nanogui/CONTRIBUTING.rst deleted file mode 100644 index e660202c..00000000 --- a/testbed/nanogui/CONTRIBUTING.rst +++ /dev/null @@ -1,48 +0,0 @@ -Contributing -======================================================================================== - -Thank you for your interest in this project! Please refer to the following sections on -how to contribute code and bug reports. - -Reporting bugs ----------------------------------------------------------------------------------------- - -At the moment, this project is run in the spare time of a single person -(`Wenzel Jakob `_) with very limited resources for -issue tracker tickets. Thus, before submitting a question or bug report, please take a -moment of your time and ensure that your issue isn't already discussed in the project -documentation elsewhere on this site. - -Feature requests are generally closed unless they come with a pull request -that implements the desired functionality. - -Assuming that you have identified a previously unknown problem or an important question, -it's essential that you submit a self-contained and minimal piece of code that -reproduces the problem. In other words: no external dependencies, isolate the -function(s) that cause breakage, submit matched and complete C++ or Python snippets -(depending on how you are using NanoGUI) that can be easily compiled and run on my end. - -Pull requests ----------------------------------------------------------------------------------------- -Contributions are submitted, reviewed, and accepted using Github pull requests. Please -refer to `this article `_ for -details and adhere to the following rules to make the process as smooth as possible: - -- Make a new branch for every feature you're working on. -- Make small and clean pull requests that are easy to review but make sure they do add - value by themselves. -- Make sure you have tested any new functionality (e.g. if you made a new Widget). -- This project has a strong focus on providing general solutions using a minimal amount - of code, thus small pull requests are greatly preferred. -- Read the remainder of this document, adhering to the bindings and documentation - requirements. -- If making a purely documentation PR, please prefix the commit with ``[docs]`` - - - E.g. ``[docs] Adding documentation for class X.`` - - -Specific activities for contributions ----------------------------------------------------------------------------------------- - -For a list of specific parts of nanogui which would benefit from outside contributions, -refer to the bottom part of `this page `_. diff --git a/testbed/nanogui/LICENSE.txt b/testbed/nanogui/LICENSE.txt deleted file mode 100644 index 6a13fac9..00000000 --- a/testbed/nanogui/LICENSE.txt +++ /dev/null @@ -1,36 +0,0 @@ -Copyright (c) 2017 Wenzel Jakob , All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its contributors - may be used to endorse or promote products derived from this software - without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -You are under no obligation whatsoever to provide any bug fixes, patches, or -upgrades to the features, functionality or performance of the source code -("Enhancements") to anyone; however, if you choose to make your Enhancements -available either publicly, or directly to the author of this software, without -imposing a separate written license agreement for such Enhancements, then you -hereby grant the following license: a non-exclusive, royalty-free perpetual -license to install, use, modify, prepare derivative works, incorporate into -other computer software, distribute, and sublicense such enhancements or -derivative works thereof, in binary and source code form. diff --git a/testbed/nanogui/README.md b/testbed/nanogui/README.md deleted file mode 100644 index 63f00938..00000000 --- a/testbed/nanogui/README.md +++ /dev/null @@ -1,142 +0,0 @@ -# NanoGUI - -[![Build Status](https://travis-ci.org/wjakob/nanogui.svg?branch=master)](https://travis-ci.org/wjakob/nanogui) -[![Build status](https://ci.appveyor.com/api/projects/status/m8h3uyvdb4ej2i02/branch/master?svg=true)](https://ci.appveyor.com/project/wjakob/nanogui/branch/master) - -NanoGUI is a a minimalistic cross-platform widget library for OpenGL 3.x. -It supports automatic layout generation, stateful C++11 lambdas callbacks, -a variety of useful widget types and Retina-capable rendering on Apple devices -thanks to [NanoVG](https://github.com/memononen/NanoVG) by Mikko Mononen. -Python bindings of all functionality are provided using -[pybind11](https://github.com/wjakob/pybind11). - -## Example screenshot -![Screenshot](https://github.com/wjakob/nanogui/raw/master/resources/screenshot.png "Screenshot") - -## Description -NanoGUI builds on [GLFW](http://www.glfw.org/) for cross-platform OpenGL context -creation and event handling, [GLEW](http://glew.sourceforge.net/) to use OpenGL -3.x Windows, [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) for -basic vector types, and [NanoVG](https://github.com/memononen/NanoVG) to draw -2D primitives. - -Note that the depencency library NanoVG already includes some basic example -code to draw good-looking static widgets; what NanoGUI does is to flesh it -out into a complete GUI toolkit with event handling, layout generation, etc. - -NanoGUI currently works on Mac OS X (Clang) Linux (GCC or Clang) and Windows -(Visual Studio ≥ 2015); it requires a recent C++11 capable compiler. All -dependencies are jointly built using a CMake-based build system. - -## Creating widgets -NanoGUI makes it easy to instantiate widgets, set layout constraints, and -register event callbacks using high-level C++11 code. For instance, the -following two lines from the included example application add a new button to -an existing window `window` and register an event callback. -```C++ -Button *b = new Button(window, "Plain button"); -b->setCallback([] { cout << "pushed!" << endl; }); -``` - -The following lines from the example application create the coupled -slider and text box on the bottom of the second window (see the screenshot). -```C++ -/* Create an empty panel with a horizontal layout */ -Widget *panel = new Widget(window); -panel->setLayout(new BoxLayout(BoxLayout::Horizontal, BoxLayout::Middle, 0, 20)); - -/* Add a slider and set defaults */ -Slider *slider = new Slider(panel); -slider->setValue(0.5f); -slider->setFixedWidth(80); - -/* Add a textbox and set defaults */ -TextBox *textBox = new TextBox(panel); -textBox->setFixedSize(Vector2i(60, 25)); -textBox->setValue("50"); -textBox->setUnits("%"); - -/* Propagate slider changes to the text box */ -slider->setCallback([textBox](float value) { - textBox->setValue(std::to_string((int) (value * 100))); -}); -``` - -The Python version of this same piece of code looks like this: -```Python -# Create an empty panel with a horizontal layout -panel = Widget(window) -panel.setLayout(BoxLayout(BoxLayout.Horizontal, BoxLayout.Middle, 0, 20)) - -# Add a slider and set defaults -slider = Slider(panel) -slider.setValue(0.5f) -slider.setFixedWidth(80) - -# Add a textbox and set defaults -textBox = TextBox(panel) -textBox.setFixedSize(Vector2i(60, 25)) -textBox.setValue("50") -textBox.setUnits("%") - -# Propagate slider changes to the text box -def cb(value): - textBox.setValue("%i" % int(value * 100)) -slider.setCallback(cb) -``` - -## "Simple mode" - -Christian Schüller contributed a convenience class that makes it possible to -create AntTweakBar-style variable manipulators using just a few lines of code. -For instance, the source code below was used to create the following example -application. - -![Screenshot](https://github.com/wjakob/nanogui/raw/master/resources/screenshot2.png "Screenshot") - - -```C++ -/// dvar, bar, strvar, etc. are double/bool/string/.. variables - -FormHelper *gui = new FormHelper(screen); -ref window = gui->addWindow(Eigen::Vector2i(10, 10), "Form helper example"); -gui->addGroup("Basic types"); -gui->addVariable("bool", bvar); -gui->addVariable("string", strvar); - -gui->addGroup("Validating fields"); -gui->addVariable("int", ivar); -gui->addVariable("float", fvar); -gui->addVariable("double", dvar); - -gui->addGroup("Complex types"); -gui->addVariable("Enumeration", enumval, enabled) - ->setItems({"Item 1", "Item 2", "Item 3"}); -gui->addVariable("Color", colval); - -gui->addGroup("Other widgets"); -gui->addButton("A button", [](){ std::cout << "Button pressed." << std::endl; }); - -screen->setVisible(true); -screen->performLayout(); -window->center(); -``` - -## Compiling -Clone the repository and all dependencies (with `git clone --recursive`), -run CMake to generate Makefiles or CMake/Visual Studio project files, and -the rest should just work automatically. - -On Debian/Ubuntu, make sure that you have installed the following packages -```bash -$ apt-get install cmake xorg-dev libglu1-mesa-dev -``` -To also get the Python bindings, you'll need to run -```bash -$ apt-get install python-dev -``` -### License - -nanogui is provided under a BSD-style license that can be found in the -``LICENSE.txt`` file. By using, distributing, or contributing to this project, -you agree to the terms and conditions of this license. diff --git a/testbed/nanogui/README.rst b/testbed/nanogui/README.rst deleted file mode 100644 index 791dd021..00000000 --- a/testbed/nanogui/README.rst +++ /dev/null @@ -1,217 +0,0 @@ -NanoGUI -======================================================================================== -|docs| |travis| |appveyor| - -.. |docs| image:: https://readthedocs.org/projects/nanogui/badge/?version=latest - :target: http://nanogui.readthedocs.org/en/latest/?badge=latest - :alt: Docs - -.. |travis| image:: https://travis-ci.org/wjakob/nanogui.svg?branch=master - :target: https://travis-ci.org/wjakob/nanogui - :alt: Travis Build Status - -.. |appveyor| image:: https://ci.appveyor.com/api/projects/status/m8h3uyvdb4ej2i02/branch/master?svg=true - :target: https://ci.appveyor.com/project/wjakob/nanogui/branch/master - :alt: Appveyor Build Status - -.. begin_brief_description - -NanoGUI is a minimalistic cross-platform widget library for OpenGL 3.x or higher. It -supports automatic layout generation, stateful C++11 lambdas callbacks, a variety of -useful widget types and Retina-capable rendering on Apple devices thanks to NanoVG_ by -Mikko Mononen. Python bindings of all functionality are provided using pybind11_. - -.. _NanoVG: https://github.com/memononen/NanoVG -.. _pybind11: https://github.com/wjakob/pybind11 - -.. end_brief_description - -- `Documentation `_ - -.. contents:: Contents - :local: - :backlinks: none - -Example screenshot ----------------------------------------------------------------------------------------- - -.. image:: https://github.com/wjakob/nanogui/raw/master/resources/screenshot.png - :alt: Screenshot of Example 1. - :align: center - -Description ----------------------------------------------------------------------------------------- - -.. begin_long_description - -NanoGUI builds on GLFW_ for cross-platform OpenGL context creation and event handling, -GLAD_ to use OpenGL 3.x or higher Windows, Eigen_ for basic vector types, and NanoVG_ to -draw 2D primitives. - -Note that the dependency library NanoVG already includes some basic example code to draw -good-looking static widgets; what NanoGUI does is to flesh it out into a complete GUI -toolkit with event handling, layout generation, etc. - -NanoGUI currently works on Mac OS X (Clang) Linux (GCC or Clang) and Windows (Visual -Studio ≥ 2015); it requires a recent C++11 capable compiler. All dependencies are -jointly built using a CMake-based build system. - -.. _GLFW: http://www.glfw.org/ -.. _GLAD: https://github.com/Dav1dde/glad -.. _Eigen: http://eigen.tuxfamily.org/index.php?title=Main_Page - -.. end_long_description - -Creating widgets ----------------------------------------------------------------------------------------- - -NanoGUI makes it easy to instantiate widgets, set layout constraints, and -register event callbacks using high-level C++11 code. For instance, the -following two lines from the included example application add a new button to -an existing window `window` and register an event callback. - -.. code-block:: cpp - - Button *b = new Button(window, "Plain button"); - b->setCallback([] { cout << "pushed!" << endl; }); - - -The following lines from the example application create the coupled -slider and text box on the bottom of the second window (see the screenshot). - -.. code-block:: cpp - - /* Create an empty panel with a horizontal layout */ - Widget *panel = new Widget(window); - panel->setLayout(new BoxLayout(BoxLayout::Horizontal, BoxLayout::Middle, 0, 20)); - - /* Add a slider and set defaults */ - Slider *slider = new Slider(panel); - slider->setValue(0.5f); - slider->setFixedWidth(80); - - /* Add a textbox and set defaults */ - TextBox *textBox = new TextBox(panel); - textBox->setFixedSize(Vector2i(60, 25)); - textBox->setValue("50"); - textBox->setUnits("%"); - - /* Propagate slider changes to the text box */ - slider->setCallback([textBox](float value) { - textBox->setValue(std::to_string((int) (value * 100))); - }); - - -The Python version of this same piece of code looks like this: - -.. code-block:: py - - # Create an empty panel with a horizontal layout - panel = Widget(window) - panel.setLayout(BoxLayout(BoxLayout.Horizontal, BoxLayout.Middle, 0, 20)) - - # Add a slider and set defaults - slider = Slider(panel) - slider.setValue(0.5f) - slider.setFixedWidth(80) - - # Add a textbox and set defaults - textBox = TextBox(panel) - textBox.setFixedSize(Vector2i(60, 25)) - textBox.setValue("50") - textBox.setUnits("%") - - # Propagate slider changes to the text box - def cb(value): - textBox.setValue("%i" % int(value * 100)) - slider.setCallback(cb) - -"Simple mode" ----------------------------------------------------------------------------------------- - -Christian Schüller contributed a convenience class that makes it possible to -create AntTweakBar-style variable manipulators using just a few lines of code. -For instance, the source code below was used to create the following example -application. - -.. image:: https://github.com/wjakob/nanogui/raw/master/resources/screenshot2.png - :alt: Screenshot - :align: center - - -.. code-block:: cpp - - /// dvar, bar, strvar, etc. are double/bool/string/.. variables - - FormHelper *gui = new FormHelper(screen); - ref window = gui->addWindow(Eigen::Vector2i(10, 10), "Form helper example"); - gui->addGroup("Basic types"); - gui->addVariable("bool", bvar); - gui->addVariable("string", strvar); - - gui->addGroup("Validating fields"); - gui->addVariable("int", ivar); - gui->addVariable("float", fvar); - gui->addVariable("double", dvar); - - gui->addGroup("Complex types"); - gui->addVariable("Enumeration", enumval, enabled) - ->setItems({"Item 1", "Item 2", "Item 3"}); - gui->addVariable("Color", colval); - - gui->addGroup("Other widgets"); - gui->addButton("A button", [](){ std::cout << "Button pressed." << std::endl; }); - - screen->setVisible(true); - screen->performLayout(); - window->center(); - -Compiling ----------------------------------------------------------------------------------------- - -Clone the repository and all dependencies (with ``git clone --recursive``), -run CMake to generate Makefiles or CMake/Visual Studio project files, and -the rest should just work automatically. - -On Debian/Ubuntu, make sure that you have installed the following packages - -.. code-block:: bash - - $ apt-get install cmake xorg-dev libglu1-mesa-dev - -To also get the Python bindings, you'll need to run - -.. code-block:: bash - - $ apt-get install python-dev - -On RedHat/Fedora, make sure that you have installed the following packages - -.. code-block:: bash - - $ sudo dnf install cmake mesa-libGLU-devel libXi-devel libXcursor-devel libXinerama-devel libXrandr-devel xorg-x11-server-devel - -To also get the Python bindings, you'll need to run - -.. code-block:: bash - - $ sudo dnf install python3-devel - -License ----------------------------------------------------------------------------------------- - -.. begin_license - -NanoGUI is provided under a BSD-style license that can be found in the LICENSE_ -file. By using, distributing, or contributing to this project, you agree to the -terms and conditions of this license. - -.. _LICENSE: https://github.com/wjakob/nanogui/blob/master/LICENSE.txt - -NanoGUI uses Daniel Bruce's `Entypo+ `_ font for the -icons used on various widgets. This work is licensed under a -`CC BY-SA 4.0 `_ license. -Commercial entities using NanoGUI should consult the proper legal counsel for -how to best adhere to the attribution clause of the license. - -.. end_license diff --git a/testbed/nanogui/ext/coro/LICENSE b/testbed/nanogui/ext/coro/LICENSE deleted file mode 100644 index 5c9c3bb6..00000000 --- a/testbed/nanogui/ext/coro/LICENSE +++ /dev/null @@ -1,26 +0,0 @@ -Copyright (c) 2000-2009 Marc Alexander Lehmann - -Redistribution and use in source and binary forms, with or without modifica- -tion, are permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED -WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER- -CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO -EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE- -CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; -OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH- -ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED -OF THE POSSIBILITY OF SUCH DAMAGE. - -Alternatively, the following files carry an additional notice that -explicitly allows relicensing under the GPLv2: coro.c, coro.h. - diff --git a/testbed/nanogui/ext/coro/README b/testbed/nanogui/ext/coro/README deleted file mode 100644 index 28b0a6f5..00000000 --- a/testbed/nanogui/ext/coro/README +++ /dev/null @@ -1,6 +0,0 @@ -Configuration, documentation etc. is provided in the coro.h file. Please -note that the file conftest.c in this distribution is under the GPL. It is -not needed for proper operation of this library though, for that, coro.h -and coro.c suffice. - -Marc Lehmann diff --git a/testbed/nanogui/ext/coro/coro.c b/testbed/nanogui/ext/coro/coro.c deleted file mode 100644 index 0bd070dd..00000000 --- a/testbed/nanogui/ext/coro/coro.c +++ /dev/null @@ -1,803 +0,0 @@ -/* - * Copyright (c) 2001-2011 Marc Alexander Lehmann - * - * Redistribution and use in source and binary forms, with or without modifica- - * tion, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED - * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER- - * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO - * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE- - * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH- - * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Alternatively, the contents of this file may be used under the terms of - * the GNU General Public License ("GPL") version 2 or any later version, - * in which case the provisions of the GPL are applicable instead of - * the above. If you wish to allow the use of your version of this file - * only under the terms of the GPL and not to allow others to use your - * version of this file under the BSD license, indicate your decision - * by deleting the provisions above and replace them with the notice - * and other provisions required by the GPL. If you do not delete the - * provisions above, a recipient may use your version of this file under - * either the BSD or the GPL. - * - * This library is modelled strictly after Ralf S. Engelschalls article at - * http://www.gnu.org/software/pth/rse-pmt.ps. So most of the credit must - * go to Ralf S. Engelschall . - */ - -#include "coro.h" - -#include -#include - -/*****************************************************************************/ -/* ucontext/setjmp/asm backends */ -/*****************************************************************************/ -#if CORO_UCONTEXT || CORO_SJLJ || CORO_LOSER || CORO_LINUX || CORO_IRIX || CORO_ASM - -# if CORO_UCONTEXT -# include -# endif - -# if !defined(STACK_ADJUST_PTR) -# if __sgi -/* IRIX is decidedly NON-unix */ -# define STACK_ADJUST_PTR(sp,ss) ((char *)(sp) + (ss) - 8) -# define STACK_ADJUST_SIZE(sp,ss) ((ss) - 8) -# elif (__i386__ && CORO_LINUX) || (_M_IX86 && CORO_LOSER) -# define STACK_ADJUST_PTR(sp,ss) ((char *)(sp) + (ss)) -# define STACK_ADJUST_SIZE(sp,ss) (ss) -# elif (__amd64__ && CORO_LINUX) || ((_M_AMD64 || _M_IA64) && CORO_LOSER) -# define STACK_ADJUST_PTR(sp,ss) ((char *)(sp) + (ss) - 8) -# define STACK_ADJUST_SIZE(sp,ss) (ss) -# else -# define STACK_ADJUST_PTR(sp,ss) (sp) -# define STACK_ADJUST_SIZE(sp,ss) (ss) -# endif -# endif - -# include - -# if CORO_SJLJ -# include -# include -# include -# endif - -static coro_func coro_init_func; -static void *coro_init_arg; -static coro_context *new_coro, *create_coro; - -static void -coro_init (void) -{ - volatile coro_func func = coro_init_func; - volatile void *arg = coro_init_arg; - - coro_transfer (new_coro, create_coro); - -#if __GCC_HAVE_DWARF2_CFI_ASM && __amd64 - asm (".cfi_undefined rip"); -#endif - - func ((void *)arg); - - /* the new coro returned. bad. just abort() for now */ - abort (); -} - -# if CORO_SJLJ - -static volatile int trampoline_done; - -/* trampoline signal handler */ -static void -trampoline (int sig) -{ - if (coro_setjmp (new_coro->env)) - coro_init (); /* start it */ - else - trampoline_done = 1; -} - -# endif - -# if CORO_ASM - - #if __arm__ && \ - (defined __ARM_ARCH_7__ || defined __ARM_ARCH_7A__ \ - || defined __ARM_ARCH_7R__ || defined __ARM_ARCH_7M__ \ - || __ARCH_ARCH == 7) - #define CORO_ARM 1 - #endif - - #if _WIN32 || __CYGWIN__ - #define CORO_WIN_TIB 1 - #endif - - asm ( - "\t.text\n" - #if _WIN32 || __CYGWIN__ - "\t.globl _coro_transfer\n" - "_coro_transfer:\n" - #else - "\t.globl coro_transfer\n" - "coro_transfer:\n" - #endif - /* windows, of course, gives a shit on the amd64 ABI and uses different registers */ - /* http://blogs.msdn.com/freik/archive/2005/03/17/398200.aspx */ - #if __amd64 - - #if _WIN32 || __CYGWIN__ - #define NUM_SAVED 29 - "\tsubq $168, %rsp\t" /* one dummy qword to improve alignment */ - "\tmovaps %xmm6, (%rsp)\n" - "\tmovaps %xmm7, 16(%rsp)\n" - "\tmovaps %xmm8, 32(%rsp)\n" - "\tmovaps %xmm9, 48(%rsp)\n" - "\tmovaps %xmm10, 64(%rsp)\n" - "\tmovaps %xmm11, 80(%rsp)\n" - "\tmovaps %xmm12, 96(%rsp)\n" - "\tmovaps %xmm13, 112(%rsp)\n" - "\tmovaps %xmm14, 128(%rsp)\n" - "\tmovaps %xmm15, 144(%rsp)\n" - "\tpushq %rsi\n" - "\tpushq %rdi\n" - "\tpushq %rbp\n" - "\tpushq %rbx\n" - "\tpushq %r12\n" - "\tpushq %r13\n" - "\tpushq %r14\n" - "\tpushq %r15\n" - #if CORO_WIN_TIB - "\tpushq %fs:0x0\n" - "\tpushq %fs:0x8\n" - "\tpushq %fs:0xc\n" - #endif - "\tmovq %rsp, (%rcx)\n" - "\tmovq (%rdx), %rsp\n" - #if CORO_WIN_TIB - "\tpopq %fs:0xc\n" - "\tpopq %fs:0x8\n" - "\tpopq %fs:0x0\n" - #endif - "\tpopq %r15\n" - "\tpopq %r14\n" - "\tpopq %r13\n" - "\tpopq %r12\n" - "\tpopq %rbx\n" - "\tpopq %rbp\n" - "\tpopq %rdi\n" - "\tpopq %rsi\n" - "\tmovaps (%rsp), %xmm6\n" - "\tmovaps 16(%rsp), %xmm7\n" - "\tmovaps 32(%rsp), %xmm8\n" - "\tmovaps 48(%rsp), %xmm9\n" - "\tmovaps 64(%rsp), %xmm10\n" - "\tmovaps 80(%rsp), %xmm11\n" - "\tmovaps 96(%rsp), %xmm12\n" - "\tmovaps 112(%rsp), %xmm13\n" - "\tmovaps 128(%rsp), %xmm14\n" - "\tmovaps 144(%rsp), %xmm15\n" - "\taddq $168, %rsp\n" - #else - #define NUM_SAVED 6 - "\tpushq %rbp\n" - "\tpushq %rbx\n" - "\tpushq %r12\n" - "\tpushq %r13\n" - "\tpushq %r14\n" - "\tpushq %r15\n" - "\tmovq %rsp, (%rdi)\n" - "\tmovq (%rsi), %rsp\n" - "\tpopq %r15\n" - "\tpopq %r14\n" - "\tpopq %r13\n" - "\tpopq %r12\n" - "\tpopq %rbx\n" - "\tpopq %rbp\n" - #endif - "\tpopq %rcx\n" - "\tjmpq *%rcx\n" - - #elif __i386__ - - #define NUM_SAVED 4 - "\tpushl %ebp\n" - "\tpushl %ebx\n" - "\tpushl %esi\n" - "\tpushl %edi\n" - #if CORO_WIN_TIB - #undef NUM_SAVED - #define NUM_SAVED 7 - "\tpushl %fs:0\n" - "\tpushl %fs:4\n" - "\tpushl %fs:8\n" - #endif - "\tmovl %esp, (%eax)\n" - "\tmovl (%edx), %esp\n" - #if CORO_WIN_TIB - "\tpopl %fs:8\n" - "\tpopl %fs:4\n" - "\tpopl %fs:0\n" - #endif - "\tpopl %edi\n" - "\tpopl %esi\n" - "\tpopl %ebx\n" - "\tpopl %ebp\n" - "\tpopl %ecx\n" - "\tjmpl *%ecx\n" - - #elif CORO_ARM /* untested, what about thumb, neon, iwmmxt? */ - - #if __ARM_PCS_VFP - "\tvpush {d8-d15}\n" - #define NUM_SAVED (9 + 8 * 2) - #else - #define NUM_SAVED 9 - #endif - "\tpush {r4-r11,lr}\n" - "\tstr sp, [r0]\n" - "\tldr sp, [r1]\n" - "\tpop {r4-r11,lr}\n" - #if __ARM_PCS_VFP - "\tvpop {d8-d15}\n" - #endif - "\tmov r15, lr\n" - - #elif __mips__ && 0 /* untested, 32 bit only */ - - #define NUM_SAVED (12 + 8 * 2) - /* TODO: n64/o64, lw=>ld */ - - "\t.set nomips16\n" - "\t.frame $sp,112,$31\n" - #if __mips_soft_float - "\taddiu $sp,$sp,-44\n" - #else - "\taddiu $sp,$sp,-112\n" - "\ts.d $f30,88($sp)\n" - "\ts.d $f28,80($sp)\n" - "\ts.d $f26,72($sp)\n" - "\ts.d $f24,64($sp)\n" - "\ts.d $f22,56($sp)\n" - "\ts.d $f20,48($sp)\n" - #endif - "\tsw $28,40($sp)\n" - "\tsw $31,36($sp)\n" - "\tsw $fp,32($sp)\n" - "\tsw $23,28($sp)\n" - "\tsw $22,24($sp)\n" - "\tsw $21,20($sp)\n" - "\tsw $20,16($sp)\n" - "\tsw $19,12($sp)\n" - "\tsw $18,8($sp)\n" - "\tsw $17,4($sp)\n" - "\tsw $16,0($sp)\n" - "\tsw $sp,0($4)\n" - "\tlw $sp,0($5)\n" - #if !__mips_soft_float - "\tl.d $f30,88($sp)\n" - "\tl.d $f28,80($sp)\n" - "\tl.d $f26,72($sp)\n" - "\tl.d $f24,64($sp)\n" - "\tl.d $f22,56($sp)\n" - "\tl.d $f20,48($sp)\n" - #endif - "\tlw $28,40($sp)\n" - "\tlw $31,36($sp)\n" - "\tlw $fp,32($sp)\n" - "\tlw $23,28($sp)\n" - "\tlw $22,24($sp)\n" - "\tlw $21,20($sp)\n" - "\tlw $20,16($sp)\n" - "\tlw $19,12($sp)\n" - "\tlw $18,8($sp)\n" - "\tlw $17,4($sp)\n" - "\tlw $16,0($sp)\n" - "\tj $31\n" - #if __mips_soft_float - "\taddiu $sp,$sp,44\n" - #else - "\taddiu $sp,$sp,112\n" - #endif - - #else - #error unsupported architecture - #endif - ); - -# endif - -void -coro_create (coro_context *ctx, coro_func coro, void *arg, void *sptr, size_t ssize) -{ - coro_context nctx; -# if CORO_SJLJ - stack_t ostk, nstk; - struct sigaction osa, nsa; - sigset_t nsig, osig; -# endif - - if (!coro) - return; - - coro_init_func = coro; - coro_init_arg = arg; - - new_coro = ctx; - create_coro = &nctx; - -# if CORO_SJLJ - /* we use SIGUSR2. first block it, then fiddle with it. */ - - sigemptyset (&nsig); - sigaddset (&nsig, SIGUSR2); - sigprocmask (SIG_BLOCK, &nsig, &osig); - - nsa.sa_handler = trampoline; - sigemptyset (&nsa.sa_mask); - nsa.sa_flags = SA_ONSTACK; - - if (sigaction (SIGUSR2, &nsa, &osa)) - { - perror ("sigaction"); - abort (); - } - - /* set the new stack */ - nstk.ss_sp = STACK_ADJUST_PTR (sptr, ssize); /* yes, some platforms (IRIX) get this wrong. */ - nstk.ss_size = STACK_ADJUST_SIZE (sptr, ssize); - nstk.ss_flags = 0; - - if (sigaltstack (&nstk, &ostk) < 0) - { - perror ("sigaltstack"); - abort (); - } - - trampoline_done = 0; - kill (getpid (), SIGUSR2); - sigfillset (&nsig); sigdelset (&nsig, SIGUSR2); - - while (!trampoline_done) - sigsuspend (&nsig); - - sigaltstack (0, &nstk); - nstk.ss_flags = SS_DISABLE; - if (sigaltstack (&nstk, 0) < 0) - perror ("sigaltstack"); - - sigaltstack (0, &nstk); - if (~nstk.ss_flags & SS_DISABLE) - abort (); - - if (~ostk.ss_flags & SS_DISABLE) - sigaltstack (&ostk, 0); - - sigaction (SIGUSR2, &osa, 0); - sigprocmask (SIG_SETMASK, &osig, 0); - -# elif CORO_LOSER - - coro_setjmp (ctx->env); - #if __CYGWIN__ && __i386__ - ctx->env[8] = (long) coro_init; - ctx->env[7] = (long) ((char *)sptr + ssize) - sizeof (long); - #elif __CYGWIN__ && __x86_64__ - ctx->env[7] = (long) coro_init; - ctx->env[6] = (long) ((char *)sptr + ssize) - sizeof (long); - #elif defined __MINGW32__ - ctx->env[5] = (long) coro_init; - ctx->env[4] = (long) ((char *)sptr + ssize) - sizeof (long); - #elif defined _M_IX86 - ((_JUMP_BUFFER *)&ctx->env)->Eip = (long) coro_init; - ((_JUMP_BUFFER *)&ctx->env)->Esp = (long) STACK_ADJUST_PTR (sptr, ssize) - sizeof (long); - #elif defined _M_AMD64 - ((_JUMP_BUFFER *)&ctx->env)->Rip = (__int64) coro_init; - ((_JUMP_BUFFER *)&ctx->env)->Rsp = (__int64) STACK_ADJUST_PTR (sptr, ssize) - sizeof (__int64); - #elif defined _M_IA64 - ((_JUMP_BUFFER *)&ctx->env)->StIIP = (__int64) coro_init; - ((_JUMP_BUFFER *)&ctx->env)->IntSp = (__int64) STACK_ADJUST_PTR (sptr, ssize) - sizeof (__int64); - #else - #error "microsoft libc or architecture not supported" - #endif - -# elif CORO_LINUX - - coro_setjmp (ctx->env); - #if __GLIBC__ >= 2 && __GLIBC_MINOR__ >= 0 && defined (JB_PC) && defined (JB_SP) - ctx->env[0].__jmpbuf[JB_PC] = (long) coro_init; - ctx->env[0].__jmpbuf[JB_SP] = (long) STACK_ADJUST_PTR (sptr, ssize) - sizeof (long); - #elif __GLIBC__ >= 2 && __GLIBC_MINOR__ >= 0 && defined (__mc68000__) - ctx->env[0].__jmpbuf[0].__aregs[0] = (long int)coro_init; - ctx->env[0].__jmpbuf[0].__sp = (int *) ((char *)sptr + ssize) - sizeof (long); - #elif defined (__GNU_LIBRARY__) && defined (__i386__) - ctx->env[0].__jmpbuf[0].__pc = (char *) coro_init; - ctx->env[0].__jmpbuf[0].__sp = (void *) ((char *)sptr + ssize) - sizeof (long); - #elif defined (__GNU_LIBRARY__) && defined (__x86_64__) - ctx->env[0].__jmpbuf[JB_PC] = (long) coro_init; - ctx->env[0].__jmpbuf[0].__sp = (void *) ((char *)sptr + ssize) - sizeof (long); - #else - #error "linux libc or architecture not supported" - #endif - -# elif CORO_IRIX - - coro_setjmp (ctx->env, 0); - ctx->env[JB_PC] = (__uint64_t)coro_init; - ctx->env[JB_SP] = (__uint64_t)STACK_ADJUST_PTR (sptr, ssize) - sizeof (long); - -# elif CORO_ASM - - #if __i386__ || __x86_64__ - ctx->sp = (void **)(ssize + (char *)sptr); - *--ctx->sp = (void *)abort; /* needed for alignment only */ - *--ctx->sp = (void *)coro_init; - #if CORO_WIN_TIB - *--ctx->sp = 0; /* ExceptionList */ - *--ctx->sp = (char *)sptr + ssize; /* StackBase */ - *--ctx->sp = sptr; /* StackLimit */ - #endif - #elif CORO_ARM - /* return address stored in lr register, don't push anything */ - #else - #error unsupported architecture - #endif - - ctx->sp -= NUM_SAVED; - memset (ctx->sp, 0, sizeof (*ctx->sp) * NUM_SAVED); - - #if __i386__ || __x86_64__ - /* done already */ - #elif CORO_ARM - ctx->sp[0] = coro; /* r4 */ - ctx->sp[1] = arg; /* r5 */ - ctx->sp[8] = (char *)coro_init; /* lr */ - #else - #error unsupported architecture - #endif - -# elif CORO_UCONTEXT - - getcontext (&(ctx->uc)); - - ctx->uc.uc_link = 0; - ctx->uc.uc_stack.ss_sp = sptr; - ctx->uc.uc_stack.ss_size = (size_t)ssize; - ctx->uc.uc_stack.ss_flags = 0; - - makecontext (&(ctx->uc), (void (*)())coro_init, 0); - -# endif - - coro_transfer (create_coro, new_coro); -} - -/*****************************************************************************/ -/* pthread backend */ -/*****************************************************************************/ -#elif CORO_PTHREAD - -/* this mutex will be locked by the running coroutine */ -pthread_mutex_t coro_mutex = PTHREAD_MUTEX_INITIALIZER; - -struct coro_init_args -{ - coro_func func; - void *arg; - coro_context *self, *main; -}; - -static pthread_t null_tid; - -/* I'd so love to cast pthread_mutex_unlock to void (*)(void *)... */ -static void -mutex_unlock_wrapper (void *arg) -{ - pthread_mutex_unlock ((pthread_mutex_t *)arg); -} - -static void * -coro_init (void *args_) -{ - struct coro_init_args *args = (struct coro_init_args *)args_; - coro_func func = args->func; - void *arg = args->arg; - - pthread_mutex_lock (&coro_mutex); - - /* we try to be good citizens and use deferred cancellation and cleanup handlers */ - pthread_cleanup_push (mutex_unlock_wrapper, &coro_mutex); - coro_transfer (args->self, args->main); - func (arg); - pthread_cleanup_pop (1); - - return 0; -} - -void -coro_transfer (coro_context *prev, coro_context *next) -{ - pthread_cond_signal (&next->cv); - pthread_cond_wait (&prev->cv, &coro_mutex); -#if __FreeBSD__ /* freebsd is of course broken and needs manual testcancel calls... yay... */ - pthread_testcancel (); -#endif -} - -void -coro_create (coro_context *ctx, coro_func coro, void *arg, void *sptr, size_t ssize) -{ - static coro_context nctx; - static int once; - - if (!once) - { - once = 1; - - pthread_mutex_lock (&coro_mutex); - pthread_cond_init (&nctx.cv, 0); - null_tid = pthread_self (); - } - - pthread_cond_init (&ctx->cv, 0); - - if (coro) - { - pthread_attr_t attr; - struct coro_init_args args; - - args.func = coro; - args.arg = arg; - args.self = ctx; - args.main = &nctx; - - pthread_attr_init (&attr); -#if __UCLIBC__ - /* exists, but is borked */ - /*pthread_attr_setstacksize (&attr, (size_t)ssize);*/ -#elif __CYGWIN__ - /* POSIX, not here */ - pthread_attr_setstacksize (&attr, (size_t)ssize); -#else - pthread_attr_setstack (&attr, sptr, (size_t)ssize); -#endif - pthread_attr_setscope (&attr, PTHREAD_SCOPE_PROCESS); - pthread_create (&ctx->id, &attr, coro_init, &args); - - coro_transfer (args.main, args.self); - } - else - ctx->id = null_tid; -} - -void -coro_destroy (coro_context *ctx) -{ - if (!pthread_equal (ctx->id, null_tid)) - { - pthread_cancel (ctx->id); - pthread_mutex_unlock (&coro_mutex); - pthread_join (ctx->id, 0); - pthread_mutex_lock (&coro_mutex); - } - - pthread_cond_destroy (&ctx->cv); -} - -/*****************************************************************************/ -/* fiber backend */ -/*****************************************************************************/ -#elif CORO_FIBER - -#define WIN32_LEAN_AND_MEAN -#if _WIN32_WINNT < 0x0400 - #undef _WIN32_WINNT - #define _WIN32_WINNT 0x0400 -#endif -#include - -VOID CALLBACK -coro_init (PVOID arg) -{ - coro_context *ctx = (coro_context *)arg; - - ctx->coro (ctx->arg); -} - -void -coro_transfer (coro_context *prev, coro_context *next) -{ - if (!prev->fiber) - { - prev->fiber = GetCurrentFiber (); - - if (prev->fiber == 0 || prev->fiber == (void *)0x1e00) - prev->fiber = ConvertThreadToFiber (0); - } - - SwitchToFiber (next->fiber); -} - -void -coro_create (coro_context *ctx, coro_func coro, void *arg, void *sptr, size_t ssize) -{ - ctx->fiber = 0; - ctx->coro = coro; - ctx->arg = arg; - - if (!coro) - return; - - ctx->fiber = CreateFiber (ssize, coro_init, ctx); -} - -void -coro_destroy (coro_context *ctx) -{ - DeleteFiber (ctx->fiber); -} - -#else - #error unsupported backend -#endif - -/*****************************************************************************/ -/* stack management */ -/*****************************************************************************/ -#if CORO_STACKALLOC - -#include - -#ifndef _WIN32 -# include -#endif - -#if CORO_USE_VALGRIND -# include -#endif - -#if _POSIX_MAPPED_FILES -# include -# define CORO_MMAP 1 -# ifndef MAP_ANONYMOUS -# ifdef MAP_ANON -# define MAP_ANONYMOUS MAP_ANON -# else -# undef CORO_MMAP -# endif -# endif -# include -#else -# undef CORO_MMAP -#endif - -#if _POSIX_MEMORY_PROTECTION -# ifndef CORO_GUARDPAGES -# define CORO_GUARDPAGES 4 -# endif -#else -# undef CORO_GUARDPAGES -#endif - -#if !CORO_MMAP -# undef CORO_GUARDPAGES -#endif - -#if !__i386__ && !__x86_64__ && !__powerpc__ && !__arm__ && !__aarch64__ && !__m68k__ && !__alpha__ && !__mips__ && !__sparc64__ -# undef CORO_GUARDPAGES -#endif - -#ifndef CORO_GUARDPAGES -# define CORO_GUARDPAGES 0 -#endif - -#if !PAGESIZE - #if !CORO_MMAP - #define PAGESIZE 4096 - #else - static size_t - coro_pagesize (void) - { - static size_t pagesize; - - if (!pagesize) - pagesize = sysconf (_SC_PAGESIZE); - - return pagesize; - } - - #define PAGESIZE coro_pagesize () - #endif -#endif - -int -coro_stack_alloc (struct coro_stack *stack, unsigned int size) -{ - if (!size) - size = 256 * 1024; - - stack->sptr = 0; - stack->ssze = ((size_t)size * sizeof (void *) + PAGESIZE - 1) / PAGESIZE * PAGESIZE; - -#if CORO_FIBER - - stack->sptr = (void *)stack; - return 1; - -#else - - size_t ssze = stack->ssze + CORO_GUARDPAGES * PAGESIZE; - void *base; - - #if CORO_MMAP - /* mmap supposedly does allocate-on-write for us */ - base = mmap (0, ssze, PROT_READ | PROT_WRITE | PROT_EXEC, MAP_PRIVATE | MAP_ANONYMOUS, -1, 0); - - if (base == (void *)-1) - { - /* some systems don't let us have executable heap */ - /* we assume they won't need executable stack in that case */ - base = mmap (0, ssze, PROT_READ | PROT_WRITE, MAP_PRIVATE | MAP_ANONYMOUS, -1, 0); - - if (base == (void *)-1) - return 0; - } - - #if CORO_GUARDPAGES - mprotect (base, CORO_GUARDPAGES * PAGESIZE, PROT_NONE); - #endif - - base = (void*)((char *)base + CORO_GUARDPAGES * PAGESIZE); - #else - base = malloc (ssze); - if (!base) - return 0; - #endif - - #if CORO_USE_VALGRIND - stack->valgrind_id = VALGRIND_STACK_REGISTER ((char *)base, ((char *)base) + ssze - CORO_GUARDPAGES * PAGESIZE); - #endif - - stack->sptr = base; - return 1; - -#endif -} - -void -coro_stack_free (struct coro_stack *stack) -{ -#if CORO_FIBER - /* nop */ -#else - #if CORO_USE_VALGRIND - VALGRIND_STACK_DEREGISTER (stack->valgrind_id); - #endif - - #if CORO_MMAP - if (stack->sptr) - munmap ((void*)((char *)stack->sptr - CORO_GUARDPAGES * PAGESIZE), - stack->ssze + CORO_GUARDPAGES * PAGESIZE); - #else - free (stack->sptr); - #endif -#endif -} - -#endif - diff --git a/testbed/nanogui/ext/coro/coro.h b/testbed/nanogui/ext/coro/coro.h deleted file mode 100644 index 8df287e0..00000000 --- a/testbed/nanogui/ext/coro/coro.h +++ /dev/null @@ -1,425 +0,0 @@ -/* - * Copyright (c) 2001-2012,2015 Marc Alexander Lehmann - * - * Redistribution and use in source and binary forms, with or without modifica- - * tion, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED - * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER- - * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO - * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE- - * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH- - * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Alternatively, the contents of this file may be used under the terms of - * the GNU General Public License ("GPL") version 2 or any later version, - * in which case the provisions of the GPL are applicable instead of - * the above. If you wish to allow the use of your version of this file - * only under the terms of the GPL and not to allow others to use your - * version of this file under the BSD license, indicate your decision - * by deleting the provisions above and replace them with the notice - * and other provisions required by the GPL. If you do not delete the - * provisions above, a recipient may use your version of this file under - * either the BSD or the GPL. - * - * This library is modelled strictly after Ralf S. Engelschalls article at - * http://www.gnu.org/software/pth/rse-pmt.ps. So most of the credit must - * go to Ralf S. Engelschall . - * - * This coroutine library is very much stripped down. You should either - * build your own process abstraction using it or - better - just use GNU - * Portable Threads, http://www.gnu.org/software/pth/. - * - */ - -/* - * 2006-10-26 Include stddef.h on OS X to work around one of its bugs. - * Reported by Michael_G_Schwern. - * 2006-11-26 Use _setjmp instead of setjmp on GNU/Linux. - * 2007-04-27 Set unwind frame info if gcc 3+ and ELF is detected. - * Use _setjmp instead of setjmp on _XOPEN_SOURCE >= 600. - * 2007-05-02 Add assembly versions for x86 and amd64 (to avoid reliance - * on SIGUSR2 and sigaltstack in Crossfire). - * 2008-01-21 Disable CFI usage on anything but GNU/Linux. - * 2008-03-02 Switched to 2-clause BSD license with GPL exception. - * 2008-04-04 New (but highly unrecommended) pthreads backend. - * 2008-04-24 Reinstate CORO_LOSER (had wrong stack adjustments). - * 2008-10-30 Support assembly method on x86 with and without frame pointer. - * 2008-11-03 Use a global asm statement for CORO_ASM, idea by pippijn. - * 2008-11-05 Hopefully fix misaligned stacks with CORO_ASM/SETJMP. - * 2008-11-07 rbp wasn't saved in CORO_ASM on x86_64. - * introduce coro_destroy, which is a nop except for pthreads. - * speed up CORO_PTHREAD. Do no longer leak threads either. - * coro_create now allows one to create source coro_contexts. - * do not rely on makecontext passing a void * correctly. - * try harder to get _setjmp/_longjmp. - * major code cleanup/restructuring. - * 2008-11-10 the .cfi hacks are no longer needed. - * 2008-11-16 work around a freebsd pthread bug. - * 2008-11-19 define coro_*jmp symbols for easier porting. - * 2009-06-23 tentative win32-backend support for mingw32 (Yasuhiro Matsumoto). - * 2010-12-03 tentative support for uclibc (which lacks all sorts of things). - * 2011-05-30 set initial callee-saved-registers to zero with CORO_ASM. - * use .cfi_undefined rip on linux-amd64 for better backtraces. - * 2011-06-08 maybe properly implement weird windows amd64 calling conventions. - * 2011-07-03 rely on __GCC_HAVE_DWARF2_CFI_ASM for cfi detection. - * 2011-08-08 cygwin trashes stacks, use pthreads with double stack on cygwin. - * 2012-12-04 reduce misprediction penalty for x86/amd64 assembly switcher. - * 2012-12-05 experimental fiber backend (allocates stack twice). - * 2012-12-07 API version 3 - add coro_stack_alloc/coro_stack_free. - * 2012-12-21 valgrind stack registering was broken. - * 2015-12-05 experimental asm be for arm7, based on a patch by Nick Zavaritsky. - * use __name__ for predefined symbols, as in libecb. - * enable guard pages on arm, aarch64 and mips. - */ - -#ifndef CORO_H -#define CORO_H - -#if __cplusplus -extern "C" { -#endif - -/* - * This library consists of only three files - * coro.h, coro.c and LICENSE (and optionally README) - * - * It implements what is known as coroutines, in a hopefully - * portable way. - * - * All compiletime symbols must be defined both when including coro.h - * (using libcoro) as well as when compiling coro.c (the implementation). - * - * You can manually specify which flavour you want. If you don't define - * any of these, libcoro tries to choose a safe and fast default: - * - * -DCORO_UCONTEXT - * - * This flavour uses SUSv2's get/set/swap/makecontext functions that - * unfortunately only some unices support, and is quite slow. - * - * -DCORO_SJLJ - * - * This flavour uses SUSv2's setjmp/longjmp and sigaltstack functions to - * do it's job. Coroutine creation is much slower than UCONTEXT, but - * context switching is a bit cheaper. It should work on almost all unices. - * - * -DCORO_LINUX - * - * CORO_SJLJ variant. - * Old GNU/Linux systems (<= glibc-2.1) only work with this implementation - * (it is very fast and therefore recommended over other methods, but - * doesn't work with anything newer). - * - * -DCORO_LOSER - * - * CORO_SJLJ variant. - * Microsoft's highly proprietary platform doesn't support sigaltstack, and - * this selects a suitable workaround for this platform. It might not work - * with your compiler though - it has only been tested with MSVC 6. - * - * -DCORO_FIBER - * - * Slower, but probably more portable variant for the Microsoft operating - * system, using fibers. Ignores the passed stack and allocates it internally. - * Also, due to bugs in cygwin, this does not work with cygwin. - * - * -DCORO_IRIX - * - * CORO_SJLJ variant. - * For SGI's version of Microsoft's NT ;) - * - * -DCORO_ASM - * - * Hand coded assembly, known to work only on a few architectures/ABI: - * GCC + arm7/x86/IA32/amd64/x86_64 + GNU/Linux and a few BSDs. Fastest - * choice, if it works. - * - * -DCORO_PTHREAD - * - * Use the pthread API. You have to provide and -lpthread. - * This is likely the slowest backend, and it also does not support fork(), - * so avoid it at all costs. - * - * If you define neither of these symbols, coro.h will try to autodetect - * the best/safest model. To help with the autodetection, you should check - * (e.g. using autoconf) and define the following symbols: HAVE_UCONTEXT_H - * / HAVE_SETJMP_H / HAVE_SIGALTSTACK. - */ - -/* - * Changes when the API changes incompatibly. - * This is ONLY the API version - there is no ABI compatibility between releases. - * - * Changes in API version 2: - * replaced bogus -DCORO_LOOSE with grammatically more correct -DCORO_LOSER - * Changes in API version 3: - * introduced stack management (CORO_STACKALLOC) - */ -#define CORO_VERSION 3 - -#include - -/* - * This is the type for the initialization function of a new coroutine. - */ -typedef void (*coro_func)(void *); - -/* - * A coroutine state is saved in the following structure. Treat it as an - * opaque type. errno and sigmask might be saved, but don't rely on it, - * implement your own switching primitive if you need that. - */ -typedef struct coro_context coro_context; - -/* - * This function creates a new coroutine. Apart from a pointer to an - * uninitialised coro_context, it expects a pointer to the entry function - * and the single pointer value that is given to it as argument. - * - * Allocating/deallocating the stack is your own responsibility. - * - * As a special case, if coro, arg, sptr and ssze are all zero, - * then an "empty" coro_context will be created that is suitable - * as an initial source for coro_transfer. - * - * This function is not reentrant, but putting a mutex around it - * will work. - */ -void coro_create (coro_context *ctx, /* an uninitialised coro_context */ - coro_func coro, /* the coroutine code to be executed */ - void *arg, /* a single pointer passed to the coro */ - void *sptr, /* start of stack area */ - size_t ssze); /* size of stack area in bytes */ - -/* - * The following prototype defines the coroutine switching function. It is - * sometimes implemented as a macro, so watch out. - * - * This function is thread-safe and reentrant. - */ -#if 0 -void coro_transfer (coro_context *prev, coro_context *next); -#endif - -/* - * The following prototype defines the coroutine destroy function. It - * is sometimes implemented as a macro, so watch out. It also serves no - * purpose unless you want to use the CORO_PTHREAD backend, where it is - * used to clean up the thread. You are responsible for freeing the stack - * and the context itself. - * - * This function is thread-safe and reentrant. - */ -#if 0 -void coro_destroy (coro_context *ctx); -#endif - -/*****************************************************************************/ -/* optional stack management */ -/*****************************************************************************/ -/* - * You can disable all of the stack management functions by - * defining CORO_STACKALLOC to 0. Otherwise, they are enabled by default. - * - * If stack management is enabled, you can influence the implementation via these - * symbols: - * - * -DCORO_USE_VALGRIND - * - * If defined, then libcoro will include valgrind/valgrind.h and register - * and unregister stacks with valgrind. - * - * -DCORO_GUARDPAGES=n - * - * libcoro will try to use the specified number of guard pages to protect against - * stack overflow. If n is 0, then the feature will be disabled. If it isn't - * defined, then libcoro will choose a suitable default. If guardpages are not - * supported on the platform, then the feature will be silently disabled. - */ -#ifndef CORO_STACKALLOC -# define CORO_STACKALLOC 1 -#endif - -#if CORO_STACKALLOC - -/* - * The only allowed operations on these struct members is to read the - * "sptr" and "ssze" members to pass it to coro_create, to read the "sptr" - * member to see if it is false, in which case the stack isn't allocated, - * and to set the "sptr" member to 0, to indicate to coro_stack_free to - * not actually do anything. - */ - -struct coro_stack -{ - void *sptr; - size_t ssze; -#if CORO_USE_VALGRIND - int valgrind_id; -#endif -}; - -/* - * Try to allocate a stack of at least the given size and return true if - * successful, or false otherwise. - * - * The size is *NOT* specified in bytes, but in units of sizeof (void *), - * i.e. the stack is typically 4(8) times larger on 32 bit(64 bit) platforms - * then the size passed in. - * - * If size is 0, then a "suitable" stack size is chosen (usually 1-2MB). - */ -int coro_stack_alloc (struct coro_stack *stack, unsigned int size); - -/* - * Free the stack allocated by coro_stack_alloc again. It is safe to - * call this function on the coro_stack structure even if coro_stack_alloc - * failed. - */ -void coro_stack_free (struct coro_stack *stack); - -#endif - -/* - * That was it. No other user-serviceable parts below here. - */ - -/*****************************************************************************/ - -#if !defined CORO_LOSER && !defined CORO_UCONTEXT \ - && !defined CORO_SJLJ && !defined CORO_LINUX \ - && !defined CORO_IRIX && !defined CORO_ASM \ - && !defined CORO_PTHREAD && !defined CORO_FIBER -# if defined WINDOWS && (defined __i386__ || (__x86_64__ || defined _M_IX86 || defined _M_AMD64)) -# define CORO_ASM 1 -# elif defined WINDOWS || defined _WIN32 -# define CORO_LOSER 1 /* you don't win with windoze */ -# elif __linux && (__i386__ || (__x86_64__ && !__ILP32__) || (__arm__ && __ARCH_ARCH == 7)) -# define CORO_ASM 1 -# elif defined HAVE_UCONTEXT_H -# define CORO_UCONTEXT 1 -# elif defined HAVE_SETJMP_H && defined HAVE_SIGALTSTACK -# define CORO_SJLJ 1 -# else -error unknown or unsupported architecture -# endif -#endif - -/*****************************************************************************/ - -#if CORO_UCONTEXT - -# include - -struct coro_context -{ - ucontext_t uc; -}; - -# define coro_transfer(p,n) swapcontext (&((p)->uc), &((n)->uc)) -# define coro_destroy(ctx) (void *)(ctx) - -#elif CORO_SJLJ || CORO_LOSER || CORO_LINUX || CORO_IRIX - -# if defined(CORO_LINUX) && !defined(_GNU_SOURCE) -# define _GNU_SOURCE /* for glibc */ -# endif - -# if !CORO_LOSER -# include -# endif - -/* solaris is hopelessly borked, it expands _XOPEN_UNIX to nothing */ -# if __sun -# undef _XOPEN_UNIX -# define _XOPEN_UNIX 1 -# endif - -# include - -# if _XOPEN_UNIX > 0 || defined (_setjmp) -# define coro_jmp_buf jmp_buf -# define coro_setjmp(env) _setjmp (env) -# define coro_longjmp(env) _longjmp ((env), 1) -# elif CORO_LOSER -# define coro_jmp_buf jmp_buf -# define coro_setjmp(env) setjmp (env) -# define coro_longjmp(env) longjmp ((env), 1) -# else -# define coro_jmp_buf sigjmp_buf -# define coro_setjmp(env) sigsetjmp (env, 0) -# define coro_longjmp(env) siglongjmp ((env), 1) -# endif - -struct coro_context -{ - coro_jmp_buf env; -}; - -# define coro_transfer(p,n) do { if (!coro_setjmp ((p)->env)) coro_longjmp ((n)->env); } while (0) -# define coro_destroy(ctx) (void *)(ctx) - -#elif CORO_ASM - -struct coro_context -{ - void **sp; /* must be at offset 0 */ -}; - -#if __i386__ || __x86_64__ -void __attribute__ ((__noinline__, __regparm__(2))) -#else -void __attribute__ ((__noinline__)) -#endif -coro_transfer (coro_context *prev, coro_context *next); - -# define coro_destroy(ctx) (void *)(ctx) - -#elif CORO_PTHREAD - -# include - -extern pthread_mutex_t coro_mutex; - -struct coro_context -{ - pthread_cond_t cv; - pthread_t id; -}; - -void coro_transfer (coro_context *prev, coro_context *next); -void coro_destroy (coro_context *ctx); - -#elif CORO_FIBER - -struct coro_context -{ - void *fiber; - /* only used for initialisation */ - coro_func coro; - void *arg; -}; - -void coro_transfer (coro_context *prev, coro_context *next); -void coro_destroy (coro_context *ctx); - -#endif - -#if __cplusplus -} -#endif - -#endif - diff --git a/testbed/nanogui/ext/eigen/CMakeLists.txt b/testbed/nanogui/ext/eigen/CMakeLists.txt deleted file mode 100644 index fe4227cb..00000000 --- a/testbed/nanogui/ext/eigen/CMakeLists.txt +++ /dev/null @@ -1,597 +0,0 @@ -project(Eigen3) - -cmake_minimum_required(VERSION 2.8.5) - -# guard against in-source builds - -if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR}) - message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") -endif() - -# Alias Eigen_*_DIR to Eigen3_*_DIR: - -set(Eigen_SOURCE_DIR ${Eigen3_SOURCE_DIR}) -set(Eigen_BINARY_DIR ${Eigen3_BINARY_DIR}) - -# guard against bad build-type strings - -if (NOT CMAKE_BUILD_TYPE) - set(CMAKE_BUILD_TYPE "Release") -endif() - -string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower) -if( NOT cmake_build_type_tolower STREQUAL "debug" - AND NOT cmake_build_type_tolower STREQUAL "release" - AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo") - message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are Debug, Release, RelWithDebInfo (case-insensitive).") -endif() - - -############################################################################# -# retrieve version information # -############################################################################# - -# automatically parse the version number -file(READ "${PROJECT_SOURCE_DIR}/Eigen/src/Core/util/Macros.h" _eigen_version_header) -string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen_world_version_match "${_eigen_version_header}") -set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}") -string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen_major_version_match "${_eigen_version_header}") -set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}") -string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen_minor_version_match "${_eigen_version_header}") -set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}") -set(EIGEN_VERSION_NUMBER ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}) - -# if the mercurial program is absent, this will leave the EIGEN_HG_CHANGESET string empty, -# but won't stop CMake. -execute_process(COMMAND hg tip -R ${CMAKE_SOURCE_DIR} OUTPUT_VARIABLE EIGEN_HGTIP_OUTPUT) -execute_process(COMMAND hg branch -R ${CMAKE_SOURCE_DIR} OUTPUT_VARIABLE EIGEN_BRANCH_OUTPUT) - -# if this is the default (aka development) branch, extract the mercurial changeset number from the hg tip output... -if(EIGEN_BRANCH_OUTPUT MATCHES "default") -string(REGEX MATCH "^changeset: *[0-9]*:([0-9;a-f]+).*" EIGEN_HG_CHANGESET_MATCH "${EIGEN_HGTIP_OUTPUT}") -set(EIGEN_HG_CHANGESET "${CMAKE_MATCH_1}") -endif(EIGEN_BRANCH_OUTPUT MATCHES "default") -#...and show it next to the version number -if(EIGEN_HG_CHANGESET) - set(EIGEN_VERSION "${EIGEN_VERSION_NUMBER} (mercurial changeset ${EIGEN_HG_CHANGESET})") -else(EIGEN_HG_CHANGESET) - set(EIGEN_VERSION "${EIGEN_VERSION_NUMBER}") -endif(EIGEN_HG_CHANGESET) - - -include(CheckCXXCompilerFlag) -include(GNUInstallDirs) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) - -############################################################################# -# find how to link to the standard libraries # -############################################################################# - -find_package(StandardMathLibrary) - - -set(EIGEN_TEST_CUSTOM_LINKER_FLAGS "" CACHE STRING "Additional linker flags when linking unit tests.") -set(EIGEN_TEST_CUSTOM_CXX_FLAGS "" CACHE STRING "Additional compiler flags when compiling unit tests.") - -set(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO "") - -if(NOT STANDARD_MATH_LIBRARY_FOUND) - - message(FATAL_ERROR - "Can't link to the standard math library. Please report to the Eigen developers, telling them about your platform.") - -else() - - if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) - set(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO "${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${STANDARD_MATH_LIBRARY}") - else() - set(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO "${STANDARD_MATH_LIBRARY}") - endif() - -endif() - -if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) - message(STATUS "Standard libraries to link to explicitly: ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}") -else() - message(STATUS "Standard libraries to link to explicitly: none") -endif() - -option(EIGEN_BUILD_BTL "Build benchmark suite" OFF) - -# Disable pkgconfig only for native Windows builds -if(NOT WIN32 OR NOT CMAKE_HOST_SYSTEM_NAME MATCHES Windows) - option(EIGEN_BUILD_PKGCONFIG "Build pkg-config .pc file for Eigen" ON) -endif() - -set(CMAKE_INCLUDE_CURRENT_DIR ON) - -option(EIGEN_SPLIT_LARGE_TESTS "Split large tests into smaller executables" ON) - -option(EIGEN_DEFAULT_TO_ROW_MAJOR "Use row-major as default matrix storage order" OFF) -if(EIGEN_DEFAULT_TO_ROW_MAJOR) - add_definitions("-DEIGEN_DEFAULT_TO_ROW_MAJOR") -endif() - -set(EIGEN_TEST_MAX_SIZE "320" CACHE STRING "Maximal matrix/vector size, default is 320") - -macro(ei_add_cxx_compiler_flag FLAG) - string(REGEX REPLACE "-" "" SFLAG1 ${FLAG}) - string(REGEX REPLACE "\\+" "p" SFLAG ${SFLAG1}) - check_cxx_compiler_flag(${FLAG} COMPILER_SUPPORT_${SFLAG}) - if(COMPILER_SUPPORT_${SFLAG}) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${FLAG}") - endif() -endmacro(ei_add_cxx_compiler_flag) - -if(NOT MSVC) - # We assume that other compilers are partly compatible with GNUCC - - # clang outputs some warnings for unknown flags that are not caught by check_cxx_compiler_flag - # adding -Werror turns such warnings into errors - check_cxx_compiler_flag("-Werror" COMPILER_SUPPORT_WERROR) - if(COMPILER_SUPPORT_WERROR) - set(CMAKE_REQUIRED_FLAGS "-Werror") - endif() - ei_add_cxx_compiler_flag("-pedantic") - ei_add_cxx_compiler_flag("-Wall") - ei_add_cxx_compiler_flag("-Wextra") - #ei_add_cxx_compiler_flag("-Weverything") # clang - - ei_add_cxx_compiler_flag("-Wundef") - ei_add_cxx_compiler_flag("-Wcast-align") - ei_add_cxx_compiler_flag("-Wchar-subscripts") - ei_add_cxx_compiler_flag("-Wnon-virtual-dtor") - ei_add_cxx_compiler_flag("-Wunused-local-typedefs") - ei_add_cxx_compiler_flag("-Wpointer-arith") - ei_add_cxx_compiler_flag("-Wwrite-strings") - ei_add_cxx_compiler_flag("-Wformat-security") - ei_add_cxx_compiler_flag("-Wshorten-64-to-32") - ei_add_cxx_compiler_flag("-Wlogical-op") - ei_add_cxx_compiler_flag("-Wenum-conversion") - ei_add_cxx_compiler_flag("-Wc++11-extensions") - ei_add_cxx_compiler_flag("-Wdouble-promotion") -# ei_add_cxx_compiler_flag("-Wconversion") - - # -Wshadow is insanely too strict with gcc, hopefully it will become usable with gcc 6 - # if(NOT CMAKE_COMPILER_IS_GNUCXX OR (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER "5.0.0")) - if(NOT CMAKE_COMPILER_IS_GNUCXX) - ei_add_cxx_compiler_flag("-Wshadow") - endif() - - ei_add_cxx_compiler_flag("-Wno-psabi") - ei_add_cxx_compiler_flag("-Wno-variadic-macros") - ei_add_cxx_compiler_flag("-Wno-long-long") - - ei_add_cxx_compiler_flag("-fno-check-new") - ei_add_cxx_compiler_flag("-fno-common") - ei_add_cxx_compiler_flag("-fstrict-aliasing") - ei_add_cxx_compiler_flag("-wd981") # disable ICC's "operands are evaluated in unspecified order" remark - ei_add_cxx_compiler_flag("-wd2304") # disable ICC's "warning #2304: non-explicit constructor with single argument may cause implicit type conversion" produced by -Wnon-virtual-dtor - - - # The -ansi flag must be added last, otherwise it is also used as a linker flag by check_cxx_compiler_flag making it fails - # Moreover we should not set both -strict-ansi and -ansi - check_cxx_compiler_flag("-strict-ansi" COMPILER_SUPPORT_STRICTANSI) - ei_add_cxx_compiler_flag("-Qunused-arguments") # disable clang warning: argument unused during compilation: '-ansi' - - if(COMPILER_SUPPORT_STRICTANSI) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -strict-ansi") - else() - ei_add_cxx_compiler_flag("-ansi") - endif() - - if(ANDROID_NDK) - ei_add_cxx_compiler_flag("-pie") - ei_add_cxx_compiler_flag("-fPIE") - endif() - - set(CMAKE_REQUIRED_FLAGS "") - - option(EIGEN_TEST_SSE2 "Enable/Disable SSE2 in tests/examples" OFF) - if(EIGEN_TEST_SSE2) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse2") - message(STATUS "Enabling SSE2 in tests/examples") - endif() - - option(EIGEN_TEST_SSE3 "Enable/Disable SSE3 in tests/examples" OFF) - if(EIGEN_TEST_SSE3) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse3") - message(STATUS "Enabling SSE3 in tests/examples") - endif() - - option(EIGEN_TEST_SSSE3 "Enable/Disable SSSE3 in tests/examples" OFF) - if(EIGEN_TEST_SSSE3) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3") - message(STATUS "Enabling SSSE3 in tests/examples") - endif() - - option(EIGEN_TEST_SSE4_1 "Enable/Disable SSE4.1 in tests/examples" OFF) - if(EIGEN_TEST_SSE4_1) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse4.1") - message(STATUS "Enabling SSE4.1 in tests/examples") - endif() - - option(EIGEN_TEST_SSE4_2 "Enable/Disable SSE4.2 in tests/examples" OFF) - if(EIGEN_TEST_SSE4_2) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse4.2") - message(STATUS "Enabling SSE4.2 in tests/examples") - endif() - - option(EIGEN_TEST_AVX "Enable/Disable AVX in tests/examples" OFF) - if(EIGEN_TEST_AVX) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mavx") - message(STATUS "Enabling AVX in tests/examples") - endif() - - option(EIGEN_TEST_FMA "Enable/Disable FMA in tests/examples" OFF) - if(EIGEN_TEST_FMA AND NOT EIGEN_TEST_NEON) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfma") - message(STATUS "Enabling FMA in tests/examples") - endif() - - option(EIGEN_TEST_AVX512 "Enable/Disable AVX512 in tests/examples" OFF) - if(EIGEN_TEST_AVX512) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mavx512f -fabi-version=6 -DEIGEN_ENABLE_AVX512") - message(STATUS "Enabling AVX512 in tests/examples") - endif() - - option(EIGEN_TEST_F16C "Enable/Disable F16C in tests/examples" OFF) - if(EIGEN_TEST_F16C) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mf16c") - message(STATUS "Enabling F16C in tests/examples") - endif() - - option(EIGEN_TEST_ALTIVEC "Enable/Disable AltiVec in tests/examples" OFF) - if(EIGEN_TEST_ALTIVEC) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -maltivec -mabi=altivec") - message(STATUS "Enabling AltiVec in tests/examples") - endif() - - option(EIGEN_TEST_VSX "Enable/Disable VSX in tests/examples" OFF) - if(EIGEN_TEST_VSX) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -m64 -mvsx") - message(STATUS "Enabling VSX in tests/examples") - endif() - - option(EIGEN_TEST_NEON "Enable/Disable Neon in tests/examples" OFF) - if(EIGEN_TEST_NEON) - if(EIGEN_TEST_FMA) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon-vfpv4") - else() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon") - endif() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfloat-abi=hard") - message(STATUS "Enabling NEON in tests/examples") - endif() - - option(EIGEN_TEST_NEON64 "Enable/Disable Neon in tests/examples" OFF) - if(EIGEN_TEST_NEON64) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") - message(STATUS "Enabling NEON in tests/examples") - endif() - - option(EIGEN_TEST_ZVECTOR "Enable/Disable S390X(zEC13) ZVECTOR in tests/examples" OFF) - if(EIGEN_TEST_ZVECTOR) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=z13 -mzvector") - message(STATUS "Enabling S390X(zEC13) ZVECTOR in tests/examples") - endif() - - check_cxx_compiler_flag("-fopenmp" COMPILER_SUPPORT_OPENMP) - if(COMPILER_SUPPORT_OPENMP) - option(EIGEN_TEST_OPENMP "Enable/Disable OpenMP in tests/examples" OFF) - if(EIGEN_TEST_OPENMP) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp") - message(STATUS "Enabling OpenMP in tests/examples") - endif() - endif() - -else(NOT MSVC) - - # C4127 - conditional expression is constant - # C4714 - marked as __forceinline not inlined (I failed to deactivate it selectively) - # We can disable this warning in the unit tests since it is clear that it occurs - # because we are oftentimes returning objects that have a destructor or may - # throw exceptions - in particular in the unit tests we are throwing extra many - # exceptions to cover indexing errors. - # C4505 - unreferenced local function has been removed (impossible to deactive selectively) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /wd4127 /wd4505 /wd4714") - - # replace all /Wx by /W4 - string(REGEX REPLACE "/W[0-9]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") - - check_cxx_compiler_flag("/openmp" COMPILER_SUPPORT_OPENMP) - if(COMPILER_SUPPORT_OPENMP) - option(EIGEN_TEST_OPENMP "Enable/Disable OpenMP in tests/examples" OFF) - if(EIGEN_TEST_OPENMP) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp") - message(STATUS "Enabling OpenMP in tests/examples") - endif() - endif() - - option(EIGEN_TEST_SSE2 "Enable/Disable SSE2 in tests/examples" OFF) - if(EIGEN_TEST_SSE2) - if(NOT CMAKE_CL_64) - # arch is not supported on 64 bit systems, SSE is enabled automatically. - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2") - endif(NOT CMAKE_CL_64) - message(STATUS "Enabling SSE2 in tests/examples") - endif(EIGEN_TEST_SSE2) -endif(NOT MSVC) - -option(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION "Disable explicit vectorization in tests/examples" OFF) -option(EIGEN_TEST_X87 "Force using X87 instructions. Implies no vectorization." OFF) -option(EIGEN_TEST_32BIT "Force generating 32bit code." OFF) - -if(EIGEN_TEST_X87) - set(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION ON) - if(CMAKE_COMPILER_IS_GNUCXX) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpmath=387") - message(STATUS "Forcing use of x87 instructions in tests/examples") - else() - message(STATUS "EIGEN_TEST_X87 ignored on your compiler") - endif() -endif() - -if(EIGEN_TEST_32BIT) - if(CMAKE_COMPILER_IS_GNUCXX) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -m32") - message(STATUS "Forcing generation of 32-bit code in tests/examples") - else() - message(STATUS "EIGEN_TEST_32BIT ignored on your compiler") - endif() -endif() - -if(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION) - add_definitions(-DEIGEN_DONT_VECTORIZE=1) - message(STATUS "Disabling vectorization in tests/examples") -endif() - -option(EIGEN_TEST_NO_EXPLICIT_ALIGNMENT "Disable explicit alignment (hence vectorization) in tests/examples" OFF) -if(EIGEN_TEST_NO_EXPLICIT_ALIGNMENT) - add_definitions(-DEIGEN_DONT_ALIGN=1) - message(STATUS "Disabling alignment in tests/examples") -endif() - -option(EIGEN_TEST_NO_EXCEPTIONS "Disables C++ exceptions" OFF) -if(EIGEN_TEST_NO_EXCEPTIONS) - ei_add_cxx_compiler_flag("-fno-exceptions") - message(STATUS "Disabling exceptions in tests/examples") -endif() - -option(EIGEN_TEST_CXX11 "Enable testing with C++11 and C++11 features (e.g. Tensor module)." OFF) - -set(EIGEN_CUDA_COMPUTE_ARCH 30 CACHE STRING "The CUDA compute architecture level to target when compiling CUDA code") - -include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}) - -# Backward compatibility support for EIGEN_INCLUDE_INSTALL_DIR -if(EIGEN_INCLUDE_INSTALL_DIR) - message(WARNING "EIGEN_INCLUDE_INSTALL_DIR is deprecated. Use INCLUDE_INSTALL_DIR instead.") -endif() - -if(EIGEN_INCLUDE_INSTALL_DIR AND NOT INCLUDE_INSTALL_DIR) - set(INCLUDE_INSTALL_DIR ${EIGEN_INCLUDE_INSTALL_DIR} - CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen header files are installed") -else() - set(INCLUDE_INSTALL_DIR - "${CMAKE_INSTALL_INCLUDEDIR}/eigen3" - CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen header files are installed" - ) -endif() -set(CMAKEPACKAGE_INSTALL_DIR - "${CMAKE_INSTALL_DATADIR}/eigen3/cmake" - CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen3Config.cmake is installed" - ) -set(PKGCONFIG_INSTALL_DIR - "${CMAKE_INSTALL_DATADIR}/pkgconfig" - CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where eigen3.pc is installed" - ) - - -# similar to set_target_properties but append the property instead of overwriting it -macro(ei_add_target_property target prop value) - - get_target_property(previous ${target} ${prop}) - # if the property wasn't previously set, ${previous} is now "previous-NOTFOUND" which cmake allows catching with plain if() - if(NOT previous) - set(previous "") - endif(NOT previous) - set_target_properties(${target} PROPERTIES ${prop} "${previous} ${value}") -endmacro(ei_add_target_property) - -install(FILES - signature_of_eigen3_matrix_library - DESTINATION ${INCLUDE_INSTALL_DIR} COMPONENT Devel - ) - -if(EIGEN_BUILD_PKGCONFIG) - configure_file(eigen3.pc.in eigen3.pc @ONLY) - install(FILES ${CMAKE_CURRENT_BINARY_DIR}/eigen3.pc - DESTINATION ${PKGCONFIG_INSTALL_DIR} - ) -endif() - -add_subdirectory(Eigen) - -add_subdirectory(doc EXCLUDE_FROM_ALL) - -option(BUILD_TESTING "Enable creation of Eigen tests." ON) -if(BUILD_TESTING) - include(EigenConfigureTesting) - - if(EIGEN_LEAVE_TEST_IN_ALL_TARGET) - add_subdirectory(test) # can't do EXCLUDE_FROM_ALL here, breaks CTest - else() - add_subdirectory(test EXCLUDE_FROM_ALL) - endif() -endif() - -if(EIGEN_LEAVE_TEST_IN_ALL_TARGET) - add_subdirectory(blas) - add_subdirectory(lapack) -else() - add_subdirectory(blas EXCLUDE_FROM_ALL) - add_subdirectory(lapack EXCLUDE_FROM_ALL) -endif() - -# add SYCL -option(EIGEN_TEST_SYCL "Add Sycl support." OFF) -if(EIGEN_TEST_SYCL) - set (CMAKE_MODULE_PATH "${CMAKE_ROOT}/Modules" "cmake/Modules/" "${CMAKE_MODULE_PATH}") - include(FindComputeCpp) -endif() - -add_subdirectory(unsupported) - -add_subdirectory(demos EXCLUDE_FROM_ALL) - -# must be after test and unsupported, for configuring buildtests.in -add_subdirectory(scripts EXCLUDE_FROM_ALL) - -# TODO: consider also replacing EIGEN_BUILD_BTL by a custom target "make btl"? -if(EIGEN_BUILD_BTL) - add_subdirectory(bench/btl EXCLUDE_FROM_ALL) -endif(EIGEN_BUILD_BTL) - -if(NOT WIN32) - add_subdirectory(bench/spbench EXCLUDE_FROM_ALL) -endif(NOT WIN32) - -configure_file(scripts/cdashtesting.cmake.in cdashtesting.cmake @ONLY) - -if(BUILD_TESTING) - ei_testing_print_summary() -endif() - -message(STATUS "") -message(STATUS "Configured Eigen ${EIGEN_VERSION_NUMBER}") -message(STATUS "") - -option(EIGEN_FAILTEST "Enable failtests." OFF) -if(EIGEN_FAILTEST) - add_subdirectory(failtest) -endif() - -string(TOLOWER "${CMAKE_GENERATOR}" cmake_generator_tolower) -if(cmake_generator_tolower MATCHES "makefile") - message(STATUS "Some things you can do now:") - message(STATUS "--------------+--------------------------------------------------------------") - message(STATUS "Command | Description") - message(STATUS "--------------+--------------------------------------------------------------") - message(STATUS "make install | Install Eigen. Headers will be installed to:") - message(STATUS " | /") - message(STATUS " | Using the following values:") - message(STATUS " | CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}") - message(STATUS " | INCLUDE_INSTALL_DIR: ${INCLUDE_INSTALL_DIR}") - message(STATUS " | Change the install location of Eigen headers using:") - message(STATUS " | cmake . -DCMAKE_INSTALL_PREFIX=yourprefix") - message(STATUS " | Or:") - message(STATUS " | cmake . -DINCLUDE_INSTALL_DIR=yourdir") - message(STATUS "make doc | Generate the API documentation, requires Doxygen & LaTeX") - message(STATUS "make check | Build and run the unit-tests. Read this page:") - message(STATUS " | http://eigen.tuxfamily.org/index.php?title=Tests") - message(STATUS "make blas | Build BLAS library (not the same thing as Eigen)") - message(STATUS "make uninstall| Removes files installed by make install") - message(STATUS "--------------+--------------------------------------------------------------") -else() - message(STATUS "To build/run the unit tests, read this page:") - message(STATUS " http://eigen.tuxfamily.org/index.php?title=Tests") -endif() - -message(STATUS "") - - -set ( EIGEN_VERSION_STRING ${EIGEN_VERSION_NUMBER} ) -set ( EIGEN_VERSION_MAJOR ${EIGEN_WORLD_VERSION} ) -set ( EIGEN_VERSION_MINOR ${EIGEN_MAJOR_VERSION} ) -set ( EIGEN_VERSION_PATCH ${EIGEN_MINOR_VERSION} ) -set ( EIGEN_DEFINITIONS "") -set ( EIGEN_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INCLUDE_INSTALL_DIR}" ) -set ( EIGEN_ROOT_DIR ${CMAKE_INSTALL_PREFIX} ) - -# Interface libraries require at least CMake 3.0 -if (NOT CMAKE_VERSION VERSION_LESS 3.0) - include (CMakePackageConfigHelpers) - - # Imported target support - add_library (eigen INTERFACE) - - target_compile_definitions (eigen INTERFACE ${EIGEN_DEFINITIONS}) - target_include_directories (eigen INTERFACE - $ - $ - ) - - # Export as title case Eigen - set_target_properties (eigen PROPERTIES EXPORT_NAME Eigen) - - install (TARGETS eigen EXPORT Eigen3Targets) - - configure_package_config_file ( - ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Eigen3Config.cmake.in - ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake - PATH_VARS EIGEN_INCLUDE_DIR EIGEN_ROOT_DIR - INSTALL_DESTINATION ${CMAKEPACKAGE_INSTALL_DIR} - NO_CHECK_REQUIRED_COMPONENTS_MACRO # Eigen does not provide components - ) - # Remove CMAKE_SIZEOF_VOID_P from Eigen3ConfigVersion.cmake since Eigen does - # not depend on architecture specific settings or libraries. More - # specifically, an Eigen3Config.cmake generated from a 64 bit target can be - # used for 32 bit targets as well (and vice versa). - set (_Eigen3_CMAKE_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P}) - unset (CMAKE_SIZEOF_VOID_P) - write_basic_package_version_file (Eigen3ConfigVersion.cmake - VERSION ${EIGEN_VERSION_NUMBER} - COMPATIBILITY SameMajorVersion) - set (CMAKE_SIZEOF_VOID_P ${_Eigen3_CMAKE_SIZEOF_VOID_P}) - - # The Eigen target will be located in the Eigen3 namespace. Other CMake - # targets can refer to it using Eigen3::Eigen. - export (TARGETS eigen NAMESPACE Eigen3:: FILE Eigen3Targets.cmake) - # Export Eigen3 package to CMake registry such that it can be easily found by - # CMake even if it has not been installed to a standard directory. - export (PACKAGE Eigen3) - - install (EXPORT Eigen3Targets NAMESPACE Eigen3:: DESTINATION ${CMAKEPACKAGE_INSTALL_DIR}) - -else (NOT CMAKE_VERSION VERSION_LESS 3.0) - # Fallback to legacy Eigen3Config.cmake without the imported target - - # If CMakePackageConfigHelpers module is available (CMake >= 2.8.8) - # create a relocatable Config file, otherwise leave the hardcoded paths - include(CMakePackageConfigHelpers OPTIONAL RESULT_VARIABLE CPCH_PATH) - - if(CPCH_PATH) - configure_package_config_file ( - ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Eigen3ConfigLegacy.cmake.in - ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake - PATH_VARS EIGEN_INCLUDE_DIR EIGEN_ROOT_DIR - INSTALL_DESTINATION ${CMAKEPACKAGE_INSTALL_DIR} - NO_CHECK_REQUIRED_COMPONENTS_MACRO # Eigen does not provide components - ) - else() - # The PACKAGE_* variables are defined by the configure_package_config_file - # but without it we define them manually to the hardcoded paths - set(PACKAGE_INIT "") - set(PACKAGE_EIGEN_INCLUDE_DIR ${EIGEN_INCLUDE_DIR}) - set(PACKAGE_EIGEN_ROOT_DIR ${EIGEN_ROOT_DIR}) - configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Eigen3ConfigLegacy.cmake.in - ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake - @ONLY ESCAPE_QUOTES ) - endif() - - write_basic_package_version_file( Eigen3ConfigVersion.cmake - VERSION ${EIGEN_VERSION_NUMBER} - COMPATIBILITY SameMajorVersion ) - -endif (NOT CMAKE_VERSION VERSION_LESS 3.0) - -install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/cmake/UseEigen3.cmake - ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake - ${CMAKE_CURRENT_BINARY_DIR}/Eigen3ConfigVersion.cmake - DESTINATION ${CMAKEPACKAGE_INSTALL_DIR} ) - -# Add uninstall target -add_custom_target ( uninstall - COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/EigenUninstall.cmake) diff --git a/testbed/nanogui/ext/eigen/COPYING.BSD b/testbed/nanogui/ext/eigen/COPYING.BSD deleted file mode 100644 index 11971ffe..00000000 --- a/testbed/nanogui/ext/eigen/COPYING.BSD +++ /dev/null @@ -1,26 +0,0 @@ -/* - Copyright (c) 2011, Intel Corporation. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - * Neither the name of Intel Corporation nor the names of its contributors may - be used to endorse or promote products derived from this software without - specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR - ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/COPYING.GPL b/testbed/nanogui/ext/eigen/COPYING.GPL deleted file mode 100644 index 94a9ed02..00000000 --- a/testbed/nanogui/ext/eigen/COPYING.GPL +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. By contrast, -the GNU General Public License is intended to guarantee your freedom to -share and change all versions of a program--to make sure it remains free -software for all its users. We, the Free Software Foundation, use the -GNU General Public License for most of our software; it applies also to -any other work released this way by its authors. You can apply it to -your programs, too. - - When we speak of free software, we are referring to freedom, not -price. Our General Public Licenses are designed to make sure that you -have the freedom to distribute copies of free software (and charge for -them if you wish), that you receive source code or can get it if you -want it, that you can change the software or use pieces of it in new -free programs, and that you know you can do these things. - - To protect your rights, we need to prevent others from denying you -these rights or asking you to surrender the rights. Therefore, you have -certain responsibilities if you distribute copies of the software, or if -you modify it: responsibilities to respect the freedom of others. - - For example, if you distribute copies of such a program, whether -gratis or for a fee, you must pass on to the recipients the same -freedoms that you received. You must make sure that they, too, receive -or can get the source code. And you must show them these terms so they -know their rights. - - Developers that use the GNU GPL protect your rights with two steps: -(1) assert copyright on the software, and (2) offer you this License -giving you legal permission to copy, distribute and/or modify it. - - For the developers' and authors' protection, the GPL clearly explains -that there is no warranty for this free software. For both users' and -authors' sake, the GPL requires that modified versions be marked as -changed, so that their problems will not be attributed erroneously to -authors of previous versions. - - Some devices are designed to deny users access to install or run -modified versions of the software inside them, although the manufacturer -can do so. This is fundamentally incompatible with the aim of -protecting users' freedom to change the software. The systematic -pattern of such abuse occurs in the area of products for individuals to -use, which is precisely where it is most unacceptable. Therefore, we -have designed this version of the GPL to prohibit the practice for those -products. If such problems arise substantially in other domains, we -stand ready to extend this provision to those domains in future versions -of the GPL, as needed to protect the freedom of users. - - Finally, every program is threatened constantly by software patents. -States should not allow patents to restrict development and use of -software on general-purpose computers, but in those that do, we wish to -avoid the special danger that patents applied to a free program could -make it effectively proprietary. To prevent this, the GPL assures that -patents cannot be used to render the program non-free. - - The precise terms and conditions for copying, distribution and -modification follow. - - TERMS AND CONDITIONS - - 0. Definitions. - - "This License" refers to version 3 of the GNU General Public License. - - "Copyright" also means copyright-like laws that apply to other kinds of -works, such as semiconductor masks. - - "The Program" refers to any copyrightable work licensed under this -License. Each licensee is addressed as "you". "Licensees" and -"recipients" may be individuals or organizations. - - To "modify" a work means to copy from or adapt all or part of the work -in a fashion requiring copyright permission, other than the making of an -exact copy. The resulting work is called a "modified version" of the -earlier work or a work "based on" the earlier work. - - A "covered work" means either the unmodified Program or a work based -on the Program. - - To "propagate" a work means to do anything with it that, without -permission, would make you directly or secondarily liable for -infringement under applicable copyright law, except executing it on a -computer or modifying a private copy. Propagation includes copying, -distribution (with or without modification), making available to the -public, and in some countries other activities as well. - - To "convey" a work means any kind of propagation that enables other -parties to make or receive copies. Mere interaction with a user through -a computer network, with no transfer of a copy, is not conveying. - - An interactive user interface displays "Appropriate Legal Notices" -to the extent that it includes a convenient and prominently visible -feature that (1) displays an appropriate copyright notice, and (2) -tells the user that there is no warranty for the work (except to the -extent that warranties are provided), that licensees may convey the -work under this License, and how to view a copy of this License. If -the interface presents a list of user commands or options, such as a -menu, a prominent item in the list meets this criterion. - - 1. Source Code. - - The "source code" for a work means the preferred form of the work -for making modifications to it. "Object code" means any non-source -form of a work. - - A "Standard Interface" means an interface that either is an official -standard defined by a recognized standards body, or, in the case of -interfaces specified for a particular programming language, one that -is widely used among developers working in that language. - - The "System Libraries" of an executable work include anything, other -than the work as a whole, that (a) is included in the normal form of -packaging a Major Component, but which is not part of that Major -Component, and (b) serves only to enable use of the work with that -Major Component, or to implement a Standard Interface for which an -implementation is available to the public in source code form. A -"Major Component", in this context, means a major essential component -(kernel, window system, and so on) of the specific operating system -(if any) on which the executable work runs, or a compiler used to -produce the work, or an object code interpreter used to run it. - - The "Corresponding Source" for a work in object code form means all -the source code needed to generate, install, and (for an executable -work) run the object code and to modify the work, including scripts to -control those activities. However, it does not include the work's -System Libraries, or general-purpose tools or generally available free -programs which are used unmodified in performing those activities but -which are not part of the work. For example, Corresponding Source -includes interface definition files associated with source files for -the work, and the source code for shared libraries and dynamically -linked subprograms that the work is specifically designed to require, -such as by intimate data communication or control flow between those -subprograms and other parts of the work. - - The Corresponding Source need not include anything that users -can regenerate automatically from other parts of the Corresponding -Source. - - The Corresponding Source for a work in source code form is that -same work. - - 2. Basic Permissions. - - All rights granted under this License are granted for the term of -copyright on the Program, and are irrevocable provided the stated -conditions are met. This License explicitly affirms your unlimited -permission to run the unmodified Program. The output from running a -covered work is covered by this License only if the output, given its -content, constitutes a covered work. This License acknowledges your -rights of fair use or other equivalent, as provided by copyright law. - - You may make, run and propagate covered works that you do not -convey, without conditions so long as your license otherwise remains -in force. You may convey covered works to others for the sole purpose -of having them make modifications exclusively for you, or provide you -with facilities for running those works, provided that you comply with -the terms of this License in conveying all material for which you do -not control copyright. Those thus making or running the covered works -for you must do so exclusively on your behalf, under your direction -and control, on terms that prohibit them from making any copies of -your copyrighted material outside their relationship with you. - - Conveying under any other circumstances is permitted solely under -the conditions stated below. Sublicensing is not allowed; section 10 -makes it unnecessary. - - 3. Protecting Users' Legal Rights From Anti-Circumvention Law. - - No covered work shall be deemed part of an effective technological -measure under any applicable law fulfilling obligations under article -11 of the WIPO copyright treaty adopted on 20 December 1996, or -similar laws prohibiting or restricting circumvention of such -measures. - - When you convey a covered work, you waive any legal power to forbid -circumvention of technological measures to the extent such circumvention -is effected by exercising rights under this License with respect to -the covered work, and you disclaim any intention to limit operation or -modification of the work as a means of enforcing, against the work's -users, your or third parties' legal rights to forbid circumvention of -technological measures. - - 4. Conveying Verbatim Copies. - - You may convey verbatim copies of the Program's source code as you -receive it, in any medium, provided that you conspicuously and -appropriately publish on each copy an appropriate copyright notice; -keep intact all notices stating that this License and any -non-permissive terms added in accord with section 7 apply to the code; -keep intact all notices of the absence of any warranty; and give all -recipients a copy of this License along with the Program. - - You may charge any price or no price for each copy that you convey, -and you may offer support or warranty protection for a fee. - - 5. Conveying Modified Source Versions. - - You may convey a work based on the Program, or the modifications to -produce it from the Program, in the form of source code under the -terms of section 4, provided that you also meet all of these conditions: - - a) The work must carry prominent notices stating that you modified - it, and giving a relevant date. - - b) The work must carry prominent notices stating that it is - released under this License and any conditions added under section - 7. This requirement modifies the requirement in section 4 to - "keep intact all notices". - - c) You must license the entire work, as a whole, under this - License to anyone who comes into possession of a copy. This - License will therefore apply, along with any applicable section 7 - additional terms, to the whole of the work, and all its parts, - regardless of how they are packaged. This License gives no - permission to license the work in any other way, but it does not - invalidate such permission if you have separately received it. - - d) If the work has interactive user interfaces, each must display - Appropriate Legal Notices; however, if the Program has interactive - interfaces that do not display Appropriate Legal Notices, your - work need not make them do so. - - A compilation of a covered work with other separate and independent -works, which are not by their nature extensions of the covered work, -and which are not combined with it such as to form a larger program, -in or on a volume of a storage or distribution medium, is called an -"aggregate" if the compilation and its resulting copyright are not -used to limit the access or legal rights of the compilation's users -beyond what the individual works permit. Inclusion of a covered work -in an aggregate does not cause this License to apply to the other -parts of the aggregate. - - 6. Conveying Non-Source Forms. - - You may convey a covered work in object code form under the terms -of sections 4 and 5, provided that you also convey the -machine-readable Corresponding Source under the terms of this License, -in one of these ways: - - a) Convey the object code in, or embodied in, a physical product - (including a physical distribution medium), accompanied by the - Corresponding Source fixed on a durable physical medium - customarily used for software interchange. - - b) Convey the object code in, or embodied in, a physical product - (including a physical distribution medium), accompanied by a - written offer, valid for at least three years and valid for as - long as you offer spare parts or customer support for that product - model, to give anyone who possesses the object code either (1) a - copy of the Corresponding Source for all the software in the - product that is covered by this License, on a durable physical - medium customarily used for software interchange, for a price no - more than your reasonable cost of physically performing this - conveying of source, or (2) access to copy the - Corresponding Source from a network server at no charge. - - c) Convey individual copies of the object code with a copy of the - written offer to provide the Corresponding Source. This - alternative is allowed only occasionally and noncommercially, and - only if you received the object code with such an offer, in accord - with subsection 6b. - - d) Convey the object code by offering access from a designated - place (gratis or for a charge), and offer equivalent access to the - Corresponding Source in the same way through the same place at no - further charge. You need not require recipients to copy the - Corresponding Source along with the object code. If the place to - copy the object code is a network server, the Corresponding Source - may be on a different server (operated by you or a third party) - that supports equivalent copying facilities, provided you maintain - clear directions next to the object code saying where to find the - Corresponding Source. Regardless of what server hosts the - Corresponding Source, you remain obligated to ensure that it is - available for as long as needed to satisfy these requirements. - - e) Convey the object code using peer-to-peer transmission, provided - you inform other peers where the object code and Corresponding - Source of the work are being offered to the general public at no - charge under subsection 6d. - - A separable portion of the object code, whose source code is excluded -from the Corresponding Source as a System Library, need not be -included in conveying the object code work. - - A "User Product" is either (1) a "consumer product", which means any -tangible personal property which is normally used for personal, family, -or household purposes, or (2) anything designed or sold for incorporation -into a dwelling. In determining whether a product is a consumer product, -doubtful cases shall be resolved in favor of coverage. For a particular -product received by a particular user, "normally used" refers to a -typical or common use of that class of product, regardless of the status -of the particular user or of the way in which the particular user -actually uses, or expects or is expected to use, the product. A product -is a consumer product regardless of whether the product has substantial -commercial, industrial or non-consumer uses, unless such uses represent -the only significant mode of use of the product. - - "Installation Information" for a User Product means any methods, -procedures, authorization keys, or other information required to install -and execute modified versions of a covered work in that User Product from -a modified version of its Corresponding Source. The information must -suffice to ensure that the continued functioning of the modified object -code is in no case prevented or interfered with solely because -modification has been made. - - If you convey an object code work under this section in, or with, or -specifically for use in, a User Product, and the conveying occurs as -part of a transaction in which the right of possession and use of the -User Product is transferred to the recipient in perpetuity or for a -fixed term (regardless of how the transaction is characterized), the -Corresponding Source conveyed under this section must be accompanied -by the Installation Information. But this requirement does not apply -if neither you nor any third party retains the ability to install -modified object code on the User Product (for example, the work has -been installed in ROM). - - The requirement to provide Installation Information does not include a -requirement to continue to provide support service, warranty, or updates -for a work that has been modified or installed by the recipient, or for -the User Product in which it has been modified or installed. Access to a -network may be denied when the modification itself materially and -adversely affects the operation of the network or violates the rules and -protocols for communication across the network. - - Corresponding Source conveyed, and Installation Information provided, -in accord with this section must be in a format that is publicly -documented (and with an implementation available to the public in -source code form), and must require no special password or key for -unpacking, reading or copying. - - 7. Additional Terms. - - "Additional permissions" are terms that supplement the terms of this -License by making exceptions from one or more of its conditions. -Additional permissions that are applicable to the entire Program shall -be treated as though they were included in this License, to the extent -that they are valid under applicable law. If additional permissions -apply only to part of the Program, that part may be used separately -under those permissions, but the entire Program remains governed by -this License without regard to the additional permissions. - - When you convey a copy of a covered work, you may at your option -remove any additional permissions from that copy, or from any part of -it. (Additional permissions may be written to require their own -removal in certain cases when you modify the work.) You may place -additional permissions on material, added by you to a covered work, -for which you have or can give appropriate copyright permission. - - Notwithstanding any other provision of this License, for material you -add to a covered work, you may (if authorized by the copyright holders of -that material) supplement the terms of this License with terms: - - a) Disclaiming warranty or limiting liability differently from the - terms of sections 15 and 16 of this License; or - - b) Requiring preservation of specified reasonable legal notices or - author attributions in that material or in the Appropriate Legal - Notices displayed by works containing it; or - - c) Prohibiting misrepresentation of the origin of that material, or - requiring that modified versions of such material be marked in - reasonable ways as different from the original version; or - - d) Limiting the use for publicity purposes of names of licensors or - authors of the material; or - - e) Declining to grant rights under trademark law for use of some - trade names, trademarks, or service marks; or - - f) Requiring indemnification of licensors and authors of that - material by anyone who conveys the material (or modified versions of - it) with contractual assumptions of liability to the recipient, for - any liability that these contractual assumptions directly impose on - those licensors and authors. - - All other non-permissive additional terms are considered "further -restrictions" within the meaning of section 10. If the Program as you -received it, or any part of it, contains a notice stating that it is -governed by this License along with a term that is a further -restriction, you may remove that term. If a license document contains -a further restriction but permits relicensing or conveying under this -License, you may add to a covered work material governed by the terms -of that license document, provided that the further restriction does -not survive such relicensing or conveying. - - If you add terms to a covered work in accord with this section, you -must place, in the relevant source files, a statement of the -additional terms that apply to those files, or a notice indicating -where to find the applicable terms. - - Additional terms, permissive or non-permissive, may be stated in the -form of a separately written license, or stated as exceptions; -the above requirements apply either way. - - 8. Termination. - - You may not propagate or modify a covered work except as expressly -provided under this License. Any attempt otherwise to propagate or -modify it is void, and will automatically terminate your rights under -this License (including any patent licenses granted under the third -paragraph of section 11). - - However, if you cease all violation of this License, then your -license from a particular copyright holder is reinstated (a) -provisionally, unless and until the copyright holder explicitly and -finally terminates your license, and (b) permanently, if the copyright -holder fails to notify you of the violation by some reasonable means -prior to 60 days after the cessation. - - Moreover, your license from a particular copyright holder is -reinstated permanently if the copyright holder notifies you of the -violation by some reasonable means, this is the first time you have -received notice of violation of this License (for any work) from that -copyright holder, and you cure the violation prior to 30 days after -your receipt of the notice. - - Termination of your rights under this section does not terminate the -licenses of parties who have received copies or rights from you under -this License. If your rights have been terminated and not permanently -reinstated, you do not qualify to receive new licenses for the same -material under section 10. - - 9. Acceptance Not Required for Having Copies. - - You are not required to accept this License in order to receive or -run a copy of the Program. Ancillary propagation of a covered work -occurring solely as a consequence of using peer-to-peer transmission -to receive a copy likewise does not require acceptance. However, -nothing other than this License grants you permission to propagate or -modify any covered work. These actions infringe copyright if you do -not accept this License. Therefore, by modifying or propagating a -covered work, you indicate your acceptance of this License to do so. - - 10. Automatic Licensing of Downstream Recipients. - - Each time you convey a covered work, the recipient automatically -receives a license from the original licensors, to run, modify and -propagate that work, subject to this License. You are not responsible -for enforcing compliance by third parties with this License. - - An "entity transaction" is a transaction transferring control of an -organization, or substantially all assets of one, or subdividing an -organization, or merging organizations. If propagation of a covered -work results from an entity transaction, each party to that -transaction who receives a copy of the work also receives whatever -licenses to the work the party's predecessor in interest had or could -give under the previous paragraph, plus a right to possession of the -Corresponding Source of the work from the predecessor in interest, if -the predecessor has it or can get it with reasonable efforts. - - You may not impose any further restrictions on the exercise of the -rights granted or affirmed under this License. For example, you may -not impose a license fee, royalty, or other charge for exercise of -rights granted under this License, and you may not initiate litigation -(including a cross-claim or counterclaim in a lawsuit) alleging that -any patent claim is infringed by making, using, selling, offering for -sale, or importing the Program or any portion of it. - - 11. Patents. - - A "contributor" is a copyright holder who authorizes use under this -License of the Program or a work on which the Program is based. The -work thus licensed is called the contributor's "contributor version". - - A contributor's "essential patent claims" are all patent claims -owned or controlled by the contributor, whether already acquired or -hereafter acquired, that would be infringed by some manner, permitted -by this License, of making, using, or selling its contributor version, -but do not include claims that would be infringed only as a -consequence of further modification of the contributor version. For -purposes of this definition, "control" includes the right to grant -patent sublicenses in a manner consistent with the requirements of -this License. - - Each contributor grants you a non-exclusive, worldwide, royalty-free -patent license under the contributor's essential patent claims, to -make, use, sell, offer for sale, import and otherwise run, modify and -propagate the contents of its contributor version. - - In the following three paragraphs, a "patent license" is any express -agreement or commitment, however denominated, not to enforce a patent -(such as an express permission to practice a patent or covenant not to -sue for patent infringement). To "grant" such a patent license to a -party means to make such an agreement or commitment not to enforce a -patent against the party. - - If you convey a covered work, knowingly relying on a patent license, -and the Corresponding Source of the work is not available for anyone -to copy, free of charge and under the terms of this License, through a -publicly available network server or other readily accessible means, -then you must either (1) cause the Corresponding Source to be so -available, or (2) arrange to deprive yourself of the benefit of the -patent license for this particular work, or (3) arrange, in a manner -consistent with the requirements of this License, to extend the patent -license to downstream recipients. "Knowingly relying" means you have -actual knowledge that, but for the patent license, your conveying the -covered work in a country, or your recipient's use of the covered work -in a country, would infringe one or more identifiable patents in that -country that you have reason to believe are valid. - - If, pursuant to or in connection with a single transaction or -arrangement, you convey, or propagate by procuring conveyance of, a -covered work, and grant a patent license to some of the parties -receiving the covered work authorizing them to use, propagate, modify -or convey a specific copy of the covered work, then the patent license -you grant is automatically extended to all recipients of the covered -work and works based on it. - - A patent license is "discriminatory" if it does not include within -the scope of its coverage, prohibits the exercise of, or is -conditioned on the non-exercise of one or more of the rights that are -specifically granted under this License. You may not convey a covered -work if you are a party to an arrangement with a third party that is -in the business of distributing software, under which you make payment -to the third party based on the extent of your activity of conveying -the work, and under which the third party grants, to any of the -parties who would receive the covered work from you, a discriminatory -patent license (a) in connection with copies of the covered work -conveyed by you (or copies made from those copies), or (b) primarily -for and in connection with specific products or compilations that -contain the covered work, unless you entered into that arrangement, -or that patent license was granted, prior to 28 March 2007. - - Nothing in this License shall be construed as excluding or limiting -any implied license or other defenses to infringement that may -otherwise be available to you under applicable patent law. - - 12. No Surrender of Others' Freedom. - - If conditions are imposed on you (whether by court order, agreement or -otherwise) that contradict the conditions of this License, they do not -excuse you from the conditions of this License. If you cannot convey a -covered work so as to satisfy simultaneously your obligations under this -License and any other pertinent obligations, then as a consequence you may -not convey it at all. For example, if you agree to terms that obligate you -to collect a royalty for further conveying from those to whom you convey -the Program, the only way you could satisfy both those terms and this -License would be to refrain entirely from conveying the Program. - - 13. Use with the GNU Affero General Public License. - - Notwithstanding any other provision of this License, you have -permission to link or combine any covered work with a work licensed -under version 3 of the GNU Affero General Public License into a single -combined work, and to convey the resulting work. The terms of this -License will continue to apply to the part which is the covered work, -but the special requirements of the GNU Affero General Public License, -section 13, concerning interaction through a network will apply to the -combination as such. - - 14. Revised Versions of this License. - - The Free Software Foundation may publish revised and/or new versions of -the GNU General Public License from time to time. Such new versions will -be similar in spirit to the present version, but may differ in detail to -address new problems or concerns. - - Each version is given a distinguishing version number. If the -Program specifies that a certain numbered version of the GNU General -Public License "or any later version" applies to it, you have the -option of following the terms and conditions either of that numbered -version or of any later version published by the Free Software -Foundation. If the Program does not specify a version number of the -GNU General Public License, you may choose any version ever published -by the Free Software Foundation. - - If the Program specifies that a proxy can decide which future -versions of the GNU General Public License can be used, that proxy's -public statement of acceptance of a version permanently authorizes you -to choose that version for the Program. - - Later license versions may give you additional or different -permissions. However, no additional obligations are imposed on any -author or copyright holder as a result of your choosing to follow a -later version. - - 15. Disclaimer of Warranty. - - THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY -APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT -HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY -OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, -THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM -IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF -ALL NECESSARY SERVICING, REPAIR OR CORRECTION. - - 16. Limitation of Liability. - - IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING -WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS -THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY -GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE -USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF -DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD -PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), -EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF -SUCH DAMAGES. - - 17. Interpretation of Sections 15 and 16. - - If the disclaimer of warranty and limitation of liability provided -above cannot be given local legal effect according to their terms, -reviewing courts shall apply local law that most closely approximates -an absolute waiver of all civil liability in connection with the -Program, unless a warranty or assumption of liability accompanies a -copy of the Program in return for a fee. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Programs - - If you develop a new program, and you want it to be of the greatest -possible use to the public, the best way to achieve this is to make it -free software which everyone can redistribute and change under these terms. - - To do so, attach the following notices to the program. It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/testbed/nanogui/ext/eigen/COPYING.LGPL b/testbed/nanogui/ext/eigen/COPYING.LGPL deleted file mode 100644 index 4362b491..00000000 --- a/testbed/nanogui/ext/eigen/COPYING.LGPL +++ /dev/null @@ -1,502 +0,0 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. It also counts - as the successor of the GNU Library Public License, version 2, hence - the version number 2.1.] - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. By contrast, the GNU General Public -Licenses are intended to guarantee your freedom to share and change -free software--to make sure the software is free for all its users. - - This license, the Lesser General Public License, applies to some -specially designated software packages--typically libraries--of the -Free Software Foundation and other authors who decide to use it. You -can use it too, but we suggest you first think carefully about whether -this license or the ordinary General Public License is the better -strategy to use in any particular case, based on the explanations below. - - When we speak of free software, we are referring to freedom of use, -not price. Our General Public Licenses are designed to make sure that -you have the freedom to distribute copies of free software (and charge -for this service if you wish); that you receive source code or can get -it if you want it; that you can change the software and use pieces of -it in new free programs; and that you are informed that you can do -these things. - - To protect your rights, we need to make restrictions that forbid -distributors to deny you these rights or to ask you to surrender these -rights. These restrictions translate to certain responsibilities for -you if you distribute copies of the library or if you modify it. - - For example, if you distribute copies of the library, whether gratis -or for a fee, you must give the recipients all the rights that we gave -you. You must make sure that they, too, receive or can get the source -code. If you link other code with the library, you must provide -complete object files to the recipients, so that they can relink them -with the library after making changes to the library and recompiling -it. And you must show them these terms so they know their rights. - - We protect your rights with a two-step method: (1) we copyright the -library, and (2) we offer you this license, which gives you legal -permission to copy, distribute and/or modify the library. - - To protect each distributor, we want to make it very clear that -there is no warranty for the free library. Also, if the library is -modified by someone else and passed on, the recipients should know -that what they have is not the original version, so that the original -author's reputation will not be affected by problems that might be -introduced by others. - - Finally, software patents pose a constant threat to the existence of -any free program. We wish to make sure that a company cannot -effectively restrict the users of a free program by obtaining a -restrictive license from a patent holder. Therefore, we insist that -any patent license obtained for a version of the library must be -consistent with the full freedom of use specified in this license. - - Most GNU software, including some libraries, is covered by the -ordinary GNU General Public License. This license, the GNU Lesser -General Public License, applies to certain designated libraries, and -is quite different from the ordinary General Public License. We use -this license for certain libraries in order to permit linking those -libraries into non-free programs. - - When a program is linked with a library, whether statically or using -a shared library, the combination of the two is legally speaking a -combined work, a derivative of the original library. The ordinary -General Public License therefore permits such linking only if the -entire combination fits its criteria of freedom. The Lesser General -Public License permits more lax criteria for linking other code with -the library. - - We call this license the "Lesser" General Public License because it -does Less to protect the user's freedom than the ordinary General -Public License. It also provides other free software developers Less -of an advantage over competing non-free programs. These disadvantages -are the reason we use the ordinary General Public License for many -libraries. However, the Lesser license provides advantages in certain -special circumstances. - - For example, on rare occasions, there may be a special need to -encourage the widest possible use of a certain library, so that it becomes -a de-facto standard. To achieve this, non-free programs must be -allowed to use the library. A more frequent case is that a free -library does the same job as widely used non-free libraries. In this -case, there is little to gain by limiting the free library to free -software only, so we use the Lesser General Public License. - - In other cases, permission to use a particular library in non-free -programs enables a greater number of people to use a large body of -free software. For example, permission to use the GNU C Library in -non-free programs enables many more people to use the whole GNU -operating system, as well as its variant, the GNU/Linux operating -system. - - Although the Lesser General Public License is Less protective of the -users' freedom, it does ensure that the user of a program that is -linked with the Library has the freedom and the wherewithal to run -that program using a modified version of the Library. - - The precise terms and conditions for copying, distribution and -modification follow. Pay close attention to the difference between a -"work based on the library" and a "work that uses the library". The -former contains code derived from the library, whereas the latter must -be combined with the library in order to run. - - GNU LESSER GENERAL PUBLIC LICENSE - TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION - - 0. This License Agreement applies to any software library or other -program which contains a notice placed by the copyright holder or -other authorized party saying it may be distributed under the terms of -this Lesser General Public License (also called "this License"). -Each licensee is addressed as "you". - - A "library" means a collection of software functions and/or data -prepared so as to be conveniently linked with application programs -(which use some of those functions and data) to form executables. - - The "Library", below, refers to any such software library or work -which has been distributed under these terms. A "work based on the -Library" means either the Library or any derivative work under -copyright law: that is to say, a work containing the Library or a -portion of it, either verbatim or with modifications and/or translated -straightforwardly into another language. (Hereinafter, translation is -included without limitation in the term "modification".) - - "Source code" for a work means the preferred form of the work for -making modifications to it. For a library, complete source code means -all the source code for all modules it contains, plus any associated -interface definition files, plus the scripts used to control compilation -and installation of the library. - - Activities other than copying, distribution and modification are not -covered by this License; they are outside its scope. The act of -running a program using the Library is not restricted, and output from -such a program is covered only if its contents constitute a work based -on the Library (independent of the use of the Library in a tool for -writing it). Whether that is true depends on what the Library does -and what the program that uses the Library does. - - 1. You may copy and distribute verbatim copies of the Library's -complete source code as you receive it, in any medium, provided that -you conspicuously and appropriately publish on each copy an -appropriate copyright notice and disclaimer of warranty; keep intact -all the notices that refer to this License and to the absence of any -warranty; and distribute a copy of this License along with the -Library. - - You may charge a fee for the physical act of transferring a copy, -and you may at your option offer warranty protection in exchange for a -fee. - - 2. You may modify your copy or copies of the Library or any portion -of it, thus forming a work based on the Library, and copy and -distribute such modifications or work under the terms of Section 1 -above, provided that you also meet all of these conditions: - - a) The modified work must itself be a software library. - - b) You must cause the files modified to carry prominent notices - stating that you changed the files and the date of any change. - - c) You must cause the whole of the work to be licensed at no - charge to all third parties under the terms of this License. - - d) If a facility in the modified Library refers to a function or a - table of data to be supplied by an application program that uses - the facility, other than as an argument passed when the facility - is invoked, then you must make a good faith effort to ensure that, - in the event an application does not supply such function or - table, the facility still operates, and performs whatever part of - its purpose remains meaningful. - - (For example, a function in a library to compute square roots has - a purpose that is entirely well-defined independent of the - application. Therefore, Subsection 2d requires that any - application-supplied function or table used by this function must - be optional: if the application does not supply it, the square - root function must still compute square roots.) - -These requirements apply to the modified work as a whole. If -identifiable sections of that work are not derived from the Library, -and can be reasonably considered independent and separate works in -themselves, then this License, and its terms, do not apply to those -sections when you distribute them as separate works. But when you -distribute the same sections as part of a whole which is a work based -on the Library, the distribution of the whole must be on the terms of -this License, whose permissions for other licensees extend to the -entire whole, and thus to each and every part regardless of who wrote -it. - -Thus, it is not the intent of this section to claim rights or contest -your rights to work written entirely by you; rather, the intent is to -exercise the right to control the distribution of derivative or -collective works based on the Library. - -In addition, mere aggregation of another work not based on the Library -with the Library (or with a work based on the Library) on a volume of -a storage or distribution medium does not bring the other work under -the scope of this License. - - 3. You may opt to apply the terms of the ordinary GNU General Public -License instead of this License to a given copy of the Library. To do -this, you must alter all the notices that refer to this License, so -that they refer to the ordinary GNU General Public License, version 2, -instead of to this License. (If a newer version than version 2 of the -ordinary GNU General Public License has appeared, then you can specify -that version instead if you wish.) Do not make any other change in -these notices. - - Once this change is made in a given copy, it is irreversible for -that copy, so the ordinary GNU General Public License applies to all -subsequent copies and derivative works made from that copy. - - This option is useful when you wish to copy part of the code of -the Library into a program that is not a library. - - 4. You may copy and distribute the Library (or a portion or -derivative of it, under Section 2) in object code or executable form -under the terms of Sections 1 and 2 above provided that you accompany -it with the complete corresponding machine-readable source code, which -must be distributed under the terms of Sections 1 and 2 above on a -medium customarily used for software interchange. - - If distribution of object code is made by offering access to copy -from a designated place, then offering equivalent access to copy the -source code from the same place satisfies the requirement to -distribute the source code, even though third parties are not -compelled to copy the source along with the object code. - - 5. A program that contains no derivative of any portion of the -Library, but is designed to work with the Library by being compiled or -linked with it, is called a "work that uses the Library". Such a -work, in isolation, is not a derivative work of the Library, and -therefore falls outside the scope of this License. - - However, linking a "work that uses the Library" with the Library -creates an executable that is a derivative of the Library (because it -contains portions of the Library), rather than a "work that uses the -library". The executable is therefore covered by this License. -Section 6 states terms for distribution of such executables. - - When a "work that uses the Library" uses material from a header file -that is part of the Library, the object code for the work may be a -derivative work of the Library even though the source code is not. -Whether this is true is especially significant if the work can be -linked without the Library, or if the work is itself a library. The -threshold for this to be true is not precisely defined by law. - - If such an object file uses only numerical parameters, data -structure layouts and accessors, and small macros and small inline -functions (ten lines or less in length), then the use of the object -file is unrestricted, regardless of whether it is legally a derivative -work. (Executables containing this object code plus portions of the -Library will still fall under Section 6.) - - Otherwise, if the work is a derivative of the Library, you may -distribute the object code for the work under the terms of Section 6. -Any executables containing that work also fall under Section 6, -whether or not they are linked directly with the Library itself. - - 6. As an exception to the Sections above, you may also combine or -link a "work that uses the Library" with the Library to produce a -work containing portions of the Library, and distribute that work -under terms of your choice, provided that the terms permit -modification of the work for the customer's own use and reverse -engineering for debugging such modifications. - - You must give prominent notice with each copy of the work that the -Library is used in it and that the Library and its use are covered by -this License. You must supply a copy of this License. If the work -during execution displays copyright notices, you must include the -copyright notice for the Library among them, as well as a reference -directing the user to the copy of this License. Also, you must do one -of these things: - - a) Accompany the work with the complete corresponding - machine-readable source code for the Library including whatever - changes were used in the work (which must be distributed under - Sections 1 and 2 above); and, if the work is an executable linked - with the Library, with the complete machine-readable "work that - uses the Library", as object code and/or source code, so that the - user can modify the Library and then relink to produce a modified - executable containing the modified Library. (It is understood - that the user who changes the contents of definitions files in the - Library will not necessarily be able to recompile the application - to use the modified definitions.) - - b) Use a suitable shared library mechanism for linking with the - Library. A suitable mechanism is one that (1) uses at run time a - copy of the library already present on the user's computer system, - rather than copying library functions into the executable, and (2) - will operate properly with a modified version of the library, if - the user installs one, as long as the modified version is - interface-compatible with the version that the work was made with. - - c) Accompany the work with a written offer, valid for at - least three years, to give the same user the materials - specified in Subsection 6a, above, for a charge no more - than the cost of performing this distribution. - - d) If distribution of the work is made by offering access to copy - from a designated place, offer equivalent access to copy the above - specified materials from the same place. - - e) Verify that the user has already received a copy of these - materials or that you have already sent this user a copy. - - For an executable, the required form of the "work that uses the -Library" must include any data and utility programs needed for -reproducing the executable from it. However, as a special exception, -the materials to be distributed need not include anything that is -normally distributed (in either source or binary form) with the major -components (compiler, kernel, and so on) of the operating system on -which the executable runs, unless that component itself accompanies -the executable. - - It may happen that this requirement contradicts the license -restrictions of other proprietary libraries that do not normally -accompany the operating system. Such a contradiction means you cannot -use both them and the Library together in an executable that you -distribute. - - 7. You may place library facilities that are a work based on the -Library side-by-side in a single library together with other library -facilities not covered by this License, and distribute such a combined -library, provided that the separate distribution of the work based on -the Library and of the other library facilities is otherwise -permitted, and provided that you do these two things: - - a) Accompany the combined library with a copy of the same work - based on the Library, uncombined with any other library - facilities. This must be distributed under the terms of the - Sections above. - - b) Give prominent notice with the combined library of the fact - that part of it is a work based on the Library, and explaining - where to find the accompanying uncombined form of the same work. - - 8. You may not copy, modify, sublicense, link with, or distribute -the Library except as expressly provided under this License. Any -attempt otherwise to copy, modify, sublicense, link with, or -distribute the Library is void, and will automatically terminate your -rights under this License. However, parties who have received copies, -or rights, from you under this License will not have their licenses -terminated so long as such parties remain in full compliance. - - 9. You are not required to accept this License, since you have not -signed it. However, nothing else grants you permission to modify or -distribute the Library or its derivative works. These actions are -prohibited by law if you do not accept this License. Therefore, by -modifying or distributing the Library (or any work based on the -Library), you indicate your acceptance of this License to do so, and -all its terms and conditions for copying, distributing or modifying -the Library or works based on it. - - 10. Each time you redistribute the Library (or any work based on the -Library), the recipient automatically receives a license from the -original licensor to copy, distribute, link with or modify the Library -subject to these terms and conditions. You may not impose any further -restrictions on the recipients' exercise of the rights granted herein. -You are not responsible for enforcing compliance by third parties with -this License. - - 11. If, as a consequence of a court judgment or allegation of patent -infringement or for any other reason (not limited to patent issues), -conditions are imposed on you (whether by court order, agreement or -otherwise) that contradict the conditions of this License, they do not -excuse you from the conditions of this License. If you cannot -distribute so as to satisfy simultaneously your obligations under this -License and any other pertinent obligations, then as a consequence you -may not distribute the Library at all. For example, if a patent -license would not permit royalty-free redistribution of the Library by -all those who receive copies directly or indirectly through you, then -the only way you could satisfy both it and this License would be to -refrain entirely from distribution of the Library. - -If any portion of this section is held invalid or unenforceable under any -particular circumstance, the balance of the section is intended to apply, -and the section as a whole is intended to apply in other circumstances. - -It is not the purpose of this section to induce you to infringe any -patents or other property right claims or to contest validity of any -such claims; this section has the sole purpose of protecting the -integrity of the free software distribution system which is -implemented by public license practices. Many people have made -generous contributions to the wide range of software distributed -through that system in reliance on consistent application of that -system; it is up to the author/donor to decide if he or she is willing -to distribute software through any other system and a licensee cannot -impose that choice. - -This section is intended to make thoroughly clear what is believed to -be a consequence of the rest of this License. - - 12. If the distribution and/or use of the Library is restricted in -certain countries either by patents or by copyrighted interfaces, the -original copyright holder who places the Library under this License may add -an explicit geographical distribution limitation excluding those countries, -so that distribution is permitted only in or among countries not thus -excluded. In such case, this License incorporates the limitation as if -written in the body of this License. - - 13. The Free Software Foundation may publish revised and/or new -versions of the Lesser General Public License from time to time. -Such new versions will be similar in spirit to the present version, -but may differ in detail to address new problems or concerns. - -Each version is given a distinguishing version number. If the Library -specifies a version number of this License which applies to it and -"any later version", you have the option of following the terms and -conditions either of that version or of any later version published by -the Free Software Foundation. If the Library does not specify a -license version number, you may choose any version ever published by -the Free Software Foundation. - - 14. If you wish to incorporate parts of the Library into other free -programs whose distribution conditions are incompatible with these, -write to the author to ask for permission. For software which is -copyrighted by the Free Software Foundation, write to the Free -Software Foundation; we sometimes make exceptions for this. Our -decision will be guided by the two goals of preserving the free status -of all derivatives of our free software and of promoting the sharing -and reuse of software generally. - - NO WARRANTY - - 15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO -WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. -EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR -OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY -KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE -LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME -THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. - - 16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN -WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY -AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU -FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR -CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE -LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING -RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A -FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF -SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH -DAMAGES. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Libraries - - If you develop a new library, and you want it to be of the greatest -possible use to the public, we recommend making it free software that -everyone can redistribute and change. You can do so by permitting -redistribution under these terms (or, alternatively, under the terms of the -ordinary General Public License). - - To apply these terms, attach the following notices to the library. It is -safest to attach them to the start of each source file to most effectively -convey the exclusion of warranty; and each file should have at least the -"copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - -Also add information on how to contact you by electronic and paper mail. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the library, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the - library `Frob' (a library for tweaking knobs) written by James Random Hacker. - - , 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! diff --git a/testbed/nanogui/ext/eigen/COPYING.MINPACK b/testbed/nanogui/ext/eigen/COPYING.MINPACK deleted file mode 100644 index 11d8a9a6..00000000 --- a/testbed/nanogui/ext/eigen/COPYING.MINPACK +++ /dev/null @@ -1,52 +0,0 @@ -Minpack Copyright Notice (1999) University of Chicago. All rights reserved - -Redistribution and use in source and binary forms, with or -without modification, are permitted provided that the -following conditions are met: - -1. Redistributions of source code must retain the above -copyright notice, this list of conditions and the following -disclaimer. - -2. Redistributions in binary form must reproduce the above -copyright notice, this list of conditions and the following -disclaimer in the documentation and/or other materials -provided with the distribution. - -3. The end-user documentation included with the -redistribution, if any, must include the following -acknowledgment: - - "This product includes software developed by the - University of Chicago, as Operator of Argonne National - Laboratory. - -Alternately, this acknowledgment may appear in the software -itself, if and wherever such third-party acknowledgments -normally appear. - -4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS" -WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE -UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND -THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES -OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE -OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY -OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR -USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF -THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4) -DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION -UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL -BE CORRECTED. - -5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT -HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF -ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT, -INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF -ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF -PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER -SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT -(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE, -EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE -POSSIBILITY OF SUCH LOSS OR DAMAGES. - diff --git a/testbed/nanogui/ext/eigen/COPYING.MPL2 b/testbed/nanogui/ext/eigen/COPYING.MPL2 deleted file mode 100644 index 14e2f777..00000000 --- a/testbed/nanogui/ext/eigen/COPYING.MPL2 +++ /dev/null @@ -1,373 +0,0 @@ -Mozilla Public License Version 2.0 -================================== - -1. Definitions --------------- - -1.1. "Contributor" - means each individual or legal entity that creates, contributes to - the creation of, or owns Covered Software. - -1.2. "Contributor Version" - means the combination of the Contributions of others (if any) used - by a Contributor and that particular Contributor's Contribution. - -1.3. "Contribution" - means Covered Software of a particular Contributor. - -1.4. "Covered Software" - means Source Code Form to which the initial Contributor has attached - the notice in Exhibit A, the Executable Form of such Source Code - Form, and Modifications of such Source Code Form, in each case - including portions thereof. - -1.5. "Incompatible With Secondary Licenses" - means - - (a) that the initial Contributor has attached the notice described - in Exhibit B to the Covered Software; or - - (b) that the Covered Software was made available under the terms of - version 1.1 or earlier of the License, but not also under the - terms of a Secondary License. - -1.6. "Executable Form" - means any form of the work other than Source Code Form. - -1.7. "Larger Work" - means a work that combines Covered Software with other material, in - a separate file or files, that is not Covered Software. - -1.8. "License" - means this document. - -1.9. "Licensable" - means having the right to grant, to the maximum extent possible, - whether at the time of the initial grant or subsequently, any and - all of the rights conveyed by this License. - -1.10. "Modifications" - means any of the following: - - (a) any file in Source Code Form that results from an addition to, - deletion from, or modification of the contents of Covered - Software; or - - (b) any new file in Source Code Form that contains any Covered - Software. - -1.11. "Patent Claims" of a Contributor - means any patent claim(s), including without limitation, method, - process, and apparatus claims, in any patent Licensable by such - Contributor that would be infringed, but for the grant of the - License, by the making, using, selling, offering for sale, having - made, import, or transfer of either its Contributions or its - Contributor Version. - -1.12. "Secondary License" - means either the GNU General Public License, Version 2.0, the GNU - Lesser General Public License, Version 2.1, the GNU Affero General - Public License, Version 3.0, or any later versions of those - licenses. - -1.13. "Source Code Form" - means the form of the work preferred for making modifications. - -1.14. "You" (or "Your") - means an individual or a legal entity exercising rights under this - License. For legal entities, "You" includes any entity that - controls, is controlled by, or is under common control with You. For - purposes of this definition, "control" means (a) the power, direct - or indirect, to cause the direction or management of such entity, - whether by contract or otherwise, or (b) ownership of more than - fifty percent (50%) of the outstanding shares or beneficial - ownership of such entity. - -2. License Grants and Conditions --------------------------------- - -2.1. Grants - -Each Contributor hereby grants You a world-wide, royalty-free, -non-exclusive license: - -(a) under intellectual property rights (other than patent or trademark) - Licensable by such Contributor to use, reproduce, make available, - modify, display, perform, distribute, and otherwise exploit its - Contributions, either on an unmodified basis, with Modifications, or - as part of a Larger Work; and - -(b) under Patent Claims of such Contributor to make, use, sell, offer - for sale, have made, import, and otherwise transfer either its - Contributions or its Contributor Version. - -2.2. Effective Date - -The licenses granted in Section 2.1 with respect to any Contribution -become effective for each Contribution on the date the Contributor first -distributes such Contribution. - -2.3. Limitations on Grant Scope - -The licenses granted in this Section 2 are the only rights granted under -this License. No additional rights or licenses will be implied from the -distribution or licensing of Covered Software under this License. -Notwithstanding Section 2.1(b) above, no patent license is granted by a -Contributor: - -(a) for any code that a Contributor has removed from Covered Software; - or - -(b) for infringements caused by: (i) Your and any other third party's - modifications of Covered Software, or (ii) the combination of its - Contributions with other software (except as part of its Contributor - Version); or - -(c) under Patent Claims infringed by Covered Software in the absence of - its Contributions. - -This License does not grant any rights in the trademarks, service marks, -or logos of any Contributor (except as may be necessary to comply with -the notice requirements in Section 3.4). - -2.4. Subsequent Licenses - -No Contributor makes additional grants as a result of Your choice to -distribute the Covered Software under a subsequent version of this -License (see Section 10.2) or under the terms of a Secondary License (if -permitted under the terms of Section 3.3). - -2.5. Representation - -Each Contributor represents that the Contributor believes its -Contributions are its original creation(s) or it has sufficient rights -to grant the rights to its Contributions conveyed by this License. - -2.6. Fair Use - -This License is not intended to limit any rights You have under -applicable copyright doctrines of fair use, fair dealing, or other -equivalents. - -2.7. Conditions - -Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted -in Section 2.1. - -3. Responsibilities -------------------- - -3.1. Distribution of Source Form - -All distribution of Covered Software in Source Code Form, including any -Modifications that You create or to which You contribute, must be under -the terms of this License. You must inform recipients that the Source -Code Form of the Covered Software is governed by the terms of this -License, and how they can obtain a copy of this License. You may not -attempt to alter or restrict the recipients' rights in the Source Code -Form. - -3.2. Distribution of Executable Form - -If You distribute Covered Software in Executable Form then: - -(a) such Covered Software must also be made available in Source Code - Form, as described in Section 3.1, and You must inform recipients of - the Executable Form how they can obtain a copy of such Source Code - Form by reasonable means in a timely manner, at a charge no more - than the cost of distribution to the recipient; and - -(b) You may distribute such Executable Form under the terms of this - License, or sublicense it under different terms, provided that the - license for the Executable Form does not attempt to limit or alter - the recipients' rights in the Source Code Form under this License. - -3.3. Distribution of a Larger Work - -You may create and distribute a Larger Work under terms of Your choice, -provided that You also comply with the requirements of this License for -the Covered Software. If the Larger Work is a combination of Covered -Software with a work governed by one or more Secondary Licenses, and the -Covered Software is not Incompatible With Secondary Licenses, this -License permits You to additionally distribute such Covered Software -under the terms of such Secondary License(s), so that the recipient of -the Larger Work may, at their option, further distribute the Covered -Software under the terms of either this License or such Secondary -License(s). - -3.4. Notices - -You may not remove or alter the substance of any license notices -(including copyright notices, patent notices, disclaimers of warranty, -or limitations of liability) contained within the Source Code Form of -the Covered Software, except that You may alter any license notices to -the extent required to remedy known factual inaccuracies. - -3.5. Application of Additional Terms - -You may choose to offer, and to charge a fee for, warranty, support, -indemnity or liability obligations to one or more recipients of Covered -Software. However, You may do so only on Your own behalf, and not on -behalf of any Contributor. You must make it absolutely clear that any -such warranty, support, indemnity, or liability obligation is offered by -You alone, and You hereby agree to indemnify every Contributor for any -liability incurred by such Contributor as a result of warranty, support, -indemnity or liability terms You offer. You may include additional -disclaimers of warranty and limitations of liability specific to any -jurisdiction. - -4. Inability to Comply Due to Statute or Regulation ---------------------------------------------------- - -If it is impossible for You to comply with any of the terms of this -License with respect to some or all of the Covered Software due to -statute, judicial order, or regulation then You must: (a) comply with -the terms of this License to the maximum extent possible; and (b) -describe the limitations and the code they affect. Such description must -be placed in a text file included with all distributions of the Covered -Software under this License. Except to the extent prohibited by statute -or regulation, such description must be sufficiently detailed for a -recipient of ordinary skill to be able to understand it. - -5. Termination --------------- - -5.1. The rights granted under this License will terminate automatically -if You fail to comply with any of its terms. However, if You become -compliant, then the rights granted under this License from a particular -Contributor are reinstated (a) provisionally, unless and until such -Contributor explicitly and finally terminates Your grants, and (b) on an -ongoing basis, if such Contributor fails to notify You of the -non-compliance by some reasonable means prior to 60 days after You have -come back into compliance. Moreover, Your grants from a particular -Contributor are reinstated on an ongoing basis if such Contributor -notifies You of the non-compliance by some reasonable means, this is the -first time You have received notice of non-compliance with this License -from such Contributor, and You become compliant prior to 30 days after -Your receipt of the notice. - -5.2. If You initiate litigation against any entity by asserting a patent -infringement claim (excluding declaratory judgment actions, -counter-claims, and cross-claims) alleging that a Contributor Version -directly or indirectly infringes any patent, then the rights granted to -You by any and all Contributors for the Covered Software under Section -2.1 of this License shall terminate. - -5.3. In the event of termination under Sections 5.1 or 5.2 above, all -end user license agreements (excluding distributors and resellers) which -have been validly granted by You or Your distributors under this License -prior to termination shall survive termination. - -************************************************************************ -* * -* 6. Disclaimer of Warranty * -* ------------------------- * -* * -* Covered Software is provided under this License on an "as is" * -* basis, without warranty of any kind, either expressed, implied, or * -* statutory, including, without limitation, warranties that the * -* Covered Software is free of defects, merchantable, fit for a * -* particular purpose or non-infringing. The entire risk as to the * -* quality and performance of the Covered Software is with You. * -* Should any Covered Software prove defective in any respect, You * -* (not any Contributor) assume the cost of any necessary servicing, * -* repair, or correction. This disclaimer of warranty constitutes an * -* essential part of this License. No use of any Covered Software is * -* authorized under this License except under this disclaimer. * -* * -************************************************************************ - -************************************************************************ -* * -* 7. Limitation of Liability * -* -------------------------- * -* * -* Under no circumstances and under no legal theory, whether tort * -* (including negligence), contract, or otherwise, shall any * -* Contributor, or anyone who distributes Covered Software as * -* permitted above, be liable to You for any direct, indirect, * -* special, incidental, or consequential damages of any character * -* including, without limitation, damages for lost profits, loss of * -* goodwill, work stoppage, computer failure or malfunction, or any * -* and all other commercial damages or losses, even if such party * -* shall have been informed of the possibility of such damages. This * -* limitation of liability shall not apply to liability for death or * -* personal injury resulting from such party's negligence to the * -* extent applicable law prohibits such limitation. Some * -* jurisdictions do not allow the exclusion or limitation of * -* incidental or consequential damages, so this exclusion and * -* limitation may not apply to You. * -* * -************************************************************************ - -8. Litigation -------------- - -Any litigation relating to this License may be brought only in the -courts of a jurisdiction where the defendant maintains its principal -place of business and such litigation shall be governed by laws of that -jurisdiction, without reference to its conflict-of-law provisions. -Nothing in this Section shall prevent a party's ability to bring -cross-claims or counter-claims. - -9. Miscellaneous ----------------- - -This License represents the complete agreement concerning the subject -matter hereof. If any provision of this License is held to be -unenforceable, such provision shall be reformed only to the extent -necessary to make it enforceable. Any law or regulation which provides -that the language of a contract shall be construed against the drafter -shall not be used to construe this License against a Contributor. - -10. Versions of the License ---------------------------- - -10.1. New Versions - -Mozilla Foundation is the license steward. Except as provided in Section -10.3, no one other than the license steward has the right to modify or -publish new versions of this License. Each version will be given a -distinguishing version number. - -10.2. Effect of New Versions - -You may distribute the Covered Software under the terms of the version -of the License under which You originally received the Covered Software, -or under the terms of any subsequent version published by the license -steward. - -10.3. Modified Versions - -If you create software not governed by this License, and you want to -create a new license for such software, you may create and use a -modified version of this License if you rename the license and remove -any references to the name of the license steward (except to note that -such modified license differs from this License). - -10.4. Distributing Source Code Form that is Incompatible With Secondary -Licenses - -If You choose to distribute Source Code Form that is Incompatible With -Secondary Licenses under the terms of this version of the License, the -notice described in Exhibit B of this License must be attached. - -Exhibit A - Source Code Form License Notice -------------------------------------------- - - This Source Code Form is subject to the terms of the Mozilla Public - License, v. 2.0. If a copy of the MPL was not distributed with this - file, You can obtain one at http://mozilla.org/MPL/2.0/. - -If it is not possible or desirable to put the notice in a particular -file, then You may include the notice in a location (such as a LICENSE -file in a relevant directory) where a recipient would be likely to look -for such a notice. - -You may add additional accurate notices of copyright ownership. - -Exhibit B - "Incompatible With Secondary Licenses" Notice ---------------------------------------------------------- - - This Source Code Form is "Incompatible With Secondary Licenses", as - defined by the Mozilla Public License, v. 2.0. diff --git a/testbed/nanogui/ext/eigen/COPYING.README b/testbed/nanogui/ext/eigen/COPYING.README deleted file mode 100644 index de5b6321..00000000 --- a/testbed/nanogui/ext/eigen/COPYING.README +++ /dev/null @@ -1,18 +0,0 @@ -Eigen is primarily MPL2 licensed. See COPYING.MPL2 and these links: - http://www.mozilla.org/MPL/2.0/ - http://www.mozilla.org/MPL/2.0/FAQ.html - -Some files contain third-party code under BSD or LGPL licenses, whence the other -COPYING.* files here. - -All the LGPL code is either LGPL 2.1-only, or LGPL 2.1-or-later. -For this reason, the COPYING.LGPL file contains the LGPL 2.1 text. - -If you want to guarantee that the Eigen code that you are #including is licensed -under the MPL2 and possibly more permissive licenses (like BSD), #define this -preprocessor symbol: - EIGEN_MPL2_ONLY -For example, with most compilers, you could add this to your project CXXFLAGS: - -DEIGEN_MPL2_ONLY -This will cause a compilation error to be generated if you #include any code that is -LGPL licensed. diff --git a/testbed/nanogui/ext/eigen/CTestConfig.cmake b/testbed/nanogui/ext/eigen/CTestConfig.cmake deleted file mode 100644 index 4c002782..00000000 --- a/testbed/nanogui/ext/eigen/CTestConfig.cmake +++ /dev/null @@ -1,17 +0,0 @@ -## This file should be placed in the root directory of your project. -## Then modify the CMakeLists.txt file in the root directory of your -## project to incorporate the testing dashboard. -## # The following are required to uses Dart and the Cdash dashboard -## ENABLE_TESTING() -## INCLUDE(CTest) -set(CTEST_PROJECT_NAME "Eigen") -set(CTEST_NIGHTLY_START_TIME "00:00:00 UTC") - -set(CTEST_DROP_METHOD "http") -set(CTEST_DROP_SITE "manao.inria.fr") -set(CTEST_DROP_LOCATION "/CDash/submit.php?project=Eigen") -set(CTEST_DROP_SITE_CDASH TRUE) -set(CTEST_PROJECT_SUBPROJECTS -Official -Unsupported -) diff --git a/testbed/nanogui/ext/eigen/CTestCustom.cmake.in b/testbed/nanogui/ext/eigen/CTestCustom.cmake.in deleted file mode 100644 index 9fed9d32..00000000 --- a/testbed/nanogui/ext/eigen/CTestCustom.cmake.in +++ /dev/null @@ -1,3 +0,0 @@ - -set(CTEST_CUSTOM_MAXIMUM_NUMBER_OF_WARNINGS "2000") -set(CTEST_CUSTOM_MAXIMUM_NUMBER_OF_ERRORS "2000") diff --git a/testbed/nanogui/ext/eigen/Eigen/CMakeLists.txt b/testbed/nanogui/ext/eigen/Eigen/CMakeLists.txt deleted file mode 100644 index 9eb502b7..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -include(RegexUtils) -test_escape_string_as_regex() - -file(GLOB Eigen_directory_files "*") - -escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") - -foreach(f ${Eigen_directory_files}) - if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src") - list(APPEND Eigen_directory_files_to_install ${f}) - endif() -endforeach(f ${Eigen_directory_files}) - -install(FILES - ${Eigen_directory_files_to_install} - DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel - ) - -install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h") diff --git a/testbed/nanogui/ext/eigen/Eigen/Cholesky b/testbed/nanogui/ext/eigen/Eigen/Cholesky deleted file mode 100644 index 369d1f5e..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Cholesky +++ /dev/null @@ -1,41 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CHOLESKY_MODULE_H -#define EIGEN_CHOLESKY_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** \defgroup Cholesky_Module Cholesky module - * - * - * - * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices. - * Those decompositions are also accessible via the following methods: - * - MatrixBase::llt() - * - MatrixBase::ldlt() - * - SelfAdjointView::llt() - * - SelfAdjointView::ldlt() - * - * \code - * #include - * \endcode - */ - -#include "src/Cholesky/LLT.h" -#include "src/Cholesky/LDLT.h" -#ifdef EIGEN_USE_LAPACKE -#include "src/misc/lapacke.h" -#include "src/Cholesky/LLT_LAPACKE.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_CHOLESKY_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/CholmodSupport b/testbed/nanogui/ext/eigen/Eigen/CholmodSupport deleted file mode 100644 index bed8924d..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/CholmodSupport +++ /dev/null @@ -1,48 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CHOLMODSUPPORT_MODULE_H -#define EIGEN_CHOLMODSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -extern "C" { - #include -} - -/** \ingroup Support_modules - * \defgroup CholmodSupport_Module CholmodSupport module - * - * This module provides an interface to the Cholmod library which is part of the suitesparse package. - * It provides the two following main factorization classes: - * - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization. - * - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial). - * - * For the sake of completeness, this module also propose the two following classes: - * - class CholmodSimplicialLLT - * - class CholmodSimplicialLDLT - * Note that these classes does not bring any particular advantage compared to the built-in - * SimplicialLLT and SimplicialLDLT factorization classes. - * - * \code - * #include - * \endcode - * - * In order to use this module, the cholmod headers must be accessible from the include paths, and your binary must be linked to the cholmod library and its dependencies. - * The dependencies depend on how cholmod has been compiled. - * For a cmake based project, you can use our FindCholmod.cmake module to help you in this task. - * - */ - -#include "src/CholmodSupport/CholmodSupport.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_CHOLMODSUPPORT_MODULE_H - diff --git a/testbed/nanogui/ext/eigen/Eigen/Core b/testbed/nanogui/ext/eigen/Eigen/Core deleted file mode 100644 index d1883561..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Core +++ /dev/null @@ -1,540 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2007-2011 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CORE_H -#define EIGEN_CORE_H - -// first thing Eigen does: stop the compiler from committing suicide -#include "src/Core/util/DisableStupidWarnings.h" - -// Handle NVCC/CUDA/SYCL -#if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__) - // Do not try asserts on CUDA and SYCL! - #ifndef EIGEN_NO_DEBUG - #define EIGEN_NO_DEBUG - #endif - - #ifdef EIGEN_INTERNAL_DEBUGGING - #undef EIGEN_INTERNAL_DEBUGGING - #endif - - #ifdef EIGEN_EXCEPTIONS - #undef EIGEN_EXCEPTIONS - #endif - - // All functions callable from CUDA code must be qualified with __device__ - #ifdef __CUDACC__ - // Do not try to vectorize on CUDA and SYCL! - #ifndef EIGEN_DONT_VECTORIZE - #define EIGEN_DONT_VECTORIZE - #endif - - #define EIGEN_DEVICE_FUNC __host__ __device__ - // We need math_functions.hpp to ensure that that EIGEN_USING_STD_MATH macro - // works properly on the device side - #include - #else - #define EIGEN_DEVICE_FUNC - #endif -#else - #define EIGEN_DEVICE_FUNC -#endif - -// When compiling CUDA device code with NVCC, pull in math functions from the -// global namespace. In host mode, and when device doee with clang, use the -// std versions. -#if defined(__CUDA_ARCH__) && defined(__NVCC__) - #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC; -#else - #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC; -#endif - -#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL) - #define EIGEN_EXCEPTIONS -#endif - -#ifdef EIGEN_EXCEPTIONS - #include -#endif - -// then include this file where all our macros are defined. It's really important to do it first because -// it's where we do all the alignment settings (platform detection and honoring the user's will if he -// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization. -#include "src/Core/util/Macros.h" - -// Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3) -// See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details. -#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6) - #pragma GCC optimize ("-fno-ipa-cp-clone") -#endif - -#include - -// this include file manages BLAS and MKL related macros -// and inclusion of their respective header files -#include "src/Core/util/MKL_support.h" - -// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into -// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks -#if EIGEN_MAX_ALIGN_BYTES==0 - #ifndef EIGEN_DONT_VECTORIZE - #define EIGEN_DONT_VECTORIZE - #endif -#endif - -#if EIGEN_COMP_MSVC - #include // for _aligned_malloc -- need it regardless of whether vectorization is enabled - #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later - // Remember that usage of defined() in a #define is undefined by the standard. - // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP. - #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64 - #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER - #endif - #endif -#else - // Remember that usage of defined() in a #define is undefined by the standard - #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) ) - #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC - #endif -#endif - -#ifndef EIGEN_DONT_VECTORIZE - - #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER) - - // Defines symbols for compile-time detection of which instructions are - // used. - // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used - #define EIGEN_VECTORIZE - #define EIGEN_VECTORIZE_SSE - #define EIGEN_VECTORIZE_SSE2 - - // Detect sse3/ssse3/sse4: - // gcc and icc defines __SSE3__, ... - // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you - // want to force the use of those instructions with msvc. - #ifdef __SSE3__ - #define EIGEN_VECTORIZE_SSE3 - #endif - #ifdef __SSSE3__ - #define EIGEN_VECTORIZE_SSSE3 - #endif - #ifdef __SSE4_1__ - #define EIGEN_VECTORIZE_SSE4_1 - #endif - #ifdef __SSE4_2__ - #define EIGEN_VECTORIZE_SSE4_2 - #endif - #ifdef __AVX__ - #define EIGEN_VECTORIZE_AVX - #define EIGEN_VECTORIZE_SSE3 - #define EIGEN_VECTORIZE_SSSE3 - #define EIGEN_VECTORIZE_SSE4_1 - #define EIGEN_VECTORIZE_SSE4_2 - #endif - #ifdef __AVX2__ - #define EIGEN_VECTORIZE_AVX2 - #define EIGEN_VECTORIZE_AVX - #define EIGEN_VECTORIZE_SSE3 - #define EIGEN_VECTORIZE_SSSE3 - #define EIGEN_VECTORIZE_SSE4_1 - #define EIGEN_VECTORIZE_SSE4_2 - #endif - #ifdef __FMA__ - #define EIGEN_VECTORIZE_FMA - #endif - #if defined(__AVX512F__) - #define EIGEN_VECTORIZE_AVX512 - #define EIGEN_VECTORIZE_AVX2 - #define EIGEN_VECTORIZE_AVX - #define EIGEN_VECTORIZE_FMA - #define EIGEN_VECTORIZE_SSE3 - #define EIGEN_VECTORIZE_SSSE3 - #define EIGEN_VECTORIZE_SSE4_1 - #define EIGEN_VECTORIZE_SSE4_2 - #ifdef __AVX512DQ__ - #define EIGEN_VECTORIZE_AVX512DQ - #endif - #endif - - // include files - - // This extern "C" works around a MINGW-w64 compilation issue - // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354 - // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do). - // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations - // with conflicting linkage. The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know; - // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too. - // notice that since these are C headers, the extern "C" is theoretically needed anyways. - extern "C" { - // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly. - // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus: - #if EIGEN_COMP_ICC >= 1110 - #include - #else - #include - #include - #include - #ifdef EIGEN_VECTORIZE_SSE3 - #include - #endif - #ifdef EIGEN_VECTORIZE_SSSE3 - #include - #endif - #ifdef EIGEN_VECTORIZE_SSE4_1 - #include - #endif - #ifdef EIGEN_VECTORIZE_SSE4_2 - #include - #endif - #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512) - #include - #endif - #endif - } // end extern "C" - #elif defined __VSX__ - #define EIGEN_VECTORIZE - #define EIGEN_VECTORIZE_VSX - #include - // We need to #undef all these ugly tokens defined in - // => use __vector instead of vector - #undef bool - #undef vector - #undef pixel - #elif defined __ALTIVEC__ - #define EIGEN_VECTORIZE - #define EIGEN_VECTORIZE_ALTIVEC - #include - // We need to #undef all these ugly tokens defined in - // => use __vector instead of vector - #undef bool - #undef vector - #undef pixel - #elif (defined __ARM_NEON) || (defined __ARM_NEON__) - #define EIGEN_VECTORIZE - #define EIGEN_VECTORIZE_NEON - #include - #elif (defined __s390x__ && defined __VEC__) - #define EIGEN_VECTORIZE - #define EIGEN_VECTORIZE_ZVECTOR - #include - #endif -#endif - -#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG) - // We can use the optimized fp16 to float and float to fp16 conversion routines - #define EIGEN_HAS_FP16_C -#endif - -#if defined __CUDACC__ - #define EIGEN_VECTORIZE_CUDA - #include - #if defined __CUDACC_VER__ && __CUDACC_VER__ >= 70500 - #define EIGEN_HAS_CUDA_FP16 - #endif -#endif - -#if defined EIGEN_HAS_CUDA_FP16 - #include - #include -#endif - -#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE) - #define EIGEN_HAS_OPENMP -#endif - -#ifdef EIGEN_HAS_OPENMP -#include -#endif - -// MSVC for windows mobile does not have the errno.h file -#if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM -#define EIGEN_HAS_ERRNO -#endif - -#ifdef EIGEN_HAS_ERRNO -#include -#endif -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include // for CHAR_BIT -// for min/max: -#include - -// for std::is_nothrow_move_assignable -#ifdef EIGEN_INCLUDE_TYPE_TRAITS -#include -#endif - -// for outputting debug info -#ifdef EIGEN_DEBUG_ASSIGN -#include -#endif - -// required for __cpuid, needs to be included after cmath -#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE - #include -#endif - -#if defined(__SYCL_DEVICE_ONLY__) - #undef min - #undef max - #undef isnan - #undef isinf - #undef isfinite - #include -#endif - -/** \brief Namespace containing all symbols from the %Eigen library. */ -namespace Eigen { - -inline static const char *SimdInstructionSetsInUse(void) { -#if defined(EIGEN_VECTORIZE_AVX512) - return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2"; -#elif defined(EIGEN_VECTORIZE_AVX) - return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2"; -#elif defined(EIGEN_VECTORIZE_SSE4_2) - return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2"; -#elif defined(EIGEN_VECTORIZE_SSE4_1) - return "SSE, SSE2, SSE3, SSSE3, SSE4.1"; -#elif defined(EIGEN_VECTORIZE_SSSE3) - return "SSE, SSE2, SSE3, SSSE3"; -#elif defined(EIGEN_VECTORIZE_SSE3) - return "SSE, SSE2, SSE3"; -#elif defined(EIGEN_VECTORIZE_SSE2) - return "SSE, SSE2"; -#elif defined(EIGEN_VECTORIZE_ALTIVEC) - return "AltiVec"; -#elif defined(EIGEN_VECTORIZE_VSX) - return "VSX"; -#elif defined(EIGEN_VECTORIZE_NEON) - return "ARM NEON"; -#elif defined(EIGEN_VECTORIZE_ZVECTOR) - return "S390X ZVECTOR"; -#else - return "None"; -#endif -} - -} // end namespace Eigen - -#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT -// This will generate an error message: -#error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information -#endif - -namespace Eigen { - -// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to -// ensure QNX/QCC support -using std::size_t; -// gcc 4.6.0 wants std:: for ptrdiff_t -using std::ptrdiff_t; - -} - -/** \defgroup Core_Module Core module - * This is the main module of Eigen providing dense matrix and vector support - * (both fixed and dynamic size) with all the features corresponding to a BLAS library - * and much more... - * - * \code - * #include - * \endcode - */ - -#include "src/Core/util/Constants.h" -#include "src/Core/util/Meta.h" -#include "src/Core/util/ForwardDeclarations.h" -#include "src/Core/util/StaticAssert.h" -#include "src/Core/util/XprHelper.h" -#include "src/Core/util/Memory.h" -#include "src/Core/util/IntegralConstant.h" -#include "src/Core/util/SymbolicIndex.h" - - -#include "src/Core/NumTraits.h" -#include "src/Core/MathFunctions.h" -#include "src/Core/GenericPacketMath.h" -#include "src/Core/MathFunctionsImpl.h" - -#if defined EIGEN_VECTORIZE_AVX512 - #include "src/Core/arch/SSE/PacketMath.h" - #include "src/Core/arch/AVX/PacketMath.h" - #include "src/Core/arch/AVX512/PacketMath.h" - #include "src/Core/arch/SSE/MathFunctions.h" - #include "src/Core/arch/AVX/MathFunctions.h" - #include "src/Core/arch/AVX512/MathFunctions.h" -#elif defined EIGEN_VECTORIZE_AVX - // Use AVX for floats and doubles, SSE for integers - #include "src/Core/arch/SSE/PacketMath.h" - #include "src/Core/arch/SSE/Complex.h" - #include "src/Core/arch/SSE/MathFunctions.h" - #include "src/Core/arch/AVX/PacketMath.h" - #include "src/Core/arch/AVX/MathFunctions.h" - #include "src/Core/arch/AVX/Complex.h" - #include "src/Core/arch/AVX/TypeCasting.h" -#elif defined EIGEN_VECTORIZE_SSE - #include "src/Core/arch/SSE/PacketMath.h" - #include "src/Core/arch/SSE/MathFunctions.h" - #include "src/Core/arch/SSE/Complex.h" - #include "src/Core/arch/SSE/TypeCasting.h" -#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX) - #include "src/Core/arch/AltiVec/PacketMath.h" - #include "src/Core/arch/AltiVec/MathFunctions.h" - #include "src/Core/arch/AltiVec/Complex.h" -#elif defined EIGEN_VECTORIZE_NEON - #include "src/Core/arch/NEON/PacketMath.h" - #include "src/Core/arch/NEON/MathFunctions.h" - #include "src/Core/arch/NEON/Complex.h" -#elif defined EIGEN_VECTORIZE_ZVECTOR - #include "src/Core/arch/ZVector/PacketMath.h" - #include "src/Core/arch/ZVector/MathFunctions.h" - #include "src/Core/arch/ZVector/Complex.h" -#endif - -// Half float support -#include "src/Core/arch/CUDA/Half.h" -#include "src/Core/arch/CUDA/PacketMathHalf.h" -#include "src/Core/arch/CUDA/TypeCasting.h" - -#if defined EIGEN_VECTORIZE_CUDA - #include "src/Core/arch/CUDA/PacketMath.h" - #include "src/Core/arch/CUDA/MathFunctions.h" -#endif - -#include "src/Core/arch/Default/Settings.h" - -#include "src/Core/functors/TernaryFunctors.h" -#include "src/Core/functors/BinaryFunctors.h" -#include "src/Core/functors/UnaryFunctors.h" -#include "src/Core/functors/NullaryFunctors.h" -#include "src/Core/functors/StlFunctors.h" -#include "src/Core/functors/AssignmentFunctors.h" - -// Specialized functors to enable the processing of complex numbers -// on CUDA devices -#include "src/Core/arch/CUDA/Complex.h" - -#include "src/Core/util/IndexedViewHelper.h" -#include "src/Core/ArithmeticSequence.h" -#include "src/Core/IO.h" -#include "src/Core/DenseCoeffsBase.h" -#include "src/Core/DenseBase.h" -#include "src/Core/MatrixBase.h" -#include "src/Core/EigenBase.h" - -#include "src/Core/Product.h" -#include "src/Core/CoreEvaluators.h" -#include "src/Core/AssignEvaluator.h" - -#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874 - // at least confirmed with Doxygen 1.5.5 and 1.5.6 - #include "src/Core/Assign.h" -#endif - -#include "src/Core/ArrayBase.h" -#include "src/Core/util/BlasUtil.h" -#include "src/Core/DenseStorage.h" -#include "src/Core/NestByValue.h" - -// #include "src/Core/ForceAlignedAccess.h" - -#include "src/Core/ReturnByValue.h" -#include "src/Core/NoAlias.h" -#include "src/Core/PlainObjectBase.h" -#include "src/Core/Matrix.h" -#include "src/Core/Array.h" -#include "src/Core/CwiseTernaryOp.h" -#include "src/Core/CwiseBinaryOp.h" -#include "src/Core/CwiseUnaryOp.h" -#include "src/Core/CwiseNullaryOp.h" -#include "src/Core/CwiseUnaryView.h" -#include "src/Core/SelfCwiseBinaryOp.h" -#include "src/Core/Dot.h" -#include "src/Core/StableNorm.h" -#include "src/Core/Stride.h" -#include "src/Core/MapBase.h" -#include "src/Core/Map.h" -#include "src/Core/Ref.h" -#include "src/Core/Block.h" -#include "src/Core/VectorBlock.h" -#include "src/Core/IndexedView.h" -#include "src/Core/Transpose.h" -#include "src/Core/DiagonalMatrix.h" -#include "src/Core/Diagonal.h" -#include "src/Core/DiagonalProduct.h" -#include "src/Core/Redux.h" -#include "src/Core/Visitor.h" -#include "src/Core/Fuzzy.h" -#include "src/Core/Swap.h" -#include "src/Core/CommaInitializer.h" -#include "src/Core/GeneralProduct.h" -#include "src/Core/Solve.h" -#include "src/Core/Inverse.h" -#include "src/Core/SolverBase.h" -#include "src/Core/PermutationMatrix.h" -#include "src/Core/Transpositions.h" -#include "src/Core/TriangularMatrix.h" -#include "src/Core/SelfAdjointView.h" -#include "src/Core/products/GeneralBlockPanelKernel.h" -#include "src/Core/products/Parallelizer.h" -#include "src/Core/ProductEvaluators.h" -#include "src/Core/products/GeneralMatrixVector.h" -#include "src/Core/products/GeneralMatrixMatrix.h" -#include "src/Core/SolveTriangular.h" -#include "src/Core/products/GeneralMatrixMatrixTriangular.h" -#include "src/Core/products/SelfadjointMatrixVector.h" -#include "src/Core/products/SelfadjointMatrixMatrix.h" -#include "src/Core/products/SelfadjointProduct.h" -#include "src/Core/products/SelfadjointRank2Update.h" -#include "src/Core/products/TriangularMatrixVector.h" -#include "src/Core/products/TriangularMatrixMatrix.h" -#include "src/Core/products/TriangularSolverMatrix.h" -#include "src/Core/products/TriangularSolverVector.h" -#include "src/Core/BandMatrix.h" -#include "src/Core/CoreIterators.h" -#include "src/Core/ConditionEstimator.h" - -#include "src/Core/BooleanRedux.h" -#include "src/Core/Select.h" -#include "src/Core/VectorwiseOp.h" -#include "src/Core/Random.h" -#include "src/Core/Replicate.h" -#include "src/Core/Reverse.h" -#include "src/Core/ArrayWrapper.h" - -#ifdef EIGEN_USE_BLAS -#include "src/Core/products/GeneralMatrixMatrix_BLAS.h" -#include "src/Core/products/GeneralMatrixVector_BLAS.h" -#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h" -#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h" -#include "src/Core/products/SelfadjointMatrixVector_BLAS.h" -#include "src/Core/products/TriangularMatrixMatrix_BLAS.h" -#include "src/Core/products/TriangularMatrixVector_BLAS.h" -#include "src/Core/products/TriangularSolverMatrix_BLAS.h" -#endif // EIGEN_USE_BLAS - -#ifdef EIGEN_USE_MKL_VML -#include "src/Core/Assign_MKL.h" -#endif - -#include "src/Core/GlobalFunctions.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_CORE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/Dense b/testbed/nanogui/ext/eigen/Eigen/Dense deleted file mode 100644 index 5768910b..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Dense +++ /dev/null @@ -1,7 +0,0 @@ -#include "Core" -#include "LU" -#include "Cholesky" -#include "QR" -#include "SVD" -#include "Geometry" -#include "Eigenvalues" diff --git a/testbed/nanogui/ext/eigen/Eigen/Eigen b/testbed/nanogui/ext/eigen/Eigen/Eigen deleted file mode 100644 index 654c8dc6..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Eigen +++ /dev/null @@ -1,2 +0,0 @@ -#include "Dense" -#include "Sparse" diff --git a/testbed/nanogui/ext/eigen/Eigen/Eigenvalues b/testbed/nanogui/ext/eigen/Eigen/Eigenvalues deleted file mode 100644 index 009e529e..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Eigenvalues +++ /dev/null @@ -1,57 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_EIGENVALUES_MODULE_H -#define EIGEN_EIGENVALUES_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -#include "Cholesky" -#include "Jacobi" -#include "Householder" -#include "LU" -#include "Geometry" - -/** \defgroup Eigenvalues_Module Eigenvalues module - * - * - * - * This module mainly provides various eigenvalue solvers. - * This module also provides some MatrixBase methods, including: - * - MatrixBase::eigenvalues(), - * - MatrixBase::operatorNorm() - * - * \code - * #include - * \endcode - */ - -#include "src/misc/RealSvd2x2.h" -#include "src/Eigenvalues/Tridiagonalization.h" -#include "src/Eigenvalues/RealSchur.h" -#include "src/Eigenvalues/EigenSolver.h" -#include "src/Eigenvalues/SelfAdjointEigenSolver.h" -#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h" -#include "src/Eigenvalues/HessenbergDecomposition.h" -#include "src/Eigenvalues/ComplexSchur.h" -#include "src/Eigenvalues/ComplexEigenSolver.h" -#include "src/Eigenvalues/RealQZ.h" -#include "src/Eigenvalues/GeneralizedEigenSolver.h" -#include "src/Eigenvalues/MatrixBaseEigenvalues.h" -#ifdef EIGEN_USE_LAPACKE -#include "src/misc/lapacke.h" -#include "src/Eigenvalues/RealSchur_LAPACKE.h" -#include "src/Eigenvalues/ComplexSchur_LAPACKE.h" -#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_EIGENVALUES_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/Geometry b/testbed/nanogui/ext/eigen/Eigen/Geometry deleted file mode 100644 index 131a4edf..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Geometry +++ /dev/null @@ -1,61 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_GEOMETRY_MODULE_H -#define EIGEN_GEOMETRY_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -#include "SVD" -#include "LU" -#include - -/** \defgroup Geometry_Module Geometry module - * - * This module provides support for: - * - fixed-size homogeneous transformations - * - translation, scaling, 2D and 3D rotations - * - \link Quaternion quaternions \endlink - * - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3) - * - orthognal vector generation (\ref MatrixBase::unitOrthogonal) - * - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink - * - \link AlignedBox axis aligned bounding boxes \endlink - * - \link umeyama least-square transformation fitting \endlink - * - * \code - * #include - * \endcode - */ - -#include "src/Geometry/OrthoMethods.h" -#include "src/Geometry/EulerAngles.h" - -#include "src/Geometry/Homogeneous.h" -#include "src/Geometry/RotationBase.h" -#include "src/Geometry/Rotation2D.h" -#include "src/Geometry/Quaternion.h" -#include "src/Geometry/AngleAxis.h" -#include "src/Geometry/Transform.h" -#include "src/Geometry/Translation.h" -#include "src/Geometry/Scaling.h" -#include "src/Geometry/Hyperplane.h" -#include "src/Geometry/ParametrizedLine.h" -#include "src/Geometry/AlignedBox.h" -#include "src/Geometry/Umeyama.h" - -// Use the SSE optimized version whenever possible. At the moment the -// SSE version doesn't compile when AVX is enabled -#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX -#include "src/Geometry/arch/Geometry_SSE.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_GEOMETRY_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/Householder b/testbed/nanogui/ext/eigen/Eigen/Householder deleted file mode 100644 index 89cd81b1..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Householder +++ /dev/null @@ -1,30 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_HOUSEHOLDER_MODULE_H -#define EIGEN_HOUSEHOLDER_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** \defgroup Householder_Module Householder module - * This module provides Householder transformations. - * - * \code - * #include - * \endcode - */ - -#include "src/Householder/Householder.h" -#include "src/Householder/HouseholderSequence.h" -#include "src/Householder/BlockHouseholder.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_HOUSEHOLDER_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/IterativeLinearSolvers b/testbed/nanogui/ext/eigen/Eigen/IterativeLinearSolvers deleted file mode 100644 index 957d5750..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/IterativeLinearSolvers +++ /dev/null @@ -1,48 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ITERATIVELINEARSOLVERS_MODULE_H -#define EIGEN_ITERATIVELINEARSOLVERS_MODULE_H - -#include "SparseCore" -#include "OrderingMethods" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** - * \defgroup IterativeLinearSolvers_Module IterativeLinearSolvers module - * - * This module currently provides iterative methods to solve problems of the form \c A \c x = \c b, where \c A is a squared matrix, usually very large and sparse. - * Those solvers are accessible via the following classes: - * - ConjugateGradient for selfadjoint (hermitian) matrices, - * - LeastSquaresConjugateGradient for rectangular least-square problems, - * - BiCGSTAB for general square matrices. - * - * These iterative solvers are associated with some preconditioners: - * - IdentityPreconditioner - not really useful - * - DiagonalPreconditioner - also called Jacobi preconditioner, work very well on diagonal dominant matrices. - * - IncompleteLUT - incomplete LU factorization with dual thresholding - * - * Such problems can also be solved using the direct sparse decomposition modules: SparseCholesky, CholmodSupport, UmfPackSupport, SuperLUSupport. - * - \code - #include - \endcode - */ - -#include "src/IterativeLinearSolvers/SolveWithGuess.h" -#include "src/IterativeLinearSolvers/IterativeSolverBase.h" -#include "src/IterativeLinearSolvers/BasicPreconditioners.h" -#include "src/IterativeLinearSolvers/ConjugateGradient.h" -#include "src/IterativeLinearSolvers/LeastSquareConjugateGradient.h" -#include "src/IterativeLinearSolvers/BiCGSTAB.h" -#include "src/IterativeLinearSolvers/IncompleteLUT.h" -#include "src/IterativeLinearSolvers/IncompleteCholesky.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_ITERATIVELINEARSOLVERS_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/Jacobi b/testbed/nanogui/ext/eigen/Eigen/Jacobi deleted file mode 100644 index 17c1d785..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Jacobi +++ /dev/null @@ -1,33 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_JACOBI_MODULE_H -#define EIGEN_JACOBI_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** \defgroup Jacobi_Module Jacobi module - * This module provides Jacobi and Givens rotations. - * - * \code - * #include - * \endcode - * - * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation: - * - MatrixBase::applyOnTheLeft() - * - MatrixBase::applyOnTheRight(). - */ - -#include "src/Jacobi/Jacobi.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_JACOBI_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ - diff --git a/testbed/nanogui/ext/eigen/Eigen/LU b/testbed/nanogui/ext/eigen/Eigen/LU deleted file mode 100644 index 6f6c5562..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/LU +++ /dev/null @@ -1,46 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_LU_MODULE_H -#define EIGEN_LU_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** \defgroup LU_Module LU module - * This module includes %LU decomposition and related notions such as matrix inversion and determinant. - * This module defines the following MatrixBase methods: - * - MatrixBase::inverse() - * - MatrixBase::determinant() - * - * \code - * #include - * \endcode - */ - -#include "src/misc/Kernel.h" -#include "src/misc/Image.h" -#include "src/LU/FullPivLU.h" -#include "src/LU/PartialPivLU.h" -#ifdef EIGEN_USE_LAPACKE -#include "src/misc/lapacke.h" -#include "src/LU/PartialPivLU_LAPACKE.h" -#endif -#include "src/LU/Determinant.h" -#include "src/LU/InverseImpl.h" - -// Use the SSE optimized version whenever possible. At the moment the -// SSE version doesn't compile when AVX is enabled -#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX - #include "src/LU/arch/Inverse_SSE.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_LU_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/MetisSupport b/testbed/nanogui/ext/eigen/Eigen/MetisSupport deleted file mode 100644 index 85c41bf3..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/MetisSupport +++ /dev/null @@ -1,35 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_METISSUPPORT_MODULE_H -#define EIGEN_METISSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -extern "C" { -#include -} - - -/** \ingroup Support_modules - * \defgroup MetisSupport_Module MetisSupport module - * - * \code - * #include - * \endcode - * This module defines an interface to the METIS reordering package (http://glaros.dtc.umn.edu/gkhome/views/metis). - * It can be used just as any other built-in method as explained in \link OrderingMethods_Module here. \endlink - */ - - -#include "src/MetisSupport/MetisSupport.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_METISSUPPORT_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/OrderingMethods b/testbed/nanogui/ext/eigen/Eigen/OrderingMethods deleted file mode 100644 index d8ea3619..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/OrderingMethods +++ /dev/null @@ -1,73 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ORDERINGMETHODS_MODULE_H -#define EIGEN_ORDERINGMETHODS_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** - * \defgroup OrderingMethods_Module OrderingMethods module - * - * This module is currently for internal use only - * - * It defines various built-in and external ordering methods for sparse matrices. - * They are typically used to reduce the number of elements during - * the sparse matrix decomposition (LLT, LU, QR). - * Precisely, in a preprocessing step, a permutation matrix P is computed using - * those ordering methods and applied to the columns of the matrix. - * Using for instance the sparse Cholesky decomposition, it is expected that - * the nonzeros elements in LLT(A*P) will be much smaller than that in LLT(A). - * - * - * Usage : - * \code - * #include - * \endcode - * - * A simple usage is as a template parameter in the sparse decomposition classes : - * - * \code - * SparseLU > solver; - * \endcode - * - * \code - * SparseQR > solver; - * \endcode - * - * It is possible as well to call directly a particular ordering method for your own purpose, - * \code - * AMDOrdering ordering; - * PermutationMatrix perm; - * SparseMatrix A; - * //Fill the matrix ... - * - * ordering(A, perm); // Call AMD - * \endcode - * - * \note Some of these methods (like AMD or METIS), need the sparsity pattern - * of the input matrix to be symmetric. When the matrix is structurally unsymmetric, - * Eigen computes internally the pattern of \f$A^T*A\f$ before calling the method. - * If your matrix is already symmetric (at leat in structure), you can avoid that - * by calling the method with a SelfAdjointView type. - * - * \code - * // Call the ordering on the pattern of the lower triangular matrix A - * ordering(A.selfadjointView(), perm); - * \endcode - */ - -#ifndef EIGEN_MPL2_ONLY -#include "src/OrderingMethods/Amd.h" -#endif - -#include "src/OrderingMethods/Ordering.h" -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_ORDERINGMETHODS_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/PaStiXSupport b/testbed/nanogui/ext/eigen/Eigen/PaStiXSupport deleted file mode 100644 index de3a63b4..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/PaStiXSupport +++ /dev/null @@ -1,48 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_PASTIXSUPPORT_MODULE_H -#define EIGEN_PASTIXSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -extern "C" { -#include -#include -} - -#ifdef complex -#undef complex -#endif - -/** \ingroup Support_modules - * \defgroup PaStiXSupport_Module PaStiXSupport module - * - * This module provides an interface to the PaSTiX library. - * PaSTiX is a general \b supernodal, \b parallel and \b opensource sparse solver. - * It provides the two following main factorization classes: - * - class PastixLLT : a supernodal, parallel LLt Cholesky factorization. - * - class PastixLDLT: a supernodal, parallel LDLt Cholesky factorization. - * - class PastixLU : a supernodal, parallel LU factorization (optimized for a symmetric pattern). - * - * \code - * #include - * \endcode - * - * In order to use this module, the PaSTiX headers must be accessible from the include paths, and your binary must be linked to the PaSTiX library and its dependencies. - * The dependencies depend on how PaSTiX has been compiled. - * For a cmake based project, you can use our FindPaSTiX.cmake module to help you in this task. - * - */ - -#include "src/PaStiXSupport/PaStiXSupport.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_PASTIXSUPPORT_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/PardisoSupport b/testbed/nanogui/ext/eigen/Eigen/PardisoSupport deleted file mode 100644 index 340edf51..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/PardisoSupport +++ /dev/null @@ -1,35 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_PARDISOSUPPORT_MODULE_H -#define EIGEN_PARDISOSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -#include - -/** \ingroup Support_modules - * \defgroup PardisoSupport_Module PardisoSupport module - * - * This module brings support for the Intel(R) MKL PARDISO direct sparse solvers. - * - * \code - * #include - * \endcode - * - * In order to use this module, the MKL headers must be accessible from the include paths, and your binary must be linked to the MKL library and its dependencies. - * See this \ref TopicUsingIntelMKL "page" for more information on MKL-Eigen integration. - * - */ - -#include "src/PardisoSupport/PardisoSupport.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_PARDISOSUPPORT_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/QR b/testbed/nanogui/ext/eigen/Eigen/QR deleted file mode 100644 index 80838e3b..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/QR +++ /dev/null @@ -1,47 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_QR_MODULE_H -#define EIGEN_QR_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -#include "Cholesky" -#include "Jacobi" -#include "Householder" - -/** \defgroup QR_Module QR module - * - * - * - * This module provides various QR decompositions - * This module also provides some MatrixBase methods, including: - * - MatrixBase::householderQr() - * - MatrixBase::colPivHouseholderQr() - * - MatrixBase::fullPivHouseholderQr() - * - * \code - * #include - * \endcode - */ - -#include "src/QR/HouseholderQR.h" -#include "src/QR/FullPivHouseholderQR.h" -#include "src/QR/ColPivHouseholderQR.h" -#include "src/QR/CompleteOrthogonalDecomposition.h" -#ifdef EIGEN_USE_LAPACKE -#include "src/misc/lapacke.h" -#include "src/QR/HouseholderQR_LAPACKE.h" -#include "src/QR/ColPivHouseholderQR_LAPACKE.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_QR_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/QtAlignedMalloc b/testbed/nanogui/ext/eigen/Eigen/QtAlignedMalloc deleted file mode 100644 index c6571f12..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/QtAlignedMalloc +++ /dev/null @@ -1,40 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_QTMALLOC_MODULE_H -#define EIGEN_QTMALLOC_MODULE_H - -#include "Core" - -#if (!EIGEN_MALLOC_ALREADY_ALIGNED) - -#include "src/Core/util/DisableStupidWarnings.h" - -void *qMalloc(std::size_t size) -{ - return Eigen::internal::aligned_malloc(size); -} - -void qFree(void *ptr) -{ - Eigen::internal::aligned_free(ptr); -} - -void *qRealloc(void *ptr, std::size_t size) -{ - void* newPtr = Eigen::internal::aligned_malloc(size); - memcpy(newPtr, ptr, size); - Eigen::internal::aligned_free(ptr); - return newPtr; -} - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif - -#endif // EIGEN_QTMALLOC_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/SPQRSupport b/testbed/nanogui/ext/eigen/Eigen/SPQRSupport deleted file mode 100644 index f70390c1..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SPQRSupport +++ /dev/null @@ -1,34 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SPQRSUPPORT_MODULE_H -#define EIGEN_SPQRSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -#include "SuiteSparseQR.hpp" - -/** \ingroup Support_modules - * \defgroup SPQRSupport_Module SuiteSparseQR module - * - * This module provides an interface to the SPQR library, which is part of the suitesparse package. - * - * \code - * #include - * \endcode - * - * In order to use this module, the SPQR headers must be accessible from the include paths, and your binary must be linked to the SPQR library and its dependencies (Cholmod, AMD, COLAMD,...). - * For a cmake based project, you can use our FindSPQR.cmake and FindCholmod.Cmake modules - * - */ - -#include "src/CholmodSupport/CholmodSupport.h" -#include "src/SPQRSupport/SuiteSparseQRSupport.h" - -#endif diff --git a/testbed/nanogui/ext/eigen/Eigen/SVD b/testbed/nanogui/ext/eigen/Eigen/SVD deleted file mode 100644 index 86143c23..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SVD +++ /dev/null @@ -1,47 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SVD_MODULE_H -#define EIGEN_SVD_MODULE_H - -#include "QR" -#include "Householder" -#include "Jacobi" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** \defgroup SVD_Module SVD module - * - * - * - * This module provides SVD decomposition for matrices (both real and complex). - * Two decomposition algorithms are provided: - * - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones. - * - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems. - * These decompositions are accessible via the respective classes and following MatrixBase methods: - * - MatrixBase::jacobiSvd() - * - MatrixBase::bdcSvd() - * - * \code - * #include - * \endcode - */ - -#include "src/misc/RealSvd2x2.h" -#include "src/SVD/UpperBidiagonalization.h" -#include "src/SVD/SVDBase.h" -#include "src/SVD/JacobiSVD.h" -#include "src/SVD/BDCSVD.h" -#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT) -#include "src/misc/lapacke.h" -#include "src/SVD/JacobiSVD_LAPACKE.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_SVD_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/Eigen/Sparse b/testbed/nanogui/ext/eigen/Eigen/Sparse deleted file mode 100644 index 136e681a..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/Sparse +++ /dev/null @@ -1,36 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SPARSE_MODULE_H -#define EIGEN_SPARSE_MODULE_H - -/** \defgroup Sparse_Module Sparse meta-module - * - * Meta-module including all related modules: - * - \ref SparseCore_Module - * - \ref OrderingMethods_Module - * - \ref SparseCholesky_Module - * - \ref SparseLU_Module - * - \ref SparseQR_Module - * - \ref IterativeLinearSolvers_Module - * - \code - #include - \endcode - */ - -#include "SparseCore" -#include "OrderingMethods" -#ifndef EIGEN_MPL2_ONLY -#include "SparseCholesky" -#endif -#include "SparseLU" -#include "SparseQR" -#include "IterativeLinearSolvers" - -#endif // EIGEN_SPARSE_MODULE_H - diff --git a/testbed/nanogui/ext/eigen/Eigen/SparseCholesky b/testbed/nanogui/ext/eigen/Eigen/SparseCholesky deleted file mode 100644 index b6a320c4..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SparseCholesky +++ /dev/null @@ -1,45 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2013 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SPARSECHOLESKY_MODULE_H -#define EIGEN_SPARSECHOLESKY_MODULE_H - -#include "SparseCore" -#include "OrderingMethods" - -#include "src/Core/util/DisableStupidWarnings.h" - -/** - * \defgroup SparseCholesky_Module SparseCholesky module - * - * This module currently provides two variants of the direct sparse Cholesky decomposition for selfadjoint (hermitian) matrices. - * Those decompositions are accessible via the following classes: - * - SimplicialLLt, - * - SimplicialLDLt - * - * Such problems can also be solved using the ConjugateGradient solver from the IterativeLinearSolvers module. - * - * \code - * #include - * \endcode - */ - -#ifdef EIGEN_MPL2_ONLY -#error The SparseCholesky module has nothing to offer in MPL2 only mode -#endif - -#include "src/SparseCholesky/SimplicialCholesky.h" - -#ifndef EIGEN_MPL2_ONLY -#include "src/SparseCholesky/SimplicialCholesky_impl.h" -#endif - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_SPARSECHOLESKY_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/SparseCore b/testbed/nanogui/ext/eigen/Eigen/SparseCore deleted file mode 100644 index 76966c4c..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SparseCore +++ /dev/null @@ -1,69 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SPARSECORE_MODULE_H -#define EIGEN_SPARSECORE_MODULE_H - -#include "Core" - -#include "src/Core/util/DisableStupidWarnings.h" - -#include -#include -#include -#include -#include - -/** - * \defgroup SparseCore_Module SparseCore module - * - * This module provides a sparse matrix representation, and basic associated matrix manipulations - * and operations. - * - * See the \ref TutorialSparse "Sparse tutorial" - * - * \code - * #include - * \endcode - * - * This module depends on: Core. - */ - -#include "src/SparseCore/SparseUtil.h" -#include "src/SparseCore/SparseMatrixBase.h" -#include "src/SparseCore/SparseAssign.h" -#include "src/SparseCore/CompressedStorage.h" -#include "src/SparseCore/AmbiVector.h" -#include "src/SparseCore/SparseCompressedBase.h" -#include "src/SparseCore/SparseMatrix.h" -#include "src/SparseCore/SparseMap.h" -#include "src/SparseCore/MappedSparseMatrix.h" -#include "src/SparseCore/SparseVector.h" -#include "src/SparseCore/SparseRef.h" -#include "src/SparseCore/SparseCwiseUnaryOp.h" -#include "src/SparseCore/SparseCwiseBinaryOp.h" -#include "src/SparseCore/SparseTranspose.h" -#include "src/SparseCore/SparseBlock.h" -#include "src/SparseCore/SparseDot.h" -#include "src/SparseCore/SparseRedux.h" -#include "src/SparseCore/SparseView.h" -#include "src/SparseCore/SparseDiagonalProduct.h" -#include "src/SparseCore/ConservativeSparseSparseProduct.h" -#include "src/SparseCore/SparseSparseProductWithPruning.h" -#include "src/SparseCore/SparseProduct.h" -#include "src/SparseCore/SparseDenseProduct.h" -#include "src/SparseCore/SparseSelfAdjointView.h" -#include "src/SparseCore/SparseTriangularView.h" -#include "src/SparseCore/TriangularSolver.h" -#include "src/SparseCore/SparsePermutation.h" -#include "src/SparseCore/SparseFuzzy.h" -#include "src/SparseCore/SparseSolverBase.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_SPARSECORE_MODULE_H - diff --git a/testbed/nanogui/ext/eigen/Eigen/SparseLU b/testbed/nanogui/ext/eigen/Eigen/SparseLU deleted file mode 100644 index 38b38b53..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SparseLU +++ /dev/null @@ -1,46 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Désiré Nuentsa-Wakam -// Copyright (C) 2012 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SPARSELU_MODULE_H -#define EIGEN_SPARSELU_MODULE_H - -#include "SparseCore" - -/** - * \defgroup SparseLU_Module SparseLU module - * This module defines a supernodal factorization of general sparse matrices. - * The code is fully optimized for supernode-panel updates with specialized kernels. - * Please, see the documentation of the SparseLU class for more details. - */ - -// Ordering interface -#include "OrderingMethods" - -#include "src/SparseLU/SparseLU_gemm_kernel.h" - -#include "src/SparseLU/SparseLU_Structs.h" -#include "src/SparseLU/SparseLU_SupernodalMatrix.h" -#include "src/SparseLU/SparseLUImpl.h" -#include "src/SparseCore/SparseColEtree.h" -#include "src/SparseLU/SparseLU_Memory.h" -#include "src/SparseLU/SparseLU_heap_relax_snode.h" -#include "src/SparseLU/SparseLU_relax_snode.h" -#include "src/SparseLU/SparseLU_pivotL.h" -#include "src/SparseLU/SparseLU_panel_dfs.h" -#include "src/SparseLU/SparseLU_kernel_bmod.h" -#include "src/SparseLU/SparseLU_panel_bmod.h" -#include "src/SparseLU/SparseLU_column_dfs.h" -#include "src/SparseLU/SparseLU_column_bmod.h" -#include "src/SparseLU/SparseLU_copy_to_ucol.h" -#include "src/SparseLU/SparseLU_pruneL.h" -#include "src/SparseLU/SparseLU_Utils.h" -#include "src/SparseLU/SparseLU.h" - -#endif // EIGEN_SPARSELU_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/SparseQR b/testbed/nanogui/ext/eigen/Eigen/SparseQR deleted file mode 100644 index a6f3b7f7..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SparseQR +++ /dev/null @@ -1,37 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SPARSEQR_MODULE_H -#define EIGEN_SPARSEQR_MODULE_H - -#include "SparseCore" -#include "OrderingMethods" -#include "src/Core/util/DisableStupidWarnings.h" - -/** \defgroup SparseQR_Module SparseQR module - * \brief Provides QR decomposition for sparse matrices - * - * This module provides a simplicial version of the left-looking Sparse QR decomposition. - * The columns of the input matrix should be reordered to limit the fill-in during the - * decomposition. Built-in methods (COLAMD, AMD) or external methods (METIS) can be used to this end. - * See the \link OrderingMethods_Module OrderingMethods\endlink module for the list - * of built-in and external ordering methods. - * - * \code - * #include - * \endcode - * - * - */ - -#include "OrderingMethods" -#include "src/SparseCore/SparseColEtree.h" -#include "src/SparseQR/SparseQR.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif diff --git a/testbed/nanogui/ext/eigen/Eigen/StdDeque b/testbed/nanogui/ext/eigen/Eigen/StdDeque deleted file mode 100644 index bc68397b..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/StdDeque +++ /dev/null @@ -1,27 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// Copyright (C) 2009 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_STDDEQUE_MODULE_H -#define EIGEN_STDDEQUE_MODULE_H - -#include "Core" -#include - -#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */ - -#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) - -#else - -#include "src/StlSupport/StdDeque.h" - -#endif - -#endif // EIGEN_STDDEQUE_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/StdList b/testbed/nanogui/ext/eigen/Eigen/StdList deleted file mode 100644 index 4c6262c0..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/StdList +++ /dev/null @@ -1,26 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_STDLIST_MODULE_H -#define EIGEN_STDLIST_MODULE_H - -#include "Core" -#include - -#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */ - -#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) - -#else - -#include "src/StlSupport/StdList.h" - -#endif - -#endif // EIGEN_STDLIST_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/StdVector b/testbed/nanogui/ext/eigen/Eigen/StdVector deleted file mode 100644 index 0c4697ad..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/StdVector +++ /dev/null @@ -1,27 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// Copyright (C) 2009 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_STDVECTOR_MODULE_H -#define EIGEN_STDVECTOR_MODULE_H - -#include "Core" -#include - -#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */ - -#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) - -#else - -#include "src/StlSupport/StdVector.h" - -#endif - -#endif // EIGEN_STDVECTOR_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/SuperLUSupport b/testbed/nanogui/ext/eigen/Eigen/SuperLUSupport deleted file mode 100644 index 59312a82..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/SuperLUSupport +++ /dev/null @@ -1,64 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SUPERLUSUPPORT_MODULE_H -#define EIGEN_SUPERLUSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -#ifdef EMPTY -#define EIGEN_EMPTY_WAS_ALREADY_DEFINED -#endif - -typedef int int_t; -#include -#include -#include - -// slu_util.h defines a preprocessor token named EMPTY which is really polluting, -// so we remove it in favor of a SUPERLU_EMPTY token. -// If EMPTY was already defined then we don't undef it. - -#if defined(EIGEN_EMPTY_WAS_ALREADY_DEFINED) -# undef EIGEN_EMPTY_WAS_ALREADY_DEFINED -#elif defined(EMPTY) -# undef EMPTY -#endif - -#define SUPERLU_EMPTY (-1) - -namespace Eigen { struct SluMatrix; } - -/** \ingroup Support_modules - * \defgroup SuperLUSupport_Module SuperLUSupport module - * - * This module provides an interface to the SuperLU library. - * It provides the following factorization class: - * - class SuperLU: a supernodal sequential LU factorization. - * - class SuperILU: a supernodal sequential incomplete LU factorization (to be used as a preconditioner for iterative methods). - * - * \warning This wrapper requires at least versions 4.0 of SuperLU. The 3.x versions are not supported. - * - * \warning When including this module, you have to use SUPERLU_EMPTY instead of EMPTY which is no longer defined because it is too polluting. - * - * \code - * #include - * \endcode - * - * In order to use this module, the superlu headers must be accessible from the include paths, and your binary must be linked to the superlu library and its dependencies. - * The dependencies depend on how superlu has been compiled. - * For a cmake based project, you can use our FindSuperLU.cmake module to help you in this task. - * - */ - -#include "src/SuperLUSupport/SuperLUSupport.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_SUPERLUSUPPORT_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/UmfPackSupport b/testbed/nanogui/ext/eigen/Eigen/UmfPackSupport deleted file mode 100644 index 00eec808..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/UmfPackSupport +++ /dev/null @@ -1,40 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_UMFPACKSUPPORT_MODULE_H -#define EIGEN_UMFPACKSUPPORT_MODULE_H - -#include "SparseCore" - -#include "src/Core/util/DisableStupidWarnings.h" - -extern "C" { -#include -} - -/** \ingroup Support_modules - * \defgroup UmfPackSupport_Module UmfPackSupport module - * - * This module provides an interface to the UmfPack library which is part of the suitesparse package. - * It provides the following factorization class: - * - class UmfPackLU: a multifrontal sequential LU factorization. - * - * \code - * #include - * \endcode - * - * In order to use this module, the umfpack headers must be accessible from the include paths, and your binary must be linked to the umfpack library and its dependencies. - * The dependencies depend on how umfpack has been compiled. - * For a cmake based project, you can use our FindUmfPack.cmake module to help you in this task. - * - */ - -#include "src/UmfPackSupport/UmfPackSupport.h" - -#include "src/Core/util/ReenableStupidWarnings.h" - -#endif // EIGEN_UMFPACKSUPPORT_MODULE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LDLT.h b/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LDLT.h deleted file mode 100644 index 9b4fdb41..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LDLT.h +++ /dev/null @@ -1,668 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2011 Gael Guennebaud -// Copyright (C) 2009 Keir Mierle -// Copyright (C) 2009 Benoit Jacob -// Copyright (C) 2011 Timothy E. Holy -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_LDLT_H -#define EIGEN_LDLT_H - -namespace Eigen { - -namespace internal { - template struct LDLT_Traits; - - // PositiveSemiDef means positive semi-definite and non-zero; same for NegativeSemiDef - enum SignMatrix { PositiveSemiDef, NegativeSemiDef, ZeroSign, Indefinite }; -} - -/** \ingroup Cholesky_Module - * - * \class LDLT - * - * \brief Robust Cholesky decomposition of a matrix with pivoting - * - * \tparam _MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition - * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper. - * The other triangular part won't be read. - * - * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite - * matrix \f$ A \f$ such that \f$ A = P^TLDL^*P \f$, where P is a permutation matrix, L - * is lower triangular with a unit diagonal and D is a diagonal matrix. - * - * The decomposition uses pivoting to ensure stability, so that L will have - * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root - * on D also stabilizes the computation. - * - * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky - * decomposition to determine whether a system of equations has a solution. - * - * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism. - * - * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT - */ -template class LDLT -{ - public: - typedef _MatrixType MatrixType; - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime, - MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, - MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, - UpLo = _UpLo - }; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 - typedef typename MatrixType::StorageIndex StorageIndex; - typedef Matrix TmpMatrixType; - - typedef Transpositions TranspositionType; - typedef PermutationMatrix PermutationType; - - typedef internal::LDLT_Traits Traits; - - /** \brief Default Constructor. - * - * The default constructor is useful in cases in which the user intends to - * perform decompositions via LDLT::compute(const MatrixType&). - */ - LDLT() - : m_matrix(), - m_transpositions(), - m_sign(internal::ZeroSign), - m_isInitialized(false) - {} - - /** \brief Default Constructor with memory preallocation - * - * Like the default constructor but with preallocation of the internal data - * according to the specified problem \a size. - * \sa LDLT() - */ - explicit LDLT(Index size) - : m_matrix(size, size), - m_transpositions(size), - m_temporary(size), - m_sign(internal::ZeroSign), - m_isInitialized(false) - {} - - /** \brief Constructor with decomposition - * - * This calculates the decomposition for the input \a matrix. - * - * \sa LDLT(Index size) - */ - template - explicit LDLT(const EigenBase& matrix) - : m_matrix(matrix.rows(), matrix.cols()), - m_transpositions(matrix.rows()), - m_temporary(matrix.rows()), - m_sign(internal::ZeroSign), - m_isInitialized(false) - { - compute(matrix.derived()); - } - - /** \brief Constructs a LDLT factorization from a given matrix - * - * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref. - * - * \sa LDLT(const EigenBase&) - */ - template - explicit LDLT(EigenBase& matrix) - : m_matrix(matrix.derived()), - m_transpositions(matrix.rows()), - m_temporary(matrix.rows()), - m_sign(internal::ZeroSign), - m_isInitialized(false) - { - compute(matrix.derived()); - } - - /** Clear any existing decomposition - * \sa rankUpdate(w,sigma) - */ - void setZero() - { - m_isInitialized = false; - } - - /** \returns a view of the upper triangular matrix U */ - inline typename Traits::MatrixU matrixU() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return Traits::getU(m_matrix); - } - - /** \returns a view of the lower triangular matrix L */ - inline typename Traits::MatrixL matrixL() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return Traits::getL(m_matrix); - } - - /** \returns the permutation matrix P as a transposition sequence. - */ - inline const TranspositionType& transpositionsP() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return m_transpositions; - } - - /** \returns the coefficients of the diagonal matrix D */ - inline Diagonal vectorD() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return m_matrix.diagonal(); - } - - /** \returns true if the matrix is positive (semidefinite) */ - inline bool isPositive() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return m_sign == internal::PositiveSemiDef || m_sign == internal::ZeroSign; - } - - /** \returns true if the matrix is negative (semidefinite) */ - inline bool isNegative(void) const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return m_sign == internal::NegativeSemiDef || m_sign == internal::ZeroSign; - } - - /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A. - * - * This function also supports in-place solves using the syntax x = decompositionObject.solve(x) . - * - * \note_about_checking_solutions - * - * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$ - * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, - * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then - * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the - * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function - * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular. - * - * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt() - */ - template - inline const Solve - solve(const MatrixBase& b) const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - eigen_assert(m_matrix.rows()==b.rows() - && "LDLT::solve(): invalid number of rows of the right hand side matrix b"); - return Solve(*this, b.derived()); - } - - template - bool solveInPlace(MatrixBase &bAndX) const; - - template - LDLT& compute(const EigenBase& matrix); - - /** \returns an estimate of the reciprocal condition number of the matrix of - * which \c *this is the LDLT decomposition. - */ - RealScalar rcond() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return internal::rcond_estimate_helper(m_l1_norm, *this); - } - - template - LDLT& rankUpdate(const MatrixBase& w, const RealScalar& alpha=1); - - /** \returns the internal LDLT decomposition matrix - * - * TODO: document the storage layout - */ - inline const MatrixType& matrixLDLT() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return m_matrix; - } - - MatrixType reconstructedMatrix() const; - - /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint. - * - * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as: - * \code x = decomposition.adjoint().solve(b) \endcode - */ - const LDLT& adjoint() const { return *this; }; - - inline Index rows() const { return m_matrix.rows(); } - inline Index cols() const { return m_matrix.cols(); } - - /** \brief Reports whether previous computation was successful. - * - * \returns \c Success if computation was succesful, - * \c NumericalIssue if the matrix.appears to be negative. - */ - ComputationInfo info() const - { - eigen_assert(m_isInitialized && "LDLT is not initialized."); - return m_info; - } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - template - void _solve_impl(const RhsType &rhs, DstType &dst) const; - #endif - - protected: - - static void check_template_parameters() - { - EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); - } - - /** \internal - * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U. - * The strict upper part is used during the decomposition, the strict lower - * part correspond to the coefficients of L (its diagonal is equal to 1 and - * is not stored), and the diagonal entries correspond to D. - */ - MatrixType m_matrix; - RealScalar m_l1_norm; - TranspositionType m_transpositions; - TmpMatrixType m_temporary; - internal::SignMatrix m_sign; - bool m_isInitialized; - ComputationInfo m_info; -}; - -namespace internal { - -template struct ldlt_inplace; - -template<> struct ldlt_inplace -{ - template - static bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign) - { - using std::abs; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef typename TranspositionType::StorageIndex IndexType; - eigen_assert(mat.rows()==mat.cols()); - const Index size = mat.rows(); - bool found_zero_pivot = false; - bool ret = true; - - if (size <= 1) - { - transpositions.setIdentity(); - if (numext::real(mat.coeff(0,0)) > static_cast(0) ) sign = PositiveSemiDef; - else if (numext::real(mat.coeff(0,0)) < static_cast(0)) sign = NegativeSemiDef; - else sign = ZeroSign; - return true; - } - - for (Index k = 0; k < size; ++k) - { - // Find largest diagonal element - Index index_of_biggest_in_corner; - mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner); - index_of_biggest_in_corner += k; - - transpositions.coeffRef(k) = IndexType(index_of_biggest_in_corner); - if(k != index_of_biggest_in_corner) - { - // apply the transposition while taking care to consider only - // the lower triangular part - Index s = size-index_of_biggest_in_corner-1; // trailing size after the biggest element - mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k)); - mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s)); - std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner)); - for(Index i=k+1;i::IsComplex) - mat.coeffRef(index_of_biggest_in_corner,k) = numext::conj(mat.coeff(index_of_biggest_in_corner,k)); - } - - // partition the matrix: - // A00 | - | - - // lu = A10 | A11 | - - // A20 | A21 | A22 - Index rs = size - k - 1; - Block A21(mat,k+1,k,rs,1); - Block A10(mat,k,0,1,k); - Block A20(mat,k+1,0,rs,k); - - if(k>0) - { - temp.head(k) = mat.diagonal().real().head(k).asDiagonal() * A10.adjoint(); - mat.coeffRef(k,k) -= (A10 * temp.head(k)).value(); - if(rs>0) - A21.noalias() -= A20 * temp.head(k); - } - - // In some previous versions of Eigen (e.g., 3.2.1), the scaling was omitted if the pivot - // was smaller than the cutoff value. However, since LDLT is not rank-revealing - // we should only make sure that we do not introduce INF or NaN values. - // Remark that LAPACK also uses 0 as the cutoff value. - RealScalar realAkk = numext::real(mat.coeffRef(k,k)); - bool pivot_is_valid = (abs(realAkk) > RealScalar(0)); - - if(k==0 && !pivot_is_valid) - { - // The entire diagonal is zero, there is nothing more to do - // except filling the transpositions, and checking whether the matrix is zero. - sign = ZeroSign; - for(Index j = 0; j0) && pivot_is_valid) - A21 /= realAkk; - - if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed - else if(!pivot_is_valid) found_zero_pivot = true; - - if (sign == PositiveSemiDef) { - if (realAkk < static_cast(0)) sign = Indefinite; - } else if (sign == NegativeSemiDef) { - if (realAkk > static_cast(0)) sign = Indefinite; - } else if (sign == ZeroSign) { - if (realAkk > static_cast(0)) sign = PositiveSemiDef; - else if (realAkk < static_cast(0)) sign = NegativeSemiDef; - } - } - - return ret; - } - - // Reference for the algorithm: Davis and Hager, "Multiple Rank - // Modifications of a Sparse Cholesky Factorization" (Algorithm 1) - // Trivial rearrangements of their computations (Timothy E. Holy) - // allow their algorithm to work for rank-1 updates even if the - // original matrix is not of full rank. - // Here only rank-1 updates are implemented, to reduce the - // requirement for intermediate storage and improve accuracy - template - static bool updateInPlace(MatrixType& mat, MatrixBase& w, const typename MatrixType::RealScalar& sigma=1) - { - using numext::isfinite; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - - const Index size = mat.rows(); - eigen_assert(mat.cols() == size && w.size()==size); - - RealScalar alpha = 1; - - // Apply the update - for (Index j = 0; j < size; j++) - { - // Check for termination due to an original decomposition of low-rank - if (!(isfinite)(alpha)) - break; - - // Update the diagonal terms - RealScalar dj = numext::real(mat.coeff(j,j)); - Scalar wj = w.coeff(j); - RealScalar swj2 = sigma*numext::abs2(wj); - RealScalar gamma = dj*alpha + swj2; - - mat.coeffRef(j,j) += swj2/alpha; - alpha += swj2/dj; - - - // Update the terms of L - Index rs = size-j-1; - w.tail(rs) -= wj * mat.col(j).tail(rs); - if(gamma != 0) - mat.col(j).tail(rs) += (sigma*numext::conj(wj)/gamma)*w.tail(rs); - } - return true; - } - - template - static bool update(MatrixType& mat, const TranspositionType& transpositions, Workspace& tmp, const WType& w, const typename MatrixType::RealScalar& sigma=1) - { - // Apply the permutation to the input w - tmp = transpositions * w; - - return ldlt_inplace::updateInPlace(mat,tmp,sigma); - } -}; - -template<> struct ldlt_inplace -{ - template - static EIGEN_STRONG_INLINE bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign) - { - Transpose matt(mat); - return ldlt_inplace::unblocked(matt, transpositions, temp, sign); - } - - template - static EIGEN_STRONG_INLINE bool update(MatrixType& mat, TranspositionType& transpositions, Workspace& tmp, WType& w, const typename MatrixType::RealScalar& sigma=1) - { - Transpose matt(mat); - return ldlt_inplace::update(matt, transpositions, tmp, w.conjugate(), sigma); - } -}; - -template struct LDLT_Traits -{ - typedef const TriangularView MatrixL; - typedef const TriangularView MatrixU; - static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); } - static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); } -}; - -template struct LDLT_Traits -{ - typedef const TriangularView MatrixL; - typedef const TriangularView MatrixU; - static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); } - static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); } -}; - -} // end namespace internal - -/** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix - */ -template -template -LDLT& LDLT::compute(const EigenBase& a) -{ - check_template_parameters(); - - eigen_assert(a.rows()==a.cols()); - const Index size = a.rows(); - - m_matrix = a.derived(); - - // Compute matrix L1 norm = max abs column sum. - m_l1_norm = RealScalar(0); - // TODO move this code to SelfAdjointView - for (Index col = 0; col < size; ++col) { - RealScalar abs_col_sum; - if (_UpLo == Lower) - abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>(); - else - abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>(); - if (abs_col_sum > m_l1_norm) - m_l1_norm = abs_col_sum; - } - - m_transpositions.resize(size); - m_isInitialized = false; - m_temporary.resize(size); - m_sign = internal::ZeroSign; - - m_info = internal::ldlt_inplace::unblocked(m_matrix, m_transpositions, m_temporary, m_sign) ? Success : NumericalIssue; - - m_isInitialized = true; - return *this; -} - -/** Update the LDLT decomposition: given A = L D L^T, efficiently compute the decomposition of A + sigma w w^T. - * \param w a vector to be incorporated into the decomposition. - * \param sigma a scalar, +1 for updates and -1 for "downdates," which correspond to removing previously-added column vectors. Optional; default value is +1. - * \sa setZero() - */ -template -template -LDLT& LDLT::rankUpdate(const MatrixBase& w, const typename LDLT::RealScalar& sigma) -{ - typedef typename TranspositionType::StorageIndex IndexType; - const Index size = w.rows(); - if (m_isInitialized) - { - eigen_assert(m_matrix.rows()==size); - } - else - { - m_matrix.resize(size,size); - m_matrix.setZero(); - m_transpositions.resize(size); - for (Index i = 0; i < size; i++) - m_transpositions.coeffRef(i) = IndexType(i); - m_temporary.resize(size); - m_sign = sigma>=0 ? internal::PositiveSemiDef : internal::NegativeSemiDef; - m_isInitialized = true; - } - - internal::ldlt_inplace::update(m_matrix, m_transpositions, m_temporary, w, sigma); - - return *this; -} - -#ifndef EIGEN_PARSED_BY_DOXYGEN -template -template -void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const -{ - eigen_assert(rhs.rows() == rows()); - // dst = P b - dst = m_transpositions * rhs; - - // dst = L^-1 (P b) - matrixL().solveInPlace(dst); - - // dst = D^-1 (L^-1 P b) - // more precisely, use pseudo-inverse of D (see bug 241) - using std::abs; - const typename Diagonal::RealReturnType vecD(vectorD()); - // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon - // as motivated by LAPACK's xGELSS: - // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits::epsilon(),RealScalar(1) / NumTraits::highest()); - // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest - // diagonal element is not well justified and leads to numerical issues in some cases. - // Moreover, Lapack's xSYTRS routines use 0 for the tolerance. - RealScalar tolerance = RealScalar(1) / NumTraits::highest(); - - for (Index i = 0; i < vecD.size(); ++i) - { - if(abs(vecD(i)) > tolerance) - dst.row(i) /= vecD(i); - else - dst.row(i).setZero(); - } - - // dst = L^-T (D^-1 L^-1 P b) - matrixU().solveInPlace(dst); - - // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b - dst = m_transpositions.transpose() * dst; -} -#endif - -/** \internal use x = ldlt_object.solve(x); - * - * This is the \em in-place version of solve(). - * - * \param bAndX represents both the right-hand side matrix b and result x. - * - * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD. - * - * This version avoids a copy when the right hand side matrix b is not - * needed anymore. - * - * \sa LDLT::solve(), MatrixBase::ldlt() - */ -template -template -bool LDLT::solveInPlace(MatrixBase &bAndX) const -{ - eigen_assert(m_isInitialized && "LDLT is not initialized."); - eigen_assert(m_matrix.rows() == bAndX.rows()); - - bAndX = this->solve(bAndX); - - return true; -} - -/** \returns the matrix represented by the decomposition, - * i.e., it returns the product: P^T L D L^* P. - * This function is provided for debug purpose. */ -template -MatrixType LDLT::reconstructedMatrix() const -{ - eigen_assert(m_isInitialized && "LDLT is not initialized."); - const Index size = m_matrix.rows(); - MatrixType res(size,size); - - // P - res.setIdentity(); - res = transpositionsP() * res; - // L^* P - res = matrixU() * res; - // D(L^*P) - res = vectorD().real().asDiagonal() * res; - // L(DL^*P) - res = matrixL() * res; - // P^T (LDL^*P) - res = transpositionsP().transpose() * res; - - return res; -} - -/** \cholesky_module - * \returns the Cholesky decomposition with full pivoting without square root of \c *this - * \sa MatrixBase::ldlt() - */ -template -inline const LDLT::PlainObject, UpLo> -SelfAdjointView::ldlt() const -{ - return LDLT(m_matrix); -} - -/** \cholesky_module - * \returns the Cholesky decomposition with full pivoting without square root of \c *this - * \sa SelfAdjointView::ldlt() - */ -template -inline const LDLT::PlainObject> -MatrixBase::ldlt() const -{ - return LDLT(derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_LDLT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT.h b/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT.h deleted file mode 100644 index e6c02d80..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT.h +++ /dev/null @@ -1,533 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_LLT_H -#define EIGEN_LLT_H - -namespace Eigen { - -namespace internal{ -template struct LLT_Traits; -} - -/** \ingroup Cholesky_Module - * - * \class LLT - * - * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features - * - * \tparam _MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition - * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper. - * The other triangular part won't be read. - * - * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite - * matrix A such that A = LL^* = U^*U, where L is lower triangular. - * - * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like D^*D x = b, - * for that purpose, we recommend the Cholesky decomposition without square root which is more stable - * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other - * situations like generalised eigen problems with hermitian matrices. - * - * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices, - * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations - * has a solution. - * - * Example: \include LLT_example.cpp - * Output: \verbinclude LLT_example.out - * - * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism. - * - * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT - */ - /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH) - * Note that during the decomposition, only the upper triangular part of A is considered. Therefore, - * the strict lower part does not have to store correct values. - */ -template class LLT -{ - public: - typedef _MatrixType MatrixType; - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime, - MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime - }; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 - typedef typename MatrixType::StorageIndex StorageIndex; - - enum { - PacketSize = internal::packet_traits::size, - AlignmentMask = int(PacketSize)-1, - UpLo = _UpLo - }; - - typedef internal::LLT_Traits Traits; - - /** - * \brief Default Constructor. - * - * The default constructor is useful in cases in which the user intends to - * perform decompositions via LLT::compute(const MatrixType&). - */ - LLT() : m_matrix(), m_isInitialized(false) {} - - /** \brief Default Constructor with memory preallocation - * - * Like the default constructor but with preallocation of the internal data - * according to the specified problem \a size. - * \sa LLT() - */ - explicit LLT(Index size) : m_matrix(size, size), - m_isInitialized(false) {} - - template - explicit LLT(const EigenBase& matrix) - : m_matrix(matrix.rows(), matrix.cols()), - m_isInitialized(false) - { - compute(matrix.derived()); - } - - /** \brief Constructs a LDLT factorization from a given matrix - * - * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when - * \c MatrixType is a Eigen::Ref. - * - * \sa LLT(const EigenBase&) - */ - template - explicit LLT(EigenBase& matrix) - : m_matrix(matrix.derived()), - m_isInitialized(false) - { - compute(matrix.derived()); - } - - /** \returns a view of the upper triangular matrix U */ - inline typename Traits::MatrixU matrixU() const - { - eigen_assert(m_isInitialized && "LLT is not initialized."); - return Traits::getU(m_matrix); - } - - /** \returns a view of the lower triangular matrix L */ - inline typename Traits::MatrixL matrixL() const - { - eigen_assert(m_isInitialized && "LLT is not initialized."); - return Traits::getL(m_matrix); - } - - /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A. - * - * Since this LLT class assumes anyway that the matrix A is invertible, the solution - * theoretically exists and is unique regardless of b. - * - * Example: \include LLT_solve.cpp - * Output: \verbinclude LLT_solve.out - * - * \sa solveInPlace(), MatrixBase::llt(), SelfAdjointView::llt() - */ - template - inline const Solve - solve(const MatrixBase& b) const - { - eigen_assert(m_isInitialized && "LLT is not initialized."); - eigen_assert(m_matrix.rows()==b.rows() - && "LLT::solve(): invalid number of rows of the right hand side matrix b"); - return Solve(*this, b.derived()); - } - - template - void solveInPlace(MatrixBase &bAndX) const; - - template - LLT& compute(const EigenBase& matrix); - - /** \returns an estimate of the reciprocal condition number of the matrix of - * which \c *this is the Cholesky decomposition. - */ - RealScalar rcond() const - { - eigen_assert(m_isInitialized && "LLT is not initialized."); - eigen_assert(m_info == Success && "LLT failed because matrix appears to be negative"); - return internal::rcond_estimate_helper(m_l1_norm, *this); - } - - /** \returns the LLT decomposition matrix - * - * TODO: document the storage layout - */ - inline const MatrixType& matrixLLT() const - { - eigen_assert(m_isInitialized && "LLT is not initialized."); - return m_matrix; - } - - MatrixType reconstructedMatrix() const; - - - /** \brief Reports whether previous computation was successful. - * - * \returns \c Success if computation was succesful, - * \c NumericalIssue if the matrix.appears to be negative. - */ - ComputationInfo info() const - { - eigen_assert(m_isInitialized && "LLT is not initialized."); - return m_info; - } - - /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint. - * - * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as: - * \code x = decomposition.adjoint().solve(b) \endcode - */ - const LLT& adjoint() const { return *this; }; - - inline Index rows() const { return m_matrix.rows(); } - inline Index cols() const { return m_matrix.cols(); } - - template - LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1); - - #ifndef EIGEN_PARSED_BY_DOXYGEN - template - void _solve_impl(const RhsType &rhs, DstType &dst) const; - #endif - - protected: - - static void check_template_parameters() - { - EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar); - } - - /** \internal - * Used to compute and store L - * The strict upper part is not used and even not initialized. - */ - MatrixType m_matrix; - RealScalar m_l1_norm; - bool m_isInitialized; - ComputationInfo m_info; -}; - -namespace internal { - -template struct llt_inplace; - -template -static Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) -{ - using std::sqrt; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef typename MatrixType::ColXpr ColXpr; - typedef typename internal::remove_all::type ColXprCleaned; - typedef typename ColXprCleaned::SegmentReturnType ColXprSegment; - typedef Matrix TempVectorType; - typedef typename TempVectorType::SegmentReturnType TempVecSegment; - - Index n = mat.cols(); - eigen_assert(mat.rows()==n && vec.size()==n); - - TempVectorType temp; - - if(sigma>0) - { - // This version is based on Givens rotations. - // It is faster than the other one below, but only works for updates, - // i.e., for sigma > 0 - temp = sqrt(sigma) * vec; - - for(Index i=0; i g; - g.makeGivens(mat(i,i), -temp(i), &mat(i,i)); - - Index rs = n-i-1; - if(rs>0) - { - ColXprSegment x(mat.col(i).tail(rs)); - TempVecSegment y(temp.tail(rs)); - apply_rotation_in_the_plane(x, y, g); - } - } - } - else - { - temp = vec; - RealScalar beta = 1; - for(Index j=0; j struct llt_inplace -{ - typedef typename NumTraits::Real RealScalar; - template - static Index unblocked(MatrixType& mat) - { - using std::sqrt; - - eigen_assert(mat.rows()==mat.cols()); - const Index size = mat.rows(); - for(Index k = 0; k < size; ++k) - { - Index rs = size-k-1; // remaining size - - Block A21(mat,k+1,k,rs,1); - Block A10(mat,k,0,1,k); - Block A20(mat,k+1,0,rs,k); - - RealScalar x = numext::real(mat.coeff(k,k)); - if (k>0) x -= A10.squaredNorm(); - if (x<=RealScalar(0)) - return k; - mat.coeffRef(k,k) = x = sqrt(x); - if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint(); - if (rs>0) A21 /= x; - } - return -1; - } - - template - static Index blocked(MatrixType& m) - { - eigen_assert(m.rows()==m.cols()); - Index size = m.rows(); - if(size<32) - return unblocked(m); - - Index blockSize = size/8; - blockSize = (blockSize/16)*16; - blockSize = (std::min)((std::max)(blockSize,Index(8)), Index(128)); - - for (Index k=0; k A11(m,k, k, bs,bs); - Block A21(m,k+bs,k, rs,bs); - Block A22(m,k+bs,k+bs,rs,rs); - - Index ret; - if((ret=unblocked(A11))>=0) return k+ret; - if(rs>0) A11.adjoint().template triangularView().template solveInPlace(A21); - if(rs>0) A22.template selfadjointView().rankUpdate(A21,typename NumTraits::Literal(-1)); // bottleneck - } - return -1; - } - - template - static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma) - { - return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); - } -}; - -template struct llt_inplace -{ - typedef typename NumTraits::Real RealScalar; - - template - static EIGEN_STRONG_INLINE Index unblocked(MatrixType& mat) - { - Transpose matt(mat); - return llt_inplace::unblocked(matt); - } - template - static EIGEN_STRONG_INLINE Index blocked(MatrixType& mat) - { - Transpose matt(mat); - return llt_inplace::blocked(matt); - } - template - static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma) - { - Transpose matt(mat); - return llt_inplace::rankUpdate(matt, vec.conjugate(), sigma); - } -}; - -template struct LLT_Traits -{ - typedef const TriangularView MatrixL; - typedef const TriangularView MatrixU; - static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); } - static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); } - static bool inplace_decomposition(MatrixType& m) - { return llt_inplace::blocked(m)==-1; } -}; - -template struct LLT_Traits -{ - typedef const TriangularView MatrixL; - typedef const TriangularView MatrixU; - static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); } - static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); } - static bool inplace_decomposition(MatrixType& m) - { return llt_inplace::blocked(m)==-1; } -}; - -} // end namespace internal - -/** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix - * - * \returns a reference to *this - * - * Example: \include TutorialLinAlgComputeTwice.cpp - * Output: \verbinclude TutorialLinAlgComputeTwice.out - */ -template -template -LLT& LLT::compute(const EigenBase& a) -{ - check_template_parameters(); - - eigen_assert(a.rows()==a.cols()); - const Index size = a.rows(); - m_matrix.resize(size, size); - m_matrix = a.derived(); - - // Compute matrix L1 norm = max abs column sum. - m_l1_norm = RealScalar(0); - // TODO move this code to SelfAdjointView - for (Index col = 0; col < size; ++col) { - RealScalar abs_col_sum; - if (_UpLo == Lower) - abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>(); - else - abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>(); - if (abs_col_sum > m_l1_norm) - m_l1_norm = abs_col_sum; - } - - m_isInitialized = true; - bool ok = Traits::inplace_decomposition(m_matrix); - m_info = ok ? Success : NumericalIssue; - - return *this; -} - -/** Performs a rank one update (or dowdate) of the current decomposition. - * If A = LL^* before the rank one update, - * then after it we have LL^* = A + sigma * v v^* where \a v must be a vector - * of same dimension. - */ -template -template -LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, const RealScalar& sigma) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType); - eigen_assert(v.size()==m_matrix.cols()); - eigen_assert(m_isInitialized); - if(internal::llt_inplace::rankUpdate(m_matrix,v,sigma)>=0) - m_info = NumericalIssue; - else - m_info = Success; - - return *this; -} - -#ifndef EIGEN_PARSED_BY_DOXYGEN -template -template -void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const -{ - dst = rhs; - solveInPlace(dst); -} -#endif - -/** \internal use x = llt_object.solve(x); - * - * This is the \em in-place version of solve(). - * - * \param bAndX represents both the right-hand side matrix b and result x. - * - * This version avoids a copy when the right hand side matrix b is not needed anymore. - * - * \sa LLT::solve(), MatrixBase::llt() - */ -template -template -void LLT::solveInPlace(MatrixBase &bAndX) const -{ - eigen_assert(m_isInitialized && "LLT is not initialized."); - eigen_assert(m_matrix.rows()==bAndX.rows()); - matrixL().solveInPlace(bAndX); - matrixU().solveInPlace(bAndX); -} - -/** \returns the matrix represented by the decomposition, - * i.e., it returns the product: L L^*. - * This function is provided for debug purpose. */ -template -MatrixType LLT::reconstructedMatrix() const -{ - eigen_assert(m_isInitialized && "LLT is not initialized."); - return matrixL() * matrixL().adjoint().toDenseMatrix(); -} - -/** \cholesky_module - * \returns the LLT decomposition of \c *this - * \sa SelfAdjointView::llt() - */ -template -inline const LLT::PlainObject> -MatrixBase::llt() const -{ - return LLT(derived()); -} - -/** \cholesky_module - * \returns the LLT decomposition of \c *this - * \sa SelfAdjointView::llt() - */ -template -inline const LLT::PlainObject, UpLo> -SelfAdjointView::llt() const -{ - return LLT(m_matrix); -} - -} // end namespace Eigen - -#endif // EIGEN_LLT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h b/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h deleted file mode 100644 index bc6489e6..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Cholesky/LLT_LAPACKE.h +++ /dev/null @@ -1,99 +0,0 @@ -/* - Copyright (c) 2011, Intel Corporation. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - * Neither the name of Intel Corporation nor the names of its contributors may - be used to endorse or promote products derived from this software without - specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR - ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - ******************************************************************************** - * Content : Eigen bindings to LAPACKe - * LLt decomposition based on LAPACKE_?potrf function. - ******************************************************************************** -*/ - -#ifndef EIGEN_LLT_LAPACKE_H -#define EIGEN_LLT_LAPACKE_H - -namespace Eigen { - -namespace internal { - -template struct lapacke_llt; - -#define EIGEN_LAPACKE_LLT(EIGTYPE, BLASTYPE, LAPACKE_PREFIX) \ -template<> struct lapacke_llt \ -{ \ - template \ - static inline Index potrf(MatrixType& m, char uplo) \ - { \ - lapack_int matrix_order; \ - lapack_int size, lda, info, StorageOrder; \ - EIGTYPE* a; \ - eigen_assert(m.rows()==m.cols()); \ - /* Set up parameters for ?potrf */ \ - size = convert_index(m.rows()); \ - StorageOrder = MatrixType::Flags&RowMajorBit?RowMajor:ColMajor; \ - matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \ - a = &(m.coeffRef(0,0)); \ - lda = convert_index(m.outerStride()); \ -\ - info = LAPACKE_##LAPACKE_PREFIX##potrf( matrix_order, uplo, size, (BLASTYPE*)a, lda ); \ - info = (info==0) ? -1 : info>0 ? info-1 : size; \ - return info; \ - } \ -}; \ -template<> struct llt_inplace \ -{ \ - template \ - static Index blocked(MatrixType& m) \ - { \ - return lapacke_llt::potrf(m, 'L'); \ - } \ - template \ - static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \ - { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } \ -}; \ -template<> struct llt_inplace \ -{ \ - template \ - static Index blocked(MatrixType& m) \ - { \ - return lapacke_llt::potrf(m, 'U'); \ - } \ - template \ - static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \ - { \ - Transpose matt(mat); \ - return llt_inplace::rankUpdate(matt, vec.conjugate(), sigma); \ - } \ -}; - -EIGEN_LAPACKE_LLT(double, double, d) -EIGEN_LAPACKE_LLT(float, float, s) -EIGEN_LAPACKE_LLT(dcomplex, lapack_complex_double, z) -EIGEN_LAPACKE_LLT(scomplex, lapack_complex_float, c) - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_LLT_LAPACKE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/CholmodSupport/CholmodSupport.h b/testbed/nanogui/ext/eigen/Eigen/src/CholmodSupport/CholmodSupport.h deleted file mode 100644 index 61faf43b..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/CholmodSupport/CholmodSupport.h +++ /dev/null @@ -1,682 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CHOLMODSUPPORT_H -#define EIGEN_CHOLMODSUPPORT_H - -namespace Eigen { - -namespace internal { - -template struct cholmod_configure_matrix; - -template<> struct cholmod_configure_matrix { - template - static void run(CholmodType& mat) { - mat.xtype = CHOLMOD_REAL; - mat.dtype = CHOLMOD_DOUBLE; - } -}; - -template<> struct cholmod_configure_matrix > { - template - static void run(CholmodType& mat) { - mat.xtype = CHOLMOD_COMPLEX; - mat.dtype = CHOLMOD_DOUBLE; - } -}; - -// Other scalar types are not yet supported by Cholmod -// template<> struct cholmod_configure_matrix { -// template -// static void run(CholmodType& mat) { -// mat.xtype = CHOLMOD_REAL; -// mat.dtype = CHOLMOD_SINGLE; -// } -// }; -// -// template<> struct cholmod_configure_matrix > { -// template -// static void run(CholmodType& mat) { -// mat.xtype = CHOLMOD_COMPLEX; -// mat.dtype = CHOLMOD_SINGLE; -// } -// }; - -} // namespace internal - -/** Wraps the Eigen sparse matrix \a mat into a Cholmod sparse matrix object. - * Note that the data are shared. - */ -template -cholmod_sparse viewAsCholmod(Ref > mat) -{ - cholmod_sparse res; - res.nzmax = mat.nonZeros(); - res.nrow = mat.rows(); - res.ncol = mat.cols(); - res.p = mat.outerIndexPtr(); - res.i = mat.innerIndexPtr(); - res.x = mat.valuePtr(); - res.z = 0; - res.sorted = 1; - if(mat.isCompressed()) - { - res.packed = 1; - res.nz = 0; - } - else - { - res.packed = 0; - res.nz = mat.innerNonZeroPtr(); - } - - res.dtype = 0; - res.stype = -1; - - if (internal::is_same<_StorageIndex,int>::value) - { - res.itype = CHOLMOD_INT; - } - else if (internal::is_same<_StorageIndex,long>::value) - { - res.itype = CHOLMOD_LONG; - } - else - { - eigen_assert(false && "Index type not supported yet"); - } - - // setup res.xtype - internal::cholmod_configure_matrix<_Scalar>::run(res); - - res.stype = 0; - - return res; -} - -template -const cholmod_sparse viewAsCholmod(const SparseMatrix<_Scalar,_Options,_Index>& mat) -{ - cholmod_sparse res = viewAsCholmod(Ref >(mat.const_cast_derived())); - return res; -} - -template -const cholmod_sparse viewAsCholmod(const SparseVector<_Scalar,_Options,_Index>& mat) -{ - cholmod_sparse res = viewAsCholmod(Ref >(mat.const_cast_derived())); - return res; -} - -/** Returns a view of the Eigen sparse matrix \a mat as Cholmod sparse matrix. - * The data are not copied but shared. */ -template -cholmod_sparse viewAsCholmod(const SparseSelfAdjointView, UpLo>& mat) -{ - cholmod_sparse res = viewAsCholmod(Ref >(mat.matrix().const_cast_derived())); - - if(UpLo==Upper) res.stype = 1; - if(UpLo==Lower) res.stype = -1; - // swap stype for rowmajor matrices (only works for real matrices) - EIGEN_STATIC_ASSERT((_Options & RowMajorBit) == 0 || NumTraits<_Scalar>::IsComplex == 0, THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES); - if(_Options & RowMajorBit) res.stype *=-1; - - return res; -} - -/** Returns a view of the Eigen \b dense matrix \a mat as Cholmod dense matrix. - * The data are not copied but shared. */ -template -cholmod_dense viewAsCholmod(MatrixBase& mat) -{ - EIGEN_STATIC_ASSERT((internal::traits::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES); - typedef typename Derived::Scalar Scalar; - - cholmod_dense res; - res.nrow = mat.rows(); - res.ncol = mat.cols(); - res.nzmax = res.nrow * res.ncol; - res.d = Derived::IsVectorAtCompileTime ? mat.derived().size() : mat.derived().outerStride(); - res.x = (void*)(mat.derived().data()); - res.z = 0; - - internal::cholmod_configure_matrix::run(res); - - return res; -} - -/** Returns a view of the Cholmod sparse matrix \a cm as an Eigen sparse matrix. - * The data are not copied but shared. */ -template -MappedSparseMatrix viewAsEigen(cholmod_sparse& cm) -{ - return MappedSparseMatrix - (cm.nrow, cm.ncol, static_cast(cm.p)[cm.ncol], - static_cast(cm.p), static_cast(cm.i),static_cast(cm.x) ); -} - -namespace internal { - -// template specializations for int and long that call the correct cholmod method - -#define EIGEN_CHOLMOD_SPECIALIZE0(ret, name) \ - template ret cm_ ## name (cholmod_common &Common) { return cholmod_ ## name (&Common); } \ - template<> ret cm_ ## name (cholmod_common &Common) { return cholmod_l_ ## name (&Common); } - -#define EIGEN_CHOLMOD_SPECIALIZE1(ret, name, t1, a1) \ - template ret cm_ ## name (t1& a1, cholmod_common &Common) { return cholmod_ ## name (&a1, &Common); } \ - template<> ret cm_ ## name (t1& a1, cholmod_common &Common) { return cholmod_l_ ## name (&a1, &Common); } - -EIGEN_CHOLMOD_SPECIALIZE0(int, start) -EIGEN_CHOLMOD_SPECIALIZE0(int, finish) - -EIGEN_CHOLMOD_SPECIALIZE1(int, free_factor, cholmod_factor*, L) -EIGEN_CHOLMOD_SPECIALIZE1(int, free_dense, cholmod_dense*, X) -EIGEN_CHOLMOD_SPECIALIZE1(int, free_sparse, cholmod_sparse*, A) - -EIGEN_CHOLMOD_SPECIALIZE1(cholmod_factor*, analyze, cholmod_sparse, A) - -template cholmod_dense* cm_solve (int sys, cholmod_factor& L, cholmod_dense& B, cholmod_common &Common) { return cholmod_solve (sys, &L, &B, &Common); } -template<> cholmod_dense* cm_solve (int sys, cholmod_factor& L, cholmod_dense& B, cholmod_common &Common) { return cholmod_l_solve (sys, &L, &B, &Common); } - -template cholmod_sparse* cm_spsolve (int sys, cholmod_factor& L, cholmod_sparse& B, cholmod_common &Common) { return cholmod_spsolve (sys, &L, &B, &Common); } -template<> cholmod_sparse* cm_spsolve (int sys, cholmod_factor& L, cholmod_sparse& B, cholmod_common &Common) { return cholmod_l_spsolve (sys, &L, &B, &Common); } - -template -int cm_factorize_p (cholmod_sparse* A, double beta[2], _StorageIndex* fset, std::size_t fsize, cholmod_factor* L, cholmod_common &Common) { return cholmod_factorize_p (A, beta, fset, fsize, L, &Common); } -template<> -int cm_factorize_p (cholmod_sparse* A, double beta[2], long* fset, std::size_t fsize, cholmod_factor* L, cholmod_common &Common) { return cholmod_l_factorize_p (A, beta, fset, fsize, L, &Common); } - -#undef EIGEN_CHOLMOD_SPECIALIZE0 -#undef EIGEN_CHOLMOD_SPECIALIZE1 - -} // namespace internal - - -enum CholmodMode { - CholmodAuto, CholmodSimplicialLLt, CholmodSupernodalLLt, CholmodLDLt -}; - - -/** \ingroup CholmodSupport_Module - * \class CholmodBase - * \brief The base class for the direct Cholesky factorization of Cholmod - * \sa class CholmodSupernodalLLT, class CholmodSimplicialLDLT, class CholmodSimplicialLLT - */ -template -class CholmodBase : public SparseSolverBase -{ - protected: - typedef SparseSolverBase Base; - using Base::derived; - using Base::m_isInitialized; - public: - typedef _MatrixType MatrixType; - enum { UpLo = _UpLo }; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef MatrixType CholMatrixType; - typedef typename MatrixType::StorageIndex StorageIndex; - enum { - ColsAtCompileTime = MatrixType::ColsAtCompileTime, - MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime - }; - - public: - - CholmodBase() - : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false) - { - EIGEN_STATIC_ASSERT((internal::is_same::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY); - m_shiftOffset[0] = m_shiftOffset[1] = 0.0; - internal::cm_start(m_cholmod); - } - - explicit CholmodBase(const MatrixType& matrix) - : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false) - { - EIGEN_STATIC_ASSERT((internal::is_same::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY); - m_shiftOffset[0] = m_shiftOffset[1] = 0.0; - internal::cm_start(m_cholmod); - compute(matrix); - } - - ~CholmodBase() - { - if(m_cholmodFactor) - internal::cm_free_factor(m_cholmodFactor, m_cholmod); - internal::cm_finish(m_cholmod); - } - - inline StorageIndex cols() const { return internal::convert_index(m_cholmodFactor->n); } - inline StorageIndex rows() const { return internal::convert_index(m_cholmodFactor->n); } - - /** \brief Reports whether previous computation was successful. - * - * \returns \c Success if computation was successful, - * \c NumericalIssue if the matrix.appears to be negative. - */ - ComputationInfo info() const - { - eigen_assert(m_isInitialized && "Decomposition is not initialized."); - return m_info; - } - - /** Computes the sparse Cholesky decomposition of \a matrix */ - Derived& compute(const MatrixType& matrix) - { - analyzePattern(matrix); - factorize(matrix); - return derived(); - } - - /** Performs a symbolic decomposition on the sparsity pattern of \a matrix. - * - * This function is particularly useful when solving for several problems having the same structure. - * - * \sa factorize() - */ - void analyzePattern(const MatrixType& matrix) - { - if(m_cholmodFactor) - { - internal::cm_free_factor(m_cholmodFactor, m_cholmod); - m_cholmodFactor = 0; - } - cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView()); - m_cholmodFactor = internal::cm_analyze(A, m_cholmod); - - this->m_isInitialized = true; - this->m_info = Success; - m_analysisIsOk = true; - m_factorizationIsOk = false; - } - - /** Performs a numeric decomposition of \a matrix - * - * The given matrix must have the same sparsity pattern as the matrix on which the symbolic decomposition has been performed. - * - * \sa analyzePattern() - */ - void factorize(const MatrixType& matrix) - { - eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); - cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView()); - internal::cm_factorize_p(&A, m_shiftOffset, 0, 0, m_cholmodFactor, m_cholmod); - - // If the factorization failed, minor is the column at which it did. On success minor == n. - this->m_info = (m_cholmodFactor->minor == m_cholmodFactor->n ? Success : NumericalIssue); - m_factorizationIsOk = true; - } - - /** Returns a reference to the Cholmod's configuration structure to get a full control over the performed operations. - * See the Cholmod user guide for details. */ - cholmod_common& cholmod() { return m_cholmod; } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** \internal */ - template - void _solve_impl(const MatrixBase &b, MatrixBase &dest) const - { - eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); - const Index size = m_cholmodFactor->n; - EIGEN_UNUSED_VARIABLE(size); - eigen_assert(size==b.rows()); - - // Cholmod needs column-major storage without inner-stride, which corresponds to the default behavior of Ref. - Ref > b_ref(b.derived()); - - cholmod_dense b_cd = viewAsCholmod(b_ref); - cholmod_dense* x_cd = internal::cm_solve(CHOLMOD_A, *m_cholmodFactor, b_cd, m_cholmod); - if(!x_cd) - { - this->m_info = NumericalIssue; - return; - } - // TODO optimize this copy by swapping when possible (be careful with alignment, etc.) - // NOTE Actually, the copy can be avoided by calling cholmod_solve2 instead of cholmod_solve - dest = Matrix::Map(reinterpret_cast(x_cd->x),b.rows(),b.cols()); - internal::cm_free_dense(x_cd, m_cholmod); - } - - /** \internal */ - template - void _solve_impl(const SparseMatrixBase &b, SparseMatrixBase &dest) const - { - eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); - const Index size = m_cholmodFactor->n; - EIGEN_UNUSED_VARIABLE(size); - eigen_assert(size==b.rows()); - - // note: cs stands for Cholmod Sparse - Ref > b_ref(b.const_cast_derived()); - cholmod_sparse b_cs = viewAsCholmod(b_ref); - cholmod_sparse* x_cs = internal::cm_spsolve(CHOLMOD_A, *m_cholmodFactor, b_cs, m_cholmod); - if(!x_cs) - { - this->m_info = NumericalIssue; - return; - } - // TODO optimize this copy by swapping when possible (be careful with alignment, etc.) - // NOTE cholmod_spsolve in fact just calls the dense solver for blocks of 4 columns at a time (similar to Eigen's sparse solver) - dest.derived() = viewAsEigen(*x_cs); - internal::cm_free_sparse(x_cs, m_cholmod); - } - #endif // EIGEN_PARSED_BY_DOXYGEN - - - /** Sets the shift parameter that will be used to adjust the diagonal coefficients during the numerical factorization. - * - * During the numerical factorization, an offset term is added to the diagonal coefficients:\n - * \c d_ii = \a offset + \c d_ii - * - * The default is \a offset=0. - * - * \returns a reference to \c *this. - */ - Derived& setShift(const RealScalar& offset) - { - m_shiftOffset[0] = double(offset); - return derived(); - } - - /** \returns the determinant of the underlying matrix from the current factorization */ - Scalar determinant() const - { - using std::exp; - return exp(logDeterminant()); - } - - /** \returns the log determinant of the underlying matrix from the current factorization */ - Scalar logDeterminant() const - { - using std::log; - using numext::real; - eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()"); - - RealScalar logDet = 0; - Scalar *x = static_cast(m_cholmodFactor->x); - if (m_cholmodFactor->is_super) - { - // Supernodal factorization stored as a packed list of dense column-major blocs, - // as described by the following structure: - - // super[k] == index of the first column of the j-th super node - StorageIndex *super = static_cast(m_cholmodFactor->super); - // pi[k] == offset to the description of row indices - StorageIndex *pi = static_cast(m_cholmodFactor->pi); - // px[k] == offset to the respective dense block - StorageIndex *px = static_cast(m_cholmodFactor->px); - - Index nb_super_nodes = m_cholmodFactor->nsuper; - for (Index k=0; k < nb_super_nodes; ++k) - { - StorageIndex ncols = super[k + 1] - super[k]; - StorageIndex nrows = pi[k + 1] - pi[k]; - - Map, 0, InnerStride<> > sk(x + px[k], ncols, InnerStride<>(nrows+1)); - logDet += sk.real().log().sum(); - } - } - else - { - // Simplicial factorization stored as standard CSC matrix. - StorageIndex *p = static_cast(m_cholmodFactor->p); - Index size = m_cholmodFactor->n; - for (Index k=0; kis_ll) - logDet *= 2.0; - return logDet; - }; - - template - void dumpMemory(Stream& /*s*/) - {} - - protected: - mutable cholmod_common m_cholmod; - cholmod_factor* m_cholmodFactor; - double m_shiftOffset[2]; - mutable ComputationInfo m_info; - int m_factorizationIsOk; - int m_analysisIsOk; -}; - -/** \ingroup CholmodSupport_Module - * \class CholmodSimplicialLLT - * \brief A simplicial direct Cholesky (LLT) factorization and solver based on Cholmod - * - * This class allows to solve for A.X = B sparse linear problems via a simplicial LL^T Cholesky factorization - * using the Cholmod library. - * This simplicial variant is equivalent to Eigen's built-in SimplicialLLT class. Therefore, it has little practical interest. - * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices - * X and B can be either dense or sparse. - * - * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. - * - * \implsparsesolverconcept - * - * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. - * - * \warning Only double precision real and complex scalar types are supported by Cholmod. - * - * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLLT - */ -template -class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT<_MatrixType, _UpLo> > -{ - typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT> Base; - using Base::m_cholmod; - - public: - - typedef _MatrixType MatrixType; - - CholmodSimplicialLLT() : Base() { init(); } - - CholmodSimplicialLLT(const MatrixType& matrix) : Base() - { - init(); - this->compute(matrix); - } - - ~CholmodSimplicialLLT() {} - protected: - void init() - { - m_cholmod.final_asis = 0; - m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; - m_cholmod.final_ll = 1; - } -}; - - -/** \ingroup CholmodSupport_Module - * \class CholmodSimplicialLDLT - * \brief A simplicial direct Cholesky (LDLT) factorization and solver based on Cholmod - * - * This class allows to solve for A.X = B sparse linear problems via a simplicial LDL^T Cholesky factorization - * using the Cholmod library. - * This simplicial variant is equivalent to Eigen's built-in SimplicialLDLT class. Therefore, it has little practical interest. - * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices - * X and B can be either dense or sparse. - * - * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. - * - * \implsparsesolverconcept - * - * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. - * - * \warning Only double precision real and complex scalar types are supported by Cholmod. - * - * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLDLT - */ -template -class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT<_MatrixType, _UpLo> > -{ - typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT> Base; - using Base::m_cholmod; - - public: - - typedef _MatrixType MatrixType; - - CholmodSimplicialLDLT() : Base() { init(); } - - CholmodSimplicialLDLT(const MatrixType& matrix) : Base() - { - init(); - this->compute(matrix); - } - - ~CholmodSimplicialLDLT() {} - protected: - void init() - { - m_cholmod.final_asis = 1; - m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; - } -}; - -/** \ingroup CholmodSupport_Module - * \class CholmodSupernodalLLT - * \brief A supernodal Cholesky (LLT) factorization and solver based on Cholmod - * - * This class allows to solve for A.X = B sparse linear problems via a supernodal LL^T Cholesky factorization - * using the Cholmod library. - * This supernodal variant performs best on dense enough problems, e.g., 3D FEM, or very high order 2D FEM. - * The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices - * X and B can be either dense or sparse. - * - * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. - * - * \implsparsesolverconcept - * - * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. - * - * \warning Only double precision real and complex scalar types are supported by Cholmod. - * - * \sa \ref TutorialSparseSolverConcept - */ -template -class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT<_MatrixType, _UpLo> > -{ - typedef CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT> Base; - using Base::m_cholmod; - - public: - - typedef _MatrixType MatrixType; - - CholmodSupernodalLLT() : Base() { init(); } - - CholmodSupernodalLLT(const MatrixType& matrix) : Base() - { - init(); - this->compute(matrix); - } - - ~CholmodSupernodalLLT() {} - protected: - void init() - { - m_cholmod.final_asis = 1; - m_cholmod.supernodal = CHOLMOD_SUPERNODAL; - } -}; - -/** \ingroup CholmodSupport_Module - * \class CholmodDecomposition - * \brief A general Cholesky factorization and solver based on Cholmod - * - * This class allows to solve for A.X = B sparse linear problems via a LL^T or LDL^T Cholesky factorization - * using the Cholmod library. The sparse matrix A must be selfadjoint and positive definite. The vectors or matrices - * X and B can be either dense or sparse. - * - * This variant permits to change the underlying Cholesky method at runtime. - * On the other hand, it does not provide access to the result of the factorization. - * The default is to let Cholmod automatically choose between a simplicial and supernodal factorization. - * - * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<> - * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower - * or Upper. Default is Lower. - * - * \implsparsesolverconcept - * - * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed. - * - * \warning Only double precision real and complex scalar types are supported by Cholmod. - * - * \sa \ref TutorialSparseSolverConcept - */ -template -class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecomposition<_MatrixType, _UpLo> > -{ - typedef CholmodBase<_MatrixType, _UpLo, CholmodDecomposition> Base; - using Base::m_cholmod; - - public: - - typedef _MatrixType MatrixType; - - CholmodDecomposition() : Base() { init(); } - - CholmodDecomposition(const MatrixType& matrix) : Base() - { - init(); - this->compute(matrix); - } - - ~CholmodDecomposition() {} - - void setMode(CholmodMode mode) - { - switch(mode) - { - case CholmodAuto: - m_cholmod.final_asis = 1; - m_cholmod.supernodal = CHOLMOD_AUTO; - break; - case CholmodSimplicialLLt: - m_cholmod.final_asis = 0; - m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; - m_cholmod.final_ll = 1; - break; - case CholmodSupernodalLLt: - m_cholmod.final_asis = 1; - m_cholmod.supernodal = CHOLMOD_SUPERNODAL; - break; - case CholmodLDLt: - m_cholmod.final_asis = 1; - m_cholmod.supernodal = CHOLMOD_SIMPLICIAL; - break; - default: - break; - } - } - protected: - void init() - { - m_cholmod.final_asis = 1; - m_cholmod.supernodal = CHOLMOD_AUTO; - } -}; - -} // end namespace Eigen - -#endif // EIGEN_CHOLMODSUPPORT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ArithmeticSequence.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ArithmeticSequence.h deleted file mode 100644 index ada1571f..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ArithmeticSequence.h +++ /dev/null @@ -1,350 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2017 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ARITHMETIC_SEQUENCE_H -#define EIGEN_ARITHMETIC_SEQUENCE_H - -namespace Eigen { - -namespace internal { - -#if (!EIGEN_HAS_CXX11) || !((!EIGEN_COMP_GNUC) || EIGEN_COMP_GNUC>=48) -template struct aseq_negate {}; - -template<> struct aseq_negate { - typedef Index type; -}; - -template struct aseq_negate > { - typedef FixedInt<-N> type; -}; - -// Compilation error in the following case: -template<> struct aseq_negate > {}; - -template::value, - bool SizeIsSymbolic =Symbolic::is_symbolic::value> -struct aseq_reverse_first_type { - typedef Index type; -}; - -template -struct aseq_reverse_first_type { - typedef Symbolic::AddExpr > >, - Symbolic::ValueExpr > - > type; -}; - -template -struct aseq_reverse_first_type_aux { - typedef Index type; -}; - -template -struct aseq_reverse_first_type_aux::type> { - typedef FixedInt<(SizeType::value-1)*IncrType::value> type; -}; - -template -struct aseq_reverse_first_type { - typedef typename aseq_reverse_first_type_aux::type Aux; - typedef Symbolic::AddExpr > type; -}; - -template -struct aseq_reverse_first_type { - typedef Symbolic::AddExpr > >, - Symbolic::ValueExpr >, - Symbolic::ValueExpr<> > type; -}; -#endif - -// Helper to cleanup the type of the increment: -template struct cleanup_seq_incr { - typedef typename cleanup_index_type::type type; -}; - -} - -//-------------------------------------------------------------------------------- -// seq(first,last,incr) and seqN(first,size,incr) -//-------------------------------------------------------------------------------- - -template > -class ArithmeticSequence; - -template -ArithmeticSequence::type, - typename internal::cleanup_index_type::type, - typename internal::cleanup_seq_incr::type > -seqN(FirstType first, SizeType size, IncrType incr); - -/** \class ArithmeticSequence - * \ingroup Core_Module - * - * This class represents an arithmetic progression \f$ a_0, a_1, a_2, ..., a_{n-1}\f$ defined by - * its \em first value \f$ a_0 \f$, its \em size (aka length) \em n, and the \em increment (aka stride) - * that is equal to \f$ a_{i+1}-a_{i}\f$ for any \em i. - * - * It is internally used as the return type of the Eigen::seq and Eigen::seqN functions, and as the input arguments - * of DenseBase::operator()(const RowIndices&, const ColIndices&), and most of the time this is the - * only way it is used. - * - * \tparam FirstType type of the first element, usually an Index, - * but internally it can be a symbolic expression - * \tparam SizeType type representing the size of the sequence, usually an Index - * or a compile time integral constant. Internally, it can also be a symbolic expression - * \tparam IncrType type of the increment, can be a runtime Index, or a compile time integral constant (default is compile-time 1) - * - * \sa Eigen::seq, Eigen::seqN, DenseBase::operator()(const RowIndices&, const ColIndices&), class IndexedView - */ -template -class ArithmeticSequence -{ -public: - ArithmeticSequence(FirstType first, SizeType size) : m_first(first), m_size(size) {} - ArithmeticSequence(FirstType first, SizeType size, IncrType incr) : m_first(first), m_size(size), m_incr(incr) {} - - enum { - SizeAtCompileTime = internal::get_fixed_value::value, - IncrAtCompileTime = internal::get_fixed_value::value - }; - - /** \returns the size, i.e., number of elements, of the sequence */ - Index size() const { return m_size; } - - /** \returns the first element \f$ a_0 \f$ in the sequence */ - Index first() const { return m_first; } - - /** \returns the value \f$ a_i \f$ at index \a i in the sequence. */ - Index operator[](Index i) const { return m_first + i * m_incr; } - - const FirstType& firstObject() const { return m_first; } - const SizeType& sizeObject() const { return m_size; } - const IncrType& incrObject() const { return m_incr; } - -protected: - FirstType m_first; - SizeType m_size; - IncrType m_incr; - -public: - -#if EIGEN_HAS_CXX11 && ((!EIGEN_COMP_GNUC) || EIGEN_COMP_GNUC>=48) - auto reverse() const -> decltype(Eigen::seqN(m_first+(m_size+fix<-1>())*m_incr,m_size,-m_incr)) { - return seqN(m_first+(m_size+fix<-1>())*m_incr,m_size,-m_incr); - } -#else -protected: - typedef typename internal::aseq_negate::type ReverseIncrType; - typedef typename internal::aseq_reverse_first_type::type ReverseFirstType; -public: - ArithmeticSequence - reverse() const { - return seqN(m_first+(m_size+fix<-1>())*m_incr,m_size,-m_incr); - } -#endif -}; - -/** \returns an ArithmeticSequence starting at \a first, of length \a size, and increment \a incr - * - * \sa seqN(FirstType,SizeType), seq(FirstType,LastType,IncrType) */ -template -ArithmeticSequence::type,typename internal::cleanup_index_type::type,typename internal::cleanup_seq_incr::type > -seqN(FirstType first, SizeType size, IncrType incr) { - return ArithmeticSequence::type,typename internal::cleanup_index_type::type,typename internal::cleanup_seq_incr::type>(first,size,incr); -} - -/** \returns an ArithmeticSequence starting at \a first, of length \a size, and unit increment - * - * \sa seqN(FirstType,SizeType,IncrType), seq(FirstType,LastType) */ -template -ArithmeticSequence::type,typename internal::cleanup_index_type::type > -seqN(FirstType first, SizeType size) { - return ArithmeticSequence::type,typename internal::cleanup_index_type::type>(first,size); -} - -#ifdef EIGEN_PARSED_BY_DOXYGEN - -/** \returns an ArithmeticSequence starting at \a f, up (or down) to \a l, and with positive (or negative) increment \a incr - * - * It is essentially an alias to: - * \code - * seqN(f, (l-f+incr)/incr, incr); - * \endcode - * - * \sa seqN(FirstType,SizeType,IncrType), seq(FirstType,LastType) - */ -template -auto seq(FirstType f, LastType l, IncrType incr); - -/** \returns an ArithmeticSequence starting at \a f, up (or down) to \a l, and unit increment - * - * It is essentially an alias to: - * \code - * seqN(f,l-f+1); - * \endcode - * - * \sa seqN(FirstType,SizeType), seq(FirstType,LastType,IncrType) - */ -template -auto seq(FirstType f, LastType l); - -#else // EIGEN_PARSED_BY_DOXYGEN - -#if EIGEN_HAS_CXX11 -template -auto seq(FirstType f, LastType l) -> decltype(seqN(typename internal::cleanup_index_type::type(f), - ( typename internal::cleanup_index_type::type(l) - - typename internal::cleanup_index_type::type(f)+fix<1>()))) -{ - return seqN(typename internal::cleanup_index_type::type(f), - (typename internal::cleanup_index_type::type(l) - -typename internal::cleanup_index_type::type(f)+fix<1>())); -} - -template -auto seq(FirstType f, LastType l, IncrType incr) - -> decltype(seqN(typename internal::cleanup_index_type::type(f), - ( typename internal::cleanup_index_type::type(l) - - typename internal::cleanup_index_type::type(f)+typename internal::cleanup_seq_incr::type(incr) - ) / typename internal::cleanup_seq_incr::type(incr), - typename internal::cleanup_seq_incr::type(incr))) -{ - typedef typename internal::cleanup_seq_incr::type CleanedIncrType; - return seqN(typename internal::cleanup_index_type::type(f), - ( typename internal::cleanup_index_type::type(l) - -typename internal::cleanup_index_type::type(f)+CleanedIncrType(incr)) / CleanedIncrType(incr), - CleanedIncrType(incr)); -} -#else - -template -typename internal::enable_if::value || Symbolic::is_symbolic::value), - ArithmeticSequence::type,Index> >::type -seq(FirstType f, LastType l) -{ - return seqN(typename internal::cleanup_index_type::type(f), - Index((typename internal::cleanup_index_type::type(l)-typename internal::cleanup_index_type::type(f)+fix<1>()))); -} - -template -typename internal::enable_if::value, - ArithmeticSequence,Symbolic::ValueExpr<> >, - Symbolic::ValueExpr > > > >::type -seq(const Symbolic::BaseExpr &f, LastType l) -{ - return seqN(f.derived(),(typename internal::cleanup_index_type::type(l)-f.derived()+fix<1>())); -} - -template -typename internal::enable_if::value, - ArithmeticSequence::type, - Symbolic::AddExpr >, - Symbolic::ValueExpr > > > >::type -seq(FirstType f, const Symbolic::BaseExpr &l) -{ - return seqN(typename internal::cleanup_index_type::type(f),(l.derived()-typename internal::cleanup_index_type::type(f)+fix<1>())); -} - -template -ArithmeticSequence >,Symbolic::ValueExpr > > > -seq(const Symbolic::BaseExpr &f, const Symbolic::BaseExpr &l) -{ - return seqN(f.derived(),(l.derived()-f.derived()+fix<1>())); -} - - -template -typename internal::enable_if::value || Symbolic::is_symbolic::value), - ArithmeticSequence::type,Index,typename internal::cleanup_seq_incr::type> >::type -seq(FirstType f, LastType l, IncrType incr) -{ - typedef typename internal::cleanup_seq_incr::type CleanedIncrType; - return seqN(typename internal::cleanup_index_type::type(f), - Index((typename internal::cleanup_index_type::type(l)-typename internal::cleanup_index_type::type(f)+CleanedIncrType(incr))/CleanedIncrType(incr)), incr); -} - -template -typename internal::enable_if::value, - ArithmeticSequence, - Symbolic::ValueExpr<> >, - Symbolic::ValueExpr::type> >, - Symbolic::ValueExpr::type> >, - typename internal::cleanup_seq_incr::type> >::type -seq(const Symbolic::BaseExpr &f, LastType l, IncrType incr) -{ - typedef typename internal::cleanup_seq_incr::type CleanedIncrType; - return seqN(f.derived(),(typename internal::cleanup_index_type::type(l)-f.derived()+CleanedIncrType(incr))/CleanedIncrType(incr), incr); -} - -template -typename internal::enable_if::value, - ArithmeticSequence::type, - Symbolic::QuotientExpr >, - Symbolic::ValueExpr::type> >, - Symbolic::ValueExpr::type> >, - typename internal::cleanup_seq_incr::type> >::type -seq(FirstType f, const Symbolic::BaseExpr &l, IncrType incr) -{ - typedef typename internal::cleanup_seq_incr::type CleanedIncrType; - return seqN(typename internal::cleanup_index_type::type(f), - (l.derived()-typename internal::cleanup_index_type::type(f)+CleanedIncrType(incr))/CleanedIncrType(incr), incr); -} - -template -ArithmeticSequence >, - Symbolic::ValueExpr::type> >, - Symbolic::ValueExpr::type> >, - typename internal::cleanup_seq_incr::type> -seq(const Symbolic::BaseExpr &f, const Symbolic::BaseExpr &l, IncrType incr) -{ - typedef typename internal::cleanup_seq_incr::type CleanedIncrType; - return seqN(f.derived(),(l.derived()-f.derived()+CleanedIncrType(incr))/CleanedIncrType(incr), incr); -} -#endif - -#endif // EIGEN_PARSED_BY_DOXYGEN - -namespace internal { - -// Convert a symbolic span into a usable one (i.e., remove last/end "keywords") -template -struct make_size_type { - typedef typename internal::conditional::value, Index, T>::type type; -}; - -template -struct IndexedViewCompatibleType, XprSize> { - typedef ArithmeticSequence::type,IncrType> type; -}; - -template -ArithmeticSequence::type,IncrType> -makeIndexedViewCompatible(const ArithmeticSequence& ids, Index size,SpecializedType) { - return ArithmeticSequence::type,IncrType>( - eval_expr_given_size(ids.firstObject(),size),eval_expr_given_size(ids.sizeObject(),size),ids.incrObject()); -} - -template -struct get_compile_time_incr > { - enum { value = get_fixed_value::value }; -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_ARITHMETIC_SEQUENCE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Array.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Array.h deleted file mode 100644 index 0d34269f..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Array.h +++ /dev/null @@ -1,325 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ARRAY_H -#define EIGEN_ARRAY_H - -namespace Eigen { - -namespace internal { -template -struct traits > : traits > -{ - typedef ArrayXpr XprKind; - typedef ArrayBase > XprBase; -}; -} - -/** \class Array - * \ingroup Core_Module - * - * \brief General-purpose arrays with easy API for coefficient-wise operations - * - * The %Array class is very similar to the Matrix class. It provides - * general-purpose one- and two-dimensional arrays. The difference between the - * %Array and the %Matrix class is primarily in the API: the API for the - * %Array class provides easy access to coefficient-wise operations, while the - * API for the %Matrix class provides easy access to linear-algebra - * operations. - * - * See documentation of class Matrix for detailed information on the template parameters - * storage layout. - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN. - * - * \sa \blank \ref TutorialArrayClass, \ref TopicClassHierarchy - */ -template -class Array - : public PlainObjectBase > -{ - public: - - typedef PlainObjectBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Array) - - enum { Options = _Options }; - typedef typename Base::PlainObject PlainObject; - - protected: - template - friend struct internal::conservative_resize_like_impl; - - using Base::m_storage; - - public: - - using Base::base; - using Base::coeff; - using Base::coeffRef; - - /** - * The usage of - * using Base::operator=; - * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped - * the usage of 'using'. This should be done only for operator=. - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array& operator=(const EigenBase &other) - { - return Base::operator=(other); - } - - /** Set all the entries to \a value. - * \sa DenseBase::setConstant(), DenseBase::fill() - */ - /* This overload is needed because the usage of - * using Base::operator=; - * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped - * the usage of 'using'. This should be done only for operator=. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array& operator=(const Scalar &value) - { - Base::setConstant(value); - return *this; - } - - /** Copies the value of the expression \a other into \c *this with automatic resizing. - * - * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), - * it will be initialized. - * - * Note that copying a row-vector into a vector (and conversely) is allowed. - * The resizing, if any, is then done in the appropriate way so that row-vectors - * remain row-vectors and vectors remain vectors. - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array& operator=(const DenseBase& other) - { - return Base::_set(other); - } - - /** This is a special case of the templated operator=. Its purpose is to - * prevent a default operator= from hiding the templated operator=. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array& operator=(const Array& other) - { - return Base::_set(other); - } - - /** Default constructor. - * - * For fixed-size matrices, does nothing. - * - * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix - * is called a null matrix. This constructor is the unique way to create null matrices: resizing - * a matrix to 0 is not supported. - * - * \sa resize(Index,Index) - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array() : Base() - { - Base::_check_template_params(); - EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } - -#ifndef EIGEN_PARSED_BY_DOXYGEN - // FIXME is it still needed ?? - /** \internal */ - EIGEN_DEVICE_FUNC - Array(internal::constructor_without_unaligned_array_assert) - : Base(internal::constructor_without_unaligned_array_assert()) - { - Base::_check_template_params(); - EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } -#endif - -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC - Array(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible::value) - : Base(std::move(other)) - { - Base::_check_template_params(); - if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) - Base::_set_noalias(other); - } - EIGEN_DEVICE_FUNC - Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable::value) - { - other.swap(*this); - return *this; - } -#endif - - #ifndef EIGEN_PARSED_BY_DOXYGEN - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE explicit Array(const T& x) - { - Base::_check_template_params(); - Base::template _init1(x); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array(const T0& val0, const T1& val1) - { - Base::_check_template_params(); - this->template _init2(val0, val1); - } - #else - /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */ - EIGEN_DEVICE_FUNC explicit Array(const Scalar *data); - /** Constructs a vector or row-vector with given dimension. \only_for_vectors - * - * Note that this is only useful for dynamic-size vectors. For fixed-size vectors, - * it is redundant to pass the dimension here, so it makes more sense to use the default - * constructor Array() instead. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE explicit Array(Index dim); - /** constructs an initialized 1x1 Array with the given coefficient */ - Array(const Scalar& value); - /** constructs an uninitialized array with \a rows rows and \a cols columns. - * - * This is useful for dynamic-size arrays. For fixed-size arrays, - * it is redundant to pass these parameters, so one should use the default constructor - * Array() instead. */ - Array(Index rows, Index cols); - /** constructs an initialized 2D vector with given coefficients */ - Array(const Scalar& val0, const Scalar& val1); - #endif - - /** constructs an initialized 3D vector with given coefficients */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2) - { - Base::_check_template_params(); - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 3) - m_storage.data()[0] = val0; - m_storage.data()[1] = val1; - m_storage.data()[2] = val2; - } - /** constructs an initialized 4D vector with given coefficients */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3) - { - Base::_check_template_params(); - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 4) - m_storage.data()[0] = val0; - m_storage.data()[1] = val1; - m_storage.data()[2] = val2; - m_storage.data()[3] = val3; - } - - /** Copy constructor */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array(const Array& other) - : Base(other) - { } - - /** \sa MatrixBase::operator=(const EigenBase&) */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Array(const EigenBase &other) - : Base(other.derived()) - { } - - EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; } - EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); } - - #ifdef EIGEN_ARRAY_PLUGIN - #include EIGEN_ARRAY_PLUGIN - #endif - - private: - - template - friend struct internal::matrix_swap_impl; -}; - -/** \defgroup arraytypedefs Global array typedefs - * \ingroup Core_Module - * - * Eigen defines several typedef shortcuts for most common 1D and 2D array types. - * - * The general patterns are the following: - * - * \c ArrayRowsColsType where \c Rows and \c Cols can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size, - * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd - * for complex double. - * - * For example, \c Array33d is a fixed-size 3x3 array type of doubles, and \c ArrayXXf is a dynamic-size matrix of floats. - * - * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is - * a fixed-size 1D array of 4 complex floats. - * - * \sa class Array - */ - -#define EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ -/** \ingroup arraytypedefs */ \ -typedef Array Array##SizeSuffix##SizeSuffix##TypeSuffix; \ -/** \ingroup arraytypedefs */ \ -typedef Array Array##SizeSuffix##TypeSuffix; - -#define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \ -/** \ingroup arraytypedefs */ \ -typedef Array Array##Size##X##TypeSuffix; \ -/** \ingroup arraytypedefs */ \ -typedef Array Array##X##Size##TypeSuffix; - -#define EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ -EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 2, 2) \ -EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 3, 3) \ -EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 4, 4) \ -EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ -EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \ -EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \ -EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 4) - -EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(int, i) -EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(float, f) -EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(double, d) -EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex, cf) -EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex, cd) - -#undef EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES -#undef EIGEN_MAKE_ARRAY_TYPEDEFS - -#undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE - -#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \ -using Eigen::Matrix##SizeSuffix##TypeSuffix; \ -using Eigen::Vector##SizeSuffix##TypeSuffix; \ -using Eigen::RowVector##SizeSuffix##TypeSuffix; - -#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(TypeSuffix) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \ - -#define EIGEN_USING_ARRAY_TYPEDEFS \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(i) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(f) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(d) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cf) \ -EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cd) - -} // end namespace Eigen - -#endif // EIGEN_ARRAY_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayBase.h deleted file mode 100644 index 9da960f0..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayBase.h +++ /dev/null @@ -1,226 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ARRAYBASE_H -#define EIGEN_ARRAYBASE_H - -namespace Eigen { - -template class MatrixWrapper; - -/** \class ArrayBase - * \ingroup Core_Module - * - * \brief Base class for all 1D and 2D array, and related expressions - * - * An array is similar to a dense vector or matrix. While matrices are mathematical - * objects with well defined linear algebra operators, an array is just a collection - * of scalar values arranged in a one or two dimensionnal fashion. As the main consequence, - * all operations applied to an array are performed coefficient wise. Furthermore, - * arrays support scalar math functions of the c++ standard library (e.g., std::sin(x)), and convenient - * constructors allowing to easily write generic code working for both scalar values - * and arrays. - * - * This class is the base that is inherited by all array expression types. - * - * \tparam Derived is the derived type, e.g., an array or an expression type. - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN. - * - * \sa class MatrixBase, \ref TopicClassHierarchy - */ -template class ArrayBase - : public DenseBase -{ - public: -#ifndef EIGEN_PARSED_BY_DOXYGEN - /** The base class for a given storage type. */ - typedef ArrayBase StorageBaseType; - - typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl; - - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::packet_traits::type PacketScalar; - typedef typename NumTraits::Real RealScalar; - - typedef DenseBase Base; - using Base::RowsAtCompileTime; - using Base::ColsAtCompileTime; - using Base::SizeAtCompileTime; - using Base::MaxRowsAtCompileTime; - using Base::MaxColsAtCompileTime; - using Base::MaxSizeAtCompileTime; - using Base::IsVectorAtCompileTime; - using Base::Flags; - - using Base::derived; - using Base::const_cast_derived; - using Base::rows; - using Base::cols; - using Base::size; - using Base::coeff; - using Base::coeffRef; - using Base::lazyAssign; - using Base::operator-; - using Base::operator=; - using Base::operator+=; - using Base::operator-=; - using Base::operator*=; - using Base::operator/=; - - typedef typename Base::CoeffReturnType CoeffReturnType; - -#endif // not EIGEN_PARSED_BY_DOXYGEN - -#ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename Base::PlainObject PlainObject; - - /** \internal Represents a matrix with all coefficients equal to one another*/ - typedef CwiseNullaryOp,PlainObject> ConstantReturnType; -#endif // not EIGEN_PARSED_BY_DOXYGEN - -#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase -#define EIGEN_DOC_UNARY_ADDONS(X,Y) -# include "../plugins/MatrixCwiseUnaryOps.h" -# include "../plugins/ArrayCwiseUnaryOps.h" -# include "../plugins/CommonCwiseBinaryOps.h" -# include "../plugins/MatrixCwiseBinaryOps.h" -# include "../plugins/ArrayCwiseBinaryOps.h" -# ifdef EIGEN_ARRAYBASE_PLUGIN -# include EIGEN_ARRAYBASE_PLUGIN -# endif -#undef EIGEN_CURRENT_STORAGE_BASE_CLASS -#undef EIGEN_DOC_UNARY_ADDONS - - /** Special case of the template operator=, in order to prevent the compiler - * from generating a default operator= (issue hit with g++ 4.1) - */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator=(const ArrayBase& other) - { - internal::call_assignment(derived(), other.derived()); - return derived(); - } - - /** Set all the entries to \a value. - * \sa DenseBase::setConstant(), DenseBase::fill() */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator=(const Scalar &value) - { Base::setConstant(value); return derived(); } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator+=(const Scalar& scalar); - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator-=(const Scalar& scalar); - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator+=(const ArrayBase& other); - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator-=(const ArrayBase& other); - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator*=(const ArrayBase& other); - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator/=(const ArrayBase& other); - - public: - EIGEN_DEVICE_FUNC - ArrayBase& array() { return *this; } - EIGEN_DEVICE_FUNC - const ArrayBase& array() const { return *this; } - - /** \returns an \link Eigen::MatrixBase Matrix \endlink expression of this array - * \sa MatrixBase::array() */ - EIGEN_DEVICE_FUNC - MatrixWrapper matrix() { return MatrixWrapper(derived()); } - EIGEN_DEVICE_FUNC - const MatrixWrapper matrix() const { return MatrixWrapper(derived()); } - -// template -// inline void evalTo(Dest& dst) const { dst = matrix(); } - - protected: - EIGEN_DEVICE_FUNC - ArrayBase() : Base() {} - - private: - explicit ArrayBase(Index); - ArrayBase(Index,Index); - template explicit ArrayBase(const ArrayBase&); - protected: - // mixing arrays and matrices is not legal - template Derived& operator+=(const MatrixBase& ) - {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} - // mixing arrays and matrices is not legal - template Derived& operator-=(const MatrixBase& ) - {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} -}; - -/** replaces \c *this by \c *this - \a other. - * - * \returns a reference to \c *this - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived & -ArrayBase::operator-=(const ArrayBase &other) -{ - call_assignment(derived(), other.derived(), internal::sub_assign_op()); - return derived(); -} - -/** replaces \c *this by \c *this + \a other. - * - * \returns a reference to \c *this - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived & -ArrayBase::operator+=(const ArrayBase& other) -{ - call_assignment(derived(), other.derived(), internal::add_assign_op()); - return derived(); -} - -/** replaces \c *this by \c *this * \a other coefficient wise. - * - * \returns a reference to \c *this - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived & -ArrayBase::operator*=(const ArrayBase& other) -{ - call_assignment(derived(), other.derived(), internal::mul_assign_op()); - return derived(); -} - -/** replaces \c *this by \c *this / \a other coefficient wise. - * - * \returns a reference to \c *this - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived & -ArrayBase::operator/=(const ArrayBase& other) -{ - call_assignment(derived(), other.derived(), internal::div_assign_op()); - return derived(); -} - -} // end namespace Eigen - -#endif // EIGEN_ARRAYBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayWrapper.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayWrapper.h deleted file mode 100644 index a04521a1..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ArrayWrapper.h +++ /dev/null @@ -1,207 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ARRAYWRAPPER_H -#define EIGEN_ARRAYWRAPPER_H - -namespace Eigen { - -/** \class ArrayWrapper - * \ingroup Core_Module - * - * \brief Expression of a mathematical vector or matrix as an array object - * - * This class is the return type of MatrixBase::array(), and most of the time - * this is the only way it is use. - * - * \sa MatrixBase::array(), class MatrixWrapper - */ - -namespace internal { -template -struct traits > - : public traits::type > -{ - typedef ArrayXpr XprKind; - // Let's remove NestByRefBit - enum { - Flags0 = traits::type >::Flags, - Flags = Flags0 & ~NestByRefBit - }; -}; -} - -template -class ArrayWrapper : public ArrayBase > -{ - public: - typedef ArrayBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper) - typedef typename internal::remove_all::type NestedExpression; - - typedef typename internal::conditional< - internal::is_lvalue::value, - Scalar, - const Scalar - >::type ScalarWithConstIfNotLvalue; - - typedef typename internal::ref_selector::non_const_type NestedExpressionType; - - using Base::coeffRef; - - EIGEN_DEVICE_FUNC - explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {} - - EIGEN_DEVICE_FUNC - inline Index rows() const { return m_expression.rows(); } - EIGEN_DEVICE_FUNC - inline Index cols() const { return m_expression.cols(); } - EIGEN_DEVICE_FUNC - inline Index outerStride() const { return m_expression.outerStride(); } - EIGEN_DEVICE_FUNC - inline Index innerStride() const { return m_expression.innerStride(); } - - EIGEN_DEVICE_FUNC - inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); } - EIGEN_DEVICE_FUNC - inline const Scalar* data() const { return m_expression.data(); } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index rowId, Index colId) const - { - return m_expression.coeffRef(rowId, colId); - } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index index) const - { - return m_expression.coeffRef(index); - } - - template - EIGEN_DEVICE_FUNC - inline void evalTo(Dest& dst) const { dst = m_expression; } - - const typename internal::remove_all::type& - EIGEN_DEVICE_FUNC - nestedExpression() const - { - return m_expression; - } - - /** Forwards the resizing request to the nested expression - * \sa DenseBase::resize(Index) */ - EIGEN_DEVICE_FUNC - void resize(Index newSize) { m_expression.resize(newSize); } - /** Forwards the resizing request to the nested expression - * \sa DenseBase::resize(Index,Index)*/ - EIGEN_DEVICE_FUNC - void resize(Index rows, Index cols) { m_expression.resize(rows,cols); } - - protected: - NestedExpressionType m_expression; -}; - -/** \class MatrixWrapper - * \ingroup Core_Module - * - * \brief Expression of an array as a mathematical vector or matrix - * - * This class is the return type of ArrayBase::matrix(), and most of the time - * this is the only way it is use. - * - * \sa MatrixBase::matrix(), class ArrayWrapper - */ - -namespace internal { -template -struct traits > - : public traits::type > -{ - typedef MatrixXpr XprKind; - // Let's remove NestByRefBit - enum { - Flags0 = traits::type >::Flags, - Flags = Flags0 & ~NestByRefBit - }; -}; -} - -template -class MatrixWrapper : public MatrixBase > -{ - public: - typedef MatrixBase > Base; - EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper) - typedef typename internal::remove_all::type NestedExpression; - - typedef typename internal::conditional< - internal::is_lvalue::value, - Scalar, - const Scalar - >::type ScalarWithConstIfNotLvalue; - - typedef typename internal::ref_selector::non_const_type NestedExpressionType; - - using Base::coeffRef; - - EIGEN_DEVICE_FUNC - explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {} - - EIGEN_DEVICE_FUNC - inline Index rows() const { return m_expression.rows(); } - EIGEN_DEVICE_FUNC - inline Index cols() const { return m_expression.cols(); } - EIGEN_DEVICE_FUNC - inline Index outerStride() const { return m_expression.outerStride(); } - EIGEN_DEVICE_FUNC - inline Index innerStride() const { return m_expression.innerStride(); } - - EIGEN_DEVICE_FUNC - inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); } - EIGEN_DEVICE_FUNC - inline const Scalar* data() const { return m_expression.data(); } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index rowId, Index colId) const - { - return m_expression.derived().coeffRef(rowId, colId); - } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index index) const - { - return m_expression.coeffRef(index); - } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - nestedExpression() const - { - return m_expression; - } - - /** Forwards the resizing request to the nested expression - * \sa DenseBase::resize(Index) */ - EIGEN_DEVICE_FUNC - void resize(Index newSize) { m_expression.resize(newSize); } - /** Forwards the resizing request to the nested expression - * \sa DenseBase::resize(Index,Index)*/ - EIGEN_DEVICE_FUNC - void resize(Index rows, Index cols) { m_expression.resize(rows,cols); } - - protected: - NestedExpressionType m_expression; -}; - -} // end namespace Eigen - -#endif // EIGEN_ARRAYWRAPPER_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Assign.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Assign.h deleted file mode 100644 index 655412ef..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Assign.h +++ /dev/null @@ -1,90 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2007 Michael Olbrich -// Copyright (C) 2006-2010 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ASSIGN_H -#define EIGEN_ASSIGN_H - -namespace Eigen { - -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase - ::lazyAssign(const DenseBase& other) -{ - enum{ - SameType = internal::is_same::value - }; - - EIGEN_STATIC_ASSERT_LVALUE(Derived) - EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived) - EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) - - eigen_assert(rows() == other.rows() && cols() == other.cols()); - internal::call_assignment_no_alias(derived(),other.derived()); - - return derived(); -} - -template -template -EIGEN_DEVICE_FUNC -EIGEN_STRONG_INLINE Derived& DenseBase::operator=(const DenseBase& other) -{ - internal::call_assignment(derived(), other.derived()); - return derived(); -} - -template -EIGEN_DEVICE_FUNC -EIGEN_STRONG_INLINE Derived& DenseBase::operator=(const DenseBase& other) -{ - internal::call_assignment(derived(), other.derived()); - return derived(); -} - -template -EIGEN_DEVICE_FUNC -EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const MatrixBase& other) -{ - internal::call_assignment(derived(), other.derived()); - return derived(); -} - -template -template -EIGEN_DEVICE_FUNC -EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const DenseBase& other) -{ - internal::call_assignment(derived(), other.derived()); - return derived(); -} - -template -template -EIGEN_DEVICE_FUNC -EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const EigenBase& other) -{ - internal::call_assignment(derived(), other.derived()); - return derived(); -} - -template -template -EIGEN_DEVICE_FUNC -EIGEN_STRONG_INLINE Derived& MatrixBase::operator=(const ReturnByValue& other) -{ - other.derived().evalTo(derived()); - return derived(); -} - -} // end namespace Eigen - -#endif // EIGEN_ASSIGN_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/AssignEvaluator.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/AssignEvaluator.h deleted file mode 100644 index b0ec7b7c..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/AssignEvaluator.h +++ /dev/null @@ -1,935 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// Copyright (C) 2011-2014 Gael Guennebaud -// Copyright (C) 2011-2012 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ASSIGN_EVALUATOR_H -#define EIGEN_ASSIGN_EVALUATOR_H - -namespace Eigen { - -// This implementation is based on Assign.h - -namespace internal { - -/*************************************************************************** -* Part 1 : the logic deciding a strategy for traversal and unrolling * -***************************************************************************/ - -// copy_using_evaluator_traits is based on assign_traits - -template -struct copy_using_evaluator_traits -{ - typedef typename DstEvaluator::XprType Dst; - typedef typename Dst::Scalar DstScalar; - - enum { - DstFlags = DstEvaluator::Flags, - SrcFlags = SrcEvaluator::Flags - }; - -public: - enum { - DstAlignment = DstEvaluator::Alignment, - SrcAlignment = SrcEvaluator::Alignment, - DstHasDirectAccess = DstFlags & DirectAccessBit, - JointAlignment = EIGEN_PLAIN_ENUM_MIN(DstAlignment,SrcAlignment) - }; - -private: - enum { - InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime) - : int(DstFlags)&RowMajorBit ? int(Dst::ColsAtCompileTime) - : int(Dst::RowsAtCompileTime), - InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime) - : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime) - : int(Dst::MaxRowsAtCompileTime), - OuterStride = int(outer_stride_at_compile_time::ret), - MaxSizeAtCompileTime = Dst::SizeAtCompileTime - }; - - // TODO distinguish between linear traversal and inner-traversals - typedef typename find_best_packet::type LinearPacketType; - typedef typename find_best_packet::type InnerPacketType; - - enum { - LinearPacketSize = unpacket_traits::size, - InnerPacketSize = unpacket_traits::size - }; - -public: - enum { - LinearRequiredAlignment = unpacket_traits::alignment, - InnerRequiredAlignment = unpacket_traits::alignment - }; - -private: - enum { - DstIsRowMajor = DstFlags&RowMajorBit, - SrcIsRowMajor = SrcFlags&RowMajorBit, - StorageOrdersAgree = (int(DstIsRowMajor) == int(SrcIsRowMajor)), - MightVectorize = bool(StorageOrdersAgree) - && (int(DstFlags) & int(SrcFlags) & ActualPacketAccessBit) - && bool(functor_traits::PacketAccess), - MayInnerVectorize = MightVectorize - && int(InnerSize)!=Dynamic && int(InnerSize)%int(InnerPacketSize)==0 - && int(OuterStride)!=Dynamic && int(OuterStride)%int(InnerPacketSize)==0 - && (EIGEN_UNALIGNED_VECTORIZE || int(JointAlignment)>=int(InnerRequiredAlignment)), - MayLinearize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & LinearAccessBit), - MayLinearVectorize = bool(MightVectorize) && MayLinearize && DstHasDirectAccess - && (EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)) || MaxSizeAtCompileTime == Dynamic), - /* If the destination isn't aligned, we have to do runtime checks and we don't unroll, - so it's only good for large enough sizes. */ - MaySliceVectorize = bool(MightVectorize) && bool(DstHasDirectAccess) - && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=(EIGEN_UNALIGNED_VECTORIZE?InnerPacketSize:(3*InnerPacketSize))) - /* slice vectorization can be slow, so we only want it if the slices are big, which is - indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block - in a fixed-size matrix - However, with EIGEN_UNALIGNED_VECTORIZE and unrolling, slice vectorization is still worth it */ - }; - -public: - enum { - Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal) - : int(MayInnerVectorize) ? int(InnerVectorizedTraversal) - : int(MayLinearVectorize) ? int(LinearVectorizedTraversal) - : int(MaySliceVectorize) ? int(SliceVectorizedTraversal) - : int(MayLinearize) ? int(LinearTraversal) - : int(DefaultTraversal), - Vectorized = int(Traversal) == InnerVectorizedTraversal - || int(Traversal) == LinearVectorizedTraversal - || int(Traversal) == SliceVectorizedTraversal - }; - - typedef typename conditional::type PacketType; - -private: - enum { - ActualPacketSize = int(Traversal)==LinearVectorizedTraversal ? LinearPacketSize - : Vectorized ? InnerPacketSize - : 1, - UnrollingLimit = EIGEN_UNROLLING_LIMIT * ActualPacketSize, - MayUnrollCompletely = int(Dst::SizeAtCompileTime) != Dynamic - && int(Dst::SizeAtCompileTime) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit), - MayUnrollInner = int(InnerSize) != Dynamic - && int(InnerSize) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit) - }; - -public: - enum { - Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal)) - ? ( - int(MayUnrollCompletely) ? int(CompleteUnrolling) - : int(MayUnrollInner) ? int(InnerUnrolling) - : int(NoUnrolling) - ) - : int(Traversal) == int(LinearVectorizedTraversal) - ? ( bool(MayUnrollCompletely) && ( EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment))) - ? int(CompleteUnrolling) - : int(NoUnrolling) ) - : int(Traversal) == int(LinearTraversal) - ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) - : int(NoUnrolling) ) -#if EIGEN_UNALIGNED_VECTORIZE - : int(Traversal) == int(SliceVectorizedTraversal) - ? ( bool(MayUnrollInner) ? int(InnerUnrolling) - : int(NoUnrolling) ) -#endif - : int(NoUnrolling) - }; - -#ifdef EIGEN_DEBUG_ASSIGN - static void debug() - { - std::cerr << "DstXpr: " << typeid(typename DstEvaluator::XprType).name() << std::endl; - std::cerr << "SrcXpr: " << typeid(typename SrcEvaluator::XprType).name() << std::endl; - std::cerr.setf(std::ios::hex, std::ios::basefield); - std::cerr << "DstFlags" << " = " << DstFlags << " (" << demangle_flags(DstFlags) << " )" << std::endl; - std::cerr << "SrcFlags" << " = " << SrcFlags << " (" << demangle_flags(SrcFlags) << " )" << std::endl; - std::cerr.unsetf(std::ios::hex); - EIGEN_DEBUG_VAR(DstAlignment) - EIGEN_DEBUG_VAR(SrcAlignment) - EIGEN_DEBUG_VAR(LinearRequiredAlignment) - EIGEN_DEBUG_VAR(InnerRequiredAlignment) - EIGEN_DEBUG_VAR(JointAlignment) - EIGEN_DEBUG_VAR(InnerSize) - EIGEN_DEBUG_VAR(InnerMaxSize) - EIGEN_DEBUG_VAR(LinearPacketSize) - EIGEN_DEBUG_VAR(InnerPacketSize) - EIGEN_DEBUG_VAR(ActualPacketSize) - EIGEN_DEBUG_VAR(StorageOrdersAgree) - EIGEN_DEBUG_VAR(MightVectorize) - EIGEN_DEBUG_VAR(MayLinearize) - EIGEN_DEBUG_VAR(MayInnerVectorize) - EIGEN_DEBUG_VAR(MayLinearVectorize) - EIGEN_DEBUG_VAR(MaySliceVectorize) - std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl; - EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost) - EIGEN_DEBUG_VAR(UnrollingLimit) - EIGEN_DEBUG_VAR(MayUnrollCompletely) - EIGEN_DEBUG_VAR(MayUnrollInner) - std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl; - std::cerr << std::endl; - } -#endif -}; - -/*************************************************************************** -* Part 2 : meta-unrollers -***************************************************************************/ - -/************************ -*** Default traversal *** -************************/ - -template -struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling -{ - // FIXME: this is not very clean, perhaps this information should be provided by the kernel? - typedef typename Kernel::DstEvaluatorType DstEvaluatorType; - typedef typename DstEvaluatorType::XprType DstXprType; - - enum { - outer = Index / DstXprType::InnerSizeAtCompileTime, - inner = Index % DstXprType::InnerSizeAtCompileTime - }; - - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - kernel.assignCoeffByOuterInner(outer, inner); - copy_using_evaluator_DefaultTraversal_CompleteUnrolling::run(kernel); - } -}; - -template -struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { } -}; - -template -struct copy_using_evaluator_DefaultTraversal_InnerUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer) - { - kernel.assignCoeffByOuterInner(outer, Index_); - copy_using_evaluator_DefaultTraversal_InnerUnrolling::run(kernel, outer); - } -}; - -template -struct copy_using_evaluator_DefaultTraversal_InnerUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index) { } -}; - -/*********************** -*** Linear traversal *** -***********************/ - -template -struct copy_using_evaluator_LinearTraversal_CompleteUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) - { - kernel.assignCoeff(Index); - copy_using_evaluator_LinearTraversal_CompleteUnrolling::run(kernel); - } -}; - -template -struct copy_using_evaluator_LinearTraversal_CompleteUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { } -}; - -/************************** -*** Inner vectorization *** -**************************/ - -template -struct copy_using_evaluator_innervec_CompleteUnrolling -{ - // FIXME: this is not very clean, perhaps this information should be provided by the kernel? - typedef typename Kernel::DstEvaluatorType DstEvaluatorType; - typedef typename DstEvaluatorType::XprType DstXprType; - typedef typename Kernel::PacketType PacketType; - - enum { - outer = Index / DstXprType::InnerSizeAtCompileTime, - inner = Index % DstXprType::InnerSizeAtCompileTime, - SrcAlignment = Kernel::AssignmentTraits::SrcAlignment, - DstAlignment = Kernel::AssignmentTraits::DstAlignment - }; - - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - kernel.template assignPacketByOuterInner(outer, inner); - enum { NextIndex = Index + unpacket_traits::size }; - copy_using_evaluator_innervec_CompleteUnrolling::run(kernel); - } -}; - -template -struct copy_using_evaluator_innervec_CompleteUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { } -}; - -template -struct copy_using_evaluator_innervec_InnerUnrolling -{ - typedef typename Kernel::PacketType PacketType; - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer) - { - kernel.template assignPacketByOuterInner(outer, Index_); - enum { NextIndex = Index_ + unpacket_traits::size }; - copy_using_evaluator_innervec_InnerUnrolling::run(kernel, outer); - } -}; - -template -struct copy_using_evaluator_innervec_InnerUnrolling -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &, Index) { } -}; - -/*************************************************************************** -* Part 3 : implementation of all cases -***************************************************************************/ - -// dense_assignment_loop is based on assign_impl - -template -struct dense_assignment_loop; - -/************************ -*** Default traversal *** -************************/ - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel &kernel) - { - for(Index outer = 0; outer < kernel.outerSize(); ++outer) { - for(Index inner = 0; inner < kernel.innerSize(); ++inner) { - kernel.assignCoeffByOuterInner(outer, inner); - } - } - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - copy_using_evaluator_DefaultTraversal_CompleteUnrolling::run(kernel); - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - - const Index outerSize = kernel.outerSize(); - for(Index outer = 0; outer < outerSize; ++outer) - copy_using_evaluator_DefaultTraversal_InnerUnrolling::run(kernel, outer); - } -}; - -/*************************** -*** Linear vectorization *** -***************************/ - - -// The goal of unaligned_dense_assignment_loop is simply to factorize the handling -// of the non vectorizable beginning and ending parts - -template -struct unaligned_dense_assignment_loop -{ - // if IsAligned = true, then do nothing - template - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index, Index) {} -}; - -template <> -struct unaligned_dense_assignment_loop -{ - // MSVC must not inline this functions. If it does, it fails to optimize the - // packet access path. - // FIXME check which version exhibits this issue -#if EIGEN_COMP_MSVC - template - static EIGEN_DONT_INLINE void run(Kernel &kernel, - Index start, - Index end) -#else - template - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, - Index start, - Index end) -#endif - { - for (Index index = start; index < end; ++index) - kernel.assignCoeff(index); - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - const Index size = kernel.size(); - typedef typename Kernel::Scalar Scalar; - typedef typename Kernel::PacketType PacketType; - enum { - requestedAlignment = Kernel::AssignmentTraits::LinearRequiredAlignment, - packetSize = unpacket_traits::size, - dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment), - dstAlignment = packet_traits::AlignedOnScalar ? int(requestedAlignment) - : int(Kernel::AssignmentTraits::DstAlignment), - srcAlignment = Kernel::AssignmentTraits::JointAlignment - }; - const Index alignedStart = dstIsAligned ? 0 : internal::first_aligned(kernel.dstDataPtr(), size); - const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize; - - unaligned_dense_assignment_loop::run(kernel, 0, alignedStart); - - for(Index index = alignedStart; index < alignedEnd; index += packetSize) - kernel.template assignPacket(index); - - unaligned_dense_assignment_loop<>::run(kernel, alignedEnd, size); - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - typedef typename Kernel::PacketType PacketType; - - enum { size = DstXprType::SizeAtCompileTime, - packetSize =unpacket_traits::size, - alignedSize = (size/packetSize)*packetSize }; - - copy_using_evaluator_innervec_CompleteUnrolling::run(kernel); - copy_using_evaluator_DefaultTraversal_CompleteUnrolling::run(kernel); - } -}; - -/************************** -*** Inner vectorization *** -**************************/ - -template -struct dense_assignment_loop -{ - typedef typename Kernel::PacketType PacketType; - enum { - SrcAlignment = Kernel::AssignmentTraits::SrcAlignment, - DstAlignment = Kernel::AssignmentTraits::DstAlignment - }; - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - const Index innerSize = kernel.innerSize(); - const Index outerSize = kernel.outerSize(); - const Index packetSize = unpacket_traits::size; - for(Index outer = 0; outer < outerSize; ++outer) - for(Index inner = 0; inner < innerSize; inner+=packetSize) - kernel.template assignPacketByOuterInner(outer, inner); - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - copy_using_evaluator_innervec_CompleteUnrolling::run(kernel); - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - typedef typename Kernel::AssignmentTraits Traits; - const Index outerSize = kernel.outerSize(); - for(Index outer = 0; outer < outerSize; ++outer) - copy_using_evaluator_innervec_InnerUnrolling::run(kernel, outer); - } -}; - -/*********************** -*** Linear traversal *** -***********************/ - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - const Index size = kernel.size(); - for(Index i = 0; i < size; ++i) - kernel.assignCoeff(i); - } -}; - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - copy_using_evaluator_LinearTraversal_CompleteUnrolling::run(kernel); - } -}; - -/************************** -*** Slice vectorization *** -***************************/ - -template -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::Scalar Scalar; - typedef typename Kernel::PacketType PacketType; - enum { - packetSize = unpacket_traits::size, - requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment), - alignable = packet_traits::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment)>=sizeof(Scalar), - dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment), - dstAlignment = alignable ? int(requestedAlignment) - : int(Kernel::AssignmentTraits::DstAlignment) - }; - const Scalar *dst_ptr = kernel.dstDataPtr(); - if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0) - { - // the pointer is not aligend-on scalar, so alignment is not possible - return dense_assignment_loop::run(kernel); - } - const Index packetAlignedMask = packetSize - 1; - const Index innerSize = kernel.innerSize(); - const Index outerSize = kernel.outerSize(); - const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0; - Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize); - - for(Index outer = 0; outer < outerSize; ++outer) - { - const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask); - // do the non-vectorizable part of the assignment - for(Index inner = 0; inner(outer, inner); - - // do the non-vectorizable part of the assignment - for(Index inner = alignedEnd; inner -struct dense_assignment_loop -{ - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel) - { - typedef typename Kernel::DstEvaluatorType::XprType DstXprType; - typedef typename Kernel::PacketType PacketType; - - enum { size = DstXprType::InnerSizeAtCompileTime, - packetSize =unpacket_traits::size, - vectorizableSize = (size/packetSize)*packetSize }; - - for(Index outer = 0; outer < kernel.outerSize(); ++outer) - { - copy_using_evaluator_innervec_InnerUnrolling::run(kernel, outer); - copy_using_evaluator_DefaultTraversal_InnerUnrolling::run(kernel, outer); - } - } -}; -#endif - - -/*************************************************************************** -* Part 4 : Generic dense assignment kernel -***************************************************************************/ - -// This class generalize the assignment of a coefficient (or packet) from one dense evaluator -// to another dense writable evaluator. -// It is parametrized by the two evaluators, and the actual assignment functor. -// This abstraction level permits to keep the evaluation loops as simple and as generic as possible. -// One can customize the assignment using this generic dense_assignment_kernel with different -// functors, or by completely overloading it, by-passing a functor. -template -class generic_dense_assignment_kernel -{ -protected: - typedef typename DstEvaluatorTypeT::XprType DstXprType; - typedef typename SrcEvaluatorTypeT::XprType SrcXprType; -public: - - typedef DstEvaluatorTypeT DstEvaluatorType; - typedef SrcEvaluatorTypeT SrcEvaluatorType; - typedef typename DstEvaluatorType::Scalar Scalar; - typedef copy_using_evaluator_traits AssignmentTraits; - typedef typename AssignmentTraits::PacketType PacketType; - - - EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr) - : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr) - { - #ifdef EIGEN_DEBUG_ASSIGN - AssignmentTraits::debug(); - #endif - } - - EIGEN_DEVICE_FUNC Index size() const { return m_dstExpr.size(); } - EIGEN_DEVICE_FUNC Index innerSize() const { return m_dstExpr.innerSize(); } - EIGEN_DEVICE_FUNC Index outerSize() const { return m_dstExpr.outerSize(); } - EIGEN_DEVICE_FUNC Index rows() const { return m_dstExpr.rows(); } - EIGEN_DEVICE_FUNC Index cols() const { return m_dstExpr.cols(); } - EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); } - - EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; } - EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; } - - /// Assign src(row,col) to dst(row,col) through the assignment functor. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col) - { - m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col)); - } - - /// \sa assignCoeff(Index,Index) - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index) - { - m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index)); - } - - /// \sa assignCoeff(Index,Index) - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner) - { - Index row = rowIndexByOuterInner(outer, inner); - Index col = colIndexByOuterInner(outer, inner); - assignCoeff(row, col); - } - - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col) - { - m_functor.template assignPacket(&m_dst.coeffRef(row,col), m_src.template packet(row,col)); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index) - { - m_functor.template assignPacket(&m_dst.coeffRef(index), m_src.template packet(index)); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner) - { - Index row = rowIndexByOuterInner(outer, inner); - Index col = colIndexByOuterInner(outer, inner); - assignPacket(row, col); - } - - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) - { - typedef typename DstEvaluatorType::ExpressionTraits Traits; - return int(Traits::RowsAtCompileTime) == 1 ? 0 - : int(Traits::ColsAtCompileTime) == 1 ? inner - : int(DstEvaluatorType::Flags)&RowMajorBit ? outer - : inner; - } - - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) - { - typedef typename DstEvaluatorType::ExpressionTraits Traits; - return int(Traits::ColsAtCompileTime) == 1 ? 0 - : int(Traits::RowsAtCompileTime) == 1 ? inner - : int(DstEvaluatorType::Flags)&RowMajorBit ? inner - : outer; - } - - EIGEN_DEVICE_FUNC const Scalar* dstDataPtr() const - { - return m_dstExpr.data(); - } - -protected: - DstEvaluatorType& m_dst; - const SrcEvaluatorType& m_src; - const Functor &m_functor; - // TODO find a way to avoid the needs of the original expression - DstXprType& m_dstExpr; -}; - -/*************************************************************************** -* Part 5 : Entry point for dense rectangular assignment -***************************************************************************/ - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const Functor &/*func*/) -{ - EIGEN_ONLY_USED_FOR_DEBUG(dst); - EIGEN_ONLY_USED_FOR_DEBUG(src); - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); -} - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const internal::assign_op &/*func*/) -{ - Index dstRows = src.rows(); - Index dstCols = src.cols(); - if(((dst.rows()!=dstRows) || (dst.cols()!=dstCols))) - dst.resize(dstRows, dstCols); - eigen_assert(dst.rows() == dstRows && dst.cols() == dstCols); -} - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func) -{ - typedef evaluator DstEvaluatorType; - typedef evaluator SrcEvaluatorType; - - SrcEvaluatorType srcEvaluator(src); - - // NOTE To properly handle A = (A*A.transpose())/s with A rectangular, - // we need to resize the destination after the source evaluator has been created. - resize_if_allowed(dst, src, func); - - DstEvaluatorType dstEvaluator(dst); - - typedef generic_dense_assignment_kernel Kernel; - Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived()); - - dense_assignment_loop::run(kernel); -} - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src) -{ - call_dense_assignment_loop(dst, src, internal::assign_op()); -} - -/*************************************************************************** -* Part 6 : Generic assignment -***************************************************************************/ - -// Based on the respective shapes of the destination and source, -// the class AssignmentKind determine the kind of assignment mechanism. -// AssignmentKind must define a Kind typedef. -template struct AssignmentKind; - -// Assignement kind defined in this file: -struct Dense2Dense {}; -struct EigenBase2EigenBase {}; - -template struct AssignmentKind { typedef EigenBase2EigenBase Kind; }; -template<> struct AssignmentKind { typedef Dense2Dense Kind; }; - -// This is the main assignment class -template< typename DstXprType, typename SrcXprType, typename Functor, - typename Kind = typename AssignmentKind< typename evaluator_traits::Shape , typename evaluator_traits::Shape >::Kind, - typename EnableIf = void> -struct Assignment; - - -// The only purpose of this call_assignment() function is to deal with noalias() / "assume-aliasing" and automatic transposition. -// Indeed, I (Gael) think that this concept of "assume-aliasing" was a mistake, and it makes thing quite complicated. -// So this intermediate function removes everything related to "assume-aliasing" such that Assignment -// does not has to bother about these annoying details. - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment(Dst& dst, const Src& src) -{ - call_assignment(dst, src, internal::assign_op()); -} -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment(const Dst& dst, const Src& src) -{ - call_assignment(dst, src, internal::assign_op()); -} - -// Deal with "assume-aliasing" -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if< evaluator_assume_aliasing::value, void*>::type = 0) -{ - typename plain_matrix_type::type tmp(src); - call_assignment_no_alias(dst, tmp, func); -} - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if::value, void*>::type = 0) -{ - call_assignment_no_alias(dst, src, func); -} - -// by-pass "assume-aliasing" -// When there is no aliasing, we require that 'dst' has been properly resized -template class StorageBase, typename Src, typename Func> -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment(NoAlias& dst, const Src& src, const Func& func) -{ - call_assignment_no_alias(dst.expression(), src, func); -} - - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func) -{ - enum { - NeedToTranspose = ( (int(Dst::RowsAtCompileTime) == 1 && int(Src::ColsAtCompileTime) == 1) - || (int(Dst::ColsAtCompileTime) == 1 && int(Src::RowsAtCompileTime) == 1) - ) && int(Dst::SizeAtCompileTime) != 1 - }; - - typedef typename internal::conditional, Dst>::type ActualDstTypeCleaned; - typedef typename internal::conditional, Dst&>::type ActualDstType; - ActualDstType actualDst(dst); - - // TODO check whether this is the right place to perform these checks: - EIGEN_STATIC_ASSERT_LVALUE(Dst) - EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src) - EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); - - Assignment::run(actualDst, src, func); -} -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment_no_alias(Dst& dst, const Src& src) -{ - call_assignment_no_alias(dst, src, internal::assign_op()); -} - -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src, const Func& func) -{ - // TODO check whether this is the right place to perform these checks: - EIGEN_STATIC_ASSERT_LVALUE(Dst) - EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Dst,Src) - EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar); - - Assignment::run(dst, src, func); -} -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src) -{ - call_assignment_no_alias_no_transpose(dst, src, internal::assign_op()); -} - -// forward declaration -template void check_for_aliasing(const Dst &dst, const Src &src); - -// Generic Dense to Dense assignment -// Note that the last template argument "Weak" is needed to make it possible to perform -// both partial specialization+SFINAE without ambiguous specialization -template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak> -struct Assignment -{ - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const Functor &func) - { -#ifndef EIGEN_NO_DEBUG - internal::check_for_aliasing(dst, src); -#endif - - call_dense_assignment_loop(dst, src, func); - } -}; - -// Generic assignment through evalTo. -// TODO: not sure we have to keep that one, but it helps porting current code to new evaluator mechanism. -// Note that the last template argument "Weak" is needed to make it possible to perform -// both partial specialization+SFINAE without ambiguous specialization -template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak> -struct Assignment -{ - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op &/*func*/) - { - Index dstRows = src.rows(); - Index dstCols = src.cols(); - if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) - dst.resize(dstRows, dstCols); - - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); - src.evalTo(dst); - } - - // NOTE The following two functions are templated to avoid their instanciation if not needed - // This is needed because some expressions supports evalTo only and/or have 'void' as scalar type. - template - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op &/*func*/) - { - Index dstRows = src.rows(); - Index dstCols = src.cols(); - if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) - dst.resize(dstRows, dstCols); - - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); - src.addTo(dst); - } - - template - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op &/*func*/) - { - Index dstRows = src.rows(); - Index dstCols = src.cols(); - if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) - dst.resize(dstRows, dstCols); - - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); - src.subTo(dst); - } -}; - -} // namespace internal - -} // end namespace Eigen - -#endif // EIGEN_ASSIGN_EVALUATOR_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Assign_MKL.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Assign_MKL.h deleted file mode 100644 index 6c2ab926..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Assign_MKL.h +++ /dev/null @@ -1,176 +0,0 @@ -/* - Copyright (c) 2011, Intel Corporation. All rights reserved. - Copyright (C) 2015 Gael Guennebaud - - Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - * Neither the name of Intel Corporation nor the names of its contributors may - be used to endorse or promote products derived from this software without - specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR - ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - ******************************************************************************** - * Content : Eigen bindings to Intel(R) MKL - * MKL VML support for coefficient-wise unary Eigen expressions like a=b.sin() - ******************************************************************************** -*/ - -#ifndef EIGEN_ASSIGN_VML_H -#define EIGEN_ASSIGN_VML_H - -namespace Eigen { - -namespace internal { - -template -class vml_assign_traits -{ - private: - enum { - DstHasDirectAccess = Dst::Flags & DirectAccessBit, - SrcHasDirectAccess = Src::Flags & DirectAccessBit, - StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)), - InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime) - : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime) - : int(Dst::RowsAtCompileTime), - InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime) - : int(Dst::Flags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime) - : int(Dst::MaxRowsAtCompileTime), - MaxSizeAtCompileTime = Dst::SizeAtCompileTime, - - MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1, - MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit), - VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize, - LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD - }; - public: - enum { - EnableVml = MightEnableVml && LargeEnough, - Traversal = MightLinearize ? LinearTraversal : DefaultTraversal - }; -}; - -#define EIGEN_PP_EXPAND(ARG) ARG -#if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1) -#define EIGEN_VMLMODE_EXPAND_LA , VML_HA -#else -#define EIGEN_VMLMODE_EXPAND_LA , VML_LA -#endif - -#define EIGEN_VMLMODE_EXPAND__ - -#define EIGEN_VMLMODE_PREFIX_LA vm -#define EIGEN_VMLMODE_PREFIX__ v -#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE) - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \ - template< typename DstXprType, typename SrcXprNested> \ - struct Assignment, SrcXprNested>, assign_op, \ - Dense2Dense, typename enable_if::EnableVml>::type> { \ - typedef CwiseUnaryOp, SrcXprNested> SrcXprType; \ - static void run(DstXprType &dst, const SrcXprType &src, const assign_op &/*func*/) { \ - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \ - if(vml_assign_traits::Traversal==LinearTraversal) { \ - VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(), \ - (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \ - } else { \ - const Index outerSize = dst.outerSize(); \ - for(Index outer = 0; outer < outerSize; ++outer) { \ - const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) : \ - &(src.nestedExpression().coeffRef(0, outer)); \ - EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \ - VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, \ - (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \ - } \ - } \ - } \ - }; \ - - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE) - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE) - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) - - -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin, Sin, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin, Asin, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh, Sinh, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos, Cos, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos, Acos, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh, Cosh, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan, Tan, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan, Atan, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh, Tanh, LA) -// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs, Abs, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp, Exp, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log, Ln, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt, Sqrt, _) - -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil, Ceil, _) - -#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \ - template< typename DstXprType, typename SrcXprNested, typename Plain> \ - struct Assignment, SrcXprNested, \ - const CwiseNullaryOp,Plain> >, assign_op, \ - Dense2Dense, typename enable_if::EnableVml>::type> { \ - typedef CwiseBinaryOp, SrcXprNested, \ - const CwiseNullaryOp,Plain> > SrcXprType; \ - static void run(DstXprType &dst, const SrcXprType &src, const assign_op &/*func*/) { \ - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \ - VMLTYPE exponent = reinterpret_cast(src.rhs().functor().m_other); \ - if(vml_assign_traits::Traversal==LinearTraversal) \ - { \ - VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent, \ - (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \ - } else { \ - const Index outerSize = dst.outerSize(); \ - for(Index outer = 0; outer < outerSize; ++outer) { \ - const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) : \ - &(src.lhs().coeffRef(0, outer)); \ - EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \ - VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent, \ - (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \ - } \ - } \ - } \ - }; - -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float, float, LA) -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double, double, LA) -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8, LA) -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA) - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_ASSIGN_VML_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/BandMatrix.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/BandMatrix.h deleted file mode 100644 index 4978c914..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/BandMatrix.h +++ /dev/null @@ -1,353 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_BANDMATRIX_H -#define EIGEN_BANDMATRIX_H - -namespace Eigen { - -namespace internal { - -template -class BandMatrixBase : public EigenBase -{ - public: - - enum { - Flags = internal::traits::Flags, - CoeffReadCost = internal::traits::CoeffReadCost, - RowsAtCompileTime = internal::traits::RowsAtCompileTime, - ColsAtCompileTime = internal::traits::ColsAtCompileTime, - MaxRowsAtCompileTime = internal::traits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = internal::traits::MaxColsAtCompileTime, - Supers = internal::traits::Supers, - Subs = internal::traits::Subs, - Options = internal::traits::Options - }; - typedef typename internal::traits::Scalar Scalar; - typedef Matrix DenseMatrixType; - typedef typename DenseMatrixType::StorageIndex StorageIndex; - typedef typename internal::traits::CoefficientsType CoefficientsType; - typedef EigenBase Base; - - protected: - enum { - DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) - ? 1 + Supers + Subs - : Dynamic, - SizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime) - }; - - public: - - using Base::derived; - using Base::rows; - using Base::cols; - - /** \returns the number of super diagonals */ - inline Index supers() const { return derived().supers(); } - - /** \returns the number of sub diagonals */ - inline Index subs() const { return derived().subs(); } - - /** \returns an expression of the underlying coefficient matrix */ - inline const CoefficientsType& coeffs() const { return derived().coeffs(); } - - /** \returns an expression of the underlying coefficient matrix */ - inline CoefficientsType& coeffs() { return derived().coeffs(); } - - /** \returns a vector expression of the \a i -th column, - * only the meaningful part is returned. - * \warning the internal storage must be column major. */ - inline Block col(Index i) - { - EIGEN_STATIC_ASSERT((Options&RowMajor)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES); - Index start = 0; - Index len = coeffs().rows(); - if (i<=supers()) - { - start = supers()-i; - len = (std::min)(rows(),std::max(0,coeffs().rows() - (supers()-i))); - } - else if (i>=rows()-subs()) - len = std::max(0,coeffs().rows() - (i + 1 - rows() + subs())); - return Block(coeffs(), start, i, len, 1); - } - - /** \returns a vector expression of the main diagonal */ - inline Block diagonal() - { return Block(coeffs(),supers(),0,1,(std::min)(rows(),cols())); } - - /** \returns a vector expression of the main diagonal (const version) */ - inline const Block diagonal() const - { return Block(coeffs(),supers(),0,1,(std::min)(rows(),cols())); } - - template struct DiagonalIntReturnType { - enum { - ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)), - Conjugate = ReturnOpposite && NumTraits::IsComplex, - ActualIndex = ReturnOpposite ? -Index : Index, - DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic) - ? Dynamic - : (ActualIndex<0 - ? EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime, RowsAtCompileTime + ActualIndex) - : EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime - ActualIndex)) - }; - typedef Block BuildType; - typedef typename internal::conditional,BuildType >, - BuildType>::type Type; - }; - - /** \returns a vector expression of the \a N -th sub or super diagonal */ - template inline typename DiagonalIntReturnType::Type diagonal() - { - return typename DiagonalIntReturnType::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N)); - } - - /** \returns a vector expression of the \a N -th sub or super diagonal */ - template inline const typename DiagonalIntReturnType::Type diagonal() const - { - return typename DiagonalIntReturnType::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N)); - } - - /** \returns a vector expression of the \a i -th sub or super diagonal */ - inline Block diagonal(Index i) - { - eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers())); - return Block(coeffs(), supers()-i, std::max(0,i), 1, diagonalLength(i)); - } - - /** \returns a vector expression of the \a i -th sub or super diagonal */ - inline const Block diagonal(Index i) const - { - eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers())); - return Block(coeffs(), supers()-i, std::max(0,i), 1, diagonalLength(i)); - } - - template inline void evalTo(Dest& dst) const - { - dst.resize(rows(),cols()); - dst.setZero(); - dst.diagonal() = diagonal(); - for (Index i=1; i<=supers();++i) - dst.diagonal(i) = diagonal(i); - for (Index i=1; i<=subs();++i) - dst.diagonal(-i) = diagonal(-i); - } - - DenseMatrixType toDenseMatrix() const - { - DenseMatrixType res(rows(),cols()); - evalTo(res); - return res; - } - - protected: - - inline Index diagonalLength(Index i) const - { return i<0 ? (std::min)(cols(),rows()+i) : (std::min)(rows(),cols()-i); } -}; - -/** - * \class BandMatrix - * \ingroup Core_Module - * - * \brief Represents a rectangular matrix with a banded storage - * - * \tparam _Scalar Numeric type, i.e. float, double, int - * \tparam _Rows Number of rows, or \b Dynamic - * \tparam _Cols Number of columns, or \b Dynamic - * \tparam _Supers Number of super diagonal - * \tparam _Subs Number of sub diagonal - * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint - * The former controls \ref TopicStorageOrders "storage order", and defaults to - * column-major. The latter controls whether the matrix represents a selfadjoint - * matrix in which case either Supers of Subs have to be null. - * - * \sa class TridiagonalMatrix - */ - -template -struct traits > -{ - typedef _Scalar Scalar; - typedef Dense StorageKind; - typedef Eigen::Index StorageIndex; - enum { - CoeffReadCost = NumTraits::ReadCost, - RowsAtCompileTime = _Rows, - ColsAtCompileTime = _Cols, - MaxRowsAtCompileTime = _Rows, - MaxColsAtCompileTime = _Cols, - Flags = LvalueBit, - Supers = _Supers, - Subs = _Subs, - Options = _Options, - DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic - }; - typedef Matrix CoefficientsType; -}; - -template -class BandMatrix : public BandMatrixBase > -{ - public: - - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::traits::StorageIndex StorageIndex; - typedef typename internal::traits::CoefficientsType CoefficientsType; - - explicit inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs) - : m_coeffs(1+supers+subs,cols), - m_rows(rows), m_supers(supers), m_subs(subs) - { - } - - /** \returns the number of columns */ - inline Index rows() const { return m_rows.value(); } - - /** \returns the number of rows */ - inline Index cols() const { return m_coeffs.cols(); } - - /** \returns the number of super diagonals */ - inline Index supers() const { return m_supers.value(); } - - /** \returns the number of sub diagonals */ - inline Index subs() const { return m_subs.value(); } - - inline const CoefficientsType& coeffs() const { return m_coeffs; } - inline CoefficientsType& coeffs() { return m_coeffs; } - - protected: - - CoefficientsType m_coeffs; - internal::variable_if_dynamic m_rows; - internal::variable_if_dynamic m_supers; - internal::variable_if_dynamic m_subs; -}; - -template -class BandMatrixWrapper; - -template -struct traits > -{ - typedef typename _CoefficientsType::Scalar Scalar; - typedef typename _CoefficientsType::StorageKind StorageKind; - typedef typename _CoefficientsType::StorageIndex StorageIndex; - enum { - CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost, - RowsAtCompileTime = _Rows, - ColsAtCompileTime = _Cols, - MaxRowsAtCompileTime = _Rows, - MaxColsAtCompileTime = _Cols, - Flags = LvalueBit, - Supers = _Supers, - Subs = _Subs, - Options = _Options, - DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic - }; - typedef _CoefficientsType CoefficientsType; -}; - -template -class BandMatrixWrapper : public BandMatrixBase > -{ - public: - - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::traits::CoefficientsType CoefficientsType; - typedef typename internal::traits::StorageIndex StorageIndex; - - explicit inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs) - : m_coeffs(coeffs), - m_rows(rows), m_supers(supers), m_subs(subs) - { - EIGEN_UNUSED_VARIABLE(cols); - //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows()); - } - - /** \returns the number of columns */ - inline Index rows() const { return m_rows.value(); } - - /** \returns the number of rows */ - inline Index cols() const { return m_coeffs.cols(); } - - /** \returns the number of super diagonals */ - inline Index supers() const { return m_supers.value(); } - - /** \returns the number of sub diagonals */ - inline Index subs() const { return m_subs.value(); } - - inline const CoefficientsType& coeffs() const { return m_coeffs; } - - protected: - - const CoefficientsType& m_coeffs; - internal::variable_if_dynamic m_rows; - internal::variable_if_dynamic m_supers; - internal::variable_if_dynamic m_subs; -}; - -/** - * \class TridiagonalMatrix - * \ingroup Core_Module - * - * \brief Represents a tridiagonal matrix with a compact banded storage - * - * \tparam Scalar Numeric type, i.e. float, double, int - * \tparam Size Number of rows and cols, or \b Dynamic - * \tparam Options Can be 0 or \b SelfAdjoint - * - * \sa class BandMatrix - */ -template -class TridiagonalMatrix : public BandMatrix -{ - typedef BandMatrix Base; - typedef typename Base::StorageIndex StorageIndex; - public: - explicit TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {} - - inline typename Base::template DiagonalIntReturnType<1>::Type super() - { return Base::template diagonal<1>(); } - inline const typename Base::template DiagonalIntReturnType<1>::Type super() const - { return Base::template diagonal<1>(); } - inline typename Base::template DiagonalIntReturnType<-1>::Type sub() - { return Base::template diagonal<-1>(); } - inline const typename Base::template DiagonalIntReturnType<-1>::Type sub() const - { return Base::template diagonal<-1>(); } - protected: -}; - - -struct BandShape {}; - -template -struct evaluator_traits > - : public evaluator_traits_base > -{ - typedef BandShape Shape; -}; - -template -struct evaluator_traits > - : public evaluator_traits_base > -{ - typedef BandShape Shape; -}; - -template<> struct AssignmentKind { typedef EigenBase2EigenBase Kind; }; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_BANDMATRIX_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Block.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Block.h deleted file mode 100644 index 11de45c2..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Block.h +++ /dev/null @@ -1,452 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_BLOCK_H -#define EIGEN_BLOCK_H - -namespace Eigen { - -namespace internal { -template -struct traits > : traits -{ - typedef typename traits::Scalar Scalar; - typedef typename traits::StorageKind StorageKind; - typedef typename traits::XprKind XprKind; - typedef typename ref_selector::type XprTypeNested; - typedef typename remove_reference::type _XprTypeNested; - enum{ - MatrixRows = traits::RowsAtCompileTime, - MatrixCols = traits::ColsAtCompileTime, - RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows, - ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols, - MaxRowsAtCompileTime = BlockRows==0 ? 0 - : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime) - : int(traits::MaxRowsAtCompileTime), - MaxColsAtCompileTime = BlockCols==0 ? 0 - : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime) - : int(traits::MaxColsAtCompileTime), - - XprTypeIsRowMajor = (int(traits::Flags)&RowMajorBit) != 0, - IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 - : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 - : XprTypeIsRowMajor, - HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor), - InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime), - InnerStrideAtCompileTime = HasSameStorageOrderAsXprType - ? int(inner_stride_at_compile_time::ret) - : int(outer_stride_at_compile_time::ret), - OuterStrideAtCompileTime = HasSameStorageOrderAsXprType - ? int(outer_stride_at_compile_time::ret) - : int(inner_stride_at_compile_time::ret), - - // FIXME, this traits is rather specialized for dense object and it needs to be cleaned further - FlagsLvalueBit = is_lvalue::value ? LvalueBit : 0, - FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0, - Flags = (traits::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit, - // FIXME DirectAccessBit should not be handled by expressions - // - // Alignment is needed by MapBase's assertions - // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator - Alignment = 0 - }; -}; - -template::ret> class BlockImpl_dense; - -} // end namespace internal - -template class BlockImpl; - -/** \class Block - * \ingroup Core_Module - * - * \brief Expression of a fixed-size or dynamic-size block - * - * \tparam XprType the type of the expression in which we are taking a block - * \tparam BlockRows the number of rows of the block we are taking at compile time (optional) - * \tparam BlockCols the number of columns of the block we are taking at compile time (optional) - * \tparam InnerPanel is true, if the block maps to a set of rows of a row major matrix or - * to set of columns of a column major matrix (optional). The parameter allows to determine - * at compile time whether aligned access is possible on the block expression. - * - * This class represents an expression of either a fixed-size or dynamic-size block. It is the return - * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block(Index,Index) and - * most of the time this is the only way it is used. - * - * However, if you want to directly maniputate block expressions, - * for instance if you want to write a function returning such an expression, you - * will need to use this class. - * - * Here is an example illustrating the dynamic case: - * \include class_Block.cpp - * Output: \verbinclude class_Block.out - * - * \note Even though this expression has dynamic size, in the case where \a XprType - * has fixed size, this expression inherits a fixed maximal size which means that evaluating - * it does not cause a dynamic memory allocation. - * - * Here is an example illustrating the fixed-size case: - * \include class_FixedBlock.cpp - * Output: \verbinclude class_FixedBlock.out - * - * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock - */ -template class Block - : public BlockImpl::StorageKind> -{ - typedef BlockImpl::StorageKind> Impl; - public: - //typedef typename Impl::Base Base; - typedef Impl Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(Block) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block) - - typedef typename internal::remove_all::type NestedExpression; - - /** Column or Row constructor - */ - EIGEN_DEVICE_FUNC - inline Block(XprType& xpr, Index i) : Impl(xpr,i) - { - eigen_assert( (i>=0) && ( - ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i= 0 && BlockRows >= 0 && startRow + BlockRows <= xpr.rows() - && startCol >= 0 && BlockCols >= 0 && startCol + BlockCols <= xpr.cols()); - } - - /** Dynamic-size constructor - */ - EIGEN_DEVICE_FUNC - inline Block(XprType& xpr, - Index startRow, Index startCol, - Index blockRows, Index blockCols) - : Impl(xpr, startRow, startCol, blockRows, blockCols) - { - eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows) - && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols)); - eigen_assert(startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows - && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols); - } -}; - -// The generic default implementation for dense block simplu forward to the internal::BlockImpl_dense -// that must be specialized for direct and non-direct access... -template -class BlockImpl - : public internal::BlockImpl_dense -{ - typedef internal::BlockImpl_dense Impl; - typedef typename XprType::StorageIndex StorageIndex; - public: - typedef Impl Base; - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl) - EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {} - EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {} - EIGEN_DEVICE_FUNC - inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols) - : Impl(xpr, startRow, startCol, blockRows, blockCols) {} -}; - -namespace internal { - -/** \internal Internal implementation of dense Blocks in the general case. */ -template class BlockImpl_dense - : public internal::dense_xpr_base >::type -{ - typedef Block BlockType; - typedef typename internal::ref_selector::non_const_type XprTypeNested; - public: - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(BlockType) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense) - - // class InnerIterator; // FIXME apparently never used - - /** Column or Row constructor - */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, Index i) - : m_xpr(xpr), - // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime, - // and it is a column if and only if BlockRows==XprType::RowsAtCompileTime and BlockCols==1, - // all other cases are invalid. - // The case a 1x1 matrix seems ambiguous, but the result is the same anyway. - m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0), - m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0), - m_blockRows(BlockRows==1 ? 1 : xpr.rows()), - m_blockCols(BlockCols==1 ? 1 : xpr.cols()) - {} - - /** Fixed-size constructor - */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol) - : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol), - m_blockRows(BlockRows), m_blockCols(BlockCols) - {} - - /** Dynamic-size constructor - */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, - Index startRow, Index startCol, - Index blockRows, Index blockCols) - : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol), - m_blockRows(blockRows), m_blockCols(blockCols) - {} - - EIGEN_DEVICE_FUNC inline Index rows() const { return m_blockRows.value(); } - EIGEN_DEVICE_FUNC inline Index cols() const { return m_blockCols.value(); } - - EIGEN_DEVICE_FUNC - inline Scalar& coeffRef(Index rowId, Index colId) - { - EIGEN_STATIC_ASSERT_LVALUE(XprType) - return m_xpr.coeffRef(rowId + m_startRow.value(), colId + m_startCol.value()); - } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index rowId, Index colId) const - { - return m_xpr.derived().coeffRef(rowId + m_startRow.value(), colId + m_startCol.value()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const - { - return m_xpr.coeff(rowId + m_startRow.value(), colId + m_startCol.value()); - } - - EIGEN_DEVICE_FUNC - inline Scalar& coeffRef(Index index) - { - EIGEN_STATIC_ASSERT_LVALUE(XprType) - return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), - m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); - } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index index) const - { - return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), - m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); - } - - EIGEN_DEVICE_FUNC - inline const CoeffReturnType coeff(Index index) const - { - return m_xpr.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), - m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); - } - - template - inline PacketScalar packet(Index rowId, Index colId) const - { - return m_xpr.template packet(rowId + m_startRow.value(), colId + m_startCol.value()); - } - - template - inline void writePacket(Index rowId, Index colId, const PacketScalar& val) - { - m_xpr.template writePacket(rowId + m_startRow.value(), colId + m_startCol.value(), val); - } - - template - inline PacketScalar packet(Index index) const - { - return m_xpr.template packet - (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), - m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0)); - } - - template - inline void writePacket(Index index, const PacketScalar& val) - { - m_xpr.template writePacket - (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index), - m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), val); - } - - #ifdef EIGEN_PARSED_BY_DOXYGEN - /** \sa MapBase::data() */ - EIGEN_DEVICE_FUNC inline const Scalar* data() const; - EIGEN_DEVICE_FUNC inline Index innerStride() const; - EIGEN_DEVICE_FUNC inline Index outerStride() const; - #endif - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& nestedExpression() const - { - return m_xpr; - } - - EIGEN_DEVICE_FUNC - XprType& nestedExpression() { return m_xpr; } - - EIGEN_DEVICE_FUNC - StorageIndex startRow() const - { - return m_startRow.value(); - } - - EIGEN_DEVICE_FUNC - StorageIndex startCol() const - { - return m_startCol.value(); - } - - protected: - - XprTypeNested m_xpr; - const internal::variable_if_dynamic m_startRow; - const internal::variable_if_dynamic m_startCol; - const internal::variable_if_dynamic m_blockRows; - const internal::variable_if_dynamic m_blockCols; -}; - -/** \internal Internal implementation of dense Blocks in the direct access case.*/ -template -class BlockImpl_dense - : public MapBase > -{ - typedef Block BlockType; - typedef typename internal::ref_selector::non_const_type XprTypeNested; - enum { - XprTypeIsRowMajor = (int(traits::Flags)&RowMajorBit) != 0 - }; - public: - - typedef MapBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(BlockType) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense) - - /** Column or Row constructor - */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, Index i) - : Base(xpr.data() + i * ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor)) - || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()), - BlockRows==1 ? 1 : xpr.rows(), - BlockCols==1 ? 1 : xpr.cols()), - m_xpr(xpr), - m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0), - m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0) - { - init(); - } - - /** Fixed-size constructor - */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol) - : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)), - m_xpr(xpr), m_startRow(startRow), m_startCol(startCol) - { - init(); - } - - /** Dynamic-size constructor - */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, - Index startRow, Index startCol, - Index blockRows, Index blockCols) - : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols), - m_xpr(xpr), m_startRow(startRow), m_startCol(startCol) - { - init(); - } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& nestedExpression() const - { - return m_xpr; - } - - EIGEN_DEVICE_FUNC - XprType& nestedExpression() { return m_xpr; } - - /** \sa MapBase::innerStride() */ - EIGEN_DEVICE_FUNC - inline Index innerStride() const - { - return internal::traits::HasSameStorageOrderAsXprType - ? m_xpr.innerStride() - : m_xpr.outerStride(); - } - - /** \sa MapBase::outerStride() */ - EIGEN_DEVICE_FUNC - inline Index outerStride() const - { - return m_outerStride; - } - - EIGEN_DEVICE_FUNC - StorageIndex startRow() const - { - return m_startRow.value(); - } - - EIGEN_DEVICE_FUNC - StorageIndex startCol() const - { - return m_startCol.value(); - } - - #ifndef __SUNPRO_CC - // FIXME sunstudio is not friendly with the above friend... - // META-FIXME there is no 'friend' keyword around here. Is this obsolete? - protected: - #endif - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** \internal used by allowAligned() */ - EIGEN_DEVICE_FUNC - inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols) - : Base(data, blockRows, blockCols), m_xpr(xpr) - { - init(); - } - #endif - - protected: - EIGEN_DEVICE_FUNC - void init() - { - m_outerStride = internal::traits::HasSameStorageOrderAsXprType - ? m_xpr.outerStride() - : m_xpr.innerStride(); - } - - XprTypeNested m_xpr; - const internal::variable_if_dynamic m_startRow; - const internal::variable_if_dynamic m_startCol; - Index m_outerStride; -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_BLOCK_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/BooleanRedux.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/BooleanRedux.h deleted file mode 100644 index ccf51906..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/BooleanRedux.h +++ /dev/null @@ -1,162 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ALLANDANY_H -#define EIGEN_ALLANDANY_H - -namespace Eigen { - -namespace internal { - -template -struct all_unroller -{ - enum { - col = (UnrollCount-1) / Rows, - row = (UnrollCount-1) % Rows - }; - - static inline bool run(const Derived &mat) - { - return all_unroller::run(mat) && mat.coeff(row, col); - } -}; - -template -struct all_unroller -{ - static inline bool run(const Derived &/*mat*/) { return true; } -}; - -template -struct all_unroller -{ - static inline bool run(const Derived &) { return false; } -}; - -template -struct any_unroller -{ - enum { - col = (UnrollCount-1) / Rows, - row = (UnrollCount-1) % Rows - }; - - static inline bool run(const Derived &mat) - { - return any_unroller::run(mat) || mat.coeff(row, col); - } -}; - -template -struct any_unroller -{ - static inline bool run(const Derived & /*mat*/) { return false; } -}; - -template -struct any_unroller -{ - static inline bool run(const Derived &) { return false; } -}; - -} // end namespace internal - -/** \returns true if all coefficients are true - * - * Example: \include MatrixBase_all.cpp - * Output: \verbinclude MatrixBase_all.out - * - * \sa any(), Cwise::operator<() - */ -template -EIGEN_DEVICE_FUNC inline bool DenseBase::all() const -{ - typedef internal::evaluator Evaluator; - enum { - unroll = SizeAtCompileTime != Dynamic - && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits::AddCost) <= EIGEN_UNROLLING_LIMIT - }; - Evaluator evaluator(derived()); - if(unroll) - return internal::all_unroller::RowsAtCompileTime>::run(evaluator); - else - { - for(Index j = 0; j < cols(); ++j) - for(Index i = 0; i < rows(); ++i) - if (!evaluator.coeff(i, j)) return false; - return true; - } -} - -/** \returns true if at least one coefficient is true - * - * \sa all() - */ -template -EIGEN_DEVICE_FUNC inline bool DenseBase::any() const -{ - typedef internal::evaluator Evaluator; - enum { - unroll = SizeAtCompileTime != Dynamic - && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits::AddCost) <= EIGEN_UNROLLING_LIMIT - }; - Evaluator evaluator(derived()); - if(unroll) - return internal::any_unroller::RowsAtCompileTime>::run(evaluator); - else - { - for(Index j = 0; j < cols(); ++j) - for(Index i = 0; i < rows(); ++i) - if (evaluator.coeff(i, j)) return true; - return false; - } -} - -/** \returns the number of coefficients which evaluate to true - * - * \sa all(), any() - */ -template -EIGEN_DEVICE_FUNC inline Eigen::Index DenseBase::count() const -{ - return derived().template cast().template cast().sum(); -} - -/** \returns true is \c *this contains at least one Not A Number (NaN). - * - * \sa allFinite() - */ -template -inline bool DenseBase::hasNaN() const -{ -#if EIGEN_COMP_MSVC || (defined __FAST_MATH__) - return derived().array().isNaN().any(); -#else - return !((derived().array()==derived().array()).all()); -#endif -} - -/** \returns true if \c *this contains only finite numbers, i.e., no NaN and no +/-INF values. - * - * \sa hasNaN() - */ -template -inline bool DenseBase::allFinite() const -{ -#if EIGEN_COMP_MSVC || (defined __FAST_MATH__) - return derived().array().isFinite().all(); -#else - return !((derived()-derived()).hasNaN()); -#endif -} - -} // end namespace Eigen - -#endif // EIGEN_ALLANDANY_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CommaInitializer.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CommaInitializer.h deleted file mode 100644 index 35fdbb81..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CommaInitializer.h +++ /dev/null @@ -1,160 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_COMMAINITIALIZER_H -#define EIGEN_COMMAINITIALIZER_H - -namespace Eigen { - -/** \class CommaInitializer - * \ingroup Core_Module - * - * \brief Helper class used by the comma initializer operator - * - * This class is internally used to implement the comma initializer feature. It is - * the return type of MatrixBase::operator<<, and most of the time this is the only - * way it is used. - * - * \sa \blank \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished() - */ -template -struct CommaInitializer -{ - typedef typename XprType::Scalar Scalar; - - EIGEN_DEVICE_FUNC - inline CommaInitializer(XprType& xpr, const Scalar& s) - : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1) - { - m_xpr.coeffRef(0,0) = s; - } - - template - EIGEN_DEVICE_FUNC - inline CommaInitializer(XprType& xpr, const DenseBase& other) - : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows()) - { - m_xpr.block(0, 0, other.rows(), other.cols()) = other; - } - - /* Copy/Move constructor which transfers ownership. This is crucial in - * absence of return value optimization to avoid assertions during destruction. */ - // FIXME in C++11 mode this could be replaced by a proper RValue constructor - EIGEN_DEVICE_FUNC - inline CommaInitializer(const CommaInitializer& o) - : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) { - // Mark original object as finished. In absence of R-value references we need to const_cast: - const_cast(o).m_row = m_xpr.rows(); - const_cast(o).m_col = m_xpr.cols(); - const_cast(o).m_currentBlockRows = 0; - } - - /* inserts a scalar value in the target matrix */ - EIGEN_DEVICE_FUNC - CommaInitializer& operator,(const Scalar& s) - { - if (m_col==m_xpr.cols()) - { - m_row+=m_currentBlockRows; - m_col = 0; - m_currentBlockRows = 1; - eigen_assert(m_row - EIGEN_DEVICE_FUNC - CommaInitializer& operator,(const DenseBase& other) - { - if (m_col==m_xpr.cols() && (other.cols()!=0 || other.rows()!=m_currentBlockRows)) - { - m_row+=m_currentBlockRows; - m_col = 0; - m_currentBlockRows = other.rows(); - eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows() - && "Too many rows passed to comma initializer (operator<<)"); - } - eigen_assert((m_col + other.cols() <= m_xpr.cols()) - && "Too many coefficients passed to comma initializer (operator<<)"); - eigen_assert(m_currentBlockRows==other.rows()); - m_xpr.template block - (m_row, m_col, other.rows(), other.cols()) = other; - m_col += other.cols(); - return *this; - } - - EIGEN_DEVICE_FUNC - inline ~CommaInitializer() -#if defined VERIFY_RAISES_ASSERT && (!defined EIGEN_NO_ASSERTION_CHECKING) && defined EIGEN_EXCEPTIONS - EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception) -#endif - { - finished(); - } - - /** \returns the built matrix once all its coefficients have been set. - * Calling finished is 100% optional. Its purpose is to write expressions - * like this: - * \code - * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished()); - * \endcode - */ - EIGEN_DEVICE_FUNC - inline XprType& finished() { - eigen_assert(((m_row+m_currentBlockRows) == m_xpr.rows() || m_xpr.cols() == 0) - && m_col == m_xpr.cols() - && "Too few coefficients passed to comma initializer (operator<<)"); - return m_xpr; - } - - XprType& m_xpr; // target expression - Index m_row; // current row id - Index m_col; // current col id - Index m_currentBlockRows; // current block height -}; - -/** \anchor MatrixBaseCommaInitRef - * Convenient operator to set the coefficients of a matrix. - * - * The coefficients must be provided in a row major order and exactly match - * the size of the matrix. Otherwise an assertion is raised. - * - * Example: \include MatrixBase_set.cpp - * Output: \verbinclude MatrixBase_set.out - * - * \note According the c++ standard, the argument expressions of this comma initializer are evaluated in arbitrary order. - * - * \sa CommaInitializer::finished(), class CommaInitializer - */ -template -EIGEN_DEVICE_FUNC inline CommaInitializer DenseBase::operator<< (const Scalar& s) -{ - return CommaInitializer(*static_cast(this), s); -} - -/** \sa operator<<(const Scalar&) */ -template -template -EIGEN_DEVICE_FUNC inline CommaInitializer -DenseBase::operator<<(const DenseBase& other) -{ - return CommaInitializer(*static_cast(this), other); -} - -} // end namespace Eigen - -#endif // EIGEN_COMMAINITIALIZER_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ConditionEstimator.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ConditionEstimator.h deleted file mode 100644 index aa7efdc7..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ConditionEstimator.h +++ /dev/null @@ -1,175 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Rasmus Munk Larsen (rmlarsen@google.com) -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CONDITIONESTIMATOR_H -#define EIGEN_CONDITIONESTIMATOR_H - -namespace Eigen { - -namespace internal { - -template -struct rcond_compute_sign { - static inline Vector run(const Vector& v) { - const RealVector v_abs = v.cwiseAbs(); - return (v_abs.array() == static_cast(0)) - .select(Vector::Ones(v.size()), v.cwiseQuotient(v_abs)); - } -}; - -// Partial specialization to avoid elementwise division for real vectors. -template -struct rcond_compute_sign { - static inline Vector run(const Vector& v) { - return (v.array() < static_cast(0)) - .select(-Vector::Ones(v.size()), Vector::Ones(v.size())); - } -}; - -/** - * \returns an estimate of ||inv(matrix)||_1 given a decomposition of - * \a matrix that implements .solve() and .adjoint().solve() methods. - * - * This function implements Algorithms 4.1 and 5.1 from - * http://www.maths.manchester.ac.uk/~higham/narep/narep135.pdf - * which also forms the basis for the condition number estimators in - * LAPACK. Since at most 10 calls to the solve method of dec are - * performed, the total cost is O(dims^2), as opposed to O(dims^3) - * needed to compute the inverse matrix explicitly. - * - * The most common usage is in estimating the condition number - * ||matrix||_1 * ||inv(matrix)||_1. The first term ||matrix||_1 can be - * computed directly in O(n^2) operations. - * - * Supports the following decompositions: FullPivLU, PartialPivLU, LDLT, and - * LLT. - * - * \sa FullPivLU, PartialPivLU, LDLT, LLT. - */ -template -typename Decomposition::RealScalar rcond_invmatrix_L1_norm_estimate(const Decomposition& dec) -{ - typedef typename Decomposition::MatrixType MatrixType; - typedef typename Decomposition::Scalar Scalar; - typedef typename Decomposition::RealScalar RealScalar; - typedef typename internal::plain_col_type::type Vector; - typedef typename internal::plain_col_type::type RealVector; - const bool is_complex = (NumTraits::IsComplex != 0); - - eigen_assert(dec.rows() == dec.cols()); - const Index n = dec.rows(); - if (n == 0) - return 0; - - // Disable Index to float conversion warning -#ifdef __INTEL_COMPILER - #pragma warning push - #pragma warning ( disable : 2259 ) -#endif - Vector v = dec.solve(Vector::Ones(n) / Scalar(n)); -#ifdef __INTEL_COMPILER - #pragma warning pop -#endif - - // lower_bound is a lower bound on - // ||inv(matrix)||_1 = sup_v ||inv(matrix) v||_1 / ||v||_1 - // and is the objective maximized by the ("super-") gradient ascent - // algorithm below. - RealScalar lower_bound = v.template lpNorm<1>(); - if (n == 1) - return lower_bound; - - // Gradient ascent algorithm follows: We know that the optimum is achieved at - // one of the simplices v = e_i, so in each iteration we follow a - // super-gradient to move towards the optimal one. - RealScalar old_lower_bound = lower_bound; - Vector sign_vector(n); - Vector old_sign_vector; - Index v_max_abs_index = -1; - Index old_v_max_abs_index = v_max_abs_index; - for (int k = 0; k < 4; ++k) - { - sign_vector = internal::rcond_compute_sign::run(v); - if (k > 0 && !is_complex && sign_vector == old_sign_vector) { - // Break if the solution stagnated. - break; - } - // v_max_abs_index = argmax |real( inv(matrix)^T * sign_vector )| - v = dec.adjoint().solve(sign_vector); - v.real().cwiseAbs().maxCoeff(&v_max_abs_index); - if (v_max_abs_index == old_v_max_abs_index) { - // Break if the solution stagnated. - break; - } - // Move to the new simplex e_j, where j = v_max_abs_index. - v = dec.solve(Vector::Unit(n, v_max_abs_index)); // v = inv(matrix) * e_j. - lower_bound = v.template lpNorm<1>(); - if (lower_bound <= old_lower_bound) { - // Break if the gradient step did not increase the lower_bound. - break; - } - if (!is_complex) { - old_sign_vector = sign_vector; - } - old_v_max_abs_index = v_max_abs_index; - old_lower_bound = lower_bound; - } - // The following calculates an independent estimate of ||matrix||_1 by - // multiplying matrix by a vector with entries of slowly increasing - // magnitude and alternating sign: - // v_i = (-1)^{i} (1 + (i / (dim-1))), i = 0,...,dim-1. - // This improvement to Hager's algorithm above is due to Higham. It was - // added to make the algorithm more robust in certain corner cases where - // large elements in the matrix might otherwise escape detection due to - // exact cancellation (especially when op and op_adjoint correspond to a - // sequence of backsubstitutions and permutations), which could cause - // Hager's algorithm to vastly underestimate ||matrix||_1. - Scalar alternating_sign(RealScalar(1)); - for (Index i = 0; i < n; ++i) { - // The static_cast is needed when Scalar is a complex and RealScalar implements expression templates - v[i] = alternating_sign * static_cast(RealScalar(1) + (RealScalar(i) / (RealScalar(n - 1)))); - alternating_sign = -alternating_sign; - } - v = dec.solve(v); - const RealScalar alternate_lower_bound = (2 * v.template lpNorm<1>()) / (3 * RealScalar(n)); - return numext::maxi(lower_bound, alternate_lower_bound); -} - -/** \brief Reciprocal condition number estimator. - * - * Computing a decomposition of a dense matrix takes O(n^3) operations, while - * this method estimates the condition number quickly and reliably in O(n^2) - * operations. - * - * \returns an estimate of the reciprocal condition number - * (1 / (||matrix||_1 * ||inv(matrix)||_1)) of matrix, given ||matrix||_1 and - * its decomposition. Supports the following decompositions: FullPivLU, - * PartialPivLU, LDLT, and LLT. - * - * \sa FullPivLU, PartialPivLU, LDLT, LLT. - */ -template -typename Decomposition::RealScalar -rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Decomposition& dec) -{ - typedef typename Decomposition::RealScalar RealScalar; - eigen_assert(dec.rows() == dec.cols()); - if (dec.rows() == 0) return RealScalar(1); - if (matrix_norm == RealScalar(0)) return RealScalar(0); - if (dec.rows() == 1) return RealScalar(1); - const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec); - return (inverse_matrix_norm == RealScalar(0) ? RealScalar(0) - : (RealScalar(1) / inverse_matrix_norm) / matrix_norm); -} - -} // namespace internal - -} // namespace Eigen - -#endif diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CoreEvaluators.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CoreEvaluators.h deleted file mode 100644 index 15b361b3..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CoreEvaluators.h +++ /dev/null @@ -1,1728 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// Copyright (C) 2011-2014 Gael Guennebaud -// Copyright (C) 2011-2012 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - - -#ifndef EIGEN_COREEVALUATORS_H -#define EIGEN_COREEVALUATORS_H - -namespace Eigen { - -namespace internal { - -// This class returns the evaluator kind from the expression storage kind. -// Default assumes index based accessors -template -struct storage_kind_to_evaluator_kind { - typedef IndexBased Kind; -}; - -// This class returns the evaluator shape from the expression storage kind. -// It can be Dense, Sparse, Triangular, Diagonal, SelfAdjoint, Band, etc. -template struct storage_kind_to_shape; - -template<> struct storage_kind_to_shape { typedef DenseShape Shape; }; -template<> struct storage_kind_to_shape { typedef SolverShape Shape; }; -template<> struct storage_kind_to_shape { typedef PermutationShape Shape; }; -template<> struct storage_kind_to_shape { typedef TranspositionsShape Shape; }; - -// Evaluators have to be specialized with respect to various criteria such as: -// - storage/structure/shape -// - scalar type -// - etc. -// Therefore, we need specialization of evaluator providing additional template arguments for each kind of evaluators. -// We currently distinguish the following kind of evaluators: -// - unary_evaluator for expressions taking only one arguments (CwiseUnaryOp, CwiseUnaryView, Transpose, MatrixWrapper, ArrayWrapper, Reverse, Replicate) -// - binary_evaluator for expression taking two arguments (CwiseBinaryOp) -// - ternary_evaluator for expression taking three arguments (CwiseTernaryOp) -// - product_evaluator for linear algebra products (Product); special case of binary_evaluator because it requires additional tags for dispatching. -// - mapbase_evaluator for Map, Block, Ref -// - block_evaluator for Block (special dispatching to a mapbase_evaluator or unary_evaluator) - -template< typename T, - typename Arg1Kind = typename evaluator_traits::Kind, - typename Arg2Kind = typename evaluator_traits::Kind, - typename Arg3Kind = typename evaluator_traits::Kind, - typename Arg1Scalar = typename traits::Scalar, - typename Arg2Scalar = typename traits::Scalar, - typename Arg3Scalar = typename traits::Scalar> struct ternary_evaluator; - -template< typename T, - typename LhsKind = typename evaluator_traits::Kind, - typename RhsKind = typename evaluator_traits::Kind, - typename LhsScalar = typename traits::Scalar, - typename RhsScalar = typename traits::Scalar> struct binary_evaluator; - -template< typename T, - typename Kind = typename evaluator_traits::Kind, - typename Scalar = typename T::Scalar> struct unary_evaluator; - -// evaluator_traits contains traits for evaluator - -template -struct evaluator_traits_base -{ - // by default, get evaluator kind and shape from storage - typedef typename storage_kind_to_evaluator_kind::StorageKind>::Kind Kind; - typedef typename storage_kind_to_shape::StorageKind>::Shape Shape; -}; - -// Default evaluator traits -template -struct evaluator_traits : public evaluator_traits_base -{ -}; - -template::Shape > -struct evaluator_assume_aliasing { - static const bool value = false; -}; - -// By default, we assume a unary expression: -template -struct evaluator : public unary_evaluator -{ - typedef unary_evaluator Base; - EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {} -}; - - -// TODO: Think about const-correctness -template -struct evaluator - : evaluator -{ - EIGEN_DEVICE_FUNC - explicit evaluator(const T& xpr) : evaluator(xpr) {} -}; - -// ---------- base class for all evaluators ---------- - -template -struct evaluator_base -{ - // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices. - typedef traits ExpressionTraits; - - enum { - Alignment = 0 - }; - // noncopyable: - // Don't make this class inherit noncopyable as this kills EBO (Empty Base Optimization) - // and make complex evaluator much larger than then should do. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE evaluator_base() {} - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ~evaluator_base() {} -private: - EIGEN_DEVICE_FUNC evaluator_base(const evaluator_base&); - EIGEN_DEVICE_FUNC const evaluator_base& operator=(const evaluator_base&); -}; - -// -------------------- Matrix and Array -------------------- -// -// evaluator is a common base class for the -// Matrix and Array evaluators. -// Here we directly specialize evaluator. This is not really a unary expression, and it is, by definition, dense, -// so no need for more sophisticated dispatching. - -// this helper permits to completely eliminate m_outerStride if it is known at compiletime. -template class plainobjectbase_evaluator_data { -public: - EIGEN_DEVICE_FUNC plainobjectbase_evaluator_data(const Scalar* ptr, Index outerStride) : data(ptr) - { - EIGEN_ONLY_USED_FOR_DEBUG(outerStride); - eigen_internal_assert(outerStride==OuterStride); - } - EIGEN_DEVICE_FUNC Index outerStride() const { return OuterStride; } - const Scalar *data; -}; - -template class plainobjectbase_evaluator_data { -public: - EIGEN_DEVICE_FUNC plainobjectbase_evaluator_data(const Scalar* ptr, Index outerStride) : data(ptr), m_outerStride(outerStride) {} - EIGEN_DEVICE_FUNC Index outerStride() const { return m_outerStride; } - const Scalar *data; -protected: - Index m_outerStride; -}; - -template -struct evaluator > - : evaluator_base -{ - typedef PlainObjectBase PlainObjectType; - typedef typename PlainObjectType::Scalar Scalar; - typedef typename PlainObjectType::CoeffReturnType CoeffReturnType; - - enum { - IsRowMajor = PlainObjectType::IsRowMajor, - IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime, - RowsAtCompileTime = PlainObjectType::RowsAtCompileTime, - ColsAtCompileTime = PlainObjectType::ColsAtCompileTime, - - CoeffReadCost = NumTraits::ReadCost, - Flags = traits::EvaluatorFlags, - Alignment = traits::Alignment - }; - enum { - // We do not need to know the outer stride for vectors - OuterStrideAtCompileTime = IsVectorAtCompileTime ? 0 - : int(IsRowMajor) ? ColsAtCompileTime - : RowsAtCompileTime - }; - - EIGEN_DEVICE_FUNC evaluator() - : m_d(0,OuterStrideAtCompileTime) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m) - : m_d(m.data(),IsVectorAtCompileTime ? 0 : m.outerStride()) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - if (IsRowMajor) - return m_d.data[row * m_d.outerStride() + col]; - else - return m_d.data[row + col * m_d.outerStride()]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_d.data[index]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - if (IsRowMajor) - return const_cast(m_d.data)[row * m_d.outerStride() + col]; - else - return const_cast(m_d.data)[row + col * m_d.outerStride()]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return const_cast(m_d.data)[index]; - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - if (IsRowMajor) - return ploadt(m_d.data + row * m_d.outerStride() + col); - else - return ploadt(m_d.data + row + col * m_d.outerStride()); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return ploadt(m_d.data + index); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index row, Index col, const PacketType& x) - { - if (IsRowMajor) - return pstoret - (const_cast(m_d.data) + row * m_d.outerStride() + col, x); - else - return pstoret - (const_cast(m_d.data) + row + col * m_d.outerStride(), x); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketType& x) - { - return pstoret(const_cast(m_d.data) + index, x); - } - -protected: - - plainobjectbase_evaluator_data m_d; -}; - -template -struct evaluator > - : evaluator > > -{ - typedef Matrix XprType; - - EIGEN_DEVICE_FUNC evaluator() {} - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m) - : evaluator >(m) - { } -}; - -template -struct evaluator > - : evaluator > > -{ - typedef Array XprType; - - EIGEN_DEVICE_FUNC evaluator() {} - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m) - : evaluator >(m) - { } -}; - -// -------------------- Transpose -------------------- - -template -struct unary_evaluator, IndexBased> - : evaluator_base > -{ - typedef Transpose XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost, - Flags = evaluator::Flags ^ RowMajorBit, - Alignment = evaluator::Alignment - }; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {} - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_argImpl.coeff(col, row); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_argImpl.coeff(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_argImpl.coeffRef(col, row); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - typename XprType::Scalar& coeffRef(Index index) - { - return m_argImpl.coeffRef(index); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - return m_argImpl.template packet(col, row); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return m_argImpl.template packet(index); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index row, Index col, const PacketType& x) - { - m_argImpl.template writePacket(col, row, x); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketType& x) - { - m_argImpl.template writePacket(index, x); - } - -protected: - evaluator m_argImpl; -}; - -// -------------------- CwiseNullaryOp -------------------- -// Like Matrix and Array, this is not really a unary expression, so we directly specialize evaluator. -// Likewise, there is not need to more sophisticated dispatching here. - -template::value, - bool has_unary = has_unary_operator::value, - bool has_binary = has_binary_operator::value> -struct nullary_wrapper -{ - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return op(i,j); } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return op.template packetOp(i,j); } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp(i); } -}; - -template -struct nullary_wrapper -{ - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType=0, IndexType=0) const { return op(); } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType=0, IndexType=0) const { return op.template packetOp(); } -}; - -template -struct nullary_wrapper -{ - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j=0) const { return op(i,j); } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j=0) const { return op.template packetOp(i,j); } -}; - -// We need the following specialization for vector-only functors assigned to a runtime vector, -// for instance, using linspace and assigning a RowVectorXd to a MatrixXd or even a row of a MatrixXd. -// In this case, i==0 and j is used for the actual iteration. -template -struct nullary_wrapper -{ - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { - eigen_assert(i==0 || j==0); - return op(i+j); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { - eigen_assert(i==0 || j==0); - return op.template packetOp(i+j); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp(i); } -}; - -template -struct nullary_wrapper {}; - -#if 0 && EIGEN_COMP_MSVC>0 -// Disable this ugly workaround. This is now handled in traits::match, -// but this piece of code might still become handly if some other weird compilation -// erros pop up again. - -// MSVC exhibits a weird compilation error when -// compiling: -// Eigen::MatrixXf A = MatrixXf::Random(3,3); -// Ref R = 2.f*A; -// and that has_*ary_operator> have not been instantiated yet. -// The "problem" is that evaluator<2.f*A> is instantiated by traits::match<2.f*A> -// and at that time has_*ary_operator returns true regardless of T. -// Then nullary_wrapper is badly instantiated as nullary_wrapper<.,.,true,true,true>. -// The trick is thus to defer the proper instantiation of nullary_wrapper when coeff(), -// and packet() are really instantiated as implemented below: - -// This is a simple wrapper around Index to enforce the re-instantiation of -// has_*ary_operator when needed. -template struct nullary_wrapper_workaround_msvc { - nullary_wrapper_workaround_msvc(const T&); - operator T()const; -}; - -template -struct nullary_wrapper -{ - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { - return nullary_wrapper >::value, - has_unary_operator >::value, - has_binary_operator >::value>().operator()(op,i,j); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { - return nullary_wrapper >::value, - has_unary_operator >::value, - has_binary_operator >::value>().operator()(op,i); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { - return nullary_wrapper >::value, - has_unary_operator >::value, - has_binary_operator >::value>().template packetOp(op,i,j); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { - return nullary_wrapper >::value, - has_unary_operator >::value, - has_binary_operator >::value>().template packetOp(op,i); - } -}; -#endif // MSVC workaround - -template -struct evaluator > - : evaluator_base > -{ - typedef CwiseNullaryOp XprType; - typedef typename internal::remove_all::type PlainObjectTypeCleaned; - - enum { - CoeffReadCost = internal::functor_traits::Cost, - - Flags = (evaluator::Flags - & ( HereditaryBits - | (functor_has_linear_access::ret ? LinearAccessBit : 0) - | (functor_traits::PacketAccess ? PacketAccessBit : 0))) - | (functor_traits::IsRepeatable ? 0 : EvalBeforeNestingBit), - Alignment = AlignedMax - }; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& n) - : m_functor(n.functor()), m_wrapper() - { - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(IndexType row, IndexType col) const - { - return m_wrapper(m_functor, row, col); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(IndexType index) const - { - return m_wrapper(m_functor,index); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(IndexType row, IndexType col) const - { - return m_wrapper.template packetOp(m_functor, row, col); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(IndexType index) const - { - return m_wrapper.template packetOp(m_functor, index); - } - -protected: - const NullaryOp m_functor; - const internal::nullary_wrapper m_wrapper; -}; - -// -------------------- CwiseUnaryOp -------------------- - -template -struct unary_evaluator, IndexBased > - : evaluator_base > -{ - typedef CwiseUnaryOp XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost + functor_traits::Cost, - - Flags = evaluator::Flags - & (HereditaryBits | LinearAccessBit | (functor_traits::PacketAccess ? PacketAccessBit : 0)), - Alignment = evaluator::Alignment - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - explicit unary_evaluator(const XprType& op) : m_d(op) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_d.func()(m_d.argImpl.coeff(row, col)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_d.func()(m_d.argImpl.coeff(index)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - return m_d.func().packetOp(m_d.argImpl.template packet(row, col)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return m_d.func().packetOp(m_d.argImpl.template packet(index)); - } - -protected: - - // this helper permits to completely eliminate the functor if it is empty - class Data : private UnaryOp - { - public: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Data(const XprType& xpr) : UnaryOp(xpr.functor()), argImpl(xpr.nestedExpression()) {} - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const UnaryOp& func() const { return static_cast(*this); } - evaluator argImpl; - }; - - Data m_d; -}; - -// -------------------- CwiseTernaryOp -------------------- - -// this is a ternary expression -template -struct evaluator > - : public ternary_evaluator > -{ - typedef CwiseTernaryOp XprType; - typedef ternary_evaluator > Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {} -}; - -template -struct ternary_evaluator, IndexBased, IndexBased> - : evaluator_base > -{ - typedef CwiseTernaryOp XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost + evaluator::CoeffReadCost + evaluator::CoeffReadCost + functor_traits::Cost, - - Arg1Flags = evaluator::Flags, - Arg2Flags = evaluator::Flags, - Arg3Flags = evaluator::Flags, - SameType = is_same::value && is_same::value, - StorageOrdersAgree = (int(Arg1Flags)&RowMajorBit)==(int(Arg2Flags)&RowMajorBit) && (int(Arg1Flags)&RowMajorBit)==(int(Arg3Flags)&RowMajorBit), - Flags0 = (int(Arg1Flags) | int(Arg2Flags) | int(Arg3Flags)) & ( - HereditaryBits - | (int(Arg1Flags) & int(Arg2Flags) & int(Arg3Flags) & - ( (StorageOrdersAgree ? LinearAccessBit : 0) - | (functor_traits::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0) - ) - ) - ), - Flags = (Flags0 & ~RowMajorBit) | (Arg1Flags & RowMajorBit), - Alignment = EIGEN_PLAIN_ENUM_MIN( - EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment, evaluator::Alignment), - evaluator::Alignment) - }; - - EIGEN_DEVICE_FUNC explicit ternary_evaluator(const XprType& xpr) : m_d(xpr) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_d.func()(m_d.arg1Impl.coeff(row, col), m_d.arg2Impl.coeff(row, col), m_d.arg3Impl.coeff(row, col)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_d.func()(m_d.arg1Impl.coeff(index), m_d.arg2Impl.coeff(index), m_d.arg3Impl.coeff(index)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - return m_d.func().packetOp(m_d.arg1Impl.template packet(row, col), - m_d.arg2Impl.template packet(row, col), - m_d.arg3Impl.template packet(row, col)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return m_d.func().packetOp(m_d.arg1Impl.template packet(index), - m_d.arg2Impl.template packet(index), - m_d.arg3Impl.template packet(index)); - } - -protected: - // this helper permits to completely eliminate the functor if it is empty - struct Data : private TernaryOp - { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Data(const XprType& xpr) : TernaryOp(xpr.functor()), arg1Impl(xpr.arg1()), arg2Impl(xpr.arg2()), arg3Impl(xpr.arg3()) {} - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TernaryOp& func() const { return static_cast(*this); } - evaluator arg1Impl; - evaluator arg2Impl; - evaluator arg3Impl; - }; - - Data m_d; -}; - -// -------------------- CwiseBinaryOp -------------------- - -// this is a binary expression -template -struct evaluator > - : public binary_evaluator > -{ - typedef CwiseBinaryOp XprType; - typedef binary_evaluator > Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {} -}; - -template -struct binary_evaluator, IndexBased, IndexBased> - : evaluator_base > -{ - typedef CwiseBinaryOp XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost + evaluator::CoeffReadCost + functor_traits::Cost, - - LhsFlags = evaluator::Flags, - RhsFlags = evaluator::Flags, - SameType = is_same::value, - StorageOrdersAgree = (int(LhsFlags)&RowMajorBit)==(int(RhsFlags)&RowMajorBit), - Flags0 = (int(LhsFlags) | int(RhsFlags)) & ( - HereditaryBits - | (int(LhsFlags) & int(RhsFlags) & - ( (StorageOrdersAgree ? LinearAccessBit : 0) - | (functor_traits::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0) - ) - ) - ), - Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit), - Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment,evaluator::Alignment) - }; - - EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr) : m_d(xpr) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_d.func()(m_d.lhsImpl.coeff(row, col), m_d.rhsImpl.coeff(row, col)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_d.func()(m_d.lhsImpl.coeff(index), m_d.rhsImpl.coeff(index)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - return m_d.func().packetOp(m_d.lhsImpl.template packet(row, col), - m_d.rhsImpl.template packet(row, col)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return m_d.func().packetOp(m_d.lhsImpl.template packet(index), - m_d.rhsImpl.template packet(index)); - } - -protected: - - // this helper permits to completely eliminate the functor if it is empty - struct Data : private BinaryOp - { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Data(const XprType& xpr) : BinaryOp(xpr.functor()), lhsImpl(xpr.lhs()), rhsImpl(xpr.rhs()) {} - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const BinaryOp& func() const { return static_cast(*this); } - evaluator lhsImpl; - evaluator rhsImpl; - }; - - Data m_d; -}; - -// -------------------- CwiseUnaryView -------------------- - -template -struct unary_evaluator, IndexBased> - : evaluator_base > -{ - typedef CwiseUnaryView XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost + functor_traits::Cost, - - Flags = (evaluator::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)), - - Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost... - }; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op) : m_d(op) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits::Cost); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_d.func()(m_d.argImpl.coeff(row, col)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_d.func()(m_d.argImpl.coeff(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_d.func()(m_d.argImpl.coeffRef(row, col)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return m_d.func()(m_d.argImpl.coeffRef(index)); - } - -protected: - - // this helper permits to completely eliminate the functor if it is empty - struct Data : private UnaryOp - { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Data(const XprType& xpr) : UnaryOp(xpr.functor()), argImpl(xpr.nestedExpression()) {} - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const UnaryOp& func() const { return static_cast(*this); } - evaluator argImpl; - }; - - Data m_d; -}; - -// -------------------- Map -------------------- - -// FIXME perhaps the PlainObjectType could be provided by Derived::PlainObject ? -// but that might complicate template specialization -template -struct mapbase_evaluator; - -template -struct mapbase_evaluator : evaluator_base -{ - typedef Derived XprType; - typedef typename XprType::PointerType PointerType; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - enum { - IsRowMajor = XprType::RowsAtCompileTime, - ColsAtCompileTime = XprType::ColsAtCompileTime, - CoeffReadCost = NumTraits::ReadCost - }; - - EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map) - : m_data(const_cast(map.data())), - m_innerStride(map.innerStride()), - m_outerStride(map.outerStride()) - { - EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(evaluator::Flags&PacketAccessBit, internal::inner_stride_at_compile_time::ret==1), - PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_data[col * colStride() + row * rowStride()]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_data[index * m_innerStride.value()]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_data[col * colStride() + row * rowStride()]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return m_data[index * m_innerStride.value()]; - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - PointerType ptr = m_data + row * rowStride() + col * colStride(); - return internal::ploadt(ptr); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return internal::ploadt(m_data + index * m_innerStride.value()); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index row, Index col, const PacketType& x) - { - PointerType ptr = m_data + row * rowStride() + col * colStride(); - return internal::pstoret(ptr, x); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketType& x) - { - internal::pstoret(m_data + index * m_innerStride.value(), x); - } -protected: - EIGEN_DEVICE_FUNC - inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); } - EIGEN_DEVICE_FUNC - inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); } - - PointerType m_data; - const internal::variable_if_dynamic m_innerStride; - const internal::variable_if_dynamic m_outerStride; -}; - -template -struct evaluator > - : public mapbase_evaluator, PlainObjectType> -{ - typedef Map XprType; - typedef typename XprType::Scalar Scalar; - // TODO: should check for smaller packet types once we can handle multi-sized packet types - typedef typename packet_traits::type PacketScalar; - - enum { - InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0 - ? int(PlainObjectType::InnerStrideAtCompileTime) - : int(StrideType::InnerStrideAtCompileTime), - OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0 - ? int(PlainObjectType::OuterStrideAtCompileTime) - : int(StrideType::OuterStrideAtCompileTime), - HasNoInnerStride = InnerStrideAtCompileTime == 1, - HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0, - HasNoStride = HasNoInnerStride && HasNoOuterStride, - IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic, - - PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit), - LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit), - Flags = int( evaluator::Flags) & (LinearAccessMask&PacketAccessMask), - - Alignment = int(MapOptions)&int(AlignedMask) - }; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map) - : mapbase_evaluator(map) - { } -}; - -// -------------------- Ref -------------------- - -template -struct evaluator > - : public mapbase_evaluator, PlainObjectType> -{ - typedef Ref XprType; - - enum { - Flags = evaluator >::Flags, - Alignment = evaluator >::Alignment - }; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref) - : mapbase_evaluator(ref) - { } -}; - -// -------------------- Block -------------------- - -template::ret> struct block_evaluator; - -template -struct evaluator > - : block_evaluator -{ - typedef Block XprType; - typedef typename XprType::Scalar Scalar; - // TODO: should check for smaller packet types once we can handle multi-sized packet types - typedef typename packet_traits::type PacketScalar; - - enum { - CoeffReadCost = evaluator::CoeffReadCost, - - RowsAtCompileTime = traits::RowsAtCompileTime, - ColsAtCompileTime = traits::ColsAtCompileTime, - MaxRowsAtCompileTime = traits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = traits::MaxColsAtCompileTime, - - ArgTypeIsRowMajor = (int(evaluator::Flags)&RowMajorBit) != 0, - IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1 - : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0 - : ArgTypeIsRowMajor, - HasSameStorageOrderAsArgType = (IsRowMajor == ArgTypeIsRowMajor), - InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime), - InnerStrideAtCompileTime = HasSameStorageOrderAsArgType - ? int(inner_stride_at_compile_time::ret) - : int(outer_stride_at_compile_time::ret), - OuterStrideAtCompileTime = HasSameStorageOrderAsArgType - ? int(outer_stride_at_compile_time::ret) - : int(inner_stride_at_compile_time::ret), - MaskPacketAccessBit = (InnerStrideAtCompileTime == 1) ? PacketAccessBit : 0, - - FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator::Flags&LinearAccessBit))) ? LinearAccessBit : 0, - FlagsRowMajorBit = XprType::Flags&RowMajorBit, - Flags0 = evaluator::Flags & ( (HereditaryBits & ~RowMajorBit) | - DirectAccessBit | - MaskPacketAccessBit), - Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit, - - PacketAlignment = unpacket_traits::alignment, - Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0, - Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment, Alignment0) - }; - typedef block_evaluator block_evaluator_type; - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } -}; - -// no direct-access => dispatch to a unary evaluator -template -struct block_evaluator - : unary_evaluator > -{ - typedef Block XprType; - - EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block) - : unary_evaluator(block) - {} -}; - -template -struct unary_evaluator, IndexBased> - : evaluator_base > -{ - typedef Block XprType; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block) - : m_argImpl(block.nestedExpression()), - m_startRow(block.startRow()), - m_startCol(block.startCol()) - { } - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - enum { - RowsAtCompileTime = XprType::RowsAtCompileTime - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - return m_argImpl.template packet(m_startRow.value() + row, m_startCol.value() + col); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return packet(RowsAtCompileTime == 1 ? 0 : index, - RowsAtCompileTime == 1 ? index : 0); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index row, Index col, const PacketType& x) - { - return m_argImpl.template writePacket(m_startRow.value() + row, m_startCol.value() + col, x); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketType& x) - { - return writePacket(RowsAtCompileTime == 1 ? 0 : index, - RowsAtCompileTime == 1 ? index : 0, - x); - } - -protected: - evaluator m_argImpl; - const variable_if_dynamic m_startRow; - const variable_if_dynamic m_startCol; -}; - -// TODO: This evaluator does not actually use the child evaluator; -// all action is via the data() as returned by the Block expression. - -template -struct block_evaluator - : mapbase_evaluator, - typename Block::PlainObject> -{ - typedef Block XprType; - typedef typename XprType::Scalar Scalar; - - EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block) - : mapbase_evaluator(block) - { - // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime - eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator::Alignment)) == 0) && "data is not aligned"); - } -}; - - -// -------------------- Select -------------------- -// NOTE shall we introduce a ternary_evaluator? - -// TODO enable vectorization for Select -template -struct evaluator > - : evaluator_base > -{ - typedef Select XprType; - enum { - CoeffReadCost = evaluator::CoeffReadCost - + EIGEN_PLAIN_ENUM_MAX(evaluator::CoeffReadCost, - evaluator::CoeffReadCost), - - Flags = (unsigned int)evaluator::Flags & evaluator::Flags & HereditaryBits, - - Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator::Alignment, evaluator::Alignment) - }; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select) - : m_conditionImpl(select.conditionMatrix()), - m_thenImpl(select.thenMatrix()), - m_elseImpl(select.elseMatrix()) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - if (m_conditionImpl.coeff(row, col)) - return m_thenImpl.coeff(row, col); - else - return m_elseImpl.coeff(row, col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - if (m_conditionImpl.coeff(index)) - return m_thenImpl.coeff(index); - else - return m_elseImpl.coeff(index); - } - -protected: - evaluator m_conditionImpl; - evaluator m_thenImpl; - evaluator m_elseImpl; -}; - - -// -------------------- Replicate -------------------- - -template -struct unary_evaluator > - : evaluator_base > -{ - typedef Replicate XprType; - typedef typename XprType::CoeffReturnType CoeffReturnType; - enum { - Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor - }; - typedef typename internal::nested_eval::type ArgTypeNested; - typedef typename internal::remove_all::type ArgTypeNestedCleaned; - - enum { - CoeffReadCost = evaluator::CoeffReadCost, - LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0, - Flags = (evaluator::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits::Flags & RowMajorBit), - - Alignment = evaluator::Alignment - }; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate) - : m_arg(replicate.nestedExpression()), - m_argImpl(m_arg), - m_rows(replicate.nestedExpression().rows()), - m_cols(replicate.nestedExpression().cols()) - {} - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - // try to avoid using modulo; this is a pure optimization strategy - const Index actual_row = internal::traits::RowsAtCompileTime==1 ? 0 - : RowFactor==1 ? row - : row % m_rows.value(); - const Index actual_col = internal::traits::ColsAtCompileTime==1 ? 0 - : ColFactor==1 ? col - : col % m_cols.value(); - - return m_argImpl.coeff(actual_row, actual_col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - // try to avoid using modulo; this is a pure optimization strategy - const Index actual_index = internal::traits::RowsAtCompileTime==1 - ? (ColFactor==1 ? index : index%m_cols.value()) - : (RowFactor==1 ? index : index%m_rows.value()); - - return m_argImpl.coeff(actual_index); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - const Index actual_row = internal::traits::RowsAtCompileTime==1 ? 0 - : RowFactor==1 ? row - : row % m_rows.value(); - const Index actual_col = internal::traits::ColsAtCompileTime==1 ? 0 - : ColFactor==1 ? col - : col % m_cols.value(); - - return m_argImpl.template packet(actual_row, actual_col); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - const Index actual_index = internal::traits::RowsAtCompileTime==1 - ? (ColFactor==1 ? index : index%m_cols.value()) - : (RowFactor==1 ? index : index%m_rows.value()); - - return m_argImpl.template packet(actual_index); - } - -protected: - const ArgTypeNested m_arg; - evaluator m_argImpl; - const variable_if_dynamic m_rows; - const variable_if_dynamic m_cols; -}; - - -// -------------------- PartialReduxExpr -------------------- - -template< typename ArgType, typename MemberOp, int Direction> -struct evaluator > - : evaluator_base > -{ - typedef PartialReduxExpr XprType; - typedef typename internal::nested_eval::type ArgTypeNested; - typedef typename internal::remove_all::type ArgTypeNestedCleaned; - typedef typename ArgType::Scalar InputScalar; - typedef typename XprType::Scalar Scalar; - enum { - TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) : int(ArgType::ColsAtCompileTime) - }; - typedef typename MemberOp::template Cost CostOpType; - enum { - CoeffReadCost = TraversalSize==Dynamic ? HugeCost - : TraversalSize * evaluator::CoeffReadCost + int(CostOpType::value), - - Flags = (traits::Flags&RowMajorBit) | (evaluator::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit, - - Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized - }; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr) - : m_arg(xpr.nestedExpression()), m_functor(xpr.functor()) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value)); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const Scalar coeff(Index i, Index j) const - { - if (Direction==Vertical) - return m_functor(m_arg.col(j)); - else - return m_functor(m_arg.row(i)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const Scalar coeff(Index index) const - { - if (Direction==Vertical) - return m_functor(m_arg.col(index)); - else - return m_functor(m_arg.row(index)); - } - -protected: - typename internal::add_const_on_value_type::type m_arg; - const MemberOp m_functor; -}; - - -// -------------------- MatrixWrapper and ArrayWrapper -------------------- -// -// evaluator_wrapper_base is a common base class for the -// MatrixWrapper and ArrayWrapper evaluators. - -template -struct evaluator_wrapper_base - : evaluator_base -{ - typedef typename remove_all::type ArgType; - enum { - CoeffReadCost = evaluator::CoeffReadCost, - Flags = evaluator::Flags, - Alignment = evaluator::Alignment - }; - - EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {} - - typedef typename ArgType::Scalar Scalar; - typedef typename ArgType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_argImpl.coeff(row, col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_argImpl.coeff(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_argImpl.coeffRef(row, col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return m_argImpl.coeffRef(index); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - return m_argImpl.template packet(row, col); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - return m_argImpl.template packet(index); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index row, Index col, const PacketType& x) - { - m_argImpl.template writePacket(row, col, x); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketType& x) - { - m_argImpl.template writePacket(index, x); - } - -protected: - evaluator m_argImpl; -}; - -template -struct unary_evaluator > - : evaluator_wrapper_base > -{ - typedef MatrixWrapper XprType; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper) - : evaluator_wrapper_base >(wrapper.nestedExpression()) - { } -}; - -template -struct unary_evaluator > - : evaluator_wrapper_base > -{ - typedef ArrayWrapper XprType; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper) - : evaluator_wrapper_base >(wrapper.nestedExpression()) - { } -}; - - -// -------------------- Reverse -------------------- - -// defined in Reverse.h: -template struct reverse_packet_cond; - -template -struct unary_evaluator > - : evaluator_base > -{ - typedef Reverse XprType; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - enum { - IsRowMajor = XprType::IsRowMajor, - IsColMajor = !IsRowMajor, - ReverseRow = (Direction == Vertical) || (Direction == BothDirections), - ReverseCol = (Direction == Horizontal) || (Direction == BothDirections), - ReversePacket = (Direction == BothDirections) - || ((Direction == Vertical) && IsColMajor) - || ((Direction == Horizontal) && IsRowMajor), - - CoeffReadCost = evaluator::CoeffReadCost, - - // let's enable LinearAccess only with vectorization because of the product overhead - // FIXME enable DirectAccess with negative strides? - Flags0 = evaluator::Flags, - LinearAccess = ( (Direction==BothDirections) && (int(Flags0)&PacketAccessBit) ) - || ((ReverseRow && XprType::ColsAtCompileTime==1) || (ReverseCol && XprType::RowsAtCompileTime==1)) - ? LinearAccessBit : 0, - - Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess), - - Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f. - }; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse) - : m_argImpl(reverse.nestedExpression()), - m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1), - m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1) - { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_argImpl.coeff(ReverseRow ? m_rows.value() - row - 1 : row, - ReverseCol ? m_cols.value() - col - 1 : col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_argImpl.coeff(m_rows.value() * m_cols.value() - index - 1); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_argImpl.coeffRef(ReverseRow ? m_rows.value() - row - 1 : row, - ReverseCol ? m_cols.value() - col - 1 : col); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return m_argImpl.coeffRef(m_rows.value() * m_cols.value() - index - 1); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index row, Index col) const - { - enum { - PacketSize = unpacket_traits::size, - OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1, - OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1 - }; - typedef internal::reverse_packet_cond reverse_packet; - return reverse_packet::run(m_argImpl.template packet( - ReverseRow ? m_rows.value() - row - OffsetRow : row, - ReverseCol ? m_cols.value() - col - OffsetCol : col)); - } - - template - EIGEN_STRONG_INLINE - PacketType packet(Index index) const - { - enum { PacketSize = unpacket_traits::size }; - return preverse(m_argImpl.template packet(m_rows.value() * m_cols.value() - index - PacketSize)); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index row, Index col, const PacketType& x) - { - // FIXME we could factorize some code with packet(i,j) - enum { - PacketSize = unpacket_traits::size, - OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1, - OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1 - }; - typedef internal::reverse_packet_cond reverse_packet; - m_argImpl.template writePacket( - ReverseRow ? m_rows.value() - row - OffsetRow : row, - ReverseCol ? m_cols.value() - col - OffsetCol : col, - reverse_packet::run(x)); - } - - template - EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketType& x) - { - enum { PacketSize = unpacket_traits::size }; - m_argImpl.template writePacket - (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x)); - } - -protected: - evaluator m_argImpl; - - // If we do not reverse rows, then we do not need to know the number of rows; same for columns - // Nonetheless, in this case it is important to set to 1 such that the coeff(index) method works fine for vectors. - const variable_if_dynamic m_rows; - const variable_if_dynamic m_cols; -}; - - -// -------------------- Diagonal -------------------- - -template -struct evaluator > - : evaluator_base > -{ - typedef Diagonal XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost, - - Flags = (unsigned int)(evaluator::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit, - - Alignment = 0 - }; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal) - : m_argImpl(diagonal.nestedExpression()), - m_index(diagonal.index()) - { } - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index) const - { - return m_argImpl.coeff(row + rowOffset(), row + colOffset()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index index) const - { - return m_argImpl.coeff(index + rowOffset(), index + colOffset()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index) - { - return m_argImpl.coeffRef(row + rowOffset(), row + colOffset()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index index) - { - return m_argImpl.coeffRef(index + rowOffset(), index + colOffset()); - } - -protected: - evaluator m_argImpl; - const internal::variable_if_dynamicindex m_index; - -private: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; } -}; - - -//---------------------------------------------------------------------- -// deprecated code -//---------------------------------------------------------------------- - -// -------------------- EvalToTemp -------------------- - -// expression class for evaluating nested expression to a temporary - -template class EvalToTemp; - -template -struct traits > - : public traits -{ }; - -template -class EvalToTemp - : public dense_xpr_base >::type -{ - public: - - typedef typename dense_xpr_base::type Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp) - - explicit EvalToTemp(const ArgType& arg) - : m_arg(arg) - { } - - const ArgType& arg() const - { - return m_arg; - } - - Index rows() const - { - return m_arg.rows(); - } - - Index cols() const - { - return m_arg.cols(); - } - - private: - const ArgType& m_arg; -}; - -template -struct evaluator > - : public evaluator -{ - typedef EvalToTemp XprType; - typedef typename ArgType::PlainObject PlainObject; - typedef evaluator Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) - : m_result(xpr.arg()) - { - ::new (static_cast(this)) Base(m_result); - } - - // This constructor is used when nesting an EvalTo evaluator in another evaluator - EIGEN_DEVICE_FUNC evaluator(const ArgType& arg) - : m_result(arg) - { - ::new (static_cast(this)) Base(m_result); - } - -protected: - PlainObject m_result; -}; - -} // namespace internal - -} // end namespace Eigen - -#endif // EIGEN_COREEVALUATORS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CoreIterators.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CoreIterators.h deleted file mode 100644 index b9671968..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CoreIterators.h +++ /dev/null @@ -1,132 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_COREITERATORS_H -#define EIGEN_COREITERATORS_H - -namespace Eigen { - -/* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core - */ - -namespace internal { - -template -class inner_iterator_selector; - -} - -/** \class InnerIterator - * \brief An InnerIterator allows to loop over the element of any matrix expression. - * - * \warning To be used with care because an evaluator is constructed every time an InnerIterator iterator is constructed. - * - * TODO: add a usage example - */ -template -class InnerIterator -{ -protected: - typedef internal::inner_iterator_selector::Kind> IteratorType; - typedef internal::evaluator EvaluatorType; - typedef typename internal::traits::Scalar Scalar; -public: - /** Construct an iterator over the \a outerId -th row or column of \a xpr */ - InnerIterator(const XprType &xpr, const Index &outerId) - : m_eval(xpr), m_iter(m_eval, outerId, xpr.innerSize()) - {} - - /// \returns the value of the current coefficient. - EIGEN_STRONG_INLINE Scalar value() const { return m_iter.value(); } - /** Increment the iterator \c *this to the next non-zero coefficient. - * Explicit zeros are not skipped over. To skip explicit zeros, see class SparseView - */ - EIGEN_STRONG_INLINE InnerIterator& operator++() { m_iter.operator++(); return *this; } - EIGEN_STRONG_INLINE InnerIterator& operator+=(Index i) { m_iter.operator+=(i); return *this; } - EIGEN_STRONG_INLINE InnerIterator operator+(Index i) - { InnerIterator result(*this); result+=i; return result; } - - - /// \returns the column or row index of the current coefficient. - EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); } - /// \returns the row index of the current coefficient. - EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); } - /// \returns the column index of the current coefficient. - EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); } - /// \returns \c true if the iterator \c *this still references a valid coefficient. - EIGEN_STRONG_INLINE operator bool() const { return m_iter; } - -protected: - EvaluatorType m_eval; - IteratorType m_iter; -private: - // If you get here, then you're not using the right InnerIterator type, e.g.: - // SparseMatrix A; - // SparseMatrix::InnerIterator it(A,0); - template InnerIterator(const EigenBase&,Index outer); -}; - -namespace internal { - -// Generic inner iterator implementation for dense objects -template -class inner_iterator_selector -{ -protected: - typedef evaluator EvaluatorType; - typedef typename traits::Scalar Scalar; - enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit }; - -public: - EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &innerSize) - : m_eval(eval), m_inner(0), m_outer(outerId), m_end(innerSize) - {} - - EIGEN_STRONG_INLINE Scalar value() const - { - return (IsRowMajor) ? m_eval.coeff(m_outer, m_inner) - : m_eval.coeff(m_inner, m_outer); - } - - EIGEN_STRONG_INLINE inner_iterator_selector& operator++() { m_inner++; return *this; } - - EIGEN_STRONG_INLINE Index index() const { return m_inner; } - inline Index row() const { return IsRowMajor ? m_outer : index(); } - inline Index col() const { return IsRowMajor ? index() : m_outer; } - - EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; } - -protected: - const EvaluatorType& m_eval; - Index m_inner; - const Index m_outer; - const Index m_end; -}; - -// For iterator-based evaluator, inner-iterator is already implemented as -// evaluator<>::InnerIterator -template -class inner_iterator_selector - : public evaluator::InnerIterator -{ -protected: - typedef typename evaluator::InnerIterator Base; - typedef evaluator EvaluatorType; - -public: - EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &/*innerSize*/) - : Base(eval, outerId) - {} -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_COREITERATORS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseBinaryOp.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseBinaryOp.h deleted file mode 100644 index bf2632d9..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseBinaryOp.h +++ /dev/null @@ -1,183 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2014 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CWISE_BINARY_OP_H -#define EIGEN_CWISE_BINARY_OP_H - -namespace Eigen { - -namespace internal { -template -struct traits > -{ - // we must not inherit from traits since it has - // the potential to cause problems with MSVC - typedef typename remove_all::type Ancestor; - typedef typename traits::XprKind XprKind; - enum { - RowsAtCompileTime = traits::RowsAtCompileTime, - ColsAtCompileTime = traits::ColsAtCompileTime, - MaxRowsAtCompileTime = traits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = traits::MaxColsAtCompileTime - }; - - // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor), - // we still want to handle the case when the result type is different. - typedef typename result_of< - BinaryOp( - const typename Lhs::Scalar&, - const typename Rhs::Scalar& - ) - >::type Scalar; - typedef typename cwise_promote_storage_type::StorageKind, - typename traits::StorageKind, - BinaryOp>::ret StorageKind; - typedef typename promote_index_type::StorageIndex, - typename traits::StorageIndex>::type StorageIndex; - typedef typename Lhs::Nested LhsNested; - typedef typename Rhs::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - enum { - Flags = cwise_promote_storage_order::StorageKind,typename traits::StorageKind,_LhsNested::Flags & RowMajorBit,_RhsNested::Flags & RowMajorBit>::value - }; -}; -} // end namespace internal - -template -class CwiseBinaryOpImpl; - -/** \class CwiseBinaryOp - * \ingroup Core_Module - * - * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions - * - * \tparam BinaryOp template functor implementing the operator - * \tparam LhsType the type of the left-hand side - * \tparam RhsType the type of the right-hand side - * - * This class represents an expression where a coefficient-wise binary operator is applied to two expressions. - * It is the return type of binary operators, by which we mean only those binary operators where - * both the left-hand side and the right-hand side are Eigen expressions. - * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp. - * - * Most of the time, this is the only way that it is used, so you typically don't have to name - * CwiseBinaryOp types explicitly. - * - * \sa MatrixBase::binaryExpr(const MatrixBase &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp - */ -template -class CwiseBinaryOp : - public CwiseBinaryOpImpl< - BinaryOp, LhsType, RhsType, - typename internal::cwise_promote_storage_type::StorageKind, - typename internal::traits::StorageKind, - BinaryOp>::ret>, - internal::no_assignment_operator -{ - public: - - typedef typename internal::remove_all::type Functor; - typedef typename internal::remove_all::type Lhs; - typedef typename internal::remove_all::type Rhs; - - typedef typename CwiseBinaryOpImpl< - BinaryOp, LhsType, RhsType, - typename internal::cwise_promote_storage_type::StorageKind, - typename internal::traits::StorageKind, - BinaryOp>::ret>::Base Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp) - - typedef typename internal::ref_selector::type LhsNested; - typedef typename internal::ref_selector::type RhsNested; - typedef typename internal::remove_reference::type _LhsNested; - typedef typename internal::remove_reference::type _RhsNested; - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp()) - : m_lhs(aLhs), m_rhs(aRhs), m_functor(func) - { - EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar); - // require the sizes to match - EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs) - eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rows() const { - // return the fixed size type if available to enable compile time optimizations - if (internal::traits::type>::RowsAtCompileTime==Dynamic) - return m_rhs.rows(); - else - return m_lhs.rows(); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index cols() const { - // return the fixed size type if available to enable compile time optimizations - if (internal::traits::type>::ColsAtCompileTime==Dynamic) - return m_rhs.cols(); - else - return m_lhs.cols(); - } - - /** \returns the left hand side nested expression */ - EIGEN_DEVICE_FUNC - const _LhsNested& lhs() const { return m_lhs; } - /** \returns the right hand side nested expression */ - EIGEN_DEVICE_FUNC - const _RhsNested& rhs() const { return m_rhs; } - /** \returns the functor representing the binary operation */ - EIGEN_DEVICE_FUNC - const BinaryOp& functor() const { return m_functor; } - - protected: - LhsNested m_lhs; - RhsNested m_rhs; - const BinaryOp m_functor; -}; - -// Generic API dispatcher -template -class CwiseBinaryOpImpl - : public internal::generic_xpr_base >::type -{ -public: - typedef typename internal::generic_xpr_base >::type Base; -}; - -/** replaces \c *this by \c *this - \a other. - * - * \returns a reference to \c *this - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived & -MatrixBase::operator-=(const MatrixBase &other) -{ - call_assignment(derived(), other.derived(), internal::sub_assign_op()); - return derived(); -} - -/** replaces \c *this by \c *this + \a other. - * - * \returns a reference to \c *this - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived & -MatrixBase::operator+=(const MatrixBase& other) -{ - call_assignment(derived(), other.derived(), internal::add_assign_op()); - return derived(); -} - -} // end namespace Eigen - -#endif // EIGEN_CWISE_BINARY_OP_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseNullaryOp.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseNullaryOp.h deleted file mode 100644 index 144608ec..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseNullaryOp.h +++ /dev/null @@ -1,866 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CWISE_NULLARY_OP_H -#define EIGEN_CWISE_NULLARY_OP_H - -namespace Eigen { - -namespace internal { -template -struct traits > : traits -{ - enum { - Flags = traits::Flags & RowMajorBit - }; -}; - -} // namespace internal - -/** \class CwiseNullaryOp - * \ingroup Core_Module - * - * \brief Generic expression of a matrix where all coefficients are defined by a functor - * - * \tparam NullaryOp template functor implementing the operator - * \tparam PlainObjectType the underlying plain matrix/array type - * - * This class represents an expression of a generic nullary operator. - * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods, - * and most of the time this is the only way it is used. - * - * However, if you want to write a function returning such an expression, you - * will need to use this class. - * - * The functor NullaryOp must expose one of the following method: - - - - -
\c operator()() if the procedural generation does not depend on the coefficient entries (e.g., random numbers)
\c operator()(Index i)if the procedural generation makes sense for vectors only and that it depends on the coefficient index \c i (e.g., linspace)
\c operator()(Index i,Index j)if the procedural generation depends on the matrix coordinates \c i, \c j (e.g., to generate a checkerboard with 0 and 1)
- * It is also possible to expose the last two operators if the generation makes sense for matrices but can be optimized for vectors. - * - * See DenseBase::NullaryExpr(Index,const CustomNullaryOp&) for an example binding - * C++11 random number generators. - * - * A nullary expression can also be used to implement custom sophisticated matrix manipulations - * that cannot be covered by the existing set of natively supported matrix manipulations. - * See this \ref TopicCustomizing_NullaryExpr "page" for some examples and additional explanations - * on the behavior of CwiseNullaryOp. - * - * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr - */ -template -class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp >::type, internal::no_assignment_operator -{ - public: - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp) - - EIGEN_DEVICE_FUNC - CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp()) - : m_rows(rows), m_cols(cols), m_functor(func) - { - eigen_assert(rows >= 0 - && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) - && cols >= 0 - && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); } - - /** \returns the functor representing the nullary operation */ - EIGEN_DEVICE_FUNC - const NullaryOp& functor() const { return m_functor; } - - protected: - const internal::variable_if_dynamic m_rows; - const internal::variable_if_dynamic m_cols; - const NullaryOp m_functor; -}; - - -/** \returns an expression of a matrix defined by a custom functor \a func - * - * The parameters \a rows and \a cols are the number of rows and of columns of - * the returned matrix. Must be compatible with this MatrixBase type. - * - * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, - * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used - * instead. - * - * The template parameter \a CustomNullaryOp is the type of the functor. - * - * \sa class CwiseNullaryOp - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp::PlainObject> -DenseBase::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func) -{ - return CwiseNullaryOp(rows, cols, func); -} - -/** \returns an expression of a matrix defined by a custom functor \a func - * - * The parameter \a size is the size of the returned vector. - * Must be compatible with this MatrixBase type. - * - * \only_for_vectors - * - * This variant is meant to be used for dynamic-size vector types. For fixed-size types, - * it is redundant to pass \a size as argument, so Zero() should be used - * instead. - * - * The template parameter \a CustomNullaryOp is the type of the functor. - * - * Here is an example with C++11 random generators: \include random_cpp11.cpp - * Output: \verbinclude random_cpp11.out - * - * \sa class CwiseNullaryOp - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp::PlainObject> -DenseBase::NullaryExpr(Index size, const CustomNullaryOp& func) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - if(RowsAtCompileTime == 1) return CwiseNullaryOp(1, size, func); - else return CwiseNullaryOp(size, 1, func); -} - -/** \returns an expression of a matrix defined by a custom functor \a func - * - * This variant is only for fixed-size DenseBase types. For dynamic-size types, you - * need to use the variants taking size arguments. - * - * The template parameter \a CustomNullaryOp is the type of the functor. - * - * \sa class CwiseNullaryOp - */ -template -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp::PlainObject> -DenseBase::NullaryExpr(const CustomNullaryOp& func) -{ - return CwiseNullaryOp(RowsAtCompileTime, ColsAtCompileTime, func); -} - -/** \returns an expression of a constant matrix of value \a value - * - * The parameters \a rows and \a cols are the number of rows and of columns of - * the returned matrix. Must be compatible with this DenseBase type. - * - * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, - * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used - * instead. - * - * The template parameter \a CustomNullaryOp is the type of the functor. - * - * \sa class CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Constant(Index rows, Index cols, const Scalar& value) -{ - return DenseBase::NullaryExpr(rows, cols, internal::scalar_constant_op(value)); -} - -/** \returns an expression of a constant matrix of value \a value - * - * The parameter \a size is the size of the returned vector. - * Must be compatible with this DenseBase type. - * - * \only_for_vectors - * - * This variant is meant to be used for dynamic-size vector types. For fixed-size types, - * it is redundant to pass \a size as argument, so Zero() should be used - * instead. - * - * The template parameter \a CustomNullaryOp is the type of the functor. - * - * \sa class CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Constant(Index size, const Scalar& value) -{ - return DenseBase::NullaryExpr(size, internal::scalar_constant_op(value)); -} - -/** \returns an expression of a constant matrix of value \a value - * - * This variant is only for fixed-size DenseBase types. For dynamic-size types, you - * need to use the variants taking size arguments. - * - * The template parameter \a CustomNullaryOp is the type of the functor. - * - * \sa class CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Constant(const Scalar& value) -{ - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) - return DenseBase::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op(value)); -} - -/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&) - * - * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType -DenseBase::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return DenseBase::NullaryExpr(size, internal::linspaced_op(low,high,size)); -} - -/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&) - * - * \sa LinSpaced(Scalar,Scalar) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType -DenseBase::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) - return DenseBase::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op(low,high,Derived::SizeAtCompileTime)); -} - -/** - * \brief Sets a linearly spaced vector. - * - * The function generates 'size' equally spaced values in the closed interval [low,high]. - * When size is set to 1, a vector of length 1 containing 'high' is returned. - * - * \only_for_vectors - * - * Example: \include DenseBase_LinSpaced.cpp - * Output: \verbinclude DenseBase_LinSpaced.out - * - * For integer scalar types, an even spacing is possible if and only if the length of the range, - * i.e., \c high-low is a scalar multiple of \c size-1, or if \c size is a scalar multiple of the - * number of values \c high-low+1 (meaning each value can be repeated the same number of time). - * If one of these two considions is not satisfied, then \c high is lowered to the largest value - * satisfying one of this constraint. - * Here are some examples: - * - * Example: \include DenseBase_LinSpacedInt.cpp - * Output: \verbinclude DenseBase_LinSpacedInt.out - * - * \sa setLinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType -DenseBase::LinSpaced(Index size, const Scalar& low, const Scalar& high) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return DenseBase::NullaryExpr(size, internal::linspaced_op(low,high,size)); -} - -/** - * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&) - * Special version for fixed size types which does not require the size parameter. - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::RandomAccessLinSpacedReturnType -DenseBase::LinSpaced(const Scalar& low, const Scalar& high) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) - return DenseBase::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op(low,high,Derived::SizeAtCompileTime)); -} - -/** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */ -template -EIGEN_DEVICE_FUNC bool DenseBase::isApproxToConstant -(const Scalar& val, const RealScalar& prec) const -{ - typename internal::nested_eval::type self(derived()); - for(Index j = 0; j < cols(); ++j) - for(Index i = 0; i < rows(); ++i) - if(!internal::isApprox(self.coeff(i, j), val, prec)) - return false; - return true; -} - -/** This is just an alias for isApproxToConstant(). - * - * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */ -template -EIGEN_DEVICE_FUNC bool DenseBase::isConstant -(const Scalar& val, const RealScalar& prec) const -{ - return isApproxToConstant(val, prec); -} - -/** Alias for setConstant(): sets all coefficients in this expression to \a val. - * - * \sa setConstant(), Constant(), class CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void DenseBase::fill(const Scalar& val) -{ - setConstant(val); -} - -/** Sets all coefficients in this expression to value \a val. - * - * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::setConstant(const Scalar& val) -{ - return derived() = Constant(rows(), cols(), val); -} - -/** Resizes to the given \a size, and sets all coefficients in this expression to the given value \a val. - * - * \only_for_vectors - * - * Example: \include Matrix_setConstant_int.cpp - * Output: \verbinclude Matrix_setConstant_int.out - * - * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setConstant(Index size, const Scalar& val) -{ - resize(size); - return setConstant(val); -} - -/** Resizes to the given size, and sets all coefficients in this expression to the given value \a val. - * - * \param rows the new number of rows - * \param cols the new number of columns - * \param val the value to which all coefficients are set - * - * Example: \include Matrix_setConstant_int_int.cpp - * Output: \verbinclude Matrix_setConstant_int_int.out - * - * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setConstant(Index rows, Index cols, const Scalar& val) -{ - resize(rows, cols); - return setConstant(val); -} - -/** - * \brief Sets a linearly spaced vector. - * - * The function generates 'size' equally spaced values in the closed interval [low,high]. - * When size is set to 1, a vector of length 1 containing 'high' is returned. - * - * \only_for_vectors - * - * Example: \include DenseBase_setLinSpaced.cpp - * Output: \verbinclude DenseBase_setLinSpaced.out - * - * For integer scalar types, do not miss the explanations on the definition - * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink. - * - * \sa LinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op(low,high,newSize)); -} - -/** - * \brief Sets a linearly spaced vector. - * - * The function fills \c *this with equally spaced values in the closed interval [low,high]. - * When size is set to 1, a vector of length 1 containing 'high' is returned. - * - * \only_for_vectors - * - * For integer scalar types, do not miss the explanations on the definition - * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink. - * - * \sa LinSpaced(Index,const Scalar&,const Scalar&), setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::setLinSpaced(const Scalar& low, const Scalar& high) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return setLinSpaced(size(), low, high); -} - -// zero: - -/** \returns an expression of a zero matrix. - * - * The parameters \a rows and \a cols are the number of rows and of columns of - * the returned matrix. Must be compatible with this MatrixBase type. - * - * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, - * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used - * instead. - * - * Example: \include MatrixBase_zero_int_int.cpp - * Output: \verbinclude MatrixBase_zero_int_int.out - * - * \sa Zero(), Zero(Index) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Zero(Index rows, Index cols) -{ - return Constant(rows, cols, Scalar(0)); -} - -/** \returns an expression of a zero vector. - * - * The parameter \a size is the size of the returned vector. - * Must be compatible with this MatrixBase type. - * - * \only_for_vectors - * - * This variant is meant to be used for dynamic-size vector types. For fixed-size types, - * it is redundant to pass \a size as argument, so Zero() should be used - * instead. - * - * Example: \include MatrixBase_zero_int.cpp - * Output: \verbinclude MatrixBase_zero_int.out - * - * \sa Zero(), Zero(Index,Index) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Zero(Index size) -{ - return Constant(size, Scalar(0)); -} - -/** \returns an expression of a fixed-size zero matrix or vector. - * - * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you - * need to use the variants taking size arguments. - * - * Example: \include MatrixBase_zero.cpp - * Output: \verbinclude MatrixBase_zero.out - * - * \sa Zero(Index), Zero(Index,Index) - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Zero() -{ - return Constant(Scalar(0)); -} - -/** \returns true if *this is approximately equal to the zero matrix, - * within the precision given by \a prec. - * - * Example: \include MatrixBase_isZero.cpp - * Output: \verbinclude MatrixBase_isZero.out - * - * \sa class CwiseNullaryOp, Zero() - */ -template -EIGEN_DEVICE_FUNC bool DenseBase::isZero(const RealScalar& prec) const -{ - typename internal::nested_eval::type self(derived()); - for(Index j = 0; j < cols(); ++j) - for(Index i = 0; i < rows(); ++i) - if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast(1), prec)) - return false; - return true; -} - -/** Sets all coefficients in this expression to zero. - * - * Example: \include MatrixBase_setZero.cpp - * Output: \verbinclude MatrixBase_setZero.out - * - * \sa class CwiseNullaryOp, Zero() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::setZero() -{ - return setConstant(Scalar(0)); -} - -/** Resizes to the given \a size, and sets all coefficients in this expression to zero. - * - * \only_for_vectors - * - * Example: \include Matrix_setZero_int.cpp - * Output: \verbinclude Matrix_setZero_int.out - * - * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setZero(Index newSize) -{ - resize(newSize); - return setConstant(Scalar(0)); -} - -/** Resizes to the given size, and sets all coefficients in this expression to zero. - * - * \param rows the new number of rows - * \param cols the new number of columns - * - * Example: \include Matrix_setZero_int_int.cpp - * Output: \verbinclude Matrix_setZero_int_int.out - * - * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setZero(Index rows, Index cols) -{ - resize(rows, cols); - return setConstant(Scalar(0)); -} - -// ones: - -/** \returns an expression of a matrix where all coefficients equal one. - * - * The parameters \a rows and \a cols are the number of rows and of columns of - * the returned matrix. Must be compatible with this MatrixBase type. - * - * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, - * it is redundant to pass \a rows and \a cols as arguments, so Ones() should be used - * instead. - * - * Example: \include MatrixBase_ones_int_int.cpp - * Output: \verbinclude MatrixBase_ones_int_int.out - * - * \sa Ones(), Ones(Index), isOnes(), class Ones - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Ones(Index rows, Index cols) -{ - return Constant(rows, cols, Scalar(1)); -} - -/** \returns an expression of a vector where all coefficients equal one. - * - * The parameter \a newSize is the size of the returned vector. - * Must be compatible with this MatrixBase type. - * - * \only_for_vectors - * - * This variant is meant to be used for dynamic-size vector types. For fixed-size types, - * it is redundant to pass \a size as argument, so Ones() should be used - * instead. - * - * Example: \include MatrixBase_ones_int.cpp - * Output: \verbinclude MatrixBase_ones_int.out - * - * \sa Ones(), Ones(Index,Index), isOnes(), class Ones - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Ones(Index newSize) -{ - return Constant(newSize, Scalar(1)); -} - -/** \returns an expression of a fixed-size matrix or vector where all coefficients equal one. - * - * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you - * need to use the variants taking size arguments. - * - * Example: \include MatrixBase_ones.cpp - * Output: \verbinclude MatrixBase_ones.out - * - * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase::ConstantReturnType -DenseBase::Ones() -{ - return Constant(Scalar(1)); -} - -/** \returns true if *this is approximately equal to the matrix where all coefficients - * are equal to 1, within the precision given by \a prec. - * - * Example: \include MatrixBase_isOnes.cpp - * Output: \verbinclude MatrixBase_isOnes.out - * - * \sa class CwiseNullaryOp, Ones() - */ -template -EIGEN_DEVICE_FUNC bool DenseBase::isOnes -(const RealScalar& prec) const -{ - return isApproxToConstant(Scalar(1), prec); -} - -/** Sets all coefficients in this expression to one. - * - * Example: \include MatrixBase_setOnes.cpp - * Output: \verbinclude MatrixBase_setOnes.out - * - * \sa class CwiseNullaryOp, Ones() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase::setOnes() -{ - return setConstant(Scalar(1)); -} - -/** Resizes to the given \a newSize, and sets all coefficients in this expression to one. - * - * \only_for_vectors - * - * Example: \include Matrix_setOnes_int.cpp - * Output: \verbinclude Matrix_setOnes_int.out - * - * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setOnes(Index newSize) -{ - resize(newSize); - return setConstant(Scalar(1)); -} - -/** Resizes to the given size, and sets all coefficients in this expression to one. - * - * \param rows the new number of rows - * \param cols the new number of columns - * - * Example: \include Matrix_setOnes_int_int.cpp - * Output: \verbinclude Matrix_setOnes_int_int.out - * - * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setOnes(Index rows, Index cols) -{ - resize(rows, cols); - return setConstant(Scalar(1)); -} - -// Identity: - -/** \returns an expression of the identity matrix (not necessarily square). - * - * The parameters \a rows and \a cols are the number of rows and of columns of - * the returned matrix. Must be compatible with this MatrixBase type. - * - * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, - * it is redundant to pass \a rows and \a cols as arguments, so Identity() should be used - * instead. - * - * Example: \include MatrixBase_identity_int_int.cpp - * Output: \verbinclude MatrixBase_identity_int_int.out - * - * \sa Identity(), setIdentity(), isIdentity() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::IdentityReturnType -MatrixBase::Identity(Index rows, Index cols) -{ - return DenseBase::NullaryExpr(rows, cols, internal::scalar_identity_op()); -} - -/** \returns an expression of the identity matrix (not necessarily square). - * - * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you - * need to use the variant taking size arguments. - * - * Example: \include MatrixBase_identity.cpp - * Output: \verbinclude MatrixBase_identity.out - * - * \sa Identity(Index,Index), setIdentity(), isIdentity() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::IdentityReturnType -MatrixBase::Identity() -{ - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) - return MatrixBase::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_identity_op()); -} - -/** \returns true if *this is approximately equal to the identity matrix - * (not necessarily square), - * within the precision given by \a prec. - * - * Example: \include MatrixBase_isIdentity.cpp - * Output: \verbinclude MatrixBase_isIdentity.out - * - * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), setIdentity() - */ -template -bool MatrixBase::isIdentity -(const RealScalar& prec) const -{ - typename internal::nested_eval::type self(derived()); - for(Index j = 0; j < cols(); ++j) - { - for(Index i = 0; i < rows(); ++i) - { - if(i == j) - { - if(!internal::isApprox(self.coeff(i, j), static_cast(1), prec)) - return false; - } - else - { - if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast(1), prec)) - return false; - } - } - } - return true; -} - -namespace internal { - -template=16)> -struct setIdentity_impl -{ - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE Derived& run(Derived& m) - { - return m = Derived::Identity(m.rows(), m.cols()); - } -}; - -template -struct setIdentity_impl -{ - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE Derived& run(Derived& m) - { - m.setZero(); - const Index size = numext::mini(m.rows(), m.cols()); - for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1); - return m; - } -}; - -} // end namespace internal - -/** Writes the identity expression (not necessarily square) into *this. - * - * Example: \include MatrixBase_setIdentity.cpp - * Output: \verbinclude MatrixBase_setIdentity.out - * - * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase::setIdentity() -{ - return internal::setIdentity_impl::run(derived()); -} - -/** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this. - * - * \param rows the new number of rows - * \param cols the new number of columns - * - * Example: \include Matrix_setIdentity_int_int.cpp - * Output: \verbinclude Matrix_setIdentity_int_int.out - * - * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase::setIdentity(Index rows, Index cols) -{ - derived().resize(rows, cols); - return setIdentity(); -} - -/** \returns an expression of the i-th unit (basis) vector. - * - * \only_for_vectors - * - * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::Unit(Index newSize, Index i) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return BasisReturnType(SquareMatrixType::Identity(newSize,newSize), i); -} - -/** \returns an expression of the i-th unit (basis) vector. - * - * \only_for_vectors - * - * This variant is for fixed-size vector only. - * - * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::Unit(Index i) -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return BasisReturnType(SquareMatrixType::Identity(),i); -} - -/** \returns an expression of the X axis unit vector (1{,0}^*) - * - * \only_for_vectors - * - * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitX() -{ return Derived::Unit(0); } - -/** \returns an expression of the Y axis unit vector (0,1{,0}^*) - * - * \only_for_vectors - * - * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitY() -{ return Derived::Unit(1); } - -/** \returns an expression of the Z axis unit vector (0,0,1{,0}^*) - * - * \only_for_vectors - * - * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitZ() -{ return Derived::Unit(2); } - -/** \returns an expression of the W axis unit vector (0,0,0,1) - * - * \only_for_vectors - * - * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase::BasisReturnType MatrixBase::UnitW() -{ return Derived::Unit(3); } - -} // end namespace Eigen - -#endif // EIGEN_CWISE_NULLARY_OP_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseTernaryOp.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseTernaryOp.h deleted file mode 100644 index 9f3576fe..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseTernaryOp.h +++ /dev/null @@ -1,197 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2014 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2016 Eugene Brevdo -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CWISE_TERNARY_OP_H -#define EIGEN_CWISE_TERNARY_OP_H - -namespace Eigen { - -namespace internal { -template -struct traits > { - // we must not inherit from traits since it has - // the potential to cause problems with MSVC - typedef typename remove_all::type Ancestor; - typedef typename traits::XprKind XprKind; - enum { - RowsAtCompileTime = traits::RowsAtCompileTime, - ColsAtCompileTime = traits::ColsAtCompileTime, - MaxRowsAtCompileTime = traits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = traits::MaxColsAtCompileTime - }; - - // even though we require Arg1, Arg2, and Arg3 to have the same scalar type - // (see CwiseTernaryOp constructor), - // we still want to handle the case when the result type is different. - typedef typename result_of::type Scalar; - - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::StorageIndex StorageIndex; - - typedef typename Arg1::Nested Arg1Nested; - typedef typename Arg2::Nested Arg2Nested; - typedef typename Arg3::Nested Arg3Nested; - typedef typename remove_reference::type _Arg1Nested; - typedef typename remove_reference::type _Arg2Nested; - typedef typename remove_reference::type _Arg3Nested; - enum { Flags = _Arg1Nested::Flags & RowMajorBit }; -}; -} // end namespace internal - -template -class CwiseTernaryOpImpl; - -/** \class CwiseTernaryOp - * \ingroup Core_Module - * - * \brief Generic expression where a coefficient-wise ternary operator is - * applied to two expressions - * - * \tparam TernaryOp template functor implementing the operator - * \tparam Arg1Type the type of the first argument - * \tparam Arg2Type the type of the second argument - * \tparam Arg3Type the type of the third argument - * - * This class represents an expression where a coefficient-wise ternary - * operator is applied to three expressions. - * It is the return type of ternary operators, by which we mean only those - * ternary operators where - * all three arguments are Eigen expressions. - * For example, the return type of betainc(matrix1, matrix2, matrix3) is a - * CwiseTernaryOp. - * - * Most of the time, this is the only way that it is used, so you typically - * don't have to name - * CwiseTernaryOp types explicitly. - * - * \sa MatrixBase::ternaryExpr(const MatrixBase &, const - * MatrixBase &, const CustomTernaryOp &) const, class CwiseBinaryOp, - * class CwiseUnaryOp, class CwiseNullaryOp - */ -template -class CwiseTernaryOp : public CwiseTernaryOpImpl< - TernaryOp, Arg1Type, Arg2Type, Arg3Type, - typename internal::traits::StorageKind>, - internal::no_assignment_operator -{ - public: - typedef typename internal::remove_all::type Arg1; - typedef typename internal::remove_all::type Arg2; - typedef typename internal::remove_all::type Arg3; - - typedef typename CwiseTernaryOpImpl< - TernaryOp, Arg1Type, Arg2Type, Arg3Type, - typename internal::traits::StorageKind>::Base Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseTernaryOp) - - typedef typename internal::ref_selector::type Arg1Nested; - typedef typename internal::ref_selector::type Arg2Nested; - typedef typename internal::ref_selector::type Arg3Nested; - typedef typename internal::remove_reference::type _Arg1Nested; - typedef typename internal::remove_reference::type _Arg2Nested; - typedef typename internal::remove_reference::type _Arg3Nested; - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CwiseTernaryOp(const Arg1& a1, const Arg2& a2, - const Arg3& a3, - const TernaryOp& func = TernaryOp()) - : m_arg1(a1), m_arg2(a2), m_arg3(a3), m_functor(func) { - // require the sizes to match - EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg2) - EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg3) - - // The index types should match - EIGEN_STATIC_ASSERT((internal::is_same< - typename internal::traits::StorageKind, - typename internal::traits::StorageKind>::value), - STORAGE_KIND_MUST_MATCH) - EIGEN_STATIC_ASSERT((internal::is_same< - typename internal::traits::StorageKind, - typename internal::traits::StorageKind>::value), - STORAGE_KIND_MUST_MATCH) - - eigen_assert(a1.rows() == a2.rows() && a1.cols() == a2.cols() && - a1.rows() == a3.rows() && a1.cols() == a3.cols()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rows() const { - // return the fixed size type if available to enable compile time - // optimizations - if (internal::traits::type>:: - RowsAtCompileTime == Dynamic && - internal::traits::type>:: - RowsAtCompileTime == Dynamic) - return m_arg3.rows(); - else if (internal::traits::type>:: - RowsAtCompileTime == Dynamic && - internal::traits::type>:: - RowsAtCompileTime == Dynamic) - return m_arg2.rows(); - else - return m_arg1.rows(); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index cols() const { - // return the fixed size type if available to enable compile time - // optimizations - if (internal::traits::type>:: - ColsAtCompileTime == Dynamic && - internal::traits::type>:: - ColsAtCompileTime == Dynamic) - return m_arg3.cols(); - else if (internal::traits::type>:: - ColsAtCompileTime == Dynamic && - internal::traits::type>:: - ColsAtCompileTime == Dynamic) - return m_arg2.cols(); - else - return m_arg1.cols(); - } - - /** \returns the first argument nested expression */ - EIGEN_DEVICE_FUNC - const _Arg1Nested& arg1() const { return m_arg1; } - /** \returns the first argument nested expression */ - EIGEN_DEVICE_FUNC - const _Arg2Nested& arg2() const { return m_arg2; } - /** \returns the third argument nested expression */ - EIGEN_DEVICE_FUNC - const _Arg3Nested& arg3() const { return m_arg3; } - /** \returns the functor representing the ternary operation */ - EIGEN_DEVICE_FUNC - const TernaryOp& functor() const { return m_functor; } - - protected: - Arg1Nested m_arg1; - Arg2Nested m_arg2; - Arg3Nested m_arg3; - const TernaryOp m_functor; -}; - -// Generic API dispatcher -template -class CwiseTernaryOpImpl - : public internal::generic_xpr_base< - CwiseTernaryOp >::type { - public: - typedef typename internal::generic_xpr_base< - CwiseTernaryOp >::type Base; -}; - -} // end namespace Eigen - -#endif // EIGEN_CWISE_TERNARY_OP_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryOp.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryOp.h deleted file mode 100644 index 1d2dd19f..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryOp.h +++ /dev/null @@ -1,103 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2014 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CWISE_UNARY_OP_H -#define EIGEN_CWISE_UNARY_OP_H - -namespace Eigen { - -namespace internal { -template -struct traits > - : traits -{ - typedef typename result_of< - UnaryOp(const typename XprType::Scalar&) - >::type Scalar; - typedef typename XprType::Nested XprTypeNested; - typedef typename remove_reference::type _XprTypeNested; - enum { - Flags = _XprTypeNested::Flags & RowMajorBit - }; -}; -} - -template -class CwiseUnaryOpImpl; - -/** \class CwiseUnaryOp - * \ingroup Core_Module - * - * \brief Generic expression where a coefficient-wise unary operator is applied to an expression - * - * \tparam UnaryOp template functor implementing the operator - * \tparam XprType the type of the expression to which we are applying the unary operator - * - * This class represents an expression where a unary operator is applied to an expression. - * It is the return type of all operations taking exactly 1 input expression, regardless of the - * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix - * is considered unary, because only the right-hand side is an expression, and its - * return type is a specialization of CwiseUnaryOp. - * - * Most of the time, this is the only way that it is used, so you typically don't have to name - * CwiseUnaryOp types explicitly. - * - * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp - */ -template -class CwiseUnaryOp : public CwiseUnaryOpImpl::StorageKind>, internal::no_assignment_operator -{ - public: - - typedef typename CwiseUnaryOpImpl::StorageKind>::Base Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp) - typedef typename internal::ref_selector::type XprTypeNested; - typedef typename internal::remove_all::type NestedExpression; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp()) - : m_xpr(xpr), m_functor(func) {} - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Index rows() const { return m_xpr.rows(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Index cols() const { return m_xpr.cols(); } - - /** \returns the functor representing the unary operation */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const UnaryOp& functor() const { return m_functor; } - - /** \returns the nested expression */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const typename internal::remove_all::type& - nestedExpression() const { return m_xpr; } - - /** \returns the nested expression */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - typename internal::remove_all::type& - nestedExpression() { return m_xpr; } - - protected: - XprTypeNested m_xpr; - const UnaryOp m_functor; -}; - -// Generic API dispatcher -template -class CwiseUnaryOpImpl - : public internal::generic_xpr_base >::type -{ -public: - typedef typename internal::generic_xpr_base >::type Base; -}; - -} // end namespace Eigen - -#endif // EIGEN_CWISE_UNARY_OP_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryView.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryView.h deleted file mode 100644 index 27103305..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/CwiseUnaryView.h +++ /dev/null @@ -1,128 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CWISE_UNARY_VIEW_H -#define EIGEN_CWISE_UNARY_VIEW_H - -namespace Eigen { - -namespace internal { -template -struct traits > - : traits -{ - typedef typename result_of< - ViewOp(const typename traits::Scalar&) - >::type Scalar; - typedef typename MatrixType::Nested MatrixTypeNested; - typedef typename remove_all::type _MatrixTypeNested; - enum { - FlagsLvalueBit = is_lvalue::value ? LvalueBit : 0, - Flags = traits<_MatrixTypeNested>::Flags & (RowMajorBit | FlagsLvalueBit | DirectAccessBit), // FIXME DirectAccessBit should not be handled by expressions - MatrixTypeInnerStride = inner_stride_at_compile_time::ret, - // need to cast the sizeof's from size_t to int explicitly, otherwise: - // "error: no integral type can represent all of the enumerator values - InnerStrideAtCompileTime = MatrixTypeInnerStride == Dynamic - ? int(Dynamic) - : int(MatrixTypeInnerStride) * int(sizeof(typename traits::Scalar) / sizeof(Scalar)), - OuterStrideAtCompileTime = outer_stride_at_compile_time::ret == Dynamic - ? int(Dynamic) - : outer_stride_at_compile_time::ret * int(sizeof(typename traits::Scalar) / sizeof(Scalar)) - }; -}; -} - -template -class CwiseUnaryViewImpl; - -/** \class CwiseUnaryView - * \ingroup Core_Module - * - * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector - * - * \tparam ViewOp template functor implementing the view - * \tparam MatrixType the type of the matrix we are applying the unary operator - * - * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector. - * It is the return type of real() and imag(), and most of the time this is the only way it is used. - * - * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp - */ -template -class CwiseUnaryView : public CwiseUnaryViewImpl::StorageKind> -{ - public: - - typedef typename CwiseUnaryViewImpl::StorageKind>::Base Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView) - typedef typename internal::ref_selector::non_const_type MatrixTypeNested; - typedef typename internal::remove_all::type NestedExpression; - - explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp()) - : m_matrix(mat), m_functor(func) {} - - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView) - - EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); } - EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); } - - /** \returns the functor representing unary operation */ - const ViewOp& functor() const { return m_functor; } - - /** \returns the nested expression */ - const typename internal::remove_all::type& - nestedExpression() const { return m_matrix; } - - /** \returns the nested expression */ - typename internal::remove_reference::type& - nestedExpression() { return m_matrix.const_cast_derived(); } - - protected: - MatrixTypeNested m_matrix; - ViewOp m_functor; -}; - -// Generic API dispatcher -template -class CwiseUnaryViewImpl - : public internal::generic_xpr_base >::type -{ -public: - typedef typename internal::generic_xpr_base >::type Base; -}; - -template -class CwiseUnaryViewImpl - : public internal::dense_xpr_base< CwiseUnaryView >::type -{ - public: - - typedef CwiseUnaryView Derived; - typedef typename internal::dense_xpr_base< CwiseUnaryView >::type Base; - - EIGEN_DENSE_PUBLIC_INTERFACE(Derived) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl) - - EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); } - EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); } - - EIGEN_DEVICE_FUNC inline Index innerStride() const - { - return derived().nestedExpression().innerStride() * sizeof(typename internal::traits::Scalar) / sizeof(Scalar); - } - - EIGEN_DEVICE_FUNC inline Index outerStride() const - { - return derived().nestedExpression().outerStride() * sizeof(typename internal::traits::Scalar) / sizeof(Scalar); - } -}; - -} // end namespace Eigen - -#endif // EIGEN_CWISE_UNARY_VIEW_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseBase.h deleted file mode 100644 index fd933eed..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseBase.h +++ /dev/null @@ -1,615 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2007-2010 Benoit Jacob -// Copyright (C) 2008-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DENSEBASE_H -#define EIGEN_DENSEBASE_H - -namespace Eigen { - -namespace internal { - -// The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type. -// This dummy function simply aims at checking that at compile time. -static inline void check_DenseIndex_is_signed() { - EIGEN_STATIC_ASSERT(NumTraits::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE); -} - -} // end namespace internal - -/** \class DenseBase - * \ingroup Core_Module - * - * \brief Base class for all dense matrices, vectors, and arrays - * - * This class is the base that is inherited by all dense objects (matrix, vector, arrays, - * and related expression types). The common Eigen API for dense objects is contained in this class. - * - * \tparam Derived is the derived type, e.g., a matrix type or an expression. - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN. - * - * \sa \blank \ref TopicClassHierarchy - */ -template class DenseBase -#ifndef EIGEN_PARSED_BY_DOXYGEN - : public DenseCoeffsBase -#else - : public DenseCoeffsBase -#endif // not EIGEN_PARSED_BY_DOXYGEN -{ - public: - - /** Inner iterator type to iterate over the coefficients of a row or column. - * \sa class InnerIterator - */ - typedef Eigen::InnerIterator InnerIterator; - - typedef typename internal::traits::StorageKind StorageKind; - - /** - * \brief The type used to store indices - * \details This typedef is relevant for types that store multiple indices such as - * PermutationMatrix or Transpositions, otherwise it defaults to Eigen::Index - * \sa \blank \ref TopicPreprocessorDirectives, Eigen::Index, SparseMatrixBase. - */ - typedef typename internal::traits::StorageIndex StorageIndex; - - /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex, etc. */ - typedef typename internal::traits::Scalar Scalar; - - /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex, etc. - * - * It is an alias for the Scalar type */ - typedef Scalar value_type; - - typedef typename NumTraits::Real RealScalar; - typedef DenseCoeffsBase Base; - - using Base::derived; - using Base::const_cast_derived; - using Base::rows; - using Base::cols; - using Base::size; - using Base::rowIndexByOuterInner; - using Base::colIndexByOuterInner; - using Base::coeff; - using Base::coeffByOuterInner; - using Base::operator(); - using Base::operator[]; - using Base::x; - using Base::y; - using Base::z; - using Base::w; - using Base::stride; - using Base::innerStride; - using Base::outerStride; - using Base::rowStride; - using Base::colStride; - typedef typename Base::CoeffReturnType CoeffReturnType; - - enum { - - RowsAtCompileTime = internal::traits::RowsAtCompileTime, - /**< The number of rows at compile-time. This is just a copy of the value provided - * by the \a Derived type. If a value is not known at compile-time, - * it is set to the \a Dynamic constant. - * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */ - - ColsAtCompileTime = internal::traits::ColsAtCompileTime, - /**< The number of columns at compile-time. This is just a copy of the value provided - * by the \a Derived type. If a value is not known at compile-time, - * it is set to the \a Dynamic constant. - * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */ - - - SizeAtCompileTime = (internal::size_at_compile_time::RowsAtCompileTime, - internal::traits::ColsAtCompileTime>::ret), - /**< This is equal to the number of coefficients, i.e. the number of - * rows times the number of columns, or to \a Dynamic if this is not - * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */ - - MaxRowsAtCompileTime = internal::traits::MaxRowsAtCompileTime, - /**< This value is equal to the maximum possible number of rows that this expression - * might have. If this expression might have an arbitrarily high number of rows, - * this value is set to \a Dynamic. - * - * This value is useful to know when evaluating an expression, in order to determine - * whether it is possible to avoid doing a dynamic memory allocation. - * - * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime - */ - - MaxColsAtCompileTime = internal::traits::MaxColsAtCompileTime, - /**< This value is equal to the maximum possible number of columns that this expression - * might have. If this expression might have an arbitrarily high number of columns, - * this value is set to \a Dynamic. - * - * This value is useful to know when evaluating an expression, in order to determine - * whether it is possible to avoid doing a dynamic memory allocation. - * - * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime - */ - - MaxSizeAtCompileTime = (internal::size_at_compile_time::MaxRowsAtCompileTime, - internal::traits::MaxColsAtCompileTime>::ret), - /**< This value is equal to the maximum possible number of coefficients that this expression - * might have. If this expression might have an arbitrarily high number of coefficients, - * this value is set to \a Dynamic. - * - * This value is useful to know when evaluating an expression, in order to determine - * whether it is possible to avoid doing a dynamic memory allocation. - * - * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime - */ - - IsVectorAtCompileTime = internal::traits::MaxRowsAtCompileTime == 1 - || internal::traits::MaxColsAtCompileTime == 1, - /**< This is set to true if either the number of rows or the number of - * columns is known at compile-time to be equal to 1. Indeed, in that case, - * we are dealing with a column-vector (if there is only one column) or with - * a row-vector (if there is only one row). */ - - Flags = internal::traits::Flags, - /**< This stores expression \ref flags flags which may or may not be inherited by new expressions - * constructed from this one. See the \ref flags "list of flags". - */ - - IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */ - - InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime) - : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime), - - InnerStrideAtCompileTime = internal::inner_stride_at_compile_time::ret, - OuterStrideAtCompileTime = internal::outer_stride_at_compile_time::ret - }; - - typedef typename internal::find_best_packet::type PacketScalar; - - enum { IsPlainObjectBase = 0 }; - - /** The plain matrix type corresponding to this expression. - * \sa PlainObject */ - typedef Matrix::Scalar, - internal::traits::RowsAtCompileTime, - internal::traits::ColsAtCompileTime, - AutoAlign | (internal::traits::Flags&RowMajorBit ? RowMajor : ColMajor), - internal::traits::MaxRowsAtCompileTime, - internal::traits::MaxColsAtCompileTime - > PlainMatrix; - - /** The plain array type corresponding to this expression. - * \sa PlainObject */ - typedef Array::Scalar, - internal::traits::RowsAtCompileTime, - internal::traits::ColsAtCompileTime, - AutoAlign | (internal::traits::Flags&RowMajorBit ? RowMajor : ColMajor), - internal::traits::MaxRowsAtCompileTime, - internal::traits::MaxColsAtCompileTime - > PlainArray; - - /** \brief The plain matrix or array type corresponding to this expression. - * - * This is not necessarily exactly the return type of eval(). In the case of plain matrices, - * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed - * that the return type of eval() is either PlainObject or const PlainObject&. - */ - typedef typename internal::conditional::XprKind,MatrixXpr >::value, - PlainMatrix, PlainArray>::type PlainObject; - - /** \returns the number of nonzero coefficients which is in practice the number - * of stored coefficients. */ - EIGEN_DEVICE_FUNC - inline Index nonZeros() const { return size(); } - - /** \returns the outer size. - * - * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension - * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a - * column-major matrix, and the number of rows for a row-major matrix. */ - EIGEN_DEVICE_FUNC - Index outerSize() const - { - return IsVectorAtCompileTime ? 1 - : int(IsRowMajor) ? this->rows() : this->cols(); - } - - /** \returns the inner size. - * - * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension - * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a - * column-major matrix, and the number of columns for a row-major matrix. */ - EIGEN_DEVICE_FUNC - Index innerSize() const - { - return IsVectorAtCompileTime ? this->size() - : int(IsRowMajor) ? this->cols() : this->rows(); - } - - /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are - * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does - * nothing else. - */ - EIGEN_DEVICE_FUNC - void resize(Index newSize) - { - EIGEN_ONLY_USED_FOR_DEBUG(newSize); - eigen_assert(newSize == this->size() - && "DenseBase::resize() does not actually allow to resize."); - } - /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are - * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does - * nothing else. - */ - EIGEN_DEVICE_FUNC - void resize(Index rows, Index cols) - { - EIGEN_ONLY_USED_FOR_DEBUG(rows); - EIGEN_ONLY_USED_FOR_DEBUG(cols); - eigen_assert(rows == this->rows() && cols == this->cols() - && "DenseBase::resize() does not actually allow to resize."); - } - -#ifndef EIGEN_PARSED_BY_DOXYGEN - /** \internal Represents a matrix with all coefficients equal to one another*/ - typedef CwiseNullaryOp,PlainObject> ConstantReturnType; - /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */ - typedef CwiseNullaryOp,PlainObject> SequentialLinSpacedReturnType; - /** \internal Represents a vector with linearly spaced coefficients that allows random access. */ - typedef CwiseNullaryOp,PlainObject> RandomAccessLinSpacedReturnType; - /** \internal the return type of MatrixBase::eigenvalues() */ - typedef Matrix::Scalar>::Real, internal::traits::ColsAtCompileTime, 1> EigenvaluesReturnType; - -#endif // not EIGEN_PARSED_BY_DOXYGEN - - /** Copies \a other into *this. \returns a reference to *this. */ - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator=(const DenseBase& other); - - /** Special case of the template operator=, in order to prevent the compiler - * from generating a default operator= (issue hit with g++ 4.1) - */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator=(const DenseBase& other); - - template - EIGEN_DEVICE_FUNC - Derived& operator=(const EigenBase &other); - - template - EIGEN_DEVICE_FUNC - Derived& operator+=(const EigenBase &other); - - template - EIGEN_DEVICE_FUNC - Derived& operator-=(const EigenBase &other); - - template - EIGEN_DEVICE_FUNC - Derived& operator=(const ReturnByValue& func); - - /** \internal - * Copies \a other into *this without evaluating other. \returns a reference to *this. - * \deprecated */ - template - EIGEN_DEVICE_FUNC - Derived& lazyAssign(const DenseBase& other); - - EIGEN_DEVICE_FUNC - CommaInitializer operator<< (const Scalar& s); - - /** \deprecated it now returns \c *this */ - template - EIGEN_DEPRECATED - const Derived& flagged() const - { return derived(); } - - template - EIGEN_DEVICE_FUNC - CommaInitializer operator<< (const DenseBase& other); - - typedef Transpose TransposeReturnType; - EIGEN_DEVICE_FUNC - TransposeReturnType transpose(); - typedef typename internal::add_const >::type ConstTransposeReturnType; - EIGEN_DEVICE_FUNC - ConstTransposeReturnType transpose() const; - EIGEN_DEVICE_FUNC - void transposeInPlace(); - - EIGEN_DEVICE_FUNC static const ConstantReturnType - Constant(Index rows, Index cols, const Scalar& value); - EIGEN_DEVICE_FUNC static const ConstantReturnType - Constant(Index size, const Scalar& value); - EIGEN_DEVICE_FUNC static const ConstantReturnType - Constant(const Scalar& value); - - EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType - LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high); - EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType - LinSpaced(Index size, const Scalar& low, const Scalar& high); - EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType - LinSpaced(Sequential_t, const Scalar& low, const Scalar& high); - EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType - LinSpaced(const Scalar& low, const Scalar& high); - - template EIGEN_DEVICE_FUNC - static const CwiseNullaryOp - NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func); - template EIGEN_DEVICE_FUNC - static const CwiseNullaryOp - NullaryExpr(Index size, const CustomNullaryOp& func); - template EIGEN_DEVICE_FUNC - static const CwiseNullaryOp - NullaryExpr(const CustomNullaryOp& func); - - EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index rows, Index cols); - EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index size); - EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(); - EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index rows, Index cols); - EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index size); - EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(); - - EIGEN_DEVICE_FUNC void fill(const Scalar& value); - EIGEN_DEVICE_FUNC Derived& setConstant(const Scalar& value); - EIGEN_DEVICE_FUNC Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high); - EIGEN_DEVICE_FUNC Derived& setLinSpaced(const Scalar& low, const Scalar& high); - EIGEN_DEVICE_FUNC Derived& setZero(); - EIGEN_DEVICE_FUNC Derived& setOnes(); - EIGEN_DEVICE_FUNC Derived& setRandom(); - - template EIGEN_DEVICE_FUNC - bool isApprox(const DenseBase& other, - const RealScalar& prec = NumTraits::dummy_precision()) const; - EIGEN_DEVICE_FUNC - bool isMuchSmallerThan(const RealScalar& other, - const RealScalar& prec = NumTraits::dummy_precision()) const; - template EIGEN_DEVICE_FUNC - bool isMuchSmallerThan(const DenseBase& other, - const RealScalar& prec = NumTraits::dummy_precision()) const; - - EIGEN_DEVICE_FUNC bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits::dummy_precision()) const; - EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits::dummy_precision()) const; - EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits::dummy_precision()) const; - EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits::dummy_precision()) const; - - inline bool hasNaN() const; - inline bool allFinite() const; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator*=(const Scalar& other); - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator/=(const Scalar& other); - - typedef typename internal::add_const_on_value_type::type>::type EvalReturnType; - /** \returns the matrix or vector obtained by evaluating this expression. - * - * Notice that in the case of a plain matrix or vector (not an expression) this function just returns - * a const reference, in order to avoid a useless copy. - * - * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE EvalReturnType eval() const - { - // Even though MSVC does not honor strong inlining when the return type - // is a dynamic matrix, we desperately need strong inlining for fixed - // size types on MSVC. - return typename internal::eval::type(derived()); - } - - /** swaps *this with the expression \a other. - * - */ - template - EIGEN_DEVICE_FUNC - void swap(const DenseBase& other) - { - EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY); - eigen_assert(rows()==other.rows() && cols()==other.cols()); - call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op()); - } - - /** swaps *this with the matrix or array \a other. - * - */ - template - EIGEN_DEVICE_FUNC - void swap(PlainObjectBase& other) - { - eigen_assert(rows()==other.rows() && cols()==other.cols()); - call_assignment(derived(), other.derived(), internal::swap_assign_op()); - } - - EIGEN_DEVICE_FUNC inline const NestByValue nestByValue() const; - EIGEN_DEVICE_FUNC inline const ForceAlignedAccess forceAlignedAccess() const; - EIGEN_DEVICE_FUNC inline ForceAlignedAccess forceAlignedAccess(); - template EIGEN_DEVICE_FUNC - inline const typename internal::conditional,Derived&>::type forceAlignedAccessIf() const; - template EIGEN_DEVICE_FUNC - inline typename internal::conditional,Derived&>::type forceAlignedAccessIf(); - - EIGEN_DEVICE_FUNC Scalar sum() const; - EIGEN_DEVICE_FUNC Scalar mean() const; - EIGEN_DEVICE_FUNC Scalar trace() const; - - EIGEN_DEVICE_FUNC Scalar prod() const; - - EIGEN_DEVICE_FUNC typename internal::traits::Scalar minCoeff() const; - EIGEN_DEVICE_FUNC typename internal::traits::Scalar maxCoeff() const; - - template EIGEN_DEVICE_FUNC - typename internal::traits::Scalar minCoeff(IndexType* row, IndexType* col) const; - template EIGEN_DEVICE_FUNC - typename internal::traits::Scalar maxCoeff(IndexType* row, IndexType* col) const; - template EIGEN_DEVICE_FUNC - typename internal::traits::Scalar minCoeff(IndexType* index) const; - template EIGEN_DEVICE_FUNC - typename internal::traits::Scalar maxCoeff(IndexType* index) const; - - template - EIGEN_DEVICE_FUNC - Scalar redux(const BinaryOp& func) const; - - template - EIGEN_DEVICE_FUNC - void visit(Visitor& func) const; - - /** \returns a WithFormat proxy object allowing to print a matrix the with given - * format \a fmt. - * - * See class IOFormat for some examples. - * - * \sa class IOFormat, class WithFormat - */ - inline const WithFormat format(const IOFormat& fmt) const - { - return WithFormat(derived(), fmt); - } - - /** \returns the unique coefficient of a 1x1 expression */ - EIGEN_DEVICE_FUNC - CoeffReturnType value() const - { - EIGEN_STATIC_ASSERT_SIZE_1x1(Derived) - eigen_assert(this->rows() == 1 && this->cols() == 1); - return derived().coeff(0,0); - } - - EIGEN_DEVICE_FUNC bool all() const; - EIGEN_DEVICE_FUNC bool any() const; - EIGEN_DEVICE_FUNC Index count() const; - - typedef VectorwiseOp RowwiseReturnType; - typedef const VectorwiseOp ConstRowwiseReturnType; - typedef VectorwiseOp ColwiseReturnType; - typedef const VectorwiseOp ConstColwiseReturnType; - - /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations - * - * Example: \include MatrixBase_rowwise.cpp - * Output: \verbinclude MatrixBase_rowwise.out - * - * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting - */ - //Code moved here due to a CUDA compiler bug - EIGEN_DEVICE_FUNC inline ConstRowwiseReturnType rowwise() const { - return ConstRowwiseReturnType(derived()); - } - EIGEN_DEVICE_FUNC RowwiseReturnType rowwise(); - - /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations - * - * Example: \include MatrixBase_colwise.cpp - * Output: \verbinclude MatrixBase_colwise.out - * - * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting - */ - EIGEN_DEVICE_FUNC inline ConstColwiseReturnType colwise() const { - return ConstColwiseReturnType(derived()); - } - EIGEN_DEVICE_FUNC ColwiseReturnType colwise(); - - typedef CwiseNullaryOp,PlainObject> RandomReturnType; - static const RandomReturnType Random(Index rows, Index cols); - static const RandomReturnType Random(Index size); - static const RandomReturnType Random(); - - template - const Select - select(const DenseBase& thenMatrix, - const DenseBase& elseMatrix) const; - - template - inline const Select - select(const DenseBase& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const; - - template - inline const Select - select(const typename ElseDerived::Scalar& thenScalar, const DenseBase& elseMatrix) const; - - template RealScalar lpNorm() const; - - template - EIGEN_DEVICE_FUNC - const Replicate replicate() const; - /** - * \return an expression of the replication of \c *this - * - * Example: \include MatrixBase_replicate_int_int.cpp - * Output: \verbinclude MatrixBase_replicate_int_int.out - * - * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate - */ - //Code moved here due to a CUDA compiler bug - EIGEN_DEVICE_FUNC - const Replicate replicate(Index rowFactor, Index colFactor) const - { - return Replicate(derived(), rowFactor, colFactor); - } - - typedef Reverse ReverseReturnType; - typedef const Reverse ConstReverseReturnType; - EIGEN_DEVICE_FUNC ReverseReturnType reverse(); - /** This is the const version of reverse(). */ - //Code moved here due to a CUDA compiler bug - EIGEN_DEVICE_FUNC ConstReverseReturnType reverse() const - { - return ConstReverseReturnType(derived()); - } - EIGEN_DEVICE_FUNC void reverseInPlace(); - -#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase -#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL -#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND) -#define EIGEN_DOC_UNARY_ADDONS(X,Y) -# include "../plugins/CommonCwiseUnaryOps.h" -# include "../plugins/BlockMethods.h" -# include "../plugins/IndexedViewMethods.h" -# ifdef EIGEN_DENSEBASE_PLUGIN -# include EIGEN_DENSEBASE_PLUGIN -# endif -#undef EIGEN_CURRENT_STORAGE_BASE_CLASS -#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL -#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF -#undef EIGEN_DOC_UNARY_ADDONS - - // disable the use of evalTo for dense objects with a nice compilation error - template - EIGEN_DEVICE_FUNC - inline void evalTo(Dest& ) const - { - EIGEN_STATIC_ASSERT((internal::is_same::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS); - } - - protected: - /** Default constructor. Do nothing. */ - EIGEN_DEVICE_FUNC DenseBase() - { - /* Just checks for self-consistency of the flags. - * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down - */ -#ifdef EIGEN_INTERNAL_DEBUGGING - EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor)) - && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))), - INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION) -#endif - } - - private: - EIGEN_DEVICE_FUNC explicit DenseBase(int); - EIGEN_DEVICE_FUNC DenseBase(int,int); - template EIGEN_DEVICE_FUNC explicit DenseBase(const DenseBase&); -}; - -} // end namespace Eigen - -#endif // EIGEN_DENSEBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseCoeffsBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseCoeffsBase.h deleted file mode 100644 index c4af48ab..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseCoeffsBase.h +++ /dev/null @@ -1,681 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DENSECOEFFSBASE_H -#define EIGEN_DENSECOEFFSBASE_H - -namespace Eigen { - -namespace internal { -template struct add_const_on_value_type_if_arithmetic -{ - typedef typename conditional::value, T, typename add_const_on_value_type::type>::type type; -}; -} - -/** \brief Base class providing read-only coefficient access to matrices and arrays. - * \ingroup Core_Module - * \tparam Derived Type of the derived class - * \tparam #ReadOnlyAccessors Constant indicating read-only access - * - * This class defines the \c operator() \c const function and friends, which can be used to read specific - * entries of a matrix or array. - * - * \sa DenseCoeffsBase, DenseCoeffsBase, - * \ref TopicClassHierarchy - */ -template -class DenseCoeffsBase : public EigenBase -{ - public: - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::packet_traits::type PacketScalar; - - // Explanation for this CoeffReturnType typedef. - // - This is the return type of the coeff() method. - // - The LvalueBit means exactly that we can offer a coeffRef() method, which means exactly that we can get references - // to coeffs, which means exactly that we can have coeff() return a const reference (as opposed to returning a value). - // - The is_artihmetic check is required since "const int", "const double", etc. will cause warnings on some systems - // while the declaration of "const T", where T is a non arithmetic type does not. Always returning "const Scalar&" is - // not possible, since the underlying expressions might not offer a valid address the reference could be referring to. - typedef typename internal::conditional::Flags&LvalueBit), - const Scalar&, - typename internal::conditional::value, Scalar, const Scalar>::type - >::type CoeffReturnType; - - typedef typename internal::add_const_on_value_type_if_arithmetic< - typename internal::packet_traits::type - >::type PacketReturnType; - - typedef EigenBase Base; - using Base::rows; - using Base::cols; - using Base::size; - using Base::derived; - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const - { - return int(Derived::RowsAtCompileTime) == 1 ? 0 - : int(Derived::ColsAtCompileTime) == 1 ? inner - : int(Derived::Flags)&RowMajorBit ? outer - : inner; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const - { - return int(Derived::ColsAtCompileTime) == 1 ? 0 - : int(Derived::RowsAtCompileTime) == 1 ? inner - : int(Derived::Flags)&RowMajorBit ? inner - : outer; - } - - /** Short version: don't use this function, use - * \link operator()(Index,Index) const \endlink instead. - * - * Long version: this function is similar to - * \link operator()(Index,Index) const \endlink, but without the assertion. - * Use this for limiting the performance cost of debugging code when doing - * repeated coefficient access. Only use this when it is guaranteed that the - * parameters \a row and \a col are in range. - * - * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this - * function equivalent to \link operator()(Index,Index) const \endlink. - * - * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const - { - eigen_internal_assert(row >= 0 && row < rows() - && col >= 0 && col < cols()); - return internal::evaluator(derived()).coeff(row,col); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const - { - return coeff(rowIndexByOuterInner(outer, inner), - colIndexByOuterInner(outer, inner)); - } - - /** \returns the coefficient at given the given row and column. - * - * \sa operator()(Index,Index), operator[](Index) - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const - { - eigen_assert(row >= 0 && row < rows() - && col >= 0 && col < cols()); - return coeff(row, col); - } - - /** Short version: don't use this function, use - * \link operator[](Index) const \endlink instead. - * - * Long version: this function is similar to - * \link operator[](Index) const \endlink, but without the assertion. - * Use this for limiting the performance cost of debugging code when doing - * repeated coefficient access. Only use this when it is guaranteed that the - * parameter \a index is in range. - * - * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this - * function equivalent to \link operator[](Index) const \endlink. - * - * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - coeff(Index index) const - { - EIGEN_STATIC_ASSERT(internal::evaluator::Flags & LinearAccessBit, - THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS) - eigen_internal_assert(index >= 0 && index < size()); - return internal::evaluator(derived()).coeff(index); - } - - - /** \returns the coefficient at given index. - * - * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. - * - * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const, - * z() const, w() const - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - operator[](Index index) const - { - EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime, - THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD) - eigen_assert(index >= 0 && index < size()); - return coeff(index); - } - - /** \returns the coefficient at given index. - * - * This is synonymous to operator[](Index) const. - * - * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. - * - * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const, - * z() const, w() const - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - operator()(Index index) const - { - eigen_assert(index >= 0 && index < size()); - return coeff(index); - } - - /** equivalent to operator[](0). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - x() const { return (*this)[0]; } - - /** equivalent to operator[](1). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - y() const - { - EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS); - return (*this)[1]; - } - - /** equivalent to operator[](2). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - z() const - { - EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS); - return (*this)[2]; - } - - /** equivalent to operator[](3). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE CoeffReturnType - w() const - { - EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS); - return (*this)[3]; - } - - /** \internal - * \returns the packet of coefficients starting at the given row and column. It is your responsibility - * to ensure that a packet really starts there. This method is only available on expressions having the - * PacketAccessBit. - * - * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select - * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets - * starting at an address which is a multiple of the packet size. - */ - - template - EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const - { - typedef typename internal::packet_traits::type DefaultPacketType; - eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols()); - return internal::evaluator(derived()).template packet(row,col); - } - - - /** \internal */ - template - EIGEN_STRONG_INLINE PacketReturnType packetByOuterInner(Index outer, Index inner) const - { - return packet(rowIndexByOuterInner(outer, inner), - colIndexByOuterInner(outer, inner)); - } - - /** \internal - * \returns the packet of coefficients starting at the given index. It is your responsibility - * to ensure that a packet really starts there. This method is only available on expressions having the - * PacketAccessBit and the LinearAccessBit. - * - * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select - * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets - * starting at an address which is a multiple of the packet size. - */ - - template - EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - EIGEN_STATIC_ASSERT(internal::evaluator::Flags & LinearAccessBit, - THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS) - typedef typename internal::packet_traits::type DefaultPacketType; - eigen_internal_assert(index >= 0 && index < size()); - return internal::evaluator(derived()).template packet(index); - } - - protected: - // explanation: DenseBase is doing "using ..." on the methods from DenseCoeffsBase. - // But some methods are only available in the DirectAccess case. - // So we add dummy methods here with these names, so that "using... " doesn't fail. - // It's not private so that the child class DenseBase can access them, and it's not public - // either since it's an implementation detail, so has to be protected. - void coeffRef(); - void coeffRefByOuterInner(); - void writePacket(); - void writePacketByOuterInner(); - void copyCoeff(); - void copyCoeffByOuterInner(); - void copyPacket(); - void copyPacketByOuterInner(); - void stride(); - void innerStride(); - void outerStride(); - void rowStride(); - void colStride(); -}; - -/** \brief Base class providing read/write coefficient access to matrices and arrays. - * \ingroup Core_Module - * \tparam Derived Type of the derived class - * \tparam #WriteAccessors Constant indicating read/write access - * - * This class defines the non-const \c operator() function and friends, which can be used to write specific - * entries of a matrix or array. This class inherits DenseCoeffsBase which - * defines the const variant for reading specific entries. - * - * \sa DenseCoeffsBase, \ref TopicClassHierarchy - */ -template -class DenseCoeffsBase : public DenseCoeffsBase -{ - public: - - typedef DenseCoeffsBase Base; - - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::packet_traits::type PacketScalar; - typedef typename NumTraits::Real RealScalar; - - using Base::coeff; - using Base::rows; - using Base::cols; - using Base::size; - using Base::derived; - using Base::rowIndexByOuterInner; - using Base::colIndexByOuterInner; - using Base::operator[]; - using Base::operator(); - using Base::x; - using Base::y; - using Base::z; - using Base::w; - - /** Short version: don't use this function, use - * \link operator()(Index,Index) \endlink instead. - * - * Long version: this function is similar to - * \link operator()(Index,Index) \endlink, but without the assertion. - * Use this for limiting the performance cost of debugging code when doing - * repeated coefficient access. Only use this when it is guaranteed that the - * parameters \a row and \a col are in range. - * - * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this - * function equivalent to \link operator()(Index,Index) \endlink. - * - * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index) - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col) - { - eigen_internal_assert(row >= 0 && row < rows() - && col >= 0 && col < cols()); - return internal::evaluator(derived()).coeffRef(row,col); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - coeffRefByOuterInner(Index outer, Index inner) - { - return coeffRef(rowIndexByOuterInner(outer, inner), - colIndexByOuterInner(outer, inner)); - } - - /** \returns a reference to the coefficient at given the given row and column. - * - * \sa operator[](Index) - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - operator()(Index row, Index col) - { - eigen_assert(row >= 0 && row < rows() - && col >= 0 && col < cols()); - return coeffRef(row, col); - } - - - /** Short version: don't use this function, use - * \link operator[](Index) \endlink instead. - * - * Long version: this function is similar to - * \link operator[](Index) \endlink, but without the assertion. - * Use this for limiting the performance cost of debugging code when doing - * repeated coefficient access. Only use this when it is guaranteed that the - * parameters \a row and \a col are in range. - * - * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this - * function equivalent to \link operator[](Index) \endlink. - * - * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index) - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - coeffRef(Index index) - { - EIGEN_STATIC_ASSERT(internal::evaluator::Flags & LinearAccessBit, - THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS) - eigen_internal_assert(index >= 0 && index < size()); - return internal::evaluator(derived()).coeffRef(index); - } - - /** \returns a reference to the coefficient at given index. - * - * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. - * - * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w() - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - operator[](Index index) - { - EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime, - THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD) - eigen_assert(index >= 0 && index < size()); - return coeffRef(index); - } - - /** \returns a reference to the coefficient at given index. - * - * This is synonymous to operator[](Index). - * - * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit. - * - * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w() - */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - operator()(Index index) - { - eigen_assert(index >= 0 && index < size()); - return coeffRef(index); - } - - /** equivalent to operator[](0). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - x() { return (*this)[0]; } - - /** equivalent to operator[](1). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - y() - { - EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS); - return (*this)[1]; - } - - /** equivalent to operator[](2). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - z() - { - EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS); - return (*this)[2]; - } - - /** equivalent to operator[](3). */ - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& - w() - { - EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS); - return (*this)[3]; - } -}; - -/** \brief Base class providing direct read-only coefficient access to matrices and arrays. - * \ingroup Core_Module - * \tparam Derived Type of the derived class - * \tparam #DirectAccessors Constant indicating direct access - * - * This class defines functions to work with strides which can be used to access entries directly. This class - * inherits DenseCoeffsBase which defines functions to access entries read-only using - * \c operator() . - * - * \sa \blank \ref TopicClassHierarchy - */ -template -class DenseCoeffsBase : public DenseCoeffsBase -{ - public: - - typedef DenseCoeffsBase Base; - typedef typename internal::traits::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - using Base::rows; - using Base::cols; - using Base::size; - using Base::derived; - - /** \returns the pointer increment between two consecutive elements within a slice in the inner direction. - * - * \sa outerStride(), rowStride(), colStride() - */ - EIGEN_DEVICE_FUNC - inline Index innerStride() const - { - return derived().innerStride(); - } - - /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns - * in a column-major matrix). - * - * \sa innerStride(), rowStride(), colStride() - */ - EIGEN_DEVICE_FUNC - inline Index outerStride() const - { - return derived().outerStride(); - } - - // FIXME shall we remove it ? - inline Index stride() const - { - return Derived::IsVectorAtCompileTime ? innerStride() : outerStride(); - } - - /** \returns the pointer increment between two consecutive rows. - * - * \sa innerStride(), outerStride(), colStride() - */ - EIGEN_DEVICE_FUNC - inline Index rowStride() const - { - return Derived::IsRowMajor ? outerStride() : innerStride(); - } - - /** \returns the pointer increment between two consecutive columns. - * - * \sa innerStride(), outerStride(), rowStride() - */ - EIGEN_DEVICE_FUNC - inline Index colStride() const - { - return Derived::IsRowMajor ? innerStride() : outerStride(); - } -}; - -/** \brief Base class providing direct read/write coefficient access to matrices and arrays. - * \ingroup Core_Module - * \tparam Derived Type of the derived class - * \tparam #DirectWriteAccessors Constant indicating direct access - * - * This class defines functions to work with strides which can be used to access entries directly. This class - * inherits DenseCoeffsBase which defines functions to access entries read/write using - * \c operator(). - * - * \sa \blank \ref TopicClassHierarchy - */ -template -class DenseCoeffsBase - : public DenseCoeffsBase -{ - public: - - typedef DenseCoeffsBase Base; - typedef typename internal::traits::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - using Base::rows; - using Base::cols; - using Base::size; - using Base::derived; - - /** \returns the pointer increment between two consecutive elements within a slice in the inner direction. - * - * \sa outerStride(), rowStride(), colStride() - */ - EIGEN_DEVICE_FUNC - inline Index innerStride() const - { - return derived().innerStride(); - } - - /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns - * in a column-major matrix). - * - * \sa innerStride(), rowStride(), colStride() - */ - EIGEN_DEVICE_FUNC - inline Index outerStride() const - { - return derived().outerStride(); - } - - // FIXME shall we remove it ? - inline Index stride() const - { - return Derived::IsVectorAtCompileTime ? innerStride() : outerStride(); - } - - /** \returns the pointer increment between two consecutive rows. - * - * \sa innerStride(), outerStride(), colStride() - */ - EIGEN_DEVICE_FUNC - inline Index rowStride() const - { - return Derived::IsRowMajor ? outerStride() : innerStride(); - } - - /** \returns the pointer increment between two consecutive columns. - * - * \sa innerStride(), outerStride(), rowStride() - */ - EIGEN_DEVICE_FUNC - inline Index colStride() const - { - return Derived::IsRowMajor ? innerStride() : outerStride(); - } -}; - -namespace internal { - -template -struct first_aligned_impl -{ - static inline Index run(const Derived&) - { return 0; } -}; - -template -struct first_aligned_impl -{ - static inline Index run(const Derived& m) - { - return internal::first_aligned(m.data(), m.size()); - } -}; - -/** \internal \returns the index of the first element of the array stored by \a m that is properly aligned with respect to \a Alignment for vectorization. - * - * \tparam Alignment requested alignment in Bytes. - * - * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more - * documentation. - */ -template -static inline Index first_aligned(const DenseBase& m) -{ - enum { ReturnZero = (int(evaluator::Alignment) >= Alignment) || !(Derived::Flags & DirectAccessBit) }; - return first_aligned_impl::run(m.derived()); -} - -template -static inline Index first_default_aligned(const DenseBase& m) -{ - typedef typename Derived::Scalar Scalar; - typedef typename packet_traits::type DefaultPacketType; - return internal::first_aligned::alignment),Derived>(m); -} - -template::ret> -struct inner_stride_at_compile_time -{ - enum { ret = traits::InnerStrideAtCompileTime }; -}; - -template -struct inner_stride_at_compile_time -{ - enum { ret = 0 }; -}; - -template::ret> -struct outer_stride_at_compile_time -{ - enum { ret = traits::OuterStrideAtCompileTime }; -}; - -template -struct outer_stride_at_compile_time -{ - enum { ret = 0 }; -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_DENSECOEFFSBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseStorage.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseStorage.h deleted file mode 100644 index 7958feeb..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/DenseStorage.h +++ /dev/null @@ -1,570 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2009 Benoit Jacob -// Copyright (C) 2010-2013 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MATRIXSTORAGE_H -#define EIGEN_MATRIXSTORAGE_H - -#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN - #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X) X; EIGEN_DENSE_STORAGE_CTOR_PLUGIN; -#else - #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X) -#endif - -namespace Eigen { - -namespace internal { - -struct constructor_without_unaligned_array_assert {}; - -template -EIGEN_DEVICE_FUNC -void check_static_allocation_size() -{ - // if EIGEN_STACK_ALLOCATION_LIMIT is defined to 0, then no limit - #if EIGEN_STACK_ALLOCATION_LIMIT - EIGEN_STATIC_ASSERT(Size * sizeof(T) <= EIGEN_STACK_ALLOCATION_LIMIT, OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG); - #endif -} - -/** \internal - * Static array. If the MatrixOrArrayOptions require auto-alignment, the array will be automatically aligned: - * to 16 bytes boundary if the total size is a multiple of 16 bytes. - */ -template ::value > -struct plain_array -{ - T array[Size]; - - EIGEN_DEVICE_FUNC - plain_array() - { - check_static_allocation_size(); - } - - EIGEN_DEVICE_FUNC - plain_array(constructor_without_unaligned_array_assert) - { - check_static_allocation_size(); - } -}; - -#if defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT) - #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) -#elif EIGEN_GNUC_AT_LEAST(4,7) - // GCC 4.7 is too aggressive in its optimizations and remove the alignement test based on the fact the array is declared to be aligned. - // See this bug report: http://gcc.gnu.org/bugzilla/show_bug.cgi?id=53900 - // Hiding the origin of the array pointer behind a function argument seems to do the trick even if the function is inlined: - template - EIGEN_ALWAYS_INLINE PtrType eigen_unaligned_array_assert_workaround_gcc47(PtrType array) { return array; } - #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \ - eigen_assert((internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (sizemask)) == 0 \ - && "this assertion is explained here: " \ - "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \ - " **** READ THIS WEB PAGE !!! ****"); -#else - #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \ - eigen_assert((internal::UIntPtr(array) & (sizemask)) == 0 \ - && "this assertion is explained here: " \ - "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \ - " **** READ THIS WEB PAGE !!! ****"); -#endif - -template -struct plain_array -{ - EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size]; - - EIGEN_DEVICE_FUNC - plain_array() - { - EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7); - check_static_allocation_size(); - } - - EIGEN_DEVICE_FUNC - plain_array(constructor_without_unaligned_array_assert) - { - check_static_allocation_size(); - } -}; - -template -struct plain_array -{ - EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size]; - - EIGEN_DEVICE_FUNC - plain_array() - { - EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15); - check_static_allocation_size(); - } - - EIGEN_DEVICE_FUNC - plain_array(constructor_without_unaligned_array_assert) - { - check_static_allocation_size(); - } -}; - -template -struct plain_array -{ - EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size]; - - EIGEN_DEVICE_FUNC - plain_array() - { - EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31); - check_static_allocation_size(); - } - - EIGEN_DEVICE_FUNC - plain_array(constructor_without_unaligned_array_assert) - { - check_static_allocation_size(); - } -}; - -template -struct plain_array -{ - EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size]; - - EIGEN_DEVICE_FUNC - plain_array() - { - EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63); - check_static_allocation_size(); - } - - EIGEN_DEVICE_FUNC - plain_array(constructor_without_unaligned_array_assert) - { - check_static_allocation_size(); - } -}; - -template -struct plain_array -{ - T array[1]; - EIGEN_DEVICE_FUNC plain_array() {} - EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {} -}; - -} // end namespace internal - -/** \internal - * - * \class DenseStorage - * \ingroup Core_Module - * - * \brief Stores the data of a matrix - * - * This class stores the data of fixed-size, dynamic-size or mixed matrices - * in a way as compact as possible. - * - * \sa Matrix - */ -template class DenseStorage; - -// purely fixed-size matrix -template class DenseStorage -{ - internal::plain_array m_data; - public: - EIGEN_DEVICE_FUNC DenseStorage() { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size) - } - EIGEN_DEVICE_FUNC - explicit DenseStorage(internal::constructor_without_unaligned_array_assert) - : m_data(internal::constructor_without_unaligned_array_assert()) {} - EIGEN_DEVICE_FUNC - DenseStorage(const DenseStorage& other) : m_data(other.m_data) { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size) - } - EIGEN_DEVICE_FUNC - DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) m_data = other.m_data; - return *this; - } - EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols); - EIGEN_UNUSED_VARIABLE(size); - EIGEN_UNUSED_VARIABLE(rows); - EIGEN_UNUSED_VARIABLE(cols); - } - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); } - EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;} - EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;} - EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {} - EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {} - EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } - EIGEN_DEVICE_FUNC T *data() { return m_data.array; } -}; - -// null matrix -template class DenseStorage -{ - public: - EIGEN_DEVICE_FUNC DenseStorage() {} - EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) {} - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) {} - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; } - EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {} - EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {} - EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;} - EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;} - EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {} - EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {} - EIGEN_DEVICE_FUNC const T *data() const { return 0; } - EIGEN_DEVICE_FUNC T *data() { return 0; } -}; - -// more specializations for null matrices; these are necessary to resolve ambiguities -template class DenseStorage -: public DenseStorage { }; - -template class DenseStorage -: public DenseStorage { }; - -template class DenseStorage -: public DenseStorage { }; - -// dynamic-size matrix with fixed-size storage -template class DenseStorage -{ - internal::plain_array m_data; - Index m_rows; - Index m_cols; - public: - EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {} - EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) - : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {} - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {} - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) - { - m_data = other.m_data; - m_rows = other.m_rows; - m_cols = other.m_cols; - } - return *this; - } - EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {} - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) - { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); } - EIGEN_DEVICE_FUNC Index rows() const {return m_rows;} - EIGEN_DEVICE_FUNC Index cols() const {return m_cols;} - EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; } - EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; } - EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } - EIGEN_DEVICE_FUNC T *data() { return m_data.array; } -}; - -// dynamic-size matrix with fixed-size storage and fixed width -template class DenseStorage -{ - internal::plain_array m_data; - Index m_rows; - public: - EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {} - EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) - : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {} - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {} - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) - { - m_data = other.m_data; - m_rows = other.m_rows; - } - return *this; - } - EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {} - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } - EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;} - EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;} - EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; } - EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; } - EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } - EIGEN_DEVICE_FUNC T *data() { return m_data.array; } -}; - -// dynamic-size matrix with fixed-size storage and fixed height -template class DenseStorage -{ - internal::plain_array m_data; - Index m_cols; - public: - EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {} - EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) - : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {} - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {} - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) - { - m_data = other.m_data; - m_cols = other.m_cols; - } - return *this; - } - EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {} - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } - EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;} - EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;} - void conservativeResize(Index, Index, Index cols) { m_cols = cols; } - void resize(Index, Index, Index cols) { m_cols = cols; } - EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; } - EIGEN_DEVICE_FUNC T *data() { return m_data.array; } -}; - -// purely dynamic matrix. -template class DenseStorage -{ - T *m_data; - Index m_rows; - Index m_cols; - public: - EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0), m_cols(0) {} - EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) - : m_data(0), m_rows(0), m_cols(0) {} - EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) - : m_data(internal::conditional_aligned_new_auto(size)), m_rows(rows), m_cols(cols) - { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - eigen_internal_assert(size==rows*cols && rows>=0 && cols >=0); - } - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) - : m_data(internal::conditional_aligned_new_auto(other.m_rows*other.m_cols)) - , m_rows(other.m_rows) - , m_cols(other.m_cols) - { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*m_cols) - internal::smart_copy(other.m_data, other.m_data+other.m_rows*other.m_cols, m_data); - } - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) - { - DenseStorage tmp(other); - this->swap(tmp); - } - return *this; - } -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC - DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT - : m_data(std::move(other.m_data)) - , m_rows(std::move(other.m_rows)) - , m_cols(std::move(other.m_cols)) - { - other.m_data = nullptr; - other.m_rows = 0; - other.m_cols = 0; - } - EIGEN_DEVICE_FUNC - DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT - { - using std::swap; - swap(m_data, other.m_data); - swap(m_rows, other.m_rows); - swap(m_cols, other.m_cols); - return *this; - } -#endif - EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, m_rows*m_cols); } - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) - { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); } - EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;} - EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;} - void conservativeResize(Index size, Index rows, Index cols) - { - m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, m_rows*m_cols); - m_rows = rows; - m_cols = cols; - } - EIGEN_DEVICE_FUNC void resize(Index size, Index rows, Index cols) - { - if(size != m_rows*m_cols) - { - internal::conditional_aligned_delete_auto(m_data, m_rows*m_cols); - if (size) - m_data = internal::conditional_aligned_new_auto(size); - else - m_data = 0; - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - } - m_rows = rows; - m_cols = cols; - } - EIGEN_DEVICE_FUNC const T *data() const { return m_data; } - EIGEN_DEVICE_FUNC T *data() { return m_data; } -}; - -// matrix with dynamic width and fixed height (so that matrix has dynamic size). -template class DenseStorage -{ - T *m_data; - Index m_cols; - public: - EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_cols(0) {} - explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {} - EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto(size)), m_cols(cols) - { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - eigen_internal_assert(size==rows*cols && rows==_Rows && cols >=0); - EIGEN_UNUSED_VARIABLE(rows); - } - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) - : m_data(internal::conditional_aligned_new_auto(_Rows*other.m_cols)) - , m_cols(other.m_cols) - { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_cols*_Rows) - internal::smart_copy(other.m_data, other.m_data+_Rows*m_cols, m_data); - } - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) - { - DenseStorage tmp(other); - this->swap(tmp); - } - return *this; - } -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC - DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT - : m_data(std::move(other.m_data)) - , m_cols(std::move(other.m_cols)) - { - other.m_data = nullptr; - other.m_cols = 0; - } - EIGEN_DEVICE_FUNC - DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT - { - using std::swap; - swap(m_data, other.m_data); - swap(m_cols, other.m_cols); - return *this; - } -#endif - EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Rows*m_cols); } - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); } - EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;} - EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;} - EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols) - { - m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, _Rows*m_cols); - m_cols = cols; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index, Index cols) - { - if(size != _Rows*m_cols) - { - internal::conditional_aligned_delete_auto(m_data, _Rows*m_cols); - if (size) - m_data = internal::conditional_aligned_new_auto(size); - else - m_data = 0; - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - } - m_cols = cols; - } - EIGEN_DEVICE_FUNC const T *data() const { return m_data; } - EIGEN_DEVICE_FUNC T *data() { return m_data; } -}; - -// matrix with dynamic height and fixed width (so that matrix has dynamic size). -template class DenseStorage -{ - T *m_data; - Index m_rows; - public: - EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0) {} - explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {} - EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto(size)), m_rows(rows) - { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - eigen_internal_assert(size==rows*cols && rows>=0 && cols == _Cols); - EIGEN_UNUSED_VARIABLE(cols); - } - EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) - : m_data(internal::conditional_aligned_new_auto(other.m_rows*_Cols)) - , m_rows(other.m_rows) - { - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*_Cols) - internal::smart_copy(other.m_data, other.m_data+other.m_rows*_Cols, m_data); - } - EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) - { - if (this != &other) - { - DenseStorage tmp(other); - this->swap(tmp); - } - return *this; - } -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC - DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT - : m_data(std::move(other.m_data)) - , m_rows(std::move(other.m_rows)) - { - other.m_data = nullptr; - other.m_rows = 0; - } - EIGEN_DEVICE_FUNC - DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT - { - using std::swap; - swap(m_data, other.m_data); - swap(m_rows, other.m_rows); - return *this; - } -#endif - EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto(m_data, _Cols*m_rows); } - EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); } - EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;} - EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;} - void conservativeResize(Index size, Index rows, Index) - { - m_data = internal::conditional_aligned_realloc_new_auto(m_data, size, m_rows*_Cols); - m_rows = rows; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index rows, Index) - { - if(size != m_rows*_Cols) - { - internal::conditional_aligned_delete_auto(m_data, _Cols*m_rows); - if (size) - m_data = internal::conditional_aligned_new_auto(size); - else - m_data = 0; - EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({}) - } - m_rows = rows; - } - EIGEN_DEVICE_FUNC const T *data() const { return m_data; } - EIGEN_DEVICE_FUNC T *data() { return m_data; } -}; - -} // end namespace Eigen - -#endif // EIGEN_MATRIX_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Diagonal.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Diagonal.h deleted file mode 100644 index c62f5ff2..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Diagonal.h +++ /dev/null @@ -1,259 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2007-2009 Benoit Jacob -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DIAGONAL_H -#define EIGEN_DIAGONAL_H - -namespace Eigen { - -/** \class Diagonal - * \ingroup Core_Module - * - * \brief Expression of a diagonal/subdiagonal/superdiagonal in a matrix - * - * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal - * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal. - * A positive value means a superdiagonal, a negative value means a subdiagonal. - * You can also use DynamicIndex so the index can be set at runtime. - * - * The matrix is not required to be square. - * - * This class represents an expression of the main diagonal, or any sub/super diagonal - * of a square matrix. It is the return type of MatrixBase::diagonal() and MatrixBase::diagonal(Index) and most of the - * time this is the only way it is used. - * - * \sa MatrixBase::diagonal(), MatrixBase::diagonal(Index) - */ - -namespace internal { -template -struct traits > - : traits -{ - typedef typename ref_selector::type MatrixTypeNested; - typedef typename remove_reference::type _MatrixTypeNested; - typedef typename MatrixType::StorageKind StorageKind; - enum { - RowsAtCompileTime = (int(DiagIndex) == DynamicIndex || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic - : (EIGEN_PLAIN_ENUM_MIN(MatrixType::RowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0), - MatrixType::ColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))), - ColsAtCompileTime = 1, - MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic - : DiagIndex == DynamicIndex ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime, - MatrixType::MaxColsAtCompileTime) - : (EIGEN_PLAIN_ENUM_MIN(MatrixType::MaxRowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0), - MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))), - MaxColsAtCompileTime = 1, - MaskLvalueBit = is_lvalue::value ? LvalueBit : 0, - Flags = (unsigned int)_MatrixTypeNested::Flags & (RowMajorBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit, // FIXME DirectAccessBit should not be handled by expressions - MatrixTypeOuterStride = outer_stride_at_compile_time::ret, - InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1, - OuterStrideAtCompileTime = 0 - }; -}; -} - -template class Diagonal - : public internal::dense_xpr_base< Diagonal >::type -{ - public: - - enum { DiagIndex = _DiagIndex }; - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal) - - EIGEN_DEVICE_FUNC - explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {} - - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal) - - EIGEN_DEVICE_FUNC - inline Index rows() const - { - return m_index.value()<0 ? numext::mini(m_matrix.cols(),m_matrix.rows()+m_index.value()) - : numext::mini(m_matrix.rows(),m_matrix.cols()-m_index.value()); - } - - EIGEN_DEVICE_FUNC - inline Index cols() const { return 1; } - - EIGEN_DEVICE_FUNC - inline Index innerStride() const - { - return m_matrix.outerStride() + 1; - } - - EIGEN_DEVICE_FUNC - inline Index outerStride() const - { - return 0; - } - - typedef typename internal::conditional< - internal::is_lvalue::value, - Scalar, - const Scalar - >::type ScalarWithConstIfNotLvalue; - - EIGEN_DEVICE_FUNC - inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.coeffRef(rowOffset(), colOffset())); } - EIGEN_DEVICE_FUNC - inline const Scalar* data() const { return &(m_matrix.coeffRef(rowOffset(), colOffset())); } - - EIGEN_DEVICE_FUNC - inline Scalar& coeffRef(Index row, Index) - { - EIGEN_STATIC_ASSERT_LVALUE(MatrixType) - return m_matrix.coeffRef(row+rowOffset(), row+colOffset()); - } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index row, Index) const - { - return m_matrix.coeffRef(row+rowOffset(), row+colOffset()); - } - - EIGEN_DEVICE_FUNC - inline CoeffReturnType coeff(Index row, Index) const - { - return m_matrix.coeff(row+rowOffset(), row+colOffset()); - } - - EIGEN_DEVICE_FUNC - inline Scalar& coeffRef(Index idx) - { - EIGEN_STATIC_ASSERT_LVALUE(MatrixType) - return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset()); - } - - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index idx) const - { - return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset()); - } - - EIGEN_DEVICE_FUNC - inline CoeffReturnType coeff(Index idx) const - { - return m_matrix.coeff(idx+rowOffset(), idx+colOffset()); - } - - EIGEN_DEVICE_FUNC - inline const typename internal::remove_all::type& - nestedExpression() const - { - return m_matrix; - } - - EIGEN_DEVICE_FUNC - inline Index index() const - { - return m_index.value(); - } - - protected: - typename internal::ref_selector::non_const_type m_matrix; - const internal::variable_if_dynamicindex m_index; - - private: - // some compilers may fail to optimize std::max etc in case of compile-time constants... - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; } - // trigger a compile-time error if someone try to call packet - template typename MatrixType::PacketReturnType packet(Index) const; - template typename MatrixType::PacketReturnType packet(Index,Index) const; -}; - -/** \returns an expression of the main diagonal of the matrix \c *this - * - * \c *this is not required to be square. - * - * Example: \include MatrixBase_diagonal.cpp - * Output: \verbinclude MatrixBase_diagonal.out - * - * \sa class Diagonal */ -template -EIGEN_DEVICE_FUNC inline typename MatrixBase::DiagonalReturnType -MatrixBase::diagonal() -{ - return DiagonalReturnType(derived()); -} - -/** This is the const version of diagonal(). */ -template -EIGEN_DEVICE_FUNC inline typename MatrixBase::ConstDiagonalReturnType -MatrixBase::diagonal() const -{ - return ConstDiagonalReturnType(derived()); -} - -/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this - * - * \c *this is not required to be square. - * - * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0 - * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal. - * - * Example: \include MatrixBase_diagonal_int.cpp - * Output: \verbinclude MatrixBase_diagonal_int.out - * - * \sa MatrixBase::diagonal(), class Diagonal */ -template -EIGEN_DEVICE_FUNC inline typename MatrixBase::DiagonalDynamicIndexReturnType -MatrixBase::diagonal(Index index) -{ - return DiagonalDynamicIndexReturnType(derived(), index); -} - -/** This is the const version of diagonal(Index). */ -template -EIGEN_DEVICE_FUNC inline typename MatrixBase::ConstDiagonalDynamicIndexReturnType -MatrixBase::diagonal(Index index) const -{ - return ConstDiagonalDynamicIndexReturnType(derived(), index); -} - -/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this - * - * \c *this is not required to be square. - * - * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0 - * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal. - * - * Example: \include MatrixBase_diagonal_template_int.cpp - * Output: \verbinclude MatrixBase_diagonal_template_int.out - * - * \sa MatrixBase::diagonal(), class Diagonal */ -template -template -EIGEN_DEVICE_FUNC -inline typename MatrixBase::template DiagonalIndexReturnType::Type -MatrixBase::diagonal() -{ - return typename DiagonalIndexReturnType::Type(derived()); -} - -/** This is the const version of diagonal(). */ -template -template -EIGEN_DEVICE_FUNC -inline typename MatrixBase::template ConstDiagonalIndexReturnType::Type -MatrixBase::diagonal() const -{ - return typename ConstDiagonalIndexReturnType::Type(derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_DIAGONAL_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalMatrix.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalMatrix.h deleted file mode 100644 index 4e8297ee..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalMatrix.h +++ /dev/null @@ -1,343 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// Copyright (C) 2007-2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DIAGONALMATRIX_H -#define EIGEN_DIAGONALMATRIX_H - -namespace Eigen { - -#ifndef EIGEN_PARSED_BY_DOXYGEN -template -class DiagonalBase : public EigenBase -{ - public: - typedef typename internal::traits::DiagonalVectorType DiagonalVectorType; - typedef typename DiagonalVectorType::Scalar Scalar; - typedef typename DiagonalVectorType::RealScalar RealScalar; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::StorageIndex StorageIndex; - - enum { - RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, - ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, - MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, - MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, - IsVectorAtCompileTime = 0, - Flags = NoPreferredStorageOrderBit - }; - - typedef Matrix DenseMatrixType; - typedef DenseMatrixType DenseType; - typedef DiagonalMatrix PlainObject; - - EIGEN_DEVICE_FUNC - inline const Derived& derived() const { return *static_cast(this); } - EIGEN_DEVICE_FUNC - inline Derived& derived() { return *static_cast(this); } - - EIGEN_DEVICE_FUNC - DenseMatrixType toDenseMatrix() const { return derived(); } - - EIGEN_DEVICE_FUNC - inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); } - EIGEN_DEVICE_FUNC - inline DiagonalVectorType& diagonal() { return derived().diagonal(); } - - EIGEN_DEVICE_FUNC - inline Index rows() const { return diagonal().size(); } - EIGEN_DEVICE_FUNC - inline Index cols() const { return diagonal().size(); } - - template - EIGEN_DEVICE_FUNC - const Product - operator*(const MatrixBase &matrix) const - { - return Product(derived(),matrix.derived()); - } - - typedef DiagonalWrapper, const DiagonalVectorType> > InverseReturnType; - EIGEN_DEVICE_FUNC - inline const InverseReturnType - inverse() const - { - return InverseReturnType(diagonal().cwiseInverse()); - } - - EIGEN_DEVICE_FUNC - inline const DiagonalWrapper - operator*(const Scalar& scalar) const - { - return DiagonalWrapper(diagonal() * scalar); - } - EIGEN_DEVICE_FUNC - friend inline const DiagonalWrapper - operator*(const Scalar& scalar, const DiagonalBase& other) - { - return DiagonalWrapper(scalar * other.diagonal()); - } -}; - -#endif - -/** \class DiagonalMatrix - * \ingroup Core_Module - * - * \brief Represents a diagonal matrix with its storage - * - * \param _Scalar the type of coefficients - * \param SizeAtCompileTime the dimension of the matrix, or Dynamic - * \param MaxSizeAtCompileTime the dimension of the matrix, or Dynamic. This parameter is optional and defaults - * to SizeAtCompileTime. Most of the time, you do not need to specify it. - * - * \sa class DiagonalWrapper - */ - -namespace internal { -template -struct traits > - : traits > -{ - typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType; - typedef DiagonalShape StorageKind; - enum { - Flags = LvalueBit | NoPreferredStorageOrderBit - }; -}; -} -template -class DiagonalMatrix - : public DiagonalBase > -{ - public: - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename internal::traits::DiagonalVectorType DiagonalVectorType; - typedef const DiagonalMatrix& Nested; - typedef _Scalar Scalar; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::StorageIndex StorageIndex; - #endif - - protected: - - DiagonalVectorType m_diagonal; - - public: - - /** const version of diagonal(). */ - EIGEN_DEVICE_FUNC - inline const DiagonalVectorType& diagonal() const { return m_diagonal; } - /** \returns a reference to the stored vector of diagonal coefficients. */ - EIGEN_DEVICE_FUNC - inline DiagonalVectorType& diagonal() { return m_diagonal; } - - /** Default constructor without initialization */ - EIGEN_DEVICE_FUNC - inline DiagonalMatrix() {} - - /** Constructs a diagonal matrix with given dimension */ - EIGEN_DEVICE_FUNC - explicit inline DiagonalMatrix(Index dim) : m_diagonal(dim) {} - - /** 2D constructor. */ - EIGEN_DEVICE_FUNC - inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {} - - /** 3D constructor. */ - EIGEN_DEVICE_FUNC - inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {} - - /** Copy constructor. */ - template - EIGEN_DEVICE_FUNC - inline DiagonalMatrix(const DiagonalBase& other) : m_diagonal(other.diagonal()) {} - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** copy constructor. prevent a default copy constructor from hiding the other templated constructor */ - inline DiagonalMatrix(const DiagonalMatrix& other) : m_diagonal(other.diagonal()) {} - #endif - - /** generic constructor from expression of the diagonal coefficients */ - template - EIGEN_DEVICE_FUNC - explicit inline DiagonalMatrix(const MatrixBase& other) : m_diagonal(other) - {} - - /** Copy operator. */ - template - EIGEN_DEVICE_FUNC - DiagonalMatrix& operator=(const DiagonalBase& other) - { - m_diagonal = other.diagonal(); - return *this; - } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** This is a special case of the templated operator=. Its purpose is to - * prevent a default operator= from hiding the templated operator=. - */ - EIGEN_DEVICE_FUNC - DiagonalMatrix& operator=(const DiagonalMatrix& other) - { - m_diagonal = other.diagonal(); - return *this; - } - #endif - - /** Resizes to given size. */ - EIGEN_DEVICE_FUNC - inline void resize(Index size) { m_diagonal.resize(size); } - /** Sets all coefficients to zero. */ - EIGEN_DEVICE_FUNC - inline void setZero() { m_diagonal.setZero(); } - /** Resizes and sets all coefficients to zero. */ - EIGEN_DEVICE_FUNC - inline void setZero(Index size) { m_diagonal.setZero(size); } - /** Sets this matrix to be the identity matrix of the current size. */ - EIGEN_DEVICE_FUNC - inline void setIdentity() { m_diagonal.setOnes(); } - /** Sets this matrix to be the identity matrix of the given size. */ - EIGEN_DEVICE_FUNC - inline void setIdentity(Index size) { m_diagonal.setOnes(size); } -}; - -/** \class DiagonalWrapper - * \ingroup Core_Module - * - * \brief Expression of a diagonal matrix - * - * \param _DiagonalVectorType the type of the vector of diagonal coefficients - * - * This class is an expression of a diagonal matrix, but not storing its own vector of diagonal coefficients, - * instead wrapping an existing vector expression. It is the return type of MatrixBase::asDiagonal() - * and most of the time this is the only way that it is used. - * - * \sa class DiagonalMatrix, class DiagonalBase, MatrixBase::asDiagonal() - */ - -namespace internal { -template -struct traits > -{ - typedef _DiagonalVectorType DiagonalVectorType; - typedef typename DiagonalVectorType::Scalar Scalar; - typedef typename DiagonalVectorType::StorageIndex StorageIndex; - typedef DiagonalShape StorageKind; - typedef typename traits::XprKind XprKind; - enum { - RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, - ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime, - MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, - MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime, - Flags = (traits::Flags & LvalueBit) | NoPreferredStorageOrderBit - }; -}; -} - -template -class DiagonalWrapper - : public DiagonalBase >, internal::no_assignment_operator -{ - public: - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef _DiagonalVectorType DiagonalVectorType; - typedef DiagonalWrapper Nested; - #endif - - /** Constructor from expression of diagonal coefficients to wrap. */ - EIGEN_DEVICE_FUNC - explicit inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {} - - /** \returns a const reference to the wrapped expression of diagonal coefficients. */ - EIGEN_DEVICE_FUNC - const DiagonalVectorType& diagonal() const { return m_diagonal; } - - protected: - typename DiagonalVectorType::Nested m_diagonal; -}; - -/** \returns a pseudo-expression of a diagonal matrix with *this as vector of diagonal coefficients - * - * \only_for_vectors - * - * Example: \include MatrixBase_asDiagonal.cpp - * Output: \verbinclude MatrixBase_asDiagonal.out - * - * \sa class DiagonalWrapper, class DiagonalMatrix, diagonal(), isDiagonal() - **/ -template -EIGEN_DEVICE_FUNC inline const DiagonalWrapper -MatrixBase::asDiagonal() const -{ - return DiagonalWrapper(derived()); -} - -/** \returns true if *this is approximately equal to a diagonal matrix, - * within the precision given by \a prec. - * - * Example: \include MatrixBase_isDiagonal.cpp - * Output: \verbinclude MatrixBase_isDiagonal.out - * - * \sa asDiagonal() - */ -template -bool MatrixBase::isDiagonal(const RealScalar& prec) const -{ - if(cols() != rows()) return false; - RealScalar maxAbsOnDiagonal = static_cast(-1); - for(Index j = 0; j < cols(); ++j) - { - RealScalar absOnDiagonal = numext::abs(coeff(j,j)); - if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal; - } - for(Index j = 0; j < cols(); ++j) - for(Index i = 0; i < j; ++i) - { - if(!internal::isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false; - if(!internal::isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false; - } - return true; -} - -namespace internal { - -template<> struct storage_kind_to_shape { typedef DiagonalShape Shape; }; - -struct Diagonal2Dense {}; - -template<> struct AssignmentKind { typedef Diagonal2Dense Kind; }; - -// Diagonal matrix to Dense assignment -template< typename DstXprType, typename SrcXprType, typename Functor> -struct Assignment -{ - static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op &/*func*/) - { - Index dstRows = src.rows(); - Index dstCols = src.cols(); - if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) - dst.resize(dstRows, dstCols); - - dst.setZero(); - dst.diagonal() = src.diagonal(); - } - - static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op &/*func*/) - { dst.diagonal() += src.diagonal(); } - - static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op &/*func*/) - { dst.diagonal() -= src.diagonal(); } -}; - -} // namespace internal - -} // end namespace Eigen - -#endif // EIGEN_DIAGONALMATRIX_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalProduct.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalProduct.h deleted file mode 100644 index 7911d1cd..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/DiagonalProduct.h +++ /dev/null @@ -1,28 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2007-2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DIAGONALPRODUCT_H -#define EIGEN_DIAGONALPRODUCT_H - -namespace Eigen { - -/** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal. - */ -template -template -EIGEN_DEVICE_FUNC inline const Product -MatrixBase::operator*(const DiagonalBase &a_diagonal) const -{ - return Product(derived(),a_diagonal.derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_DIAGONALPRODUCT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Dot.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Dot.h deleted file mode 100644 index bb8e3fec..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Dot.h +++ /dev/null @@ -1,315 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008, 2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DOT_H -#define EIGEN_DOT_H - -namespace Eigen { - -namespace internal { - -// helper function for dot(). The problem is that if we put that in the body of dot(), then upon calling dot -// with mismatched types, the compiler emits errors about failing to instantiate cwiseProduct BEFORE -// looking at the static assertions. Thus this is a trick to get better compile errors. -template -struct dot_nocheck -{ - typedef scalar_conj_product_op::Scalar,typename traits::Scalar> conj_prod; - typedef typename conj_prod::result_type ResScalar; - EIGEN_DEVICE_FUNC - static inline ResScalar run(const MatrixBase& a, const MatrixBase& b) - { - return a.template binaryExpr(b).sum(); - } -}; - -template -struct dot_nocheck -{ - typedef scalar_conj_product_op::Scalar,typename traits::Scalar> conj_prod; - typedef typename conj_prod::result_type ResScalar; - EIGEN_DEVICE_FUNC - static inline ResScalar run(const MatrixBase& a, const MatrixBase& b) - { - return a.transpose().template binaryExpr(b).sum(); - } -}; - -} // end namespace internal - -/** \fn MatrixBase::dot - * \returns the dot product of *this with other. - * - * \only_for_vectors - * - * \note If the scalar type is complex numbers, then this function returns the hermitian - * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the - * second variable. - * - * \sa squaredNorm(), norm() - */ -template -template -EIGEN_DEVICE_FUNC -typename ScalarBinaryOpTraits::Scalar,typename internal::traits::Scalar>::ReturnType -MatrixBase::dot(const MatrixBase& other) const -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived) - EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived) -#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG)) - typedef internal::scalar_conj_product_op func; - EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar); -#endif - - eigen_assert(size() == other.size()); - - return internal::dot_nocheck::run(*this, other); -} - -//---------- implementation of L2 norm and related functions ---------- - -/** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm. - * In both cases, it consists in the sum of the square of all the matrix entries. - * For vectors, this is also equals to the dot product of \c *this with itself. - * - * \sa dot(), norm(), lpNorm() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename NumTraits::Scalar>::Real MatrixBase::squaredNorm() const -{ - return numext::real((*this).cwiseAbs2().sum()); -} - -/** \returns, for vectors, the \em l2 norm of \c *this, and for matrices the Frobenius norm. - * In both cases, it consists in the square root of the sum of the square of all the matrix entries. - * For vectors, this is also equals to the square root of the dot product of \c *this with itself. - * - * \sa lpNorm(), dot(), squaredNorm() - */ -template -EIGEN_DEVICE_FUNC inline typename NumTraits::Scalar>::Real MatrixBase::norm() const -{ - return numext::sqrt(squaredNorm()); -} - -/** \returns an expression of the quotient of \c *this by its own norm. - * - * \warning If the input vector is too small (i.e., this->norm()==0), - * then this function returns a copy of the input. - * - * \only_for_vectors - * - * \sa norm(), normalize() - */ -template -EIGEN_DEVICE_FUNC inline const typename MatrixBase::PlainObject -MatrixBase::normalized() const -{ - typedef typename internal::nested_eval::type _Nested; - _Nested n(derived()); - RealScalar z = n.squaredNorm(); - // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU - if(z>RealScalar(0)) - return n / numext::sqrt(z); - else - return n; -} - -/** Normalizes the vector, i.e. divides it by its own norm. - * - * \only_for_vectors - * - * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged. - * - * \sa norm(), normalized() - */ -template -EIGEN_DEVICE_FUNC inline void MatrixBase::normalize() -{ - RealScalar z = squaredNorm(); - // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU - if(z>RealScalar(0)) - derived() /= numext::sqrt(z); -} - -/** \returns an expression of the quotient of \c *this by its own norm while avoiding underflow and overflow. - * - * \only_for_vectors - * - * This method is analogue to the normalized() method, but it reduces the risk of - * underflow and overflow when computing the norm. - * - * \warning If the input vector is too small (i.e., this->norm()==0), - * then this function returns a copy of the input. - * - * \sa stableNorm(), stableNormalize(), normalized() - */ -template -EIGEN_DEVICE_FUNC inline const typename MatrixBase::PlainObject -MatrixBase::stableNormalized() const -{ - typedef typename internal::nested_eval::type _Nested; - _Nested n(derived()); - RealScalar w = n.cwiseAbs().maxCoeff(); - RealScalar z = (n/w).squaredNorm(); - if(z>RealScalar(0)) - return n / (numext::sqrt(z)*w); - else - return n; -} - -/** Normalizes the vector while avoid underflow and overflow - * - * \only_for_vectors - * - * This method is analogue to the normalize() method, but it reduces the risk of - * underflow and overflow when computing the norm. - * - * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged. - * - * \sa stableNorm(), stableNormalized(), normalize() - */ -template -EIGEN_DEVICE_FUNC inline void MatrixBase::stableNormalize() -{ - RealScalar w = cwiseAbs().maxCoeff(); - RealScalar z = (derived()/w).squaredNorm(); - if(z>RealScalar(0)) - derived() /= numext::sqrt(z)*w; -} - -//---------- implementation of other norms ---------- - -namespace internal { - -template -struct lpNorm_selector -{ - typedef typename NumTraits::Scalar>::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const MatrixBase& m) - { - EIGEN_USING_STD_MATH(pow) - return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p); - } -}; - -template -struct lpNorm_selector -{ - EIGEN_DEVICE_FUNC - static inline typename NumTraits::Scalar>::Real run(const MatrixBase& m) - { - return m.cwiseAbs().sum(); - } -}; - -template -struct lpNorm_selector -{ - EIGEN_DEVICE_FUNC - static inline typename NumTraits::Scalar>::Real run(const MatrixBase& m) - { - return m.norm(); - } -}; - -template -struct lpNorm_selector -{ - typedef typename NumTraits::Scalar>::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const MatrixBase& m) - { - if(Derived::SizeAtCompileTime==0 || (Derived::SizeAtCompileTime==Dynamic && m.size()==0)) - return RealScalar(0); - return m.cwiseAbs().maxCoeff(); - } -}; - -} // end namespace internal - -/** \returns the \b coefficient-wise \f$ \ell^p \f$ norm of \c *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values - * of the coefficients of \c *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$ - * norm, that is the maximum of the absolute values of the coefficients of \c *this. - * - * In all cases, if \c *this is empty, then the value 0 is returned. - * - * \note For matrices, this function does not compute the operator-norm. That is, if \c *this is a matrix, then its coefficients are interpreted as a 1D vector. Nonetheless, you can easily compute the 1-norm and \f$\infty\f$-norm matrix operator norms using \link TutorialReductionsVisitorsBroadcastingReductionsNorm partial reductions \endlink. - * - * \sa norm() - */ -template -template -#ifndef EIGEN_PARSED_BY_DOXYGEN -EIGEN_DEVICE_FUNC inline typename NumTraits::Scalar>::Real -#else -EIGEN_DEVICE_FUNC MatrixBase::RealScalar -#endif -MatrixBase::lpNorm() const -{ - return internal::lpNorm_selector::run(*this); -} - -//---------- implementation of isOrthogonal / isUnitary ---------- - -/** \returns true if *this is approximately orthogonal to \a other, - * within the precision given by \a prec. - * - * Example: \include MatrixBase_isOrthogonal.cpp - * Output: \verbinclude MatrixBase_isOrthogonal.out - */ -template -template -bool MatrixBase::isOrthogonal -(const MatrixBase& other, const RealScalar& prec) const -{ - typename internal::nested_eval::type nested(derived()); - typename internal::nested_eval::type otherNested(other.derived()); - return numext::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm(); -} - -/** \returns true if *this is approximately an unitary matrix, - * within the precision given by \a prec. In the case where the \a Scalar - * type is real numbers, a unitary matrix is an orthogonal matrix, whence the name. - * - * \note This can be used to check whether a family of vectors forms an orthonormal basis. - * Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an - * orthonormal basis. - * - * Example: \include MatrixBase_isUnitary.cpp - * Output: \verbinclude MatrixBase_isUnitary.out - */ -template -bool MatrixBase::isUnitary(const RealScalar& prec) const -{ - typename internal::nested_eval::type self(derived()); - for(Index i = 0; i < cols(); ++i) - { - if(!internal::isApprox(self.col(i).squaredNorm(), static_cast(1), prec)) - return false; - for(Index j = 0; j < i; ++j) - if(!internal::isMuchSmallerThan(self.col(i).dot(self.col(j)), static_cast(1), prec)) - return false; - } - return true; -} - -} // end namespace Eigen - -#endif // EIGEN_DOT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/EigenBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/EigenBase.h deleted file mode 100644 index ccc122cf..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/EigenBase.h +++ /dev/null @@ -1,158 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_EIGENBASE_H -#define EIGEN_EIGENBASE_H - -namespace Eigen { - -/** \class EigenBase - * - * Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T). - * - * In other words, an EigenBase object is an object that can be copied into a MatrixBase. - * - * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc. - * - * Notice that this class is trivial, it is only used to disambiguate overloaded functions. - * - * \sa \blank \ref TopicClassHierarchy - */ -template struct EigenBase -{ -// typedef typename internal::plain_matrix_type::type PlainObject; - - /** \brief The interface type of indices - * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE. - * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead. - * \sa StorageIndex, \ref TopicPreprocessorDirectives. - */ - typedef Eigen::Index Index; - - // FIXME is it needed? - typedef typename internal::traits::StorageKind StorageKind; - - /** \returns a reference to the derived object */ - EIGEN_DEVICE_FUNC - Derived& derived() { return *static_cast(this); } - /** \returns a const reference to the derived object */ - EIGEN_DEVICE_FUNC - const Derived& derived() const { return *static_cast(this); } - - EIGEN_DEVICE_FUNC - inline Derived& const_cast_derived() const - { return *static_cast(const_cast(this)); } - EIGEN_DEVICE_FUNC - inline const Derived& const_derived() const - { return *static_cast(this); } - - /** \returns the number of rows. \sa cols(), RowsAtCompileTime */ - EIGEN_DEVICE_FUNC - inline Index rows() const { return derived().rows(); } - /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/ - EIGEN_DEVICE_FUNC - inline Index cols() const { return derived().cols(); } - /** \returns the number of coefficients, which is rows()*cols(). - * \sa rows(), cols(), SizeAtCompileTime. */ - EIGEN_DEVICE_FUNC - inline Index size() const { return rows() * cols(); } - - /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */ - template - EIGEN_DEVICE_FUNC - inline void evalTo(Dest& dst) const - { derived().evalTo(dst); } - - /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */ - template - EIGEN_DEVICE_FUNC - inline void addTo(Dest& dst) const - { - // This is the default implementation, - // derived class can reimplement it in a more optimized way. - typename Dest::PlainObject res(rows(),cols()); - evalTo(res); - dst += res; - } - - /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */ - template - EIGEN_DEVICE_FUNC - inline void subTo(Dest& dst) const - { - // This is the default implementation, - // derived class can reimplement it in a more optimized way. - typename Dest::PlainObject res(rows(),cols()); - evalTo(res); - dst -= res; - } - - /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */ - template - EIGEN_DEVICE_FUNC inline void applyThisOnTheRight(Dest& dst) const - { - // This is the default implementation, - // derived class can reimplement it in a more optimized way. - dst = dst * this->derived(); - } - - /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */ - template - EIGEN_DEVICE_FUNC inline void applyThisOnTheLeft(Dest& dst) const - { - // This is the default implementation, - // derived class can reimplement it in a more optimized way. - dst = this->derived() * dst; - } - -}; - -/*************************************************************************** -* Implementation of matrix base methods -***************************************************************************/ - -/** \brief Copies the generic expression \a other into *this. - * - * \details The expression must provide a (templated) evalTo(Derived& dst) const - * function which does the actual job. In practice, this allows any user to write - * its own special matrix without having to modify MatrixBase - * - * \returns a reference to *this. - */ -template -template -EIGEN_DEVICE_FUNC -Derived& DenseBase::operator=(const EigenBase &other) -{ - call_assignment(derived(), other.derived()); - return derived(); -} - -template -template -EIGEN_DEVICE_FUNC -Derived& DenseBase::operator+=(const EigenBase &other) -{ - call_assignment(derived(), other.derived(), internal::add_assign_op()); - return derived(); -} - -template -template -EIGEN_DEVICE_FUNC -Derived& DenseBase::operator-=(const EigenBase &other) -{ - call_assignment(derived(), other.derived(), internal::sub_assign_op()); - return derived(); -} - -} // end namespace Eigen - -#endif // EIGEN_EIGENBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ForceAlignedAccess.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ForceAlignedAccess.h deleted file mode 100644 index 7b08b45e..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ForceAlignedAccess.h +++ /dev/null @@ -1,146 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_FORCEALIGNEDACCESS_H -#define EIGEN_FORCEALIGNEDACCESS_H - -namespace Eigen { - -/** \class ForceAlignedAccess - * \ingroup Core_Module - * - * \brief Enforce aligned packet loads and stores regardless of what is requested - * - * \param ExpressionType the type of the object of which we are forcing aligned packet access - * - * This class is the return type of MatrixBase::forceAlignedAccess() - * and most of the time this is the only way it is used. - * - * \sa MatrixBase::forceAlignedAccess() - */ - -namespace internal { -template -struct traits > : public traits -{}; -} - -template class ForceAlignedAccess - : public internal::dense_xpr_base< ForceAlignedAccess >::type -{ - public: - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess) - - EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {} - - EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); } - EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); } - EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); } - EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); } - - EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const - { - return m_expression.coeff(row, col); - } - - EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col) - { - return m_expression.const_cast_derived().coeffRef(row, col); - } - - EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const - { - return m_expression.coeff(index); - } - - EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index) - { - return m_expression.const_cast_derived().coeffRef(index); - } - - template - inline const PacketScalar packet(Index row, Index col) const - { - return m_expression.template packet(row, col); - } - - template - inline void writePacket(Index row, Index col, const PacketScalar& x) - { - m_expression.const_cast_derived().template writePacket(row, col, x); - } - - template - inline const PacketScalar packet(Index index) const - { - return m_expression.template packet(index); - } - - template - inline void writePacket(Index index, const PacketScalar& x) - { - m_expression.const_cast_derived().template writePacket(index, x); - } - - EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; } - - protected: - const ExpressionType& m_expression; - - private: - ForceAlignedAccess& operator=(const ForceAlignedAccess&); -}; - -/** \returns an expression of *this with forced aligned access - * \sa forceAlignedAccessIf(),class ForceAlignedAccess - */ -template -inline const ForceAlignedAccess -MatrixBase::forceAlignedAccess() const -{ - return ForceAlignedAccess(derived()); -} - -/** \returns an expression of *this with forced aligned access - * \sa forceAlignedAccessIf(), class ForceAlignedAccess - */ -template -inline ForceAlignedAccess -MatrixBase::forceAlignedAccess() -{ - return ForceAlignedAccess(derived()); -} - -/** \returns an expression of *this with forced aligned access if \a Enable is true. - * \sa forceAlignedAccess(), class ForceAlignedAccess - */ -template -template -inline typename internal::add_const_on_value_type,Derived&>::type>::type -MatrixBase::forceAlignedAccessIf() const -{ - return derived(); // FIXME This should not work but apparently is never used -} - -/** \returns an expression of *this with forced aligned access if \a Enable is true. - * \sa forceAlignedAccess(), class ForceAlignedAccess - */ -template -template -inline typename internal::conditional,Derived&>::type -MatrixBase::forceAlignedAccessIf() -{ - return derived(); // FIXME This should not work but apparently is never used -} - -} // end namespace Eigen - -#endif // EIGEN_FORCEALIGNEDACCESS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Fuzzy.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Fuzzy.h deleted file mode 100644 index 43aa49b2..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Fuzzy.h +++ /dev/null @@ -1,155 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_FUZZY_H -#define EIGEN_FUZZY_H - -namespace Eigen { - -namespace internal -{ - -template::IsInteger> -struct isApprox_selector -{ - EIGEN_DEVICE_FUNC - static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec) - { - typename internal::nested_eval::type nested(x); - typename internal::nested_eval::type otherNested(y); - return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * numext::mini(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum()); - } -}; - -template -struct isApprox_selector -{ - EIGEN_DEVICE_FUNC - static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar&) - { - return x.matrix() == y.matrix(); - } -}; - -template::IsInteger> -struct isMuchSmallerThan_object_selector -{ - EIGEN_DEVICE_FUNC - static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec) - { - return x.cwiseAbs2().sum() <= numext::abs2(prec) * y.cwiseAbs2().sum(); - } -}; - -template -struct isMuchSmallerThan_object_selector -{ - EIGEN_DEVICE_FUNC - static bool run(const Derived& x, const OtherDerived&, const typename Derived::RealScalar&) - { - return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix(); - } -}; - -template::IsInteger> -struct isMuchSmallerThan_scalar_selector -{ - EIGEN_DEVICE_FUNC - static bool run(const Derived& x, const typename Derived::RealScalar& y, const typename Derived::RealScalar& prec) - { - return x.cwiseAbs2().sum() <= numext::abs2(prec * y); - } -}; - -template -struct isMuchSmallerThan_scalar_selector -{ - EIGEN_DEVICE_FUNC - static bool run(const Derived& x, const typename Derived::RealScalar&, const typename Derived::RealScalar&) - { - return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix(); - } -}; - -} // end namespace internal - - -/** \returns \c true if \c *this is approximately equal to \a other, within the precision - * determined by \a prec. - * - * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$ - * are considered to be approximately equal within precision \f$ p \f$ if - * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f] - * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm - * L2 norm). - * - * \note Because of the multiplicativeness of this comparison, one can't use this function - * to check whether \c *this is approximately equal to the zero matrix or vector. - * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix - * or vector. If you want to test whether \c *this is zero, use internal::isMuchSmallerThan(const - * RealScalar&, RealScalar) instead. - * - * \sa internal::isMuchSmallerThan(const RealScalar&, RealScalar) const - */ -template -template -EIGEN_DEVICE_FUNC bool DenseBase::isApprox( - const DenseBase& other, - const RealScalar& prec -) const -{ - return internal::isApprox_selector::run(derived(), other.derived(), prec); -} - -/** \returns \c true if the norm of \c *this is much smaller than \a other, - * within the precision determined by \a prec. - * - * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is - * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if - * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f] - * - * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason, - * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm - * of a reference matrix of same dimensions. - * - * \sa isApprox(), isMuchSmallerThan(const DenseBase&, RealScalar) const - */ -template -EIGEN_DEVICE_FUNC bool DenseBase::isMuchSmallerThan( - const typename NumTraits::Real& other, - const RealScalar& prec -) const -{ - return internal::isMuchSmallerThan_scalar_selector::run(derived(), other, prec); -} - -/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other, - * within the precision determined by \a prec. - * - * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is - * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if - * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f] - * For matrices, the comparison is done using the Hilbert-Schmidt norm. - * - * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const - */ -template -template -EIGEN_DEVICE_FUNC bool DenseBase::isMuchSmallerThan( - const DenseBase& other, - const RealScalar& prec -) const -{ - return internal::isMuchSmallerThan_object_selector::run(derived(), other.derived(), prec); -} - -} // end namespace Eigen - -#endif // EIGEN_FUZZY_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/GeneralProduct.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/GeneralProduct.h deleted file mode 100644 index b206b0a7..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/GeneralProduct.h +++ /dev/null @@ -1,454 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2008-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_GENERAL_PRODUCT_H -#define EIGEN_GENERAL_PRODUCT_H - -namespace Eigen { - -enum { - Large = 2, - Small = 3 -}; - -namespace internal { - -template struct product_type_selector; - -template struct product_size_category -{ - enum { is_large = MaxSize == Dynamic || - Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD || - (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD), - value = is_large ? Large - : Size == 1 ? 1 - : Small - }; -}; - -template struct product_type -{ - typedef typename remove_all::type _Lhs; - typedef typename remove_all::type _Rhs; - enum { - MaxRows = traits<_Lhs>::MaxRowsAtCompileTime, - Rows = traits<_Lhs>::RowsAtCompileTime, - MaxCols = traits<_Rhs>::MaxColsAtCompileTime, - Cols = traits<_Rhs>::ColsAtCompileTime, - MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::MaxColsAtCompileTime, - traits<_Rhs>::MaxRowsAtCompileTime), - Depth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::ColsAtCompileTime, - traits<_Rhs>::RowsAtCompileTime) - }; - - // the splitting into different lines of code here, introducing the _select enums and the typedef below, - // is to work around an internal compiler error with gcc 4.1 and 4.2. -private: - enum { - rows_select = product_size_category::value, - cols_select = product_size_category::value, - depth_select = product_size_category::value - }; - typedef product_type_selector selector; - -public: - enum { - value = selector::ret, - ret = selector::ret - }; -#ifdef EIGEN_DEBUG_PRODUCT - static void debug() - { - EIGEN_DEBUG_VAR(Rows); - EIGEN_DEBUG_VAR(Cols); - EIGEN_DEBUG_VAR(Depth); - EIGEN_DEBUG_VAR(rows_select); - EIGEN_DEBUG_VAR(cols_select); - EIGEN_DEBUG_VAR(depth_select); - EIGEN_DEBUG_VAR(value); - } -#endif -}; - -/* The following allows to select the kind of product at compile time - * based on the three dimensions of the product. - * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */ -// FIXME I'm not sure the current mapping is the ideal one. -template struct product_type_selector { enum { ret = OuterProduct }; }; -template struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; -template struct product_type_selector<1, N, 1> { enum { ret = LazyCoeffBasedProductMode }; }; -template struct product_type_selector<1, 1, Depth> { enum { ret = InnerProduct }; }; -template<> struct product_type_selector<1, 1, 1> { enum { ret = InnerProduct }; }; -template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector<1, Small,Small> { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = LazyCoeffBasedProductMode }; }; -template<> struct product_type_selector<1, Large,Small> { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector<1, Large,Large> { enum { ret = GemvProduct }; }; -template<> struct product_type_selector<1, Small,Large> { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = GemvProduct }; }; -template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = GemmProduct }; }; -template<> struct product_type_selector { enum { ret = GemmProduct }; }; -template<> struct product_type_selector { enum { ret = GemmProduct }; }; -template<> struct product_type_selector { enum { ret = GemmProduct }; }; -template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = CoeffBasedProductMode }; }; -template<> struct product_type_selector { enum { ret = GemmProduct }; }; - -} // end namespace internal - -/*********************************************************************** -* Implementation of Inner Vector Vector Product -***********************************************************************/ - -// FIXME : maybe the "inner product" could return a Scalar -// instead of a 1x1 matrix ?? -// Pro: more natural for the user -// Cons: this could be a problem if in a meta unrolled algorithm a matrix-matrix -// product ends up to a row-vector times col-vector product... To tackle this use -// case, we could have a specialization for Block with: operator=(Scalar x); - -/*********************************************************************** -* Implementation of Outer Vector Vector Product -***********************************************************************/ - -/*********************************************************************** -* Implementation of General Matrix Vector Product -***********************************************************************/ - -/* According to the shape/flags of the matrix we have to distinghish 3 different cases: - * 1 - the matrix is col-major, BLAS compatible and M is large => call fast BLAS-like colmajor routine - * 2 - the matrix is row-major, BLAS compatible and N is large => call fast BLAS-like rowmajor routine - * 3 - all other cases are handled using a simple loop along the outer-storage direction. - * Therefore we need a lower level meta selector. - * Furthermore, if the matrix is the rhs, then the product has to be transposed. - */ -namespace internal { - -template -struct gemv_dense_selector; - -} // end namespace internal - -namespace internal { - -template struct gemv_static_vector_if; - -template -struct gemv_static_vector_if -{ - EIGEN_STRONG_INLINE Scalar* data() { eigen_internal_assert(false && "should never be called"); return 0; } -}; - -template -struct gemv_static_vector_if -{ - EIGEN_STRONG_INLINE Scalar* data() { return 0; } -}; - -template -struct gemv_static_vector_if -{ - enum { - ForceAlignment = internal::packet_traits::Vectorizable, - PacketSize = internal::packet_traits::size - }; - #if EIGEN_MAX_STATIC_ALIGN_BYTES!=0 - internal::plain_array m_data; - EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; } - #else - // Some architectures cannot align on the stack, - // => let's manually enforce alignment by allocating more data and return the address of the first aligned element. - internal::plain_array m_data; - EIGEN_STRONG_INLINE Scalar* data() { - return ForceAlignment - ? reinterpret_cast((internal::UIntPtr(m_data.array) & ~(std::size_t(EIGEN_MAX_ALIGN_BYTES-1))) + EIGEN_MAX_ALIGN_BYTES) - : m_data.array; - } - #endif -}; - -// The vector is on the left => transposition -template -struct gemv_dense_selector -{ - template - static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) - { - Transpose destT(dest); - enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor }; - gemv_dense_selector - ::run(rhs.transpose(), lhs.transpose(), destT, alpha); - } -}; - -template<> struct gemv_dense_selector -{ - template - static inline void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) - { - typedef typename Lhs::Scalar LhsScalar; - typedef typename Rhs::Scalar RhsScalar; - typedef typename Dest::Scalar ResScalar; - typedef typename Dest::RealScalar RealScalar; - - typedef internal::blas_traits LhsBlasTraits; - typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType; - typedef internal::blas_traits RhsBlasTraits; - typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType; - - typedef Map, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits::size)> MappedDest; - - ActualLhsType actualLhs = LhsBlasTraits::extract(lhs); - ActualRhsType actualRhs = RhsBlasTraits::extract(rhs); - - ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs) - * RhsBlasTraits::extractScalarFactor(rhs); - - // make sure Dest is a compile-time vector type (bug 1166) - typedef typename conditional::type ActualDest; - - enum { - // FIXME find a way to allow an inner stride on the result if packet_traits::size==1 - // on, the other hand it is good for the cache to pack the vector anyways... - EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1), - ComplexByReal = (NumTraits::IsComplex) && (!NumTraits::IsComplex), - MightCannotUseDest = (!EvalToDestAtCompileTime) || ComplexByReal - }; - - typedef const_blas_data_mapper LhsMapper; - typedef const_blas_data_mapper RhsMapper; - RhsScalar compatibleAlpha = get_factor::run(actualAlpha); - - if(!MightCannotUseDest) - { - // shortcut if we are sure to be able to use dest directly, - // this ease the compiler to generate cleaner and more optimzized code for most common cases - general_matrix_vector_product - ::run( - actualLhs.rows(), actualLhs.cols(), - LhsMapper(actualLhs.data(), actualLhs.outerStride()), - RhsMapper(actualRhs.data(), actualRhs.innerStride()), - dest.data(), 1, - compatibleAlpha); - } - else - { - gemv_static_vector_if static_dest; - - const bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0)); - const bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible; - - ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(), - evalToDest ? dest.data() : static_dest.data()); - - if(!evalToDest) - { - #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN - Index size = dest.size(); - EIGEN_DENSE_STORAGE_CTOR_PLUGIN - #endif - if(!alphaIsCompatible) - { - MappedDest(actualDestPtr, dest.size()).setZero(); - compatibleAlpha = RhsScalar(1); - } - else - MappedDest(actualDestPtr, dest.size()) = dest; - } - - general_matrix_vector_product - ::run( - actualLhs.rows(), actualLhs.cols(), - LhsMapper(actualLhs.data(), actualLhs.outerStride()), - RhsMapper(actualRhs.data(), actualRhs.innerStride()), - actualDestPtr, 1, - compatibleAlpha); - - if (!evalToDest) - { - if(!alphaIsCompatible) - dest.matrix() += actualAlpha * MappedDest(actualDestPtr, dest.size()); - else - dest = MappedDest(actualDestPtr, dest.size()); - } - } - } -}; - -template<> struct gemv_dense_selector -{ - template - static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) - { - typedef typename Lhs::Scalar LhsScalar; - typedef typename Rhs::Scalar RhsScalar; - typedef typename Dest::Scalar ResScalar; - - typedef internal::blas_traits LhsBlasTraits; - typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType; - typedef internal::blas_traits RhsBlasTraits; - typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType; - typedef typename internal::remove_all::type ActualRhsTypeCleaned; - - typename add_const::type actualLhs = LhsBlasTraits::extract(lhs); - typename add_const::type actualRhs = RhsBlasTraits::extract(rhs); - - ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs) - * RhsBlasTraits::extractScalarFactor(rhs); - - enum { - // FIXME find a way to allow an inner stride on the result if packet_traits::size==1 - // on, the other hand it is good for the cache to pack the vector anyways... - DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1 - }; - - gemv_static_vector_if static_rhs; - - ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(), - DirectlyUseRhs ? const_cast(actualRhs.data()) : static_rhs.data()); - - if(!DirectlyUseRhs) - { - #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN - Index size = actualRhs.size(); - EIGEN_DENSE_STORAGE_CTOR_PLUGIN - #endif - Map(actualRhsPtr, actualRhs.size()) = actualRhs; - } - - typedef const_blas_data_mapper LhsMapper; - typedef const_blas_data_mapper RhsMapper; - general_matrix_vector_product - ::run( - actualLhs.rows(), actualLhs.cols(), - LhsMapper(actualLhs.data(), actualLhs.outerStride()), - RhsMapper(actualRhsPtr, 1), - dest.data(), dest.col(0).innerStride(), //NOTE if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166) - actualAlpha); - } -}; - -template<> struct gemv_dense_selector -{ - template - static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) - { - EIGEN_STATIC_ASSERT((!nested_eval::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE); - // TODO if rhs is large enough it might be beneficial to make sure that dest is sequentially stored in memory, otherwise use a temp - typename nested_eval::type actual_rhs(rhs); - const Index size = rhs.rows(); - for(Index k=0; k struct gemv_dense_selector -{ - template - static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha) - { - EIGEN_STATIC_ASSERT((!nested_eval::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE); - typename nested_eval::type actual_rhs(rhs); - const Index rows = dest.rows(); - for(Index i=0; i -template -inline const Product -MatrixBase::operator*(const MatrixBase &other) const -{ - // A note regarding the function declaration: In MSVC, this function will sometimes - // not be inlined since DenseStorage is an unwindable object for dynamic - // matrices and product types are holding a member to store the result. - // Thus it does not help tagging this function with EIGEN_STRONG_INLINE. - enum { - ProductIsValid = Derived::ColsAtCompileTime==Dynamic - || OtherDerived::RowsAtCompileTime==Dynamic - || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime), - AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime, - SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived) - }; - // note to the lost user: - // * for a dot product use: v1.dot(v2) - // * for a coeff-wise product use: v1.cwiseProduct(v2) - EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes), - INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS) - EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors), - INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION) - EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT) -#ifdef EIGEN_DEBUG_PRODUCT - internal::product_type::debug(); -#endif - - return Product(derived(), other.derived()); -} - -#endif // __CUDACC__ - -/** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation. - * - * The returned product will behave like any other expressions: the coefficients of the product will be - * computed once at a time as requested. This might be useful in some extremely rare cases when only - * a small and no coherent fraction of the result's coefficients have to be computed. - * - * \warning This version of the matrix product can be much much slower. So use it only if you know - * what you are doing and that you measured a true speed improvement. - * - * \sa operator*(const MatrixBase&) - */ -template -template -const Product -EIGEN_DEVICE_FUNC MatrixBase::lazyProduct(const MatrixBase &other) const -{ - enum { - ProductIsValid = Derived::ColsAtCompileTime==Dynamic - || OtherDerived::RowsAtCompileTime==Dynamic - || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime), - AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime, - SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived) - }; - // note to the lost user: - // * for a dot product use: v1.dot(v2) - // * for a coeff-wise product use: v1.cwiseProduct(v2) - EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes), - INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS) - EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors), - INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION) - EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT) - - return Product(derived(), other.derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_PRODUCT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/GenericPacketMath.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/GenericPacketMath.h deleted file mode 100644 index d19d5bbd..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/GenericPacketMath.h +++ /dev/null @@ -1,598 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_GENERIC_PACKET_MATH_H -#define EIGEN_GENERIC_PACKET_MATH_H - -namespace Eigen { - -namespace internal { - -/** \internal - * \file GenericPacketMath.h - * - * Default implementation for types not supported by the vectorization. - * In practice these functions are provided to make easier the writing - * of generic vectorized code. - */ - -#ifndef EIGEN_DEBUG_ALIGNED_LOAD -#define EIGEN_DEBUG_ALIGNED_LOAD -#endif - -#ifndef EIGEN_DEBUG_UNALIGNED_LOAD -#define EIGEN_DEBUG_UNALIGNED_LOAD -#endif - -#ifndef EIGEN_DEBUG_ALIGNED_STORE -#define EIGEN_DEBUG_ALIGNED_STORE -#endif - -#ifndef EIGEN_DEBUG_UNALIGNED_STORE -#define EIGEN_DEBUG_UNALIGNED_STORE -#endif - -struct default_packet_traits -{ - enum { - HasHalfPacket = 0, - - HasAdd = 1, - HasSub = 1, - HasMul = 1, - HasNegate = 1, - HasAbs = 1, - HasArg = 0, - HasAbs2 = 1, - HasMin = 1, - HasMax = 1, - HasConj = 1, - HasSetLinear = 1, - HasBlend = 0, - - HasDiv = 0, - HasSqrt = 0, - HasRsqrt = 0, - HasExp = 0, - HasExpm1 = 0, - HasLog = 0, - HasLog1p = 0, - HasLog10 = 0, - HasPow = 0, - - HasSin = 0, - HasCos = 0, - HasTan = 0, - HasASin = 0, - HasACos = 0, - HasATan = 0, - HasSinh = 0, - HasCosh = 0, - HasTanh = 0, - HasLGamma = 0, - HasDiGamma = 0, - HasZeta = 0, - HasPolygamma = 0, - HasErf = 0, - HasErfc = 0, - HasIGamma = 0, - HasIGammac = 0, - HasBetaInc = 0, - - HasRound = 0, - HasFloor = 0, - HasCeil = 0, - - HasSign = 0 - }; -}; - -template struct packet_traits : default_packet_traits -{ - typedef T type; - typedef T half; - enum { - Vectorizable = 0, - size = 1, - AlignedOnScalar = 0, - HasHalfPacket = 0 - }; - enum { - HasAdd = 0, - HasSub = 0, - HasMul = 0, - HasNegate = 0, - HasAbs = 0, - HasAbs2 = 0, - HasMin = 0, - HasMax = 0, - HasConj = 0, - HasSetLinear = 0 - }; -}; - -template struct packet_traits : packet_traits { }; - -template struct type_casting_traits { - enum { - VectorizedCast = 0, - SrcCoeffRatio = 1, - TgtCoeffRatio = 1 - }; -}; - - -/** \internal \returns static_cast(a) (coeff-wise) */ -template -EIGEN_DEVICE_FUNC inline TgtPacket -pcast(const SrcPacket& a) { - return static_cast(a); -} -template -EIGEN_DEVICE_FUNC inline TgtPacket -pcast(const SrcPacket& a, const SrcPacket& /*b*/) { - return static_cast(a); -} - -template -EIGEN_DEVICE_FUNC inline TgtPacket -pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) { - return static_cast(a); -} - -/** \internal \returns a + b (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -padd(const Packet& a, - const Packet& b) { return a+b; } - -/** \internal \returns a - b (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -psub(const Packet& a, - const Packet& b) { return a-b; } - -/** \internal \returns -a (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -pnegate(const Packet& a) { return -a; } - -/** \internal \returns conj(a) (coeff-wise) */ - -template EIGEN_DEVICE_FUNC inline Packet -pconj(const Packet& a) { return numext::conj(a); } - -/** \internal \returns a * b (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -pmul(const Packet& a, - const Packet& b) { return a*b; } - -/** \internal \returns a / b (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -pdiv(const Packet& a, - const Packet& b) { return a/b; } - -/** \internal \returns the min of \a a and \a b (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -pmin(const Packet& a, - const Packet& b) { return numext::mini(a, b); } - -/** \internal \returns the max of \a a and \a b (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -pmax(const Packet& a, - const Packet& b) { return numext::maxi(a, b); } - -/** \internal \returns the absolute value of \a a */ -template EIGEN_DEVICE_FUNC inline Packet -pabs(const Packet& a) { using std::abs; return abs(a); } - -/** \internal \returns the phase angle of \a a */ -template EIGEN_DEVICE_FUNC inline Packet -parg(const Packet& a) { using numext::arg; return arg(a); } - -/** \internal \returns the bitwise and of \a a and \a b */ -template EIGEN_DEVICE_FUNC inline Packet -pand(const Packet& a, const Packet& b) { return a & b; } - -/** \internal \returns the bitwise or of \a a and \a b */ -template EIGEN_DEVICE_FUNC inline Packet -por(const Packet& a, const Packet& b) { return a | b; } - -/** \internal \returns the bitwise xor of \a a and \a b */ -template EIGEN_DEVICE_FUNC inline Packet -pxor(const Packet& a, const Packet& b) { return a ^ b; } - -/** \internal \returns the bitwise andnot of \a a and \a b */ -template EIGEN_DEVICE_FUNC inline Packet -pandnot(const Packet& a, const Packet& b) { return a & (!b); } - -/** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */ -template EIGEN_DEVICE_FUNC inline Packet -pload(const typename unpacket_traits::type* from) { return *from; } - -/** \internal \returns a packet version of \a *from, (un-aligned load) */ -template EIGEN_DEVICE_FUNC inline Packet -ploadu(const typename unpacket_traits::type* from) { return *from; } - -/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */ -template EIGEN_DEVICE_FUNC inline Packet -pset1(const typename unpacket_traits::type& a) { return a; } - -/** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */ -template EIGEN_DEVICE_FUNC inline Packet -pload1(const typename unpacket_traits::type *a) { return pset1(*a); } - -/** \internal \returns a packet with elements of \a *from duplicated. - * For instance, for a packet of 8 elements, 4 scalars will be read from \a *from and - * duplicated to form: {from[0],from[0],from[1],from[1],from[2],from[2],from[3],from[3]} - * Currently, this function is only used for scalar * complex products. - */ -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet -ploaddup(const typename unpacket_traits::type* from) { return *from; } - -/** \internal \returns a packet with elements of \a *from quadrupled. - * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and - * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]} - * Currently, this function is only used in matrix products. - * For packet-size smaller or equal to 4, this function is equivalent to pload1 - */ -template EIGEN_DEVICE_FUNC inline Packet -ploadquad(const typename unpacket_traits::type* from) -{ return pload1(from); } - -/** \internal equivalent to - * \code - * a0 = pload1(a+0); - * a1 = pload1(a+1); - * a2 = pload1(a+2); - * a3 = pload1(a+3); - * \endcode - * \sa pset1, pload1, ploaddup, pbroadcast2 - */ -template EIGEN_DEVICE_FUNC -inline void pbroadcast4(const typename unpacket_traits::type *a, - Packet& a0, Packet& a1, Packet& a2, Packet& a3) -{ - a0 = pload1(a+0); - a1 = pload1(a+1); - a2 = pload1(a+2); - a3 = pload1(a+3); -} - -/** \internal equivalent to - * \code - * a0 = pload1(a+0); - * a1 = pload1(a+1); - * \endcode - * \sa pset1, pload1, ploaddup, pbroadcast4 - */ -template EIGEN_DEVICE_FUNC -inline void pbroadcast2(const typename unpacket_traits::type *a, - Packet& a0, Packet& a1) -{ - a0 = pload1(a+0); - a1 = pload1(a+1); -} - -/** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */ -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet -plset(const typename unpacket_traits::type& a) { return a; } - -/** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */ -template EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from) -{ (*to) = from; } - -/** \internal copy the packet \a from to \a *to, (un-aligned store) */ -template EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from) -{ (*to) = from; } - - template EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/) - { return ploadu(from); } - - template EIGEN_DEVICE_FUNC inline void pscatter(Scalar* to, const Packet& from, Index /*stride*/) - { pstore(to, from); } - -/** \internal tries to do cache prefetching of \a addr */ -template EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr) -{ -#ifdef __CUDA_ARCH__ -#if defined(__LP64__) - // 64-bit pointer operand constraint for inlined asm - asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr)); -#else - // 32-bit pointer operand constraint for inlined asm - asm(" prefetch.L1 [ %1 ];" : "=r"(addr) : "r"(addr)); -#endif -#elif (!EIGEN_COMP_MSVC) && (EIGEN_COMP_GNUC || EIGEN_COMP_CLANG || EIGEN_COMP_ICC) - __builtin_prefetch(addr); -#endif -} - -/** \internal \returns the first element of a packet */ -template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type pfirst(const Packet& a) -{ return a; } - -/** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */ -template EIGEN_DEVICE_FUNC inline Packet -preduxp(const Packet* vecs) { return vecs[0]; } - -/** \internal \returns the sum of the elements of \a a*/ -template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux(const Packet& a) -{ return a; } - -/** \internal \returns the sum of the elements of \a a by block of 4 elements. - * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7} - * For packet-size smaller or equal to 4, this boils down to a noop. - */ -template EIGEN_DEVICE_FUNC inline -typename conditional<(unpacket_traits::size%8)==0,typename unpacket_traits::half,Packet>::type -predux_downto4(const Packet& a) -{ return a; } - -/** \internal \returns the product of the elements of \a a*/ -template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux_mul(const Packet& a) -{ return a; } - -/** \internal \returns the min of the elements of \a a*/ -template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux_min(const Packet& a) -{ return a; } - -/** \internal \returns the max of the elements of \a a*/ -template EIGEN_DEVICE_FUNC inline typename unpacket_traits::type predux_max(const Packet& a) -{ return a; } - -/** \internal \returns the reversed elements of \a a*/ -template EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a) -{ return a; } - -/** \internal \returns \a a with real and imaginary part flipped (for complex type only) */ -template EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a) -{ - // FIXME: uncomment the following in case we drop the internal imag and real functions. -// using std::imag; -// using std::real; - return Packet(imag(a),real(a)); -} - -/************************** -* Special math functions -***************************/ - -/** \internal \returns the sine of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet psin(const Packet& a) { using std::sin; return sin(a); } - -/** \internal \returns the cosine of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pcos(const Packet& a) { using std::cos; return cos(a); } - -/** \internal \returns the tan of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet ptan(const Packet& a) { using std::tan; return tan(a); } - -/** \internal \returns the arc sine of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pasin(const Packet& a) { using std::asin; return asin(a); } - -/** \internal \returns the arc cosine of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pacos(const Packet& a) { using std::acos; return acos(a); } - -/** \internal \returns the arc tangent of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet patan(const Packet& a) { using std::atan; return atan(a); } - -/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet psinh(const Packet& a) { using std::sinh; return sinh(a); } - -/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); } - -/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); } - -/** \internal \returns the exp of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pexp(const Packet& a) { using std::exp; return exp(a); } - -/** \internal \returns the expm1 of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pexpm1(const Packet& a) { return numext::expm1(a); } - -/** \internal \returns the log of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet plog(const Packet& a) { using std::log; return log(a); } - -/** \internal \returns the log1p of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet plog1p(const Packet& a) { return numext::log1p(a); } - -/** \internal \returns the log10 of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet plog10(const Packet& a) { using std::log10; return log10(a); } - -/** \internal \returns the square-root of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet psqrt(const Packet& a) { using std::sqrt; return sqrt(a); } - -/** \internal \returns the reciprocal square-root of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet prsqrt(const Packet& a) { - return pdiv(pset1(1), psqrt(a)); -} - -/** \internal \returns the rounded value of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pround(const Packet& a) { using numext::round; return round(a); } - -/** \internal \returns the floor of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pfloor(const Packet& a) { using numext::floor; return floor(a); } - -/** \internal \returns the ceil of \a a (coeff-wise) */ -template EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS -Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); } - -/*************************************************************************** -* The following functions might not have to be overwritten for vectorized types -***************************************************************************/ - -/** \internal copy a packet with constant coeficient \a a (e.g., [a,a,a,a]) to \a *to. \a to must be 16 bytes aligned */ -// NOTE: this function must really be templated on the packet type (think about different packet types for the same scalar type) -template -inline void pstore1(typename unpacket_traits::type* to, const typename unpacket_traits::type& a) -{ - pstore(to, pset1(a)); -} - -/** \internal \returns a * b + c (coeff-wise) */ -template EIGEN_DEVICE_FUNC inline Packet -pmadd(const Packet& a, - const Packet& b, - const Packet& c) -{ return padd(pmul(a, b),c); } - -/** \internal \returns a packet version of \a *from. - * The pointer \a from must be aligned on a \a Alignment bytes boundary. */ -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt(const typename unpacket_traits::type* from) -{ - if(Alignment >= unpacket_traits::alignment) - return pload(from); - else - return ploadu(from); -} - -/** \internal copy the packet \a from to \a *to. - * The pointer \a from must be aligned on a \a Alignment bytes boundary. */ -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(Scalar* to, const Packet& from) -{ - if(Alignment >= unpacket_traits::alignment) - pstore(to, from); - else - pstoreu(to, from); -} - -/** \internal \returns a packet version of \a *from. - * Unlike ploadt, ploadt_ro takes advantage of the read-only memory path on the - * hardware if available to speedup the loading of data that won't be modified - * by the current computation. - */ -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt_ro(const typename unpacket_traits::type* from) -{ - return ploadt(from); -} - -/** \internal default implementation of palign() allowing partial specialization */ -template -struct palign_impl -{ - // by default data are aligned, so there is nothing to be done :) - static inline void run(PacketType&, const PacketType&) {} -}; - -/** \internal update \a first using the concatenation of the packet_size minus \a Offset last elements - * of \a first and \a Offset first elements of \a second. - * - * This function is currently only used to optimize matrix-vector products on unligned matrices. - * It takes 2 packets that represent a contiguous memory array, and returns a packet starting - * at the position \a Offset. For instance, for packets of 4 elements, we have: - * Input: - * - first = {f0,f1,f2,f3} - * - second = {s0,s1,s2,s3} - * Output: - * - if Offset==0 then {f0,f1,f2,f3} - * - if Offset==1 then {f1,f2,f3,s0} - * - if Offset==2 then {f2,f3,s0,s1} - * - if Offset==3 then {f3,s0,s1,s3} - */ -template -inline void palign(PacketType& first, const PacketType& second) -{ - palign_impl::run(first,second); -} - -/*************************************************************************** -* Fast complex products (GCC generates a function call which is very slow) -***************************************************************************/ - -// Eigen+CUDA does not support complexes. -#ifndef __CUDACC__ - -template<> inline std::complex pmul(const std::complex& a, const std::complex& b) -{ return std::complex(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); } - -template<> inline std::complex pmul(const std::complex& a, const std::complex& b) -{ return std::complex(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); } - -#endif - - -/*************************************************************************** - * PacketBlock, that is a collection of N packets where the number of words - * in the packet is a multiple of N. -***************************************************************************/ -template ::size> struct PacketBlock { - Packet packet[N]; -}; - -template EIGEN_DEVICE_FUNC inline void -ptranspose(PacketBlock& /*kernel*/) { - // Nothing to do in the scalar case, i.e. a 1x1 matrix. -} - -/*************************************************************************** - * Selector, i.e. vector of N boolean values used to select (i.e. blend) - * words from 2 packets. -***************************************************************************/ -template struct Selector { - bool select[N]; -}; - -template EIGEN_DEVICE_FUNC inline Packet -pblend(const Selector::size>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) { - return ifPacket.select[0] ? thenPacket : elsePacket; -} - -/** \internal \returns \a a with the first coefficient replaced by the scalar b */ -template EIGEN_DEVICE_FUNC inline Packet -pinsertfirst(const Packet& a, typename unpacket_traits::type b) -{ - // Default implementation based on pblend. - // It must be specialized for higher performance. - Selector::size> mask; - mask.select[0] = true; - // This for loop should be optimized away by the compiler. - for(Index i=1; i::size; ++i) - mask.select[i] = false; - return pblend(mask, pset1(b), a); -} - -/** \internal \returns \a a with the last coefficient replaced by the scalar b */ -template EIGEN_DEVICE_FUNC inline Packet -pinsertlast(const Packet& a, typename unpacket_traits::type b) -{ - // Default implementation based on pblend. - // It must be specialized for higher performance. - Selector::size> mask; - // This for loop should be optimized away by the compiler. - for(Index i=0; i::size-1; ++i) - mask.select[i] = false; - mask.select[unpacket_traits::size-1] = true; - return pblend(mask, pset1(b), a); -} - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_GENERIC_PACKET_MATH_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/GlobalFunctions.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/GlobalFunctions.h deleted file mode 100644 index 12828a7c..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/GlobalFunctions.h +++ /dev/null @@ -1,188 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010-2016 Gael Guennebaud -// Copyright (C) 2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_GLOBAL_FUNCTIONS_H -#define EIGEN_GLOBAL_FUNCTIONS_H - -#ifdef EIGEN_PARSED_BY_DOXYGEN - -#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \ - /** \returns an expression of the coefficient-wise DOC_OP of \a x - - DOC_DETAILS - - \sa Math functions, class CwiseUnaryOp - */ \ - template \ - inline const Eigen::CwiseUnaryOp, const Derived> \ - NAME(const Eigen::ArrayBase& x); - -#else - -#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \ - template \ - inline const Eigen::CwiseUnaryOp, const Derived> \ - (NAME)(const Eigen::ArrayBase& x) { \ - return Eigen::CwiseUnaryOp, const Derived>(x.derived()); \ - } - -#endif // EIGEN_PARSED_BY_DOXYGEN - -#define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \ - \ - template \ - struct NAME##_retval > \ - { \ - typedef const Eigen::CwiseUnaryOp, const Derived> type; \ - }; \ - template \ - struct NAME##_impl > \ - { \ - static inline typename NAME##_retval >::type run(const Eigen::ArrayBase& x) \ - { \ - return typename NAME##_retval >::type(x.derived()); \ - } \ - }; - -namespace Eigen -{ - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(expm1,scalar_expm1_op,exponential of a value minus 1,\sa ArrayBase::expm1) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite) - EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign) - - /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent. - * - * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar). - * - * \sa ArrayBase::pow() - * - * \relates ArrayBase - */ -#ifdef EIGEN_PARSED_BY_DOXYGEN - template - inline const CwiseBinaryOp,Derived,Constant > - pow(const Eigen::ArrayBase& x, const ScalarExponent& exponent); -#else - template - inline typename internal::enable_if< !(internal::is_same::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent), - const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,ScalarExponent,pow) >::type - pow(const Eigen::ArrayBase& x, const ScalarExponent& exponent) { - return x.derived().pow(exponent); - } - - template - inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename Derived::Scalar,pow) - pow(const Eigen::ArrayBase& x, const typename Derived::Scalar& exponent) { - return x.derived().pow(exponent); - } -#endif - - /** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents. - * - * This function computes the coefficient-wise power. - * - * Example: \include Cwise_array_power_array.cpp - * Output: \verbinclude Cwise_array_power_array.out - * - * \sa ArrayBase::pow() - * - * \relates ArrayBase - */ - template - inline const Eigen::CwiseBinaryOp, const Derived, const ExponentDerived> - pow(const Eigen::ArrayBase& x, const Eigen::ArrayBase& exponents) - { - return Eigen::CwiseBinaryOp, const Derived, const ExponentDerived>( - x.derived(), - exponents.derived() - ); - } - - /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents. - * - * This function computes the coefficient-wise power between a scalar and an array of exponents. - * - * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar). - * - * Example: \include Cwise_scalar_power_array.cpp - * Output: \verbinclude Cwise_scalar_power_array.out - * - * \sa ArrayBase::pow() - * - * \relates ArrayBase - */ -#ifdef EIGEN_PARSED_BY_DOXYGEN - template - inline const CwiseBinaryOp,Constant,Derived> - pow(const Scalar& x,const Eigen::ArrayBase& x); -#else - template - inline typename internal::enable_if< !(internal::is_same::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar), - const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow) >::type - pow(const Scalar& x, const Eigen::ArrayBase& exponents) - { - return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow)( - typename internal::plain_constant_type::type(exponents.rows(), exponents.cols(), x), exponents.derived() ); - } - - template - inline const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow) - pow(const typename Derived::Scalar& x, const Eigen::ArrayBase& exponents) - { - return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)( - typename internal::plain_constant_type::type(exponents.rows(), exponents.cols(), x), exponents.derived() ); - } -#endif - - - namespace internal - { - EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op) - EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op) - EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op) - } -} - -// TODO: cleanly disable those functions that are not supported on Array (numext::real_ref, internal::random, internal::isApprox...) - -#endif // EIGEN_GLOBAL_FUNCTIONS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/IO.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/IO.h deleted file mode 100644 index da7fd6cc..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/IO.h +++ /dev/null @@ -1,225 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_IO_H -#define EIGEN_IO_H - -namespace Eigen { - -enum { DontAlignCols = 1 }; -enum { StreamPrecision = -1, - FullPrecision = -2 }; - -namespace internal { -template -std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt); -} - -/** \class IOFormat - * \ingroup Core_Module - * - * \brief Stores a set of parameters controlling the way matrices are printed - * - * List of available parameters: - * - \b precision number of digits for floating point values, or one of the special constants \c StreamPrecision and \c FullPrecision. - * The default is the special value \c StreamPrecision which means to use the - * stream's own precision setting, as set for instance using \c cout.precision(3). The other special value - * \c FullPrecision means that the number of digits will be computed to match the full precision of each floating-point - * type. - * - \b flags an OR-ed combination of flags, the default value is 0, the only currently available flag is \c DontAlignCols which - * allows to disable the alignment of columns, resulting in faster code. - * - \b coeffSeparator string printed between two coefficients of the same row - * - \b rowSeparator string printed between two rows - * - \b rowPrefix string printed at the beginning of each row - * - \b rowSuffix string printed at the end of each row - * - \b matPrefix string printed at the beginning of the matrix - * - \b matSuffix string printed at the end of the matrix - * - * Example: \include IOFormat.cpp - * Output: \verbinclude IOFormat.out - * - * \sa DenseBase::format(), class WithFormat - */ -struct IOFormat -{ - /** Default constructor, see class IOFormat for the meaning of the parameters */ - IOFormat(int _precision = StreamPrecision, int _flags = 0, - const std::string& _coeffSeparator = " ", - const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="", - const std::string& _matPrefix="", const std::string& _matSuffix="") - : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator), - rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags) - { - // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline - // don't add rowSpacer if columns are not to be aligned - if((flags & DontAlignCols)) - return; - int i = int(matSuffix.length())-1; - while (i>=0 && matSuffix[i]!='\n') - { - rowSpacer += ' '; - i--; - } - } - std::string matPrefix, matSuffix; - std::string rowPrefix, rowSuffix, rowSeparator, rowSpacer; - std::string coeffSeparator; - int precision; - int flags; -}; - -/** \class WithFormat - * \ingroup Core_Module - * - * \brief Pseudo expression providing matrix output with given format - * - * \tparam ExpressionType the type of the object on which IO stream operations are performed - * - * This class represents an expression with stream operators controlled by a given IOFormat. - * It is the return type of DenseBase::format() - * and most of the time this is the only way it is used. - * - * See class IOFormat for some examples. - * - * \sa DenseBase::format(), class IOFormat - */ -template -class WithFormat -{ - public: - - WithFormat(const ExpressionType& matrix, const IOFormat& format) - : m_matrix(matrix), m_format(format) - {} - - friend std::ostream & operator << (std::ostream & s, const WithFormat& wf) - { - return internal::print_matrix(s, wf.m_matrix.eval(), wf.m_format); - } - - protected: - typename ExpressionType::Nested m_matrix; - IOFormat m_format; -}; - -namespace internal { - -// NOTE: This helper is kept for backward compatibility with previous code specializing -// this internal::significant_decimals_impl structure. In the future we should directly -// call digits10() which has been introduced in July 2016 in 3.3. -template -struct significant_decimals_impl -{ - static inline int run() - { - return NumTraits::digits10(); - } -}; - -/** \internal - * print the matrix \a _m to the output stream \a s using the output format \a fmt */ -template -std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt) -{ - if(_m.size() == 0) - { - s << fmt.matPrefix << fmt.matSuffix; - return s; - } - - typename Derived::Nested m = _m; - typedef typename Derived::Scalar Scalar; - - Index width = 0; - - std::streamsize explicit_precision; - if(fmt.precision == StreamPrecision) - { - explicit_precision = 0; - } - else if(fmt.precision == FullPrecision) - { - if (NumTraits::IsInteger) - { - explicit_precision = 0; - } - else - { - explicit_precision = significant_decimals_impl::run(); - } - } - else - { - explicit_precision = fmt.precision; - } - - std::streamsize old_precision = 0; - if(explicit_precision) old_precision = s.precision(explicit_precision); - - bool align_cols = !(fmt.flags & DontAlignCols); - if(align_cols) - { - // compute the largest width - for(Index j = 0; j < m.cols(); ++j) - for(Index i = 0; i < m.rows(); ++i) - { - std::stringstream sstr; - sstr.copyfmt(s); - sstr << m.coeff(i,j); - width = std::max(width, Index(sstr.str().length())); - } - } - s << fmt.matPrefix; - for(Index i = 0; i < m.rows(); ++i) - { - if (i) - s << fmt.rowSpacer; - s << fmt.rowPrefix; - if(width) s.width(width); - s << m.coeff(i, 0); - for(Index j = 1; j < m.cols(); ++j) - { - s << fmt.coeffSeparator; - if (width) s.width(width); - s << m.coeff(i, j); - } - s << fmt.rowSuffix; - if( i < m.rows() - 1) - s << fmt.rowSeparator; - } - s << fmt.matSuffix; - if(explicit_precision) s.precision(old_precision); - return s; -} - -} // end namespace internal - -/** \relates DenseBase - * - * Outputs the matrix, to the given stream. - * - * If you wish to print the matrix with a format different than the default, use DenseBase::format(). - * - * It is also possible to change the default format by defining EIGEN_DEFAULT_IO_FORMAT before including Eigen headers. - * If not defined, this will automatically be defined to Eigen::IOFormat(), that is the Eigen::IOFormat with default parameters. - * - * \sa DenseBase::format() - */ -template -std::ostream & operator << -(std::ostream & s, - const DenseBase & m) -{ - return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT); -} - -} // end namespace Eigen - -#endif // EIGEN_IO_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/IndexedView.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/IndexedView.h deleted file mode 100644 index 8c57a277..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/IndexedView.h +++ /dev/null @@ -1,207 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2017 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_INDEXED_VIEW_H -#define EIGEN_INDEXED_VIEW_H - -namespace Eigen { - -namespace internal { - -template -struct traits > - : traits -{ - enum { - RowsAtCompileTime = int(array_size::value), - ColsAtCompileTime = int(array_size::value), - MaxRowsAtCompileTime = RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime) : int(traits::MaxRowsAtCompileTime), - MaxColsAtCompileTime = ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime) : int(traits::MaxColsAtCompileTime), - - XprTypeIsRowMajor = (int(traits::Flags)&RowMajorBit) != 0, - IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 - : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 - : XprTypeIsRowMajor, - - RowIncr = int(get_compile_time_incr::value), - ColIncr = int(get_compile_time_incr::value), - InnerIncr = IsRowMajor ? ColIncr : RowIncr, - OuterIncr = IsRowMajor ? RowIncr : ColIncr, - - HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor), - XprInnerStride = HasSameStorageOrderAsXprType ? int(inner_stride_at_compile_time::ret) : int(outer_stride_at_compile_time::ret), - XprOuterstride = HasSameStorageOrderAsXprType ? int(outer_stride_at_compile_time::ret) : int(inner_stride_at_compile_time::ret), - - InnerSize = XprTypeIsRowMajor ? ColsAtCompileTime : RowsAtCompileTime, - IsBlockAlike = InnerIncr==1 && OuterIncr==1, - IsInnerPannel = HasSameStorageOrderAsXprType && is_same,typename conditional::type>::value, - - InnerStrideAtCompileTime = InnerIncr<0 || InnerIncr==DynamicIndex || XprInnerStride==Dynamic ? Dynamic : XprInnerStride * InnerIncr, - OuterStrideAtCompileTime = OuterIncr<0 || OuterIncr==DynamicIndex || XprOuterstride==Dynamic ? Dynamic : XprOuterstride * OuterIncr, - - ReturnAsScalar = is_same::value && is_same::value, - ReturnAsBlock = (!ReturnAsScalar) && IsBlockAlike, - ReturnAsIndexedView = (!ReturnAsScalar) && (!ReturnAsBlock), - - // FIXME we deal with compile-time strides if and only if we have DirectAccessBit flag, - // but this is too strict regarding negative strides... - DirectAccessMask = (int(InnerIncr)!=UndefinedIncr && int(OuterIncr)!=UndefinedIncr && InnerIncr>=0 && OuterIncr>=0) ? DirectAccessBit : 0, - FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0, - FlagsLvalueBit = is_lvalue::value ? LvalueBit : 0, - Flags = (traits::Flags & (HereditaryBits | DirectAccessMask)) | FlagsLvalueBit | FlagsRowMajorBit - }; - - typedef Block BlockType; -}; - -} - -template -class IndexedViewImpl; - - -/** \class IndexedView - * \ingroup Core_Module - * - * \brief Expression of a non-sequential sub-matrix defined by arbitrary sequences of row and column indices - * - * \tparam XprType the type of the expression in which we are taking the intersections of sub-rows and sub-columns - * \tparam RowIndices the type of the object defining the sequence of row indices - * \tparam ColIndices the type of the object defining the sequence of column indices - * - * This class represents an expression of a sub-matrix (or sub-vector) defined as the intersection - * of sub-sets of rows and columns, that are themself defined by generic sequences of row indices \f$ \{r_0,r_1,..r_{m-1}\} \f$ - * and column indices \f$ \{c_0,c_1,..c_{n-1} \}\f$. Let \f$ A \f$ be the nested matrix, then the resulting matrix \f$ B \f$ has \c m - * rows and \c n columns, and its entries are given by: \f$ B(i,j) = A(r_i,c_j) \f$. - * - * The \c RowIndices and \c ColIndices types must be compatible with the following API: - * \code - * operator[](Index) const; - * Index size() const; - * \endcode - * - * Typical supported types thus include: - * - std::vector - * - std::valarray - * - std::array - * - Plain C arrays: int[N] - * - Eigen::ArrayXi - * - decltype(ArrayXi::LinSpaced(...)) - * - Any view/expressions of the previous types - * - Eigen::ArithmeticSequence - * - Eigen::internal::AllRange (helper for Eigen::all) - * - Eigen::internal::SingleRange (helper for single index) - * - etc. - * - * In typical usages of %Eigen, this class should never be used directly. It is the return type of - * DenseBase::operator()(const RowIndices&, const ColIndices&). - * - * \sa class Block - */ -template -class IndexedView : public IndexedViewImpl::StorageKind> -{ -public: - typedef typename IndexedViewImpl::StorageKind>::Base Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(IndexedView) - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(IndexedView) - - typedef typename internal::ref_selector::non_const_type MatrixTypeNested; - typedef typename internal::remove_all::type NestedExpression; - - template - IndexedView(XprType& xpr, const T0& rowIndices, const T1& colIndices) - : m_xpr(xpr), m_rowIndices(rowIndices), m_colIndices(colIndices) - {} - - /** \returns number of rows */ - Index rows() const { return internal::size(m_rowIndices); } - - /** \returns number of columns */ - Index cols() const { return internal::size(m_colIndices); } - - /** \returns the nested expression */ - const typename internal::remove_all::type& - nestedExpression() const { return m_xpr; } - - /** \returns the nested expression */ - typename internal::remove_reference::type& - nestedExpression() { return m_xpr.const_cast_derived(); } - - /** \returns a const reference to the object storing/generating the row indices */ - const RowIndices& rowIndices() const { return m_rowIndices; } - - /** \returns a const reference to the object storing/generating the column indices */ - const ColIndices& colIndices() const { return m_colIndices; } - -protected: - MatrixTypeNested m_xpr; - RowIndices m_rowIndices; - ColIndices m_colIndices; -}; - - -// Generic API dispatcher -template -class IndexedViewImpl - : public internal::generic_xpr_base >::type -{ -public: - typedef typename internal::generic_xpr_base >::type Base; -}; - -namespace internal { - - -template -struct unary_evaluator, IndexBased> - : evaluator_base > -{ - typedef IndexedView XprType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost /* TODO + cost of row/col index */, - - Flags = (evaluator::Flags & (HereditaryBits /*| LinearAccessBit | DirectAccessBit*/)), - - Alignment = 0 - }; - - EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_xpr(xpr) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - CoeffReturnType coeff(Index row, Index col) const - { - return m_argImpl.coeff(m_xpr.rowIndices()[row], m_xpr.colIndices()[col]); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Scalar& coeffRef(Index row, Index col) - { - return m_argImpl.coeffRef(m_xpr.rowIndices()[row], m_xpr.colIndices()[col]); - } - -protected: - - evaluator m_argImpl; - const XprType& m_xpr; - -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_INDEXED_VIEW_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Inverse.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Inverse.h deleted file mode 100644 index b76f0439..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Inverse.h +++ /dev/null @@ -1,118 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_INVERSE_H -#define EIGEN_INVERSE_H - -namespace Eigen { - -template class InverseImpl; - -namespace internal { - -template -struct traits > - : traits -{ - typedef typename XprType::PlainObject PlainObject; - typedef traits BaseTraits; - enum { - Flags = BaseTraits::Flags & RowMajorBit - }; -}; - -} // end namespace internal - -/** \class Inverse - * - * \brief Expression of the inverse of another expression - * - * \tparam XprType the type of the expression we are taking the inverse - * - * This class represents an abstract expression of A.inverse() - * and most of the time this is the only way it is used. - * - */ -template -class Inverse : public InverseImpl::StorageKind> -{ -public: - typedef typename XprType::StorageIndex StorageIndex; - typedef typename XprType::PlainObject PlainObject; - typedef typename XprType::Scalar Scalar; - typedef typename internal::ref_selector::type XprTypeNested; - typedef typename internal::remove_all::type XprTypeNestedCleaned; - typedef typename internal::ref_selector::type Nested; - typedef typename internal::remove_all::type NestedExpression; - - explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr) - : m_xpr(xpr) - {} - - EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); } - EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); } - - EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; } - -protected: - XprTypeNested m_xpr; -}; - -// Generic API dispatcher -template -class InverseImpl - : public internal::generic_xpr_base >::type -{ -public: - typedef typename internal::generic_xpr_base >::type Base; - typedef typename XprType::Scalar Scalar; -private: - - Scalar coeff(Index row, Index col) const; - Scalar coeff(Index i) const; -}; - -namespace internal { - -/** \internal - * \brief Default evaluator for Inverse expression. - * - * This default evaluator for Inverse expression simply evaluate the inverse into a temporary - * by a call to internal::call_assignment_no_alias. - * Therefore, inverse implementers only have to specialize Assignment, ...> for - * there own nested expression. - * - * \sa class Inverse - */ -template -struct unary_evaluator > - : public evaluator::PlainObject> -{ - typedef Inverse InverseType; - typedef typename InverseType::PlainObject PlainObject; - typedef evaluator Base; - - enum { Flags = Base::Flags | EvalBeforeNestingBit }; - - unary_evaluator(const InverseType& inv_xpr) - : m_result(inv_xpr.rows(), inv_xpr.cols()) - { - ::new (static_cast(this)) Base(m_result); - internal::call_assignment_no_alias(m_result, inv_xpr); - } - -protected: - PlainObject m_result; -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_INVERSE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Map.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Map.h deleted file mode 100644 index 06d19670..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Map.h +++ /dev/null @@ -1,164 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2007-2010 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MAP_H -#define EIGEN_MAP_H - -namespace Eigen { - -namespace internal { -template -struct traits > - : public traits -{ - typedef traits TraitsBase; - enum { - InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0 - ? int(PlainObjectType::InnerStrideAtCompileTime) - : int(StrideType::InnerStrideAtCompileTime), - OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0 - ? int(PlainObjectType::OuterStrideAtCompileTime) - : int(StrideType::OuterStrideAtCompileTime), - Alignment = int(MapOptions)&int(AlignedMask), - Flags0 = TraitsBase::Flags & (~NestByRefBit), - Flags = is_lvalue::value ? int(Flags0) : (int(Flags0) & ~LvalueBit) - }; -private: - enum { Options }; // Expressions don't have Options -}; -} - -/** \class Map - * \ingroup Core_Module - * - * \brief A matrix or vector expression mapping an existing array of data. - * - * \tparam PlainObjectType the equivalent matrix type of the mapped data - * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned. - * The default is \c #Unaligned. - * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout - * of an ordinary, contiguous array. This can be overridden by specifying strides. - * The type passed here must be a specialization of the Stride template, see examples below. - * - * This class represents a matrix or vector expression mapping an existing array of data. - * It can be used to let Eigen interface without any overhead with non-Eigen data structures, - * such as plain C arrays or structures from other libraries. By default, it assumes that the - * data is laid out contiguously in memory. You can however override this by explicitly specifying - * inner and outer strides. - * - * Here's an example of simply mapping a contiguous array as a \ref TopicStorageOrders "column-major" matrix: - * \include Map_simple.cpp - * Output: \verbinclude Map_simple.out - * - * If you need to map non-contiguous arrays, you can do so by specifying strides: - * - * Here's an example of mapping an array as a vector, specifying an inner stride, that is, the pointer - * increment between two consecutive coefficients. Here, we're specifying the inner stride as a compile-time - * fixed value. - * \include Map_inner_stride.cpp - * Output: \verbinclude Map_inner_stride.out - * - * Here's an example of mapping an array while specifying an outer stride. Here, since we're mapping - * as a column-major matrix, 'outer stride' means the pointer increment between two consecutive columns. - * Here, we're specifying the outer stride as a runtime parameter. Note that here \c OuterStride<> is - * a short version of \c OuterStride because the default template parameter of OuterStride - * is \c Dynamic - * \include Map_outer_stride.cpp - * Output: \verbinclude Map_outer_stride.out - * - * For more details and for an example of specifying both an inner and an outer stride, see class Stride. - * - * \b Tip: to change the array of data mapped by a Map object, you can use the C++ - * placement new syntax: - * - * Example: \include Map_placement_new.cpp - * Output: \verbinclude Map_placement_new.out - * - * This class is the return type of PlainObjectBase::Map() but can also be used directly. - * - * \sa PlainObjectBase::Map(), \ref TopicStorageOrders - */ -template class Map - : public MapBase > -{ - public: - - typedef MapBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Map) - - typedef typename Base::PointerType PointerType; - typedef PointerType PointerArgType; - EIGEN_DEVICE_FUNC - inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; } - - EIGEN_DEVICE_FUNC - inline Index innerStride() const - { - return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1; - } - - EIGEN_DEVICE_FUNC - inline Index outerStride() const - { - return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer() - : IsVectorAtCompileTime ? this->size() - : int(Flags)&RowMajorBit ? this->cols() - : this->rows(); - } - - /** Constructor in the fixed-size case. - * - * \param dataPtr pointer to the array to map - * \param stride optional Stride object, passing the strides. - */ - EIGEN_DEVICE_FUNC - explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType()) - : Base(cast_to_pointer_type(dataPtr)), m_stride(stride) - { - PlainObjectType::Base::_check_template_params(); - } - - /** Constructor in the dynamic-size vector case. - * - * \param dataPtr pointer to the array to map - * \param size the size of the vector expression - * \param stride optional Stride object, passing the strides. - */ - EIGEN_DEVICE_FUNC - inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType()) - : Base(cast_to_pointer_type(dataPtr), size), m_stride(stride) - { - PlainObjectType::Base::_check_template_params(); - } - - /** Constructor in the dynamic-size matrix case. - * - * \param dataPtr pointer to the array to map - * \param rows the number of rows of the matrix expression - * \param cols the number of columns of the matrix expression - * \param stride optional Stride object, passing the strides. - */ - EIGEN_DEVICE_FUNC - inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType()) - : Base(cast_to_pointer_type(dataPtr), rows, cols), m_stride(stride) - { - PlainObjectType::Base::_check_template_params(); - } - - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map) - - protected: - StrideType m_stride; -}; - - -} // end namespace Eigen - -#endif // EIGEN_MAP_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/MapBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/MapBase.h deleted file mode 100644 index 020f939a..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/MapBase.h +++ /dev/null @@ -1,299 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2007-2010 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MAPBASE_H -#define EIGEN_MAPBASE_H - -#define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \ - EIGEN_STATIC_ASSERT((int(internal::evaluator::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \ - YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT) - -namespace Eigen { - -/** \ingroup Core_Module - * - * \brief Base class for dense Map and Block expression with direct access - * - * This base class provides the const low-level accessors (e.g. coeff, coeffRef) of dense - * Map and Block objects with direct access. - * Typical users do not have to directly deal with this class. - * - * This class can be extended by through the macro plugin \c EIGEN_MAPBASE_PLUGIN. - * See \link TopicCustomizing_Plugins customizing Eigen \endlink for details. - * - * The \c Derived class has to provide the following two methods describing the memory layout: - * \code Index innerStride() const; \endcode - * \code Index outerStride() const; \endcode - * - * \sa class Map, class Block - */ -template class MapBase - : public internal::dense_xpr_base::type -{ - public: - - typedef typename internal::dense_xpr_base::type Base; - enum { - RowsAtCompileTime = internal::traits::RowsAtCompileTime, - ColsAtCompileTime = internal::traits::ColsAtCompileTime, - SizeAtCompileTime = Base::SizeAtCompileTime - }; - - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::packet_traits::type PacketScalar; - typedef typename NumTraits::Real RealScalar; - typedef typename internal::conditional< - bool(internal::is_lvalue::value), - Scalar *, - const Scalar *>::type - PointerType; - - using Base::derived; -// using Base::RowsAtCompileTime; -// using Base::ColsAtCompileTime; -// using Base::SizeAtCompileTime; - using Base::MaxRowsAtCompileTime; - using Base::MaxColsAtCompileTime; - using Base::MaxSizeAtCompileTime; - using Base::IsVectorAtCompileTime; - using Base::Flags; - using Base::IsRowMajor; - - using Base::rows; - using Base::cols; - using Base::size; - using Base::coeff; - using Base::coeffRef; - using Base::lazyAssign; - using Base::eval; - - using Base::innerStride; - using Base::outerStride; - using Base::rowStride; - using Base::colStride; - - // bug 217 - compile error on ICC 11.1 - using Base::operator=; - - typedef typename Base::CoeffReturnType CoeffReturnType; - - /** \copydoc DenseBase::rows() */ - EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); } - /** \copydoc DenseBase::cols() */ - EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); } - - /** Returns a pointer to the first coefficient of the matrix or vector. - * - * \note When addressing this data, make sure to honor the strides returned by innerStride() and outerStride(). - * - * \sa innerStride(), outerStride() - */ - EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_data; } - - /** \copydoc PlainObjectBase::coeff(Index,Index) const */ - EIGEN_DEVICE_FUNC - inline const Scalar& coeff(Index rowId, Index colId) const - { - return m_data[colId * colStride() + rowId * rowStride()]; - } - - /** \copydoc PlainObjectBase::coeff(Index) const */ - EIGEN_DEVICE_FUNC - inline const Scalar& coeff(Index index) const - { - EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) - return m_data[index * innerStride()]; - } - - /** \copydoc PlainObjectBase::coeffRef(Index,Index) const */ - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index rowId, Index colId) const - { - return this->m_data[colId * colStride() + rowId * rowStride()]; - } - - /** \copydoc PlainObjectBase::coeffRef(Index) const */ - EIGEN_DEVICE_FUNC - inline const Scalar& coeffRef(Index index) const - { - EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) - return this->m_data[index * innerStride()]; - } - - /** \internal */ - template - inline PacketScalar packet(Index rowId, Index colId) const - { - return internal::ploadt - (m_data + (colId * colStride() + rowId * rowStride())); - } - - /** \internal */ - template - inline PacketScalar packet(Index index) const - { - EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) - return internal::ploadt(m_data + index * innerStride()); - } - - /** \internal Constructor for fixed size matrices or vectors */ - EIGEN_DEVICE_FUNC - explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime) - { - EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived) - checkSanity(); - } - - /** \internal Constructor for dynamically sized vectors */ - EIGEN_DEVICE_FUNC - inline MapBase(PointerType dataPtr, Index vecSize) - : m_data(dataPtr), - m_rows(RowsAtCompileTime == Dynamic ? vecSize : Index(RowsAtCompileTime)), - m_cols(ColsAtCompileTime == Dynamic ? vecSize : Index(ColsAtCompileTime)) - { - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - eigen_assert(vecSize >= 0); - eigen_assert(dataPtr == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == vecSize); - checkSanity(); - } - - /** \internal Constructor for dynamically sized matrices */ - EIGEN_DEVICE_FUNC - inline MapBase(PointerType dataPtr, Index rows, Index cols) - : m_data(dataPtr), m_rows(rows), m_cols(cols) - { - eigen_assert( (dataPtr == 0) - || ( rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) - && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols))); - checkSanity(); - } - - #ifdef EIGEN_MAPBASE_PLUGIN - #include EIGEN_MAPBASE_PLUGIN - #endif - - protected: - - template - EIGEN_DEVICE_FUNC - void checkSanity(typename internal::enable_if<(internal::traits::Alignment>0),void*>::type = 0) const - { -#if EIGEN_MAX_ALIGN_BYTES>0 - eigen_assert(( ((internal::UIntPtr(m_data) % internal::traits::Alignment) == 0) - || (cols() * rows() * innerStride() * sizeof(Scalar)) < internal::traits::Alignment ) && "data is not aligned"); -#endif - } - - template - EIGEN_DEVICE_FUNC - void checkSanity(typename internal::enable_if::Alignment==0,void*>::type = 0) const - {} - - PointerType m_data; - const internal::variable_if_dynamic m_rows; - const internal::variable_if_dynamic m_cols; -}; - -/** \ingroup Core_Module - * - * \brief Base class for non-const dense Map and Block expression with direct access - * - * This base class provides the non-const low-level accessors (e.g. coeff and coeffRef) of - * dense Map and Block objects with direct access. - * It inherits MapBase which defines the const variant for reading specific entries. - * - * \sa class Map, class Block - */ -template class MapBase - : public MapBase -{ - typedef MapBase ReadOnlyMapBase; - public: - - typedef MapBase Base; - - typedef typename Base::Scalar Scalar; - typedef typename Base::PacketScalar PacketScalar; - typedef typename Base::StorageIndex StorageIndex; - typedef typename Base::PointerType PointerType; - - using Base::derived; - using Base::rows; - using Base::cols; - using Base::size; - using Base::coeff; - using Base::coeffRef; - - using Base::innerStride; - using Base::outerStride; - using Base::rowStride; - using Base::colStride; - - typedef typename internal::conditional< - internal::is_lvalue::value, - Scalar, - const Scalar - >::type ScalarWithConstIfNotLvalue; - - EIGEN_DEVICE_FUNC - inline const Scalar* data() const { return this->m_data; } - EIGEN_DEVICE_FUNC - inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error - - EIGEN_DEVICE_FUNC - inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col) - { - return this->m_data[col * colStride() + row * rowStride()]; - } - - EIGEN_DEVICE_FUNC - inline ScalarWithConstIfNotLvalue& coeffRef(Index index) - { - EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) - return this->m_data[index * innerStride()]; - } - - template - inline void writePacket(Index row, Index col, const PacketScalar& val) - { - internal::pstoret - (this->m_data + (col * colStride() + row * rowStride()), val); - } - - template - inline void writePacket(Index index, const PacketScalar& val) - { - EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) - internal::pstoret - (this->m_data + index * innerStride(), val); - } - - EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {} - EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {} - EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : Base(dataPtr, rows, cols) {} - - EIGEN_DEVICE_FUNC - Derived& operator=(const MapBase& other) - { - ReadOnlyMapBase::Base::operator=(other); - return derived(); - } - - // In theory we could simply refer to Base:Base::operator=, but MSVC does not like Base::Base, - // see bugs 821 and 920. - using ReadOnlyMapBase::Base::operator=; -}; - -#undef EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS - -} // end namespace Eigen - -#endif // EIGEN_MAPBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctions.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctions.h deleted file mode 100644 index 5ec6c395..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctions.h +++ /dev/null @@ -1,1667 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MATHFUNCTIONS_H -#define EIGEN_MATHFUNCTIONS_H - -// source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html -// TODO this should better be moved to NumTraits -#define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L - -namespace Eigen { - -// On WINCE, std::abs is defined for int only, so let's defined our own overloads: -// This issue has been confirmed with MSVC 2008 only, but the issue might exist for more recent versions too. -#if EIGEN_OS_WINCE && EIGEN_COMP_MSVC && EIGEN_COMP_MSVC<=1500 -long abs(long x) { return (labs(x)); } -double abs(double x) { return (fabs(x)); } -float abs(float x) { return (fabsf(x)); } -long double abs(long double x) { return (fabsl(x)); } -#endif - -namespace internal { - -/** \internal \class global_math_functions_filtering_base - * - * What it does: - * Defines a typedef 'type' as follows: - * - if type T has a member typedef Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl, then - * global_math_functions_filtering_base::type is a typedef for it. - * - otherwise, global_math_functions_filtering_base::type is a typedef for T. - * - * How it's used: - * To allow to defined the global math functions (like sin...) in certain cases, like the Array expressions. - * When you do sin(array1+array2), the object array1+array2 has a complicated expression type, all what you want to know - * is that it inherits ArrayBase. So we implement a partial specialization of sin_impl for ArrayBase. - * So we must make sure to use sin_impl > and not sin_impl, otherwise our partial specialization - * won't be used. How does sin know that? That's exactly what global_math_functions_filtering_base tells it. - * - * How it's implemented: - * SFINAE in the style of enable_if. Highly susceptible of breaking compilers. With GCC, it sure does work, but if you replace - * the typename dummy by an integer template parameter, it doesn't work anymore! - */ - -template -struct global_math_functions_filtering_base -{ - typedef T type; -}; - -template struct always_void { typedef void type; }; - -template -struct global_math_functions_filtering_base - ::type - > -{ - typedef typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl type; -}; - -#define EIGEN_MATHFUNC_IMPL(func, scalar) Eigen::internal::func##_impl::type> -#define EIGEN_MATHFUNC_RETVAL(func, scalar) typename Eigen::internal::func##_retval::type>::type - -/**************************************************************************** -* Implementation of real * -****************************************************************************/ - -template::IsComplex> -struct real_default_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - return x; - } -}; - -template -struct real_default_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - using std::real; - return real(x); - } -}; - -template struct real_impl : real_default_impl {}; - -#ifdef __CUDA_ARCH__ -template -struct real_impl > -{ - typedef T RealScalar; - EIGEN_DEVICE_FUNC - static inline T run(const std::complex& x) - { - return x.real(); - } -}; -#endif - -template -struct real_retval -{ - typedef typename NumTraits::Real type; -}; - -/**************************************************************************** -* Implementation of imag * -****************************************************************************/ - -template::IsComplex> -struct imag_default_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar&) - { - return RealScalar(0); - } -}; - -template -struct imag_default_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - using std::imag; - return imag(x); - } -}; - -template struct imag_impl : imag_default_impl {}; - -#ifdef __CUDA_ARCH__ -template -struct imag_impl > -{ - typedef T RealScalar; - EIGEN_DEVICE_FUNC - static inline T run(const std::complex& x) - { - return x.imag(); - } -}; -#endif - -template -struct imag_retval -{ - typedef typename NumTraits::Real type; -}; - -/**************************************************************************** -* Implementation of real_ref * -****************************************************************************/ - -template -struct real_ref_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar& run(Scalar& x) - { - return reinterpret_cast(&x)[0]; - } - EIGEN_DEVICE_FUNC - static inline const RealScalar& run(const Scalar& x) - { - return reinterpret_cast(&x)[0]; - } -}; - -template -struct real_ref_retval -{ - typedef typename NumTraits::Real & type; -}; - -/**************************************************************************** -* Implementation of imag_ref * -****************************************************************************/ - -template -struct imag_ref_default_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar& run(Scalar& x) - { - return reinterpret_cast(&x)[1]; - } - EIGEN_DEVICE_FUNC - static inline const RealScalar& run(const Scalar& x) - { - return reinterpret_cast(&x)[1]; - } -}; - -template -struct imag_ref_default_impl -{ - EIGEN_DEVICE_FUNC - static inline Scalar run(Scalar&) - { - return Scalar(0); - } - EIGEN_DEVICE_FUNC - static inline const Scalar run(const Scalar&) - { - return Scalar(0); - } -}; - -template -struct imag_ref_impl : imag_ref_default_impl::IsComplex> {}; - -template -struct imag_ref_retval -{ - typedef typename NumTraits::Real & type; -}; - -/**************************************************************************** -* Implementation of conj * -****************************************************************************/ - -template::IsComplex> -struct conj_impl -{ - EIGEN_DEVICE_FUNC - static inline Scalar run(const Scalar& x) - { - return x; - } -}; - -template -struct conj_impl -{ - EIGEN_DEVICE_FUNC - static inline Scalar run(const Scalar& x) - { - using std::conj; - return conj(x); - } -}; - -template -struct conj_retval -{ - typedef Scalar type; -}; - -/**************************************************************************** -* Implementation of abs2 * -****************************************************************************/ - -template -struct abs2_impl_default -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - return x*x; - } -}; - -template -struct abs2_impl_default // IsComplex -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - return real(x)*real(x) + imag(x)*imag(x); - } -}; - -template -struct abs2_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - return abs2_impl_default::IsComplex>::run(x); - } -}; - -template -struct abs2_retval -{ - typedef typename NumTraits::Real type; -}; - -/**************************************************************************** -* Implementation of norm1 * -****************************************************************************/ - -template -struct norm1_default_impl -{ - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - EIGEN_USING_STD_MATH(abs); - return abs(real(x)) + abs(imag(x)); - } -}; - -template -struct norm1_default_impl -{ - EIGEN_DEVICE_FUNC - static inline Scalar run(const Scalar& x) - { - EIGEN_USING_STD_MATH(abs); - return abs(x); - } -}; - -template -struct norm1_impl : norm1_default_impl::IsComplex> {}; - -template -struct norm1_retval -{ - typedef typename NumTraits::Real type; -}; - -/**************************************************************************** -* Implementation of hypot * -****************************************************************************/ - -template -struct hypot_impl -{ - typedef typename NumTraits::Real RealScalar; - static inline RealScalar run(const Scalar& x, const Scalar& y) - { - EIGEN_USING_STD_MATH(abs); - EIGEN_USING_STD_MATH(sqrt); - RealScalar _x = abs(x); - RealScalar _y = abs(y); - Scalar p, qp; - if(_x>_y) - { - p = _x; - qp = _y / p; - } - else - { - p = _y; - qp = _x / p; - } - if(p==RealScalar(0)) return RealScalar(0); - return p * sqrt(RealScalar(1) + qp*qp); - } -}; - -template -struct hypot_retval -{ - typedef typename NumTraits::Real type; -}; - -/**************************************************************************** -* Implementation of cast * -****************************************************************************/ - -template -struct cast_impl -{ - EIGEN_DEVICE_FUNC - static inline NewType run(const OldType& x) - { - return static_cast(x); - } -}; - -// here, for once, we're plainly returning NewType: we don't want cast to do weird things. - -template -EIGEN_DEVICE_FUNC -inline NewType cast(const OldType& x) -{ - return cast_impl::run(x); -} - -/**************************************************************************** -* Implementation of round * -****************************************************************************/ - -#if EIGEN_HAS_CXX11_MATH - template - struct round_impl { - static inline Scalar run(const Scalar& x) - { - EIGEN_STATIC_ASSERT((!NumTraits::IsComplex), NUMERIC_TYPE_MUST_BE_REAL) - EIGEN_USING_STD_MATH(round); - return round(x); - } - }; -#else - template - struct round_impl - { - static inline Scalar run(const Scalar& x) - { - EIGEN_STATIC_ASSERT((!NumTraits::IsComplex), NUMERIC_TYPE_MUST_BE_REAL) - EIGEN_USING_STD_MATH(floor); - EIGEN_USING_STD_MATH(ceil); - return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5)); - } - }; -#endif - -template -struct round_retval -{ - typedef Scalar type; -}; - -/**************************************************************************** -* Implementation of arg * -****************************************************************************/ - -#if EIGEN_HAS_CXX11_MATH - template - struct arg_impl { - static inline Scalar run(const Scalar& x) - { - EIGEN_USING_STD_MATH(arg); - return arg(x); - } - }; -#else - template::IsComplex> - struct arg_default_impl - { - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); } - }; - - template - struct arg_default_impl - { - typedef typename NumTraits::Real RealScalar; - EIGEN_DEVICE_FUNC - static inline RealScalar run(const Scalar& x) - { - EIGEN_USING_STD_MATH(arg); - return arg(x); - } - }; - - template struct arg_impl : arg_default_impl {}; -#endif - -template -struct arg_retval -{ - typedef typename NumTraits::Real type; -}; - -/**************************************************************************** -* Implementation of expm1 * -****************************************************************************/ - -// This implementation is based on GSL Math's expm1. -namespace std_fallback { - // fallback expm1 implementation in case there is no expm1(Scalar) function in namespace of Scalar, - // or that there is no suitable std::expm1 function available. Implementation - // attributed to Kahan. See: http://www.plunk.org/~hatch/rightway.php. - template - EIGEN_DEVICE_FUNC inline Scalar expm1(const Scalar& x) { - EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar) - typedef typename NumTraits::Real RealScalar; - - EIGEN_USING_STD_MATH(exp); - Scalar u = exp(x); - if (u == Scalar(1)) { - return x; - } - Scalar um1 = u - RealScalar(1); - if (um1 == Scalar(-1)) { - return RealScalar(-1); - } - - EIGEN_USING_STD_MATH(log); - return (u - RealScalar(1)) * x / log(u); - } -} - -template -struct expm1_impl { - EIGEN_DEVICE_FUNC static inline Scalar run(const Scalar& x) - { - EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar) - #if EIGEN_HAS_CXX11_MATH - using std::expm1; - #endif - using std_fallback::expm1; - return expm1(x); - } -}; - - -template -struct expm1_retval -{ - typedef Scalar type; -}; - -/**************************************************************************** -* Implementation of log1p * -****************************************************************************/ - -namespace std_fallback { - // fallback log1p implementation in case there is no log1p(Scalar) function in namespace of Scalar, - // or that there is no suitable std::log1p function available - template - EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) { - EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar) - typedef typename NumTraits::Real RealScalar; - EIGEN_USING_STD_MATH(log); - Scalar x1p = RealScalar(1) + x; - return ( x1p == Scalar(1) ) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) ); - } -} - -template -struct log1p_impl { - EIGEN_DEVICE_FUNC static inline Scalar run(const Scalar& x) - { - EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar) - #if EIGEN_HAS_CXX11_MATH - using std::log1p; - #endif - using std_fallback::log1p; - return log1p(x); - } -}; - - -template -struct log1p_retval -{ - typedef Scalar type; -}; - -/**************************************************************************** -* Implementation of pow * -****************************************************************************/ - -template::IsInteger&&NumTraits::IsInteger> -struct pow_impl -{ - //typedef Scalar retval; - typedef typename ScalarBinaryOpTraits >::ReturnType result_type; - static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y) - { - EIGEN_USING_STD_MATH(pow); - return pow(x, y); - } -}; - -template -struct pow_impl -{ - typedef ScalarX result_type; - static EIGEN_DEVICE_FUNC inline ScalarX run(ScalarX x, ScalarY y) - { - ScalarX res(1); - eigen_assert(!NumTraits::IsSigned || y >= 0); - if(y & 1) res *= x; - y >>= 1; - while(y) - { - x *= x; - if(y&1) res *= x; - y >>= 1; - } - return res; - } -}; - -/**************************************************************************** -* Implementation of random * -****************************************************************************/ - -template -struct random_default_impl {}; - -template -struct random_impl : random_default_impl::IsComplex, NumTraits::IsInteger> {}; - -template -struct random_retval -{ - typedef Scalar type; -}; - -template inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y); -template inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(); - -template -struct random_default_impl -{ - static inline Scalar run(const Scalar& x, const Scalar& y) - { - return x + (y-x) * Scalar(std::rand()) / Scalar(RAND_MAX); - } - static inline Scalar run() - { - return run(Scalar(NumTraits::IsSigned ? -1 : 0), Scalar(1)); - } -}; - -enum { - meta_floor_log2_terminate, - meta_floor_log2_move_up, - meta_floor_log2_move_down, - meta_floor_log2_bogus -}; - -template struct meta_floor_log2_selector -{ - enum { middle = (lower + upper) / 2, - value = (upper <= lower + 1) ? int(meta_floor_log2_terminate) - : (n < (1 << middle)) ? int(meta_floor_log2_move_down) - : (n==0) ? int(meta_floor_log2_bogus) - : int(meta_floor_log2_move_up) - }; -}; - -template::value> -struct meta_floor_log2 {}; - -template -struct meta_floor_log2 -{ - enum { value = meta_floor_log2::middle>::value }; -}; - -template -struct meta_floor_log2 -{ - enum { value = meta_floor_log2::middle, upper>::value }; -}; - -template -struct meta_floor_log2 -{ - enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower }; -}; - -template -struct meta_floor_log2 -{ - // no value, error at compile time -}; - -template -struct random_default_impl -{ - static inline Scalar run(const Scalar& x, const Scalar& y) - { - typedef typename conditional::IsSigned,std::ptrdiff_t,std::size_t>::type ScalarX; - if(y=x the result converted to an unsigned long is still correct. - std::size_t range = ScalarX(y)-ScalarX(x); - std::size_t offset = 0; - // rejection sampling - std::size_t divisor = 1; - std::size_t multiplier = 1; - if(range range); - return Scalar(ScalarX(x) + offset); - } - - static inline Scalar run() - { -#ifdef EIGEN_MAKING_DOCS - return run(Scalar(NumTraits::IsSigned ? -10 : 0), Scalar(10)); -#else - enum { rand_bits = meta_floor_log2<(unsigned int)(RAND_MAX)+1>::value, - scalar_bits = sizeof(Scalar) * CHAR_BIT, - shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits)), - offset = NumTraits::IsSigned ? (1 << (EIGEN_PLAIN_ENUM_MIN(rand_bits,scalar_bits)-1)) : 0 - }; - return Scalar((std::rand() >> shift) - offset); -#endif - } -}; - -template -struct random_default_impl -{ - static inline Scalar run(const Scalar& x, const Scalar& y) - { - return Scalar(random(real(x), real(y)), - random(imag(x), imag(y))); - } - static inline Scalar run() - { - typedef typename NumTraits::Real RealScalar; - return Scalar(random(), random()); - } -}; - -template -inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y) -{ - return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(x, y); -} - -template -inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random() -{ - return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(); -} - -// Implementatin of is* functions - -// std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang. -#if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG) -#define EIGEN_USE_STD_FPCLASSIFY 1 -#else -#define EIGEN_USE_STD_FPCLASSIFY 0 -#endif - -template -EIGEN_DEVICE_FUNC -typename internal::enable_if::value,bool>::type -isnan_impl(const T&) { return false; } - -template -EIGEN_DEVICE_FUNC -typename internal::enable_if::value,bool>::type -isinf_impl(const T&) { return false; } - -template -EIGEN_DEVICE_FUNC -typename internal::enable_if::value,bool>::type -isfinite_impl(const T&) { return true; } - -template -EIGEN_DEVICE_FUNC -typename internal::enable_if<(!internal::is_integral::value)&&(!NumTraits::IsComplex),bool>::type -isfinite_impl(const T& x) -{ - #ifdef __CUDA_ARCH__ - return (::isfinite)(x); - #elif EIGEN_USE_STD_FPCLASSIFY - using std::isfinite; - return isfinite EIGEN_NOT_A_MACRO (x); - #else - return x<=NumTraits::highest() && x>=NumTraits::lowest(); - #endif -} - -template -EIGEN_DEVICE_FUNC -typename internal::enable_if<(!internal::is_integral::value)&&(!NumTraits::IsComplex),bool>::type -isinf_impl(const T& x) -{ - #ifdef __CUDA_ARCH__ - return (::isinf)(x); - #elif EIGEN_USE_STD_FPCLASSIFY - using std::isinf; - return isinf EIGEN_NOT_A_MACRO (x); - #else - return x>NumTraits::highest() || x::lowest(); - #endif -} - -template -EIGEN_DEVICE_FUNC -typename internal::enable_if<(!internal::is_integral::value)&&(!NumTraits::IsComplex),bool>::type -isnan_impl(const T& x) -{ - #ifdef __CUDA_ARCH__ - return (::isnan)(x); - #elif EIGEN_USE_STD_FPCLASSIFY - using std::isnan; - return isnan EIGEN_NOT_A_MACRO (x); - #else - return x != x; - #endif -} - -#if (!EIGEN_USE_STD_FPCLASSIFY) - -#if EIGEN_COMP_MSVC - -template EIGEN_DEVICE_FUNC bool isinf_msvc_helper(T x) -{ - return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF; -} - -//MSVC defines a _isnan builtin function, but for double only -EIGEN_DEVICE_FUNC inline bool isnan_impl(const long double& x) { return _isnan(x)!=0; } -EIGEN_DEVICE_FUNC inline bool isnan_impl(const double& x) { return _isnan(x)!=0; } -EIGEN_DEVICE_FUNC inline bool isnan_impl(const float& x) { return _isnan(x)!=0; } - -EIGEN_DEVICE_FUNC inline bool isinf_impl(const long double& x) { return isinf_msvc_helper(x); } -EIGEN_DEVICE_FUNC inline bool isinf_impl(const double& x) { return isinf_msvc_helper(x); } -EIGEN_DEVICE_FUNC inline bool isinf_impl(const float& x) { return isinf_msvc_helper(x); } - -#elif (defined __FINITE_MATH_ONLY__ && __FINITE_MATH_ONLY__ && EIGEN_COMP_GNUC) - -#if EIGEN_GNUC_AT_LEAST(5,0) - #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((optimize("no-finite-math-only"))) -#else - // NOTE the inline qualifier and noinline attribute are both needed: the former is to avoid linking issue (duplicate symbol), - // while the second prevent too aggressive optimizations in fast-math mode: - #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((noinline,optimize("no-finite-math-only"))) -#endif - -template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const long double& x) { return __builtin_isnan(x); } -template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const double& x) { return __builtin_isnan(x); } -template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const float& x) { return __builtin_isnan(x); } -template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const double& x) { return __builtin_isinf(x); } -template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const float& x) { return __builtin_isinf(x); } -template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const long double& x) { return __builtin_isinf(x); } - -#undef EIGEN_TMP_NOOPT_ATTRIB - -#endif - -#endif - -// The following overload are defined at the end of this file -template EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex& x); -template EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex& x); -template EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex& x); - -template T generic_fast_tanh_float(const T& a_x); - -} // end namespace internal - -/**************************************************************************** -* Generic math functions * -****************************************************************************/ - -namespace numext { - -#if !defined(__CUDA_ARCH__) && !defined(__SYCL_DEVICE_ONLY__) -template -EIGEN_DEVICE_FUNC -EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y) -{ - EIGEN_USING_STD_MATH(min); - return min EIGEN_NOT_A_MACRO (x,y); -} - -template -EIGEN_DEVICE_FUNC -EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y) -{ - EIGEN_USING_STD_MATH(max); - return max EIGEN_NOT_A_MACRO (x,y); -} - - -#elif defined(__SYCL_DEVICE_ONLY__) -template -EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y) -{ - - return y < x ? y : x; -} - -template -EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y) -{ - - return x < y ? y : x; -} - -EIGEN_ALWAYS_INLINE int mini(const int& x, const int& y) -{ - return cl::sycl::min(x,y); -} - -EIGEN_ALWAYS_INLINE int maxi(const int& x, const int& y) -{ - return cl::sycl::max(x,y); -} - -EIGEN_ALWAYS_INLINE unsigned int mini(const unsigned int& x, const unsigned int& y) -{ - return cl::sycl::min(x,y); -} - -EIGEN_ALWAYS_INLINE unsigned int maxi(const unsigned int& x, const unsigned int& y) -{ - return cl::sycl::max(x,y); -} - -EIGEN_ALWAYS_INLINE long mini(const long & x, const long & y) -{ - return cl::sycl::min(x,y); -} - -EIGEN_ALWAYS_INLINE long maxi(const long & x, const long & y) -{ - return cl::sycl::max(x,y); -} - -EIGEN_ALWAYS_INLINE unsigned long mini(const unsigned long& x, const unsigned long& y) -{ - return cl::sycl::min(x,y); -} - -EIGEN_ALWAYS_INLINE unsigned long maxi(const unsigned long& x, const unsigned long& y) -{ - return cl::sycl::max(x,y); -} - - -EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y) -{ - return cl::sycl::fmin(x,y); -} - -EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y) -{ - return cl::sycl::fmax(x,y); -} - -EIGEN_ALWAYS_INLINE double mini(const double& x, const double& y) -{ - return cl::sycl::fmin(x,y); -} - -EIGEN_ALWAYS_INLINE double maxi(const double& x, const double& y) -{ - return cl::sycl::fmax(x,y); -} - -#else -template -EIGEN_DEVICE_FUNC -EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y) -{ - return y < x ? y : x; -} -template<> -EIGEN_DEVICE_FUNC -EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y) -{ - return fminf(x, y); -} -template -EIGEN_DEVICE_FUNC -EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y) -{ - return x < y ? y : x; -} -template<> -EIGEN_DEVICE_FUNC -EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y) -{ - return fmaxf(x, y); -} -#endif - - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x) -{ - return internal::real_ref_impl::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(arg, Scalar) arg(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(arg, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x) -{ - return internal::imag_ref_impl::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y) -{ - return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y); -} - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float log1p(float x) { return cl::sycl::log1p(x); } -EIGEN_ALWAYS_INLINE double log1p(double x) { return cl::sycl::log1p(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float log1p(const float &x) { return ::log1pf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double log1p(const double &x) { return ::log1p(x); } -#endif - -template -EIGEN_DEVICE_FUNC -inline typename internal::pow_impl::result_type pow(const ScalarX& x, const ScalarY& y) -{ - return internal::pow_impl::run(x, y); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float pow(float x, float y) { return cl::sycl::pow(x, y); } -EIGEN_ALWAYS_INLINE double pow(double x, double y) { return cl::sycl::pow(x, y); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -template EIGEN_DEVICE_FUNC bool (isnan) (const T &x) { return internal::isnan_impl(x); } -template EIGEN_DEVICE_FUNC bool (isinf) (const T &x) { return internal::isinf_impl(x); } -template EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); } - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float isnan(float x) { return cl::sycl::isnan(x); } -EIGEN_ALWAYS_INLINE double isnan(double x) { return cl::sycl::isnan(x); } -EIGEN_ALWAYS_INLINE float isinf(float x) { return cl::sycl::isinf(x); } -EIGEN_ALWAYS_INLINE double isinf(double x) { return cl::sycl::isinf(x); } -EIGEN_ALWAYS_INLINE float isfinite(float x) { return cl::sycl::isfinite(x); } -EIGEN_ALWAYS_INLINE double isfinite(double x) { return cl::sycl::isfinite(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float round(float x) { return cl::sycl::round(x); } -EIGEN_ALWAYS_INLINE double round(double x) { return cl::sycl::round(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -template -EIGEN_DEVICE_FUNC -T (floor)(const T& x) -{ - EIGEN_USING_STD_MATH(floor); - return floor(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float floor(float x) { return cl::sycl::floor(x); } -EIGEN_ALWAYS_INLINE double floor(double x) { return cl::sycl::floor(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float floor(const float &x) { return ::floorf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double floor(const double &x) { return ::floor(x); } -#endif - -template -EIGEN_DEVICE_FUNC -T (ceil)(const T& x) -{ - EIGEN_USING_STD_MATH(ceil); - return ceil(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float ceil(float x) { return cl::sycl::ceil(x); } -EIGEN_ALWAYS_INLINE double ceil(double x) { return cl::sycl::ceil(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float ceil(const float &x) { return ::ceilf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double ceil(const double &x) { return ::ceil(x); } -#endif - - -/** Log base 2 for 32 bits positive integers. - * Conveniently returns 0 for x==0. */ -inline int log2(int x) -{ - eigen_assert(x>=0); - unsigned int v(x); - static const int table[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 }; - v |= v >> 1; - v |= v >> 2; - v |= v >> 4; - v |= v >> 8; - v |= v >> 16; - return table[(v * 0x07C4ACDDU) >> 27]; -} - -/** \returns the square root of \a x. - * - * It is essentially equivalent to \code using std::sqrt; return sqrt(x); \endcode, - * but slightly faster for float/double and some compilers (e.g., gcc), thanks to - * specializations when SSE is enabled. - * - * It's usage is justified in performance critical functions, like norm/normalize. - */ -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T sqrt(const T &x) -{ - EIGEN_USING_STD_MATH(sqrt); - return sqrt(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float sqrt(float x) { return cl::sycl::sqrt(x); } -EIGEN_ALWAYS_INLINE double sqrt(double x) { return cl::sycl::sqrt(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T log(const T &x) { - EIGEN_USING_STD_MATH(log); - return log(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float log(float x) { return cl::sycl::log(x); } -EIGEN_ALWAYS_INLINE double log(double x) { return cl::sycl::log(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float log(const float &x) { return ::logf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double log(const double &x) { return ::log(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -typename NumTraits::Real abs(const T &x) { - EIGEN_USING_STD_MATH(abs); - return abs(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float abs(float x) { return cl::sycl::fabs(x); } -EIGEN_ALWAYS_INLINE double abs(double x) { return cl::sycl::fabs(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float abs(const float &x) { return ::fabsf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double abs(const double &x) { return ::fabs(x); } - -template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float abs(const std::complex& x) { - return ::hypotf(x.real(), x.imag()); -} - -template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double abs(const std::complex& x) { - return ::hypot(x.real(), x.imag()); -} -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T exp(const T &x) { - EIGEN_USING_STD_MATH(exp); - return exp(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float exp(float x) { return cl::sycl::exp(x); } -EIGEN_ALWAYS_INLINE double exp(double x) { return cl::sycl::exp(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float exp(const float &x) { return ::expf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double exp(const double &x) { return ::exp(x); } -#endif - -template -EIGEN_DEVICE_FUNC -inline EIGEN_MATHFUNC_RETVAL(expm1, Scalar) expm1(const Scalar& x) -{ - return EIGEN_MATHFUNC_IMPL(expm1, Scalar)::run(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float expm1(float x) { return cl::sycl::expm1(x); } -EIGEN_ALWAYS_INLINE double expm1(double x) { return cl::sycl::expm1(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float expm1(const float &x) { return ::expm1f(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double expm1(const double &x) { return ::expm1(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T cos(const T &x) { - EIGEN_USING_STD_MATH(cos); - return cos(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float cos(float x) { return cl::sycl::cos(x); } -EIGEN_ALWAYS_INLINE double cos(double x) { return cl::sycl::cos(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float cos(const float &x) { return ::cosf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double cos(const double &x) { return ::cos(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T sin(const T &x) { - EIGEN_USING_STD_MATH(sin); - return sin(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float sin(float x) { return cl::sycl::sin(x); } -EIGEN_ALWAYS_INLINE double sin(double x) { return cl::sycl::sin(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float sin(const float &x) { return ::sinf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double sin(const double &x) { return ::sin(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T tan(const T &x) { - EIGEN_USING_STD_MATH(tan); - return tan(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float tan(float x) { return cl::sycl::tan(x); } -EIGEN_ALWAYS_INLINE double tan(double x) { return cl::sycl::tan(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float tan(const float &x) { return ::tanf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double tan(const double &x) { return ::tan(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T acos(const T &x) { - EIGEN_USING_STD_MATH(acos); - return acos(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float acos(float x) { return cl::sycl::acos(x); } -EIGEN_ALWAYS_INLINE double acos(double x) { return cl::sycl::acos(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float acos(const float &x) { return ::acosf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double acos(const double &x) { return ::acos(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T asin(const T &x) { - EIGEN_USING_STD_MATH(asin); - return asin(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float asin(float x) { return cl::sycl::asin(x); } -EIGEN_ALWAYS_INLINE double asin(double x) { return cl::sycl::asin(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float asin(const float &x) { return ::asinf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double asin(const double &x) { return ::asin(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T atan(const T &x) { - EIGEN_USING_STD_MATH(atan); - return atan(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float atan(float x) { return cl::sycl::atan(x); } -EIGEN_ALWAYS_INLINE double atan(double x) { return cl::sycl::atan(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float atan(const float &x) { return ::atanf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double atan(const double &x) { return ::atan(x); } -#endif - - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T cosh(const T &x) { - EIGEN_USING_STD_MATH(cosh); - return cosh(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float cosh(float x) { return cl::sycl::cosh(x); } -EIGEN_ALWAYS_INLINE double cosh(double x) { return cl::sycl::cosh(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float cosh(const float &x) { return ::coshf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double cosh(const double &x) { return ::cosh(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T sinh(const T &x) { - EIGEN_USING_STD_MATH(sinh); - return sinh(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float sinh(float x) { return cl::sycl::sinh(x); } -EIGEN_ALWAYS_INLINE double sinh(double x) { return cl::sycl::sinh(x); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float sinh(const float &x) { return ::sinhf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double sinh(const double &x) { return ::sinh(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T tanh(const T &x) { - EIGEN_USING_STD_MATH(tanh); - return tanh(x); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float tanh(float x) { return cl::sycl::tanh(x); } -EIGEN_ALWAYS_INLINE double tanh(double x) { return cl::sycl::tanh(x); } -#elif (!defined(__CUDACC__)) && EIGEN_FAST_MATH -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float tanh(float x) { return internal::generic_fast_tanh_float(x); } -#endif - -#ifdef __CUDACC__ -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float tanh(const float &x) { return ::tanhf(x); } - -template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double tanh(const double &x) { return ::tanh(x); } -#endif - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T fmod(const T& a, const T& b) { - EIGEN_USING_STD_MATH(fmod); - return fmod(a, b); -} - -#if defined(__SYCL_DEVICE_ONLY__) -EIGEN_ALWAYS_INLINE float fmod(float x, float y) { return cl::sycl::fmod(x, y); } -EIGEN_ALWAYS_INLINE double fmod(double x, double y) { return cl::sycl::fmod(x, y); } -#endif // defined(__SYCL_DEVICE_ONLY__) - -#ifdef __CUDACC__ -template <> -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float fmod(const float& a, const float& b) { - return ::fmodf(a, b); -} - -template <> -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double fmod(const double& a, const double& b) { - return ::fmod(a, b); -} -#endif - -} // end namespace numext - -namespace internal { - -template -EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex& x) -{ - return (numext::isfinite)(numext::real(x)) && (numext::isfinite)(numext::imag(x)); -} - -template -EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex& x) -{ - return (numext::isnan)(numext::real(x)) || (numext::isnan)(numext::imag(x)); -} - -template -EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex& x) -{ - return ((numext::isinf)(numext::real(x)) || (numext::isinf)(numext::imag(x))) && (!(numext::isnan)(x)); -} - -/**************************************************************************** -* Implementation of fuzzy comparisons * -****************************************************************************/ - -template -struct scalar_fuzzy_default_impl {}; - -template -struct scalar_fuzzy_default_impl -{ - typedef typename NumTraits::Real RealScalar; - template EIGEN_DEVICE_FUNC - static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec) - { - return numext::abs(x) <= numext::abs(y) * prec; - } - EIGEN_DEVICE_FUNC - static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec) - { - return numext::abs(x - y) <= numext::mini(numext::abs(x), numext::abs(y)) * prec; - } - EIGEN_DEVICE_FUNC - static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec) - { - return x <= y || isApprox(x, y, prec); - } -}; - -template -struct scalar_fuzzy_default_impl -{ - typedef typename NumTraits::Real RealScalar; - template EIGEN_DEVICE_FUNC - static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&) - { - return x == Scalar(0); - } - EIGEN_DEVICE_FUNC - static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&) - { - return x == y; - } - EIGEN_DEVICE_FUNC - static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&) - { - return x <= y; - } -}; - -template -struct scalar_fuzzy_default_impl -{ - typedef typename NumTraits::Real RealScalar; - template EIGEN_DEVICE_FUNC - static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec) - { - return numext::abs2(x) <= numext::abs2(y) * prec * prec; - } - EIGEN_DEVICE_FUNC - static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec) - { - return numext::abs2(x - y) <= numext::mini(numext::abs2(x), numext::abs2(y)) * prec * prec; - } -}; - -template -struct scalar_fuzzy_impl : scalar_fuzzy_default_impl::IsComplex, NumTraits::IsInteger> {}; - -template EIGEN_DEVICE_FUNC -inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, - const typename NumTraits::Real &precision = NumTraits::dummy_precision()) -{ - return scalar_fuzzy_impl::template isMuchSmallerThan(x, y, precision); -} - -template EIGEN_DEVICE_FUNC -inline bool isApprox(const Scalar& x, const Scalar& y, - const typename NumTraits::Real &precision = NumTraits::dummy_precision()) -{ - return scalar_fuzzy_impl::isApprox(x, y, precision); -} - -template EIGEN_DEVICE_FUNC -inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, - const typename NumTraits::Real &precision = NumTraits::dummy_precision()) -{ - return scalar_fuzzy_impl::isApproxOrLessThan(x, y, precision); -} - -/****************************************** -*** The special case of the bool type *** -******************************************/ - -template<> struct random_impl -{ - static inline bool run() - { - return random(0,1)==0 ? false : true; - } -}; - -template<> struct scalar_fuzzy_impl -{ - typedef bool RealScalar; - - template EIGEN_DEVICE_FUNC - static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&) - { - return !x; - } - - EIGEN_DEVICE_FUNC - static inline bool isApprox(bool x, bool y, bool) - { - return x == y; - } - - EIGEN_DEVICE_FUNC - static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&) - { - return (!x) || y; - } - -}; - - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_MATHFUNCTIONS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctionsImpl.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctionsImpl.h deleted file mode 100644 index ae1386b4..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/MathFunctionsImpl.h +++ /dev/null @@ -1,73 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com) -// Copyright (C) 2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MATHFUNCTIONSIMPL_H -#define EIGEN_MATHFUNCTIONSIMPL_H - -namespace Eigen { - -namespace internal { - -/** \internal \returns the hyperbolic tan of \a a (coeff-wise) - Doesn't do anything fancy, just a 13/6-degree rational interpolant which - is accurate up to a couple of ulp in the range [-9, 9], outside of which - the tanh(x) = +/-1. - - This implementation works on both scalars and packets. -*/ -template -T generic_fast_tanh_float(const T& a_x) -{ - // Clamp the inputs to the range [-9, 9] since anything outside - // this range is +/-1.0f in single-precision. - const T plus_9 = pset1(9.f); - const T minus_9 = pset1(-9.f); - const T x = pmax(pmin(a_x, plus_9), minus_9); - // The monomial coefficients of the numerator polynomial (odd). - const T alpha_1 = pset1(4.89352455891786e-03f); - const T alpha_3 = pset1(6.37261928875436e-04f); - const T alpha_5 = pset1(1.48572235717979e-05f); - const T alpha_7 = pset1(5.12229709037114e-08f); - const T alpha_9 = pset1(-8.60467152213735e-11f); - const T alpha_11 = pset1(2.00018790482477e-13f); - const T alpha_13 = pset1(-2.76076847742355e-16f); - - // The monomial coefficients of the denominator polynomial (even). - const T beta_0 = pset1(4.89352518554385e-03f); - const T beta_2 = pset1(2.26843463243900e-03f); - const T beta_4 = pset1(1.18534705686654e-04f); - const T beta_6 = pset1(1.19825839466702e-06f); - - // Since the polynomials are odd/even, we need x^2. - const T x2 = pmul(x, x); - - // Evaluate the numerator polynomial p. - T p = pmadd(x2, alpha_13, alpha_11); - p = pmadd(x2, p, alpha_9); - p = pmadd(x2, p, alpha_7); - p = pmadd(x2, p, alpha_5); - p = pmadd(x2, p, alpha_3); - p = pmadd(x2, p, alpha_1); - p = pmul(x, p); - - // Evaluate the denominator polynomial p. - T q = pmadd(x2, beta_6, beta_4); - q = pmadd(x2, q, beta_2); - q = pmadd(x2, q, beta_0); - - // Divide the numerator by the denominator. - return pdiv(p, q); -} - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_MATHFUNCTIONSIMPL_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Matrix.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Matrix.h deleted file mode 100644 index 90c336d8..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Matrix.h +++ /dev/null @@ -1,461 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MATRIX_H -#define EIGEN_MATRIX_H - -namespace Eigen { - -namespace internal { -template -struct traits > -{ -private: - enum { size = internal::size_at_compile_time<_Rows,_Cols>::ret }; - typedef typename find_best_packet<_Scalar,size>::type PacketScalar; - enum { - row_major_bit = _Options&RowMajor ? RowMajorBit : 0, - is_dynamic_size_storage = _MaxRows==Dynamic || _MaxCols==Dynamic, - max_size = is_dynamic_size_storage ? Dynamic : _MaxRows*_MaxCols, - default_alignment = compute_default_alignment<_Scalar,max_size>::value, - actual_alignment = ((_Options&DontAlign)==0) ? default_alignment : 0, - required_alignment = unpacket_traits::alignment, - packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0 - }; - -public: - typedef _Scalar Scalar; - typedef Dense StorageKind; - typedef Eigen::Index StorageIndex; - typedef MatrixXpr XprKind; - enum { - RowsAtCompileTime = _Rows, - ColsAtCompileTime = _Cols, - MaxRowsAtCompileTime = _MaxRows, - MaxColsAtCompileTime = _MaxCols, - Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret, - Options = _Options, - InnerStrideAtCompileTime = 1, - OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime, - - // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase - EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit, - Alignment = actual_alignment - }; -}; -} - -/** \class Matrix - * \ingroup Core_Module - * - * \brief The matrix class, also used for vectors and row-vectors - * - * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen. - * Vectors are matrices with one column, and row-vectors are matrices with one row. - * - * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note"). - * - * The first three template parameters are required: - * \tparam _Scalar Numeric type, e.g. float, double, int or std::complex. - * User defined scalar types are supported as well (see \ref user_defined_scalars "here"). - * \tparam _Rows Number of rows, or \b Dynamic - * \tparam _Cols Number of columns, or \b Dynamic - * - * The remaining template parameters are optional -- in most cases you don't have to worry about them. - * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of either - * \b #AutoAlign or \b #DontAlign. - * The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required - * for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size. - * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note"). - * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note"). - * - * Eigen provides a number of typedefs covering the usual cases. Here are some examples: - * - * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix) - * \li \c Vector4f is a vector of 4 floats (\c Matrix) - * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix) - * - * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix) - * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix) - * - * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix) - * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix) - * - * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs. - * - * You can access elements of vectors and matrices using normal subscripting: - * - * \code - * Eigen::VectorXd v(10); - * v[0] = 0.1; - * v[1] = 0.2; - * v(0) = 0.3; - * v(1) = 0.4; - * - * Eigen::MatrixXi m(10, 10); - * m(0, 1) = 1; - * m(0, 2) = 2; - * m(0, 3) = 3; - * \endcode - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN. - * - * Some notes: - * - *
- *
\anchor dense Dense versus sparse:
- *
This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module. - * - * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array. - * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.
- * - *
\anchor fixedsize Fixed-size versus dynamic-size:
- *
Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array - * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up - * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time. - * - * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime - * variables, and the array of coefficients is allocated dynamically on the heap. - * - * Note that \em dense matrices, be they Fixed-size or Dynamic-size, do not expand dynamically in the sense of a std::map. - * If you want this behavior, see the Sparse module.
- * - *
\anchor maxrows _MaxRows and _MaxCols:
- *
In most cases, one just leaves these parameters to the default values. - * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases - * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot - * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols - * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.
- *
- * - * ABI and storage layout - * - * The table below summarizes the ABI of some possible Matrix instances which is fixed thorough the lifetime of Eigen 3. - * - * - * - * - * - * - *
Matrix typeEquivalent C structure
\code Matrix \endcode\code - * struct { - * T *data; // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0 - * Eigen::Index rows, cols; - * }; - * \endcode
\code - * Matrix - * Matrix \endcode\code - * struct { - * T *data; // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0 - * Eigen::Index size; - * }; - * \endcode
\code Matrix \endcode\code - * struct { - * T data[Rows*Cols]; // with (size_t(data)%A(Rows*Cols*sizeof(T)))==0 - * }; - * \endcode
\code Matrix \endcode\code - * struct { - * T data[MaxRows*MaxCols]; // with (size_t(data)%A(MaxRows*MaxCols*sizeof(T)))==0 - * Eigen::Index rows, cols; - * }; - * \endcode
- * Note that in this table Rows, Cols, MaxRows and MaxCols are all positive integers. A(S) is defined to the largest possible power-of-two - * smaller to EIGEN_MAX_STATIC_ALIGN_BYTES. - * - * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, - * \ref TopicStorageOrders - */ - -template -class Matrix - : public PlainObjectBase > -{ - public: - - /** \brief Base class typedef. - * \sa PlainObjectBase - */ - typedef PlainObjectBase Base; - - enum { Options = _Options }; - - EIGEN_DENSE_PUBLIC_INTERFACE(Matrix) - - typedef typename Base::PlainObject PlainObject; - - using Base::base; - using Base::coeffRef; - - /** - * \brief Assigns matrices to each other. - * - * \note This is a special case of the templated operator=. Its purpose is - * to prevent a default operator= from hiding the templated operator=. - * - * \callgraph - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other) - { - return Base::_set(other); - } - - /** \internal - * \brief Copies the value of the expression \a other into \c *this with automatic resizing. - * - * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), - * it will be initialized. - * - * Note that copying a row-vector into a vector (and conversely) is allowed. - * The resizing, if any, is then done in the appropriate way so that row-vectors - * remain row-vectors and vectors remain vectors. - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const DenseBase& other) - { - return Base::_set(other); - } - - /* Here, doxygen failed to copy the brief information when using \copydoc */ - - /** - * \brief Copies the generic expression \a other into *this. - * \copydetails DenseBase::operator=(const EigenBase &other) - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase &other) - { - return Base::operator=(other); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue& func) - { - return Base::operator=(func); - } - - /** \brief Default constructor. - * - * For fixed-size matrices, does nothing. - * - * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix - * is called a null matrix. This constructor is the unique way to create null matrices: resizing - * a matrix to 0 is not supported. - * - * \sa resize(Index,Index) - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix() : Base() - { - Base::_check_template_params(); - EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } - - // FIXME is it still needed - EIGEN_DEVICE_FUNC - explicit Matrix(internal::constructor_without_unaligned_array_assert) - : Base(internal::constructor_without_unaligned_array_assert()) - { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED } - -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC - Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible::value) - : Base(std::move(other)) - { - Base::_check_template_params(); - if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic) - Base::_set_noalias(other); - } - EIGEN_DEVICE_FUNC - Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable::value) - { - other.swap(*this); - return *this; - } -#endif - - #ifndef EIGEN_PARSED_BY_DOXYGEN - - // This constructor is for both 1x1 matrices and dynamic vectors - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE explicit Matrix(const T& x) - { - Base::_check_template_params(); - Base::template _init1(x); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y) - { - Base::_check_template_params(); - Base::template _init2(x, y); - } - #else - /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */ - EIGEN_DEVICE_FUNC - explicit Matrix(const Scalar *data); - - /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors - * - * This is useful for dynamic-size vectors. For fixed-size vectors, - * it is redundant to pass these parameters, so one should use the default constructor - * Matrix() instead. - * - * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance, - * calling Matrix(1) will call the initialization constructor: Matrix(const Scalar&). - * For fixed-size \c 1x1 matrices it is therefore recommended to use the default - * constructor Matrix() instead, especially when using one of the non standard - * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives). - */ - EIGEN_STRONG_INLINE explicit Matrix(Index dim); - /** \brief Constructs an initialized 1x1 matrix with the given coefficient */ - Matrix(const Scalar& x); - /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns. - * - * This is useful for dynamic-size matrices. For fixed-size matrices, - * it is redundant to pass these parameters, so one should use the default constructor - * Matrix() instead. - * - * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance, - * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y). - * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default - * constructor Matrix() instead, especially when using one of the non standard - * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives). - */ - EIGEN_DEVICE_FUNC - Matrix(Index rows, Index cols); - - /** \brief Constructs an initialized 2D vector with given coefficients */ - Matrix(const Scalar& x, const Scalar& y); - #endif - - /** \brief Constructs an initialized 3D vector with given coefficients */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z) - { - Base::_check_template_params(); - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3) - m_storage.data()[0] = x; - m_storage.data()[1] = y; - m_storage.data()[2] = z; - } - /** \brief Constructs an initialized 4D vector with given coefficients */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w) - { - Base::_check_template_params(); - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4) - m_storage.data()[0] = x; - m_storage.data()[1] = y; - m_storage.data()[2] = z; - m_storage.data()[3] = w; - } - - - /** \brief Copy constructor */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const Matrix& other) : Base(other) - { } - - /** \brief Copy constructor for generic expressions. - * \sa MatrixBase::operator=(const EigenBase&) - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Matrix(const EigenBase &other) - : Base(other.derived()) - { } - - EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; } - EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); } - - /////////// Geometry module /////////// - - template - EIGEN_DEVICE_FUNC - explicit Matrix(const RotationBase& r); - template - EIGEN_DEVICE_FUNC - Matrix& operator=(const RotationBase& r); - - // allow to extend Matrix outside Eigen - #ifdef EIGEN_MATRIX_PLUGIN - #include EIGEN_MATRIX_PLUGIN - #endif - - protected: - template - friend struct internal::conservative_resize_like_impl; - - using Base::m_storage; -}; - -/** \defgroup matrixtypedefs Global matrix typedefs - * - * \ingroup Core_Module - * - * Eigen defines several typedef shortcuts for most common matrix and vector types. - * - * The general patterns are the following: - * - * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size, - * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd - * for complex double. - * - * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats. - * - * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is - * a fixed-size vector of 4 complex floats. - * - * \sa class Matrix - */ - -#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ -/** \ingroup matrixtypedefs */ \ -typedef Matrix Matrix##SizeSuffix##TypeSuffix; \ -/** \ingroup matrixtypedefs */ \ -typedef Matrix Vector##SizeSuffix##TypeSuffix; \ -/** \ingroup matrixtypedefs */ \ -typedef Matrix RowVector##SizeSuffix##TypeSuffix; - -#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \ -/** \ingroup matrixtypedefs */ \ -typedef Matrix Matrix##Size##X##TypeSuffix; \ -/** \ingroup matrixtypedefs */ \ -typedef Matrix Matrix##X##Size##TypeSuffix; - -#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ -EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \ -EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \ -EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \ -EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ -EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \ -EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \ -EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4) - -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex, cf) -EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex, cd) - -#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES -#undef EIGEN_MAKE_TYPEDEFS -#undef EIGEN_MAKE_FIXED_TYPEDEFS - -} // end namespace Eigen - -#endif // EIGEN_MATRIX_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/MatrixBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/MatrixBase.h deleted file mode 100644 index 200e5774..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/MatrixBase.h +++ /dev/null @@ -1,530 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2009 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_MATRIXBASE_H -#define EIGEN_MATRIXBASE_H - -namespace Eigen { - -/** \class MatrixBase - * \ingroup Core_Module - * - * \brief Base class for all dense matrices, vectors, and expressions - * - * This class is the base that is inherited by all matrix, vector, and related expression - * types. Most of the Eigen API is contained in this class, and its base classes. Other important - * classes for the Eigen API are Matrix, and VectorwiseOp. - * - * Note that some methods are defined in other modules such as the \ref LU_Module LU module - * for all functions related to matrix inversions. - * - * \tparam Derived is the derived type, e.g. a matrix type, or an expression, etc. - * - * When writing a function taking Eigen objects as argument, if you want your function - * to take as argument any matrix, vector, or expression, just let it take a - * MatrixBase argument. As an example, here is a function printFirstRow which, given - * a matrix, vector, or expression \a x, prints the first row of \a x. - * - * \code - template - void printFirstRow(const Eigen::MatrixBase& x) - { - cout << x.row(0) << endl; - } - * \endcode - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN. - * - * \sa \blank \ref TopicClassHierarchy - */ -template class MatrixBase - : public DenseBase -{ - public: -#ifndef EIGEN_PARSED_BY_DOXYGEN - typedef MatrixBase StorageBaseType; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::StorageIndex StorageIndex; - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::packet_traits::type PacketScalar; - typedef typename NumTraits::Real RealScalar; - - typedef DenseBase Base; - using Base::RowsAtCompileTime; - using Base::ColsAtCompileTime; - using Base::SizeAtCompileTime; - using Base::MaxRowsAtCompileTime; - using Base::MaxColsAtCompileTime; - using Base::MaxSizeAtCompileTime; - using Base::IsVectorAtCompileTime; - using Base::Flags; - - using Base::derived; - using Base::const_cast_derived; - using Base::rows; - using Base::cols; - using Base::size; - using Base::coeff; - using Base::coeffRef; - using Base::lazyAssign; - using Base::eval; - using Base::operator-; - using Base::operator+=; - using Base::operator-=; - using Base::operator*=; - using Base::operator/=; - - typedef typename Base::CoeffReturnType CoeffReturnType; - typedef typename Base::ConstTransposeReturnType ConstTransposeReturnType; - typedef typename Base::RowXpr RowXpr; - typedef typename Base::ColXpr ColXpr; -#endif // not EIGEN_PARSED_BY_DOXYGEN - - - -#ifndef EIGEN_PARSED_BY_DOXYGEN - /** type of the equivalent square matrix */ - typedef Matrix SquareMatrixType; -#endif // not EIGEN_PARSED_BY_DOXYGEN - - /** \returns the size of the main diagonal, which is min(rows(),cols()). - * \sa rows(), cols(), SizeAtCompileTime. */ - EIGEN_DEVICE_FUNC - inline Index diagonalSize() const { return (numext::mini)(rows(),cols()); } - - typedef typename Base::PlainObject PlainObject; - -#ifndef EIGEN_PARSED_BY_DOXYGEN - /** \internal Represents a matrix with all coefficients equal to one another*/ - typedef CwiseNullaryOp,PlainObject> ConstantReturnType; - /** \internal the return type of MatrixBase::adjoint() */ - typedef typename internal::conditional::IsComplex, - CwiseUnaryOp, ConstTransposeReturnType>, - ConstTransposeReturnType - >::type AdjointReturnType; - /** \internal Return type of eigenvalues() */ - typedef Matrix, internal::traits::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType; - /** \internal the return type of identity */ - typedef CwiseNullaryOp,PlainObject> IdentityReturnType; - /** \internal the return type of unit vectors */ - typedef Block, SquareMatrixType>, - internal::traits::RowsAtCompileTime, - internal::traits::ColsAtCompileTime> BasisReturnType; -#endif // not EIGEN_PARSED_BY_DOXYGEN - -#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase -#define EIGEN_DOC_UNARY_ADDONS(X,Y) -# include "../plugins/CommonCwiseBinaryOps.h" -# include "../plugins/MatrixCwiseUnaryOps.h" -# include "../plugins/MatrixCwiseBinaryOps.h" -# ifdef EIGEN_MATRIXBASE_PLUGIN -# include EIGEN_MATRIXBASE_PLUGIN -# endif -#undef EIGEN_CURRENT_STORAGE_BASE_CLASS -#undef EIGEN_DOC_UNARY_ADDONS - - /** Special case of the template operator=, in order to prevent the compiler - * from generating a default operator= (issue hit with g++ 4.1) - */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator=(const MatrixBase& other); - - // We cannot inherit here via Base::operator= since it is causing - // trouble with MSVC. - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator=(const DenseBase& other); - - template - EIGEN_DEVICE_FUNC - Derived& operator=(const EigenBase& other); - - template - EIGEN_DEVICE_FUNC - Derived& operator=(const ReturnByValue& other); - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator+=(const MatrixBase& other); - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator-=(const MatrixBase& other); - -#ifdef __CUDACC__ - template - EIGEN_DEVICE_FUNC - const Product - operator*(const MatrixBase &other) const - { return this->lazyProduct(other); } -#else - - template - const Product - operator*(const MatrixBase &other) const; - -#endif - - template - EIGEN_DEVICE_FUNC - const Product - lazyProduct(const MatrixBase &other) const; - - template - Derived& operator*=(const EigenBase& other); - - template - void applyOnTheLeft(const EigenBase& other); - - template - void applyOnTheRight(const EigenBase& other); - - template - EIGEN_DEVICE_FUNC - const Product - operator*(const DiagonalBase &diagonal) const; - - template - EIGEN_DEVICE_FUNC - typename ScalarBinaryOpTraits::Scalar,typename internal::traits::Scalar>::ReturnType - dot(const MatrixBase& other) const; - - EIGEN_DEVICE_FUNC RealScalar squaredNorm() const; - EIGEN_DEVICE_FUNC RealScalar norm() const; - RealScalar stableNorm() const; - RealScalar blueNorm() const; - RealScalar hypotNorm() const; - EIGEN_DEVICE_FUNC const PlainObject normalized() const; - EIGEN_DEVICE_FUNC const PlainObject stableNormalized() const; - EIGEN_DEVICE_FUNC void normalize(); - EIGEN_DEVICE_FUNC void stableNormalize(); - - EIGEN_DEVICE_FUNC const AdjointReturnType adjoint() const; - EIGEN_DEVICE_FUNC void adjointInPlace(); - - typedef Diagonal DiagonalReturnType; - EIGEN_DEVICE_FUNC - DiagonalReturnType diagonal(); - - typedef typename internal::add_const >::type ConstDiagonalReturnType; - EIGEN_DEVICE_FUNC - ConstDiagonalReturnType diagonal() const; - - template struct DiagonalIndexReturnType { typedef Diagonal Type; }; - template struct ConstDiagonalIndexReturnType { typedef const Diagonal Type; }; - - template - EIGEN_DEVICE_FUNC - typename DiagonalIndexReturnType::Type diagonal(); - - template - EIGEN_DEVICE_FUNC - typename ConstDiagonalIndexReturnType::Type diagonal() const; - - typedef Diagonal DiagonalDynamicIndexReturnType; - typedef typename internal::add_const >::type ConstDiagonalDynamicIndexReturnType; - - EIGEN_DEVICE_FUNC - DiagonalDynamicIndexReturnType diagonal(Index index); - EIGEN_DEVICE_FUNC - ConstDiagonalDynamicIndexReturnType diagonal(Index index) const; - - template struct TriangularViewReturnType { typedef TriangularView Type; }; - template struct ConstTriangularViewReturnType { typedef const TriangularView Type; }; - - template - EIGEN_DEVICE_FUNC - typename TriangularViewReturnType::Type triangularView(); - template - EIGEN_DEVICE_FUNC - typename ConstTriangularViewReturnType::Type triangularView() const; - - template struct SelfAdjointViewReturnType { typedef SelfAdjointView Type; }; - template struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView Type; }; - - template - EIGEN_DEVICE_FUNC - typename SelfAdjointViewReturnType::Type selfadjointView(); - template - EIGEN_DEVICE_FUNC - typename ConstSelfAdjointViewReturnType::Type selfadjointView() const; - - const SparseView sparseView(const Scalar& m_reference = Scalar(0), - const typename NumTraits::Real& m_epsilon = NumTraits::dummy_precision()) const; - EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(); - EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(Index rows, Index cols); - EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index size, Index i); - EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index i); - EIGEN_DEVICE_FUNC static const BasisReturnType UnitX(); - EIGEN_DEVICE_FUNC static const BasisReturnType UnitY(); - EIGEN_DEVICE_FUNC static const BasisReturnType UnitZ(); - EIGEN_DEVICE_FUNC static const BasisReturnType UnitW(); - - EIGEN_DEVICE_FUNC - const DiagonalWrapper asDiagonal() const; - const PermutationWrapper asPermutation() const; - - EIGEN_DEVICE_FUNC - Derived& setIdentity(); - EIGEN_DEVICE_FUNC - Derived& setIdentity(Index rows, Index cols); - - bool isIdentity(const RealScalar& prec = NumTraits::dummy_precision()) const; - bool isDiagonal(const RealScalar& prec = NumTraits::dummy_precision()) const; - - bool isUpperTriangular(const RealScalar& prec = NumTraits::dummy_precision()) const; - bool isLowerTriangular(const RealScalar& prec = NumTraits::dummy_precision()) const; - - template - bool isOrthogonal(const MatrixBase& other, - const RealScalar& prec = NumTraits::dummy_precision()) const; - bool isUnitary(const RealScalar& prec = NumTraits::dummy_precision()) const; - - /** \returns true if each coefficients of \c *this and \a other are all exactly equal. - * \warning When using floating point scalar values you probably should rather use a - * fuzzy comparison such as isApprox() - * \sa isApprox(), operator!= */ - template - EIGEN_DEVICE_FUNC inline bool operator==(const MatrixBase& other) const - { return cwiseEqual(other).all(); } - - /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other. - * \warning When using floating point scalar values you probably should rather use a - * fuzzy comparison such as isApprox() - * \sa isApprox(), operator== */ - template - EIGEN_DEVICE_FUNC inline bool operator!=(const MatrixBase& other) const - { return cwiseNotEqual(other).any(); } - - NoAlias noalias(); - - // TODO forceAlignedAccess is temporarily disabled - // Need to find a nicer workaround. - inline const Derived& forceAlignedAccess() const { return derived(); } - inline Derived& forceAlignedAccess() { return derived(); } - template inline const Derived& forceAlignedAccessIf() const { return derived(); } - template inline Derived& forceAlignedAccessIf() { return derived(); } - - EIGEN_DEVICE_FUNC Scalar trace() const; - - template EIGEN_DEVICE_FUNC RealScalar lpNorm() const; - - EIGEN_DEVICE_FUNC MatrixBase& matrix() { return *this; } - EIGEN_DEVICE_FUNC const MatrixBase& matrix() const { return *this; } - - /** \returns an \link Eigen::ArrayBase Array \endlink expression of this matrix - * \sa ArrayBase::matrix() */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ArrayWrapper array() { return ArrayWrapper(derived()); } - /** \returns a const \link Eigen::ArrayBase Array \endlink expression of this matrix - * \sa ArrayBase::matrix() */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const ArrayWrapper array() const { return ArrayWrapper(derived()); } - -/////////// LU module /////////// - - inline const FullPivLU fullPivLu() const; - inline const PartialPivLU partialPivLu() const; - - inline const PartialPivLU lu() const; - - inline const Inverse inverse() const; - - template - inline void computeInverseAndDetWithCheck( - ResultType& inverse, - typename ResultType::Scalar& determinant, - bool& invertible, - const RealScalar& absDeterminantThreshold = NumTraits::dummy_precision() - ) const; - template - inline void computeInverseWithCheck( - ResultType& inverse, - bool& invertible, - const RealScalar& absDeterminantThreshold = NumTraits::dummy_precision() - ) const; - Scalar determinant() const; - -/////////// Cholesky module /////////// - - inline const LLT llt() const; - inline const LDLT ldlt() const; - -/////////// QR module /////////// - - inline const HouseholderQR householderQr() const; - inline const ColPivHouseholderQR colPivHouseholderQr() const; - inline const FullPivHouseholderQR fullPivHouseholderQr() const; - inline const CompleteOrthogonalDecomposition completeOrthogonalDecomposition() const; - -/////////// Eigenvalues module /////////// - - inline EigenvaluesReturnType eigenvalues() const; - inline RealScalar operatorNorm() const; - -/////////// SVD module /////////// - - inline JacobiSVD jacobiSvd(unsigned int computationOptions = 0) const; - inline BDCSVD bdcSvd(unsigned int computationOptions = 0) const; - -/////////// Geometry module /////////// - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /// \internal helper struct to form the return type of the cross product - template struct cross_product_return_type { - typedef typename ScalarBinaryOpTraits::Scalar,typename internal::traits::Scalar>::ReturnType Scalar; - typedef Matrix type; - }; - #endif // EIGEN_PARSED_BY_DOXYGEN - template - EIGEN_DEVICE_FUNC -#ifndef EIGEN_PARSED_BY_DOXYGEN - inline typename cross_product_return_type::type -#else - inline PlainObject -#endif - cross(const MatrixBase& other) const; - - template - EIGEN_DEVICE_FUNC - inline PlainObject cross3(const MatrixBase& other) const; - - EIGEN_DEVICE_FUNC - inline PlainObject unitOrthogonal(void) const; - - EIGEN_DEVICE_FUNC - inline Matrix eulerAngles(Index a0, Index a1, Index a2) const; - - // put this as separate enum value to work around possible GCC 4.3 bug (?) - enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1&&RowsAtCompileTime==1 ? ((internal::traits::Flags&RowMajorBit)==RowMajorBit ? Horizontal : Vertical) - : ColsAtCompileTime==1 ? Vertical : Horizontal }; - typedef Homogeneous HomogeneousReturnType; - EIGEN_DEVICE_FUNC - inline HomogeneousReturnType homogeneous() const; - - enum { - SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1 - }; - typedef Block::ColsAtCompileTime==1 ? SizeMinusOne : 1, - internal::traits::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne; - typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(ConstStartMinusOne,Scalar,quotient) HNormalizedReturnType; - EIGEN_DEVICE_FUNC - inline const HNormalizedReturnType hnormalized() const; - -////////// Householder module /////////// - - void makeHouseholderInPlace(Scalar& tau, RealScalar& beta); - template - void makeHouseholder(EssentialPart& essential, - Scalar& tau, RealScalar& beta) const; - template - void applyHouseholderOnTheLeft(const EssentialPart& essential, - const Scalar& tau, - Scalar* workspace); - template - void applyHouseholderOnTheRight(const EssentialPart& essential, - const Scalar& tau, - Scalar* workspace); - -///////// Jacobi module ///////// - - template - void applyOnTheLeft(Index p, Index q, const JacobiRotation& j); - template - void applyOnTheRight(Index p, Index q, const JacobiRotation& j); - -///////// SparseCore module ///////// - - template - EIGEN_STRONG_INLINE const typename SparseMatrixBase::template CwiseProductDenseReturnType::Type - cwiseProduct(const SparseMatrixBase &other) const - { - return other.cwiseProduct(derived()); - } - -///////// MatrixFunctions module ///////// - - typedef typename internal::stem_function::type StemFunction; - const MatrixExponentialReturnValue exp() const; - const MatrixFunctionReturnValue matrixFunction(StemFunction f) const; - const MatrixFunctionReturnValue cosh() const; - const MatrixFunctionReturnValue sinh() const; - const MatrixFunctionReturnValue cos() const; - const MatrixFunctionReturnValue sin() const; - const MatrixSquareRootReturnValue sqrt() const; - const MatrixLogarithmReturnValue log() const; - const MatrixPowerReturnValue pow(const RealScalar& p) const; - const MatrixComplexPowerReturnValue pow(const std::complex& p) const; - - protected: - EIGEN_DEVICE_FUNC MatrixBase() : Base() {} - - private: - EIGEN_DEVICE_FUNC explicit MatrixBase(int); - EIGEN_DEVICE_FUNC MatrixBase(int,int); - template EIGEN_DEVICE_FUNC explicit MatrixBase(const MatrixBase&); - protected: - // mixing arrays and matrices is not legal - template Derived& operator+=(const ArrayBase& ) - {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} - // mixing arrays and matrices is not legal - template Derived& operator-=(const ArrayBase& ) - {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;} -}; - - -/*************************************************************************** -* Implementation of matrix base methods -***************************************************************************/ - -/** replaces \c *this by \c *this * \a other. - * - * \returns a reference to \c *this - * - * Example: \include MatrixBase_applyOnTheRight.cpp - * Output: \verbinclude MatrixBase_applyOnTheRight.out - */ -template -template -inline Derived& -MatrixBase::operator*=(const EigenBase &other) -{ - other.derived().applyThisOnTheRight(derived()); - return derived(); -} - -/** replaces \c *this by \c *this * \a other. It is equivalent to MatrixBase::operator*=(). - * - * Example: \include MatrixBase_applyOnTheRight.cpp - * Output: \verbinclude MatrixBase_applyOnTheRight.out - */ -template -template -inline void MatrixBase::applyOnTheRight(const EigenBase &other) -{ - other.derived().applyThisOnTheRight(derived()); -} - -/** replaces \c *this by \a other * \c *this. - * - * Example: \include MatrixBase_applyOnTheLeft.cpp - * Output: \verbinclude MatrixBase_applyOnTheLeft.out - */ -template -template -inline void MatrixBase::applyOnTheLeft(const EigenBase &other) -{ - other.derived().applyThisOnTheLeft(derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_MATRIXBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/NestByValue.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/NestByValue.h deleted file mode 100644 index 01cf192e..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/NestByValue.h +++ /dev/null @@ -1,110 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_NESTBYVALUE_H -#define EIGEN_NESTBYVALUE_H - -namespace Eigen { - -namespace internal { -template -struct traits > : public traits -{}; -} - -/** \class NestByValue - * \ingroup Core_Module - * - * \brief Expression which must be nested by value - * - * \tparam ExpressionType the type of the object of which we are requiring nesting-by-value - * - * This class is the return type of MatrixBase::nestByValue() - * and most of the time this is the only way it is used. - * - * \sa MatrixBase::nestByValue() - */ -template class NestByValue - : public internal::dense_xpr_base< NestByValue >::type -{ - public: - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue) - - EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {} - - EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); } - EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); } - EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); } - EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); } - - EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const - { - return m_expression.coeff(row, col); - } - - EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col) - { - return m_expression.const_cast_derived().coeffRef(row, col); - } - - EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const - { - return m_expression.coeff(index); - } - - EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index) - { - return m_expression.const_cast_derived().coeffRef(index); - } - - template - EIGEN_DEVICE_FUNC inline const PacketScalar packet(Index row, Index col) const - { - return m_expression.template packet(row, col); - } - - template - EIGEN_DEVICE_FUNC inline void writePacket(Index row, Index col, const PacketScalar& x) - { - m_expression.const_cast_derived().template writePacket(row, col, x); - } - - template - EIGEN_DEVICE_FUNC inline const PacketScalar packet(Index index) const - { - return m_expression.template packet(index); - } - - template - EIGEN_DEVICE_FUNC inline void writePacket(Index index, const PacketScalar& x) - { - m_expression.const_cast_derived().template writePacket(index, x); - } - - EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; } - - protected: - const ExpressionType m_expression; -}; - -/** \returns an expression of the temporary version of *this. - */ -template -EIGEN_DEVICE_FUNC inline const NestByValue -DenseBase::nestByValue() const -{ - return NestByValue(derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_NESTBYVALUE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/NoAlias.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/NoAlias.h deleted file mode 100644 index 33908010..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/NoAlias.h +++ /dev/null @@ -1,108 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_NOALIAS_H -#define EIGEN_NOALIAS_H - -namespace Eigen { - -/** \class NoAlias - * \ingroup Core_Module - * - * \brief Pseudo expression providing an operator = assuming no aliasing - * - * \tparam ExpressionType the type of the object on which to do the lazy assignment - * - * This class represents an expression with special assignment operators - * assuming no aliasing between the target expression and the source expression. - * More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression. - * It is the return type of MatrixBase::noalias() - * and most of the time this is the only way it is used. - * - * \sa MatrixBase::noalias() - */ -template class StorageBase> -class NoAlias -{ - public: - typedef typename ExpressionType::Scalar Scalar; - - explicit NoAlias(ExpressionType& expression) : m_expression(expression) {} - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase& other) - { - call_assignment_no_alias(m_expression, other.derived(), internal::assign_op()); - return m_expression; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase& other) - { - call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op()); - return m_expression; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase& other) - { - call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op()); - return m_expression; - } - - EIGEN_DEVICE_FUNC - ExpressionType& expression() const - { - return m_expression; - } - - protected: - ExpressionType& m_expression; -}; - -/** \returns a pseudo expression of \c *this with an operator= assuming - * no aliasing between \c *this and the source expression. - * - * More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag. - * Currently, even though several expressions may alias, only product - * expressions have this flag. Therefore, noalias() is only usefull when - * the source expression contains a matrix product. - * - * Here are some examples where noalias is usefull: - * \code - * D.noalias() = A * B; - * D.noalias() += A.transpose() * B; - * D.noalias() -= 2 * A * B.adjoint(); - * \endcode - * - * On the other hand the following example will lead to a \b wrong result: - * \code - * A.noalias() = A * B; - * \endcode - * because the result matrix A is also an operand of the matrix product. Therefore, - * there is no alternative than evaluating A * B in a temporary, that is the default - * behavior when you write: - * \code - * A = A * B; - * \endcode - * - * \sa class NoAlias - */ -template -NoAlias MatrixBase::noalias() -{ - return NoAlias(derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_NOALIAS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/NumTraits.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/NumTraits.h deleted file mode 100644 index aebc0c25..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/NumTraits.h +++ /dev/null @@ -1,246 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_NUMTRAITS_H -#define EIGEN_NUMTRAITS_H - -namespace Eigen { - -namespace internal { - -// default implementation of digits10(), based on numeric_limits if specialized, -// 0 for integer types, and log10(epsilon()) otherwise. -template< typename T, - bool use_numeric_limits = std::numeric_limits::is_specialized, - bool is_integer = NumTraits::IsInteger> -struct default_digits10_impl -{ - static int run() { return std::numeric_limits::digits10; } -}; - -template -struct default_digits10_impl // Floating point -{ - static int run() { - using std::log10; - using std::ceil; - typedef typename NumTraits::Real Real; - return int(ceil(-log10(NumTraits::epsilon()))); - } -}; - -template -struct default_digits10_impl // Integer -{ - static int run() { return 0; } -}; - -} // end namespace internal - -/** \class NumTraits - * \ingroup Core_Module - * - * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen. - * - * \tparam T the numeric type at hand - * - * This class stores enums, typedefs and static methods giving information about a numeric type. - * - * The provided data consists of: - * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real, - * then \c Real is just a typedef to \a T. If \a T is \c std::complex then \c Real - * is a typedef to \a U. - * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values, - * such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives - * \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to - * take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is - * only intended as a helper for code that needs to explicitly promote types. - * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c std::complex, Literal is defined as \c U. - * Of course, this type must be fully compatible with \a T. In doubt, just use \a T here. - * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what - * this means, just use \a T here. - * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex - * type, and to 0 otherwise. - * \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int, - * and to \c 0 otherwise. - * \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of the number of CPU cycles needed - * to by move / add / mul instructions respectively, assuming the data is already stored in CPU registers. - * Stay vague here. No need to do architecture-specific stuff. If you don't know what this means, just use \c Eigen::HugeCost. - * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned. - * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must - * be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise. - * \li An epsilon() function which, unlike std::numeric_limits::epsilon(), - * it returns a \a Real instead of a \a T. - * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default - * value by the fuzzy comparison operators. - * \li highest() and lowest() functions returning the highest and lowest possible values respectively. - * \li digits10() function returning the number of decimal digits that can be represented without change. This is - * the analogue of std::numeric_limits::digits10 - * which is used as the default implementation if specialized. - */ - -template struct GenericNumTraits -{ - enum { - IsInteger = std::numeric_limits::is_integer, - IsSigned = std::numeric_limits::is_signed, - IsComplex = 0, - RequireInitialization = internal::is_arithmetic::value ? 0 : 1, - ReadCost = 1, - AddCost = 1, - MulCost = 1 - }; - - typedef T Real; - typedef typename internal::conditional< - IsInteger, - typename internal::conditional::type, - T - >::type NonInteger; - typedef T Nested; - typedef T Literal; - - EIGEN_DEVICE_FUNC - static inline Real epsilon() - { - return numext::numeric_limits::epsilon(); - } - - EIGEN_DEVICE_FUNC - static inline int digits10() - { - return internal::default_digits10_impl::run(); - } - - EIGEN_DEVICE_FUNC - static inline Real dummy_precision() - { - // make sure to override this for floating-point types - return Real(0); - } - - - EIGEN_DEVICE_FUNC - static inline T highest() { - return (numext::numeric_limits::max)(); - } - - EIGEN_DEVICE_FUNC - static inline T lowest() { - return IsInteger ? (numext::numeric_limits::min)() : (-(numext::numeric_limits::max)()); - } - - EIGEN_DEVICE_FUNC - static inline T infinity() { - return numext::numeric_limits::infinity(); - } - - EIGEN_DEVICE_FUNC - static inline T quiet_NaN() { - return numext::numeric_limits::quiet_NaN(); - } -}; - -template struct NumTraits : GenericNumTraits -{}; - -template<> struct NumTraits - : GenericNumTraits -{ - EIGEN_DEVICE_FUNC - static inline float dummy_precision() { return 1e-5f; } -}; - -template<> struct NumTraits : GenericNumTraits -{ - EIGEN_DEVICE_FUNC - static inline double dummy_precision() { return 1e-12; } -}; - -template<> struct NumTraits - : GenericNumTraits -{ - static inline long double dummy_precision() { return 1e-15l; } -}; - -template struct NumTraits > - : GenericNumTraits > -{ - typedef _Real Real; - typedef typename NumTraits<_Real>::Literal Literal; - enum { - IsComplex = 1, - RequireInitialization = NumTraits<_Real>::RequireInitialization, - ReadCost = 2 * NumTraits<_Real>::ReadCost, - AddCost = 2 * NumTraits::AddCost, - MulCost = 4 * NumTraits::MulCost + 2 * NumTraits::AddCost - }; - - EIGEN_DEVICE_FUNC - static inline Real epsilon() { return NumTraits::epsilon(); } - EIGEN_DEVICE_FUNC - static inline Real dummy_precision() { return NumTraits::dummy_precision(); } - EIGEN_DEVICE_FUNC - static inline int digits10() { return NumTraits::digits10(); } -}; - -template -struct NumTraits > -{ - typedef Array ArrayType; - typedef typename NumTraits::Real RealScalar; - typedef Array Real; - typedef typename NumTraits::NonInteger NonIntegerScalar; - typedef Array NonInteger; - typedef ArrayType & Nested; - typedef typename NumTraits::Literal Literal; - - enum { - IsComplex = NumTraits::IsComplex, - IsInteger = NumTraits::IsInteger, - IsSigned = NumTraits::IsSigned, - RequireInitialization = 1, - ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits::ReadCost, - AddCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits::AddCost, - MulCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits::MulCost - }; - - EIGEN_DEVICE_FUNC - static inline RealScalar epsilon() { return NumTraits::epsilon(); } - EIGEN_DEVICE_FUNC - static inline RealScalar dummy_precision() { return NumTraits::dummy_precision(); } -}; - -template<> struct NumTraits - : GenericNumTraits -{ - enum { - RequireInitialization = 1, - ReadCost = HugeCost, - AddCost = HugeCost, - MulCost = HugeCost - }; - - static inline int digits10() { return 0; } - -private: - static inline std::string epsilon(); - static inline std::string dummy_precision(); - static inline std::string lowest(); - static inline std::string highest(); - static inline std::string infinity(); - static inline std::string quiet_NaN(); -}; - -// Empty specialization for void to allow template specialization based on NumTraits::Real with T==void and SFINAE. -template<> struct NumTraits {}; - -} // end namespace Eigen - -#endif // EIGEN_NUMTRAITS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/PermutationMatrix.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/PermutationMatrix.h deleted file mode 100644 index b1fb455b..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/PermutationMatrix.h +++ /dev/null @@ -1,633 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// Copyright (C) 2009-2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_PERMUTATIONMATRIX_H -#define EIGEN_PERMUTATIONMATRIX_H - -namespace Eigen { - -namespace internal { - -enum PermPermProduct_t {PermPermProduct}; - -} // end namespace internal - -/** \class PermutationBase - * \ingroup Core_Module - * - * \brief Base class for permutations - * - * \tparam Derived the derived class - * - * This class is the base class for all expressions representing a permutation matrix, - * internally stored as a vector of integers. - * The convention followed here is that if \f$ \sigma \f$ is a permutation, the corresponding permutation matrix - * \f$ P_\sigma \f$ is such that if \f$ (e_1,\ldots,e_p) \f$ is the canonical basis, we have: - * \f[ P_\sigma(e_i) = e_{\sigma(i)}. \f] - * This convention ensures that for any two permutations \f$ \sigma, \tau \f$, we have: - * \f[ P_{\sigma\circ\tau} = P_\sigma P_\tau. \f] - * - * Permutation matrices are square and invertible. - * - * Notice that in addition to the member functions and operators listed here, there also are non-member - * operator* to multiply any kind of permutation object with any kind of matrix expression (MatrixBase) - * on either side. - * - * \sa class PermutationMatrix, class PermutationWrapper - */ -template -class PermutationBase : public EigenBase -{ - typedef internal::traits Traits; - typedef EigenBase Base; - public: - - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename Traits::IndicesType IndicesType; - enum { - Flags = Traits::Flags, - RowsAtCompileTime = Traits::RowsAtCompileTime, - ColsAtCompileTime = Traits::ColsAtCompileTime, - MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = Traits::MaxColsAtCompileTime - }; - typedef typename Traits::StorageIndex StorageIndex; - typedef Matrix - DenseMatrixType; - typedef PermutationMatrix - PlainPermutationType; - typedef PlainPermutationType PlainObject; - using Base::derived; - typedef Inverse InverseReturnType; - typedef void Scalar; - #endif - - /** Copies the other permutation into *this */ - template - Derived& operator=(const PermutationBase& other) - { - indices() = other.indices(); - return derived(); - } - - /** Assignment from the Transpositions \a tr */ - template - Derived& operator=(const TranspositionsBase& tr) - { - setIdentity(tr.size()); - for(Index k=size()-1; k>=0; --k) - applyTranspositionOnTheRight(k,tr.coeff(k)); - return derived(); - } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** This is a special case of the templated operator=. Its purpose is to - * prevent a default operator= from hiding the templated operator=. - */ - Derived& operator=(const PermutationBase& other) - { - indices() = other.indices(); - return derived(); - } - #endif - - /** \returns the number of rows */ - inline Index rows() const { return Index(indices().size()); } - - /** \returns the number of columns */ - inline Index cols() const { return Index(indices().size()); } - - /** \returns the size of a side of the respective square matrix, i.e., the number of indices */ - inline Index size() const { return Index(indices().size()); } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - template - void evalTo(MatrixBase& other) const - { - other.setZero(); - for (Index i=0; i=0 && j>=0 && i=0 && j>=0 && i - void assignTranspose(const PermutationBase& other) - { - for (Index i=0; i - void assignProduct(const Lhs& lhs, const Rhs& rhs) - { - eigen_assert(lhs.cols() == rhs.rows()); - for (Index i=0; i - inline PlainPermutationType operator*(const PermutationBase& other) const - { return PlainPermutationType(internal::PermPermProduct, derived(), other.derived()); } - - /** \returns the product of a permutation with another inverse permutation. - * - * \note \blank \note_try_to_help_rvo - */ - template - inline PlainPermutationType operator*(const InverseImpl& other) const - { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); } - - /** \returns the product of an inverse permutation with another permutation. - * - * \note \blank \note_try_to_help_rvo - */ - template friend - inline PlainPermutationType operator*(const InverseImpl& other, const PermutationBase& perm) - { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); } - - /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation. - * - * This function is O(\c n) procedure allocating a buffer of \c n booleans. - */ - Index determinant() const - { - Index res = 1; - Index n = size(); - Matrix mask(n); - mask.fill(false); - Index r = 0; - while(r < n) - { - // search for the next seed - while(r=n) - break; - // we got one, let's follow it until we are back to the seed - Index k0 = r++; - mask.coeffRef(k0) = true; - for(Index k=indices().coeff(k0); k!=k0; k=indices().coeff(k)) - { - mask.coeffRef(k) = true; - res = -res; - } - } - return res; - } - - protected: - -}; - -namespace internal { -template -struct traits > - : traits > -{ - typedef PermutationStorage StorageKind; - typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType; - typedef _StorageIndex StorageIndex; - typedef void Scalar; -}; -} - -/** \class PermutationMatrix - * \ingroup Core_Module - * - * \brief Permutation matrix - * - * \tparam SizeAtCompileTime the number of rows/cols, or Dynamic - * \tparam MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it. - * \tparam _StorageIndex the integer type of the indices - * - * This class represents a permutation matrix, internally stored as a vector of integers. - * - * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix - */ -template -class PermutationMatrix : public PermutationBase > -{ - typedef PermutationBase Base; - typedef internal::traits Traits; - public: - - typedef const PermutationMatrix& Nested; - - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename Traits::IndicesType IndicesType; - typedef typename Traits::StorageIndex StorageIndex; - #endif - - inline PermutationMatrix() - {} - - /** Constructs an uninitialized permutation matrix of given size. - */ - explicit inline PermutationMatrix(Index size) : m_indices(size) - { - eigen_internal_assert(size <= NumTraits::highest()); - } - - /** Copy constructor. */ - template - inline PermutationMatrix(const PermutationBase& other) - : m_indices(other.indices()) {} - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** Standard copy constructor. Defined only to prevent a default copy constructor - * from hiding the other templated constructor */ - inline PermutationMatrix(const PermutationMatrix& other) : m_indices(other.indices()) {} - #endif - - /** Generic constructor from expression of the indices. The indices - * array has the meaning that the permutations sends each integer i to indices[i]. - * - * \warning It is your responsibility to check that the indices array that you passes actually - * describes a permutation, i.e., each value between 0 and n-1 occurs exactly once, where n is the - * array's size. - */ - template - explicit inline PermutationMatrix(const MatrixBase& indices) : m_indices(indices) - {} - - /** Convert the Transpositions \a tr to a permutation matrix */ - template - explicit PermutationMatrix(const TranspositionsBase& tr) - : m_indices(tr.size()) - { - *this = tr; - } - - /** Copies the other permutation into *this */ - template - PermutationMatrix& operator=(const PermutationBase& other) - { - m_indices = other.indices(); - return *this; - } - - /** Assignment from the Transpositions \a tr */ - template - PermutationMatrix& operator=(const TranspositionsBase& tr) - { - return Base::operator=(tr.derived()); - } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** This is a special case of the templated operator=. Its purpose is to - * prevent a default operator= from hiding the templated operator=. - */ - PermutationMatrix& operator=(const PermutationMatrix& other) - { - m_indices = other.m_indices; - return *this; - } - #endif - - /** const version of indices(). */ - const IndicesType& indices() const { return m_indices; } - /** \returns a reference to the stored array representing the permutation. */ - IndicesType& indices() { return m_indices; } - - - /**** multiplication helpers to hopefully get RVO ****/ - -#ifndef EIGEN_PARSED_BY_DOXYGEN - template - PermutationMatrix(const InverseImpl& other) - : m_indices(other.derived().nestedExpression().size()) - { - eigen_internal_assert(m_indices.size() <= NumTraits::highest()); - StorageIndex end = StorageIndex(m_indices.size()); - for (StorageIndex i=0; i - PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs) - : m_indices(lhs.indices().size()) - { - Base::assignProduct(lhs,rhs); - } -#endif - - protected: - - IndicesType m_indices; -}; - - -namespace internal { -template -struct traits,_PacketAccess> > - : traits > -{ - typedef PermutationStorage StorageKind; - typedef Map, _PacketAccess> IndicesType; - typedef _StorageIndex StorageIndex; - typedef void Scalar; -}; -} - -template -class Map,_PacketAccess> - : public PermutationBase,_PacketAccess> > -{ - typedef PermutationBase Base; - typedef internal::traits Traits; - public: - - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename Traits::IndicesType IndicesType; - typedef typename IndicesType::Scalar StorageIndex; - #endif - - inline Map(const StorageIndex* indicesPtr) - : m_indices(indicesPtr) - {} - - inline Map(const StorageIndex* indicesPtr, Index size) - : m_indices(indicesPtr,size) - {} - - /** Copies the other permutation into *this */ - template - Map& operator=(const PermutationBase& other) - { return Base::operator=(other.derived()); } - - /** Assignment from the Transpositions \a tr */ - template - Map& operator=(const TranspositionsBase& tr) - { return Base::operator=(tr.derived()); } - - #ifndef EIGEN_PARSED_BY_DOXYGEN - /** This is a special case of the templated operator=. Its purpose is to - * prevent a default operator= from hiding the templated operator=. - */ - Map& operator=(const Map& other) - { - m_indices = other.m_indices; - return *this; - } - #endif - - /** const version of indices(). */ - const IndicesType& indices() const { return m_indices; } - /** \returns a reference to the stored array representing the permutation. */ - IndicesType& indices() { return m_indices; } - - protected: - - IndicesType m_indices; -}; - -template class TranspositionsWrapper; -namespace internal { -template -struct traits > -{ - typedef PermutationStorage StorageKind; - typedef void Scalar; - typedef typename _IndicesType::Scalar StorageIndex; - typedef _IndicesType IndicesType; - enum { - RowsAtCompileTime = _IndicesType::SizeAtCompileTime, - ColsAtCompileTime = _IndicesType::SizeAtCompileTime, - MaxRowsAtCompileTime = IndicesType::MaxSizeAtCompileTime, - MaxColsAtCompileTime = IndicesType::MaxSizeAtCompileTime, - Flags = 0 - }; -}; -} - -/** \class PermutationWrapper - * \ingroup Core_Module - * - * \brief Class to view a vector of integers as a permutation matrix - * - * \tparam _IndicesType the type of the vector of integer (can be any compatible expression) - * - * This class allows to view any vector expression of integers as a permutation matrix. - * - * \sa class PermutationBase, class PermutationMatrix - */ -template -class PermutationWrapper : public PermutationBase > -{ - typedef PermutationBase Base; - typedef internal::traits Traits; - public: - - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename Traits::IndicesType IndicesType; - #endif - - inline PermutationWrapper(const IndicesType& indices) - : m_indices(indices) - {} - - /** const version of indices(). */ - const typename internal::remove_all::type& - indices() const { return m_indices; } - - protected: - - typename IndicesType::Nested m_indices; -}; - - -/** \returns the matrix with the permutation applied to the columns. - */ -template -EIGEN_DEVICE_FUNC -const Product -operator*(const MatrixBase &matrix, - const PermutationBase& permutation) -{ - return Product - (matrix.derived(), permutation.derived()); -} - -/** \returns the matrix with the permutation applied to the rows. - */ -template -EIGEN_DEVICE_FUNC -const Product -operator*(const PermutationBase &permutation, - const MatrixBase& matrix) -{ - return Product - (permutation.derived(), matrix.derived()); -} - - -template -class InverseImpl - : public EigenBase > -{ - typedef typename PermutationType::PlainPermutationType PlainPermutationType; - typedef internal::traits PermTraits; - protected: - InverseImpl() {} - public: - typedef Inverse InverseType; - using EigenBase >::derived; - - #ifndef EIGEN_PARSED_BY_DOXYGEN - typedef typename PermutationType::DenseMatrixType DenseMatrixType; - enum { - RowsAtCompileTime = PermTraits::RowsAtCompileTime, - ColsAtCompileTime = PermTraits::ColsAtCompileTime, - MaxRowsAtCompileTime = PermTraits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = PermTraits::MaxColsAtCompileTime - }; - #endif - - #ifndef EIGEN_PARSED_BY_DOXYGEN - template - void evalTo(MatrixBase& other) const - { - other.setZero(); - for (Index i=0; i friend - const Product - operator*(const MatrixBase& matrix, const InverseType& trPerm) - { - return Product(matrix.derived(), trPerm.derived()); - } - - /** \returns the matrix with the inverse permutation applied to the rows. - */ - template - const Product - operator*(const MatrixBase& matrix) const - { - return Product(derived(), matrix.derived()); - } -}; - -template -const PermutationWrapper MatrixBase::asPermutation() const -{ - return derived(); -} - -namespace internal { - -template<> struct AssignmentKind { typedef EigenBase2EigenBase Kind; }; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_PERMUTATIONMATRIX_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/PlainObjectBase.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/PlainObjectBase.h deleted file mode 100644 index 77f4f606..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/PlainObjectBase.h +++ /dev/null @@ -1,1031 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_DENSESTORAGEBASE_H -#define EIGEN_DENSESTORAGEBASE_H - -#if defined(EIGEN_INITIALIZE_MATRICES_BY_ZERO) -# define EIGEN_INITIALIZE_COEFFS -# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i::quiet_NaN(); -#else -# undef EIGEN_INITIALIZE_COEFFS -# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED -#endif - -namespace Eigen { - -namespace internal { - -template struct check_rows_cols_for_overflow { - template - EIGEN_DEVICE_FUNC - static EIGEN_ALWAYS_INLINE void run(Index, Index) - { - } -}; - -template<> struct check_rows_cols_for_overflow { - template - EIGEN_DEVICE_FUNC - static EIGEN_ALWAYS_INLINE void run(Index rows, Index cols) - { - // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242 - // we assume Index is signed - Index max_index = (std::size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed - bool error = (rows == 0 || cols == 0) ? false - : (rows > max_index / cols); - if (error) - throw_std_bad_alloc(); - } -}; - -template -struct conservative_resize_like_impl; - -template struct matrix_swap_impl; - -} // end namespace internal - -#ifdef EIGEN_PARSED_BY_DOXYGEN -namespace doxygen { - -// This is a workaround to doxygen not being able to understand the inheritance logic -// when it is hidden by the dense_xpr_base helper struct. -// Moreover, doxygen fails to include members that are not documented in the declaration body of -// MatrixBase if we inherits MatrixBase >, -// this is why we simply inherits MatrixBase, though this does not make sense. - -/** This class is just a workaround for Doxygen and it does not not actually exist. */ -template struct dense_xpr_base_dispatcher; -/** This class is just a workaround for Doxygen and it does not not actually exist. */ -template -struct dense_xpr_base_dispatcher > - : public MatrixBase {}; -/** This class is just a workaround for Doxygen and it does not not actually exist. */ -template -struct dense_xpr_base_dispatcher > - : public ArrayBase {}; - -} // namespace doxygen - -/** \class PlainObjectBase - * \ingroup Core_Module - * \brief %Dense storage base class for matrices and arrays. - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN. - * - * \tparam Derived is the derived type, e.g., a Matrix or Array - * - * \sa \ref TopicClassHierarchy - */ -template -class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher -#else -template -class PlainObjectBase : public internal::dense_xpr_base::type -#endif -{ - public: - enum { Options = internal::traits::Options }; - typedef typename internal::dense_xpr_base::type Base; - - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Scalar Scalar; - - typedef typename internal::packet_traits::type PacketScalar; - typedef typename NumTraits::Real RealScalar; - typedef Derived DenseType; - - using Base::RowsAtCompileTime; - using Base::ColsAtCompileTime; - using Base::SizeAtCompileTime; - using Base::MaxRowsAtCompileTime; - using Base::MaxColsAtCompileTime; - using Base::MaxSizeAtCompileTime; - using Base::IsVectorAtCompileTime; - using Base::Flags; - - template friend class Eigen::Map; - friend class Eigen::Map; - typedef Eigen::Map MapType; - friend class Eigen::Map; - typedef const Eigen::Map ConstMapType; -#if EIGEN_MAX_ALIGN_BYTES>0 - // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice. - friend class Eigen::Map; - friend class Eigen::Map; -#endif - typedef Eigen::Map AlignedMapType; - typedef const Eigen::Map ConstAlignedMapType; - template struct StridedMapType { typedef Eigen::Map type; }; - template struct StridedConstMapType { typedef Eigen::Map type; }; - template struct StridedAlignedMapType { typedef Eigen::Map type; }; - template struct StridedConstAlignedMapType { typedef Eigen::Map type; }; - - protected: - DenseStorage m_storage; - - public: - enum { NeedsToAlign = (SizeAtCompileTime != Dynamic) && (internal::traits::Alignment>0) }; - EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) - - EIGEN_DEVICE_FUNC - Base& base() { return *static_cast(this); } - EIGEN_DEVICE_FUNC - const Base& base() const { return *static_cast(this); } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); } - - /** This is an overloaded version of DenseCoeffsBase::coeff(Index,Index) const - * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. - * - * See DenseCoeffsBase::coeff(Index) const for details. */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeff(Index rowId, Index colId) const - { - if(Flags & RowMajorBit) - return m_storage.data()[colId + rowId * m_storage.cols()]; - else // column-major - return m_storage.data()[rowId + colId * m_storage.rows()]; - } - - /** This is an overloaded version of DenseCoeffsBase::coeff(Index) const - * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. - * - * See DenseCoeffsBase::coeff(Index) const for details. */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const - { - return m_storage.data()[index]; - } - - /** This is an overloaded version of DenseCoeffsBase::coeffRef(Index,Index) const - * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. - * - * See DenseCoeffsBase::coeffRef(Index,Index) const for details. */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& coeffRef(Index rowId, Index colId) - { - if(Flags & RowMajorBit) - return m_storage.data()[colId + rowId * m_storage.cols()]; - else // column-major - return m_storage.data()[rowId + colId * m_storage.rows()]; - } - - /** This is an overloaded version of DenseCoeffsBase::coeffRef(Index) const - * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts. - * - * See DenseCoeffsBase::coeffRef(Index) const for details. */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) - { - return m_storage.data()[index]; - } - - /** This is the const version of coeffRef(Index,Index) which is thus synonym of coeff(Index,Index). - * It is provided for convenience. */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const - { - if(Flags & RowMajorBit) - return m_storage.data()[colId + rowId * m_storage.cols()]; - else // column-major - return m_storage.data()[rowId + colId * m_storage.rows()]; - } - - /** This is the const version of coeffRef(Index) which is thus synonym of coeff(Index). - * It is provided for convenience. */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const - { - return m_storage.data()[index]; - } - - /** \internal */ - template - EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const - { - return internal::ploadt - (m_storage.data() + (Flags & RowMajorBit - ? colId + rowId * m_storage.cols() - : rowId + colId * m_storage.rows())); - } - - /** \internal */ - template - EIGEN_STRONG_INLINE PacketScalar packet(Index index) const - { - return internal::ploadt(m_storage.data() + index); - } - - /** \internal */ - template - EIGEN_STRONG_INLINE void writePacket(Index rowId, Index colId, const PacketScalar& val) - { - internal::pstoret - (m_storage.data() + (Flags & RowMajorBit - ? colId + rowId * m_storage.cols() - : rowId + colId * m_storage.rows()), val); - } - - /** \internal */ - template - EIGEN_STRONG_INLINE void writePacket(Index index, const PacketScalar& val) - { - internal::pstoret(m_storage.data() + index, val); - } - - /** \returns a const pointer to the data array of this matrix */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const - { return m_storage.data(); } - - /** \returns a pointer to the data array of this matrix */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data() - { return m_storage.data(); } - - /** Resizes \c *this to a \a rows x \a cols matrix. - * - * This method is intended for dynamic-size matrices, although it is legal to call it on any - * matrix as long as fixed dimensions are left unchanged. If you only want to change the number - * of rows and/or of columns, you can use resize(NoChange_t, Index), resize(Index, NoChange_t). - * - * If the current number of coefficients of \c *this exactly matches the - * product \a rows * \a cols, then no memory allocation is performed and - * the current values are left unchanged. In all other cases, including - * shrinking, the data is reallocated and all previous values are lost. - * - * Example: \include Matrix_resize_int_int.cpp - * Output: \verbinclude Matrix_resize_int_int.out - * - * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t) - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void resize(Index rows, Index cols) - { - eigen_assert( EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,rows==RowsAtCompileTime) - && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,cols==ColsAtCompileTime) - && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,rows<=MaxRowsAtCompileTime) - && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,cols<=MaxColsAtCompileTime) - && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."); - internal::check_rows_cols_for_overflow::run(rows, cols); - #ifdef EIGEN_INITIALIZE_COEFFS - Index size = rows*cols; - bool size_changed = size != this->size(); - m_storage.resize(size, rows, cols); - if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - #else - m_storage.resize(rows*cols, rows, cols); - #endif - } - - /** Resizes \c *this to a vector of length \a size - * - * \only_for_vectors. This method does not work for - * partially dynamic matrices when the static dimension is anything other - * than 1. For example it will not work with Matrix. - * - * Example: \include Matrix_resize_int.cpp - * Output: \verbinclude Matrix_resize_int.out - * - * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t) - */ - EIGEN_DEVICE_FUNC - inline void resize(Index size) - { - EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase) - eigen_assert(((SizeAtCompileTime == Dynamic && (MaxSizeAtCompileTime==Dynamic || size<=MaxSizeAtCompileTime)) || SizeAtCompileTime == size) && size>=0); - #ifdef EIGEN_INITIALIZE_COEFFS - bool size_changed = size != this->size(); - #endif - if(RowsAtCompileTime == 1) - m_storage.resize(size, 1, size); - else - m_storage.resize(size, size, 1); - #ifdef EIGEN_INITIALIZE_COEFFS - if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - #endif - } - - /** Resizes the matrix, changing only the number of columns. For the parameter of type NoChange_t, just pass the special value \c NoChange - * as in the example below. - * - * Example: \include Matrix_resize_NoChange_int.cpp - * Output: \verbinclude Matrix_resize_NoChange_int.out - * - * \sa resize(Index,Index) - */ - EIGEN_DEVICE_FUNC - inline void resize(NoChange_t, Index cols) - { - resize(rows(), cols); - } - - /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange - * as in the example below. - * - * Example: \include Matrix_resize_int_NoChange.cpp - * Output: \verbinclude Matrix_resize_int_NoChange.out - * - * \sa resize(Index,Index) - */ - EIGEN_DEVICE_FUNC - inline void resize(Index rows, NoChange_t) - { - resize(rows, cols()); - } - - /** Resizes \c *this to have the same dimensions as \a other. - * Takes care of doing all the checking that's needed. - * - * Note that copying a row-vector into a vector (and conversely) is allowed. - * The resizing, if any, is then done in the appropriate way so that row-vectors - * remain row-vectors and vectors remain vectors. - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void resizeLike(const EigenBase& _other) - { - const OtherDerived& other = _other.derived(); - internal::check_rows_cols_for_overflow::run(other.rows(), other.cols()); - const Index othersize = other.rows()*other.cols(); - if(RowsAtCompileTime == 1) - { - eigen_assert(other.rows() == 1 || other.cols() == 1); - resize(1, othersize); - } - else if(ColsAtCompileTime == 1) - { - eigen_assert(other.rows() == 1 || other.cols() == 1); - resize(othersize, 1); - } - else resize(other.rows(), other.cols()); - } - - /** Resizes the matrix to \a rows x \a cols while leaving old values untouched. - * - * The method is intended for matrices of dynamic size. If you only want to change the number - * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or - * conservativeResize(Index, NoChange_t). - * - * Matrices are resized relative to the top-left element. In case values need to be - * appended to the matrix they will be uninitialized. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols) - { - internal::conservative_resize_like_impl::run(*this, rows, cols); - } - - /** Resizes the matrix to \a rows x \a cols while leaving old values untouched. - * - * As opposed to conservativeResize(Index rows, Index cols), this version leaves - * the number of columns unchanged. - * - * In case the matrix is growing, new rows will be uninitialized. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t) - { - // Note: see the comment in conservativeResize(Index,Index) - conservativeResize(rows, cols()); - } - - /** Resizes the matrix to \a rows x \a cols while leaving old values untouched. - * - * As opposed to conservativeResize(Index rows, Index cols), this version leaves - * the number of rows unchanged. - * - * In case the matrix is growing, new columns will be uninitialized. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols) - { - // Note: see the comment in conservativeResize(Index,Index) - conservativeResize(rows(), cols); - } - - /** Resizes the vector to \a size while retaining old values. - * - * \only_for_vectors. This method does not work for - * partially dynamic matrices when the static dimension is anything other - * than 1. For example it will not work with Matrix. - * - * When values are appended, they will be uninitialized. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void conservativeResize(Index size) - { - internal::conservative_resize_like_impl::run(*this, size); - } - - /** Resizes the matrix to \a rows x \a cols of \c other, while leaving old values untouched. - * - * The method is intended for matrices of dynamic size. If you only want to change the number - * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or - * conservativeResize(Index, NoChange_t). - * - * Matrices are resized relative to the top-left element. In case values need to be - * appended to the matrix they will copied from \c other. - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase& other) - { - internal::conservative_resize_like_impl::run(*this, other); - } - - /** This is a special case of the templated operator=. Its purpose is to - * prevent a default operator= from hiding the templated operator=. - */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other) - { - return _set(other); - } - - /** \sa MatrixBase::lazyAssign() */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase& other) - { - _resize_to_match(other); - return Base::lazyAssign(other.derived()); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue& func) - { - resize(func.rows(), func.cols()); - return Base::operator=(func); - } - - // Prevent user from trying to instantiate PlainObjectBase objects - // by making all its constructor protected. See bug 1074. - protected: - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PlainObjectBase() : m_storage() - { -// _check_template_params(); -// EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } - -#ifndef EIGEN_PARSED_BY_DOXYGEN - // FIXME is it still needed ? - /** \internal */ - EIGEN_DEVICE_FUNC - explicit PlainObjectBase(internal::constructor_without_unaligned_array_assert) - : m_storage(internal::constructor_without_unaligned_array_assert()) - { -// _check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } -#endif - -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC - PlainObjectBase(PlainObjectBase&& other) EIGEN_NOEXCEPT - : m_storage( std::move(other.m_storage) ) - { - } - - EIGEN_DEVICE_FUNC - PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT - { - using std::swap; - swap(m_storage, other.m_storage); - return *this; - } -#endif - - /** Copy constructor */ - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other) - : Base(), m_storage(other.m_storage) { } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols) - : m_storage(size, rows, cols) - { -// _check_template_params(); -// EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } - - /** \sa PlainObjectBase::operator=(const EigenBase&) */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase &other) - : m_storage() - { - _check_template_params(); - resizeLike(other); - _set_noalias(other); - } - - /** \sa PlainObjectBase::operator=(const EigenBase&) */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase &other) - : m_storage() - { - _check_template_params(); - resizeLike(other); - *this = other.derived(); - } - /** \brief Copy constructor with in-place evaluation */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PlainObjectBase(const ReturnByValue& other) - { - _check_template_params(); - // FIXME this does not automatically transpose vectors if necessary - resize(other.rows(), other.cols()); - other.evalTo(this->derived()); - } - - public: - - /** \brief Copies the generic expression \a other into *this. - * \copydetails DenseBase::operator=(const EigenBase &other) - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& operator=(const EigenBase &other) - { - _resize_to_match(other); - Base::operator=(other.derived()); - return this->derived(); - } - - /** \name Map - * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects, - * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned - * \a data pointers. - * - * \see class Map - */ - //@{ - static inline ConstMapType Map(const Scalar* data) - { return ConstMapType(data); } - static inline MapType Map(Scalar* data) - { return MapType(data); } - static inline ConstMapType Map(const Scalar* data, Index size) - { return ConstMapType(data, size); } - static inline MapType Map(Scalar* data, Index size) - { return MapType(data, size); } - static inline ConstMapType Map(const Scalar* data, Index rows, Index cols) - { return ConstMapType(data, rows, cols); } - static inline MapType Map(Scalar* data, Index rows, Index cols) - { return MapType(data, rows, cols); } - - static inline ConstAlignedMapType MapAligned(const Scalar* data) - { return ConstAlignedMapType(data); } - static inline AlignedMapType MapAligned(Scalar* data) - { return AlignedMapType(data); } - static inline ConstAlignedMapType MapAligned(const Scalar* data, Index size) - { return ConstAlignedMapType(data, size); } - static inline AlignedMapType MapAligned(Scalar* data, Index size) - { return AlignedMapType(data, size); } - static inline ConstAlignedMapType MapAligned(const Scalar* data, Index rows, Index cols) - { return ConstAlignedMapType(data, rows, cols); } - static inline AlignedMapType MapAligned(Scalar* data, Index rows, Index cols) - { return AlignedMapType(data, rows, cols); } - - template - static inline typename StridedConstMapType >::type Map(const Scalar* data, const Stride& stride) - { return typename StridedConstMapType >::type(data, stride); } - template - static inline typename StridedMapType >::type Map(Scalar* data, const Stride& stride) - { return typename StridedMapType >::type(data, stride); } - template - static inline typename StridedConstMapType >::type Map(const Scalar* data, Index size, const Stride& stride) - { return typename StridedConstMapType >::type(data, size, stride); } - template - static inline typename StridedMapType >::type Map(Scalar* data, Index size, const Stride& stride) - { return typename StridedMapType >::type(data, size, stride); } - template - static inline typename StridedConstMapType >::type Map(const Scalar* data, Index rows, Index cols, const Stride& stride) - { return typename StridedConstMapType >::type(data, rows, cols, stride); } - template - static inline typename StridedMapType >::type Map(Scalar* data, Index rows, Index cols, const Stride& stride) - { return typename StridedMapType >::type(data, rows, cols, stride); } - - template - static inline typename StridedConstAlignedMapType >::type MapAligned(const Scalar* data, const Stride& stride) - { return typename StridedConstAlignedMapType >::type(data, stride); } - template - static inline typename StridedAlignedMapType >::type MapAligned(Scalar* data, const Stride& stride) - { return typename StridedAlignedMapType >::type(data, stride); } - template - static inline typename StridedConstAlignedMapType >::type MapAligned(const Scalar* data, Index size, const Stride& stride) - { return typename StridedConstAlignedMapType >::type(data, size, stride); } - template - static inline typename StridedAlignedMapType >::type MapAligned(Scalar* data, Index size, const Stride& stride) - { return typename StridedAlignedMapType >::type(data, size, stride); } - template - static inline typename StridedConstAlignedMapType >::type MapAligned(const Scalar* data, Index rows, Index cols, const Stride& stride) - { return typename StridedConstAlignedMapType >::type(data, rows, cols, stride); } - template - static inline typename StridedAlignedMapType >::type MapAligned(Scalar* data, Index rows, Index cols, const Stride& stride) - { return typename StridedAlignedMapType >::type(data, rows, cols, stride); } - //@} - - using Base::setConstant; - EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val); - EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val); - - using Base::setZero; - EIGEN_DEVICE_FUNC Derived& setZero(Index size); - EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols); - - using Base::setOnes; - EIGEN_DEVICE_FUNC Derived& setOnes(Index size); - EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols); - - using Base::setRandom; - Derived& setRandom(Index size); - Derived& setRandom(Index rows, Index cols); - - #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN - #include EIGEN_PLAINOBJECTBASE_PLUGIN - #endif - - protected: - /** \internal Resizes *this in preparation for assigning \a other to it. - * Takes care of doing all the checking that's needed. - * - * Note that copying a row-vector into a vector (and conversely) is allowed. - * The resizing, if any, is then done in the appropriate way so that row-vectors - * remain row-vectors and vectors remain vectors. - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase& other) - { - #ifdef EIGEN_NO_AUTOMATIC_RESIZING - eigen_assert((this->size()==0 || (IsVectorAtCompileTime ? (this->size() == other.size()) - : (rows() == other.rows() && cols() == other.cols()))) - && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined"); - EIGEN_ONLY_USED_FOR_DEBUG(other); - #else - resizeLike(other); - #endif - } - - /** - * \brief Copies the value of the expression \a other into \c *this with automatic resizing. - * - * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized), - * it will be initialized. - * - * Note that copying a row-vector into a vector (and conversely) is allowed. - * The resizing, if any, is then done in the appropriate way so that row-vectors - * remain row-vectors and vectors remain vectors. - * - * \sa operator=(const MatrixBase&), _set_noalias() - * - * \internal - */ - // aliasing is dealt once in internall::call_assignment - // so at this stage we have to assume aliasing... and resising has to be done later. - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& _set(const DenseBase& other) - { - internal::call_assignment(this->derived(), other.derived()); - return this->derived(); - } - - /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which - * is the case when creating a new matrix) so one can enforce lazy evaluation. - * - * \sa operator=(const MatrixBase&), _set() - */ - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase& other) - { - // I don't think we need this resize call since the lazyAssign will anyways resize - // and lazyAssign will be called by the assign selector. - //_resize_to_match(other); - // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because - // it wouldn't allow to copy a row-vector into a column-vector. - internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op()); - return this->derived(); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if::type* = 0) - { - EIGEN_STATIC_ASSERT(bool(NumTraits::IsInteger) && - bool(NumTraits::IsInteger), - FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED) - resize(rows,cols); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if::type* = 0) - { - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2) - m_storage.data()[0] = Scalar(val0); - m_storage.data()[1] = Scalar(val1); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1, - typename internal::enable_if< (!internal::is_same::value) - && (internal::is_same::value) - && (internal::is_same::value) - && Base::SizeAtCompileTime==2,T1>::type* = 0) - { - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2) - m_storage.data()[0] = Scalar(val0); - m_storage.data()[1] = Scalar(val1); - } - - // The argument is convertible to the Index type and we either have a non 1x1 Matrix, or a dynamic-sized Array, - // then the argument is meant to be the size of the object. - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if< (Base::SizeAtCompileTime!=1 || !internal::is_convertible::value) - && ((!internal::is_same::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0) - { - // NOTE MSVC 2008 complains if we directly put bool(NumTraits::IsInteger) as the EIGEN_STATIC_ASSERT argument. - const bool is_integer = NumTraits::IsInteger; - EIGEN_UNUSED_VARIABLE(is_integer); - EIGEN_STATIC_ASSERT(is_integer, - FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED) - resize(size); - } - - // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted) - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if::value,T>::type* = 0) - { - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1) - m_storage.data()[0] = val0; - } - - // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type) - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const Index& val0, - typename internal::enable_if< (!internal::is_same::value) - && (internal::is_same::value) - && Base::SizeAtCompileTime==1 - && internal::is_convertible::value,T*>::type* = 0) - { - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1) - m_storage.data()[0] = Scalar(val0); - } - - // Initialize a fixed size matrix from a pointer to raw data - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const Scalar* data){ - this->_set_noalias(ConstMapType(data)); - } - - // Initialize an arbitrary matrix from a dense expression - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const DenseBase& other){ - this->_set_noalias(other); - } - - // Initialize an arbitrary matrix from an object convertible to the Derived type. - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const Derived& other){ - this->_set_noalias(other); - } - - // Initialize an arbitrary matrix from a generic Eigen expression - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const EigenBase& other){ - this->derived() = other; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const ReturnByValue& other) - { - resize(other.rows(), other.cols()); - other.evalTo(this->derived()); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const RotationBase& r) - { - this->derived() = r; - } - - // For fixed-size Array - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const Scalar& val0, - typename internal::enable_if< Base::SizeAtCompileTime!=Dynamic - && Base::SizeAtCompileTime!=1 - && internal::is_convertible::value - && internal::is_same::XprKind,ArrayXpr>::value,T>::type* = 0) - { - Base::setConstant(val0); - } - - // For fixed-size Array - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void _init1(const Index& val0, - typename internal::enable_if< (!internal::is_same::value) - && (internal::is_same::value) - && Base::SizeAtCompileTime!=Dynamic - && Base::SizeAtCompileTime!=1 - && internal::is_convertible::value - && internal::is_same::XprKind,ArrayXpr>::value,T*>::type* = 0) - { - Base::setConstant(val0); - } - - template - friend struct internal::matrix_swap_impl; - - public: - -#ifndef EIGEN_PARSED_BY_DOXYGEN - /** \internal - * \brief Override DenseBase::swap() since for dynamic-sized matrices - * of same type it is enough to swap the data pointers. - */ - template - EIGEN_DEVICE_FUNC - void swap(DenseBase & other) - { - enum { SwapPointers = internal::is_same::value && Base::SizeAtCompileTime==Dynamic }; - internal::matrix_swap_impl::run(this->derived(), other.derived()); - } - - /** \internal - * \brief const version forwarded to DenseBase::swap - */ - template - EIGEN_DEVICE_FUNC - void swap(DenseBase const & other) - { Base::swap(other.derived()); } - - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE void _check_template_params() - { - EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor) - && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (Options&RowMajor)==0) - && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0)) - && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0)) - && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0)) - && ((MaxColsAtCompileTime == Dynamic) || (MaxColsAtCompileTime >= 0)) - && (MaxRowsAtCompileTime == RowsAtCompileTime || RowsAtCompileTime==Dynamic) - && (MaxColsAtCompileTime == ColsAtCompileTime || ColsAtCompileTime==Dynamic) - && (Options & (DontAlign|RowMajor)) == Options), - INVALID_MATRIX_TEMPLATE_PARAMETERS) - } - - enum { IsPlainObjectBase = 1 }; -#endif -}; - -namespace internal { - -template -struct conservative_resize_like_impl -{ - static void run(DenseBase& _this, Index rows, Index cols) - { - if (_this.rows() == rows && _this.cols() == cols) return; - EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived) - - if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows - (!Derived::IsRowMajor && _this.rows() == rows) ) // column-major and we change only the number of columns - { - internal::check_rows_cols_for_overflow::run(rows, cols); - _this.derived().m_storage.conservativeResize(rows*cols,rows,cols); - } - else - { - // The storage order does not allow us to use reallocation. - typename Derived::PlainObject tmp(rows,cols); - const Index common_rows = numext::mini(rows, _this.rows()); - const Index common_cols = numext::mini(cols, _this.cols()); - tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols); - _this.derived().swap(tmp); - } - } - - static void run(DenseBase& _this, const DenseBase& other) - { - if (_this.rows() == other.rows() && _this.cols() == other.cols()) return; - - // Note: Here is space for improvement. Basically, for conservativeResize(Index,Index), - // neither RowsAtCompileTime or ColsAtCompileTime must be Dynamic. If only one of the - // dimensions is dynamic, one could use either conservativeResize(Index rows, NoChange_t) or - // conservativeResize(NoChange_t, Index cols). For these methods new static asserts like - // EIGEN_STATIC_ASSERT_DYNAMIC_ROWS and EIGEN_STATIC_ASSERT_DYNAMIC_COLS would be good. - EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived) - EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(OtherDerived) - - if ( ( Derived::IsRowMajor && _this.cols() == other.cols()) || // row-major and we change only the number of rows - (!Derived::IsRowMajor && _this.rows() == other.rows()) ) // column-major and we change only the number of columns - { - const Index new_rows = other.rows() - _this.rows(); - const Index new_cols = other.cols() - _this.cols(); - _this.derived().m_storage.conservativeResize(other.size(),other.rows(),other.cols()); - if (new_rows>0) - _this.bottomRightCorner(new_rows, other.cols()) = other.bottomRows(new_rows); - else if (new_cols>0) - _this.bottomRightCorner(other.rows(), new_cols) = other.rightCols(new_cols); - } - else - { - // The storage order does not allow us to use reallocation. - typename Derived::PlainObject tmp(other); - const Index common_rows = numext::mini(tmp.rows(), _this.rows()); - const Index common_cols = numext::mini(tmp.cols(), _this.cols()); - tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols); - _this.derived().swap(tmp); - } - } -}; - -// Here, the specialization for vectors inherits from the general matrix case -// to allow calling .conservativeResize(rows,cols) on vectors. -template -struct conservative_resize_like_impl - : conservative_resize_like_impl -{ - using conservative_resize_like_impl::run; - - static void run(DenseBase& _this, Index size) - { - const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size; - const Index new_cols = Derived::RowsAtCompileTime==1 ? size : 1; - _this.derived().m_storage.conservativeResize(size,new_rows,new_cols); - } - - static void run(DenseBase& _this, const DenseBase& other) - { - if (_this.rows() == other.rows() && _this.cols() == other.cols()) return; - - const Index num_new_elements = other.size() - _this.size(); - - const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : other.rows(); - const Index new_cols = Derived::RowsAtCompileTime==1 ? other.cols() : 1; - _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols); - - if (num_new_elements > 0) - _this.tail(num_new_elements) = other.tail(num_new_elements); - } -}; - -template -struct matrix_swap_impl -{ - EIGEN_DEVICE_FUNC - static inline void run(MatrixTypeA& a, MatrixTypeB& b) - { - a.base().swap(b); - } -}; - -template -struct matrix_swap_impl -{ - EIGEN_DEVICE_FUNC - static inline void run(MatrixTypeA& a, MatrixTypeB& b) - { - static_cast(a).m_storage.swap(static_cast(b).m_storage); - } -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_DENSESTORAGEBASE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Product.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Product.h deleted file mode 100644 index ae0c94b3..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Product.h +++ /dev/null @@ -1,186 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_PRODUCT_H -#define EIGEN_PRODUCT_H - -namespace Eigen { - -template class ProductImpl; - -namespace internal { - -template -struct traits > -{ - typedef typename remove_all::type LhsCleaned; - typedef typename remove_all::type RhsCleaned; - typedef traits LhsTraits; - typedef traits RhsTraits; - - typedef MatrixXpr XprKind; - - typedef typename ScalarBinaryOpTraits::Scalar, typename traits::Scalar>::ReturnType Scalar; - typedef typename product_promote_storage_type::ret>::ret StorageKind; - typedef typename promote_index_type::type StorageIndex; - - enum { - RowsAtCompileTime = LhsTraits::RowsAtCompileTime, - ColsAtCompileTime = RhsTraits::ColsAtCompileTime, - MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime, - MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime, - - // FIXME: only needed by GeneralMatrixMatrixTriangular - InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime), - - // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator. - Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit - : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0 - : ( ((LhsTraits::Flags&NoPreferredStorageOrderBit) && (RhsTraits::Flags&RowMajorBit)) - || ((RhsTraits::Flags&NoPreferredStorageOrderBit) && (LhsTraits::Flags&RowMajorBit)) ) ? RowMajorBit - : NoPreferredStorageOrderBit - }; -}; - -} // end namespace internal - -/** \class Product - * \ingroup Core_Module - * - * \brief Expression of the product of two arbitrary matrices or vectors - * - * \tparam _Lhs the type of the left-hand side expression - * \tparam _Rhs the type of the right-hand side expression - * - * This class represents an expression of the product of two arbitrary matrices. - * - * The other template parameters are: - * \tparam Option can be DefaultProduct, AliasFreeProduct, or LazyProduct - * - */ -template -class Product : public ProductImpl<_Lhs,_Rhs,Option, - typename internal::product_promote_storage_type::StorageKind, - typename internal::traits<_Rhs>::StorageKind, - internal::product_type<_Lhs,_Rhs>::ret>::ret> -{ - public: - - typedef _Lhs Lhs; - typedef _Rhs Rhs; - - typedef typename ProductImpl< - Lhs, Rhs, Option, - typename internal::product_promote_storage_type::StorageKind, - typename internal::traits::StorageKind, - internal::product_type::ret>::ret>::Base Base; - EIGEN_GENERIC_PUBLIC_INTERFACE(Product) - - typedef typename internal::ref_selector::type LhsNested; - typedef typename internal::ref_selector::type RhsNested; - typedef typename internal::remove_all::type LhsNestedCleaned; - typedef typename internal::remove_all::type RhsNestedCleaned; - - EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs) - { - eigen_assert(lhs.cols() == rhs.rows() - && "invalid matrix product" - && "if you wanted a coeff-wise or a dot product use the respective explicit functions"); - } - - EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); } - EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); } - - EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; } - EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; } - - protected: - - LhsNested m_lhs; - RhsNested m_rhs; -}; - -namespace internal { - -template::ret> -class dense_product_base - : public internal::dense_xpr_base >::type -{}; - -/** Convertion to scalar for inner-products */ -template -class dense_product_base - : public internal::dense_xpr_base >::type -{ - typedef Product ProductXpr; - typedef typename internal::dense_xpr_base::type Base; -public: - using Base::derived; - typedef typename Base::Scalar Scalar; - - operator const Scalar() const - { - return internal::evaluator(derived()).coeff(0,0); - } -}; - -} // namespace internal - -// Generic API dispatcher -template -class ProductImpl : public internal::generic_xpr_base, MatrixXpr, StorageKind>::type -{ - public: - typedef typename internal::generic_xpr_base, MatrixXpr, StorageKind>::type Base; -}; - -template -class ProductImpl - : public internal::dense_product_base -{ - typedef Product Derived; - - public: - - typedef typename internal::dense_product_base Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Derived) - protected: - enum { - IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) && - (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic), - EnableCoeff = IsOneByOne || Option==LazyProduct - }; - - public: - - EIGEN_DEVICE_FUNC Scalar coeff(Index row, Index col) const - { - EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS); - eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) ); - - return internal::evaluator(derived()).coeff(row,col); - } - - EIGEN_DEVICE_FUNC Scalar coeff(Index i) const - { - EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS); - eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) ); - - return internal::evaluator(derived()).coeff(i); - } - - -}; - -} // end namespace Eigen - -#endif // EIGEN_PRODUCT_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ProductEvaluators.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ProductEvaluators.h deleted file mode 100644 index 583b7f59..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ProductEvaluators.h +++ /dev/null @@ -1,1099 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2008-2010 Gael Guennebaud -// Copyright (C) 2011 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - - -#ifndef EIGEN_PRODUCTEVALUATORS_H -#define EIGEN_PRODUCTEVALUATORS_H - -namespace Eigen { - -namespace internal { - -/** \internal - * Evaluator of a product expression. - * Since products require special treatments to handle all possible cases, - * we simply deffer the evaluation logic to a product_evaluator class - * which offers more partial specialization possibilities. - * - * \sa class product_evaluator - */ -template -struct evaluator > - : public product_evaluator > -{ - typedef Product XprType; - typedef product_evaluator Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {} -}; - -// Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B" -// TODO we should apply that rule only if that's really helpful -template -struct evaluator_assume_aliasing, - const CwiseNullaryOp, Plain1>, - const Product > > -{ - static const bool value = true; -}; -template -struct evaluator, - const CwiseNullaryOp, Plain1>, - const Product > > - : public evaluator > -{ - typedef CwiseBinaryOp, - const CwiseNullaryOp, Plain1>, - const Product > XprType; - typedef evaluator > Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) - : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs()) - {} -}; - - -template -struct evaluator, DiagIndex> > - : public evaluator, DiagIndex> > -{ - typedef Diagonal, DiagIndex> XprType; - typedef evaluator, DiagIndex> > Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) - : Base(Diagonal, DiagIndex>( - Product(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()), - xpr.index() )) - {} -}; - - -// Helper class to perform a matrix product with the destination at hand. -// Depending on the sizes of the factors, there are different evaluation strategies -// as controlled by internal::product_type. -template< typename Lhs, typename Rhs, - typename LhsShape = typename evaluator_traits::Shape, - typename RhsShape = typename evaluator_traits::Shape, - int ProductType = internal::product_type::value> -struct generic_product_impl; - -template -struct evaluator_assume_aliasing > { - static const bool value = true; -}; - -// This is the default evaluator implementation for products: -// It creates a temporary and call generic_product_impl -template -struct product_evaluator, ProductTag, LhsShape, RhsShape> - : public evaluator::PlainObject> -{ - typedef Product XprType; - typedef typename XprType::PlainObject PlainObject; - typedef evaluator Base; - enum { - Flags = Base::Flags | EvalBeforeNestingBit - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - explicit product_evaluator(const XprType& xpr) - : m_result(xpr.rows(), xpr.cols()) - { - ::new (static_cast(this)) Base(m_result); - -// FIXME shall we handle nested_eval here?, -// if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.) -// typedef typename internal::nested_eval::type LhsNested; -// typedef typename internal::nested_eval::type RhsNested; -// typedef typename internal::remove_all::type LhsNestedCleaned; -// typedef typename internal::remove_all::type RhsNestedCleaned; -// -// const LhsNested lhs(xpr.lhs()); -// const RhsNested rhs(xpr.rhs()); -// -// generic_product_impl::evalTo(m_result, lhs, rhs); - - generic_product_impl::evalTo(m_result, xpr.lhs(), xpr.rhs()); - } - -protected: - PlainObject m_result; -}; - -// The following three shortcuts are enabled only if the scalar types match excatly. -// TODO: we could enable them for different scalar types when the product is not vectorized. - -// Dense = Product -template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar> -struct Assignment, internal::assign_op, Dense2Dense, - typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type> -{ - typedef Product SrcXprType; - static EIGEN_STRONG_INLINE - void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op &) - { - Index dstRows = src.rows(); - Index dstCols = src.cols(); - if((dst.rows()!=dstRows) || (dst.cols()!=dstCols)) - dst.resize(dstRows, dstCols); - // FIXME shall we handle nested_eval here? - generic_product_impl::evalTo(dst, src.lhs(), src.rhs()); - } -}; - -// Dense += Product -template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar> -struct Assignment, internal::add_assign_op, Dense2Dense, - typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type> -{ - typedef Product SrcXprType; - static EIGEN_STRONG_INLINE - void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op &) - { - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); - // FIXME shall we handle nested_eval here? - generic_product_impl::addTo(dst, src.lhs(), src.rhs()); - } -}; - -// Dense -= Product -template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar> -struct Assignment, internal::sub_assign_op, Dense2Dense, - typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type> -{ - typedef Product SrcXprType; - static EIGEN_STRONG_INLINE - void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op &) - { - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); - // FIXME shall we handle nested_eval here? - generic_product_impl::subTo(dst, src.lhs(), src.rhs()); - } -}; - - -// Dense ?= scalar * Product -// TODO we should apply that rule if that's really helpful -// for instance, this is not good for inner products -template< typename DstXprType, typename Lhs, typename Rhs, typename AssignFunc, typename Scalar, typename ScalarBis, typename Plain> -struct Assignment, const CwiseNullaryOp,Plain>, - const Product >, AssignFunc, Dense2Dense> -{ - typedef CwiseBinaryOp, - const CwiseNullaryOp,Plain>, - const Product > SrcXprType; - static EIGEN_STRONG_INLINE - void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func) - { - call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func); - } -}; - -//---------------------------------------- -// Catch "Dense ?= xpr + Product<>" expression to save one temporary -// FIXME we could probably enable these rules for any product, i.e., not only Dense and DefaultProduct - -template -struct evaluator_assume_aliasing::Scalar>, const OtherXpr, - const Product >, DenseShape > { - static const bool value = true; -}; - -template -struct assignment_from_xpr_op_product -{ - template - static EIGEN_STRONG_INLINE - void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/) - { - call_assignment_no_alias(dst, src.lhs(), Func1()); - call_assignment_no_alias(dst, src.rhs(), Func2()); - } -}; - -#define EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(ASSIGN_OP,BINOP,ASSIGN_OP2) \ - template< typename DstXprType, typename OtherXpr, typename Lhs, typename Rhs, typename DstScalar, typename SrcScalar, typename OtherScalar,typename ProdScalar> \ - struct Assignment, const OtherXpr, \ - const Product >, internal::ASSIGN_OP, Dense2Dense> \ - : assignment_from_xpr_op_product, internal::ASSIGN_OP, internal::ASSIGN_OP2 > \ - {} - -EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op, scalar_sum_op,add_assign_op); -EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_sum_op,add_assign_op); -EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_sum_op,sub_assign_op); - -EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op, scalar_difference_op,sub_assign_op); -EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_difference_op,sub_assign_op); -EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_difference_op,add_assign_op); - -//---------------------------------------- - -template -struct generic_product_impl -{ - template - static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum(); - } - - template - static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum(); - } - - template - static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); } -}; - - -/*********************************************************************** -* Implementation of outer dense * dense vector product -***********************************************************************/ - -// Column major result -template -void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&) -{ - evaluator rhsEval(rhs); - typename nested_eval::type actual_lhs(lhs); - // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored - // FIXME not very good if rhs is real and lhs complex while alpha is real too - const Index cols = dst.cols(); - for (Index j=0; j -void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&) -{ - evaluator lhsEval(lhs); - typename nested_eval::type actual_rhs(rhs); - // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored - // FIXME not very good if lhs is real and rhs complex while alpha is real too - const Index rows = dst.rows(); - for (Index i=0; i -struct generic_product_impl -{ - template struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {}; - typedef typename Product::Scalar Scalar; - - // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose - struct set { template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() = src; } }; - struct add { template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } }; - struct sub { template void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } }; - struct adds { - Scalar m_scale; - explicit adds(const Scalar& s) : m_scale(s) {} - template void operator()(const Dst& dst, const Src& src) const { - dst.const_cast_derived() += m_scale * src; - } - }; - - template - static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major()); - } - - template - static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major()); - } - - template - static inline void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major()); - } - - template - static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { - internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major()); - } - -}; - - -// This base class provides default implementations for evalTo, addTo, subTo, in terms of scaleAndAddTo -template -struct generic_product_impl_base -{ - typedef typename Product::Scalar Scalar; - - template - static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); } - - template - static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); } - - template - static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); } - - template - static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); } - -}; - -template -struct generic_product_impl - : generic_product_impl_base > -{ - typedef typename nested_eval::type LhsNested; - typedef typename nested_eval::type RhsNested; - typedef typename Product::Scalar Scalar; - enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight }; - typedef typename internal::remove_all::type>::type MatrixType; - - template - static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { - LhsNested actual_lhs(lhs); - RhsNested actual_rhs(rhs); - internal::gemv_dense_selector::HasUsableDirectAccess) - >::run(actual_lhs, actual_rhs, dst, alpha); - } -}; - -template -struct generic_product_impl -{ - typedef typename Product::Scalar Scalar; - - template - static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - // Same as: dst.noalias() = lhs.lazyProduct(rhs); - // but easier on the compiler side - call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op()); - } - - template - static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - // dst.noalias() += lhs.lazyProduct(rhs); - call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op()); - } - - template - static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs) - { - // dst.noalias() -= lhs.lazyProduct(rhs); - call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op()); - } - -// template -// static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) -// { dst.noalias() += alpha * lhs.lazyProduct(rhs); } -}; - -// This specialization enforces the use of a coefficient-based evaluation strategy -template -struct generic_product_impl - : generic_product_impl {}; - -// Case 2: Evaluate coeff by coeff -// -// This is mostly taken from CoeffBasedProduct.h -// The main difference is that we add an extra argument to the etor_product_*_impl::run() function -// for the inner dimension of the product, because evaluator object do not know their size. - -template -struct etor_product_coeff_impl; - -template -struct etor_product_packet_impl; - -template -struct product_evaluator, ProductTag, DenseShape, DenseShape> - : evaluator_base > -{ - typedef Product XprType; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - explicit product_evaluator(const XprType& xpr) - : m_lhs(xpr.lhs()), - m_rhs(xpr.rhs()), - m_lhsImpl(m_lhs), // FIXME the creation of the evaluator objects should result in a no-op, but check that! - m_rhsImpl(m_rhs), // Moreover, they are only useful for the packet path, so we could completely disable them when not needed, - // or perhaps declare them on the fly on the packet method... We have experiment to check what's best. - m_innerDim(xpr.lhs().cols()) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits::MulCost); - EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits::AddCost); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); -#if 0 - std::cerr << "LhsOuterStrideBytes= " << LhsOuterStrideBytes << "\n"; - std::cerr << "RhsOuterStrideBytes= " << RhsOuterStrideBytes << "\n"; - std::cerr << "LhsAlignment= " << LhsAlignment << "\n"; - std::cerr << "RhsAlignment= " << RhsAlignment << "\n"; - std::cerr << "CanVectorizeLhs= " << CanVectorizeLhs << "\n"; - std::cerr << "CanVectorizeRhs= " << CanVectorizeRhs << "\n"; - std::cerr << "CanVectorizeInner= " << CanVectorizeInner << "\n"; - std::cerr << "EvalToRowMajor= " << EvalToRowMajor << "\n"; - std::cerr << "Alignment= " << Alignment << "\n"; - std::cerr << "Flags= " << Flags << "\n"; -#endif - } - - // Everything below here is taken from CoeffBasedProduct.h - - typedef typename internal::nested_eval::type LhsNested; - typedef typename internal::nested_eval::type RhsNested; - - typedef typename internal::remove_all::type LhsNestedCleaned; - typedef typename internal::remove_all::type RhsNestedCleaned; - - typedef evaluator LhsEtorType; - typedef evaluator RhsEtorType; - - enum { - RowsAtCompileTime = LhsNestedCleaned::RowsAtCompileTime, - ColsAtCompileTime = RhsNestedCleaned::ColsAtCompileTime, - InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsNestedCleaned::ColsAtCompileTime, RhsNestedCleaned::RowsAtCompileTime), - MaxRowsAtCompileTime = LhsNestedCleaned::MaxRowsAtCompileTime, - MaxColsAtCompileTime = RhsNestedCleaned::MaxColsAtCompileTime - }; - - typedef typename find_best_packet::type LhsVecPacketType; - typedef typename find_best_packet::type RhsVecPacketType; - - enum { - - LhsCoeffReadCost = LhsEtorType::CoeffReadCost, - RhsCoeffReadCost = RhsEtorType::CoeffReadCost, - CoeffReadCost = InnerSize==0 ? NumTraits::ReadCost - : InnerSize == Dynamic ? HugeCost - : InnerSize * (NumTraits::MulCost + LhsCoeffReadCost + RhsCoeffReadCost) - + (InnerSize - 1) * NumTraits::AddCost, - - Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT, - - LhsFlags = LhsEtorType::Flags, - RhsFlags = RhsEtorType::Flags, - - LhsRowMajor = LhsFlags & RowMajorBit, - RhsRowMajor = RhsFlags & RowMajorBit, - - LhsVecPacketSize = unpacket_traits::size, - RhsVecPacketSize = unpacket_traits::size, - - // Here, we don't care about alignment larger than the usable packet size. - LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))), - RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))), - - SameType = is_same::value, - - CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1), - CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit) && (RowsAtCompileTime!=1), - - EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1 - : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0 - : (bool(RhsRowMajor) && !CanVectorizeLhs), - - Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit) - | (EvalToRowMajor ? RowMajorBit : 0) - // TODO enable vectorization for mixed types - | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0) - | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0), - - LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)), - RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)), - - Alignment = bool(CanVectorizeLhs) ? (LhsOuterStrideBytes<=0 || (int(LhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,LhsAlignment))!=0 ? 0 : LhsAlignment) - : bool(CanVectorizeRhs) ? (RhsOuterStrideBytes<=0 || (int(RhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,RhsAlignment))!=0 ? 0 : RhsAlignment) - : 0, - - /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside - * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner - * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect - * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI. - */ - CanVectorizeInner = SameType - && LhsRowMajor - && (!RhsRowMajor) - && (LhsFlags & RhsFlags & ActualPacketAccessBit) - && (InnerSize % packet_traits::size == 0) - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const - { - return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum(); - } - - /* Allow index-based non-packet access. It is impossible though to allow index-based packed access, - * which is why we don't set the LinearAccessBit. - * TODO: this seems possible when the result is a vector - */ - EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const - { - const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index; - const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0; - return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum(); - } - - template - const PacketType packet(Index row, Index col) const - { - PacketType res; - typedef etor_product_packet_impl PacketImpl; - PacketImpl::run(row, col, m_lhsImpl, m_rhsImpl, m_innerDim, res); - return res; - } - - template - const PacketType packet(Index index) const - { - const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index; - const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0; - return packet(row,col); - } - -protected: - typename internal::add_const_on_value_type::type m_lhs; - typename internal::add_const_on_value_type::type m_rhs; - - LhsEtorType m_lhsImpl; - RhsEtorType m_rhsImpl; - - // TODO: Get rid of m_innerDim if known at compile time - Index m_innerDim; -}; - -template -struct product_evaluator, LazyCoeffBasedProductMode, DenseShape, DenseShape> - : product_evaluator, CoeffBasedProductMode, DenseShape, DenseShape> -{ - typedef Product XprType; - typedef Product BaseProduct; - typedef product_evaluator Base; - enum { - Flags = Base::Flags | EvalBeforeNestingBit - }; - EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) - : Base(BaseProduct(xpr.lhs(),xpr.rhs())) - {} -}; - -/**************************************** -*** Coeff based product, Packet path *** -****************************************/ - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res) - { - etor_product_packet_impl::run(row, col, lhs, rhs, innerDim, res); - res = pmadd(pset1(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet(Index(UnrollingIndex-1), col), res); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res) - { - etor_product_packet_impl::run(row, col, lhs, rhs, innerDim, res); - res = pmadd(lhs.template packet(row, Index(UnrollingIndex-1)), pset1(rhs.coeff(Index(UnrollingIndex-1), col)), res); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res) - { - res = pmul(pset1(lhs.coeff(row, Index(0))),rhs.template packet(Index(0), col)); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res) - { - res = pmul(lhs.template packet(row, Index(0)), pset1(rhs.coeff(Index(0), col))); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res) - { - res = pset1(typename unpacket_traits::type(0)); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res) - { - res = pset1(typename unpacket_traits::type(0)); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res) - { - res = pset1(typename unpacket_traits::type(0)); - for(Index i = 0; i < innerDim; ++i) - res = pmadd(pset1(lhs.coeff(row, i)), rhs.template packet(i, col), res); - } -}; - -template -struct etor_product_packet_impl -{ - static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res) - { - res = pset1(typename unpacket_traits::type(0)); - for(Index i = 0; i < innerDim; ++i) - res = pmadd(lhs.template packet(row, i), pset1(rhs.coeff(i, col)), res); - } -}; - - -/*************************************************************************** -* Triangular products -***************************************************************************/ -template -struct triangular_product_impl; - -template -struct generic_product_impl - : generic_product_impl_base > -{ - typedef typename Product::Scalar Scalar; - - template - static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { - triangular_product_impl - ::run(dst, lhs.nestedExpression(), rhs, alpha); - } -}; - -template -struct generic_product_impl -: generic_product_impl_base > -{ - typedef typename Product::Scalar Scalar; - - template - static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { - triangular_product_impl::run(dst, lhs, rhs.nestedExpression(), alpha); - } -}; - - -/*************************************************************************** -* SelfAdjoint products -***************************************************************************/ -template -struct selfadjoint_product_impl; - -template -struct generic_product_impl - : generic_product_impl_base > -{ - typedef typename Product::Scalar Scalar; - - template - static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { - selfadjoint_product_impl::run(dst, lhs.nestedExpression(), rhs, alpha); - } -}; - -template -struct generic_product_impl -: generic_product_impl_base > -{ - typedef typename Product::Scalar Scalar; - - template - static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha) - { - selfadjoint_product_impl::run(dst, lhs, rhs.nestedExpression(), alpha); - } -}; - - -/*************************************************************************** -* Diagonal products -***************************************************************************/ - -template -struct diagonal_product_evaluator_base - : evaluator_base -{ - typedef typename ScalarBinaryOpTraits::ReturnType Scalar; -public: - enum { - CoeffReadCost = NumTraits::MulCost + evaluator::CoeffReadCost + evaluator::CoeffReadCost, - - MatrixFlags = evaluator::Flags, - DiagFlags = evaluator::Flags, - _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor, - _ScalarAccessOnDiag = !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft) - ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)), - _SameTypes = is_same::value, - // FIXME currently we need same types, but in the future the next rule should be the one - //_Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))), - _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))), - _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0, - Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0), - Alignment = evaluator::Alignment - }; - - diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag) - : m_diagImpl(diag), m_matImpl(mat) - { - EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits::MulCost); - EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const - { - return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx); - } - -protected: - template - EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const - { - return internal::pmul(m_matImpl.template packet(row, col), - internal::pset1(m_diagImpl.coeff(id))); - } - - template - EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const - { - enum { - InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime, - DiagonalPacketLoadMode = EIGEN_PLAIN_ENUM_MIN(LoadMode,((InnerSize%16) == 0) ? int(Aligned16) : int(evaluator::Alignment)) // FIXME hardcoded 16!! - }; - return internal::pmul(m_matImpl.template packet(row, col), - m_diagImpl.template packet(id)); - } - - evaluator m_diagImpl; - evaluator m_matImpl; -}; - -// diagonal * dense -template -struct product_evaluator, ProductTag, DiagonalShape, DenseShape> - : diagonal_product_evaluator_base, OnTheLeft> -{ - typedef diagonal_product_evaluator_base, OnTheLeft> Base; - using Base::m_diagImpl; - using Base::m_matImpl; - using Base::coeff; - typedef typename Base::Scalar Scalar; - - typedef Product XprType; - typedef typename XprType::PlainObject PlainObject; - - enum { - StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor - }; - - EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) - : Base(xpr.rhs(), xpr.lhs().diagonal()) - { - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const - { - return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col); - } - -#ifndef __CUDACC__ - template - EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const - { - // FIXME: NVCC used to complain about the template keyword, but we have to check whether this is still the case. - // See also similar calls below. - return this->template packet_impl(row,col, row, - typename internal::conditional::type()); - } - - template - EIGEN_STRONG_INLINE PacketType packet(Index idx) const - { - return packet(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx); - } -#endif -}; - -// dense * diagonal -template -struct product_evaluator, ProductTag, DenseShape, DiagonalShape> - : diagonal_product_evaluator_base, OnTheRight> -{ - typedef diagonal_product_evaluator_base, OnTheRight> Base; - using Base::m_diagImpl; - using Base::m_matImpl; - using Base::coeff; - typedef typename Base::Scalar Scalar; - - typedef Product XprType; - typedef typename XprType::PlainObject PlainObject; - - enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor }; - - EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr) - : Base(xpr.lhs(), xpr.rhs().diagonal()) - { - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const - { - return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col); - } - -#ifndef __CUDACC__ - template - EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const - { - return this->template packet_impl(row,col, col, - typename internal::conditional::type()); - } - - template - EIGEN_STRONG_INLINE PacketType packet(Index idx) const - { - return packet(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx); - } -#endif -}; - -/*************************************************************************** -* Products with permutation matrices -***************************************************************************/ - -/** \internal - * \class permutation_matrix_product - * Internal helper class implementing the product between a permutation matrix and a matrix. - * This class is specialized for DenseShape below and for SparseShape in SparseCore/SparsePermutation.h - */ -template -struct permutation_matrix_product; - -template -struct permutation_matrix_product -{ - typedef typename nested_eval::type MatrixType; - typedef typename remove_all::type MatrixTypeCleaned; - - template - static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr) - { - MatrixType mat(xpr); - const Index n = Side==OnTheLeft ? mat.rows() : mat.cols(); - // FIXME we need an is_same for expression that is not sensitive to constness. For instance - // is_same_xpr, Block >::value should be true. - //if(is_same::value && extract_data(dst) == extract_data(mat)) - if(is_same_dense(dst, mat)) - { - // apply the permutation inplace - Matrix mask(perm.size()); - mask.fill(false); - Index r = 0; - while(r < perm.size()) - { - // search for the next seed - while(r=perm.size()) - break; - // we got one, let's follow it until we are back to the seed - Index k0 = r++; - Index kPrev = k0; - mask.coeffRef(k0) = true; - for(Index k=perm.indices().coeff(k0); k!=k0; k=perm.indices().coeff(k)) - { - Block(dst, k) - .swap(Block - (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev)); - - mask.coeffRef(k) = true; - kPrev = k; - } - } - } - else - { - for(Index i = 0; i < n; ++i) - { - Block - (dst, ((Side==OnTheLeft) ^ Transposed) ? perm.indices().coeff(i) : i) - - = - - Block - (mat, ((Side==OnTheRight) ^ Transposed) ? perm.indices().coeff(i) : i); - } - } - } -}; - -template -struct generic_product_impl -{ - template - static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) - { - permutation_matrix_product::run(dst, lhs, rhs); - } -}; - -template -struct generic_product_impl -{ - template - static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) - { - permutation_matrix_product::run(dst, rhs, lhs); - } -}; - -template -struct generic_product_impl, Rhs, PermutationShape, MatrixShape, ProductTag> -{ - template - static void evalTo(Dest& dst, const Inverse& lhs, const Rhs& rhs) - { - permutation_matrix_product::run(dst, lhs.nestedExpression(), rhs); - } -}; - -template -struct generic_product_impl, MatrixShape, PermutationShape, ProductTag> -{ - template - static void evalTo(Dest& dst, const Lhs& lhs, const Inverse& rhs) - { - permutation_matrix_product::run(dst, rhs.nestedExpression(), lhs); - } -}; - - -/*************************************************************************** -* Products with transpositions matrices -***************************************************************************/ - -// FIXME could we unify Transpositions and Permutation into a single "shape"?? - -/** \internal - * \class transposition_matrix_product - * Internal helper class implementing the product between a permutation matrix and a matrix. - */ -template -struct transposition_matrix_product -{ - typedef typename nested_eval::type MatrixType; - typedef typename remove_all::type MatrixTypeCleaned; - - template - static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr) - { - MatrixType mat(xpr); - typedef typename TranspositionType::StorageIndex StorageIndex; - const Index size = tr.size(); - StorageIndex j = 0; - - if(!is_same_dense(dst,mat)) - dst = mat; - - for(Index k=(Transposed?size-1:0) ; Transposed?k>=0:k -struct generic_product_impl -{ - template - static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) - { - transposition_matrix_product::run(dst, lhs, rhs); - } -}; - -template -struct generic_product_impl -{ - template - static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs) - { - transposition_matrix_product::run(dst, rhs, lhs); - } -}; - - -template -struct generic_product_impl, Rhs, TranspositionsShape, MatrixShape, ProductTag> -{ - template - static void evalTo(Dest& dst, const Transpose& lhs, const Rhs& rhs) - { - transposition_matrix_product::run(dst, lhs.nestedExpression(), rhs); - } -}; - -template -struct generic_product_impl, MatrixShape, TranspositionsShape, ProductTag> -{ - template - static void evalTo(Dest& dst, const Lhs& lhs, const Transpose& rhs) - { - transposition_matrix_product::run(dst, rhs.nestedExpression(), lhs); - } -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_PRODUCT_EVALUATORS_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Random.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Random.h deleted file mode 100644 index 486e9ed5..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Random.h +++ /dev/null @@ -1,182 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_RANDOM_H -#define EIGEN_RANDOM_H - -namespace Eigen { - -namespace internal { - -template struct scalar_random_op { - EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op) - inline const Scalar operator() () const { return random(); } -}; - -template -struct functor_traits > -{ enum { Cost = 5 * NumTraits::MulCost, PacketAccess = false, IsRepeatable = false }; }; - -} // end namespace internal - -/** \returns a random matrix expression - * - * Numbers are uniformly spread through their whole definition range for integer types, - * and in the [-1:1] range for floating point scalar types. - * - * The parameters \a rows and \a cols are the number of rows and of columns of - * the returned matrix. Must be compatible with this MatrixBase type. - * - * \not_reentrant - * - * This variant is meant to be used for dynamic-size matrix types. For fixed-size types, - * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used - * instead. - * - * - * Example: \include MatrixBase_random_int_int.cpp - * Output: \verbinclude MatrixBase_random_int_int.out - * - * This expression has the "evaluate before nesting" flag so that it will be evaluated into - * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected - * behavior with expressions involving random matrices. - * - * See DenseBase::NullaryExpr(Index, const CustomNullaryOp&) for an example using C++11 random generators. - * - * \sa DenseBase::setRandom(), DenseBase::Random(Index), DenseBase::Random() - */ -template -inline const typename DenseBase::RandomReturnType -DenseBase::Random(Index rows, Index cols) -{ - return NullaryExpr(rows, cols, internal::scalar_random_op()); -} - -/** \returns a random vector expression - * - * Numbers are uniformly spread through their whole definition range for integer types, - * and in the [-1:1] range for floating point scalar types. - * - * The parameter \a size is the size of the returned vector. - * Must be compatible with this MatrixBase type. - * - * \only_for_vectors - * \not_reentrant - * - * This variant is meant to be used for dynamic-size vector types. For fixed-size types, - * it is redundant to pass \a size as argument, so Random() should be used - * instead. - * - * Example: \include MatrixBase_random_int.cpp - * Output: \verbinclude MatrixBase_random_int.out - * - * This expression has the "evaluate before nesting" flag so that it will be evaluated into - * a temporary vector whenever it is nested in a larger expression. This prevents unexpected - * behavior with expressions involving random matrices. - * - * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random() - */ -template -inline const typename DenseBase::RandomReturnType -DenseBase::Random(Index size) -{ - return NullaryExpr(size, internal::scalar_random_op()); -} - -/** \returns a fixed-size random matrix or vector expression - * - * Numbers are uniformly spread through their whole definition range for integer types, - * and in the [-1:1] range for floating point scalar types. - * - * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you - * need to use the variants taking size arguments. - * - * Example: \include MatrixBase_random.cpp - * Output: \verbinclude MatrixBase_random.out - * - * This expression has the "evaluate before nesting" flag so that it will be evaluated into - * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected - * behavior with expressions involving random matrices. - * - * \not_reentrant - * - * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random(Index) - */ -template -inline const typename DenseBase::RandomReturnType -DenseBase::Random() -{ - return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op()); -} - -/** Sets all coefficients in this expression to random values. - * - * Numbers are uniformly spread through their whole definition range for integer types, - * and in the [-1:1] range for floating point scalar types. - * - * \not_reentrant - * - * Example: \include MatrixBase_setRandom.cpp - * Output: \verbinclude MatrixBase_setRandom.out - * - * \sa class CwiseNullaryOp, setRandom(Index), setRandom(Index,Index) - */ -template -EIGEN_DEVICE_FUNC inline Derived& DenseBase::setRandom() -{ - return *this = Random(rows(), cols()); -} - -/** Resizes to the given \a newSize, and sets all coefficients in this expression to random values. - * - * Numbers are uniformly spread through their whole definition range for integer types, - * and in the [-1:1] range for floating point scalar types. - * - * \only_for_vectors - * \not_reentrant - * - * Example: \include Matrix_setRandom_int.cpp - * Output: \verbinclude Matrix_setRandom_int.out - * - * \sa DenseBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, DenseBase::Random() - */ -template -EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setRandom(Index newSize) -{ - resize(newSize); - return setRandom(); -} - -/** Resizes to the given size, and sets all coefficients in this expression to random values. - * - * Numbers are uniformly spread through their whole definition range for integer types, - * and in the [-1:1] range for floating point scalar types. - * - * \not_reentrant - * - * \param rows the new number of rows - * \param cols the new number of columns - * - * Example: \include Matrix_setRandom_int_int.cpp - * Output: \verbinclude Matrix_setRandom_int_int.out - * - * \sa DenseBase::setRandom(), setRandom(Index), class CwiseNullaryOp, DenseBase::Random() - */ -template -EIGEN_STRONG_INLINE Derived& -PlainObjectBase::setRandom(Index rows, Index cols) -{ - resize(rows, cols); - return setRandom(); -} - -} // end namespace Eigen - -#endif // EIGEN_RANDOM_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Redux.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Redux.h deleted file mode 100644 index 2b5b73bf..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Redux.h +++ /dev/null @@ -1,505 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_REDUX_H -#define EIGEN_REDUX_H - -namespace Eigen { - -namespace internal { - -// TODO -// * implement other kind of vectorization -// * factorize code - -/*************************************************************************** -* Part 1 : the logic deciding a strategy for vectorization and unrolling -***************************************************************************/ - -template -struct redux_traits -{ -public: - typedef typename find_best_packet::type PacketType; - enum { - PacketSize = unpacket_traits::size, - InnerMaxSize = int(Derived::IsRowMajor) - ? Derived::MaxColsAtCompileTime - : Derived::MaxRowsAtCompileTime - }; - - enum { - MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit) - && (functor_traits::PacketAccess), - MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit), - MaySliceVectorize = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize - }; - -public: - enum { - Traversal = int(MayLinearVectorize) ? int(LinearVectorizedTraversal) - : int(MaySliceVectorize) ? int(SliceVectorizedTraversal) - : int(DefaultTraversal) - }; - -public: - enum { - Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost - : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits::Cost, - UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize)) - }; - -public: - enum { - Unrolling = Cost <= UnrollingLimit ? CompleteUnrolling : NoUnrolling - }; - -#ifdef EIGEN_DEBUG_ASSIGN - static void debug() - { - std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl; - std::cerr.setf(std::ios::hex, std::ios::basefield); - EIGEN_DEBUG_VAR(Derived::Flags) - std::cerr.unsetf(std::ios::hex); - EIGEN_DEBUG_VAR(InnerMaxSize) - EIGEN_DEBUG_VAR(PacketSize) - EIGEN_DEBUG_VAR(MightVectorize) - EIGEN_DEBUG_VAR(MayLinearVectorize) - EIGEN_DEBUG_VAR(MaySliceVectorize) - EIGEN_DEBUG_VAR(Traversal) - EIGEN_DEBUG_VAR(UnrollingLimit) - EIGEN_DEBUG_VAR(Unrolling) - std::cerr << std::endl; - } -#endif -}; - -/*************************************************************************** -* Part 2 : unrollers -***************************************************************************/ - -/*** no vectorization ***/ - -template -struct redux_novec_unroller -{ - enum { - HalfLength = Length/2 - }; - - typedef typename Derived::Scalar Scalar; - - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func) - { - return func(redux_novec_unroller::run(mat,func), - redux_novec_unroller::run(mat,func)); - } -}; - -template -struct redux_novec_unroller -{ - enum { - outer = Start / Derived::InnerSizeAtCompileTime, - inner = Start % Derived::InnerSizeAtCompileTime - }; - - typedef typename Derived::Scalar Scalar; - - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&) - { - return mat.coeffByOuterInner(outer, inner); - } -}; - -// This is actually dead code and will never be called. It is required -// to prevent false warnings regarding failed inlining though -// for 0 length run() will never be called at all. -template -struct redux_novec_unroller -{ - typedef typename Derived::Scalar Scalar; - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); } -}; - -/*** vectorization ***/ - -template -struct redux_vec_unroller -{ - enum { - PacketSize = redux_traits::PacketSize, - HalfLength = Length/2 - }; - - typedef typename Derived::Scalar Scalar; - typedef typename redux_traits::PacketType PacketScalar; - - static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func) - { - return func.packetOp( - redux_vec_unroller::run(mat,func), - redux_vec_unroller::run(mat,func) ); - } -}; - -template -struct redux_vec_unroller -{ - enum { - index = Start * redux_traits::PacketSize, - outer = index / int(Derived::InnerSizeAtCompileTime), - inner = index % int(Derived::InnerSizeAtCompileTime), - alignment = Derived::Alignment - }; - - typedef typename Derived::Scalar Scalar; - typedef typename redux_traits::PacketType PacketScalar; - - static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&) - { - return mat.template packetByOuterInner(outer, inner); - } -}; - -/*************************************************************************** -* Part 3 : implementation of all cases -***************************************************************************/ - -template::Traversal, - int Unrolling = redux_traits::Unrolling -> -struct redux_impl; - -template -struct redux_impl -{ - typedef typename Derived::Scalar Scalar; - EIGEN_DEVICE_FUNC - static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func) - { - eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix"); - Scalar res; - res = mat.coeffByOuterInner(0, 0); - for(Index i = 1; i < mat.innerSize(); ++i) - res = func(res, mat.coeffByOuterInner(0, i)); - for(Index i = 1; i < mat.outerSize(); ++i) - for(Index j = 0; j < mat.innerSize(); ++j) - res = func(res, mat.coeffByOuterInner(i, j)); - return res; - } -}; - -template -struct redux_impl - : public redux_novec_unroller -{}; - -template -struct redux_impl -{ - typedef typename Derived::Scalar Scalar; - typedef typename redux_traits::PacketType PacketScalar; - - static Scalar run(const Derived &mat, const Func& func) - { - const Index size = mat.size(); - - const Index packetSize = redux_traits::PacketSize; - const int packetAlignment = unpacket_traits::alignment; - enum { - alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned), - alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment) - }; - const Index alignedStart = internal::first_default_aligned(mat.nestedExpression()); - const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize); - const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize); - const Index alignedEnd2 = alignedStart + alignedSize2; - const Index alignedEnd = alignedStart + alignedSize; - Scalar res; - if(alignedSize) - { - PacketScalar packet_res0 = mat.template packet(alignedStart); - if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop - { - PacketScalar packet_res1 = mat.template packet(alignedStart+packetSize); - for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize) - { - packet_res0 = func.packetOp(packet_res0, mat.template packet(index)); - packet_res1 = func.packetOp(packet_res1, mat.template packet(index+packetSize)); - } - - packet_res0 = func.packetOp(packet_res0,packet_res1); - if(alignedEnd>alignedEnd2) - packet_res0 = func.packetOp(packet_res0, mat.template packet(alignedEnd2)); - } - res = func.predux(packet_res0); - - for(Index index = 0; index < alignedStart; ++index) - res = func(res,mat.coeff(index)); - - for(Index index = alignedEnd; index < size; ++index) - res = func(res,mat.coeff(index)); - } - else // too small to vectorize anything. - // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize. - { - res = mat.coeff(0); - for(Index index = 1; index < size; ++index) - res = func(res,mat.coeff(index)); - } - - return res; - } -}; - -// NOTE: for SliceVectorizedTraversal we simply bypass unrolling -template -struct redux_impl -{ - typedef typename Derived::Scalar Scalar; - typedef typename redux_traits::PacketType PacketType; - - EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func) - { - eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix"); - const Index innerSize = mat.innerSize(); - const Index outerSize = mat.outerSize(); - enum { - packetSize = redux_traits::PacketSize - }; - const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize; - Scalar res; - if(packetedInnerSize) - { - PacketType packet_res = mat.template packet(0,0); - for(Index j=0; j(j,i)); - - res = func.predux(packet_res); - for(Index j=0; j::run(mat, func); - } - - return res; - } -}; - -template -struct redux_impl -{ - typedef typename Derived::Scalar Scalar; - - typedef typename redux_traits::PacketType PacketScalar; - enum { - PacketSize = redux_traits::PacketSize, - Size = Derived::SizeAtCompileTime, - VectorizedSize = (Size / PacketSize) * PacketSize - }; - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func) - { - eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix"); - if (VectorizedSize > 0) { - Scalar res = func.predux(redux_vec_unroller::run(mat,func)); - if (VectorizedSize != Size) - res = func(res,redux_novec_unroller::run(mat,func)); - return res; - } - else { - return redux_novec_unroller::run(mat,func); - } - } -}; - -// evaluator adaptor -template -class redux_evaluator -{ -public: - typedef _XprType XprType; - EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {} - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename XprType::PacketScalar PacketScalar; - typedef typename XprType::PacketReturnType PacketReturnType; - - enum { - MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime, - MaxColsAtCompileTime = XprType::MaxColsAtCompileTime, - // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator - Flags = evaluator::Flags & ~DirectAccessBit, - IsRowMajor = XprType::IsRowMajor, - SizeAtCompileTime = XprType::SizeAtCompileTime, - InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime, - CoeffReadCost = evaluator::CoeffReadCost, - Alignment = evaluator::Alignment - }; - - EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); } - EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); } - EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); } - EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); } - EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); } - - EIGEN_DEVICE_FUNC - CoeffReturnType coeff(Index row, Index col) const - { return m_evaluator.coeff(row, col); } - - EIGEN_DEVICE_FUNC - CoeffReturnType coeff(Index index) const - { return m_evaluator.coeff(index); } - - template - PacketType packet(Index row, Index col) const - { return m_evaluator.template packet(row, col); } - - template - PacketType packet(Index index) const - { return m_evaluator.template packet(index); } - - EIGEN_DEVICE_FUNC - CoeffReturnType coeffByOuterInner(Index outer, Index inner) const - { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); } - - template - PacketType packetByOuterInner(Index outer, Index inner) const - { return m_evaluator.template packet(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); } - - const XprType & nestedExpression() const { return m_xpr; } - -protected: - internal::evaluator m_evaluator; - const XprType &m_xpr; -}; - -} // end namespace internal - -/*************************************************************************** -* Part 4 : public API -***************************************************************************/ - - -/** \returns the result of a full redux operation on the whole matrix or vector using \a func - * - * The template parameter \a BinaryOp is the type of the functor \a func which must be - * an associative operator. Both current C++98 and C++11 functor styles are handled. - * - * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise() - */ -template -template -EIGEN_DEVICE_FUNC typename internal::traits::Scalar -DenseBase::redux(const Func& func) const -{ - eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix"); - - typedef typename internal::redux_evaluator ThisEvaluator; - ThisEvaluator thisEval(derived()); - - return internal::redux_impl::run(thisEval, func); -} - -/** \returns the minimum of all coefficients of \c *this. - * \warning the result is undefined if \c *this contains NaN. - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits::Scalar -DenseBase::minCoeff() const -{ - return derived().redux(Eigen::internal::scalar_min_op()); -} - -/** \returns the maximum of all coefficients of \c *this. - * \warning the result is undefined if \c *this contains NaN. - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits::Scalar -DenseBase::maxCoeff() const -{ - return derived().redux(Eigen::internal::scalar_max_op()); -} - -/** \returns the sum of all coefficients of \c *this - * - * If \c *this is empty, then the value 0 is returned. - * - * \sa trace(), prod(), mean() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits::Scalar -DenseBase::sum() const -{ - if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) - return Scalar(0); - return derived().redux(Eigen::internal::scalar_sum_op()); -} - -/** \returns the mean of all coefficients of *this -* -* \sa trace(), prod(), sum() -*/ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits::Scalar -DenseBase::mean() const -{ -#ifdef __INTEL_COMPILER - #pragma warning push - #pragma warning ( disable : 2259 ) -#endif - return Scalar(derived().redux(Eigen::internal::scalar_sum_op())) / Scalar(this->size()); -#ifdef __INTEL_COMPILER - #pragma warning pop -#endif -} - -/** \returns the product of all coefficients of *this - * - * Example: \include MatrixBase_prod.cpp - * Output: \verbinclude MatrixBase_prod.out - * - * \sa sum(), mean(), trace() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits::Scalar -DenseBase::prod() const -{ - if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) - return Scalar(1); - return derived().redux(Eigen::internal::scalar_product_op()); -} - -/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal. - * - * \c *this can be any matrix, not necessarily square. - * - * \sa diagonal(), sum() - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits::Scalar -MatrixBase::trace() const -{ - return derived().diagonal().sum(); -} - -} // end namespace Eigen - -#endif // EIGEN_REDUX_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Ref.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Ref.h deleted file mode 100644 index abb1e512..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Ref.h +++ /dev/null @@ -1,283 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_REF_H -#define EIGEN_REF_H - -namespace Eigen { - -namespace internal { - -template -struct traits > - : public traits > -{ - typedef _PlainObjectType PlainObjectType; - typedef _StrideType StrideType; - enum { - Options = _Options, - Flags = traits >::Flags | NestByRefBit, - Alignment = traits >::Alignment - }; - - template struct match { - enum { - HasDirectAccess = internal::has_direct_access::ret, - StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)), - InnerStrideMatch = int(StrideType::InnerStrideAtCompileTime)==int(Dynamic) - || int(StrideType::InnerStrideAtCompileTime)==int(Derived::InnerStrideAtCompileTime) - || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1), - OuterStrideMatch = Derived::IsVectorAtCompileTime - || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime), - // NOTE, this indirection of evaluator::Alignment is needed - // to workaround a very strange bug in MSVC related to the instantiation - // of has_*ary_operator in evaluator. - // This line is surprisingly very sensitive. For instance, simply adding parenthesis - // as "DerivedAlignment = (int(evaluator::Alignment))," will make MSVC fail... - DerivedAlignment = int(evaluator::Alignment), - AlignmentMatch = (int(traits::Alignment)==int(Unaligned)) || (DerivedAlignment >= int(Alignment)), // FIXME the first condition is not very clear, it should be replaced by the required alignment - ScalarTypeMatch = internal::is_same::value, - MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch - }; - typedef typename internal::conditional::type type; - }; - -}; - -template -struct traits > : public traits {}; - -} - -template class RefBase - : public MapBase -{ - typedef typename internal::traits::PlainObjectType PlainObjectType; - typedef typename internal::traits::StrideType StrideType; - -public: - - typedef MapBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(RefBase) - - EIGEN_DEVICE_FUNC inline Index innerStride() const - { - return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1; - } - - EIGEN_DEVICE_FUNC inline Index outerStride() const - { - return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer() - : IsVectorAtCompileTime ? this->size() - : int(Flags)&RowMajorBit ? this->cols() - : this->rows(); - } - - EIGEN_DEVICE_FUNC RefBase() - : Base(0,RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime), - // Stride<> does not allow default ctor for Dynamic strides, so let' initialize it with dummy values: - m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime, - StrideType::InnerStrideAtCompileTime==Dynamic?0:StrideType::InnerStrideAtCompileTime) - {} - - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(RefBase) - -protected: - - typedef Stride StrideBase; - - template - EIGEN_DEVICE_FUNC void construct(Expression& expr) - { - if(PlainObjectType::RowsAtCompileTime==1) - { - eigen_assert(expr.rows()==1 || expr.cols()==1); - ::new (static_cast(this)) Base(expr.data(), 1, expr.size()); - } - else if(PlainObjectType::ColsAtCompileTime==1) - { - eigen_assert(expr.rows()==1 || expr.cols()==1); - ::new (static_cast(this)) Base(expr.data(), expr.size(), 1); - } - else - ::new (static_cast(this)) Base(expr.data(), expr.rows(), expr.cols()); - - if(Expression::IsVectorAtCompileTime && (!PlainObjectType::IsVectorAtCompileTime) && ((Expression::Flags&RowMajorBit)!=(PlainObjectType::Flags&RowMajorBit))) - ::new (&m_stride) StrideBase(expr.innerStride(), StrideType::InnerStrideAtCompileTime==0?0:1); - else - ::new (&m_stride) StrideBase(StrideType::OuterStrideAtCompileTime==0?0:expr.outerStride(), - StrideType::InnerStrideAtCompileTime==0?0:expr.innerStride()); - } - - StrideBase m_stride; -}; - -/** \class Ref - * \ingroup Core_Module - * - * \brief A matrix or vector expression mapping an existing expression - * - * \tparam PlainObjectType the equivalent matrix type of the mapped data - * \tparam Options specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned. - * The default is \c #Unaligned. - * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1), - * but accepts a variable outer stride (leading dimension). - * This can be overridden by specifying strides. - * The type passed here must be a specialization of the Stride template, see examples below. - * - * This class provides a way to write non-template functions taking Eigen objects as parameters while limiting the number of copies. - * A Ref<> object can represent either a const expression or a l-value: - * \code - * // in-out argument: - * void foo1(Ref x); - * - * // read-only const argument: - * void foo2(const Ref& x); - * \endcode - * - * In the in-out case, the input argument must satisfy the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered. - * By default, a Ref can reference any dense vector expression of float having a contiguous memory layout. - * Likewise, a Ref can reference any column-major dense matrix expression of float whose column's elements are contiguously stored with - * the possibility to have a constant space in-between each column, i.e. the inner stride must be equal to 1, but the outer stride (or leading dimension) - * can be greater than the number of rows. - * - * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function. - * Here are some examples: - * \code - * MatrixXf A; - * VectorXf a; - * foo1(a.head()); // OK - * foo1(A.col()); // OK - * foo1(A.row()); // Compilation error because here innerstride!=1 - * foo2(A.row()); // Compilation error because A.row() is a 1xN object while foo2 is expecting a Nx1 object - * foo2(A.row().transpose()); // The row is copied into a contiguous temporary - * foo2(2*a); // The expression is evaluated into a temporary - * foo2(A.col().segment(2,4)); // No temporary - * \endcode - * - * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameters. - * Here is an example accepting an innerstride!=1: - * \code - * // in-out argument: - * void foo3(Ref > x); - * foo3(A.row()); // OK - * \endcode - * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involve more - * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overload internally calling a - * template function, e.g.: - * \code - * // in the .h: - * void foo(const Ref& A); - * void foo(const Ref >& A); - * - * // in the .cpp: - * template void foo_impl(const TypeOfA& A) { - * ... // crazy code goes here - * } - * void foo(const Ref& A) { foo_impl(A); } - * void foo(const Ref >& A) { foo_impl(A); } - * \endcode - * - * See also the following stackoverflow questions for further references: - * - Correct usage of the Eigen::Ref<> class - * - * \sa PlainObjectBase::Map(), \ref TopicStorageOrders - */ -template class Ref - : public RefBase > -{ - private: - typedef internal::traits Traits; - template - EIGEN_DEVICE_FUNC inline Ref(const PlainObjectBase& expr, - typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0); - public: - - typedef RefBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Ref) - - - #ifndef EIGEN_PARSED_BY_DOXYGEN - template - EIGEN_DEVICE_FUNC inline Ref(PlainObjectBase& expr, - typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0) - { - EIGEN_STATIC_ASSERT(bool(Traits::template match::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH); - Base::construct(expr.derived()); - } - template - EIGEN_DEVICE_FUNC inline Ref(const DenseBase& expr, - typename internal::enable_if::MatchAtCompileTime),Derived>::type* = 0) - #else - /** Implicit constructor from any dense expression */ - template - inline Ref(DenseBase& expr) - #endif - { - EIGEN_STATIC_ASSERT(bool(internal::is_lvalue::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY); - EIGEN_STATIC_ASSERT(bool(Traits::template match::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH); - EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY); - Base::construct(expr.const_cast_derived()); - } - - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Ref) - -}; - -// this is the const ref version -template class Ref - : public RefBase > -{ - typedef internal::traits Traits; - public: - - typedef RefBase Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Ref) - - template - EIGEN_DEVICE_FUNC inline Ref(const DenseBase& expr, - typename internal::enable_if::ScalarTypeMatch),Derived>::type* = 0) - { -// std::cout << match_helper::HasDirectAccess << "," << match_helper::OuterStrideMatch << "," << match_helper::InnerStrideMatch << "\n"; -// std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n"; -// std::cout << int(StrideType::InnerStrideAtCompileTime) << " - " << int(Derived::InnerStrideAtCompileTime) << "\n"; - construct(expr.derived(), typename Traits::template match::type()); - } - - EIGEN_DEVICE_FUNC inline Ref(const Ref& other) : Base(other) { - // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy - } - - template - EIGEN_DEVICE_FUNC inline Ref(const RefBase& other) { - construct(other.derived(), typename Traits::template match::type()); - } - - protected: - - template - EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type) - { - Base::construct(expr); - } - - template - EIGEN_DEVICE_FUNC void construct(const Expression& expr, internal::false_type) - { - internal::call_assignment_no_alias(m_object,expr,internal::assign_op()); - Base::construct(m_object); - } - - protected: - TPlainObjectType m_object; -}; - -} // end namespace Eigen - -#endif // EIGEN_REF_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Replicate.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Replicate.h deleted file mode 100644 index 0b2d6d74..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Replicate.h +++ /dev/null @@ -1,142 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_REPLICATE_H -#define EIGEN_REPLICATE_H - -namespace Eigen { - -namespace internal { -template -struct traits > - : traits -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename traits::StorageKind StorageKind; - typedef typename traits::XprKind XprKind; - typedef typename ref_selector::type MatrixTypeNested; - typedef typename remove_reference::type _MatrixTypeNested; - enum { - RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic - ? Dynamic - : RowFactor * MatrixType::RowsAtCompileTime, - ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic - ? Dynamic - : ColFactor * MatrixType::ColsAtCompileTime, - //FIXME we don't propagate the max sizes !!! - MaxRowsAtCompileTime = RowsAtCompileTime, - MaxColsAtCompileTime = ColsAtCompileTime, - IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1 - : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0 - : (MatrixType::Flags & RowMajorBit) ? 1 : 0, - - // FIXME enable DirectAccess with negative strides? - Flags = IsRowMajor ? RowMajorBit : 0 - }; -}; -} - -/** - * \class Replicate - * \ingroup Core_Module - * - * \brief Expression of the multiple replication of a matrix or vector - * - * \tparam MatrixType the type of the object we are replicating - * \tparam RowFactor number of repetitions at compile time along the vertical direction, can be Dynamic. - * \tparam ColFactor number of repetitions at compile time along the horizontal direction, can be Dynamic. - * - * This class represents an expression of the multiple replication of a matrix or vector. - * It is the return type of DenseBase::replicate() and most of the time - * this is the only way it is used. - * - * \sa DenseBase::replicate() - */ -template class Replicate - : public internal::dense_xpr_base< Replicate >::type -{ - typedef typename internal::traits::MatrixTypeNested MatrixTypeNested; - typedef typename internal::traits::_MatrixTypeNested _MatrixTypeNested; - public: - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Replicate) - typedef typename internal::remove_all::type NestedExpression; - - template - EIGEN_DEVICE_FUNC - inline explicit Replicate(const OriginalMatrixType& matrix) - : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor) - { - EIGEN_STATIC_ASSERT((internal::is_same::type,OriginalMatrixType>::value), - THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE) - eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic); - } - - template - EIGEN_DEVICE_FUNC - inline Replicate(const OriginalMatrixType& matrix, Index rowFactor, Index colFactor) - : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor) - { - EIGEN_STATIC_ASSERT((internal::is_same::type,OriginalMatrixType>::value), - THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE) - } - - EIGEN_DEVICE_FUNC - inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); } - EIGEN_DEVICE_FUNC - inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); } - - EIGEN_DEVICE_FUNC - const _MatrixTypeNested& nestedExpression() const - { - return m_matrix; - } - - protected: - MatrixTypeNested m_matrix; - const internal::variable_if_dynamic m_rowFactor; - const internal::variable_if_dynamic m_colFactor; -}; - -/** - * \return an expression of the replication of \c *this - * - * Example: \include MatrixBase_replicate.cpp - * Output: \verbinclude MatrixBase_replicate.out - * - * \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate - */ -template -template -EIGEN_DEVICE_FUNC const Replicate -DenseBase::replicate() const -{ - return Replicate(derived()); -} - -/** - * \return an expression of the replication of each column (or row) of \c *this - * - * Example: \include DirectionWise_replicate_int.cpp - * Output: \verbinclude DirectionWise_replicate_int.out - * - * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate - */ -template -EIGEN_DEVICE_FUNC const typename VectorwiseOp::ReplicateReturnType -VectorwiseOp::replicate(Index factor) const -{ - return typename VectorwiseOp::ReplicateReturnType - (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1); -} - -} // end namespace Eigen - -#endif // EIGEN_REPLICATE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/ReturnByValue.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/ReturnByValue.h deleted file mode 100644 index 11dc86d0..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/ReturnByValue.h +++ /dev/null @@ -1,117 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2010 Gael Guennebaud -// Copyright (C) 2009-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_RETURNBYVALUE_H -#define EIGEN_RETURNBYVALUE_H - -namespace Eigen { - -namespace internal { - -template -struct traits > - : public traits::ReturnType> -{ - enum { - // We're disabling the DirectAccess because e.g. the constructor of - // the Block-with-DirectAccess expression requires to have a coeffRef method. - // Also, we don't want to have to implement the stride stuff. - Flags = (traits::ReturnType>::Flags - | EvalBeforeNestingBit) & ~DirectAccessBit - }; -}; - -/* The ReturnByValue object doesn't even have a coeff() method. - * So the only way that nesting it in an expression can work, is by evaluating it into a plain matrix. - * So internal::nested always gives the plain return matrix type. - * - * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ?? - * Answer: EvalBeforeNestingBit should be deprecated since we have the evaluators - */ -template -struct nested_eval, n, PlainObject> -{ - typedef typename traits::ReturnType type; -}; - -} // end namespace internal - -/** \class ReturnByValue - * \ingroup Core_Module - * - */ -template class ReturnByValue - : public internal::dense_xpr_base< ReturnByValue >::type, internal::no_assignment_operator -{ - public: - typedef typename internal::traits::ReturnType ReturnType; - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue) - - template - EIGEN_DEVICE_FUNC - inline void evalTo(Dest& dst) const - { static_cast(this)->evalTo(dst); } - EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast(this)->rows(); } - EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast(this)->cols(); } - -#ifndef EIGEN_PARSED_BY_DOXYGEN -#define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT - class Unusable{ - Unusable(const Unusable&) {} - Unusable& operator=(const Unusable&) {return *this;} - }; - const Unusable& coeff(Index) const { return *reinterpret_cast(this); } - const Unusable& coeff(Index,Index) const { return *reinterpret_cast(this); } - Unusable& coeffRef(Index) { return *reinterpret_cast(this); } - Unusable& coeffRef(Index,Index) { return *reinterpret_cast(this); } -#undef Unusable -#endif -}; - -template -template -EIGEN_DEVICE_FUNC Derived& DenseBase::operator=(const ReturnByValue& other) -{ - other.evalTo(derived()); - return derived(); -} - -namespace internal { - -// Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that -// when a ReturnByValue expression is assigned, the evaluator is not constructed. -// TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world - -template -struct evaluator > - : public evaluator::ReturnType> -{ - typedef ReturnByValue XprType; - typedef typename internal::traits::ReturnType PlainObject; - typedef evaluator Base; - - EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) - : m_result(xpr.rows(), xpr.cols()) - { - ::new (static_cast(this)) Base(m_result); - xpr.evalTo(m_result); - } - -protected: - PlainObject m_result; -}; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_RETURNBYVALUE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Reverse.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Reverse.h deleted file mode 100644 index 8b6b3ab0..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Reverse.h +++ /dev/null @@ -1,211 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2009 Ricard Marxer -// Copyright (C) 2009-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_REVERSE_H -#define EIGEN_REVERSE_H - -namespace Eigen { - -namespace internal { - -template -struct traits > - : traits -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename traits::StorageKind StorageKind; - typedef typename traits::XprKind XprKind; - typedef typename ref_selector::type MatrixTypeNested; - typedef typename remove_reference::type _MatrixTypeNested; - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime, - MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, - MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, - Flags = _MatrixTypeNested::Flags & (RowMajorBit | LvalueBit) - }; -}; - -template struct reverse_packet_cond -{ - static inline PacketType run(const PacketType& x) { return preverse(x); } -}; - -template struct reverse_packet_cond -{ - static inline PacketType run(const PacketType& x) { return x; } -}; - -} // end namespace internal - -/** \class Reverse - * \ingroup Core_Module - * - * \brief Expression of the reverse of a vector or matrix - * - * \tparam MatrixType the type of the object of which we are taking the reverse - * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections - * - * This class represents an expression of the reverse of a vector. - * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse() - * and most of the time this is the only way it is used. - * - * \sa MatrixBase::reverse(), VectorwiseOp::reverse() - */ -template class Reverse - : public internal::dense_xpr_base< Reverse >::type -{ - public: - - typedef typename internal::dense_xpr_base::type Base; - EIGEN_DENSE_PUBLIC_INTERFACE(Reverse) - typedef typename internal::remove_all::type NestedExpression; - using Base::IsRowMajor; - - protected: - enum { - PacketSize = internal::packet_traits::size, - IsColMajor = !IsRowMajor, - ReverseRow = (Direction == Vertical) || (Direction == BothDirections), - ReverseCol = (Direction == Horizontal) || (Direction == BothDirections), - OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1, - OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1, - ReversePacket = (Direction == BothDirections) - || ((Direction == Vertical) && IsColMajor) - || ((Direction == Horizontal) && IsRowMajor) - }; - typedef internal::reverse_packet_cond reverse_packet; - public: - - EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { } - - EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse) - - EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); } - EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); } - - EIGEN_DEVICE_FUNC inline Index innerStride() const - { - return -m_matrix.innerStride(); - } - - EIGEN_DEVICE_FUNC const typename internal::remove_all::type& - nestedExpression() const - { - return m_matrix; - } - - protected: - typename MatrixType::Nested m_matrix; -}; - -/** \returns an expression of the reverse of *this. - * - * Example: \include MatrixBase_reverse.cpp - * Output: \verbinclude MatrixBase_reverse.out - * - */ -template -EIGEN_DEVICE_FUNC inline typename DenseBase::ReverseReturnType -DenseBase::reverse() -{ - return ReverseReturnType(derived()); -} - - -//reverse const overload moved DenseBase.h due to a CUDA compiler bug - -/** This is the "in place" version of reverse: it reverses \c *this. - * - * In most cases it is probably better to simply use the reversed expression - * of a matrix. However, when reversing the matrix data itself is really needed, - * then this "in-place" version is probably the right choice because it provides - * the following additional benefits: - * - less error prone: doing the same operation with .reverse() requires special care: - * \code m = m.reverse().eval(); \endcode - * - this API enables reverse operations without the need for a temporary - * - it allows future optimizations (cache friendliness, etc.) - * - * \sa VectorwiseOp::reverseInPlace(), reverse() */ -template -EIGEN_DEVICE_FUNC inline void DenseBase::reverseInPlace() -{ - if(cols()>rows()) - { - Index half = cols()/2; - leftCols(half).swap(rightCols(half).reverse()); - if((cols()%2)==1) - { - Index half2 = rows()/2; - col(half).head(half2).swap(col(half).tail(half2).reverse()); - } - } - else - { - Index half = rows()/2; - topRows(half).swap(bottomRows(half).reverse()); - if((rows()%2)==1) - { - Index half2 = cols()/2; - row(half).head(half2).swap(row(half).tail(half2).reverse()); - } - } -} - -namespace internal { - -template -struct vectorwise_reverse_inplace_impl; - -template<> -struct vectorwise_reverse_inplace_impl -{ - template - static void run(ExpressionType &xpr) - { - Index half = xpr.rows()/2; - xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse()); - } -}; - -template<> -struct vectorwise_reverse_inplace_impl -{ - template - static void run(ExpressionType &xpr) - { - Index half = xpr.cols()/2; - xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse()); - } -}; - -} // end namespace internal - -/** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this. - * - * In most cases it is probably better to simply use the reversed expression - * of a matrix. However, when reversing the matrix data itself is really needed, - * then this "in-place" version is probably the right choice because it provides - * the following additional benefits: - * - less error prone: doing the same operation with .reverse() requires special care: - * \code m = m.reverse().eval(); \endcode - * - this API enables reverse operations without the need for a temporary - * - * \sa DenseBase::reverseInPlace(), reverse() */ -template -EIGEN_DEVICE_FUNC void VectorwiseOp::reverseInPlace() -{ - internal::vectorwise_reverse_inplace_impl::run(_expression().const_cast_derived()); -} - -} // end namespace Eigen - -#endif // EIGEN_REVERSE_H diff --git a/testbed/nanogui/ext/eigen/Eigen/src/Core/Select.h b/testbed/nanogui/ext/eigen/Eigen/src/Core/Select.h deleted file mode 100644 index 79eec1b5..00000000 --- a/testbed/nanogui/ext/eigen/Eigen/src/Core/Select.h +++ /dev/null @@ -1,162 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_SELECT_H -#define EIGEN_SELECT_H - -namespace Eigen { - -/** \class Select - * \ingroup Core_Module - * - * \brief Expression of a coefficient wise version of the C++ ternary operator ?: - * - * \param ConditionMatrixType the type of the \em condition expression which must be a boolean matrix - * \param ThenMatrixType the type of the \em then expression - * \param ElseMatrixType the type of the \em else expression - * - * This class represents an expression of a coefficient wise version of the C++ ternary operator ?:. - * It is the return type of DenseBase::select() and most of the time this is the only way it is used. - * - * \sa DenseBase::select(const DenseBase&, const DenseBase&) const - */ - -namespace internal { -template -struct traits > - : traits -{ - typedef typename traits::Scalar Scalar; - typedef Dense StorageKind; - typedef typename traits::XprKind XprKind; - typedef typename ConditionMatrixType::Nested ConditionMatrixNested; - typedef typename ThenMatrixType::Nested ThenMatrixNested; - typedef typename ElseMatrixType::Nested ElseMatrixNested; - enum { - RowsAtCompileTime = ConditionMatrixType::RowsAtCompileTime, - ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime, - MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime, - MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime, - Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & RowMajorBit - }; -}; -} - -template -class Select : public internal::dense_xpr_base< Select >::type, - internal::no_assignment_operator -{ - public: - - typedef typename internal::dense_xpr_base" << endl; - cerr << "available actions:" << endl; - for (auto it = available_actions.begin(); it != available_actions.end(); ++it) { - cerr << " " << (*it)->invokation_name() << endl; - } - cerr << "the input files should each contain an output of benchmark-blocking-sizes" << endl; - exit(1); -} - -int main(int argc, char* argv[]) -{ - cout.precision(default_precision); - cerr.precision(default_precision); - - vector> available_actions; - available_actions.emplace_back(new partition_action_t); - available_actions.emplace_back(new evaluate_defaults_action_t); - - vector input_filenames; - - action_t* action = nullptr; - - if (argc < 2) { - show_usage_and_exit(argc, argv, available_actions); - } - for (int i = 1; i < argc; i++) { - bool arg_handled = false; - // Step 1. Try to match action invokation names. - for (auto it = available_actions.begin(); it != available_actions.end(); ++it) { - if (!strcmp(argv[i], (*it)->invokation_name())) { - if (!action) { - action = it->get(); - arg_handled = true; - break; - } else { - cerr << "can't specify more than one action!" << endl; - show_usage_and_exit(argc, argv, available_actions); - } - } - } - if (arg_handled) { - continue; - } - // Step 2. Try to match option names. - if (argv[i][0] == '-') { - if (!strcmp(argv[i], "--only-cubic-sizes")) { - only_cubic_sizes = true; - arg_handled = true; - } - if (!strcmp(argv[i], "--dump-tables")) { - dump_tables = true; - arg_handled = true; - } - if (!arg_handled) { - cerr << "Unrecognized option: " << argv[i] << endl; - show_usage_and_exit(argc, argv, available_actions); - } - } - if (arg_handled) { - continue; - } - // Step 3. Default to interpreting args as input filenames. - input_filenames.emplace_back(argv[i]); - } - - if (dump_tables && only_cubic_sizes) { - cerr << "Incompatible options: --only-cubic-sizes and --dump-tables." << endl; - show_usage_and_exit(argc, argv, available_actions); - } - - if (!action) { - show_usage_and_exit(argc, argv, available_actions); - } - - action->run(input_filenames); -} diff --git a/testbed/nanogui/ext/eigen/bench/basicbench.cxxlist b/testbed/nanogui/ext/eigen/bench/basicbench.cxxlist deleted file mode 100644 index a8ab34e0..00000000 --- a/testbed/nanogui/ext/eigen/bench/basicbench.cxxlist +++ /dev/null @@ -1,28 +0,0 @@ -#!/bin/bash - -# CLIST[((g++))]="g++-3.4 -O3 -DNDEBUG" -# CLIST[((g++))]="g++-3.4 -O3 -DNDEBUG -finline-limit=20000" - -# CLIST[((g++))]="g++-4.1 -O3 -DNDEBUG" -#CLIST[((g++))]="g++-4.1 -O3 -DNDEBUG -finline-limit=20000" - -# CLIST[((g++))]="g++-4.2 -O3 -DNDEBUG" -#CLIST[((g++))]="g++-4.2 -O3 -DNDEBUG -finline-limit=20000" -# CLIST[((g++))]="g++-4.2 -O3 -DNDEBUG -finline-limit=20000 -fprofile-generate" -# CLIST[((g++))]="g++-4.2 -O3 -DNDEBUG -finline-limit=20000 -fprofile-use" - -# CLIST[((g++))]="g++-4.3 -O3 -DNDEBUG" -#CLIST[((g++))]="g++-4.3 -O3 -DNDEBUG -finline-limit=20000" -# CLIST[((g++))]="g++-4.3 -O3 -DNDEBUG -finline-limit=20000 -fprofile-generate" -# CLIST[((g++))]="g++-4.3 -O3 -DNDEBUG -finline-limit=20000 -fprofile-use" - -# CLIST[((g++))]="icpc -fast -DNDEBUG -fno-exceptions -no-inline-max-size -prof-genx" -# CLIST[((g++))]="icpc -fast -DNDEBUG -fno-exceptions -no-inline-max-size -prof-use" - -#CLIST[((g++))]="/opt/intel/Compiler/11.1/072/bin/intel64/icpc -fast -DNDEBUG -fno-exceptions -no-inline-max-size -lrt" -CLIST[((g++))]="/home/orzel/svn/llvm/Release/bin/clang++ -O3 -DNDEBUG -DEIGEN_DONT_VECTORIZE -lrt" -CLIST[((g++))]="/home/orzel/svn/llvm/Release/bin/clang++ -O3 -DNDEBUG -lrt" -CLIST[((g++))]="g++-4.4.4 -O3 -DNDEBUG -DEIGEN_DONT_VECTORIZE -lrt" -CLIST[((g++))]="g++-4.4.4 -O3 -DNDEBUG -lrt" -CLIST[((g++))]="g++-4.5.0 -O3 -DNDEBUG -DEIGEN_DONT_VECTORIZE -lrt" -CLIST[((g++))]="g++-4.5.0 -O3 -DNDEBUG -lrt" diff --git a/testbed/nanogui/ext/eigen/bench/basicbenchmark.cpp b/testbed/nanogui/ext/eigen/bench/basicbenchmark.cpp deleted file mode 100644 index a26ea853..00000000 --- a/testbed/nanogui/ext/eigen/bench/basicbenchmark.cpp +++ /dev/null @@ -1,35 +0,0 @@ - -#include -#include "BenchUtil.h" -#include "basicbenchmark.h" - -int main(int argc, char *argv[]) -{ - DISABLE_SSE_EXCEPTIONS(); - - // this is the list of matrix type and size we want to bench: - // ((suffix) (matrix size) (number of iterations)) - #define MODES ((3d)(3)(4000000)) ((4d)(4)(1000000)) ((Xd)(4)(1000000)) ((Xd)(20)(10000)) -// #define MODES ((Xd)(20)(10000)) - - #define _GENERATE_HEADER(R,ARG,EL) << BOOST_PP_STRINGIZE(BOOST_PP_SEQ_HEAD(EL)) << "-" \ - << BOOST_PP_STRINGIZE(BOOST_PP_SEQ_ELEM(1,EL)) << "x" \ - << BOOST_PP_STRINGIZE(BOOST_PP_SEQ_ELEM(1,EL)) << " / " - - std::cout BOOST_PP_SEQ_FOR_EACH(_GENERATE_HEADER, ~, MODES ) << endl; - - const int tries = 10; - - #define _RUN_BENCH(R,ARG,EL) \ - std::cout << ARG( \ - BOOST_PP_CAT(Matrix, BOOST_PP_SEQ_HEAD(EL)) (\ - BOOST_PP_SEQ_ELEM(1,EL),BOOST_PP_SEQ_ELEM(1,EL)), BOOST_PP_SEQ_ELEM(2,EL), tries) \ - << " "; - - BOOST_PP_SEQ_FOR_EACH(_RUN_BENCH, benchBasic, MODES ); - std::cout << endl; - BOOST_PP_SEQ_FOR_EACH(_RUN_BENCH, benchBasic, MODES ); - std::cout << endl; - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/basicbenchmark.h b/testbed/nanogui/ext/eigen/bench/basicbenchmark.h deleted file mode 100644 index 3fdc3573..00000000 --- a/testbed/nanogui/ext/eigen/bench/basicbenchmark.h +++ /dev/null @@ -1,63 +0,0 @@ - -#ifndef EIGEN_BENCH_BASICBENCH_H -#define EIGEN_BENCH_BASICBENCH_H - -enum {LazyEval, EarlyEval, OmpEval}; - -template -void benchBasic_loop(const MatrixType& I, MatrixType& m, int iterations) __attribute__((noinline)); - -template -void benchBasic_loop(const MatrixType& I, MatrixType& m, int iterations) -{ - for(int a = 0; a < iterations; a++) - { - if (Mode==LazyEval) - { - asm("#begin_bench_loop LazyEval"); - if (MatrixType::SizeAtCompileTime!=Eigen::Dynamic) asm("#fixedsize"); - m = (I + 0.00005 * (m + m.lazy() * m)).eval(); - } - else if (Mode==OmpEval) - { - asm("#begin_bench_loop OmpEval"); - if (MatrixType::SizeAtCompileTime!=Eigen::Dynamic) asm("#fixedsize"); - m = (I + 0.00005 * (m + m.lazy() * m)).evalOMP(); - } - else - { - asm("#begin_bench_loop EarlyEval"); - if (MatrixType::SizeAtCompileTime!=Eigen::Dynamic) asm("#fixedsize"); - m = I + 0.00005 * (m + m * m); - } - asm("#end_bench_loop"); - } -} - -template -double benchBasic(const MatrixType& mat, int size, int tries) __attribute__((noinline)); - -template -double benchBasic(const MatrixType& mat, int iterations, int tries) -{ - const int rows = mat.rows(); - const int cols = mat.cols(); - - MatrixType I(rows,cols); - MatrixType m(rows,cols); - - initMatrix_identity(I); - - Eigen::BenchTimer timer; - for(uint t=0; t(I, m, iterations); - timer.stop(); - cerr << m; - } - return timer.value(); -}; - -#endif // EIGEN_BENCH_BASICBENCH_H diff --git a/testbed/nanogui/ext/eigen/bench/benchBlasGemm.cpp b/testbed/nanogui/ext/eigen/bench/benchBlasGemm.cpp deleted file mode 100644 index cb086a55..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchBlasGemm.cpp +++ /dev/null @@ -1,219 +0,0 @@ -// g++ -O3 -DNDEBUG -I.. -L /usr/lib64/atlas/ benchBlasGemm.cpp -o benchBlasGemm -lrt -lcblas -// possible options: -// -DEIGEN_DONT_VECTORIZE -// -msse2 - -// #define EIGEN_DEFAULT_TO_ROW_MAJOR -#define _FLOAT - -#include - -#include -#include "BenchTimer.h" - -// include the BLAS headers -extern "C" { -#include -} -#include - -#ifdef _FLOAT -typedef float Scalar; -#define CBLAS_GEMM cblas_sgemm -#else -typedef double Scalar; -#define CBLAS_GEMM cblas_dgemm -#endif - - -typedef Eigen::Matrix MyMatrix; -void bench_eigengemm(MyMatrix& mc, const MyMatrix& ma, const MyMatrix& mb, int nbloops); -void check_product(int M, int N, int K); -void check_product(void); - -int main(int argc, char *argv[]) -{ - // disable SSE exceptions - #ifdef __GNUC__ - { - int aux; - asm( - "stmxcsr %[aux] \n\t" - "orl $32832, %[aux] \n\t" - "ldmxcsr %[aux] \n\t" - : : [aux] "m" (aux)); - } - #endif - - int nbtries=1, nbloops=1, M, N, K; - - if (argc==2) - { - if (std::string(argv[1])=="check") - check_product(); - else - M = N = K = atoi(argv[1]); - } - else if ((argc==3) && (std::string(argv[1])=="auto")) - { - M = N = K = atoi(argv[2]); - nbloops = 1000000000/(M*M*M); - if (nbloops<1) - nbloops = 1; - nbtries = 6; - } - else if (argc==4) - { - M = N = K = atoi(argv[1]); - nbloops = atoi(argv[2]); - nbtries = atoi(argv[3]); - } - else if (argc==6) - { - M = atoi(argv[1]); - N = atoi(argv[2]); - K = atoi(argv[3]); - nbloops = atoi(argv[4]); - nbtries = atoi(argv[5]); - } - else - { - std::cout << "Usage: " << argv[0] << " size \n"; - std::cout << "Usage: " << argv[0] << " auto size\n"; - std::cout << "Usage: " << argv[0] << " size nbloops nbtries\n"; - std::cout << "Usage: " << argv[0] << " M N K nbloops nbtries\n"; - std::cout << "Usage: " << argv[0] << " check\n"; - std::cout << "Options:\n"; - std::cout << " size unique size of the 2 matrices (integer)\n"; - std::cout << " auto automatically set the number of repetitions and tries\n"; - std::cout << " nbloops number of times the GEMM routines is executed\n"; - std::cout << " nbtries number of times the loop is benched (return the best try)\n"; - std::cout << " M N K sizes of the matrices: MxN = MxK * KxN (integers)\n"; - std::cout << " check check eigen product using cblas as a reference\n"; - exit(1); - } - - double nbmad = double(M) * double(N) * double(K) * double(nbloops); - - if (!(std::string(argv[1])=="auto")) - std::cout << M << " x " << N << " x " << K << "\n"; - - Scalar alpha, beta; - MyMatrix ma(M,K), mb(K,N), mc(M,N); - ma = MyMatrix::Random(M,K); - mb = MyMatrix::Random(K,N); - mc = MyMatrix::Random(M,N); - - Eigen::BenchTimer timer; - - // we simply compute c += a*b, so: - alpha = 1; - beta = 1; - - // bench cblas - // ROWS_A, COLS_B, COLS_A, 1.0, A, COLS_A, B, COLS_B, 0.0, C, COLS_B); - if (!(std::string(argv[1])=="auto")) - { - timer.reset(); - for (uint k=0 ; k(1,64); - N = internal::random(1,768); - K = internal::random(1,768); - M = (0 + M) * 1; - std::cout << M << " x " << N << " x " << K << "\n"; - check_product(M, N, K); - } -} - diff --git a/testbed/nanogui/ext/eigen/bench/benchCholesky.cpp b/testbed/nanogui/ext/eigen/bench/benchCholesky.cpp deleted file mode 100644 index 9a8e7cf6..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchCholesky.cpp +++ /dev/null @@ -1,142 +0,0 @@ - -// g++ -DNDEBUG -O3 -I.. benchLLT.cpp -o benchLLT && ./benchLLT -// options: -// -DBENCH_GSL -lgsl /usr/lib/libcblas.so.3 -// -DEIGEN_DONT_VECTORIZE -// -msse2 -// -DREPEAT=100 -// -DTRIES=10 -// -DSCALAR=double - -#include - -#include -#include -#include -using namespace Eigen; - -#ifndef REPEAT -#define REPEAT 10000 -#endif - -#ifndef TRIES -#define TRIES 10 -#endif - -typedef float Scalar; - -template -__attribute__ ((noinline)) void benchLLT(const MatrixType& m) -{ - int rows = m.rows(); - int cols = m.cols(); - - double cost = 0; - for (int j=0; j SquareMatrixType; - - MatrixType a = MatrixType::Random(rows,cols); - SquareMatrixType covMat = a * a.adjoint(); - - BenchTimer timerNoSqrt, timerSqrt; - - Scalar acc = 0; - int r = internal::random(0,covMat.rows()-1); - int c = internal::random(0,covMat.cols()-1); - for (int t=0; t cholnosqrt(covMat); - acc += cholnosqrt.matrixL().coeff(r,c); - } - timerNoSqrt.stop(); - } - - for (int t=0; t chol(covMat); - acc += chol.matrixL().coeff(r,c); - } - timerSqrt.stop(); - } - - if (MatrixType::RowsAtCompileTime==Dynamic) - std::cout << "dyn "; - else - std::cout << "fixed "; - std::cout << covMat.rows() << " \t" - << (timerNoSqrt.best()) / repeats << "s " - << "(" << 1e-9 * cost*repeats/timerNoSqrt.best() << " GFLOPS)\t" - << (timerSqrt.best()) / repeats << "s " - << "(" << 1e-9 * cost*repeats/timerSqrt.best() << " GFLOPS)\n"; - - - #ifdef BENCH_GSL - if (MatrixType::RowsAtCompileTime==Dynamic) - { - timerSqrt.reset(); - - gsl_matrix* gslCovMat = gsl_matrix_alloc(covMat.rows(),covMat.cols()); - gsl_matrix* gslCopy = gsl_matrix_alloc(covMat.rows(),covMat.cols()); - - eiToGsl(covMat, &gslCovMat); - for (int t=0; t0; ++i) - benchLLT(Matrix(dynsizes[i],dynsizes[i])); - - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - benchLLT(Matrix()); - return 0; -} - diff --git a/testbed/nanogui/ext/eigen/bench/benchEigenSolver.cpp b/testbed/nanogui/ext/eigen/bench/benchEigenSolver.cpp deleted file mode 100644 index dd78c7e0..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchEigenSolver.cpp +++ /dev/null @@ -1,212 +0,0 @@ - -// g++ -DNDEBUG -O3 -I.. benchEigenSolver.cpp -o benchEigenSolver && ./benchEigenSolver -// options: -// -DBENCH_GMM -// -DBENCH_GSL -lgsl /usr/lib/libcblas.so.3 -// -DEIGEN_DONT_VECTORIZE -// -msse2 -// -DREPEAT=100 -// -DTRIES=10 -// -DSCALAR=double - -#include - -#include -#include -#include -using namespace Eigen; - -#ifndef REPEAT -#define REPEAT 1000 -#endif - -#ifndef TRIES -#define TRIES 4 -#endif - -#ifndef SCALAR -#define SCALAR float -#endif - -typedef SCALAR Scalar; - -template -__attribute__ ((noinline)) void benchEigenSolver(const MatrixType& m) -{ - int rows = m.rows(); - int cols = m.cols(); - - int stdRepeats = std::max(1,int((REPEAT*1000)/(rows*rows*sqrt(rows)))); - int saRepeats = stdRepeats * 4; - - typedef typename MatrixType::Scalar Scalar; - typedef Matrix SquareMatrixType; - - MatrixType a = MatrixType::Random(rows,cols); - SquareMatrixType covMat = a * a.adjoint(); - - BenchTimer timerSa, timerStd; - - Scalar acc = 0; - int r = internal::random(0,covMat.rows()-1); - int c = internal::random(0,covMat.cols()-1); - { - SelfAdjointEigenSolver ei(covMat); - for (int t=0; t ei(covMat); - for (int t=0; t gmmCovMat(covMat.rows(),covMat.cols()); - gmm::dense_matrix eigvect(covMat.rows(),covMat.cols()); - std::vector eigval(covMat.rows()); - eiToGmm(covMat, gmmCovMat); - for (int t=0; t0; ++i) - benchEigenSolver(Matrix(dynsizes[i],dynsizes[i])); - - benchEigenSolver(Matrix()); - benchEigenSolver(Matrix()); - benchEigenSolver(Matrix()); - benchEigenSolver(Matrix()); - benchEigenSolver(Matrix()); - benchEigenSolver(Matrix()); - benchEigenSolver(Matrix()); - return 0; -} - diff --git a/testbed/nanogui/ext/eigen/bench/benchFFT.cpp b/testbed/nanogui/ext/eigen/bench/benchFFT.cpp deleted file mode 100644 index 3eb1a1ac..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchFFT.cpp +++ /dev/null @@ -1,115 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Mark Borgerding mark a borgerding net -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include - -#include -#include -#include -#include - -#include - -using namespace Eigen; -using namespace std; - - -template -string nameof(); - -template <> string nameof() {return "float";} -template <> string nameof() {return "double";} -template <> string nameof() {return "long double";} - -#ifndef TYPE -#define TYPE float -#endif - -#ifndef NFFT -#define NFFT 1024 -#endif -#ifndef NDATA -#define NDATA 1000000 -#endif - -using namespace Eigen; - -template -void bench(int nfft,bool fwd,bool unscaled=false, bool halfspec=false) -{ - typedef typename NumTraits::Real Scalar; - typedef typename std::complex Complex; - int nits = NDATA/nfft; - vector inbuf(nfft); - vector outbuf(nfft); - FFT< Scalar > fft; - - if (unscaled) { - fft.SetFlag(fft.Unscaled); - cout << "unscaled "; - } - if (halfspec) { - fft.SetFlag(fft.HalfSpectrum); - cout << "halfspec "; - } - - - std::fill(inbuf.begin(),inbuf.end(),0); - fft.fwd( outbuf , inbuf); - - BenchTimer timer; - timer.reset(); - for (int k=0;k<8;++k) { - timer.start(); - if (fwd) - for(int i = 0; i < nits; i++) - fft.fwd( outbuf , inbuf); - else - for(int i = 0; i < nits; i++) - fft.inv(inbuf,outbuf); - timer.stop(); - } - - cout << nameof() << " "; - double mflops = 5.*nfft*log2((double)nfft) / (1e6 * timer.value() / (double)nits ); - if ( NumTraits::IsComplex ) { - cout << "complex"; - }else{ - cout << "real "; - mflops /= 2; - } - - - if (fwd) - cout << " fwd"; - else - cout << " inv"; - - cout << " NFFT=" << nfft << " " << (double(1e-6*nfft*nits)/timer.value()) << " MS/s " << mflops << "MFLOPS\n"; -} - -int main(int argc,char ** argv) -{ - bench >(NFFT,true); - bench >(NFFT,false); - bench(NFFT,true); - bench(NFFT,false); - bench(NFFT,false,true); - bench(NFFT,false,true,true); - - bench >(NFFT,true); - bench >(NFFT,false); - bench(NFFT,true); - bench(NFFT,false); - bench >(NFFT,true); - bench >(NFFT,false); - bench(NFFT,true); - bench(NFFT,false); - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/benchGeometry.cpp b/testbed/nanogui/ext/eigen/bench/benchGeometry.cpp deleted file mode 100644 index 6e16c033..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchGeometry.cpp +++ /dev/null @@ -1,134 +0,0 @@ -#include -#include -#include -#include -#include - -using namespace Eigen; -using namespace std; - -#ifndef REPEAT -#define REPEAT 1000000 -#endif - -enum func_opt -{ - TV, - TMATV, - TMATVMAT, -}; - - -template -struct func; - -template -struct func -{ - static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 ) - { - asm (""); - return a1 * a2; - } -}; - -template -struct func -{ - static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 ) - { - asm (""); - return a1.matrix() * a2; - } -}; - -template -struct func -{ - static EIGEN_DONT_INLINE res run( arg1& a1, arg2& a2 ) - { - asm (""); - return res(a1.matrix() * a2.matrix()); - } -}; - -template -struct test_transform -{ - static void run() - { - arg1 a1; - a1.setIdentity(); - arg2 a2; - a2.setIdentity(); - - BenchTimer timer; - timer.reset(); - for (int k=0; k<10; ++k) - { - timer.start(); - for (int k=0; k Trans;\ - typedef Matrix Vec;\ - typedef func Func;\ - test_transform< Func, Trans, Vec >::run();\ - } - -#define run_trans( op, scalar, mode, option ) \ - std::cout << #scalar << "\t " << #mode << "\t " << #option << " "; \ - {\ - typedef Transform Trans;\ - typedef func Func;\ - test_transform< Func, Trans, Trans >::run();\ - } - -int main(int argc, char* argv[]) -{ - cout << "vec = trans * vec" << endl; - run_vec(TV, float, Isometry, AutoAlign, 3); - run_vec(TV, float, Isometry, DontAlign, 3); - run_vec(TV, float, Isometry, AutoAlign, 4); - run_vec(TV, float, Isometry, DontAlign, 4); - run_vec(TV, float, Projective, AutoAlign, 4); - run_vec(TV, float, Projective, DontAlign, 4); - run_vec(TV, double, Isometry, AutoAlign, 3); - run_vec(TV, double, Isometry, DontAlign, 3); - run_vec(TV, double, Isometry, AutoAlign, 4); - run_vec(TV, double, Isometry, DontAlign, 4); - run_vec(TV, double, Projective, AutoAlign, 4); - run_vec(TV, double, Projective, DontAlign, 4); - - cout << "vec = trans.matrix() * vec" << endl; - run_vec(TMATV, float, Isometry, AutoAlign, 4); - run_vec(TMATV, float, Isometry, DontAlign, 4); - run_vec(TMATV, double, Isometry, AutoAlign, 4); - run_vec(TMATV, double, Isometry, DontAlign, 4); - - cout << "trans = trans1 * trans" << endl; - run_trans(TV, float, Isometry, AutoAlign); - run_trans(TV, float, Isometry, DontAlign); - run_trans(TV, double, Isometry, AutoAlign); - run_trans(TV, double, Isometry, DontAlign); - run_trans(TV, float, Projective, AutoAlign); - run_trans(TV, float, Projective, DontAlign); - run_trans(TV, double, Projective, AutoAlign); - run_trans(TV, double, Projective, DontAlign); - - cout << "trans = trans1.matrix() * trans.matrix()" << endl; - run_trans(TMATVMAT, float, Isometry, AutoAlign); - run_trans(TMATVMAT, float, Isometry, DontAlign); - run_trans(TMATVMAT, double, Isometry, AutoAlign); - run_trans(TMATVMAT, double, Isometry, DontAlign); -} - diff --git a/testbed/nanogui/ext/eigen/bench/benchVecAdd.cpp b/testbed/nanogui/ext/eigen/bench/benchVecAdd.cpp deleted file mode 100644 index ce8e1e91..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchVecAdd.cpp +++ /dev/null @@ -1,135 +0,0 @@ - -#include -#include -#include -using namespace Eigen; - -#ifndef SIZE -#define SIZE 50 -#endif - -#ifndef REPEAT -#define REPEAT 10000 -#endif - -typedef float Scalar; - -__attribute__ ((noinline)) void benchVec(Scalar* a, Scalar* b, Scalar* c, int size); -__attribute__ ((noinline)) void benchVec(MatrixXf& a, MatrixXf& b, MatrixXf& c); -__attribute__ ((noinline)) void benchVec(VectorXf& a, VectorXf& b, VectorXf& c); - -int main(int argc, char* argv[]) -{ - int size = SIZE * 8; - int size2 = size * size; - Scalar* a = internal::aligned_new(size2); - Scalar* b = internal::aligned_new(size2+4)+1; - Scalar* c = internal::aligned_new(size2); - - for (int i=0; i2 ; --innersize) - { - if (size2%innersize==0) - { - int outersize = size2/innersize; - MatrixXf ma = Map(a, innersize, outersize ); - MatrixXf mb = Map(b, innersize, outersize ); - MatrixXf mc = Map(c, innersize, outersize ); - timer.reset(); - for (int k=0; k<3; ++k) - { - timer.start(); - benchVec(ma, mb, mc); - timer.stop(); - } - std::cout << innersize << " x " << outersize << " " << timer.value() << "s " << (double(size2*REPEAT)/timer.value())/(1024.*1024.*1024.) << " GFlops\n"; - } - } - - VectorXf va = Map(a, size2); - VectorXf vb = Map(b, size2); - VectorXf vc = Map(c, size2); - timer.reset(); - for (int k=0; k<3; ++k) - { - timer.start(); - benchVec(va, vb, vc); - timer.stop(); - } - std::cout << timer.value() << "s " << (double(size2*REPEAT)/timer.value())/(1024.*1024.*1024.) << " GFlops\n"; - - return 0; -} - -void benchVec(MatrixXf& a, MatrixXf& b, MatrixXf& c) -{ - for (int k=0; k::type PacketScalar; - const int PacketSize = internal::packet_traits::size; - PacketScalar a0, a1, a2, a3, b0, b1, b2, b3; - for (int k=0; k -// -DSCALARA=double or -DSCALARB=double -// -DHAVE_BLAS -// -DDECOUPLED -// - -#include -#include -#include - -using namespace std; -using namespace Eigen; - -#ifndef SCALAR -// #define SCALAR std::complex -#define SCALAR float -#endif - -#ifndef SCALARA -#define SCALARA SCALAR -#endif - -#ifndef SCALARB -#define SCALARB SCALAR -#endif - -typedef SCALAR Scalar; -typedef NumTraits::Real RealScalar; -typedef Matrix A; -typedef Matrix B; -typedef Matrix C; -typedef Matrix M; - -#ifdef HAVE_BLAS - -extern "C" { - #include -} - -static float fone = 1; -static float fzero = 0; -static double done = 1; -static double szero = 0; -static std::complex cfone = 1; -static std::complex cfzero = 0; -static std::complex cdone = 1; -static std::complex cdzero = 0; -static char notrans = 'N'; -static char trans = 'T'; -static char nonunit = 'N'; -static char lower = 'L'; -static char right = 'R'; -static int intone = 1; - -void blas_gemm(const MatrixXf& a, const MatrixXf& b, MatrixXf& c) -{ - int M = c.rows(); int N = c.cols(); int K = a.cols(); - int lda = a.rows(); int ldb = b.rows(); int ldc = c.rows(); - - sgemm_(¬rans,¬rans,&M,&N,&K,&fone, - const_cast(a.data()),&lda, - const_cast(b.data()),&ldb,&fone, - c.data(),&ldc); -} - -EIGEN_DONT_INLINE void blas_gemm(const MatrixXd& a, const MatrixXd& b, MatrixXd& c) -{ - int M = c.rows(); int N = c.cols(); int K = a.cols(); - int lda = a.rows(); int ldb = b.rows(); int ldc = c.rows(); - - dgemm_(¬rans,¬rans,&M,&N,&K,&done, - const_cast(a.data()),&lda, - const_cast(b.data()),&ldb,&done, - c.data(),&ldc); -} - -void blas_gemm(const MatrixXcf& a, const MatrixXcf& b, MatrixXcf& c) -{ - int M = c.rows(); int N = c.cols(); int K = a.cols(); - int lda = a.rows(); int ldb = b.rows(); int ldc = c.rows(); - - cgemm_(¬rans,¬rans,&M,&N,&K,(float*)&cfone, - const_cast((const float*)a.data()),&lda, - const_cast((const float*)b.data()),&ldb,(float*)&cfone, - (float*)c.data(),&ldc); -} - -void blas_gemm(const MatrixXcd& a, const MatrixXcd& b, MatrixXcd& c) -{ - int M = c.rows(); int N = c.cols(); int K = a.cols(); - int lda = a.rows(); int ldb = b.rows(); int ldc = c.rows(); - - zgemm_(¬rans,¬rans,&M,&N,&K,(double*)&cdone, - const_cast((const double*)a.data()),&lda, - const_cast((const double*)b.data()),&ldb,(double*)&cdone, - (double*)c.data(),&ldc); -} - - - -#endif - -void matlab_cplx_cplx(const M& ar, const M& ai, const M& br, const M& bi, M& cr, M& ci) -{ - cr.noalias() += ar * br; - cr.noalias() -= ai * bi; - ci.noalias() += ar * bi; - ci.noalias() += ai * br; -} - -void matlab_real_cplx(const M& a, const M& br, const M& bi, M& cr, M& ci) -{ - cr.noalias() += a * br; - ci.noalias() += a * bi; -} - -void matlab_cplx_real(const M& ar, const M& ai, const M& b, M& cr, M& ci) -{ - cr.noalias() += ar * b; - ci.noalias() += ai * b; -} - -template -EIGEN_DONT_INLINE void gemm(const A& a, const B& b, C& c) -{ - c.noalias() += a * b; -} - -int main(int argc, char ** argv) -{ - std::ptrdiff_t l1 = internal::queryL1CacheSize(); - std::ptrdiff_t l2 = internal::queryTopLevelCacheSize(); - std::cout << "L1 cache size = " << (l1>0 ? l1/1024 : -1) << " KB\n"; - std::cout << "L2/L3 cache size = " << (l2>0 ? l2/1024 : -1) << " KB\n"; - typedef internal::gebp_traits Traits; - std::cout << "Register blocking = " << Traits::mr << " x " << Traits::nr << "\n"; - - int rep = 1; // number of repetitions per try - int tries = 2; // number of tries, we keep the best - - int s = 2048; - int m = s; - int n = s; - int p = s; - int cache_size1=-1, cache_size2=l2, cache_size3 = 0; - - bool need_help = false; - for (int i=1; i -c -t -p \n"; - std::cout << " : size\n"; - std::cout << " : rows columns depth\n"; - return 1; - } - -#if EIGEN_VERSION_AT_LEAST(3,2,90) - if(cache_size1>0) - setCpuCacheSizes(cache_size1,cache_size2,cache_size3); -#endif - - A a(m,p); a.setRandom(); - B b(p,n); b.setRandom(); - C c(m,n); c.setOnes(); - C rc = c; - - std::cout << "Matrix sizes = " << m << "x" << p << " * " << p << "x" << n << "\n"; - std::ptrdiff_t mc(m), nc(n), kc(p); - internal::computeProductBlockingSizes(kc, mc, nc); - std::cout << "blocking size (mc x kc) = " << mc << " x " << kc << "\n"; - - C r = c; - - // check the parallel product is correct - #if defined EIGEN_HAS_OPENMP - Eigen::initParallel(); - int procs = omp_get_max_threads(); - if(procs>1) - { - #ifdef HAVE_BLAS - blas_gemm(a,b,r); - #else - omp_set_num_threads(1); - r.noalias() += a * b; - omp_set_num_threads(procs); - #endif - c.noalias() += a * b; - if(!r.isApprox(c)) std::cerr << "Warning, your parallel product is crap!\n\n"; - } - #elif defined HAVE_BLAS - blas_gemm(a,b,r); - c.noalias() += a * b; - if(!r.isApprox(c)) { - std::cout << r - c << "\n"; - std::cerr << "Warning, your product is crap!\n\n"; - } - #else - if(1.*m*n*p<2000.*2000*2000) - { - gemm(a,b,c); - r.noalias() += a.cast() .lazyProduct( b.cast() ); - if(!r.isApprox(c)) { - std::cout << r - c << "\n"; - std::cerr << "Warning, your product is crap!\n\n"; - } - } - #endif - - #ifdef HAVE_BLAS - BenchTimer tblas; - c = rc; - BENCH(tblas, tries, rep, blas_gemm(a,b,c)); - std::cout << "blas cpu " << tblas.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tblas.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << tblas.total(CPU_TIMER) << "s)\n"; - std::cout << "blas real " << tblas.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tblas.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << tblas.total(REAL_TIMER) << "s)\n"; - #endif - - BenchTimer tmt; - c = rc; - BENCH(tmt, tries, rep, gemm(a,b,c)); - std::cout << "eigen cpu " << tmt.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tmt.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << tmt.total(CPU_TIMER) << "s)\n"; - std::cout << "eigen real " << tmt.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tmt.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << tmt.total(REAL_TIMER) << "s)\n"; - - #ifdef EIGEN_HAS_OPENMP - if(procs>1) - { - BenchTimer tmono; - omp_set_num_threads(1); - Eigen::setNbThreads(1); - c = rc; - BENCH(tmono, tries, rep, gemm(a,b,c)); - std::cout << "eigen mono cpu " << tmono.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tmono.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << tmono.total(CPU_TIMER) << "s)\n"; - std::cout << "eigen mono real " << tmono.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tmono.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << tmono.total(REAL_TIMER) << "s)\n"; - std::cout << "mt speed up x" << tmono.best(CPU_TIMER) / tmt.best(REAL_TIMER) << " => " << (100.0*tmono.best(CPU_TIMER) / tmt.best(REAL_TIMER))/procs << "%\n"; - } - #endif - - if(1.*m*n*p<30*30*30) - { - BenchTimer tmt; - c = rc; - BENCH(tmt, tries, rep, c.noalias()+=a.lazyProduct(b)); - std::cout << "lazy cpu " << tmt.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tmt.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << tmt.total(CPU_TIMER) << "s)\n"; - std::cout << "lazy real " << tmt.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/tmt.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << tmt.total(REAL_TIMER) << "s)\n"; - } - - #ifdef DECOUPLED - if((NumTraits::IsComplex) && (NumTraits::IsComplex)) - { - M ar(m,p); ar.setRandom(); - M ai(m,p); ai.setRandom(); - M br(p,n); br.setRandom(); - M bi(p,n); bi.setRandom(); - M cr(m,n); cr.setRandom(); - M ci(m,n); ci.setRandom(); - - BenchTimer t; - BENCH(t, tries, rep, matlab_cplx_cplx(ar,ai,br,bi,cr,ci)); - std::cout << "\"matlab\" cpu " << t.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/t.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << t.total(CPU_TIMER) << "s)\n"; - std::cout << "\"matlab\" real " << t.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/t.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << t.total(REAL_TIMER) << "s)\n"; - } - if((!NumTraits::IsComplex) && (NumTraits::IsComplex)) - { - M a(m,p); a.setRandom(); - M br(p,n); br.setRandom(); - M bi(p,n); bi.setRandom(); - M cr(m,n); cr.setRandom(); - M ci(m,n); ci.setRandom(); - - BenchTimer t; - BENCH(t, tries, rep, matlab_real_cplx(a,br,bi,cr,ci)); - std::cout << "\"matlab\" cpu " << t.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/t.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << t.total(CPU_TIMER) << "s)\n"; - std::cout << "\"matlab\" real " << t.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/t.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << t.total(REAL_TIMER) << "s)\n"; - } - if((NumTraits::IsComplex) && (!NumTraits::IsComplex)) - { - M ar(m,p); ar.setRandom(); - M ai(m,p); ai.setRandom(); - M b(p,n); b.setRandom(); - M cr(m,n); cr.setRandom(); - M ci(m,n); ci.setRandom(); - - BenchTimer t; - BENCH(t, tries, rep, matlab_cplx_real(ar,ai,b,cr,ci)); - std::cout << "\"matlab\" cpu " << t.best(CPU_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/t.best(CPU_TIMER))*1e-9 << " GFLOPS \t(" << t.total(CPU_TIMER) << "s)\n"; - std::cout << "\"matlab\" real " << t.best(REAL_TIMER)/rep << "s \t" << (double(m)*n*p*rep*2/t.best(REAL_TIMER))*1e-9 << " GFLOPS \t(" << t.total(REAL_TIMER) << "s)\n"; - } - #endif - - return 0; -} - diff --git a/testbed/nanogui/ext/eigen/bench/bench_multi_compilers.sh b/testbed/nanogui/ext/eigen/bench/bench_multi_compilers.sh deleted file mode 100755 index 27e91f1d..00000000 --- a/testbed/nanogui/ext/eigen/bench/bench_multi_compilers.sh +++ /dev/null @@ -1,28 +0,0 @@ -#!/bin/bash - -if (($# < 2)); then - echo "Usage: $0 compilerlist.txt benchfile.cpp" -else - -compilerlist=$1 -benchfile=$2 - -g=0 -source $compilerlist - -# for each compiler, compile benchfile and run the benchmark -for (( i=0 ; i /dev/null - echo "" - else - echo "compiler not found: $compiler" - fi -done - -fi diff --git a/testbed/nanogui/ext/eigen/bench/bench_norm.cpp b/testbed/nanogui/ext/eigen/bench/bench_norm.cpp deleted file mode 100644 index 129afcfb..00000000 --- a/testbed/nanogui/ext/eigen/bench/bench_norm.cpp +++ /dev/null @@ -1,360 +0,0 @@ -#include -#include -#include -#include "BenchTimer.h" -using namespace Eigen; -using namespace std; - -template -EIGEN_DONT_INLINE typename T::Scalar sqsumNorm(T& v) -{ - return v.norm(); -} - -template -EIGEN_DONT_INLINE typename T::Scalar stableNorm(T& v) -{ - return v.stableNorm(); -} - -template -EIGEN_DONT_INLINE typename T::Scalar hypotNorm(T& v) -{ - return v.hypotNorm(); -} - -template -EIGEN_DONT_INLINE typename T::Scalar blueNorm(T& v) -{ - return v.blueNorm(); -} - -template -EIGEN_DONT_INLINE typename T::Scalar lapackNorm(T& v) -{ - typedef typename T::Scalar Scalar; - int n = v.size(); - Scalar scale = 0; - Scalar ssq = 1; - for (int i=0;i= ax) - { - ssq += numext::abs2(ax/scale); - } - else - { - ssq = Scalar(1) + ssq * numext::abs2(scale/ax); - scale = ax; - } - } - return scale * std::sqrt(ssq); -} - -template -EIGEN_DONT_INLINE typename T::Scalar twopassNorm(T& v) -{ - typedef typename T::Scalar Scalar; - Scalar s = v.array().abs().maxCoeff(); - return s*(v/s).norm(); -} - -template -EIGEN_DONT_INLINE typename T::Scalar bl2passNorm(T& v) -{ - return v.stableNorm(); -} - -template -EIGEN_DONT_INLINE typename T::Scalar divacNorm(T& v) -{ - int n =v.size() / 2; - for (int i=0;i0) - { - for (int i=0;i -EIGEN_DONT_INLINE typename T::Scalar pblueNorm(const T& v) -{ - #ifndef EIGEN_VECTORIZE - return v.blueNorm(); - #else - typedef typename T::Scalar Scalar; - - static int nmax = 0; - static Scalar b1, b2, s1m, s2m, overfl, rbig, relerr; - int n; - - if(nmax <= 0) - { - int nbig, ibeta, it, iemin, iemax, iexp; - Scalar abig, eps; - - nbig = std::numeric_limits::max(); // largest integer - ibeta = std::numeric_limits::radix; //NumTraits::Base; // base for floating-point numbers - it = std::numeric_limits::digits; //NumTraits::Mantissa; // number of base-beta digits in mantissa - iemin = std::numeric_limits::min_exponent; // minimum exponent - iemax = std::numeric_limits::max_exponent; // maximum exponent - rbig = std::numeric_limits::max(); // largest floating-point number - - // Check the basic machine-dependent constants. - if(iemin > 1 - 2*it || 1+it>iemax || (it==2 && ibeta<5) - || (it<=4 && ibeta <= 3 ) || it<2) - { - eigen_assert(false && "the algorithm cannot be guaranteed on this computer"); - } - iexp = -((1-iemin)/2); - b1 = std::pow(ibeta, iexp); // lower boundary of midrange - iexp = (iemax + 1 - it)/2; - b2 = std::pow(ibeta,iexp); // upper boundary of midrange - - iexp = (2-iemin)/2; - s1m = std::pow(ibeta,iexp); // scaling factor for lower range - iexp = - ((iemax+it)/2); - s2m = std::pow(ibeta,iexp); // scaling factor for upper range - - overfl = rbig*s2m; // overfow boundary for abig - eps = std::pow(ibeta, 1-it); - relerr = std::sqrt(eps); // tolerance for neglecting asml - abig = 1.0/eps - 1.0; - if (Scalar(nbig)>abig) nmax = abig; // largest safe n - else nmax = nbig; - } - - typedef typename internal::packet_traits::type Packet; - const int ps = internal::packet_traits::size; - Packet pasml = internal::pset1(Scalar(0)); - Packet pamed = internal::pset1(Scalar(0)); - Packet pabig = internal::pset1(Scalar(0)); - Packet ps2m = internal::pset1(s2m); - Packet ps1m = internal::pset1(s1m); - Packet pb2 = internal::pset1(b2); - Packet pb1 = internal::pset1(b1); - for(int j=0; j(j)); - Packet ax_s2m = internal::pmul(ax,ps2m); - Packet ax_s1m = internal::pmul(ax,ps1m); - Packet maskBig = internal::plt(pb2,ax); - Packet maskSml = internal::plt(ax,pb1); - -// Packet maskMed = internal::pand(maskSml,maskBig); -// Packet scale = internal::pset1(Scalar(0)); -// scale = internal::por(scale, internal::pand(maskBig,ps2m)); -// scale = internal::por(scale, internal::pand(maskSml,ps1m)); -// scale = internal::por(scale, internal::pandnot(internal::pset1(Scalar(1)),maskMed)); -// ax = internal::pmul(ax,scale); -// ax = internal::pmul(ax,ax); -// pabig = internal::padd(pabig, internal::pand(maskBig, ax)); -// pasml = internal::padd(pasml, internal::pand(maskSml, ax)); -// pamed = internal::padd(pamed, internal::pandnot(ax,maskMed)); - - - pabig = internal::padd(pabig, internal::pand(maskBig, internal::pmul(ax_s2m,ax_s2m))); - pasml = internal::padd(pasml, internal::pand(maskSml, internal::pmul(ax_s1m,ax_s1m))); - pamed = internal::padd(pamed, internal::pandnot(internal::pmul(ax,ax),internal::pand(maskSml,maskBig))); - } - Scalar abig = internal::predux(pabig); - Scalar asml = internal::predux(pasml); - Scalar amed = internal::predux(pamed); - if(abig > Scalar(0)) - { - abig = std::sqrt(abig); - if(abig > overfl) - { - eigen_assert(false && "overflow"); - return rbig; - } - if(amed > Scalar(0)) - { - abig = abig/s2m; - amed = std::sqrt(amed); - } - else - { - return abig/s2m; - } - - } - else if(asml > Scalar(0)) - { - if (amed > Scalar(0)) - { - abig = std::sqrt(amed); - amed = std::sqrt(asml) / s1m; - } - else - { - return std::sqrt(asml)/s1m; - } - } - else - { - return std::sqrt(amed); - } - asml = std::min(abig, amed); - abig = std::max(abig, amed); - if(asml <= abig*relerr) - return abig; - else - return abig * std::sqrt(Scalar(1) + numext::abs2(asml/abig)); - #endif -} - -#define BENCH_PERF(NRM) { \ - float af = 0; double ad = 0; std::complex ac = 0; \ - Eigen::BenchTimer tf, td, tcf; tf.reset(); td.reset(); tcf.reset();\ - for (int k=0; k()); - double yd = based * std::abs(internal::random()); - VectorXf vf = VectorXf::Ones(s) * yf; - VectorXd vd = VectorXd::Ones(s) * yd; - - std::cout << "reference\t" << std::sqrt(double(s))*yf << "\t" << std::sqrt(double(s))*yd << "\n"; - std::cout << "sqsumNorm\t" << sqsumNorm(vf) << "\t" << sqsumNorm(vd) << "\n"; - std::cout << "hypotNorm\t" << hypotNorm(vf) << "\t" << hypotNorm(vd) << "\n"; - std::cout << "blueNorm\t" << blueNorm(vf) << "\t" << blueNorm(vd) << "\n"; - std::cout << "pblueNorm\t" << pblueNorm(vf) << "\t" << pblueNorm(vd) << "\n"; - std::cout << "lapackNorm\t" << lapackNorm(vf) << "\t" << lapackNorm(vd) << "\n"; - std::cout << "twopassNorm\t" << twopassNorm(vf) << "\t" << twopassNorm(vd) << "\n"; - std::cout << "bl2passNorm\t" << bl2passNorm(vf) << "\t" << bl2passNorm(vd) << "\n"; -} - -void check_accuracy_var(int ef0, int ef1, int ed0, int ed1, int s) -{ - VectorXf vf(s); - VectorXd vd(s); - for (int i=0; i()) * std::pow(double(10), internal::random(ef0,ef1)); - vd[i] = std::abs(internal::random()) * std::pow(double(10), internal::random(ed0,ed1)); - } - - //std::cout << "reference\t" << internal::sqrt(double(s))*yf << "\t" << internal::sqrt(double(s))*yd << "\n"; - std::cout << "sqsumNorm\t" << sqsumNorm(vf) << "\t" << sqsumNorm(vd) << "\t" << sqsumNorm(vf.cast()) << "\t" << sqsumNorm(vd.cast()) << "\n"; - std::cout << "hypotNorm\t" << hypotNorm(vf) << "\t" << hypotNorm(vd) << "\t" << hypotNorm(vf.cast()) << "\t" << hypotNorm(vd.cast()) << "\n"; - std::cout << "blueNorm\t" << blueNorm(vf) << "\t" << blueNorm(vd) << "\t" << blueNorm(vf.cast()) << "\t" << blueNorm(vd.cast()) << "\n"; - std::cout << "pblueNorm\t" << pblueNorm(vf) << "\t" << pblueNorm(vd) << "\t" << blueNorm(vf.cast()) << "\t" << blueNorm(vd.cast()) << "\n"; - std::cout << "lapackNorm\t" << lapackNorm(vf) << "\t" << lapackNorm(vd) << "\t" << lapackNorm(vf.cast()) << "\t" << lapackNorm(vd.cast()) << "\n"; - std::cout << "twopassNorm\t" << twopassNorm(vf) << "\t" << twopassNorm(vd) << "\t" << twopassNorm(vf.cast()) << "\t" << twopassNorm(vd.cast()) << "\n"; -// std::cout << "bl2passNorm\t" << bl2passNorm(vf) << "\t" << bl2passNorm(vd) << "\t" << bl2passNorm(vf.cast()) << "\t" << bl2passNorm(vd.cast()) << "\n"; -} - -int main(int argc, char** argv) -{ - int tries = 10; - int iters = 100000; - double y = 1.1345743233455785456788e12 * internal::random(); - VectorXf v = VectorXf::Ones(1024) * y; - -// return 0; - int s = 10000; - double basef_ok = 1.1345743233455785456788e15; - double based_ok = 1.1345743233455785456788e95; - - double basef_under = 1.1345743233455785456788e-27; - double based_under = 1.1345743233455785456788e-303; - - double basef_over = 1.1345743233455785456788e+27; - double based_over = 1.1345743233455785456788e+302; - - std::cout.precision(20); - - std::cerr << "\nNo under/overflow:\n"; - check_accuracy(basef_ok, based_ok, s); - - std::cerr << "\nUnderflow:\n"; - check_accuracy(basef_under, based_under, s); - - std::cerr << "\nOverflow:\n"; - check_accuracy(basef_over, based_over, s); - - std::cerr << "\nVarying (over):\n"; - for (int k=0; k<1; ++k) - { - check_accuracy_var(20,27,190,302,s); - std::cout << "\n"; - } - - std::cerr << "\nVarying (under):\n"; - for (int k=0; k<1; ++k) - { - check_accuracy_var(-27,20,-302,-190,s); - std::cout << "\n"; - } - - y = 1; - std::cout.precision(4); - int s1 = 1024*1024*32; - std::cerr << "Performance (out of cache, " << s1 << "):\n"; - { - int iters = 1; - VectorXf vf = VectorXf::Random(s1) * y; - VectorXd vd = VectorXd::Random(s1) * y; - VectorXcf vcf = VectorXcf::Random(s1) * y; - BENCH_PERF(sqsumNorm); - BENCH_PERF(stableNorm); - BENCH_PERF(blueNorm); - BENCH_PERF(pblueNorm); - BENCH_PERF(lapackNorm); - BENCH_PERF(hypotNorm); - BENCH_PERF(twopassNorm); - BENCH_PERF(bl2passNorm); - } - - std::cerr << "\nPerformance (in cache, " << 512 << "):\n"; - { - int iters = 100000; - VectorXf vf = VectorXf::Random(512) * y; - VectorXd vd = VectorXd::Random(512) * y; - VectorXcf vcf = VectorXcf::Random(512) * y; - BENCH_PERF(sqsumNorm); - BENCH_PERF(stableNorm); - BENCH_PERF(blueNorm); - BENCH_PERF(pblueNorm); - BENCH_PERF(lapackNorm); - BENCH_PERF(hypotNorm); - BENCH_PERF(twopassNorm); - BENCH_PERF(bl2passNorm); - } -} diff --git a/testbed/nanogui/ext/eigen/bench/bench_reverse.cpp b/testbed/nanogui/ext/eigen/bench/bench_reverse.cpp deleted file mode 100644 index 1e69ca1b..00000000 --- a/testbed/nanogui/ext/eigen/bench/bench_reverse.cpp +++ /dev/null @@ -1,84 +0,0 @@ - -#include -#include -#include -using namespace Eigen; - -#ifndef REPEAT -#define REPEAT 100000 -#endif - -#ifndef TRIES -#define TRIES 20 -#endif - -typedef double Scalar; - -template -__attribute__ ((noinline)) void bench_reverse(const MatrixType& m) -{ - int rows = m.rows(); - int cols = m.cols(); - int size = m.size(); - - int repeats = (REPEAT*1000)/size; - MatrixType a = MatrixType::Random(rows,cols); - MatrixType b = MatrixType::Random(rows,cols); - - BenchTimer timerB, timerH, timerV; - - Scalar acc = 0; - int r = internal::random(0,rows-1); - int c = internal::random(0,cols-1); - for (int t=0; t0; ++i) - { - bench_reverse(Matrix(dynsizes[i],dynsizes[i])); - bench_reverse(Matrix(dynsizes[i]*dynsizes[i])); - } -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); -// bench_reverse(Matrix()); - return 0; -} - diff --git a/testbed/nanogui/ext/eigen/bench/bench_sum.cpp b/testbed/nanogui/ext/eigen/bench/bench_sum.cpp deleted file mode 100644 index a3d925e4..00000000 --- a/testbed/nanogui/ext/eigen/bench/bench_sum.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -int main() -{ - typedef Matrix Vec; - Vec v(SIZE); - v.setZero(); - v[0] = 1; - v[1] = 2; - for(int i = 0; i < 1000000; i++) - { - v.coeffRef(0) += v.sum() * SCALAR(1e-20); - } - cout << v.sum() << endl; -} diff --git a/testbed/nanogui/ext/eigen/bench/bench_unrolling b/testbed/nanogui/ext/eigen/bench/bench_unrolling deleted file mode 100755 index 82644384..00000000 --- a/testbed/nanogui/ext/eigen/bench/bench_unrolling +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash - -# gcc : CXX="g++ -finline-limit=10000 -ftemplate-depth-2000 --param max-inline-recursive-depth=2000" -# icc : CXX="icpc -fast -no-inline-max-size -fno-exceptions" -CXX=${CXX-g++ -finline-limit=10000 -ftemplate-depth-2000 --param max-inline-recursive-depth=2000} # default value - -for ((i=1; i<16; ++i)); do - echo "Matrix size: $i x $i :" - $CXX -O3 -I.. -DNDEBUG benchmark.cpp -DMATSIZE=$i -DEIGEN_UNROLLING_LIMIT=400 -o benchmark && time ./benchmark >/dev/null - $CXX -O3 -I.. -DNDEBUG -finline-limit=10000 benchmark.cpp -DMATSIZE=$i -DEIGEN_DONT_USE_UNROLLED_LOOPS=1 -o benchmark && time ./benchmark >/dev/null - echo " " -done diff --git a/testbed/nanogui/ext/eigen/bench/benchmark-blocking-sizes.cpp b/testbed/nanogui/ext/eigen/bench/benchmark-blocking-sizes.cpp deleted file mode 100644 index 827be288..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchmark-blocking-sizes.cpp +++ /dev/null @@ -1,677 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include -#include -#include -#include -#include -#include -#include - -bool eigen_use_specific_block_size; -int eigen_block_size_k, eigen_block_size_m, eigen_block_size_n; -#define EIGEN_TEST_SPECIFIC_BLOCKING_SIZES eigen_use_specific_block_size -#define EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_K eigen_block_size_k -#define EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_M eigen_block_size_m -#define EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_N eigen_block_size_n -#include - -#include - -using namespace Eigen; -using namespace std; - -static BenchTimer timer; - -// how many times we repeat each measurement. -// measurements are randomly shuffled - we're not doing -// all N identical measurements in a row. -const int measurement_repetitions = 3; - -// Timings below this value are too short to be accurate, -// we'll repeat measurements with more iterations until -// we get a timing above that threshold. -const float min_accurate_time = 1e-2f; - -// See --min-working-set-size command line parameter. -size_t min_working_set_size = 0; - -float max_clock_speed = 0.0f; - -// range of sizes that we will benchmark (in all 3 K,M,N dimensions) -const size_t maxsize = 2048; -const size_t minsize = 16; - -typedef MatrixXf MatrixType; -typedef MatrixType::Scalar Scalar; -typedef internal::packet_traits::type Packet; - -static_assert((maxsize & (maxsize - 1)) == 0, "maxsize must be a power of two"); -static_assert((minsize & (minsize - 1)) == 0, "minsize must be a power of two"); -static_assert(maxsize > minsize, "maxsize must be larger than minsize"); -static_assert(maxsize < (minsize << 16), "maxsize must be less than (minsize<<16)"); - -// just a helper to store a triple of K,M,N sizes for matrix product -struct size_triple_t -{ - size_t k, m, n; - size_triple_t() : k(0), m(0), n(0) {} - size_triple_t(size_t _k, size_t _m, size_t _n) : k(_k), m(_m), n(_n) {} - size_triple_t(const size_triple_t& o) : k(o.k), m(o.m), n(o.n) {} - size_triple_t(uint16_t compact) - { - k = 1 << ((compact & 0xf00) >> 8); - m = 1 << ((compact & 0x0f0) >> 4); - n = 1 << ((compact & 0x00f) >> 0); - } -}; - -uint8_t log2_pot(size_t x) { - size_t l = 0; - while (x >>= 1) l++; - return l; -} - -// Convert between size tripes and a compact form fitting in 12 bits -// where each size, which must be a POT, is encoded as its log2, on 4 bits -// so the largest representable size is 2^15 == 32k ... big enough. -uint16_t compact_size_triple(size_t k, size_t m, size_t n) -{ - return (log2_pot(k) << 8) | (log2_pot(m) << 4) | log2_pot(n); -} - -uint16_t compact_size_triple(const size_triple_t& t) -{ - return compact_size_triple(t.k, t.m, t.n); -} - -// A single benchmark. Initially only contains benchmark params. -// Then call run(), which stores the result in the gflops field. -struct benchmark_t -{ - uint16_t compact_product_size; - uint16_t compact_block_size; - bool use_default_block_size; - float gflops; - benchmark_t() - : compact_product_size(0) - , compact_block_size(0) - , use_default_block_size(false) - , gflops(0) - { - } - benchmark_t(size_t pk, size_t pm, size_t pn, - size_t bk, size_t bm, size_t bn) - : compact_product_size(compact_size_triple(pk, pm, pn)) - , compact_block_size(compact_size_triple(bk, bm, bn)) - , use_default_block_size(false) - , gflops(0) - {} - benchmark_t(size_t pk, size_t pm, size_t pn) - : compact_product_size(compact_size_triple(pk, pm, pn)) - , compact_block_size(0) - , use_default_block_size(true) - , gflops(0) - {} - - void run(); -}; - -ostream& operator<<(ostream& s, const benchmark_t& b) -{ - s << hex << b.compact_product_size << dec; - if (b.use_default_block_size) { - size_triple_t t(b.compact_product_size); - Index k = t.k, m = t.m, n = t.n; - internal::computeProductBlockingSizes(k, m, n); - s << " default(" << k << ", " << m << ", " << n << ")"; - } else { - s << " " << hex << b.compact_block_size << dec; - } - s << " " << b.gflops; - return s; -} - -// We sort first by increasing benchmark parameters, -// then by decreasing performance. -bool operator<(const benchmark_t& b1, const benchmark_t& b2) -{ - return b1.compact_product_size < b2.compact_product_size || - (b1.compact_product_size == b2.compact_product_size && ( - (b1.compact_block_size < b2.compact_block_size || ( - b1.compact_block_size == b2.compact_block_size && - b1.gflops > b2.gflops)))); -} - -void benchmark_t::run() -{ - size_triple_t productsizes(compact_product_size); - - if (use_default_block_size) { - eigen_use_specific_block_size = false; - } else { - // feed eigen with our custom blocking params - eigen_use_specific_block_size = true; - size_triple_t blocksizes(compact_block_size); - eigen_block_size_k = blocksizes.k; - eigen_block_size_m = blocksizes.m; - eigen_block_size_n = blocksizes.n; - } - - // set up the matrix pool - - const size_t combined_three_matrices_sizes = - sizeof(Scalar) * - (productsizes.k * productsizes.m + - productsizes.k * productsizes.n + - productsizes.m * productsizes.n); - - // 64 M is large enough that nobody has a cache bigger than that, - // while still being small enough that everybody has this much RAM, - // so conveniently we don't need to special-case platforms here. - const size_t unlikely_large_cache_size = 64 << 20; - - const size_t working_set_size = - min_working_set_size ? min_working_set_size : unlikely_large_cache_size; - - const size_t matrix_pool_size = - 1 + working_set_size / combined_three_matrices_sizes; - - MatrixType *lhs = new MatrixType[matrix_pool_size]; - MatrixType *rhs = new MatrixType[matrix_pool_size]; - MatrixType *dst = new MatrixType[matrix_pool_size]; - - for (size_t i = 0; i < matrix_pool_size; i++) { - lhs[i] = MatrixType::Zero(productsizes.m, productsizes.k); - rhs[i] = MatrixType::Zero(productsizes.k, productsizes.n); - dst[i] = MatrixType::Zero(productsizes.m, productsizes.n); - } - - // main benchmark loop - - int iters_at_a_time = 1; - float time_per_iter = 0.0f; - size_t matrix_index = 0; - while (true) { - - double starttime = timer.getCpuTime(); - for (int i = 0; i < iters_at_a_time; i++) { - dst[matrix_index].noalias() = lhs[matrix_index] * rhs[matrix_index]; - matrix_index++; - if (matrix_index == matrix_pool_size) { - matrix_index = 0; - } - } - double endtime = timer.getCpuTime(); - - const float timing = float(endtime - starttime); - - if (timing >= min_accurate_time) { - time_per_iter = timing / iters_at_a_time; - break; - } - - iters_at_a_time *= 2; - } - - delete[] lhs; - delete[] rhs; - delete[] dst; - - gflops = 2e-9 * productsizes.k * productsizes.m * productsizes.n / time_per_iter; -} - -void print_cpuinfo() -{ -#ifdef __linux__ - cout << "contents of /proc/cpuinfo:" << endl; - string line; - ifstream cpuinfo("/proc/cpuinfo"); - if (cpuinfo.is_open()) { - while (getline(cpuinfo, line)) { - cout << line << endl; - } - cpuinfo.close(); - } - cout << endl; -#elif defined __APPLE__ - cout << "output of sysctl hw:" << endl; - system("sysctl hw"); - cout << endl; -#endif -} - -template -string type_name() -{ - return "unknown"; -} - -template<> -string type_name() -{ - return "float"; -} - -template<> -string type_name() -{ - return "double"; -} - -struct action_t -{ - virtual const char* invokation_name() const { abort(); return nullptr; } - virtual void run() const { abort(); } - virtual ~action_t() {} -}; - -void show_usage_and_exit(int /*argc*/, char* argv[], - const vector>& available_actions) -{ - cerr << "usage: " << argv[0] << " [options...]" << endl << endl; - cerr << "available actions:" << endl << endl; - for (auto it = available_actions.begin(); it != available_actions.end(); ++it) { - cerr << " " << (*it)->invokation_name() << endl; - } - cerr << endl; - cerr << "options:" << endl << endl; - cerr << " --min-working-set-size=N:" << endl; - cerr << " Set the minimum working set size to N bytes." << endl; - cerr << " This is rounded up as needed to a multiple of matrix size." << endl; - cerr << " A larger working set lowers the chance of a warm cache." << endl; - cerr << " The default value 0 means use a large enough working" << endl; - cerr << " set to likely outsize caches." << endl; - cerr << " A value of 1 (that is, 1 byte) would mean don't do anything to" << endl; - cerr << " avoid warm caches." << endl; - exit(1); -} - -float measure_clock_speed() -{ - cerr << "Measuring clock speed... \r" << flush; - - vector all_gflops; - for (int i = 0; i < 8; i++) { - benchmark_t b(1024, 1024, 1024); - b.run(); - all_gflops.push_back(b.gflops); - } - - sort(all_gflops.begin(), all_gflops.end()); - float stable_estimate = all_gflops[2] + all_gflops[3] + all_gflops[4] + all_gflops[5]; - - // multiply by an arbitrary constant to discourage trying doing anything with the - // returned values besides just comparing them with each other. - float result = stable_estimate * 123.456f; - - return result; -} - -struct human_duration_t -{ - int seconds; - human_duration_t(int s) : seconds(s) {} -}; - -ostream& operator<<(ostream& s, const human_duration_t& d) -{ - int remainder = d.seconds; - if (remainder > 3600) { - int hours = remainder / 3600; - s << hours << " h "; - remainder -= hours * 3600; - } - if (remainder > 60) { - int minutes = remainder / 60; - s << minutes << " min "; - remainder -= minutes * 60; - } - if (d.seconds < 600) { - s << remainder << " s"; - } - return s; -} - -const char session_filename[] = "/data/local/tmp/benchmark-blocking-sizes-session.data"; - -void serialize_benchmarks(const char* filename, const vector& benchmarks, size_t first_benchmark_to_run) -{ - FILE* file = fopen(filename, "w"); - if (!file) { - cerr << "Could not open file " << filename << " for writing." << endl; - cerr << "Do you have write permissions on the current working directory?" << endl; - exit(1); - } - size_t benchmarks_vector_size = benchmarks.size(); - fwrite(&max_clock_speed, sizeof(max_clock_speed), 1, file); - fwrite(&benchmarks_vector_size, sizeof(benchmarks_vector_size), 1, file); - fwrite(&first_benchmark_to_run, sizeof(first_benchmark_to_run), 1, file); - fwrite(benchmarks.data(), sizeof(benchmark_t), benchmarks.size(), file); - fclose(file); -} - -bool deserialize_benchmarks(const char* filename, vector& benchmarks, size_t& first_benchmark_to_run) -{ - FILE* file = fopen(filename, "r"); - if (!file) { - return false; - } - if (1 != fread(&max_clock_speed, sizeof(max_clock_speed), 1, file)) { - return false; - } - size_t benchmarks_vector_size = 0; - if (1 != fread(&benchmarks_vector_size, sizeof(benchmarks_vector_size), 1, file)) { - return false; - } - if (1 != fread(&first_benchmark_to_run, sizeof(first_benchmark_to_run), 1, file)) { - return false; - } - benchmarks.resize(benchmarks_vector_size); - if (benchmarks.size() != fread(benchmarks.data(), sizeof(benchmark_t), benchmarks.size(), file)) { - return false; - } - unlink(filename); - return true; -} - -void try_run_some_benchmarks( - vector& benchmarks, - double time_start, - size_t& first_benchmark_to_run) -{ - if (first_benchmark_to_run == benchmarks.size()) { - return; - } - - double time_last_progress_update = 0; - double time_last_clock_speed_measurement = 0; - double time_now = 0; - - size_t benchmark_index = first_benchmark_to_run; - - while (true) { - float ratio_done = float(benchmark_index) / benchmarks.size(); - time_now = timer.getRealTime(); - - // We check clock speed every minute and at the end. - if (benchmark_index == benchmarks.size() || - time_now > time_last_clock_speed_measurement + 60.0f) - { - time_last_clock_speed_measurement = time_now; - - // Ensure that clock speed is as expected - float current_clock_speed = measure_clock_speed(); - - // The tolerance needs to be smaller than the relative difference between - // clock speeds that a device could operate under. - // It seems unlikely that a device would be throttling clock speeds by - // amounts smaller than 2%. - // With a value of 1%, I was getting within noise on a Sandy Bridge. - const float clock_speed_tolerance = 0.02f; - - if (current_clock_speed > (1 + clock_speed_tolerance) * max_clock_speed) { - // Clock speed is now higher than we previously measured. - // Either our initial measurement was inaccurate, which won't happen - // too many times as we are keeping the best clock speed value and - // and allowing some tolerance; or something really weird happened, - // which invalidates all benchmark results collected so far. - // Either way, we better restart all over again now. - if (benchmark_index) { - cerr << "Restarting at " << 100.0f * ratio_done - << " % because clock speed increased. " << endl; - } - max_clock_speed = current_clock_speed; - first_benchmark_to_run = 0; - return; - } - - bool rerun_last_tests = false; - - if (current_clock_speed < (1 - clock_speed_tolerance) * max_clock_speed) { - cerr << "Measurements completed so far: " - << 100.0f * ratio_done - << " % " << endl; - cerr << "Clock speed seems to be only " - << current_clock_speed/max_clock_speed - << " times what it used to be." << endl; - - unsigned int seconds_to_sleep_if_lower_clock_speed = 1; - - while (current_clock_speed < (1 - clock_speed_tolerance) * max_clock_speed) { - if (seconds_to_sleep_if_lower_clock_speed > 32) { - cerr << "Sleeping longer probably won't make a difference." << endl; - cerr << "Serializing benchmarks to " << session_filename << endl; - serialize_benchmarks(session_filename, benchmarks, first_benchmark_to_run); - cerr << "Now restart this benchmark, and it should pick up where we left." << endl; - exit(2); - } - rerun_last_tests = true; - cerr << "Sleeping " - << seconds_to_sleep_if_lower_clock_speed - << " s... \r" << endl; - sleep(seconds_to_sleep_if_lower_clock_speed); - current_clock_speed = measure_clock_speed(); - seconds_to_sleep_if_lower_clock_speed *= 2; - } - } - - if (rerun_last_tests) { - cerr << "Redoing the last " - << 100.0f * float(benchmark_index - first_benchmark_to_run) / benchmarks.size() - << " % because clock speed had been low. " << endl; - return; - } - - // nothing wrong with the clock speed so far, so there won't be a need to rerun - // benchmarks run so far in case we later encounter a lower clock speed. - first_benchmark_to_run = benchmark_index; - } - - if (benchmark_index == benchmarks.size()) { - // We're done! - first_benchmark_to_run = benchmarks.size(); - // Erase progress info - cerr << " " << endl; - return; - } - - // Display progress info on stderr - if (time_now > time_last_progress_update + 1.0f) { - time_last_progress_update = time_now; - cerr << "Measurements... " << 100.0f * ratio_done - << " %, ETA " - << human_duration_t(float(time_now - time_start) * (1.0f - ratio_done) / ratio_done) - << " \r" << flush; - } - - // This is where we actually run a benchmark! - benchmarks[benchmark_index].run(); - benchmark_index++; - } -} - -void run_benchmarks(vector& benchmarks) -{ - size_t first_benchmark_to_run; - vector deserialized_benchmarks; - bool use_deserialized_benchmarks = false; - if (deserialize_benchmarks(session_filename, deserialized_benchmarks, first_benchmark_to_run)) { - cerr << "Found serialized session with " - << 100.0f * first_benchmark_to_run / deserialized_benchmarks.size() - << " % already done" << endl; - if (deserialized_benchmarks.size() == benchmarks.size() && - first_benchmark_to_run > 0 && - first_benchmark_to_run < benchmarks.size()) - { - use_deserialized_benchmarks = true; - } - } - - if (use_deserialized_benchmarks) { - benchmarks = deserialized_benchmarks; - } else { - // not using deserialized benchmarks, starting from scratch - first_benchmark_to_run = 0; - - // Randomly shuffling benchmarks allows us to get accurate enough progress info, - // as now the cheap/expensive benchmarks are randomly mixed so they average out. - // It also means that if data is corrupted for some time span, the odds are that - // not all repetitions of a given benchmark will be corrupted. - random_shuffle(benchmarks.begin(), benchmarks.end()); - } - - for (int i = 0; i < 4; i++) { - max_clock_speed = max(max_clock_speed, measure_clock_speed()); - } - - double time_start = 0.0; - while (first_benchmark_to_run < benchmarks.size()) { - if (first_benchmark_to_run == 0) { - time_start = timer.getRealTime(); - } - try_run_some_benchmarks(benchmarks, - time_start, - first_benchmark_to_run); - } - - // Sort timings by increasing benchmark parameters, and decreasing gflops. - // The latter is very important. It means that we can ignore all but the first - // benchmark with given parameters. - sort(benchmarks.begin(), benchmarks.end()); - - // Collect best (i.e. now first) results for each parameter values. - vector best_benchmarks; - for (auto it = benchmarks.begin(); it != benchmarks.end(); ++it) { - if (best_benchmarks.empty() || - best_benchmarks.back().compact_product_size != it->compact_product_size || - best_benchmarks.back().compact_block_size != it->compact_block_size) - { - best_benchmarks.push_back(*it); - } - } - - // keep and return only the best benchmarks - benchmarks = best_benchmarks; -} - -struct measure_all_pot_sizes_action_t : action_t -{ - virtual const char* invokation_name() const { return "all-pot-sizes"; } - virtual void run() const - { - vector benchmarks; - for (int repetition = 0; repetition < measurement_repetitions; repetition++) { - for (size_t ksize = minsize; ksize <= maxsize; ksize *= 2) { - for (size_t msize = minsize; msize <= maxsize; msize *= 2) { - for (size_t nsize = minsize; nsize <= maxsize; nsize *= 2) { - for (size_t kblock = minsize; kblock <= ksize; kblock *= 2) { - for (size_t mblock = minsize; mblock <= msize; mblock *= 2) { - for (size_t nblock = minsize; nblock <= nsize; nblock *= 2) { - benchmarks.emplace_back(ksize, msize, nsize, kblock, mblock, nblock); - } - } - } - } - } - } - } - - run_benchmarks(benchmarks); - - cout << "BEGIN MEASUREMENTS ALL POT SIZES" << endl; - for (auto it = benchmarks.begin(); it != benchmarks.end(); ++it) { - cout << *it << endl; - } - } -}; - -struct measure_default_sizes_action_t : action_t -{ - virtual const char* invokation_name() const { return "default-sizes"; } - virtual void run() const - { - vector benchmarks; - for (int repetition = 0; repetition < measurement_repetitions; repetition++) { - for (size_t ksize = minsize; ksize <= maxsize; ksize *= 2) { - for (size_t msize = minsize; msize <= maxsize; msize *= 2) { - for (size_t nsize = minsize; nsize <= maxsize; nsize *= 2) { - benchmarks.emplace_back(ksize, msize, nsize); - } - } - } - } - - run_benchmarks(benchmarks); - - cout << "BEGIN MEASUREMENTS DEFAULT SIZES" << endl; - for (auto it = benchmarks.begin(); it != benchmarks.end(); ++it) { - cout << *it << endl; - } - } -}; - -int main(int argc, char* argv[]) -{ - double time_start = timer.getRealTime(); - cout.precision(4); - cerr.precision(4); - - vector> available_actions; - available_actions.emplace_back(new measure_all_pot_sizes_action_t); - available_actions.emplace_back(new measure_default_sizes_action_t); - - auto action = available_actions.end(); - - if (argc <= 1) { - show_usage_and_exit(argc, argv, available_actions); - } - for (auto it = available_actions.begin(); it != available_actions.end(); ++it) { - if (!strcmp(argv[1], (*it)->invokation_name())) { - action = it; - break; - } - } - - if (action == available_actions.end()) { - show_usage_and_exit(argc, argv, available_actions); - } - - for (int i = 2; i < argc; i++) { - if (argv[i] == strstr(argv[i], "--min-working-set-size=")) { - const char* equals_sign = strchr(argv[i], '='); - min_working_set_size = strtoul(equals_sign+1, nullptr, 10); - } else { - cerr << "unrecognized option: " << argv[i] << endl << endl; - show_usage_and_exit(argc, argv, available_actions); - } - } - - print_cpuinfo(); - - cout << "benchmark parameters:" << endl; - cout << "pointer size: " << 8*sizeof(void*) << " bits" << endl; - cout << "scalar type: " << type_name() << endl; - cout << "packet size: " << internal::packet_traits::size << endl; - cout << "minsize = " << minsize << endl; - cout << "maxsize = " << maxsize << endl; - cout << "measurement_repetitions = " << measurement_repetitions << endl; - cout << "min_accurate_time = " << min_accurate_time << endl; - cout << "min_working_set_size = " << min_working_set_size; - if (min_working_set_size == 0) { - cout << " (try to outsize caches)"; - } - cout << endl << endl; - - (*action)->run(); - - double time_end = timer.getRealTime(); - cerr << "Finished in " << human_duration_t(time_end - time_start) << endl; -} diff --git a/testbed/nanogui/ext/eigen/bench/benchmark.cpp b/testbed/nanogui/ext/eigen/bench/benchmark.cpp deleted file mode 100644 index c721b908..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchmark.cpp +++ /dev/null @@ -1,39 +0,0 @@ -// g++ -O3 -DNDEBUG -DMATSIZE= benchmark.cpp -o benchmark && time ./benchmark - -#include - -#include - -#ifndef MATSIZE -#define MATSIZE 3 -#endif - -using namespace std; -using namespace Eigen; - -#ifndef REPEAT -#define REPEAT 40000000 -#endif - -#ifndef SCALAR -#define SCALAR double -#endif - -int main(int argc, char *argv[]) -{ - Matrix I = Matrix::Ones(); - Matrix m; - for(int i = 0; i < MATSIZE; i++) - for(int j = 0; j < MATSIZE; j++) - { - m(i,j) = (i+MATSIZE*j); - } - asm("#begin"); - for(int a = 0; a < REPEAT; a++) - { - m = Matrix::Ones() + 0.00005 * (m + (m*m)); - } - asm("#end"); - cout << m << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/benchmarkSlice.cpp b/testbed/nanogui/ext/eigen/bench/benchmarkSlice.cpp deleted file mode 100644 index c5b89c54..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchmarkSlice.cpp +++ /dev/null @@ -1,38 +0,0 @@ -// g++ -O3 -DNDEBUG benchmarkX.cpp -o benchmarkX && time ./benchmarkX - -#include - -#include - -using namespace std; -using namespace Eigen; - -#ifndef REPEAT -#define REPEAT 10000 -#endif - -#ifndef SCALAR -#define SCALAR float -#endif - -int main(int argc, char *argv[]) -{ - typedef Matrix Mat; - Mat m(100, 100); - m.setRandom(); - - for(int a = 0; a < REPEAT; a++) - { - int r, c, nr, nc; - r = Eigen::internal::random(0,10); - c = Eigen::internal::random(0,10); - nr = Eigen::internal::random(50,80); - nc = Eigen::internal::random(50,80); - m.block(r,c,nr,nc) += Mat::Ones(nr,nc); - m.block(r,c,nr,nc) *= SCALAR(10); - m.block(r,c,nr,nc) -= Mat::constant(nr,nc,10); - m.block(r,c,nr,nc) /= SCALAR(10); - } - cout << m[0] << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/benchmarkX.cpp b/testbed/nanogui/ext/eigen/bench/benchmarkX.cpp deleted file mode 100644 index 8e4b60c2..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchmarkX.cpp +++ /dev/null @@ -1,36 +0,0 @@ -// g++ -fopenmp -I .. -O3 -DNDEBUG -finline-limit=1000 benchmarkX.cpp -o b && time ./b - -#include - -#include - -using namespace std; -using namespace Eigen; - -#ifndef MATTYPE -#define MATTYPE MatrixXLd -#endif - -#ifndef MATSIZE -#define MATSIZE 400 -#endif - -#ifndef REPEAT -#define REPEAT 100 -#endif - -int main(int argc, char *argv[]) -{ - MATTYPE I = MATTYPE::Ones(MATSIZE,MATSIZE); - MATTYPE m(MATSIZE,MATSIZE); - for(int i = 0; i < MATSIZE; i++) for(int j = 0; j < MATSIZE; j++) - { - m(i,j) = (i+j+1)/(MATSIZE*MATSIZE); - } - for(int a = 0; a < REPEAT; a++) - { - m = I + 0.0001 * (m + m*m); - } - cout << m(0,0) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/benchmarkXcwise.cpp b/testbed/nanogui/ext/eigen/bench/benchmarkXcwise.cpp deleted file mode 100644 index 62437435..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchmarkXcwise.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// g++ -O3 -DNDEBUG benchmarkX.cpp -o benchmarkX && time ./benchmarkX - -#include -#include - -using namespace std; -using namespace Eigen; - -#ifndef VECTYPE -#define VECTYPE VectorXLd -#endif - -#ifndef VECSIZE -#define VECSIZE 1000000 -#endif - -#ifndef REPEAT -#define REPEAT 1000 -#endif - -int main(int argc, char *argv[]) -{ - VECTYPE I = VECTYPE::Ones(VECSIZE); - VECTYPE m(VECSIZE,1); - for(int i = 0; i < VECSIZE; i++) - { - m[i] = 0.1 * i/VECSIZE; - } - for(int a = 0; a < REPEAT; a++) - { - m = VECTYPE::Ones(VECSIZE) + 0.00005 * (m.cwise().square() + m/4); - } - cout << m[0] << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/benchmark_suite b/testbed/nanogui/ext/eigen/bench/benchmark_suite deleted file mode 100755 index 3f21d366..00000000 --- a/testbed/nanogui/ext/eigen/bench/benchmark_suite +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash -CXX=${CXX-g++} # default value unless caller has defined CXX -echo "Fixed size 3x3, column-major, -DNDEBUG" -$CXX -O3 -I .. -DNDEBUG benchmark.cpp -o benchmark && time ./benchmark >/dev/null -echo "Fixed size 3x3, column-major, with asserts" -$CXX -O3 -I .. benchmark.cpp -o benchmark && time ./benchmark >/dev/null -echo "Fixed size 3x3, row-major, -DNDEBUG" -$CXX -O3 -I .. -DEIGEN_DEFAULT_TO_ROW_MAJOR -DNDEBUG benchmark.cpp -o benchmark && time ./benchmark >/dev/null -echo "Fixed size 3x3, row-major, with asserts" -$CXX -O3 -I .. -DEIGEN_DEFAULT_TO_ROW_MAJOR benchmark.cpp -o benchmark && time ./benchmark >/dev/null -echo "Dynamic size 20x20, column-major, -DNDEBUG" -$CXX -O3 -I .. -DNDEBUG benchmarkX.cpp -o benchmarkX && time ./benchmarkX >/dev/null -echo "Dynamic size 20x20, column-major, with asserts" -$CXX -O3 -I .. benchmarkX.cpp -o benchmarkX && time ./benchmarkX >/dev/null -echo "Dynamic size 20x20, row-major, -DNDEBUG" -$CXX -O3 -I .. -DEIGEN_DEFAULT_TO_ROW_MAJOR -DNDEBUG benchmarkX.cpp -o benchmarkX && time ./benchmarkX >/dev/null -echo "Dynamic size 20x20, row-major, with asserts" -$CXX -O3 -I .. -DEIGEN_DEFAULT_TO_ROW_MAJOR benchmarkX.cpp -o benchmarkX && time ./benchmarkX >/dev/null diff --git a/testbed/nanogui/ext/eigen/bench/btl/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/CMakeLists.txt deleted file mode 100644 index 38ff9f48..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/CMakeLists.txt +++ /dev/null @@ -1,107 +0,0 @@ -PROJECT(BTL) - -CMAKE_MINIMUM_REQUIRED(VERSION 2.6.2) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake ${Eigen_SOURCE_DIR}/cmake) -include(MacroOptionalAddSubdirectory) - -OPTION(BTL_NOVEC "Disable SSE/Altivec optimizations when possible" OFF) - -SET(CMAKE_INCLUDE_CURRENT_DIR ON) - -string(REGEX MATCH icpc IS_ICPC ${CMAKE_CXX_COMPILER}) -IF(CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) - SET(CMAKE_CXX_FLAGS "-g0 -O3 -DNDEBUG ${CMAKE_CXX_FLAGS}") - SET(CMAKE_Fortran_FLAGS "-g0 -O3 -DNDEBUG ${CMAKE_Fortran_FLAGS}") - IF(BTL_NOVEC) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DEIGEN_DONT_VECTORIZE") - ENDIF(BTL_NOVEC) -ENDIF(CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) - -IF(MSVC) - SET(CMAKE_CXX_FLAGS " /O2 /Ot /GL /fp:fast -DNDEBUG") -# SET(CMAKE_Fortran_FLAGS "-g0 -O3 -DNDEBUG") - IF(BTL_NOVEC) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DEIGEN_DONT_VECTORIZE") - ENDIF(BTL_NOVEC) -ENDIF(MSVC) - -if(IS_ICPC) - set(CMAKE_CXX_FLAGS "-fast ${CMAKE_CXX_FLAGS}") - set(CMAKE_Fortran_FLAGS "-fast ${CMAKE_Fortran_FLAGS}") -endif(IS_ICPC) - -include_directories( - ${PROJECT_SOURCE_DIR}/actions - ${PROJECT_SOURCE_DIR}/generic_bench - ${PROJECT_SOURCE_DIR}/generic_bench/utils - ${PROJECT_SOURCE_DIR}/libs/STL) - -# find_package(MKL) -# if (MKL_FOUND) -# add_definitions(-DHAVE_MKL) -# set(DEFAULT_LIBRARIES ${MKL_LIBRARIES}) -# endif (MKL_FOUND) - -find_library(EIGEN_BTL_RT_LIBRARY rt) -# if we cannot find it easily, then we don't need it! -if(NOT EIGEN_BTL_RT_LIBRARY) - set(EIGEN_BTL_RT_LIBRARY "") -endif() - -MACRO(BTL_ADD_BENCH targetname) - - foreach(_current_var ${ARGN}) - set(_last_var ${_current_var}) - endforeach(_current_var) - - set(_sources ${ARGN}) - list(LENGTH _sources _argn_length) - - list(REMOVE_ITEM _sources ON OFF TRUE FALSE) - - list(LENGTH _sources _src_length) - - if (${_argn_length} EQUAL ${_src_length}) - set(_last_var ON) - endif (${_argn_length} EQUAL ${_src_length}) - - OPTION(BUILD_${targetname} "Build benchmark ${targetname}" ${_last_var}) - - IF(BUILD_${targetname}) - ADD_EXECUTABLE(${targetname} ${_sources}) - ADD_TEST(${targetname} "${targetname}") - target_link_libraries(${targetname} ${DEFAULT_LIBRARIES} ${EIGEN_BTL_RT_LIBRARY}) - ENDIF(BUILD_${targetname}) - -ENDMACRO(BTL_ADD_BENCH) - -macro(btl_add_target_property target prop value) - - if(BUILD_${target}) - get_target_property(previous ${target} ${prop}) - if(NOT previous) - set(previous "") - endif() - set_target_properties(${target} PROPERTIES ${prop} "${previous} ${value}") - endif() - -endmacro(btl_add_target_property) - -ENABLE_TESTING() - -add_subdirectory(libs/eigen3) -add_subdirectory(libs/eigen2) -add_subdirectory(libs/tensors) -add_subdirectory(libs/BLAS) -add_subdirectory(libs/ublas) -add_subdirectory(libs/gmm) -add_subdirectory(libs/mtl4) -add_subdirectory(libs/blitz) -add_subdirectory(libs/tvmet) -add_subdirectory(libs/STL) -add_subdirectory(libs/blaze) - -add_subdirectory(data) - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/COPYING b/testbed/nanogui/ext/eigen/bench/btl/COPYING deleted file mode 100644 index 486449cc..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/COPYING +++ /dev/null @@ -1,340 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 2, June 1991 - - Copyright (C) 1989, 1991 Free Software Foundation, Inc. - 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. By contrast, the GNU General Public -License is intended to guarantee your freedom to share and change free -software--to make sure the software is free for all its users. This -General Public License applies to most of the Free Software -Foundation's software and to any other program whose authors commit to -using it. (Some other Free Software Foundation software is covered by -the GNU Library General Public License instead.) You can apply it to -your programs, too. - - When we speak of free software, we are referring to freedom, not -price. Our General Public Licenses are designed to make sure that you -have the freedom to distribute copies of free software (and charge for -this service if you wish), that you receive source code or can get it -if you want it, that you can change the software or use pieces of it -in new free programs; and that you know you can do these things. - - To protect your rights, we need to make restrictions that forbid -anyone to deny you these rights or to ask you to surrender the rights. -These restrictions translate to certain responsibilities for you if you -distribute copies of the software, or if you modify it. - - For example, if you distribute copies of such a program, whether -gratis or for a fee, you must give the recipients all the rights that -you have. You must make sure that they, too, receive or can get the -source code. And you must show them these terms so they know their -rights. - - We protect your rights with two steps: (1) copyright the software, and -(2) offer you this license which gives you legal permission to copy, -distribute and/or modify the software. - - Also, for each author's protection and ours, we want to make certain -that everyone understands that there is no warranty for this free -software. If the software is modified by someone else and passed on, we -want its recipients to know that what they have is not the original, so -that any problems introduced by others will not reflect on the original -authors' reputations. - - Finally, any free program is threatened constantly by software -patents. We wish to avoid the danger that redistributors of a free -program will individually obtain patent licenses, in effect making the -program proprietary. To prevent this, we have made it clear that any -patent must be licensed for everyone's free use or not licensed at all. - - The precise terms and conditions for copying, distribution and -modification follow. - - GNU GENERAL PUBLIC LICENSE - TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION - - 0. This License applies to any program or other work which contains -a notice placed by the copyright holder saying it may be distributed -under the terms of this General Public License. The "Program", below, -refers to any such program or work, and a "work based on the Program" -means either the Program or any derivative work under copyright law: -that is to say, a work containing the Program or a portion of it, -either verbatim or with modifications and/or translated into another -language. (Hereinafter, translation is included without limitation in -the term "modification".) Each licensee is addressed as "you". - -Activities other than copying, distribution and modification are not -covered by this License; they are outside its scope. The act of -running the Program is not restricted, and the output from the Program -is covered only if its contents constitute a work based on the -Program (independent of having been made by running the Program). -Whether that is true depends on what the Program does. - - 1. You may copy and distribute verbatim copies of the Program's -source code as you receive it, in any medium, provided that you -conspicuously and appropriately publish on each copy an appropriate -copyright notice and disclaimer of warranty; keep intact all the -notices that refer to this License and to the absence of any warranty; -and give any other recipients of the Program a copy of this License -along with the Program. - -You may charge a fee for the physical act of transferring a copy, and -you may at your option offer warranty protection in exchange for a fee. - - 2. You may modify your copy or copies of the Program or any portion -of it, thus forming a work based on the Program, and copy and -distribute such modifications or work under the terms of Section 1 -above, provided that you also meet all of these conditions: - - a) You must cause the modified files to carry prominent notices - stating that you changed the files and the date of any change. - - b) You must cause any work that you distribute or publish, that in - whole or in part contains or is derived from the Program or any - part thereof, to be licensed as a whole at no charge to all third - parties under the terms of this License. - - c) If the modified program normally reads commands interactively - when run, you must cause it, when started running for such - interactive use in the most ordinary way, to print or display an - announcement including an appropriate copyright notice and a - notice that there is no warranty (or else, saying that you provide - a warranty) and that users may redistribute the program under - these conditions, and telling the user how to view a copy of this - License. (Exception: if the Program itself is interactive but - does not normally print such an announcement, your work based on - the Program is not required to print an announcement.) - -These requirements apply to the modified work as a whole. If -identifiable sections of that work are not derived from the Program, -and can be reasonably considered independent and separate works in -themselves, then this License, and its terms, do not apply to those -sections when you distribute them as separate works. But when you -distribute the same sections as part of a whole which is a work based -on the Program, the distribution of the whole must be on the terms of -this License, whose permissions for other licensees extend to the -entire whole, and thus to each and every part regardless of who wrote it. - -Thus, it is not the intent of this section to claim rights or contest -your rights to work written entirely by you; rather, the intent is to -exercise the right to control the distribution of derivative or -collective works based on the Program. - -In addition, mere aggregation of another work not based on the Program -with the Program (or with a work based on the Program) on a volume of -a storage or distribution medium does not bring the other work under -the scope of this License. - - 3. You may copy and distribute the Program (or a work based on it, -under Section 2) in object code or executable form under the terms of -Sections 1 and 2 above provided that you also do one of the following: - - a) Accompany it with the complete corresponding machine-readable - source code, which must be distributed under the terms of Sections - 1 and 2 above on a medium customarily used for software interchange; or, - - b) Accompany it with a written offer, valid for at least three - years, to give any third party, for a charge no more than your - cost of physically performing source distribution, a complete - machine-readable copy of the corresponding source code, to be - distributed under the terms of Sections 1 and 2 above on a medium - customarily used for software interchange; or, - - c) Accompany it with the information you received as to the offer - to distribute corresponding source code. (This alternative is - allowed only for noncommercial distribution and only if you - received the program in object code or executable form with such - an offer, in accord with Subsection b above.) - -The source code for a work means the preferred form of the work for -making modifications to it. For an executable work, complete source -code means all the source code for all modules it contains, plus any -associated interface definition files, plus the scripts used to -control compilation and installation of the executable. However, as a -special exception, the source code distributed need not include -anything that is normally distributed (in either source or binary -form) with the major components (compiler, kernel, and so on) of the -operating system on which the executable runs, unless that component -itself accompanies the executable. - -If distribution of executable or object code is made by offering -access to copy from a designated place, then offering equivalent -access to copy the source code from the same place counts as -distribution of the source code, even though third parties are not -compelled to copy the source along with the object code. - - 4. You may not copy, modify, sublicense, or distribute the Program -except as expressly provided under this License. Any attempt -otherwise to copy, modify, sublicense or distribute the Program is -void, and will automatically terminate your rights under this License. -However, parties who have received copies, or rights, from you under -this License will not have their licenses terminated so long as such -parties remain in full compliance. - - 5. You are not required to accept this License, since you have not -signed it. However, nothing else grants you permission to modify or -distribute the Program or its derivative works. These actions are -prohibited by law if you do not accept this License. Therefore, by -modifying or distributing the Program (or any work based on the -Program), you indicate your acceptance of this License to do so, and -all its terms and conditions for copying, distributing or modifying -the Program or works based on it. - - 6. Each time you redistribute the Program (or any work based on the -Program), the recipient automatically receives a license from the -original licensor to copy, distribute or modify the Program subject to -these terms and conditions. You may not impose any further -restrictions on the recipients' exercise of the rights granted herein. -You are not responsible for enforcing compliance by third parties to -this License. - - 7. If, as a consequence of a court judgment or allegation of patent -infringement or for any other reason (not limited to patent issues), -conditions are imposed on you (whether by court order, agreement or -otherwise) that contradict the conditions of this License, they do not -excuse you from the conditions of this License. If you cannot -distribute so as to satisfy simultaneously your obligations under this -License and any other pertinent obligations, then as a consequence you -may not distribute the Program at all. For example, if a patent -license would not permit royalty-free redistribution of the Program by -all those who receive copies directly or indirectly through you, then -the only way you could satisfy both it and this License would be to -refrain entirely from distribution of the Program. - -If any portion of this section is held invalid or unenforceable under -any particular circumstance, the balance of the section is intended to -apply and the section as a whole is intended to apply in other -circumstances. - -It is not the purpose of this section to induce you to infringe any -patents or other property right claims or to contest validity of any -such claims; this section has the sole purpose of protecting the -integrity of the free software distribution system, which is -implemented by public license practices. Many people have made -generous contributions to the wide range of software distributed -through that system in reliance on consistent application of that -system; it is up to the author/donor to decide if he or she is willing -to distribute software through any other system and a licensee cannot -impose that choice. - -This section is intended to make thoroughly clear what is believed to -be a consequence of the rest of this License. - - 8. If the distribution and/or use of the Program is restricted in -certain countries either by patents or by copyrighted interfaces, the -original copyright holder who places the Program under this License -may add an explicit geographical distribution limitation excluding -those countries, so that distribution is permitted only in or among -countries not thus excluded. In such case, this License incorporates -the limitation as if written in the body of this License. - - 9. The Free Software Foundation may publish revised and/or new versions -of the General Public License from time to time. Such new versions will -be similar in spirit to the present version, but may differ in detail to -address new problems or concerns. - -Each version is given a distinguishing version number. If the Program -specifies a version number of this License which applies to it and "any -later version", you have the option of following the terms and conditions -either of that version or of any later version published by the Free -Software Foundation. If the Program does not specify a version number of -this License, you may choose any version ever published by the Free Software -Foundation. - - 10. If you wish to incorporate parts of the Program into other free -programs whose distribution conditions are different, write to the author -to ask for permission. For software which is copyrighted by the Free -Software Foundation, write to the Free Software Foundation; we sometimes -make exceptions for this. Our decision will be guided by the two goals -of preserving the free status of all derivatives of our free software and -of promoting the sharing and reuse of software generally. - - NO WARRANTY - - 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY -FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN -OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES -PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED -OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS -TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE -PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, -REPAIR OR CORRECTION. - - 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING -WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR -REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, -INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING -OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED -TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY -YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER -PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE -POSSIBILITY OF SUCH DAMAGES. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Programs - - If you develop a new program, and you want it to be of the greatest -possible use to the public, the best way to achieve this is to make it -free software which everyone can redistribute and change under these terms. - - To do so, attach the following notices to the program. It is safest -to attach them to the start of each source file to most effectively -convey the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - - -Also add information on how to contact you by electronic and paper mail. - -If the program is interactive, make it output a short notice like this -when it starts in an interactive mode: - - Gnomovision version 69, Copyright (C) year name of author - Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, the commands you use may -be called something other than `show w' and `show c'; they could even be -mouse-clicks or menu items--whatever suits your program. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the program, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the program - `Gnomovision' (which makes passes at compilers) written by James Hacker. - - , 1 April 1989 - Ty Coon, President of Vice - -This General Public License does not permit incorporating your program into -proprietary programs. If your program is a subroutine library, you may -consider it more useful to permit linking proprietary applications with the -library. If this is what you want to do, use the GNU Library General -Public License instead of this License. diff --git a/testbed/nanogui/ext/eigen/bench/btl/README b/testbed/nanogui/ext/eigen/bench/btl/README deleted file mode 100644 index f3f5fb36..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/README +++ /dev/null @@ -1,154 +0,0 @@ -Bench Template Library - -**************************************** -Introduction : - -The aim of this project is to compare the performance -of available numerical libraries. The code is designed -as generic and modular as possible. Thus, adding new -numerical libraries or new numerical tests should -require minimal effort. - - -***************************************** - -Installation : - -BTL uses cmake / ctest: - -1 - create a build directory: - - $ mkdir build - $ cd build - -2 - configure: - - $ ccmake .. - -3 - run the bench using ctest: - - $ ctest -V - -You can run the benchmarks only on libraries matching a given regular expression: - ctest -V -R -For instance: - ctest -V -R eigen2 - -You can also select a given set of actions defining the environment variable BTL_CONFIG this way: - BTL_CONFIG="-a action1{:action2}*" ctest -V -An exemple: - BTL_CONFIG="-a axpy:vector_matrix:trisolve:ata" ctest -V -R eigen2 - -Finally, if bench results already exist (the bench*.dat files) then they merges by keeping the best for each matrix size. If you want to overwrite the previous ones you can simply add the "--overwrite" option: - BTL_CONFIG="-a axpy:vector_matrix:trisolve:ata --overwrite" ctest -V -R eigen2 - -4 : Analyze the result. different data files (.dat) are produced in each libs directories. - If gnuplot is available, choose a directory name in the data directory to store the results and type: - $ cd data - $ mkdir my_directory - $ cp ../libs/*/*.dat my_directory - Build the data utilities in this (data) directory - make - Then you can look the raw data, - go_mean my_directory - or smooth the data first : - smooth_all.sh my_directory - go_mean my_directory_smooth - - -************************************************* - -Files and directories : - - generic_bench : all the bench sources common to all libraries - - actions : sources for different action wrappers (axpy, matrix-matrix product) to be tested. - - libs/* : bench sources specific to each tested libraries. - - machine_dep : directory used to store machine specific Makefile.in - - data : directory used to store gnuplot scripts and data analysis utilities - -************************************************** - -Principles : the code modularity is achieved by defining two concepts : - - ****** Action concept : This is a class defining which kind - of test must be performed (e.g. a matrix_vector_product). - An Action should define the following methods : - - *** Ctor using the size of the problem (matrix or vector size) as an argument - Action action(size); - *** initialize : this method initialize the calculation (e.g. initialize the matrices and vectors arguments) - action.initialize(); - *** calculate : this method actually launch the calculation to be benchmarked - action.calculate; - *** nb_op_base() : this method returns the complexity of the calculate method (allowing the mflops evaluation) - *** name() : this method returns the name of the action (std::string) - - ****** Interface concept : This is a class or namespace defining how to use a given library and - its specific containers (matrix and vector). Up to now an interface should following types - - *** real_type : kind of float to be used (float or double) - *** stl_vector : must correspond to std::vector - *** stl_matrix : must correspond to std::vector - *** gene_vector : the vector type for this interface --> e.g. (real_type *) for the C_interface - *** gene_matrix : the matrix type for this interface --> e.g. (gene_vector *) for the C_interface - - + the following common methods - - *** free_matrix(gene_matrix & A, int N) dealocation of a N sized gene_matrix A - *** free_vector(gene_vector & B) dealocation of a N sized gene_vector B - *** matrix_from_stl(gene_matrix & A, stl_matrix & A_stl) copy the content of an stl_matrix A_stl into a gene_matrix A. - The allocation of A is done in this function. - *** vector_to_stl(gene_vector & B, stl_vector & B_stl) copy the content of an stl_vector B_stl into a gene_vector B. - The allocation of B is done in this function. - *** matrix_to_stl(gene_matrix & A, stl_matrix & A_stl) copy the content of an gene_matrix A into an stl_matrix A_stl. - The size of A_STL must corresponds to the size of A. - *** vector_to_stl(gene_vector & A, stl_vector & A_stl) copy the content of an gene_vector A into an stl_vector A_stl. - The size of B_STL must corresponds to the size of B. - *** copy_matrix(gene_matrix & source, gene_matrix & cible, int N) : copy the content of source in cible. Both source - and cible must be sized NxN. - *** copy_vector(gene_vector & source, gene_vector & cible, int N) : copy the content of source in cible. Both source - and cible must be sized N. - - and the following method corresponding to the action one wants to be benchmarked : - - *** matrix_vector_product(const gene_matrix & A, const gene_vector & B, gene_vector & X, int N) - *** matrix_matrix_product(const gene_matrix & A, const gene_matrix & B, gene_matrix & X, int N) - *** ata_product(const gene_matrix & A, gene_matrix & X, int N) - *** aat_product(const gene_matrix & A, gene_matrix & X, int N) - *** axpy(real coef, const gene_vector & X, gene_vector & Y, int N) - - The bench algorithm (generic_bench/bench.hh) is templated with an action itself templated with - an interface. A typical main.cpp source stored in a given library directory libs/A_LIB - looks like : - - bench< AN_ACTION < AN_INTERFACE > >( 10 , 1000 , 50 ) ; - - this function will produce XY data file containing measured mflops as a function of the size for 50 - sizes between 10 and 10000. - - This algorithm can be adapted by providing a given Perf_Analyzer object which determines how the time - measurements must be done. For example, the X86_Perf_Analyzer use the asm rdtsc function and provides - a very fast and accurate (but less portable) timing method. The default is the Portable_Perf_Analyzer - so - - bench< AN_ACTION < AN_INTERFACE > >( 10 , 1000 , 50 ) ; - - is equivalent to - - bench< Portable_Perf_Analyzer,AN_ACTION < AN_INTERFACE > >( 10 , 1000 , 50 ) ; - - If your system supports it we suggest to use a mixed implementation (X86_perf_Analyzer+Portable_Perf_Analyzer). - replace - bench(size_min,size_max,nb_point); - with - bench(size_min,size_max,nb_point); - in generic/bench.hh - -. - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_aat_product.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_aat_product.hh deleted file mode 100644 index aa5b35c9..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_aat_product.hh +++ /dev/null @@ -1,145 +0,0 @@ -//===================================================== -// File : action_aat_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_AAT_PRODUCT -#define ACTION_AAT_PRODUCT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_aat_product { - -public : - - // Ctor - - Action_aat_product( int size ):_size(size) - { - MESSAGE("Action_aat_product Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_matrix(X_stl,_size); - init_matrix(resu_stl,_size); - - // generic matrix and vector initialization - - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(X_ref,X_stl); - - Interface::matrix_from_stl(A,A_stl); - Interface::matrix_from_stl(X,X_stl); - - } - - // invalidate copy ctor - - Action_aat_product( const Action_aat_product & ) - { - INFOS("illegal call to Action_aat_product Copy Ctor"); - exit(0); - } - - // Dtor - - ~Action_aat_product( void ){ - - MESSAGE("Action_aat_product Dtor"); - - // deallocation - - Interface::free_matrix(A,_size); - Interface::free_matrix(X,_size); - - Interface::free_matrix(A_ref,_size); - Interface::free_matrix(X_ref,_size); - - } - - // action name - - static inline std::string name( void ) - { - return "aat_"+Interface::name(); - } - - double nb_op_base( void ){ - return double(_size)*double(_size)*double(_size); - } - - inline void initialize( void ){ - - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_matrix(X_ref,X,_size); - - } - - inline void calculate( void ) { - - Interface::aat_product(A,X,_size); - - } - - void check_result( void ){ - if (_size>128) return; - // calculation check - - Interface::matrix_to_stl(X,resu_stl); - - STL_interface::aat_product(A_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(1); - } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_matrix X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_matrix X; - - - int _size; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_ata_product.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_ata_product.hh deleted file mode 100644 index 04364fe6..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_ata_product.hh +++ /dev/null @@ -1,145 +0,0 @@ -//===================================================== -// File : action_ata_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_ATA_PRODUCT -#define ACTION_ATA_PRODUCT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_ata_product { - -public : - - // Ctor - - Action_ata_product( int size ):_size(size) - { - MESSAGE("Action_ata_product Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_matrix(X_stl,_size); - init_matrix(resu_stl,_size); - - // generic matrix and vector initialization - - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(X_ref,X_stl); - - Interface::matrix_from_stl(A,A_stl); - Interface::matrix_from_stl(X,X_stl); - - } - - // invalidate copy ctor - - Action_ata_product( const Action_ata_product & ) - { - INFOS("illegal call to Action_ata_product Copy Ctor"); - exit(0); - } - - // Dtor - - ~Action_ata_product( void ){ - - MESSAGE("Action_ata_product Dtor"); - - // deallocation - - Interface::free_matrix(A,_size); - Interface::free_matrix(X,_size); - - Interface::free_matrix(A_ref,_size); - Interface::free_matrix(X_ref,_size); - - } - - // action name - - static inline std::string name( void ) - { - return "ata_"+Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size*_size*_size; - } - - inline void initialize( void ){ - - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_matrix(X_ref,X,_size); - - } - - inline void calculate( void ) { - - Interface::ata_product(A,X,_size); - - } - - void check_result( void ){ - if (_size>128) return; - // calculation check - - Interface::matrix_to_stl(X,resu_stl); - - STL_interface::ata_product(A_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(1); - } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_matrix X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_matrix X; - - - int _size; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_atv_product.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_atv_product.hh deleted file mode 100644 index a8234514..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_atv_product.hh +++ /dev/null @@ -1,134 +0,0 @@ -//===================================================== -// File : action_atv_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_ATV_PRODUCT -#define ACTION_ATV_PRODUCT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_atv_product { - -public : - - Action_atv_product( int size ) : _size(size) - { - MESSAGE("Action_atv_product Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_vector(B_stl,_size); - init_vector(X_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - - Interface::matrix_from_stl(A_ref,A_stl); - Interface::vector_from_stl(B_ref,B_stl); - Interface::vector_from_stl(X_ref,X_stl); - - Interface::matrix_from_stl(A,A_stl); - Interface::vector_from_stl(B,B_stl); - Interface::vector_from_stl(X,X_stl); - } - - // invalidate copy ctor - Action_atv_product( const Action_atv_product & ) - { - INFOS("illegal call to Action_atv_product Copy Ctor"); - exit(1); - } - - ~Action_atv_product( void ) - { - MESSAGE("Action_atv_product Dtor"); - - Interface::free_matrix(A,_size); - Interface::free_vector(B); - Interface::free_vector(X); - - Interface::free_matrix(A_ref,_size); - Interface::free_vector(B_ref); - Interface::free_vector(X_ref); - } - - static inline std::string name() { return "atv_" + Interface::name(); } - - double nb_op_base( void ) { return 2.0*_size*_size; } - - inline void initialize( void ){ - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_vector(B_ref,B,_size); - Interface::copy_vector(X_ref,X,_size); - } - - BTL_DONT_INLINE void calculate( void ) { - BTL_ASM_COMMENT("begin atv"); - Interface::atv_product(A,B,X,_size); - BTL_ASM_COMMENT("end atv"); - } - - void check_result( void ) - { - if (_size>128) return; - Interface::vector_to_stl(X,resu_stl); - - STL_interface::atv_product(A_stl,B_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(1); - } - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector X_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_vector B_ref; - typename Interface::gene_vector X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_vector B; - typename Interface::gene_vector X; - - - int _size; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_axpby.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_axpby.hh deleted file mode 100644 index dadd0ccf..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_axpby.hh +++ /dev/null @@ -1,127 +0,0 @@ -//===================================================== -// File : action_axpby.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_AXPBY -#define ACTION_AXPBY -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_axpby { - -public : - - // Ctor - Action_axpby( int size ):_alpha(0.5),_beta(0.95),_size(size) - { - MESSAGE("Action_axpby Ctor"); - - // STL vector initialization - init_vector(X_stl,_size); - init_vector(Y_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - Interface::vector_from_stl(X_ref,X_stl); - Interface::vector_from_stl(Y_ref,Y_stl); - - Interface::vector_from_stl(X,X_stl); - Interface::vector_from_stl(Y,Y_stl); - } - - // invalidate copy ctor - Action_axpby( const Action_axpby & ) - { - INFOS("illegal call to Action_axpby Copy Ctor"); - exit(1); - } - - // Dtor - ~Action_axpby( void ){ - MESSAGE("Action_axpby Dtor"); - - // deallocation - Interface::free_vector(X_ref); - Interface::free_vector(Y_ref); - - Interface::free_vector(X); - Interface::free_vector(Y); - } - - // action name - static inline std::string name( void ) - { - return "axpby_"+Interface::name(); - } - - double nb_op_base( void ){ - return 3.0*_size; - } - - inline void initialize( void ){ - Interface::copy_vector(X_ref,X,_size); - Interface::copy_vector(Y_ref,Y,_size); - } - - inline void calculate( void ) { - BTL_ASM_COMMENT("mybegin axpby"); - Interface::axpby(_alpha,X,_beta,Y,_size); - BTL_ASM_COMMENT("myend axpby"); - } - - void check_result( void ){ - if (_size>128) return; - // calculation check - Interface::vector_to_stl(Y,resu_stl); - - STL_interface::axpby(_alpha,X_stl,_beta,Y_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(Y_stl,resu_stl); - - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(2); - } - } - -private : - - typename Interface::stl_vector X_stl; - typename Interface::stl_vector Y_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_vector X_ref; - typename Interface::gene_vector Y_ref; - - typename Interface::gene_vector X; - typename Interface::gene_vector Y; - - typename Interface::real_type _alpha; - typename Interface::real_type _beta; - - int _size; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_axpy.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_axpy.hh deleted file mode 100644 index 261be4cb..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_axpy.hh +++ /dev/null @@ -1,139 +0,0 @@ -//===================================================== -// File : action_axpy.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_AXPY -#define ACTION_AXPY -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_axpy { - -public : - - // Ctor - - Action_axpy( int size ):_coef(1.0),_size(size) - { - MESSAGE("Action_axpy Ctor"); - - // STL vector initialization - - init_vector(X_stl,_size); - init_vector(Y_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - - Interface::vector_from_stl(X_ref,X_stl); - Interface::vector_from_stl(Y_ref,Y_stl); - - Interface::vector_from_stl(X,X_stl); - Interface::vector_from_stl(Y,Y_stl); - - - } - - // invalidate copy ctor - - Action_axpy( const Action_axpy & ) - { - INFOS("illegal call to Action_axpy Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_axpy( void ){ - - MESSAGE("Action_axpy Dtor"); - - // deallocation - - Interface::free_vector(X_ref); - Interface::free_vector(Y_ref); - - Interface::free_vector(X); - Interface::free_vector(Y); - } - - // action name - - static inline std::string name( void ) - { - return "axpy_"+Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size; - } - - inline void initialize( void ){ - Interface::copy_vector(X_ref,X,_size); - Interface::copy_vector(Y_ref,Y,_size); - } - - inline void calculate( void ) { - BTL_ASM_COMMENT("mybegin axpy"); - Interface::axpy(_coef,X,Y,_size); - BTL_ASM_COMMENT("myend axpy"); - } - - void check_result( void ){ - if (_size>128) return; - // calculation check - - Interface::vector_to_stl(Y,resu_stl); - - STL_interface::axpy(_coef,X_stl,Y_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(Y_stl,resu_stl); - - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(0); - } - - } - -private : - - typename Interface::stl_vector X_stl; - typename Interface::stl_vector Y_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_vector X_ref; - typename Interface::gene_vector Y_ref; - - typename Interface::gene_vector X; - typename Interface::gene_vector Y; - - typename Interface::real_type _coef; - - int _size; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_cholesky.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_cholesky.hh deleted file mode 100644 index 5f66d113..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_cholesky.hh +++ /dev/null @@ -1,128 +0,0 @@ -//===================================================== -// File : action_cholesky.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_CHOLESKY -#define ACTION_CHOLESKY -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_cholesky { - -public : - - // Ctor - - Action_cholesky( int size ):_size(size) - { - MESSAGE("Action_cholesky Ctor"); - - // STL mat/vec initialization - init_matrix_symm(X_stl,_size); - init_matrix(C_stl,_size); - - // make sure X is invertible - for (int i=0; i<_size; ++i) - X_stl[i][i] = std::abs(X_stl[i][i]) * 1e2 + 100; - - // generic matrix and vector initialization - Interface::matrix_from_stl(X_ref,X_stl); - Interface::matrix_from_stl(X,X_stl); - Interface::matrix_from_stl(C,C_stl); - - _cost = 0; - for (int j=0; j<_size; ++j) - { - double r = std::max(_size - j -1,0); - _cost += 2*(r*j+r+j); - } - } - - // invalidate copy ctor - - Action_cholesky( const Action_cholesky & ) - { - INFOS("illegal call to Action_cholesky Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_cholesky( void ){ - - MESSAGE("Action_cholesky Dtor"); - - // deallocation - Interface::free_matrix(X_ref,_size); - Interface::free_matrix(X,_size); - Interface::free_matrix(C,_size); - } - - // action name - - static inline std::string name( void ) - { - return "cholesky_"+Interface::name(); - } - - double nb_op_base( void ){ - return _cost; - } - - inline void initialize( void ){ - Interface::copy_matrix(X_ref,X,_size); - } - - inline void calculate( void ) { - Interface::cholesky(X,C,_size); - } - - void check_result( void ){ - // calculation check -// STL_interface::cholesky(X_stl,C_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(C_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); -// } - - } - -private : - - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix C_stl; - - typename Interface::gene_matrix X_ref; - typename Interface::gene_matrix X; - typename Interface::gene_matrix C; - - int _size; - double _cost; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_ger.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_ger.hh deleted file mode 100644 index dc766efc..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_ger.hh +++ /dev/null @@ -1,128 +0,0 @@ - -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_GER -#define ACTION_GER -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_ger { - -public : - - // Ctor - BTL_DONT_INLINE Action_ger( int size ):_size(size) - { - MESSAGE("Action_ger Ctor"); - - // STL matrix and vector initialization - typename Interface::stl_matrix tmp; - init_matrix(A_stl,_size); - init_vector(B_stl,_size); - init_vector(X_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(A,A_stl); - Interface::vector_from_stl(B_ref,B_stl); - Interface::vector_from_stl(B,B_stl); - Interface::vector_from_stl(X_ref,X_stl); - Interface::vector_from_stl(X,X_stl); - } - - // invalidate copy ctor - Action_ger( const Action_ger & ) - { - INFOS("illegal call to Action_ger Copy Ctor"); - exit(1); - } - - // Dtor - BTL_DONT_INLINE ~Action_ger( void ){ - MESSAGE("Action_ger Dtor"); - Interface::free_matrix(A,_size); - Interface::free_vector(B); - Interface::free_vector(X); - Interface::free_matrix(A_ref,_size); - Interface::free_vector(B_ref); - Interface::free_vector(X_ref); - - } - - // action name - static inline std::string name( void ) - { - return "ger_" + Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size*_size; - } - - BTL_DONT_INLINE void initialize( void ){ - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_vector(B_ref,B,_size); - Interface::copy_vector(X_ref,X,_size); - } - - BTL_DONT_INLINE void calculate( void ) { - BTL_ASM_COMMENT("#begin ger"); - Interface::ger(A,B,X,_size); - BTL_ASM_COMMENT("end ger"); - } - - BTL_DONT_INLINE void check_result( void ){ - // calculation check - Interface::vector_to_stl(X,resu_stl); - - STL_interface::ger(A_stl,B_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-3){ - INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); - } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector X_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_vector B_ref; - typename Interface::gene_vector X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_vector B; - typename Interface::gene_vector X; - - int _size; -}; - - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_hessenberg.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_hessenberg.hh deleted file mode 100644 index 2100ebd8..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_hessenberg.hh +++ /dev/null @@ -1,233 +0,0 @@ -//===================================================== -// File : action_hessenberg.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_HESSENBERG -#define ACTION_HESSENBERG -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_hessenberg { - -public : - - // Ctor - - Action_hessenberg( int size ):_size(size) - { - MESSAGE("Action_hessenberg Ctor"); - - // STL vector initialization - init_matrix(X_stl,_size); - - init_matrix(C_stl,_size); - init_matrix(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(X_ref,X_stl); - Interface::matrix_from_stl(X,X_stl); - Interface::matrix_from_stl(C,C_stl); - - _cost = 0; - for (int j=0; j<_size-2; ++j) - { - double r = std::max(0,_size-j-1); - double b = std::max(0,_size-j-2); - _cost += 6 + 3*b + r*r*4 + r*_size*4; - } - } - - // invalidate copy ctor - - Action_hessenberg( const Action_hessenberg & ) - { - INFOS("illegal call to Action_hessenberg Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_hessenberg( void ){ - - MESSAGE("Action_hessenberg Dtor"); - - // deallocation - Interface::free_matrix(X_ref,_size); - Interface::free_matrix(X,_size); - Interface::free_matrix(C,_size); - } - - // action name - - static inline std::string name( void ) - { - return "hessenberg_"+Interface::name(); - } - - double nb_op_base( void ){ - return _cost; - } - - inline void initialize( void ){ - Interface::copy_matrix(X_ref,X,_size); - } - - inline void calculate( void ) { - Interface::hessenberg(X,C,_size); - } - - void check_result( void ){ - // calculation check - Interface::matrix_to_stl(C,resu_stl); - -// STL_interface::hessenberg(X_stl,C_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(C_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); -// } - - } - -private : - - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix C_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix X_ref; - typename Interface::gene_matrix X; - typename Interface::gene_matrix C; - - int _size; - double _cost; -}; - -template -class Action_tridiagonalization { - -public : - - // Ctor - - Action_tridiagonalization( int size ):_size(size) - { - MESSAGE("Action_tridiagonalization Ctor"); - - // STL vector initialization - init_matrix(X_stl,_size); - - for(int i=0; i<_size; ++i) - { - for(int j=0; j(C_stl,_size); - init_matrix(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(X_ref,X_stl); - Interface::matrix_from_stl(X,X_stl); - Interface::matrix_from_stl(C,C_stl); - - _cost = 0; - for (int j=0; j<_size-2; ++j) - { - double r = std::max(0,_size-j-1); - double b = std::max(0,_size-j-2); - _cost += 6. + 3.*b + r*r*8.; - } - } - - // invalidate copy ctor - - Action_tridiagonalization( const Action_tridiagonalization & ) - { - INFOS("illegal call to Action_tridiagonalization Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_tridiagonalization( void ){ - - MESSAGE("Action_tridiagonalization Dtor"); - - // deallocation - Interface::free_matrix(X_ref,_size); - Interface::free_matrix(X,_size); - Interface::free_matrix(C,_size); - } - - // action name - - static inline std::string name( void ) { return "tridiagonalization_"+Interface::name(); } - - double nb_op_base( void ){ - return _cost; - } - - inline void initialize( void ){ - Interface::copy_matrix(X_ref,X,_size); - } - - inline void calculate( void ) { - Interface::tridiagonalization(X,C,_size); - } - - void check_result( void ){ - // calculation check - Interface::matrix_to_stl(C,resu_stl); - -// STL_interface::tridiagonalization(X_stl,C_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(C_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); -// } - - } - -private : - - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix C_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix X_ref; - typename Interface::gene_matrix X; - typename Interface::gene_matrix C; - - int _size; - double _cost; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_decomp.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_decomp.hh deleted file mode 100644 index 2448e82c..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_decomp.hh +++ /dev/null @@ -1,124 +0,0 @@ -//===================================================== -// File : action_lu_decomp.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_LU_DECOMP -#define ACTION_LU_DECOMP -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_lu_decomp { - -public : - - // Ctor - - Action_lu_decomp( int size ):_size(size) - { - MESSAGE("Action_lu_decomp Ctor"); - - // STL vector initialization - init_matrix(X_stl,_size); - - init_matrix(C_stl,_size); - init_matrix(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(X_ref,X_stl); - Interface::matrix_from_stl(X,X_stl); - Interface::matrix_from_stl(C,C_stl); - - _cost = 2.0*size*size*size/3.0 + size*size; - } - - // invalidate copy ctor - - Action_lu_decomp( const Action_lu_decomp & ) - { - INFOS("illegal call to Action_lu_decomp Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_lu_decomp( void ){ - - MESSAGE("Action_lu_decomp Dtor"); - - // deallocation - Interface::free_matrix(X_ref,_size); - Interface::free_matrix(X,_size); - Interface::free_matrix(C,_size); - } - - // action name - - static inline std::string name( void ) - { - return "complete_lu_decomp_"+Interface::name(); - } - - double nb_op_base( void ){ - return _cost; - } - - inline void initialize( void ){ - Interface::copy_matrix(X_ref,X,_size); - } - - inline void calculate( void ) { - Interface::lu_decomp(X,C,_size); - } - - void check_result( void ){ - // calculation check - Interface::matrix_to_stl(C,resu_stl); - -// STL_interface::lu_decomp(X_stl,C_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(C_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); -// } - - } - -private : - - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix C_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix X_ref; - typename Interface::gene_matrix X; - typename Interface::gene_matrix C; - - int _size; - double _cost; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_solve.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_solve.hh deleted file mode 100644 index 5a81e634..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_lu_solve.hh +++ /dev/null @@ -1,136 +0,0 @@ -//===================================================== -// File : action_lu_solve.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_LU_SOLVE -#define ACTION_LU_SOLVE -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_lu_solve -{ - -public : - - static inline std::string name( void ) - { - return "lu_solve_"+Interface::name(); - } - - static double nb_op_base(int size){ - return 2.0*size*size*size/3.0; // questionable but not really important - } - - - static double calculate( int nb_calc, int size ) { - - // STL matrix and vector initialization - - typename Interface::stl_matrix A_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector X_stl; - - init_matrix(A_stl,size); - init_vector(B_stl,size); - init_vector(X_stl,size); - - // generic matrix and vector initialization - - typename Interface::gene_matrix A; - typename Interface::gene_vector B; - typename Interface::gene_vector X; - - typename Interface::gene_matrix LU; - - Interface::matrix_from_stl(A,A_stl); - Interface::vector_from_stl(B,B_stl); - Interface::vector_from_stl(X,X_stl); - Interface::matrix_from_stl(LU,A_stl); - - // local variable : - - typename Interface::Pivot_Vector pivot; // pivot vector - Interface::new_Pivot_Vector(pivot,size); - - // timer utilities - - Portable_Timer chronos; - - // time measurement - - chronos.start(); - - for (int ii=0;ii::matrix_vector_product(A_stl,X_stl,B_new_stl,size); - - typename Interface::real_type error= - STL_interface::norm_diff(B_stl,B_new_stl); - - if (error>1.e-5){ - INFOS("WRONG CALCULATION...residual=" << error); - STL_interface::display_vector(B_stl); - STL_interface::display_vector(B_new_stl); - exit(0); - } - - // deallocation and return time - - Interface::free_matrix(A,size); - Interface::free_vector(B); - Interface::free_vector(X); - Interface::free_Pivot_Vector(pivot); - - return time; - } - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product.hh deleted file mode 100644 index f65ee052..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product.hh +++ /dev/null @@ -1,150 +0,0 @@ -//===================================================== -// File : action_matrix_matrix_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_MATRIX_MATRIX_PRODUCT -#define ACTION_MATRIX_MATRIX_PRODUCT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_matrix_matrix_product { - -public : - - // Ctor - - Action_matrix_matrix_product( int size ):_size(size) - { - MESSAGE("Action_matrix_matrix_product Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_matrix(B_stl,_size); - init_matrix(X_stl,_size); - init_matrix(resu_stl,_size); - - // generic matrix and vector initialization - - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(B_ref,B_stl); - Interface::matrix_from_stl(X_ref,X_stl); - - Interface::matrix_from_stl(A,A_stl); - Interface::matrix_from_stl(B,B_stl); - Interface::matrix_from_stl(X,X_stl); - - } - - // invalidate copy ctor - - Action_matrix_matrix_product( const Action_matrix_matrix_product & ) - { - INFOS("illegal call to Action_matrix_matrix_product Copy Ctor"); - exit(0); - } - - // Dtor - - ~Action_matrix_matrix_product( void ){ - - MESSAGE("Action_matrix_matrix_product Dtor"); - - // deallocation - - Interface::free_matrix(A,_size); - Interface::free_matrix(B,_size); - Interface::free_matrix(X,_size); - - Interface::free_matrix(A_ref,_size); - Interface::free_matrix(B_ref,_size); - Interface::free_matrix(X_ref,_size); - - } - - // action name - - static inline std::string name( void ) - { - return "matrix_matrix_"+Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size*_size*_size; - } - - inline void initialize( void ){ - - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_matrix(B_ref,B,_size); - Interface::copy_matrix(X_ref,X,_size); - - } - - inline void calculate( void ) { - Interface::matrix_matrix_product(A,B,X,_size); - } - - void check_result( void ){ - - // calculation check - if (_size<200) - { - Interface::matrix_to_stl(X,resu_stl); - STL_interface::matrix_matrix_product(A_stl,B_stl,X_stl,_size); - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(1); - } - } - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_matrix B_stl; - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_matrix B_ref; - typename Interface::gene_matrix X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_matrix B; - typename Interface::gene_matrix X; - - - int _size; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product_bis.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product_bis.hh deleted file mode 100644 index 29c10a6e..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_matrix_product_bis.hh +++ /dev/null @@ -1,152 +0,0 @@ -//===================================================== -// File : action_matrix_matrix_product_bis.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_MATRIX_MATRIX_PRODUCT_BIS -#define ACTION_MATRIX_MATRIX_PRODUCT_BIS -#include "utilities.h" -#include "STL_interface.hh" -#include "STL_timer.hh" -#include -#include "init_function.hh" -#include "init_vector.hh" -#include "init_matrix.hh" - -using namespace std; - -template -class Action_matrix_matrix_product_bis { - -public : - - static inline std::string name( void ) - { - return "matrix_matrix_"+Interface::name(); - } - - static double nb_op_base(int size){ - return 2.0*size*size*size; - } - - static double calculate( int nb_calc, int size ) { - - // STL matrix and vector initialization - - typename Interface::stl_matrix A_stl; - typename Interface::stl_matrix B_stl; - typename Interface::stl_matrix X_stl; - - init_matrix(A_stl,size); - init_matrix(B_stl,size); - init_matrix(X_stl,size); - - // generic matrix and vector initialization - - typename Interface::gene_matrix A_ref; - typename Interface::gene_matrix B_ref; - typename Interface::gene_matrix X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_matrix B; - typename Interface::gene_matrix X; - - - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(B_ref,B_stl); - Interface::matrix_from_stl(X_ref,X_stl); - - Interface::matrix_from_stl(A,A_stl); - Interface::matrix_from_stl(B,B_stl); - Interface::matrix_from_stl(X,X_stl); - - - // STL_timer utilities - - STL_timer chronos; - - // Baseline evaluation - - chronos.start_baseline(nb_calc); - - do { - - Interface::copy_matrix(A_ref,A,size); - Interface::copy_matrix(B_ref,B,size); - Interface::copy_matrix(X_ref,X,size); - - - // Interface::matrix_matrix_product(A,B,X,size); This line must be commented !!!! - } - while(chronos.check()); - - chronos.report(true); - - // Time measurement - - chronos.start(nb_calc); - - do { - - Interface::copy_matrix(A_ref,A,size); - Interface::copy_matrix(B_ref,B,size); - Interface::copy_matrix(X_ref,X,size); - - Interface::matrix_matrix_product(A,B,X,size); // here it is not commented !!!! - } - while(chronos.check()); - - chronos.report(true); - - double time=chronos.calculated_time/2000.0; - - // calculation check - - typename Interface::stl_matrix resu_stl(size); - - Interface::matrix_to_stl(X,resu_stl); - - STL_interface::matrix_matrix_product(A_stl,B_stl,X_stl,size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-6){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(1); - } - - // deallocation and return time - - Interface::free_matrix(A,size); - Interface::free_matrix(B,size); - Interface::free_matrix(X,size); - - Interface::free_matrix(A_ref,size); - Interface::free_matrix(B_ref,size); - Interface::free_matrix(X_ref,size); - - return time; - } - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_vector_product.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_vector_product.hh deleted file mode 100644 index 8bab79d1..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_matrix_vector_product.hh +++ /dev/null @@ -1,153 +0,0 @@ -//===================================================== -// File : action_matrix_vector_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_MATRIX_VECTOR_PRODUCT -#define ACTION_MATRIX_VECTOR_PRODUCT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_matrix_vector_product { - -public : - - // Ctor - - BTL_DONT_INLINE Action_matrix_vector_product( int size ):_size(size) - { - MESSAGE("Action_matrix_vector_product Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_vector(B_stl,_size); - init_vector(X_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(A,A_stl); - Interface::vector_from_stl(B_ref,B_stl); - Interface::vector_from_stl(B,B_stl); - Interface::vector_from_stl(X_ref,X_stl); - Interface::vector_from_stl(X,X_stl); - - } - - // invalidate copy ctor - - Action_matrix_vector_product( const Action_matrix_vector_product & ) - { - INFOS("illegal call to Action_matrix_vector_product Copy Ctor"); - exit(1); - } - - // Dtor - - BTL_DONT_INLINE ~Action_matrix_vector_product( void ){ - - MESSAGE("Action_matrix_vector_product Dtor"); - - // deallocation - - Interface::free_matrix(A,_size); - Interface::free_vector(B); - Interface::free_vector(X); - - Interface::free_matrix(A_ref,_size); - Interface::free_vector(B_ref); - Interface::free_vector(X_ref); - - } - - // action name - - static inline std::string name( void ) - { - return "matrix_vector_" + Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size*_size; - } - - BTL_DONT_INLINE void initialize( void ){ - - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_vector(B_ref,B,_size); - Interface::copy_vector(X_ref,X,_size); - - } - - BTL_DONT_INLINE void calculate( void ) { - BTL_ASM_COMMENT("#begin matrix_vector_product"); - Interface::matrix_vector_product(A,B,X,_size); - BTL_ASM_COMMENT("end matrix_vector_product"); - } - - BTL_DONT_INLINE void check_result( void ){ - - // calculation check - - Interface::vector_to_stl(X,resu_stl); - - STL_interface::matrix_vector_product(A_stl,B_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-5){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(0); - } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector X_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_vector B_ref; - typename Interface::gene_vector X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_vector B; - typename Interface::gene_vector X; - - - int _size; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_partial_lu.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_partial_lu.hh deleted file mode 100644 index 770ea1d1..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_partial_lu.hh +++ /dev/null @@ -1,125 +0,0 @@ -//===================================================== -// File : action_lu_decomp.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_PARTIAL_LU -#define ACTION_PARTIAL_LU -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_partial_lu { - -public : - - // Ctor - - Action_partial_lu( int size ):_size(size) - { - MESSAGE("Action_partial_lu Ctor"); - - // STL vector initialization - init_matrix(X_stl,_size); - init_matrix(C_stl,_size); - - // make sure X is invertible - for (int i=0; i<_size; ++i) - X_stl[i][i] = X_stl[i][i] * 1e2 + 1; - - // generic matrix and vector initialization - Interface::matrix_from_stl(X_ref,X_stl); - Interface::matrix_from_stl(X,X_stl); - Interface::matrix_from_stl(C,C_stl); - - _cost = 2.0*size*size*size/3.0 + size*size; - } - - // invalidate copy ctor - - Action_partial_lu( const Action_partial_lu & ) - { - INFOS("illegal call to Action_partial_lu Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_partial_lu( void ){ - - MESSAGE("Action_partial_lu Dtor"); - - // deallocation - Interface::free_matrix(X_ref,_size); - Interface::free_matrix(X,_size); - Interface::free_matrix(C,_size); - } - - // action name - - static inline std::string name( void ) - { - return "partial_lu_decomp_"+Interface::name(); - } - - double nb_op_base( void ){ - return _cost; - } - - inline void initialize( void ){ - Interface::copy_matrix(X_ref,X,_size); - } - - inline void calculate( void ) { - Interface::partial_lu_decomp(X,C,_size); - } - - void check_result( void ){ - // calculation check -// Interface::matrix_to_stl(C,resu_stl); - -// STL_interface::lu_decomp(X_stl,C_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(C_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); -// } - - } - -private : - - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix C_stl; - - typename Interface::gene_matrix X_ref; - typename Interface::gene_matrix X; - typename Interface::gene_matrix C; - - int _size; - double _cost; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_rot.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_rot.hh deleted file mode 100644 index df822a6d..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_rot.hh +++ /dev/null @@ -1,116 +0,0 @@ - -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_ROT -#define ACTION_ROT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_rot { - -public : - - // Ctor - BTL_DONT_INLINE Action_rot( int size ):_size(size) - { - MESSAGE("Action_rot Ctor"); - - // STL matrix and vector initialization - typename Interface::stl_matrix tmp; - init_vector(A_stl,_size); - init_vector(B_stl,_size); - - // generic matrix and vector initialization - Interface::vector_from_stl(A_ref,A_stl); - Interface::vector_from_stl(A,A_stl); - Interface::vector_from_stl(B_ref,B_stl); - Interface::vector_from_stl(B,B_stl); - } - - // invalidate copy ctor - Action_rot( const Action_rot & ) - { - INFOS("illegal call to Action_rot Copy Ctor"); - exit(1); - } - - // Dtor - BTL_DONT_INLINE ~Action_rot( void ){ - MESSAGE("Action_rot Dtor"); - Interface::free_vector(A); - Interface::free_vector(B); - Interface::free_vector(A_ref); - Interface::free_vector(B_ref); - } - - // action name - static inline std::string name( void ) - { - return "rot_" + Interface::name(); - } - - double nb_op_base( void ){ - return 6.0*_size; - } - - BTL_DONT_INLINE void initialize( void ){ - Interface::copy_vector(A_ref,A,_size); - Interface::copy_vector(B_ref,B,_size); - } - - BTL_DONT_INLINE void calculate( void ) { - BTL_ASM_COMMENT("#begin rot"); - Interface::rot(A,B,0.5,0.6,_size); - BTL_ASM_COMMENT("end rot"); - } - - BTL_DONT_INLINE void check_result( void ){ - // calculation check -// Interface::vector_to_stl(X,resu_stl); - -// STL_interface::rot(A_stl,B_stl,X_stl,_size); - -// typename Interface::real_type error= -// STL_interface::norm_diff(X_stl,resu_stl); - -// if (error>1.e-3){ -// INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); -// } - - } - -private : - - typename Interface::stl_vector A_stl; - typename Interface::stl_vector B_stl; - - typename Interface::gene_vector A_ref; - typename Interface::gene_vector B_ref; - - typename Interface::gene_vector A; - typename Interface::gene_vector B; - - int _size; -}; - - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_symv.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_symv.hh deleted file mode 100644 index a32b9dfa..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_symv.hh +++ /dev/null @@ -1,139 +0,0 @@ -//===================================================== -// File : action_symv.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_SYMV -#define ACTION_SYMV -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_symv { - -public : - - // Ctor - - BTL_DONT_INLINE Action_symv( int size ):_size(size) - { - MESSAGE("Action_symv Ctor"); - - // STL matrix and vector initialization - init_matrix_symm(A_stl,_size); - init_vector(B_stl,_size); - init_vector(X_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(A,A_stl); - Interface::vector_from_stl(B_ref,B_stl); - Interface::vector_from_stl(B,B_stl); - Interface::vector_from_stl(X_ref,X_stl); - Interface::vector_from_stl(X,X_stl); - - } - - // invalidate copy ctor - - Action_symv( const Action_symv & ) - { - INFOS("illegal call to Action_symv Copy Ctor"); - exit(1); - } - - // Dtor - BTL_DONT_INLINE ~Action_symv( void ){ - Interface::free_matrix(A,_size); - Interface::free_vector(B); - Interface::free_vector(X); - Interface::free_matrix(A_ref,_size); - Interface::free_vector(B_ref); - Interface::free_vector(X_ref); - } - - // action name - - static inline std::string name( void ) - { - return "symv_" + Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size*_size; - } - - BTL_DONT_INLINE void initialize( void ){ - - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_vector(B_ref,B,_size); - Interface::copy_vector(X_ref,X,_size); - - } - - BTL_DONT_INLINE void calculate( void ) { - BTL_ASM_COMMENT("#begin symv"); - Interface::symv(A,B,X,_size); - BTL_ASM_COMMENT("end symv"); - } - - BTL_DONT_INLINE void check_result( void ){ - if (_size>128) return; - // calculation check - Interface::vector_to_stl(X,resu_stl); - - STL_interface::symv(A_stl,B_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-5){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(0); - } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector X_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_vector B_ref; - typename Interface::gene_vector X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_vector B; - typename Interface::gene_vector X; - - - int _size; - -}; - - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_syr2.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_syr2.hh deleted file mode 100644 index 7c6712b1..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_syr2.hh +++ /dev/null @@ -1,133 +0,0 @@ -//===================================================== -// File : action_syr2.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_SYR2 -#define ACTION_SYR2 -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_syr2 { - -public : - - // Ctor - - BTL_DONT_INLINE Action_syr2( int size ):_size(size) - { - // STL matrix and vector initialization - typename Interface::stl_matrix tmp; - init_matrix(A_stl,_size); - init_vector(B_stl,_size); - init_vector(X_stl,_size); - init_vector(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(A_ref,A_stl); - Interface::matrix_from_stl(A,A_stl); - Interface::vector_from_stl(B_ref,B_stl); - Interface::vector_from_stl(B,B_stl); - Interface::vector_from_stl(X_ref,X_stl); - Interface::vector_from_stl(X,X_stl); - } - - // invalidate copy ctor - Action_syr2( const Action_syr2 & ) - { - INFOS("illegal call to Action_syr2 Copy Ctor"); - exit(1); - } - - // Dtor - BTL_DONT_INLINE ~Action_syr2( void ){ - Interface::free_matrix(A,_size); - Interface::free_vector(B); - Interface::free_vector(X); - Interface::free_matrix(A_ref,_size); - Interface::free_vector(B_ref); - Interface::free_vector(X_ref); - } - - // action name - - static inline std::string name( void ) - { - return "syr2_" + Interface::name(); - } - - double nb_op_base( void ){ - return 2.0*_size*_size; - } - - BTL_DONT_INLINE void initialize( void ){ - Interface::copy_matrix(A_ref,A,_size); - Interface::copy_vector(B_ref,B,_size); - Interface::copy_vector(X_ref,X,_size); - } - - BTL_DONT_INLINE void calculate( void ) { - BTL_ASM_COMMENT("#begin syr2"); - Interface::syr2(A,B,X,_size); - BTL_ASM_COMMENT("end syr2"); - } - - BTL_DONT_INLINE void check_result( void ){ - // calculation check - Interface::vector_to_stl(X,resu_stl); - - STL_interface::syr2(A_stl,B_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-3){ - INFOS("WRONG CALCULATION...residual=" << error); -// exit(0); - } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector X_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_vector B_ref; - typename Interface::gene_vector X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_vector B; - typename Interface::gene_vector X; - - - int _size; - -}; - - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve.hh deleted file mode 100644 index d6f0b477..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve.hh +++ /dev/null @@ -1,137 +0,0 @@ -//===================================================== -// File : action_trisolve.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_TRISOLVE -#define ACTION_TRISOLVE -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_trisolve { - -public : - - // Ctor - - Action_trisolve( int size ):_size(size) - { - MESSAGE("Action_trisolve Ctor"); - - // STL vector initialization - init_matrix(L_stl,_size); - init_vector(B_stl,_size); - init_vector(X_stl,_size); - for (int j=0; j<_size; ++j) - { - for (int i=0; i(resu_stl,_size); - - // generic matrix and vector initialization - Interface::matrix_from_stl(L,L_stl); - Interface::vector_from_stl(X,X_stl); - Interface::vector_from_stl(B,B_stl); - - _cost = 0; - for (int j=0; j<_size; ++j) - { - _cost += 2*j + 1; - } - } - - // invalidate copy ctor - - Action_trisolve( const Action_trisolve & ) - { - INFOS("illegal call to Action_trisolve Copy Ctor"); - exit(1); - } - - // Dtor - - ~Action_trisolve( void ){ - - MESSAGE("Action_trisolve Dtor"); - - // deallocation - Interface::free_matrix(L,_size); - Interface::free_vector(B); - Interface::free_vector(X); - } - - // action name - - static inline std::string name( void ) - { - return "trisolve_vector_"+Interface::name(); - } - - double nb_op_base( void ){ - return _cost; - } - - inline void initialize( void ){ - //Interface::copy_vector(X_ref,X,_size); - } - - inline void calculate( void ) { - Interface::trisolve_lower(L,B,X,_size); - } - - void check_result(){ - if (_size>128) return; - // calculation check - Interface::vector_to_stl(X,resu_stl); - - STL_interface::trisolve_lower(L_stl,B_stl,X_stl,_size); - - typename Interface::real_type error= - STL_interface::norm_diff(X_stl,resu_stl); - - if (error>1.e-4){ - INFOS("WRONG CALCULATION...residual=" << error); - exit(2); - } //else INFOS("CALCULATION OK...residual=" << error); - - } - -private : - - typename Interface::stl_matrix L_stl; - typename Interface::stl_vector X_stl; - typename Interface::stl_vector B_stl; - typename Interface::stl_vector resu_stl; - - typename Interface::gene_matrix L; - typename Interface::gene_vector X; - typename Interface::gene_vector B; - - int _size; - double _cost; -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve_matrix.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve_matrix.hh deleted file mode 100644 index 0fc2bb9e..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_trisolve_matrix.hh +++ /dev/null @@ -1,165 +0,0 @@ -//===================================================== -// File : action_matrix_matrix_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_TRISOLVE_MATRIX_PRODUCT -#define ACTION_TRISOLVE_MATRIX_PRODUCT -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_trisolve_matrix { - -public : - - // Ctor - - Action_trisolve_matrix( int size ):_size(size) - { - MESSAGE("Action_trisolve_matrix Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_matrix(B_stl,_size); - init_matrix(X_stl,_size); - init_matrix(resu_stl,_size); - - for (int j=0; j<_size; ++j) - { - for (int i=0; i::matrix_matrix_product(A_stl,B_stl,X_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(X_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// // exit(1); -// } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_matrix B_stl; - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_matrix B_ref; - typename Interface::gene_matrix X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_matrix B; - typename Interface::gene_matrix X; - - int _size; - double _cost; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/action_trmm.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/action_trmm.hh deleted file mode 100644 index 8f781381..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/action_trmm.hh +++ /dev/null @@ -1,165 +0,0 @@ -//===================================================== -// File : action_matrix_matrix_product.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef ACTION_TRMM -#define ACTION_TRMM -#include "utilities.h" -#include "STL_interface.hh" -#include -#include "init/init_function.hh" -#include "init/init_vector.hh" -#include "init/init_matrix.hh" - -using namespace std; - -template -class Action_trmm { - -public : - - // Ctor - - Action_trmm( int size ):_size(size) - { - MESSAGE("Action_trmm Ctor"); - - // STL matrix and vector initialization - - init_matrix(A_stl,_size); - init_matrix(B_stl,_size); - init_matrix(X_stl,_size); - init_matrix(resu_stl,_size); - - for (int j=0; j<_size; ++j) - { - for (int i=0; i::matrix_matrix_product(A_stl,B_stl,X_stl,_size); -// -// typename Interface::real_type error= -// STL_interface::norm_diff(X_stl,resu_stl); -// -// if (error>1.e-6){ -// INFOS("WRONG CALCULATION...residual=" << error); -// // exit(1); -// } - - } - -private : - - typename Interface::stl_matrix A_stl; - typename Interface::stl_matrix B_stl; - typename Interface::stl_matrix X_stl; - typename Interface::stl_matrix resu_stl; - - typename Interface::gene_matrix A_ref; - typename Interface::gene_matrix B_ref; - typename Interface::gene_matrix X_ref; - - typename Interface::gene_matrix A; - typename Interface::gene_matrix B; - typename Interface::gene_matrix X; - - int _size; - double _cost; - -}; - - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/actions/basic_actions.hh b/testbed/nanogui/ext/eigen/bench/btl/actions/basic_actions.hh deleted file mode 100644 index 62442f01..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/actions/basic_actions.hh +++ /dev/null @@ -1,21 +0,0 @@ - -#include "action_axpy.hh" -#include "action_axpby.hh" - -#include "action_matrix_vector_product.hh" -#include "action_atv_product.hh" - -#include "action_matrix_matrix_product.hh" -#include "action_ata_product.hh" -#include "action_aat_product.hh" - -#include "action_trisolve.hh" -#include "action_trmm.hh" -#include "action_symv.hh" -// #include "action_symm.hh" -#include "action_syr2.hh" -#include "action_ger.hh" -#include "action_rot.hh" - -// #include "action_lu_solve.hh" - diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindACML.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindACML.cmake deleted file mode 100644 index 4989fa2f..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindACML.cmake +++ /dev/null @@ -1,51 +0,0 @@ - -if (ACML_LIBRARIES) - set(ACML_FIND_QUIETLY TRUE) -endif (ACML_LIBRARIES) - -find_library(ACML_LIBRARIES - NAMES - acml_mp acml_mv - PATHS - $ENV{ACMLDIR}/lib - $ENV{ACML_DIR}/lib - ${LIB_INSTALL_DIR} -) - -find_file(ACML_LIBRARIES - NAMES - libacml_mp.so - PATHS - /usr/lib - /usr/lib64 - $ENV{ACMLDIR}/lib - ${LIB_INSTALL_DIR} -) - -if(NOT ACML_LIBRARIES) - message(STATUS "Multi-threaded library not found, looking for single-threaded") - find_library(ACML_LIBRARIES - NAMES - acml acml_mv - PATHS - $ENV{ACMLDIR}/lib - $ENV{ACML_DIR}/lib - ${LIB_INSTALL_DIR} - ) - find_file(ACML_LIBRARIES - libacml.so libacml_mv.so - PATHS - /usr/lib - /usr/lib64 - $ENV{ACMLDIR}/lib - ${LIB_INSTALL_DIR} - ) -endif() - - - - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(ACML DEFAULT_MSG ACML_LIBRARIES) - -mark_as_advanced(ACML_LIBRARIES) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindATLAS.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindATLAS.cmake deleted file mode 100644 index 4136a989..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindATLAS.cmake +++ /dev/null @@ -1,31 +0,0 @@ - -if (ATLAS_LIBRARIES) - set(ATLAS_FIND_QUIETLY TRUE) -endif (ATLAS_LIBRARIES) - -find_file(ATLAS_LIB libatlas.so.3 PATHS /usr/lib /usr/lib/atlas /usr/lib64 /usr/lib64/atlas $ENV{ATLASDIR} ${LIB_INSTALL_DIR}) -find_library(ATLAS_LIB satlas PATHS $ENV{ATLASDIR} ${LIB_INSTALL_DIR}) - -find_file(ATLAS_LAPACK NAMES liblapack_atlas.so.3 liblapack.so.3 PATHS /usr/lib /usr/lib/atlas /usr/lib64 /usr/lib64/atlas $ENV{ATLASDIR} ${LIB_INSTALL_DIR}) -find_library(ATLAS_LAPACK NAMES lapack_atlas lapack PATHS $ENV{ATLASDIR} ${LIB_INSTALL_DIR}) - -find_file(ATLAS_F77BLAS libf77blas.so.3 PATHS /usr/lib /usr/lib/atlas /usr/lib64 /usr/lib64/atlas $ENV{ATLASDIR} ${LIB_INSTALL_DIR}) -find_library(ATLAS_F77BLAS f77blas PATHS $ENV{ATLASDIR} ${LIB_INSTALL_DIR}) - -if(ATLAS_LIB AND ATLAS_CBLAS AND ATLAS_LAPACK AND ATLAS_F77BLAS) - - set(ATLAS_LIBRARIES ${ATLAS_LAPACK} ${ATLAS_LIB}) - - # search the default lapack lib link to it - find_file(ATLAS_REFERENCE_LAPACK liblapack.so.3 PATHS /usr/lib /usr/lib64) - find_library(ATLAS_REFERENCE_LAPACK NAMES lapack) -# if(ATLAS_REFERENCE_LAPACK) -# set(ATLAS_LIBRARIES ${ATLAS_LIBRARIES} ${ATLAS_REFERENCE_LAPACK}) -# endif() - -endif(ATLAS_LIB AND ATLAS_CBLAS AND ATLAS_LAPACK AND ATLAS_F77BLAS) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(ATLAS DEFAULT_MSG ATLAS_LIBRARIES) - -mark_as_advanced(ATLAS_LIBRARIES) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindBLAZE.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindBLAZE.cmake deleted file mode 100644 index dba4c89f..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindBLAZE.cmake +++ /dev/null @@ -1,31 +0,0 @@ -# - Try to find eigen2 headers -# Once done this will define -# -# BLAZE_FOUND - system has blaze lib -# BLAZE_INCLUDE_DIR - the blaze include directory -# -# Copyright (C) 2008 Gael Guennebaud -# Adapted from FindEigen.cmake: -# Copyright (c) 2006, 2007 Montel Laurent, -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -if (BLAZE_INCLUDE_DIR) - - # in cache already - set(BLAZE_FOUND TRUE) - -else (BLAZE_INCLUDE_DIR) - -find_path(BLAZE_INCLUDE_DIR NAMES blaze/Blaze.h - PATHS - ${INCLUDE_INSTALL_DIR} - ) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(BLAZE DEFAULT_MSG BLAZE_INCLUDE_DIR) - -mark_as_advanced(BLAZE_INCLUDE_DIR) - -endif(BLAZE_INCLUDE_DIR) - diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindBlitz.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindBlitz.cmake deleted file mode 100644 index 92880bbe..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindBlitz.cmake +++ /dev/null @@ -1,40 +0,0 @@ -# - Try to find blitz lib -# Once done this will define -# -# BLITZ_FOUND - system has blitz lib -# BLITZ_INCLUDES - the blitz include directory -# BLITZ_LIBRARIES - The libraries needed to use blitz - -# Copyright (c) 2006, Montel Laurent, -# Copyright (c) 2007, Allen Winter, -# Copyright (C) 2008 Gael Guennebaud -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -# include(FindLibraryWithDebug) - -if (BLITZ_INCLUDES AND BLITZ_LIBRARIES) - set(Blitz_FIND_QUIETLY TRUE) -endif (BLITZ_INCLUDES AND BLITZ_LIBRARIES) - -find_path(BLITZ_INCLUDES - NAMES - blitz/array.h - PATH_SUFFIXES blitz* - PATHS - $ENV{BLITZDIR}/include - ${INCLUDE_INSTALL_DIR} -) - -find_library(BLITZ_LIBRARIES - blitz - PATHS - $ENV{BLITZDIR}/lib - ${LIB_INSTALL_DIR} -) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Blitz DEFAULT_MSG - BLITZ_INCLUDES BLITZ_LIBRARIES) - -mark_as_advanced(BLITZ_INCLUDES BLITZ_LIBRARIES) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindCBLAS.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindCBLAS.cmake deleted file mode 100644 index ce0f2f2b..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindCBLAS.cmake +++ /dev/null @@ -1,35 +0,0 @@ -# include(FindLibraryWithDebug) - -if (CBLAS_INCLUDES AND CBLAS_LIBRARIES) - set(CBLAS_FIND_QUIETLY TRUE) -endif (CBLAS_INCLUDES AND CBLAS_LIBRARIES) - -find_path(CBLAS_INCLUDES - NAMES - cblas.h - PATHS - $ENV{CBLASDIR}/include - ${INCLUDE_INSTALL_DIR} -) - -find_library(CBLAS_LIBRARIES - cblas - PATHS - $ENV{CBLASDIR}/lib - ${LIB_INSTALL_DIR} -) - -find_file(CBLAS_LIBRARIES - libcblas.so.3 - PATHS - /usr/lib - /usr/lib64 - $ENV{CBLASDIR}/lib - ${LIB_INSTALL_DIR} -) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(CBLAS DEFAULT_MSG - CBLAS_INCLUDES CBLAS_LIBRARIES) - -mark_as_advanced(CBLAS_INCLUDES CBLAS_LIBRARIES) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindGMM.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindGMM.cmake deleted file mode 100644 index 5049c64e..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindGMM.cmake +++ /dev/null @@ -1,17 +0,0 @@ -if (GMM_INCLUDE_DIR) - # in cache already - set(GMM_FOUND TRUE) -else (GMM_INCLUDE_DIR) - -find_path(GMM_INCLUDE_DIR NAMES gmm/gmm.h - PATHS - ${INCLUDE_INSTALL_DIR} - ${GMM_INCLUDE_PATH} - ) - -include(FindPackageHandleStandardArgs) -FIND_PACKAGE_HANDLE_STANDARD_ARGS(GMM DEFAULT_MSG GMM_INCLUDE_DIR ) - -mark_as_advanced(GMM_INCLUDE_DIR) - -endif(GMM_INCLUDE_DIR) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindMKL.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindMKL.cmake deleted file mode 100644 index f4d7c6eb..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindMKL.cmake +++ /dev/null @@ -1,65 +0,0 @@ - -if (MKL_LIBRARIES) - set(MKL_FIND_QUIETLY TRUE) -endif (MKL_LIBRARIES) - -if(CMAKE_MINOR_VERSION GREATER 4) - -if(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64") - -find_library(MKL_LIBRARIES - mkl_core - PATHS - $ENV{MKLLIB} - /opt/intel/mkl/*/lib/em64t - /opt/intel/Compiler/*/*/mkl/lib/em64t - ${LIB_INSTALL_DIR} -) - -find_library(MKL_GUIDE - guide - PATHS - $ENV{MKLLIB} - /opt/intel/mkl/*/lib/em64t - /opt/intel/Compiler/*/*/mkl/lib/em64t - /opt/intel/Compiler/*/*/lib/intel64 - ${LIB_INSTALL_DIR} -) - -if(MKL_LIBRARIES AND MKL_GUIDE) - set(MKL_LIBRARIES ${MKL_LIBRARIES} mkl_intel_lp64 mkl_sequential ${MKL_GUIDE} pthread) -endif() - -else(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64") - -find_library(MKL_LIBRARIES - mkl_core - PATHS - $ENV{MKLLIB} - /opt/intel/mkl/*/lib/32 - /opt/intel/Compiler/*/*/mkl/lib/32 - ${LIB_INSTALL_DIR} -) - -find_library(MKL_GUIDE - guide - PATHS - $ENV{MKLLIB} - /opt/intel/mkl/*/lib/32 - /opt/intel/Compiler/*/*/mkl/lib/32 - /opt/intel/Compiler/*/*/lib/intel32 - ${LIB_INSTALL_DIR} -) - -if(MKL_LIBRARIES AND MKL_GUIDE) - set(MKL_LIBRARIES ${MKL_LIBRARIES} mkl_intel mkl_sequential ${MKL_GUIDE} pthread) -endif() - -endif(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64") - -endif(CMAKE_MINOR_VERSION GREATER 4) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(MKL DEFAULT_MSG MKL_LIBRARIES) - -mark_as_advanced(MKL_LIBRARIES) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindMTL4.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindMTL4.cmake deleted file mode 100644 index 3de49098..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindMTL4.cmake +++ /dev/null @@ -1,31 +0,0 @@ -# - Try to find eigen2 headers -# Once done this will define -# -# MTL4_FOUND - system has eigen2 lib -# MTL4_INCLUDE_DIR - the eigen2 include directory -# -# Copyright (C) 2008 Gael Guennebaud -# Adapted from FindEigen.cmake: -# Copyright (c) 2006, 2007 Montel Laurent, -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -if (MTL4_INCLUDE_DIR) - - # in cache already - set(MTL4_FOUND TRUE) - -else (MTL4_INCLUDE_DIR) - -find_path(MTL4_INCLUDE_DIR NAMES boost/numeric/mtl/mtl.hpp - PATHS - ${INCLUDE_INSTALL_DIR} - ) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(MTL4 DEFAULT_MSG MTL4_INCLUDE_DIR) - -mark_as_advanced(MTL4_INCLUDE_DIR) - -endif(MTL4_INCLUDE_DIR) - diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindOPENBLAS.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindOPENBLAS.cmake deleted file mode 100644 index 2a091943..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindOPENBLAS.cmake +++ /dev/null @@ -1,17 +0,0 @@ - -if (OPENBLAS_LIBRARIES) - set(OPENBLAS_FIND_QUIETLY TRUE) -endif (OPENBLAS_LIBRARIES) - -find_file(OPENBLAS_LIBRARIES NAMES libopenblas.so libopenblas.so.0 PATHS /usr/lib /usr/lib64 $ENV{OPENBLASDIR} ${LIB_INSTALL_DIR}) -find_library(OPENBLAS_LIBRARIES openblas PATHS $ENV{OPENBLASDIR} ${LIB_INSTALL_DIR}) - -if(OPENBLAS_LIBRARIES AND CMAKE_COMPILER_IS_GNUCXX) - set(OPENBLAS_LIBRARIES ${OPENBLAS_LIBRARIES} "-lpthread -lgfortran") -endif() - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(OPENBLAS DEFAULT_MSG - OPENBLAS_LIBRARIES) - -mark_as_advanced(OPENBLAS_LIBRARIES) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindPackageHandleStandardArgs.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindPackageHandleStandardArgs.cmake deleted file mode 100644 index 7f122edc..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindPackageHandleStandardArgs.cmake +++ /dev/null @@ -1,60 +0,0 @@ -# FIND_PACKAGE_HANDLE_STANDARD_ARGS(NAME (DEFAULT_MSG|"Custom failure message") VAR1 ... ) -# -# This macro is intended to be used in FindXXX.cmake modules files. -# It handles the REQUIRED and QUIET argument to FIND_PACKAGE() and -# it also sets the _FOUND variable. -# The package is found if all variables listed are TRUE. -# Example: -# -# FIND_PACKAGE_HANDLE_STANDARD_ARGS(LibXml2 DEFAULT_MSG LIBXML2_LIBRARIES LIBXML2_INCLUDE_DIR) -# -# LibXml2 is considered to be found, if both LIBXML2_LIBRARIES and -# LIBXML2_INCLUDE_DIR are valid. Then also LIBXML2_FOUND is set to TRUE. -# If it is not found and REQUIRED was used, it fails with FATAL_ERROR, -# independent whether QUIET was used or not. -# -# If it is found, the location is reported using the VAR1 argument, so -# here a message "Found LibXml2: /usr/lib/libxml2.so" will be printed out. -# If the second argument is DEFAULT_MSG, the message in the failure case will -# be "Could NOT find LibXml2", if you don't like this message you can specify -# your own custom failure message there. - -MACRO(FIND_PACKAGE_HANDLE_STANDARD_ARGS _NAME _FAIL_MSG _VAR1 ) - - IF("${_FAIL_MSG}" STREQUAL "DEFAULT_MSG") - IF (${_NAME}_FIND_REQUIRED) - SET(_FAIL_MESSAGE "Could not find REQUIRED package ${_NAME}") - ELSE (${_NAME}_FIND_REQUIRED) - SET(_FAIL_MESSAGE "Could not find OPTIONAL package ${_NAME}") - ENDIF (${_NAME}_FIND_REQUIRED) - ELSE("${_FAIL_MSG}" STREQUAL "DEFAULT_MSG") - SET(_FAIL_MESSAGE "${_FAIL_MSG}") - ENDIF("${_FAIL_MSG}" STREQUAL "DEFAULT_MSG") - - STRING(TOUPPER ${_NAME} _NAME_UPPER) - - SET(${_NAME_UPPER}_FOUND TRUE) - IF(NOT ${_VAR1}) - SET(${_NAME_UPPER}_FOUND FALSE) - ENDIF(NOT ${_VAR1}) - - FOREACH(_CURRENT_VAR ${ARGN}) - IF(NOT ${_CURRENT_VAR}) - SET(${_NAME_UPPER}_FOUND FALSE) - ENDIF(NOT ${_CURRENT_VAR}) - ENDFOREACH(_CURRENT_VAR) - - IF (${_NAME_UPPER}_FOUND) - IF (NOT ${_NAME}_FIND_QUIETLY) - MESSAGE(STATUS "Found ${_NAME}: ${${_VAR1}}") - ENDIF (NOT ${_NAME}_FIND_QUIETLY) - ELSE (${_NAME_UPPER}_FOUND) - IF (${_NAME}_FIND_REQUIRED) - MESSAGE(FATAL_ERROR "${_FAIL_MESSAGE}") - ELSE (${_NAME}_FIND_REQUIRED) - IF (NOT ${_NAME}_FIND_QUIETLY) - MESSAGE(STATUS "${_FAIL_MESSAGE}") - ENDIF (NOT ${_NAME}_FIND_QUIETLY) - ENDIF (${_NAME}_FIND_REQUIRED) - ENDIF (${_NAME_UPPER}_FOUND) -ENDMACRO(FIND_PACKAGE_HANDLE_STANDARD_ARGS) diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindTvmet.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/FindTvmet.cmake deleted file mode 100644 index 26a29d96..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/FindTvmet.cmake +++ /dev/null @@ -1,32 +0,0 @@ -# - Try to find tvmet headers -# Once done this will define -# -# TVMET_FOUND - system has tvmet lib -# TVMET_INCLUDE_DIR - the tvmet include directory -# -# Copyright (C) 2008 Gael Guennebaud -# Adapted from FindEigen.cmake: -# Copyright (c) 2006, 2007 Montel Laurent, -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - -if (TVMET_INCLUDE_DIR) - - # in cache already - set(TVMET_FOUND TRUE) - -else (TVMET_INCLUDE_DIR) - -find_path(TVMET_INCLUDE_DIR NAMES tvmet/tvmet.h - PATHS - ${TVMETDIR}/ - ${INCLUDE_INSTALL_DIR} - ) - -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Tvmet DEFAULT_MSG TVMET_INCLUDE_DIR) - -mark_as_advanced(TVMET_INCLUDE_DIR) - -endif(TVMET_INCLUDE_DIR) - diff --git a/testbed/nanogui/ext/eigen/bench/btl/cmake/MacroOptionalAddSubdirectory.cmake b/testbed/nanogui/ext/eigen/bench/btl/cmake/MacroOptionalAddSubdirectory.cmake deleted file mode 100644 index 545048b6..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/cmake/MacroOptionalAddSubdirectory.cmake +++ /dev/null @@ -1,31 +0,0 @@ -# - MACRO_OPTIONAL_ADD_SUBDIRECTORY() combines ADD_SUBDIRECTORY() with an OPTION() -# MACRO_OPTIONAL_ADD_SUBDIRECTORY( ) -# If you use MACRO_OPTIONAL_ADD_SUBDIRECTORY() instead of ADD_SUBDIRECTORY(), -# this will have two effects -# 1 - CMake will not complain if the directory doesn't exist -# This makes sense if you want to distribute just one of the subdirs -# in a source package, e.g. just one of the subdirs in kdeextragear. -# 2 - If the directory exists, it will offer an option to skip the -# subdirectory. -# This is useful if you want to compile only a subset of all -# directories. - -# Copyright (c) 2007, Alexander Neundorf, -# -# Redistribution and use is allowed according to the terms of the BSD license. -# For details see the accompanying COPYING-CMAKE-SCRIPTS file. - - -MACRO (MACRO_OPTIONAL_ADD_SUBDIRECTORY _dir ) - GET_FILENAME_COMPONENT(_fullPath ${_dir} ABSOLUTE) - IF(EXISTS ${_fullPath}) - IF(${ARGC} EQUAL 2) - OPTION(BUILD_${_dir} "Build directory ${_dir}" ${ARGV1}) - ELSE(${ARGC} EQUAL 2) - OPTION(BUILD_${_dir} "Build directory ${_dir}" TRUE) - ENDIF(${ARGC} EQUAL 2) - IF(BUILD_${_dir}) - ADD_SUBDIRECTORY(${_dir}) - ENDIF(BUILD_${_dir}) - ENDIF(EXISTS ${_fullPath}) -ENDMACRO (MACRO_OPTIONAL_ADD_SUBDIRECTORY) diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/data/CMakeLists.txt deleted file mode 100644 index 6af2a366..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/CMakeLists.txt +++ /dev/null @@ -1,32 +0,0 @@ - -ADD_CUSTOM_TARGET(copy_scripts) - -SET(script_files go_mean mk_mean_script.sh mk_new_gnuplot.sh - perlib_plot_settings.txt action_settings.txt gnuplot_common_settings.hh ) - -FOREACH(script_file ${script_files}) -ADD_CUSTOM_COMMAND( - TARGET copy_scripts - POST_BUILD - COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${script_file} ${CMAKE_CURRENT_BINARY_DIR}/ - ARGS -) -ENDFOREACH(script_file) - -ADD_CUSTOM_COMMAND( - TARGET copy_scripts - POST_BUILD - COMMAND ${CMAKE_CXX_COMPILER} --version | head -n 1 > ${CMAKE_CURRENT_BINARY_DIR}/compiler_version.txt - ARGS -) -ADD_CUSTOM_COMMAND( - TARGET copy_scripts - POST_BUILD - COMMAND echo "${Eigen_SOURCE_DIR}" > ${CMAKE_CURRENT_BINARY_DIR}/eigen_root_dir.txt - ARGS -) - -add_executable(smooth smooth.cxx) -add_executable(regularize regularize.cxx) -add_executable(main mean.cxx) -add_dependencies(main copy_scripts) diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/action_settings.txt b/testbed/nanogui/ext/eigen/bench/btl/data/action_settings.txt deleted file mode 100644 index 39d2b5dc..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/action_settings.txt +++ /dev/null @@ -1,19 +0,0 @@ -aat ; "{/*1.5 A x A^T}" ; "matrix size" ; 4:5000 -ata ; "{/*1.5 A^T x A}" ; "matrix size" ; 4:5000 -atv ; "{/*1.5 matrix^T x vector}" ; "matrix size" ; 4:5000 -axpby ; "{/*1.5 Y = alpha X + beta Y}" ; "vector size" ; 5:1000000 -axpy ; "{/*1.5 Y += alpha X}" ; "vector size" ; 5:1000000 -matrix_matrix ; "{/*1.5 matrix matrix product}" ; "matrix size" ; 4:5000 -matrix_vector ; "{/*1.5 matrix vector product}" ; "matrix size" ; 4:5000 -trmm ; "{/*1.5 triangular matrix matrix product}" ; "matrix size" ; 4:5000 -trisolve_vector ; "{/*1.5 triangular solver - vector (X = inv(L) X)}" ; "size" ; 4:5000 -trisolve_matrix ; "{/*1.5 triangular solver - matrix (M = inv(L) M)}" ; "size" ; 4:5000 -cholesky ; "{/*1.5 Cholesky decomposition}" ; "matrix size" ; 4:5000 -complete_lu_decomp ; "{/*1.5 Complete LU decomposition}" ; "matrix size" ; 4:5000 -partial_lu_decomp ; "{/*1.5 Partial LU decomposition}" ; "matrix size" ; 4:5000 -tridiagonalization ; "{/*1.5 Tridiagonalization}" ; "matrix size" ; 4:5000 -hessenberg ; "{/*1.5 Hessenberg decomposition}" ; "matrix size" ; 4:5000 -symv ; "{/*1.5 symmetric matrix vector product}" ; "matrix size" ; 4:5000 -syr2 ; "{/*1.5 symmretric rank-2 update (A += u^T v + u v^T)}" ; "matrix size" ; 4:5000 -ger ; "{/*1.5 general rank-1 update (A += u v^T)}" ; "matrix size" ; 4:5000 -rot ; "{/*1.5 apply rotation in the plane}" ; "vector size" ; 4:1000000 diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/gnuplot_common_settings.hh b/testbed/nanogui/ext/eigen/bench/btl/data/gnuplot_common_settings.hh deleted file mode 100644 index 6f677df6..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/gnuplot_common_settings.hh +++ /dev/null @@ -1,87 +0,0 @@ -set noclip points -set clip one -set noclip two -set bar 1.000000 -set border 31 lt -1 lw 1.000 -set xdata -set ydata -set zdata -set x2data -set y2data -set boxwidth -set dummy x,y -set format x "%g" -set format y "%g" -set format x2 "%g" -set format y2 "%g" -set format z "%g" -set angles radians -set nogrid -set key title "" -set key left top Right noreverse box linetype -2 linewidth 1.000 samplen 4 spacing 1 width 0 -set nolabel -set noarrow -# set nolinestyle # deprecated -set nologscale -set logscale x 10 -set offsets 0, 0, 0, 0 -set pointsize 1 -set encoding default -set nopolar -set noparametric -set view 60, 30, 1, 1 -set samples 100, 100 -set isosamples 10, 10 -set surface -set nocontour -set clabel '%8.3g' -set mapping cartesian -set nohidden3d -set cntrparam order 4 -set cntrparam linear -set cntrparam levels auto 5 -set cntrparam points 5 -set size ratio 0 1,1 -set origin 0,0 -# set data style lines -# set function style lines -set xzeroaxis lt -2 lw 1.000 -set x2zeroaxis lt -2 lw 1.000 -set yzeroaxis lt -2 lw 1.000 -set y2zeroaxis lt -2 lw 1.000 -set tics in -set ticslevel 0.5 -set tics scale 1, 0.5 -set mxtics default -set mytics default -set mx2tics default -set my2tics default -set xtics border mirror norotate autofreq -set ytics border mirror norotate autofreq -set ztics border nomirror norotate autofreq -set nox2tics -set noy2tics -set timestamp "" bottom norotate offset 0,0 -set rrange [ * : * ] noreverse nowriteback # (currently [-0:10] ) -set trange [ * : * ] noreverse nowriteback # (currently [-5:5] ) -set urange [ * : * ] noreverse nowriteback # (currently [-5:5] ) -set vrange [ * : * ] noreverse nowriteback # (currently [-5:5] ) -set xlabel "matrix size" offset 0,0 -set x2label "" offset 0,0 -set timefmt "%d/%m/%y\n%H:%M" -set xrange [ 10 : 1000 ] noreverse nowriteback -set x2range [ * : * ] noreverse nowriteback # (currently [-10:10] ) -set ylabel "MFLOPS" offset 0,0 -set y2label "" offset 0,0 -set yrange [ * : * ] noreverse nowriteback # (currently [-10:10] ) -set y2range [ * : * ] noreverse nowriteback # (currently [-10:10] ) -set zlabel "" offset 0,0 -set zrange [ * : * ] noreverse nowriteback # (currently [-10:10] ) -set zero 1e-08 -set lmargin -1 -set bmargin -1 -set rmargin -1 -set tmargin -1 -set locale "C" -set xrange [4:1024] - diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/go_mean b/testbed/nanogui/ext/eigen/bench/btl/data/go_mean deleted file mode 100755 index 42338ca2..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/go_mean +++ /dev/null @@ -1,58 +0,0 @@ -#!/bin/bash - -if [ $# < 1 ]; then - echo "Usage: $0 working_directory [tiny|large [prefix]]" -else - -mkdir -p $1 -##cp ../libs/*/*.dat $1 - -mode=large -if [ $# > 2 ]; then - mode=$2 -fi -if [ $# > 3 ]; then - prefix=$3 -fi - -EIGENDIR=`cat eigen_root_dir.txt` - -webpagefilename=$1/index.html -meanstatsfilename=$1/mean.html - -echo '' > $meanstatsfilename -echo '' > $webpagefilename -echo '

Configuration' >> $webpagefilename -echo '

    '\ - '
  • ' `cat /proc/cpuinfo | grep "model name" | head -n 1`\ - ' (' `uname -m` ')
    • '\ - '
  • compiler: ' `cat compiler_version.txt` '
    • '\ - '
  • eigen3: ' `hg identify -i $EIGENDIR` '
    • '\ - '
' \ - '

' >> $webpagefilename - -source mk_mean_script.sh axpy $1 11 2500 100000 250000 $mode $prefix -source mk_mean_script.sh axpby $1 11 2500 100000 250000 $mode $prefix -source mk_mean_script.sh matrix_vector $1 11 50 300 1000 $mode $prefix -source mk_mean_script.sh atv $1 11 50 300 1000 $mode $prefix -source mk_mean_script.sh matrix_matrix $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh aat $1 11 100 300 1000 $mode $prefix -# source mk_mean_script.sh ata $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh trmm $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh trisolve_vector $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh trisolve_matrix $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh cholesky $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh partial_lu_decomp $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh tridiagonalization $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh hessenberg $1 11 100 300 1000 $mode $prefix -source mk_mean_script.sh symv $1 11 50 300 1000 $mode $prefix -source mk_mean_script.sh syr2 $1 11 50 300 1000 $mode $prefix -source mk_mean_script.sh ger $1 11 50 300 1000 $mode $prefix -source mk_mean_script.sh rot $1 11 2500 100000 250000 $mode $prefix -source mk_mean_script.sh complete_lu_decomp $1 11 100 300 1000 $mode $prefix - -fi - -## compile the web page ## - -#echo `cat footer.html` >> $webpagefilename \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/mean.cxx b/testbed/nanogui/ext/eigen/bench/btl/data/mean.cxx deleted file mode 100644 index c567ef33..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/mean.cxx +++ /dev/null @@ -1,182 +0,0 @@ -//===================================================== -// File : mean.cxx -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:15 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include -#include -#include -#include -#include "bench_parameter.hh" -#include "utils/xy_file.hh" -#include - -using namespace std; - -double mean_calc(const vector & tab_sizes, const vector & tab_mflops, const int size_min, const int size_max); - -class Lib_Mean{ - -public: - Lib_Mean( void ):_lib_name(),_mean_in_cache(),_mean_out_of_cache(){ - MESSAGE("Lib_mean Default Ctor"); - MESSAGE("!!! should not be used"); - exit(0); - } - Lib_Mean(const string & name, const double & mic, const double & moc):_lib_name(name),_mean_in_cache(mic),_mean_out_of_cache(moc){ - MESSAGE("Lib_mean Ctor"); - } - Lib_Mean(const Lib_Mean & lm):_lib_name(lm._lib_name),_mean_in_cache(lm._mean_in_cache),_mean_out_of_cache(lm._mean_out_of_cache){ - MESSAGE("Lib_mean Copy Ctor"); - } - ~Lib_Mean( void ){ - MESSAGE("Lib_mean Dtor"); - } - - double _mean_in_cache; - double _mean_out_of_cache; - string _lib_name; - - bool operator < ( const Lib_Mean &right) const - { - //return ( this->_mean_out_of_cache > right._mean_out_of_cache) ; - return ( this->_mean_in_cache > right._mean_in_cache) ; - } - -}; - - -int main( int argc , char *argv[] ) -{ - - if (argc<6){ - INFOS("!!! Error ... usage : main what mic Mic moc Moc filename1 finename2..."); - exit(0); - } - INFOS(argc); - - int min_in_cache=atoi(argv[2]); - int max_in_cache=atoi(argv[3]); - int min_out_of_cache=atoi(argv[4]); - int max_out_of_cache=atoi(argv[5]); - - - multiset s_lib_mean ; - - for (int i=6;i tab_sizes; - vector tab_mflops; - - read_xy_file(filename,tab_sizes,tab_mflops); - - mic=mean_calc(tab_sizes,tab_mflops,min_in_cache,max_in_cache); - moc=mean_calc(tab_sizes,tab_mflops,min_out_of_cache,max_out_of_cache); - - Lib_Mean cur_lib_mean(filename,mic,moc); - - s_lib_mean.insert(cur_lib_mean); - - } - - } - - - cout << "" << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - - multiset::iterator is = s_lib_mean.begin(); - Lib_Mean best(*is); - - - for (is=s_lib_mean.begin(); is!=s_lib_mean.end() ; is++){ - - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - cout << " " << endl ; - - } - - cout << "
" << argv[1] << " in cache
mean perf
Mflops 		in cache
% best 		out of cache
mean perf
Mflops 		out of cache
% best 		details comments
" << is->_lib_name << " " << is->_mean_in_cache << " " << 100*(is->_mean_in_cache/best._mean_in_cache) << " " << is->_mean_out_of_cache << " " << 100*(is->_mean_out_of_cache/best._mean_out_of_cache) << " " << - "_lib_name<<"_"<snippet/" - "_lib_name<<"_flags\">flags " << - "_lib_name<<"_comments\">click here
" << endl ; - - ofstream output_file ("../order_lib",ios::out) ; - - for (is=s_lib_mean.begin(); is!=s_lib_mean.end() ; is++){ - output_file << is->_lib_name << endl ; - } - - output_file.close(); - -} - -double mean_calc(const vector & tab_sizes, const vector & tab_mflops, const int size_min, const int size_max){ - - int size=tab_sizes.size(); - int nb_sample=0; - double mean=0.0; - - for (int i=0;i=size_min)&&(tab_sizes[i]<=size_max)){ - - nb_sample++; - mean+=tab_mflops[i]; - - } - - - } - - if (nb_sample==0){ - INFOS("no data for mean calculation"); - return 0.0; - } - - return mean/nb_sample; -} - - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/mk_gnuplot_script.sh b/testbed/nanogui/ext/eigen/bench/btl/data/mk_gnuplot_script.sh deleted file mode 100644 index 2ca7b5cb..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/mk_gnuplot_script.sh +++ /dev/null @@ -1,68 +0,0 @@ -#! /bin/bash -WHAT=$1 -DIR=$2 -echo $WHAT script generation -cat $WHAT.hh > $WHAT.gnuplot - -DATA_FILE=`find $DIR -name "*.dat" | grep $WHAT` - -echo plot \\ >> $WHAT.gnuplot - -for FILE in $DATA_FILE -do - LAST=$FILE -done - -echo LAST=$LAST - -for FILE in $DATA_FILE -do - if [ $FILE != $LAST ] - then - BASE=${FILE##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} - echo "'"$FILE"'" title "'"$TITLE"'" ",\\" >> $WHAT.gnuplot - fi -done -BASE=${LAST##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} -echo "'"$LAST"'" title "'"$TITLE"'" >> $WHAT.gnuplot - -#echo set term postscript color >> $WHAT.gnuplot -#echo set output "'"$WHAT.ps"'" >> $WHAT.gnuplot -echo set term pbm small color >> $WHAT.gnuplot -echo set output "'"$WHAT.ppm"'" >> $WHAT.gnuplot -echo plot \\ >> $WHAT.gnuplot - -for FILE in $DATA_FILE -do - if [ $FILE != $LAST ] - then - BASE=${FILE##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} - echo "'"$FILE"'" title "'"$TITLE"'" ",\\" >> $WHAT.gnuplot - fi -done -BASE=${LAST##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} -echo "'"$LAST"'" title "'"$TITLE"'" >> $WHAT.gnuplot - -echo set term jpeg large >> $WHAT.gnuplot -echo set output "'"$WHAT.jpg"'" >> $WHAT.gnuplot -echo plot \\ >> $WHAT.gnuplot - -for FILE in $DATA_FILE -do - if [ $FILE != $LAST ] - then - BASE=${FILE##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} - echo "'"$FILE"'" title "'"$TITLE"'" ",\\" >> $WHAT.gnuplot - fi -done -BASE=${LAST##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} -echo "'"$LAST"'" title "'"$TITLE"'" >> $WHAT.gnuplot - - -gnuplot -persist < $WHAT.gnuplot - -rm $WHAT.gnuplot - - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/mk_mean_script.sh b/testbed/nanogui/ext/eigen/bench/btl/data/mk_mean_script.sh deleted file mode 100644 index b10df024..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/mk_mean_script.sh +++ /dev/null @@ -1,52 +0,0 @@ -#! /bin/bash -WHAT=$1 -DIR=$2 -MINIC=$3 -MAXIC=$4 -MINOC=$5 -MAXOC=$6 -prefix=$8 - -meanstatsfilename=$2/mean.html - -WORK_DIR=tmp -mkdir $WORK_DIR - -DATA_FILE=`find $DIR -name "*.dat" | grep _${WHAT}` - -if [ -n "$DATA_FILE" ]; then - - echo "" - echo "$1..." - for FILE in $DATA_FILE - do - ##echo hello world - ##echo "mk_mean_script1" ${FILE} - BASE=${FILE##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} - - ##echo "mk_mean_script1" ${TITLE} - cp $FILE ${WORK_DIR}/${TITLE} - - done - - cd $WORK_DIR - ../main $1 $3 $4 $5 $6 * >> ../$meanstatsfilename - ../mk_new_gnuplot.sh $1 $2 $7 - rm -f *.gnuplot - cd .. - - echo '
' >> $meanstatsfilename - - webpagefilename=$2/index.html - # echo '

'${WHAT}'

' >> $webpagefilename - echo '
'${WHAT}'
' >> $webpagefilename - -fi - -rm -R $WORK_DIR - - - - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/mk_new_gnuplot.sh b/testbed/nanogui/ext/eigen/bench/btl/data/mk_new_gnuplot.sh deleted file mode 100755 index fad3b23a..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/mk_new_gnuplot.sh +++ /dev/null @@ -1,54 +0,0 @@ -#!/bin/bash -WHAT=$1 -DIR=$2 - -cat ../gnuplot_common_settings.hh > ${WHAT}.gnuplot - -echo "set title " `grep ${WHAT} ../action_settings.txt | head -n 1 | cut -d ";" -f 2` >> $WHAT.gnuplot -echo "set xlabel " `grep ${WHAT} ../action_settings.txt | head -n 1 | cut -d ";" -f 3` " offset 0,0" >> $WHAT.gnuplot -echo "set xrange [" `grep ${WHAT} ../action_settings.txt | head -n 1 | cut -d ";" -f 4` "]" >> $WHAT.gnuplot - -if [ $# > 3 ]; then - if [ "$3" == "tiny" ]; then - echo "set xrange [2:16]" >> $WHAT.gnuplot - echo "set nologscale" >> $WHAT.gnuplot - fi -fi - - - -DATA_FILE=`cat ../order_lib` -echo set term postscript color rounded enhanced >> $WHAT.gnuplot -echo set output "'"../${DIR}/$WHAT.ps"'" >> $WHAT.gnuplot - -# echo set term svg color rounded enhanced >> $WHAT.gnuplot -# echo "set terminal svg enhanced size 1000 1000 fname \"Times\" fsize 36" >> $WHAT.gnuplot -# echo set output "'"../${DIR}/$WHAT.svg"'" >> $WHAT.gnuplot - -echo plot \\ >> $WHAT.gnuplot - -for FILE in $DATA_FILE -do - LAST=$FILE -done - -for FILE in $DATA_FILE -do - BASE=${FILE##*/} ; BASE=${FILE##*/} ; AVANT=bench_${WHAT}_ ; REDUC=${BASE##*$AVANT} ; TITLE=${REDUC%.dat} - - echo "'"$FILE"'" `grep $TITLE ../perlib_plot_settings.txt | head -n 1 | cut -d ";" -f 2` "\\" >> $WHAT.gnuplot - if [ $FILE != $LAST ] - then - echo ", \\" >> $WHAT.gnuplot - fi -done -echo " " >> $WHAT.gnuplot - -gnuplot -persist < $WHAT.gnuplot - -rm $WHAT.gnuplot - -ps2pdf ../${DIR}/$WHAT.ps ../${DIR}/$WHAT.pdf -convert -background white -density 120 -rotate 90 -resize 800 +dither -colors 256 -quality 0 ../${DIR}/$WHAT.ps -background white -flatten ../${DIR}/$WHAT.png - -# pstoedit -rotate -90 -xscale 0.8 -yscale 0.8 -centered -yshift -50 -xshift -100 -f plot-svg aat.ps aat2.svg diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/perlib_plot_settings.txt b/testbed/nanogui/ext/eigen/bench/btl/data/perlib_plot_settings.txt deleted file mode 100644 index f023cfe0..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/perlib_plot_settings.txt +++ /dev/null @@ -1,16 +0,0 @@ -eigen3 ; with lines lw 4 lt 1 lc rgbcolor "black" -eigen2 ; with lines lw 3 lt 1 lc rgbcolor "#999999" -EigenBLAS ; with lines lw 3 lt 3 lc rgbcolor "#999999" -eigen3_novec ; with lines lw 2 lt 1 lc rgbcolor "#999999" -eigen3_nogccvec ; with lines lw 2 lt 2 lc rgbcolor "#991010" -INTEL_MKL ; with lines lw 3 lt 1 lc rgbcolor "#ff0000" -ATLAS ; with lines lw 3 lt 1 lc rgbcolor "#008000" -gmm ; with lines lw 3 lt 1 lc rgbcolor "#0000ff" -ublas ; with lines lw 3 lt 1 lc rgbcolor "#00b7ff" -mtl4 ; with lines lw 3 lt 1 lc rgbcolor "#d18847" -blitz ; with lines lw 3 lt 1 lc rgbcolor "#ff00ff" -F77 ; with lines lw 3 lt 3 lc rgbcolor "#e6e64c" -OPENBLAS ; with lines lw 3 lt 1 lc rgbcolor "#C05600" -C ; with lines lw 3 lt 3 lc rgbcolor "#e6bd96" -ACML ; with lines lw 2 lt 3 lc rgbcolor "#e6e64c" -blaze ; with lines lw 3 lt 1 lc rgbcolor "#ff00ff" diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/regularize.cxx b/testbed/nanogui/ext/eigen/bench/btl/data/regularize.cxx deleted file mode 100644 index eea2b8b8..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/regularize.cxx +++ /dev/null @@ -1,131 +0,0 @@ -//===================================================== -// File : regularize.cxx -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:15 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include -#include -#include -#include -#include "bench_parameter.hh" -#include - -using namespace std; - -void read_xy_file(const string & filename, vector & tab_sizes, vector & tab_mflops); -void regularize_curve(const string & filename, - const vector & tab_mflops, - const vector & tab_sizes, - int start_cut_size, int stop_cut_size); -///////////////////////////////////////////////////////////////////////////////////////////////// - -int main( int argc , char *argv[] ) -{ - - // input data - - if (argc<4){ - INFOS("!!! Error ... usage : main filename start_cut_size stop_cut_size regularize_filename"); - exit(0); - } - INFOS(argc); - - int start_cut_size=atoi(argv[2]); - int stop_cut_size=atoi(argv[3]); - - string filename=argv[1]; - string regularize_filename=argv[4]; - - INFOS(filename); - INFOS("start_cut_size="< tab_sizes; - vector tab_mflops; - - read_xy_file(filename,tab_sizes,tab_mflops); - - // regularizeing - - regularize_curve(regularize_filename,tab_mflops,tab_sizes,start_cut_size,stop_cut_size); - - -} - -////////////////////////////////////////////////////////////////////////////////////// - -void regularize_curve(const string & filename, - const vector & tab_mflops, - const vector & tab_sizes, - int start_cut_size, int stop_cut_size) -{ - int size=tab_mflops.size(); - ofstream output_file (filename.c_str(),ios::out) ; - - int i=0; - - while(tab_sizes[i] & tab_sizes, vector & tab_mflops){ - - ifstream input_file (filename.c_str(),ios::in) ; - - if (!input_file){ - INFOS("!!! Error opening "<> size >> mflops ){ - nb_point++; - tab_sizes.push_back(size); - tab_mflops.push_back(mflops); - } - SCRUTE(nb_point); - - input_file.close(); -} - diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/smooth.cxx b/testbed/nanogui/ext/eigen/bench/btl/data/smooth.cxx deleted file mode 100644 index e5270cc3..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/smooth.cxx +++ /dev/null @@ -1,198 +0,0 @@ -//===================================================== -// File : smooth.cxx -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:15 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include -#include -#include -#include -#include -#include "bench_parameter.hh" -#include - -using namespace std; - -void read_xy_file(const string & filename, vector & tab_sizes, vector & tab_mflops); -void write_xy_file(const string & filename, vector & tab_sizes, vector & tab_mflops); -void smooth_curve(const vector & tab_mflops, vector & smooth_tab_mflops,int window_half_width); -void centered_smooth_curve(const vector & tab_mflops, vector & smooth_tab_mflops,int window_half_width); - -///////////////////////////////////////////////////////////////////////////////////////////////// - -int main( int argc , char *argv[] ) -{ - - // input data - - if (argc<3){ - INFOS("!!! Error ... usage : main filename window_half_width smooth_filename"); - exit(0); - } - INFOS(argc); - - int window_half_width=atoi(argv[2]); - - string filename=argv[1]; - string smooth_filename=argv[3]; - - INFOS(filename); - INFOS("window_half_width="< tab_sizes; - vector tab_mflops; - - read_xy_file(filename,tab_sizes,tab_mflops); - - // smoothing - - vector smooth_tab_mflops; - - //smooth_curve(tab_mflops,smooth_tab_mflops,window_half_width); - centered_smooth_curve(tab_mflops,smooth_tab_mflops,window_half_width); - - // output result - - write_xy_file(smooth_filename,tab_sizes,smooth_tab_mflops); - - -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -template -double weighted_mean(const VECTOR & data) -{ - - double mean=0.0; - - for (int i=0 ; i & tab_mflops, vector & smooth_tab_mflops,int window_half_width){ - - int window_width=2*window_half_width+1; - - int size=tab_mflops.size(); - - vector sample(window_width); - - for (int i=0 ; i < size ; i++){ - - for ( int j=0 ; j < window_width ; j++ ){ - - int shifted_index=i+j-window_half_width; - if (shifted_index<0) shifted_index=0; - if (shifted_index>size-1) shifted_index=size-1; - sample[j]=tab_mflops[shifted_index]; - - } - - smooth_tab_mflops.push_back(weighted_mean(sample)); - - } - -} - -void centered_smooth_curve(const vector & tab_mflops, vector & smooth_tab_mflops,int window_half_width){ - - int max_window_width=2*window_half_width+1; - - int size=tab_mflops.size(); - - - for (int i=0 ; i < size ; i++){ - - deque sample; - - - sample.push_back(tab_mflops[i]); - - for ( int j=1 ; j <= window_half_width ; j++ ){ - - int before=i-j; - int after=i+j; - - if ((before>=0)&&(after & tab_sizes, vector & tab_mflops){ - - ofstream output_file (filename.c_str(),ios::out) ; - - for (int i=0 ; i < tab_sizes.size() ; i++) - { - output_file << tab_sizes[i] << " " << tab_mflops[i] << endl ; - } - - output_file.close(); - -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -void read_xy_file(const string & filename, vector & tab_sizes, vector & tab_mflops){ - - ifstream input_file (filename.c_str(),ios::in) ; - - if (!input_file){ - INFOS("!!! Error opening "<> size >> mflops ){ - nb_point++; - tab_sizes.push_back(size); - tab_mflops.push_back(mflops); - } - SCRUTE(nb_point); - - input_file.close(); -} - diff --git a/testbed/nanogui/ext/eigen/bench/btl/data/smooth_all.sh b/testbed/nanogui/ext/eigen/bench/btl/data/smooth_all.sh deleted file mode 100755 index 3e5bfdf4..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/data/smooth_all.sh +++ /dev/null @@ -1,68 +0,0 @@ -#! /bin/bash -ORIG_DIR=$1 -SMOOTH_DIR=${ORIG_DIR}_smooth -mkdir ${SMOOTH_DIR} - -AXPY_FILE=`find ${ORIG_DIR} -name "*.dat" | grep axpy` -for FILE in ${AXPY_FILE} -do - echo $FILE - BASE=${FILE##*/} - ./smooth ${ORIG_DIR}/${BASE} 4 ${SMOOTH_DIR}/${BASE}_tmp - ./regularize ${SMOOTH_DIR}/${BASE}_tmp 2500 15000 ${SMOOTH_DIR}/${BASE} - rm -f ${SMOOTH_DIR}/${BASE}_tmp -done - - -MATRIX_VECTOR_FILE=`find ${ORIG_DIR} -name "*.dat" | grep matrix_vector` -for FILE in ${MATRIX_VECTOR_FILE} -do - echo $FILE - BASE=${FILE##*/} - ./smooth ${ORIG_DIR}/${BASE} 4 ${SMOOTH_DIR}/${BASE}_tmp - ./regularize ${SMOOTH_DIR}/${BASE}_tmp 50 180 ${SMOOTH_DIR}/${BASE} - rm -f ${SMOOTH_DIR}/${BASE}_tmp -done - -MATRIX_MATRIX_FILE=`find ${ORIG_DIR} -name "*.dat" | grep matrix_matrix` -for FILE in ${MATRIX_MATRIX_FILE} -do - echo $FILE - BASE=${FILE##*/} - ./smooth ${ORIG_DIR}/${BASE} 4 ${SMOOTH_DIR}/${BASE} -done - -AAT_FILE=`find ${ORIG_DIR} -name "*.dat" | grep _aat` -for FILE in ${AAT_FILE} -do - echo $FILE - BASE=${FILE##*/} - ./smooth ${ORIG_DIR}/${BASE} 4 ${SMOOTH_DIR}/${BASE} -done - - -ATA_FILE=`find ${ORIG_DIR} -name "*.dat" | grep _ata` -for FILE in ${ATA_FILE} -do - echo $FILE - BASE=${FILE##*/} - ./smooth ${ORIG_DIR}/${BASE} 4 ${SMOOTH_DIR}/${BASE} -done - -### no smoothing for tinyvector and matrices libs - -TINY_BLITZ_FILE=`find ${ORIG_DIR} -name "*.dat" | grep tiny_blitz` -for FILE in ${TINY_BLITZ_FILE} -do - echo $FILE - BASE=${FILE##*/} - cp ${ORIG_DIR}/${BASE} ${SMOOTH_DIR}/${BASE} -done - -TVMET_FILE=`find ${ORIG_DIR} -name "*.dat" | grep tvmet` -for FILE in ${TVMET_FILE} -do - echo $FILE - BASE=${FILE##*/} - cp ${ORIG_DIR}/${BASE} ${SMOOTH_DIR}/${BASE} -done diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench.hh deleted file mode 100644 index 7b7b951b..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench.hh +++ /dev/null @@ -1,168 +0,0 @@ -//===================================================== -// File : bench.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:16 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BENCH_HH -#define BENCH_HH - -#include "btl.hh" -#include "bench_parameter.hh" -#include -#include "utilities.h" -#include "size_lin_log.hh" -#include "xy_file.hh" -#include -#include -#include "timers/portable_perf_analyzer.hh" -// #include "timers/mixed_perf_analyzer.hh" -// #include "timers/x86_perf_analyzer.hh" -// #include "timers/STL_perf_analyzer.hh" -#ifdef HAVE_MKL -extern "C" void cblas_saxpy(const int, const float, const float*, const int, float *, const int); -#endif -using namespace std; - -template class Perf_Analyzer, class Action> -BTL_DONT_INLINE void bench( int size_min, int size_max, int nb_point ) -{ - if (BtlConfig::skipAction(Action::name())) - return; - - string filename="bench_"+Action::name()+".dat"; - - INFOS("starting " < tab_mflops(nb_point); - std::vector tab_sizes(nb_point); - - // matrices and vector size calculations - size_lin_log(nb_point,size_min,size_max,tab_sizes); - - std::vector oldSizes; - std::vector oldFlops; - bool hasOldResults = read_xy_file(filename, oldSizes, oldFlops, true); - int oldi = oldSizes.size() - 1; - - // loop on matrix size - Perf_Analyzer perf_action; - for (int i=nb_point-1;i>=0;i--) - { - //INFOS("size=" <=0 && oldSizes[oldi]>tab_sizes[i]) - --oldi; - if (oldi>=0 && oldSizes[oldi]==tab_sizes[i]) - { - if (oldFlops[oldi] "; - else - std::cout << "\t < "; - std::cout << oldFlops[oldi]; - } - --oldi; - } - std::cout << " MFlops (" << nb_point-i << "/" << nb_point << ")" << std::endl; - } - - if (!BtlConfig::Instance.overwriteResults) - { - if (hasOldResults) - { - // merge the two data - std::vector newSizes; - std::vector newFlops; - unsigned int i=0; - unsigned int j=0; - while (i -BTL_DONT_INLINE void bench( int size_min, int size_max, int nb_point ){ - - // if the rdtsc is not available : - bench(size_min,size_max,nb_point); - // if the rdtsc is available : -// bench(size_min,size_max,nb_point); - - - // Only for small problem size. Otherwize it will be too long -// bench(size_min,size_max,nb_point); -// bench(size_min,size_max,nb_point); - -} - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench_parameter.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench_parameter.hh deleted file mode 100644 index 2b01149f..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/bench_parameter.hh +++ /dev/null @@ -1,53 +0,0 @@ -//===================================================== -// File : bench_parameter.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:16 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BENCH_PARAMETER_HH -#define BENCH_PARAMETER_HH - -// minimal time for each measurement -#define REAL_TYPE float -// minimal time for each measurement -#define MIN_TIME 0.2 -// nb of point on bench curves -#define NB_POINT 100 -// min vector size for axpy bench -#define MIN_AXPY 5 -// max vector size for axpy bench -#define MAX_AXPY 3000000 -// min matrix size for matrix vector product bench -#define MIN_MV 5 -// max matrix size for matrix vector product bench -#define MAX_MV 5000 -// min matrix size for matrix matrix product bench -#define MIN_MM 5 -// max matrix size for matrix matrix product bench -#define MAX_MM MAX_MV -// min matrix size for LU bench -#define MIN_LU 5 -// max matrix size for LU bench -#define MAX_LU 3000 -// max size for tiny vector and matrix -#define TINY_MV_MAX_SIZE 16 -// default nb_sample for x86 timer -#define DEFAULT_NB_SAMPLE 1000 - -// how many times we run a single bench (keep the best perf) -#define DEFAULT_NB_TRIES 3 - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/btl.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/btl.hh deleted file mode 100644 index 706b00fb..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/btl.hh +++ /dev/null @@ -1,242 +0,0 @@ -//===================================================== -// File : btl.hh -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BTL_HH -#define BTL_HH - -#include "bench_parameter.hh" -#include -#include -#include -#include -#include "utilities.h" - -#if (defined __GNUC__) -#define BTL_ALWAYS_INLINE __attribute__((always_inline)) inline -#else -#define BTL_ALWAYS_INLINE inline -#endif - -#if (defined __GNUC__) -#define BTL_DONT_INLINE __attribute__((noinline)) -#else -#define BTL_DONT_INLINE -#endif - -#if (defined __GNUC__) -#define BTL_ASM_COMMENT(X) asm("#" X) -#else -#define BTL_ASM_COMMENT(X) -#endif - -#ifdef __SSE__ -#include "xmmintrin.h" -// This enables flush to zero (FTZ) and denormals are zero (DAZ) modes: -#define BTL_DISABLE_SSE_EXCEPTIONS() { _mm_setcsr(_mm_getcsr() | 0x8040); } -#else -#define BTL_DISABLE_SSE_EXCEPTIONS() -#endif - -/** Enhanced std::string -*/ -class BtlString : public std::string -{ -public: - BtlString() : std::string() {} - BtlString(const BtlString& str) : std::string(static_cast(str)) {} - BtlString(const std::string& str) : std::string(str) {} - BtlString(const char* str) : std::string(str) {} - - operator const char* () const { return c_str(); } - - void trim( bool left = true, bool right = true ) - { - int lspaces, rspaces, len = length(), i; - lspaces = rspaces = 0; - - if ( left ) - for (i=0; i=0 && (at(i)==' '||at(i)=='\t'||at(i)=='\r'||at(i)=='\n'); rspaces++,i--); - - *this = substr(lspaces, len-lspaces-rspaces); - } - - std::vector split( const BtlString& delims = "\t\n ") const - { - std::vector ret; - unsigned int numSplits = 0; - size_t start, pos; - start = 0; - do - { - pos = find_first_of(delims, start); - if (pos == start) - { - ret.push_back(""); - start = pos + 1; - } - else if (pos == npos) - ret.push_back( substr(start) ); - else - { - ret.push_back( substr(start, pos - start) ); - start = pos + 1; - } - //start = find_first_not_of(delims, start); - ++numSplits; - } while (pos != npos); - return ret; - } - - bool endsWith(const BtlString& str) const - { - if(str.size()>this->size()) - return false; - return this->substr(this->size()-str.size(),str.size()) == str; - } - bool contains(const BtlString& str) const - { - return this->find(str)size(); - } - bool beginsWith(const BtlString& str) const - { - if(str.size()>this->size()) - return false; - return this->substr(0,str.size()) == str; - } - - BtlString toLowerCase( void ) - { - std::transform(begin(), end(), begin(), static_cast(::tolower) ); - return *this; - } - BtlString toUpperCase( void ) - { - std::transform(begin(), end(), begin(), static_cast(::toupper) ); - return *this; - } - - /** Case insensitive comparison. - */ - bool isEquiv(const BtlString& str) const - { - BtlString str0 = *this; - str0.toLowerCase(); - BtlString str1 = str; - str1.toLowerCase(); - return str0 == str1; - } - - /** Decompose the current string as a path and a file. - For instance: "dir1/dir2/file.ext" leads to path="dir1/dir2/" and filename="file.ext" - */ - void decomposePathAndFile(BtlString& path, BtlString& filename) const - { - std::vector elements = this->split("/\\"); - path = ""; - filename = elements.back(); - elements.pop_back(); - if (this->at(0)=='/') - path = "/"; - for (unsigned int i=0 ; i config = BtlString(_config).split(" \t\n"); - for (unsigned int i = 0; i m_selectedActionNames; -}; - -#define BTL_MAIN \ - BtlConfig BtlConfig::Instance - -#endif // BTL_HH diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_function.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_function.hh deleted file mode 100644 index e467cb64..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_function.hh +++ /dev/null @@ -1,54 +0,0 @@ -//===================================================== -// File : init_function.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:18 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef INIT_FUNCTION_HH -#define INIT_FUNCTION_HH - -double simple_function(int index) -{ - return index; -} - -double simple_function(int index_i, int index_j) -{ - return index_i+index_j; -} - -double pseudo_random(int /*index*/) -{ - return std::rand()/double(RAND_MAX); -} - -double pseudo_random(int /*index_i*/, int /*index_j*/) -{ - return std::rand()/double(RAND_MAX); -} - - -double null_function(int /*index*/) -{ - return 0.0; -} - -double null_function(int /*index_i*/, int /*index_j*/) -{ - return 0.0; -} - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_matrix.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_matrix.hh deleted file mode 100644 index 6382d30c..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/init/init_matrix.hh +++ /dev/null @@ -1,64 +0,0 @@ -//===================================================== -// File : init_matrix.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:19 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef INIT_MATRIX_HH -#define INIT_MATRIX_HH - -// The Vector class must satisfy the following part of STL vector concept : -// resize() method -// [] operator for setting element -// value_type defined -template -BTL_DONT_INLINE void init_row(Vector & X, int size, int row){ - - X.resize(size); - - for (unsigned int j=0;j -BTL_DONT_INLINE void init_matrix(Vector & A, int size){ - A.resize(size); - for (unsigned int row=0; row(A[row],size,row); - } -} - -template -BTL_DONT_INLINE void init_matrix_symm(Matrix& A, int size){ - A.resize(size); - for (unsigned int row=0; row -// Copyright (C) EDF R&D, lun sep 30 14:23:18 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef INIT_VECTOR_HH -#define INIT_VECTOR_HH - -// The Vector class must satisfy the following part of STL vector concept : -// resize() method -// [] operator for setting element -// value_type defined -template -void init_vector(Vector & X, int size){ - - X.resize(size); - - for (unsigned int i=0;i -// Copyright (C) EDF R&D, lun sep 30 14:23:16 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BENCH_STATIC_HH -#define BENCH_STATIC_HH - -#include "btl.hh" -#include "bench_parameter.hh" -#include -#include "utilities.h" -#include "xy_file.hh" -#include "static/static_size_generator.hh" -#include "timers/portable_perf_analyzer.hh" -// #include "timers/mixed_perf_analyzer.hh" -// #include "timers/x86_perf_analyzer.hh" - -using namespace std; - - -template class Perf_Analyzer, template class Action, template class Interface> -BTL_DONT_INLINE void bench_static(void) -{ - if (BtlConfig::skipAction(Action >::name())) - return; - - string filename = "bench_" + Action >::name() + ".dat"; - - INFOS("starting " << filename); - - const int max_size = TINY_MV_MAX_SIZE; - - std::vector tab_mflops; - std::vector tab_sizes; - - static_size_generator::go(tab_sizes,tab_mflops); - - dump_xy_file(tab_sizes,tab_mflops,filename); -} - -// default Perf Analyzer -template class Action, template class Interface> -BTL_DONT_INLINE void bench_static(void) -{ - bench_static(); - //bench_static(); - //bench_static(); -} - -#endif - - - - - - - - - - - - - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh deleted file mode 100644 index b4edcbc4..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/static/intel_bench_fixed_size.hh +++ /dev/null @@ -1,66 +0,0 @@ -//===================================================== -// File : intel_bench_fixed_size.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, mar déc 3 18:59:37 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _BENCH_FIXED_SIZE_HH_ -#define _BENCH_FIXED_SIZE_HH_ - -#include "utilities.h" -#include "function_time.hh" - -template -double bench_fixed_size(int size, unsigned long long & nb_calc,unsigned long long & nb_init) -{ - - Action action(size); - - double time_baseline=time_init(nb_init,action); - - while (time_baseline < MIN_TIME) { - - //INFOS("nb_init="< > > perf_action; - tab_mflops.push_back(perf_action.eval_mflops(SIZE)); - std::cout << tab_mflops.back() << " MFlops" << std::endl; - static_size_generator::go(tab_sizes,tab_mflops); - }; -}; - -//recursion end - -template class Perf_Analyzer, template class Action, template class Interface> -struct static_size_generator<1,Perf_Analyzer,Action,Interface>{ - static void go(vector & tab_sizes, vector & tab_mflops) - { - tab_sizes.push_back(1); - Perf_Analyzer > > perf_action; - tab_mflops.push_back(perf_action.eval_mflops(1)); - }; -}; - -#endif - - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/STL_perf_analyzer.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/STL_perf_analyzer.hh deleted file mode 100644 index c9f894b1..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/STL_perf_analyzer.hh +++ /dev/null @@ -1,82 +0,0 @@ -//===================================================== -// File : STL_perf_analyzer.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, mar déc 3 18:59:35 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _STL_PERF_ANALYSER_HH -#define _STL_PERF_ANALYSER_HH - -#include "STL_timer.hh" -#include "bench_parameter.hh" - -template -class STL_Perf_Analyzer{ -public: - STL_Perf_Analyzer(unsigned long long nb_sample=DEFAULT_NB_SAMPLE):_nb_sample(nb_sample),_chronos() - { - MESSAGE("STL_Perf_Analyzer Ctor"); - }; - STL_Perf_Analyzer( const STL_Perf_Analyzer & ){ - INFOS("Copy Ctor not implemented"); - exit(0); - }; - ~STL_Perf_Analyzer( void ){ - MESSAGE("STL_Perf_Analyzer Dtor"); - }; - - - inline double eval_mflops(int size) - { - - ACTION action(size); - - _chronos.start_baseline(_nb_sample); - - do { - - action.initialize(); - } while (_chronos.check()); - - double baseline_time=_chronos.get_time(); - - _chronos.start(_nb_sample); - do { - action.initialize(); - action.calculate(); - } while (_chronos.check()); - - double calculate_time=_chronos.get_time(); - - double corrected_time=calculate_time-baseline_time; - - // cout << size <<" "< -// Copyright (C) EDF R&D, mar déc 3 18:59:35 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -// STL Timer Class. Adapted (L.P.) from the timer class by Musser et Al -// described int the Book : STL Tutorial and reference guide. -// Define a timer class for analyzing algorithm performance. -#include -#include -#include -#include -#include -using namespace std; - -class STL_Timer { -public: - STL_Timer(){ baseline = false; }; // Default constructor - // Start a series of r trials: - void start(unsigned int r){ - reps = r; - count = 0; - iterations.clear(); - iterations.reserve(reps); - initial = time(0); - }; - // Start a series of r trials to determine baseline time: - void start_baseline(unsigned int r) - { - baseline = true; - start(r); - } - // Returns true if the trials have been completed, else false - bool check() - { - ++count; - final = time(0); - if (initial < final) { - iterations.push_back(count); - initial = final; - count = 0; - } - return (iterations.size() < reps); - }; - // Returns the results for external use - double get_time( void ) - { - sort(iterations.begin(), iterations.end()); - return 1.0/iterations[reps/2]; - }; -private: - unsigned int reps; // Number of trials - // For storing loop iterations of a trial - vector iterations; - // For saving initial and final times of a trial - time_t initial, final; - // For counting loop iterations of a trial - unsigned long count; - // true if this is a baseline computation, false otherwise - bool baseline; - // For recording the baseline time - double baseline_time; -}; - diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/mixed_perf_analyzer.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/mixed_perf_analyzer.hh deleted file mode 100644 index e190236e..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/mixed_perf_analyzer.hh +++ /dev/null @@ -1,73 +0,0 @@ -//===================================================== -// File : mixed_perf_analyzer.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, mar déc 3 18:59:36 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _MIXED_PERF_ANALYSER_HH -#define _MIXED_PERF_ANALYSER_HH - -#include "x86_perf_analyzer.hh" -#include "portable_perf_analyzer.hh" - -// choose portable perf analyzer for long calculations and x86 analyser for short ones - - -template -class Mixed_Perf_Analyzer{ - -public: - Mixed_Perf_Analyzer( void ):_x86pa(),_ppa(),_use_ppa(true) - { - MESSAGE("Mixed_Perf_Analyzer Ctor"); - }; - Mixed_Perf_Analyzer( const Mixed_Perf_Analyzer & ){ - INFOS("Copy Ctor not implemented"); - exit(0); - }; - ~Mixed_Perf_Analyzer( void ){ - MESSAGE("Mixed_Perf_Analyzer Dtor"); - }; - - - inline double eval_mflops(int size) - { - - double result=0.0; - if (_use_ppa){ - result=_ppa.eval_mflops(size); - if (_ppa.get_nb_calc()>DEFAULT_NB_SAMPLE){_use_ppa=false;} - } - else{ - result=_x86pa.eval_mflops(size); - } - - return result; - } - -private: - - Portable_Perf_Analyzer _ppa; - X86_Perf_Analyzer _x86pa; - bool _use_ppa; - -}; - -#endif - - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/portable_perf_analyzer.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/portable_perf_analyzer.hh deleted file mode 100644 index 5e579fb4..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/portable_perf_analyzer.hh +++ /dev/null @@ -1,103 +0,0 @@ -//===================================================== -// File : portable_perf_analyzer.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, mar d�c 3 18:59:35 CET 2002 -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _PORTABLE_PERF_ANALYZER_HH -#define _PORTABLE_PERF_ANALYZER_HH - -#include "utilities.h" -#include "timers/portable_timer.hh" - -template -class Portable_Perf_Analyzer{ -public: - Portable_Perf_Analyzer( ):_nb_calc(0), m_time_action(0), _chronos(){ - MESSAGE("Portable_Perf_Analyzer Ctor"); - }; - Portable_Perf_Analyzer( const Portable_Perf_Analyzer & ){ - INFOS("Copy Ctor not implemented"); - exit(0); - }; - ~Portable_Perf_Analyzer(){ - MESSAGE("Portable_Perf_Analyzer Dtor"); - }; - - BTL_DONT_INLINE double eval_mflops(int size) - { - Action action(size); - -// action.initialize(); -// time_action = time_calculate(action); - while (m_time_action < MIN_TIME) - { - if(_nb_calc==0) _nb_calc = 1; - else _nb_calc *= 2; - action.initialize(); - m_time_action = time_calculate(action); - } - - // optimize - for (int i=1; i -// Copyright (C) EDF R&D, mar d�c 3 18:59:35 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _PORTABLE_PERF_ANALYZER_HH -#define _PORTABLE_PERF_ANALYZER_HH - -#include "utilities.h" -#include "timers/portable_timer.hh" - -template -class Portable_Perf_Analyzer{ -public: - Portable_Perf_Analyzer( void ):_nb_calc(1),_nb_init(1),_chronos(){ - MESSAGE("Portable_Perf_Analyzer Ctor"); - }; - Portable_Perf_Analyzer( const Portable_Perf_Analyzer & ){ - INFOS("Copy Ctor not implemented"); - exit(0); - }; - ~Portable_Perf_Analyzer( void ){ - MESSAGE("Portable_Perf_Analyzer Dtor"); - }; - - - - inline double eval_mflops(int size) - { - - Action action(size); - -// double time_baseline = time_init(action); -// while (time_baseline < MIN_TIME_INIT) -// { -// _nb_init *= 2; -// time_baseline = time_init(action); -// } -// -// // optimize -// for (int i=1; i -#include - - -class Portable_Timer -{ - public: - - Portable_Timer() - { - } - - void start() - { - m_start_time = double(mach_absolute_time())*1e-9;; - - } - - void stop() - { - m_stop_time = double(mach_absolute_time())*1e-9;; - - } - - double elapsed() - { - return user_time(); - } - - double user_time() - { - return m_stop_time - m_start_time; - } - - -private: - - double m_stop_time, m_start_time; - -}; // Portable_Timer (Apple) - -#else - -#include -#include -#include -#include - -class Portable_Timer -{ - public: - - Portable_Timer() - { - m_clkid = BtlConfig::Instance.realclock ? CLOCK_REALTIME : CLOCK_PROCESS_CPUTIME_ID; - } - - Portable_Timer(int clkid) : m_clkid(clkid) - {} - - void start() - { - timespec ts; - clock_gettime(m_clkid, &ts); - m_start_time = double(ts.tv_sec) + 1e-9 * double(ts.tv_nsec); - - } - - void stop() - { - timespec ts; - clock_gettime(m_clkid, &ts); - m_stop_time = double(ts.tv_sec) + 1e-9 * double(ts.tv_nsec); - - } - - double elapsed() - { - return user_time(); - } - - double user_time() - { - return m_stop_time - m_start_time; - } - - -private: - - int m_clkid; - double m_stop_time, m_start_time; - -}; // Portable_Timer (Linux) - -#endif - -#endif // PORTABLE_TIMER_HPP diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/x86_perf_analyzer.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/x86_perf_analyzer.hh deleted file mode 100644 index 37ea21dc..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/timers/x86_perf_analyzer.hh +++ /dev/null @@ -1,108 +0,0 @@ -//===================================================== -// File : x86_perf_analyzer.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, mar d�c 3 18:59:35 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _X86_PERF_ANALYSER_HH -#define _X86_PERF_ANALYSER_HH - -#include "x86_timer.hh" -#include "bench_parameter.hh" - -template -class X86_Perf_Analyzer{ -public: - X86_Perf_Analyzer( unsigned long long nb_sample=DEFAULT_NB_SAMPLE):_nb_sample(nb_sample),_chronos() - { - MESSAGE("X86_Perf_Analyzer Ctor"); - _chronos.find_frequency(); - }; - X86_Perf_Analyzer( const X86_Perf_Analyzer & ){ - INFOS("Copy Ctor not implemented"); - exit(0); - }; - ~X86_Perf_Analyzer( void ){ - MESSAGE("X86_Perf_Analyzer Dtor"); - }; - - - inline double eval_mflops(int size) - { - - ACTION action(size); - - int nb_loop=5; - double calculate_time=0.0; - double baseline_time=0.0; - - for (int j=0 ; j < nb_loop ; j++){ - - _chronos.clear(); - - for(int i=0 ; i < _nb_sample ; i++) - { - _chronos.start(); - action.initialize(); - action.calculate(); - _chronos.stop(); - _chronos.add_get_click(); - } - - calculate_time += double(_chronos.get_shortest_clicks())/_chronos.frequency(); - - if (j==0) action.check_result(); - - _chronos.clear(); - - for(int i=0 ; i < _nb_sample ; i++) - { - _chronos.start(); - action.initialize(); - _chronos.stop(); - _chronos.add_get_click(); - - } - - baseline_time+=double(_chronos.get_shortest_clicks())/_chronos.frequency(); - - } - - double corrected_time = (calculate_time-baseline_time)/double(nb_loop); - - -// INFOS("_nb_sample="<<_nb_sample); -// INFOS("baseline_time="< -// Copyright (C) EDF R&D, mar d�c 3 18:59:35 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef _X86_TIMER_HH -#define _X86_TIMER_HH - -#include -#include -#include -#include -//#include "system_time.h" -#define u32 unsigned int -#include -#include "utilities.h" -#include -#include -#include -#include - -// frequence de la becanne en Hz -//#define FREQUENCY 648000000 -//#define FREQUENCY 1400000000 -#define FREQUENCY 1695000000 - -using namespace std; - - -class X86_Timer { - -public : - - X86_Timer( void ):_frequency(FREQUENCY),_nb_sample(0) - { - MESSAGE("X86_Timer Default Ctor"); - } - - inline void start( void ){ - - rdtsc(_click_start.n32[0],_click_start.n32[1]); - - } - - - inline void stop( void ){ - - rdtsc(_click_stop.n32[0],_click_stop.n32[1]); - - } - - - inline double frequency( void ){ - return _frequency; - } - - double get_elapsed_time_in_second( void ){ - - return (_click_stop.n64-_click_start.n64)/double(FREQUENCY); - - - } - - unsigned long long get_click( void ){ - - return (_click_stop.n64-_click_start.n64); - - } - - inline void find_frequency( void ){ - - time_t initial, final; - int dummy=2; - - initial = time(0); - start(); - do { - dummy+=2; - } - while(time(0)==initial); - // On est au debut d'un cycle d'une seconde !!! - initial = time(0); - start(); - do { - dummy+=2; - } - while(time(0)==initial); - final=time(0); - stop(); - // INFOS("fine grained time : "<< get_elapsed_time_in_second()); - // INFOS("coarse grained time : "<< final-initial); - _frequency=_frequency*get_elapsed_time_in_second()/double(final-initial); - /// INFOS("CPU frequency : "<< _frequency); - - } - - void add_get_click( void ){ - - _nb_sample++; - _counted_clicks[get_click()]++; - fill_history_clicks(); - - } - - void dump_statistics(string filemane){ - - ofstream outfile (filemane.c_str(),ios::out) ; - - std::map::iterator itr; - for(itr=_counted_clicks.begin() ; itr!=_counted_clicks.end() ; itr++) - { - outfile << (*itr).first << " " << (*itr).second << endl ; - } - - outfile.close(); - - } - - void dump_history(string filemane){ - - ofstream outfile (filemane.c_str(),ios::out) ; - - - - for(int i=0 ; i<_history_mean_clicks.size() ; i++) - { - outfile << i << " " - << _history_mean_clicks[i] << " " - << _history_shortest_clicks[i] << " " - << _history_most_occured_clicks[i] << endl ; - } - - outfile.close(); - - } - - - - double get_mean_clicks( void ){ - - std::map::iterator itr; - - unsigned long long mean_clicks=0; - - for(itr=_counted_clicks.begin() ; itr!=_counted_clicks.end() ; itr++) - { - - mean_clicks+=(*itr).second*(*itr).first; - } - - return mean_clicks/double(_nb_sample); - - } - - double get_shortest_clicks( void ){ - - return double((*_counted_clicks.begin()).first); - - } - - void fill_history_clicks( void ){ - - _history_mean_clicks.push_back(get_mean_clicks()); - _history_shortest_clicks.push_back(get_shortest_clicks()); - _history_most_occured_clicks.push_back(get_most_occured_clicks()); - - } - - - double get_most_occured_clicks( void ){ - - unsigned long long moc=0; - unsigned long long max_occurence=0; - - std::map::iterator itr; - - for(itr=_counted_clicks.begin() ; itr!=_counted_clicks.end() ; itr++) - { - - if (max_occurence<=(*itr).second){ - max_occurence=(*itr).second; - moc=(*itr).first; - } - } - - return double(moc); - - } - - void clear( void ) - { - _counted_clicks.clear(); - - _history_mean_clicks.clear(); - _history_shortest_clicks.clear(); - _history_most_occured_clicks.clear(); - - _nb_sample=0; - } - - - -private : - - union - { - unsigned long int n32[2] ; - unsigned long long n64 ; - } _click_start; - - union - { - unsigned long int n32[2] ; - unsigned long long n64 ; - } _click_stop; - - double _frequency ; - - map _counted_clicks; - - vector _history_mean_clicks; - vector _history_shortest_clicks; - vector _history_most_occured_clicks; - - unsigned long long _nb_sample; - - - -}; - - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/size_lin_log.hh b/testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/size_lin_log.hh deleted file mode 100644 index bbc9f543..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/generic_bench/utils/size_lin_log.hh +++ /dev/null @@ -1,70 +0,0 @@ -//===================================================== -// File : size_lin_log.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, mar déc 3 18:59:37 CET 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef SIZE_LIN_LOG -#define SIZE_LIN_LOG - -#include "size_log.hh" - -template -void size_lin_log(const int nb_point, const int /*size_min*/, const int size_max, Vector & X) -{ - int ten=10; - int nine=9; - - X.resize(nb_point); - - if (nb_point>ten){ - - for (int i=0;i -void size_log(const int nb_point, const int size_min, const int size_max, Vector & X) -{ - X.resize(nb_point); - - float ls_min=log(float(size_min)); - float ls_max=log(float(size_max)); - - float ls=0.0; - - float delta_ls=(ls_max-ls_min)/(float(nb_point-1)); - - int size=0; - - for (int i=0;i -//# include ok for gcc3.01 -# include - -/* --- INFOS is always defined (without _DEBUG_): to be used for warnings, with release version --- */ - -# define HEREWEARE cout< -// Copyright (C) EDF R&D, lun sep 30 14:23:20 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef XY_FILE_HH -#define XY_FILE_HH -#include -#include -#include -#include -using namespace std; - -bool read_xy_file(const std::string & filename, std::vector & tab_sizes, - std::vector & tab_mflops, bool quiet = false) -{ - - std::ifstream input_file (filename.c_str(),std::ios::in); - - if (!input_file){ - if (!quiet) { - INFOS("!!! Error opening "<> size >> mflops ){ - nb_point++; - tab_sizes.push_back(size); - tab_mflops.push_back(mflops); - } - SCRUTE(nb_point); - - input_file.close(); - return true; -} - -// The Vector class must satisfy the following part of STL vector concept : -// resize() method -// [] operator for seting element -// the vector element must have the << operator define - -using namespace std; - -template -void dump_xy_file(const Vector_A & X, const Vector_B & Y, const std::string & filename){ - - ofstream outfile (filename.c_str(),ios::out) ; - int size=X.size(); - - for (int i=0;i BLASFUNC(cdotu) (int *, float *, int *, float *, int *); -std::complex BLASFUNC(cdotc) (int *, float *, int *, float *, int *); -std::complex BLASFUNC(zdotu) (int *, double *, int *, double *, int *); -std::complex BLASFUNC(zdotc) (int *, double *, int *, double *, int *); -double BLASFUNC(xdotu) (int *, double *, int *, double *, int *); -double BLASFUNC(xdotc) (int *, double *, int *, double *, int *); -#endif - -int BLASFUNC(cdotuw) (int *, float *, int *, float *, int *, float*); -int BLASFUNC(cdotcw) (int *, float *, int *, float *, int *, float*); -int BLASFUNC(zdotuw) (int *, double *, int *, double *, int *, double*); -int BLASFUNC(zdotcw) (int *, double *, int *, double *, int *, double*); - -int BLASFUNC(saxpy) (int *, float *, float *, int *, float *, int *); -int BLASFUNC(daxpy) (int *, double *, double *, int *, double *, int *); -int BLASFUNC(qaxpy) (int *, double *, double *, int *, double *, int *); -int BLASFUNC(caxpy) (int *, float *, float *, int *, float *, int *); -int BLASFUNC(zaxpy) (int *, double *, double *, int *, double *, int *); -int BLASFUNC(xaxpy) (int *, double *, double *, int *, double *, int *); -int BLASFUNC(caxpyc)(int *, float *, float *, int *, float *, int *); -int BLASFUNC(zaxpyc)(int *, double *, double *, int *, double *, int *); -int BLASFUNC(xaxpyc)(int *, double *, double *, int *, double *, int *); - -int BLASFUNC(scopy) (int *, float *, int *, float *, int *); -int BLASFUNC(dcopy) (int *, double *, int *, double *, int *); -int BLASFUNC(qcopy) (int *, double *, int *, double *, int *); -int BLASFUNC(ccopy) (int *, float *, int *, float *, int *); -int BLASFUNC(zcopy) (int *, double *, int *, double *, int *); -int BLASFUNC(xcopy) (int *, double *, int *, double *, int *); - -int BLASFUNC(sswap) (int *, float *, int *, float *, int *); -int BLASFUNC(dswap) (int *, double *, int *, double *, int *); -int BLASFUNC(qswap) (int *, double *, int *, double *, int *); -int BLASFUNC(cswap) (int *, float *, int *, float *, int *); -int BLASFUNC(zswap) (int *, double *, int *, double *, int *); -int BLASFUNC(xswap) (int *, double *, int *, double *, int *); - -float BLASFUNC(sasum) (int *, float *, int *); -float BLASFUNC(scasum)(int *, float *, int *); -double BLASFUNC(dasum) (int *, double *, int *); -double BLASFUNC(qasum) (int *, double *, int *); -double BLASFUNC(dzasum)(int *, double *, int *); -double BLASFUNC(qxasum)(int *, double *, int *); - -int BLASFUNC(isamax)(int *, float *, int *); -int BLASFUNC(idamax)(int *, double *, int *); -int BLASFUNC(iqamax)(int *, double *, int *); -int BLASFUNC(icamax)(int *, float *, int *); -int BLASFUNC(izamax)(int *, double *, int *); -int BLASFUNC(ixamax)(int *, double *, int *); - -int BLASFUNC(ismax) (int *, float *, int *); -int BLASFUNC(idmax) (int *, double *, int *); -int BLASFUNC(iqmax) (int *, double *, int *); -int BLASFUNC(icmax) (int *, float *, int *); -int BLASFUNC(izmax) (int *, double *, int *); -int BLASFUNC(ixmax) (int *, double *, int *); - -int BLASFUNC(isamin)(int *, float *, int *); -int BLASFUNC(idamin)(int *, double *, int *); -int BLASFUNC(iqamin)(int *, double *, int *); -int BLASFUNC(icamin)(int *, float *, int *); -int BLASFUNC(izamin)(int *, double *, int *); -int BLASFUNC(ixamin)(int *, double *, int *); - -int BLASFUNC(ismin)(int *, float *, int *); -int BLASFUNC(idmin)(int *, double *, int *); -int BLASFUNC(iqmin)(int *, double *, int *); -int BLASFUNC(icmin)(int *, float *, int *); -int BLASFUNC(izmin)(int *, double *, int *); -int BLASFUNC(ixmin)(int *, double *, int *); - -float BLASFUNC(samax) (int *, float *, int *); -double BLASFUNC(damax) (int *, double *, int *); -double BLASFUNC(qamax) (int *, double *, int *); -float BLASFUNC(scamax)(int *, float *, int *); -double BLASFUNC(dzamax)(int *, double *, int *); -double BLASFUNC(qxamax)(int *, double *, int *); - -float BLASFUNC(samin) (int *, float *, int *); -double BLASFUNC(damin) (int *, double *, int *); -double BLASFUNC(qamin) (int *, double *, int *); -float BLASFUNC(scamin)(int *, float *, int *); -double BLASFUNC(dzamin)(int *, double *, int *); -double BLASFUNC(qxamin)(int *, double *, int *); - -float BLASFUNC(smax) (int *, float *, int *); -double BLASFUNC(dmax) (int *, double *, int *); -double BLASFUNC(qmax) (int *, double *, int *); -float BLASFUNC(scmax) (int *, float *, int *); -double BLASFUNC(dzmax) (int *, double *, int *); -double BLASFUNC(qxmax) (int *, double *, int *); - -float BLASFUNC(smin) (int *, float *, int *); -double BLASFUNC(dmin) (int *, double *, int *); -double BLASFUNC(qmin) (int *, double *, int *); -float BLASFUNC(scmin) (int *, float *, int *); -double BLASFUNC(dzmin) (int *, double *, int *); -double BLASFUNC(qxmin) (int *, double *, int *); - -int BLASFUNC(sscal) (int *, float *, float *, int *); -int BLASFUNC(dscal) (int *, double *, double *, int *); -int BLASFUNC(qscal) (int *, double *, double *, int *); -int BLASFUNC(cscal) (int *, float *, float *, int *); -int BLASFUNC(zscal) (int *, double *, double *, int *); -int BLASFUNC(xscal) (int *, double *, double *, int *); -int BLASFUNC(csscal)(int *, float *, float *, int *); -int BLASFUNC(zdscal)(int *, double *, double *, int *); -int BLASFUNC(xqscal)(int *, double *, double *, int *); - -float BLASFUNC(snrm2) (int *, float *, int *); -float BLASFUNC(scnrm2)(int *, float *, int *); - -double BLASFUNC(dnrm2) (int *, double *, int *); -double BLASFUNC(qnrm2) (int *, double *, int *); -double BLASFUNC(dznrm2)(int *, double *, int *); -double BLASFUNC(qxnrm2)(int *, double *, int *); - -int BLASFUNC(srot) (int *, float *, int *, float *, int *, float *, float *); -int BLASFUNC(drot) (int *, double *, int *, double *, int *, double *, double *); -int BLASFUNC(qrot) (int *, double *, int *, double *, int *, double *, double *); -int BLASFUNC(csrot) (int *, float *, int *, float *, int *, float *, float *); -int BLASFUNC(zdrot) (int *, double *, int *, double *, int *, double *, double *); -int BLASFUNC(xqrot) (int *, double *, int *, double *, int *, double *, double *); - -int BLASFUNC(srotg) (float *, float *, float *, float *); -int BLASFUNC(drotg) (double *, double *, double *, double *); -int BLASFUNC(qrotg) (double *, double *, double *, double *); -int BLASFUNC(crotg) (float *, float *, float *, float *); -int BLASFUNC(zrotg) (double *, double *, double *, double *); -int BLASFUNC(xrotg) (double *, double *, double *, double *); - -int BLASFUNC(srotmg)(float *, float *, float *, float *, float *); -int BLASFUNC(drotmg)(double *, double *, double *, double *, double *); - -int BLASFUNC(srotm) (int *, float *, int *, float *, int *, float *); -int BLASFUNC(drotm) (int *, double *, int *, double *, int *, double *); -int BLASFUNC(qrotm) (int *, double *, int *, double *, int *, double *); - -/* Level 2 routines */ - -int BLASFUNC(sger)(int *, int *, float *, float *, int *, - float *, int *, float *, int *); -int BLASFUNC(dger)(int *, int *, double *, double *, int *, - double *, int *, double *, int *); -int BLASFUNC(qger)(int *, int *, double *, double *, int *, - double *, int *, double *, int *); -int BLASFUNC(cgeru)(int *, int *, float *, float *, int *, - float *, int *, float *, int *); -int BLASFUNC(cgerc)(int *, int *, float *, float *, int *, - float *, int *, float *, int *); -int BLASFUNC(zgeru)(int *, int *, double *, double *, int *, - double *, int *, double *, int *); -int BLASFUNC(zgerc)(int *, int *, double *, double *, int *, - double *, int *, double *, int *); -int BLASFUNC(xgeru)(int *, int *, double *, double *, int *, - double *, int *, double *, int *); -int BLASFUNC(xgerc)(int *, int *, double *, double *, int *, - double *, int *, double *, int *); - -int BLASFUNC(sgemv)(char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(dgemv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(qgemv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(cgemv)(char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zgemv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xgemv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(strsv) (char *, char *, char *, int *, float *, int *, - float *, int *); -int BLASFUNC(dtrsv) (char *, char *, char *, int *, double *, int *, - double *, int *); -int BLASFUNC(qtrsv) (char *, char *, char *, int *, double *, int *, - double *, int *); -int BLASFUNC(ctrsv) (char *, char *, char *, int *, float *, int *, - float *, int *); -int BLASFUNC(ztrsv) (char *, char *, char *, int *, double *, int *, - double *, int *); -int BLASFUNC(xtrsv) (char *, char *, char *, int *, double *, int *, - double *, int *); - -int BLASFUNC(stpsv) (char *, char *, char *, int *, float *, float *, int *); -int BLASFUNC(dtpsv) (char *, char *, char *, int *, double *, double *, int *); -int BLASFUNC(qtpsv) (char *, char *, char *, int *, double *, double *, int *); -int BLASFUNC(ctpsv) (char *, char *, char *, int *, float *, float *, int *); -int BLASFUNC(ztpsv) (char *, char *, char *, int *, double *, double *, int *); -int BLASFUNC(xtpsv) (char *, char *, char *, int *, double *, double *, int *); - -int BLASFUNC(strmv) (char *, char *, char *, int *, float *, int *, - float *, int *); -int BLASFUNC(dtrmv) (char *, char *, char *, int *, double *, int *, - double *, int *); -int BLASFUNC(qtrmv) (char *, char *, char *, int *, double *, int *, - double *, int *); -int BLASFUNC(ctrmv) (char *, char *, char *, int *, float *, int *, - float *, int *); -int BLASFUNC(ztrmv) (char *, char *, char *, int *, double *, int *, - double *, int *); -int BLASFUNC(xtrmv) (char *, char *, char *, int *, double *, int *, - double *, int *); - -int BLASFUNC(stpmv) (char *, char *, char *, int *, float *, float *, int *); -int BLASFUNC(dtpmv) (char *, char *, char *, int *, double *, double *, int *); -int BLASFUNC(qtpmv) (char *, char *, char *, int *, double *, double *, int *); -int BLASFUNC(ctpmv) (char *, char *, char *, int *, float *, float *, int *); -int BLASFUNC(ztpmv) (char *, char *, char *, int *, double *, double *, int *); -int BLASFUNC(xtpmv) (char *, char *, char *, int *, double *, double *, int *); - -int BLASFUNC(stbmv) (char *, char *, char *, int *, int *, float *, int *, float *, int *); -int BLASFUNC(dtbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); -int BLASFUNC(qtbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); -int BLASFUNC(ctbmv) (char *, char *, char *, int *, int *, float *, int *, float *, int *); -int BLASFUNC(ztbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); -int BLASFUNC(xtbmv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); - -int BLASFUNC(stbsv) (char *, char *, char *, int *, int *, float *, int *, float *, int *); -int BLASFUNC(dtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); -int BLASFUNC(qtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); -int BLASFUNC(ctbsv) (char *, char *, char *, int *, int *, float *, int *, float *, int *); -int BLASFUNC(ztbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); -int BLASFUNC(xtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *); - -int BLASFUNC(ssymv) (char *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(dsymv) (char *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(qsymv) (char *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(csymv) (char *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zsymv) (char *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xsymv) (char *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(sspmv) (char *, int *, float *, float *, - float *, int *, float *, float *, int *); -int BLASFUNC(dspmv) (char *, int *, double *, double *, - double *, int *, double *, double *, int *); -int BLASFUNC(qspmv) (char *, int *, double *, double *, - double *, int *, double *, double *, int *); -int BLASFUNC(cspmv) (char *, int *, float *, float *, - float *, int *, float *, float *, int *); -int BLASFUNC(zspmv) (char *, int *, double *, double *, - double *, int *, double *, double *, int *); -int BLASFUNC(xspmv) (char *, int *, double *, double *, - double *, int *, double *, double *, int *); - -int BLASFUNC(ssyr) (char *, int *, float *, float *, int *, - float *, int *); -int BLASFUNC(dsyr) (char *, int *, double *, double *, int *, - double *, int *); -int BLASFUNC(qsyr) (char *, int *, double *, double *, int *, - double *, int *); -int BLASFUNC(csyr) (char *, int *, float *, float *, int *, - float *, int *); -int BLASFUNC(zsyr) (char *, int *, double *, double *, int *, - double *, int *); -int BLASFUNC(xsyr) (char *, int *, double *, double *, int *, - double *, int *); - -int BLASFUNC(ssyr2) (char *, int *, float *, - float *, int *, float *, int *, float *, int *); -int BLASFUNC(dsyr2) (char *, int *, double *, - double *, int *, double *, int *, double *, int *); -int BLASFUNC(qsyr2) (char *, int *, double *, - double *, int *, double *, int *, double *, int *); -int BLASFUNC(csyr2) (char *, int *, float *, - float *, int *, float *, int *, float *, int *); -int BLASFUNC(zsyr2) (char *, int *, double *, - double *, int *, double *, int *, double *, int *); -int BLASFUNC(xsyr2) (char *, int *, double *, - double *, int *, double *, int *, double *, int *); - -int BLASFUNC(sspr) (char *, int *, float *, float *, int *, - float *); -int BLASFUNC(dspr) (char *, int *, double *, double *, int *, - double *); -int BLASFUNC(qspr) (char *, int *, double *, double *, int *, - double *); -int BLASFUNC(cspr) (char *, int *, float *, float *, int *, - float *); -int BLASFUNC(zspr) (char *, int *, double *, double *, int *, - double *); -int BLASFUNC(xspr) (char *, int *, double *, double *, int *, - double *); - -int BLASFUNC(sspr2) (char *, int *, float *, - float *, int *, float *, int *, float *); -int BLASFUNC(dspr2) (char *, int *, double *, - double *, int *, double *, int *, double *); -int BLASFUNC(qspr2) (char *, int *, double *, - double *, int *, double *, int *, double *); -int BLASFUNC(cspr2) (char *, int *, float *, - float *, int *, float *, int *, float *); -int BLASFUNC(zspr2) (char *, int *, double *, - double *, int *, double *, int *, double *); -int BLASFUNC(xspr2) (char *, int *, double *, - double *, int *, double *, int *, double *); - -int BLASFUNC(cher) (char *, int *, float *, float *, int *, - float *, int *); -int BLASFUNC(zher) (char *, int *, double *, double *, int *, - double *, int *); -int BLASFUNC(xher) (char *, int *, double *, double *, int *, - double *, int *); - -int BLASFUNC(chpr) (char *, int *, float *, float *, int *, float *); -int BLASFUNC(zhpr) (char *, int *, double *, double *, int *, double *); -int BLASFUNC(xhpr) (char *, int *, double *, double *, int *, double *); - -int BLASFUNC(cher2) (char *, int *, float *, - float *, int *, float *, int *, float *, int *); -int BLASFUNC(zher2) (char *, int *, double *, - double *, int *, double *, int *, double *, int *); -int BLASFUNC(xher2) (char *, int *, double *, - double *, int *, double *, int *, double *, int *); - -int BLASFUNC(chpr2) (char *, int *, float *, - float *, int *, float *, int *, float *); -int BLASFUNC(zhpr2) (char *, int *, double *, - double *, int *, double *, int *, double *); -int BLASFUNC(xhpr2) (char *, int *, double *, - double *, int *, double *, int *, double *); - -int BLASFUNC(chemv) (char *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zhemv) (char *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xhemv) (char *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(chpmv) (char *, int *, float *, float *, - float *, int *, float *, float *, int *); -int BLASFUNC(zhpmv) (char *, int *, double *, double *, - double *, int *, double *, double *, int *); -int BLASFUNC(xhpmv) (char *, int *, double *, double *, - double *, int *, double *, double *, int *); - -int BLASFUNC(snorm)(char *, int *, int *, float *, int *); -int BLASFUNC(dnorm)(char *, int *, int *, double *, int *); -int BLASFUNC(cnorm)(char *, int *, int *, float *, int *); -int BLASFUNC(znorm)(char *, int *, int *, double *, int *); - -int BLASFUNC(sgbmv)(char *, int *, int *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(dgbmv)(char *, int *, int *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(qgbmv)(char *, int *, int *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(cgbmv)(char *, int *, int *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zgbmv)(char *, int *, int *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xgbmv)(char *, int *, int *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(ssbmv)(char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(dsbmv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(qsbmv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(csbmv)(char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zsbmv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xsbmv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(chbmv)(char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zhbmv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xhbmv)(char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -/* Level 3 routines */ - -int BLASFUNC(sgemm)(char *, char *, int *, int *, int *, float *, - float *, int *, float *, int *, float *, float *, int *); -int BLASFUNC(dgemm)(char *, char *, int *, int *, int *, double *, - double *, int *, double *, int *, double *, double *, int *); -int BLASFUNC(qgemm)(char *, char *, int *, int *, int *, double *, - double *, int *, double *, int *, double *, double *, int *); -int BLASFUNC(cgemm)(char *, char *, int *, int *, int *, float *, - float *, int *, float *, int *, float *, float *, int *); -int BLASFUNC(zgemm)(char *, char *, int *, int *, int *, double *, - double *, int *, double *, int *, double *, double *, int *); -int BLASFUNC(xgemm)(char *, char *, int *, int *, int *, double *, - double *, int *, double *, int *, double *, double *, int *); - -int BLASFUNC(cgemm3m)(char *, char *, int *, int *, int *, float *, - float *, int *, float *, int *, float *, float *, int *); -int BLASFUNC(zgemm3m)(char *, char *, int *, int *, int *, double *, - double *, int *, double *, int *, double *, double *, int *); -int BLASFUNC(xgemm3m)(char *, char *, int *, int *, int *, double *, - double *, int *, double *, int *, double *, double *, int *); - -int BLASFUNC(sge2mm)(char *, char *, char *, int *, int *, - float *, float *, int *, float *, int *, - float *, float *, int *); -int BLASFUNC(dge2mm)(char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *, - double *, double *, int *); -int BLASFUNC(cge2mm)(char *, char *, char *, int *, int *, - float *, float *, int *, float *, int *, - float *, float *, int *); -int BLASFUNC(zge2mm)(char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *, - double *, double *, int *); - -int BLASFUNC(strsm)(char *, char *, char *, char *, int *, int *, - float *, float *, int *, float *, int *); -int BLASFUNC(dtrsm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); -int BLASFUNC(qtrsm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); -int BLASFUNC(ctrsm)(char *, char *, char *, char *, int *, int *, - float *, float *, int *, float *, int *); -int BLASFUNC(ztrsm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); -int BLASFUNC(xtrsm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); - -int BLASFUNC(strmm)(char *, char *, char *, char *, int *, int *, - float *, float *, int *, float *, int *); -int BLASFUNC(dtrmm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); -int BLASFUNC(qtrmm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); -int BLASFUNC(ctrmm)(char *, char *, char *, char *, int *, int *, - float *, float *, int *, float *, int *); -int BLASFUNC(ztrmm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); -int BLASFUNC(xtrmm)(char *, char *, char *, char *, int *, int *, - double *, double *, int *, double *, int *); - -int BLASFUNC(ssymm)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(dsymm)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(qsymm)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(csymm)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zsymm)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xsymm)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(csymm3m)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(ssyrk)(char *, char *, int *, int *, float *, float *, int *, - float *, float *, int *); -int BLASFUNC(dsyrk)(char *, char *, int *, int *, double *, double *, int *, - double *, double *, int *); -int BLASFUNC(qsyrk)(char *, char *, int *, int *, double *, double *, int *, - double *, double *, int *); -int BLASFUNC(csyrk)(char *, char *, int *, int *, float *, float *, int *, - float *, float *, int *); -int BLASFUNC(zsyrk)(char *, char *, int *, int *, double *, double *, int *, - double *, double *, int *); -int BLASFUNC(xsyrk)(char *, char *, int *, int *, double *, double *, int *, - double *, double *, int *); - -int BLASFUNC(ssyr2k)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(dsyr2k)(char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); -int BLASFUNC(qsyr2k)(char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); -int BLASFUNC(csyr2k)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zsyr2k)(char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); -int BLASFUNC(xsyr2k)(char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); - -int BLASFUNC(chemm)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zhemm)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xhemm)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(chemm3m)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zhemm3m)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); -int BLASFUNC(xhemm3m)(char *, char *, int *, int *, double *, double *, int *, - double *, int *, double *, double *, int *); - -int BLASFUNC(cherk)(char *, char *, int *, int *, float *, float *, int *, - float *, float *, int *); -int BLASFUNC(zherk)(char *, char *, int *, int *, double *, double *, int *, - double *, double *, int *); -int BLASFUNC(xherk)(char *, char *, int *, int *, double *, double *, int *, - double *, double *, int *); - -int BLASFUNC(cher2k)(char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zher2k)(char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); -int BLASFUNC(xher2k)(char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); -int BLASFUNC(cher2m)(char *, char *, char *, int *, int *, float *, float *, int *, - float *, int *, float *, float *, int *); -int BLASFUNC(zher2m)(char *, char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); -int BLASFUNC(xher2m)(char *, char *, char *, int *, int *, double *, double *, int *, - double*, int *, double *, double *, int *); - -int BLASFUNC(sgemt)(char *, int *, int *, float *, float *, int *, - float *, int *); -int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *, - double *, int *); -int BLASFUNC(cgemt)(char *, int *, int *, float *, float *, int *, - float *, int *); -int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *, - double *, int *); - -int BLASFUNC(sgema)(char *, char *, int *, int *, float *, - float *, int *, float *, float *, int *, float *, int *); -int BLASFUNC(dgema)(char *, char *, int *, int *, double *, - double *, int *, double*, double *, int *, double*, int *); -int BLASFUNC(cgema)(char *, char *, int *, int *, float *, - float *, int *, float *, float *, int *, float *, int *); -int BLASFUNC(zgema)(char *, char *, int *, int *, double *, - double *, int *, double*, double *, int *, double*, int *); - -int BLASFUNC(sgems)(char *, char *, int *, int *, float *, - float *, int *, float *, float *, int *, float *, int *); -int BLASFUNC(dgems)(char *, char *, int *, int *, double *, - double *, int *, double*, double *, int *, double*, int *); -int BLASFUNC(cgems)(char *, char *, int *, int *, float *, - float *, int *, float *, float *, int *, float *, int *); -int BLASFUNC(zgems)(char *, char *, int *, int *, double *, - double *, int *, double*, double *, int *, double*, int *); - -int BLASFUNC(sgetf2)(int *, int *, float *, int *, int *, int *); -int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *); -int BLASFUNC(qgetf2)(int *, int *, double *, int *, int *, int *); -int BLASFUNC(cgetf2)(int *, int *, float *, int *, int *, int *); -int BLASFUNC(zgetf2)(int *, int *, double *, int *, int *, int *); -int BLASFUNC(xgetf2)(int *, int *, double *, int *, int *, int *); - -int BLASFUNC(sgetrf)(int *, int *, float *, int *, int *, int *); -int BLASFUNC(dgetrf)(int *, int *, double *, int *, int *, int *); -int BLASFUNC(qgetrf)(int *, int *, double *, int *, int *, int *); -int BLASFUNC(cgetrf)(int *, int *, float *, int *, int *, int *); -int BLASFUNC(zgetrf)(int *, int *, double *, int *, int *, int *); -int BLASFUNC(xgetrf)(int *, int *, double *, int *, int *, int *); - -int BLASFUNC(slaswp)(int *, float *, int *, int *, int *, int *, int *); -int BLASFUNC(dlaswp)(int *, double *, int *, int *, int *, int *, int *); -int BLASFUNC(qlaswp)(int *, double *, int *, int *, int *, int *, int *); -int BLASFUNC(claswp)(int *, float *, int *, int *, int *, int *, int *); -int BLASFUNC(zlaswp)(int *, double *, int *, int *, int *, int *, int *); -int BLASFUNC(xlaswp)(int *, double *, int *, int *, int *, int *, int *); - -int BLASFUNC(sgetrs)(char *, int *, int *, float *, int *, int *, float *, int *, int *); -int BLASFUNC(dgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *); -int BLASFUNC(qgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *); -int BLASFUNC(cgetrs)(char *, int *, int *, float *, int *, int *, float *, int *, int *); -int BLASFUNC(zgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *); -int BLASFUNC(xgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *); - -int BLASFUNC(sgesv)(int *, int *, float *, int *, int *, float *, int *, int *); -int BLASFUNC(dgesv)(int *, int *, double *, int *, int *, double*, int *, int *); -int BLASFUNC(qgesv)(int *, int *, double *, int *, int *, double*, int *, int *); -int BLASFUNC(cgesv)(int *, int *, float *, int *, int *, float *, int *, int *); -int BLASFUNC(zgesv)(int *, int *, double *, int *, int *, double*, int *, int *); -int BLASFUNC(xgesv)(int *, int *, double *, int *, int *, double*, int *, int *); - -int BLASFUNC(spotf2)(char *, int *, float *, int *, int *); -int BLASFUNC(dpotf2)(char *, int *, double *, int *, int *); -int BLASFUNC(qpotf2)(char *, int *, double *, int *, int *); -int BLASFUNC(cpotf2)(char *, int *, float *, int *, int *); -int BLASFUNC(zpotf2)(char *, int *, double *, int *, int *); -int BLASFUNC(xpotf2)(char *, int *, double *, int *, int *); - -int BLASFUNC(spotrf)(char *, int *, float *, int *, int *); -int BLASFUNC(dpotrf)(char *, int *, double *, int *, int *); -int BLASFUNC(qpotrf)(char *, int *, double *, int *, int *); -int BLASFUNC(cpotrf)(char *, int *, float *, int *, int *); -int BLASFUNC(zpotrf)(char *, int *, double *, int *, int *); -int BLASFUNC(xpotrf)(char *, int *, double *, int *, int *); - -int BLASFUNC(slauu2)(char *, int *, float *, int *, int *); -int BLASFUNC(dlauu2)(char *, int *, double *, int *, int *); -int BLASFUNC(qlauu2)(char *, int *, double *, int *, int *); -int BLASFUNC(clauu2)(char *, int *, float *, int *, int *); -int BLASFUNC(zlauu2)(char *, int *, double *, int *, int *); -int BLASFUNC(xlauu2)(char *, int *, double *, int *, int *); - -int BLASFUNC(slauum)(char *, int *, float *, int *, int *); -int BLASFUNC(dlauum)(char *, int *, double *, int *, int *); -int BLASFUNC(qlauum)(char *, int *, double *, int *, int *); -int BLASFUNC(clauum)(char *, int *, float *, int *, int *); -int BLASFUNC(zlauum)(char *, int *, double *, int *, int *); -int BLASFUNC(xlauum)(char *, int *, double *, int *, int *); - -int BLASFUNC(strti2)(char *, char *, int *, float *, int *, int *); -int BLASFUNC(dtrti2)(char *, char *, int *, double *, int *, int *); -int BLASFUNC(qtrti2)(char *, char *, int *, double *, int *, int *); -int BLASFUNC(ctrti2)(char *, char *, int *, float *, int *, int *); -int BLASFUNC(ztrti2)(char *, char *, int *, double *, int *, int *); -int BLASFUNC(xtrti2)(char *, char *, int *, double *, int *, int *); - -int BLASFUNC(strtri)(char *, char *, int *, float *, int *, int *); -int BLASFUNC(dtrtri)(char *, char *, int *, double *, int *, int *); -int BLASFUNC(qtrtri)(char *, char *, int *, double *, int *, int *); -int BLASFUNC(ctrtri)(char *, char *, int *, float *, int *, int *); -int BLASFUNC(ztrtri)(char *, char *, int *, double *, int *, int *); -int BLASFUNC(xtrtri)(char *, char *, int *, double *, int *, int *); - -int BLASFUNC(spotri)(char *, int *, float *, int *, int *); -int BLASFUNC(dpotri)(char *, int *, double *, int *, int *); -int BLASFUNC(qpotri)(char *, int *, double *, int *, int *); -int BLASFUNC(cpotri)(char *, int *, float *, int *, int *); -int BLASFUNC(zpotri)(char *, int *, double *, int *, int *); -int BLASFUNC(xpotri)(char *, int *, double *, int *, int *); - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface.hh deleted file mode 100644 index 65105463..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface.hh +++ /dev/null @@ -1,83 +0,0 @@ -//===================================================== -// File : blas_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:28 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef blas_PRODUIT_MATRICE_VECTEUR_HH -#define blas_PRODUIT_MATRICE_VECTEUR_HH - -#include -#include -extern "C" -{ -#include "blas.h" - - // Cholesky Factorization -// void spotrf_(const char* uplo, const int* n, float *a, const int* ld, int* info); -// void dpotrf_(const char* uplo, const int* n, double *a, const int* ld, int* info); - void ssytrd_(char *uplo, const int *n, float *a, const int *lda, float *d, float *e, float *tau, float *work, int *lwork, int *info ); - void dsytrd_(char *uplo, const int *n, double *a, const int *lda, double *d, double *e, double *tau, double *work, int *lwork, int *info ); - void sgehrd_( const int *n, int *ilo, int *ihi, float *a, const int *lda, float *tau, float *work, int *lwork, int *info ); - void dgehrd_( const int *n, int *ilo, int *ihi, double *a, const int *lda, double *tau, double *work, int *lwork, int *info ); - - // LU row pivoting -// void dgetrf_( int *m, int *n, double *a, int *lda, int *ipiv, int *info ); -// void sgetrf_(const int* m, const int* n, float *a, const int* ld, int* ipivot, int* info); - // LU full pivoting - void sgetc2_(const int* n, float *a, const int *lda, int *ipiv, int *jpiv, int*info ); - void dgetc2_(const int* n, double *a, const int *lda, int *ipiv, int *jpiv, int*info ); -#ifdef HAS_LAPACK -#endif -} - -#define MAKE_STRING2(S) #S -#define MAKE_STRING(S) MAKE_STRING2(S) - -#define CAT2(A,B) A##B -#define CAT(A,B) CAT2(A,B) - - -template class blas_interface; - - -static char notrans = 'N'; -static char trans = 'T'; -static char nonunit = 'N'; -static char lower = 'L'; -static char right = 'R'; -static char left = 'L'; -static int intone = 1; - - - -#define SCALAR float -#define SCALAR_PREFIX s -#include "blas_interface_impl.hh" -#undef SCALAR -#undef SCALAR_PREFIX - - -#define SCALAR double -#define SCALAR_PREFIX d -#include "blas_interface_impl.hh" -#undef SCALAR -#undef SCALAR_PREFIX - -#endif - - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface_impl.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface_impl.hh deleted file mode 100644 index 9e0a6490..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/blas_interface_impl.hh +++ /dev/null @@ -1,147 +0,0 @@ - -#define BLAS_FUNC(NAME) CAT(CAT(SCALAR_PREFIX,NAME),_) - -template<> class blas_interface : public c_interface_base -{ - -public : - - static SCALAR fone; - static SCALAR fzero; - - static inline std::string name() - { - return MAKE_STRING(CBLASNAME); - } - - static inline void matrix_vector_product(gene_matrix & A, gene_vector & B, gene_vector & X, int N){ - BLAS_FUNC(gemv)(¬rans,&N,&N,&fone,A,&N,B,&intone,&fzero,X,&intone); - } - - static inline void symv(gene_matrix & A, gene_vector & B, gene_vector & X, int N){ - BLAS_FUNC(symv)(&lower, &N,&fone,A,&N,B,&intone,&fzero,X,&intone); - } - - static inline void syr2(gene_matrix & A, gene_vector & B, gene_vector & X, int N){ - BLAS_FUNC(syr2)(&lower,&N,&fone,B,&intone,X,&intone,A,&N); - } - - static inline void ger(gene_matrix & A, gene_vector & X, gene_vector & Y, int N){ - BLAS_FUNC(ger)(&N,&N,&fone,X,&intone,Y,&intone,A,&N); - } - - static inline void rot(gene_vector & A, gene_vector & B, SCALAR c, SCALAR s, int N){ - BLAS_FUNC(rot)(&N,A,&intone,B,&intone,&c,&s); - } - - static inline void atv_product(gene_matrix & A, gene_vector & B, gene_vector & X, int N){ - BLAS_FUNC(gemv)(&trans,&N,&N,&fone,A,&N,B,&intone,&fzero,X,&intone); - } - - static inline void matrix_matrix_product(gene_matrix & A, gene_matrix & B, gene_matrix & X, int N){ - BLAS_FUNC(gemm)(¬rans,¬rans,&N,&N,&N,&fone,A,&N,B,&N,&fzero,X,&N); - } - - static inline void transposed_matrix_matrix_product(gene_matrix & A, gene_matrix & B, gene_matrix & X, int N){ - BLAS_FUNC(gemm)(¬rans,¬rans,&N,&N,&N,&fone,A,&N,B,&N,&fzero,X,&N); - } - - static inline void ata_product(gene_matrix & A, gene_matrix & X, int N){ - BLAS_FUNC(syrk)(&lower,&trans,&N,&N,&fone,A,&N,&fzero,X,&N); - } - - static inline void aat_product(gene_matrix & A, gene_matrix & X, int N){ - BLAS_FUNC(syrk)(&lower,¬rans,&N,&N,&fone,A,&N,&fzero,X,&N); - } - - static inline void axpy(SCALAR coef, const gene_vector & X, gene_vector & Y, int N){ - BLAS_FUNC(axpy)(&N,&coef,X,&intone,Y,&intone); - } - - static inline void axpby(SCALAR a, const gene_vector & X, SCALAR b, gene_vector & Y, int N){ - BLAS_FUNC(scal)(&N,&b,Y,&intone); - BLAS_FUNC(axpy)(&N,&a,X,&intone,Y,&intone); - } - - static inline void cholesky(const gene_matrix & X, gene_matrix & C, int N){ - int N2 = N*N; - BLAS_FUNC(copy)(&N2, X, &intone, C, &intone); - char uplo = 'L'; - int info = 0; - BLAS_FUNC(potrf)(&uplo, &N, C, &N, &info); - if(info!=0) std::cerr << "potrf_ error " << info << "\n"; - } - - static inline void partial_lu_decomp(const gene_matrix & X, gene_matrix & C, int N){ - int N2 = N*N; - BLAS_FUNC(copy)(&N2, X, &intone, C, &intone); - int info = 0; - int * ipiv = (int*)alloca(sizeof(int)*N); - BLAS_FUNC(getrf)(&N, &N, C, &N, ipiv, &info); - if(info!=0) std::cerr << "getrf_ error " << info << "\n"; - } - - static inline void trisolve_lower(const gene_matrix & L, const gene_vector& B, gene_vector & X, int N){ - BLAS_FUNC(copy)(&N, B, &intone, X, &intone); - BLAS_FUNC(trsv)(&lower, ¬rans, &nonunit, &N, L, &N, X, &intone); - } - - static inline void trisolve_lower_matrix(const gene_matrix & L, const gene_matrix& B, gene_matrix & X, int N){ - BLAS_FUNC(copy)(&N, B, &intone, X, &intone); - BLAS_FUNC(trsm)(&right, &lower, ¬rans, &nonunit, &N, &N, &fone, L, &N, X, &N); - } - - static inline void trmm(gene_matrix & A, gene_matrix & B, gene_matrix & /*X*/, int N){ - BLAS_FUNC(trmm)(&left, &lower, ¬rans,&nonunit, &N,&N,&fone,A,&N,B,&N); - } - - #ifdef HAS_LAPACK - - static inline void lu_decomp(const gene_matrix & X, gene_matrix & C, int N){ - int N2 = N*N; - BLAS_FUNC(copy)(&N2, X, &intone, C, &intone); - int info = 0; - int * ipiv = (int*)alloca(sizeof(int)*N); - int * jpiv = (int*)alloca(sizeof(int)*N); - BLAS_FUNC(getc2)(&N, C, &N, ipiv, jpiv, &info); - } - - - - static inline void hessenberg(const gene_matrix & X, gene_matrix & C, int N){ - { - int N2 = N*N; - int inc = 1; - BLAS_FUNC(copy)(&N2, X, &inc, C, &inc); - } - int info = 0; - int ilo = 1; - int ihi = N; - int bsize = 64; - int worksize = N*bsize; - SCALAR* d = new SCALAR[N+worksize]; - BLAS_FUNC(gehrd)(&N, &ilo, &ihi, C, &N, d, d+N, &worksize, &info); - delete[] d; - } - - static inline void tridiagonalization(const gene_matrix & X, gene_matrix & C, int N){ - { - int N2 = N*N; - int inc = 1; - BLAS_FUNC(copy)(&N2, X, &inc, C, &inc); - } - char uplo = 'U'; - int info = 0; - int bsize = 64; - int worksize = N*bsize; - SCALAR* d = new SCALAR[3*N+worksize]; - BLAS_FUNC(sytrd)(&uplo, &N, C, &N, d, d+N, d+2*N, d+3*N, &worksize, &info); - delete[] d; - } - - #endif // HAS_LAPACK - -}; - -SCALAR blas_interface::fone = SCALAR(1); -SCALAR blas_interface::fzero = SCALAR(0); diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/c_interface_base.h b/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/c_interface_base.h deleted file mode 100644 index de613803..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/BLAS/c_interface_base.h +++ /dev/null @@ -1,73 +0,0 @@ - -#ifndef BTL_C_INTERFACE_BASE_H -#define BTL_C_INTERFACE_BASE_H - -#include "utilities.h" -#include - -template class c_interface_base -{ - -public: - - typedef real real_type; - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef real* gene_matrix; - typedef real* gene_vector; - - static void free_matrix(gene_matrix & A, int /*N*/){ - delete[] A; - } - - static void free_vector(gene_vector & B){ - delete[] B; - } - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - int N = A_stl.size(); - A = new real[N*N]; - for (int j=0;j -// Copyright (C) EDF R&D, lun sep 30 14:23:28 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "blas_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -#include "action_cholesky.hh" -#include "action_lu_decomp.hh" -#include "action_partial_lu.hh" -#include "action_trisolve_matrix.hh" - -#ifdef HAS_LAPACK -#include "action_hessenberg.hh" -#endif - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); - - #ifdef HAS_LAPACK -// bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); - #endif - - //bench > >(MIN_LU,MAX_LU,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/STL/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/STL/CMakeLists.txt deleted file mode 100644 index 4cfc2dcf..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/STL/CMakeLists.txt +++ /dev/null @@ -1,2 +0,0 @@ - -btl_add_bench(btl_STL main.cpp OFF) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/STL/STL_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/STL/STL_interface.hh deleted file mode 100644 index 16658c4b..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/STL/STL_interface.hh +++ /dev/null @@ -1,244 +0,0 @@ -//===================================================== -// File : STL_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:24 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef STL_INTERFACE_HH -#define STL_INTERFACE_HH -#include -#include -#include "utilities.h" - -using namespace std; - -template -class STL_interface{ - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef stl_matrix gene_matrix; - - typedef stl_vector gene_vector; - - static inline std::string name( void ) - { - return "STL"; - } - - static void free_matrix(gene_matrix & /*A*/, int /*N*/){} - - static void free_vector(gene_vector & /*B*/){} - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A = A_stl; - } - - static inline void vector_from_stl(gene_vector & B, stl_vector & B_stl){ - B = B_stl; - } - - static inline void vector_to_stl(gene_vector & B, stl_vector & B_stl){ - B_stl = B ; - } - - - static inline void matrix_to_stl(gene_matrix & A, stl_matrix & A_stl){ - A_stl = A ; - } - - static inline void copy_vector(const gene_vector & source, gene_vector & cible, int N){ - for (int i=0;i=j) - { - for (int k=0;k > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/CMakeLists.txt deleted file mode 100644 index e99a0855..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ - -find_package(BLAZE) -find_package(Boost COMPONENTS system) -if (BLAZE_FOUND AND Boost_FOUND) - include_directories(${BLAZE_INCLUDE_DIR} ${Boost_INCLUDE_DIRS}) - btl_add_bench(btl_blaze main.cpp) - # Note: The newest blaze version requires C++14. - # Ideally, we should set this depending on the version of Blaze we found - set_property(TARGET btl_blaze PROPERTY CXX_STANDARD 14) - if(BUILD_btl_blaze) - target_link_libraries(btl_blaze ${Boost_LIBRARIES}) - endif() -endif () diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/blaze_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/blaze_interface.hh deleted file mode 100644 index 7b418f6d..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/blaze_interface.hh +++ /dev/null @@ -1,141 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BLAZE_INTERFACE_HH -#define BLAZE_INTERFACE_HH - -#include -#include -#include -// using namespace blaze; - -#include - -template -class blaze_interface { - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef blaze::DynamicMatrix gene_matrix; - typedef blaze::DynamicVector gene_vector; - - static inline std::string name() { return "blaze"; } - - static void free_matrix(gene_matrix & A, int N){ - return ; - } - - static void free_vector(gene_vector & B){ - return ; - } - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(A_stl[0].size(), A_stl.size()); - - for (int j=0; j ipvt(N); -// lu_factor(R, ipvt); -// } - -// static inline void trisolve_lower(const gene_matrix & L, const gene_vector& B, gene_vector & X, int N){ -// X = lower_trisolve(L, B); -// } - - static inline void copy_matrix(const gene_matrix & source, gene_matrix & cible, int N){ - cible = source; - } - - static inline void copy_vector(const gene_vector & source, gene_vector & cible, int N){ - cible = source; - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/main.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/main.cpp deleted file mode 100644 index ccae0cbd..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blaze/main.cpp +++ /dev/null @@ -1,40 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "blaze_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/CMakeLists.txt deleted file mode 100644 index 880ab733..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ - -find_package(Blitz) - -if (BLITZ_FOUND) - include_directories(${BLITZ_INCLUDES}) - - btl_add_bench(btl_blitz btl_blitz.cpp) - if (BUILD_btl_blitz) - target_link_libraries(btl_blitz ${BLITZ_LIBRARIES}) - endif (BUILD_btl_blitz) - - btl_add_bench(btl_tiny_blitz btl_tiny_blitz.cpp OFF) - if (BUILD_btl_tiny_blitz) - target_link_libraries(btl_tiny_blitz ${BLITZ_LIBRARIES}) - endif (BUILD_btl_tiny_blitz) - -endif (BLITZ_FOUND) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_LU_solve_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_LU_solve_interface.hh deleted file mode 100644 index dcb9f567..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_LU_solve_interface.hh +++ /dev/null @@ -1,192 +0,0 @@ -//===================================================== -// File : blitz_LU_solve_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:31 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BLITZ_LU_SOLVE_INTERFACE_HH -#define BLITZ_LU_SOLVE_INTERFACE_HH - -#include "blitz/array.h" -#include - -BZ_USING_NAMESPACE(blitz) - -template -class blitz_LU_solve_interface : public blitz_interface -{ - -public : - - typedef typename blitz_interface::gene_matrix gene_matrix; - typedef typename blitz_interface::gene_vector gene_vector; - - typedef blitz::Array Pivot_Vector; - - inline static void new_Pivot_Vector(Pivot_Vector & pivot,int N) - { - - pivot.resize(N); - - } - - inline static void free_Pivot_Vector(Pivot_Vector & pivot) - { - - return; - - } - - - static inline real matrix_vector_product_sliced(const gene_matrix & A, gene_vector B, int row, int col_start, int col_end) - { - - real somme=0.; - - for (int j=col_start ; j=big ) big = abs( LU( i, j ) ) ; - } - if( big==0. ) { - INFOS( "blitz_LU_factor::Singular matrix" ) ; - exit( 0 ) ; - } - ImplicitScaling( i ) = 1./big ; - } - // Loop over columns of Crout's method : - for( int j=0; j=big ) { - dum = ImplicitScaling( i )*abs( theSum ) ; - big = dum ; - index_max = i ; - } - } - // Interchanging rows and the scale factor : - if( j!=index_max ) { - for( int k=0; k=0; i-- ) { - theSum = X( i ) ; - // theSum = B( i ) ; - theSum -= matrix_vector_product_sliced(LU, X, i, i+1, N) ; - // theSum -= sum( LU( i, Range( i+1, toEnd ) )*X( Range( i+1, toEnd ) ) ) ; - // theSum -= sum( LU( i, Range( i+1, toEnd ) )*B( Range( i+1, toEnd ) ) ) ; - // Store a component of the solution vector : - X( i ) = theSum/LU( i, i ) ; - // B( i ) = theSum/LU( i, i ) ; - } - - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_interface.hh deleted file mode 100644 index a67c47c7..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/blitz_interface.hh +++ /dev/null @@ -1,147 +0,0 @@ -//===================================================== -// File : blitz_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:30 CEST 2002 -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BLITZ_INTERFACE_HH -#define BLITZ_INTERFACE_HH - -#include -#include -#include -#include -#include -#include - -BZ_USING_NAMESPACE(blitz) - -template -class blitz_interface{ - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef blitz::Array gene_matrix; - typedef blitz::Array gene_vector; -// typedef blitz::Matrix gene_matrix; -// typedef blitz::Vector gene_vector; - - static inline std::string name() { return "blitz"; } - - static void free_matrix(gene_matrix & A, int N){} - - static void free_vector(gene_vector & B){} - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(A_stl[0].size(),A_stl.size()); - for (int j=0; j(source); -// for (int i=0;i(source); - cible = source; - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_blitz.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_blitz.cpp deleted file mode 100644 index 16d2b595..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_blitz.cpp +++ /dev/null @@ -1,51 +0,0 @@ -//===================================================== -// File : main.cpp -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:30 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "blitz_interface.hh" -#include "blitz_LU_solve_interface.hh" -#include "bench.hh" -#include "action_matrix_vector_product.hh" -#include "action_matrix_matrix_product.hh" -#include "action_axpy.hh" -#include "action_lu_solve.hh" -#include "action_ata_product.hh" -#include "action_aat_product.hh" -#include "action_atv_product.hh" - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - //bench > >(MIN_LU,MAX_LU,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_tiny_blitz.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_tiny_blitz.cpp deleted file mode 100644 index 9fddde75..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/btl_tiny_blitz.cpp +++ /dev/null @@ -1,38 +0,0 @@ -//===================================================== -// File : main.cpp -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:30 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "tiny_blitz_interface.hh" -#include "static/bench_static.hh" -#include "action_matrix_vector_product.hh" -#include "action_matrix_matrix_product.hh" -#include "action_axpy.hh" - -BTL_MAIN; - -int main() -{ - bench_static(); - bench_static(); - bench_static(); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/tiny_blitz_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/tiny_blitz_interface.hh deleted file mode 100644 index 6b26db72..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/blitz/tiny_blitz_interface.hh +++ /dev/null @@ -1,106 +0,0 @@ -//===================================================== -// File : tiny_blitz_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:30 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef TINY_BLITZ_INTERFACE_HH -#define TINY_BLITZ_INTERFACE_HH - -#include "blitz/array.h" -#include "blitz/tiny.h" -#include "blitz/tinymat.h" -#include "blitz/tinyvec.h" -#include - -#include - -BZ_USING_NAMESPACE(blitz) - -template -class tiny_blitz_interface -{ - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef TinyVector gene_vector; - typedef TinyMatrix gene_matrix; - - static inline std::string name() { return "tiny_blitz"; } - - static void free_matrix(gene_matrix & A, int N){} - - static void free_vector(gene_vector & B){} - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - for (int j=0; j -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen3_interface.hh" -#include "static/bench_static.hh" -#include "action_matrix_vector_product.hh" -#include "action_matrix_matrix_product.hh" -#include "action_axpy.hh" -#include "action_lu_solve.hh" -#include "action_ata_product.hh" -#include "action_aat_product.hh" -#include "action_atv_product.hh" -#include "action_cholesky.hh" -#include "action_trisolve.hh" - -BTL_MAIN; - -int main() -{ - - bench_static(); - bench_static(); - bench_static(); - bench_static(); - bench_static(); - bench_static(); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/eigen2_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/eigen2_interface.hh deleted file mode 100644 index 1deabdae..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/eigen2_interface.hh +++ /dev/null @@ -1,168 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef EIGEN2_INTERFACE_HH -#define EIGEN2_INTERFACE_HH -// #include -#include -#include -#include -#include -#include -#include "btl.hh" - -using namespace Eigen; - -template -class eigen2_interface -{ - -public : - - enum {IsFixedSize = (SIZE!=Dynamic)}; - - typedef real real_type; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef Eigen::Matrix gene_matrix; - typedef Eigen::Matrix gene_vector; - - static inline std::string name( void ) - { - #if defined(EIGEN_VECTORIZE_SSE) - if (SIZE==Dynamic) return "eigen2"; else return "tiny_eigen2"; - #elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX) - if (SIZE==Dynamic) return "eigen2"; else return "tiny_eigen2"; - #else - if (SIZE==Dynamic) return "eigen2_novec"; else return "tiny_eigen2_novec"; - #endif - } - - static void free_matrix(gene_matrix & A, int N) {} - - static void free_vector(gene_vector & B) {} - - static BTL_DONT_INLINE void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(A_stl[0].size(), A_stl.size()); - - for (int j=0; j().solveTriangular(B); - } - - static inline void trisolve_lower_matrix(const gene_matrix & L, const gene_matrix& B, gene_matrix& X, int N){ - X = L.template marked().solveTriangular(B); - } - - static inline void cholesky(const gene_matrix & X, gene_matrix & C, int N){ - C = X.llt().matrixL(); -// C = X; -// Cholesky::computeInPlace(C); -// Cholesky::computeInPlaceBlock(C); - } - - static inline void lu_decomp(const gene_matrix & X, gene_matrix & C, int N){ - C = X.lu().matrixLU(); -// C = X.inverse(); - } - - static inline void tridiagonalization(const gene_matrix & X, gene_matrix & C, int N){ - C = Tridiagonalization(X).packedMatrix(); - } - - static inline void hessenberg(const gene_matrix & X, gene_matrix & C, int N){ - C = HessenbergDecomposition(X).packedMatrix(); - } - - - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_adv.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_adv.cpp deleted file mode 100644 index fe336892..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_adv.cpp +++ /dev/null @@ -1,44 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen2_interface.hh" -#include "bench.hh" -#include "action_trisolve.hh" -#include "action_trisolve_matrix.hh" -#include "action_cholesky.hh" -#include "action_hessenberg.hh" -#include "action_lu_decomp.hh" -// #include "action_partial_lu.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_linear.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_linear.cpp deleted file mode 100644 index c17d16c0..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_linear.cpp +++ /dev/null @@ -1,34 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen2_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_matmat.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_matmat.cpp deleted file mode 100644 index cd9dc9cb..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_matmat.cpp +++ /dev/null @@ -1,35 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen2_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_vecmat.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_vecmat.cpp deleted file mode 100644 index 8b66cd2d..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen2/main_vecmat.cpp +++ /dev/null @@ -1,36 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen2_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); -// bench > >(MIN_MV,MAX_MV,NB_POINT); -// bench > >(MIN_MV,MAX_MV,NB_POINT); -// bench > >(MIN_MV,MAX_MV,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/CMakeLists.txt deleted file mode 100644 index 00cae23d..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/CMakeLists.txt +++ /dev/null @@ -1,65 +0,0 @@ - - -if((NOT EIGEN3_INCLUDE_DIR) AND Eigen_SOURCE_DIR) - # unless EIGEN3_INCLUDE_DIR is defined, let's use current Eigen version - set(EIGEN3_INCLUDE_DIR ${Eigen_SOURCE_DIR}) - set(EIGEN3_FOUND TRUE) -else() - find_package(Eigen3) -endif() - -if (EIGEN3_FOUND) - - include_directories(${EIGEN3_INCLUDE_DIR}) - btl_add_bench(btl_eigen3_linear main_linear.cpp) - btl_add_bench(btl_eigen3_vecmat main_vecmat.cpp) - btl_add_bench(btl_eigen3_matmat main_matmat.cpp) - btl_add_bench(btl_eigen3_adv main_adv.cpp ) - - btl_add_target_property(btl_eigen3_linear COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=eigen3") - btl_add_target_property(btl_eigen3_vecmat COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=eigen3") - btl_add_target_property(btl_eigen3_matmat COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=eigen3") - btl_add_target_property(btl_eigen3_adv COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=eigen3") - - option(BTL_BENCH_NOGCCVEC "also bench Eigen explicit vec without GCC's auto vec" OFF) - if(CMAKE_COMPILER_IS_GNUCXX AND BTL_BENCH_NOGCCVEC) - btl_add_bench(btl_eigen3_nogccvec_linear main_linear.cpp) - btl_add_bench(btl_eigen3_nogccvec_vecmat main_vecmat.cpp) - btl_add_bench(btl_eigen3_nogccvec_matmat main_matmat.cpp) - btl_add_bench(btl_eigen3_nogccvec_adv main_adv.cpp ) - - btl_add_target_property(btl_eigen3_nogccvec_linear COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=eigen3_nogccvec") - btl_add_target_property(btl_eigen3_nogccvec_vecmat COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=eigen3_nogccvec") - btl_add_target_property(btl_eigen3_nogccvec_matmat COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=eigen3_nogccvec") - btl_add_target_property(btl_eigen3_nogccvec_adv COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=eigen3_nogccvec") - endif() - - - if(NOT BTL_NOVEC) - btl_add_bench(btl_eigen3_novec_linear main_linear.cpp OFF) - btl_add_bench(btl_eigen3_novec_vecmat main_vecmat.cpp OFF) - btl_add_bench(btl_eigen3_novec_matmat main_matmat.cpp OFF) - btl_add_bench(btl_eigen3_novec_adv main_adv.cpp OFF) - btl_add_target_property(btl_eigen3_novec_linear COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=eigen3_novec") - btl_add_target_property(btl_eigen3_novec_vecmat COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=eigen3_novec") - btl_add_target_property(btl_eigen3_novec_matmat COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=eigen3_novec") - btl_add_target_property(btl_eigen3_novec_adv COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=eigen3_novec") - -# if(BUILD_btl_eigen3_adv) -# target_link_libraries(btl_eigen3_adv ${MKL_LIBRARIES}) -# endif(BUILD_btl_eigen3_adv) - - endif(NOT BTL_NOVEC) - - btl_add_bench(btl_tiny_eigen3 btl_tiny_eigen3.cpp OFF) - - if(NOT BTL_NOVEC) - btl_add_bench(btl_tiny_eigen3_novec btl_tiny_eigen3.cpp OFF) - btl_add_target_property(btl_tiny_eigen3_novec COMPILE_FLAGS "-DBTL_PREFIX=eigen3_tiny") - - if(BUILD_btl_tiny_eigen3_novec) - btl_add_target_property(btl_tiny_eigen3_novec COMPILE_FLAGS "-DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=eigen3_tiny_novec") - endif(BUILD_btl_tiny_eigen3_novec) - endif(NOT BTL_NOVEC) - -endif (EIGEN3_FOUND) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/btl_tiny_eigen3.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/btl_tiny_eigen3.cpp deleted file mode 100644 index d1515be8..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/btl_tiny_eigen3.cpp +++ /dev/null @@ -1,46 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen3_interface.hh" -#include "static/bench_static.hh" -#include "action_matrix_vector_product.hh" -#include "action_matrix_matrix_product.hh" -#include "action_axpy.hh" -#include "action_lu_solve.hh" -#include "action_ata_product.hh" -#include "action_aat_product.hh" -#include "action_atv_product.hh" -#include "action_cholesky.hh" -#include "action_trisolve.hh" - -BTL_MAIN; - -int main() -{ - - bench_static(); - bench_static(); - bench_static(); - bench_static(); - bench_static(); - bench_static(); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/eigen3_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/eigen3_interface.hh deleted file mode 100644 index 2e302d07..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/eigen3_interface.hh +++ /dev/null @@ -1,242 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef EIGEN3_INTERFACE_HH -#define EIGEN3_INTERFACE_HH - -#include -#include -#include "btl.hh" - -using namespace Eigen; - -template -class eigen3_interface -{ - -public : - - enum {IsFixedSize = (SIZE!=Dynamic)}; - - typedef real real_type; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef Eigen::Matrix gene_matrix; - typedef Eigen::Matrix gene_vector; - - static inline std::string name( void ) - { - return EIGEN_MAKESTRING(BTL_PREFIX); - } - - static void free_matrix(gene_matrix & /*A*/, int /*N*/) {} - - static void free_vector(gene_vector & /*B*/) {} - - static BTL_DONT_INLINE void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(A_stl[0].size(), A_stl.size()); - - for (unsigned int j=0; j().setZero(); - X.template selfadjointView().rankUpdate(A.transpose()); - } - - static inline void aat_product(const gene_matrix & A, gene_matrix & X, int /*N*/){ - X.template triangularView().setZero(); - X.template selfadjointView().rankUpdate(A); - } - - static inline void matrix_vector_product(const gene_matrix & A, const gene_vector & B, gene_vector & X, int /*N*/){ - X.noalias() = A*B; - } - - static inline void symv(const gene_matrix & A, const gene_vector & B, gene_vector & X, int /*N*/){ - X.noalias() = (A.template selfadjointView() * B); -// internal::product_selfadjoint_vector(N,A.data(),N, B.data(), 1, X.data(), 1); - } - - template static void triassign(Dest& dst, const Src& src) - { - typedef typename Dest::Scalar Scalar; - typedef typename internal::packet_traits::type Packet; - const int PacketSize = sizeof(Packet)/sizeof(Scalar); - int size = dst.cols(); - for(int j=0; j(j, index, src); - else - dst.template copyPacket(index, j, src); - } - - // do the non-vectorizable part of the assignment - for (int index = alignedEnd; index(N,A.data(),N, X.data(), 1, Y.data(), 1, -1); - for(int j=0; j(c,s)); - } - - static inline void atv_product(gene_matrix & A, gene_vector & B, gene_vector & X, int /*N*/){ - X.noalias() = (A.transpose()*B); - } - - static inline void axpy(real coef, const gene_vector & X, gene_vector & Y, int /*N*/){ - Y += coef * X; - } - - static inline void axpby(real a, const gene_vector & X, real b, gene_vector & Y, int /*N*/){ - Y = a*X + b*Y; - } - - static EIGEN_DONT_INLINE void copy_matrix(const gene_matrix & source, gene_matrix & cible, int /*N*/){ - cible = source; - } - - static EIGEN_DONT_INLINE void copy_vector(const gene_vector & source, gene_vector & cible, int /*N*/){ - cible = source; - } - - static inline void trisolve_lower(const gene_matrix & L, const gene_vector& B, gene_vector& X, int /*N*/){ - X = L.template triangularView().solve(B); - } - - static inline void trisolve_lower_matrix(const gene_matrix & L, const gene_matrix& B, gene_matrix& X, int /*N*/){ - X = L.template triangularView().solve(B); - } - - static inline void trmm(const gene_matrix & L, const gene_matrix& B, gene_matrix& X, int /*N*/){ - X.noalias() = L.template triangularView() * B; - } - - static inline void cholesky(const gene_matrix & X, gene_matrix & C, int /*N*/){ - C = X; - internal::llt_inplace::blocked(C); - //C = X.llt().matrixL(); -// C = X; -// Cholesky::computeInPlace(C); -// Cholesky::computeInPlaceBlock(C); - } - - static inline void lu_decomp(const gene_matrix & X, gene_matrix & C, int /*N*/){ - C = X.fullPivLu().matrixLU(); - } - - static inline void partial_lu_decomp(const gene_matrix & X, gene_matrix & C, int N){ - Matrix piv(N); - DenseIndex nb; - C = X; - internal::partial_lu_inplace(C,piv,nb); -// C = X.partialPivLu().matrixLU(); - } - - static inline void tridiagonalization(const gene_matrix & X, gene_matrix & C, int N){ - typename Tridiagonalization::CoeffVectorType aux(N-1); - C = X; - internal::tridiagonalization_inplace(C, aux); - } - - static inline void hessenberg(const gene_matrix & X, gene_matrix & C, int /*N*/){ - C = HessenbergDecomposition(X).packedMatrix(); - } - - - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_adv.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_adv.cpp deleted file mode 100644 index 95865357..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_adv.cpp +++ /dev/null @@ -1,44 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen3_interface.hh" -#include "bench.hh" -#include "action_trisolve.hh" -#include "action_trisolve_matrix.hh" -#include "action_cholesky.hh" -#include "action_hessenberg.hh" -#include "action_lu_decomp.hh" -#include "action_partial_lu.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); -// bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); - -// bench > >(MIN_LU,MAX_LU,NB_POINT); - bench > >(MIN_LU,MAX_LU,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_linear.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_linear.cpp deleted file mode 100644 index e8538b7d..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_linear.cpp +++ /dev/null @@ -1,35 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen3_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_matmat.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_matmat.cpp deleted file mode 100644 index 052810a1..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_matmat.cpp +++ /dev/null @@ -1,35 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen3_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_vecmat.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_vecmat.cpp deleted file mode 100644 index 0dda444c..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/eigen3/main_vecmat.cpp +++ /dev/null @@ -1,36 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "eigen3_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/CMakeLists.txt deleted file mode 100644 index bc258624..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ - -find_package(GMM) -if (GMM_FOUND) - include_directories(${GMM_INCLUDES}) - btl_add_bench(btl_gmm main.cpp) -endif (GMM_FOUND) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_LU_solve_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_LU_solve_interface.hh deleted file mode 100644 index dcb9f567..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_LU_solve_interface.hh +++ /dev/null @@ -1,192 +0,0 @@ -//===================================================== -// File : blitz_LU_solve_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:31 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BLITZ_LU_SOLVE_INTERFACE_HH -#define BLITZ_LU_SOLVE_INTERFACE_HH - -#include "blitz/array.h" -#include - -BZ_USING_NAMESPACE(blitz) - -template -class blitz_LU_solve_interface : public blitz_interface -{ - -public : - - typedef typename blitz_interface::gene_matrix gene_matrix; - typedef typename blitz_interface::gene_vector gene_vector; - - typedef blitz::Array Pivot_Vector; - - inline static void new_Pivot_Vector(Pivot_Vector & pivot,int N) - { - - pivot.resize(N); - - } - - inline static void free_Pivot_Vector(Pivot_Vector & pivot) - { - - return; - - } - - - static inline real matrix_vector_product_sliced(const gene_matrix & A, gene_vector B, int row, int col_start, int col_end) - { - - real somme=0.; - - for (int j=col_start ; j=big ) big = abs( LU( i, j ) ) ; - } - if( big==0. ) { - INFOS( "blitz_LU_factor::Singular matrix" ) ; - exit( 0 ) ; - } - ImplicitScaling( i ) = 1./big ; - } - // Loop over columns of Crout's method : - for( int j=0; j=big ) { - dum = ImplicitScaling( i )*abs( theSum ) ; - big = dum ; - index_max = i ; - } - } - // Interchanging rows and the scale factor : - if( j!=index_max ) { - for( int k=0; k=0; i-- ) { - theSum = X( i ) ; - // theSum = B( i ) ; - theSum -= matrix_vector_product_sliced(LU, X, i, i+1, N) ; - // theSum -= sum( LU( i, Range( i+1, toEnd ) )*X( Range( i+1, toEnd ) ) ) ; - // theSum -= sum( LU( i, Range( i+1, toEnd ) )*B( Range( i+1, toEnd ) ) ) ; - // Store a component of the solution vector : - X( i ) = theSum/LU( i, i ) ; - // B( i ) = theSum/LU( i, i ) ; - } - - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_interface.hh deleted file mode 100644 index 3ea303c1..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/gmm_interface.hh +++ /dev/null @@ -1,144 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef GMM_INTERFACE_HH -#define GMM_INTERFACE_HH - -#include -#include - -using namespace gmm; - -template -class gmm_interface { - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef gmm::dense_matrix gene_matrix; - typedef stl_vector gene_vector; - - static inline std::string name( void ) - { - return "gmm"; - } - - static void free_matrix(gene_matrix & A, int N){ - return ; - } - - static void free_vector(gene_vector & B){ - return ; - } - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(A_stl[0].size(),A_stl.size()); - - for (int j=0; j ipvt(N); - gmm::lu_factor(R, ipvt); - } - - static inline void hessenberg(const gene_matrix & X, gene_matrix & R, int N){ - gmm::copy(X,R); - gmm::Hessenberg_reduction(R,X,false); - } - - static inline void tridiagonalization(const gene_matrix & X, gene_matrix & R, int N){ - gmm::copy(X,R); - gmm::Householder_tridiagonalization(R,X,false); - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/main.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/main.cpp deleted file mode 100644 index 1f0c051e..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/gmm/main.cpp +++ /dev/null @@ -1,51 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "gmm_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" -#include "action_hessenberg.hh" -#include "action_partial_lu.hh" - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - //bench > >(MIN_LU,MAX_LU,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/.kdbgrc.main b/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/.kdbgrc.main deleted file mode 100644 index fed082f7..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/.kdbgrc.main +++ /dev/null @@ -1,12 +0,0 @@ -[General] -DebuggerCmdStr= -DriverName=GDB -FileVersion=1 -OptionsSelected= -ProgramArgs= -TTYLevel=7 -WorkingDirectory= - -[Memory] -ColumnWidths=80,0 -NumExprs=0 diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/CMakeLists.txt deleted file mode 100644 index 14b47a80..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ - -find_package(MTL4) -if (MTL4_FOUND) - include_directories(${MTL4_INCLUDE_DIR}) - btl_add_bench(btl_mtl4 main.cpp) -endif (MTL4_FOUND) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/main.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/main.cpp deleted file mode 100644 index 96fcfb9c..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/main.cpp +++ /dev/null @@ -1,46 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "mtl4_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" -#include "action_cholesky.hh" -// #include "action_lu_decomp.hh" - -BTL_MAIN; - -int main() -{ - - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_LU_solve_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_LU_solve_interface.hh deleted file mode 100644 index dcb9f567..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_LU_solve_interface.hh +++ /dev/null @@ -1,192 +0,0 @@ -//===================================================== -// File : blitz_LU_solve_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:31 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef BLITZ_LU_SOLVE_INTERFACE_HH -#define BLITZ_LU_SOLVE_INTERFACE_HH - -#include "blitz/array.h" -#include - -BZ_USING_NAMESPACE(blitz) - -template -class blitz_LU_solve_interface : public blitz_interface -{ - -public : - - typedef typename blitz_interface::gene_matrix gene_matrix; - typedef typename blitz_interface::gene_vector gene_vector; - - typedef blitz::Array Pivot_Vector; - - inline static void new_Pivot_Vector(Pivot_Vector & pivot,int N) - { - - pivot.resize(N); - - } - - inline static void free_Pivot_Vector(Pivot_Vector & pivot) - { - - return; - - } - - - static inline real matrix_vector_product_sliced(const gene_matrix & A, gene_vector B, int row, int col_start, int col_end) - { - - real somme=0.; - - for (int j=col_start ; j=big ) big = abs( LU( i, j ) ) ; - } - if( big==0. ) { - INFOS( "blitz_LU_factor::Singular matrix" ) ; - exit( 0 ) ; - } - ImplicitScaling( i ) = 1./big ; - } - // Loop over columns of Crout's method : - for( int j=0; j=big ) { - dum = ImplicitScaling( i )*abs( theSum ) ; - big = dum ; - index_max = i ; - } - } - // Interchanging rows and the scale factor : - if( j!=index_max ) { - for( int k=0; k=0; i-- ) { - theSum = X( i ) ; - // theSum = B( i ) ; - theSum -= matrix_vector_product_sliced(LU, X, i, i+1, N) ; - // theSum -= sum( LU( i, Range( i+1, toEnd ) )*X( Range( i+1, toEnd ) ) ) ; - // theSum -= sum( LU( i, Range( i+1, toEnd ) )*B( Range( i+1, toEnd ) ) ) ; - // Store a component of the solution vector : - X( i ) = theSum/LU( i, i ) ; - // B( i ) = theSum/LU( i, i ) ; - } - - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_interface.hh deleted file mode 100644 index 3795ac61..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/mtl4/mtl4_interface.hh +++ /dev/null @@ -1,144 +0,0 @@ -//===================================================== -// Copyright (C) 2008 Gael Guennebaud -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef MTL4_INTERFACE_HH -#define MTL4_INTERFACE_HH - -#include -#include -// #include -#include - -using namespace mtl; - -template -class mtl4_interface { - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef mtl::dense2D > gene_matrix; - typedef mtl::dense_vector gene_vector; - - static inline std::string name() { return "mtl4"; } - - static void free_matrix(gene_matrix & A, int N){ - return ; - } - - static void free_vector(gene_vector & B){ - return ; - } - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.change_dim(A_stl[0].size(), A_stl.size()); - - for (int j=0; j C(N,N); -// C = B; -// X = (A*C); - } - - static inline void transposed_matrix_matrix_product(const gene_matrix & A, const gene_matrix & B, gene_matrix & X, int N){ - X = (trans(A)*trans(B)); - } - -// static inline void ata_product(const gene_matrix & A, gene_matrix & X, int N){ -// X = (trans(A)*A); -// } - - static inline void aat_product(const gene_matrix & A, gene_matrix & X, int N){ - X = (A*trans(A)); - } - - static inline void matrix_vector_product(gene_matrix & A, gene_vector & B, gene_vector & X, int N){ - X = (A*B); - } - - static inline void atv_product(gene_matrix & A, gene_vector & B, gene_vector & X, int N){ - X = (trans(A)*B); - } - - static inline void axpy(const real coef, const gene_vector & X, gene_vector & Y, int N){ - Y += coef * X; - } - - static inline void axpby(real a, const gene_vector & X, real b, gene_vector & Y, int N){ - Y = a*X + b*Y; - } - -// static inline void cholesky(const gene_matrix & X, gene_matrix & C, int N){ -// C = X; -// recursive_cholesky(C); -// } - -// static inline void lu_decomp(const gene_matrix & X, gene_matrix & R, int N){ -// R = X; -// std::vector ipvt(N); -// lu_factor(R, ipvt); -// } - - static inline void trisolve_lower(const gene_matrix & L, const gene_vector& B, gene_vector & X, int N){ - X = lower_trisolve(L, B); - } - - static inline void copy_matrix(const gene_matrix & source, gene_matrix & cible, int N){ - cible = source; - } - - static inline void copy_vector(const gene_vector & source, gene_vector & cible, int N){ - cible = source; - } - -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/CMakeLists.txt deleted file mode 100644 index 09d6d8e4..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ - - -if((NOT TENSOR_INCLUDE_DIR) AND Eigen_SOURCE_DIR) - # unless TENSOR_INCLUDE_DIR is defined, let's use current Eigen version - set(TENSOR_INCLUDE_DIR ${Eigen_SOURCE_DIR}) - set(TENSOR_FOUND TRUE) -else() - find_package(Tensor) -endif() - -if (TENSOR_FOUND) - - include_directories(${TENSOR_INCLUDE_DIR}) - btl_add_bench(btl_tensor_linear main_linear.cpp) - btl_add_bench(btl_tensor_vecmat main_vecmat.cpp) - btl_add_bench(btl_tensor_matmat main_matmat.cpp) - - btl_add_target_property(btl_tensor_linear COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=tensor") - btl_add_target_property(btl_tensor_vecmat COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=tensor") - btl_add_target_property(btl_tensor_matmat COMPILE_FLAGS "-fno-exceptions -DBTL_PREFIX=tensor") - - option(BTL_BENCH_NOGCCVEC "also bench Eigen explicit vec without GCC's auto vec" OFF) - if(CMAKE_COMPILER_IS_GNUCXX AND BTL_BENCH_NOGCCVEC) - btl_add_bench(btl_tensor_nogccvec_linear main_linear.cpp) - btl_add_bench(btl_tensor_nogccvec_vecmat main_vecmat.cpp) - btl_add_bench(btl_tensor_nogccvec_matmat main_matmat.cpp) - - btl_add_target_property(btl_tensor_nogccvec_linear COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=tensor_nogccvec") - btl_add_target_property(btl_tensor_nogccvec_vecmat COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=tensor_nogccvec") - btl_add_target_property(btl_tensor_nogccvec_matmat COMPILE_FLAGS "-fno-exceptions -fno-tree-vectorize -DBTL_PREFIX=tensor_nogccvec") - endif() - - - if(NOT BTL_NOVEC) - btl_add_bench(btl_tensor_novec_linear main_linear.cpp OFF) - btl_add_bench(btl_tensor_novec_vecmat main_vecmat.cpp OFF) - btl_add_bench(btl_tensor_novec_matmat main_matmat.cpp OFF) - btl_add_target_property(btl_tensor_novec_linear COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=tensor_novec") - btl_add_target_property(btl_tensor_novec_vecmat COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=tensor_novec") - btl_add_target_property(btl_tensor_novec_matmat COMPILE_FLAGS "-fno-exceptions -DEIGEN_DONT_VECTORIZE -DBTL_PREFIX=tensor_novec") - - endif(NOT BTL_NOVEC) - -endif (TENSOR_FOUND) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_linear.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_linear.cpp deleted file mode 100644 index e257f1e7..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_linear.cpp +++ /dev/null @@ -1,23 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "utilities.h" -#include "tensor_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_matmat.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_matmat.cpp deleted file mode 100644 index 675fcfc6..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_matmat.cpp +++ /dev/null @@ -1,21 +0,0 @@ -//===================================================== -// Copyright (C) 2014 Benoit Steiner -//===================================================== -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -// -#include "utilities.h" -#include "tensor_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_vecmat.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_vecmat.cpp deleted file mode 100644 index 1af00c81..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/main_vecmat.cpp +++ /dev/null @@ -1,21 +0,0 @@ -//===================================================== -// Copyright (C) 2014 Benoit Steiner -//===================================================== -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -// -#include "utilities.h" -#include "tensor_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_MV,MAX_MV,NB_POINT); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/tensor_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/tensor_interface.hh deleted file mode 100644 index 97b8e0f0..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tensors/tensor_interface.hh +++ /dev/null @@ -1,105 +0,0 @@ -//===================================================== -// Copyright (C) 2014 Benoit Steiner -//===================================================== -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -// -#ifndef TENSOR_INTERFACE_HH -#define TENSOR_INTERFACE_HH - -#include -#include -#include "btl.hh" - -using namespace Eigen; - -template -class tensor_interface -{ -public : - typedef real real_type; - typedef typename Eigen::Tensor::Index Index; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef Eigen::Tensor gene_matrix; - typedef Eigen::Tensor gene_vector; - - - static inline std::string name( void ) - { - return EIGEN_MAKESTRING(BTL_PREFIX); - } - - static void free_matrix(gene_matrix & /*A*/, int /*N*/) {} - - static void free_vector(gene_vector & /*B*/) {} - - static BTL_DONT_INLINE void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(Eigen::array(A_stl[0].size(), A_stl.size())); - - for (unsigned int j=0; j(i,j)) = A_stl[j][i]; - } - } - } - - static BTL_DONT_INLINE void vector_from_stl(gene_vector & B, stl_vector & B_stl){ - B.resize(B_stl.size()); - - for (unsigned int i=0; i(i,j)); - } - } - } - - static inline void matrix_matrix_product(const gene_matrix & A, const gene_matrix & B, gene_matrix & X, int /*N*/){ - typedef typename Eigen::Tensor::DimensionPair DimPair; - const Eigen::array dims(DimPair(1, 0)); - X/*.noalias()*/ = A.contract(B, dims); - } - - static inline void matrix_vector_product(const gene_matrix & A, const gene_vector & B, gene_vector & X, int /*N*/){ - typedef typename Eigen::Tensor::DimensionPair DimPair; - const Eigen::array dims(DimPair(1, 0)); - X/*.noalias()*/ = A.contract(B, dims); - } - - static inline void axpy(real coef, const gene_vector & X, gene_vector & Y, int /*N*/){ - Y += X.constant(coef) * X; - } - - static inline void axpby(real a, const gene_vector & X, real b, gene_vector & Y, int /*N*/){ - Y = X.constant(a)*X + Y.constant(b)*Y; - } - - static EIGEN_DONT_INLINE void copy_matrix(const gene_matrix & source, gene_matrix & cible, int /*N*/){ - cible = source; - } - - static EIGEN_DONT_INLINE void copy_vector(const gene_vector & source, gene_vector & cible, int /*N*/){ - cible = source; - } -}; - -#endif diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/CMakeLists.txt b/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/CMakeLists.txt deleted file mode 100644 index 25b565b9..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ - -find_package(Tvmet) -if (TVMET_FOUND) - include_directories(${TVMET_INCLUDE_DIR}) - btl_add_bench(btl_tvmet main.cpp OFF) -endif (TVMET_FOUND) diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/main.cpp b/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/main.cpp deleted file mode 100644 index 633215c4..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/main.cpp +++ /dev/null @@ -1,40 +0,0 @@ -//===================================================== -// File : main.cpp -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:30 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "tvmet_interface.hh" -#include "static/bench_static.hh" -#include "action_matrix_vector_product.hh" -#include "action_matrix_matrix_product.hh" -#include "action_atv_product.hh" -#include "action_axpy.hh" - -BTL_MAIN; - -int main() -{ - bench_static(); - bench_static(); - bench_static(); - bench_static(); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/tvmet_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/tvmet_interface.hh deleted file mode 100644 index b441ada2..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/tvmet/tvmet_interface.hh +++ /dev/null @@ -1,104 +0,0 @@ -//===================================================== -// File : tvmet_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:30 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef TVMET_INTERFACE_HH -#define TVMET_INTERFACE_HH - -#include -#include -#include - -#include - -using namespace tvmet; - -template -class tvmet_interface{ - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef Vector gene_vector; - typedef Matrix gene_matrix; - - static inline std::string name() { return "tiny_tvmet"; } - - static void free_matrix(gene_matrix & A, int N){} - - static void free_vector(gene_vector & B){} - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - for (int j=0; j -// Copyright (C) EDF R&D, lun sep 30 14:23:27 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#include "utilities.h" -#include "ublas_interface.hh" -#include "bench.hh" -#include "basic_actions.hh" - -BTL_MAIN; - -int main() -{ - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - bench > >(MIN_AXPY,MAX_AXPY,NB_POINT); - - bench > >(MIN_MV,MAX_MV,NB_POINT); - bench > >(MIN_MV,MAX_MV,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); -// bench > >(MIN_MM,MAX_MM,NB_POINT); - - bench > >(MIN_MM,MAX_MM,NB_POINT); - - return 0; -} - - diff --git a/testbed/nanogui/ext/eigen/bench/btl/libs/ublas/ublas_interface.hh b/testbed/nanogui/ext/eigen/bench/btl/libs/ublas/ublas_interface.hh deleted file mode 100644 index 95cad519..00000000 --- a/testbed/nanogui/ext/eigen/bench/btl/libs/ublas/ublas_interface.hh +++ /dev/null @@ -1,141 +0,0 @@ -//===================================================== -// File : ublas_interface.hh -// Author : L. Plagne -// Copyright (C) EDF R&D, lun sep 30 14:23:27 CEST 2002 -//===================================================== -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation; either version 2 -// of the License, or (at your option) any later version. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -// -#ifndef UBLAS_INTERFACE_HH -#define UBLAS_INTERFACE_HH - -#include -#include -#include -#include - -using namespace boost::numeric; - -template -class ublas_interface{ - -public : - - typedef real real_type ; - - typedef std::vector stl_vector; - typedef std::vector stl_matrix; - - typedef typename boost::numeric::ublas::matrix gene_matrix; - typedef typename boost::numeric::ublas::vector gene_vector; - - static inline std::string name( void ) { return "ublas"; } - - static void free_matrix(gene_matrix & A, int N) {} - - static void free_vector(gene_vector & B) {} - - static inline void matrix_from_stl(gene_matrix & A, stl_matrix & A_stl){ - A.resize(A_stl.size(),A_stl[0].size()); - for (int j=0; j -#include "../Eigen/Core" - -using namespace Eigen; -using namespace std; - -#define DUMP_CPUID(CODE) {\ - int abcd[4]; \ - abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;\ - EIGEN_CPUID(abcd, CODE, 0); \ - std::cout << "The code " << CODE << " gives " \ - << (int*)(abcd[0]) << " " << (int*)(abcd[1]) << " " \ - << (int*)(abcd[2]) << " " << (int*)(abcd[3]) << " " << std::endl; \ - } - -int main() -{ - cout << "Eigen's L1 = " << internal::queryL1CacheSize() << endl; - cout << "Eigen's L2/L3 = " << internal::queryTopLevelCacheSize() << endl; - int l1, l2, l3; - internal::queryCacheSizes(l1, l2, l3); - cout << "Eigen's L1, L2, L3 = " << l1 << " " << l2 << " " << l3 << endl; - - #ifdef EIGEN_CPUID - - int abcd[4]; - int string[8]; - char* string_char = (char*)(string); - - // vendor ID - EIGEN_CPUID(abcd,0x0,0); - string[0] = abcd[1]; - string[1] = abcd[3]; - string[2] = abcd[2]; - string[3] = 0; - cout << endl; - cout << "vendor id = " << string_char << endl; - cout << endl; - int max_funcs = abcd[0]; - - internal::queryCacheSizes_intel_codes(l1, l2, l3); - cout << "Eigen's intel codes L1, L2, L3 = " << l1 << " " << l2 << " " << l3 << endl; - if(max_funcs>=4) - { - internal::queryCacheSizes_intel_direct(l1, l2, l3); - cout << "Eigen's intel direct L1, L2, L3 = " << l1 << " " << l2 << " " << l3 << endl; - } - internal::queryCacheSizes_amd(l1, l2, l3); - cout << "Eigen's amd L1, L2, L3 = " << l1 << " " << l2 << " " << l3 << endl; - cout << endl; - - // dump Intel direct method - if(max_funcs>=4) - { - l1 = l2 = l3 = 0; - int cache_id = 0; - int cache_type = 0; - do { - abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0; - EIGEN_CPUID(abcd,0x4,cache_id); - cache_type = (abcd[0] & 0x0F) >> 0; - int cache_level = (abcd[0] & 0xE0) >> 5; // A[7:5] - int ways = (abcd[1] & 0xFFC00000) >> 22; // B[31:22] - int partitions = (abcd[1] & 0x003FF000) >> 12; // B[21:12] - int line_size = (abcd[1] & 0x00000FFF) >> 0; // B[11:0] - int sets = (abcd[2]); // C[31:0] - int cache_size = (ways+1) * (partitions+1) * (line_size+1) * (sets+1); - - cout << "cache[" << cache_id << "].type = " << cache_type << "\n"; - cout << "cache[" << cache_id << "].level = " << cache_level << "\n"; - cout << "cache[" << cache_id << "].ways = " << ways << "\n"; - cout << "cache[" << cache_id << "].partitions = " << partitions << "\n"; - cout << "cache[" << cache_id << "].line_size = " << line_size << "\n"; - cout << "cache[" << cache_id << "].sets = " << sets << "\n"; - cout << "cache[" << cache_id << "].size = " << cache_size << "\n"; - - cache_id++; - } while(cache_type>0 && cache_id<16); - } - - // dump everything - std::cout << endl <<"Raw dump:" << endl; - for(int i=0; i -#include "BenchTimer.h" -#include -#include -#include -#include -#include -using namespace Eigen; - -std::map > results; -std::vector labels; -std::vector sizes; - -template -EIGEN_DONT_INLINE -void compute_norm_equation(Solver &solver, const MatrixType &A) { - if(A.rows()!=A.cols()) - solver.compute(A.transpose()*A); - else - solver.compute(A); -} - -template -EIGEN_DONT_INLINE -void compute(Solver &solver, const MatrixType &A) { - solver.compute(A); -} - -template -void bench(int id, int rows, int size = Size) -{ - typedef Matrix Mat; - typedef Matrix MatDyn; - typedef Matrix MatSquare; - Mat A(rows,size); - A.setRandom(); - if(rows==size) - A = A*A.adjoint(); - BenchTimer t_llt, t_ldlt, t_lu, t_fplu, t_qr, t_cpqr, t_cod, t_fpqr, t_jsvd, t_bdcsvd; - - int svd_opt = ComputeThinU|ComputeThinV; - - int tries = 5; - int rep = 1000/size; - if(rep==0) rep = 1; -// rep = rep*rep; - - LLT llt(size); - LDLT ldlt(size); - PartialPivLU lu(size); - FullPivLU fplu(size,size); - HouseholderQR qr(A.rows(),A.cols()); - ColPivHouseholderQR cpqr(A.rows(),A.cols()); - CompleteOrthogonalDecomposition cod(A.rows(),A.cols()); - FullPivHouseholderQR fpqr(A.rows(),A.cols()); - JacobiSVD jsvd(A.rows(),A.cols()); - BDCSVD bdcsvd(A.rows(),A.cols()); - - BENCH(t_llt, tries, rep, compute_norm_equation(llt,A)); - BENCH(t_ldlt, tries, rep, compute_norm_equation(ldlt,A)); - BENCH(t_lu, tries, rep, compute_norm_equation(lu,A)); - if(size<=1000) - BENCH(t_fplu, tries, rep, compute_norm_equation(fplu,A)); - BENCH(t_qr, tries, rep, compute(qr,A)); - BENCH(t_cpqr, tries, rep, compute(cpqr,A)); - BENCH(t_cod, tries, rep, compute(cod,A)); - if(size*rows<=10000000) - BENCH(t_fpqr, tries, rep, compute(fpqr,A)); - if(size<500) // JacobiSVD is really too slow for too large matrices - BENCH(t_jsvd, tries, rep, jsvd.compute(A,svd_opt)); -// if(size*rows<=20000000) - BENCH(t_bdcsvd, tries, rep, bdcsvd.compute(A,svd_opt)); - - results["LLT"][id] = t_llt.best(); - results["LDLT"][id] = t_ldlt.best(); - results["PartialPivLU"][id] = t_lu.best(); - results["FullPivLU"][id] = t_fplu.best(); - results["HouseholderQR"][id] = t_qr.best(); - results["ColPivHouseholderQR"][id] = t_cpqr.best(); - results["CompleteOrthogonalDecomposition"][id] = t_cod.best(); - results["FullPivHouseholderQR"][id] = t_fpqr.best(); - results["JacobiSVD"][id] = t_jsvd.best(); - results["BDCSVD"][id] = t_bdcsvd.best(); -} - - -int main() -{ - labels.push_back("LLT"); - labels.push_back("LDLT"); - labels.push_back("PartialPivLU"); - labels.push_back("FullPivLU"); - labels.push_back("HouseholderQR"); - labels.push_back("ColPivHouseholderQR"); - labels.push_back("CompleteOrthogonalDecomposition"); - labels.push_back("FullPivHouseholderQR"); - labels.push_back("JacobiSVD"); - labels.push_back("BDCSVD"); - - for(int i=0; i(k,sizes[k](0),sizes[k](1)); - } - - cout.width(32); - cout << "solver/size"; - cout << " "; - for(int k=0; k=1e6) cout << "-"; - else cout << r(k); - cout << " "; - } - cout << endl; - } - - // HTML output - cout << "" << endl; - cout << "" << endl; - for(int k=0; k" << sizes[k](0) << "x" << sizes[k](1) << ""; - cout << "" << endl; - for(int i=0; i"; - ArrayXf r = (results[labels[i]]*100000.f).floor()/100.f; - for(int k=0; k=1e6) cout << ""; - else - { - cout << ""; - } - } - cout << "" << endl; - } - cout << "
solver/size
" << labels[i] << "-" << r(k); - if(i>0) - cout << " (x" << numext::round(10.f*results[labels[i]](k)/results["LLT"](k))/10.f << ")"; - if(i<4 && sizes[k](0)!=sizes[k](1)) - cout << " *"; - cout << "
" << endl; - -// cout << "LLT (ms) " << (results["LLT"]*1000.).format(fmt) << "\n"; -// cout << "LDLT (%) " << (results["LDLT"]/results["LLT"]).format(fmt) << "\n"; -// cout << "PartialPivLU (%) " << (results["PartialPivLU"]/results["LLT"]).format(fmt) << "\n"; -// cout << "FullPivLU (%) " << (results["FullPivLU"]/results["LLT"]).format(fmt) << "\n"; -// cout << "HouseholderQR (%) " << (results["HouseholderQR"]/results["LLT"]).format(fmt) << "\n"; -// cout << "ColPivHouseholderQR (%) " << (results["ColPivHouseholderQR"]/results["LLT"]).format(fmt) << "\n"; -// cout << "CompleteOrthogonalDecomposition (%) " << (results["CompleteOrthogonalDecomposition"]/results["LLT"]).format(fmt) << "\n"; -// cout << "FullPivHouseholderQR (%) " << (results["FullPivHouseholderQR"]/results["LLT"]).format(fmt) << "\n"; -// cout << "JacobiSVD (%) " << (results["JacobiSVD"]/results["LLT"]).format(fmt) << "\n"; -// cout << "BDCSVD (%) " << (results["BDCSVD"]/results["LLT"]).format(fmt) << "\n"; -} diff --git a/testbed/nanogui/ext/eigen/bench/eig33.cpp b/testbed/nanogui/ext/eigen/bench/eig33.cpp deleted file mode 100644 index 47947a9b..00000000 --- a/testbed/nanogui/ext/eigen/bench/eig33.cpp +++ /dev/null @@ -1,195 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// The computeRoots function included in this is based on materials -// covered by the following copyright and license: -// -// Geometric Tools, LLC -// Copyright (c) 1998-2010 -// Distributed under the Boost Software License, Version 1.0. -// -// Permission is hereby granted, free of charge, to any person or organization -// obtaining a copy of the software and accompanying documentation covered by -// this license (the "Software") to use, reproduce, display, distribute, -// execute, and transmit the Software, and to prepare derivative works of the -// Software, and to permit third-parties to whom the Software is furnished to -// do so, all subject to the following: -// -// The copyright notices in the Software and this entire statement, including -// the above license grant, this restriction and the following disclaimer, -// must be included in all copies of the Software, in whole or in part, and -// all derivative works of the Software, unless such copies or derivative -// works are solely in the form of machine-executable object code generated by -// a source language processor. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT -// SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE -// FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, -// ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -// DEALINGS IN THE SOFTWARE. - -#include -#include -#include -#include -#include - -using namespace Eigen; -using namespace std; - -template -inline void computeRoots(const Matrix& m, Roots& roots) -{ - typedef typename Matrix::Scalar Scalar; - const Scalar s_inv3 = 1.0/3.0; - const Scalar s_sqrt3 = std::sqrt(Scalar(3.0)); - - // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0. The - // eigenvalues are the roots to this equation, all guaranteed to be - // real-valued, because the matrix is symmetric. - Scalar c0 = m(0,0)*m(1,1)*m(2,2) + Scalar(2)*m(0,1)*m(0,2)*m(1,2) - m(0,0)*m(1,2)*m(1,2) - m(1,1)*m(0,2)*m(0,2) - m(2,2)*m(0,1)*m(0,1); - Scalar c1 = m(0,0)*m(1,1) - m(0,1)*m(0,1) + m(0,0)*m(2,2) - m(0,2)*m(0,2) + m(1,1)*m(2,2) - m(1,2)*m(1,2); - Scalar c2 = m(0,0) + m(1,1) + m(2,2); - - // Construct the parameters used in classifying the roots of the equation - // and in solving the equation for the roots in closed form. - Scalar c2_over_3 = c2*s_inv3; - Scalar a_over_3 = (c1 - c2*c2_over_3)*s_inv3; - if (a_over_3 > Scalar(0)) - a_over_3 = Scalar(0); - - Scalar half_b = Scalar(0.5)*(c0 + c2_over_3*(Scalar(2)*c2_over_3*c2_over_3 - c1)); - - Scalar q = half_b*half_b + a_over_3*a_over_3*a_over_3; - if (q > Scalar(0)) - q = Scalar(0); - - // Compute the eigenvalues by solving for the roots of the polynomial. - Scalar rho = std::sqrt(-a_over_3); - Scalar theta = std::atan2(std::sqrt(-q),half_b)*s_inv3; - Scalar cos_theta = std::cos(theta); - Scalar sin_theta = std::sin(theta); - roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta; - roots(0) = c2_over_3 - rho*(cos_theta + s_sqrt3*sin_theta); - roots(1) = c2_over_3 - rho*(cos_theta - s_sqrt3*sin_theta); -} - -template -void eigen33(const Matrix& mat, Matrix& evecs, Vector& evals) -{ - typedef typename Matrix::Scalar Scalar; - // Scale the matrix so its entries are in [-1,1]. The scaling is applied - // only when at least one matrix entry has magnitude larger than 1. - - Scalar shift = mat.trace()/3; - Matrix scaledMat = mat; - scaledMat.diagonal().array() -= shift; - Scalar scale = scaledMat.cwiseAbs()/*.template triangularView()*/.maxCoeff(); - scale = std::max(scale,Scalar(1)); - scaledMat/=scale; - - // Compute the eigenvalues -// scaledMat.setZero(); - computeRoots(scaledMat,evals); - - // compute the eigen vectors - // **here we assume 3 differents eigenvalues** - - // "optimized version" which appears to be slower with gcc! -// Vector base; -// Scalar alpha, beta; -// base << scaledMat(1,0) * scaledMat(2,1), -// scaledMat(1,0) * scaledMat(2,0), -// -scaledMat(1,0) * scaledMat(1,0); -// for(int k=0; k<2; ++k) -// { -// alpha = scaledMat(0,0) - evals(k); -// beta = scaledMat(1,1) - evals(k); -// evecs.col(k) = (base + Vector(-beta*scaledMat(2,0), -alpha*scaledMat(2,1), alpha*beta)).normalized(); -// } -// evecs.col(2) = evecs.col(0).cross(evecs.col(1)).normalized(); - -// // naive version -// Matrix tmp; -// tmp = scaledMat; -// tmp.diagonal().array() -= evals(0); -// evecs.col(0) = tmp.row(0).cross(tmp.row(1)).normalized(); -// -// tmp = scaledMat; -// tmp.diagonal().array() -= evals(1); -// evecs.col(1) = tmp.row(0).cross(tmp.row(1)).normalized(); -// -// tmp = scaledMat; -// tmp.diagonal().array() -= evals(2); -// evecs.col(2) = tmp.row(0).cross(tmp.row(1)).normalized(); - - // a more stable version: - if((evals(2)-evals(0))<=Eigen::NumTraits::epsilon()) - { - evecs.setIdentity(); - } - else - { - Matrix tmp; - tmp = scaledMat; - tmp.diagonal ().array () -= evals (2); - evecs.col (2) = tmp.row (0).cross (tmp.row (1)).normalized (); - - tmp = scaledMat; - tmp.diagonal ().array () -= evals (1); - evecs.col(1) = tmp.row (0).cross(tmp.row (1)); - Scalar n1 = evecs.col(1).norm(); - if(n1<=Eigen::NumTraits::epsilon()) - evecs.col(1) = evecs.col(2).unitOrthogonal(); - else - evecs.col(1) /= n1; - - // make sure that evecs[1] is orthogonal to evecs[2] - evecs.col(1) = evecs.col(2).cross(evecs.col(1).cross(evecs.col(2))).normalized(); - evecs.col(0) = evecs.col(2).cross(evecs.col(1)); - } - - // Rescale back to the original size. - evals *= scale; - evals.array()+=shift; -} - -int main() -{ - BenchTimer t; - int tries = 10; - int rep = 400000; - typedef Matrix3d Mat; - typedef Vector3d Vec; - Mat A = Mat::Random(3,3); - A = A.adjoint() * A; -// Mat Q = A.householderQr().householderQ(); -// A = Q * Vec(2.2424567,2.2424566,7.454353).asDiagonal() * Q.transpose(); - - SelfAdjointEigenSolver eig(A); - BENCH(t, tries, rep, eig.compute(A)); - std::cout << "Eigen iterative: " << t.best() << "s\n"; - - BENCH(t, tries, rep, eig.computeDirect(A)); - std::cout << "Eigen direct : " << t.best() << "s\n"; - - Mat evecs; - Vec evals; - BENCH(t, tries, rep, eigen33(A,evecs,evals)); - std::cout << "Direct: " << t.best() << "s\n\n"; - -// std::cerr << "Eigenvalue/eigenvector diffs:\n"; -// std::cerr << (evals - eig.eigenvalues()).transpose() << "\n"; -// for(int k=0;k<3;++k) -// if(evecs.col(k).dot(eig.eigenvectors().col(k))<0) -// evecs.col(k) = -evecs.col(k); -// std::cerr << evecs - eig.eigenvectors() << "\n\n"; -} diff --git a/testbed/nanogui/ext/eigen/bench/geometry.cpp b/testbed/nanogui/ext/eigen/bench/geometry.cpp deleted file mode 100644 index b187a515..00000000 --- a/testbed/nanogui/ext/eigen/bench/geometry.cpp +++ /dev/null @@ -1,126 +0,0 @@ - -#include -#include -#include - -using namespace std; -using namespace Eigen; - -#ifndef SCALAR -#define SCALAR float -#endif - -#ifndef SIZE -#define SIZE 8 -#endif - -typedef SCALAR Scalar; -typedef NumTraits::Real RealScalar; -typedef Matrix A; -typedef Matrix B; -typedef Matrix C; -typedef Matrix M; - -template -EIGEN_DONT_INLINE void transform(const Transformation& t, Data& data) -{ - EIGEN_ASM_COMMENT("begin"); - data = t * data; - EIGEN_ASM_COMMENT("end"); -} - -template -EIGEN_DONT_INLINE void transform(const Quaternion& t, Data& data) -{ - EIGEN_ASM_COMMENT("begin quat"); - for(int i=0;i struct ToRotationMatrixWrapper -{ - enum {Dim = T::Dim}; - typedef typename T::Scalar Scalar; - ToRotationMatrixWrapper(const T& o) : object(o) {} - T object; -}; - -template -EIGEN_DONT_INLINE void transform(const ToRotationMatrixWrapper& t, Data& data) -{ - EIGEN_ASM_COMMENT("begin quat via mat"); - data = t.object.toRotationMatrix() * data; - EIGEN_ASM_COMMENT("end quat via mat"); -} - -template -EIGEN_DONT_INLINE void transform(const Transform& t, Data& data) -{ - data = (t * data.colwise().homogeneous()).template block(0,0); -} - -template struct get_dim { enum { Dim = T::Dim }; }; -template -struct get_dim > { enum { Dim = R }; }; - -template -struct bench_impl -{ - static EIGEN_DONT_INLINE void run(const Transformation& t) - { - Matrix::Dim,N> data; - data.setRandom(); - bench_impl::run(t); - BenchTimer timer; - BENCH(timer,10,100000,transform(t,data)); - cout.width(9); - cout << timer.best() << " "; - } -}; - - -template -struct bench_impl -{ - static EIGEN_DONT_INLINE void run(const Transformation&) {} -}; - -template -EIGEN_DONT_INLINE void bench(const std::string& msg, const Transformation& t) -{ - cout << msg << " "; - bench_impl::run(t); - std::cout << "\n"; -} - -int main(int argc, char ** argv) -{ - Matrix mat34; mat34.setRandom(); - Transform iso3(mat34); - Transform aff3(mat34); - Transform caff3(mat34); - Transform proj3(mat34); - Quaternion quat;quat.setIdentity(); - ToRotationMatrixWrapper > quatmat(quat); - Matrix mat33; mat33.setRandom(); - - cout.precision(4); - std::cout - << "N "; - for(int i=0;i -#include -#include -#include -#include "eigen_src/Eigen/Core" -#include "../BenchTimer.h" -using namespace Eigen; - -#ifndef SCALAR -#error SCALAR must be defined -#endif - -typedef SCALAR Scalar; - -typedef Matrix Mat; - -template -EIGEN_DONT_INLINE -double bench(long m, long n, long k, const Func& f) -{ - Mat A(m,k); - Mat B(k,n); - Mat C(m,n); - A.setRandom(); - B.setRandom(); - C.setZero(); - - BenchTimer t; - - double up = 1e8*4/sizeof(Scalar); - double tm0 = 4, tm1 = 10; - if(NumTraits::IsComplex) - { - up /= 4; - tm0 = 2; - tm1 = 4; - } - - double flops = 2. * m * n * k; - long rep = std::max(1., std::min(100., up/flops) ); - long tries = std::max(tm0, std::min(tm1, up/flops) ); - - BENCH(t, tries, rep, f(A,B,C)); - - return 1e-9 * rep * flops / t.best(); -} - -template -int main_gemm(int argc, char **argv, const Func& f) -{ - std::vector results; - - std::string filename = std::string("gemm_settings.txt"); - if(argc>1) - filename = std::string(argv[1]); - std::ifstream settings(filename); - long m, n, k; - while(settings >> m >> n >> k) - { - //std::cerr << " Testing " << m << " " << n << " " << k << std::endl; - results.push_back( bench(m, n, k, f) ); - } - - std::cout << RowVectorXd::Map(results.data(), results.size()); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_settings.txt b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_settings.txt deleted file mode 100644 index 5c43e1c7..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_settings.txt +++ /dev/null @@ -1,15 +0,0 @@ -8 8 8 -9 9 9 -24 24 24 -239 239 239 -240 240 240 -2400 24 24 -24 2400 24 -24 24 2400 -24 2400 2400 -2400 24 2400 -2400 2400 24 -2400 2400 64 -4800 23 160 -23 4800 160 -2400 2400 2400 diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_square_settings.txt b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_square_settings.txt deleted file mode 100644 index 98474d17..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemm_square_settings.txt +++ /dev/null @@ -1,11 +0,0 @@ -8 8 8 -9 9 9 -12 12 12 -15 15 15 -16 16 16 -24 24 24 -102 102 102 -239 239 239 -240 240 240 -2400 2400 2400 -2463 2463 2463 diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv.cpp b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv.cpp deleted file mode 100644 index 82e5ab96..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv.cpp +++ /dev/null @@ -1,12 +0,0 @@ -#include "gemv_common.h" - -EIGEN_DONT_INLINE -void gemv(const Mat &A, const Vec &B, Vec &C) -{ - C.noalias() += A * B; -} - -int main(int argc, char **argv) -{ - return main_gemv(argc, argv, gemv); -} diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_common.h b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_common.h deleted file mode 100644 index cc325772..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_common.h +++ /dev/null @@ -1,69 +0,0 @@ -#include -#include -#include -#include -#include -#include "eigen_src/Eigen/Core" -#include "../BenchTimer.h" -using namespace Eigen; - -#ifndef SCALAR -#error SCALAR must be defined -#endif - -typedef SCALAR Scalar; - -typedef Matrix Mat; -typedef Matrix Vec; - -template -EIGEN_DONT_INLINE -double bench(long m, long n, Func &f) -{ - Mat A(m,n); - Vec B(n); - Vec C(m); - A.setRandom(); - B.setRandom(); - C.setRandom(); - - BenchTimer t; - - double up = 1e8/sizeof(Scalar); - double tm0 = 4, tm1 = 10; - if(NumTraits::IsComplex) - { - up /= 4; - tm0 = 2; - tm1 = 4; - } - - double flops = 2. * m * n; - long rep = std::max(1., std::min(100., up/flops) ); - long tries = std::max(tm0, std::min(tm1, up/flops) ); - - BENCH(t, tries, rep, f(A,B,C)); - - return 1e-9 * rep * flops / t.best(); -} - -template -int main_gemv(int argc, char **argv, Func& f) -{ - std::vector results; - - std::string filename = std::string("gemv_settings.txt"); - if(argc>1) - filename = std::string(argv[1]); - std::ifstream settings(filename); - long m, n; - while(settings >> m >> n) - { - //std::cerr << " Testing " << m << " " << n << std::endl; - results.push_back( bench(m, n, f) ); - } - - std::cout << RowVectorXd::Map(results.data(), results.size()); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_settings.txt b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_settings.txt deleted file mode 100644 index 21a5ee05..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_settings.txt +++ /dev/null @@ -1,11 +0,0 @@ -8 8 -9 9 -24 24 -239 239 -240 240 -2400 24 -24 2400 -24 240 -2400 2400 -4800 23 -23 4800 diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_square_settings.txt b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_square_settings.txt deleted file mode 100644 index 5165759f..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemv_square_settings.txt +++ /dev/null @@ -1,13 +0,0 @@ -8 8 -9 9 -12 12 -15 15 -16 16 -24 24 -53 53 -74 74 -102 102 -239 239 -240 240 -2400 2400 -2463 2463 diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemvt.cpp b/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemvt.cpp deleted file mode 100644 index fe945767..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/gemvt.cpp +++ /dev/null @@ -1,12 +0,0 @@ -#include "gemv_common.h" - -EIGEN_DONT_INLINE -void gemv(const Mat &A, Vec &B, const Vec &C) -{ - B.noalias() += A.transpose() * C; -} - -int main(int argc, char **argv) -{ - return main_gemv(argc, argv, gemv); -} diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm.cpp b/testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm.cpp deleted file mode 100644 index 77330604..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm.cpp +++ /dev/null @@ -1,101 +0,0 @@ -#include -#include -#include -#include -#include "../../BenchTimer.h" -using namespace Eigen; - -#ifndef SCALAR -#error SCALAR must be defined -#endif - -typedef SCALAR Scalar; - -template -EIGEN_DONT_INLINE -void lazy_gemm(const MatA &A, const MatB &B, MatC &C) -{ -// escape((void*)A.data()); -// escape((void*)B.data()); - C.noalias() += A.lazyProduct(B); -// escape((void*)C.data()); -} - -template -EIGEN_DONT_INLINE -double bench() -{ - typedef Matrix MatA; - typedef Matrix MatB; - typedef Matrix MatC; - - MatA A(m,k); - MatB B(k,n); - MatC C(m,n); - A.setRandom(); - B.setRandom(); - C.setZero(); - - BenchTimer t; - - double up = 1e7*4/sizeof(Scalar); - double tm0 = 10, tm1 = 20; - - double flops = 2. * m * n * k; - long rep = std::max(10., std::min(10000., up/flops) ); - long tries = std::max(tm0, std::min(tm1, up/flops) ); - - BENCH(t, tries, rep, lazy_gemm(A,B,C)); - - return 1e-9 * rep * flops / t.best(); -} - -template -double bench_t(int t) -{ - if(t) - return bench(); - else - return bench(); -} - -EIGEN_DONT_INLINE -double bench_mnk(int m, int n, int k, int t) -{ - int id = m*10000 + n*100 + k; - switch(id) { - case 10101 : return bench_t< 1, 1, 1>(t); break; - case 20202 : return bench_t< 2, 2, 2>(t); break; - case 30303 : return bench_t< 3, 3, 3>(t); break; - case 40404 : return bench_t< 4, 4, 4>(t); break; - case 50505 : return bench_t< 5, 5, 5>(t); break; - case 60606 : return bench_t< 6, 6, 6>(t); break; - case 70707 : return bench_t< 7, 7, 7>(t); break; - case 80808 : return bench_t< 8, 8, 8>(t); break; - case 90909 : return bench_t< 9, 9, 9>(t); break; - case 101010 : return bench_t<10,10,10>(t); break; - case 111111 : return bench_t<11,11,11>(t); break; - case 121212 : return bench_t<12,12,12>(t); break; - } - return 0; -} - -int main(int argc, char **argv) -{ - std::vector results; - - std::string filename = std::string("lazy_gemm_settings.txt"); - if(argc>1) - filename = std::string(argv[1]); - std::ifstream settings(filename); - long m, n, k, t; - while(settings >> m >> n >> k >> t) - { - //std::cerr << " Testing " << m << " " << n << " " << k << std::endl; - results.push_back( bench_mnk(m, n, k, t) ); - } - - std::cout << RowVectorXd::Map(results.data(), results.size()); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm_settings.txt b/testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm_settings.txt deleted file mode 100644 index 407d5d4f..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/lazy_gemm_settings.txt +++ /dev/null @@ -1,15 +0,0 @@ -1 1 1 0 -2 2 2 0 -3 3 3 0 -4 4 4 0 -4 4 4 1 -5 5 5 0 -6 6 6 0 -7 7 7 0 -7 7 7 1 -8 8 8 0 -9 9 9 0 -10 10 10 0 -11 11 11 0 -12 12 12 0 -12 12 12 1 diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/llt.cpp b/testbed/nanogui/ext/eigen/bench/perf_monitoring/llt.cpp deleted file mode 100644 index d55b7d80..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/llt.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "gemm_common.h" -#include - -EIGEN_DONT_INLINE -void llt(const Mat &A, const Mat &B, Mat &C) -{ - C = A; - C.diagonal().array() += 1000; - Eigen::internal::llt_inplace::blocked(C); -} - -int main(int argc, char **argv) -{ - return main_gemm(argc, argv, llt); -} diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/make_plot.sh b/testbed/nanogui/ext/eigen/bench/perf_monitoring/make_plot.sh deleted file mode 100644 index ca9fa966..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/make_plot.sh +++ /dev/null @@ -1,98 +0,0 @@ -#!/bin/bash - -# base name of the bench -# it reads $1.out -# and generates $1.pdf -WHAT=$1 -bench=$2 -settings_file=$3 - -header="rev " -while read line -do - if [ ! -z '$line' ]; then - header="$header \"$line\"" - fi -done < $settings_file - -echo $header > $WHAT.out.header -cat $WHAT.out >> $WHAT.out.header - - -echo "set title '$WHAT'" > $WHAT.gnuplot -echo "set key autotitle columnhead outside " >> $WHAT.gnuplot -echo "set xtics rotate 1" >> $WHAT.gnuplot - -echo "set term pdf color rounded enhanced fontscale 0.35 size 7in,5in" >> $WHAT.gnuplot -echo set output "'"$WHAT.pdf"'" >> $WHAT.gnuplot - -col=`cat $settings_file | wc -l` -echo "plot for [col=2:$col+1] '$WHAT.out.header' using 0:col:xticlabels(1) with lines" >> $WHAT.gnuplot -echo " " >> $WHAT.gnuplot - -gnuplot -persist < $WHAT.gnuplot - -# generate a png file (thumbnail) -convert -colors 256 -background white -density 300 -resize 300 -quality 0 $WHAT.pdf -background white -flatten $WHAT.png - -# clean -rm $WHAT.out.header $WHAT.gnuplot - - -# generate html/svg graph - -echo " " > $WHAT.html -cat resources/chart_header.html > $WHAT.html -echo 'var customSettings = {"TITLE":"","SUBTITLE":"","XLABEL":"","YLABEL":""};' >> $WHAT.html -# 'data' is an array of datasets (i.e. curves), each of which is an object of the form -# { -# key: , -# color: , -# values: [{ -# r: , -# v: -# }] -# } -echo 'var data = [' >> $WHAT.html - -col=2 -while read line -do - if [ ! -z '$line' ]; then - header="$header \"$line\"" - echo '{"key":"'$line'","values":[' >> $WHAT.html - i=0 - while read line2 - do - if [ ! -z '$line2' ]; then - echo '{"r":'$i',"v":'`echo $line2 | cut -f $col -d ' '`'},' >> $WHAT.html - fi - ((i++)) - done < $WHAT.out - echo ']},' >> $WHAT.html - fi - ((col++)) -done < $settings_file -echo '];' >> $WHAT.html - -echo 'var changesets = [' >> $WHAT.html -while read line2 -do - if [ ! -z '$line2' ]; then - echo '"'`echo $line2 | cut -f 1 -d ' '`'",' >> $WHAT.html - fi -done < $WHAT.out -echo '];' >> $WHAT.html - -echo 'var changesets_count = [' >> $WHAT.html -i=0 -while read line2 -do - if [ ! -z '$line2' ]; then - echo $i ',' >> $WHAT.html - fi - ((i++)) -done < $WHAT.out -echo '];' >> $WHAT.html - -cat resources/chart_footer.html >> $WHAT.html diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_footer.html b/testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_footer.html deleted file mode 100644 index 8acc69f1..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_footer.html +++ /dev/null @@ -1,37 +0,0 @@ - /* setup the chart and its options */ - var chart = nv.models.lineChart() - .color(d3.scale.category10().range()) - .margin({left: 75, bottom: 100}) - .forceX([0]).forceY([0]); - - chart.x(function(datum){ return datum.r; }) - .xAxis.options({ - axisLabel: customSettings.XLABEL || 'Changeset', - tickFormat: d3.format('.0f') - }); - chart.xAxis - .tickValues(changesets_count) - .tickFormat(function(d){return changesets[d]}) - .rotateLabels(-90); - - chart.y(function(datum){ return datum.v; }) - .yAxis.options({ - axisLabel: customSettings.YLABEL || 'GFlops'/*, - tickFormat: function(val){ return d3.format('.0f')(val) + ' GFlops'; }*/ - }); - - //chart.useInteractiveGuideline(true); - d3.select('#chart').datum(data).call(chart); - var plot = d3.select('#chart > g'); - - /* setup the title */ - plot.append('text') - .style('font-size', '24px') - .attr('text-anchor', 'middle').attr('x', '50%').attr('y', '20px') - .text(customSettings.TITLE || ''); - - /* ensure the chart is responsive */ - nv.utils.windowResize(chart.update); - - - \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_header.html b/testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_header.html deleted file mode 100644 index bb9ddffd..00000000 --- a/testbed/nanogui/ext/eigen/bench/perf_monitoring/resources/chart_header.html +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/testbed/nanogui/ext/eigen/doc/eigendoxy_header.html.in b/testbed/nanogui/ext/eigen/doc/eigendoxy_header.html.in deleted file mode 100644 index 0f3859f4..00000000 --- a/testbed/nanogui/ext/eigen/doc/eigendoxy_header.html.in +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - -$projectname: $title -$title - - - -$treeview -$search -$mathjax - - - - - - - - - -
- - - -
- - - - - - - - - - - - - - - - - - - - - -
-
$projectname -  $projectnumber -
-
$projectbrief
- 		-
$projectbrief
- 		$searchbox
-
- - - diff --git a/testbed/nanogui/ext/eigen/doc/eigendoxy_layout.xml.in b/testbed/nanogui/ext/eigen/doc/eigendoxy_layout.xml.in deleted file mode 100644 index c14b621e..00000000 --- a/testbed/nanogui/ext/eigen/doc/eigendoxy_layout.xml.in +++ /dev/null @@ -1,178 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/testbed/nanogui/ext/eigen/doc/eigendoxy_tabs.css b/testbed/nanogui/ext/eigen/doc/eigendoxy_tabs.css deleted file mode 100644 index 21920562..00000000 --- a/testbed/nanogui/ext/eigen/doc/eigendoxy_tabs.css +++ /dev/null @@ -1,59 +0,0 @@ -.tabs, .tabs2, .tabs3 { - background-image: url('tab_b.png'); - width: 100%; - z-index: 101; - font-size: 13px; -} - -.tabs2 { - font-size: 10px; -} -.tabs3 { - font-size: 9px; -} - -.tablist { - margin: 0; - padding: 0; - display: table; -} - -.tablist li { - float: left; - display: table-cell; - background-image: url('tab_b.png'); - line-height: 36px; - list-style: none; -} - -.tablist a { - display: block; - padding: 0 20px; - font-weight: bold; - background-image:url('tab_s.png'); - background-repeat:no-repeat; - background-position:right; - color: #283A5D; - text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); - text-decoration: none; - outline: none; -} - -.tabs3 .tablist a { - padding: 0 10px; -} - -.tablist a:hover { - background-image: url('tab_h.png'); - background-repeat:repeat-x; - color: #fff; - text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); - text-decoration: none; -} - -.tablist li.current a { - background-image: url('tab_a.png'); - background-repeat:repeat-x; - color: #fff; - text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/.krazy b/testbed/nanogui/ext/eigen/doc/examples/.krazy deleted file mode 100644 index 00b99405..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/.krazy +++ /dev/null @@ -1,2 +0,0 @@ -EXCLUDE copyright -EXCLUDE license diff --git a/testbed/nanogui/ext/eigen/doc/examples/CMakeLists.txt b/testbed/nanogui/ext/eigen/doc/examples/CMakeLists.txt deleted file mode 100644 index f7a19055..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -file(GLOB examples_SRCS "*.cpp") - -foreach(example_src ${examples_SRCS}) - get_filename_component(example ${example_src} NAME_WE) - add_executable(${example} ${example_src}) - if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) - target_link_libraries(${example} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) - endif() - add_custom_command( - TARGET ${example} - POST_BUILD - COMMAND ${example} - ARGS >${CMAKE_CURRENT_BINARY_DIR}/${example}.out - ) - add_dependencies(all_examples ${example}) -endforeach(example_src) - -check_cxx_compiler_flag("-std=c++11" EIGEN_COMPILER_SUPPORT_CPP11) -if(EIGEN_COMPILER_SUPPORT_CPP11) -ei_add_target_property(nullary_indexing COMPILE_FLAGS "-std=c++11") -endif() \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/examples/CustomizingEigen_Inheritance.cpp b/testbed/nanogui/ext/eigen/doc/examples/CustomizingEigen_Inheritance.cpp deleted file mode 100644 index 48df64ee..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/CustomizingEigen_Inheritance.cpp +++ /dev/null @@ -1,30 +0,0 @@ -#include -#include - -class MyVectorType : public Eigen::VectorXd -{ -public: - MyVectorType(void):Eigen::VectorXd() {} - - // This constructor allows you to construct MyVectorType from Eigen expressions - template - MyVectorType(const Eigen::MatrixBase& other) - : Eigen::VectorXd(other) - { } - - // This method allows you to assign Eigen expressions to MyVectorType - template - MyVectorType& operator=(const Eigen::MatrixBase & other) - { - this->Eigen::VectorXd::operator=(other); - return *this; - } -}; - -int main() -{ - MyVectorType v = MyVectorType::Ones(4); - v(2) += 10; - v = 2 * v; - std::cout << v.transpose() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Cwise_erf.cpp b/testbed/nanogui/ext/eigen/doc/examples/Cwise_erf.cpp deleted file mode 100644 index e7cd2c1c..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Cwise_erf.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include -#include -#include -using namespace Eigen; -int main() -{ - Array4d v(-0.5,2,0,-7); - std::cout << v.erf() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Cwise_erfc.cpp b/testbed/nanogui/ext/eigen/doc/examples/Cwise_erfc.cpp deleted file mode 100644 index d8bb04c3..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Cwise_erfc.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include -#include -#include -using namespace Eigen; -int main() -{ - Array4d v(-0.5,2,0,-7); - std::cout << v.erfc() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Cwise_lgamma.cpp b/testbed/nanogui/ext/eigen/doc/examples/Cwise_lgamma.cpp deleted file mode 100644 index f1c4f503..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Cwise_lgamma.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include -#include -#include -using namespace Eigen; -int main() -{ - Array4d v(0.5,10,0,-1); - std::cout << v.lgamma() << std::endl; -} \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleCols_int.cpp b/testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleCols_int.cpp deleted file mode 100644 index 0ebd955e..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleCols_int.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main(void) -{ - int const N = 5; - MatrixXi A(N,N); - A.setRandom(); - cout << "A =\n" << A << '\n' << endl; - cout << "A(1..3,:) =\n" << A.middleCols(1,3) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleRows_int.cpp b/testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleRows_int.cpp deleted file mode 100644 index a6fe9e84..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_middleRows_int.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main(void) -{ - int const N = 5; - MatrixXi A(N,N); - A.setRandom(); - cout << "A =\n" << A << '\n' << endl; - cout << "A(2..3,:) =\n" << A.middleRows(2,2) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleCols.cpp b/testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleCols.cpp deleted file mode 100644 index 6191d79c..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleCols.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main(void) -{ - int const N = 5; - MatrixXi A(N,N); - A.setRandom(); - cout << "A =\n" << A << '\n' << endl; - cout << "A(:,1..3) =\n" << A.middleCols<3>(1) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleRows.cpp b/testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleRows.cpp deleted file mode 100644 index 7e8b6573..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/DenseBase_template_int_middleRows.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main(void) -{ - int const N = 5; - MatrixXi A(N,N); - A.setRandom(); - cout << "A =\n" << A << '\n' << endl; - cout << "A(1..3,:) =\n" << A.middleRows<3>(1) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example.cpp b/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example.cpp deleted file mode 100644 index 7238c0c4..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include -#include - -using Eigen::MatrixXd; - -int main() -{ - MatrixXd m(2,2); - m(0,0) = 3; - m(1,0) = 2.5; - m(0,1) = -1; - m(1,1) = m(1,0) + m(0,1); - std::cout << m << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_dynamic.cpp b/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_dynamic.cpp deleted file mode 100644 index ff6746e2..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_dynamic.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - MatrixXd m = MatrixXd::Random(3,3); - m = (m + MatrixXd::Constant(3,3,1.2)) * 50; - cout << "m =" << endl << m << endl; - VectorXd v(3); - v << 1, 2, 3; - cout << "m * v =" << endl << m * v << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_fixed.cpp b/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_fixed.cpp deleted file mode 100644 index d9117527..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/QuickStart_example2_fixed.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - Matrix3d m = Matrix3d::Random(); - m = (m + Matrix3d::Constant(1.2)) * 50; - cout << "m =" << endl << m << endl; - Vector3d v(1,2,3); - - cout << "m * v =" << endl << m * v << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_flexible.cpp b/testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_flexible.cpp deleted file mode 100644 index 9d85292d..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_flexible.cpp +++ /dev/null @@ -1,22 +0,0 @@ -#include -#include - -using namespace Eigen; - -template -void copyUpperTriangularPart(MatrixBase& dst, const MatrixBase& src) -{ - /* Note the 'template' keywords in the following line! */ - dst.template triangularView() = src.template triangularView(); -} - -int main() -{ - MatrixXi m1 = MatrixXi::Ones(5,5); - MatrixXi m2 = MatrixXi::Random(4,4); - std::cout << "m2 before copy:" << std::endl; - std::cout << m2 << std::endl << std::endl; - copyUpperTriangularPart(m2, m1.topLeftCorner(4,4)); - std::cout << "m2 after copy:" << std::endl; - std::cout << m2 << std::endl << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_simple.cpp b/testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_simple.cpp deleted file mode 100644 index 6998c176..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TemplateKeyword_simple.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include -#include - -using namespace Eigen; - -void copyUpperTriangularPart(MatrixXf& dst, const MatrixXf& src) -{ - dst.triangularView() = src.triangularView(); -} - -int main() -{ - MatrixXf m1 = MatrixXf::Ones(4,4); - MatrixXf m2 = MatrixXf::Random(4,4); - std::cout << "m2 before copy:" << std::endl; - std::cout << m2 << std::endl << std::endl; - copyUpperTriangularPart(m2, m1); - std::cout << "m2 after copy:" << std::endl; - std::cout << m2 << std::endl << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialInplaceLU.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialInplaceLU.cpp deleted file mode 100644 index cb9c59b6..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialInplaceLU.cpp +++ /dev/null @@ -1,61 +0,0 @@ -#include -struct init { - init() { std::cout << "[" << "init" << "]" << std::endl; } -}; -init init_obj; -// [init] -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - MatrixXd A(2,2); - A << 2, -1, 1, 3; - cout << "Here is the input matrix A before decomposition:\n" << A << endl; -cout << "[init]" << endl; - -cout << "[declaration]" << endl; - PartialPivLU > lu(A); - cout << "Here is the input matrix A after decomposition:\n" << A << endl; -cout << "[declaration]" << endl; - -cout << "[matrixLU]" << endl; - cout << "Here is the matrix storing the L and U factors:\n" << lu.matrixLU() << endl; -cout << "[matrixLU]" << endl; - -cout << "[solve]" << endl; - MatrixXd A0(2,2); A0 << 2, -1, 1, 3; - VectorXd b(2); b << 1, 2; - VectorXd x = lu.solve(b); - cout << "Residual: " << (A0 * x - b).norm() << endl; -cout << "[solve]" << endl; - -cout << "[modifyA]" << endl; - A << 3, 4, -2, 1; - x = lu.solve(b); - cout << "Residual: " << (A0 * x - b).norm() << endl; -cout << "[modifyA]" << endl; - -cout << "[recompute]" << endl; - A0 = A; // save A - lu.compute(A); - x = lu.solve(b); - cout << "Residual: " << (A0 * x - b).norm() << endl; -cout << "[recompute]" << endl; - -cout << "[recompute_bis0]" << endl; - MatrixXd A1(2,2); - A1 << 5,-2,3,4; - lu.compute(A1); - cout << "Here is the input matrix A1 after decomposition:\n" << A1 << endl; -cout << "[recompute_bis0]" << endl; - -cout << "[recompute_bis1]" << endl; - x = lu.solve(b); - cout << "Residual: " << (A1 * x - b).norm() << endl; -cout << "[recompute_bis1]" << endl; - -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgComputeTwice.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgComputeTwice.cpp deleted file mode 100644 index 06ba6461..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgComputeTwice.cpp +++ /dev/null @@ -1,23 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix2f A, b; - LLT llt; - A << 2, -1, -1, 3; - b << 1, 2, 3, 1; - cout << "Here is the matrix A:\n" << A << endl; - cout << "Here is the right hand side b:\n" << b << endl; - cout << "Computing LLT decomposition..." << endl; - llt.compute(A); - cout << "The solution is:\n" << llt.solve(b) << endl; - A(1,1)++; - cout << "The matrix A is now:\n" << A << endl; - cout << "Computing LLT decomposition..." << endl; - llt.compute(A); - cout << "The solution is now:\n" << llt.solve(b) << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExComputeSolveError.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExComputeSolveError.cpp deleted file mode 100644 index f362fb71..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExComputeSolveError.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - MatrixXd A = MatrixXd::Random(100,100); - MatrixXd b = MatrixXd::Random(100,50); - MatrixXd x = A.fullPivLu().solve(b); - double relative_error = (A*x - b).norm() / b.norm(); // norm() is L2 norm - cout << "The relative error is:\n" << relative_error << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp deleted file mode 100644 index 3a99a94d..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveColPivHouseholderQR.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix3f A; - Vector3f b; - A << 1,2,3, 4,5,6, 7,8,10; - b << 3, 3, 4; - cout << "Here is the matrix A:\n" << A << endl; - cout << "Here is the vector b:\n" << b << endl; - Vector3f x = A.colPivHouseholderQr().solve(b); - cout << "The solution is:\n" << x << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveLDLT.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveLDLT.cpp deleted file mode 100644 index f8beacd2..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgExSolveLDLT.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix2f A, b; - A << 2, -1, -1, 3; - b << 1, 2, 3, 1; - cout << "Here is the matrix A:\n" << A << endl; - cout << "Here is the right hand side b:\n" << b << endl; - Matrix2f x = A.ldlt().solve(b); - cout << "The solution is:\n" << x << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgInverseDeterminant.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgInverseDeterminant.cpp deleted file mode 100644 index 14dde5b3..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgInverseDeterminant.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix3f A; - A << 1, 2, 1, - 2, 1, 0, - -1, 1, 2; - cout << "Here is the matrix A:\n" << A << endl; - cout << "The determinant of A is " << A.determinant() << endl; - cout << "The inverse of A is:\n" << A.inverse() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgRankRevealing.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgRankRevealing.cpp deleted file mode 100644 index c5165077..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgRankRevealing.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix3f A; - A << 1, 2, 5, - 2, 1, 4, - 3, 0, 3; - cout << "Here is the matrix A:\n" << A << endl; - FullPivLU lu_decomp(A); - cout << "The rank of A is " << lu_decomp.rank() << endl; - cout << "Here is a matrix whose columns form a basis of the null-space of A:\n" - << lu_decomp.kernel() << endl; - cout << "Here is a matrix whose columns form a basis of the column-space of A:\n" - << lu_decomp.image(A) << endl; // yes, have to pass the original A -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSVDSolve.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSVDSolve.cpp deleted file mode 100644 index 9fbc031d..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSVDSolve.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - MatrixXf A = MatrixXf::Random(3, 2); - cout << "Here is the matrix A:\n" << A << endl; - VectorXf b = VectorXf::Random(3); - cout << "Here is the right hand side b:\n" << b << endl; - cout << "The least-squares solution is:\n" - << A.jacobiSvd(ComputeThinU | ComputeThinV).solve(b) << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSelfAdjointEigenSolver.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSelfAdjointEigenSolver.cpp deleted file mode 100644 index 8d1d1ed6..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSelfAdjointEigenSolver.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix2f A; - A << 1, 2, 2, 3; - cout << "Here is the matrix A:\n" << A << endl; - SelfAdjointEigenSolver eigensolver(A); - if (eigensolver.info() != Success) abort(); - cout << "The eigenvalues of A are:\n" << eigensolver.eigenvalues() << endl; - cout << "Here's a matrix whose columns are eigenvectors of A \n" - << "corresponding to these eigenvalues:\n" - << eigensolver.eigenvectors() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSetThreshold.cpp b/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSetThreshold.cpp deleted file mode 100644 index 3956b13a..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/TutorialLinAlgSetThreshold.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix2d A; - A << 2, 1, - 2, 0.9999999999; - FullPivLU lu(A); - cout << "By default, the rank of A is found to be " << lu.rank() << endl; - lu.setThreshold(1e-5); - cout << "With threshold 1e-5, the rank of A is found to be " << lu.rank() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_accessors.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_accessors.cpp deleted file mode 100644 index dc720ff5..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_accessors.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - ArrayXXf m(2,2); - - // assign some values coefficient by coefficient - m(0,0) = 1.0; m(0,1) = 2.0; - m(1,0) = 3.0; m(1,1) = m(0,1) + m(1,0); - - // print values to standard output - cout << m << endl << endl; - - // using the comma-initializer is also allowed - m << 1.0,2.0, - 3.0,4.0; - - // print values to standard output - cout << m << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_addition.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_addition.cpp deleted file mode 100644 index 480ffb00..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_addition.cpp +++ /dev/null @@ -1,23 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - ArrayXXf a(3,3); - ArrayXXf b(3,3); - a << 1,2,3, - 4,5,6, - 7,8,9; - b << 1,2,3, - 1,2,3, - 1,2,3; - - // Adding two arrays - cout << "a + b = " << endl << a + b << endl << endl; - - // Subtracting a scalar from an array - cout << "a - 2 = " << endl << a - 2 << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_cwise_other.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_cwise_other.cpp deleted file mode 100644 index d9046c63..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_cwise_other.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - ArrayXf a = ArrayXf::Random(5); - a *= 2; - cout << "a =" << endl - << a << endl; - cout << "a.abs() =" << endl - << a.abs() << endl; - cout << "a.abs().sqrt() =" << endl - << a.abs().sqrt() << endl; - cout << "a.min(a.abs().sqrt()) =" << endl - << a.min(a.abs().sqrt()) << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop.cpp deleted file mode 100644 index 371f0706..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop.cpp +++ /dev/null @@ -1,22 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - MatrixXf m(2,2); - MatrixXf n(2,2); - MatrixXf result(2,2); - - m << 1,2, - 3,4; - n << 5,6, - 7,8; - - result = (m.array() + 4).matrix() * m; - cout << "-- Combination 1: --" << endl << result << endl << endl; - result = (m.array() * n.array()).matrix() * m; - cout << "-- Combination 2: --" << endl << result << endl << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop_matrix.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop_matrix.cpp deleted file mode 100644 index 10142751..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_interop_matrix.cpp +++ /dev/null @@ -1,26 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - MatrixXf m(2,2); - MatrixXf n(2,2); - MatrixXf result(2,2); - - m << 1,2, - 3,4; - n << 5,6, - 7,8; - - result = m * n; - cout << "-- Matrix m*n: --" << endl << result << endl << endl; - result = m.array() * n.array(); - cout << "-- Array m*n: --" << endl << result << endl << endl; - result = m.cwiseProduct(n); - cout << "-- With cwiseProduct: --" << endl << result << endl << endl; - result = m.array() + 4; - cout << "-- Array m + 4: --" << endl << result << endl << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_mult.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_mult.cpp deleted file mode 100644 index 6cb439ff..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ArrayClass_mult.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - ArrayXXf a(2,2); - ArrayXXf b(2,2); - a << 1,2, - 3,4; - b << 5,6, - 7,8; - cout << "a * b = " << endl << a * b << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_block_assignment.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_block_assignment.cpp deleted file mode 100644 index 76f49f2f..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_block_assignment.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Array22f m; - m << 1,2, - 3,4; - Array44f a = Array44f::Constant(0.6); - cout << "Here is the array a:" << endl << a << endl << endl; - a.block<2,2>(1,1) = m; - cout << "Here is now a with m copied into its central 2x2 block:" << endl << a << endl << endl; - a.block(0,0,2,3) = a.block(2,1,2,3); - cout << "Here is now a with bottom-right 2x3 block copied into top-left 2x2 block:" << endl << a << endl << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_colrow.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_colrow.cpp deleted file mode 100644 index 2e7eb009..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_colrow.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include - -using namespace std; - -int main() -{ - Eigen::MatrixXf m(3,3); - m << 1,2,3, - 4,5,6, - 7,8,9; - cout << "Here is the matrix m:" << endl << m << endl; - cout << "2nd Row: " << m.row(1) << endl; - m.col(2) += 3 * m.col(0); - cout << "After adding 3 times the first column into the third column, the matrix m is:\n"; - cout << m << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_corner.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_corner.cpp deleted file mode 100644 index 3a31507a..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_corner.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include - -using namespace std; - -int main() -{ - Eigen::Matrix4f m; - m << 1, 2, 3, 4, - 5, 6, 7, 8, - 9, 10,11,12, - 13,14,15,16; - cout << "m.leftCols(2) =" << endl << m.leftCols(2) << endl << endl; - cout << "m.bottomRows<2>() =" << endl << m.bottomRows<2>() << endl << endl; - m.topLeftCorner(1,3) = m.bottomRightCorner(3,1).transpose(); - cout << "After assignment, m = " << endl << m << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_print_block.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_print_block.cpp deleted file mode 100644 index edea4aef..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_print_block.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include -#include - -using namespace std; - -int main() -{ - Eigen::MatrixXf m(4,4); - m << 1, 2, 3, 4, - 5, 6, 7, 8, - 9,10,11,12, - 13,14,15,16; - cout << "Block in the middle" << endl; - cout << m.block<2,2>(1,1) << endl << endl; - for (int i = 1; i <= 3; ++i) - { - cout << "Block of size " << i << "x" << i << endl; - cout << m.block(0,0,i,i) << endl << endl; - } -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_vector.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_vector.cpp deleted file mode 100644 index 4a0b0234..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_BlockOperations_vector.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include -#include - -using namespace std; - -int main() -{ - Eigen::ArrayXf v(6); - v << 1, 2, 3, 4, 5, 6; - cout << "v.head(3) =" << endl << v.head(3) << endl << endl; - cout << "v.tail<3>() = " << endl << v.tail<3>() << endl << endl; - v.segment(1,4) *= 2; - cout << "after 'v.segment(1,4) *= 2', v =" << endl << v << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_PartialLU_solve.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_PartialLU_solve.cpp deleted file mode 100644 index a5608792..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_PartialLU_solve.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Matrix3f A; - Vector3f b; - A << 1,2,3, 4,5,6, 7,8,10; - b << 3, 3, 4; - cout << "Here is the matrix A:" << endl << A << endl; - cout << "Here is the vector b:" << endl << b << endl; - Vector3f x = A.lu().solve(b); - cout << "The solution is:" << endl << x << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp deleted file mode 100644 index 334b4d85..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_1nn.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Eigen::MatrixXf m(2,4); - Eigen::VectorXf v(2); - - m << 1, 23, 6, 9, - 3, 11, 7, 2; - - v << 2, - 3; - - MatrixXf::Index index; - // find nearest neighbour - (m.colwise() - v).colwise().squaredNorm().minCoeff(&index); - - cout << "Nearest neighbour is column " << index << ":" << endl; - cout << m.col(index) << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp deleted file mode 100644 index e6c87c6a..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple.cpp +++ /dev/null @@ -1,21 +0,0 @@ -#include -#include - -using namespace std; -int main() -{ - Eigen::MatrixXf mat(2,4); - Eigen::VectorXf v(2); - - mat << 1, 2, 6, 9, - 3, 1, 7, 2; - - v << 0, - 1; - - //add v to each column of m - mat.colwise() += v; - - std::cout << "Broadcasting result: " << std::endl; - std::cout << mat << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp deleted file mode 100644 index d87c96ab..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_broadcast_simple_rowwise.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include -#include - -using namespace std; -int main() -{ - Eigen::MatrixXf mat(2,4); - Eigen::VectorXf v(4); - - mat << 1, 2, 6, 9, - 3, 1, 7, 2; - - v << 0,1,2,3; - - //add v to each row of m - mat.rowwise() += v.transpose(); - - std::cout << "Broadcasting result: " << std::endl; - std::cout << mat << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp deleted file mode 100644 index df682566..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_colwise.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include -#include - -using namespace std; -int main() -{ - Eigen::MatrixXf mat(2,4); - mat << 1, 2, 6, 9, - 3, 1, 7, 2; - - std::cout << "Column's maximum: " << std::endl - << mat.colwise().maxCoeff() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp deleted file mode 100644 index 049c747b..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_maxnorm.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; -int main() -{ - MatrixXf mat(2,4); - mat << 1, 2, 6, 9, - 3, 1, 7, 2; - - MatrixXf::Index maxIndex; - float maxNorm = mat.colwise().sum().maxCoeff(&maxIndex); - - std::cout << "Maximum sum at position " << maxIndex << std::endl; - - std::cout << "The corresponding vector is: " << std::endl; - std::cout << mat.col( maxIndex ) << std::endl; - std::cout << "And its sum is is: " << maxNorm << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp deleted file mode 100644 index 0cca37f3..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_bool.cpp +++ /dev/null @@ -1,21 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - ArrayXXf a(2,2); - - a << 1,2, - 3,4; - - cout << "(a > 0).all() = " << (a > 0).all() << endl; - cout << "(a > 0).any() = " << (a > 0).any() << endl; - cout << "(a > 0).count() = " << (a > 0).count() << endl; - cout << endl; - cout << "(a > 2).all() = " << (a > 2).all() << endl; - cout << "(a > 2).any() = " << (a > 2).any() << endl; - cout << "(a > 2).count() = " << (a > 2).count() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp deleted file mode 100644 index 740439fb..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_norm.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - VectorXf v(2); - MatrixXf m(2,2), n(2,2); - - v << -1, - 2; - - m << 1,-2, - -3,4; - - cout << "v.squaredNorm() = " << v.squaredNorm() << endl; - cout << "v.norm() = " << v.norm() << endl; - cout << "v.lpNorm<1>() = " << v.lpNorm<1>() << endl; - cout << "v.lpNorm() = " << v.lpNorm() << endl; - - cout << endl; - cout << "m.squaredNorm() = " << m.squaredNorm() << endl; - cout << "m.norm() = " << m.norm() << endl; - cout << "m.lpNorm<1>() = " << m.lpNorm<1>() << endl; - cout << "m.lpNorm() = " << m.lpNorm() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp deleted file mode 100644 index 62e28fc3..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_reductions_operatornorm.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; - -int main() -{ - MatrixXf m(2,2); - m << 1,-2, - -3,4; - - cout << "1-norm(m) = " << m.cwiseAbs().colwise().sum().maxCoeff() - << " == " << m.colwise().lpNorm<1>().maxCoeff() << endl; - - cout << "infty-norm(m) = " << m.cwiseAbs().rowwise().sum().maxCoeff() - << " == " << m.rowwise().lpNorm<1>().maxCoeff() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp deleted file mode 100644 index 80427c9f..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_rowwise.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include -#include - -using namespace std; -int main() -{ - Eigen::MatrixXf mat(2,4); - mat << 1, 2, 6, 9, - 3, 1, 7, 2; - - std::cout << "Row's maximum: " << std::endl - << mat.rowwise().maxCoeff() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp deleted file mode 100644 index b54e9aa3..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_ReductionsVisitorsBroadcasting_visitors.cpp +++ /dev/null @@ -1,26 +0,0 @@ -#include -#include - -using namespace std; -using namespace Eigen; - -int main() -{ - Eigen::MatrixXf m(2,2); - - m << 1, 2, - 3, 4; - - //get location of maximum - MatrixXf::Index maxRow, maxCol; - float max = m.maxCoeff(&maxRow, &maxCol); - - //get location of minimum - MatrixXf::Index minRow, minCol; - float min = m.minCoeff(&minRow, &minCol); - - cout << "Max: " << max << ", at: " << - maxRow << "," << maxCol << endl; - cout << "Min: " << min << ", at: " << - minRow << "," << minCol << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_simple_example_dynamic_size.cpp b/testbed/nanogui/ext/eigen/doc/examples/Tutorial_simple_example_dynamic_size.cpp deleted file mode 100644 index 0f0280e0..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/Tutorial_simple_example_dynamic_size.cpp +++ /dev/null @@ -1,22 +0,0 @@ -#include -#include - -using namespace Eigen; - -int main() -{ - for (int size=1; size<=4; ++size) - { - MatrixXi m(size,size+1); // a (size)x(size+1)-matrix of int's - for (int j=0; j -#include - -using namespace Eigen; - -int main() -{ - Matrix3f m3; - m3 << 1, 2, 3, 4, 5, 6, 7, 8, 9; - Matrix4f m4 = Matrix4f::Identity(); - Vector4i v4(1, 2, 3, 4); - - std::cout << "m3\n" << m3 << "\nm4:\n" - << m4 << "\nv4:\n" << v4 << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_Block.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_Block.cpp deleted file mode 100644 index ace719af..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_Block.cpp +++ /dev/null @@ -1,27 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -template -Eigen::Block -topLeftCorner(MatrixBase& m, int rows, int cols) -{ - return Eigen::Block(m.derived(), 0, 0, rows, cols); -} - -template -const Eigen::Block -topLeftCorner(const MatrixBase& m, int rows, int cols) -{ - return Eigen::Block(m.derived(), 0, 0, rows, cols); -} - -int main(int, char**) -{ - Matrix4d m = Matrix4d::Identity(); - cout << topLeftCorner(4*m, 2, 3) << endl; // calls the const version - topLeftCorner(m, 2, 3) *= 5; // calls the non-const version - cout << "Now the matrix m is:" << endl << m << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_CwiseBinaryOp.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_CwiseBinaryOp.cpp deleted file mode 100644 index 682af46d..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_CwiseBinaryOp.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -// define a custom template binary functor -template struct MakeComplexOp { - EIGEN_EMPTY_STRUCT_CTOR(MakeComplexOp) - typedef complex result_type; - complex operator()(const Scalar& a, const Scalar& b) const { return complex(a,b); } -}; - -int main(int, char**) -{ - Matrix4d m1 = Matrix4d::Random(), m2 = Matrix4d::Random(); - cout << m1.binaryExpr(m2, MakeComplexOp()) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp.cpp deleted file mode 100644 index a5fcc153..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -// define a custom template unary functor -template -struct CwiseClampOp { - CwiseClampOp(const Scalar& inf, const Scalar& sup) : m_inf(inf), m_sup(sup) {} - const Scalar operator()(const Scalar& x) const { return xm_sup ? m_sup : x); } - Scalar m_inf, m_sup; -}; - -int main(int, char**) -{ - Matrix4d m1 = Matrix4d::Random(); - cout << m1 << endl << "becomes: " << endl << m1.unaryExpr(CwiseClampOp(-0.5,0.5)) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp_ptrfun.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp_ptrfun.cpp deleted file mode 100644 index 36706d8e..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_CwiseUnaryOp_ptrfun.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -// define function to be applied coefficient-wise -double ramp(double x) -{ - if (x > 0) - return x; - else - return 0; -} - -int main(int, char**) -{ - Matrix4d m1 = Matrix4d::Random(); - cout << m1 << endl << "becomes: " << endl << m1.unaryExpr(ptr_fun(ramp)) << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_FixedBlock.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_FixedBlock.cpp deleted file mode 100644 index 9978b32e..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_FixedBlock.cpp +++ /dev/null @@ -1,27 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -template -Eigen::Block -topLeft2x2Corner(MatrixBase& m) -{ - return Eigen::Block(m.derived(), 0, 0); -} - -template -const Eigen::Block -topLeft2x2Corner(const MatrixBase& m) -{ - return Eigen::Block(m.derived(), 0, 0); -} - -int main(int, char**) -{ - Matrix3d m = Matrix3d::Identity(); - cout << topLeft2x2Corner(4*m) << endl; // calls the const version - topLeft2x2Corner(m) *= 2; // calls the non-const version - cout << "Now the matrix m is:" << endl << m << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_FixedVectorBlock.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_FixedVectorBlock.cpp deleted file mode 100644 index c88c9fbf..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_FixedVectorBlock.cpp +++ /dev/null @@ -1,27 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -template -Eigen::VectorBlock -firstTwo(MatrixBase& v) -{ - return Eigen::VectorBlock(v.derived(), 0); -} - -template -const Eigen::VectorBlock -firstTwo(const MatrixBase& v) -{ - return Eigen::VectorBlock(v.derived(), 0); -} - -int main(int, char**) -{ - Matrix v; v << 1,2,3,4,5,6; - cout << firstTwo(4*v) << endl; // calls the const version - firstTwo(v) *= 2; // calls the non-const version - cout << "Now the vector v is:" << endl << v << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/class_VectorBlock.cpp b/testbed/nanogui/ext/eigen/doc/examples/class_VectorBlock.cpp deleted file mode 100644 index dc213df2..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/class_VectorBlock.cpp +++ /dev/null @@ -1,27 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -template -Eigen::VectorBlock -segmentFromRange(MatrixBase& v, int start, int end) -{ - return Eigen::VectorBlock(v.derived(), start, end-start); -} - -template -const Eigen::VectorBlock -segmentFromRange(const MatrixBase& v, int start, int end) -{ - return Eigen::VectorBlock(v.derived(), start, end-start); -} - -int main(int, char**) -{ - Matrix v; v << 1,2,3,4,5,6; - cout << segmentFromRange(2*v, 2, 4) << endl; // calls the const version - segmentFromRange(v, 1, 3) *= 5; // calls the non-const version - cout << "Now the vector v is:" << endl << v << endl; - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/function_taking_eigenbase.cpp b/testbed/nanogui/ext/eigen/doc/examples/function_taking_eigenbase.cpp deleted file mode 100644 index 49d94b3d..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/function_taking_eigenbase.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include -using namespace Eigen; - -template -void print_size(const EigenBase& b) -{ - std::cout << "size (rows, cols): " << b.size() << " (" << b.rows() - << ", " << b.cols() << ")" << std::endl; -} - -int main() -{ - Vector3f v; - print_size(v); - // v.asDiagonal() returns a 3x3 diagonal matrix pseudo-expression - print_size(v.asDiagonal()); -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/function_taking_ref.cpp b/testbed/nanogui/ext/eigen/doc/examples/function_taking_ref.cpp deleted file mode 100644 index 162a202e..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/function_taking_ref.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include -#include -using namespace Eigen; -using namespace std; - -float inv_cond(const Ref& a) -{ - const VectorXf sing_vals = a.jacobiSvd().singularValues(); - return sing_vals(sing_vals.size()-1) / sing_vals(0); -} - -int main() -{ - Matrix4f m = Matrix4f::Random(); - cout << "matrix m:" << endl << m << endl << endl; - cout << "inv_cond(m): " << inv_cond(m) << endl; - cout << "inv_cond(m(1:3,1:3)): " << inv_cond(m.topLeftCorner(3,3)) << endl; - cout << "inv_cond(m+I): " << inv_cond(m+Matrix4f::Identity()) << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp deleted file mode 100644 index 92e6aaa2..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp +++ /dev/null @@ -1,11 +0,0 @@ -/* -This program is presented in several fragments in the doc page. -Every fragment is in its own file; this file simply combines them. -*/ - -#include "make_circulant.cpp.preamble" -#include "make_circulant.cpp.traits" -#include "make_circulant.cpp.expression" -#include "make_circulant.cpp.evaluator" -#include "make_circulant.cpp.entry" -#include "make_circulant.cpp.main" diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.entry b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.entry deleted file mode 100644 index f9d2eb8a..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.entry +++ /dev/null @@ -1,5 +0,0 @@ -template -Circulant makeCirculant(const Eigen::MatrixBase& arg) -{ - return Circulant(arg.derived()); -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.evaluator b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.evaluator deleted file mode 100644 index 2ba79e78..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.evaluator +++ /dev/null @@ -1,32 +0,0 @@ -namespace Eigen { - namespace internal { - template - struct evaluator > - : evaluator_base > - { - typedef Circulant XprType; - typedef typename nested_eval::type ArgTypeNested; - typedef typename remove_all::type ArgTypeNestedCleaned; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - enum { - CoeffReadCost = evaluator::CoeffReadCost, - Flags = Eigen::ColMajor - }; - - evaluator(const XprType& xpr) - : m_argImpl(xpr.m_arg), m_rows(xpr.rows()) - { } - - CoeffReturnType coeff(Index row, Index col) const - { - Index index = row - col; - if (index < 0) index += m_rows; - return m_argImpl.coeff(index); - } - - evaluator m_argImpl; - const Index m_rows; - }; - } -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.expression b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.expression deleted file mode 100644 index 380cd445..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.expression +++ /dev/null @@ -1,20 +0,0 @@ -template -class Circulant : public Eigen::MatrixBase > -{ -public: - Circulant(const ArgType& arg) - : m_arg(arg) - { - EIGEN_STATIC_ASSERT(ArgType::ColsAtCompileTime == 1, - YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX); - } - - typedef typename Eigen::internal::ref_selector::type Nested; - - typedef Eigen::Index Index; - Index rows() const { return m_arg.rows(); } - Index cols() const { return m_arg.rows(); } - - typedef typename Eigen::internal::ref_selector::type ArgTypeNested; - ArgTypeNested m_arg; -}; diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.main b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.main deleted file mode 100644 index 877f97f6..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.main +++ /dev/null @@ -1,8 +0,0 @@ -int main() -{ - Eigen::VectorXd vec(4); - vec << 1, 2, 4, 8; - Eigen::MatrixXd mat; - mat = makeCirculant(vec); - std::cout << mat << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.preamble b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.preamble deleted file mode 100644 index e575cce1..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.preamble +++ /dev/null @@ -1,4 +0,0 @@ -#include -#include - -template class Circulant; diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.traits b/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.traits deleted file mode 100644 index 4e04535d..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant.cpp.traits +++ /dev/null @@ -1,19 +0,0 @@ -namespace Eigen { - namespace internal { - template - struct traits > - { - typedef Eigen::Dense StorageKind; - typedef Eigen::MatrixXpr XprKind; - typedef typename ArgType::StorageIndex StorageIndex; - typedef typename ArgType::Scalar Scalar; - enum { - Flags = Eigen::ColMajor, - RowsAtCompileTime = ArgType::RowsAtCompileTime, - ColsAtCompileTime = ArgType::RowsAtCompileTime, - MaxRowsAtCompileTime = ArgType::MaxRowsAtCompileTime, - MaxColsAtCompileTime = ArgType::MaxRowsAtCompileTime - }; - }; - } -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/make_circulant2.cpp b/testbed/nanogui/ext/eigen/doc/examples/make_circulant2.cpp deleted file mode 100644 index 95d3dd31..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/make_circulant2.cpp +++ /dev/null @@ -1,52 +0,0 @@ -#include -#include - -using namespace Eigen; - -// [circulant_func] -template -class circulant_functor { - const ArgType &m_vec; -public: - circulant_functor(const ArgType& arg) : m_vec(arg) {} - - const typename ArgType::Scalar& operator() (Index row, Index col) const { - Index index = row - col; - if (index < 0) index += m_vec.size(); - return m_vec(index); - } -}; -// [circulant_func] - -// [square] -template -struct circulant_helper { - typedef Matrix MatrixType; -}; -// [square] - -// [makeCirculant] -template -CwiseNullaryOp, typename circulant_helper::MatrixType> -makeCirculant(const Eigen::MatrixBase& arg) -{ - typedef typename circulant_helper::MatrixType MatrixType; - return MatrixType::NullaryExpr(arg.size(), arg.size(), circulant_functor(arg.derived())); -} -// [makeCirculant] - -// [main] -int main() -{ - Eigen::VectorXd vec(4); - vec << 1, 2, 4, 8; - Eigen::MatrixXd mat; - mat = makeCirculant(vec); - std::cout << mat << std::endl; -} -// [main] diff --git a/testbed/nanogui/ext/eigen/doc/examples/matrixfree_cg.cpp b/testbed/nanogui/ext/eigen/doc/examples/matrixfree_cg.cpp deleted file mode 100644 index 6a205aea..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/matrixfree_cg.cpp +++ /dev/null @@ -1,128 +0,0 @@ -#include -#include -#include -#include -#include - -class MatrixReplacement; -using Eigen::SparseMatrix; - -namespace Eigen { -namespace internal { - // MatrixReplacement looks-like a SparseMatrix, so let's inherits its traits: - template<> - struct traits : public Eigen::internal::traits > - {}; -} -} - -// Example of a matrix-free wrapper from a user type to Eigen's compatible type -// For the sake of simplicity, this example simply wrap a Eigen::SparseMatrix. -class MatrixReplacement : public Eigen::EigenBase { -public: - // Required typedefs, constants, and method: - typedef double Scalar; - typedef double RealScalar; - typedef int StorageIndex; - enum { - ColsAtCompileTime = Eigen::Dynamic, - MaxColsAtCompileTime = Eigen::Dynamic, - IsRowMajor = false - }; - - Index rows() const { return mp_mat->rows(); } - Index cols() const { return mp_mat->cols(); } - - template - Eigen::Product operator*(const Eigen::MatrixBase& x) const { - return Eigen::Product(*this, x.derived()); - } - - // Custom API: - MatrixReplacement() : mp_mat(0) {} - - void attachMyMatrix(const SparseMatrix &mat) { - mp_mat = &mat; - } - const SparseMatrix my_matrix() const { return *mp_mat; } - -private: - const SparseMatrix *mp_mat; -}; - - -// Implementation of MatrixReplacement * Eigen::DenseVector though a specialization of internal::generic_product_impl: -namespace Eigen { -namespace internal { - - template - struct generic_product_impl // GEMV stands for matrix-vector - : generic_product_impl_base > - { - typedef typename Product::Scalar Scalar; - - template - static void scaleAndAddTo(Dest& dst, const MatrixReplacement& lhs, const Rhs& rhs, const Scalar& alpha) - { - // This method should implement "dst += alpha * lhs * rhs" inplace, - // however, for iterative solvers, alpha is always equal to 1, so let's not bother about it. - assert(alpha==Scalar(1) && "scaling is not implemented"); - - // Here we could simply call dst.noalias() += lhs.my_matrix() * rhs, - // but let's do something fancier (and less efficient): - for(Index i=0; i S = Eigen::MatrixXd::Random(n,n).sparseView(0.5,1); - S = S.transpose()*S; - - MatrixReplacement A; - A.attachMyMatrix(S); - - Eigen::VectorXd b(n), x; - b.setRandom(); - - // Solve Ax = b using various iterative solver with matrix-free version: - { - Eigen::ConjugateGradient cg; - cg.compute(A); - x = cg.solve(b); - std::cout << "CG: #iterations: " << cg.iterations() << ", estimated error: " << cg.error() << std::endl; - } - - { - Eigen::BiCGSTAB bicg; - bicg.compute(A); - x = bicg.solve(b); - std::cout << "BiCGSTAB: #iterations: " << bicg.iterations() << ", estimated error: " << bicg.error() << std::endl; - } - - { - Eigen::GMRES gmres; - gmres.compute(A); - x = gmres.solve(b); - std::cout << "GMRES: #iterations: " << gmres.iterations() << ", estimated error: " << gmres.error() << std::endl; - } - - { - Eigen::DGMRES gmres; - gmres.compute(A); - x = gmres.solve(b); - std::cout << "DGMRES: #iterations: " << gmres.iterations() << ", estimated error: " << gmres.error() << std::endl; - } - - { - Eigen::MINRES minres; - minres.compute(A); - x = minres.solve(b); - std::cout << "MINRES: #iterations: " << minres.iterations() << ", estimated error: " << minres.error() << std::endl; - } -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/nullary_indexing.cpp b/testbed/nanogui/ext/eigen/doc/examples/nullary_indexing.cpp deleted file mode 100644 index e27c3585..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/nullary_indexing.cpp +++ /dev/null @@ -1,66 +0,0 @@ -#include -#include - -using namespace Eigen; - -// [functor] -template -class indexing_functor { - const ArgType &m_arg; - const RowIndexType &m_rowIndices; - const ColIndexType &m_colIndices; -public: - typedef Matrix MatrixType; - - indexing_functor(const ArgType& arg, const RowIndexType& row_indices, const ColIndexType& col_indices) - : m_arg(arg), m_rowIndices(row_indices), m_colIndices(col_indices) - {} - - const typename ArgType::Scalar& operator() (Index row, Index col) const { - return m_arg(m_rowIndices[row], m_colIndices[col]); - } -}; -// [functor] - -// [function] -template -CwiseNullaryOp, typename indexing_functor::MatrixType> -indexing(const Eigen::MatrixBase& arg, const RowIndexType& row_indices, const ColIndexType& col_indices) -{ - typedef indexing_functor Func; - typedef typename Func::MatrixType MatrixType; - return MatrixType::NullaryExpr(row_indices.size(), col_indices.size(), Func(arg.derived(), row_indices, col_indices)); -} -// [function] - - -int main() -{ - std::cout << "[main1]\n"; - Eigen::MatrixXi A = Eigen::MatrixXi::Random(4,4); - Array3i ri(1,2,1); - ArrayXi ci(6); ci << 3,2,1,0,0,2; - Eigen::MatrixXi B = indexing(A, ri, ci); - std::cout << "A =" << std::endl; - std::cout << A << std::endl << std::endl; - std::cout << "A([" << ri.transpose() << "], [" << ci.transpose() << "]) =" << std::endl; - std::cout << B << std::endl; - std::cout << "[main1]\n"; - - std::cout << "[main2]\n"; - B = indexing(A, ri+1, ci); - std::cout << "A(ri+1,ci) =" << std::endl; - std::cout << B << std::endl << std::endl; -#if __cplusplus >= 201103L - B = indexing(A, ArrayXi::LinSpaced(13,0,12).unaryExpr([](int x){return x%4;}), ArrayXi::LinSpaced(4,0,3)); - std::cout << "A(ArrayXi::LinSpaced(13,0,12).unaryExpr([](int x){return x%4;}), ArrayXi::LinSpaced(4,0,3)) =" << std::endl; - std::cout << B << std::endl << std::endl; -#endif - std::cout << "[main2]\n"; -} - diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_add_sub.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_add_sub.cpp deleted file mode 100644 index e97477b6..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_add_sub.cpp +++ /dev/null @@ -1,22 +0,0 @@ -#include -#include - -using namespace Eigen; - -int main() -{ - Matrix2d a; - a << 1, 2, - 3, 4; - MatrixXd b(2,2); - b << 2, 3, - 1, 4; - std::cout << "a + b =\n" << a + b << std::endl; - std::cout << "a - b =\n" << a - b << std::endl; - std::cout << "Doing a += b;" << std::endl; - a += b; - std::cout << "Now a =\n" << a << std::endl; - Vector3d v(1,2,3); - Vector3d w(1,0,0); - std::cout << "-v + w - v =\n" << -v + w - v << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_dot_cross.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_dot_cross.cpp deleted file mode 100644 index 631c9a5e..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_dot_cross.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include -#include - -using namespace Eigen; -using namespace std; -int main() -{ - Vector3d v(1,2,3); - Vector3d w(0,1,2); - - cout << "Dot product: " << v.dot(w) << endl; - double dp = v.adjoint()*w; // automatic conversion of the inner product to a scalar - cout << "Dot product via a matrix product: " << dp << endl; - cout << "Cross product:\n" << v.cross(w) << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_matrix_mul.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_matrix_mul.cpp deleted file mode 100644 index f2139024..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_matrix_mul.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include -#include - -using namespace Eigen; -int main() -{ - Matrix2d mat; - mat << 1, 2, - 3, 4; - Vector2d u(-1,1), v(2,0); - std::cout << "Here is mat*mat:\n" << mat*mat << std::endl; - std::cout << "Here is mat*u:\n" << mat*u << std::endl; - std::cout << "Here is u^T*mat:\n" << u.transpose()*mat << std::endl; - std::cout << "Here is u^T*v:\n" << u.transpose()*v << std::endl; - std::cout << "Here is u*v^T:\n" << u*v.transpose() << std::endl; - std::cout << "Let's multiply mat by itself" << std::endl; - mat = mat*mat; - std::cout << "Now mat is mat:\n" << mat << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_redux_basic.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_redux_basic.cpp deleted file mode 100644 index 5632fb52..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_redux_basic.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include -#include - -using namespace std; -int main() -{ - Eigen::Matrix2d mat; - mat << 1, 2, - 3, 4; - cout << "Here is mat.sum(): " << mat.sum() << endl; - cout << "Here is mat.prod(): " << mat.prod() << endl; - cout << "Here is mat.mean(): " << mat.mean() << endl; - cout << "Here is mat.minCoeff(): " << mat.minCoeff() << endl; - cout << "Here is mat.maxCoeff(): " << mat.maxCoeff() << endl; - cout << "Here is mat.trace(): " << mat.trace() << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_scalar_mul_div.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_scalar_mul_div.cpp deleted file mode 100644 index d5f65b53..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_arithmetic_scalar_mul_div.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include - -using namespace Eigen; - -int main() -{ - Matrix2d a; - a << 1, 2, - 3, 4; - Vector3d v(1,2,3); - std::cout << "a * 2.5 =\n" << a * 2.5 << std::endl; - std::cout << "0.1 * v =\n" << 0.1 * v << std::endl; - std::cout << "Doing v *= 2;" << std::endl; - v *= 2; - std::cout << "Now v =\n" << v << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_coefficient_accessors.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_coefficient_accessors.cpp deleted file mode 100644 index c2da1715..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_coefficient_accessors.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include - -using namespace Eigen; - -int main() -{ - MatrixXd m(2,2); - m(0,0) = 3; - m(1,0) = 2.5; - m(0,1) = -1; - m(1,1) = m(1,0) + m(0,1); - std::cout << "Here is the matrix m:\n" << m << std::endl; - VectorXd v(2); - v(0) = 4; - v(1) = v(0) - 1; - std::cout << "Here is the vector v:\n" << v << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize.cpp deleted file mode 100644 index 0392c3aa..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include -#include - -using namespace Eigen; - -int main() -{ - MatrixXd m(2,5); - m.resize(4,3); - std::cout << "The matrix m is of size " - << m.rows() << "x" << m.cols() << std::endl; - std::cout << "It has " << m.size() << " coefficients" << std::endl; - VectorXd v(2); - v.resize(5); - std::cout << "The vector v is of size " << v.size() << std::endl; - std::cout << "As a matrix, v is of size " - << v.rows() << "x" << v.cols() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize_fixed_size.cpp b/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize_fixed_size.cpp deleted file mode 100644 index dcbdfa78..00000000 --- a/testbed/nanogui/ext/eigen/doc/examples/tut_matrix_resize_fixed_size.cpp +++ /dev/null @@ -1,12 +0,0 @@ -#include -#include - -using namespace Eigen; - -int main() -{ - Matrix4d m; - m.resize(4,4); // no operation - std::cout << "The matrix m is of size " - << m.rows() << "x" << m.cols() << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/ftv2node.png b/testbed/nanogui/ext/eigen/doc/ftv2node.png deleted file mode 100644 index 63c605bb4c3d941c921a4b6cfa74951e946bcb48..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 86 zcmeAS@N?(olHy`uVBq!ia0vp^0zfRr!3HExu9B$%QnH>djv*C{Z|`mdau^P8_z}#X h?B8GEpdi4(BFDx$je&7RrDQEg&ePS;Wt~$(69Dh@6T1Ka diff --git a/testbed/nanogui/ext/eigen/doc/ftv2pnode.png b/testbed/nanogui/ext/eigen/doc/ftv2pnode.png deleted file mode 100644 index c6ee22f937a07d1dbfc27c669d11f8ed13e2f152..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 229 zcmV^P)R?RzRoKvklcaQ%HF6%rK2&ZgO(-ihJ_C zzrKgp4jgO( fd_(yg|3PpEQb#9`a?Pz_00000NkvXXu0mjftR`5K diff --git a/testbed/nanogui/ext/eigen/doc/snippets/.krazy b/testbed/nanogui/ext/eigen/doc/snippets/.krazy deleted file mode 100644 index 00b99405..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/.krazy +++ /dev/null @@ -1,2 +0,0 @@ -EXCLUDE copyright -EXCLUDE license diff --git a/testbed/nanogui/ext/eigen/doc/snippets/AngleAxis_mimic_euler.cpp b/testbed/nanogui/ext/eigen/doc/snippets/AngleAxis_mimic_euler.cpp deleted file mode 100644 index 456de7f7..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/AngleAxis_mimic_euler.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3f m; -m = AngleAxisf(0.25*M_PI, Vector3f::UnitX()) - * AngleAxisf(0.5*M_PI, Vector3f::UnitY()) - * AngleAxisf(0.33*M_PI, Vector3f::UnitZ()); -cout << m << endl << "is unitary: " << m.isUnitary() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_simple.cpp b/testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_simple.cpp deleted file mode 100644 index 5520f4f1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_simple.cpp +++ /dev/null @@ -1,11 +0,0 @@ - int n = 10000; - VectorXd x(n), b(n); - SparseMatrix A(n,n); - /* ... fill A and b ... */ - BiCGSTAB > solver; - solver.compute(A); - x = solver.solve(b); - std::cout << "#iterations: " << solver.iterations() << std::endl; - std::cout << "estimated error: " << solver.error() << std::endl; - /* ... update b ... */ - x = solver.solve(b); // solve again \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_step_by_step.cpp b/testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_step_by_step.cpp deleted file mode 100644 index 06147bb8..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/BiCGSTAB_step_by_step.cpp +++ /dev/null @@ -1,14 +0,0 @@ - int n = 10000; - VectorXd x(n), b(n); - SparseMatrix A(n,n); - /* ... fill A and b ... */ - BiCGSTAB > solver(A); - // start from a random solution - x = VectorXd::Random(n); - solver.setMaxIterations(1); - int i = 0; - do { - x = solver.solveWithGuess(b,x); - std::cout << i << " : " << solver.error() << std::endl; - ++i; - } while (solver.info()!=Success && i<100); \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/CMakeLists.txt b/testbed/nanogui/ext/eigen/doc/snippets/CMakeLists.txt deleted file mode 100644 index 1baf32fb..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -file(GLOB snippets_SRCS "*.cpp") - -add_custom_target(all_snippets) - -foreach(snippet_src ${snippets_SRCS}) - get_filename_component(snippet ${snippet_src} NAME_WE) - set(compile_snippet_target compile_${snippet}) - set(compile_snippet_src ${compile_snippet_target}.cpp) - file(READ ${snippet_src} snippet_source_code) - configure_file(${CMAKE_CURRENT_SOURCE_DIR}/compile_snippet.cpp.in - ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src}) - add_executable(${compile_snippet_target} - ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src}) - if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) - target_link_libraries(${compile_snippet_target} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) - endif() - add_custom_command( - TARGET ${compile_snippet_target} - POST_BUILD - COMMAND ${compile_snippet_target} - ARGS >${CMAKE_CURRENT_BINARY_DIR}/${snippet}.out - ) - add_dependencies(all_snippets ${compile_snippet_target}) - set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src} - PROPERTIES OBJECT_DEPENDS ${snippet_src}) -endforeach(snippet_src) diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ColPivHouseholderQR_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ColPivHouseholderQR_solve.cpp deleted file mode 100644 index b7b204a1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ColPivHouseholderQR_solve.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix3f m = Matrix3f::Random(); -Matrix3f y = Matrix3f::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the matrix y:" << endl << y << endl; -Matrix3f x; -x = m.colPivHouseholderQr().solve(y); -assert(y.isApprox(m*x)); -cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_compute.cpp deleted file mode 100644 index 11d6bd39..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_compute.cpp +++ /dev/null @@ -1,16 +0,0 @@ -MatrixXcf A = MatrixXcf::Random(4,4); -cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; - -ComplexEigenSolver ces; -ces.compute(A); -cout << "The eigenvalues of A are:" << endl << ces.eigenvalues() << endl; -cout << "The matrix of eigenvectors, V, is:" << endl << ces.eigenvectors() << endl << endl; - -complex lambda = ces.eigenvalues()[0]; -cout << "Consider the first eigenvalue, lambda = " << lambda << endl; -VectorXcf v = ces.eigenvectors().col(0); -cout << "If v is the corresponding eigenvector, then lambda * v = " << endl << lambda * v << endl; -cout << "... and A * v = " << endl << A * v << endl << endl; - -cout << "Finally, V * D * V^(-1) = " << endl - << ces.eigenvectors() * ces.eigenvalues().asDiagonal() * ces.eigenvectors().inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvalues.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvalues.cpp deleted file mode 100644 index 5509bd89..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvalues.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXcf ones = MatrixXcf::Ones(3,3); -ComplexEigenSolver ces(ones, /* computeEigenvectors = */ false); -cout << "The eigenvalues of the 3x3 matrix of ones are:" - << endl << ces.eigenvalues() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvectors.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvectors.cpp deleted file mode 100644 index bb1c2ccf..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ComplexEigenSolver_eigenvectors.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXcf ones = MatrixXcf::Ones(3,3); -ComplexEigenSolver ces(ones); -cout << "The first eigenvector of the 3x3 matrix of ones is:" - << endl << ces.eigenvectors().col(1) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_compute.cpp deleted file mode 100644 index 3a517010..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_compute.cpp +++ /dev/null @@ -1,6 +0,0 @@ -MatrixXcf A = MatrixXcf::Random(4,4); -ComplexSchur schur(4); -schur.compute(A); -cout << "The matrix T in the decomposition of A is:" << endl << schur.matrixT() << endl; -schur.compute(A.inverse()); -cout << "The matrix T in the decomposition of A^(-1) is:" << endl << schur.matrixT() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixT.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixT.cpp deleted file mode 100644 index 8380571a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixT.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXcf A = MatrixXcf::Random(4,4); -cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; -ComplexSchur schurOfA(A, false); // false means do not compute U -cout << "The triangular matrix T is:" << endl << schurOfA.matrixT() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixU.cpp b/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixU.cpp deleted file mode 100644 index ba3d9c22..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/ComplexSchur_matrixU.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXcf A = MatrixXcf::Random(4,4); -cout << "Here is a random 4x4 matrix, A:" << endl << A << endl << endl; -ComplexSchur schurOfA(A); -cout << "The unitary matrix U is:" << endl << schurOfA.matrixU() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs.cpp deleted file mode 100644 index 0aeec3a4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(1,-2,-3); -cout << v.abs() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs2.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs2.cpp deleted file mode 100644 index 2c4f9b34..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_abs2.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(1,-2,-3); -cout << v.abs2() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_acos.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_acos.cpp deleted file mode 100644 index 34432cba..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_acos.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(0, sqrt(2.)/2, 1); -cout << v.acos() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_arg.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_arg.cpp deleted file mode 100644 index 3f45133b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_arg.cpp +++ /dev/null @@ -1,3 +0,0 @@ -ArrayXcf v = ArrayXcf::Random(3); -cout << v << endl << endl; -cout << arg(v) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_array_power_array.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_array_power_array.cpp deleted file mode 100644 index 432a76ee..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_array_power_array.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Array x(8,25,3), - e(1./3.,0.5,2.); -cout << "[" << x << "]^[" << e << "] = " << x.pow(e) << endl; // using ArrayBase::pow -cout << "[" << x << "]^[" << e << "] = " << pow(x,e) << endl; // using Eigen::pow diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_asin.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_asin.cpp deleted file mode 100644 index 8dad838f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_asin.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(0, sqrt(2.)/2, 1); -cout << v.asin() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_atan.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_atan.cpp deleted file mode 100644 index 44684472..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_atan.cpp +++ /dev/null @@ -1,2 +0,0 @@ -ArrayXd v = ArrayXd::LinSpaced(5,0,1); -cout << v.atan() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_and.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_and.cpp deleted file mode 100644 index df6b60d9..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_boolean_and.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(-1,2,1), w(-3,2,3); -cout << ((vw) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_greater_equal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_greater_equal.cpp deleted file mode 100644 index 6a08f894..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_greater_equal.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(1,2,3), w(3,2,1); -cout << (v>=w) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_inverse.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_inverse.cpp deleted file mode 100644 index 3967a7ec..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_inverse.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(2,3,4); -cout << v.inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isFinite.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isFinite.cpp deleted file mode 100644 index 1da55fd1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isFinite.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Array3d v(1,2,3); -v(1) *= 0.0/0.0; -v(2) /= 0.0; -cout << v << endl << endl; -cout << isfinite(v) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isInf.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isInf.cpp deleted file mode 100644 index be793081..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isInf.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Array3d v(1,2,3); -v(1) *= 0.0/0.0; -v(2) /= 0.0; -cout << v << endl << endl; -cout << isinf(v) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isNaN.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isNaN.cpp deleted file mode 100644 index 7b2a9308..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_isNaN.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Array3d v(1,2,3); -v(1) *= 0.0/0.0; -v(2) /= 0.0; -cout << v << endl << endl; -cout << isnan(v) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_less.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_less.cpp deleted file mode 100644 index cafd3b6e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_less.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(1,2,3), w(3,2,1); -cout << (v e(2,-3,1./3.); -cout << "10^[" << e << "] = " << pow(10,e) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sign.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sign.cpp deleted file mode 100644 index 49920e4f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sign.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(-3,5,0); -cout << v.sign() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sin.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sin.cpp deleted file mode 100644 index 46fa908c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sin.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(M_PI, M_PI/2, M_PI/3); -cout << v.sin() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sinh.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sinh.cpp deleted file mode 100644 index fac9b19a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sinh.cpp +++ /dev/null @@ -1,2 +0,0 @@ -ArrayXd v = ArrayXd::LinSpaced(5,0,1); -cout << sinh(v) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_slash_equal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_slash_equal.cpp deleted file mode 100644 index 2efd32d8..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_slash_equal.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Array3d v(3,2,4), w(5,4,2); -v /= w; -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sqrt.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sqrt.cpp deleted file mode 100644 index 97bafe8b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_sqrt.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(1,2,4); -cout << v.sqrt() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_square.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_square.cpp deleted file mode 100644 index f704c5e0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_square.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(2,3,4); -cout << v.square() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_tan.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_tan.cpp deleted file mode 100644 index b758ef04..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_tan.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Array3d v(M_PI, M_PI/2, M_PI/3); -cout << v.tan() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_tanh.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_tanh.cpp deleted file mode 100644 index 30cd0450..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_tanh.cpp +++ /dev/null @@ -1,2 +0,0 @@ -ArrayXd v = ArrayXd::LinSpaced(5,0,1); -cout << tanh(v) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_times_equal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Cwise_times_equal.cpp deleted file mode 100644 index 147556c7..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Cwise_times_equal.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Array3d v(1,2,3), w(2,3,0); -v *= w; -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced.cpp deleted file mode 100644 index 8e54b17f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced.cpp +++ /dev/null @@ -1,2 +0,0 @@ -cout << VectorXi::LinSpaced(4,7,10).transpose() << endl; -cout << VectorXd::LinSpaced(5,0.0,1.0).transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpacedInt.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpacedInt.cpp deleted file mode 100644 index 0d7ae068..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpacedInt.cpp +++ /dev/null @@ -1,8 +0,0 @@ -cout << "Even spacing inputs:" << endl; -cout << VectorXi::LinSpaced(8,1,4).transpose() << endl; -cout << VectorXi::LinSpaced(8,1,8).transpose() << endl; -cout << VectorXi::LinSpaced(8,1,15).transpose() << endl; -cout << "Uneven spacing inputs:" << endl; -cout << VectorXi::LinSpaced(8,1,7).transpose() << endl; -cout << VectorXi::LinSpaced(8,1,9).transpose() << endl; -cout << VectorXi::LinSpaced(8,1,16).transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced_seq.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced_seq.cpp deleted file mode 100644 index f55c5085..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_LinSpaced_seq.cpp +++ /dev/null @@ -1,2 +0,0 @@ -cout << VectorXi::LinSpaced(Sequential,4,7,10).transpose() << endl; -cout << VectorXd::LinSpaced(Sequential,5,0.0,1.0).transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_setLinSpaced.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_setLinSpaced.cpp deleted file mode 100644 index 46054f23..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DenseBase_setLinSpaced.cpp +++ /dev/null @@ -1,3 +0,0 @@ -VectorXf v; -v.setLinSpaced(5,0.5f,1.5f); -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_hnormalized.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_hnormalized.cpp deleted file mode 100644 index 3410790a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_hnormalized.cpp +++ /dev/null @@ -1,7 +0,0 @@ -typedef Matrix Matrix4Xd; -Matrix4Xd M = Matrix4Xd::Random(4,5); -Projective3d P(Matrix4d::Random()); -cout << "The matrix M is:" << endl << M << endl << endl; -cout << "M.colwise().hnormalized():" << endl << M.colwise().hnormalized() << endl << endl; -cout << "P*M:" << endl << P*M << endl << endl; -cout << "(P*M).colwise().hnormalized():" << endl << (P*M).colwise().hnormalized() << endl << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate.cpp deleted file mode 100644 index d92d4a35..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXi m = MatrixXi::Random(2,3); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "m.colwise().replicate<3>() = ..." << endl; -cout << m.colwise().replicate<3>() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate_int.cpp deleted file mode 100644 index f9b1b535..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/DirectionWise_replicate_int.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Vector3i v = Vector3i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "v.rowwise().replicate(5) = ..." << endl; -cout << v.rowwise().replicate(5) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp b/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp deleted file mode 100644 index c1d9fa87..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp +++ /dev/null @@ -1,16 +0,0 @@ -MatrixXd A = MatrixXd::Random(6,6); -cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; - -EigenSolver es(A); -cout << "The eigenvalues of A are:" << endl << es.eigenvalues() << endl; -cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl; - -complex lambda = es.eigenvalues()[0]; -cout << "Consider the first eigenvalue, lambda = " << lambda << endl; -VectorXcd v = es.eigenvectors().col(0); -cout << "If v is the corresponding eigenvector, then lambda * v = " << endl << lambda * v << endl; -cout << "... and A * v = " << endl << A.cast >() * v << endl << endl; - -MatrixXcd D = es.eigenvalues().asDiagonal(); -MatrixXcd V = es.eigenvectors(); -cout << "Finally, V * D * V^(-1) = " << endl << V * D * V.inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_compute.cpp deleted file mode 100644 index a5c96e9b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_compute.cpp +++ /dev/null @@ -1,6 +0,0 @@ -EigenSolver es; -MatrixXf A = MatrixXf::Random(4,4); -es.compute(A, /* computeEigenvectors = */ false); -cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; -es.compute(A + MatrixXf::Identity(4,4), false); // re-use es to compute eigenvalues of A+I -cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvalues.cpp b/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvalues.cpp deleted file mode 100644 index ed28869a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvalues.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -EigenSolver es(ones, false); -cout << "The eigenvalues of the 3x3 matrix of ones are:" - << endl << es.eigenvalues() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvectors.cpp b/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvectors.cpp deleted file mode 100644 index 8355f76c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_eigenvectors.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -EigenSolver es(ones); -cout << "The first eigenvector of the 3x3 matrix of ones is:" - << endl << es.eigenvectors().col(0) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_pseudoEigenvectors.cpp b/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_pseudoEigenvectors.cpp deleted file mode 100644 index 85e2569d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/EigenSolver_pseudoEigenvectors.cpp +++ /dev/null @@ -1,9 +0,0 @@ -MatrixXd A = MatrixXd::Random(6,6); -cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; - -EigenSolver es(A); -MatrixXd D = es.pseudoEigenvalueMatrix(); -MatrixXd V = es.pseudoEigenvectors(); -cout << "The pseudo-eigenvalue matrix D is:" << endl << D << endl; -cout << "The pseudo-eigenvector matrix V is:" << endl << V << endl; -cout << "Finally, V * D * V^(-1) = " << endl << V * D * V.inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/FullPivHouseholderQR_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/FullPivHouseholderQR_solve.cpp deleted file mode 100644 index 23bc0749..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/FullPivHouseholderQR_solve.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix3f m = Matrix3f::Random(); -Matrix3f y = Matrix3f::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the matrix y:" << endl << y << endl; -Matrix3f x; -x = m.fullPivHouseholderQr().solve(y); -assert(y.isApprox(m*x)); -cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_image.cpp b/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_image.cpp deleted file mode 100644 index 817bc1e2..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_image.cpp +++ /dev/null @@ -1,9 +0,0 @@ -Matrix3d m; -m << 1,1,0, - 1,3,2, - 0,1,1; -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Notice that the middle column is the sum of the two others, so the " - << "columns are linearly dependent." << endl; -cout << "Here is a matrix whose columns have the same span but are linearly independent:" - << endl << m.fullPivLu().image(m) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_kernel.cpp b/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_kernel.cpp deleted file mode 100644 index 7086e01e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_kernel.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXf m = MatrixXf::Random(3,5); -cout << "Here is the matrix m:" << endl << m << endl; -MatrixXf ker = m.fullPivLu().kernel(); -cout << "Here is a matrix whose columns form a basis of the kernel of m:" - << endl << ker << endl; -cout << "By definition of the kernel, m*ker is zero:" - << endl << m*ker << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_solve.cpp deleted file mode 100644 index c1f88235..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/FullPivLU_solve.cpp +++ /dev/null @@ -1,11 +0,0 @@ -Matrix m = Matrix::Random(); -Matrix2f y = Matrix2f::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the matrix y:" << endl << y << endl; -Matrix x = m.fullPivLu().solve(y); -if((m*x).isApprox(y)) -{ - cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; -} -else - cout << "The equation mx=y does not have any solution." << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/GeneralizedEigenSolver.cpp b/testbed/nanogui/ext/eigen/doc/snippets/GeneralizedEigenSolver.cpp deleted file mode 100644 index 2acda45f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/GeneralizedEigenSolver.cpp +++ /dev/null @@ -1,7 +0,0 @@ -GeneralizedEigenSolver ges; -MatrixXf A = MatrixXf::Random(4,4); -MatrixXf B = MatrixXf::Random(4,4); -ges.compute(A, B); -cout << "The (complex) numerators of the generalzied eigenvalues are: " << ges.alphas().transpose() << endl; -cout << "The (real) denominatore of the generalzied eigenvalues are: " << ges.betas().transpose() << endl; -cout << "The (complex) generalzied eigenvalues are (alphas./beta): " << ges.eigenvalues().transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_compute.cpp deleted file mode 100644 index 50e37833..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_compute.cpp +++ /dev/null @@ -1,6 +0,0 @@ -MatrixXcf A = MatrixXcf::Random(4,4); -HessenbergDecomposition hd(4); -hd.compute(A); -cout << "The matrix H in the decomposition of A is:" << endl << hd.matrixH() << endl; -hd.compute(2*A); // re-use hd to compute and store decomposition of 2A -cout << "The matrix H in the decomposition of 2A is:" << endl << hd.matrixH() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_matrixH.cpp b/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_matrixH.cpp deleted file mode 100644 index af013666..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_matrixH.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix4f A = MatrixXf::Random(4,4); -cout << "Here is a random 4x4 matrix:" << endl << A << endl; -HessenbergDecomposition hessOfA(A); -MatrixXf H = hessOfA.matrixH(); -cout << "The Hessenberg matrix H is:" << endl << H << endl; -MatrixXf Q = hessOfA.matrixQ(); -cout << "The orthogonal matrix Q is:" << endl << Q << endl; -cout << "Q H Q^T is:" << endl << Q * H * Q.transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_packedMatrix.cpp b/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_packedMatrix.cpp deleted file mode 100644 index 4fa5957e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/HessenbergDecomposition_packedMatrix.cpp +++ /dev/null @@ -1,9 +0,0 @@ -Matrix4d A = Matrix4d::Random(4,4); -cout << "Here is a random 4x4 matrix:" << endl << A << endl; -HessenbergDecomposition hessOfA(A); -Matrix4d pm = hessOfA.packedMatrix(); -cout << "The packed matrix M is:" << endl << pm << endl; -cout << "The upper Hessenberg part corresponds to the matrix H, which is:" - << endl << hessOfA.matrixH() << endl; -Vector3d hc = hessOfA.householderCoefficients(); -cout << "The vector of Householder coefficients is:" << endl << hc << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_householderQ.cpp b/testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_householderQ.cpp deleted file mode 100644 index e859ce55..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_householderQ.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXf A(MatrixXf::Random(5,3)), thinQ(MatrixXf::Identity(5,3)), Q; -A.setRandom(); -HouseholderQR qr(A); -Q = qr.householderQ(); -thinQ = qr.householderQ() * thinQ; -std::cout << "The complete unitary matrix Q is:\n" << Q << "\n\n"; -std::cout << "The thin matrix Q is:\n" << thinQ << "\n\n"; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_solve.cpp deleted file mode 100644 index 8cce6ce6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/HouseholderQR_solve.cpp +++ /dev/null @@ -1,9 +0,0 @@ -typedef Matrix Matrix3x3; -Matrix3x3 m = Matrix3x3::Random(); -Matrix3f y = Matrix3f::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the matrix y:" << endl << y << endl; -Matrix3f x; -x = m.householderQr().solve(y); -assert(y.isApprox(m*x)); -cout << "Here is a solution x to the equation mx=y:" << endl << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/HouseholderSequence_HouseholderSequence.cpp b/testbed/nanogui/ext/eigen/doc/snippets/HouseholderSequence_HouseholderSequence.cpp deleted file mode 100644 index 2632b83b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/HouseholderSequence_HouseholderSequence.cpp +++ /dev/null @@ -1,31 +0,0 @@ -Matrix3d v = Matrix3d::Random(); -cout << "The matrix v is:" << endl; -cout << v << endl; - -Vector3d v0(1, v(1,0), v(2,0)); -cout << "The first Householder vector is: v_0 = " << v0.transpose() << endl; -Vector3d v1(0, 1, v(2,1)); -cout << "The second Householder vector is: v_1 = " << v1.transpose() << endl; -Vector3d v2(0, 0, 1); -cout << "The third Householder vector is: v_2 = " << v2.transpose() << endl; - -Vector3d h = Vector3d::Random(); -cout << "The Householder coefficients are: h = " << h.transpose() << endl; - -Matrix3d H0 = Matrix3d::Identity() - h(0) * v0 * v0.adjoint(); -cout << "The first Householder reflection is represented by H_0 = " << endl; -cout << H0 << endl; -Matrix3d H1 = Matrix3d::Identity() - h(1) * v1 * v1.adjoint(); -cout << "The second Householder reflection is represented by H_1 = " << endl; -cout << H1 << endl; -Matrix3d H2 = Matrix3d::Identity() - h(2) * v2 * v2.adjoint(); -cout << "The third Householder reflection is represented by H_2 = " << endl; -cout << H2 << endl; -cout << "Their product is H_0 H_1 H_2 = " << endl; -cout << H0 * H1 * H2 << endl; - -HouseholderSequence hhSeq(v, h); -Matrix3d hhSeqAsMatrix(hhSeq); -cout << "If we construct a HouseholderSequence from v and h" << endl; -cout << "and convert it to a matrix, we get:" << endl; -cout << hhSeqAsMatrix << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/IOFormat.cpp b/testbed/nanogui/ext/eigen/doc/snippets/IOFormat.cpp deleted file mode 100644 index 735f5dd8..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/IOFormat.cpp +++ /dev/null @@ -1,14 +0,0 @@ -std::string sep = "\n----------------------------------------\n"; -Matrix3d m1; -m1 << 1.111111, 2, 3.33333, 4, 5, 6, 7, 8.888888, 9; - -IOFormat CommaInitFmt(StreamPrecision, DontAlignCols, ", ", ", ", "", "", " << ", ";"); -IOFormat CleanFmt(4, 0, ", ", "\n", "[", "]"); -IOFormat OctaveFmt(StreamPrecision, 0, ", ", ";\n", "", "", "[", "]"); -IOFormat HeavyFmt(FullPrecision, 0, ", ", ";\n", "[", "]", "[", "]"); - -std::cout << m1 << sep; -std::cout << m1.format(CommaInitFmt) << sep; -std::cout << m1.format(CleanFmt) << sep; -std::cout << m1.format(OctaveFmt) << sep; -std::cout << m1.format(HeavyFmt) << sep; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/JacobiSVD_basic.cpp b/testbed/nanogui/ext/eigen/doc/snippets/JacobiSVD_basic.cpp deleted file mode 100644 index ab24b9bc..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/JacobiSVD_basic.cpp +++ /dev/null @@ -1,9 +0,0 @@ -MatrixXf m = MatrixXf::Random(3,2); -cout << "Here is the matrix m:" << endl << m << endl; -JacobiSVD svd(m, ComputeThinU | ComputeThinV); -cout << "Its singular values are:" << endl << svd.singularValues() << endl; -cout << "Its left singular vectors are the columns of the thin U matrix:" << endl << svd.matrixU() << endl; -cout << "Its right singular vectors are the columns of the thin V matrix:" << endl << svd.matrixV() << endl; -Vector3f rhs(1, 0, 0); -cout << "Now consider this rhs vector:" << endl << rhs << endl; -cout << "A least-squares solution of m*x = rhs is:" << endl << svd.solve(rhs) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeGivens.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeGivens.cpp deleted file mode 100644 index 4b733c30..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeGivens.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Vector2f v = Vector2f::Random(); -JacobiRotation G; -G.makeGivens(v.x(), v.y()); -cout << "Here is the vector v:" << endl << v << endl; -v.applyOnTheLeft(0, 1, G.adjoint()); -cout << "Here is the vector J' * v:" << endl << v << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeJacobi.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeJacobi.cpp deleted file mode 100644 index 0cc331d9..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Jacobi_makeJacobi.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix2f m = Matrix2f::Random(); -m = (m + m.adjoint()).eval(); -JacobiRotation J; -J.makeJacobi(m, 0, 1); -cout << "Here is the matrix m:" << endl << m << endl; -m.applyOnTheLeft(0, 1, J.adjoint()); -m.applyOnTheRight(0, 1, J); -cout << "Here is the matrix J' * m * J:" << endl << m << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/LLT_example.cpp b/testbed/nanogui/ext/eigen/doc/snippets/LLT_example.cpp deleted file mode 100644 index 46fb4070..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/LLT_example.cpp +++ /dev/null @@ -1,12 +0,0 @@ -MatrixXd A(3,3); -A << 4,-1,2, -1,6,0, 2,0,5; -cout << "The matrix A is" << endl << A << endl; - -LLT lltOfA(A); // compute the Cholesky decomposition of A -MatrixXd L = lltOfA.matrixL(); // retrieve factor L in the decomposition -// The previous two lines can also be written as "L = A.llt().matrixL()" - -cout << "The Cholesky factor L is" << endl << L << endl; -cout << "To check this, let us compute L * L.transpose()" << endl; -cout << L * L.transpose() << endl; -cout << "This should equal the matrix A" << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/LLT_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/LLT_solve.cpp deleted file mode 100644 index 7095d2cc..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/LLT_solve.cpp +++ /dev/null @@ -1,8 +0,0 @@ -typedef Matrix DataMatrix; -// let's generate some samples on the 3D plane of equation z = 2x+3y (with some noise) -DataMatrix samples = DataMatrix::Random(12,2); -VectorXf elevations = 2*samples.col(0) + 3*samples.col(1) + VectorXf::Random(12)*0.1; -// and let's solve samples * [x y]^T = elevations in least square sense: -Matrix xy - = (samples.adjoint() * samples).llt().solve((samples.adjoint()*elevations)); -cout << xy << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresNormalEquations.cpp b/testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresNormalEquations.cpp deleted file mode 100644 index 997cf171..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresNormalEquations.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXf A = MatrixXf::Random(3, 2); -VectorXf b = VectorXf::Random(3); -cout << "The solution using normal equations is:\n" - << (A.transpose() * A).ldlt().solve(A.transpose() * b) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresQR.cpp b/testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresQR.cpp deleted file mode 100644 index 6c970454..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/LeastSquaresQR.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXf A = MatrixXf::Random(3, 2); -VectorXf b = VectorXf::Random(3); -cout << "The solution using the QR decomposition is:\n" - << A.colPivHouseholderQr().solve(b) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Map_general_stride.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Map_general_stride.cpp deleted file mode 100644 index 0657e7f8..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Map_general_stride.cpp +++ /dev/null @@ -1,5 +0,0 @@ -int array[24]; -for(int i = 0; i < 24; ++i) array[i] = i; -cout << Map > - (array, 3, 3, Stride(8, 2)) - << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Map_inner_stride.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Map_inner_stride.cpp deleted file mode 100644 index d95ae9b3..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Map_inner_stride.cpp +++ /dev/null @@ -1,5 +0,0 @@ -int array[12]; -for(int i = 0; i < 12; ++i) array[i] = i; -cout << Map > - (array, 6) // the inner stride has already been passed as template parameter - << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Map_outer_stride.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Map_outer_stride.cpp deleted file mode 100644 index 2f6f052c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Map_outer_stride.cpp +++ /dev/null @@ -1,3 +0,0 @@ -int array[12]; -for(int i = 0; i < 12; ++i) array[i] = i; -cout << Map >(array, 3, 3, OuterStride<>(4)) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Map_placement_new.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Map_placement_new.cpp deleted file mode 100644 index 2e40eca3..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Map_placement_new.cpp +++ /dev/null @@ -1,5 +0,0 @@ -int data[] = {1,2,3,4,5,6,7,8,9}; -Map v(data,4); -cout << "The mapped vector v is: " << v << "\n"; -new (&v) Map(data+4,5); -cout << "Now v is: " << v << "\n"; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Map_simple.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Map_simple.cpp deleted file mode 100644 index 423bb52a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Map_simple.cpp +++ /dev/null @@ -1,3 +0,0 @@ -int array[9]; -for(int i = 0; i < 9; ++i) array[i] = i; -cout << Map(array) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_adjoint.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_adjoint.cpp deleted file mode 100644 index 4680d593..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_adjoint.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix2cf m = Matrix2cf::Random(); -cout << "Here is the 2x2 complex matrix m:" << endl << m << endl; -cout << "Here is the adjoint of m:" << endl << m.adjoint() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_all.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_all.cpp deleted file mode 100644 index 46f26f18..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_all.cpp +++ /dev/null @@ -1,7 +0,0 @@ -Vector3f boxMin(Vector3f::Zero()), boxMax(Vector3f::Ones()); -Vector3f p0 = Vector3f::Random(), p1 = Vector3f::Random().cwiseAbs(); -// let's check if p0 and p1 are inside the axis aligned box defined by the corners boxMin,boxMax: -cout << "Is (" << p0.transpose() << ") inside the box: " - << ((boxMin.array()p0.array()).all()) << endl; -cout << "Is (" << p1.transpose() << ") inside the box: " - << ((boxMin.array()p1.array()).all()) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheLeft.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheLeft.cpp deleted file mode 100644 index 6398c873..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheLeft.cpp +++ /dev/null @@ -1,7 +0,0 @@ -Matrix3f A = Matrix3f::Random(3,3), B; -B << 0,1,0, - 0,0,1, - 1,0,0; -cout << "At start, A = " << endl << A << endl; -A.applyOnTheLeft(B); -cout << "After applyOnTheLeft, A = " << endl << A << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheRight.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheRight.cpp deleted file mode 100644 index e4b71b2d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_applyOnTheRight.cpp +++ /dev/null @@ -1,9 +0,0 @@ -Matrix3f A = Matrix3f::Random(3,3), B; -B << 0,1,0, - 0,0,1, - 1,0,0; -cout << "At start, A = " << endl << A << endl; -A *= B; -cout << "After A *= B, A = " << endl << A << endl; -A.applyOnTheRight(B); // equivalent to A *= B -cout << "After applyOnTheRight, A = " << endl << A << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array.cpp deleted file mode 100644 index f215086d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Vector3d v(1,2,3); -v.array() += 3; -v.array() -= 2; -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array_const.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array_const.cpp deleted file mode 100644 index cd3b26a7..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_array_const.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Vector3d v(-1,2,-3); -cout << "the absolute values:" << endl << v.array().abs() << endl; -cout << "the absolute values plus one:" << endl << v.array().abs()+1 << endl; -cout << "sum of the squares: " << v.array().square().sum() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_asDiagonal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_asDiagonal.cpp deleted file mode 100644 index b01082db..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_asDiagonal.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << Matrix3i(Vector3i(2,5,6).asDiagonal()) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int.cpp deleted file mode 100644 index f99b6d4c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.block<2,2>(1,1):" << endl << m.block<2,2>(1,1) << endl; -m.block<2,2>(1,1).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int_int_int.cpp deleted file mode 100644 index 7238cbbe..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_block_int_int_int_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.block(1, 1, 2, 2):" << endl << m.block(1, 1, 2, 2) << endl; -m.block(1, 1, 2, 2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp deleted file mode 100644 index ebae95e1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.bottomLeftCorner(2, 2):" << endl; -cout << m.bottomLeftCorner(2, 2) << endl; -m.bottomLeftCorner(2, 2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp deleted file mode 100644 index bf05093a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.bottomRightCorner(2, 2):" << endl; -cout << m.bottomRightCorner(2, 2) << endl; -m.bottomRightCorner(2, 2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRows_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRows_int.cpp deleted file mode 100644 index 47ca92ec..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_bottomRows_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.bottomRows(2):" << endl; -cout << a.bottomRows(2) << endl; -a.bottomRows(2).setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cast.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cast.cpp deleted file mode 100644 index 016880b4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cast.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix2d md = Matrix2d::Identity() * 0.45; -Matrix2f mf = Matrix2f::Identity(); -cout << md + mf.cast() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_col.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_col.cpp deleted file mode 100644 index 87c91b12..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_col.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Identity(); -m.col(1) = Vector3d(4,5,6); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_colwise.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_colwise.cpp deleted file mode 100644 index a048beff..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_colwise.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the sum of each column:" << endl << m.colwise().sum() << endl; -cout << "Here is the maximum absolute value of each column:" - << endl << m.cwiseAbs().colwise().maxCoeff() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseAndDetWithCheck.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseAndDetWithCheck.cpp deleted file mode 100644 index a7b084fd..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseAndDetWithCheck.cpp +++ /dev/null @@ -1,13 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -Matrix3d inverse; -bool invertible; -double determinant; -m.computeInverseAndDetWithCheck(inverse,determinant,invertible); -cout << "Its determinant is " << determinant << endl; -if(invertible) { - cout << "It is invertible, and its inverse is:" << endl << inverse << endl; -} -else { - cout << "It is not invertible." << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseWithCheck.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseWithCheck.cpp deleted file mode 100644 index 873a9f87..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_computeInverseWithCheck.cpp +++ /dev/null @@ -1,11 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -Matrix3d inverse; -bool invertible; -m.computeInverseWithCheck(inverse,invertible); -if(invertible) { - cout << "It is invertible, and its inverse is:" << endl << inverse << endl; -} -else { - cout << "It is not invertible." << endl; -} diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs.cpp deleted file mode 100644 index 28a31600..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd m(2,3); -m << 2, -4, 6, - -5, 1, 0; -cout << m.cwiseAbs() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs2.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs2.cpp deleted file mode 100644 index 889a2e2b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseAbs2.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd m(2,3); -m << 2, -4, 6, - -5, 1, 0; -cout << m.cwiseAbs2() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseEqual.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseEqual.cpp deleted file mode 100644 index eb3656f4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseEqual.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXi m(2,2); -m << 1, 0, - 1, 1; -cout << "Comparing m with identity matrix:" << endl; -cout << m.cwiseEqual(MatrixXi::Identity(2,2)) << endl; -int count = m.cwiseEqual(MatrixXi::Identity(2,2)).count(); -cout << "Number of coefficients that are equal: " << count << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseInverse.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseInverse.cpp deleted file mode 100644 index 23e08f7b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseInverse.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd m(2,3); -m << 2, 0.5, 1, - 3, 0.25, 1; -cout << m.cwiseInverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMax.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMax.cpp deleted file mode 100644 index 3c956818..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMax.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Vector3d v(2,3,4), w(4,2,3); -cout << v.cwiseMax(w) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMin.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMin.cpp deleted file mode 100644 index 82fc761e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseMin.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Vector3d v(2,3,4), w(4,2,3); -cout << v.cwiseMin(w) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseNotEqual.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseNotEqual.cpp deleted file mode 100644 index 6a2e4fb6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseNotEqual.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXi m(2,2); -m << 1, 0, - 1, 1; -cout << "Comparing m with identity matrix:" << endl; -cout << m.cwiseNotEqual(MatrixXi::Identity(2,2)) << endl; -int count = m.cwiseNotEqual(MatrixXi::Identity(2,2)).count(); -cout << "Number of coefficients that are not equal: " << count << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseProduct.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseProduct.cpp deleted file mode 100644 index 1db3a113..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseProduct.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Matrix3i a = Matrix3i::Random(), b = Matrix3i::Random(); -Matrix3i c = a.cwiseProduct(b); -cout << "a:\n" << a << "\nb:\n" << b << "\nc:\n" << c << endl; - diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseQuotient.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseQuotient.cpp deleted file mode 100644 index 96912120..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseQuotient.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Vector3d v(2,3,4), w(4,2,3); -cout << v.cwiseQuotient(w) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSign.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSign.cpp deleted file mode 100644 index efd71795..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSign.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd m(2,3); -m << 2, -4, 6, - -5, 1, 0; -cout << m.cwiseSign() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSqrt.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSqrt.cpp deleted file mode 100644 index 4bfd75d5..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_cwiseSqrt.cpp +++ /dev/null @@ -1,2 +0,0 @@ -Vector3d v(1,2,4); -cout << v.cwiseSqrt() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal.cpp deleted file mode 100644 index cd63413f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Matrix3i m = Matrix3i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here are the coefficients on the main diagonal of m:" << endl - << m.diagonal() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_int.cpp deleted file mode 100644 index 7b66abf6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here are the coefficients on the 1st super-diagonal and 2nd sub-diagonal of m:" << endl - << m.diagonal(1).transpose() << endl - << m.diagonal(-2).transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_template_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_template_int.cpp deleted file mode 100644 index 0e73d1c1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_diagonal_template_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here are the coefficients on the 1st super-diagonal and 2nd sub-diagonal of m:" << endl - << m.diagonal<1>().transpose() << endl - << m.diagonal<-2>().transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eigenvalues.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eigenvalues.cpp deleted file mode 100644 index 039f8870..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eigenvalues.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -VectorXcd eivals = ones.eigenvalues(); -cout << "The eigenvalues of the 3x3 matrix of ones are:" << endl << eivals << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_end_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_end_int.cpp deleted file mode 100644 index 03c54a93..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_end_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -RowVector4i v = RowVector4i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "Here is v.tail(2):" << endl << v.tail(2) << endl; -v.tail(2).setZero(); -cout << "Now the vector v is:" << endl << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eval.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eval.cpp deleted file mode 100644 index 1df3aa01..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_eval.cpp +++ /dev/null @@ -1,12 +0,0 @@ -Matrix2f M = Matrix2f::Random(); -Matrix2f m; -m = M; -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Now we want to copy a column into a row." << endl; -cout << "If we do m.col(1) = m.row(0), then m becomes:" << endl; -m.col(1) = m.row(0); -cout << m << endl << "which is wrong!" << endl; -cout << "Now let us instead do m.col(1) = m.row(0).eval(). Then m becomes" << endl; -m = M; -m.col(1) = m.row(0).eval(); -cout << m << endl << "which is right." << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_fixedBlock_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_fixedBlock_int_int.cpp deleted file mode 100644 index 32011274..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_fixedBlock_int_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix4d m = Vector4d(1,2,3,4).asDiagonal(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.fixed<2, 2>(2, 2):" << endl << m.block<2, 2>(2, 2) << endl; -m.block<2, 2>(2, 0) = m.block<2, 2>(2, 2); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_hnormalized.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_hnormalized.cpp deleted file mode 100644 index 652cd77c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_hnormalized.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Vector4d v = Vector4d::Random(); -Projective3d P(Matrix4d::Random()); -cout << "v = " << v.transpose() << "]^T" << endl; -cout << "v.hnormalized() = " << v.hnormalized().transpose() << "]^T" << endl; -cout << "P*v = " << (P*v).transpose() << "]^T" << endl; -cout << "(P*v).hnormalized() = " << (P*v).hnormalized().transpose() << "]^T" << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_homogeneous.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_homogeneous.cpp deleted file mode 100644 index 457c28f9..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_homogeneous.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Vector3d v = Vector3d::Random(), w; -Projective3d P(Matrix4d::Random()); -cout << "v = [" << v.transpose() << "]^T" << endl; -cout << "h.homogeneous() = [" << v.homogeneous().transpose() << "]^T" << endl; -cout << "(P * v.homogeneous()) = [" << (P * v.homogeneous()).transpose() << "]^T" << endl; -cout << "(P * v.homogeneous()).hnormalized() = [" << (P * v.homogeneous()).eval().hnormalized().transpose() << "]^T" << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity.cpp deleted file mode 100644 index b5c1e59c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << Matrix::Identity() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity_int_int.cpp deleted file mode 100644 index 918649d6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_identity_int_int.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << MatrixXd::Identity(4, 3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_inverse.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_inverse.cpp deleted file mode 100644 index a56142ee..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_inverse.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Its inverse is:" << endl << m.inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isDiagonal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isDiagonal.cpp deleted file mode 100644 index 5b1d5997..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isDiagonal.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix3d m = 10000 * Matrix3d::Identity(); -m(0,2) = 1; -cout << "Here's the matrix m:" << endl << m << endl; -cout << "m.isDiagonal() returns: " << m.isDiagonal() << endl; -cout << "m.isDiagonal(1e-3) returns: " << m.isDiagonal(1e-3) << endl; - diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isIdentity.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isIdentity.cpp deleted file mode 100644 index 17b756c9..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isIdentity.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Identity(); -m(0,2) = 1e-4; -cout << "Here's the matrix m:" << endl << m << endl; -cout << "m.isIdentity() returns: " << m.isIdentity() << endl; -cout << "m.isIdentity(1e-3) returns: " << m.isIdentity(1e-3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOnes.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOnes.cpp deleted file mode 100644 index f82f6280..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOnes.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Ones(); -m(0,2) += 1e-4; -cout << "Here's the matrix m:" << endl << m << endl; -cout << "m.isOnes() returns: " << m.isOnes() << endl; -cout << "m.isOnes(1e-3) returns: " << m.isOnes(1e-3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOrthogonal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOrthogonal.cpp deleted file mode 100644 index b22af066..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isOrthogonal.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Vector3d v(1,0,0); -Vector3d w(1e-4,0,1); -cout << "Here's the vector v:" << endl << v << endl; -cout << "Here's the vector w:" << endl << w << endl; -cout << "v.isOrthogonal(w) returns: " << v.isOrthogonal(w) << endl; -cout << "v.isOrthogonal(w,1e-3) returns: " << v.isOrthogonal(w,1e-3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isUnitary.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isUnitary.cpp deleted file mode 100644 index 3877da34..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isUnitary.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Identity(); -m(0,2) = 1e-4; -cout << "Here's the matrix m:" << endl << m << endl; -cout << "m.isUnitary() returns: " << m.isUnitary() << endl; -cout << "m.isUnitary(1e-3) returns: " << m.isUnitary(1e-3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isZero.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isZero.cpp deleted file mode 100644 index c2cfe220..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_isZero.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Zero(); -m(0,2) = 1e-4; -cout << "Here's the matrix m:" << endl << m << endl; -cout << "m.isZero() returns: " << m.isZero() << endl; -cout << "m.isZero(1e-3) returns: " << m.isZero(1e-3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_leftCols_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_leftCols_int.cpp deleted file mode 100644 index 6ea984e4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_leftCols_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.leftCols(2):" << endl; -cout << a.leftCols(2) << endl; -a.leftCols(2).setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_noalias.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_noalias.cpp deleted file mode 100644 index 3b54a79a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_noalias.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix2d a, b, c; a << 1,2,3,4; b << 5,6,7,8; -c.noalias() = a * b; // this computes the product directly to c -cout << c << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones.cpp deleted file mode 100644 index 02c767c9..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones.cpp +++ /dev/null @@ -1,2 +0,0 @@ -cout << Matrix2d::Ones() << endl; -cout << 6 * RowVector4i::Ones() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int.cpp deleted file mode 100644 index 2ef188e7..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int.cpp +++ /dev/null @@ -1,2 +0,0 @@ -cout << 6 * RowVectorXi::Ones(4) << endl; -cout << VectorXf::Ones(2) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int_int.cpp deleted file mode 100644 index 60f5a31e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_ones_int_int.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << MatrixXi::Ones(2,3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_operatorNorm.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_operatorNorm.cpp deleted file mode 100644 index 355246f0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_operatorNorm.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -cout << "The operator norm of the 3x3 matrix of ones is " - << ones.operatorNorm() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_prod.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_prod.cpp deleted file mode 100644 index d2f27bdc..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_prod.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the product of all the coefficients:" << endl << m.prod() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random.cpp deleted file mode 100644 index 65fc524f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << 100 * Matrix2i::Random() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int.cpp deleted file mode 100644 index f161d03c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << VectorXi::Random(2) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int_int.cpp deleted file mode 100644 index 3f0f7dd5..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_random_int_int.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << MatrixXi::Random(2,3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate.cpp deleted file mode 100644 index 3ce52bcd..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXi m = MatrixXi::Random(2,3); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "m.replicate<3,2>() = ..." << endl; -cout << m.replicate<3,2>() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate_int_int.cpp deleted file mode 100644 index b1dbc70b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_replicate_int_int.cpp +++ /dev/null @@ -1,4 +0,0 @@ -Vector3i v = Vector3i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "v.replicate(2,5) = ..." << endl; -cout << v.replicate(2,5) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_reverse.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_reverse.cpp deleted file mode 100644 index f545a283..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_reverse.cpp +++ /dev/null @@ -1,8 +0,0 @@ -MatrixXi m = MatrixXi::Random(3,4); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the reverse of m:" << endl << m.reverse() << endl; -cout << "Here is the coefficient (1,0) in the reverse of m:" << endl - << m.reverse()(1,0) << endl; -cout << "Let us overwrite this coefficient with the value 4." << endl; -m.reverse()(1,0) = 4; -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rightCols_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rightCols_int.cpp deleted file mode 100644 index cb513401..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rightCols_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.rightCols(2):" << endl; -cout << a.rightCols(2) << endl; -a.rightCols(2).setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_row.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_row.cpp deleted file mode 100644 index b15e6260..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_row.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Identity(); -m.row(1) = Vector3d(4,5,6); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rowwise.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rowwise.cpp deleted file mode 100644 index ae93964e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_rowwise.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the sum of each row:" << endl << m.rowwise().sum() << endl; -cout << "Here is the maximum absolute value of each row:" - << endl << m.cwiseAbs().rowwise().maxCoeff() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_segment_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_segment_int_int.cpp deleted file mode 100644 index 70cd6d26..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_segment_int_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -RowVector4i v = RowVector4i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "Here is v.segment(1, 2):" << endl << v.segment(1, 2) << endl; -v.segment(1, 2).setZero(); -cout << "Now the vector v is:" << endl << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_select.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_select.cpp deleted file mode 100644 index ae5477f0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_select.cpp +++ /dev/null @@ -1,6 +0,0 @@ -MatrixXi m(3, 3); -m << 1, 2, 3, - 4, 5, 6, - 7, 8, 9; -m = (m.array() >= 5).select(-m, m); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_selfadjointView.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_selfadjointView.cpp deleted file mode 100644 index 4bd3c7ee..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_selfadjointView.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix3i m = Matrix3i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the symmetric matrix extracted from the upper part of m:" << endl - << Matrix3i(m.selfadjointView()) << endl; -cout << "Here is the symmetric matrix extracted from the lower part of m:" << endl - << Matrix3i(m.selfadjointView()) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_set.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_set.cpp deleted file mode 100644 index 50ecf5fb..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_set.cpp +++ /dev/null @@ -1,13 +0,0 @@ -Matrix3i m1; -m1 << 1, 2, 3, - 4, 5, 6, - 7, 8, 9; -cout << m1 << endl << endl; -Matrix3i m2 = Matrix3i::Identity(); -m2.block(0,0, 2,2) << 10, 11, 12, 13; -cout << m2 << endl << endl; -Vector2i v1; -v1 << 14, 15; -m2 << v1.transpose(), 16, - v1, m1.block(1,1,2,2); -cout << m2 << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setIdentity.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setIdentity.cpp deleted file mode 100644 index 4fd0aa24..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setIdentity.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix4i m = Matrix4i::Zero(); -m.block<3,3>(1,0).setIdentity(); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setOnes.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setOnes.cpp deleted file mode 100644 index 4cef9c1e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setOnes.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -m.row(1).setOnes(); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setRandom.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setRandom.cpp deleted file mode 100644 index e2c257d4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setRandom.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix4i m = Matrix4i::Zero(); -m.col(1).setRandom(); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setZero.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setZero.cpp deleted file mode 100644 index 9b5b9583..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_setZero.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -m.row(1).setZero(); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_start_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_start_int.cpp deleted file mode 100644 index c261d2b4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_start_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -RowVector4i v = RowVector4i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "Here is v.head(2):" << endl << v.head(2) << endl; -v.head(2).setZero(); -cout << "Now the vector v is:" << endl << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_bottomRows.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_bottomRows.cpp deleted file mode 100644 index f9ea892d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_bottomRows.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.bottomRows<2>():" << endl; -cout << a.bottomRows<2>() << endl; -a.bottomRows<2>().setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_end.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_end.cpp deleted file mode 100644 index f5ccb00f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_end.cpp +++ /dev/null @@ -1,5 +0,0 @@ -RowVector4i v = RowVector4i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "Here is v.tail(2):" << endl << v.tail<2>() << endl; -v.tail<2>().setZero(); -cout << "Now the vector v is:" << endl << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_block_int_int_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_block_int_int_int_int.cpp deleted file mode 100644 index 4dced03b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_block_int_int_int_int.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the block:" << endl << m.block<2, Dynamic>(1, 1, 2, 3) << endl; -m.block<2, Dynamic>(1, 1, 2, 3).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner.cpp deleted file mode 100644 index 847892a2..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.bottomLeftCorner<2,2>():" << endl; -cout << m.bottomLeftCorner<2,2>() << endl; -m.bottomLeftCorner<2,2>().setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp deleted file mode 100644 index a1edcc80..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.bottomLeftCorner<2,Dynamic>(2,2):" << endl; -cout << m.bottomLeftCorner<2,Dynamic>(2,2) << endl; -m.bottomLeftCorner<2,Dynamic>(2,2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner.cpp deleted file mode 100644 index abacb014..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.bottomRightCorner<2,2>():" << endl; -cout << m.bottomRightCorner<2,2>() << endl; -m.bottomRightCorner<2,2>().setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner_int_int.cpp deleted file mode 100644 index a65508fd..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_bottomRightCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.bottomRightCorner<2,Dynamic>(2,2):" << endl; -cout << m.bottomRightCorner<2,Dynamic>(2,2) << endl; -m.bottomRightCorner<2,Dynamic>(2,2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp deleted file mode 100644 index 1899d902..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.topLeftCorner<2,2>():" << endl; -cout << m.topLeftCorner<2,2>() << endl; -m.topLeftCorner<2,2>().setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp deleted file mode 100644 index fac761f6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.topLeftCorner<2,Dynamic>(2,2):" << endl; -cout << m.topLeftCorner<2,Dynamic>(2,2) << endl; -m.topLeftCorner<2,Dynamic>(2,2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp deleted file mode 100644 index c3a17711..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.topRightCorner<2,2>():" << endl; -cout << m.topRightCorner<2,2>() << endl; -m.topRightCorner<2,2>().setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp deleted file mode 100644 index a17acc00..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_int_topRightCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.topRightCorner<2,Dynamic>(2,2):" << endl; -cout << m.topRightCorner<2,Dynamic>(2,2) << endl; -m.topRightCorner<2,Dynamic>(2,2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_leftCols.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_leftCols.cpp deleted file mode 100644 index 1c425d91..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_leftCols.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.leftCols<2>():" << endl; -cout << a.leftCols<2>() << endl; -a.leftCols<2>().setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp deleted file mode 100644 index fc8c0d93..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_rightCols.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.rightCols<2>():" << endl; -cout << a.rightCols<2>() << endl; -a.rightCols<2>().setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_segment.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_segment.cpp deleted file mode 100644 index e448b402..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_segment.cpp +++ /dev/null @@ -1,5 +0,0 @@ -RowVector4i v = RowVector4i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "Here is v.segment<2>(1):" << endl << v.segment<2>(1) << endl; -v.segment<2>(2).setZero(); -cout << "Now the vector v is:" << endl << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_start.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_start.cpp deleted file mode 100644 index d336b371..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_start.cpp +++ /dev/null @@ -1,5 +0,0 @@ -RowVector4i v = RowVector4i::Random(); -cout << "Here is the vector v:" << endl << v << endl; -cout << "Here is v.head(2):" << endl << v.head<2>() << endl; -v.head<2>().setZero(); -cout << "Now the vector v is:" << endl << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_topRows.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_topRows.cpp deleted file mode 100644 index 0110251a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_template_int_topRows.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.topRows<2>():" << endl; -cout << a.topRows<2>() << endl; -a.topRows<2>().setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topLeftCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topLeftCorner_int_int.cpp deleted file mode 100644 index e52cb3bd..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topLeftCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.topLeftCorner(2, 2):" << endl; -cout << m.topLeftCorner(2, 2) << endl; -m.topLeftCorner(2, 2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRightCorner_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRightCorner_int_int.cpp deleted file mode 100644 index 811fa563..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRightCorner_int_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4i m = Matrix4i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is m.topRightCorner(2, 2):" << endl; -cout << m.topRightCorner(2, 2) << endl; -m.topRightCorner(2, 2).setZero(); -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRows_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRows_int.cpp deleted file mode 100644 index f2d75f1c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_topRows_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Array44i a = Array44i::Random(); -cout << "Here is the array a:" << endl << a << endl; -cout << "Here is a.topRows(2):" << endl; -cout << a.topRows(2) << endl; -a.topRows(2).setZero(); -cout << "Now the array a is:" << endl << a << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_transpose.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_transpose.cpp deleted file mode 100644 index 88eea83c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_transpose.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix2i m = Matrix2i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the transpose of m:" << endl << m.transpose() << endl; -cout << "Here is the coefficient (1,0) in the transpose of m:" << endl - << m.transpose()(1,0) << endl; -cout << "Let us overwrite this coefficient with the value 0." << endl; -m.transpose()(1,0) = 0; -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_triangularView.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_triangularView.cpp deleted file mode 100644 index 03aa303f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_triangularView.cpp +++ /dev/null @@ -1,9 +0,0 @@ -Matrix3i m = Matrix3i::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the upper-triangular matrix extracted from m:" << endl - << Matrix3i(m.triangularView()) << endl; -cout << "Here is the strictly-upper-triangular matrix extracted from m:" << endl - << Matrix3i(m.triangularView()) << endl; -cout << "Here is the unit-lower-triangular matrix extracted from m:" << endl - << Matrix3i(m.triangularView()) << endl; -// FIXME need to implement output for triangularViews (Bug 885) diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero.cpp deleted file mode 100644 index 60649367..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero.cpp +++ /dev/null @@ -1,2 +0,0 @@ -cout << Matrix2d::Zero() << endl; -cout << RowVector4i::Zero() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int.cpp deleted file mode 100644 index 370a9ba0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int.cpp +++ /dev/null @@ -1,2 +0,0 @@ -cout << RowVectorXi::Zero(4) << endl; -cout << VectorXf::Zero(2) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int_int.cpp deleted file mode 100644 index 4099c5d4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/MatrixBase_zero_int_int.cpp +++ /dev/null @@ -1 +0,0 @@ -cout << MatrixXi::Zero(2,3) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_NoChange_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_NoChange_int.cpp deleted file mode 100644 index acdf18c4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_NoChange_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXd m(3,4); -m.resize(NoChange, 5); -cout << "m: " << m.rows() << " rows, " << m.cols() << " cols" << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int.cpp deleted file mode 100644 index 044c7898..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int.cpp +++ /dev/null @@ -1,6 +0,0 @@ -VectorXd v(10); -v.resize(3); -RowVector3d w; -w.resize(3); // this is legal, but has no effect -cout << "v: " << v.rows() << " rows, " << v.cols() << " cols" << endl; -cout << "w: " << w.rows() << " rows, " << w.cols() << " cols" << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_NoChange.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_NoChange.cpp deleted file mode 100644 index 5c37c906..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_NoChange.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXd m(3,4); -m.resize(5, NoChange); -cout << "m: " << m.rows() << " rows, " << m.cols() << " cols" << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_int.cpp deleted file mode 100644 index bfd47415..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_resize_int_int.cpp +++ /dev/null @@ -1,9 +0,0 @@ -MatrixXd m(2,3); -m << 1,2,3,4,5,6; -cout << "here's the 2x3 matrix m:" << endl << m << endl; -cout << "let's resize m to 3x2. This is a conservative resizing because 2*3==3*2." << endl; -m.resize(3,2); -cout << "here's the 3x2 matrix m:" << endl << m << endl; -cout << "now let's resize m to size 2x2. This is NOT a conservative resizing, so it becomes uninitialized:" << endl; -m.resize(2,2); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int.cpp deleted file mode 100644 index ff5a86c9..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -VectorXf v; -v.setConstant(3, 5); -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int_int.cpp deleted file mode 100644 index 32b950cf..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setConstant_int_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXf m; -m.setConstant(3, 3, 5); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setIdentity_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setIdentity_int_int.cpp deleted file mode 100644 index a6596719..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setIdentity_int_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXf m; -m.setIdentity(3, 3); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int.cpp deleted file mode 100644 index 752cb35b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -VectorXf v; -v.setOnes(3); -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int_int.cpp deleted file mode 100644 index 1ffb66bb..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setOnes_int_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXf m; -m.setOnes(3, 3); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int.cpp deleted file mode 100644 index e160dd7d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -VectorXf v; -v.setRandom(3); -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int_int.cpp deleted file mode 100644 index 80cda11d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setRandom_int_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXf m; -m.setRandom(3, 3); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int.cpp deleted file mode 100644 index 0fb16c1f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -VectorXf v; -v.setZero(3); -cout << v << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int_int.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int_int.cpp deleted file mode 100644 index ad883b91..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Matrix_setZero_int_int.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXf m; -m.setZero(3, 3); -cout << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialPivLU_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialPivLU_solve.cpp deleted file mode 100644 index fa3570ab..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialPivLU_solve.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXd A = MatrixXd::Random(3,3); -MatrixXd B = MatrixXd::Random(3,2); -cout << "Here is the invertible matrix A:" << endl << A << endl; -cout << "Here is the matrix B:" << endl << B << endl; -MatrixXd X = A.lu().solve(B); -cout << "Here is the (unique) solution X to the equation AX=B:" << endl << X << endl; -cout << "Relative error: " << (A*X-B).norm() / B.norm() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_count.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_count.cpp deleted file mode 100644 index 1c3b3a28..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_count.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -Matrix res = (m.array() >= 0.5).rowwise().count(); -cout << "Here is the count of elements larger or equal than 0.5 of each row:" << endl; -cout << res << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_maxCoeff.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_maxCoeff.cpp deleted file mode 100644 index e8fd3820..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_maxCoeff.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the maximum of each column:" << endl << m.colwise().maxCoeff() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_minCoeff.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_minCoeff.cpp deleted file mode 100644 index d717bc0d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_minCoeff.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the minimum of each column:" << endl << m.colwise().minCoeff() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_norm.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_norm.cpp deleted file mode 100644 index dbcf290a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_norm.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the norm of each column:" << endl << m.colwise().norm() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_prod.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_prod.cpp deleted file mode 100644 index aacf09cb..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_prod.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the product of each row:" << endl << m.rowwise().prod() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_squaredNorm.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_squaredNorm.cpp deleted file mode 100644 index 9f3293e6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_squaredNorm.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the square norm of each row:" << endl << m.rowwise().squaredNorm() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_sum.cpp b/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_sum.cpp deleted file mode 100644 index ec82d3e4..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/PartialRedux_sum.cpp +++ /dev/null @@ -1,3 +0,0 @@ -Matrix3d m = Matrix3d::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the sum of each row:" << endl << m.rowwise().sum() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/RealQZ_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/RealQZ_compute.cpp deleted file mode 100644 index a18da42e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/RealQZ_compute.cpp +++ /dev/null @@ -1,17 +0,0 @@ -MatrixXf A = MatrixXf::Random(4,4); -MatrixXf B = MatrixXf::Random(4,4); -RealQZ qz(4); // preallocate space for 4x4 matrices -qz.compute(A,B); // A = Q S Z, B = Q T Z - -// print original matrices and result of decomposition -cout << "A:\n" << A << "\n" << "B:\n" << B << "\n"; -cout << "S:\n" << qz.matrixS() << "\n" << "T:\n" << qz.matrixT() << "\n"; -cout << "Q:\n" << qz.matrixQ() << "\n" << "Z:\n" << qz.matrixZ() << "\n"; - -// verify precision -cout << "\nErrors:" - << "\n|A-QSZ|: " << (A-qz.matrixQ()*qz.matrixS()*qz.matrixZ()).norm() - << ", |B-QTZ|: " << (B-qz.matrixQ()*qz.matrixT()*qz.matrixZ()).norm() - << "\n|QQ* - I|: " << (qz.matrixQ()*qz.matrixQ().adjoint() - MatrixXf::Identity(4,4)).norm() - << ", |ZZ* - I|: " << (qz.matrixZ()*qz.matrixZ().adjoint() - MatrixXf::Identity(4,4)).norm() - << "\n"; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/RealSchur_RealSchur_MatrixType.cpp b/testbed/nanogui/ext/eigen/doc/snippets/RealSchur_RealSchur_MatrixType.cpp deleted file mode 100644 index a5530dcc..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/RealSchur_RealSchur_MatrixType.cpp +++ /dev/null @@ -1,10 +0,0 @@ -MatrixXd A = MatrixXd::Random(6,6); -cout << "Here is a random 6x6 matrix, A:" << endl << A << endl << endl; - -RealSchur schur(A); -cout << "The orthogonal matrix U is:" << endl << schur.matrixU() << endl; -cout << "The quasi-triangular matrix T is:" << endl << schur.matrixT() << endl << endl; - -MatrixXd U = schur.matrixU(); -MatrixXd T = schur.matrixT(); -cout << "U * T * U^T = " << endl << U * T * U.transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/RealSchur_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/RealSchur_compute.cpp deleted file mode 100644 index 20c2611b..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/RealSchur_compute.cpp +++ /dev/null @@ -1,6 +0,0 @@ -MatrixXf A = MatrixXf::Random(4,4); -RealSchur schur(4); -schur.compute(A, /* computeU = */ false); -cout << "The matrix T in the decomposition of A is:" << endl << schur.matrixT() << endl; -schur.compute(A.inverse(), /* computeU = */ false); -cout << "The matrix T in the decomposition of A^(-1) is:" << endl << schur.matrixT() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp deleted file mode 100644 index 73a7f625..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp +++ /dev/null @@ -1,7 +0,0 @@ -SelfAdjointEigenSolver es; -Matrix4f X = Matrix4f::Random(4,4); -Matrix4f A = X + X.transpose(); -es.compute(A); -cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; -es.compute(A + Matrix4f::Identity(4,4)); // re-use es to compute eigenvalues of A+I -cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp deleted file mode 100644 index 3599b17a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp +++ /dev/null @@ -1,17 +0,0 @@ -MatrixXd X = MatrixXd::Random(5,5); -MatrixXd A = X + X.transpose(); -cout << "Here is a random symmetric 5x5 matrix, A:" << endl << A << endl << endl; - -SelfAdjointEigenSolver es(A); -cout << "The eigenvalues of A are:" << endl << es.eigenvalues() << endl; -cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl; - -double lambda = es.eigenvalues()[0]; -cout << "Consider the first eigenvalue, lambda = " << lambda << endl; -VectorXd v = es.eigenvectors().col(0); -cout << "If v is the corresponding eigenvector, then lambda * v = " << endl << lambda * v << endl; -cout << "... and A * v = " << endl << A * v << endl << endl; - -MatrixXd D = es.eigenvalues().asDiagonal(); -MatrixXd V = es.eigenvectors(); -cout << "Finally, V * D * V^(-1) = " << endl << V * D * V.inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp deleted file mode 100644 index bbb821e0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp +++ /dev/null @@ -1,16 +0,0 @@ -MatrixXd X = MatrixXd::Random(5,5); -MatrixXd A = X + X.transpose(); -cout << "Here is a random symmetric matrix, A:" << endl << A << endl; -X = MatrixXd::Random(5,5); -MatrixXd B = X * X.transpose(); -cout << "and a random postive-definite matrix, B:" << endl << B << endl << endl; - -GeneralizedSelfAdjointEigenSolver es(A,B); -cout << "The eigenvalues of the pencil (A,B) are:" << endl << es.eigenvalues() << endl; -cout << "The matrix of eigenvectors, V, is:" << endl << es.eigenvectors() << endl << endl; - -double lambda = es.eigenvalues()[0]; -cout << "Consider the first eigenvalue, lambda = " << lambda << endl; -VectorXd v = es.eigenvectors().col(0); -cout << "If v is the corresponding eigenvector, then A * v = " << endl << A * v << endl; -cout << "... and lambda * B * v = " << endl << lambda * B * v << endl << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp deleted file mode 100644 index 2975cc3f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType.cpp +++ /dev/null @@ -1,7 +0,0 @@ -SelfAdjointEigenSolver es(4); -MatrixXf X = MatrixXf::Random(4,4); -MatrixXf A = X + X.transpose(); -es.compute(A); -cout << "The eigenvalues of A are: " << es.eigenvalues().transpose() << endl; -es.compute(A + MatrixXf::Identity(4,4)); // re-use es to compute eigenvalues of A+I -cout << "The eigenvalues of A+I are: " << es.eigenvalues().transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType2.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType2.cpp deleted file mode 100644 index 07c92a1e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_compute_MatrixType2.cpp +++ /dev/null @@ -1,9 +0,0 @@ -MatrixXd X = MatrixXd::Random(5,5); -MatrixXd A = X * X.transpose(); -X = MatrixXd::Random(5,5); -MatrixXd B = X * X.transpose(); - -GeneralizedSelfAdjointEigenSolver es(A,B,EigenvaluesOnly); -cout << "The eigenvalues of the pencil (A,B) are:" << endl << es.eigenvalues() << endl; -es.compute(B,A,false); -cout << "The eigenvalues of the pencil (B,A) are:" << endl << es.eigenvalues() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp deleted file mode 100644 index 0ff33c68..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvalues.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -SelfAdjointEigenSolver es(ones); -cout << "The eigenvalues of the 3x3 matrix of ones are:" - << endl << es.eigenvalues() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvectors.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvectors.cpp deleted file mode 100644 index cfc8b0d5..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_eigenvectors.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -SelfAdjointEigenSolver es(ones); -cout << "The first eigenvector of the 3x3 matrix of ones is:" - << endl << es.eigenvectors().col(1) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorInverseSqrt.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorInverseSqrt.cpp deleted file mode 100644 index 114c65fb..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorInverseSqrt.cpp +++ /dev/null @@ -1,9 +0,0 @@ -MatrixXd X = MatrixXd::Random(4,4); -MatrixXd A = X * X.transpose(); -cout << "Here is a random positive-definite matrix, A:" << endl << A << endl << endl; - -SelfAdjointEigenSolver es(A); -cout << "The inverse square root of A is: " << endl; -cout << es.operatorInverseSqrt() << endl; -cout << "We can also compute it with operatorSqrt() and inverse(). That yields: " << endl; -cout << es.operatorSqrt().inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorSqrt.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorSqrt.cpp deleted file mode 100644 index eeacca74..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointEigenSolver_operatorSqrt.cpp +++ /dev/null @@ -1,8 +0,0 @@ -MatrixXd X = MatrixXd::Random(4,4); -MatrixXd A = X * X.transpose(); -cout << "Here is a random positive-definite matrix, A:" << endl << A << endl << endl; - -SelfAdjointEigenSolver es(A); -MatrixXd sqrtA = es.operatorSqrt(); -cout << "The square root of A is: " << endl << sqrtA << endl; -cout << "If we square this, we get: " << endl << sqrtA*sqrtA << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_eigenvalues.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_eigenvalues.cpp deleted file mode 100644 index be198677..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_eigenvalues.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -VectorXd eivals = ones.selfadjointView().eigenvalues(); -cout << "The eigenvalues of the 3x3 matrix of ones are:" << endl << eivals << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_operatorNorm.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_operatorNorm.cpp deleted file mode 100644 index f380f559..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SelfAdjointView_operatorNorm.cpp +++ /dev/null @@ -1,3 +0,0 @@ -MatrixXd ones = MatrixXd::Ones(3,3); -cout << "The operator norm of the 3x3 matrix of ones is " - << ones.selfadjointView().operatorNorm() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/SparseMatrix_coeffs.cpp b/testbed/nanogui/ext/eigen/doc/snippets/SparseMatrix_coeffs.cpp deleted file mode 100644 index f71a69b0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/SparseMatrix_coeffs.cpp +++ /dev/null @@ -1,9 +0,0 @@ -SparseMatrix A(3,3); -A.insert(1,2) = 0; -A.insert(0,1) = 1; -A.insert(2,0) = 2; -A.makeCompressed(); -cout << "The matrix A is:" << endl << MatrixXd(A) << endl; -cout << "it has " << A.nonZeros() << " stored non zero coefficients that are: " << A.coeffs().transpose() << endl; -A.coeffs() += 10; -cout << "After adding 10 to every stored non zero coefficient, the matrix A is:" << endl << MatrixXd(A) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block.cpp deleted file mode 100644 index 03282f4f..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXi mat(3,3); -mat << 1, 2, 3, 4, 5, 6, 7, 8, 9; -cout << "Here is the matrix mat:\n" << mat << endl; - -// This assignment shows the aliasing problem -mat.bottomRightCorner(2,2) = mat.topLeftCorner(2,2); -cout << "After the assignment, mat = \n" << mat << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block_correct.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block_correct.cpp deleted file mode 100644 index 6fee5801..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_block_correct.cpp +++ /dev/null @@ -1,7 +0,0 @@ -MatrixXi mat(3,3); -mat << 1, 2, 3, 4, 5, 6, 7, 8, 9; -cout << "Here is the matrix mat:\n" << mat << endl; - -// The eval() solves the aliasing problem -mat.bottomRightCorner(2,2) = mat.topLeftCorner(2,2).eval(); -cout << "After the assignment, mat = \n" << mat << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_cwise.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_cwise.cpp deleted file mode 100644 index 7049f6c5..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_cwise.cpp +++ /dev/null @@ -1,20 +0,0 @@ -MatrixXf mat(2,2); -mat << 1, 2, 4, 7; -cout << "Here is the matrix mat:\n" << mat << endl << endl; - -mat = 2 * mat; -cout << "After 'mat = 2 * mat', mat = \n" << mat << endl << endl; - - -mat = mat - MatrixXf::Identity(2,2); -cout << "After the subtraction, it becomes\n" << mat << endl << endl; - - -ArrayXXf arr = mat; -arr = arr.square(); -cout << "After squaring, it becomes\n" << arr << endl << endl; - -// Combining all operations in one statement: -mat << 1, 2, 4, 7; -mat = (2 * mat - MatrixXf::Identity(2,2)).array().square(); -cout << "Doing everything at once yields\n" << mat << endl << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult1.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult1.cpp deleted file mode 100644 index cd7e9004..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult1.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXf matA(2,2); -matA << 2, 0, 0, 2; -matA = matA * matA; -cout << matA; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult2.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult2.cpp deleted file mode 100644 index a3ff5685..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult2.cpp +++ /dev/null @@ -1,10 +0,0 @@ -MatrixXf matA(2,2), matB(2,2); -matA << 2, 0, 0, 2; - -// Simple but not quite as efficient -matB = matA * matA; -cout << matB << endl << endl; - -// More complicated but also more efficient -matB.noalias() = matA * matA; -cout << matB; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult3.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult3.cpp deleted file mode 100644 index 1d12a6c6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult3.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXf matA(2,2); -matA << 2, 0, 0, 2; -matA.noalias() = matA * matA; -cout << matA; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult4.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult4.cpp deleted file mode 100644 index 8a8992f6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult4.cpp +++ /dev/null @@ -1,5 +0,0 @@ -MatrixXf A(2,2), B(3,2); -B << 2, 0, 0, 3, 1, 1; -A << 2, 0, 0, -2; -A = (B * A).cwiseAbs(); -cout << A; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult5.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult5.cpp deleted file mode 100644 index 1a36defd..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicAliasing_mult5.cpp +++ /dev/null @@ -1,5 +0,0 @@ -MatrixXf A(2,2), B(3,2); -B << 2, 0, 0, 3, 1, 1; -A << 2, 0, 0, -2; -A = (B * A).eval().cwiseAbs(); -cout << A; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/TopicStorageOrders_example.cpp b/testbed/nanogui/ext/eigen/doc/snippets/TopicStorageOrders_example.cpp deleted file mode 100644 index 0623ef0c..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/TopicStorageOrders_example.cpp +++ /dev/null @@ -1,18 +0,0 @@ -Matrix Acolmajor; -Acolmajor << 8, 2, 2, 9, - 9, 1, 4, 4, - 3, 5, 4, 5; -cout << "The matrix A:" << endl; -cout << Acolmajor << endl << endl; - -cout << "In memory (column-major):" << endl; -for (int i = 0; i < Acolmajor.size(); i++) - cout << *(Acolmajor.data() + i) << " "; -cout << endl << endl; - -Matrix Arowmajor = Acolmajor; -cout << "In memory (row-major):" << endl; -for (int i = 0; i < Arowmajor.size(); i++) - cout << *(Arowmajor.data() + i) << " "; -cout << endl; - diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Triangular_solve.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Triangular_solve.cpp deleted file mode 100644 index 54844246..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Triangular_solve.cpp +++ /dev/null @@ -1,11 +0,0 @@ -Matrix3d m = Matrix3d::Zero(); -m.triangularView().setOnes(); -cout << "Here is the matrix m:\n" << m << endl; -Matrix3d n = Matrix3d::Ones(); -n.triangularView() *= 2; -cout << "Here is the matrix n:\n" << n << endl; -cout << "And now here is m.inverse()*n, taking advantage of the fact that" - " m is upper-triangular:\n" - << m.triangularView().solve(n) << endl; -cout << "And this is n*m.inverse():\n" - << m.triangularView().solve(n); diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_Tridiagonalization_MatrixType.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_Tridiagonalization_MatrixType.cpp deleted file mode 100644 index a2601243..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_Tridiagonalization_MatrixType.cpp +++ /dev/null @@ -1,9 +0,0 @@ -MatrixXd X = MatrixXd::Random(5,5); -MatrixXd A = X + X.transpose(); -cout << "Here is a random symmetric 5x5 matrix:" << endl << A << endl << endl; -Tridiagonalization triOfA(A); -MatrixXd Q = triOfA.matrixQ(); -cout << "The orthogonal matrix Q is:" << endl << Q << endl; -MatrixXd T = triOfA.matrixT(); -cout << "The tridiagonal matrix T is:" << endl << T << endl << endl; -cout << "Q * T * Q^T = " << endl << Q * T * Q.transpose() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_compute.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_compute.cpp deleted file mode 100644 index 0062a99e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_compute.cpp +++ /dev/null @@ -1,9 +0,0 @@ -Tridiagonalization tri; -MatrixXf X = MatrixXf::Random(4,4); -MatrixXf A = X + X.transpose(); -tri.compute(A); -cout << "The matrix T in the tridiagonal decomposition of A is: " << endl; -cout << tri.matrixT() << endl; -tri.compute(2*A); // re-use tri to compute eigenvalues of 2A -cout << "The matrix T in the tridiagonal decomposition of 2A is: " << endl; -cout << tri.matrixT() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_decomposeInPlace.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_decomposeInPlace.cpp deleted file mode 100644 index 93dcfca1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_decomposeInPlace.cpp +++ /dev/null @@ -1,10 +0,0 @@ -MatrixXd X = MatrixXd::Random(5,5); -MatrixXd A = X + X.transpose(); -cout << "Here is a random symmetric 5x5 matrix:" << endl << A << endl << endl; - -VectorXd diag(5); -VectorXd subdiag(4); -internal::tridiagonalization_inplace(A, diag, subdiag, true); -cout << "The orthogonal matrix Q is:" << endl << A << endl; -cout << "The diagonal of the tridiagonal matrix T is:" << endl << diag << endl; -cout << "The subdiagonal of the tridiagonal matrix T is:" << endl << subdiag << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_diagonal.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_diagonal.cpp deleted file mode 100644 index 6eec8216..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_diagonal.cpp +++ /dev/null @@ -1,13 +0,0 @@ -MatrixXcd X = MatrixXcd::Random(4,4); -MatrixXcd A = X + X.adjoint(); -cout << "Here is a random self-adjoint 4x4 matrix:" << endl << A << endl << endl; - -Tridiagonalization triOfA(A); -MatrixXd T = triOfA.matrixT(); -cout << "The tridiagonal matrix T is:" << endl << T << endl << endl; - -cout << "We can also extract the diagonals of T directly ..." << endl; -VectorXd diag = triOfA.diagonal(); -cout << "The diagonal is:" << endl << diag << endl; -VectorXd subdiag = triOfA.subDiagonal(); -cout << "The subdiagonal is:" << endl << subdiag << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_householderCoefficients.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_householderCoefficients.cpp deleted file mode 100644 index e5d87288..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_householderCoefficients.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix4d X = Matrix4d::Random(4,4); -Matrix4d A = X + X.transpose(); -cout << "Here is a random symmetric 4x4 matrix:" << endl << A << endl; -Tridiagonalization triOfA(A); -Vector3d hc = triOfA.householderCoefficients(); -cout << "The vector of Householder coefficients is:" << endl << hc << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_packedMatrix.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_packedMatrix.cpp deleted file mode 100644 index 0f55d0c2..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tridiagonalization_packedMatrix.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix4d X = Matrix4d::Random(4,4); -Matrix4d A = X + X.transpose(); -cout << "Here is a random symmetric 4x4 matrix:" << endl << A << endl; -Tridiagonalization triOfA(A); -Matrix4d pm = triOfA.packedMatrix(); -cout << "The packed matrix M is:" << endl << pm << endl; -cout << "The diagonal and subdiagonal corresponds to the matrix T, which is:" - << endl << triOfA.matrixT() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp deleted file mode 100644 index 96e40acf..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp +++ /dev/null @@ -1,5 +0,0 @@ -MatrixXf matA(2, 2); -matA << 1, 2, 3, 4; -MatrixXf matB(4, 4); -matB << matA, matA/10, matA/10, matA; -std::cout << matB << std::endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp deleted file mode 100644 index 50cff4cb..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp +++ /dev/null @@ -1,4 +0,0 @@ -MatrixXf mat = MatrixXf::Random(2, 3); -std::cout << mat << std::endl << std::endl; -mat = (MatrixXf(2,2) << 0, 1, 1, 0).finished() * mat; -std::cout << mat << std::endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp deleted file mode 100644 index 55a21539..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp +++ /dev/null @@ -1,11 +0,0 @@ -RowVectorXd vec1(3); -vec1 << 1, 2, 3; -std::cout << "vec1 = " << vec1 << std::endl; - -RowVectorXd vec2(4); -vec2 << 1, 4, 9, 16; -std::cout << "vec2 = " << vec2 << std::endl; - -RowVectorXd joined(7); -joined << vec1, vec2; -std::cout << "joined = " << joined << std::endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp deleted file mode 100644 index c6a73ab8..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp +++ /dev/null @@ -1,7 +0,0 @@ -ArrayXXf table(10, 4); -table.col(0) = ArrayXf::LinSpaced(10, 0, 90); -table.col(1) = M_PI / 180 * table.col(0); -table.col(2) = table.col(1).sin(); -table.col(3) = table.col(1).cos(); -std::cout << " Degrees Radians Sine Cosine\n"; -std::cout << table << std::endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_ThreeWays.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_ThreeWays.cpp deleted file mode 100644 index cb745765..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_ThreeWays.cpp +++ /dev/null @@ -1,20 +0,0 @@ -const int size = 6; -MatrixXd mat1(size, size); -mat1.topLeftCorner(size/2, size/2) = MatrixXd::Zero(size/2, size/2); -mat1.topRightCorner(size/2, size/2) = MatrixXd::Identity(size/2, size/2); -mat1.bottomLeftCorner(size/2, size/2) = MatrixXd::Identity(size/2, size/2); -mat1.bottomRightCorner(size/2, size/2) = MatrixXd::Zero(size/2, size/2); -std::cout << mat1 << std::endl << std::endl; - -MatrixXd mat2(size, size); -mat2.topLeftCorner(size/2, size/2).setZero(); -mat2.topRightCorner(size/2, size/2).setIdentity(); -mat2.bottomLeftCorner(size/2, size/2).setIdentity(); -mat2.bottomRightCorner(size/2, size/2).setZero(); -std::cout << mat2 << std::endl << std::endl; - -MatrixXd mat3(size, size); -mat3 << MatrixXd::Zero(size/2, size/2), MatrixXd::Identity(size/2, size/2), - MatrixXd::Identity(size/2, size/2), MatrixXd::Zero(size/2, size/2); -std::cout << mat3 << std::endl; - diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp deleted file mode 100644 index 76a36a31..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp +++ /dev/null @@ -1,13 +0,0 @@ -std::cout << "A fixed-size array:\n"; -Array33f a1 = Array33f::Zero(); -std::cout << a1 << "\n\n"; - - -std::cout << "A one-dimensional dynamic-size array:\n"; -ArrayXf a2 = ArrayXf::Zero(3); -std::cout << a2 << "\n\n"; - - -std::cout << "A two-dimensional dynamic-size array:\n"; -ArrayXXf a3 = ArrayXXf::Zero(3, 4); -std::cout << a3 << "\n"; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_rowmajor.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_rowmajor.cpp deleted file mode 100644 index fd45ace0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_rowmajor.cpp +++ /dev/null @@ -1,7 +0,0 @@ -int array[8]; -for(int i = 0; i < 8; ++i) array[i] = i; -cout << "Column-major:\n" << Map >(array) << endl; -cout << "Row-major:\n" << Map >(array) << endl; -cout << "Row-major using stride:\n" << - Map, Unaligned, Stride<1,4> >(array) << endl; - diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_using.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_using.cpp deleted file mode 100644 index e5e499f1..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_Map_using.cpp +++ /dev/null @@ -1,21 +0,0 @@ -typedef Matrix MatrixType; -typedef Map MapType; -typedef Map MapTypeConst; // a read-only map -const int n_dims = 5; - -MatrixType m1(n_dims), m2(n_dims); -m1.setRandom(); -m2.setRandom(); -float *p = &m2(0); // get the address storing the data for m2 -MapType m2map(p,m2.size()); // m2map shares data with m2 -MapTypeConst m2mapconst(p,m2.size()); // a read-only accessor for m2 - -cout << "m1: " << m1 << endl; -cout << "m2: " << m2 << endl; -cout << "Squared euclidean distance: " << (m1-m2).squaredNorm() << endl; -cout << "Squared euclidean distance, using map: " << - (m1-m2map).squaredNorm() << endl; -m2map(3) = 7; // this will change m2, since they share the same array -cout << "Updated m2: " << m2 << endl; -cout << "m2 coefficient 2, constant accessor: " << m2mapconst(2) << endl; -/* m2mapconst(2) = 5; */ // this yields a compile-time error diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Mat.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Mat.cpp deleted file mode 100644 index f84d6e76..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Mat.cpp +++ /dev/null @@ -1,6 +0,0 @@ -MatrixXf M1(2,6); // Column-major storage -M1 << 1, 2, 3, 4, 5, 6, - 7, 8, 9, 10, 11, 12; - -Map M2(M1.data(), 6,2); -cout << "M2:" << endl << M2 << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Vec.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Vec.cpp deleted file mode 100644 index 95bd4e0e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_ReshapeMat2Vec.cpp +++ /dev/null @@ -1,11 +0,0 @@ -MatrixXf M1(3,3); // Column-major storage -M1 << 1, 2, 3, - 4, 5, 6, - 7, 8, 9; - -Map v1(M1.data(), M1.size()); -cout << "v1:" << endl << v1 << endl; - -Matrix M2(M1); -Map v2(M2.data(), M2.size()); -cout << "v2:" << endl << v2 << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingCol.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingCol.cpp deleted file mode 100644 index f667ff68..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingCol.cpp +++ /dev/null @@ -1,11 +0,0 @@ -MatrixXf M1 = MatrixXf::Random(3,8); -cout << "Column major input:" << endl << M1 << "\n"; -Map > M2(M1.data(), M1.rows(), (M1.cols()+2)/3, OuterStride<>(M1.outerStride()*3)); -cout << "1 column over 3:" << endl << M2 << "\n"; - -typedef Matrix RowMajorMatrixXf; -RowMajorMatrixXf M3(M1); -cout << "Row major input:" << endl << M3 << "\n"; -Map > M4(M3.data(), M3.rows(), (M3.cols()+2)/3, - Stride(M3.outerStride(),3)); -cout << "1 column over 3:" << endl << M4 << "\n"; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingVec.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingVec.cpp deleted file mode 100644 index 07e10bf6..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_SlicingVec.cpp +++ /dev/null @@ -1,4 +0,0 @@ -RowVectorXf v = RowVectorXf::LinSpaced(20,0,19); -cout << "Input:" << endl << v << endl; -Map > v2(v.data(), v.size()/2); -cout << "Even:" << v2 << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01.cpp deleted file mode 100644 index 47ba31dc..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3f m; -m << 1, 2, 3, - 4, 5, 6, - 7, 8, 9; -std::cout << m; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01b.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01b.cpp deleted file mode 100644 index 2adb2e21..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_01b.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix3f m; -m.row(0) << 1, 2, 3; -m.block(1,0,2,2) << 4, 5, 7, 8; -m.col(2).tail(2) << 6, 9; -std::cout << m; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_02.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_02.cpp deleted file mode 100644 index c960d6ab..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_commainit_02.cpp +++ /dev/null @@ -1,7 +0,0 @@ -int rows=5, cols=5; -MatrixXf m(rows,cols); -m << (Matrix3f() << 1, 2, 3, 4, 5, 6, 7, 8, 9).finished(), - MatrixXf::Zero(3,cols-3), - MatrixXf::Zero(rows-3,3), - MatrixXf::Identity(rows-3,cols-3); -cout << m; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_matrix_inverse.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_matrix_inverse.cpp deleted file mode 100644 index fff32444..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_matrix_inverse.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix3f A; -Vector3f b; -A << 1,2,3, 4,5,6, 7,8,10; -b << 3, 3, 4; -Vector3f x = A.inverse() * b; -cout << "The solution is:" << endl << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_multiple_rhs.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_multiple_rhs.cpp deleted file mode 100644 index 5411a44a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_multiple_rhs.cpp +++ /dev/null @@ -1,10 +0,0 @@ -Matrix3f A(3,3); -A << 1,2,3, 4,5,6, 7,8,10; -Matrix B; -B << 3,1, 3,1, 4,1; -Matrix X; -X = A.fullPivLu().solve(B); -cout << "The solution with right-hand side (3,3,4) is:" << endl; -cout << X.col(0) << endl; -cout << "The solution with right-hand side (1,1,1) is:" << endl; -cout << X.col(1) << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_reuse_decomposition.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_reuse_decomposition.cpp deleted file mode 100644 index 3ca06453..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_reuse_decomposition.cpp +++ /dev/null @@ -1,13 +0,0 @@ -Matrix3f A(3,3); -A << 1,2,3, 4,5,6, 7,8,10; -PartialPivLU luOfA(A); // compute LU decomposition of A -Vector3f b; -b << 3,3,4; -Vector3f x; -x = luOfA.solve(b); -cout << "The solution with right-hand side (3,3,4) is:" << endl; -cout << x << endl; -b << 1,1,1; -x = luOfA.solve(b); -cout << "The solution with right-hand side (1,1,1) is:" << endl; -cout << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_singular.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_singular.cpp deleted file mode 100644 index abff1ef7..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_singular.cpp +++ /dev/null @@ -1,9 +0,0 @@ -Matrix3f A; -Vector3f b; -A << 1,2,3, 4,5,6, 7,8,9; -b << 3, 3, 4; -cout << "Here is the matrix A:" << endl << A << endl; -cout << "Here is the vector b:" << endl << b << endl; -Vector3f x; -x = A.lu().solve(b); -cout << "The solution is:" << endl << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular.cpp deleted file mode 100644 index 9d13f22e..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular.cpp +++ /dev/null @@ -1,8 +0,0 @@ -Matrix3f A; -Vector3f b; -A << 1,2,3, 0,5,6, 0,0,10; -b << 3, 3, 4; -cout << "Here is the matrix A:" << endl << A << endl; -cout << "Here is the vector b:" << endl << b << endl; -Vector3f x = A.triangularView().solve(b); -cout << "The solution is:" << endl << x << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular_inplace.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular_inplace.cpp deleted file mode 100644 index 16ae633a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Tutorial_solve_triangular_inplace.cpp +++ /dev/null @@ -1,6 +0,0 @@ -Matrix3f A; -Vector3f b; -A << 1,2,3, 0,5,6, 0,0,10; -b << 3, 3, 4; -A.triangularView().solveInPlace(b); -cout << "The solution is:" << endl << b << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/VectorwiseOp_homogeneous.cpp b/testbed/nanogui/ext/eigen/doc/snippets/VectorwiseOp_homogeneous.cpp deleted file mode 100644 index aba4fed0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/VectorwiseOp_homogeneous.cpp +++ /dev/null @@ -1,7 +0,0 @@ -typedef Matrix Matrix3Xd; -Matrix3Xd M = Matrix3Xd::Random(3,5); -Projective3d P(Matrix4d::Random()); -cout << "The matrix M is:" << endl << M << endl << endl; -cout << "M.colwise().homogeneous():" << endl << M.colwise().homogeneous() << endl << endl; -cout << "P * M.colwise().homogeneous():" << endl << P * M.colwise().homogeneous() << endl << endl; -cout << "P * M.colwise().homogeneous().hnormalized(): " << endl << (P * M.colwise().homogeneous()).colwise().hnormalized() << endl << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/Vectorwise_reverse.cpp b/testbed/nanogui/ext/eigen/doc/snippets/Vectorwise_reverse.cpp deleted file mode 100644 index 2f6a3508..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/Vectorwise_reverse.cpp +++ /dev/null @@ -1,10 +0,0 @@ -MatrixXi m = MatrixXi::Random(3,4); -cout << "Here is the matrix m:" << endl << m << endl; -cout << "Here is the rowwise reverse of m:" << endl << m.rowwise().reverse() << endl; -cout << "Here is the colwise reverse of m:" << endl << m.colwise().reverse() << endl; - -cout << "Here is the coefficient (1,0) in the rowise reverse of m:" << endl -<< m.rowwise().reverse()(1,0) << endl; -cout << "Let us overwrite this coefficient with the value 4." << endl; -//m.colwise().reverse()(1,0) = 4; -cout << "Now the matrix m is:" << endl << m << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/class_FullPivLU.cpp b/testbed/nanogui/ext/eigen/doc/snippets/class_FullPivLU.cpp deleted file mode 100644 index fce7fac0..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/class_FullPivLU.cpp +++ /dev/null @@ -1,16 +0,0 @@ -typedef Matrix Matrix5x3; -typedef Matrix Matrix5x5; -Matrix5x3 m = Matrix5x3::Random(); -cout << "Here is the matrix m:" << endl << m << endl; -Eigen::FullPivLU lu(m); -cout << "Here is, up to permutations, its LU decomposition matrix:" - << endl << lu.matrixLU() << endl; -cout << "Here is the L part:" << endl; -Matrix5x5 l = Matrix5x5::Identity(); -l.block<5,3>(0,0).triangularView() = lu.matrixLU(); -cout << l << endl; -cout << "Here is the U part:" << endl; -Matrix5x3 u = lu.matrixLU().triangularView(); -cout << u << endl; -cout << "Let us now reconstruct the original matrix m:" << endl; -cout << lu.permutationP().inverse() * l * u * lu.permutationQ().inverse() << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/compile_snippet.cpp.in b/testbed/nanogui/ext/eigen/doc/snippets/compile_snippet.cpp.in deleted file mode 100644 index d63f371a..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/compile_snippet.cpp.in +++ /dev/null @@ -1,20 +0,0 @@ -static bool eigen_did_assert = false; -#define eigen_assert(X) if(!eigen_did_assert && !(X)){ std::cout << "### Assertion raised in " << __FILE__ << ":" << __LINE__ << ":\n" #X << "\n### The following would happen without assertions:\n"; eigen_did_assert = true;} - -#include -#include - -#ifndef M_PI -#define M_PI 3.1415926535897932384626433832795 -#endif - - -using namespace Eigen; -using namespace std; - -int main(int, char**) -{ - cout.precision(3); - ${snippet_source_code} - return 0; -} diff --git a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_redux_minmax.cpp b/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_redux_minmax.cpp deleted file mode 100644 index f4ae7f40..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_redux_minmax.cpp +++ /dev/null @@ -1,12 +0,0 @@ - Matrix3f m = Matrix3f::Random(); - std::ptrdiff_t i, j; - float minOfM = m.minCoeff(&i,&j); - cout << "Here is the matrix m:\n" << m << endl; - cout << "Its minimum coefficient (" << minOfM - << ") is at position (" << i << "," << j << ")\n\n"; - - RowVector4i v = RowVector4i::Random(); - int maxOfV = v.maxCoeff(&i); - cout << "Here is the vector v: " << v << endl; - cout << "Its maximum coefficient (" << maxOfV - << ") is at position " << i << endl; diff --git a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp b/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp deleted file mode 100644 index c8e4746d..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_aliasing.cpp +++ /dev/null @@ -1,5 +0,0 @@ -Matrix2i a; a << 1, 2, 3, 4; -cout << "Here is the matrix a:\n" << a << endl; - -a = a.transpose(); // !!! do NOT do this !!! -cout << "and the result of the aliasing effect:\n" << a << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_conjugate.cpp b/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_conjugate.cpp deleted file mode 100644 index 88496b22..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_conjugate.cpp +++ /dev/null @@ -1,12 +0,0 @@ -MatrixXcf a = MatrixXcf::Random(2,2); -cout << "Here is the matrix a\n" << a << endl; - -cout << "Here is the matrix a^T\n" << a.transpose() << endl; - - -cout << "Here is the conjugate of a\n" << a.conjugate() << endl; - - -cout << "Here is the matrix a^*\n" << a.adjoint() << endl; - - diff --git a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_inplace.cpp b/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_inplace.cpp deleted file mode 100644 index 7a069ff2..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/tut_arithmetic_transpose_inplace.cpp +++ /dev/null @@ -1,6 +0,0 @@ -MatrixXf a(2,3); a << 1, 2, 3, 4, 5, 6; -cout << "Here is the initial matrix a:\n" << a << endl; - - -a.transposeInPlace(); -cout << "and after being transposed:\n" << a << endl; \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/doc/snippets/tut_matrix_assignment_resizing.cpp b/testbed/nanogui/ext/eigen/doc/snippets/tut_matrix_assignment_resizing.cpp deleted file mode 100644 index cf189983..00000000 --- a/testbed/nanogui/ext/eigen/doc/snippets/tut_matrix_assignment_resizing.cpp +++ /dev/null @@ -1,5 +0,0 @@ -MatrixXf a(2,2); -std::cout << "a is of size " << a.rows() << "x" << a.cols() << std::endl; -MatrixXf b(3,3); -a = b; -std::cout << "a is now of size " << a.rows() << "x" << a.cols() << std::endl; diff --git a/testbed/nanogui/ext/eigen/doc/special_examples/CMakeLists.txt b/testbed/nanogui/ext/eigen/doc/special_examples/CMakeLists.txt deleted file mode 100644 index 101fbc5f..00000000 --- a/testbed/nanogui/ext/eigen/doc/special_examples/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -if(NOT EIGEN_TEST_NOQT) - find_package(Qt4) - if(QT4_FOUND) - include(${QT_USE_FILE}) - endif() -endif(NOT EIGEN_TEST_NOQT) - -if(QT4_FOUND) - add_executable(Tutorial_sparse_example Tutorial_sparse_example.cpp Tutorial_sparse_example_details.cpp) - target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY}) - - add_custom_command( - TARGET Tutorial_sparse_example - POST_BUILD - COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/../html/ - COMMAND Tutorial_sparse_example ARGS ${CMAKE_CURRENT_BINARY_DIR}/../html/Tutorial_sparse_example.jpeg - ) - - add_dependencies(all_examples Tutorial_sparse_example) -endif(QT4_FOUND) - -check_cxx_compiler_flag("-std=c++11" EIGEN_COMPILER_SUPPORT_CPP11) -if(EIGEN_COMPILER_SUPPORT_CPP11) - add_executable(random_cpp11 random_cpp11.cpp) - target_link_libraries(random_cpp11 ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) - add_dependencies(all_examples random_cpp11) - ei_add_target_property(random_cpp11 COMPILE_FLAGS "-std=c++11") - - add_custom_command( - TARGET random_cpp11 - POST_BUILD - COMMAND random_cpp11 - ARGS >${CMAKE_CURRENT_BINARY_DIR}/random_cpp11.out - ) -endif() diff --git a/testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example.cpp b/testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example.cpp deleted file mode 100644 index 830e196e..00000000 --- a/testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include -#include - -typedef Eigen::SparseMatrix SpMat; // declares a column-major sparse matrix type of double -typedef Eigen::Triplet T; - -void buildProblem(std::vector& coefficients, Eigen::VectorXd& b, int n); -void saveAsBitmap(const Eigen::VectorXd& x, int n, const char* filename); - -int main(int argc, char** argv) -{ - assert(argc==2); - - int n = 300; // size of the image - int m = n*n; // number of unknows (=number of pixels) - - // Assembly: - std::vector coefficients; // list of non-zeros coefficients - Eigen::VectorXd b(m); // the right hand side-vector resulting from the constraints - buildProblem(coefficients, b, n); - - SpMat A(m,m); - A.setFromTriplets(coefficients.begin(), coefficients.end()); - - // Solving: - Eigen::SimplicialCholesky chol(A); // performs a Cholesky factorization of A - Eigen::VectorXd x = chol.solve(b); // use the factorization to solve for the given right hand side - - // Export the result to a file: - saveAsBitmap(x, n, argv[1]); - - return 0; -} - diff --git a/testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example_details.cpp b/testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example_details.cpp deleted file mode 100644 index bc18b018..00000000 --- a/testbed/nanogui/ext/eigen/doc/special_examples/Tutorial_sparse_example_details.cpp +++ /dev/null @@ -1,44 +0,0 @@ -#include -#include -#include - -typedef Eigen::SparseMatrix SpMat; // declares a column-major sparse matrix type of double -typedef Eigen::Triplet T; - -void insertCoefficient(int id, int i, int j, double w, std::vector& coeffs, - Eigen::VectorXd& b, const Eigen::VectorXd& boundary) -{ - int n = int(boundary.size()); - int id1 = i+j*n; - - if(i==-1 || i==n) b(id) -= w * boundary(j); // constrained coefficient - else if(j==-1 || j==n) b(id) -= w * boundary(i); // constrained coefficient - else coeffs.push_back(T(id,id1,w)); // unknown coefficient -} - -void buildProblem(std::vector& coefficients, Eigen::VectorXd& b, int n) -{ - b.setZero(); - Eigen::ArrayXd boundary = Eigen::ArrayXd::LinSpaced(n, 0,M_PI).sin().pow(2); - for(int j=0; j bits = (x*255).cast(); - QImage img(bits.data(), n,n,QImage::Format_Indexed8); - img.setColorCount(256); - for(int i=0;i<256;i++) img.setColor(i,qRgb(i,i,i)); - img.save(filename); -} diff --git a/testbed/nanogui/ext/eigen/doc/special_examples/random_cpp11.cpp b/testbed/nanogui/ext/eigen/doc/special_examples/random_cpp11.cpp deleted file mode 100644 index 33744c05..00000000 --- a/testbed/nanogui/ext/eigen/doc/special_examples/random_cpp11.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include -#include -#include - -using namespace Eigen; - -int main() { - std::default_random_engine generator; - std::poisson_distribution distribution(4.1); - auto poisson = [&] () {return distribution(generator);}; - - RowVectorXi v = RowVectorXi::NullaryExpr(10, poisson ); - std::cout << v << "\n"; -} diff --git a/testbed/nanogui/ext/eigen/doc/tutorial.cpp b/testbed/nanogui/ext/eigen/doc/tutorial.cpp deleted file mode 100644 index 62be7c27..00000000 --- a/testbed/nanogui/ext/eigen/doc/tutorial.cpp +++ /dev/null @@ -1,62 +0,0 @@ -#include - -int main(int argc, char *argv[]) -{ - std::cout.precision(2); - - // demo static functions - Eigen::Matrix3f m3 = Eigen::Matrix3f::Random(); - Eigen::Matrix4f m4 = Eigen::Matrix4f::Identity(); - - std::cout << "*** Step 1 ***\nm3:\n" << m3 << "\nm4:\n" << m4 << std::endl; - - // demo non-static set... functions - m4.setZero(); - m3.diagonal().setOnes(); - - std::cout << "*** Step 2 ***\nm3:\n" << m3 << "\nm4:\n" << m4 << std::endl; - - // demo fixed-size block() expression as lvalue and as rvalue - m4.block<3,3>(0,1) = m3; - m3.row(2) = m4.block<1,3>(2,0); - - std::cout << "*** Step 3 ***\nm3:\n" << m3 << "\nm4:\n" << m4 << std::endl; - - // demo dynamic-size block() - { - int rows = 3, cols = 3; - m4.block(0,1,3,3).setIdentity(); - std::cout << "*** Step 4 ***\nm4:\n" << m4 << std::endl; - } - - // demo vector blocks - m4.diagonal().block(1,2).setOnes(); - std::cout << "*** Step 5 ***\nm4.diagonal():\n" << m4.diagonal() << std::endl; - std::cout << "m4.diagonal().start(3)\n" << m4.diagonal().start(3) << std::endl; - - // demo coeff-wise operations - m4 = m4.cwise()*m4; - m3 = m3.cwise().cos(); - std::cout << "*** Step 6 ***\nm3:\n" << m3 << "\nm4:\n" << m4 << std::endl; - - // sums of coefficients - std::cout << "*** Step 7 ***\n m4.sum(): " << m4.sum() << std::endl; - std::cout << "m4.col(2).sum(): " << m4.col(2).sum() << std::endl; - std::cout << "m4.colwise().sum():\n" << m4.colwise().sum() << std::endl; - std::cout << "m4.rowwise().sum():\n" << m4.rowwise().sum() << std::endl; - - // demo intelligent auto-evaluation - m4 = m4 * m4; // auto-evaluates so no aliasing problem (performance penalty is low) - Eigen::Matrix4f other = (m4 * m4).lazy(); // forces lazy evaluation - m4 = m4 + m4; // here Eigen goes for lazy evaluation, as with most expressions - m4 = -m4 + m4 + 5 * m4; // same here, Eigen chooses lazy evaluation for all that. - m4 = m4 * (m4 + m4); // here Eigen chooses to first evaluate m4 + m4 into a temporary. - // indeed, here it is an optimization to cache this intermediate result. - m3 = m3 * m4.block<3,3>(1,1); // here Eigen chooses NOT to evaluate block() into a temporary - // because accessing coefficients of that block expression is not more costly than accessing - // coefficients of a plain matrix. - m4 = m4 * m4.transpose(); // same here, lazy evaluation of the transpose. - m4 = m4 * m4.transpose().eval(); // forces immediate evaluation of the transpose - - std::cout << "*** Step 8 ***\nm3:\n" << m3 << "\nm4:\n" << m4 << std::endl; -} diff --git a/testbed/nanogui/ext/eigen/eigen3.pc.in b/testbed/nanogui/ext/eigen/eigen3.pc.in deleted file mode 100644 index 3368a3aa..00000000 --- a/testbed/nanogui/ext/eigen/eigen3.pc.in +++ /dev/null @@ -1,9 +0,0 @@ -prefix=@CMAKE_INSTALL_PREFIX@ -exec_prefix=${prefix} - -Name: Eigen3 -Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms -Requires: -Version: @EIGEN_VERSION_NUMBER@ -Libs: -Cflags: -I${prefix}/@INCLUDE_INSTALL_DIR@ diff --git a/testbed/nanogui/ext/eigen/failtest/CMakeLists.txt b/testbed/nanogui/ext/eigen/failtest/CMakeLists.txt deleted file mode 100644 index 1a73f05e..00000000 --- a/testbed/nanogui/ext/eigen/failtest/CMakeLists.txt +++ /dev/null @@ -1,75 +0,0 @@ -message(STATUS "Running the failtests") - -ei_add_failtest("failtest_sanity_check") - -ei_add_failtest("block_nonconst_ctor_on_const_xpr_0") -ei_add_failtest("block_nonconst_ctor_on_const_xpr_1") -ei_add_failtest("block_nonconst_ctor_on_const_xpr_2") -ei_add_failtest("transpose_nonconst_ctor_on_const_xpr") -ei_add_failtest("diagonal_nonconst_ctor_on_const_xpr") -ei_add_failtest("cwiseunaryview_nonconst_ctor_on_const_xpr") -ei_add_failtest("triangularview_nonconst_ctor_on_const_xpr") -ei_add_failtest("selfadjointview_nonconst_ctor_on_const_xpr") - -ei_add_failtest("const_qualified_block_method_retval_0") -ei_add_failtest("const_qualified_block_method_retval_1") -ei_add_failtest("const_qualified_transpose_method_retval") -ei_add_failtest("const_qualified_diagonal_method_retval") - -ei_add_failtest("map_nonconst_ctor_on_const_ptr_0") -ei_add_failtest("map_nonconst_ctor_on_const_ptr_1") -ei_add_failtest("map_nonconst_ctor_on_const_ptr_2") -ei_add_failtest("map_nonconst_ctor_on_const_ptr_3") -ei_add_failtest("map_nonconst_ctor_on_const_ptr_4") - -ei_add_failtest("map_on_const_type_actually_const_0") -ei_add_failtest("map_on_const_type_actually_const_1") -ei_add_failtest("block_on_const_type_actually_const_0") -ei_add_failtest("block_on_const_type_actually_const_1") -ei_add_failtest("transpose_on_const_type_actually_const") -ei_add_failtest("diagonal_on_const_type_actually_const") -ei_add_failtest("cwiseunaryview_on_const_type_actually_const") -ei_add_failtest("triangularview_on_const_type_actually_const") -ei_add_failtest("selfadjointview_on_const_type_actually_const") - -ei_add_failtest("ref_1") -ei_add_failtest("ref_2") -ei_add_failtest("ref_3") -ei_add_failtest("ref_4") -ei_add_failtest("ref_5") - -ei_add_failtest("swap_1") -ei_add_failtest("swap_2") - -ei_add_failtest("ternary_1") -ei_add_failtest("ternary_2") - -ei_add_failtest("sparse_ref_1") -ei_add_failtest("sparse_ref_2") -ei_add_failtest("sparse_ref_3") -ei_add_failtest("sparse_ref_4") -ei_add_failtest("sparse_ref_5") - -ei_add_failtest("sparse_storage_mismatch") - -ei_add_failtest("partialpivlu_int") -ei_add_failtest("fullpivlu_int") -ei_add_failtest("llt_int") -ei_add_failtest("ldlt_int") -ei_add_failtest("qr_int") -ei_add_failtest("colpivqr_int") -ei_add_failtest("fullpivqr_int") -ei_add_failtest("jacobisvd_int") -ei_add_failtest("bdcsvd_int") -ei_add_failtest("eigensolver_int") -ei_add_failtest("eigensolver_cplx") - -if (EIGEN_FAILTEST_FAILURE_COUNT) - message(FATAL_ERROR - "${EIGEN_FAILTEST_FAILURE_COUNT} out of ${EIGEN_FAILTEST_COUNT} failtests FAILED. " - "To debug these failures, manually compile these programs in ${CMAKE_CURRENT_SOURCE_DIR}, " - "with and without #define EIGEN_SHOULD_FAIL_TO_BUILD.") -else() - message(STATUS "Failtest SUCCESS: all ${EIGEN_FAILTEST_COUNT} failtests passed.") - message(STATUS "") -endif() diff --git a/testbed/nanogui/ext/eigen/failtest/bdcsvd_int.cpp b/testbed/nanogui/ext/eigen/failtest/bdcsvd_int.cpp deleted file mode 100644 index 670752cf..00000000 --- a/testbed/nanogui/ext/eigen/failtest/bdcsvd_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/SVD" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - BDCSVD > qr(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_0.cpp b/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_0.cpp deleted file mode 100644 index 40b82014..00000000 --- a/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_0.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Block b(m,0,0); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_1.cpp b/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_1.cpp deleted file mode 100644 index ef6d5370..00000000 --- a/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_1.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Block b(m,0,0,3,3); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_2.cpp b/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_2.cpp deleted file mode 100644 index 43f18aec..00000000 --- a/testbed/nanogui/ext/eigen/failtest/block_nonconst_ctor_on_const_xpr_2.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - // row/column constructor - Block b(m,0); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_0.cpp b/testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_0.cpp deleted file mode 100644 index 009bebec..00000000 --- a/testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_0.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - Matrix3f m; - Block(m, 0, 0, 3, 3).coeffRef(0, 0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_1.cpp b/testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_1.cpp deleted file mode 100644 index 4c3e93ff..00000000 --- a/testbed/nanogui/ext/eigen/failtest/block_on_const_type_actually_const_1.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - MatrixXf m; - Block(m, 0, 0).coeffRef(0, 0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/colpivqr_int.cpp b/testbed/nanogui/ext/eigen/failtest/colpivqr_int.cpp deleted file mode 100644 index db11910d..00000000 --- a/testbed/nanogui/ext/eigen/failtest/colpivqr_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/QR" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - ColPivHouseholderQR > qr(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_0.cpp b/testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_0.cpp deleted file mode 100644 index a6bd5fee..00000000 --- a/testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_0.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Block b(m.block<3,3>(0,0)); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_1.cpp b/testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_1.cpp deleted file mode 100644 index ef40c247..00000000 --- a/testbed/nanogui/ext/eigen/failtest/const_qualified_block_method_retval_1.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Block b(m.block(0,0,3,3)); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/const_qualified_diagonal_method_retval.cpp b/testbed/nanogui/ext/eigen/failtest/const_qualified_diagonal_method_retval.cpp deleted file mode 100644 index 809594aa..00000000 --- a/testbed/nanogui/ext/eigen/failtest/const_qualified_diagonal_method_retval.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Diagonal b(m.diagonal()); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/const_qualified_transpose_method_retval.cpp b/testbed/nanogui/ext/eigen/failtest/const_qualified_transpose_method_retval.cpp deleted file mode 100644 index 2d7f19ca..00000000 --- a/testbed/nanogui/ext/eigen/failtest/const_qualified_transpose_method_retval.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Transpose b(m.transpose()); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp b/testbed/nanogui/ext/eigen/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp deleted file mode 100644 index e23cf8fd..00000000 --- a/testbed/nanogui/ext/eigen/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - CwiseUnaryView,Matrix3d> t(m); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/cwiseunaryview_on_const_type_actually_const.cpp b/testbed/nanogui/ext/eigen/failtest/cwiseunaryview_on_const_type_actually_const.cpp deleted file mode 100644 index fcd41dfd..00000000 --- a/testbed/nanogui/ext/eigen/failtest/cwiseunaryview_on_const_type_actually_const.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - MatrixXf m; - CwiseUnaryView,CV_QUALIFIER MatrixXf>(m).coeffRef(0, 0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp b/testbed/nanogui/ext/eigen/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp deleted file mode 100644 index 76398a2c..00000000 --- a/testbed/nanogui/ext/eigen/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Diagonal d(m); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/diagonal_on_const_type_actually_const.cpp b/testbed/nanogui/ext/eigen/failtest/diagonal_on_const_type_actually_const.cpp deleted file mode 100644 index d4b2fd9b..00000000 --- a/testbed/nanogui/ext/eigen/failtest/diagonal_on_const_type_actually_const.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - MatrixXf m; - Diagonal(m).coeffRef(0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/eigensolver_cplx.cpp b/testbed/nanogui/ext/eigen/failtest/eigensolver_cplx.cpp deleted file mode 100644 index c2e21e18..00000000 --- a/testbed/nanogui/ext/eigen/failtest/eigensolver_cplx.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/Eigenvalues" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR std::complex -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - EigenSolver > eig(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/eigensolver_int.cpp b/testbed/nanogui/ext/eigen/failtest/eigensolver_int.cpp deleted file mode 100644 index eda8dc20..00000000 --- a/testbed/nanogui/ext/eigen/failtest/eigensolver_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/Eigenvalues" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - EigenSolver > eig(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/failtest_sanity_check.cpp b/testbed/nanogui/ext/eigen/failtest/failtest_sanity_check.cpp deleted file mode 100644 index 769fa942..00000000 --- a/testbed/nanogui/ext/eigen/failtest/failtest_sanity_check.cpp +++ /dev/null @@ -1,5 +0,0 @@ -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -This is just some text that won't compile as a C++ file, as a basic sanity check for failtest. -#else -int main() {} -#endif diff --git a/testbed/nanogui/ext/eigen/failtest/fullpivlu_int.cpp b/testbed/nanogui/ext/eigen/failtest/fullpivlu_int.cpp deleted file mode 100644 index e9d2c6eb..00000000 --- a/testbed/nanogui/ext/eigen/failtest/fullpivlu_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/LU" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - FullPivLU > lu(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/fullpivqr_int.cpp b/testbed/nanogui/ext/eigen/failtest/fullpivqr_int.cpp deleted file mode 100644 index d182a7b6..00000000 --- a/testbed/nanogui/ext/eigen/failtest/fullpivqr_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/QR" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - FullPivHouseholderQR > qr(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/jacobisvd_int.cpp b/testbed/nanogui/ext/eigen/failtest/jacobisvd_int.cpp deleted file mode 100644 index 12790aef..00000000 --- a/testbed/nanogui/ext/eigen/failtest/jacobisvd_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/SVD" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - JacobiSVD > qr(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/ldlt_int.cpp b/testbed/nanogui/ext/eigen/failtest/ldlt_int.cpp deleted file mode 100644 index 243e4574..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ldlt_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/Cholesky" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - LDLT > ldlt(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/llt_int.cpp b/testbed/nanogui/ext/eigen/failtest/llt_int.cpp deleted file mode 100644 index cb020650..00000000 --- a/testbed/nanogui/ext/eigen/failtest/llt_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/Cholesky" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - LLT > llt(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_0.cpp b/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_0.cpp deleted file mode 100644 index d75686f5..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_0.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER float *ptr){ - Map m(ptr); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_1.cpp b/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_1.cpp deleted file mode 100644 index eda134dc..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_1.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER float *ptr, DenseIndex size){ - Map m(ptr, size); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_2.cpp b/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_2.cpp deleted file mode 100644 index 06b4b627..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_2.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER float *ptr, DenseIndex rows, DenseIndex cols){ - Map m(ptr, rows, cols); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_3.cpp b/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_3.cpp deleted file mode 100644 index 830f6f0c..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_3.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER float *ptr, DenseIndex rows, DenseIndex cols){ - Map > m(ptr, rows, cols, InnerStride<2>()); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_4.cpp b/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_4.cpp deleted file mode 100644 index c3e8c952..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_nonconst_ctor_on_const_ptr_4.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER -#else -#define CV_QUALIFIER const -#endif - -using namespace Eigen; - -void foo(const float *ptr, DenseIndex rows, DenseIndex cols){ - Map > m(ptr, rows, cols, OuterStride<>(2)); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_0.cpp b/testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_0.cpp deleted file mode 100644 index 8cb6aa0c..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_0.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(float *ptr){ - Map(ptr, 1, 1).coeffRef(0,0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_1.cpp b/testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_1.cpp deleted file mode 100644 index 04e067c3..00000000 --- a/testbed/nanogui/ext/eigen/failtest/map_on_const_type_actually_const_1.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(float *ptr){ - Map(ptr).coeffRef(0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/partialpivlu_int.cpp b/testbed/nanogui/ext/eigen/failtest/partialpivlu_int.cpp deleted file mode 100644 index 98ef282e..00000000 --- a/testbed/nanogui/ext/eigen/failtest/partialpivlu_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/LU" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - PartialPivLU > lu(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/qr_int.cpp b/testbed/nanogui/ext/eigen/failtest/qr_int.cpp deleted file mode 100644 index ce200e81..00000000 --- a/testbed/nanogui/ext/eigen/failtest/qr_int.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/QR" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define SCALAR int -#else -#define SCALAR float -#endif - -using namespace Eigen; - -int main() -{ - HouseholderQR > qr(Matrix::Random(10,10)); -} diff --git a/testbed/nanogui/ext/eigen/failtest/ref_1.cpp b/testbed/nanogui/ext/eigen/failtest/ref_1.cpp deleted file mode 100644 index 8b798d53..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ref_1.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void call_ref(Ref a) { } - -int main() -{ - VectorXf a(10); - CV_QUALIFIER VectorXf& ac(a); - call_ref(ac); -} diff --git a/testbed/nanogui/ext/eigen/failtest/ref_2.cpp b/testbed/nanogui/ext/eigen/failtest/ref_2.cpp deleted file mode 100644 index 0b779ccf..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ref_2.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -void call_ref(Ref a) { } - -int main() -{ - MatrixXf A(10,10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - call_ref(A.row(3)); -#else - call_ref(A.col(3)); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/ref_3.cpp b/testbed/nanogui/ext/eigen/failtest/ref_3.cpp deleted file mode 100644 index f46027d4..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ref_3.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -void call_ref(Ref a) { } -#else -void call_ref(const Ref &a) { } -#endif - -int main() -{ - VectorXf a(10); - call_ref(a+a); -} diff --git a/testbed/nanogui/ext/eigen/failtest/ref_4.cpp b/testbed/nanogui/ext/eigen/failtest/ref_4.cpp deleted file mode 100644 index 6c11fa4c..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ref_4.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -void call_ref(Ref > a) {} - -int main() -{ - MatrixXf A(10,10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - call_ref(A.transpose()); -#else - call_ref(A); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/ref_5.cpp b/testbed/nanogui/ext/eigen/failtest/ref_5.cpp deleted file mode 100644 index 846d5279..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ref_5.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -void call_ref(Ref a) { } - -int main() -{ - VectorXf a(10); - DenseBase &ac(a); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - call_ref(ac); -#else - call_ref(ac.derived()); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp b/testbed/nanogui/ext/eigen/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp deleted file mode 100644 index a240f818..00000000 --- a/testbed/nanogui/ext/eigen/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - SelfAdjointView t(m); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/selfadjointview_on_const_type_actually_const.cpp b/testbed/nanogui/ext/eigen/failtest/selfadjointview_on_const_type_actually_const.cpp deleted file mode 100644 index 19aaad6d..00000000 --- a/testbed/nanogui/ext/eigen/failtest/selfadjointview_on_const_type_actually_const.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - MatrixXf m; - SelfAdjointView(m).coeffRef(0, 0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/sparse_ref_1.cpp b/testbed/nanogui/ext/eigen/failtest/sparse_ref_1.cpp deleted file mode 100644 index d78d1f9b..00000000 --- a/testbed/nanogui/ext/eigen/failtest/sparse_ref_1.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include "../Eigen/Sparse" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void call_ref(Ref > a) { } - -int main() -{ - SparseMatrix a(10,10); - CV_QUALIFIER SparseMatrix& ac(a); - call_ref(ac); -} diff --git a/testbed/nanogui/ext/eigen/failtest/sparse_ref_2.cpp b/testbed/nanogui/ext/eigen/failtest/sparse_ref_2.cpp deleted file mode 100644 index 46c9440c..00000000 --- a/testbed/nanogui/ext/eigen/failtest/sparse_ref_2.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Sparse" - -using namespace Eigen; - -void call_ref(Ref > a) { } - -int main() -{ - SparseMatrix A(10,10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - call_ref(A.row(3)); -#else - call_ref(A.col(3)); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/sparse_ref_3.cpp b/testbed/nanogui/ext/eigen/failtest/sparse_ref_3.cpp deleted file mode 100644 index a9949b55..00000000 --- a/testbed/nanogui/ext/eigen/failtest/sparse_ref_3.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Sparse" - -using namespace Eigen; - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -void call_ref(Ref > a) { } -#else -void call_ref(const Ref > &a) { } -#endif - -int main() -{ - SparseMatrix a(10,10); - call_ref(a+a); -} diff --git a/testbed/nanogui/ext/eigen/failtest/sparse_ref_4.cpp b/testbed/nanogui/ext/eigen/failtest/sparse_ref_4.cpp deleted file mode 100644 index 57bb6a1f..00000000 --- a/testbed/nanogui/ext/eigen/failtest/sparse_ref_4.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Sparse" - -using namespace Eigen; - -void call_ref(Ref > a) {} - -int main() -{ - SparseMatrix A(10,10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - call_ref(A.transpose()); -#else - call_ref(A); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/sparse_ref_5.cpp b/testbed/nanogui/ext/eigen/failtest/sparse_ref_5.cpp deleted file mode 100644 index 4478f6f2..00000000 --- a/testbed/nanogui/ext/eigen/failtest/sparse_ref_5.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Sparse" - -using namespace Eigen; - -void call_ref(Ref > a) { } - -int main() -{ - SparseMatrix a(10,10); - SparseMatrixBase > &ac(a); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - call_ref(ac); -#else - call_ref(ac.derived()); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/sparse_storage_mismatch.cpp b/testbed/nanogui/ext/eigen/failtest/sparse_storage_mismatch.cpp deleted file mode 100644 index 51840d41..00000000 --- a/testbed/nanogui/ext/eigen/failtest/sparse_storage_mismatch.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Sparse" -using namespace Eigen; - -typedef SparseMatrix Mat1; -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -typedef SparseMatrix Mat2; -#else -typedef SparseMatrix Mat2; -#endif - -int main() -{ - Mat1 a(10,10); - Mat2 b(10,10); - a += b; -} diff --git a/testbed/nanogui/ext/eigen/failtest/swap_1.cpp b/testbed/nanogui/ext/eigen/failtest/swap_1.cpp deleted file mode 100644 index 10637972..00000000 --- a/testbed/nanogui/ext/eigen/failtest/swap_1.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -int main() -{ - VectorXf a(10), b(10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - const DenseBase &ac(a); -#else - DenseBase &ac(a); -#endif - b.swap(ac); -} diff --git a/testbed/nanogui/ext/eigen/failtest/swap_2.cpp b/testbed/nanogui/ext/eigen/failtest/swap_2.cpp deleted file mode 100644 index c130ba6e..00000000 --- a/testbed/nanogui/ext/eigen/failtest/swap_2.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -int main() -{ - VectorXf a(10), b(10); - VectorXf const &ac(a); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - b.swap(ac); -#else - b.swap(ac.const_cast_derived()); -#endif -} \ No newline at end of file diff --git a/testbed/nanogui/ext/eigen/failtest/ternary_1.cpp b/testbed/nanogui/ext/eigen/failtest/ternary_1.cpp deleted file mode 100644 index b40bcb0c..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ternary_1.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -int main(int argc,char **) -{ - VectorXf a(10), b(10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - b = argc>1 ? 2*a : -a; -#else - b = argc>1 ? 2*a : VectorXf(-a); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/ternary_2.cpp b/testbed/nanogui/ext/eigen/failtest/ternary_2.cpp deleted file mode 100644 index a46b12b2..00000000 --- a/testbed/nanogui/ext/eigen/failtest/ternary_2.cpp +++ /dev/null @@ -1,13 +0,0 @@ -#include "../Eigen/Core" - -using namespace Eigen; - -int main(int argc,char **) -{ - VectorXf a(10), b(10); -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD - b = argc>1 ? 2*a : a+a; -#else - b = argc>1 ? VectorXf(2*a) : VectorXf(a+a); -#endif -} diff --git a/testbed/nanogui/ext/eigen/failtest/transpose_nonconst_ctor_on_const_xpr.cpp b/testbed/nanogui/ext/eigen/failtest/transpose_nonconst_ctor_on_const_xpr.cpp deleted file mode 100644 index 4223e7fd..00000000 --- a/testbed/nanogui/ext/eigen/failtest/transpose_nonconst_ctor_on_const_xpr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - Transpose t(m); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/transpose_on_const_type_actually_const.cpp b/testbed/nanogui/ext/eigen/failtest/transpose_on_const_type_actually_const.cpp deleted file mode 100644 index d0b7d0df..00000000 --- a/testbed/nanogui/ext/eigen/failtest/transpose_on_const_type_actually_const.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - MatrixXf m; - Transpose(m).coeffRef(0, 0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp b/testbed/nanogui/ext/eigen/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp deleted file mode 100644 index 807447e4..00000000 --- a/testbed/nanogui/ext/eigen/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp +++ /dev/null @@ -1,15 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(CV_QUALIFIER Matrix3d &m){ - TriangularView t(m); -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/failtest/triangularview_on_const_type_actually_const.cpp b/testbed/nanogui/ext/eigen/failtest/triangularview_on_const_type_actually_const.cpp deleted file mode 100644 index 0a381a61..00000000 --- a/testbed/nanogui/ext/eigen/failtest/triangularview_on_const_type_actually_const.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include "../Eigen/Core" - -#ifdef EIGEN_SHOULD_FAIL_TO_BUILD -#define CV_QUALIFIER const -#else -#define CV_QUALIFIER -#endif - -using namespace Eigen; - -void foo(){ - MatrixXf m; - TriangularView(m).coeffRef(0, 0) = 1.0f; -} - -int main() {} diff --git a/testbed/nanogui/ext/eigen/lapack/CMakeLists.txt b/testbed/nanogui/ext/eigen/lapack/CMakeLists.txt deleted file mode 100644 index 9883d4c7..00000000 --- a/testbed/nanogui/ext/eigen/lapack/CMakeLists.txt +++ /dev/null @@ -1,449 +0,0 @@ - -project(EigenLapack CXX) - -include("../cmake/language_support.cmake") - -workaround_9220(Fortran EIGEN_Fortran_COMPILER_WORKS) - -if(EIGEN_Fortran_COMPILER_WORKS) - enable_language(Fortran OPTIONAL) - if(NOT CMAKE_Fortran_COMPILER) - set(EIGEN_Fortran_COMPILER_WORKS OFF) - endif() -endif() - -add_custom_target(lapack) -include_directories(../blas) - -set(EigenLapack_SRCS -single.cpp double.cpp complex_single.cpp complex_double.cpp ../blas/xerbla.cpp -) - -if(EIGEN_Fortran_COMPILER_WORKS) - -set(EigenLapack_SRCS ${EigenLapack_SRCS} - slarft.f dlarft.f clarft.f zlarft.f - slarfb.f dlarfb.f clarfb.f zlarfb.f - slarfg.f dlarfg.f clarfg.f zlarfg.f - slarf.f dlarf.f clarf.f zlarf.f - sladiv.f dladiv.f cladiv.f zladiv.f - ilaslr.f iladlr.f ilaclr.f ilazlr.f - ilaslc.f iladlc.f ilaclc.f ilazlc.f - dlapy2.f dlapy3.f slapy2.f slapy3.f - clacgv.f zlacgv.f - slamch.f dlamch.f - second_NONE.f dsecnd_NONE.f -) - -option(EIGEN_ENABLE_LAPACK_TESTS OFF "Enbale the Lapack unit tests") - -if(EIGEN_ENABLE_LAPACK_TESTS) - - get_filename_component(eigen_full_path_to_reference_lapack "./reference/" ABSOLUTE) - if(NOT EXISTS ${eigen_full_path_to_reference_lapack}) - # Download lapack and install sources and testing at the right place - message(STATUS "Download lapack_addons_3.4.1.tgz...") - - file(DOWNLOAD "http://downloads.tuxfamily.org/eigen/lapack_addons_3.4.1.tgz" - "${CMAKE_CURRENT_SOURCE_DIR}/lapack_addons_3.4.1.tgz" - INACTIVITY_TIMEOUT 15 - TIMEOUT 240 - STATUS download_status - EXPECTED_MD5 5758ce55afcf79da98de8b9de1615ad5 - SHOW_PROGRESS) - - message(STATUS ${download_status}) - list(GET download_status 0 download_status_num) - set(download_status_num 0) - if(download_status_num EQUAL 0) - message(STATUS "Setup lapack reference and lapack unit tests") - execute_process(COMMAND tar xzf "lapack_addons_3.4.1.tgz" WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}) - else() - message(STATUS "Download of lapack_addons_3.4.1.tgz failed, LAPACK unit tests wont be enabled") - set(EIGEN_ENABLE_LAPACK_TESTS false) - endif() - - endif() - - get_filename_component(eigen_full_path_to_reference_lapack "./reference/" ABSOLUTE) - if(EXISTS ${eigen_full_path_to_reference_lapack}) - set(EigenLapack_funcfilenames - ssyev.f dsyev.f csyev.f zsyev.f - spotrf.f dpotrf.f cpotrf.f zpotrf.f - spotrs.f dpotrs.f cpotrs.f zpotrs.f - sgetrf.f dgetrf.f cgetrf.f zgetrf.f - sgetrs.f dgetrs.f cgetrs.f zgetrs.f) - - FILE(GLOB ReferenceLapack_SRCS0 RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "reference/*.f") - foreach(filename1 IN LISTS ReferenceLapack_SRCS0) - string(REPLACE "reference/" "" filename ${filename1}) - list(FIND EigenLapack_SRCS ${filename} id1) - list(FIND EigenLapack_funcfilenames ${filename} id2) - if((id1 EQUAL -1) AND (id2 EQUAL -1)) - set(ReferenceLapack_SRCS ${ReferenceLapack_SRCS} reference/${filename}) - endif() - endforeach() - endif() - - -endif(EIGEN_ENABLE_LAPACK_TESTS) - -endif(EIGEN_Fortran_COMPILER_WORKS) - -add_library(eigen_lapack_static ${EigenLapack_SRCS} ${ReferenceLapack_SRCS}) -add_library(eigen_lapack SHARED ${EigenLapack_SRCS}) - -target_link_libraries(eigen_lapack eigen_blas) - -if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO) - target_link_libraries(eigen_lapack_static ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) - target_link_libraries(eigen_lapack ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}) -endif() - -add_dependencies(lapack eigen_lapack eigen_lapack_static) - -install(TARGETS eigen_lapack eigen_lapack_static - RUNTIME DESTINATION bin - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib) - - - -get_filename_component(eigen_full_path_to_testing_lapack "./testing/" ABSOLUTE) -if(EXISTS ${eigen_full_path_to_testing_lapack}) - - # The following comes from lapack/TESTING/CMakeLists.txt - # Get Python - find_package(PythonInterp) - message(STATUS "Looking for Python found - ${PYTHONINTERP_FOUND}") - if (PYTHONINTERP_FOUND) - message(STATUS "Using Python version ${PYTHON_VERSION_STRING}") - endif() - - set(LAPACK_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}) - set(LAPACK_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}) - set(BUILD_SINGLE true) - set(BUILD_DOUBLE true) - set(BUILD_COMPLEX true) - set(BUILD_COMPLEX16E true) - - if(MSVC_VERSION) -# string(REPLACE "/STACK:10000000" "/STACK:900000000000000000" -# CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS}") - string(REGEX REPLACE "(.*)/STACK:(.*) (.*)" "\\1/STACK:900000000000000000 \\3" - CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS}") - endif() - add_subdirectory(testing/MATGEN) - add_subdirectory(testing/LIN) - add_subdirectory(testing/EIG) - macro(add_lapack_test output input target) - set(TEST_INPUT "${LAPACK_SOURCE_DIR}/testing/${input}") - set(TEST_OUTPUT "${LAPACK_BINARY_DIR}/testing/${output}") - get_target_property(TEST_LOC ${target} LOCATION) - string(REPLACE "." "_" input_name ${input}) - set(testName "${target}_${input_name}") - if(EXISTS "${TEST_INPUT}") - add_test(LAPACK-${testName} "${CMAKE_COMMAND}" - -DTEST=${TEST_LOC} - -DINPUT=${TEST_INPUT} - -DOUTPUT=${TEST_OUTPUT} - -DINTDIR=${CMAKE_CFG_INTDIR} - -P "${LAPACK_SOURCE_DIR}/testing/runtest.cmake") - endif() - endmacro(add_lapack_test) - - if (BUILD_SINGLE) - add_lapack_test(stest.out stest.in xlintsts) - # - # ======== SINGLE RFP LIN TESTS ======================== - add_lapack_test(stest_rfp.out stest_rfp.in xlintstrfs) - # - # - # ======== SINGLE EIG TESTS =========================== - # - - add_lapack_test(snep.out nep.in xeigtsts) - - - add_lapack_test(ssep.out sep.in xeigtsts) - - - add_lapack_test(ssvd.out svd.in xeigtsts) - - - add_lapack_test(sec.out sec.in xeigtsts) - - - add_lapack_test(sed.out sed.in xeigtsts) - - - add_lapack_test(sgg.out sgg.in xeigtsts) - - - add_lapack_test(sgd.out sgd.in xeigtsts) - - - add_lapack_test(ssb.out ssb.in xeigtsts) - - - add_lapack_test(ssg.out ssg.in xeigtsts) - - - add_lapack_test(sbal.out sbal.in xeigtsts) - - - add_lapack_test(sbak.out sbak.in xeigtsts) - - - add_lapack_test(sgbal.out sgbal.in xeigtsts) - - - add_lapack_test(sgbak.out sgbak.in xeigtsts) - - - add_lapack_test(sbb.out sbb.in xeigtsts) - - - add_lapack_test(sglm.out glm.in xeigtsts) - - - add_lapack_test(sgqr.out gqr.in xeigtsts) - - - add_lapack_test(sgsv.out gsv.in xeigtsts) - - - add_lapack_test(scsd.out csd.in xeigtsts) - - - add_lapack_test(slse.out lse.in xeigtsts) - endif() - - if (BUILD_DOUBLE) - # - # ======== DOUBLE LIN TESTS =========================== - add_lapack_test(dtest.out dtest.in xlintstd) - # - # ======== DOUBLE RFP LIN TESTS ======================== - add_lapack_test(dtest_rfp.out dtest_rfp.in xlintstrfd) - # - # ======== DOUBLE EIG TESTS =========================== - - add_lapack_test(dnep.out nep.in xeigtstd) - - - add_lapack_test(dsep.out sep.in xeigtstd) - - - add_lapack_test(dsvd.out svd.in xeigtstd) - - - add_lapack_test(dec.out dec.in xeigtstd) - - - add_lapack_test(ded.out ded.in xeigtstd) - - - add_lapack_test(dgg.out dgg.in xeigtstd) - - - add_lapack_test(dgd.out dgd.in xeigtstd) - - - add_lapack_test(dsb.out dsb.in xeigtstd) - - - add_lapack_test(dsg.out dsg.in xeigtstd) - - - add_lapack_test(dbal.out dbal.in xeigtstd) - - - add_lapack_test(dbak.out dbak.in xeigtstd) - - - add_lapack_test(dgbal.out dgbal.in xeigtstd) - - - add_lapack_test(dgbak.out dgbak.in xeigtstd) - - - add_lapack_test(dbb.out dbb.in xeigtstd) - - - add_lapack_test(dglm.out glm.in xeigtstd) - - - add_lapack_test(dgqr.out gqr.in xeigtstd) - - - add_lapack_test(dgsv.out gsv.in xeigtstd) - - - add_lapack_test(dcsd.out csd.in xeigtstd) - - - add_lapack_test(dlse.out lse.in xeigtstd) - endif() - - if (BUILD_COMPLEX) - add_lapack_test(ctest.out ctest.in xlintstc) - # - # ======== COMPLEX RFP LIN TESTS ======================== - add_lapack_test(ctest_rfp.out ctest_rfp.in xlintstrfc) - # - # ======== COMPLEX EIG TESTS =========================== - - add_lapack_test(cnep.out nep.in xeigtstc) - - - add_lapack_test(csep.out sep.in xeigtstc) - - - add_lapack_test(csvd.out svd.in xeigtstc) - - - add_lapack_test(cec.out cec.in xeigtstc) - - - add_lapack_test(ced.out ced.in xeigtstc) - - - add_lapack_test(cgg.out cgg.in xeigtstc) - - - add_lapack_test(cgd.out cgd.in xeigtstc) - - - add_lapack_test(csb.out csb.in xeigtstc) - - - add_lapack_test(csg.out csg.in xeigtstc) - - - add_lapack_test(cbal.out cbal.in xeigtstc) - - - add_lapack_test(cbak.out cbak.in xeigtstc) - - - add_lapack_test(cgbal.out cgbal.in xeigtstc) - - - add_lapack_test(cgbak.out cgbak.in xeigtstc) - - - add_lapack_test(cbb.out cbb.in xeigtstc) - - - add_lapack_test(cglm.out glm.in xeigtstc) - - - add_lapack_test(cgqr.out gqr.in xeigtstc) - - - add_lapack_test(cgsv.out gsv.in xeigtstc) - - - add_lapack_test(ccsd.out csd.in xeigtstc) - - - add_lapack_test(clse.out lse.in xeigtstc) - endif() - - if (BUILD_COMPLEX16) - # - # ======== COMPLEX16 LIN TESTS ======================== - add_lapack_test(ztest.out ztest.in xlintstz) - # - # ======== COMPLEX16 RFP LIN TESTS ======================== - add_lapack_test(ztest_rfp.out ztest_rfp.in xlintstrfz) - # - # ======== COMPLEX16 EIG TESTS =========================== - - add_lapack_test(znep.out nep.in xeigtstz) - - - add_lapack_test(zsep.out sep.in xeigtstz) - - - add_lapack_test(zsvd.out svd.in xeigtstz) - - - add_lapack_test(zec.out zec.in xeigtstz) - - - add_lapack_test(zed.out zed.in xeigtstz) - - - add_lapack_test(zgg.out zgg.in xeigtstz) - - - add_lapack_test(zgd.out zgd.in xeigtstz) - - - add_lapack_test(zsb.out zsb.in xeigtstz) - - - add_lapack_test(zsg.out zsg.in xeigtstz) - - - add_lapack_test(zbal.out zbal.in xeigtstz) - - - add_lapack_test(zbak.out zbak.in xeigtstz) - - - add_lapack_test(zgbal.out zgbal.in xeigtstz) - - - add_lapack_test(zgbak.out zgbak.in xeigtstz) - - - add_lapack_test(zbb.out zbb.in xeigtstz) - - - add_lapack_test(zglm.out glm.in xeigtstz) - - - add_lapack_test(zgqr.out gqr.in xeigtstz) - - - add_lapack_test(zgsv.out gsv.in xeigtstz) - - - add_lapack_test(zcsd.out csd.in xeigtstz) - - - add_lapack_test(zlse.out lse.in xeigtstz) - endif() - - - if (BUILD_SIMPLE) - if (BUILD_DOUBLE) - # - # ======== SINGLE-DOUBLE PROTO LIN TESTS ============== - add_lapack_test(dstest.out dstest.in xlintstds) - endif() - endif() - - - if (BUILD_COMPLEX) - if (BUILD_COMPLEX16) - # - # ======== COMPLEX-COMPLEX16 LIN TESTS ======================== - add_lapack_test(zctest.out zctest.in xlintstzc) - endif() - endif() - - # ============================================================================== - - execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${LAPACK_SOURCE_DIR}/testing/lapack_testing.py ${LAPACK_BINARY_DIR}) - add_test( - NAME LAPACK_Test_Summary - WORKING_DIRECTORY ${LAPACK_BINARY_DIR} - COMMAND ${PYTHON_EXECUTABLE} "lapack_testing.py" - ) - -endif() - diff --git a/testbed/nanogui/ext/eigen/lapack/cholesky.cpp b/testbed/nanogui/ext/eigen/lapack/cholesky.cpp deleted file mode 100644 index ea3bc123..00000000 --- a/testbed/nanogui/ext/eigen/lapack/cholesky.cpp +++ /dev/null @@ -1,72 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "lapack_common.h" -#include - -// POTRF computes the Cholesky factorization of a real symmetric positive definite matrix A. -EIGEN_LAPACK_FUNC(potrf,(char* uplo, int *n, RealScalar *pa, int *lda, int *info)) -{ - *info = 0; - if(UPLO(*uplo)==INVALID) *info = -1; - else if(*n<0) *info = -2; - else if(*lda(pa); - MatrixType A(a,*n,*n,*lda); - int ret; - if(UPLO(*uplo)==UP) ret = int(internal::llt_inplace::blocked(A)); - else ret = int(internal::llt_inplace::blocked(A)); - - if(ret>=0) - *info = ret+1; - - return 0; -} - -// POTRS solves a system of linear equations A*X = B with a symmetric -// positive definite matrix A using the Cholesky factorization -// A = U**T*U or A = L*L**T computed by DPOTRF. -EIGEN_LAPACK_FUNC(potrs,(char* uplo, int *n, int *nrhs, RealScalar *pa, int *lda, RealScalar *pb, int *ldb, int *info)) -{ - *info = 0; - if(UPLO(*uplo)==INVALID) *info = -1; - else if(*n<0) *info = -2; - else if(*nrhs<0) *info = -3; - else if(*lda(pa); - Scalar* b = reinterpret_cast(pb); - MatrixType A(a,*n,*n,*lda); - MatrixType B(b,*n,*nrhs,*ldb); - - if(UPLO(*uplo)==UP) - { - A.triangularView().adjoint().solveInPlace(B); - A.triangularView().solveInPlace(B); - } - else - { - A.triangularView().solveInPlace(B); - A.triangularView().adjoint().solveInPlace(B); - } - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/lapack/clacgv.f b/testbed/nanogui/ext/eigen/lapack/clacgv.f deleted file mode 100644 index 359eb07f..00000000 --- a/testbed/nanogui/ext/eigen/lapack/clacgv.f +++ /dev/null @@ -1,116 +0,0 @@ -*> \brief \b CLACGV -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download CLACGV + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE CLACGV( N, X, INCX ) -* -* .. Scalar Arguments .. -* INTEGER INCX, N -* .. -* .. Array Arguments .. -* COMPLEX X( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> CLACGV conjugates a complex vector of length N. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The length of the vector X. N >= 0. -*> \endverbatim -*> -*> \param[in,out] X -*> \verbatim -*> X is COMPLEX array, dimension -*> (1+(N-1)*abs(INCX)) -*> On entry, the vector of length N to be conjugated. -*> On exit, X is overwritten with conjg(X). -*> \endverbatim -*> -*> \param[in] INCX -*> \verbatim -*> INCX is INTEGER -*> The spacing between successive elements of X. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complexOTHERauxiliary -* -* ===================================================================== - SUBROUTINE CLACGV( N, X, INCX ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER INCX, N -* .. -* .. Array Arguments .. - COMPLEX X( * ) -* .. -* -* ===================================================================== -* -* .. Local Scalars .. - INTEGER I, IOFF -* .. -* .. Intrinsic Functions .. - INTRINSIC CONJG -* .. -* .. Executable Statements .. -* - IF( INCX.EQ.1 ) THEN - DO 10 I = 1, N - X( I ) = CONJG( X( I ) ) - 10 CONTINUE - ELSE - IOFF = 1 - IF( INCX.LT.0 ) - $ IOFF = 1 - ( N-1 )*INCX - DO 20 I = 1, N - X( IOFF ) = CONJG( X( IOFF ) ) - IOFF = IOFF + INCX - 20 CONTINUE - END IF - RETURN -* -* End of CLACGV -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/cladiv.f b/testbed/nanogui/ext/eigen/lapack/cladiv.f deleted file mode 100644 index 2807ac5f..00000000 --- a/testbed/nanogui/ext/eigen/lapack/cladiv.f +++ /dev/null @@ -1,97 +0,0 @@ -*> \brief \b CLADIV -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download CLADIV + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* COMPLEX FUNCTION CLADIV( X, Y ) -* -* .. Scalar Arguments .. -* COMPLEX X, Y -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> CLADIV := X / Y, where X and Y are complex. The computation of X / Y -*> will not overflow on an intermediary step unless the results -*> overflows. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] X -*> \verbatim -*> X is COMPLEX -*> \endverbatim -*> -*> \param[in] Y -*> \verbatim -*> Y is COMPLEX -*> The complex scalars X and Y. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complexOTHERauxiliary -* -* ===================================================================== - COMPLEX FUNCTION CLADIV( X, Y ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - COMPLEX X, Y -* .. -* -* ===================================================================== -* -* .. Local Scalars .. - REAL ZI, ZR -* .. -* .. External Subroutines .. - EXTERNAL SLADIV -* .. -* .. Intrinsic Functions .. - INTRINSIC AIMAG, CMPLX, REAL -* .. -* .. Executable Statements .. -* - CALL SLADIV( REAL( X ), AIMAG( X ), REAL( Y ), AIMAG( Y ), ZR, - $ ZI ) - CLADIV = CMPLX( ZR, ZI ) -* - RETURN -* -* End of CLADIV -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/clarf.f b/testbed/nanogui/ext/eigen/lapack/clarf.f deleted file mode 100644 index ca0328fb..00000000 --- a/testbed/nanogui/ext/eigen/lapack/clarf.f +++ /dev/null @@ -1,232 +0,0 @@ -*> \brief \b CLARF -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download CLARF + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE CLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* .. Scalar Arguments .. -* CHARACTER SIDE -* INTEGER INCV, LDC, M, N -* COMPLEX TAU -* .. -* .. Array Arguments .. -* COMPLEX C( LDC, * ), V( * ), WORK( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> CLARF applies a complex elementary reflector H to a complex M-by-N -*> matrix C, from either the left or the right. H is represented in the -*> form -*> -*> H = I - tau * v * v**H -*> -*> where tau is a complex scalar and v is a complex vector. -*> -*> If tau = 0, then H is taken to be the unit matrix. -*> -*> To apply H**H (the conjugate transpose of H), supply conjg(tau) instead -*> tau. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': form H * C -*> = 'R': form C * H -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is COMPLEX array, dimension -*> (1 + (M-1)*abs(INCV)) if SIDE = 'L' -*> or (1 + (N-1)*abs(INCV)) if SIDE = 'R' -*> The vector v in the representation of H. V is not used if -*> TAU = 0. -*> \endverbatim -*> -*> \param[in] INCV -*> \verbatim -*> INCV is INTEGER -*> The increment between elements of v. INCV <> 0. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is COMPLEX -*> The value tau in the representation of H. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is COMPLEX array, dimension (LDC,N) -*> On entry, the M-by-N matrix C. -*> On exit, C is overwritten by the matrix H * C if SIDE = 'L', -*> or C * H if SIDE = 'R'. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is COMPLEX array, dimension -*> (N) if SIDE = 'L' -*> or (M) if SIDE = 'R' -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complexOTHERauxiliary -* -* ===================================================================== - SUBROUTINE CLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER SIDE - INTEGER INCV, LDC, M, N - COMPLEX TAU -* .. -* .. Array Arguments .. - COMPLEX C( LDC, * ), V( * ), WORK( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX ONE, ZERO - PARAMETER ( ONE = ( 1.0E+0, 0.0E+0 ), - $ ZERO = ( 0.0E+0, 0.0E+0 ) ) -* .. -* .. Local Scalars .. - LOGICAL APPLYLEFT - INTEGER I, LASTV, LASTC -* .. -* .. External Subroutines .. - EXTERNAL CGEMV, CGERC -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILACLR, ILACLC - EXTERNAL LSAME, ILACLR, ILACLC -* .. -* .. Executable Statements .. -* - APPLYLEFT = LSAME( SIDE, 'L' ) - LASTV = 0 - LASTC = 0 - IF( TAU.NE.ZERO ) THEN -! Set up variables for scanning V. LASTV begins pointing to the end -! of V. - IF( APPLYLEFT ) THEN - LASTV = M - ELSE - LASTV = N - END IF - IF( INCV.GT.0 ) THEN - I = 1 + (LASTV-1) * INCV - ELSE - I = 1 - END IF -! Look for the last non-zero row in V. - DO WHILE( LASTV.GT.0 .AND. V( I ).EQ.ZERO ) - LASTV = LASTV - 1 - I = I - INCV - END DO - IF( APPLYLEFT ) THEN -! Scan for the last non-zero column in C(1:lastv,:). - LASTC = ILACLC(LASTV, N, C, LDC) - ELSE -! Scan for the last non-zero row in C(:,1:lastv). - LASTC = ILACLR(M, LASTV, C, LDC) - END IF - END IF -! Note that lastc.eq.0 renders the BLAS operations null; no special -! case is needed at this level. - IF( APPLYLEFT ) THEN -* -* Form H * C -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastv,1:lastc)**H * v(1:lastv,1) -* - CALL CGEMV( 'Conjugate transpose', LASTV, LASTC, ONE, - $ C, LDC, V, INCV, ZERO, WORK, 1 ) -* -* C(1:lastv,1:lastc) := C(...) - v(1:lastv,1) * w(1:lastc,1)**H -* - CALL CGERC( LASTV, LASTC, -TAU, V, INCV, WORK, 1, C, LDC ) - END IF - ELSE -* -* Form C * H -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastc,1:lastv) * v(1:lastv,1) -* - CALL CGEMV( 'No transpose', LASTC, LASTV, ONE, C, LDC, - $ V, INCV, ZERO, WORK, 1 ) -* -* C(1:lastc,1:lastv) := C(...) - w(1:lastc,1) * v(1:lastv,1)**H -* - CALL CGERC( LASTC, LASTV, -TAU, WORK, 1, V, INCV, C, LDC ) - END IF - END IF - RETURN -* -* End of CLARF -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/clarfb.f b/testbed/nanogui/ext/eigen/lapack/clarfb.f deleted file mode 100644 index 40bbdf48..00000000 --- a/testbed/nanogui/ext/eigen/lapack/clarfb.f +++ /dev/null @@ -1,771 +0,0 @@ -*> \brief \b CLARFB -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download CLARFB + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE CLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, -* T, LDT, C, LDC, WORK, LDWORK ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, SIDE, STOREV, TRANS -* INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. -* COMPLEX C( LDC, * ), T( LDT, * ), V( LDV, * ), -* $ WORK( LDWORK, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> CLARFB applies a complex block reflector H or its transpose H**H to a -*> complex M-by-N matrix C, from either the left or the right. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': apply H or H**H from the Left -*> = 'R': apply H or H**H from the Right -*> \endverbatim -*> -*> \param[in] TRANS -*> \verbatim -*> TRANS is CHARACTER*1 -*> = 'N': apply H (No transpose) -*> = 'C': apply H**H (Conjugate transpose) -*> \endverbatim -*> -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Indicates how H is formed from a product of elementary -*> reflectors -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Indicates how the vectors which define the elementary -*> reflectors are stored: -*> = 'C': Columnwise -*> = 'R': Rowwise -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the matrix T (= the number of elementary -*> reflectors whose product defines the block reflector). -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is COMPLEX array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,M) if STOREV = 'R' and SIDE = 'L' -*> (LDV,N) if STOREV = 'R' and SIDE = 'R' -*> The matrix V. See Further Details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C' and SIDE = 'L', LDV >= max(1,M); -*> if STOREV = 'C' and SIDE = 'R', LDV >= max(1,N); -*> if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] T -*> \verbatim -*> T is COMPLEX array, dimension (LDT,K) -*> The triangular K-by-K matrix T in the representation of the -*> block reflector. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is COMPLEX array, dimension (LDC,N) -*> On entry, the M-by-N matrix C. -*> On exit, C is overwritten by H*C or H**H*C or C*H or C*H**H. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is COMPLEX array, dimension (LDWORK,K) -*> \endverbatim -*> -*> \param[in] LDWORK -*> \verbatim -*> LDWORK is INTEGER -*> The leading dimension of the array WORK. -*> If SIDE = 'L', LDWORK >= max(1,N); -*> if SIDE = 'R', LDWORK >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complexOTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored; the corresponding -*> array elements are modified but restored on exit. The rest of the -*> array is not used. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE CLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, - $ T, LDT, C, LDC, WORK, LDWORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, SIDE, STOREV, TRANS - INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. - COMPLEX C( LDC, * ), T( LDT, * ), V( LDV, * ), - $ WORK( LDWORK, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX ONE - PARAMETER ( ONE = ( 1.0E+0, 0.0E+0 ) ) -* .. -* .. Local Scalars .. - CHARACTER TRANST - INTEGER I, J, LASTV, LASTC -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILACLR, ILACLC - EXTERNAL LSAME, ILACLR, ILACLC -* .. -* .. External Subroutines .. - EXTERNAL CCOPY, CGEMM, CLACGV, CTRMM -* .. -* .. Intrinsic Functions .. - INTRINSIC CONJG -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( M.LE.0 .OR. N.LE.0 ) - $ RETURN -* - IF( LSAME( TRANS, 'N' ) ) THEN - TRANST = 'C' - ELSE - TRANST = 'N' - END IF -* - IF( LSAME( STOREV, 'C' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 ) (first K rows) -* ( V2 ) -* where V1 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILACLR( M, K, V, LDV ) ) - LASTC = ILACLC( LASTV, N, C, LDC ) -* -* W := C**H * V = (C1**H * V1 + C2**H * V2) (stored in WORK) -* -* W := C1**H -* - DO 10 J = 1, K - CALL CCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - CALL CLACGV( LASTC, WORK( 1, J ), 1 ) - 10 CONTINUE -* -* W := W * V1 -* - CALL CTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**H *V2 -* - CALL CGEMM( 'Conjugate transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C( K+1, 1 ), LDC, - $ V( K+1, 1 ), LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL CTRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**H -* - IF( M.GT.K ) THEN -* -* C2 := C2 - V2 * W**H -* - CALL CGEMM( 'No transpose', 'Conjugate transpose', - $ LASTV-K, LASTC, K, -ONE, V( K+1, 1 ), LDV, - $ WORK, LDWORK, ONE, C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1**H -* - CALL CTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**H -* - DO 30 J = 1, K - DO 20 I = 1, LASTC - C( J, I ) = C( J, I ) - CONJG( WORK( I, J ) ) - 20 CONTINUE - 30 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILACLR( N, K, V, LDV ) ) - LASTC = ILACLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C1 -* - DO 40 J = 1, K - CALL CCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 40 CONTINUE -* -* W := W * V1 -* - CALL CTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2 -* - CALL CGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( 1, K+1 ), LDC, V( K+1, 1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL CTRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**H -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2**H -* - CALL CGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( K+1, 1 ), LDV, - $ ONE, C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1**H -* - CALL CTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 60 J = 1, K - DO 50 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 50 CONTINUE - 60 CONTINUE - END IF -* - ELSE -* -* Let V = ( V1 ) -* ( V2 ) (last K rows) -* where V2 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILACLR( M, K, V, LDV ) ) - LASTC = ILACLC( LASTV, N, C, LDC ) -* -* W := C**H * V = (C1**H * V1 + C2**H * V2) (stored in WORK) -* -* W := C2**H -* - DO 70 J = 1, K - CALL CCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - CALL CLACGV( LASTC, WORK( 1, J ), 1 ) - 70 CONTINUE -* -* W := W * V2 -* - CALL CTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**H*V1 -* - CALL CGEMM( 'Conjugate transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL CTRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**H -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1 * W**H -* - CALL CGEMM( 'No transpose', 'Conjugate transpose', - $ LASTV-K, LASTC, K, -ONE, V, LDV, WORK, LDWORK, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**H -* - CALL CTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**H -* - DO 90 J = 1, K - DO 80 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - - $ CONJG( WORK( I, J ) ) - 80 CONTINUE - 90 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILACLR( N, K, V, LDV ) ) - LASTC = ILACLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C2 -* - DO 100 J = 1, K - CALL CCOPY( LASTC, C( 1, LASTV-K+J ), 1, - $ WORK( 1, J ), 1 ) - 100 CONTINUE -* -* W := W * V2 -* - CALL CTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1 -* - CALL CGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C, LDC, V, LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL CTRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**H -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1**H -* - CALL CGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**H -* - CALL CTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W -* - DO 120 J = 1, K - DO 110 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - $ - WORK( I, J ) - 110 CONTINUE - 120 CONTINUE - END IF - END IF -* - ELSE IF( LSAME( STOREV, 'R' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 V2 ) (V1: first K columns) -* where V1 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILACLC( K, M, V, LDV ) ) - LASTC = ILACLC( LASTV, N, C, LDC ) -* -* W := C**H * V**H = (C1**H * V1**H + C2**H * V2**H) (stored in WORK) -* -* W := C1**H -* - DO 130 J = 1, K - CALL CCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - CALL CLACGV( LASTC, WORK( 1, J ), 1 ) - 130 CONTINUE -* -* W := W * V1**H -* - CALL CTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**H*V2**H -* - CALL CGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTC, K, LASTV-K, - $ ONE, C( K+1, 1 ), LDC, V( 1, K+1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL CTRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**H * W**H -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - V2**H * W**H -* - CALL CGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTV-K, LASTC, K, - $ -ONE, V( 1, K+1 ), LDV, WORK, LDWORK, - $ ONE, C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL CTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**H -* - DO 150 J = 1, K - DO 140 I = 1, LASTC - C( J, I ) = C( J, I ) - CONJG( WORK( I, J ) ) - 140 CONTINUE - 150 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILACLC( K, N, V, LDV ) ) - LASTC = ILACLR( M, LASTV, C, LDC ) -* -* W := C * V**H = (C1*V1**H + C2*V2**H) (stored in WORK) -* -* W := C1 -* - DO 160 J = 1, K - CALL CCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 160 CONTINUE -* -* W := W * V1**H -* - CALL CTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2**H -* - CALL CGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, K, LASTV-K, ONE, C( 1, K+1 ), LDC, - $ V( 1, K+1 ), LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL CTRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2 -* - CALL CGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( 1, K+1 ), LDV, - $ ONE, C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL CTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 180 J = 1, K - DO 170 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 170 CONTINUE - 180 CONTINUE -* - END IF -* - ELSE -* -* Let V = ( V1 V2 ) (V2: last K columns) -* where V2 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILACLC( K, M, V, LDV ) ) - LASTC = ILACLC( LASTV, N, C, LDC ) -* -* W := C**H * V**H = (C1**H * V1**H + C2**H * V2**H) (stored in WORK) -* -* W := C2**H -* - DO 190 J = 1, K - CALL CCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - CALL CLACGV( LASTC, WORK( 1, J ), 1 ) - 190 CONTINUE -* -* W := W * V2**H -* - CALL CTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**H * V1**H -* - CALL CGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTC, K, LASTV-K, - $ ONE, C, LDC, V, LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL CTRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**H * W**H -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1**H * W**H -* - CALL CGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTV-K, LASTC, K, - $ -ONE, V, LDV, WORK, LDWORK, ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL CTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**H -* - DO 210 J = 1, K - DO 200 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - - $ CONJG( WORK( I, J ) ) - 200 CONTINUE - 210 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILACLC( K, N, V, LDV ) ) - LASTC = ILACLR( M, LASTV, C, LDC ) -* -* W := C * V**H = (C1*V1**H + C2*V2**H) (stored in WORK) -* -* W := C2 -* - DO 220 J = 1, K - CALL CCOPY( LASTC, C( 1, LASTV-K+J ), 1, - $ WORK( 1, J ), 1 ) - 220 CONTINUE -* -* W := W * V2**H -* - CALL CTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1**H -* - CALL CGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, ONE, - $ WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL CTRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1 -* - CALL CGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL CTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 240 J = 1, K - DO 230 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - $ - WORK( I, J ) - 230 CONTINUE - 240 CONTINUE -* - END IF -* - END IF - END IF -* - RETURN -* -* End of CLARFB -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/clarfg.f b/testbed/nanogui/ext/eigen/lapack/clarfg.f deleted file mode 100644 index d64f396c..00000000 --- a/testbed/nanogui/ext/eigen/lapack/clarfg.f +++ /dev/null @@ -1,203 +0,0 @@ -*> \brief \b CLARFG -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download CLARFG + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE CLARFG( N, ALPHA, X, INCX, TAU ) -* -* .. Scalar Arguments .. -* INTEGER INCX, N -* COMPLEX ALPHA, TAU -* .. -* .. Array Arguments .. -* COMPLEX X( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> CLARFG generates a complex elementary reflector H of order n, such -*> that -*> -*> H**H * ( alpha ) = ( beta ), H**H * H = I. -*> ( x ) ( 0 ) -*> -*> where alpha and beta are scalars, with beta real, and x is an -*> (n-1)-element complex vector. H is represented in the form -*> -*> H = I - tau * ( 1 ) * ( 1 v**H ) , -*> ( v ) -*> -*> where tau is a complex scalar and v is a complex (n-1)-element -*> vector. Note that H is not hermitian. -*> -*> If the elements of x are all zero and alpha is real, then tau = 0 -*> and H is taken to be the unit matrix. -*> -*> Otherwise 1 <= real(tau) <= 2 and abs(tau-1) <= 1 . -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the elementary reflector. -*> \endverbatim -*> -*> \param[in,out] ALPHA -*> \verbatim -*> ALPHA is COMPLEX -*> On entry, the value alpha. -*> On exit, it is overwritten with the value beta. -*> \endverbatim -*> -*> \param[in,out] X -*> \verbatim -*> X is COMPLEX array, dimension -*> (1+(N-2)*abs(INCX)) -*> On entry, the vector x. -*> On exit, it is overwritten with the vector v. -*> \endverbatim -*> -*> \param[in] INCX -*> \verbatim -*> INCX is INTEGER -*> The increment between elements of X. INCX > 0. -*> \endverbatim -*> -*> \param[out] TAU -*> \verbatim -*> TAU is COMPLEX -*> The value tau. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complexOTHERauxiliary -* -* ===================================================================== - SUBROUTINE CLARFG( N, ALPHA, X, INCX, TAU ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER INCX, N - COMPLEX ALPHA, TAU -* .. -* .. Array Arguments .. - COMPLEX X( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ONE, ZERO - PARAMETER ( ONE = 1.0E+0, ZERO = 0.0E+0 ) -* .. -* .. Local Scalars .. - INTEGER J, KNT - REAL ALPHI, ALPHR, BETA, RSAFMN, SAFMIN, XNORM -* .. -* .. External Functions .. - REAL SCNRM2, SLAMCH, SLAPY3 - COMPLEX CLADIV - EXTERNAL SCNRM2, SLAMCH, SLAPY3, CLADIV -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, AIMAG, CMPLX, REAL, SIGN -* .. -* .. External Subroutines .. - EXTERNAL CSCAL, CSSCAL -* .. -* .. Executable Statements .. -* - IF( N.LE.0 ) THEN - TAU = ZERO - RETURN - END IF -* - XNORM = SCNRM2( N-1, X, INCX ) - ALPHR = REAL( ALPHA ) - ALPHI = AIMAG( ALPHA ) -* - IF( XNORM.EQ.ZERO .AND. ALPHI.EQ.ZERO ) THEN -* -* H = I -* - TAU = ZERO - ELSE -* -* general case -* - BETA = -SIGN( SLAPY3( ALPHR, ALPHI, XNORM ), ALPHR ) - SAFMIN = SLAMCH( 'S' ) / SLAMCH( 'E' ) - RSAFMN = ONE / SAFMIN -* - KNT = 0 - IF( ABS( BETA ).LT.SAFMIN ) THEN -* -* XNORM, BETA may be inaccurate; scale X and recompute them -* - 10 CONTINUE - KNT = KNT + 1 - CALL CSSCAL( N-1, RSAFMN, X, INCX ) - BETA = BETA*RSAFMN - ALPHI = ALPHI*RSAFMN - ALPHR = ALPHR*RSAFMN - IF( ABS( BETA ).LT.SAFMIN ) - $ GO TO 10 -* -* New BETA is at most 1, at least SAFMIN -* - XNORM = SCNRM2( N-1, X, INCX ) - ALPHA = CMPLX( ALPHR, ALPHI ) - BETA = -SIGN( SLAPY3( ALPHR, ALPHI, XNORM ), ALPHR ) - END IF - TAU = CMPLX( ( BETA-ALPHR ) / BETA, -ALPHI / BETA ) - ALPHA = CLADIV( CMPLX( ONE ), ALPHA-BETA ) - CALL CSCAL( N-1, ALPHA, X, INCX ) -* -* If ALPHA is subnormal, it may lose relative accuracy -* - DO 20 J = 1, KNT - BETA = BETA*SAFMIN - 20 CONTINUE - ALPHA = BETA - END IF -* - RETURN -* -* End of CLARFG -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/clarft.f b/testbed/nanogui/ext/eigen/lapack/clarft.f deleted file mode 100644 index 981447f7..00000000 --- a/testbed/nanogui/ext/eigen/lapack/clarft.f +++ /dev/null @@ -1,328 +0,0 @@ -*> \brief \b CLARFT -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download CLARFT + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE CLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, STOREV -* INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. -* COMPLEX T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> CLARFT forms the triangular factor T of a complex block reflector H -*> of order n, which is defined as a product of k elementary reflectors. -*> -*> If DIRECT = 'F', H = H(1) H(2) . . . H(k) and T is upper triangular; -*> -*> If DIRECT = 'B', H = H(k) . . . H(2) H(1) and T is lower triangular. -*> -*> If STOREV = 'C', the vector which defines the elementary reflector -*> H(i) is stored in the i-th column of the array V, and -*> -*> H = I - V * T * V**H -*> -*> If STOREV = 'R', the vector which defines the elementary reflector -*> H(i) is stored in the i-th row of the array V, and -*> -*> H = I - V**H * T * V -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Specifies the order in which the elementary reflectors are -*> multiplied to form the block reflector: -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Specifies how the vectors which define the elementary -*> reflectors are stored (see also Further Details): -*> = 'C': columnwise -*> = 'R': rowwise -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the block reflector H. N >= 0. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the triangular factor T (= the number of -*> elementary reflectors). K >= 1. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is COMPLEX array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,N) if STOREV = 'R' -*> The matrix V. See further details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C', LDV >= max(1,N); if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is COMPLEX array, dimension (K) -*> TAU(i) must contain the scalar factor of the elementary -*> reflector H(i). -*> \endverbatim -*> -*> \param[out] T -*> \verbatim -*> T is COMPLEX array, dimension (LDT,K) -*> The k by k triangular factor T of the block reflector. -*> If DIRECT = 'F', T is upper triangular; if DIRECT = 'B', T is -*> lower triangular. The rest of the array is not used. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup complexOTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE CLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, STOREV - INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. - COMPLEX T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX ONE, ZERO - PARAMETER ( ONE = ( 1.0E+0, 0.0E+0 ), - $ ZERO = ( 0.0E+0, 0.0E+0 ) ) -* .. -* .. Local Scalars .. - INTEGER I, J, PREVLASTV, LASTV -* .. -* .. External Subroutines .. - EXTERNAL CGEMV, CLACGV, CTRMV -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( N.EQ.0 ) - $ RETURN -* - IF( LSAME( DIRECT, 'F' ) ) THEN - PREVLASTV = N - DO I = 1, K - PREVLASTV = MAX( PREVLASTV, I ) - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = 1, I - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * CONJG( V( I , J ) ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(i:j,1:i-1)**H * V(i:j,i) -* - CALL CGEMV( 'Conjugate transpose', J-I, I-1, - $ -TAU( I ), V( I+1, 1 ), LDV, - $ V( I+1, I ), 1, - $ ONE, T( 1, I ), 1 ) - ELSE -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * V( J , I ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(1:i-1,i:j) * V(i,i:j)**H -* - CALL CGEMM( 'N', 'C', I-1, 1, J-I, -TAU( I ), - $ V( 1, I+1 ), LDV, V( I, I+1 ), LDV, - $ ONE, T( 1, I ), LDT ) - END IF -* -* T(1:i-1,i) := T(1:i-1,1:i-1) * T(1:i-1,i) -* - CALL CTRMV( 'Upper', 'No transpose', 'Non-unit', I-1, T, - $ LDT, T( 1, I ), 1 ) - T( I, I ) = TAU( I ) - IF( I.GT.1 ) THEN - PREVLASTV = MAX( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - END DO - ELSE - PREVLASTV = 1 - DO I = K, 1, -1 - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = I, K - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( I.LT.K ) THEN - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * CONJG( V( N-K+I , J ) ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(j:n-k+i,i+1:k)**H * V(j:n-k+i,i) -* - CALL CGEMV( 'Conjugate transpose', N-K+I-J, K-I, - $ -TAU( I ), V( J, I+1 ), LDV, V( J, I ), - $ 1, ONE, T( I+1, I ), 1 ) - ELSE -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * V( J, N-K+I ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(i+1:k,j:n-k+i) * V(i,j:n-k+i)**H -* - CALL CGEMM( 'N', 'C', K-I, 1, N-K+I-J, -TAU( I ), - $ V( I+1, J ), LDV, V( I, J ), LDV, - $ ONE, T( I+1, I ), LDT ) - END IF -* -* T(i+1:k,i) := T(i+1:k,i+1:k) * T(i+1:k,i) -* - CALL CTRMV( 'Lower', 'No transpose', 'Non-unit', K-I, - $ T( I+1, I+1 ), LDT, T( I+1, I ), 1 ) - IF( I.GT.1 ) THEN - PREVLASTV = MIN( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - T( I, I ) = TAU( I ) - END IF - END DO - END IF - RETURN -* -* End of CLARFT -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/complex_double.cpp b/testbed/nanogui/ext/eigen/lapack/complex_double.cpp deleted file mode 100644 index c9c57527..00000000 --- a/testbed/nanogui/ext/eigen/lapack/complex_double.cpp +++ /dev/null @@ -1,18 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define SCALAR std::complex -#define SCALAR_SUFFIX z -#define SCALAR_SUFFIX_UP "Z" -#define REAL_SCALAR_SUFFIX d -#define ISCOMPLEX 1 - -#include "cholesky.cpp" -#include "lu.cpp" -#include "svd.cpp" diff --git a/testbed/nanogui/ext/eigen/lapack/complex_single.cpp b/testbed/nanogui/ext/eigen/lapack/complex_single.cpp deleted file mode 100644 index 6d11b26c..00000000 --- a/testbed/nanogui/ext/eigen/lapack/complex_single.cpp +++ /dev/null @@ -1,18 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define SCALAR std::complex -#define SCALAR_SUFFIX c -#define SCALAR_SUFFIX_UP "C" -#define REAL_SCALAR_SUFFIX s -#define ISCOMPLEX 1 - -#include "cholesky.cpp" -#include "lu.cpp" -#include "svd.cpp" diff --git a/testbed/nanogui/ext/eigen/lapack/dladiv.f b/testbed/nanogui/ext/eigen/lapack/dladiv.f deleted file mode 100644 index 090a9065..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dladiv.f +++ /dev/null @@ -1,128 +0,0 @@ -*> \brief \b DLADIV -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLADIV + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE DLADIV( A, B, C, D, P, Q ) -* -* .. Scalar Arguments .. -* DOUBLE PRECISION A, B, C, D, P, Q -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLADIV performs complex division in real arithmetic -*> -*> a + i*b -*> p + i*q = --------- -*> c + i*d -*> -*> The algorithm is due to Robert L. Smith and can be found -*> in D. Knuth, The art of Computer Programming, Vol.2, p.195 -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] A -*> \verbatim -*> A is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] B -*> \verbatim -*> B is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] C -*> \verbatim -*> C is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] D -*> \verbatim -*> D is DOUBLE PRECISION -*> The scalars a, b, c, and d in the above expression. -*> \endverbatim -*> -*> \param[out] P -*> \verbatim -*> P is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[out] Q -*> \verbatim -*> Q is DOUBLE PRECISION -*> The scalars p and q in the above expression. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - SUBROUTINE DLADIV( A, B, C, D, P, Q ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - DOUBLE PRECISION A, B, C, D, P, Q -* .. -* -* ===================================================================== -* -* .. Local Scalars .. - DOUBLE PRECISION E, F -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS -* .. -* .. Executable Statements .. -* - IF( ABS( D ).LT.ABS( C ) ) THEN - E = D / C - F = C + D*E - P = ( A+B*E ) / F - Q = ( B-A*E ) / F - ELSE - E = C / D - F = D + C*E - P = ( B+A*E ) / F - Q = ( -A+B*E ) / F - END IF -* - RETURN -* -* End of DLADIV -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/dlamch.f b/testbed/nanogui/ext/eigen/lapack/dlamch.f deleted file mode 100644 index eb307e5e..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlamch.f +++ /dev/null @@ -1,189 +0,0 @@ -*> \brief \b DLAMCH -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -* Definition: -* =========== -* -* DOUBLE PRECISION FUNCTION DLAMCH( CMACH ) -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLAMCH determines double precision machine parameters. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] CMACH -*> \verbatim -*> Specifies the value to be returned by DLAMCH: -*> = 'E' or 'e', DLAMCH := eps -*> = 'S' or 's , DLAMCH := sfmin -*> = 'B' or 'b', DLAMCH := base -*> = 'P' or 'p', DLAMCH := eps*base -*> = 'N' or 'n', DLAMCH := t -*> = 'R' or 'r', DLAMCH := rnd -*> = 'M' or 'm', DLAMCH := emin -*> = 'U' or 'u', DLAMCH := rmin -*> = 'L' or 'l', DLAMCH := emax -*> = 'O' or 'o', DLAMCH := rmax -*> where -*> eps = relative machine precision -*> sfmin = safe minimum, such that 1/sfmin does not overflow -*> base = base of the machine -*> prec = eps*base -*> t = number of (base) digits in the mantissa -*> rnd = 1.0 when rounding occurs in addition, 0.0 otherwise -*> emin = minimum exponent before (gradual) underflow -*> rmin = underflow threshold - base**(emin-1) -*> emax = largest exponent before overflow -*> rmax = overflow threshold - (base**emax)*(1-eps) -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - DOUBLE PRECISION FUNCTION DLAMCH( CMACH ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER CMACH -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ONE, ZERO - PARAMETER ( ONE = 1.0D+0, ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - DOUBLE PRECISION RND, EPS, SFMIN, SMALL, RMACH -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. Intrinsic Functions .. - INTRINSIC DIGITS, EPSILON, HUGE, MAXEXPONENT, - $ MINEXPONENT, RADIX, TINY -* .. -* .. Executable Statements .. -* -* -* Assume rounding, not chopping. Always. -* - RND = ONE -* - IF( ONE.EQ.RND ) THEN - EPS = EPSILON(ZERO) * 0.5 - ELSE - EPS = EPSILON(ZERO) - END IF -* - IF( LSAME( CMACH, 'E' ) ) THEN - RMACH = EPS - ELSE IF( LSAME( CMACH, 'S' ) ) THEN - SFMIN = TINY(ZERO) - SMALL = ONE / HUGE(ZERO) - IF( SMALL.GE.SFMIN ) THEN -* -* Use SMALL plus a bit, to avoid the possibility of rounding -* causing overflow when computing 1/sfmin. -* - SFMIN = SMALL*( ONE+EPS ) - END IF - RMACH = SFMIN - ELSE IF( LSAME( CMACH, 'B' ) ) THEN - RMACH = RADIX(ZERO) - ELSE IF( LSAME( CMACH, 'P' ) ) THEN - RMACH = EPS * RADIX(ZERO) - ELSE IF( LSAME( CMACH, 'N' ) ) THEN - RMACH = DIGITS(ZERO) - ELSE IF( LSAME( CMACH, 'R' ) ) THEN - RMACH = RND - ELSE IF( LSAME( CMACH, 'M' ) ) THEN - RMACH = MINEXPONENT(ZERO) - ELSE IF( LSAME( CMACH, 'U' ) ) THEN - RMACH = tiny(zero) - ELSE IF( LSAME( CMACH, 'L' ) ) THEN - RMACH = MAXEXPONENT(ZERO) - ELSE IF( LSAME( CMACH, 'O' ) ) THEN - RMACH = HUGE(ZERO) - ELSE - RMACH = ZERO - END IF -* - DLAMCH = RMACH - RETURN -* -* End of DLAMCH -* - END -************************************************************************ -*> \brief \b DLAMC3 -*> \details -*> \b Purpose: -*> \verbatim -*> DLAMC3 is intended to force A and B to be stored prior to doing -*> the addition of A and B , for use in situations where optimizers -*> might hold one of these in a register. -*> \endverbatim -*> \author LAPACK is a software package provided by Univ. of Tennessee, Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd.. -*> \date November 2011 -*> \ingroup auxOTHERauxiliary -*> -*> \param[in] A -*> \verbatim -*> A is a DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] B -*> \verbatim -*> B is a DOUBLE PRECISION -*> The values A and B. -*> \endverbatim -*> - DOUBLE PRECISION FUNCTION DLAMC3( A, B ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* Univ. of Tennessee, Univ. of California Berkeley and NAG Ltd.. -* November 2010 -* -* .. Scalar Arguments .. - DOUBLE PRECISION A, B -* .. -* ===================================================================== -* -* .. Executable Statements .. -* - DLAMC3 = A + B -* - RETURN -* -* End of DLAMC3 -* - END -* -************************************************************************ diff --git a/testbed/nanogui/ext/eigen/lapack/dlapy2.f b/testbed/nanogui/ext/eigen/lapack/dlapy2.f deleted file mode 100644 index e6a62bf4..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlapy2.f +++ /dev/null @@ -1,104 +0,0 @@ -*> \brief \b DLAPY2 -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLAPY2 + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* DOUBLE PRECISION FUNCTION DLAPY2( X, Y ) -* -* .. Scalar Arguments .. -* DOUBLE PRECISION X, Y -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLAPY2 returns sqrt(x**2+y**2), taking care not to cause unnecessary -*> overflow. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] X -*> \verbatim -*> X is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] Y -*> \verbatim -*> Y is DOUBLE PRECISION -*> X and Y specify the values x and y. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - DOUBLE PRECISION FUNCTION DLAPY2( X, Y ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - DOUBLE PRECISION X, Y -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ZERO - PARAMETER ( ZERO = 0.0D0 ) - DOUBLE PRECISION ONE - PARAMETER ( ONE = 1.0D0 ) -* .. -* .. Local Scalars .. - DOUBLE PRECISION W, XABS, YABS, Z -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, MAX, MIN, SQRT -* .. -* .. Executable Statements .. -* - XABS = ABS( X ) - YABS = ABS( Y ) - W = MAX( XABS, YABS ) - Z = MIN( XABS, YABS ) - IF( Z.EQ.ZERO ) THEN - DLAPY2 = W - ELSE - DLAPY2 = W*SQRT( ONE+( Z / W )**2 ) - END IF - RETURN -* -* End of DLAPY2 -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/dlapy3.f b/testbed/nanogui/ext/eigen/lapack/dlapy3.f deleted file mode 100644 index ae9844f8..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlapy3.f +++ /dev/null @@ -1,111 +0,0 @@ -*> \brief \b DLAPY3 -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLAPY3 + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* DOUBLE PRECISION FUNCTION DLAPY3( X, Y, Z ) -* -* .. Scalar Arguments .. -* DOUBLE PRECISION X, Y, Z -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLAPY3 returns sqrt(x**2+y**2+z**2), taking care not to cause -*> unnecessary overflow. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] X -*> \verbatim -*> X is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] Y -*> \verbatim -*> Y is DOUBLE PRECISION -*> \endverbatim -*> -*> \param[in] Z -*> \verbatim -*> Z is DOUBLE PRECISION -*> X, Y and Z specify the values x, y and z. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - DOUBLE PRECISION FUNCTION DLAPY3( X, Y, Z ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - DOUBLE PRECISION X, Y, Z -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ZERO - PARAMETER ( ZERO = 0.0D0 ) -* .. -* .. Local Scalars .. - DOUBLE PRECISION W, XABS, YABS, ZABS -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, MAX, SQRT -* .. -* .. Executable Statements .. -* - XABS = ABS( X ) - YABS = ABS( Y ) - ZABS = ABS( Z ) - W = MAX( XABS, YABS, ZABS ) - IF( W.EQ.ZERO ) THEN -* W can be zero for max(0,nan,0) -* adding all three entries together will make sure -* NaN will not disappear. - DLAPY3 = XABS + YABS + ZABS - ELSE - DLAPY3 = W*SQRT( ( XABS / W )**2+( YABS / W )**2+ - $ ( ZABS / W )**2 ) - END IF - RETURN -* -* End of DLAPY3 -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/dlarf.f b/testbed/nanogui/ext/eigen/lapack/dlarf.f deleted file mode 100644 index 2a82ff43..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlarf.f +++ /dev/null @@ -1,227 +0,0 @@ -*> \brief \b DLARF -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLARF + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE DLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* .. Scalar Arguments .. -* CHARACTER SIDE -* INTEGER INCV, LDC, M, N -* DOUBLE PRECISION TAU -* .. -* .. Array Arguments .. -* DOUBLE PRECISION C( LDC, * ), V( * ), WORK( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLARF applies a real elementary reflector H to a real m by n matrix -*> C, from either the left or the right. H is represented in the form -*> -*> H = I - tau * v * v**T -*> -*> where tau is a real scalar and v is a real vector. -*> -*> If tau = 0, then H is taken to be the unit matrix. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': form H * C -*> = 'R': form C * H -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is DOUBLE PRECISION array, dimension -*> (1 + (M-1)*abs(INCV)) if SIDE = 'L' -*> or (1 + (N-1)*abs(INCV)) if SIDE = 'R' -*> The vector v in the representation of H. V is not used if -*> TAU = 0. -*> \endverbatim -*> -*> \param[in] INCV -*> \verbatim -*> INCV is INTEGER -*> The increment between elements of v. INCV <> 0. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is DOUBLE PRECISION -*> The value tau in the representation of H. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is DOUBLE PRECISION array, dimension (LDC,N) -*> On entry, the m by n matrix C. -*> On exit, C is overwritten by the matrix H * C if SIDE = 'L', -*> or C * H if SIDE = 'R'. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is DOUBLE PRECISION array, dimension -*> (N) if SIDE = 'L' -*> or (M) if SIDE = 'R' -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup doubleOTHERauxiliary -* -* ===================================================================== - SUBROUTINE DLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER SIDE - INTEGER INCV, LDC, M, N - DOUBLE PRECISION TAU -* .. -* .. Array Arguments .. - DOUBLE PRECISION C( LDC, * ), V( * ), WORK( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ONE, ZERO - PARAMETER ( ONE = 1.0D+0, ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - LOGICAL APPLYLEFT - INTEGER I, LASTV, LASTC -* .. -* .. External Subroutines .. - EXTERNAL DGEMV, DGER -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILADLR, ILADLC - EXTERNAL LSAME, ILADLR, ILADLC -* .. -* .. Executable Statements .. -* - APPLYLEFT = LSAME( SIDE, 'L' ) - LASTV = 0 - LASTC = 0 - IF( TAU.NE.ZERO ) THEN -! Set up variables for scanning V. LASTV begins pointing to the end -! of V. - IF( APPLYLEFT ) THEN - LASTV = M - ELSE - LASTV = N - END IF - IF( INCV.GT.0 ) THEN - I = 1 + (LASTV-1) * INCV - ELSE - I = 1 - END IF -! Look for the last non-zero row in V. - DO WHILE( LASTV.GT.0 .AND. V( I ).EQ.ZERO ) - LASTV = LASTV - 1 - I = I - INCV - END DO - IF( APPLYLEFT ) THEN -! Scan for the last non-zero column in C(1:lastv,:). - LASTC = ILADLC(LASTV, N, C, LDC) - ELSE -! Scan for the last non-zero row in C(:,1:lastv). - LASTC = ILADLR(M, LASTV, C, LDC) - END IF - END IF -! Note that lastc.eq.0 renders the BLAS operations null; no special -! case is needed at this level. - IF( APPLYLEFT ) THEN -* -* Form H * C -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastv,1:lastc)**T * v(1:lastv,1) -* - CALL DGEMV( 'Transpose', LASTV, LASTC, ONE, C, LDC, V, INCV, - $ ZERO, WORK, 1 ) -* -* C(1:lastv,1:lastc) := C(...) - v(1:lastv,1) * w(1:lastc,1)**T -* - CALL DGER( LASTV, LASTC, -TAU, V, INCV, WORK, 1, C, LDC ) - END IF - ELSE -* -* Form C * H -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastc,1:lastv) * v(1:lastv,1) -* - CALL DGEMV( 'No transpose', LASTC, LASTV, ONE, C, LDC, - $ V, INCV, ZERO, WORK, 1 ) -* -* C(1:lastc,1:lastv) := C(...) - w(1:lastc,1) * v(1:lastv,1)**T -* - CALL DGER( LASTC, LASTV, -TAU, WORK, 1, V, INCV, C, LDC ) - END IF - END IF - RETURN -* -* End of DLARF -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/dlarfb.f b/testbed/nanogui/ext/eigen/lapack/dlarfb.f deleted file mode 100644 index 206d3b26..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlarfb.f +++ /dev/null @@ -1,762 +0,0 @@ -*> \brief \b DLARFB -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLARFB + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE DLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, -* T, LDT, C, LDC, WORK, LDWORK ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, SIDE, STOREV, TRANS -* INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. -* DOUBLE PRECISION C( LDC, * ), T( LDT, * ), V( LDV, * ), -* $ WORK( LDWORK, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLARFB applies a real block reflector H or its transpose H**T to a -*> real m by n matrix C, from either the left or the right. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': apply H or H**T from the Left -*> = 'R': apply H or H**T from the Right -*> \endverbatim -*> -*> \param[in] TRANS -*> \verbatim -*> TRANS is CHARACTER*1 -*> = 'N': apply H (No transpose) -*> = 'T': apply H**T (Transpose) -*> \endverbatim -*> -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Indicates how H is formed from a product of elementary -*> reflectors -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Indicates how the vectors which define the elementary -*> reflectors are stored: -*> = 'C': Columnwise -*> = 'R': Rowwise -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the matrix T (= the number of elementary -*> reflectors whose product defines the block reflector). -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is DOUBLE PRECISION array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,M) if STOREV = 'R' and SIDE = 'L' -*> (LDV,N) if STOREV = 'R' and SIDE = 'R' -*> The matrix V. See Further Details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C' and SIDE = 'L', LDV >= max(1,M); -*> if STOREV = 'C' and SIDE = 'R', LDV >= max(1,N); -*> if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] T -*> \verbatim -*> T is DOUBLE PRECISION array, dimension (LDT,K) -*> The triangular k by k matrix T in the representation of the -*> block reflector. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is DOUBLE PRECISION array, dimension (LDC,N) -*> On entry, the m by n matrix C. -*> On exit, C is overwritten by H*C or H**T*C or C*H or C*H**T. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is DOUBLE PRECISION array, dimension (LDWORK,K) -*> \endverbatim -*> -*> \param[in] LDWORK -*> \verbatim -*> LDWORK is INTEGER -*> The leading dimension of the array WORK. -*> If SIDE = 'L', LDWORK >= max(1,N); -*> if SIDE = 'R', LDWORK >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup doubleOTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored; the corresponding -*> array elements are modified but restored on exit. The rest of the -*> array is not used. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE DLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, - $ T, LDT, C, LDC, WORK, LDWORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, SIDE, STOREV, TRANS - INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. - DOUBLE PRECISION C( LDC, * ), T( LDT, * ), V( LDV, * ), - $ WORK( LDWORK, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ONE - PARAMETER ( ONE = 1.0D+0 ) -* .. -* .. Local Scalars .. - CHARACTER TRANST - INTEGER I, J, LASTV, LASTC -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILADLR, ILADLC - EXTERNAL LSAME, ILADLR, ILADLC -* .. -* .. External Subroutines .. - EXTERNAL DCOPY, DGEMM, DTRMM -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( M.LE.0 .OR. N.LE.0 ) - $ RETURN -* - IF( LSAME( TRANS, 'N' ) ) THEN - TRANST = 'T' - ELSE - TRANST = 'N' - END IF -* - IF( LSAME( STOREV, 'C' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 ) (first K rows) -* ( V2 ) -* where V1 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILADLR( M, K, V, LDV ) ) - LASTC = ILADLC( LASTV, N, C, LDC ) -* -* W := C**T * V = (C1**T * V1 + C2**T * V2) (stored in WORK) -* -* W := C1**T -* - DO 10 J = 1, K - CALL DCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - 10 CONTINUE -* -* W := W * V1 -* - CALL DTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**T *V2 -* - CALL DGEMM( 'Transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( K+1, 1 ), LDC, V( K+1, 1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL DTRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**T -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - V2 * W**T -* - CALL DGEMM( 'No transpose', 'Transpose', - $ LASTV-K, LASTC, K, - $ -ONE, V( K+1, 1 ), LDV, WORK, LDWORK, ONE, - $ C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1**T -* - CALL DTRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**T -* - DO 30 J = 1, K - DO 20 I = 1, LASTC - C( J, I ) = C( J, I ) - WORK( I, J ) - 20 CONTINUE - 30 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILADLR( N, K, V, LDV ) ) - LASTC = ILADLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C1 -* - DO 40 J = 1, K - CALL DCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 40 CONTINUE -* -* W := W * V1 -* - CALL DTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2 -* - CALL DGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( 1, K+1 ), LDC, V( K+1, 1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL DTRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**T -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2**T -* - CALL DGEMM( 'No transpose', 'Transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( K+1, 1 ), LDV, ONE, - $ C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1**T -* - CALL DTRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 60 J = 1, K - DO 50 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 50 CONTINUE - 60 CONTINUE - END IF -* - ELSE -* -* Let V = ( V1 ) -* ( V2 ) (last K rows) -* where V2 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILADLR( M, K, V, LDV ) ) - LASTC = ILADLC( LASTV, N, C, LDC ) -* -* W := C**T * V = (C1**T * V1 + C2**T * V2) (stored in WORK) -* -* W := C2**T -* - DO 70 J = 1, K - CALL DCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - 70 CONTINUE -* -* W := W * V2 -* - CALL DTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**T*V1 -* - CALL DGEMM( 'Transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL DTRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**T -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1 * W**T -* - CALL DGEMM( 'No transpose', 'Transpose', - $ LASTV-K, LASTC, K, -ONE, V, LDV, WORK, LDWORK, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**T -* - CALL DTRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**T -* - DO 90 J = 1, K - DO 80 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - WORK(I, J) - 80 CONTINUE - 90 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILADLR( N, K, V, LDV ) ) - LASTC = ILADLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C2 -* - DO 100 J = 1, K - CALL DCOPY( LASTC, C( 1, N-K+J ), 1, WORK( 1, J ), 1 ) - 100 CONTINUE -* -* W := W * V2 -* - CALL DTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1 -* - CALL DGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL DTRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**T -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1**T -* - CALL DGEMM( 'No transpose', 'Transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**T -* - CALL DTRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W -* - DO 120 J = 1, K - DO 110 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - WORK(I, J) - 110 CONTINUE - 120 CONTINUE - END IF - END IF -* - ELSE IF( LSAME( STOREV, 'R' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 V2 ) (V1: first K columns) -* where V1 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILADLC( K, M, V, LDV ) ) - LASTC = ILADLC( LASTV, N, C, LDC ) -* -* W := C**T * V**T = (C1**T * V1**T + C2**T * V2**T) (stored in WORK) -* -* W := C1**T -* - DO 130 J = 1, K - CALL DCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - 130 CONTINUE -* -* W := W * V1**T -* - CALL DTRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**T*V2**T -* - CALL DGEMM( 'Transpose', 'Transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( K+1, 1 ), LDC, V( 1, K+1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL DTRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**T * W**T -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - V2**T * W**T -* - CALL DGEMM( 'Transpose', 'Transpose', - $ LASTV-K, LASTC, K, - $ -ONE, V( 1, K+1 ), LDV, WORK, LDWORK, - $ ONE, C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL DTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**T -* - DO 150 J = 1, K - DO 140 I = 1, LASTC - C( J, I ) = C( J, I ) - WORK( I, J ) - 140 CONTINUE - 150 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILADLC( K, N, V, LDV ) ) - LASTC = ILADLR( M, LASTV, C, LDC ) -* -* W := C * V**T = (C1*V1**T + C2*V2**T) (stored in WORK) -* -* W := C1 -* - DO 160 J = 1, K - CALL DCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 160 CONTINUE -* -* W := W * V1**T -* - CALL DTRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2**T -* - CALL DGEMM( 'No transpose', 'Transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( 1, K+1 ), LDC, V( 1, K+1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL DTRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2 -* - CALL DGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( 1, K+1 ), LDV, - $ ONE, C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL DTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 180 J = 1, K - DO 170 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 170 CONTINUE - 180 CONTINUE -* - END IF -* - ELSE -* -* Let V = ( V1 V2 ) (V2: last K columns) -* where V2 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILADLC( K, M, V, LDV ) ) - LASTC = ILADLC( LASTV, N, C, LDC ) -* -* W := C**T * V**T = (C1**T * V1**T + C2**T * V2**T) (stored in WORK) -* -* W := C2**T -* - DO 190 J = 1, K - CALL DCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - 190 CONTINUE -* -* W := W * V2**T -* - CALL DTRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**T * V1**T -* - CALL DGEMM( 'Transpose', 'Transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL DTRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**T * W**T -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1**T * W**T -* - CALL DGEMM( 'Transpose', 'Transpose', - $ LASTV-K, LASTC, K, -ONE, V, LDV, WORK, LDWORK, - $ ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL DTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**T -* - DO 210 J = 1, K - DO 200 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - WORK(I, J) - 200 CONTINUE - 210 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILADLC( K, N, V, LDV ) ) - LASTC = ILADLR( M, LASTV, C, LDC ) -* -* W := C * V**T = (C1*V1**T + C2*V2**T) (stored in WORK) -* -* W := C2 -* - DO 220 J = 1, K - CALL DCOPY( LASTC, C( 1, LASTV-K+J ), 1, - $ WORK( 1, J ), 1 ) - 220 CONTINUE -* -* W := W * V2**T -* - CALL DTRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1**T -* - CALL DGEMM( 'No transpose', 'Transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL DTRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1 -* - CALL DGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL DTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 240 J = 1, K - DO 230 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - WORK(I, J) - 230 CONTINUE - 240 CONTINUE -* - END IF -* - END IF - END IF -* - RETURN -* -* End of DLARFB -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/dlarfg.f b/testbed/nanogui/ext/eigen/lapack/dlarfg.f deleted file mode 100644 index 458ad2e0..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlarfg.f +++ /dev/null @@ -1,196 +0,0 @@ -*> \brief \b DLARFG -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLARFG + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE DLARFG( N, ALPHA, X, INCX, TAU ) -* -* .. Scalar Arguments .. -* INTEGER INCX, N -* DOUBLE PRECISION ALPHA, TAU -* .. -* .. Array Arguments .. -* DOUBLE PRECISION X( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLARFG generates a real elementary reflector H of order n, such -*> that -*> -*> H * ( alpha ) = ( beta ), H**T * H = I. -*> ( x ) ( 0 ) -*> -*> where alpha and beta are scalars, and x is an (n-1)-element real -*> vector. H is represented in the form -*> -*> H = I - tau * ( 1 ) * ( 1 v**T ) , -*> ( v ) -*> -*> where tau is a real scalar and v is a real (n-1)-element -*> vector. -*> -*> If the elements of x are all zero, then tau = 0 and H is taken to be -*> the unit matrix. -*> -*> Otherwise 1 <= tau <= 2. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the elementary reflector. -*> \endverbatim -*> -*> \param[in,out] ALPHA -*> \verbatim -*> ALPHA is DOUBLE PRECISION -*> On entry, the value alpha. -*> On exit, it is overwritten with the value beta. -*> \endverbatim -*> -*> \param[in,out] X -*> \verbatim -*> X is DOUBLE PRECISION array, dimension -*> (1+(N-2)*abs(INCX)) -*> On entry, the vector x. -*> On exit, it is overwritten with the vector v. -*> \endverbatim -*> -*> \param[in] INCX -*> \verbatim -*> INCX is INTEGER -*> The increment between elements of X. INCX > 0. -*> \endverbatim -*> -*> \param[out] TAU -*> \verbatim -*> TAU is DOUBLE PRECISION -*> The value tau. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup doubleOTHERauxiliary -* -* ===================================================================== - SUBROUTINE DLARFG( N, ALPHA, X, INCX, TAU ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER INCX, N - DOUBLE PRECISION ALPHA, TAU -* .. -* .. Array Arguments .. - DOUBLE PRECISION X( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ONE, ZERO - PARAMETER ( ONE = 1.0D+0, ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - INTEGER J, KNT - DOUBLE PRECISION BETA, RSAFMN, SAFMIN, XNORM -* .. -* .. External Functions .. - DOUBLE PRECISION DLAMCH, DLAPY2, DNRM2 - EXTERNAL DLAMCH, DLAPY2, DNRM2 -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, SIGN -* .. -* .. External Subroutines .. - EXTERNAL DSCAL -* .. -* .. Executable Statements .. -* - IF( N.LE.1 ) THEN - TAU = ZERO - RETURN - END IF -* - XNORM = DNRM2( N-1, X, INCX ) -* - IF( XNORM.EQ.ZERO ) THEN -* -* H = I -* - TAU = ZERO - ELSE -* -* general case -* - BETA = -SIGN( DLAPY2( ALPHA, XNORM ), ALPHA ) - SAFMIN = DLAMCH( 'S' ) / DLAMCH( 'E' ) - KNT = 0 - IF( ABS( BETA ).LT.SAFMIN ) THEN -* -* XNORM, BETA may be inaccurate; scale X and recompute them -* - RSAFMN = ONE / SAFMIN - 10 CONTINUE - KNT = KNT + 1 - CALL DSCAL( N-1, RSAFMN, X, INCX ) - BETA = BETA*RSAFMN - ALPHA = ALPHA*RSAFMN - IF( ABS( BETA ).LT.SAFMIN ) - $ GO TO 10 -* -* New BETA is at most 1, at least SAFMIN -* - XNORM = DNRM2( N-1, X, INCX ) - BETA = -SIGN( DLAPY2( ALPHA, XNORM ), ALPHA ) - END IF - TAU = ( BETA-ALPHA ) / BETA - CALL DSCAL( N-1, ONE / ( ALPHA-BETA ), X, INCX ) -* -* If ALPHA is subnormal, it may lose relative accuracy -* - DO 20 J = 1, KNT - BETA = BETA*SAFMIN - 20 CONTINUE - ALPHA = BETA - END IF -* - RETURN -* -* End of DLARFG -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/dlarft.f b/testbed/nanogui/ext/eigen/lapack/dlarft.f deleted file mode 100644 index 4b755040..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dlarft.f +++ /dev/null @@ -1,326 +0,0 @@ -*> \brief \b DLARFT -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download DLARFT + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE DLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, STOREV -* INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. -* DOUBLE PRECISION T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DLARFT forms the triangular factor T of a real block reflector H -*> of order n, which is defined as a product of k elementary reflectors. -*> -*> If DIRECT = 'F', H = H(1) H(2) . . . H(k) and T is upper triangular; -*> -*> If DIRECT = 'B', H = H(k) . . . H(2) H(1) and T is lower triangular. -*> -*> If STOREV = 'C', the vector which defines the elementary reflector -*> H(i) is stored in the i-th column of the array V, and -*> -*> H = I - V * T * V**T -*> -*> If STOREV = 'R', the vector which defines the elementary reflector -*> H(i) is stored in the i-th row of the array V, and -*> -*> H = I - V**T * T * V -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Specifies the order in which the elementary reflectors are -*> multiplied to form the block reflector: -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Specifies how the vectors which define the elementary -*> reflectors are stored (see also Further Details): -*> = 'C': columnwise -*> = 'R': rowwise -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the block reflector H. N >= 0. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the triangular factor T (= the number of -*> elementary reflectors). K >= 1. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is DOUBLE PRECISION array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,N) if STOREV = 'R' -*> The matrix V. See further details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C', LDV >= max(1,N); if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is DOUBLE PRECISION array, dimension (K) -*> TAU(i) must contain the scalar factor of the elementary -*> reflector H(i). -*> \endverbatim -*> -*> \param[out] T -*> \verbatim -*> T is DOUBLE PRECISION array, dimension (LDT,K) -*> The k by k triangular factor T of the block reflector. -*> If DIRECT = 'F', T is upper triangular; if DIRECT = 'B', T is -*> lower triangular. The rest of the array is not used. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup doubleOTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE DLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, STOREV - INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. - DOUBLE PRECISION T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ONE, ZERO - PARAMETER ( ONE = 1.0D+0, ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - INTEGER I, J, PREVLASTV, LASTV -* .. -* .. External Subroutines .. - EXTERNAL DGEMV, DTRMV -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( N.EQ.0 ) - $ RETURN -* - IF( LSAME( DIRECT, 'F' ) ) THEN - PREVLASTV = N - DO I = 1, K - PREVLASTV = MAX( I, PREVLASTV ) - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = 1, I - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * V( I , J ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(i:j,1:i-1)**T * V(i:j,i) -* - CALL DGEMV( 'Transpose', J-I, I-1, -TAU( I ), - $ V( I+1, 1 ), LDV, V( I+1, I ), 1, ONE, - $ T( 1, I ), 1 ) - ELSE -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * V( J , I ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(1:i-1,i:j) * V(i,i:j)**T -* - CALL DGEMV( 'No transpose', I-1, J-I, -TAU( I ), - $ V( 1, I+1 ), LDV, V( I, I+1 ), LDV, ONE, - $ T( 1, I ), 1 ) - END IF -* -* T(1:i-1,i) := T(1:i-1,1:i-1) * T(1:i-1,i) -* - CALL DTRMV( 'Upper', 'No transpose', 'Non-unit', I-1, T, - $ LDT, T( 1, I ), 1 ) - T( I, I ) = TAU( I ) - IF( I.GT.1 ) THEN - PREVLASTV = MAX( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - END DO - ELSE - PREVLASTV = 1 - DO I = K, 1, -1 - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = I, K - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( I.LT.K ) THEN - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * V( N-K+I , J ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(j:n-k+i,i+1:k)**T * V(j:n-k+i,i) -* - CALL DGEMV( 'Transpose', N-K+I-J, K-I, -TAU( I ), - $ V( J, I+1 ), LDV, V( J, I ), 1, ONE, - $ T( I+1, I ), 1 ) - ELSE -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * V( J, N-K+I ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(i+1:k,j:n-k+i) * V(i,j:n-k+i)**T -* - CALL DGEMV( 'No transpose', K-I, N-K+I-J, - $ -TAU( I ), V( I+1, J ), LDV, V( I, J ), LDV, - $ ONE, T( I+1, I ), 1 ) - END IF -* -* T(i+1:k,i) := T(i+1:k,i+1:k) * T(i+1:k,i) -* - CALL DTRMV( 'Lower', 'No transpose', 'Non-unit', K-I, - $ T( I+1, I+1 ), LDT, T( I+1, I ), 1 ) - IF( I.GT.1 ) THEN - PREVLASTV = MIN( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - T( I, I ) = TAU( I ) - END IF - END DO - END IF - RETURN -* -* End of DLARFT -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/double.cpp b/testbed/nanogui/ext/eigen/lapack/double.cpp deleted file mode 100644 index ea78bb66..00000000 --- a/testbed/nanogui/ext/eigen/lapack/double.cpp +++ /dev/null @@ -1,18 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define SCALAR double -#define SCALAR_SUFFIX d -#define SCALAR_SUFFIX_UP "D" -#define ISCOMPLEX 0 - -#include "cholesky.cpp" -#include "lu.cpp" -#include "eigenvalues.cpp" -#include "svd.cpp" diff --git a/testbed/nanogui/ext/eigen/lapack/dsecnd_NONE.f b/testbed/nanogui/ext/eigen/lapack/dsecnd_NONE.f deleted file mode 100644 index 61a8dff1..00000000 --- a/testbed/nanogui/ext/eigen/lapack/dsecnd_NONE.f +++ /dev/null @@ -1,52 +0,0 @@ -*> \brief \b DSECND returns nothing -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -* Definition: -* =========== -* -* DOUBLE PRECISION FUNCTION DSECND( ) -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> DSECND returns nothing instead of returning the user time for a process in seconds. -*> If you are using that routine, it means that neither EXTERNAL ETIME, -*> EXTERNAL ETIME_, INTERNAL ETIME, INTERNAL CPU_TIME is available on -*> your machine. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - DOUBLE PRECISION FUNCTION DSECND( ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* ===================================================================== -* - DSECND = 0.0D+0 - RETURN -* -* End of DSECND -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/eigenvalues.cpp b/testbed/nanogui/ext/eigen/lapack/eigenvalues.cpp deleted file mode 100644 index 921c5156..00000000 --- a/testbed/nanogui/ext/eigen/lapack/eigenvalues.cpp +++ /dev/null @@ -1,62 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "lapack_common.h" -#include - -// computes eigen values and vectors of a general N-by-N matrix A -EIGEN_LAPACK_FUNC(syev,(char *jobz, char *uplo, int* n, Scalar* a, int *lda, Scalar* w, Scalar* /*work*/, int* lwork, int *info)) -{ - // TODO exploit the work buffer - bool query_size = *lwork==-1; - - *info = 0; - if(*jobz!='N' && *jobz!='V') *info = -1; - else if(UPLO(*uplo)==INVALID) *info = -2; - else if(*n<0) *info = -3; - else if(*lda eig(mat,computeVectors?ComputeEigenvectors:EigenvaluesOnly); - - if(eig.info()==NoConvergence) - { - make_vector(w,*n).setZero(); - if(computeVectors) - matrix(a,*n,*n,*lda).setIdentity(); - //*info = 1; - return 0; - } - - make_vector(w,*n) = eig.eigenvalues(); - if(computeVectors) - matrix(a,*n,*n,*lda) = eig.eigenvectors(); - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/lapack/ilaclc.f b/testbed/nanogui/ext/eigen/lapack/ilaclc.f deleted file mode 100644 index 4ceb61c5..00000000 --- a/testbed/nanogui/ext/eigen/lapack/ilaclc.f +++ /dev/null @@ -1,118 +0,0 @@ -*> \brief \b ILACLC -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILACLC + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILACLC( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* COMPLEX A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILACLC scans A for its last non-zero column. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is COMPLEX array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complexOTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILACLC( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - COMPLEX A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX ZERO - PARAMETER ( ZERO = (0.0E+0, 0.0E+0) ) -* .. -* .. Local Scalars .. - INTEGER I -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( N.EQ.0 ) THEN - ILACLC = N - ELSE IF( A(1, N).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILACLC = N - ELSE -* Now scan each column from the end, returning with the first non-zero. - DO ILACLC = N, 1, -1 - DO I = 1, M - IF( A(I, ILACLC).NE.ZERO ) RETURN - END DO - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/ilaclr.f b/testbed/nanogui/ext/eigen/lapack/ilaclr.f deleted file mode 100644 index d8ab09c5..00000000 --- a/testbed/nanogui/ext/eigen/lapack/ilaclr.f +++ /dev/null @@ -1,121 +0,0 @@ -*> \brief \b ILACLR -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILACLR + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILACLR( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* COMPLEX A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILACLR scans A for its last non-zero row. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup complexOTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILACLR( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - COMPLEX A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX ZERO - PARAMETER ( ZERO = (0.0E+0, 0.0E+0) ) -* .. -* .. Local Scalars .. - INTEGER I, J -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( M.EQ.0 ) THEN - ILACLR = M - ELSE IF( A(M, 1).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILACLR = M - ELSE -* Scan up each column tracking the last zero row seen. - ILACLR = 0 - DO J = 1, N - I=M - DO WHILE((A(MAX(I,1),J).EQ.ZERO).AND.(I.GE.1)) - I=I-1 - ENDDO - ILACLR = MAX( ILACLR, I ) - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/iladlc.f b/testbed/nanogui/ext/eigen/lapack/iladlc.f deleted file mode 100644 index f84bd833..00000000 --- a/testbed/nanogui/ext/eigen/lapack/iladlc.f +++ /dev/null @@ -1,118 +0,0 @@ -*> \brief \b ILADLC -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILADLC + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILADLC( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* DOUBLE PRECISION A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILADLC scans A for its last non-zero column. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is DOUBLE PRECISION array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILADLC( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - DOUBLE PRECISION A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ZERO - PARAMETER ( ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - INTEGER I -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( N.EQ.0 ) THEN - ILADLC = N - ELSE IF( A(1, N).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILADLC = N - ELSE -* Now scan each column from the end, returning with the first non-zero. - DO ILADLC = N, 1, -1 - DO I = 1, M - IF( A(I, ILADLC).NE.ZERO ) RETURN - END DO - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/iladlr.f b/testbed/nanogui/ext/eigen/lapack/iladlr.f deleted file mode 100644 index 2114c616..00000000 --- a/testbed/nanogui/ext/eigen/lapack/iladlr.f +++ /dev/null @@ -1,121 +0,0 @@ -*> \brief \b ILADLR -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILADLR + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILADLR( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* DOUBLE PRECISION A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILADLR scans A for its last non-zero row. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is DOUBLE PRECISION array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILADLR( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - DOUBLE PRECISION A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ZERO - PARAMETER ( ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - INTEGER I, J -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( M.EQ.0 ) THEN - ILADLR = M - ELSE IF( A(M, 1).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILADLR = M - ELSE -* Scan up each column tracking the last zero row seen. - ILADLR = 0 - DO J = 1, N - I=M - DO WHILE((A(MAX(I,1),J).EQ.ZERO).AND.(I.GE.1)) - I=I-1 - ENDDO - ILADLR = MAX( ILADLR, I ) - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/ilaslc.f b/testbed/nanogui/ext/eigen/lapack/ilaslc.f deleted file mode 100644 index e3db0f4a..00000000 --- a/testbed/nanogui/ext/eigen/lapack/ilaslc.f +++ /dev/null @@ -1,118 +0,0 @@ -*> \brief \b ILASLC -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILASLC + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILASLC( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* REAL A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILASLC scans A for its last non-zero column. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is REAL array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup realOTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILASLC( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - REAL A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ZERO - PARAMETER ( ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - INTEGER I -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( N.EQ.0 ) THEN - ILASLC = N - ELSE IF( A(1, N).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILASLC = N - ELSE -* Now scan each column from the end, returning with the first non-zero. - DO ILASLC = N, 1, -1 - DO I = 1, M - IF( A(I, ILASLC).NE.ZERO ) RETURN - END DO - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/ilaslr.f b/testbed/nanogui/ext/eigen/lapack/ilaslr.f deleted file mode 100644 index 48b73f44..00000000 --- a/testbed/nanogui/ext/eigen/lapack/ilaslr.f +++ /dev/null @@ -1,121 +0,0 @@ -*> \brief \b ILASLR -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILASLR + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILASLR( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* REAL A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILASLR scans A for its last non-zero row. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is REAL array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup realOTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILASLR( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - REAL A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ZERO - PARAMETER ( ZERO = 0.0E+0 ) -* .. -* .. Local Scalars .. - INTEGER I, J -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( M.EQ.0 ) THEN - ILASLR = M - ELSEIF( A(M, 1).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILASLR = M - ELSE -* Scan up each column tracking the last zero row seen. - ILASLR = 0 - DO J = 1, N - I=M - DO WHILE((A(MAX(I,1),J).EQ.ZERO).AND.(I.GE.1)) - I=I-1 - ENDDO - ILASLR = MAX( ILASLR, I ) - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/ilazlc.f b/testbed/nanogui/ext/eigen/lapack/ilazlc.f deleted file mode 100644 index 15b14902..00000000 --- a/testbed/nanogui/ext/eigen/lapack/ilazlc.f +++ /dev/null @@ -1,118 +0,0 @@ -*> \brief \b ILAZLC -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILAZLC + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILAZLC( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* COMPLEX*16 A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILAZLC scans A for its last non-zero column. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is COMPLEX*16 array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complex16OTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILAZLC( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - COMPLEX*16 A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX*16 ZERO - PARAMETER ( ZERO = (0.0D+0, 0.0D+0) ) -* .. -* .. Local Scalars .. - INTEGER I -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( N.EQ.0 ) THEN - ILAZLC = N - ELSE IF( A(1, N).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILAZLC = N - ELSE -* Now scan each column from the end, returning with the first non-zero. - DO ILAZLC = N, 1, -1 - DO I = 1, M - IF( A(I, ILAZLC).NE.ZERO ) RETURN - END DO - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/ilazlr.f b/testbed/nanogui/ext/eigen/lapack/ilazlr.f deleted file mode 100644 index b2ab943c..00000000 --- a/testbed/nanogui/ext/eigen/lapack/ilazlr.f +++ /dev/null @@ -1,121 +0,0 @@ -*> \brief \b ILAZLR -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ILAZLR + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* INTEGER FUNCTION ILAZLR( M, N, A, LDA ) -* -* .. Scalar Arguments .. -* INTEGER M, N, LDA -* .. -* .. Array Arguments .. -* COMPLEX*16 A( LDA, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ILAZLR scans A for its last non-zero row. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix A. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix A. -*> \endverbatim -*> -*> \param[in] A -*> \verbatim -*> A is COMPLEX*16 array, dimension (LDA,N) -*> The m by n matrix A. -*> \endverbatim -*> -*> \param[in] LDA -*> \verbatim -*> LDA is INTEGER -*> The leading dimension of the array A. LDA >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup complex16OTHERauxiliary -* -* ===================================================================== - INTEGER FUNCTION ILAZLR( M, N, A, LDA ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - INTEGER M, N, LDA -* .. -* .. Array Arguments .. - COMPLEX*16 A( LDA, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX*16 ZERO - PARAMETER ( ZERO = (0.0D+0, 0.0D+0) ) -* .. -* .. Local Scalars .. - INTEGER I, J -* .. -* .. Executable Statements .. -* -* Quick test for the common case where one corner is non-zero. - IF( M.EQ.0 ) THEN - ILAZLR = M - ELSE IF( A(M, 1).NE.ZERO .OR. A(M, N).NE.ZERO ) THEN - ILAZLR = M - ELSE -* Scan up each column tracking the last zero row seen. - ILAZLR = 0 - DO J = 1, N - I=M - DO WHILE((A(MAX(I,1),J).EQ.ZERO).AND.(I.GE.1)) - I=I-1 - ENDDO - ILAZLR = MAX( ILAZLR, I ) - END DO - END IF - RETURN - END diff --git a/testbed/nanogui/ext/eigen/lapack/lapack_common.h b/testbed/nanogui/ext/eigen/lapack/lapack_common.h deleted file mode 100644 index c872a813..00000000 --- a/testbed/nanogui/ext/eigen/lapack/lapack_common.h +++ /dev/null @@ -1,29 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_LAPACK_COMMON_H -#define EIGEN_LAPACK_COMMON_H - -#include "../blas/common.h" -#include "../Eigen/src/misc/lapack.h" - -#define EIGEN_LAPACK_FUNC(FUNC,ARGLIST) \ - extern "C" { int EIGEN_BLAS_FUNC(FUNC) ARGLIST; } \ - int EIGEN_BLAS_FUNC(FUNC) ARGLIST - -typedef Eigen::Map > PivotsType; - -#if ISCOMPLEX -#define EIGEN_LAPACK_ARG_IF_COMPLEX(X) X, -#else -#define EIGEN_LAPACK_ARG_IF_COMPLEX(X) -#endif - - -#endif // EIGEN_LAPACK_COMMON_H diff --git a/testbed/nanogui/ext/eigen/lapack/lu.cpp b/testbed/nanogui/ext/eigen/lapack/lu.cpp deleted file mode 100644 index 90cebe0f..00000000 --- a/testbed/nanogui/ext/eigen/lapack/lu.cpp +++ /dev/null @@ -1,89 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "common.h" -#include - -// computes an LU factorization of a general M-by-N matrix A using partial pivoting with row interchanges -EIGEN_LAPACK_FUNC(getrf,(int *m, int *n, RealScalar *pa, int *lda, int *ipiv, int *info)) -{ - *info = 0; - if(*m<0) *info = -1; - else if(*n<0) *info = -2; - else if(*lda(pa); - int nb_transpositions; - int ret = int(Eigen::internal::partial_lu_impl - ::blocked_lu(*m, *n, a, *lda, ipiv, nb_transpositions)); - - for(int i=0; i=0) - *info = ret+1; - - return 0; -} - -//GETRS solves a system of linear equations -// A * X = B or A' * X = B -// with a general N-by-N matrix A using the LU factorization computed by GETRF -EIGEN_LAPACK_FUNC(getrs,(char *trans, int *n, int *nrhs, RealScalar *pa, int *lda, int *ipiv, RealScalar *pb, int *ldb, int *info)) -{ - *info = 0; - if(OP(*trans)==INVALID) *info = -1; - else if(*n<0) *info = -2; - else if(*nrhs<0) *info = -3; - else if(*lda(pa); - Scalar* b = reinterpret_cast(pb); - MatrixType lu(a,*n,*n,*lda); - MatrixType B(b,*n,*nrhs,*ldb); - - for(int i=0; i<*n; ++i) - ipiv[i]--; - if(OP(*trans)==NOTR) - { - B = PivotsType(ipiv,*n) * B; - lu.triangularView().solveInPlace(B); - lu.triangularView().solveInPlace(B); - } - else if(OP(*trans)==TR) - { - lu.triangularView().transpose().solveInPlace(B); - lu.triangularView().transpose().solveInPlace(B); - B = PivotsType(ipiv,*n).transpose() * B; - } - else if(OP(*trans)==ADJ) - { - lu.triangularView().adjoint().solveInPlace(B); - lu.triangularView().adjoint().solveInPlace(B); - B = PivotsType(ipiv,*n).transpose() * B; - } - for(int i=0; i<*n; ++i) - ipiv[i]++; - - return 0; -} diff --git a/testbed/nanogui/ext/eigen/lapack/second_NONE.f b/testbed/nanogui/ext/eigen/lapack/second_NONE.f deleted file mode 100644 index d3e6d331..00000000 --- a/testbed/nanogui/ext/eigen/lapack/second_NONE.f +++ /dev/null @@ -1,52 +0,0 @@ -*> \brief \b SECOND returns nothing -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -* Definition: -* =========== -* -* REAL FUNCTION SECOND( ) -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SECOND returns nothing instead of returning the user time for a process in seconds. -*> If you are using that routine, it means that neither EXTERNAL ETIME, -*> EXTERNAL ETIME_, INTERNAL ETIME, INTERNAL CPU_TIME is available on -*> your machine. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - REAL FUNCTION SECOND( ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* ===================================================================== -* - SECOND = 0.0E+0 - RETURN -* -* End of SECOND -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/single.cpp b/testbed/nanogui/ext/eigen/lapack/single.cpp deleted file mode 100644 index c7da3eff..00000000 --- a/testbed/nanogui/ext/eigen/lapack/single.cpp +++ /dev/null @@ -1,18 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define SCALAR float -#define SCALAR_SUFFIX s -#define SCALAR_SUFFIX_UP "S" -#define ISCOMPLEX 0 - -#include "cholesky.cpp" -#include "lu.cpp" -#include "eigenvalues.cpp" -#include "svd.cpp" diff --git a/testbed/nanogui/ext/eigen/lapack/sladiv.f b/testbed/nanogui/ext/eigen/lapack/sladiv.f deleted file mode 100644 index da3afa36..00000000 --- a/testbed/nanogui/ext/eigen/lapack/sladiv.f +++ /dev/null @@ -1,128 +0,0 @@ -*> \brief \b SLADIV -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLADIV + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE SLADIV( A, B, C, D, P, Q ) -* -* .. Scalar Arguments .. -* REAL A, B, C, D, P, Q -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLADIV performs complex division in real arithmetic -*> -*> a + i*b -*> p + i*q = --------- -*> c + i*d -*> -*> The algorithm is due to Robert L. Smith and can be found -*> in D. Knuth, The art of Computer Programming, Vol.2, p.195 -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] A -*> \verbatim -*> A is REAL -*> \endverbatim -*> -*> \param[in] B -*> \verbatim -*> B is REAL -*> \endverbatim -*> -*> \param[in] C -*> \verbatim -*> C is REAL -*> \endverbatim -*> -*> \param[in] D -*> \verbatim -*> D is REAL -*> The scalars a, b, c, and d in the above expression. -*> \endverbatim -*> -*> \param[out] P -*> \verbatim -*> P is REAL -*> \endverbatim -*> -*> \param[out] Q -*> \verbatim -*> Q is REAL -*> The scalars p and q in the above expression. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - SUBROUTINE SLADIV( A, B, C, D, P, Q ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - REAL A, B, C, D, P, Q -* .. -* -* ===================================================================== -* -* .. Local Scalars .. - REAL E, F -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS -* .. -* .. Executable Statements .. -* - IF( ABS( D ).LT.ABS( C ) ) THEN - E = D / C - F = C + D*E - P = ( A+B*E ) / F - Q = ( B-A*E ) / F - ELSE - E = C / D - F = D + C*E - P = ( B+A*E ) / F - Q = ( -A+B*E ) / F - END IF -* - RETURN -* -* End of SLADIV -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/slamch.f b/testbed/nanogui/ext/eigen/lapack/slamch.f deleted file mode 100644 index 4bffad0e..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slamch.f +++ /dev/null @@ -1,192 +0,0 @@ -*> \brief \b SLAMCH -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -* Definition: -* =========== -* -* REAL FUNCTION SLAMCH( CMACH ) -* -* .. Scalar Arguments .. -* CHARACTER CMACH -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLAMCH determines single precision machine parameters. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] CMACH -*> \verbatim -*> Specifies the value to be returned by SLAMCH: -*> = 'E' or 'e', SLAMCH := eps -*> = 'S' or 's , SLAMCH := sfmin -*> = 'B' or 'b', SLAMCH := base -*> = 'P' or 'p', SLAMCH := eps*base -*> = 'N' or 'n', SLAMCH := t -*> = 'R' or 'r', SLAMCH := rnd -*> = 'M' or 'm', SLAMCH := emin -*> = 'U' or 'u', SLAMCH := rmin -*> = 'L' or 'l', SLAMCH := emax -*> = 'O' or 'o', SLAMCH := rmax -*> where -*> eps = relative machine precision -*> sfmin = safe minimum, such that 1/sfmin does not overflow -*> base = base of the machine -*> prec = eps*base -*> t = number of (base) digits in the mantissa -*> rnd = 1.0 when rounding occurs in addition, 0.0 otherwise -*> emin = minimum exponent before (gradual) underflow -*> rmin = underflow threshold - base**(emin-1) -*> emax = largest exponent before overflow -*> rmax = overflow threshold - (base**emax)*(1-eps) -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - REAL FUNCTION SLAMCH( CMACH ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER CMACH -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ONE, ZERO - PARAMETER ( ONE = 1.0E+0, ZERO = 0.0E+0 ) -* .. -* .. Local Scalars .. - REAL RND, EPS, SFMIN, SMALL, RMACH -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. Intrinsic Functions .. - INTRINSIC DIGITS, EPSILON, HUGE, MAXEXPONENT, - $ MINEXPONENT, RADIX, TINY -* .. -* .. Executable Statements .. -* -* -* Assume rounding, not chopping. Always. -* - RND = ONE -* - IF( ONE.EQ.RND ) THEN - EPS = EPSILON(ZERO) * 0.5 - ELSE - EPS = EPSILON(ZERO) - END IF -* - IF( LSAME( CMACH, 'E' ) ) THEN - RMACH = EPS - ELSE IF( LSAME( CMACH, 'S' ) ) THEN - SFMIN = TINY(ZERO) - SMALL = ONE / HUGE(ZERO) - IF( SMALL.GE.SFMIN ) THEN -* -* Use SMALL plus a bit, to avoid the possibility of rounding -* causing overflow when computing 1/sfmin. -* - SFMIN = SMALL*( ONE+EPS ) - END IF - RMACH = SFMIN - ELSE IF( LSAME( CMACH, 'B' ) ) THEN - RMACH = RADIX(ZERO) - ELSE IF( LSAME( CMACH, 'P' ) ) THEN - RMACH = EPS * RADIX(ZERO) - ELSE IF( LSAME( CMACH, 'N' ) ) THEN - RMACH = DIGITS(ZERO) - ELSE IF( LSAME( CMACH, 'R' ) ) THEN - RMACH = RND - ELSE IF( LSAME( CMACH, 'M' ) ) THEN - RMACH = MINEXPONENT(ZERO) - ELSE IF( LSAME( CMACH, 'U' ) ) THEN - RMACH = tiny(zero) - ELSE IF( LSAME( CMACH, 'L' ) ) THEN - RMACH = MAXEXPONENT(ZERO) - ELSE IF( LSAME( CMACH, 'O' ) ) THEN - RMACH = HUGE(ZERO) - ELSE - RMACH = ZERO - END IF -* - SLAMCH = RMACH - RETURN -* -* End of SLAMCH -* - END -************************************************************************ -*> \brief \b SLAMC3 -*> \details -*> \b Purpose: -*> \verbatim -*> SLAMC3 is intended to force A and B to be stored prior to doing -*> the addition of A and B , for use in situations where optimizers -*> might hold one of these in a register. -*> \endverbatim -*> \author LAPACK is a software package provided by Univ. of Tennessee, Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd.. -*> \date November 2011 -*> \ingroup auxOTHERauxiliary -*> -*> \param[in] A -*> \verbatim -*> \endverbatim -*> -*> \param[in] B -*> \verbatim -*> The values A and B. -*> \endverbatim -*> -* - REAL FUNCTION SLAMC3( A, B ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* Univ. of Tennessee, Univ. of California Berkeley and NAG Ltd.. -* November 2010 -* -* .. Scalar Arguments .. - REAL A, B -* .. -* ===================================================================== -* -* .. Executable Statements .. -* - SLAMC3 = A + B -* - RETURN -* -* End of SLAMC3 -* - END -* -************************************************************************ diff --git a/testbed/nanogui/ext/eigen/lapack/slapy2.f b/testbed/nanogui/ext/eigen/lapack/slapy2.f deleted file mode 100644 index 1f6b1ca4..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slapy2.f +++ /dev/null @@ -1,104 +0,0 @@ -*> \brief \b SLAPY2 -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLAPY2 + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* REAL FUNCTION SLAPY2( X, Y ) -* -* .. Scalar Arguments .. -* REAL X, Y -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLAPY2 returns sqrt(x**2+y**2), taking care not to cause unnecessary -*> overflow. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] X -*> \verbatim -*> X is REAL -*> \endverbatim -*> -*> \param[in] Y -*> \verbatim -*> Y is REAL -*> X and Y specify the values x and y. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - REAL FUNCTION SLAPY2( X, Y ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - REAL X, Y -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ZERO - PARAMETER ( ZERO = 0.0E0 ) - REAL ONE - PARAMETER ( ONE = 1.0E0 ) -* .. -* .. Local Scalars .. - REAL W, XABS, YABS, Z -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, MAX, MIN, SQRT -* .. -* .. Executable Statements .. -* - XABS = ABS( X ) - YABS = ABS( Y ) - W = MAX( XABS, YABS ) - Z = MIN( XABS, YABS ) - IF( Z.EQ.ZERO ) THEN - SLAPY2 = W - ELSE - SLAPY2 = W*SQRT( ONE+( Z / W )**2 ) - END IF - RETURN -* -* End of SLAPY2 -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/slapy3.f b/testbed/nanogui/ext/eigen/lapack/slapy3.f deleted file mode 100644 index aa2f5bfc..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slapy3.f +++ /dev/null @@ -1,111 +0,0 @@ -*> \brief \b SLAPY3 -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLAPY3 + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* REAL FUNCTION SLAPY3( X, Y, Z ) -* -* .. Scalar Arguments .. -* REAL X, Y, Z -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLAPY3 returns sqrt(x**2+y**2+z**2), taking care not to cause -*> unnecessary overflow. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] X -*> \verbatim -*> X is REAL -*> \endverbatim -*> -*> \param[in] Y -*> \verbatim -*> Y is REAL -*> \endverbatim -*> -*> \param[in] Z -*> \verbatim -*> Z is REAL -*> X, Y and Z specify the values x, y and z. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup auxOTHERauxiliary -* -* ===================================================================== - REAL FUNCTION SLAPY3( X, Y, Z ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - REAL X, Y, Z -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ZERO - PARAMETER ( ZERO = 0.0E0 ) -* .. -* .. Local Scalars .. - REAL W, XABS, YABS, ZABS -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, MAX, SQRT -* .. -* .. Executable Statements .. -* - XABS = ABS( X ) - YABS = ABS( Y ) - ZABS = ABS( Z ) - W = MAX( XABS, YABS, ZABS ) - IF( W.EQ.ZERO ) THEN -* W can be zero for max(0,nan,0) -* adding all three entries together will make sure -* NaN will not disappear. - SLAPY3 = XABS + YABS + ZABS - ELSE - SLAPY3 = W*SQRT( ( XABS / W )**2+( YABS / W )**2+ - $ ( ZABS / W )**2 ) - END IF - RETURN -* -* End of SLAPY3 -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/slarf.f b/testbed/nanogui/ext/eigen/lapack/slarf.f deleted file mode 100644 index 8a8ff308..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slarf.f +++ /dev/null @@ -1,227 +0,0 @@ -*> \brief \b SLARF -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLARF + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE SLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* .. Scalar Arguments .. -* CHARACTER SIDE -* INTEGER INCV, LDC, M, N -* REAL TAU -* .. -* .. Array Arguments .. -* REAL C( LDC, * ), V( * ), WORK( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLARF applies a real elementary reflector H to a real m by n matrix -*> C, from either the left or the right. H is represented in the form -*> -*> H = I - tau * v * v**T -*> -*> where tau is a real scalar and v is a real vector. -*> -*> If tau = 0, then H is taken to be the unit matrix. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': form H * C -*> = 'R': form C * H -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is REAL array, dimension -*> (1 + (M-1)*abs(INCV)) if SIDE = 'L' -*> or (1 + (N-1)*abs(INCV)) if SIDE = 'R' -*> The vector v in the representation of H. V is not used if -*> TAU = 0. -*> \endverbatim -*> -*> \param[in] INCV -*> \verbatim -*> INCV is INTEGER -*> The increment between elements of v. INCV <> 0. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is REAL -*> The value tau in the representation of H. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is REAL array, dimension (LDC,N) -*> On entry, the m by n matrix C. -*> On exit, C is overwritten by the matrix H * C if SIDE = 'L', -*> or C * H if SIDE = 'R'. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is REAL array, dimension -*> (N) if SIDE = 'L' -*> or (M) if SIDE = 'R' -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup realOTHERauxiliary -* -* ===================================================================== - SUBROUTINE SLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER SIDE - INTEGER INCV, LDC, M, N - REAL TAU -* .. -* .. Array Arguments .. - REAL C( LDC, * ), V( * ), WORK( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ONE, ZERO - PARAMETER ( ONE = 1.0E+0, ZERO = 0.0E+0 ) -* .. -* .. Local Scalars .. - LOGICAL APPLYLEFT - INTEGER I, LASTV, LASTC -* .. -* .. External Subroutines .. - EXTERNAL SGEMV, SGER -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILASLR, ILASLC - EXTERNAL LSAME, ILASLR, ILASLC -* .. -* .. Executable Statements .. -* - APPLYLEFT = LSAME( SIDE, 'L' ) - LASTV = 0 - LASTC = 0 - IF( TAU.NE.ZERO ) THEN -! Set up variables for scanning V. LASTV begins pointing to the end -! of V. - IF( APPLYLEFT ) THEN - LASTV = M - ELSE - LASTV = N - END IF - IF( INCV.GT.0 ) THEN - I = 1 + (LASTV-1) * INCV - ELSE - I = 1 - END IF -! Look for the last non-zero row in V. - DO WHILE( LASTV.GT.0 .AND. V( I ).EQ.ZERO ) - LASTV = LASTV - 1 - I = I - INCV - END DO - IF( APPLYLEFT ) THEN -! Scan for the last non-zero column in C(1:lastv,:). - LASTC = ILASLC(LASTV, N, C, LDC) - ELSE -! Scan for the last non-zero row in C(:,1:lastv). - LASTC = ILASLR(M, LASTV, C, LDC) - END IF - END IF -! Note that lastc.eq.0 renders the BLAS operations null; no special -! case is needed at this level. - IF( APPLYLEFT ) THEN -* -* Form H * C -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastv,1:lastc)**T * v(1:lastv,1) -* - CALL SGEMV( 'Transpose', LASTV, LASTC, ONE, C, LDC, V, INCV, - $ ZERO, WORK, 1 ) -* -* C(1:lastv,1:lastc) := C(...) - v(1:lastv,1) * w(1:lastc,1)**T -* - CALL SGER( LASTV, LASTC, -TAU, V, INCV, WORK, 1, C, LDC ) - END IF - ELSE -* -* Form C * H -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastc,1:lastv) * v(1:lastv,1) -* - CALL SGEMV( 'No transpose', LASTC, LASTV, ONE, C, LDC, - $ V, INCV, ZERO, WORK, 1 ) -* -* C(1:lastc,1:lastv) := C(...) - w(1:lastc,1) * v(1:lastv,1)**T -* - CALL SGER( LASTC, LASTV, -TAU, WORK, 1, V, INCV, C, LDC ) - END IF - END IF - RETURN -* -* End of SLARF -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/slarfb.f b/testbed/nanogui/ext/eigen/lapack/slarfb.f deleted file mode 100644 index eb95990b..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slarfb.f +++ /dev/null @@ -1,763 +0,0 @@ -*> \brief \b SLARFB -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLARFB + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE SLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, -* T, LDT, C, LDC, WORK, LDWORK ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, SIDE, STOREV, TRANS -* INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. -* REAL C( LDC, * ), T( LDT, * ), V( LDV, * ), -* $ WORK( LDWORK, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLARFB applies a real block reflector H or its transpose H**T to a -*> real m by n matrix C, from either the left or the right. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': apply H or H**T from the Left -*> = 'R': apply H or H**T from the Right -*> \endverbatim -*> -*> \param[in] TRANS -*> \verbatim -*> TRANS is CHARACTER*1 -*> = 'N': apply H (No transpose) -*> = 'T': apply H**T (Transpose) -*> \endverbatim -*> -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Indicates how H is formed from a product of elementary -*> reflectors -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Indicates how the vectors which define the elementary -*> reflectors are stored: -*> = 'C': Columnwise -*> = 'R': Rowwise -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the matrix T (= the number of elementary -*> reflectors whose product defines the block reflector). -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is REAL array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,M) if STOREV = 'R' and SIDE = 'L' -*> (LDV,N) if STOREV = 'R' and SIDE = 'R' -*> The matrix V. See Further Details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C' and SIDE = 'L', LDV >= max(1,M); -*> if STOREV = 'C' and SIDE = 'R', LDV >= max(1,N); -*> if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] T -*> \verbatim -*> T is REAL array, dimension (LDT,K) -*> The triangular k by k matrix T in the representation of the -*> block reflector. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is REAL array, dimension (LDC,N) -*> On entry, the m by n matrix C. -*> On exit, C is overwritten by H*C or H**T*C or C*H or C*H**T. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is REAL array, dimension (LDWORK,K) -*> \endverbatim -*> -*> \param[in] LDWORK -*> \verbatim -*> LDWORK is INTEGER -*> The leading dimension of the array WORK. -*> If SIDE = 'L', LDWORK >= max(1,N); -*> if SIDE = 'R', LDWORK >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup realOTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored; the corresponding -*> array elements are modified but restored on exit. The rest of the -*> array is not used. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE SLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, - $ T, LDT, C, LDC, WORK, LDWORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, SIDE, STOREV, TRANS - INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. - REAL C( LDC, * ), T( LDT, * ), V( LDV, * ), - $ WORK( LDWORK, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ONE - PARAMETER ( ONE = 1.0E+0 ) -* .. -* .. Local Scalars .. - CHARACTER TRANST - INTEGER I, J, LASTV, LASTC -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILASLR, ILASLC - EXTERNAL LSAME, ILASLR, ILASLC -* .. -* .. External Subroutines .. - EXTERNAL SCOPY, SGEMM, STRMM -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( M.LE.0 .OR. N.LE.0 ) - $ RETURN -* - IF( LSAME( TRANS, 'N' ) ) THEN - TRANST = 'T' - ELSE - TRANST = 'N' - END IF -* - IF( LSAME( STOREV, 'C' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 ) (first K rows) -* ( V2 ) -* where V1 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILASLR( M, K, V, LDV ) ) - LASTC = ILASLC( LASTV, N, C, LDC ) -* -* W := C**T * V = (C1**T * V1 + C2**T * V2) (stored in WORK) -* -* W := C1**T -* - DO 10 J = 1, K - CALL SCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - 10 CONTINUE -* -* W := W * V1 -* - CALL STRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**T *V2 -* - CALL SGEMM( 'Transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( K+1, 1 ), LDC, V( K+1, 1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL STRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**T -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - V2 * W**T -* - CALL SGEMM( 'No transpose', 'Transpose', - $ LASTV-K, LASTC, K, - $ -ONE, V( K+1, 1 ), LDV, WORK, LDWORK, ONE, - $ C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1**T -* - CALL STRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**T -* - DO 30 J = 1, K - DO 20 I = 1, LASTC - C( J, I ) = C( J, I ) - WORK( I, J ) - 20 CONTINUE - 30 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILASLR( N, K, V, LDV ) ) - LASTC = ILASLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C1 -* - DO 40 J = 1, K - CALL SCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 40 CONTINUE -* -* W := W * V1 -* - CALL STRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2 -* - CALL SGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( 1, K+1 ), LDC, V( K+1, 1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL STRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**T -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2**T -* - CALL SGEMM( 'No transpose', 'Transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( K+1, 1 ), LDV, ONE, - $ C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1**T -* - CALL STRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 60 J = 1, K - DO 50 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 50 CONTINUE - 60 CONTINUE - END IF -* - ELSE -* -* Let V = ( V1 ) -* ( V2 ) (last K rows) -* where V2 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILASLR( M, K, V, LDV ) ) - LASTC = ILASLC( LASTV, N, C, LDC ) -* -* W := C**T * V = (C1**T * V1 + C2**T * V2) (stored in WORK) -* -* W := C2**T -* - DO 70 J = 1, K - CALL SCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - 70 CONTINUE -* -* W := W * V2 -* - CALL STRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**T*V1 -* - CALL SGEMM( 'Transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL STRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**T -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1 * W**T -* - CALL SGEMM( 'No transpose', 'Transpose', - $ LASTV-K, LASTC, K, -ONE, V, LDV, WORK, LDWORK, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**T -* - CALL STRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**T -* - DO 90 J = 1, K - DO 80 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - WORK(I, J) - 80 CONTINUE - 90 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILASLR( N, K, V, LDV ) ) - LASTC = ILASLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C2 -* - DO 100 J = 1, K - CALL SCOPY( LASTC, C( 1, N-K+J ), 1, WORK( 1, J ), 1 ) - 100 CONTINUE -* -* W := W * V2 -* - CALL STRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1 -* - CALL SGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL STRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**T -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1**T -* - CALL SGEMM( 'No transpose', 'Transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**T -* - CALL STRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W -* - DO 120 J = 1, K - DO 110 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - WORK(I, J) - 110 CONTINUE - 120 CONTINUE - END IF - END IF -* - ELSE IF( LSAME( STOREV, 'R' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 V2 ) (V1: first K columns) -* where V1 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILASLC( K, M, V, LDV ) ) - LASTC = ILASLC( LASTV, N, C, LDC ) -* -* W := C**T * V**T = (C1**T * V1**T + C2**T * V2**T) (stored in WORK) -* -* W := C1**T -* - DO 130 J = 1, K - CALL SCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - 130 CONTINUE -* -* W := W * V1**T -* - CALL STRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**T*V2**T -* - CALL SGEMM( 'Transpose', 'Transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( K+1, 1 ), LDC, V( 1, K+1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL STRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**T * W**T -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - V2**T * W**T -* - CALL SGEMM( 'Transpose', 'Transpose', - $ LASTV-K, LASTC, K, - $ -ONE, V( 1, K+1 ), LDV, WORK, LDWORK, - $ ONE, C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL STRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**T -* - DO 150 J = 1, K - DO 140 I = 1, LASTC - C( J, I ) = C( J, I ) - WORK( I, J ) - 140 CONTINUE - 150 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILASLC( K, N, V, LDV ) ) - LASTC = ILASLR( M, LASTV, C, LDC ) -* -* W := C * V**T = (C1*V1**T + C2*V2**T) (stored in WORK) -* -* W := C1 -* - DO 160 J = 1, K - CALL SCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 160 CONTINUE -* -* W := W * V1**T -* - CALL STRMM( 'Right', 'Upper', 'Transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2**T -* - CALL SGEMM( 'No transpose', 'Transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( 1, K+1 ), LDC, V( 1, K+1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL STRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2 -* - CALL SGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( 1, K+1 ), LDV, - $ ONE, C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL STRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 180 J = 1, K - DO 170 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 170 CONTINUE - 180 CONTINUE -* - END IF -* - ELSE -* -* Let V = ( V1 V2 ) (V2: last K columns) -* where V2 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**T * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILASLC( K, M, V, LDV ) ) - LASTC = ILASLC( LASTV, N, C, LDC ) -* -* W := C**T * V**T = (C1**T * V1**T + C2**T * V2**T) (stored in WORK) -* -* W := C2**T -* - DO 190 J = 1, K - CALL SCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - 190 CONTINUE -* -* W := W * V2**T -* - CALL STRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**T * V1**T -* - CALL SGEMM( 'Transpose', 'Transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**T or W * T -* - CALL STRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**T * W**T -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1**T * W**T -* - CALL SGEMM( 'Transpose', 'Transpose', - $ LASTV-K, LASTC, K, -ONE, V, LDV, WORK, LDWORK, - $ ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL STRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**T -* - DO 210 J = 1, K - DO 200 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - WORK(I, J) - 200 CONTINUE - 210 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**T where C = ( C1 C2 ) -* - LASTV = MAX( K, ILASLC( K, N, V, LDV ) ) - LASTC = ILASLR( M, LASTV, C, LDC ) -* -* W := C * V**T = (C1*V1**T + C2*V2**T) (stored in WORK) -* -* W := C2 -* - DO 220 J = 1, K - CALL SCOPY( LASTC, C( 1, LASTV-K+J ), 1, - $ WORK( 1, J ), 1 ) - 220 CONTINUE -* -* W := W * V2**T -* - CALL STRMM( 'Right', 'Lower', 'Transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1**T -* - CALL SGEMM( 'No transpose', 'Transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**T -* - CALL STRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1 -* - CALL SGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL STRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 240 J = 1, K - DO 230 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - $ - WORK( I, J ) - 230 CONTINUE - 240 CONTINUE -* - END IF -* - END IF - END IF -* - RETURN -* -* End of SLARFB -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/slarfg.f b/testbed/nanogui/ext/eigen/lapack/slarfg.f deleted file mode 100644 index 4f10ffca..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slarfg.f +++ /dev/null @@ -1,196 +0,0 @@ -*> \brief \b SLARFG -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLARFG + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE SLARFG( N, ALPHA, X, INCX, TAU ) -* -* .. Scalar Arguments .. -* INTEGER INCX, N -* REAL ALPHA, TAU -* .. -* .. Array Arguments .. -* REAL X( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLARFG generates a real elementary reflector H of order n, such -*> that -*> -*> H * ( alpha ) = ( beta ), H**T * H = I. -*> ( x ) ( 0 ) -*> -*> where alpha and beta are scalars, and x is an (n-1)-element real -*> vector. H is represented in the form -*> -*> H = I - tau * ( 1 ) * ( 1 v**T ) , -*> ( v ) -*> -*> where tau is a real scalar and v is a real (n-1)-element -*> vector. -*> -*> If the elements of x are all zero, then tau = 0 and H is taken to be -*> the unit matrix. -*> -*> Otherwise 1 <= tau <= 2. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the elementary reflector. -*> \endverbatim -*> -*> \param[in,out] ALPHA -*> \verbatim -*> ALPHA is REAL -*> On entry, the value alpha. -*> On exit, it is overwritten with the value beta. -*> \endverbatim -*> -*> \param[in,out] X -*> \verbatim -*> X is REAL array, dimension -*> (1+(N-2)*abs(INCX)) -*> On entry, the vector x. -*> On exit, it is overwritten with the vector v. -*> \endverbatim -*> -*> \param[in] INCX -*> \verbatim -*> INCX is INTEGER -*> The increment between elements of X. INCX > 0. -*> \endverbatim -*> -*> \param[out] TAU -*> \verbatim -*> TAU is REAL -*> The value tau. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup realOTHERauxiliary -* -* ===================================================================== - SUBROUTINE SLARFG( N, ALPHA, X, INCX, TAU ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER INCX, N - REAL ALPHA, TAU -* .. -* .. Array Arguments .. - REAL X( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ONE, ZERO - PARAMETER ( ONE = 1.0E+0, ZERO = 0.0E+0 ) -* .. -* .. Local Scalars .. - INTEGER J, KNT - REAL BETA, RSAFMN, SAFMIN, XNORM -* .. -* .. External Functions .. - REAL SLAMCH, SLAPY2, SNRM2 - EXTERNAL SLAMCH, SLAPY2, SNRM2 -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, SIGN -* .. -* .. External Subroutines .. - EXTERNAL SSCAL -* .. -* .. Executable Statements .. -* - IF( N.LE.1 ) THEN - TAU = ZERO - RETURN - END IF -* - XNORM = SNRM2( N-1, X, INCX ) -* - IF( XNORM.EQ.ZERO ) THEN -* -* H = I -* - TAU = ZERO - ELSE -* -* general case -* - BETA = -SIGN( SLAPY2( ALPHA, XNORM ), ALPHA ) - SAFMIN = SLAMCH( 'S' ) / SLAMCH( 'E' ) - KNT = 0 - IF( ABS( BETA ).LT.SAFMIN ) THEN -* -* XNORM, BETA may be inaccurate; scale X and recompute them -* - RSAFMN = ONE / SAFMIN - 10 CONTINUE - KNT = KNT + 1 - CALL SSCAL( N-1, RSAFMN, X, INCX ) - BETA = BETA*RSAFMN - ALPHA = ALPHA*RSAFMN - IF( ABS( BETA ).LT.SAFMIN ) - $ GO TO 10 -* -* New BETA is at most 1, at least SAFMIN -* - XNORM = SNRM2( N-1, X, INCX ) - BETA = -SIGN( SLAPY2( ALPHA, XNORM ), ALPHA ) - END IF - TAU = ( BETA-ALPHA ) / BETA - CALL SSCAL( N-1, ONE / ( ALPHA-BETA ), X, INCX ) -* -* If ALPHA is subnormal, it may lose relative accuracy -* - DO 20 J = 1, KNT - BETA = BETA*SAFMIN - 20 CONTINUE - ALPHA = BETA - END IF -* - RETURN -* -* End of SLARFG -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/slarft.f b/testbed/nanogui/ext/eigen/lapack/slarft.f deleted file mode 100644 index 30b0668e..00000000 --- a/testbed/nanogui/ext/eigen/lapack/slarft.f +++ /dev/null @@ -1,326 +0,0 @@ -*> \brief \b SLARFT -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download SLARFT + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE SLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, STOREV -* INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. -* REAL T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> SLARFT forms the triangular factor T of a real block reflector H -*> of order n, which is defined as a product of k elementary reflectors. -*> -*> If DIRECT = 'F', H = H(1) H(2) . . . H(k) and T is upper triangular; -*> -*> If DIRECT = 'B', H = H(k) . . . H(2) H(1) and T is lower triangular. -*> -*> If STOREV = 'C', the vector which defines the elementary reflector -*> H(i) is stored in the i-th column of the array V, and -*> -*> H = I - V * T * V**T -*> -*> If STOREV = 'R', the vector which defines the elementary reflector -*> H(i) is stored in the i-th row of the array V, and -*> -*> H = I - V**T * T * V -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Specifies the order in which the elementary reflectors are -*> multiplied to form the block reflector: -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Specifies how the vectors which define the elementary -*> reflectors are stored (see also Further Details): -*> = 'C': columnwise -*> = 'R': rowwise -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the block reflector H. N >= 0. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the triangular factor T (= the number of -*> elementary reflectors). K >= 1. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is REAL array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,N) if STOREV = 'R' -*> The matrix V. See further details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C', LDV >= max(1,N); if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is REAL array, dimension (K) -*> TAU(i) must contain the scalar factor of the elementary -*> reflector H(i). -*> \endverbatim -*> -*> \param[out] T -*> \verbatim -*> T is REAL array, dimension (LDT,K) -*> The k by k triangular factor T of the block reflector. -*> If DIRECT = 'F', T is upper triangular; if DIRECT = 'B', T is -*> lower triangular. The rest of the array is not used. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup realOTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE SLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, STOREV - INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. - REAL T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - REAL ONE, ZERO - PARAMETER ( ONE = 1.0E+0, ZERO = 0.0E+0 ) -* .. -* .. Local Scalars .. - INTEGER I, J, PREVLASTV, LASTV -* .. -* .. External Subroutines .. - EXTERNAL SGEMV, STRMV -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( N.EQ.0 ) - $ RETURN -* - IF( LSAME( DIRECT, 'F' ) ) THEN - PREVLASTV = N - DO I = 1, K - PREVLASTV = MAX( I, PREVLASTV ) - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = 1, I - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * V( I , J ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(i:j,1:i-1)**T * V(i:j,i) -* - CALL SGEMV( 'Transpose', J-I, I-1, -TAU( I ), - $ V( I+1, 1 ), LDV, V( I+1, I ), 1, ONE, - $ T( 1, I ), 1 ) - ELSE -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * V( J , I ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(1:i-1,i:j) * V(i,i:j)**T -* - CALL SGEMV( 'No transpose', I-1, J-I, -TAU( I ), - $ V( 1, I+1 ), LDV, V( I, I+1 ), LDV, - $ ONE, T( 1, I ), 1 ) - END IF -* -* T(1:i-1,i) := T(1:i-1,1:i-1) * T(1:i-1,i) -* - CALL STRMV( 'Upper', 'No transpose', 'Non-unit', I-1, T, - $ LDT, T( 1, I ), 1 ) - T( I, I ) = TAU( I ) - IF( I.GT.1 ) THEN - PREVLASTV = MAX( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - END DO - ELSE - PREVLASTV = 1 - DO I = K, 1, -1 - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = I, K - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( I.LT.K ) THEN - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * V( N-K+I , J ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(j:n-k+i,i+1:k)**T * V(j:n-k+i,i) -* - CALL SGEMV( 'Transpose', N-K+I-J, K-I, -TAU( I ), - $ V( J, I+1 ), LDV, V( J, I ), 1, ONE, - $ T( I+1, I ), 1 ) - ELSE -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * V( J, N-K+I ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(i+1:k,j:n-k+i) * V(i,j:n-k+i)**T -* - CALL SGEMV( 'No transpose', K-I, N-K+I-J, - $ -TAU( I ), V( I+1, J ), LDV, V( I, J ), LDV, - $ ONE, T( I+1, I ), 1 ) - END IF -* -* T(i+1:k,i) := T(i+1:k,i+1:k) * T(i+1:k,i) -* - CALL STRMV( 'Lower', 'No transpose', 'Non-unit', K-I, - $ T( I+1, I+1 ), LDT, T( I+1, I ), 1 ) - IF( I.GT.1 ) THEN - PREVLASTV = MIN( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - T( I, I ) = TAU( I ) - END IF - END DO - END IF - RETURN -* -* End of SLARFT -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/svd.cpp b/testbed/nanogui/ext/eigen/lapack/svd.cpp deleted file mode 100644 index 77b302b6..00000000 --- a/testbed/nanogui/ext/eigen/lapack/svd.cpp +++ /dev/null @@ -1,138 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "lapack_common.h" -#include - -// computes the singular values/vectors a general M-by-N matrix A using divide-and-conquer -EIGEN_LAPACK_FUNC(gesdd,(char *jobz, int *m, int* n, Scalar* a, int *lda, RealScalar *s, Scalar *u, int *ldu, Scalar *vt, int *ldvt, Scalar* /*work*/, int* lwork, - EIGEN_LAPACK_ARG_IF_COMPLEX(RealScalar */*rwork*/) int * /*iwork*/, int *info)) -{ - // TODO exploit the work buffer - bool query_size = *lwork==-1; - int diag_size = (std::min)(*m,*n); - - *info = 0; - if(*jobz!='A' && *jobz!='S' && *jobz!='O' && *jobz!='N') *info = -1; - else if(*m<0) *info = -2; - else if(*n<0) *info = -3; - else if(*lda=*n && *ldvt<*n)) *info = -10; - - if(*info!=0) - { - int e = -*info; - return xerbla_(SCALAR_SUFFIX_UP"GESDD ", &e, 6); - } - - if(query_size) - { - *lwork = 0; - return 0; - } - - if(*n==0 || *m==0) - return 0; - - PlainMatrixType mat(*m,*n); - mat = matrix(a,*m,*n,*lda); - - int option = *jobz=='A' ? ComputeFullU|ComputeFullV - : *jobz=='S' ? ComputeThinU|ComputeThinV - : *jobz=='O' ? ComputeThinU|ComputeThinV - : 0; - - BDCSVD svd(mat,option); - - make_vector(s,diag_size) = svd.singularValues().head(diag_size); - - if(*jobz=='A') - { - matrix(u,*m,*m,*ldu) = svd.matrixU(); - matrix(vt,*n,*n,*ldvt) = svd.matrixV().adjoint(); - } - else if(*jobz=='S') - { - matrix(u,*m,diag_size,*ldu) = svd.matrixU(); - matrix(vt,diag_size,*n,*ldvt) = svd.matrixV().adjoint(); - } - else if(*jobz=='O' && *m>=*n) - { - matrix(a,*m,*n,*lda) = svd.matrixU(); - matrix(vt,*n,*n,*ldvt) = svd.matrixV().adjoint(); - } - else if(*jobz=='O') - { - matrix(u,*m,*m,*ldu) = svd.matrixU(); - matrix(a,diag_size,*n,*lda) = svd.matrixV().adjoint(); - } - - return 0; -} - -// computes the singular values/vectors a general M-by-N matrix A using two sided jacobi algorithm -EIGEN_LAPACK_FUNC(gesvd,(char *jobu, char *jobv, int *m, int* n, Scalar* a, int *lda, RealScalar *s, Scalar *u, int *ldu, Scalar *vt, int *ldvt, Scalar* /*work*/, int* lwork, - EIGEN_LAPACK_ARG_IF_COMPLEX(RealScalar */*rwork*/) int *info)) -{ - // TODO exploit the work buffer - bool query_size = *lwork==-1; - int diag_size = (std::min)(*m,*n); - - *info = 0; - if( *jobu!='A' && *jobu!='S' && *jobu!='O' && *jobu!='N') *info = -1; - else if((*jobv!='A' && *jobv!='S' && *jobv!='O' && *jobv!='N') - || (*jobu=='O' && *jobv=='O')) *info = -2; - else if(*m<0) *info = -3; - else if(*n<0) *info = -4; - else if(*lda svd(mat,option); - - make_vector(s,diag_size) = svd.singularValues().head(diag_size); - { - if(*jobu=='A') matrix(u,*m,*m,*ldu) = svd.matrixU(); - else if(*jobu=='S') matrix(u,*m,diag_size,*ldu) = svd.matrixU(); - else if(*jobu=='O') matrix(a,*m,diag_size,*lda) = svd.matrixU(); - } - { - if(*jobv=='A') matrix(vt,*n,*n,*ldvt) = svd.matrixV().adjoint(); - else if(*jobv=='S') matrix(vt,diag_size,*n,*ldvt) = svd.matrixV().adjoint(); - else if(*jobv=='O') matrix(a,diag_size,*n,*lda) = svd.matrixV().adjoint(); - } - return 0; -} diff --git a/testbed/nanogui/ext/eigen/lapack/zlacgv.f b/testbed/nanogui/ext/eigen/lapack/zlacgv.f deleted file mode 100644 index 16c2e2ed..00000000 --- a/testbed/nanogui/ext/eigen/lapack/zlacgv.f +++ /dev/null @@ -1,116 +0,0 @@ -*> \brief \b ZLACGV -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ZLACGV + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE ZLACGV( N, X, INCX ) -* -* .. Scalar Arguments .. -* INTEGER INCX, N -* .. -* .. Array Arguments .. -* COMPLEX*16 X( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ZLACGV conjugates a complex vector of length N. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The length of the vector X. N >= 0. -*> \endverbatim -*> -*> \param[in,out] X -*> \verbatim -*> X is COMPLEX*16 array, dimension -*> (1+(N-1)*abs(INCX)) -*> On entry, the vector of length N to be conjugated. -*> On exit, X is overwritten with conjg(X). -*> \endverbatim -*> -*> \param[in] INCX -*> \verbatim -*> INCX is INTEGER -*> The spacing between successive elements of X. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complex16OTHERauxiliary -* -* ===================================================================== - SUBROUTINE ZLACGV( N, X, INCX ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER INCX, N -* .. -* .. Array Arguments .. - COMPLEX*16 X( * ) -* .. -* -* ===================================================================== -* -* .. Local Scalars .. - INTEGER I, IOFF -* .. -* .. Intrinsic Functions .. - INTRINSIC DCONJG -* .. -* .. Executable Statements .. -* - IF( INCX.EQ.1 ) THEN - DO 10 I = 1, N - X( I ) = DCONJG( X( I ) ) - 10 CONTINUE - ELSE - IOFF = 1 - IF( INCX.LT.0 ) - $ IOFF = 1 - ( N-1 )*INCX - DO 20 I = 1, N - X( IOFF ) = DCONJG( X( IOFF ) ) - IOFF = IOFF + INCX - 20 CONTINUE - END IF - RETURN -* -* End of ZLACGV -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/zladiv.f b/testbed/nanogui/ext/eigen/lapack/zladiv.f deleted file mode 100644 index aa71db14..00000000 --- a/testbed/nanogui/ext/eigen/lapack/zladiv.f +++ /dev/null @@ -1,97 +0,0 @@ -*> \brief \b ZLADIV -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ZLADIV + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* COMPLEX*16 FUNCTION ZLADIV( X, Y ) -* -* .. Scalar Arguments .. -* COMPLEX*16 X, Y -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ZLADIV := X / Y, where X and Y are complex. The computation of X / Y -*> will not overflow on an intermediary step unless the results -*> overflows. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] X -*> \verbatim -*> X is COMPLEX*16 -*> \endverbatim -*> -*> \param[in] Y -*> \verbatim -*> Y is COMPLEX*16 -*> The complex scalars X and Y. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complex16OTHERauxiliary -* -* ===================================================================== - COMPLEX*16 FUNCTION ZLADIV( X, Y ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - COMPLEX*16 X, Y -* .. -* -* ===================================================================== -* -* .. Local Scalars .. - DOUBLE PRECISION ZI, ZR -* .. -* .. External Subroutines .. - EXTERNAL DLADIV -* .. -* .. Intrinsic Functions .. - INTRINSIC DBLE, DCMPLX, DIMAG -* .. -* .. Executable Statements .. -* - CALL DLADIV( DBLE( X ), DIMAG( X ), DBLE( Y ), DIMAG( Y ), ZR, - $ ZI ) - ZLADIV = DCMPLX( ZR, ZI ) -* - RETURN -* -* End of ZLADIV -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/zlarf.f b/testbed/nanogui/ext/eigen/lapack/zlarf.f deleted file mode 100644 index 53f314d6..00000000 --- a/testbed/nanogui/ext/eigen/lapack/zlarf.f +++ /dev/null @@ -1,232 +0,0 @@ -*> \brief \b ZLARF -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ZLARF + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE ZLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* .. Scalar Arguments .. -* CHARACTER SIDE -* INTEGER INCV, LDC, M, N -* COMPLEX*16 TAU -* .. -* .. Array Arguments .. -* COMPLEX*16 C( LDC, * ), V( * ), WORK( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ZLARF applies a complex elementary reflector H to a complex M-by-N -*> matrix C, from either the left or the right. H is represented in the -*> form -*> -*> H = I - tau * v * v**H -*> -*> where tau is a complex scalar and v is a complex vector. -*> -*> If tau = 0, then H is taken to be the unit matrix. -*> -*> To apply H**H, supply conjg(tau) instead -*> tau. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': form H * C -*> = 'R': form C * H -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is COMPLEX*16 array, dimension -*> (1 + (M-1)*abs(INCV)) if SIDE = 'L' -*> or (1 + (N-1)*abs(INCV)) if SIDE = 'R' -*> The vector v in the representation of H. V is not used if -*> TAU = 0. -*> \endverbatim -*> -*> \param[in] INCV -*> \verbatim -*> INCV is INTEGER -*> The increment between elements of v. INCV <> 0. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is COMPLEX*16 -*> The value tau in the representation of H. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is COMPLEX*16 array, dimension (LDC,N) -*> On entry, the M-by-N matrix C. -*> On exit, C is overwritten by the matrix H * C if SIDE = 'L', -*> or C * H if SIDE = 'R'. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is COMPLEX*16 array, dimension -*> (N) if SIDE = 'L' -*> or (M) if SIDE = 'R' -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complex16OTHERauxiliary -* -* ===================================================================== - SUBROUTINE ZLARF( SIDE, M, N, V, INCV, TAU, C, LDC, WORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER SIDE - INTEGER INCV, LDC, M, N - COMPLEX*16 TAU -* .. -* .. Array Arguments .. - COMPLEX*16 C( LDC, * ), V( * ), WORK( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX*16 ONE, ZERO - PARAMETER ( ONE = ( 1.0D+0, 0.0D+0 ), - $ ZERO = ( 0.0D+0, 0.0D+0 ) ) -* .. -* .. Local Scalars .. - LOGICAL APPLYLEFT - INTEGER I, LASTV, LASTC -* .. -* .. External Subroutines .. - EXTERNAL ZGEMV, ZGERC -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILAZLR, ILAZLC - EXTERNAL LSAME, ILAZLR, ILAZLC -* .. -* .. Executable Statements .. -* - APPLYLEFT = LSAME( SIDE, 'L' ) - LASTV = 0 - LASTC = 0 - IF( TAU.NE.ZERO ) THEN -* Set up variables for scanning V. LASTV begins pointing to the end -* of V. - IF( APPLYLEFT ) THEN - LASTV = M - ELSE - LASTV = N - END IF - IF( INCV.GT.0 ) THEN - I = 1 + (LASTV-1) * INCV - ELSE - I = 1 - END IF -* Look for the last non-zero row in V. - DO WHILE( LASTV.GT.0 .AND. V( I ).EQ.ZERO ) - LASTV = LASTV - 1 - I = I - INCV - END DO - IF( APPLYLEFT ) THEN -* Scan for the last non-zero column in C(1:lastv,:). - LASTC = ILAZLC(LASTV, N, C, LDC) - ELSE -* Scan for the last non-zero row in C(:,1:lastv). - LASTC = ILAZLR(M, LASTV, C, LDC) - END IF - END IF -* Note that lastc.eq.0 renders the BLAS operations null; no special -* case is needed at this level. - IF( APPLYLEFT ) THEN -* -* Form H * C -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastv,1:lastc)**H * v(1:lastv,1) -* - CALL ZGEMV( 'Conjugate transpose', LASTV, LASTC, ONE, - $ C, LDC, V, INCV, ZERO, WORK, 1 ) -* -* C(1:lastv,1:lastc) := C(...) - v(1:lastv,1) * w(1:lastc,1)**H -* - CALL ZGERC( LASTV, LASTC, -TAU, V, INCV, WORK, 1, C, LDC ) - END IF - ELSE -* -* Form C * H -* - IF( LASTV.GT.0 ) THEN -* -* w(1:lastc,1) := C(1:lastc,1:lastv) * v(1:lastv,1) -* - CALL ZGEMV( 'No transpose', LASTC, LASTV, ONE, C, LDC, - $ V, INCV, ZERO, WORK, 1 ) -* -* C(1:lastc,1:lastv) := C(...) - w(1:lastc,1) * v(1:lastv,1)**H -* - CALL ZGERC( LASTC, LASTV, -TAU, WORK, 1, V, INCV, C, LDC ) - END IF - END IF - RETURN -* -* End of ZLARF -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/zlarfb.f b/testbed/nanogui/ext/eigen/lapack/zlarfb.f deleted file mode 100644 index 30fc4b94..00000000 --- a/testbed/nanogui/ext/eigen/lapack/zlarfb.f +++ /dev/null @@ -1,774 +0,0 @@ -*> \brief \b ZLARFB -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ZLARFB + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE ZLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, -* T, LDT, C, LDC, WORK, LDWORK ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, SIDE, STOREV, TRANS -* INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. -* COMPLEX*16 C( LDC, * ), T( LDT, * ), V( LDV, * ), -* $ WORK( LDWORK, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ZLARFB applies a complex block reflector H or its transpose H**H to a -*> complex M-by-N matrix C, from either the left or the right. -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] SIDE -*> \verbatim -*> SIDE is CHARACTER*1 -*> = 'L': apply H or H**H from the Left -*> = 'R': apply H or H**H from the Right -*> \endverbatim -*> -*> \param[in] TRANS -*> \verbatim -*> TRANS is CHARACTER*1 -*> = 'N': apply H (No transpose) -*> = 'C': apply H**H (Conjugate transpose) -*> \endverbatim -*> -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Indicates how H is formed from a product of elementary -*> reflectors -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Indicates how the vectors which define the elementary -*> reflectors are stored: -*> = 'C': Columnwise -*> = 'R': Rowwise -*> \endverbatim -*> -*> \param[in] M -*> \verbatim -*> M is INTEGER -*> The number of rows of the matrix C. -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The number of columns of the matrix C. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the matrix T (= the number of elementary -*> reflectors whose product defines the block reflector). -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is COMPLEX*16 array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,M) if STOREV = 'R' and SIDE = 'L' -*> (LDV,N) if STOREV = 'R' and SIDE = 'R' -*> See Further Details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C' and SIDE = 'L', LDV >= max(1,M); -*> if STOREV = 'C' and SIDE = 'R', LDV >= max(1,N); -*> if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] T -*> \verbatim -*> T is COMPLEX*16 array, dimension (LDT,K) -*> The triangular K-by-K matrix T in the representation of the -*> block reflector. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -*> -*> \param[in,out] C -*> \verbatim -*> C is COMPLEX*16 array, dimension (LDC,N) -*> On entry, the M-by-N matrix C. -*> On exit, C is overwritten by H*C or H**H*C or C*H or C*H**H. -*> \endverbatim -*> -*> \param[in] LDC -*> \verbatim -*> LDC is INTEGER -*> The leading dimension of the array C. LDC >= max(1,M). -*> \endverbatim -*> -*> \param[out] WORK -*> \verbatim -*> WORK is COMPLEX*16 array, dimension (LDWORK,K) -*> \endverbatim -*> -*> \param[in] LDWORK -*> \verbatim -*> LDWORK is INTEGER -*> The leading dimension of the array WORK. -*> If SIDE = 'L', LDWORK >= max(1,N); -*> if SIDE = 'R', LDWORK >= max(1,M). -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complex16OTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored; the corresponding -*> array elements are modified but restored on exit. The rest of the -*> array is not used. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE ZLARFB( SIDE, TRANS, DIRECT, STOREV, M, N, K, V, LDV, - $ T, LDT, C, LDC, WORK, LDWORK ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, SIDE, STOREV, TRANS - INTEGER K, LDC, LDT, LDV, LDWORK, M, N -* .. -* .. Array Arguments .. - COMPLEX*16 C( LDC, * ), T( LDT, * ), V( LDV, * ), - $ WORK( LDWORK, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX*16 ONE - PARAMETER ( ONE = ( 1.0D+0, 0.0D+0 ) ) -* .. -* .. Local Scalars .. - CHARACTER TRANST - INTEGER I, J, LASTV, LASTC -* .. -* .. External Functions .. - LOGICAL LSAME - INTEGER ILAZLR, ILAZLC - EXTERNAL LSAME, ILAZLR, ILAZLC -* .. -* .. External Subroutines .. - EXTERNAL ZCOPY, ZGEMM, ZLACGV, ZTRMM -* .. -* .. Intrinsic Functions .. - INTRINSIC DCONJG -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( M.LE.0 .OR. N.LE.0 ) - $ RETURN -* - IF( LSAME( TRANS, 'N' ) ) THEN - TRANST = 'C' - ELSE - TRANST = 'N' - END IF -* - IF( LSAME( STOREV, 'C' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 ) (first K rows) -* ( V2 ) -* where V1 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILAZLR( M, K, V, LDV ) ) - LASTC = ILAZLC( LASTV, N, C, LDC ) -* -* W := C**H * V = (C1**H * V1 + C2**H * V2) (stored in WORK) -* -* W := C1**H -* - DO 10 J = 1, K - CALL ZCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - CALL ZLACGV( LASTC, WORK( 1, J ), 1 ) - 10 CONTINUE -* -* W := W * V1 -* - CALL ZTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**H *V2 -* - CALL ZGEMM( 'Conjugate transpose', 'No transpose', - $ LASTC, K, LASTV-K, ONE, C( K+1, 1 ), LDC, - $ V( K+1, 1 ), LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL ZTRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**H -* - IF( M.GT.K ) THEN -* -* C2 := C2 - V2 * W**H -* - CALL ZGEMM( 'No transpose', 'Conjugate transpose', - $ LASTV-K, LASTC, K, - $ -ONE, V( K+1, 1 ), LDV, WORK, LDWORK, - $ ONE, C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1**H -* - CALL ZTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**H -* - DO 30 J = 1, K - DO 20 I = 1, LASTC - C( J, I ) = C( J, I ) - DCONJG( WORK( I, J ) ) - 20 CONTINUE - 30 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILAZLR( N, K, V, LDV ) ) - LASTC = ILAZLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C1 -* - DO 40 J = 1, K - CALL ZCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 40 CONTINUE -* -* W := W * V1 -* - CALL ZTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2 -* - CALL ZGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C( 1, K+1 ), LDC, V( K+1, 1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL ZTRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**H -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2**H -* - CALL ZGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( K+1, 1 ), LDV, - $ ONE, C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1**H -* - CALL ZTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 60 J = 1, K - DO 50 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 50 CONTINUE - 60 CONTINUE - END IF -* - ELSE -* -* Let V = ( V1 ) -* ( V2 ) (last K rows) -* where V2 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILAZLR( M, K, V, LDV ) ) - LASTC = ILAZLC( LASTV, N, C, LDC ) -* -* W := C**H * V = (C1**H * V1 + C2**H * V2) (stored in WORK) -* -* W := C2**H -* - DO 70 J = 1, K - CALL ZCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - CALL ZLACGV( LASTC, WORK( 1, J ), 1 ) - 70 CONTINUE -* -* W := W * V2 -* - CALL ZTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**H*V1 -* - CALL ZGEMM( 'Conjugate transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C, LDC, V, LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL ZTRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V * W**H -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1 * W**H -* - CALL ZGEMM( 'No transpose', 'Conjugate transpose', - $ LASTV-K, LASTC, K, - $ -ONE, V, LDV, WORK, LDWORK, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**H -* - CALL ZTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**H -* - DO 90 J = 1, K - DO 80 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - - $ DCONJG( WORK( I, J ) ) - 80 CONTINUE - 90 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILAZLR( N, K, V, LDV ) ) - LASTC = ILAZLR( M, LASTV, C, LDC ) -* -* W := C * V = (C1*V1 + C2*V2) (stored in WORK) -* -* W := C2 -* - DO 100 J = 1, K - CALL ZCOPY( LASTC, C( 1, LASTV-K+J ), 1, - $ WORK( 1, J ), 1 ) - 100 CONTINUE -* -* W := W * V2 -* - CALL ZTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1 -* - CALL ZGEMM( 'No transpose', 'No transpose', - $ LASTC, K, LASTV-K, - $ ONE, C, LDC, V, LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL ZTRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V**H -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1**H -* - CALL ZGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2**H -* - CALL ZTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( LASTV-K+1, 1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W -* - DO 120 J = 1, K - DO 110 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - $ - WORK( I, J ) - 110 CONTINUE - 120 CONTINUE - END IF - END IF -* - ELSE IF( LSAME( STOREV, 'R' ) ) THEN -* - IF( LSAME( DIRECT, 'F' ) ) THEN -* -* Let V = ( V1 V2 ) (V1: first K columns) -* where V1 is unit upper triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILAZLC( K, M, V, LDV ) ) - LASTC = ILAZLC( LASTV, N, C, LDC ) -* -* W := C**H * V**H = (C1**H * V1**H + C2**H * V2**H) (stored in WORK) -* -* W := C1**H -* - DO 130 J = 1, K - CALL ZCOPY( LASTC, C( J, 1 ), LDC, WORK( 1, J ), 1 ) - CALL ZLACGV( LASTC, WORK( 1, J ), 1 ) - 130 CONTINUE -* -* W := W * V1**H -* - CALL ZTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2**H*V2**H -* - CALL ZGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTC, K, LASTV-K, - $ ONE, C( K+1, 1 ), LDC, V( 1, K+1 ), LDV, - $ ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL ZTRMM( 'Right', 'Upper', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**H * W**H -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - V2**H * W**H -* - CALL ZGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTV-K, LASTC, K, - $ -ONE, V( 1, K+1 ), LDV, WORK, LDWORK, - $ ONE, C( K+1, 1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL ZTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W**H -* - DO 150 J = 1, K - DO 140 I = 1, LASTC - C( J, I ) = C( J, I ) - DCONJG( WORK( I, J ) ) - 140 CONTINUE - 150 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILAZLC( K, N, V, LDV ) ) - LASTC = ILAZLR( M, LASTV, C, LDC ) -* -* W := C * V**H = (C1*V1**H + C2*V2**H) (stored in WORK) -* -* W := C1 -* - DO 160 J = 1, K - CALL ZCOPY( LASTC, C( 1, J ), 1, WORK( 1, J ), 1 ) - 160 CONTINUE -* -* W := W * V1**H -* - CALL ZTRMM( 'Right', 'Upper', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V, LDV, WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C2 * V2**H -* - CALL ZGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, K, LASTV-K, ONE, C( 1, K+1 ), LDC, - $ V( 1, K+1 ), LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL ZTRMM( 'Right', 'Upper', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C2 := C2 - W * V2 -* - CALL ZGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, - $ -ONE, WORK, LDWORK, V( 1, K+1 ), LDV, - $ ONE, C( 1, K+1 ), LDC ) - END IF -* -* W := W * V1 -* - CALL ZTRMM( 'Right', 'Upper', 'No transpose', 'Unit', - $ LASTC, K, ONE, V, LDV, WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 180 J = 1, K - DO 170 I = 1, LASTC - C( I, J ) = C( I, J ) - WORK( I, J ) - 170 CONTINUE - 180 CONTINUE -* - END IF -* - ELSE -* -* Let V = ( V1 V2 ) (V2: last K columns) -* where V2 is unit lower triangular. -* - IF( LSAME( SIDE, 'L' ) ) THEN -* -* Form H * C or H**H * C where C = ( C1 ) -* ( C2 ) -* - LASTV = MAX( K, ILAZLC( K, M, V, LDV ) ) - LASTC = ILAZLC( LASTV, N, C, LDC ) -* -* W := C**H * V**H = (C1**H * V1**H + C2**H * V2**H) (stored in WORK) -* -* W := C2**H -* - DO 190 J = 1, K - CALL ZCOPY( LASTC, C( LASTV-K+J, 1 ), LDC, - $ WORK( 1, J ), 1 ) - CALL ZLACGV( LASTC, WORK( 1, J ), 1 ) - 190 CONTINUE -* -* W := W * V2**H -* - CALL ZTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1**H * V1**H -* - CALL ZGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTC, K, LASTV-K, - $ ONE, C, LDC, V, LDV, ONE, WORK, LDWORK ) - END IF -* -* W := W * T**H or W * T -* - CALL ZTRMM( 'Right', 'Lower', TRANST, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - V**H * W**H -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - V1**H * W**H -* - CALL ZGEMM( 'Conjugate transpose', - $ 'Conjugate transpose', LASTV-K, LASTC, K, - $ -ONE, V, LDV, WORK, LDWORK, ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL ZTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C2 := C2 - W**H -* - DO 210 J = 1, K - DO 200 I = 1, LASTC - C( LASTV-K+J, I ) = C( LASTV-K+J, I ) - - $ DCONJG( WORK( I, J ) ) - 200 CONTINUE - 210 CONTINUE -* - ELSE IF( LSAME( SIDE, 'R' ) ) THEN -* -* Form C * H or C * H**H where C = ( C1 C2 ) -* - LASTV = MAX( K, ILAZLC( K, N, V, LDV ) ) - LASTC = ILAZLR( M, LASTV, C, LDC ) -* -* W := C * V**H = (C1*V1**H + C2*V2**H) (stored in WORK) -* -* W := C2 -* - DO 220 J = 1, K - CALL ZCOPY( LASTC, C( 1, LASTV-K+J ), 1, - $ WORK( 1, J ), 1 ) - 220 CONTINUE -* -* W := W * V2**H -* - CALL ZTRMM( 'Right', 'Lower', 'Conjugate transpose', - $ 'Unit', LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) - IF( LASTV.GT.K ) THEN -* -* W := W + C1 * V1**H -* - CALL ZGEMM( 'No transpose', 'Conjugate transpose', - $ LASTC, K, LASTV-K, ONE, C, LDC, V, LDV, ONE, - $ WORK, LDWORK ) - END IF -* -* W := W * T or W * T**H -* - CALL ZTRMM( 'Right', 'Lower', TRANS, 'Non-unit', - $ LASTC, K, ONE, T, LDT, WORK, LDWORK ) -* -* C := C - W * V -* - IF( LASTV.GT.K ) THEN -* -* C1 := C1 - W * V1 -* - CALL ZGEMM( 'No transpose', 'No transpose', - $ LASTC, LASTV-K, K, -ONE, WORK, LDWORK, V, LDV, - $ ONE, C, LDC ) - END IF -* -* W := W * V2 -* - CALL ZTRMM( 'Right', 'Lower', 'No transpose', 'Unit', - $ LASTC, K, ONE, V( 1, LASTV-K+1 ), LDV, - $ WORK, LDWORK ) -* -* C1 := C1 - W -* - DO 240 J = 1, K - DO 230 I = 1, LASTC - C( I, LASTV-K+J ) = C( I, LASTV-K+J ) - $ - WORK( I, J ) - 230 CONTINUE - 240 CONTINUE -* - END IF -* - END IF - END IF -* - RETURN -* -* End of ZLARFB -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/zlarfg.f b/testbed/nanogui/ext/eigen/lapack/zlarfg.f deleted file mode 100644 index a90ae9f7..00000000 --- a/testbed/nanogui/ext/eigen/lapack/zlarfg.f +++ /dev/null @@ -1,203 +0,0 @@ -*> \brief \b ZLARFG -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ZLARFG + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE ZLARFG( N, ALPHA, X, INCX, TAU ) -* -* .. Scalar Arguments .. -* INTEGER INCX, N -* COMPLEX*16 ALPHA, TAU -* .. -* .. Array Arguments .. -* COMPLEX*16 X( * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ZLARFG generates a complex elementary reflector H of order n, such -*> that -*> -*> H**H * ( alpha ) = ( beta ), H**H * H = I. -*> ( x ) ( 0 ) -*> -*> where alpha and beta are scalars, with beta real, and x is an -*> (n-1)-element complex vector. H is represented in the form -*> -*> H = I - tau * ( 1 ) * ( 1 v**H ) , -*> ( v ) -*> -*> where tau is a complex scalar and v is a complex (n-1)-element -*> vector. Note that H is not hermitian. -*> -*> If the elements of x are all zero and alpha is real, then tau = 0 -*> and H is taken to be the unit matrix. -*> -*> Otherwise 1 <= real(tau) <= 2 and abs(tau-1) <= 1 . -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the elementary reflector. -*> \endverbatim -*> -*> \param[in,out] ALPHA -*> \verbatim -*> ALPHA is COMPLEX*16 -*> On entry, the value alpha. -*> On exit, it is overwritten with the value beta. -*> \endverbatim -*> -*> \param[in,out] X -*> \verbatim -*> X is COMPLEX*16 array, dimension -*> (1+(N-2)*abs(INCX)) -*> On entry, the vector x. -*> On exit, it is overwritten with the vector v. -*> \endverbatim -*> -*> \param[in] INCX -*> \verbatim -*> INCX is INTEGER -*> The increment between elements of X. INCX > 0. -*> \endverbatim -*> -*> \param[out] TAU -*> \verbatim -*> TAU is COMPLEX*16 -*> The value tau. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date November 2011 -* -*> \ingroup complex16OTHERauxiliary -* -* ===================================================================== - SUBROUTINE ZLARFG( N, ALPHA, X, INCX, TAU ) -* -* -- LAPACK auxiliary routine (version 3.4.0) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* November 2011 -* -* .. Scalar Arguments .. - INTEGER INCX, N - COMPLEX*16 ALPHA, TAU -* .. -* .. Array Arguments .. - COMPLEX*16 X( * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - DOUBLE PRECISION ONE, ZERO - PARAMETER ( ONE = 1.0D+0, ZERO = 0.0D+0 ) -* .. -* .. Local Scalars .. - INTEGER J, KNT - DOUBLE PRECISION ALPHI, ALPHR, BETA, RSAFMN, SAFMIN, XNORM -* .. -* .. External Functions .. - DOUBLE PRECISION DLAMCH, DLAPY3, DZNRM2 - COMPLEX*16 ZLADIV - EXTERNAL DLAMCH, DLAPY3, DZNRM2, ZLADIV -* .. -* .. Intrinsic Functions .. - INTRINSIC ABS, DBLE, DCMPLX, DIMAG, SIGN -* .. -* .. External Subroutines .. - EXTERNAL ZDSCAL, ZSCAL -* .. -* .. Executable Statements .. -* - IF( N.LE.0 ) THEN - TAU = ZERO - RETURN - END IF -* - XNORM = DZNRM2( N-1, X, INCX ) - ALPHR = DBLE( ALPHA ) - ALPHI = DIMAG( ALPHA ) -* - IF( XNORM.EQ.ZERO .AND. ALPHI.EQ.ZERO ) THEN -* -* H = I -* - TAU = ZERO - ELSE -* -* general case -* - BETA = -SIGN( DLAPY3( ALPHR, ALPHI, XNORM ), ALPHR ) - SAFMIN = DLAMCH( 'S' ) / DLAMCH( 'E' ) - RSAFMN = ONE / SAFMIN -* - KNT = 0 - IF( ABS( BETA ).LT.SAFMIN ) THEN -* -* XNORM, BETA may be inaccurate; scale X and recompute them -* - 10 CONTINUE - KNT = KNT + 1 - CALL ZDSCAL( N-1, RSAFMN, X, INCX ) - BETA = BETA*RSAFMN - ALPHI = ALPHI*RSAFMN - ALPHR = ALPHR*RSAFMN - IF( ABS( BETA ).LT.SAFMIN ) - $ GO TO 10 -* -* New BETA is at most 1, at least SAFMIN -* - XNORM = DZNRM2( N-1, X, INCX ) - ALPHA = DCMPLX( ALPHR, ALPHI ) - BETA = -SIGN( DLAPY3( ALPHR, ALPHI, XNORM ), ALPHR ) - END IF - TAU = DCMPLX( ( BETA-ALPHR ) / BETA, -ALPHI / BETA ) - ALPHA = ZLADIV( DCMPLX( ONE ), ALPHA-BETA ) - CALL ZSCAL( N-1, ALPHA, X, INCX ) -* -* If ALPHA is subnormal, it may lose relative accuracy -* - DO 20 J = 1, KNT - BETA = BETA*SAFMIN - 20 CONTINUE - ALPHA = BETA - END IF -* - RETURN -* -* End of ZLARFG -* - END diff --git a/testbed/nanogui/ext/eigen/lapack/zlarft.f b/testbed/nanogui/ext/eigen/lapack/zlarft.f deleted file mode 100644 index 6a6151fd..00000000 --- a/testbed/nanogui/ext/eigen/lapack/zlarft.f +++ /dev/null @@ -1,327 +0,0 @@ -*> \brief \b ZLARFT -* -* =========== DOCUMENTATION =========== -* -* Online html documentation available at -* http://www.netlib.org/lapack/explore-html/ -* -*> \htmlonly -*> Download ZLARFT + dependencies -*> -*> [TGZ] -*> -*> [ZIP] -*> -*> [TXT] -*> \endhtmlonly -* -* Definition: -* =========== -* -* SUBROUTINE ZLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* .. Scalar Arguments .. -* CHARACTER DIRECT, STOREV -* INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. -* COMPLEX*16 T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* -*> \par Purpose: -* ============= -*> -*> \verbatim -*> -*> ZLARFT forms the triangular factor T of a complex block reflector H -*> of order n, which is defined as a product of k elementary reflectors. -*> -*> If DIRECT = 'F', H = H(1) H(2) . . . H(k) and T is upper triangular; -*> -*> If DIRECT = 'B', H = H(k) . . . H(2) H(1) and T is lower triangular. -*> -*> If STOREV = 'C', the vector which defines the elementary reflector -*> H(i) is stored in the i-th column of the array V, and -*> -*> H = I - V * T * V**H -*> -*> If STOREV = 'R', the vector which defines the elementary reflector -*> H(i) is stored in the i-th row of the array V, and -*> -*> H = I - V**H * T * V -*> \endverbatim -* -* Arguments: -* ========== -* -*> \param[in] DIRECT -*> \verbatim -*> DIRECT is CHARACTER*1 -*> Specifies the order in which the elementary reflectors are -*> multiplied to form the block reflector: -*> = 'F': H = H(1) H(2) . . . H(k) (Forward) -*> = 'B': H = H(k) . . . H(2) H(1) (Backward) -*> \endverbatim -*> -*> \param[in] STOREV -*> \verbatim -*> STOREV is CHARACTER*1 -*> Specifies how the vectors which define the elementary -*> reflectors are stored (see also Further Details): -*> = 'C': columnwise -*> = 'R': rowwise -*> \endverbatim -*> -*> \param[in] N -*> \verbatim -*> N is INTEGER -*> The order of the block reflector H. N >= 0. -*> \endverbatim -*> -*> \param[in] K -*> \verbatim -*> K is INTEGER -*> The order of the triangular factor T (= the number of -*> elementary reflectors). K >= 1. -*> \endverbatim -*> -*> \param[in] V -*> \verbatim -*> V is COMPLEX*16 array, dimension -*> (LDV,K) if STOREV = 'C' -*> (LDV,N) if STOREV = 'R' -*> The matrix V. See further details. -*> \endverbatim -*> -*> \param[in] LDV -*> \verbatim -*> LDV is INTEGER -*> The leading dimension of the array V. -*> If STOREV = 'C', LDV >= max(1,N); if STOREV = 'R', LDV >= K. -*> \endverbatim -*> -*> \param[in] TAU -*> \verbatim -*> TAU is COMPLEX*16 array, dimension (K) -*> TAU(i) must contain the scalar factor of the elementary -*> reflector H(i). -*> \endverbatim -*> -*> \param[out] T -*> \verbatim -*> T is COMPLEX*16 array, dimension (LDT,K) -*> The k by k triangular factor T of the block reflector. -*> If DIRECT = 'F', T is upper triangular; if DIRECT = 'B', T is -*> lower triangular. The rest of the array is not used. -*> \endverbatim -*> -*> \param[in] LDT -*> \verbatim -*> LDT is INTEGER -*> The leading dimension of the array T. LDT >= K. -*> \endverbatim -* -* Authors: -* ======== -* -*> \author Univ. of Tennessee -*> \author Univ. of California Berkeley -*> \author Univ. of Colorado Denver -*> \author NAG Ltd. -* -*> \date April 2012 -* -*> \ingroup complex16OTHERauxiliary -* -*> \par Further Details: -* ===================== -*> -*> \verbatim -*> -*> The shape of the matrix V and the storage of the vectors which define -*> the H(i) is best illustrated by the following example with n = 5 and -*> k = 3. The elements equal to 1 are not stored. -*> -*> DIRECT = 'F' and STOREV = 'C': DIRECT = 'F' and STOREV = 'R': -*> -*> V = ( 1 ) V = ( 1 v1 v1 v1 v1 ) -*> ( v1 1 ) ( 1 v2 v2 v2 ) -*> ( v1 v2 1 ) ( 1 v3 v3 ) -*> ( v1 v2 v3 ) -*> ( v1 v2 v3 ) -*> -*> DIRECT = 'B' and STOREV = 'C': DIRECT = 'B' and STOREV = 'R': -*> -*> V = ( v1 v2 v3 ) V = ( v1 v1 1 ) -*> ( v1 v2 v3 ) ( v2 v2 v2 1 ) -*> ( 1 v2 v3 ) ( v3 v3 v3 v3 1 ) -*> ( 1 v3 ) -*> ( 1 ) -*> \endverbatim -*> -* ===================================================================== - SUBROUTINE ZLARFT( DIRECT, STOREV, N, K, V, LDV, TAU, T, LDT ) -* -* -- LAPACK auxiliary routine (version 3.4.1) -- -* -- LAPACK is a software package provided by Univ. of Tennessee, -- -* -- Univ. of California Berkeley, Univ. of Colorado Denver and NAG Ltd..-- -* April 2012 -* -* .. Scalar Arguments .. - CHARACTER DIRECT, STOREV - INTEGER K, LDT, LDV, N -* .. -* .. Array Arguments .. - COMPLEX*16 T( LDT, * ), TAU( * ), V( LDV, * ) -* .. -* -* ===================================================================== -* -* .. Parameters .. - COMPLEX*16 ONE, ZERO - PARAMETER ( ONE = ( 1.0D+0, 0.0D+0 ), - $ ZERO = ( 0.0D+0, 0.0D+0 ) ) -* .. -* .. Local Scalars .. - INTEGER I, J, PREVLASTV, LASTV -* .. -* .. External Subroutines .. - EXTERNAL ZGEMV, ZLACGV, ZTRMV -* .. -* .. External Functions .. - LOGICAL LSAME - EXTERNAL LSAME -* .. -* .. Executable Statements .. -* -* Quick return if possible -* - IF( N.EQ.0 ) - $ RETURN -* - IF( LSAME( DIRECT, 'F' ) ) THEN - PREVLASTV = N - DO I = 1, K - PREVLASTV = MAX( PREVLASTV, I ) - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = 1, I - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * CONJG( V( I , J ) ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(i:j,1:i-1)**H * V(i:j,i) -* - CALL ZGEMV( 'Conjugate transpose', J-I, I-1, - $ -TAU( I ), V( I+1, 1 ), LDV, - $ V( I+1, I ), 1, ONE, T( 1, I ), 1 ) - ELSE -* Skip any trailing zeros. - DO LASTV = N, I+1, -1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = 1, I-1 - T( J, I ) = -TAU( I ) * V( J , I ) - END DO - J = MIN( LASTV, PREVLASTV ) -* -* T(1:i-1,i) := - tau(i) * V(1:i-1,i:j) * V(i,i:j)**H -* - CALL ZGEMM( 'N', 'C', I-1, 1, J-I, -TAU( I ), - $ V( 1, I+1 ), LDV, V( I, I+1 ), LDV, - $ ONE, T( 1, I ), LDT ) - END IF -* -* T(1:i-1,i) := T(1:i-1,1:i-1) * T(1:i-1,i) -* - CALL ZTRMV( 'Upper', 'No transpose', 'Non-unit', I-1, T, - $ LDT, T( 1, I ), 1 ) - T( I, I ) = TAU( I ) - IF( I.GT.1 ) THEN - PREVLASTV = MAX( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - END DO - ELSE - PREVLASTV = 1 - DO I = K, 1, -1 - IF( TAU( I ).EQ.ZERO ) THEN -* -* H(i) = I -* - DO J = I, K - T( J, I ) = ZERO - END DO - ELSE -* -* general case -* - IF( I.LT.K ) THEN - IF( LSAME( STOREV, 'C' ) ) THEN -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( LASTV, I ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * CONJG( V( N-K+I , J ) ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(j:n-k+i,i+1:k)**H * V(j:n-k+i,i) -* - CALL ZGEMV( 'Conjugate transpose', N-K+I-J, K-I, - $ -TAU( I ), V( J, I+1 ), LDV, V( J, I ), - $ 1, ONE, T( I+1, I ), 1 ) - ELSE -* Skip any leading zeros. - DO LASTV = 1, I-1 - IF( V( I, LASTV ).NE.ZERO ) EXIT - END DO - DO J = I+1, K - T( J, I ) = -TAU( I ) * V( J, N-K+I ) - END DO - J = MAX( LASTV, PREVLASTV ) -* -* T(i+1:k,i) = -tau(i) * V(i+1:k,j:n-k+i) * V(i,j:n-k+i)**H -* - CALL ZGEMM( 'N', 'C', K-I, 1, N-K+I-J, -TAU( I ), - $ V( I+1, J ), LDV, V( I, J ), LDV, - $ ONE, T( I+1, I ), LDT ) - END IF -* -* T(i+1:k,i) := T(i+1:k,i+1:k) * T(i+1:k,i) -* - CALL ZTRMV( 'Lower', 'No transpose', 'Non-unit', K-I, - $ T( I+1, I+1 ), LDT, T( I+1, I ), 1 ) - IF( I.GT.1 ) THEN - PREVLASTV = MIN( PREVLASTV, LASTV ) - ELSE - PREVLASTV = LASTV - END IF - END IF - T( I, I ) = TAU( I ) - END IF - END DO - END IF - RETURN -* -* End of ZLARFT -* - END diff --git a/testbed/nanogui/ext/eigen/scripts/CMakeLists.txt b/testbed/nanogui/ext/eigen/scripts/CMakeLists.txt deleted file mode 100644 index 0d9a631a..00000000 --- a/testbed/nanogui/ext/eigen/scripts/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -get_property(EIGEN_TESTS_LIST GLOBAL PROPERTY EIGEN_TESTS_LIST) -configure_file(buildtests.in ${CMAKE_BINARY_DIR}/buildtests.sh @ONLY) - -configure_file(check.in ${CMAKE_BINARY_DIR}/check.sh COPYONLY) -configure_file(debug.in ${CMAKE_BINARY_DIR}/debug.sh COPYONLY) -configure_file(release.in ${CMAKE_BINARY_DIR}/release.sh COPYONLY) diff --git a/testbed/nanogui/ext/eigen/scripts/buildtests.in b/testbed/nanogui/ext/eigen/scripts/buildtests.in deleted file mode 100755 index 526d5b74..00000000 --- a/testbed/nanogui/ext/eigen/scripts/buildtests.in +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/bash - -if [[ $# != 1 || $1 == *help ]] -then - echo "usage: $0 regexp" - echo " Builds tests matching the regexp." - echo " The EIGEN_MAKE_ARGS environment variable allows to pass args to 'make'." - echo " For example, to launch 5 concurrent builds, use EIGEN_MAKE_ARGS='-j5'" - exit 0 -fi - -TESTSLIST="@EIGEN_TESTS_LIST@" -targets_to_make=`echo "$TESTSLIST" | egrep "$1" | xargs echo` - -if [ -n "${EIGEN_MAKE_ARGS:+x}" ] -then - @CMAKE_MAKE_PROGRAM@ $targets_to_make ${EIGEN_MAKE_ARGS} -else - @CMAKE_MAKE_PROGRAM@ $targets_to_make @EIGEN_TEST_BUILD_FLAGS@ -fi -exit $? - diff --git a/testbed/nanogui/ext/eigen/scripts/cdashtesting.cmake.in b/testbed/nanogui/ext/eigen/scripts/cdashtesting.cmake.in deleted file mode 100644 index 59cf5332..00000000 --- a/testbed/nanogui/ext/eigen/scripts/cdashtesting.cmake.in +++ /dev/null @@ -1,49 +0,0 @@ - -set(CTEST_SOURCE_DIRECTORY "@CMAKE_SOURCE_DIR@") -set(CTEST_BINARY_DIRECTORY "@CMAKE_BINARY_DIR@") -set(CTEST_CMAKE_GENERATOR "@CMAKE_GENERATOR@") -set(CTEST_BUILD_NAME "@BUILDNAME@") -set(CTEST_SITE "@SITE@") - -set(MODEL Experimental) -if(${CTEST_SCRIPT_ARG} MATCHES Nightly) - set(MODEL Nightly) -elseif(${CTEST_SCRIPT_ARG} MATCHES Continuous) - set(MODEL Continuous) -endif() - -find_program(CTEST_HG_COMMAND NAMES hg) -set(CTEST_UPDATE_COMMAND "${CTEST_HG_COMMAND}") - -ctest_start(${MODEL} ${CTEST_SOURCE_DIRECTORY} ${CTEST_BINARY_DIRECTORY}) - -ctest_update(SOURCE "${CTEST_SOURCE_DIRECTORY}") -ctest_submit(PARTS Update Notes) - -# to get CTEST_PROJECT_SUBPROJECTS definition: -include("${CTEST_SOURCE_DIRECTORY}/CTestConfig.cmake") - -foreach(subproject ${CTEST_PROJECT_SUBPROJECTS}) - message("") - message("Process ${subproject}") - - set_property(GLOBAL PROPERTY SubProject ${subproject}) - set_property(GLOBAL PROPERTY Label ${subproject}) - - ctest_configure(BUILD ${CTEST_BINARY_DIRECTORY} SOURCE ${CTEST_SOURCE_DIRECTORY} ) - ctest_submit(PARTS Configure) - - set(CTEST_BUILD_TARGET "Build${subproject}") - message("Build ${CTEST_BUILD_TARGET}") - ctest_build(BUILD "${CTEST_BINARY_DIRECTORY}" APPEND) - # builds target ${CTEST_BUILD_TARGET} - ctest_submit(PARTS Build) - - ctest_test(BUILD "${CTEST_BINARY_DIRECTORY}" INCLUDE_LABEL "${subproject}" ) - # runs only tests that have a LABELS property matching "${subproject}" - - ctest_coverage(BUILD "${CTEST_BINARY_DIRECTORY}" LABELS "${subproject}" ) - - ctest_submit(PARTS Test) - -endforeach() diff --git a/testbed/nanogui/ext/eigen/scripts/check.in b/testbed/nanogui/ext/eigen/scripts/check.in deleted file mode 100755 index 7717e2d9..00000000 --- a/testbed/nanogui/ext/eigen/scripts/check.in +++ /dev/null @@ -1,21 +0,0 @@ -#!/bin/bash -# check : shorthand for make and ctest -R - -if [[ $# != 1 || $1 == *help ]] -then - echo "usage: $0 regexp" - echo " Builds and runs tests matching the regexp." - echo " The EIGEN_MAKE_ARGS environment variable allows to pass args to 'make'." - echo " For example, to launch 5 concurrent builds, use EIGEN_MAKE_ARGS='-j5'" - echo " The EIGEN_CTEST_ARGS environment variable allows to pass args to 'ctest'." - echo " For example, with CTest 2.8, you can use EIGEN_CTEST_ARGS='-j5'." - exit 0 -fi - -if [ -n "${EIGEN_CTEST_ARGS:+x}" ] -then - ./buildtests.sh "$1" && ctest -R "$1" ${EIGEN_CTEST_ARGS} -else - ./buildtests.sh "$1" && ctest -R "$1" -fi -exit $? diff --git a/testbed/nanogui/ext/eigen/scripts/debug.in b/testbed/nanogui/ext/eigen/scripts/debug.in deleted file mode 100755 index d339d3d1..00000000 --- a/testbed/nanogui/ext/eigen/scripts/debug.in +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/sh - -cmake -DCMAKE_BUILD_TYPE=Debug . diff --git a/testbed/nanogui/ext/eigen/scripts/eigen_gen_credits.cpp b/testbed/nanogui/ext/eigen/scripts/eigen_gen_credits.cpp deleted file mode 100644 index f2e81631..00000000 --- a/testbed/nanogui/ext/eigen/scripts/eigen_gen_credits.cpp +++ /dev/null @@ -1,232 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -// this function takes a line that may contain a name and/or email address, -// and returns just the name, while fixing the "bad cases". -std::string contributor_name(const std::string& line) -{ - string result; - - // let's first take care of the case of isolated email addresses, like - // "user@localhost.localdomain" entries - if(line.find("markb@localhost.localdomain") != string::npos) - { - return "Mark Borgerding"; - } - - if(line.find("kayhman@contact.intra.cea.fr") != string::npos) - { - return "Guillaume Saupin"; - } - - // from there on we assume that we have a entry of the form - // either: - // Bla bli Blurp - // or: - // Bla bli Blurp - - size_t position_of_email_address = line.find_first_of('<'); - if(position_of_email_address != string::npos) - { - // there is an e-mail address in <...>. - - // Hauke once committed as "John Smith", fix that. - if(line.find("hauke.heibel") != string::npos) - result = "Hauke Heibel"; - else - { - // just remove the e-mail address - result = line.substr(0, position_of_email_address); - } - } - else - { - // there is no e-mail address in <...>. - - if(line.find("convert-repo") != string::npos) - result = ""; - else - result = line; - } - - // remove trailing spaces - size_t length = result.length(); - while(length >= 1 && result[length-1] == ' ') result.erase(--length); - - return result; -} - -// parses hg churn output to generate a contributors map. -map contributors_map_from_churn_output(const char *filename) -{ - map contributors_map; - - string line; - ifstream churn_out; - churn_out.open(filename, ios::in); - while(!getline(churn_out,line).eof()) - { - // remove the histograms "******" that hg churn may draw at the end of some lines - size_t first_star = line.find_first_of('*'); - if(first_star != string::npos) line.erase(first_star); - - // remove trailing spaces - size_t length = line.length(); - while(length >= 1 && line[length-1] == ' ') line.erase(--length); - - // now the last space indicates where the number starts - size_t last_space = line.find_last_of(' '); - - // get the number (of changesets or of modified lines for each contributor) - int number; - istringstream(line.substr(last_space+1)) >> number; - - // get the name of the contributor - line.erase(last_space); - string name = contributor_name(line); - - map::iterator it = contributors_map.find(name); - // if new contributor, insert - if(it == contributors_map.end()) - contributors_map.insert(pair(name, number)); - // if duplicate, just add the number - else - it->second += number; - } - churn_out.close(); - - return contributors_map; -} - -// find the last name, i.e. the last word. -// for "van den Schbling" types of last names, that's not a problem, that's actually what we want. -string lastname(const string& name) -{ - size_t last_space = name.find_last_of(' '); - if(last_space >= name.length()-1) return name; - else return name.substr(last_space+1); -} - -struct contributor -{ - string name; - int changedlines; - int changesets; - string url; - string misc; - - contributor() : changedlines(0), changesets(0) {} - - bool operator < (const contributor& other) - { - return lastname(name).compare(lastname(other.name)) < 0; - } -}; - -void add_online_info_into_contributors_list(list& contributors_list, const char *filename) -{ - string line; - ifstream online_info; - online_info.open(filename, ios::in); - while(!getline(online_info,line).eof()) - { - string hgname, realname, url, misc; - - size_t last_bar = line.find_last_of('|'); - if(last_bar == string::npos) continue; - if(last_bar < line.length()) - misc = line.substr(last_bar+1); - line.erase(last_bar); - - last_bar = line.find_last_of('|'); - if(last_bar == string::npos) continue; - if(last_bar < line.length()) - url = line.substr(last_bar+1); - line.erase(last_bar); - - last_bar = line.find_last_of('|'); - if(last_bar == string::npos) continue; - if(last_bar < line.length()) - realname = line.substr(last_bar+1); - line.erase(last_bar); - - hgname = line; - - // remove the example line - if(hgname.find("MercurialName") != string::npos) continue; - - list::iterator it; - for(it=contributors_list.begin(); it != contributors_list.end() && it->name != hgname; ++it) - {} - - if(it == contributors_list.end()) - { - contributor c; - c.name = realname; - c.url = url; - c.misc = misc; - contributors_list.push_back(c); - } - else - { - it->name = realname; - it->url = url; - it->misc = misc; - } - } -} - -int main() -{ - // parse the hg churn output files - map contributors_map_for_changedlines = contributors_map_from_churn_output("churn-changedlines.out"); - //map contributors_map_for_changesets = contributors_map_from_churn_output("churn-changesets.out"); - - // merge into the contributors list - list contributors_list; - map::iterator it; - for(it=contributors_map_for_changedlines.begin(); it != contributors_map_for_changedlines.end(); ++it) - { - contributor c; - c.name = it->first; - c.changedlines = it->second; - c.changesets = 0; //contributors_map_for_changesets.find(it->first)->second; - contributors_list.push_back(c); - } - - add_online_info_into_contributors_list(contributors_list, "online-info.out"); - - contributors_list.sort(); - - cout << "{| cellpadding=\"5\"\n"; - cout << "!\n"; - cout << "! Lines changed\n"; - cout << "!\n"; - - list::iterator itc; - int i = 0; - for(itc=contributors_list.begin(); itc != contributors_list.end(); ++itc) - { - if(itc->name.length() == 0) continue; - if(i%2) cout << "|-\n"; - else cout << "|- style=\"background:#FFFFD0\"\n"; - if(itc->url.length()) - cout << "| [" << itc->url << " " << itc->name << "]\n"; - else - cout << "| " << itc->name << "\n"; - if(itc->changedlines) - cout << "| " << itc->changedlines << "\n"; - else - cout << "| (no information)\n"; - cout << "| " << itc->misc << "\n"; - i++; - } - cout << "|}" << endl; -} diff --git a/testbed/nanogui/ext/eigen/scripts/eigen_gen_docs b/testbed/nanogui/ext/eigen/scripts/eigen_gen_docs deleted file mode 100644 index 787dcb32..00000000 --- a/testbed/nanogui/ext/eigen/scripts/eigen_gen_docs +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/sh - -# configuration -# You should call this script with USER set as you want, else some default -# will be used -USER=${USER:-'orzel'} -UPLOAD_DIR=dox-devel - -#ulimit -v 1024000 - -# step 1 : build -rm build/doc/html -Rf -mkdir build -p -(cd build && cmake .. && make doc) || { echo "make failed"; exit 1; } - -#step 2 : upload -# (the '/' at the end of path is very important, see rsync documentation) -rsync -az --no-p --delete build/doc/html/ $USER@ssh.tuxfamily.org:eigen/eigen.tuxfamily.org-web/htdocs/$UPLOAD_DIR/ || { echo "upload failed"; exit 1; } - -#step 3 : fix the perm -ssh $USER@ssh.tuxfamily.org "chmod -R g+w /home/eigen/eigen.tuxfamily.org-web/htdocs/$UPLOAD_DIR" || { echo "perm failed"; exit 1; } - -echo "Uploaded successfully" - diff --git a/testbed/nanogui/ext/eigen/scripts/eigen_monitor_perf.sh b/testbed/nanogui/ext/eigen/scripts/eigen_monitor_perf.sh deleted file mode 100644 index 39f8e7ec..00000000 --- a/testbed/nanogui/ext/eigen/scripts/eigen_monitor_perf.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/bash - -# This is a script example to automatically update and upload performance unit tests. -# The following five variables must be adjusted to match your settings. - -USER='ggael' -UPLOAD_DIR=perf_monitoring/ggaelmacbook26 -EIGEN_SOURCE_PATH=$HOME/Eigen/eigen -export PREFIX="haswell-fma" -export CXX_FLAGS="-mfma -w" - -#### - -BENCH_PATH=$EIGEN_SOURCE_PATH/bench/perf_monitoring/$PREFIX -PREVPATH=`pwd` -cd $EIGEN_SOURCE_PATH/bench/perf_monitoring && ./runall.sh "Haswell 2.6GHz, FMA, Apple's clang" $* -cd $PREVPATH - -ALLFILES="$BENCH_PATH/*.png $BENCH_PATH/*.html $BENCH_PATH/index.html $BENCH_PATH/s1.js $BENCH_PATH/s2.js" - -# (the '/' at the end of path is very important, see rsync documentation) -rsync -az --no-p --delete $ALLFILES $USER@ssh.tuxfamily.org:eigen/eigen.tuxfamily.org-web/htdocs/$UPLOAD_DIR/ || { echo "upload failed"; exit 1; } - -# fix the perm -ssh $USER@ssh.tuxfamily.org "chmod -R g+w /home/eigen/eigen.tuxfamily.org-web/htdocs/perf_monitoring" || { echo "perm failed"; exit 1; } diff --git a/testbed/nanogui/ext/eigen/scripts/release.in b/testbed/nanogui/ext/eigen/scripts/release.in deleted file mode 100755 index db2d9d94..00000000 --- a/testbed/nanogui/ext/eigen/scripts/release.in +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/sh - -cmake -DCMAKE_BUILD_TYPE=Release . diff --git a/testbed/nanogui/ext/eigen/scripts/relicense.py b/testbed/nanogui/ext/eigen/scripts/relicense.py deleted file mode 100644 index 8a5265f1..00000000 --- a/testbed/nanogui/ext/eigen/scripts/relicense.py +++ /dev/null @@ -1,69 +0,0 @@ -# This file is part of Eigen, a lightweight C++ template library -# for linear algebra. -# -# Copyright (C) 2012 Keir Mierle -# -# This Source Code Form is subject to the terms of the Mozilla -# Public License v. 2.0. If a copy of the MPL was not distributed -# with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -# -# Author: mierle@gmail.com (Keir Mierle) -# -# Make the long-awaited conversion to MPL. - -lgpl3_header = ''' -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . -''' - -mpl2_header = """ -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -""" - -import os -import sys - -exclusions = set(['relicense.py']) - -def update(text): - if text.find(lgpl3_header) == -1: - return text, False - return text.replace(lgpl3_header, mpl2_header), True - -rootdir = sys.argv[1] -for root, sub_folders, files in os.walk(rootdir): - for basename in files: - if basename in exclusions: - print 'SKIPPED', filename - continue - filename = os.path.join(root, basename) - fo = file(filename) - text = fo.read() - fo.close() - - text, updated = update(text) - if updated: - fo = file(filename, "w") - fo.write(text) - fo.close() - print 'UPDATED', filename - else: - print ' ', filename diff --git a/testbed/nanogui/ext/eigen/signature_of_eigen3_matrix_library b/testbed/nanogui/ext/eigen/signature_of_eigen3_matrix_library deleted file mode 100644 index 80aaf462..00000000 --- a/testbed/nanogui/ext/eigen/signature_of_eigen3_matrix_library +++ /dev/null @@ -1 +0,0 @@ -This file is just there as a signature to help identify directories containing Eigen3. When writing a script looking for Eigen3, just look for this file. This is especially useful to help disambiguate with Eigen2... diff --git a/testbed/nanogui/ext/eigen/test/CMakeLists.txt b/testbed/nanogui/ext/eigen/test/CMakeLists.txt deleted file mode 100644 index d337594f..00000000 --- a/testbed/nanogui/ext/eigen/test/CMakeLists.txt +++ /dev/null @@ -1,384 +0,0 @@ -# generate split test header file only if it does not yet exist -# in order to prevent a rebuild everytime cmake is configured -if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/split_test_helper.h) - file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/split_test_helper.h "") - foreach(i RANGE 1 999) - file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/split_test_helper.h - "#ifdef EIGEN_TEST_PART_${i}\n" - "#define CALL_SUBTEST_${i}(FUNC) CALL_SUBTEST(FUNC)\n" - "#else\n" - "#define CALL_SUBTEST_${i}(FUNC)\n" - "#endif\n\n" - ) - endforeach() -endif() - -# check if we have a Fortran compiler -include("../cmake/language_support.cmake") - -workaround_9220(Fortran EIGEN_Fortran_COMPILER_WORKS) - -if(EIGEN_Fortran_COMPILER_WORKS) - enable_language(Fortran OPTIONAL) - if(NOT CMAKE_Fortran_COMPILER) - set(EIGEN_Fortran_COMPILER_WORKS OFF) - endif() -endif() - -if(NOT EIGEN_Fortran_COMPILER_WORKS) - # search for a default Lapack library to complete Eigen's one - find_package(LAPACK) -endif() - -# configure blas/lapack (use Eigen's ones) -set(EIGEN_BLAS_LIBRARIES eigen_blas) -set(EIGEN_LAPACK_LIBRARIES eigen_lapack) - -set(EIGEN_TEST_MATRIX_DIR "" CACHE STRING "Enable testing of realword sparse matrices contained in the specified path") -if(EIGEN_TEST_MATRIX_DIR) - if(NOT WIN32) - message(STATUS "Test realworld sparse matrices: ${EIGEN_TEST_MATRIX_DIR}") - add_definitions( -DTEST_REAL_CASES="${EIGEN_TEST_MATRIX_DIR}" ) - else(NOT WIN32) - message(STATUS "REAL CASES CAN NOT BE CURRENTLY TESTED ON WIN32") - endif(NOT WIN32) -endif(EIGEN_TEST_MATRIX_DIR) - -set(SPARSE_LIBS " ") - -find_package(Cholmod) -if(CHOLMOD_FOUND) - add_definitions("-DEIGEN_CHOLMOD_SUPPORT") - include_directories(${CHOLMOD_INCLUDES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${CHOLMOD_LIBRARIES} ${EIGEN_BLAS_LIBRARIES} ${EIGEN_LAPACK_LIBRARIES}) - set(CHOLMOD_ALL_LIBS ${CHOLMOD_LIBRARIES} ${EIGEN_BLAS_LIBRARIES} ${EIGEN_LAPACK_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "Cholmod, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "Cholmod, ") -endif() - -find_package(Umfpack) -if(UMFPACK_FOUND) - add_definitions("-DEIGEN_UMFPACK_SUPPORT") - include_directories(${UMFPACK_INCLUDES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${UMFPACK_LIBRARIES} ${EIGEN_BLAS_LIBRARIES}) - set(UMFPACK_ALL_LIBS ${UMFPACK_LIBRARIES} ${EIGEN_BLAS_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "UmfPack, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "UmfPack, ") -endif() - -find_package(SuperLU 4.0) -if(SUPERLU_FOUND) - add_definitions("-DEIGEN_SUPERLU_SUPPORT") - include_directories(${SUPERLU_INCLUDES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${SUPERLU_LIBRARIES} ${EIGEN_BLAS_LIBRARIES}) - set(SUPERLU_ALL_LIBS ${SUPERLU_LIBRARIES} ${EIGEN_BLAS_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "SuperLU, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "SuperLU, ") -endif() - - -find_package(Pastix) -find_package(Scotch) -find_package(Metis 5.0 REQUIRED) -if(PASTIX_FOUND) - add_definitions("-DEIGEN_PASTIX_SUPPORT") - include_directories(${PASTIX_INCLUDES}) - if(SCOTCH_FOUND) - include_directories(${SCOTCH_INCLUDES}) - set(PASTIX_LIBRARIES ${PASTIX_LIBRARIES} ${SCOTCH_LIBRARIES}) - elseif(METIS_FOUND) - include_directories(${METIS_INCLUDES}) - set(PASTIX_LIBRARIES ${PASTIX_LIBRARIES} ${METIS_LIBRARIES}) - else(SCOTCH_FOUND) - ei_add_property(EIGEN_MISSING_BACKENDS "PaStiX, ") - endif(SCOTCH_FOUND) - set(SPARSE_LIBS ${SPARSE_LIBS} ${PASTIX_LIBRARIES} ${ORDERING_LIBRARIES} ${EIGEN_BLAS_LIBRARIES}) - set(PASTIX_ALL_LIBS ${PASTIX_LIBRARIES} ${EIGEN_BLAS_LIBRARIES}) - ei_add_property(EIGEN_TESTED_BACKENDS "PaStiX, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "PaStiX, ") -endif() - -if(METIS_FOUND) - add_definitions("-DEIGEN_METIS_SUPPORT") - include_directories(${METIS_INCLUDES}) - ei_add_property(EIGEN_TESTED_BACKENDS "METIS, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "METIS, ") -endif() - -find_package(SPQR) -if(SPQR_FOUND AND CHOLMOD_FOUND AND (EIGEN_Fortran_COMPILER_WORKS OR LAPACK_FOUND) ) - add_definitions("-DEIGEN_SPQR_SUPPORT") - include_directories(${SPQR_INCLUDES}) - set(SPQR_ALL_LIBS ${SPQR_LIBRARIES} ${CHOLMOD_LIBRARIES} ${EIGEN_LAPACK_LIBRARIES} ${EIGEN_BLAS_LIBRARIES} ${LAPACK_LIBRARIES}) - set(SPARSE_LIBS ${SPARSE_LIBS} ${SPQR_ALL_LIBS}) - ei_add_property(EIGEN_TESTED_BACKENDS "SPQR, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "SPQR, ") -endif() - -option(EIGEN_TEST_NOQT "Disable Qt support in unit tests" OFF) -if(NOT EIGEN_TEST_NOQT) - find_package(Qt4) - if(QT4_FOUND) - include(${QT_USE_FILE}) - ei_add_property(EIGEN_TESTED_BACKENDS "Qt4 support, ") - else() - ei_add_property(EIGEN_MISSING_BACKENDS "Qt4 support, ") - endif() -endif(NOT EIGEN_TEST_NOQT) - -if(TEST_LIB) - add_definitions("-DEIGEN_EXTERN_INSTANTIATIONS=1") -endif(TEST_LIB) - -set_property(GLOBAL PROPERTY EIGEN_CURRENT_SUBPROJECT "Official") -add_custom_target(BuildOfficial) - -ei_add_test(rand) -ei_add_test(meta) -ei_add_test(sizeof) -ei_add_test(dynalloc) -ei_add_test(nomalloc) -ei_add_test(first_aligned) -ei_add_test(nullary) -ei_add_test(mixingtypes) -ei_add_test(packetmath "-DEIGEN_FAST_MATH=1") -ei_add_test(unalignedassert) -ei_add_test(vectorization_logic) -ei_add_test(basicstuff) -ei_add_test(constructor) -ei_add_test(linearstructure) -ei_add_test(integer_types) -ei_add_test(unalignedcount) -if(NOT EIGEN_TEST_NO_EXCEPTIONS) - ei_add_test(exceptions) -endif() -ei_add_test(redux) -ei_add_test(visitor) -ei_add_test(block) -ei_add_test(corners) -ei_add_test(symbolic_index) -ei_add_test(indexed_view) -ei_add_test(swap) -ei_add_test(resize) -ei_add_test(conservative_resize) -ei_add_test(product_small) -ei_add_test(product_large) -ei_add_test(product_extra) -ei_add_test(diagonalmatrices) -ei_add_test(adjoint) -ei_add_test(diagonal) -ei_add_test(miscmatrices) -ei_add_test(commainitializer) -ei_add_test(smallvectors) -ei_add_test(mapped_matrix) -ei_add_test(mapstride) -ei_add_test(mapstaticmethods) -ei_add_test(array) -ei_add_test(array_for_matrix) -ei_add_test(array_replicate) -ei_add_test(array_reverse) -ei_add_test(ref) -ei_add_test(is_same_dense) -ei_add_test(triangular) -ei_add_test(selfadjoint) -ei_add_test(product_selfadjoint) -ei_add_test(product_symm) -ei_add_test(product_syrk) -ei_add_test(product_trmv) -ei_add_test(product_trmm) -ei_add_test(product_trsolve) -ei_add_test(product_mmtr) -ei_add_test(product_notemporary) -ei_add_test(stable_norm) -ei_add_test(permutationmatrices) -ei_add_test(bandmatrix) -ei_add_test(cholesky) -ei_add_test(lu) -ei_add_test(determinant) -ei_add_test(inverse) -ei_add_test(qr) -ei_add_test(qr_colpivoting) -ei_add_test(qr_fullpivoting) -ei_add_test(upperbidiagonalization) -ei_add_test(hessenberg) -ei_add_test(schur_real) -ei_add_test(schur_complex) -ei_add_test(eigensolver_selfadjoint) -ei_add_test(eigensolver_generic) -ei_add_test(eigensolver_complex) -ei_add_test(real_qz) -ei_add_test(eigensolver_generalized_real) -ei_add_test(jacobi) -ei_add_test(jacobisvd) -ei_add_test(bdcsvd) -ei_add_test(householder) -ei_add_test(geo_orthomethods) -ei_add_test(geo_quaternion) -ei_add_test(geo_eulerangles) -ei_add_test(geo_parametrizedline) -ei_add_test(geo_alignedbox) -ei_add_test(geo_hyperplane) -ei_add_test(geo_transformations) -ei_add_test(geo_homogeneous) -ei_add_test(stdvector) -ei_add_test(stdvector_overload) -ei_add_test(stdlist) -ei_add_test(stdlist_overload) -ei_add_test(stddeque) -ei_add_test(stddeque_overload) -ei_add_test(sparse_basic) -ei_add_test(sparse_block) -ei_add_test(sparse_vector) -ei_add_test(sparse_product) -ei_add_test(sparse_ref) -ei_add_test(sparse_solvers) -ei_add_test(sparse_permutations) -ei_add_test(simplicial_cholesky) -ei_add_test(conjugate_gradient) -ei_add_test(incomplete_cholesky) -ei_add_test(bicgstab) -ei_add_test(lscg) -ei_add_test(sparselu) -ei_add_test(sparseqr) -ei_add_test(umeyama) -ei_add_test(nesting_ops "${CMAKE_CXX_FLAGS_DEBUG}") -ei_add_test(zerosized) -ei_add_test(dontalign) -ei_add_test(evaluators) -if(NOT EIGEN_TEST_NO_EXCEPTIONS) - ei_add_test(sizeoverflow) -endif() -ei_add_test(prec_inverse_4x4) -ei_add_test(vectorwiseop) -ei_add_test(special_numbers) -ei_add_test(rvalue_types) -ei_add_test(dense_storage) -ei_add_test(ctorleak) -ei_add_test(mpl2only) -ei_add_test(inplace_decomposition) -ei_add_test(half_float) -ei_add_test(array_of_string) - -add_executable(bug1213 bug1213.cpp bug1213_main.cpp) - -check_cxx_compiler_flag("-ffast-math" COMPILER_SUPPORT_FASTMATH) -if(COMPILER_SUPPORT_FASTMATH) - set(EIGEN_FASTMATH_FLAGS "-ffast-math") -else() - check_cxx_compiler_flag("/fp:fast" COMPILER_SUPPORT_FPFAST) - if(COMPILER_SUPPORT_FPFAST) - set(EIGEN_FASTMATH_FLAGS "/fp:fast") - endif() -endif() - -ei_add_test(fastmath " ${EIGEN_FASTMATH_FLAGS} ") - -# # ei_add_test(denseLM) - -if(QT4_FOUND) - ei_add_test(qtvector "" "${QT_QTCORE_LIBRARY}") -endif(QT4_FOUND) - -if(UMFPACK_FOUND) - ei_add_test(umfpack_support "" "${UMFPACK_ALL_LIBS}") -endif() - -if(SUPERLU_FOUND) - ei_add_test(superlu_support "" "${SUPERLU_ALL_LIBS}") -endif() - -if(CHOLMOD_FOUND) - ei_add_test(cholmod_support "" "${CHOLMOD_ALL_LIBS}") -endif() - -if(PARDISO_FOUND) - ei_add_test(pardiso_support "" "${PARDISO_ALL_LIBS}") -endif() - -if(PASTIX_FOUND AND (SCOTCH_FOUND OR METIS_FOUND)) - ei_add_test(pastix_support "" "${PASTIX_ALL_LIBS}") -endif() - -if(SPQR_FOUND AND CHOLMOD_FOUND) - ei_add_test(spqr_support "" "${SPQR_ALL_LIBS}") -endif() - -if(METIS_FOUND) -ei_add_test(metis_support "" "${METIS_LIBRARIES}") -endif() - -string(TOLOWER "${CMAKE_CXX_COMPILER}" cmake_cxx_compiler_tolower) -if(cmake_cxx_compiler_tolower MATCHES "qcc") - set(CXX_IS_QCC "ON") -endif() - -ei_add_property(EIGEN_TESTING_SUMMARY "CXX: ${CMAKE_CXX_COMPILER}\n") -if(CMAKE_COMPILER_IS_GNUCXX AND NOT CXX_IS_QCC) - execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version COMMAND head -n 1 OUTPUT_VARIABLE EIGEN_CXX_VERSION_STRING OUTPUT_STRIP_TRAILING_WHITESPACE) - ei_add_property(EIGEN_TESTING_SUMMARY "CXX_VERSION: ${EIGEN_CXX_VERSION_STRING}\n") -endif() -ei_add_property(EIGEN_TESTING_SUMMARY "CXX_FLAGS: ${CMAKE_CXX_FLAGS}\n") -ei_add_property(EIGEN_TESTING_SUMMARY "Sparse lib flags: ${SPARSE_LIBS}\n") - -option(EIGEN_TEST_EIGEN2 "Run whole Eigen2 test suite against EIGEN2_SUPPORT" OFF) -mark_as_advanced(EIGEN_TEST_EIGEN2) -if(EIGEN_TEST_EIGEN2) - message(WARNING "The Eigen2 test suite has been removed") -endif() - -# boost MP unit test -find_package(Boost) -if(Boost_FOUND) - include_directories(${Boost_INCLUDE_DIRS}) - ei_add_test(boostmultiprec "" "${Boost_LIBRARIES}") - ei_add_property(EIGEN_TESTED_BACKENDS "Boost.Multiprecision, ") -else() - ei_add_property(EIGEN_MISSING_BACKENDS "Boost.Multiprecision, ") -endif() - - -# CUDA unit tests -option(EIGEN_TEST_CUDA "Enable CUDA support in unit tests" OFF) -option(EIGEN_TEST_CUDA_CLANG "Use clang instead of nvcc to compile the CUDA tests" OFF) - -if(EIGEN_TEST_CUDA_CLANG AND NOT CMAKE_CXX_COMPILER MATCHES "clang") - message(WARNING "EIGEN_TEST_CUDA_CLANG is set, but CMAKE_CXX_COMPILER does not appear to be clang.") -endif() - -if(EIGEN_TEST_CUDA) - -find_package(CUDA 5.0) -if(CUDA_FOUND) - - set(CUDA_PROPAGATE_HOST_FLAGS OFF) - if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") - set(CUDA_NVCC_FLAGS "-ccbin ${CMAKE_C_COMPILER}" CACHE STRING "nvcc flags" FORCE) - endif() - if(EIGEN_TEST_CUDA_CLANG) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 --cuda-gpu-arch=sm_30") - endif() - cuda_include_directories(${CMAKE_CURRENT_BINARY_DIR}) - set(EIGEN_ADD_TEST_FILENAME_EXTENSION "cu") - - ei_add_test(cuda_basic) - - unset(EIGEN_ADD_TEST_FILENAME_EXTENSION) - -endif(CUDA_FOUND) - -endif(EIGEN_TEST_CUDA) - - -file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/failtests) -add_test(NAME failtests WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/failtests COMMAND ${CMAKE_COMMAND} ${Eigen_SOURCE_DIR} -G "${CMAKE_GENERATOR}" -DEIGEN_FAILTEST=ON) - -option(EIGEN_TEST_BUILD_DOCUMENTATION "Test building the doxygen documentation" OFF) -IF(EIGEN_TEST_BUILD_DOCUMENTATION) - add_dependencies(buildtests doc) -ENDIF() diff --git a/testbed/nanogui/ext/eigen/test/adjoint.cpp b/testbed/nanogui/ext/eigen/test/adjoint.cpp deleted file mode 100644 index bdea51c1..00000000 --- a/testbed/nanogui/ext/eigen/test/adjoint.cpp +++ /dev/null @@ -1,200 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT - -#include "main.h" - -template struct adjoint_specific; - -template<> struct adjoint_specific { - template - static void run(const Vec& v1, const Vec& v2, Vec& v3, const Mat& square, Scalar s1, Scalar s2) { - VERIFY(test_isApproxWithRef((s1 * v1 + s2 * v2).dot(v3), numext::conj(s1) * v1.dot(v3) + numext::conj(s2) * v2.dot(v3), 0)); - VERIFY(test_isApproxWithRef(v3.dot(s1 * v1 + s2 * v2), s1*v3.dot(v1)+s2*v3.dot(v2), 0)); - - // check compatibility of dot and adjoint - VERIFY(test_isApproxWithRef(v1.dot(square * v2), (square.adjoint() * v1).dot(v2), 0)); - } -}; - -template<> struct adjoint_specific { - template - static void run(const Vec& v1, const Vec& v2, Vec& v3, const Mat& square, Scalar s1, Scalar s2) { - typedef typename NumTraits::Real RealScalar; - using std::abs; - - RealScalar ref = NumTraits::IsInteger ? RealScalar(0) : (std::max)((s1 * v1 + s2 * v2).norm(),v3.norm()); - VERIFY(test_isApproxWithRef((s1 * v1 + s2 * v2).dot(v3), numext::conj(s1) * v1.dot(v3) + numext::conj(s2) * v2.dot(v3), ref)); - VERIFY(test_isApproxWithRef(v3.dot(s1 * v1 + s2 * v2), s1*v3.dot(v1)+s2*v3.dot(v2), ref)); - - VERIFY_IS_APPROX(v1.squaredNorm(), v1.norm() * v1.norm()); - // check normalized() and normalize() - VERIFY_IS_APPROX(v1, v1.norm() * v1.normalized()); - v3 = v1; - v3.normalize(); - VERIFY_IS_APPROX(v1, v1.norm() * v3); - VERIFY_IS_APPROX(v3, v1.normalized()); - VERIFY_IS_APPROX(v3.norm(), RealScalar(1)); - - // check null inputs - VERIFY_IS_APPROX((v1*0).normalized(), (v1*0)); -#if (!EIGEN_ARCH_i386) || defined(EIGEN_VECTORIZE) - RealScalar very_small = (std::numeric_limits::min)(); - VERIFY( (v1*very_small).norm() == 0 ); - VERIFY_IS_APPROX((v1*very_small).normalized(), (v1*very_small)); - v3 = v1*very_small; - v3.normalize(); - VERIFY_IS_APPROX(v3, (v1*very_small)); -#endif - - // check compatibility of dot and adjoint - ref = NumTraits::IsInteger ? 0 : (std::max)((std::max)(v1.norm(),v2.norm()),(std::max)((square * v2).norm(),(square.adjoint() * v1).norm())); - VERIFY(internal::isMuchSmallerThan(abs(v1.dot(square * v2) - (square.adjoint() * v1).dot(v2)), ref, test_precision())); - - // check that Random().normalized() works: tricky as the random xpr must be evaluated by - // normalized() in order to produce a consistent result. - VERIFY_IS_APPROX(Vec::Random(v1.size()).normalized().norm(), RealScalar(1)); - } -}; - -template void adjoint(const MatrixType& m) -{ - /* this test covers the following files: - Transpose.h Conjugate.h Dot.h - */ - using std::abs; - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - typedef Matrix SquareMatrixType; - const Index PacketSize = internal::packet_traits::size; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - square = SquareMatrixType::Random(rows, rows); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - v3 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); - - Scalar s1 = internal::random(), - s2 = internal::random(); - - // check basic compatibility of adjoint, transpose, conjugate - VERIFY_IS_APPROX(m1.transpose().conjugate().adjoint(), m1); - VERIFY_IS_APPROX(m1.adjoint().conjugate().transpose(), m1); - - // check multiplicative behavior - VERIFY_IS_APPROX((m1.adjoint() * m2).adjoint(), m2.adjoint() * m1); - VERIFY_IS_APPROX((s1 * m1).adjoint(), numext::conj(s1) * m1.adjoint()); - - // check basic properties of dot, squaredNorm - VERIFY_IS_APPROX(numext::conj(v1.dot(v2)), v2.dot(v1)); - VERIFY_IS_APPROX(numext::real(v1.dot(v1)), v1.squaredNorm()); - - adjoint_specific::IsInteger>::run(v1, v2, v3, square, s1, s2); - - VERIFY_IS_MUCH_SMALLER_THAN(abs(vzero.dot(v1)), static_cast(1)); - - // like in testBasicStuff, test operator() to check const-qualification - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - VERIFY_IS_APPROX(m1.conjugate()(r,c), numext::conj(m1(r,c))); - VERIFY_IS_APPROX(m1.adjoint()(c,r), numext::conj(m1(r,c))); - - // check inplace transpose - m3 = m1; - m3.transposeInPlace(); - VERIFY_IS_APPROX(m3,m1.transpose()); - m3.transposeInPlace(); - VERIFY_IS_APPROX(m3,m1); - - if(PacketSize(0,m3.rows()-PacketSize); - Index j = internal::random(0,m3.cols()-PacketSize); - m3.template block(i,j).transposeInPlace(); - VERIFY_IS_APPROX( (m3.template block(i,j)), (m1.template block(i,j).transpose()) ); - m3.template block(i,j).transposeInPlace(); - VERIFY_IS_APPROX(m3,m1); - } - - // check inplace adjoint - m3 = m1; - m3.adjointInPlace(); - VERIFY_IS_APPROX(m3,m1.adjoint()); - m3.transposeInPlace(); - VERIFY_IS_APPROX(m3,m1.conjugate()); - - // check mixed dot product - typedef Matrix RealVectorType; - RealVectorType rv1 = RealVectorType::Random(rows); - VERIFY_IS_APPROX(v1.dot(rv1.template cast()), v1.dot(rv1)); - VERIFY_IS_APPROX(rv1.template cast().dot(v1), rv1.dot(v1)); -} - -void test_adjoint() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( adjoint(Matrix()) ); - CALL_SUBTEST_2( adjoint(Matrix3d()) ); - CALL_SUBTEST_3( adjoint(Matrix4f()) ); - - CALL_SUBTEST_4( adjoint(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_5( adjoint(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( adjoint(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - - // Complement for 128 bits vectorization: - CALL_SUBTEST_8( adjoint(Matrix2d()) ); - CALL_SUBTEST_9( adjoint(Matrix()) ); - - // 256 bits vectorization: - CALL_SUBTEST_10( adjoint(Matrix()) ); - CALL_SUBTEST_11( adjoint(Matrix()) ); - CALL_SUBTEST_12( adjoint(Matrix()) ); - } - // test a large static matrix only once - CALL_SUBTEST_7( adjoint(Matrix()) ); - -#ifdef EIGEN_TEST_PART_13 - { - MatrixXcf a(10,10), b(10,10); - VERIFY_RAISES_ASSERT(a = a.transpose()); - VERIFY_RAISES_ASSERT(a = a.transpose() + b); - VERIFY_RAISES_ASSERT(a = b + a.transpose()); - VERIFY_RAISES_ASSERT(a = a.conjugate().transpose()); - VERIFY_RAISES_ASSERT(a = a.adjoint()); - VERIFY_RAISES_ASSERT(a = a.adjoint() + b); - VERIFY_RAISES_ASSERT(a = b + a.adjoint()); - - // no assertion should be triggered for these cases: - a.transpose() = a.transpose(); - a.transpose() += a.transpose(); - a.transpose() += a.transpose() + b; - a.transpose() = a.adjoint(); - a.transpose() += a.adjoint(); - a.transpose() += a.adjoint() + b; - - // regression tests for check_for_aliasing - MatrixXd c(10,10); - c = 1.0 * MatrixXd::Ones(10,10) + c; - c = MatrixXd::Ones(10,10) * 1.0 + c; - c = c + MatrixXd::Ones(10,10) .cwiseProduct( MatrixXd::Zero(10,10) ); - c = MatrixXd::Ones(10,10) * MatrixXd::Zero(10,10); - } -#endif -} - diff --git a/testbed/nanogui/ext/eigen/test/array.cpp b/testbed/nanogui/ext/eigen/test/array.cpp deleted file mode 100644 index f7f3ba78..00000000 --- a/testbed/nanogui/ext/eigen/test/array.cpp +++ /dev/null @@ -1,498 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void array(const ArrayType& m) -{ - typedef typename ArrayType::Index Index; - typedef typename ArrayType::Scalar Scalar; - typedef typename ArrayType::RealScalar RealScalar; - typedef Array ColVectorType; - typedef Array RowVectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - - ArrayType m1 = ArrayType::Random(rows, cols), - m2 = ArrayType::Random(rows, cols), - m3(rows, cols); - ArrayType m4 = m1; // copy constructor - VERIFY_IS_APPROX(m1, m4); - - ColVectorType cv1 = ColVectorType::Random(rows); - RowVectorType rv1 = RowVectorType::Random(cols); - - Scalar s1 = internal::random(), - s2 = internal::random(); - - // scalar addition - VERIFY_IS_APPROX(m1 + s1, s1 + m1); - VERIFY_IS_APPROX(m1 + s1, ArrayType::Constant(rows,cols,s1) + m1); - VERIFY_IS_APPROX(s1 - m1, (-m1)+s1 ); - VERIFY_IS_APPROX(m1 - s1, m1 - ArrayType::Constant(rows,cols,s1)); - VERIFY_IS_APPROX(s1 - m1, ArrayType::Constant(rows,cols,s1) - m1); - VERIFY_IS_APPROX((m1*Scalar(2)) - s2, (m1+m1) - ArrayType::Constant(rows,cols,s2) ); - m3 = m1; - m3 += s2; - VERIFY_IS_APPROX(m3, m1 + s2); - m3 = m1; - m3 -= s1; - VERIFY_IS_APPROX(m3, m1 - s1); - - // scalar operators via Maps - m3 = m1; - ArrayType::Map(m1.data(), m1.rows(), m1.cols()) -= ArrayType::Map(m2.data(), m2.rows(), m2.cols()); - VERIFY_IS_APPROX(m1, m3 - m2); - - m3 = m1; - ArrayType::Map(m1.data(), m1.rows(), m1.cols()) += ArrayType::Map(m2.data(), m2.rows(), m2.cols()); - VERIFY_IS_APPROX(m1, m3 + m2); - - m3 = m1; - ArrayType::Map(m1.data(), m1.rows(), m1.cols()) *= ArrayType::Map(m2.data(), m2.rows(), m2.cols()); - VERIFY_IS_APPROX(m1, m3 * m2); - - m3 = m1; - m2 = ArrayType::Random(rows,cols); - m2 = (m2==0).select(1,m2); - ArrayType::Map(m1.data(), m1.rows(), m1.cols()) /= ArrayType::Map(m2.data(), m2.rows(), m2.cols()); - VERIFY_IS_APPROX(m1, m3 / m2); - - // reductions - VERIFY_IS_APPROX(m1.abs().colwise().sum().sum(), m1.abs().sum()); - VERIFY_IS_APPROX(m1.abs().rowwise().sum().sum(), m1.abs().sum()); - using std::abs; - VERIFY_IS_MUCH_SMALLER_THAN(abs(m1.colwise().sum().sum() - m1.sum()), m1.abs().sum()); - VERIFY_IS_MUCH_SMALLER_THAN(abs(m1.rowwise().sum().sum() - m1.sum()), m1.abs().sum()); - if (!internal::isMuchSmallerThan(abs(m1.sum() - (m1+m2).sum()), m1.abs().sum(), test_precision())) - VERIFY_IS_NOT_APPROX(((m1+m2).rowwise().sum()).sum(), m1.sum()); - VERIFY_IS_APPROX(m1.colwise().sum(), m1.colwise().redux(internal::scalar_sum_op())); - - // vector-wise ops - m3 = m1; - VERIFY_IS_APPROX(m3.colwise() += cv1, m1.colwise() + cv1); - m3 = m1; - VERIFY_IS_APPROX(m3.colwise() -= cv1, m1.colwise() - cv1); - m3 = m1; - VERIFY_IS_APPROX(m3.rowwise() += rv1, m1.rowwise() + rv1); - m3 = m1; - VERIFY_IS_APPROX(m3.rowwise() -= rv1, m1.rowwise() - rv1); - - // Conversion from scalar - VERIFY_IS_APPROX((m3 = s1), ArrayType::Constant(rows,cols,s1)); - VERIFY_IS_APPROX((m3 = 1), ArrayType::Constant(rows,cols,1)); - VERIFY_IS_APPROX((m3.topLeftCorner(rows,cols) = 1), ArrayType::Constant(rows,cols,1)); - typedef Array FixedArrayType; - FixedArrayType f1(s1); - VERIFY_IS_APPROX(f1, FixedArrayType::Constant(s1)); - FixedArrayType f2(numext::real(s1)); - VERIFY_IS_APPROX(f2, FixedArrayType::Constant(numext::real(s1))); - FixedArrayType f3((int)100*numext::real(s1)); - VERIFY_IS_APPROX(f3, FixedArrayType::Constant((int)100*numext::real(s1))); - f1.setRandom(); - FixedArrayType f4(f1.data()); - VERIFY_IS_APPROX(f4, f1); - - // pow - VERIFY_IS_APPROX(m1.pow(2), m1.square()); - VERIFY_IS_APPROX(pow(m1,2), m1.square()); - VERIFY_IS_APPROX(m1.pow(3), m1.cube()); - VERIFY_IS_APPROX(pow(m1,3), m1.cube()); - VERIFY_IS_APPROX((-m1).pow(3), -m1.cube()); - VERIFY_IS_APPROX(pow(2*m1,3), 8*m1.cube()); - ArrayType exponents = ArrayType::Constant(rows, cols, RealScalar(2)); - VERIFY_IS_APPROX(Eigen::pow(m1,exponents), m1.square()); - VERIFY_IS_APPROX(m1.pow(exponents), m1.square()); - VERIFY_IS_APPROX(Eigen::pow(2*m1,exponents), 4*m1.square()); - VERIFY_IS_APPROX((2*m1).pow(exponents), 4*m1.square()); - VERIFY_IS_APPROX(Eigen::pow(m1,2*exponents), m1.square().square()); - VERIFY_IS_APPROX(m1.pow(2*exponents), m1.square().square()); - VERIFY_IS_APPROX(Eigen::pow(m1(0,0), exponents), ArrayType::Constant(rows,cols,m1(0,0)*m1(0,0))); - - // Check possible conflicts with 1D ctor - typedef Array OneDArrayType; - OneDArrayType o1(rows); - VERIFY(o1.size()==rows); - OneDArrayType o4((int)rows); - VERIFY(o4.size()==rows); -} - -template void comparisons(const ArrayType& m) -{ - using std::abs; - typedef typename ArrayType::Index Index; - typedef typename ArrayType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - ArrayType m1 = ArrayType::Random(rows, cols), - m2 = ArrayType::Random(rows, cols), - m3(rows, cols), - m4 = m1; - - m4 = (m4.abs()==Scalar(0)).select(1,m4); - - VERIFY(((m1 + Scalar(1)) > m1).all()); - VERIFY(((m1 - Scalar(1)) < m1).all()); - if (rows*cols>1) - { - m3 = m1; - m3(r,c) += 1; - VERIFY(! (m1 < m3).all() ); - VERIFY(! (m1 > m3).all() ); - } - VERIFY(!(m1 > m2 && m1 < m2).any()); - VERIFY((m1 <= m2 || m1 >= m2).all()); - - // comparisons array to scalar - VERIFY( (m1 != (m1(r,c)+1) ).any() ); - VERIFY( (m1 > (m1(r,c)-1) ).any() ); - VERIFY( (m1 < (m1(r,c)+1) ).any() ); - VERIFY( (m1 == m1(r,c) ).any() ); - - // comparisons scalar to array - VERIFY( ( (m1(r,c)+1) != m1).any() ); - VERIFY( ( (m1(r,c)-1) < m1).any() ); - VERIFY( ( (m1(r,c)+1) > m1).any() ); - VERIFY( ( m1(r,c) == m1).any() ); - - // test Select - VERIFY_IS_APPROX( (m1m2).select(m1,m2), m1.cwiseMax(m2) ); - Scalar mid = (m1.cwiseAbs().minCoeff() + m1.cwiseAbs().maxCoeff())/Scalar(2); - for (int j=0; j=ArrayType::Constant(rows,cols,mid)) - .select(m1,0), m3); - // even shorter version: - VERIFY_IS_APPROX( (m1.abs()RealScalar(0.1)).count() == rows*cols); - - // and/or - VERIFY( (m1RealScalar(0)).count() == 0); - VERIFY( (m1=RealScalar(0)).count() == rows*cols); - RealScalar a = m1.abs().mean(); - VERIFY( (m1<-a || m1>a).count() == (m1.abs()>a).count()); - - typedef Array ArrayOfIndices; - - // TODO allows colwise/rowwise for array - VERIFY_IS_APPROX(((m1.abs()+1)>RealScalar(0.1)).colwise().count(), ArrayOfIndices::Constant(cols,rows).transpose()); - VERIFY_IS_APPROX(((m1.abs()+1)>RealScalar(0.1)).rowwise().count(), ArrayOfIndices::Constant(rows, cols)); -} - -template void array_real(const ArrayType& m) -{ - using std::abs; - using std::sqrt; - typedef typename ArrayType::Index Index; - typedef typename ArrayType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - ArrayType m1 = ArrayType::Random(rows, cols), - m2 = ArrayType::Random(rows, cols), - m3(rows, cols), - m4 = m1; - - m4 = (m4.abs()==Scalar(0)).select(1,m4); - - Scalar s1 = internal::random(); - - // these tests are mostly to check possible compilation issues with free-functions. - VERIFY_IS_APPROX(m1.sin(), sin(m1)); - VERIFY_IS_APPROX(m1.cos(), cos(m1)); - VERIFY_IS_APPROX(m1.tan(), tan(m1)); - VERIFY_IS_APPROX(m1.asin(), asin(m1)); - VERIFY_IS_APPROX(m1.acos(), acos(m1)); - VERIFY_IS_APPROX(m1.atan(), atan(m1)); - VERIFY_IS_APPROX(m1.sinh(), sinh(m1)); - VERIFY_IS_APPROX(m1.cosh(), cosh(m1)); - VERIFY_IS_APPROX(m1.tanh(), tanh(m1)); - - VERIFY_IS_APPROX(m1.arg(), arg(m1)); - VERIFY_IS_APPROX(m1.round(), round(m1)); - VERIFY_IS_APPROX(m1.floor(), floor(m1)); - VERIFY_IS_APPROX(m1.ceil(), ceil(m1)); - VERIFY((m1.isNaN() == (Eigen::isnan)(m1)).all()); - VERIFY((m1.isInf() == (Eigen::isinf)(m1)).all()); - VERIFY((m1.isFinite() == (Eigen::isfinite)(m1)).all()); - VERIFY_IS_APPROX(m1.inverse(), inverse(m1)); - VERIFY_IS_APPROX(m1.abs(), abs(m1)); - VERIFY_IS_APPROX(m1.abs2(), abs2(m1)); - VERIFY_IS_APPROX(m1.square(), square(m1)); - VERIFY_IS_APPROX(m1.cube(), cube(m1)); - VERIFY_IS_APPROX(cos(m1+RealScalar(3)*m2), cos((m1+RealScalar(3)*m2).eval())); - VERIFY_IS_APPROX(m1.sign(), sign(m1)); - - - // avoid NaNs with abs() so verification doesn't fail - m3 = m1.abs(); - VERIFY_IS_APPROX(m3.sqrt(), sqrt(abs(m1))); - VERIFY_IS_APPROX(m3.rsqrt(), Scalar(1)/sqrt(abs(m1))); - VERIFY_IS_APPROX(rsqrt(m3), Scalar(1)/sqrt(abs(m1))); - VERIFY_IS_APPROX(m3.log(), log(m3)); - VERIFY_IS_APPROX(m3.log1p(), log1p(m3)); - VERIFY_IS_APPROX(m3.log10(), log10(m3)); - - - VERIFY((!(m1>m2) == (m1<=m2)).all()); - - VERIFY_IS_APPROX(sin(m1.asin()), m1); - VERIFY_IS_APPROX(cos(m1.acos()), m1); - VERIFY_IS_APPROX(tan(m1.atan()), m1); - VERIFY_IS_APPROX(sinh(m1), 0.5*(exp(m1)-exp(-m1))); - VERIFY_IS_APPROX(cosh(m1), 0.5*(exp(m1)+exp(-m1))); - VERIFY_IS_APPROX(tanh(m1), (0.5*(exp(m1)-exp(-m1)))/(0.5*(exp(m1)+exp(-m1)))); - VERIFY_IS_APPROX(arg(m1), ((m1<0).template cast())*std::acos(-1.0)); - VERIFY((round(m1) <= ceil(m1) && round(m1) >= floor(m1)).all()); - VERIFY((Eigen::isnan)((m1*0.0)/0.0).all()); - VERIFY((Eigen::isinf)(m4/0.0).all()); - VERIFY(((Eigen::isfinite)(m1) && (!(Eigen::isfinite)(m1*0.0/0.0)) && (!(Eigen::isfinite)(m4/0.0))).all()); - VERIFY_IS_APPROX(inverse(inverse(m1)),m1); - VERIFY((abs(m1) == m1 || abs(m1) == -m1).all()); - VERIFY_IS_APPROX(m3, sqrt(abs2(m1))); - VERIFY_IS_APPROX( m1.sign(), -(-m1).sign() ); - VERIFY_IS_APPROX( m1*m1.sign(),m1.abs()); - VERIFY_IS_APPROX(m1.sign() * m1.abs(), m1); - - VERIFY_IS_APPROX(numext::abs2(numext::real(m1)) + numext::abs2(numext::imag(m1)), numext::abs2(m1)); - VERIFY_IS_APPROX(numext::abs2(real(m1)) + numext::abs2(imag(m1)), numext::abs2(m1)); - if(!NumTraits::IsComplex) - VERIFY_IS_APPROX(numext::real(m1), m1); - - // shift argument of logarithm so that it is not zero - Scalar smallNumber = NumTraits::dummy_precision(); - VERIFY_IS_APPROX((m3 + smallNumber).log() , log(abs(m1) + smallNumber)); - VERIFY_IS_APPROX((m3 + smallNumber + 1).log() , log1p(abs(m1) + smallNumber)); - - VERIFY_IS_APPROX(m1.exp() * m2.exp(), exp(m1+m2)); - VERIFY_IS_APPROX(m1.exp(), exp(m1)); - VERIFY_IS_APPROX(m1.exp() / m2.exp(),(m1-m2).exp()); - - VERIFY_IS_APPROX(m1.expm1(), expm1(m1)); - VERIFY_IS_APPROX((m3 + smallNumber).exp() - 1, expm1(abs(m3) + smallNumber)); - - VERIFY_IS_APPROX(m3.pow(RealScalar(0.5)), m3.sqrt()); - VERIFY_IS_APPROX(pow(m3,RealScalar(0.5)), m3.sqrt()); - - VERIFY_IS_APPROX(m3.pow(RealScalar(-0.5)), m3.rsqrt()); - VERIFY_IS_APPROX(pow(m3,RealScalar(-0.5)), m3.rsqrt()); - - VERIFY_IS_APPROX(log10(m3), log(m3)/log(10)); - - // scalar by array division - const RealScalar tiny = sqrt(std::numeric_limits::epsilon()); - s1 += Scalar(tiny); - m1 += ArrayType::Constant(rows,cols,Scalar(tiny)); - VERIFY_IS_APPROX(s1/m1, s1 * m1.inverse()); - - // check inplace transpose - m3 = m1; - m3.transposeInPlace(); - VERIFY_IS_APPROX(m3, m1.transpose()); - m3.transposeInPlace(); - VERIFY_IS_APPROX(m3, m1); -} - -template void array_complex(const ArrayType& m) -{ - typedef typename ArrayType::Index Index; - typedef typename ArrayType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - ArrayType m1 = ArrayType::Random(rows, cols), - m2(rows, cols), - m4 = m1; - - m4.real() = (m4.real().abs()==RealScalar(0)).select(RealScalar(1),m4.real()); - m4.imag() = (m4.imag().abs()==RealScalar(0)).select(RealScalar(1),m4.imag()); - - Array m3(rows, cols); - - for (Index i = 0; i < m.rows(); ++i) - for (Index j = 0; j < m.cols(); ++j) - m2(i,j) = sqrt(m1(i,j)); - - // these tests are mostly to check possible compilation issues with free-functions. - VERIFY_IS_APPROX(m1.sin(), sin(m1)); - VERIFY_IS_APPROX(m1.cos(), cos(m1)); - VERIFY_IS_APPROX(m1.tan(), tan(m1)); - VERIFY_IS_APPROX(m1.sinh(), sinh(m1)); - VERIFY_IS_APPROX(m1.cosh(), cosh(m1)); - VERIFY_IS_APPROX(m1.tanh(), tanh(m1)); - VERIFY_IS_APPROX(m1.arg(), arg(m1)); - VERIFY((m1.isNaN() == (Eigen::isnan)(m1)).all()); - VERIFY((m1.isInf() == (Eigen::isinf)(m1)).all()); - VERIFY((m1.isFinite() == (Eigen::isfinite)(m1)).all()); - VERIFY_IS_APPROX(m1.inverse(), inverse(m1)); - VERIFY_IS_APPROX(m1.log(), log(m1)); - VERIFY_IS_APPROX(m1.log10(), log10(m1)); - VERIFY_IS_APPROX(m1.abs(), abs(m1)); - VERIFY_IS_APPROX(m1.abs2(), abs2(m1)); - VERIFY_IS_APPROX(m1.sqrt(), sqrt(m1)); - VERIFY_IS_APPROX(m1.square(), square(m1)); - VERIFY_IS_APPROX(m1.cube(), cube(m1)); - VERIFY_IS_APPROX(cos(m1+RealScalar(3)*m2), cos((m1+RealScalar(3)*m2).eval())); - VERIFY_IS_APPROX(m1.sign(), sign(m1)); - - - VERIFY_IS_APPROX(m1.exp() * m2.exp(), exp(m1+m2)); - VERIFY_IS_APPROX(m1.exp(), exp(m1)); - VERIFY_IS_APPROX(m1.exp() / m2.exp(),(m1-m2).exp()); - - VERIFY_IS_APPROX(sinh(m1), 0.5*(exp(m1)-exp(-m1))); - VERIFY_IS_APPROX(cosh(m1), 0.5*(exp(m1)+exp(-m1))); - VERIFY_IS_APPROX(tanh(m1), (0.5*(exp(m1)-exp(-m1)))/(0.5*(exp(m1)+exp(-m1)))); - - for (Index i = 0; i < m.rows(); ++i) - for (Index j = 0; j < m.cols(); ++j) - m3(i,j) = std::atan2(imag(m1(i,j)), real(m1(i,j))); - VERIFY_IS_APPROX(arg(m1), m3); - - std::complex zero(0.0,0.0); - VERIFY((Eigen::isnan)(m1*zero/zero).all()); -#if EIGEN_COMP_MSVC - // msvc complex division is not robust - VERIFY((Eigen::isinf)(m4/RealScalar(0)).all()); -#else -#if EIGEN_COMP_CLANG - // clang's complex division is notoriously broken too - if((numext::isinf)(m4(0,0)/RealScalar(0))) { -#endif - VERIFY((Eigen::isinf)(m4/zero).all()); -#if EIGEN_COMP_CLANG - } - else - { - VERIFY((Eigen::isinf)(m4.real()/zero.real()).all()); - } -#endif -#endif // MSVC - - VERIFY(((Eigen::isfinite)(m1) && (!(Eigen::isfinite)(m1*zero/zero)) && (!(Eigen::isfinite)(m1/zero))).all()); - - VERIFY_IS_APPROX(inverse(inverse(m1)),m1); - VERIFY_IS_APPROX(conj(m1.conjugate()), m1); - VERIFY_IS_APPROX(abs(m1), sqrt(square(real(m1))+square(imag(m1)))); - VERIFY_IS_APPROX(abs(m1), sqrt(abs2(m1))); - VERIFY_IS_APPROX(log10(m1), log(m1)/log(10)); - - VERIFY_IS_APPROX( m1.sign(), -(-m1).sign() ); - VERIFY_IS_APPROX( m1.sign() * m1.abs(), m1); - - // scalar by array division - Scalar s1 = internal::random(); - const RealScalar tiny = std::sqrt(std::numeric_limits::epsilon()); - s1 += Scalar(tiny); - m1 += ArrayType::Constant(rows,cols,Scalar(tiny)); - VERIFY_IS_APPROX(s1/m1, s1 * m1.inverse()); - - // check inplace transpose - m2 = m1; - m2.transposeInPlace(); - VERIFY_IS_APPROX(m2, m1.transpose()); - m2.transposeInPlace(); - VERIFY_IS_APPROX(m2, m1); - -} - -template void min_max(const ArrayType& m) -{ - typedef typename ArrayType::Index Index; - typedef typename ArrayType::Scalar Scalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - ArrayType m1 = ArrayType::Random(rows, cols); - - // min/max with array - Scalar maxM1 = m1.maxCoeff(); - Scalar minM1 = m1.minCoeff(); - - VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, minM1), (m1.min)(ArrayType::Constant(rows,cols, minM1))); - VERIFY_IS_APPROX(m1, (m1.min)(ArrayType::Constant(rows,cols, maxM1))); - - VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, maxM1), (m1.max)(ArrayType::Constant(rows,cols, maxM1))); - VERIFY_IS_APPROX(m1, (m1.max)(ArrayType::Constant(rows,cols, minM1))); - - // min/max with scalar input - VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, minM1), (m1.min)( minM1)); - VERIFY_IS_APPROX(m1, (m1.min)( maxM1)); - - VERIFY_IS_APPROX(ArrayType::Constant(rows,cols, maxM1), (m1.max)( maxM1)); - VERIFY_IS_APPROX(m1, (m1.max)( minM1)); - -} - -void test_array() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( array(Array()) ); - CALL_SUBTEST_2( array(Array22f()) ); - CALL_SUBTEST_3( array(Array44d()) ); - CALL_SUBTEST_4( array(ArrayXXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_5( array(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( array(ArrayXXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( comparisons(Array()) ); - CALL_SUBTEST_2( comparisons(Array22f()) ); - CALL_SUBTEST_3( comparisons(Array44d()) ); - CALL_SUBTEST_5( comparisons(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( comparisons(ArrayXXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( min_max(Array()) ); - CALL_SUBTEST_2( min_max(Array22f()) ); - CALL_SUBTEST_3( min_max(Array44d()) ); - CALL_SUBTEST_5( min_max(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( min_max(ArrayXXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( array_real(Array()) ); - CALL_SUBTEST_2( array_real(Array22f()) ); - CALL_SUBTEST_3( array_real(Array44d()) ); - CALL_SUBTEST_5( array_real(ArrayXXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_4( array_complex(ArrayXXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - - VERIFY((internal::is_same< internal::global_math_functions_filtering_base::type, int >::value)); - VERIFY((internal::is_same< internal::global_math_functions_filtering_base::type, float >::value)); - VERIFY((internal::is_same< internal::global_math_functions_filtering_base::type, ArrayBase >::value)); - typedef CwiseUnaryOp, ArrayXd > Xpr; - VERIFY((internal::is_same< internal::global_math_functions_filtering_base::type, - ArrayBase - >::value)); -} diff --git a/testbed/nanogui/ext/eigen/test/array_for_matrix.cpp b/testbed/nanogui/ext/eigen/test/array_for_matrix.cpp deleted file mode 100644 index c1501947..00000000 --- a/testbed/nanogui/ext/eigen/test/array_for_matrix.cpp +++ /dev/null @@ -1,284 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void array_for_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix ColVectorType; - typedef Matrix RowVectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols); - - ColVectorType cv1 = ColVectorType::Random(rows); - RowVectorType rv1 = RowVectorType::Random(cols); - - Scalar s1 = internal::random(), - s2 = internal::random(); - - // scalar addition - VERIFY_IS_APPROX(m1.array() + s1, s1 + m1.array()); - VERIFY_IS_APPROX((m1.array() + s1).matrix(), MatrixType::Constant(rows,cols,s1) + m1); - VERIFY_IS_APPROX(((m1*Scalar(2)).array() - s2).matrix(), (m1+m1) - MatrixType::Constant(rows,cols,s2) ); - m3 = m1; - m3.array() += s2; - VERIFY_IS_APPROX(m3, (m1.array() + s2).matrix()); - m3 = m1; - m3.array() -= s1; - VERIFY_IS_APPROX(m3, (m1.array() - s1).matrix()); - - // reductions - VERIFY_IS_MUCH_SMALLER_THAN(m1.colwise().sum().sum() - m1.sum(), m1.squaredNorm()); - VERIFY_IS_MUCH_SMALLER_THAN(m1.rowwise().sum().sum() - m1.sum(), m1.squaredNorm()); - VERIFY_IS_MUCH_SMALLER_THAN(m1.colwise().sum() + m2.colwise().sum() - (m1+m2).colwise().sum(), (m1+m2).squaredNorm()); - VERIFY_IS_MUCH_SMALLER_THAN(m1.rowwise().sum() - m2.rowwise().sum() - (m1-m2).rowwise().sum(), (m1-m2).squaredNorm()); - VERIFY_IS_APPROX(m1.colwise().sum(), m1.colwise().redux(internal::scalar_sum_op())); - - // vector-wise ops - m3 = m1; - VERIFY_IS_APPROX(m3.colwise() += cv1, m1.colwise() + cv1); - m3 = m1; - VERIFY_IS_APPROX(m3.colwise() -= cv1, m1.colwise() - cv1); - m3 = m1; - VERIFY_IS_APPROX(m3.rowwise() += rv1, m1.rowwise() + rv1); - m3 = m1; - VERIFY_IS_APPROX(m3.rowwise() -= rv1, m1.rowwise() - rv1); - - // empty objects - VERIFY_IS_APPROX(m1.block(0,0,0,cols).colwise().sum(), RowVectorType::Zero(cols)); - VERIFY_IS_APPROX(m1.block(0,0,rows,0).rowwise().prod(), ColVectorType::Ones(rows)); - - // verify the const accessors exist - const Scalar& ref_m1 = m.matrix().array().coeffRef(0); - const Scalar& ref_m2 = m.matrix().array().coeffRef(0,0); - const Scalar& ref_a1 = m.array().matrix().coeffRef(0); - const Scalar& ref_a2 = m.array().matrix().coeffRef(0,0); - VERIFY(&ref_a1 == &ref_m1); - VERIFY(&ref_a2 == &ref_m2); - - // Check write accessors: - m1.array().coeffRef(0,0) = 1; - VERIFY_IS_APPROX(m1(0,0),Scalar(1)); - m1.array()(0,0) = 2; - VERIFY_IS_APPROX(m1(0,0),Scalar(2)); - m1.array().matrix().coeffRef(0,0) = 3; - VERIFY_IS_APPROX(m1(0,0),Scalar(3)); - m1.array().matrix()(0,0) = 4; - VERIFY_IS_APPROX(m1(0,0),Scalar(4)); -} - -template void comparisons(const MatrixType& m) -{ - using std::abs; - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols); - - VERIFY(((m1.array() + Scalar(1)) > m1.array()).all()); - VERIFY(((m1.array() - Scalar(1)) < m1.array()).all()); - if (rows*cols>1) - { - m3 = m1; - m3(r,c) += 1; - VERIFY(! (m1.array() < m3.array()).all() ); - VERIFY(! (m1.array() > m3.array()).all() ); - } - - // comparisons to scalar - VERIFY( (m1.array() != (m1(r,c)+1) ).any() ); - VERIFY( (m1.array() > (m1(r,c)-1) ).any() ); - VERIFY( (m1.array() < (m1(r,c)+1) ).any() ); - VERIFY( (m1.array() == m1(r,c) ).any() ); - VERIFY( m1.cwiseEqual(m1(r,c)).any() ); - - // test Select - VERIFY_IS_APPROX( (m1.array()m2.array()).select(m1,m2), m1.cwiseMax(m2) ); - Scalar mid = (m1.cwiseAbs().minCoeff() + m1.cwiseAbs().maxCoeff())/Scalar(2); - for (int j=0; j=MatrixType::Constant(rows,cols,mid).array()) - .select(m1,0), m3); - // even shorter version: - VERIFY_IS_APPROX( (m1.array().abs()RealScalar(0.1)).count() == rows*cols); - - // and/or - VERIFY( ((m1.array()RealScalar(0)).matrix()).count() == 0); - VERIFY( ((m1.array()=RealScalar(0)).matrix()).count() == rows*cols); - RealScalar a = m1.cwiseAbs().mean(); - VERIFY( ((m1.array()<-a).matrix() || (m1.array()>a).matrix()).count() == (m1.cwiseAbs().array()>a).count()); - - typedef Matrix VectorOfIndices; - - // TODO allows colwise/rowwise for array - VERIFY_IS_APPROX(((m1.array().abs()+1)>RealScalar(0.1)).matrix().colwise().count(), VectorOfIndices::Constant(cols,rows).transpose()); - VERIFY_IS_APPROX(((m1.array().abs()+1)>RealScalar(0.1)).matrix().rowwise().count(), VectorOfIndices::Constant(rows, cols)); -} - -template void lpNorm(const VectorType& v) -{ - using std::sqrt; - typedef typename VectorType::RealScalar RealScalar; - VectorType u = VectorType::Random(v.size()); - - if(v.size()==0) - { - VERIFY_IS_APPROX(u.template lpNorm(), RealScalar(0)); - VERIFY_IS_APPROX(u.template lpNorm<1>(), RealScalar(0)); - VERIFY_IS_APPROX(u.template lpNorm<2>(), RealScalar(0)); - VERIFY_IS_APPROX(u.template lpNorm<5>(), RealScalar(0)); - } - else - { - VERIFY_IS_APPROX(u.template lpNorm(), u.cwiseAbs().maxCoeff()); - } - - VERIFY_IS_APPROX(u.template lpNorm<1>(), u.cwiseAbs().sum()); - VERIFY_IS_APPROX(u.template lpNorm<2>(), sqrt(u.array().abs().square().sum())); - VERIFY_IS_APPROX(numext::pow(u.template lpNorm<5>(), typename VectorType::RealScalar(5)), u.array().abs().pow(5).sum()); -} - -template void cwise_min_max(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols); - - // min/max with array - Scalar maxM1 = m1.maxCoeff(); - Scalar minM1 = m1.minCoeff(); - - VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, minM1), m1.cwiseMin(MatrixType::Constant(rows,cols, minM1))); - VERIFY_IS_APPROX(m1, m1.cwiseMin(MatrixType::Constant(rows,cols, maxM1))); - - VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1), m1.cwiseMax(MatrixType::Constant(rows,cols, maxM1))); - VERIFY_IS_APPROX(m1, m1.cwiseMax(MatrixType::Constant(rows,cols, minM1))); - - // min/max with scalar input - VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, minM1), m1.cwiseMin( minM1)); - VERIFY_IS_APPROX(m1, m1.cwiseMin(maxM1)); - VERIFY_IS_APPROX(-m1, (-m1).cwiseMin(-minM1)); - VERIFY_IS_APPROX(-m1.array(), ((-m1).array().min)( -minM1)); - - VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1), m1.cwiseMax( maxM1)); - VERIFY_IS_APPROX(m1, m1.cwiseMax(minM1)); - VERIFY_IS_APPROX(-m1, (-m1).cwiseMax(-maxM1)); - VERIFY_IS_APPROX(-m1.array(), ((-m1).array().max)(-maxM1)); - - VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, minM1).array(), (m1.array().min)( minM1)); - VERIFY_IS_APPROX(m1.array(), (m1.array().min)( maxM1)); - - VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1).array(), (m1.array().max)( maxM1)); - VERIFY_IS_APPROX(m1.array(), (m1.array().max)( minM1)); - -} - -template void resize(const MatrixTraits& t) -{ - typedef typename MatrixTraits::Index Index; - typedef typename MatrixTraits::Scalar Scalar; - typedef Matrix MatrixType; - typedef Array Array2DType; - typedef Matrix VectorType; - typedef Array Array1DType; - - Index rows = t.rows(), cols = t.cols(); - - MatrixType m(rows,cols); - VectorType v(rows); - Array2DType a2(rows,cols); - Array1DType a1(rows); - - m.array().resize(rows+1,cols+1); - VERIFY(m.rows()==rows+1 && m.cols()==cols+1); - a2.matrix().resize(rows+1,cols+1); - VERIFY(a2.rows()==rows+1 && a2.cols()==cols+1); - v.array().resize(cols); - VERIFY(v.size()==cols); - a1.matrix().resize(cols); - VERIFY(a1.size()==cols); -} - -void regression_bug_654() -{ - ArrayXf a = RowVectorXf(3); - VectorXf v = Array(3); -} - -void test_array_for_matrix() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( array_for_matrix(Matrix()) ); - CALL_SUBTEST_2( array_for_matrix(Matrix2f()) ); - CALL_SUBTEST_3( array_for_matrix(Matrix4d()) ); - CALL_SUBTEST_4( array_for_matrix(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_5( array_for_matrix(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( array_for_matrix(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( comparisons(Matrix()) ); - CALL_SUBTEST_2( comparisons(Matrix2f()) ); - CALL_SUBTEST_3( comparisons(Matrix4d()) ); - CALL_SUBTEST_5( comparisons(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( comparisons(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( cwise_min_max(Matrix()) ); - CALL_SUBTEST_2( cwise_min_max(Matrix2f()) ); - CALL_SUBTEST_3( cwise_min_max(Matrix4d()) ); - CALL_SUBTEST_5( cwise_min_max(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( cwise_min_max(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( lpNorm(Matrix()) ); - CALL_SUBTEST_2( lpNorm(Vector2f()) ); - CALL_SUBTEST_7( lpNorm(Vector3d()) ); - CALL_SUBTEST_8( lpNorm(Vector4f()) ); - CALL_SUBTEST_5( lpNorm(VectorXf(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_4( lpNorm(VectorXcf(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - CALL_SUBTEST_5( lpNorm(VectorXf(0)) ); - CALL_SUBTEST_4( lpNorm(VectorXcf(0)) ); - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_4( resize(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_5( resize(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( resize(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - CALL_SUBTEST_6( regression_bug_654() ); -} diff --git a/testbed/nanogui/ext/eigen/test/array_of_string.cpp b/testbed/nanogui/ext/eigen/test/array_of_string.cpp deleted file mode 100644 index e23b7c59..00000000 --- a/testbed/nanogui/ext/eigen/test/array_of_string.cpp +++ /dev/null @@ -1,32 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -void test_array_of_string() -{ - typedef Array ArrayXs; - ArrayXs a1(3), a2(3), a3(3), a3ref(3); - a1 << "one", "two", "three"; - a2 << "1", "2", "3"; - a3ref << "one (1)", "two (2)", "three (3)"; - std::stringstream s1; - s1 << a1; - VERIFY_IS_EQUAL(s1.str(), std::string(" one two three")); - a3 = a1 + std::string(" (") + a2 + std::string(")"); - VERIFY((a3==a3ref).all()); - - a3 = a1; - a3 += std::string(" (") + a2 + std::string(")"); - VERIFY((a3==a3ref).all()); - - a1.swap(a3); - VERIFY((a1==a3ref).all()); - VERIFY((a3!=a3ref).all()); -} diff --git a/testbed/nanogui/ext/eigen/test/array_replicate.cpp b/testbed/nanogui/ext/eigen/test/array_replicate.cpp deleted file mode 100644 index 779c8fc2..00000000 --- a/testbed/nanogui/ext/eigen/test/array_replicate.cpp +++ /dev/null @@ -1,82 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void replicate(const MatrixType& m) -{ - /* this test covers the following files: - Replicate.cpp - */ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - typedef Matrix MatrixX; - typedef Matrix VectorX; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols); - - VectorType v1 = VectorType::Random(rows); - - MatrixX x1, x2; - VectorX vx1; - - int f1 = internal::random(1,10), - f2 = internal::random(1,10); - - x1.resize(rows*f1,cols*f2); - for(int j=0; j())); - - x2.resize(rows,3*cols); - x2 << m2, m2, m2; - VERIFY_IS_APPROX(x2, (m2.template replicate<1,3>())); - - vx1.resize(3*rows,cols); - vx1 << m2, m2, m2; - VERIFY_IS_APPROX(vx1+vx1, vx1+(m2.template replicate<3,1>())); - - vx1=m2+(m2.colwise().replicate(1)); - - if(m2.cols()==1) - VERIFY_IS_APPROX(m2.coeff(0), (m2.template replicate<3,1>().coeff(m2.rows()))); - - x2.resize(rows,f1); - for (int j=0; j()) ); - CALL_SUBTEST_2( replicate(Vector2f()) ); - CALL_SUBTEST_3( replicate(Vector3d()) ); - CALL_SUBTEST_4( replicate(Vector4f()) ); - CALL_SUBTEST_5( replicate(VectorXf(16)) ); - CALL_SUBTEST_6( replicate(VectorXcd(10)) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/array_reverse.cpp b/testbed/nanogui/ext/eigen/test/array_reverse.cpp deleted file mode 100644 index c9d9f90c..00000000 --- a/testbed/nanogui/ext/eigen/test/array_reverse.cpp +++ /dev/null @@ -1,146 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2009 Ricard Marxer -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -using namespace std; - -template void reverse(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - - // this test relies a lot on Random.h, and there's not much more that we can do - // to test it, hence I consider that we will have tested Random.h - MatrixType m1 = MatrixType::Random(rows, cols), m2; - VectorType v1 = VectorType::Random(rows); - - MatrixType m1_r = m1.reverse(); - // Verify that MatrixBase::reverse() works - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_r(i, j), m1(rows - 1 - i, cols - 1 - j)); - } - } - - Reverse m1_rd(m1); - // Verify that a Reverse default (in both directions) of an expression works - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_rd(i, j), m1(rows - 1 - i, cols - 1 - j)); - } - } - - Reverse m1_rb(m1); - // Verify that a Reverse in both directions of an expression works - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_rb(i, j), m1(rows - 1 - i, cols - 1 - j)); - } - } - - Reverse m1_rv(m1); - // Verify that a Reverse in the vertical directions of an expression works - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_rv(i, j), m1(rows - 1 - i, j)); - } - } - - Reverse m1_rh(m1); - // Verify that a Reverse in the horizontal directions of an expression works - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_rh(i, j), m1(i, cols - 1 - j)); - } - } - - VectorType v1_r = v1.reverse(); - // Verify that a VectorType::reverse() of an expression works - for ( int i = 0; i < rows; i++ ) { - VERIFY_IS_APPROX(v1_r(i), v1(rows - 1 - i)); - } - - MatrixType m1_cr = m1.colwise().reverse(); - // Verify that PartialRedux::reverse() works (for colwise()) - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_cr(i, j), m1(rows - 1 - i, j)); - } - } - - MatrixType m1_rr = m1.rowwise().reverse(); - // Verify that PartialRedux::reverse() works (for rowwise()) - for ( int i = 0; i < rows; i++ ) { - for ( int j = 0; j < cols; j++ ) { - VERIFY_IS_APPROX(m1_rr(i, j), m1(i, cols - 1 - j)); - } - } - - Scalar x = internal::random(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - m1.reverse()(r, c) = x; - VERIFY_IS_APPROX(x, m1(rows - 1 - r, cols - 1 - c)); - - m2 = m1; - m2.reverseInPlace(); - VERIFY_IS_APPROX(m2,m1.reverse().eval()); - - m2 = m1; - m2.col(0).reverseInPlace(); - VERIFY_IS_APPROX(m2.col(0),m1.col(0).reverse().eval()); - - m2 = m1; - m2.row(0).reverseInPlace(); - VERIFY_IS_APPROX(m2.row(0),m1.row(0).reverse().eval()); - - m2 = m1; - m2.rowwise().reverseInPlace(); - VERIFY_IS_APPROX(m2,m1.rowwise().reverse().eval()); - - m2 = m1; - m2.colwise().reverseInPlace(); - VERIFY_IS_APPROX(m2,m1.colwise().reverse().eval()); - - m1.colwise().reverse()(r, c) = x; - VERIFY_IS_APPROX(x, m1(rows - 1 - r, c)); - - m1.rowwise().reverse()(r, c) = x; - VERIFY_IS_APPROX(x, m1(r, cols - 1 - c)); -} - -void test_array_reverse() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( reverse(Matrix()) ); - CALL_SUBTEST_2( reverse(Matrix2f()) ); - CALL_SUBTEST_3( reverse(Matrix4f()) ); - CALL_SUBTEST_4( reverse(Matrix4d()) ); - CALL_SUBTEST_5( reverse(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( reverse(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_7( reverse(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_8( reverse(Matrix()) ); - CALL_SUBTEST_9( reverse(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } -#ifdef EIGEN_TEST_PART_3 - Vector4f x; x << 1, 2, 3, 4; - Vector4f y; y << 4, 3, 2, 1; - VERIFY(x.reverse()[1] == 3); - VERIFY(x.reverse() == y); -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/bandmatrix.cpp b/testbed/nanogui/ext/eigen/test/bandmatrix.cpp deleted file mode 100644 index f8c38f7c..00000000 --- a/testbed/nanogui/ext/eigen/test/bandmatrix.cpp +++ /dev/null @@ -1,71 +0,0 @@ -// This file is triangularView of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void bandmatrix(const MatrixType& _m) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix DenseMatrixType; - - Index rows = _m.rows(); - Index cols = _m.cols(); - Index supers = _m.supers(); - Index subs = _m.subs(); - - MatrixType m(rows,cols,supers,subs); - - DenseMatrixType dm1(rows,cols); - dm1.setZero(); - - m.diagonal().setConstant(123); - dm1.diagonal().setConstant(123); - for (int i=1; i<=m.supers();++i) - { - m.diagonal(i).setConstant(static_cast(i)); - dm1.diagonal(i).setConstant(static_cast(i)); - } - for (int i=1; i<=m.subs();++i) - { - m.diagonal(-i).setConstant(-static_cast(i)); - dm1.diagonal(-i).setConstant(-static_cast(i)); - } - //std::cerr << m.m_data << "\n\n" << m.toDense() << "\n\n" << dm1 << "\n\n\n\n"; - VERIFY_IS_APPROX(dm1,m.toDenseMatrix()); - - for (int i=0; i(i+1)); - dm1.col(i).setConstant(static_cast(i+1)); - } - Index d = (std::min)(rows,cols); - Index a = std::max(0,cols-d-supers); - Index b = std::max(0,rows-d-subs); - if(a>0) dm1.block(0,d+supers,rows,a).setZero(); - dm1.block(0,supers+1,cols-supers-1-a,cols-supers-1-a).template triangularView().setZero(); - dm1.block(subs+1,0,rows-subs-1-b,rows-subs-1-b).template triangularView().setZero(); - if(b>0) dm1.block(d+subs,0,b,cols).setZero(); - //std::cerr << m.m_data << "\n\n" << m.toDense() << "\n\n" << dm1 << "\n\n"; - VERIFY_IS_APPROX(dm1,m.toDenseMatrix()); - -} - -using Eigen::internal::BandMatrix; - -void test_bandmatrix() -{ - for(int i = 0; i < 10*g_repeat ; i++) { - Index rows = internal::random(1,10); - Index cols = internal::random(1,10); - Index sups = internal::random(0,cols-1); - Index subs = internal::random(0,rows-1); - CALL_SUBTEST(bandmatrix(BandMatrix(rows,cols,sups,subs)) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/basicstuff.cpp b/testbed/nanogui/ext/eigen/test/basicstuff.cpp deleted file mode 100644 index c346ce6c..00000000 --- a/testbed/nanogui/ext/eigen/test/basicstuff.cpp +++ /dev/null @@ -1,296 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT - -#include "main.h" - -template void basicStuff(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - typedef Matrix SquareMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - // this test relies a lot on Random.h, and there's not much more that we can do - // to test it, hence I consider that we will have tested Random.h - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - mzero = MatrixType::Zero(rows, cols), - square = Matrix::Random(rows, rows); - VectorType v1 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); - SquareMatrixType sm1 = SquareMatrixType::Random(rows,rows), sm2(rows,rows); - - Scalar x = 0; - while(x == Scalar(0)) x = internal::random(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - m1.coeffRef(r,c) = x; - VERIFY_IS_APPROX(x, m1.coeff(r,c)); - m1(r,c) = x; - VERIFY_IS_APPROX(x, m1(r,c)); - v1.coeffRef(r) = x; - VERIFY_IS_APPROX(x, v1.coeff(r)); - v1(r) = x; - VERIFY_IS_APPROX(x, v1(r)); - v1[r] = x; - VERIFY_IS_APPROX(x, v1[r]); - - // test fetching with various index types. - Index r1 = internal::random(0, numext::mini(Index(127),rows-1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); -#if EIGEN_HAS_CXX11 - x = v1(static_cast(r1)); - x = v1(static_cast(r1)); -#endif - - VERIFY_IS_APPROX( v1, v1); - VERIFY_IS_NOT_APPROX( v1, 2*v1); - VERIFY_IS_MUCH_SMALLER_THAN( vzero, v1); - VERIFY_IS_MUCH_SMALLER_THAN( vzero, v1.squaredNorm()); - VERIFY_IS_NOT_MUCH_SMALLER_THAN(v1, v1); - VERIFY_IS_APPROX( vzero, v1-v1); - VERIFY_IS_APPROX( m1, m1); - VERIFY_IS_NOT_APPROX( m1, 2*m1); - VERIFY_IS_MUCH_SMALLER_THAN( mzero, m1); - VERIFY_IS_NOT_MUCH_SMALLER_THAN(m1, m1); - VERIFY_IS_APPROX( mzero, m1-m1); - - // always test operator() on each read-only expression class, - // in order to check const-qualifiers. - // indeed, if an expression class (here Zero) is meant to be read-only, - // hence has no _write() method, the corresponding MatrixBase method (here zero()) - // should return a const-qualified object so that it is the const-qualified - // operator() that gets called, which in turn calls _read(). - VERIFY_IS_MUCH_SMALLER_THAN(MatrixType::Zero(rows,cols)(r,c), static_cast(1)); - - // now test copying a row-vector into a (column-)vector and conversely. - square.col(r) = square.row(r).eval(); - Matrix rv(rows); - Matrix cv(rows); - rv = square.row(r); - cv = square.col(r); - - VERIFY_IS_APPROX(rv, cv.transpose()); - - if(cols!=1 && rows!=1 && MatrixType::SizeAtCompileTime!=Dynamic) - { - VERIFY_RAISES_ASSERT(m1 = (m2.block(0,0, rows-1, cols-1))); - } - - if(cols!=1 && rows!=1) - { - VERIFY_RAISES_ASSERT(m1[0]); - VERIFY_RAISES_ASSERT((m1+m1)[0]); - } - - VERIFY_IS_APPROX(m3 = m1,m1); - MatrixType m4; - VERIFY_IS_APPROX(m4 = m1,m1); - - m3.real() = m1.real(); - VERIFY_IS_APPROX(static_cast(m3).real(), static_cast(m1).real()); - VERIFY_IS_APPROX(static_cast(m3).real(), m1.real()); - - // check == / != operators - VERIFY(m1==m1); - VERIFY(m1!=m2); - VERIFY(!(m1==m2)); - VERIFY(!(m1!=m1)); - m1 = m2; - VERIFY(m1==m2); - VERIFY(!(m1!=m2)); - - // check automatic transposition - sm2.setZero(); - for(typename MatrixType::Index i=0;i(0,10)>5; - m3 = b ? m1 : m2; - if(b) VERIFY_IS_APPROX(m3,m1); - else VERIFY_IS_APPROX(m3,m2); - m3 = b ? -m1 : m2; - if(b) VERIFY_IS_APPROX(m3,-m1); - else VERIFY_IS_APPROX(m3,m2); - m3 = b ? m1 : -m2; - if(b) VERIFY_IS_APPROX(m3,m1); - else VERIFY_IS_APPROX(m3,-m2); - } -} - -template void basicStuffComplex(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix RealMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - Scalar s1 = internal::random(), - s2 = internal::random(); - - VERIFY(numext::real(s1)==numext::real_ref(s1)); - VERIFY(numext::imag(s1)==numext::imag_ref(s1)); - numext::real_ref(s1) = numext::real(s2); - numext::imag_ref(s1) = numext::imag(s2); - VERIFY(internal::isApprox(s1, s2, NumTraits::epsilon())); - // extended precision in Intel FPUs means that s1 == s2 in the line above is not guaranteed. - - RealMatrixType rm1 = RealMatrixType::Random(rows,cols), - rm2 = RealMatrixType::Random(rows,cols); - MatrixType cm(rows,cols); - cm.real() = rm1; - cm.imag() = rm2; - VERIFY_IS_APPROX(static_cast(cm).real(), rm1); - VERIFY_IS_APPROX(static_cast(cm).imag(), rm2); - rm1.setZero(); - rm2.setZero(); - rm1 = cm.real(); - rm2 = cm.imag(); - VERIFY_IS_APPROX(static_cast(cm).real(), rm1); - VERIFY_IS_APPROX(static_cast(cm).imag(), rm2); - cm.real().setZero(); - VERIFY(static_cast(cm).real().isZero()); - VERIFY(!static_cast(cm).imag().isZero()); -} - -#ifdef EIGEN_TEST_PART_2 -void casting() -{ - Matrix4f m = Matrix4f::Random(), m2; - Matrix4d n = m.cast(); - VERIFY(m.isApprox(n.cast())); - m2 = m.cast(); // check the specialization when NewType == Type - VERIFY(m.isApprox(m2)); -} -#endif - -template -void fixedSizeMatrixConstruction() -{ - Scalar raw[4]; - for(int k=0; k<4; ++k) - raw[k] = internal::random(); - - { - Matrix m(raw); - Array a(raw); - for(int k=0; k<4; ++k) VERIFY(m(k) == raw[k]); - for(int k=0; k<4; ++k) VERIFY(a(k) == raw[k]); - VERIFY_IS_EQUAL(m,(Matrix(raw[0],raw[1],raw[2],raw[3]))); - VERIFY((a==(Array(raw[0],raw[1],raw[2],raw[3]))).all()); - } - { - Matrix m(raw); - Array a(raw); - for(int k=0; k<3; ++k) VERIFY(m(k) == raw[k]); - for(int k=0; k<3; ++k) VERIFY(a(k) == raw[k]); - VERIFY_IS_EQUAL(m,(Matrix(raw[0],raw[1],raw[2]))); - VERIFY((a==Array(raw[0],raw[1],raw[2])).all()); - } - { - Matrix m(raw), m2( (DenseIndex(raw[0])), (DenseIndex(raw[1])) ); - Array a(raw), a2( (DenseIndex(raw[0])), (DenseIndex(raw[1])) ); - for(int k=0; k<2; ++k) VERIFY(m(k) == raw[k]); - for(int k=0; k<2; ++k) VERIFY(a(k) == raw[k]); - VERIFY_IS_EQUAL(m,(Matrix(raw[0],raw[1]))); - VERIFY((a==Array(raw[0],raw[1])).all()); - for(int k=0; k<2; ++k) VERIFY(m2(k) == DenseIndex(raw[k])); - for(int k=0; k<2; ++k) VERIFY(a2(k) == DenseIndex(raw[k])); - } - { - Matrix m(raw), - m2( (DenseIndex(raw[0])), (DenseIndex(raw[1])) ), - m3( (int(raw[0])), (int(raw[1])) ), - m4( (float(raw[0])), (float(raw[1])) ); - Array a(raw), a2( (DenseIndex(raw[0])), (DenseIndex(raw[1])) ); - for(int k=0; k<2; ++k) VERIFY(m(k) == raw[k]); - for(int k=0; k<2; ++k) VERIFY(a(k) == raw[k]); - VERIFY_IS_EQUAL(m,(Matrix(raw[0],raw[1]))); - VERIFY((a==Array(raw[0],raw[1])).all()); - for(int k=0; k<2; ++k) VERIFY(m2(k) == DenseIndex(raw[k])); - for(int k=0; k<2; ++k) VERIFY(a2(k) == DenseIndex(raw[k])); - for(int k=0; k<2; ++k) VERIFY(m3(k) == int(raw[k])); - for(int k=0; k<2; ++k) VERIFY((m4(k)) == Scalar(float(raw[k]))); - } - { - Matrix m(raw), m1(raw[0]), m2( (DenseIndex(raw[0])) ), m3( (int(raw[0])) ); - Array a(raw), a1(raw[0]), a2( (DenseIndex(raw[0])) ); - VERIFY(m(0) == raw[0]); - VERIFY(a(0) == raw[0]); - VERIFY(m1(0) == raw[0]); - VERIFY(a1(0) == raw[0]); - VERIFY(m2(0) == DenseIndex(raw[0])); - VERIFY(a2(0) == DenseIndex(raw[0])); - VERIFY(m3(0) == int(raw[0])); - VERIFY_IS_EQUAL(m,(Matrix(raw[0]))); - VERIFY((a==Array(raw[0])).all()); - } -} - -void test_basicstuff() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( basicStuff(Matrix()) ); - CALL_SUBTEST_2( basicStuff(Matrix4d()) ); - CALL_SUBTEST_3( basicStuff(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_4( basicStuff(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_5( basicStuff(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( basicStuff(Matrix()) ); - CALL_SUBTEST_7( basicStuff(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - - CALL_SUBTEST_3( basicStuffComplex(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_5( basicStuffComplex(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - - CALL_SUBTEST_1(fixedSizeMatrixConstruction()); - CALL_SUBTEST_1(fixedSizeMatrixConstruction()); - CALL_SUBTEST_1(fixedSizeMatrixConstruction()); - CALL_SUBTEST_1(fixedSizeMatrixConstruction()); - CALL_SUBTEST_1(fixedSizeMatrixConstruction()); - CALL_SUBTEST_1(fixedSizeMatrixConstruction()); - - CALL_SUBTEST_2(casting()); -} diff --git a/testbed/nanogui/ext/eigen/test/bdcsvd.cpp b/testbed/nanogui/ext/eigen/test/bdcsvd.cpp deleted file mode 100644 index f9f687aa..00000000 --- a/testbed/nanogui/ext/eigen/test/bdcsvd.cpp +++ /dev/null @@ -1,111 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2013 Gauthier Brun -// Copyright (C) 2013 Nicolas Carre -// Copyright (C) 2013 Jean Ceccato -// Copyright (C) 2013 Pierre Zoppitelli -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/ - -// discard stack allocation as that too bypasses malloc -#define EIGEN_STACK_ALLOCATION_LIMIT 0 -#define EIGEN_RUNTIME_NO_MALLOC - -#include "main.h" -#include -#include -#include - - -#define SVD_DEFAULT(M) BDCSVD -#define SVD_FOR_MIN_NORM(M) BDCSVD -#include "svd_common.h" - -// Check all variants of JacobiSVD -template -void bdcsvd(const MatrixType& a = MatrixType(), bool pickrandom = true) -{ - MatrixType m = a; - if(pickrandom) - svd_fill_random(m); - - CALL_SUBTEST(( svd_test_all_computation_options >(m, false) )); -} - -template -void bdcsvd_method() -{ - enum { Size = MatrixType::RowsAtCompileTime }; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix RealVecType; - MatrixType m = MatrixType::Identity(); - VERIFY_IS_APPROX(m.bdcSvd().singularValues(), RealVecType::Ones()); - VERIFY_RAISES_ASSERT(m.bdcSvd().matrixU()); - VERIFY_RAISES_ASSERT(m.bdcSvd().matrixV()); - VERIFY_IS_APPROX(m.bdcSvd(ComputeFullU|ComputeFullV).solve(m), m); -} - -// compare the Singular values returned with Jacobi and Bdc -template -void compare_bdc_jacobi(const MatrixType& a = MatrixType(), unsigned int computationOptions = 0) -{ - MatrixType m = MatrixType::Random(a.rows(), a.cols()); - BDCSVD bdc_svd(m); - JacobiSVD jacobi_svd(m); - VERIFY_IS_APPROX(bdc_svd.singularValues(), jacobi_svd.singularValues()); - if(computationOptions & ComputeFullU) VERIFY_IS_APPROX(bdc_svd.matrixU(), jacobi_svd.matrixU()); - if(computationOptions & ComputeThinU) VERIFY_IS_APPROX(bdc_svd.matrixU(), jacobi_svd.matrixU()); - if(computationOptions & ComputeFullV) VERIFY_IS_APPROX(bdc_svd.matrixV(), jacobi_svd.matrixV()); - if(computationOptions & ComputeThinV) VERIFY_IS_APPROX(bdc_svd.matrixV(), jacobi_svd.matrixV()); -} - -void test_bdcsvd() -{ - CALL_SUBTEST_3(( svd_verify_assert >(Matrix3f()) )); - CALL_SUBTEST_4(( svd_verify_assert >(Matrix4d()) )); - CALL_SUBTEST_7(( svd_verify_assert >(MatrixXf(10,12)) )); - CALL_SUBTEST_8(( svd_verify_assert >(MatrixXcd(7,5)) )); - - CALL_SUBTEST_101(( svd_all_trivial_2x2(bdcsvd) )); - CALL_SUBTEST_102(( svd_all_trivial_2x2(bdcsvd) )); - - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_3(( bdcsvd() )); - CALL_SUBTEST_4(( bdcsvd() )); - CALL_SUBTEST_5(( bdcsvd >() )); - - int r = internal::random(1, EIGEN_TEST_MAX_SIZE/2), - c = internal::random(1, EIGEN_TEST_MAX_SIZE/2); - - TEST_SET_BUT_UNUSED_VARIABLE(r) - TEST_SET_BUT_UNUSED_VARIABLE(c) - - CALL_SUBTEST_6(( bdcsvd(Matrix(r,2)) )); - CALL_SUBTEST_7(( bdcsvd(MatrixXf(r,c)) )); - CALL_SUBTEST_7(( compare_bdc_jacobi(MatrixXf(r,c)) )); - CALL_SUBTEST_10(( bdcsvd(MatrixXd(r,c)) )); - CALL_SUBTEST_10(( compare_bdc_jacobi(MatrixXd(r,c)) )); - CALL_SUBTEST_8(( bdcsvd(MatrixXcd(r,c)) )); - CALL_SUBTEST_8(( compare_bdc_jacobi(MatrixXcd(r,c)) )); - - // Test on inf/nan matrix - CALL_SUBTEST_7( (svd_inf_nan, MatrixXf>()) ); - CALL_SUBTEST_10( (svd_inf_nan, MatrixXd>()) ); - } - - // test matrixbase method - CALL_SUBTEST_1(( bdcsvd_method() )); - CALL_SUBTEST_3(( bdcsvd_method() )); - - // Test problem size constructors - CALL_SUBTEST_7( BDCSVD(10,10) ); - - // Check that preallocation avoids subsequent mallocs - CALL_SUBTEST_9( svd_preallocate() ); - - CALL_SUBTEST_2( svd_underoverflow() ); -} - diff --git a/testbed/nanogui/ext/eigen/test/bicgstab.cpp b/testbed/nanogui/ext/eigen/test/bicgstab.cpp deleted file mode 100644 index 4cc0dd31..00000000 --- a/testbed/nanogui/ext/eigen/test/bicgstab.cpp +++ /dev/null @@ -1,34 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse_solver.h" -#include - -template void test_bicgstab_T() -{ - BiCGSTAB, DiagonalPreconditioner > bicgstab_colmajor_diag; - BiCGSTAB, IdentityPreconditioner > bicgstab_colmajor_I; - BiCGSTAB, IncompleteLUT > bicgstab_colmajor_ilut; - //BiCGSTAB, SSORPreconditioner > bicgstab_colmajor_ssor; - - bicgstab_colmajor_diag.setTolerance(NumTraits::epsilon()*4); - bicgstab_colmajor_ilut.setTolerance(NumTraits::epsilon()*4); - - CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_diag) ); -// CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_I) ); - CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_ilut) ); - //CALL_SUBTEST( check_sparse_square_solving(bicgstab_colmajor_ssor) ); -} - -void test_bicgstab() -{ - CALL_SUBTEST_1((test_bicgstab_T()) ); - CALL_SUBTEST_2((test_bicgstab_T, int>())); - CALL_SUBTEST_3((test_bicgstab_T())); -} diff --git a/testbed/nanogui/ext/eigen/test/block.cpp b/testbed/nanogui/ext/eigen/test/block.cpp deleted file mode 100644 index d6105987..00000000 --- a/testbed/nanogui/ext/eigen/test/block.cpp +++ /dev/null @@ -1,283 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT // otherwise we fail at compile time on unused paths -#include "main.h" - -template -typename Eigen::internal::enable_if::IsComplex,typename MatrixType::Scalar>::type -block_real_only(const MatrixType &m1, Index r1, Index r2, Index c1, Index c2, const Scalar& s1) { - // check cwise-Functions: - VERIFY_IS_APPROX(m1.row(r1).cwiseMax(s1), m1.cwiseMax(s1).row(r1)); - VERIFY_IS_APPROX(m1.col(c1).cwiseMin(s1), m1.cwiseMin(s1).col(c1)); - - VERIFY_IS_APPROX(m1.block(r1,c1,r2-r1+1,c2-c1+1).cwiseMin(s1), m1.cwiseMin(s1).block(r1,c1,r2-r1+1,c2-c1+1)); - VERIFY_IS_APPROX(m1.block(r1,c1,r2-r1+1,c2-c1+1).cwiseMax(s1), m1.cwiseMax(s1).block(r1,c1,r2-r1+1,c2-c1+1)); - - return Scalar(0); -} - -template -typename Eigen::internal::enable_if::IsComplex,typename MatrixType::Scalar>::type -block_real_only(const MatrixType &, Index, Index, Index, Index, const Scalar&) { - return Scalar(0); -} - -// Check at compile-time that T1==T2, and at runtime-time that a==b -template -typename internal::enable_if::value,bool>::type -is_same_block(const T1& a, const T2& b) -{ - return a.isApprox(b); -} - -template void block(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix VectorType; - typedef Matrix RowVectorType; - typedef Matrix DynamicMatrixType; - typedef Matrix DynamicVectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m1_copy = m1, - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - ones = MatrixType::Ones(rows, cols); - VectorType v1 = VectorType::Random(rows); - - Scalar s1 = internal::random(); - - Index r1 = internal::random(0,rows-1); - Index r2 = internal::random(r1,rows-1); - Index c1 = internal::random(0,cols-1); - Index c2 = internal::random(c1,cols-1); - - block_real_only(m1, r1, r2, c1, c1, s1); - - //check row() and col() - VERIFY_IS_EQUAL(m1.col(c1).transpose(), m1.transpose().row(c1)); - //check operator(), both constant and non-constant, on row() and col() - m1 = m1_copy; - m1.row(r1) += s1 * m1_copy.row(r2); - VERIFY_IS_APPROX(m1.row(r1), m1_copy.row(r1) + s1 * m1_copy.row(r2)); - // check nested block xpr on lhs - m1.row(r1).row(0) += s1 * m1_copy.row(r2); - VERIFY_IS_APPROX(m1.row(r1), m1_copy.row(r1) + Scalar(2) * s1 * m1_copy.row(r2)); - m1 = m1_copy; - m1.col(c1) += s1 * m1_copy.col(c2); - VERIFY_IS_APPROX(m1.col(c1), m1_copy.col(c1) + s1 * m1_copy.col(c2)); - m1.col(c1).col(0) += s1 * m1_copy.col(c2); - VERIFY_IS_APPROX(m1.col(c1), m1_copy.col(c1) + Scalar(2) * s1 * m1_copy.col(c2)); - - - //check block() - Matrix b1(1,1); b1(0,0) = m1(r1,c1); - - RowVectorType br1(m1.block(r1,0,1,cols)); - VectorType bc1(m1.block(0,c1,rows,1)); - VERIFY_IS_EQUAL(b1, m1.block(r1,c1,1,1)); - VERIFY_IS_EQUAL(m1.row(r1), br1); - VERIFY_IS_EQUAL(m1.col(c1), bc1); - //check operator(), both constant and non-constant, on block() - m1.block(r1,c1,r2-r1+1,c2-c1+1) = s1 * m2.block(0, 0, r2-r1+1,c2-c1+1); - m1.block(r1,c1,r2-r1+1,c2-c1+1)(r2-r1,c2-c1) = m2.block(0, 0, r2-r1+1,c2-c1+1)(0,0); - - const Index BlockRows = 2; - const Index BlockCols = 5; - - if (rows>=5 && cols>=8) - { - // test fixed block() as lvalue - m1.template block(1,1) *= s1; - // test operator() on fixed block() both as constant and non-constant - m1.template block(1,1)(0, 3) = m1.template block<2,5>(1,1)(1,2); - // check that fixed block() and block() agree - Matrix b = m1.template block(3,3); - VERIFY_IS_EQUAL(b, m1.block(3,3,BlockRows,BlockCols)); - - // same tests with mixed fixed/dynamic size - m1.template block(1,1,BlockRows,BlockCols) *= s1; - m1.template block(1,1,BlockRows,BlockCols)(0,3) = m1.template block<2,5>(1,1)(1,2); - Matrix b2 = m1.template block(3,3,2,5); - VERIFY_IS_EQUAL(b2, m1.block(3,3,BlockRows,BlockCols)); - - VERIFY(is_same_block(m1.block(3,3,BlockRows,BlockCols), m1.block(3,3,fix(BlockRows),fix(BlockCols)))); - VERIFY(is_same_block(m1.template block(1,1,BlockRows,BlockCols), m1.block(1,1,fix,BlockCols))); - VERIFY(is_same_block(m1.template block(1,1,BlockRows,BlockCols), m1.block(1,1,fix(),fix))); - VERIFY(is_same_block(m1.template block(1,1,BlockRows,BlockCols), m1.block(1,1,fix,fix(BlockCols)))); - } - - if (rows>2) - { - // test sub vectors - VERIFY_IS_EQUAL(v1.template head<2>(), v1.block(0,0,2,1)); - VERIFY_IS_EQUAL(v1.template head<2>(), v1.head(2)); - VERIFY_IS_EQUAL(v1.template head<2>(), v1.segment(0,2)); - VERIFY_IS_EQUAL(v1.template head<2>(), v1.template segment<2>(0)); - Index i = rows-2; - VERIFY_IS_EQUAL(v1.template tail<2>(), v1.block(i,0,2,1)); - VERIFY_IS_EQUAL(v1.template tail<2>(), v1.tail(2)); - VERIFY_IS_EQUAL(v1.template tail<2>(), v1.segment(i,2)); - VERIFY_IS_EQUAL(v1.template tail<2>(), v1.template segment<2>(i)); - i = internal::random(0,rows-2); - VERIFY_IS_EQUAL(v1.segment(i,2), v1.template segment<2>(i)); - } - - // stress some basic stuffs with block matrices - VERIFY(numext::real(ones.col(c1).sum()) == RealScalar(rows)); - VERIFY(numext::real(ones.row(r1).sum()) == RealScalar(cols)); - - VERIFY(numext::real(ones.col(c1).dot(ones.col(c2))) == RealScalar(rows)); - VERIFY(numext::real(ones.row(r1).dot(ones.row(r2))) == RealScalar(cols)); - - // chekc that linear acccessors works on blocks - m1 = m1_copy; - if((MatrixType::Flags&RowMajorBit)==0) - VERIFY_IS_EQUAL(m1.leftCols(c1).coeff(r1+c1*rows), m1(r1,c1)); - else - VERIFY_IS_EQUAL(m1.topRows(r1).coeff(c1+r1*cols), m1(r1,c1)); - - - // now test some block-inside-of-block. - - // expressions with direct access - VERIFY_IS_EQUAL( (m1.block(r1,c1,rows-r1,cols-c1).block(r2-r1,c2-c1,rows-r2,cols-c2)) , (m1.block(r2,c2,rows-r2,cols-c2)) ); - VERIFY_IS_EQUAL( (m1.block(r1,c1,r2-r1+1,c2-c1+1).row(0)) , (m1.row(r1).segment(c1,c2-c1+1)) ); - VERIFY_IS_EQUAL( (m1.block(r1,c1,r2-r1+1,c2-c1+1).col(0)) , (m1.col(c1).segment(r1,r2-r1+1)) ); - VERIFY_IS_EQUAL( (m1.block(r1,c1,r2-r1+1,c2-c1+1).transpose().col(0)) , (m1.row(r1).segment(c1,c2-c1+1)).transpose() ); - VERIFY_IS_EQUAL( (m1.transpose().block(c1,r1,c2-c1+1,r2-r1+1).col(0)) , (m1.row(r1).segment(c1,c2-c1+1)).transpose() ); - - // expressions without direct access - VERIFY_IS_APPROX( ((m1+m2).block(r1,c1,rows-r1,cols-c1).block(r2-r1,c2-c1,rows-r2,cols-c2)) , ((m1+m2).block(r2,c2,rows-r2,cols-c2)) ); - VERIFY_IS_APPROX( ((m1+m2).block(r1,c1,r2-r1+1,c2-c1+1).row(0)) , ((m1+m2).row(r1).segment(c1,c2-c1+1)) ); - VERIFY_IS_APPROX( ((m1+m2).block(r1,c1,r2-r1+1,c2-c1+1).col(0)) , ((m1+m2).col(c1).segment(r1,r2-r1+1)) ); - VERIFY_IS_APPROX( ((m1+m2).block(r1,c1,r2-r1+1,c2-c1+1).transpose().col(0)) , ((m1+m2).row(r1).segment(c1,c2-c1+1)).transpose() ); - VERIFY_IS_APPROX( ((m1+m2).transpose().block(c1,r1,c2-c1+1,r2-r1+1).col(0)) , ((m1+m2).row(r1).segment(c1,c2-c1+1)).transpose() ); - - // evaluation into plain matrices from expressions with direct access (stress MapBase) - DynamicMatrixType dm; - DynamicVectorType dv; - dm.setZero(); - dm = m1.block(r1,c1,rows-r1,cols-c1).block(r2-r1,c2-c1,rows-r2,cols-c2); - VERIFY_IS_EQUAL(dm, (m1.block(r2,c2,rows-r2,cols-c2))); - dm.setZero(); - dv.setZero(); - dm = m1.block(r1,c1,r2-r1+1,c2-c1+1).row(0).transpose(); - dv = m1.row(r1).segment(c1,c2-c1+1); - VERIFY_IS_EQUAL(dv, dm); - dm.setZero(); - dv.setZero(); - dm = m1.col(c1).segment(r1,r2-r1+1); - dv = m1.block(r1,c1,r2-r1+1,c2-c1+1).col(0); - VERIFY_IS_EQUAL(dv, dm); - dm.setZero(); - dv.setZero(); - dm = m1.block(r1,c1,r2-r1+1,c2-c1+1).transpose().col(0); - dv = m1.row(r1).segment(c1,c2-c1+1); - VERIFY_IS_EQUAL(dv, dm); - dm.setZero(); - dv.setZero(); - dm = m1.row(r1).segment(c1,c2-c1+1).transpose(); - dv = m1.transpose().block(c1,r1,c2-c1+1,r2-r1+1).col(0); - VERIFY_IS_EQUAL(dv, dm); - - VERIFY_IS_EQUAL( (m1.template block(1,0,0,1)), m1.block(1,0,0,1)); - VERIFY_IS_EQUAL( (m1.template block<1,Dynamic>(0,1,1,0)), m1.block(0,1,1,0)); - VERIFY_IS_EQUAL( ((m1*1).template block(1,0,0,1)), m1.block(1,0,0,1)); - VERIFY_IS_EQUAL( ((m1*1).template block<1,Dynamic>(0,1,1,0)), m1.block(0,1,1,0)); - - if (rows>=2 && cols>=2) - { - VERIFY_RAISES_ASSERT( m1 += m1.col(0) ); - VERIFY_RAISES_ASSERT( m1 -= m1.col(0) ); - VERIFY_RAISES_ASSERT( m1.array() *= m1.col(0).array() ); - VERIFY_RAISES_ASSERT( m1.array() /= m1.col(0).array() ); - } -} - - -template -void compare_using_data_and_stride(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - Index size = m.size(); - Index innerStride = m.innerStride(); - Index outerStride = m.outerStride(); - Index rowStride = m.rowStride(); - Index colStride = m.colStride(); - const typename MatrixType::Scalar* data = m.data(); - - for(int j=0;j -void data_and_stride(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - Index r1 = internal::random(0,rows-1); - Index r2 = internal::random(r1,rows-1); - Index c1 = internal::random(0,cols-1); - Index c2 = internal::random(c1,cols-1); - - MatrixType m1 = MatrixType::Random(rows, cols); - compare_using_data_and_stride(m1.block(r1, c1, r2-r1+1, c2-c1+1)); - compare_using_data_and_stride(m1.transpose().block(c1, r1, c2-c1+1, r2-r1+1)); - compare_using_data_and_stride(m1.row(r1)); - compare_using_data_and_stride(m1.col(c1)); - compare_using_data_and_stride(m1.row(r1).transpose()); - compare_using_data_and_stride(m1.col(c1).transpose()); -} - -void test_block() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( block(Matrix()) ); - CALL_SUBTEST_2( block(Matrix4d()) ); - CALL_SUBTEST_3( block(MatrixXcf(3, 3)) ); - CALL_SUBTEST_4( block(MatrixXi(8, 12)) ); - CALL_SUBTEST_5( block(MatrixXcd(20, 20)) ); - CALL_SUBTEST_6( block(MatrixXf(20, 20)) ); - - CALL_SUBTEST_8( block(Matrix(3, 4)) ); - -#ifndef EIGEN_DEFAULT_TO_ROW_MAJOR - CALL_SUBTEST_6( data_and_stride(MatrixXf(internal::random(5,50), internal::random(5,50))) ); - CALL_SUBTEST_7( data_and_stride(Matrix(internal::random(5,50), internal::random(5,50))) ); -#endif - } -} diff --git a/testbed/nanogui/ext/eigen/test/boostmultiprec.cpp b/testbed/nanogui/ext/eigen/test/boostmultiprec.cpp deleted file mode 100644 index e06e9bda..00000000 --- a/testbed/nanogui/ext/eigen/test/boostmultiprec.cpp +++ /dev/null @@ -1,201 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include - -#ifdef EIGEN_TEST_MAX_SIZE -#undef EIGEN_TEST_MAX_SIZE -#endif - -#define EIGEN_TEST_MAX_SIZE 50 - -#ifdef EIGEN_TEST_PART_1 -#include "cholesky.cpp" -#endif - -#ifdef EIGEN_TEST_PART_2 -#include "lu.cpp" -#endif - -#ifdef EIGEN_TEST_PART_3 -#include "qr.cpp" -#endif - -#ifdef EIGEN_TEST_PART_4 -#include "qr_colpivoting.cpp" -#endif - -#ifdef EIGEN_TEST_PART_5 -#include "qr_fullpivoting.cpp" -#endif - -#ifdef EIGEN_TEST_PART_6 -#include "eigensolver_selfadjoint.cpp" -#endif - -#ifdef EIGEN_TEST_PART_7 -#include "eigensolver_generic.cpp" -#endif - -#ifdef EIGEN_TEST_PART_8 -#include "eigensolver_generalized_real.cpp" -#endif - -#ifdef EIGEN_TEST_PART_9 -#include "jacobisvd.cpp" -#endif - -#ifdef EIGEN_TEST_PART_10 -#include "bdcsvd.cpp" -#endif - -#include - -#undef min -#undef max -#undef isnan -#undef isinf -#undef isfinite - -#include -#include -#include -#include - -namespace mp = boost::multiprecision; -typedef mp::number, mp::et_on> Real; - -namespace Eigen { - template<> struct NumTraits : GenericNumTraits { - static inline Real dummy_precision() { return 1e-50; } - }; - - template - struct NumTraits > : NumTraits {}; - - template<> - Real test_precision() { return 1e-50; } - - // needed in C++93 mode where number does not support explicit cast. - namespace internal { - template - struct cast_impl { - static inline NewType run(const Real& x) { - return x.template convert_to(); - } - }; - - template<> - struct cast_impl > { - static inline std::complex run(const Real& x) { - return std::complex(x); - } - }; - } -} - -namespace boost { -namespace multiprecision { - // to make ADL works as expected: - using boost::math::isfinite; - using boost::math::isnan; - using boost::math::isinf; - using boost::math::copysign; - using boost::math::hypot; - - // The following is needed for std::complex: - Real fabs(const Real& a) { return abs EIGEN_NOT_A_MACRO (a); } - Real fmax(const Real& a, const Real& b) { using std::max; return max(a,b); } - - // some specialization for the unit tests: - inline bool test_isMuchSmallerThan(const Real& a, const Real& b) { - return internal::isMuchSmallerThan(a, b, test_precision()); - } - - inline bool test_isApprox(const Real& a, const Real& b) { - return internal::isApprox(a, b, test_precision()); - } - - inline bool test_isApproxOrLessThan(const Real& a, const Real& b) { - return internal::isApproxOrLessThan(a, b, test_precision()); - } - - Real get_test_precision(const Real&) { - return test_precision(); - } - - Real test_relative_error(const Real &a, const Real &b) { - using Eigen::numext::abs2; - return sqrt(abs2(a-b)/Eigen::numext::mini(abs2(a),abs2(b))); - } -} -} - -namespace Eigen { - -} - -void test_boostmultiprec() -{ - typedef Matrix Mat; - typedef Matrix,Dynamic,Dynamic> MatC; - - std::cout << "NumTraits::epsilon() = " << NumTraits::epsilon() << std::endl; - std::cout << "NumTraits::dummy_precision() = " << NumTraits::dummy_precision() << std::endl; - std::cout << "NumTraits::lowest() = " << NumTraits::lowest() << std::endl; - std::cout << "NumTraits::highest() = " << NumTraits::highest() << std::endl; - std::cout << "NumTraits::digits10() = " << NumTraits::digits10() << std::endl; - - // chekc stream output - { - Mat A(10,10); - A.setRandom(); - std::stringstream ss; - ss << A; - } - { - MatC A(10,10); - A.setRandom(); - std::stringstream ss; - ss << A; - } - - for(int i = 0; i < g_repeat; i++) { - int s = internal::random(1,EIGEN_TEST_MAX_SIZE); - - CALL_SUBTEST_1( cholesky(Mat(s,s)) ); - - CALL_SUBTEST_2( lu_non_invertible() ); - CALL_SUBTEST_2( lu_invertible() ); - CALL_SUBTEST_2( lu_non_invertible() ); - CALL_SUBTEST_2( lu_invertible() ); - - CALL_SUBTEST_3( qr(Mat(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_3( qr_invertible() ); - - CALL_SUBTEST_4( qr() ); - CALL_SUBTEST_4( cod() ); - CALL_SUBTEST_4( qr_invertible() ); - - CALL_SUBTEST_5( qr() ); - CALL_SUBTEST_5( qr_invertible() ); - - CALL_SUBTEST_6( selfadjointeigensolver(Mat(s,s)) ); - - CALL_SUBTEST_7( eigensolver(Mat(s,s)) ); - - CALL_SUBTEST_8( generalized_eigensolver_real(Mat(s,s)) ); - - TEST_SET_BUT_UNUSED_VARIABLE(s) - } - - CALL_SUBTEST_9(( jacobisvd(Mat(internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE), internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2))) )); - CALL_SUBTEST_10(( bdcsvd(Mat(internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE), internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2))) )); -} - diff --git a/testbed/nanogui/ext/eigen/test/bug1213.cpp b/testbed/nanogui/ext/eigen/test/bug1213.cpp deleted file mode 100644 index 581760c1..00000000 --- a/testbed/nanogui/ext/eigen/test/bug1213.cpp +++ /dev/null @@ -1,13 +0,0 @@ - -// This anonymous enum is essential to trigger the linking issue -enum { - Foo -}; - -#include "bug1213.h" - -bool bug1213_1(const Eigen::Vector3f& x) -{ - return bug1213_2(x); -} - diff --git a/testbed/nanogui/ext/eigen/test/bug1213.h b/testbed/nanogui/ext/eigen/test/bug1213.h deleted file mode 100644 index 040e5a47..00000000 --- a/testbed/nanogui/ext/eigen/test/bug1213.h +++ /dev/null @@ -1,8 +0,0 @@ - -#include - -template -bool bug1213_2(const Eigen::Matrix& x); - -bool bug1213_1(const Eigen::Vector3f& x); - diff --git a/testbed/nanogui/ext/eigen/test/bug1213_main.cpp b/testbed/nanogui/ext/eigen/test/bug1213_main.cpp deleted file mode 100644 index 4802c000..00000000 --- a/testbed/nanogui/ext/eigen/test/bug1213_main.cpp +++ /dev/null @@ -1,18 +0,0 @@ - -// This is a regression unit regarding a weird linking issue with gcc. - -#include "bug1213.h" - -int main() -{ - return 0; -} - - -template -bool bug1213_2(const Eigen::Matrix& ) -{ - return true; -} - -template bool bug1213_2(const Eigen::Vector3f&); diff --git a/testbed/nanogui/ext/eigen/test/cholesky.cpp b/testbed/nanogui/ext/eigen/test/cholesky.cpp deleted file mode 100644 index 8ad5ac63..00000000 --- a/testbed/nanogui/ext/eigen/test/cholesky.cpp +++ /dev/null @@ -1,509 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_NO_ASSERTION_CHECKING -#define EIGEN_NO_ASSERTION_CHECKING -#endif - -#define TEST_ENABLE_TEMPORARY_TRACKING - -#include "main.h" -#include -#include - -template -typename MatrixType::RealScalar matrix_l1_norm(const MatrixType& m) { - MatrixType symm = m.template selfadjointView(); - return symm.cwiseAbs().colwise().sum().maxCoeff(); -} - -template class CholType> void test_chol_update(const MatrixType& symm) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix VectorType; - - MatrixType symmLo = symm.template triangularView(); - MatrixType symmUp = symm.template triangularView(); - MatrixType symmCpy = symm; - - CholType chollo(symmLo); - CholType cholup(symmUp); - - for (int k=0; k<10; ++k) - { - VectorType vec = VectorType::Random(symm.rows()); - RealScalar sigma = internal::random(); - symmCpy += sigma * vec * vec.adjoint(); - - // we are doing some downdates, so it might be the case that the matrix is not SPD anymore - CholType chol(symmCpy); - if(chol.info()!=Success) - break; - - chollo.rankUpdate(vec, sigma); - VERIFY_IS_APPROX(symmCpy, chollo.reconstructedMatrix()); - - cholup.rankUpdate(vec, sigma); - VERIFY_IS_APPROX(symmCpy, cholup.reconstructedMatrix()); - } -} - -template void cholesky(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - /* this test covers the following files: - LLT.h LDLT.h - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix SquareMatrixType; - typedef Matrix VectorType; - - MatrixType a0 = MatrixType::Random(rows,cols); - VectorType vecB = VectorType::Random(rows), vecX(rows); - MatrixType matB = MatrixType::Random(rows,cols), matX(rows,cols); - SquareMatrixType symm = a0 * a0.adjoint(); - // let's make sure the matrix is not singular or near singular - for (int k=0; k<3; ++k) - { - MatrixType a1 = MatrixType::Random(rows,cols); - symm += a1 * a1.adjoint(); - } - - { - SquareMatrixType symmUp = symm.template triangularView(); - SquareMatrixType symmLo = symm.template triangularView(); - - LLT chollo(symmLo); - VERIFY_IS_APPROX(symm, chollo.reconstructedMatrix()); - vecX = chollo.solve(vecB); - VERIFY_IS_APPROX(symm * vecX, vecB); - matX = chollo.solve(matB); - VERIFY_IS_APPROX(symm * matX, matB); - - const MatrixType symmLo_inverse = chollo.solve(MatrixType::Identity(rows,cols)); - RealScalar rcond = (RealScalar(1) / matrix_l1_norm(symmLo)) / - matrix_l1_norm(symmLo_inverse); - RealScalar rcond_est = chollo.rcond(); - // Verify that the estimated condition number is within a factor of 10 of the - // truth. - VERIFY(rcond_est > rcond / 10 && rcond_est < rcond * 10); - - // test the upper mode - LLT cholup(symmUp); - VERIFY_IS_APPROX(symm, cholup.reconstructedMatrix()); - vecX = cholup.solve(vecB); - VERIFY_IS_APPROX(symm * vecX, vecB); - matX = cholup.solve(matB); - VERIFY_IS_APPROX(symm * matX, matB); - - // Verify that the estimated condition number is within a factor of 10 of the - // truth. - const MatrixType symmUp_inverse = cholup.solve(MatrixType::Identity(rows,cols)); - rcond = (RealScalar(1) / matrix_l1_norm(symmUp)) / - matrix_l1_norm(symmUp_inverse); - rcond_est = cholup.rcond(); - VERIFY(rcond_est > rcond / 10 && rcond_est < rcond * 10); - - - MatrixType neg = -symmLo; - chollo.compute(neg); - VERIFY(chollo.info()==NumericalIssue); - - VERIFY_IS_APPROX(MatrixType(chollo.matrixL().transpose().conjugate()), MatrixType(chollo.matrixU())); - VERIFY_IS_APPROX(MatrixType(chollo.matrixU().transpose().conjugate()), MatrixType(chollo.matrixL())); - VERIFY_IS_APPROX(MatrixType(cholup.matrixL().transpose().conjugate()), MatrixType(cholup.matrixU())); - VERIFY_IS_APPROX(MatrixType(cholup.matrixU().transpose().conjugate()), MatrixType(cholup.matrixL())); - - // test some special use cases of SelfCwiseBinaryOp: - MatrixType m1 = MatrixType::Random(rows,cols), m2(rows,cols); - m2 = m1; - m2 += symmLo.template selfadjointView().llt().solve(matB); - VERIFY_IS_APPROX(m2, m1 + symmLo.template selfadjointView().llt().solve(matB)); - m2 = m1; - m2 -= symmLo.template selfadjointView().llt().solve(matB); - VERIFY_IS_APPROX(m2, m1 - symmLo.template selfadjointView().llt().solve(matB)); - m2 = m1; - m2.noalias() += symmLo.template selfadjointView().llt().solve(matB); - VERIFY_IS_APPROX(m2, m1 + symmLo.template selfadjointView().llt().solve(matB)); - m2 = m1; - m2.noalias() -= symmLo.template selfadjointView().llt().solve(matB); - VERIFY_IS_APPROX(m2, m1 - symmLo.template selfadjointView().llt().solve(matB)); - } - - // LDLT - { - int sign = internal::random()%2 ? 1 : -1; - - if(sign == -1) - { - symm = -symm; // test a negative matrix - } - - SquareMatrixType symmUp = symm.template triangularView(); - SquareMatrixType symmLo = symm.template triangularView(); - - LDLT ldltlo(symmLo); - VERIFY(ldltlo.info()==Success); - VERIFY_IS_APPROX(symm, ldltlo.reconstructedMatrix()); - vecX = ldltlo.solve(vecB); - VERIFY_IS_APPROX(symm * vecX, vecB); - matX = ldltlo.solve(matB); - VERIFY_IS_APPROX(symm * matX, matB); - - const MatrixType symmLo_inverse = ldltlo.solve(MatrixType::Identity(rows,cols)); - RealScalar rcond = (RealScalar(1) / matrix_l1_norm(symmLo)) / - matrix_l1_norm(symmLo_inverse); - RealScalar rcond_est = ldltlo.rcond(); - // Verify that the estimated condition number is within a factor of 10 of the - // truth. - VERIFY(rcond_est > rcond / 10 && rcond_est < rcond * 10); - - - LDLT ldltup(symmUp); - VERIFY(ldltup.info()==Success); - VERIFY_IS_APPROX(symm, ldltup.reconstructedMatrix()); - vecX = ldltup.solve(vecB); - VERIFY_IS_APPROX(symm * vecX, vecB); - matX = ldltup.solve(matB); - VERIFY_IS_APPROX(symm * matX, matB); - - // Verify that the estimated condition number is within a factor of 10 of the - // truth. - const MatrixType symmUp_inverse = ldltup.solve(MatrixType::Identity(rows,cols)); - rcond = (RealScalar(1) / matrix_l1_norm(symmUp)) / - matrix_l1_norm(symmUp_inverse); - rcond_est = ldltup.rcond(); - VERIFY(rcond_est > rcond / 10 && rcond_est < rcond * 10); - - VERIFY_IS_APPROX(MatrixType(ldltlo.matrixL().transpose().conjugate()), MatrixType(ldltlo.matrixU())); - VERIFY_IS_APPROX(MatrixType(ldltlo.matrixU().transpose().conjugate()), MatrixType(ldltlo.matrixL())); - VERIFY_IS_APPROX(MatrixType(ldltup.matrixL().transpose().conjugate()), MatrixType(ldltup.matrixU())); - VERIFY_IS_APPROX(MatrixType(ldltup.matrixU().transpose().conjugate()), MatrixType(ldltup.matrixL())); - - if(MatrixType::RowsAtCompileTime==Dynamic) - { - // note : each inplace permutation requires a small temporary vector (mask) - - // check inplace solve - matX = matB; - VERIFY_EVALUATION_COUNT(matX = ldltlo.solve(matX), 0); - VERIFY_IS_APPROX(matX, ldltlo.solve(matB).eval()); - - - matX = matB; - VERIFY_EVALUATION_COUNT(matX = ldltup.solve(matX), 0); - VERIFY_IS_APPROX(matX, ldltup.solve(matB).eval()); - } - - // restore - if(sign == -1) - symm = -symm; - - // check matrices coming from linear constraints with Lagrange multipliers - if(rows>=3) - { - SquareMatrixType A = symm; - Index c = internal::random(0,rows-2); - A.bottomRightCorner(c,c).setZero(); - // Make sure a solution exists: - vecX.setRandom(); - vecB = A * vecX; - vecX.setZero(); - ldltlo.compute(A); - VERIFY_IS_APPROX(A, ldltlo.reconstructedMatrix()); - vecX = ldltlo.solve(vecB); - VERIFY_IS_APPROX(A * vecX, vecB); - } - - // check non-full rank matrices - if(rows>=3) - { - Index r = internal::random(1,rows-1); - Matrix a = Matrix::Random(rows,r); - SquareMatrixType A = a * a.adjoint(); - // Make sure a solution exists: - vecX.setRandom(); - vecB = A * vecX; - vecX.setZero(); - ldltlo.compute(A); - VERIFY_IS_APPROX(A, ldltlo.reconstructedMatrix()); - vecX = ldltlo.solve(vecB); - VERIFY_IS_APPROX(A * vecX, vecB); - } - - // check matrices with a wide spectrum - if(rows>=3) - { - using std::pow; - using std::sqrt; - RealScalar s = (std::min)(16,std::numeric_limits::max_exponent10/8); - Matrix a = Matrix::Random(rows,rows); - Matrix d = Matrix::Random(rows); - for(Index k=0; k(-s,s)); - SquareMatrixType A = a * d.asDiagonal() * a.adjoint(); - // Make sure a solution exists: - vecX.setRandom(); - vecB = A * vecX; - vecX.setZero(); - ldltlo.compute(A); - VERIFY_IS_APPROX(A, ldltlo.reconstructedMatrix()); - vecX = ldltlo.solve(vecB); - - if(ldltlo.vectorD().real().cwiseAbs().minCoeff()>RealScalar(0)) - { - VERIFY_IS_APPROX(A * vecX,vecB); - } - else - { - RealScalar large_tol = sqrt(test_precision()); - VERIFY((A * vecX).isApprox(vecB, large_tol)); - - ++g_test_level; - VERIFY_IS_APPROX(A * vecX,vecB); - --g_test_level; - } - } - } - - // update/downdate - CALL_SUBTEST(( test_chol_update(symm) )); - CALL_SUBTEST(( test_chol_update(symm) )); -} - -template void cholesky_cplx(const MatrixType& m) -{ - // classic test - cholesky(m); - - // test mixing real/scalar types - - typedef typename MatrixType::Index Index; - - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix RealMatrixType; - typedef Matrix VectorType; - - RealMatrixType a0 = RealMatrixType::Random(rows,cols); - VectorType vecB = VectorType::Random(rows), vecX(rows); - MatrixType matB = MatrixType::Random(rows,cols), matX(rows,cols); - RealMatrixType symm = a0 * a0.adjoint(); - // let's make sure the matrix is not singular or near singular - for (int k=0; k<3; ++k) - { - RealMatrixType a1 = RealMatrixType::Random(rows,cols); - symm += a1 * a1.adjoint(); - } - - { - RealMatrixType symmLo = symm.template triangularView(); - - LLT chollo(symmLo); - VERIFY_IS_APPROX(symm, chollo.reconstructedMatrix()); - vecX = chollo.solve(vecB); - VERIFY_IS_APPROX(symm * vecX, vecB); -// matX = chollo.solve(matB); -// VERIFY_IS_APPROX(symm * matX, matB); - } - - // LDLT - { - int sign = internal::random()%2 ? 1 : -1; - - if(sign == -1) - { - symm = -symm; // test a negative matrix - } - - RealMatrixType symmLo = symm.template triangularView(); - - LDLT ldltlo(symmLo); - VERIFY(ldltlo.info()==Success); - VERIFY_IS_APPROX(symm, ldltlo.reconstructedMatrix()); - vecX = ldltlo.solve(vecB); - VERIFY_IS_APPROX(symm * vecX, vecB); -// matX = ldltlo.solve(matB); -// VERIFY_IS_APPROX(symm * matX, matB); - } -} - -// regression test for bug 241 -template void cholesky_bug241(const MatrixType& m) -{ - eigen_assert(m.rows() == 2 && m.cols() == 2); - - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - - MatrixType matA; - matA << 1, 1, 1, 1; - VectorType vecB; - vecB << 1, 1; - VectorType vecX = matA.ldlt().solve(vecB); - VERIFY_IS_APPROX(matA * vecX, vecB); -} - -// LDLT is not guaranteed to work for indefinite matrices, but happens to work fine if matrix is diagonal. -// This test checks that LDLT reports correctly that matrix is indefinite. -// See http://forum.kde.org/viewtopic.php?f=74&t=106942 and bug 736 -template void cholesky_definiteness(const MatrixType& m) -{ - eigen_assert(m.rows() == 2 && m.cols() == 2); - MatrixType mat; - LDLT ldlt(2); - - { - mat << 1, 0, 0, -1; - ldlt.compute(mat); - VERIFY(ldlt.info()==Success); - VERIFY(!ldlt.isNegative()); - VERIFY(!ldlt.isPositive()); - } - { - mat << 1, 2, 2, 1; - ldlt.compute(mat); - VERIFY(ldlt.info()==Success); - VERIFY(!ldlt.isNegative()); - VERIFY(!ldlt.isPositive()); - } - { - mat << 0, 0, 0, 0; - ldlt.compute(mat); - VERIFY(ldlt.info()==Success); - VERIFY(ldlt.isNegative()); - VERIFY(ldlt.isPositive()); - } - { - mat << 0, 0, 0, 1; - ldlt.compute(mat); - VERIFY(ldlt.info()==Success); - VERIFY(!ldlt.isNegative()); - VERIFY(ldlt.isPositive()); - } - { - mat << -1, 0, 0, 0; - ldlt.compute(mat); - VERIFY(ldlt.info()==Success); - VERIFY(ldlt.isNegative()); - VERIFY(!ldlt.isPositive()); - } -} - -template -void cholesky_faillure_cases() -{ - MatrixXd mat; - LDLT ldlt; - - { - mat.resize(2,2); - mat << 0, 1, 1, 0; - ldlt.compute(mat); - VERIFY_IS_NOT_APPROX(mat,ldlt.reconstructedMatrix()); - VERIFY(ldlt.info()==NumericalIssue); - } -#if (!EIGEN_ARCH_i386) || defined(EIGEN_VECTORIZE_SSE2) - { - mat.resize(3,3); - mat << -1, -3, 3, - -3, -8.9999999999999999999, 1, - 3, 1, 0; - ldlt.compute(mat); - VERIFY(ldlt.info()==NumericalIssue); - VERIFY_IS_NOT_APPROX(mat,ldlt.reconstructedMatrix()); - } -#endif - { - mat.resize(3,3); - mat << 1, 2, 3, - 2, 4, 1, - 3, 1, 0; - ldlt.compute(mat); - VERIFY(ldlt.info()==NumericalIssue); - VERIFY_IS_NOT_APPROX(mat,ldlt.reconstructedMatrix()); - } - - { - mat.resize(8,8); - mat << 0.1, 0, -0.1, 0, 0, 0, 1, 0, - 0, 4.24667, 0, 2.00333, 0, 0, 0, 0, - -0.1, 0, 0.2, 0, -0.1, 0, 0, 0, - 0, 2.00333, 0, 8.49333, 0, 2.00333, 0, 0, - 0, 0, -0.1, 0, 0.1, 0, 0, 1, - 0, 0, 0, 2.00333, 0, 4.24667, 0, 0, - 1, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1, 0, 0, 0; - ldlt.compute(mat); - VERIFY(ldlt.info()==NumericalIssue); - VERIFY_IS_NOT_APPROX(mat,ldlt.reconstructedMatrix()); - } -} - -template void cholesky_verify_assert() -{ - MatrixType tmp; - - LLT llt; - VERIFY_RAISES_ASSERT(llt.matrixL()) - VERIFY_RAISES_ASSERT(llt.matrixU()) - VERIFY_RAISES_ASSERT(llt.solve(tmp)) - VERIFY_RAISES_ASSERT(llt.solveInPlace(&tmp)) - - LDLT ldlt; - VERIFY_RAISES_ASSERT(ldlt.matrixL()) - VERIFY_RAISES_ASSERT(ldlt.permutationP()) - VERIFY_RAISES_ASSERT(ldlt.vectorD()) - VERIFY_RAISES_ASSERT(ldlt.isPositive()) - VERIFY_RAISES_ASSERT(ldlt.isNegative()) - VERIFY_RAISES_ASSERT(ldlt.solve(tmp)) - VERIFY_RAISES_ASSERT(ldlt.solveInPlace(&tmp)) -} - -void test_cholesky() -{ - int s = 0; - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( cholesky(Matrix()) ); - CALL_SUBTEST_3( cholesky(Matrix2d()) ); - CALL_SUBTEST_3( cholesky_bug241(Matrix2d()) ); - CALL_SUBTEST_3( cholesky_definiteness(Matrix2d()) ); - CALL_SUBTEST_4( cholesky(Matrix3f()) ); - CALL_SUBTEST_5( cholesky(Matrix4d()) ); - - s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_2( cholesky(MatrixXd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); - CALL_SUBTEST_6( cholesky_cplx(MatrixXcd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } - - CALL_SUBTEST_4( cholesky_verify_assert() ); - CALL_SUBTEST_7( cholesky_verify_assert() ); - CALL_SUBTEST_8( cholesky_verify_assert() ); - CALL_SUBTEST_2( cholesky_verify_assert() ); - - // Test problem size constructors - CALL_SUBTEST_9( LLT(10) ); - CALL_SUBTEST_9( LDLT(10) ); - - CALL_SUBTEST_2( cholesky_faillure_cases() ); - - TEST_SET_BUT_UNUSED_VARIABLE(nb_temporaries) -} diff --git a/testbed/nanogui/ext/eigen/test/cholmod_support.cpp b/testbed/nanogui/ext/eigen/test/cholmod_support.cpp deleted file mode 100644 index 93120733..00000000 --- a/testbed/nanogui/ext/eigen/test/cholmod_support.cpp +++ /dev/null @@ -1,69 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_DEBUG_SMALL_PRODUCT_BLOCKS -#include "sparse_solver.h" - -#include - -template void test_cholmod_ST() -{ - CholmodDecomposition g_chol_colmajor_lower; g_chol_colmajor_lower.setMode(CholmodSupernodalLLt); - CholmodDecomposition g_chol_colmajor_upper; g_chol_colmajor_upper.setMode(CholmodSupernodalLLt); - CholmodDecomposition g_llt_colmajor_lower; g_llt_colmajor_lower.setMode(CholmodSimplicialLLt); - CholmodDecomposition g_llt_colmajor_upper; g_llt_colmajor_upper.setMode(CholmodSimplicialLLt); - CholmodDecomposition g_ldlt_colmajor_lower; g_ldlt_colmajor_lower.setMode(CholmodLDLt); - CholmodDecomposition g_ldlt_colmajor_upper; g_ldlt_colmajor_upper.setMode(CholmodLDLt); - - CholmodSupernodalLLT chol_colmajor_lower; - CholmodSupernodalLLT chol_colmajor_upper; - CholmodSimplicialLLT llt_colmajor_lower; - CholmodSimplicialLLT llt_colmajor_upper; - CholmodSimplicialLDLT ldlt_colmajor_lower; - CholmodSimplicialLDLT ldlt_colmajor_upper; - - check_sparse_spd_solving(g_chol_colmajor_lower); - check_sparse_spd_solving(g_chol_colmajor_upper); - check_sparse_spd_solving(g_llt_colmajor_lower); - check_sparse_spd_solving(g_llt_colmajor_upper); - check_sparse_spd_solving(g_ldlt_colmajor_lower); - check_sparse_spd_solving(g_ldlt_colmajor_upper); - - check_sparse_spd_solving(chol_colmajor_lower); - check_sparse_spd_solving(chol_colmajor_upper); - check_sparse_spd_solving(llt_colmajor_lower); - check_sparse_spd_solving(llt_colmajor_upper); - check_sparse_spd_solving(ldlt_colmajor_lower); - check_sparse_spd_solving(ldlt_colmajor_upper); - - check_sparse_spd_determinant(chol_colmajor_lower); - check_sparse_spd_determinant(chol_colmajor_upper); - check_sparse_spd_determinant(llt_colmajor_lower); - check_sparse_spd_determinant(llt_colmajor_upper); - check_sparse_spd_determinant(ldlt_colmajor_lower); - check_sparse_spd_determinant(ldlt_colmajor_upper); -} - -template void test_cholmod_T() -{ - test_cholmod_ST >(); -} - -void test_cholmod_support() -{ - CALL_SUBTEST_11( (test_cholmod_T()) ); - CALL_SUBTEST_12( (test_cholmod_T()) ); - CALL_SUBTEST_13( (test_cholmod_T()) ); - CALL_SUBTEST_14( (test_cholmod_T()) ); - CALL_SUBTEST_21( (test_cholmod_T, ColMajor, int >()) ); - CALL_SUBTEST_22( (test_cholmod_T, ColMajor, long>()) ); - // TODO complex row-major matrices do not work at the moment: - // CALL_SUBTEST_23( (test_cholmod_T, RowMajor, int >()) ); - // CALL_SUBTEST_24( (test_cholmod_T, RowMajor, long>()) ); -} diff --git a/testbed/nanogui/ext/eigen/test/commainitializer.cpp b/testbed/nanogui/ext/eigen/test/commainitializer.cpp deleted file mode 100644 index 9844adbd..00000000 --- a/testbed/nanogui/ext/eigen/test/commainitializer.cpp +++ /dev/null @@ -1,106 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - - -template -void test_blocks() -{ - Matrix m_fixed; - MatrixXi m_dynamic(M1+M2, N1+N2); - - Matrix mat11; mat11.setRandom(); - Matrix mat12; mat12.setRandom(); - Matrix mat21; mat21.setRandom(); - Matrix mat22; mat22.setRandom(); - - MatrixXi matx11 = mat11, matx12 = mat12, matx21 = mat21, matx22 = mat22; - - { - VERIFY_IS_EQUAL((m_fixed << mat11, mat12, mat21, matx22).finished(), (m_dynamic << mat11, matx12, mat21, matx22).finished()); - VERIFY_IS_EQUAL((m_fixed.template topLeftCorner()), mat11); - VERIFY_IS_EQUAL((m_fixed.template topRightCorner()), mat12); - VERIFY_IS_EQUAL((m_fixed.template bottomLeftCorner()), mat21); - VERIFY_IS_EQUAL((m_fixed.template bottomRightCorner()), mat22); - VERIFY_IS_EQUAL((m_fixed << mat12, mat11, matx21, mat22).finished(), (m_dynamic << mat12, matx11, matx21, mat22).finished()); - } - - if(N1 > 0) - { - VERIFY_RAISES_ASSERT((m_fixed << mat11, mat12, mat11, mat21, mat22)); - VERIFY_RAISES_ASSERT((m_fixed << mat11, mat12, mat21, mat21, mat22)); - } - else - { - // allow insertion of zero-column blocks: - VERIFY_IS_EQUAL((m_fixed << mat11, mat12, mat11, mat11, mat21, mat21, mat22).finished(), (m_dynamic << mat12, mat22).finished()); - } - if(M1 != M2) - { - VERIFY_RAISES_ASSERT((m_fixed << mat11, mat21, mat12, mat22)); - } -} - - -template -struct test_block_recursion -{ - static void run() - { - test_blocks<(N>>6)&3, (N>>4)&3, (N>>2)&3, N & 3>(); - test_block_recursion::run(); - } -}; - -template<> -struct test_block_recursion<-1> -{ - static void run() { } -}; - -void test_commainitializer() -{ - Matrix3d m3; - Matrix4d m4; - - VERIFY_RAISES_ASSERT( (m3 << 1, 2, 3, 4, 5, 6, 7, 8) ); - - #ifndef _MSC_VER - VERIFY_RAISES_ASSERT( (m3 << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10) ); - #endif - - double data[] = {1, 2, 3, 4, 5, 6, 7, 8, 9}; - Matrix3d ref = Map >(data); - - m3 = Matrix3d::Random(); - m3 << 1, 2, 3, 4, 5, 6, 7, 8, 9; - VERIFY_IS_APPROX(m3, ref ); - - Vector3d vec[3]; - vec[0] << 1, 4, 7; - vec[1] << 2, 5, 8; - vec[2] << 3, 6, 9; - m3 = Matrix3d::Random(); - m3 << vec[0], vec[1], vec[2]; - VERIFY_IS_APPROX(m3, ref); - - vec[0] << 1, 2, 3; - vec[1] << 4, 5, 6; - vec[2] << 7, 8, 9; - m3 = Matrix3d::Random(); - m3 << vec[0].transpose(), - 4, 5, 6, - vec[2].transpose(); - VERIFY_IS_APPROX(m3, ref); - - - // recursively test all block-sizes from 0 to 3: - test_block_recursion<(1<<8) - 1>(); -} diff --git a/testbed/nanogui/ext/eigen/test/conjugate_gradient.cpp b/testbed/nanogui/ext/eigen/test/conjugate_gradient.cpp deleted file mode 100644 index 9622fd86..00000000 --- a/testbed/nanogui/ext/eigen/test/conjugate_gradient.cpp +++ /dev/null @@ -1,34 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse_solver.h" -#include - -template void test_conjugate_gradient_T() -{ - typedef SparseMatrix SparseMatrixType; - ConjugateGradient cg_colmajor_lower_diag; - ConjugateGradient cg_colmajor_upper_diag; - ConjugateGradient cg_colmajor_loup_diag; - ConjugateGradient cg_colmajor_lower_I; - ConjugateGradient cg_colmajor_upper_I; - - CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_lower_diag) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_upper_diag) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_loup_diag) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_lower_I) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_colmajor_upper_I) ); -} - -void test_conjugate_gradient() -{ - CALL_SUBTEST_1(( test_conjugate_gradient_T() )); - CALL_SUBTEST_2(( test_conjugate_gradient_T, int>() )); - CALL_SUBTEST_3(( test_conjugate_gradient_T() )); -} diff --git a/testbed/nanogui/ext/eigen/test/conservative_resize.cpp b/testbed/nanogui/ext/eigen/test/conservative_resize.cpp deleted file mode 100644 index 498421b4..00000000 --- a/testbed/nanogui/ext/eigen/test/conservative_resize.cpp +++ /dev/null @@ -1,134 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include - -using namespace Eigen; - -template -void run_matrix_tests() -{ - typedef Matrix MatrixType; - typedef typename MatrixType::Index Index; - - MatrixType m, n; - - // boundary cases ... - m = n = MatrixType::Random(50,50); - m.conservativeResize(1,50); - VERIFY_IS_APPROX(m, n.block(0,0,1,50)); - - m = n = MatrixType::Random(50,50); - m.conservativeResize(50,1); - VERIFY_IS_APPROX(m, n.block(0,0,50,1)); - - m = n = MatrixType::Random(50,50); - m.conservativeResize(50,50); - VERIFY_IS_APPROX(m, n.block(0,0,50,50)); - - // random shrinking ... - for (int i=0; i<25; ++i) - { - const Index rows = internal::random(1,50); - const Index cols = internal::random(1,50); - m = n = MatrixType::Random(50,50); - m.conservativeResize(rows,cols); - VERIFY_IS_APPROX(m, n.block(0,0,rows,cols)); - } - - // random growing with zeroing ... - for (int i=0; i<25; ++i) - { - const Index rows = internal::random(50,75); - const Index cols = internal::random(50,75); - m = n = MatrixType::Random(50,50); - m.conservativeResizeLike(MatrixType::Zero(rows,cols)); - VERIFY_IS_APPROX(m.block(0,0,n.rows(),n.cols()), n); - VERIFY( rows<=50 || m.block(50,0,rows-50,cols).sum() == Scalar(0) ); - VERIFY( cols<=50 || m.block(0,50,rows,cols-50).sum() == Scalar(0) ); - } -} - -template -void run_vector_tests() -{ - typedef Matrix VectorType; - - VectorType m, n; - - // boundary cases ... - m = n = VectorType::Random(50); - m.conservativeResize(1); - VERIFY_IS_APPROX(m, n.segment(0,1)); - - m = n = VectorType::Random(50); - m.conservativeResize(50); - VERIFY_IS_APPROX(m, n.segment(0,50)); - - m = n = VectorType::Random(50); - m.conservativeResize(m.rows(),1); - VERIFY_IS_APPROX(m, n.segment(0,1)); - - m = n = VectorType::Random(50); - m.conservativeResize(m.rows(),50); - VERIFY_IS_APPROX(m, n.segment(0,50)); - - // random shrinking ... - for (int i=0; i<50; ++i) - { - const int size = internal::random(1,50); - m = n = VectorType::Random(50); - m.conservativeResize(size); - VERIFY_IS_APPROX(m, n.segment(0,size)); - - m = n = VectorType::Random(50); - m.conservativeResize(m.rows(), size); - VERIFY_IS_APPROX(m, n.segment(0,size)); - } - - // random growing with zeroing ... - for (int i=0; i<50; ++i) - { - const int size = internal::random(50,100); - m = n = VectorType::Random(50); - m.conservativeResizeLike(VectorType::Zero(size)); - VERIFY_IS_APPROX(m.segment(0,50), n); - VERIFY( size<=50 || m.segment(50,size-50).sum() == Scalar(0) ); - - m = n = VectorType::Random(50); - m.conservativeResizeLike(Matrix::Zero(1,size)); - VERIFY_IS_APPROX(m.segment(0,50), n); - VERIFY( size<=50 || m.segment(50,size-50).sum() == Scalar(0) ); - } -} - -void test_conservative_resize() -{ - for(int i=0; i())); - CALL_SUBTEST_1((run_matrix_tests())); - CALL_SUBTEST_2((run_matrix_tests())); - CALL_SUBTEST_2((run_matrix_tests())); - CALL_SUBTEST_3((run_matrix_tests())); - CALL_SUBTEST_3((run_matrix_tests())); - CALL_SUBTEST_4((run_matrix_tests, Eigen::RowMajor>())); - CALL_SUBTEST_4((run_matrix_tests, Eigen::ColMajor>())); - CALL_SUBTEST_5((run_matrix_tests, Eigen::RowMajor>())); - CALL_SUBTEST_6((run_matrix_tests, Eigen::ColMajor>())); - - CALL_SUBTEST_1((run_vector_tests())); - CALL_SUBTEST_2((run_vector_tests())); - CALL_SUBTEST_3((run_vector_tests())); - CALL_SUBTEST_4((run_vector_tests >())); - CALL_SUBTEST_5((run_vector_tests >())); - } -} diff --git a/testbed/nanogui/ext/eigen/test/constructor.cpp b/testbed/nanogui/ext/eigen/test/constructor.cpp deleted file mode 100644 index eec9e219..00000000 --- a/testbed/nanogui/ext/eigen/test/constructor.cpp +++ /dev/null @@ -1,84 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2017 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - - -#define TEST_ENABLE_TEMPORARY_TRACKING - -#include "main.h" - -template struct Wrapper -{ - MatrixType m_mat; - inline Wrapper(const MatrixType &x) : m_mat(x) {} - inline operator const MatrixType& () const { return m_mat; } - inline operator MatrixType& () { return m_mat; } -}; - -template void ctor_init1(const MatrixType& m) -{ - // Check logic in PlainObjectBase::_init1 - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m0 = MatrixType::Random(rows,cols); - - VERIFY_EVALUATION_COUNT( MatrixType m1(m0), 1); - VERIFY_EVALUATION_COUNT( MatrixType m2(m0+m0), 1); - VERIFY_EVALUATION_COUNT( MatrixType m2(m0.block(0,0,rows,cols)) , 1); - - Wrapper wrapper(m0); - VERIFY_EVALUATION_COUNT( MatrixType m3(wrapper) , 1); -} - - -void test_constructor() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( ctor_init1(Matrix()) ); - CALL_SUBTEST_1( ctor_init1(Matrix4d()) ); - CALL_SUBTEST_1( ctor_init1(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_1( ctor_init1(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - { - Matrix a(123); - VERIFY_IS_EQUAL(a[0], 123); - } - { - Matrix a(123.0); - VERIFY_IS_EQUAL(a[0], 123); - } - { - Matrix a(123); - VERIFY_IS_EQUAL(a[0], 123.f); - } - { - Array a(123); - VERIFY_IS_EQUAL(a[0], 123); - } - { - Array a(123.0); - VERIFY_IS_EQUAL(a[0], 123); - } - { - Array a(123); - VERIFY_IS_EQUAL(a[0], 123.f); - } - { - Array a(123); - VERIFY_IS_EQUAL(a(4), 123); - } - { - Array a(123.0); - VERIFY_IS_EQUAL(a(4), 123); - } - { - Array a(123); - VERIFY_IS_EQUAL(a(4), 123.f); - } -} diff --git a/testbed/nanogui/ext/eigen/test/corners.cpp b/testbed/nanogui/ext/eigen/test/corners.cpp deleted file mode 100644 index 3c64c32a..00000000 --- a/testbed/nanogui/ext/eigen/test/corners.cpp +++ /dev/null @@ -1,118 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#define COMPARE_CORNER(A,B) \ - VERIFY_IS_EQUAL(matrix.A, matrix.B); \ - VERIFY_IS_EQUAL(const_matrix.A, const_matrix.B); - -template void corners(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - Index r = internal::random(1,rows); - Index c = internal::random(1,cols); - - MatrixType matrix = MatrixType::Random(rows,cols); - const MatrixType const_matrix = MatrixType::Random(rows,cols); - - COMPARE_CORNER(topLeftCorner(r,c), block(0,0,r,c)); - COMPARE_CORNER(topRightCorner(r,c), block(0,cols-c,r,c)); - COMPARE_CORNER(bottomLeftCorner(r,c), block(rows-r,0,r,c)); - COMPARE_CORNER(bottomRightCorner(r,c), block(rows-r,cols-c,r,c)); - - Index sr = internal::random(1,rows) - 1; - Index nr = internal::random(1,rows-sr); - Index sc = internal::random(1,cols) - 1; - Index nc = internal::random(1,cols-sc); - - COMPARE_CORNER(topRows(r), block(0,0,r,cols)); - COMPARE_CORNER(middleRows(sr,nr), block(sr,0,nr,cols)); - COMPARE_CORNER(bottomRows(r), block(rows-r,0,r,cols)); - COMPARE_CORNER(leftCols(c), block(0,0,rows,c)); - COMPARE_CORNER(middleCols(sc,nc), block(0,sc,rows,nc)); - COMPARE_CORNER(rightCols(c), block(0,cols-c,rows,c)); -} - -template void corners_fixedsize() -{ - MatrixType matrix = MatrixType::Random(); - const MatrixType const_matrix = MatrixType::Random(); - - enum { - rows = MatrixType::RowsAtCompileTime, - cols = MatrixType::ColsAtCompileTime, - r = CRows, - c = CCols, - sr = SRows, - sc = SCols - }; - - VERIFY_IS_EQUAL((matrix.template topLeftCorner()), (matrix.template block(0,0))); - VERIFY_IS_EQUAL((matrix.template topRightCorner()), (matrix.template block(0,cols-c))); - VERIFY_IS_EQUAL((matrix.template bottomLeftCorner()), (matrix.template block(rows-r,0))); - VERIFY_IS_EQUAL((matrix.template bottomRightCorner()), (matrix.template block(rows-r,cols-c))); - - VERIFY_IS_EQUAL((matrix.template topLeftCorner()), (matrix.template topLeftCorner(r,c))); - VERIFY_IS_EQUAL((matrix.template topRightCorner()), (matrix.template topRightCorner(r,c))); - VERIFY_IS_EQUAL((matrix.template bottomLeftCorner()), (matrix.template bottomLeftCorner(r,c))); - VERIFY_IS_EQUAL((matrix.template bottomRightCorner()), (matrix.template bottomRightCorner(r,c))); - - VERIFY_IS_EQUAL((matrix.template topLeftCorner()), (matrix.template topLeftCorner(r,c))); - VERIFY_IS_EQUAL((matrix.template topRightCorner()), (matrix.template topRightCorner(r,c))); - VERIFY_IS_EQUAL((matrix.template bottomLeftCorner()), (matrix.template bottomLeftCorner(r,c))); - VERIFY_IS_EQUAL((matrix.template bottomRightCorner()), (matrix.template bottomRightCorner(r,c))); - - VERIFY_IS_EQUAL((matrix.template topRows()), (matrix.template block(0,0))); - VERIFY_IS_EQUAL((matrix.template middleRows(sr)), (matrix.template block(sr,0))); - VERIFY_IS_EQUAL((matrix.template bottomRows()), (matrix.template block(rows-r,0))); - VERIFY_IS_EQUAL((matrix.template leftCols()), (matrix.template block(0,0))); - VERIFY_IS_EQUAL((matrix.template middleCols(sc)), (matrix.template block(0,sc))); - VERIFY_IS_EQUAL((matrix.template rightCols()), (matrix.template block(0,cols-c))); - - VERIFY_IS_EQUAL((const_matrix.template topLeftCorner()), (const_matrix.template block(0,0))); - VERIFY_IS_EQUAL((const_matrix.template topRightCorner()), (const_matrix.template block(0,cols-c))); - VERIFY_IS_EQUAL((const_matrix.template bottomLeftCorner()), (const_matrix.template block(rows-r,0))); - VERIFY_IS_EQUAL((const_matrix.template bottomRightCorner()), (const_matrix.template block(rows-r,cols-c))); - - VERIFY_IS_EQUAL((const_matrix.template topLeftCorner()), (const_matrix.template topLeftCorner(r,c))); - VERIFY_IS_EQUAL((const_matrix.template topRightCorner()), (const_matrix.template topRightCorner(r,c))); - VERIFY_IS_EQUAL((const_matrix.template bottomLeftCorner()), (const_matrix.template bottomLeftCorner(r,c))); - VERIFY_IS_EQUAL((const_matrix.template bottomRightCorner()), (const_matrix.template bottomRightCorner(r,c))); - - VERIFY_IS_EQUAL((const_matrix.template topLeftCorner()), (const_matrix.template topLeftCorner(r,c))); - VERIFY_IS_EQUAL((const_matrix.template topRightCorner()), (const_matrix.template topRightCorner(r,c))); - VERIFY_IS_EQUAL((const_matrix.template bottomLeftCorner()), (const_matrix.template bottomLeftCorner(r,c))); - VERIFY_IS_EQUAL((const_matrix.template bottomRightCorner()), (const_matrix.template bottomRightCorner(r,c))); - - VERIFY_IS_EQUAL((const_matrix.template topRows()), (const_matrix.template block(0,0))); - VERIFY_IS_EQUAL((const_matrix.template middleRows(sr)), (const_matrix.template block(sr,0))); - VERIFY_IS_EQUAL((const_matrix.template bottomRows()), (const_matrix.template block(rows-r,0))); - VERIFY_IS_EQUAL((const_matrix.template leftCols()), (const_matrix.template block(0,0))); - VERIFY_IS_EQUAL((const_matrix.template middleCols(sc)), (const_matrix.template block(0,sc))); - VERIFY_IS_EQUAL((const_matrix.template rightCols()), (const_matrix.template block(0,cols-c))); -} - -void test_corners() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( corners(Matrix()) ); - CALL_SUBTEST_2( corners(Matrix4d()) ); - CALL_SUBTEST_3( corners(Matrix()) ); - CALL_SUBTEST_4( corners(MatrixXcf(5, 7)) ); - CALL_SUBTEST_5( corners(MatrixXf(21, 20)) ); - - CALL_SUBTEST_1(( corners_fixedsize, 1, 1, 0, 0>() )); - CALL_SUBTEST_2(( corners_fixedsize() )); - CALL_SUBTEST_3(( corners_fixedsize,4,7,5,2>() )); - } -} diff --git a/testbed/nanogui/ext/eigen/test/ctorleak.cpp b/testbed/nanogui/ext/eigen/test/ctorleak.cpp deleted file mode 100644 index c158f5e4..00000000 --- a/testbed/nanogui/ext/eigen/test/ctorleak.cpp +++ /dev/null @@ -1,69 +0,0 @@ -#include "main.h" - -#include // std::exception - -struct Foo -{ - static Index object_count; - static Index object_limit; - int dummy; - - Foo() - { -#ifdef EIGEN_EXCEPTIONS - // TODO: Is this the correct way to handle this? - if (Foo::object_count > Foo::object_limit) { std::cout << "\nThrow!\n"; throw Foo::Fail(); } -#endif - std::cout << '+'; - ++Foo::object_count; - } - - ~Foo() - { - std::cout << '-'; - --Foo::object_count; - } - - class Fail : public std::exception {}; -}; - -Index Foo::object_count = 0; -Index Foo::object_limit = 0; - -#undef EIGEN_TEST_MAX_SIZE -#define EIGEN_TEST_MAX_SIZE 3 - -void test_ctorleak() -{ - typedef Matrix MatrixX; - typedef Matrix VectorX; - Foo::object_count = 0; - for(int i = 0; i < g_repeat; i++) { - Index rows = internal::random(2,EIGEN_TEST_MAX_SIZE), cols = internal::random(2,EIGEN_TEST_MAX_SIZE); - Foo::object_limit = internal::random(0, rows*cols - 2); - std::cout << "object_limit =" << Foo::object_limit << std::endl; -#ifdef EIGEN_EXCEPTIONS - try - { -#endif - std::cout << "\nMatrixX m(" << rows << ", " << cols << ");\n"; - MatrixX m(rows, cols); -#ifdef EIGEN_EXCEPTIONS - VERIFY(false); // not reached if exceptions are enabled - } - catch (const Foo::Fail&) { /* ignore */ } -#endif - VERIFY_IS_EQUAL(Index(0), Foo::object_count); - - { - Foo::object_limit = (rows+1)*(cols+1); - MatrixX A(rows, cols); - VERIFY_IS_EQUAL(Foo::object_count, rows*cols); - VectorX v=A.row(0); - VERIFY_IS_EQUAL(Foo::object_count, (rows+1)*cols); - v = A.col(0); - VERIFY_IS_EQUAL(Foo::object_count, rows*(cols+1)); - } - VERIFY_IS_EQUAL(Index(0), Foo::object_count); - } -} diff --git a/testbed/nanogui/ext/eigen/test/cuda_basic.cu b/testbed/nanogui/ext/eigen/test/cuda_basic.cu deleted file mode 100644 index cb2e4167..00000000 --- a/testbed/nanogui/ext/eigen/test/cuda_basic.cu +++ /dev/null @@ -1,173 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015-2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// workaround issue between gcc >= 4.7 and cuda 5.5 -#if (defined __GNUC__) && (__GNUC__>4 || __GNUC_MINOR__>=7) - #undef _GLIBCXX_ATOMIC_BUILTINS - #undef _GLIBCXX_USE_INT128 -#endif - -#define EIGEN_TEST_NO_LONGDOUBLE -#define EIGEN_TEST_NO_COMPLEX -#define EIGEN_TEST_FUNC cuda_basic -#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int - -#include -#include -#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 70500 -#include -#endif -#include "main.h" -#include "cuda_common.h" - -// Check that dense modules can be properly parsed by nvcc -#include - -// struct Foo{ -// EIGEN_DEVICE_FUNC -// void operator()(int i, const float* mats, float* vecs) const { -// using namespace Eigen; -// // Matrix3f M(data); -// // Vector3f x(data+9); -// // Map(data+9) = M.inverse() * x; -// Matrix3f M(mats+i/16); -// Vector3f x(vecs+i*3); -// // using std::min; -// // using std::sqrt; -// Map(vecs+i*3) << x.minCoeff(), 1, 2;// / x.dot(x);//(M.inverse() * x) / x.x(); -// //x = x*2 + x.y() * x + x * x.maxCoeff() - x / x.sum(); -// } -// }; - -template -struct coeff_wise { - EIGEN_DEVICE_FUNC - void operator()(int i, const typename T::Scalar* in, typename T::Scalar* out) const - { - using namespace Eigen; - T x1(in+i); - T x2(in+i+1); - T x3(in+i+2); - Map res(out+i*T::MaxSizeAtCompileTime); - - res.array() += (in[0] * x1 + x2).array() * x3.array(); - } -}; - -template -struct replicate { - EIGEN_DEVICE_FUNC - void operator()(int i, const typename T::Scalar* in, typename T::Scalar* out) const - { - using namespace Eigen; - T x1(in+i); - int step = x1.size() * 4; - int stride = 3 * step; - - typedef Map > MapType; - MapType(out+i*stride+0*step, x1.rows()*2, x1.cols()*2) = x1.replicate(2,2); - MapType(out+i*stride+1*step, x1.rows()*3, x1.cols()) = in[i] * x1.colwise().replicate(3); - MapType(out+i*stride+2*step, x1.rows(), x1.cols()*3) = in[i] * x1.rowwise().replicate(3); - } -}; - -template -struct redux { - EIGEN_DEVICE_FUNC - void operator()(int i, const typename T::Scalar* in, typename T::Scalar* out) const - { - using namespace Eigen; - int N = 10; - T x1(in+i); - out[i*N+0] = x1.minCoeff(); - out[i*N+1] = x1.maxCoeff(); - out[i*N+2] = x1.sum(); - out[i*N+3] = x1.prod(); - out[i*N+4] = x1.matrix().squaredNorm(); - out[i*N+5] = x1.matrix().norm(); - out[i*N+6] = x1.colwise().sum().maxCoeff(); - out[i*N+7] = x1.rowwise().maxCoeff().sum(); - out[i*N+8] = x1.matrix().colwise().squaredNorm().sum(); - } -}; - -template -struct prod_test { - EIGEN_DEVICE_FUNC - void operator()(int i, const typename T1::Scalar* in, typename T1::Scalar* out) const - { - using namespace Eigen; - typedef Matrix T3; - T1 x1(in+i); - T2 x2(in+i+1); - Map res(out+i*T3::MaxSizeAtCompileTime); - res += in[i] * x1 * x2; - } -}; - -template -struct diagonal { - EIGEN_DEVICE_FUNC - void operator()(int i, const typename T1::Scalar* in, typename T1::Scalar* out) const - { - using namespace Eigen; - T1 x1(in+i); - Map res(out+i*T2::MaxSizeAtCompileTime); - res += x1.diagonal(); - } -}; - -template -struct eigenvalues { - EIGEN_DEVICE_FUNC - void operator()(int i, const typename T::Scalar* in, typename T::Scalar* out) const - { - using namespace Eigen; - typedef Matrix Vec; - T M(in+i); - Map res(out+i*Vec::MaxSizeAtCompileTime); - T A = M*M.adjoint(); - SelfAdjointEigenSolver eig; - eig.computeDirect(M); - res = eig.eigenvalues(); - } -}; - -void test_cuda_basic() -{ - ei_test_init_cuda(); - - int nthreads = 100; - Eigen::VectorXf in, out; - - #ifndef __CUDA_ARCH__ - int data_size = nthreads * 512; - in.setRandom(data_size); - out.setRandom(data_size); - #endif - - CALL_SUBTEST( run_and_compare_to_cuda(coeff_wise(), nthreads, in, out) ); - CALL_SUBTEST( run_and_compare_to_cuda(coeff_wise(), nthreads, in, out) ); - - CALL_SUBTEST( run_and_compare_to_cuda(replicate(), nthreads, in, out) ); - CALL_SUBTEST( run_and_compare_to_cuda(replicate(), nthreads, in, out) ); - - CALL_SUBTEST( run_and_compare_to_cuda(redux(), nthreads, in, out) ); - CALL_SUBTEST( run_and_compare_to_cuda(redux(), nthreads, in, out) ); - - CALL_SUBTEST( run_and_compare_to_cuda(prod_test(), nthreads, in, out) ); - CALL_SUBTEST( run_and_compare_to_cuda(prod_test(), nthreads, in, out) ); - - CALL_SUBTEST( run_and_compare_to_cuda(diagonal(), nthreads, in, out) ); - CALL_SUBTEST( run_and_compare_to_cuda(diagonal(), nthreads, in, out) ); - - CALL_SUBTEST( run_and_compare_to_cuda(eigenvalues(), nthreads, in, out) ); - CALL_SUBTEST( run_and_compare_to_cuda(eigenvalues(), nthreads, in, out) ); - -} diff --git a/testbed/nanogui/ext/eigen/test/cuda_common.h b/testbed/nanogui/ext/eigen/test/cuda_common.h deleted file mode 100644 index 9737693a..00000000 --- a/testbed/nanogui/ext/eigen/test/cuda_common.h +++ /dev/null @@ -1,101 +0,0 @@ - -#ifndef EIGEN_TEST_CUDA_COMMON_H -#define EIGEN_TEST_CUDA_COMMON_H - -#include -#include -#include -#include - -#ifndef __CUDACC__ -dim3 threadIdx, blockDim, blockIdx; -#endif - -template -void run_on_cpu(const Kernel& ker, int n, const Input& in, Output& out) -{ - for(int i=0; i -__global__ -void run_on_cuda_meta_kernel(const Kernel ker, int n, const Input* in, Output* out) -{ - int i = threadIdx.x + blockIdx.x*blockDim.x; - if(i -void run_on_cuda(const Kernel& ker, int n, const Input& in, Output& out) -{ - typename Input::Scalar* d_in; - typename Output::Scalar* d_out; - std::ptrdiff_t in_bytes = in.size() * sizeof(typename Input::Scalar); - std::ptrdiff_t out_bytes = out.size() * sizeof(typename Output::Scalar); - - cudaMalloc((void**)(&d_in), in_bytes); - cudaMalloc((void**)(&d_out), out_bytes); - - cudaMemcpy(d_in, in.data(), in_bytes, cudaMemcpyHostToDevice); - cudaMemcpy(d_out, out.data(), out_bytes, cudaMemcpyHostToDevice); - - // Simple and non-optimal 1D mapping assuming n is not too large - // That's only for unit testing! - dim3 Blocks(128); - dim3 Grids( (n+int(Blocks.x)-1)/int(Blocks.x) ); - - cudaThreadSynchronize(); - run_on_cuda_meta_kernel<<>>(ker, n, d_in, d_out); - cudaThreadSynchronize(); - - // check inputs have not been modified - cudaMemcpy(const_cast(in.data()), d_in, in_bytes, cudaMemcpyDeviceToHost); - cudaMemcpy(out.data(), d_out, out_bytes, cudaMemcpyDeviceToHost); - - cudaFree(d_in); - cudaFree(d_out); -} - - -template -void run_and_compare_to_cuda(const Kernel& ker, int n, const Input& in, Output& out) -{ - Input in_ref, in_cuda; - Output out_ref, out_cuda; - #ifndef __CUDA_ARCH__ - in_ref = in_cuda = in; - out_ref = out_cuda = out; - #endif - run_on_cpu (ker, n, in_ref, out_ref); - run_on_cuda(ker, n, in_cuda, out_cuda); - #ifndef __CUDA_ARCH__ - VERIFY_IS_APPROX(in_ref, in_cuda); - VERIFY_IS_APPROX(out_ref, out_cuda); - #endif -} - - -void ei_test_init_cuda() -{ - int device = 0; - cudaDeviceProp deviceProp; - cudaGetDeviceProperties(&deviceProp, device); - std::cout << "CUDA device info:\n"; - std::cout << " name: " << deviceProp.name << "\n"; - std::cout << " capability: " << deviceProp.major << "." << deviceProp.minor << "\n"; - std::cout << " multiProcessorCount: " << deviceProp.multiProcessorCount << "\n"; - std::cout << " maxThreadsPerMultiProcessor: " << deviceProp.maxThreadsPerMultiProcessor << "\n"; - std::cout << " warpSize: " << deviceProp.warpSize << "\n"; - std::cout << " regsPerBlock: " << deviceProp.regsPerBlock << "\n"; - std::cout << " concurrentKernels: " << deviceProp.concurrentKernels << "\n"; - std::cout << " clockRate: " << deviceProp.clockRate << "\n"; - std::cout << " canMapHostMemory: " << deviceProp.canMapHostMemory << "\n"; - std::cout << " computeMode: " << deviceProp.computeMode << "\n"; -} - -#endif // EIGEN_TEST_CUDA_COMMON_H diff --git a/testbed/nanogui/ext/eigen/test/denseLM.cpp b/testbed/nanogui/ext/eigen/test/denseLM.cpp deleted file mode 100644 index 0aa736ea..00000000 --- a/testbed/nanogui/ext/eigen/test/denseLM.cpp +++ /dev/null @@ -1,190 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Desire Nuentsa -// Copyright (C) 2012 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include -#include -#include - -#include "main.h" -#include -using namespace std; -using namespace Eigen; - -template -struct DenseLM : DenseFunctor -{ - typedef DenseFunctor Base; - typedef typename Base::JacobianType JacobianType; - typedef Matrix VectorType; - - DenseLM(int n, int m) : DenseFunctor(n,m) - { } - - VectorType model(const VectorType& uv, VectorType& x) - { - VectorType y; // Should change to use expression template - int m = Base::values(); - int n = Base::inputs(); - eigen_assert(uv.size()%2 == 0); - eigen_assert(uv.size() == n); - eigen_assert(x.size() == m); - y.setZero(m); - int half = n/2; - VectorBlock u(uv, 0, half); - VectorBlock v(uv, half, half); - for (int j = 0; j < m; j++) - { - for (int i = 0; i < half; i++) - y(j) += u(i)*std::exp(-(x(j)-i)*(x(j)-i)/(v(i)*v(i))); - } - return y; - - } - void initPoints(VectorType& uv_ref, VectorType& x) - { - m_x = x; - m_y = this->model(uv_ref, x); - } - - int operator()(const VectorType& uv, VectorType& fvec) - { - - int m = Base::values(); - int n = Base::inputs(); - eigen_assert(uv.size()%2 == 0); - eigen_assert(uv.size() == n); - eigen_assert(fvec.size() == m); - int half = n/2; - VectorBlock u(uv, 0, half); - VectorBlock v(uv, half, half); - for (int j = 0; j < m; j++) - { - fvec(j) = m_y(j); - for (int i = 0; i < half; i++) - { - fvec(j) -= u(i) *std::exp(-(m_x(j)-i)*(m_x(j)-i)/(v(i)*v(i))); - } - } - - return 0; - } - int df(const VectorType& uv, JacobianType& fjac) - { - int m = Base::values(); - int n = Base::inputs(); - eigen_assert(n == uv.size()); - eigen_assert(fjac.rows() == m); - eigen_assert(fjac.cols() == n); - int half = n/2; - VectorBlock u(uv, 0, half); - VectorBlock v(uv, half, half); - for (int j = 0; j < m; j++) - { - for (int i = 0; i < half; i++) - { - fjac.coeffRef(j,i) = -std::exp(-(m_x(j)-i)*(m_x(j)-i)/(v(i)*v(i))); - fjac.coeffRef(j,i+half) = -2.*u(i)*(m_x(j)-i)*(m_x(j)-i)/(std::pow(v(i),3)) * std::exp(-(m_x(j)-i)*(m_x(j)-i)/(v(i)*v(i))); - } - } - return 0; - } - VectorType m_x, m_y; //Data Points -}; - -template -int test_minimizeLM(FunctorType& functor, VectorType& uv) -{ - LevenbergMarquardt lm(functor); - LevenbergMarquardtSpace::Status info; - - info = lm.minimize(uv); - - VERIFY_IS_EQUAL(info, 1); - //FIXME Check other parameters - return info; -} - -template -int test_lmder(FunctorType& functor, VectorType& uv) -{ - typedef typename VectorType::Scalar Scalar; - LevenbergMarquardtSpace::Status info; - LevenbergMarquardt lm(functor); - info = lm.lmder1(uv); - - VERIFY_IS_EQUAL(info, 1); - //FIXME Check other parameters - return info; -} - -template -int test_minimizeSteps(FunctorType& functor, VectorType& uv) -{ - LevenbergMarquardtSpace::Status info; - LevenbergMarquardt lm(functor); - info = lm.minimizeInit(uv); - if (info==LevenbergMarquardtSpace::ImproperInputParameters) - return info; - do - { - info = lm.minimizeOneStep(uv); - } while (info==LevenbergMarquardtSpace::Running); - - VERIFY_IS_EQUAL(info, 1); - //FIXME Check other parameters - return info; -} - -template -void test_denseLM_T() -{ - typedef Matrix VectorType; - - int inputs = 10; - int values = 1000; - DenseLM dense_gaussian(inputs, values); - VectorType uv(inputs),uv_ref(inputs); - VectorType x(values); - - // Generate the reference solution - uv_ref << -2, 1, 4 ,8, 6, 1.8, 1.2, 1.1, 1.9 , 3; - - //Generate the reference data points - x.setRandom(); - x = 10*x; - x.array() += 10; - dense_gaussian.initPoints(uv_ref, x); - - // Generate the initial parameters - VectorBlock u(uv, 0, inputs/2); - VectorBlock v(uv, inputs/2, inputs/2); - - // Solve the optimization problem - - //Solve in one go - u.setOnes(); v.setOnes(); - test_minimizeLM(dense_gaussian, uv); - - //Solve until the machine precision - u.setOnes(); v.setOnes(); - test_lmder(dense_gaussian, uv); - - // Solve step by step - v.setOnes(); u.setOnes(); - test_minimizeSteps(dense_gaussian, uv); - -} - -void test_denseLM() -{ - CALL_SUBTEST_2(test_denseLM_T()); - - // CALL_SUBTEST_2(test_sparseLM_T()); -} diff --git a/testbed/nanogui/ext/eigen/test/dense_storage.cpp b/testbed/nanogui/ext/eigen/test/dense_storage.cpp deleted file mode 100644 index e63712b1..00000000 --- a/testbed/nanogui/ext/eigen/test/dense_storage.cpp +++ /dev/null @@ -1,76 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2013 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include - -template -void dense_storage_copy() -{ - static const int Size = ((Rows==Dynamic || Cols==Dynamic) ? Dynamic : Rows*Cols); - typedef DenseStorage DenseStorageType; - - const int rows = (Rows==Dynamic) ? 4 : Rows; - const int cols = (Cols==Dynamic) ? 3 : Cols; - const int size = rows*cols; - DenseStorageType reference(size, rows, cols); - T* raw_reference = reference.data(); - for (int i=0; i(i); - - DenseStorageType copied_reference(reference); - const T* raw_copied_reference = copied_reference.data(); - for (int i=0; i -void dense_storage_assignment() -{ - static const int Size = ((Rows==Dynamic || Cols==Dynamic) ? Dynamic : Rows*Cols); - typedef DenseStorage DenseStorageType; - - const int rows = (Rows==Dynamic) ? 4 : Rows; - const int cols = (Cols==Dynamic) ? 3 : Cols; - const int size = rows*cols; - DenseStorageType reference(size, rows, cols); - T* raw_reference = reference.data(); - for (int i=0; i(i); - - DenseStorageType copied_reference; - copied_reference = reference; - const T* raw_copied_reference = copied_reference.data(); - for (int i=0; i(); - dense_storage_copy(); - dense_storage_copy(); - dense_storage_copy(); - - dense_storage_copy(); - dense_storage_copy(); - dense_storage_copy(); - dense_storage_copy(); - - dense_storage_assignment(); - dense_storage_assignment(); - dense_storage_assignment(); - dense_storage_assignment(); - - dense_storage_assignment(); - dense_storage_assignment(); - dense_storage_assignment(); - dense_storage_assignment(); -} diff --git a/testbed/nanogui/ext/eigen/test/determinant.cpp b/testbed/nanogui/ext/eigen/test/determinant.cpp deleted file mode 100644 index 758f3afb..00000000 --- a/testbed/nanogui/ext/eigen/test/determinant.cpp +++ /dev/null @@ -1,67 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void determinant(const MatrixType& m) -{ - /* this test covers the following files: - Determinant.h - */ - typedef typename MatrixType::Index Index; - Index size = m.rows(); - - MatrixType m1(size, size), m2(size, size); - m1.setRandom(); - m2.setRandom(); - typedef typename MatrixType::Scalar Scalar; - Scalar x = internal::random(); - VERIFY_IS_APPROX(MatrixType::Identity(size, size).determinant(), Scalar(1)); - VERIFY_IS_APPROX((m1*m2).eval().determinant(), m1.determinant() * m2.determinant()); - if(size==1) return; - Index i = internal::random(0, size-1); - Index j; - do { - j = internal::random(0, size-1); - } while(j==i); - m2 = m1; - m2.row(i).swap(m2.row(j)); - VERIFY_IS_APPROX(m2.determinant(), -m1.determinant()); - m2 = m1; - m2.col(i).swap(m2.col(j)); - VERIFY_IS_APPROX(m2.determinant(), -m1.determinant()); - VERIFY_IS_APPROX(m2.determinant(), m2.transpose().determinant()); - VERIFY_IS_APPROX(numext::conj(m2.determinant()), m2.adjoint().determinant()); - m2 = m1; - m2.row(i) += x*m2.row(j); - VERIFY_IS_APPROX(m2.determinant(), m1.determinant()); - m2 = m1; - m2.row(i) *= x; - VERIFY_IS_APPROX(m2.determinant(), m1.determinant() * x); - - // check empty matrix - VERIFY_IS_APPROX(m2.block(0,0,0,0).determinant(), Scalar(1)); -} - -void test_determinant() -{ - for(int i = 0; i < g_repeat; i++) { - int s = 0; - CALL_SUBTEST_1( determinant(Matrix()) ); - CALL_SUBTEST_2( determinant(Matrix()) ); - CALL_SUBTEST_3( determinant(Matrix()) ); - CALL_SUBTEST_4( determinant(Matrix()) ); - CALL_SUBTEST_5( determinant(Matrix, 10, 10>()) ); - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_6( determinant(MatrixXd(s, s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } -} diff --git a/testbed/nanogui/ext/eigen/test/diagonal.cpp b/testbed/nanogui/ext/eigen/test/diagonal.cpp deleted file mode 100644 index c1546e97..00000000 --- a/testbed/nanogui/ext/eigen/test/diagonal.cpp +++ /dev/null @@ -1,101 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void diagonal(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols); - - Scalar s1 = internal::random(); - - //check diagonal() - VERIFY_IS_APPROX(m1.diagonal(), m1.transpose().diagonal()); - m2.diagonal() = 2 * m1.diagonal(); - m2.diagonal()[0] *= 3; - - if (rows>2) - { - enum { - N1 = MatrixType::RowsAtCompileTime>2 ? 2 : 0, - N2 = MatrixType::RowsAtCompileTime>1 ? -1 : 0 - }; - - // check sub/super diagonal - if(MatrixType::SizeAtCompileTime!=Dynamic) - { - VERIFY(m1.template diagonal().RowsAtCompileTime == m1.diagonal(N1).size()); - VERIFY(m1.template diagonal().RowsAtCompileTime == m1.diagonal(N2).size()); - } - - m2.template diagonal() = 2 * m1.template diagonal(); - VERIFY_IS_APPROX(m2.template diagonal(), static_cast(2) * m1.diagonal(N1)); - m2.template diagonal()[0] *= 3; - VERIFY_IS_APPROX(m2.template diagonal()[0], static_cast(6) * m1.template diagonal()[0]); - - - m2.template diagonal() = 2 * m1.template diagonal(); - m2.template diagonal()[0] *= 3; - VERIFY_IS_APPROX(m2.template diagonal()[0], static_cast(6) * m1.template diagonal()[0]); - - m2.diagonal(N1) = 2 * m1.diagonal(N1); - VERIFY_IS_APPROX(m2.template diagonal(), static_cast(2) * m1.diagonal(N1)); - m2.diagonal(N1)[0] *= 3; - VERIFY_IS_APPROX(m2.diagonal(N1)[0], static_cast(6) * m1.diagonal(N1)[0]); - - m2.diagonal(N2) = 2 * m1.diagonal(N2); - VERIFY_IS_APPROX(m2.template diagonal(), static_cast(2) * m1.diagonal(N2)); - m2.diagonal(N2)[0] *= 3; - VERIFY_IS_APPROX(m2.diagonal(N2)[0], static_cast(6) * m1.diagonal(N2)[0]); - - m2.diagonal(N2).x() = s1; - VERIFY_IS_APPROX(m2.diagonal(N2).x(), s1); - m2.diagonal(N2).coeffRef(0) = Scalar(2)*s1; - VERIFY_IS_APPROX(m2.diagonal(N2).coeff(0), Scalar(2)*s1); - } -} - -template void diagonal_assert(const MatrixType& m) { - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols); - - if (rows>=2 && cols>=2) - { - VERIFY_RAISES_ASSERT( m1 += m1.diagonal() ); - VERIFY_RAISES_ASSERT( m1 -= m1.diagonal() ); - VERIFY_RAISES_ASSERT( m1.array() *= m1.diagonal().array() ); - VERIFY_RAISES_ASSERT( m1.array() /= m1.diagonal().array() ); - } -} - -void test_diagonal() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( diagonal(Matrix()) ); - CALL_SUBTEST_1( diagonal(Matrix()) ); - CALL_SUBTEST_1( diagonal(Matrix()) ); - CALL_SUBTEST_2( diagonal(Matrix4d()) ); - CALL_SUBTEST_2( diagonal(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_2( diagonal(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_2( diagonal(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_1( diagonal(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_1( diagonal(Matrix(3, 4)) ); - } - - CALL_SUBTEST_1( diagonal_assert(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); -} diff --git a/testbed/nanogui/ext/eigen/test/diagonalmatrices.cpp b/testbed/nanogui/ext/eigen/test/diagonalmatrices.cpp deleted file mode 100644 index cd6dc8cf..00000000 --- a/testbed/nanogui/ext/eigen/test/diagonalmatrices.cpp +++ /dev/null @@ -1,129 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -using namespace std; -template void diagonalmatrices(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime }; - typedef Matrix VectorType; - typedef Matrix RowVectorType; - typedef Matrix SquareMatrixType; - typedef Matrix DynMatrixType; - typedef DiagonalMatrix LeftDiagonalMatrix; - typedef DiagonalMatrix RightDiagonalMatrix; - typedef Matrix BigMatrix; - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols); - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows); - RowVectorType rv1 = RowVectorType::Random(cols), - rv2 = RowVectorType::Random(cols); - LeftDiagonalMatrix ldm1(v1), ldm2(v2); - RightDiagonalMatrix rdm1(rv1), rdm2(rv2); - - Scalar s1 = internal::random(); - - SquareMatrixType sq_m1 (v1.asDiagonal()); - VERIFY_IS_APPROX(sq_m1, v1.asDiagonal().toDenseMatrix()); - sq_m1 = v1.asDiagonal(); - VERIFY_IS_APPROX(sq_m1, v1.asDiagonal().toDenseMatrix()); - SquareMatrixType sq_m2 = v1.asDiagonal(); - VERIFY_IS_APPROX(sq_m1, sq_m2); - - ldm1 = v1.asDiagonal(); - LeftDiagonalMatrix ldm3(v1); - VERIFY_IS_APPROX(ldm1.diagonal(), ldm3.diagonal()); - LeftDiagonalMatrix ldm4 = v1.asDiagonal(); - VERIFY_IS_APPROX(ldm1.diagonal(), ldm4.diagonal()); - - sq_m1.block(0,0,rows,rows) = ldm1; - VERIFY_IS_APPROX(sq_m1, ldm1.toDenseMatrix()); - sq_m1.transpose() = ldm1; - VERIFY_IS_APPROX(sq_m1, ldm1.toDenseMatrix()); - - Index i = internal::random(0, rows-1); - Index j = internal::random(0, cols-1); - - VERIFY_IS_APPROX( ((ldm1 * m1)(i,j)) , ldm1.diagonal()(i) * m1(i,j) ); - VERIFY_IS_APPROX( ((ldm1 * (m1+m2))(i,j)) , ldm1.diagonal()(i) * (m1+m2)(i,j) ); - VERIFY_IS_APPROX( ((m1 * rdm1)(i,j)) , rdm1.diagonal()(j) * m1(i,j) ); - VERIFY_IS_APPROX( ((v1.asDiagonal() * m1)(i,j)) , v1(i) * m1(i,j) ); - VERIFY_IS_APPROX( ((m1 * rv1.asDiagonal())(i,j)) , rv1(j) * m1(i,j) ); - VERIFY_IS_APPROX( (((v1+v2).asDiagonal() * m1)(i,j)) , (v1+v2)(i) * m1(i,j) ); - VERIFY_IS_APPROX( (((v1+v2).asDiagonal() * (m1+m2))(i,j)) , (v1+v2)(i) * (m1+m2)(i,j) ); - VERIFY_IS_APPROX( ((m1 * (rv1+rv2).asDiagonal())(i,j)) , (rv1+rv2)(j) * m1(i,j) ); - VERIFY_IS_APPROX( (((m1+m2) * (rv1+rv2).asDiagonal())(i,j)) , (rv1+rv2)(j) * (m1+m2)(i,j) ); - - if(rows>1) - { - DynMatrixType tmp = m1.topRows(rows/2), res; - VERIFY_IS_APPROX( (res = m1.topRows(rows/2) * rv1.asDiagonal()), tmp * rv1.asDiagonal() ); - VERIFY_IS_APPROX( (res = v1.head(rows/2).asDiagonal()*m1.topRows(rows/2)), v1.head(rows/2).asDiagonal()*tmp ); - } - - BigMatrix big; - big.setZero(2*rows, 2*cols); - - big.block(i,j,rows,cols) = m1; - big.block(i,j,rows,cols) = v1.asDiagonal() * big.block(i,j,rows,cols); - - VERIFY_IS_APPROX((big.block(i,j,rows,cols)) , v1.asDiagonal() * m1 ); - - big.block(i,j,rows,cols) = m1; - big.block(i,j,rows,cols) = big.block(i,j,rows,cols) * rv1.asDiagonal(); - VERIFY_IS_APPROX((big.block(i,j,rows,cols)) , m1 * rv1.asDiagonal() ); - - - // scalar multiple - VERIFY_IS_APPROX(LeftDiagonalMatrix(ldm1*s1).diagonal(), ldm1.diagonal() * s1); - VERIFY_IS_APPROX(LeftDiagonalMatrix(s1*ldm1).diagonal(), s1 * ldm1.diagonal()); - - VERIFY_IS_APPROX(m1 * (rdm1 * s1), (m1 * rdm1) * s1); - VERIFY_IS_APPROX(m1 * (s1 * rdm1), (m1 * rdm1) * s1); - - // Diagonal to dense - sq_m1.setRandom(); - sq_m2 = sq_m1; - VERIFY_IS_APPROX( (sq_m1 += (s1*v1).asDiagonal()), sq_m2 += (s1*v1).asDiagonal().toDenseMatrix() ); - VERIFY_IS_APPROX( (sq_m1 -= (s1*v1).asDiagonal()), sq_m2 -= (s1*v1).asDiagonal().toDenseMatrix() ); - VERIFY_IS_APPROX( (sq_m1 = (s1*v1).asDiagonal()), (s1*v1).asDiagonal().toDenseMatrix() ); -} - -template -void bug987() -{ - Matrix3Xd points = Matrix3Xd::Random(3, 3); - Vector2d diag = Vector2d::Random(); - Matrix2Xd tmp1 = points.topRows<2>(), res1, res2; - VERIFY_IS_APPROX( res1 = diag.asDiagonal() * points.topRows<2>(), res2 = diag.asDiagonal() * tmp1 ); - Matrix2d tmp2 = points.topLeftCorner<2,2>(); - VERIFY_IS_APPROX(( res1 = points.topLeftCorner<2,2>()*diag.asDiagonal()) , res2 = tmp2*diag.asDiagonal() ); -} - -void test_diagonalmatrices() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( diagonalmatrices(Matrix()) ); - CALL_SUBTEST_2( diagonalmatrices(Matrix3f()) ); - CALL_SUBTEST_3( diagonalmatrices(Matrix()) ); - CALL_SUBTEST_4( diagonalmatrices(Matrix4d()) ); - CALL_SUBTEST_5( diagonalmatrices(Matrix()) ); - CALL_SUBTEST_6( diagonalmatrices(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_7( diagonalmatrices(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_8( diagonalmatrices(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_9( diagonalmatrices(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - CALL_SUBTEST_10( bug987<0>() ); -} diff --git a/testbed/nanogui/ext/eigen/test/dontalign.cpp b/testbed/nanogui/ext/eigen/test/dontalign.cpp deleted file mode 100644 index 4643cfed..00000000 --- a/testbed/nanogui/ext/eigen/test/dontalign.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#if defined EIGEN_TEST_PART_1 || defined EIGEN_TEST_PART_2 || defined EIGEN_TEST_PART_3 || defined EIGEN_TEST_PART_4 -#define EIGEN_DONT_ALIGN -#elif defined EIGEN_TEST_PART_5 || defined EIGEN_TEST_PART_6 || defined EIGEN_TEST_PART_7 || defined EIGEN_TEST_PART_8 -#define EIGEN_DONT_ALIGN_STATICALLY -#endif - -#include "main.h" -#include - -template -void dontalign(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - typedef Matrix SquareMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType a = MatrixType::Random(rows,cols); - SquareMatrixType square = SquareMatrixType::Random(rows,rows); - VectorType v = VectorType::Random(rows); - - VERIFY_IS_APPROX(v, square * square.colPivHouseholderQr().solve(v)); - square = square.inverse().eval(); - a = square * a; - square = square*square; - v = square * v; - v = a.adjoint() * v; - VERIFY(square.determinant() != Scalar(0)); - - // bug 219: MapAligned() was giving an assert with EIGEN_DONT_ALIGN, because Map Flags were miscomputed - Scalar* array = internal::aligned_new(rows); - v = VectorType::MapAligned(array, rows); - internal::aligned_delete(array, rows); -} - -void test_dontalign() -{ -#if defined EIGEN_TEST_PART_1 || defined EIGEN_TEST_PART_5 - dontalign(Matrix3d()); - dontalign(Matrix4f()); -#elif defined EIGEN_TEST_PART_2 || defined EIGEN_TEST_PART_6 - dontalign(Matrix3cd()); - dontalign(Matrix4cf()); -#elif defined EIGEN_TEST_PART_3 || defined EIGEN_TEST_PART_7 - dontalign(Matrix()); - dontalign(Matrix, 32, 32>()); -#elif defined EIGEN_TEST_PART_4 || defined EIGEN_TEST_PART_8 - dontalign(MatrixXd(32, 32)); - dontalign(MatrixXcf(32, 32)); -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/dynalloc.cpp b/testbed/nanogui/ext/eigen/test/dynalloc.cpp deleted file mode 100644 index f1cc70be..00000000 --- a/testbed/nanogui/ext/eigen/test/dynalloc.cpp +++ /dev/null @@ -1,175 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#if EIGEN_MAX_ALIGN_BYTES>0 -#define ALIGNMENT EIGEN_MAX_ALIGN_BYTES -#else -#define ALIGNMENT 1 -#endif - -typedef Matrix Vector8f; - -void check_handmade_aligned_malloc() -{ - for(int i = 1; i < 1000; i++) - { - char *p = (char*)internal::handmade_aligned_malloc(i); - VERIFY(internal::UIntPtr(p)%ALIGNMENT==0); - // if the buffer is wrongly allocated this will give a bad write --> check with valgrind - for(int j = 0; j < i; j++) p[j]=0; - internal::handmade_aligned_free(p); - } -} - -void check_aligned_malloc() -{ - for(int i = ALIGNMENT; i < 1000; i++) - { - char *p = (char*)internal::aligned_malloc(i); - VERIFY(internal::UIntPtr(p)%ALIGNMENT==0); - // if the buffer is wrongly allocated this will give a bad write --> check with valgrind - for(int j = 0; j < i; j++) p[j]=0; - internal::aligned_free(p); - } -} - -void check_aligned_new() -{ - for(int i = ALIGNMENT; i < 1000; i++) - { - float *p = internal::aligned_new(i); - VERIFY(internal::UIntPtr(p)%ALIGNMENT==0); - // if the buffer is wrongly allocated this will give a bad write --> check with valgrind - for(int j = 0; j < i; j++) p[j]=0; - internal::aligned_delete(p,i); - } -} - -void check_aligned_stack_alloc() -{ - for(int i = ALIGNMENT; i < 400; i++) - { - ei_declare_aligned_stack_constructed_variable(float,p,i,0); - VERIFY(internal::UIntPtr(p)%ALIGNMENT==0); - // if the buffer is wrongly allocated this will give a bad write --> check with valgrind - for(int j = 0; j < i; j++) p[j]=0; - } -} - - -// test compilation with both a struct and a class... -struct MyStruct -{ - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - char dummychar; - Vector8f avec; -}; - -class MyClassA -{ - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - char dummychar; - Vector8f avec; -}; - -template void check_dynaligned() -{ - // TODO have to be updated once we support multiple alignment values - if(T::SizeAtCompileTime % ALIGNMENT == 0) - { - T* obj = new T; - VERIFY(T::NeedsToAlign==1); - VERIFY(internal::UIntPtr(obj)%ALIGNMENT==0); - delete obj; - } -} - -template void check_custom_new_delete() -{ - { - T* t = new T; - delete t; - } - - { - std::size_t N = internal::random(1,10); - T* t = new T[N]; - delete[] t; - } - -#if EIGEN_MAX_ALIGN_BYTES>0 - { - T* t = static_cast((T::operator new)(sizeof(T))); - (T::operator delete)(t, sizeof(T)); - } - - { - T* t = static_cast((T::operator new)(sizeof(T))); - (T::operator delete)(t); - } -#endif -} - -void test_dynalloc() -{ - // low level dynamic memory allocation - CALL_SUBTEST(check_handmade_aligned_malloc()); - CALL_SUBTEST(check_aligned_malloc()); - CALL_SUBTEST(check_aligned_new()); - CALL_SUBTEST(check_aligned_stack_alloc()); - - for (int i=0; i() ); - CALL_SUBTEST( check_custom_new_delete() ); - CALL_SUBTEST( check_custom_new_delete() ); - CALL_SUBTEST( check_custom_new_delete() ); - } - - // check static allocation, who knows ? - #if EIGEN_MAX_STATIC_ALIGN_BYTES - for (int i=0; i() ); - CALL_SUBTEST(check_dynaligned() ); - CALL_SUBTEST(check_dynaligned() ); - CALL_SUBTEST(check_dynaligned() ); - CALL_SUBTEST(check_dynaligned() ); - CALL_SUBTEST(check_dynaligned() ); - } - - { - MyStruct foo0; VERIFY(internal::UIntPtr(foo0.avec.data())%ALIGNMENT==0); - MyClassA fooA; VERIFY(internal::UIntPtr(fooA.avec.data())%ALIGNMENT==0); - } - - // dynamic allocation, single object - for (int i=0; iavec.data())%ALIGNMENT==0); - MyClassA *fooA = new MyClassA(); VERIFY(internal::UIntPtr(fooA->avec.data())%ALIGNMENT==0); - delete foo0; - delete fooA; - } - - // dynamic allocation, array - const int N = 10; - for (int i=0; iavec.data())%ALIGNMENT==0); - MyClassA *fooA = new MyClassA[N]; VERIFY(internal::UIntPtr(fooA->avec.data())%ALIGNMENT==0); - delete[] foo0; - delete[] fooA; - } - #endif - -} diff --git a/testbed/nanogui/ext/eigen/test/eigen2support.cpp b/testbed/nanogui/ext/eigen/test/eigen2support.cpp deleted file mode 100644 index ad1d9809..00000000 --- a/testbed/nanogui/ext/eigen/test/eigen2support.cpp +++ /dev/null @@ -1,66 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN2_SUPPORT - -#include "main.h" - -template void eigen2support(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m3(rows, cols); - - Scalar s1 = internal::random(), - s2 = internal::random(); - - // scalar addition - VERIFY_IS_APPROX(m1.cwise() + s1, s1 + m1.cwise()); - VERIFY_IS_APPROX(m1.cwise() + s1, MatrixType::Constant(rows,cols,s1) + m1); - VERIFY_IS_APPROX((m1*Scalar(2)).cwise() - s2, (m1+m1) - MatrixType::Constant(rows,cols,s2) ); - m3 = m1; - m3.cwise() += s2; - VERIFY_IS_APPROX(m3, m1.cwise() + s2); - m3 = m1; - m3.cwise() -= s1; - VERIFY_IS_APPROX(m3, m1.cwise() - s1); - - VERIFY_IS_EQUAL((m1.corner(TopLeft,1,1)), (m1.block(0,0,1,1))); - VERIFY_IS_EQUAL((m1.template corner<1,1>(TopLeft)), (m1.template block<1,1>(0,0))); - VERIFY_IS_EQUAL((m1.col(0).start(1)), (m1.col(0).segment(0,1))); - VERIFY_IS_EQUAL((m1.col(0).template start<1>()), (m1.col(0).segment(0,1))); - VERIFY_IS_EQUAL((m1.col(0).end(1)), (m1.col(0).segment(rows-1,1))); - VERIFY_IS_EQUAL((m1.col(0).template end<1>()), (m1.col(0).segment(rows-1,1))); - - using std::cos; - using numext::real; - using numext::abs2; - VERIFY_IS_EQUAL(ei_cos(s1), cos(s1)); - VERIFY_IS_EQUAL(ei_real(s1), real(s1)); - VERIFY_IS_EQUAL(ei_abs2(s1), abs2(s1)); - - m1.minor(0,0); -} - -void test_eigen2support() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( eigen2support(Matrix()) ); - CALL_SUBTEST_2( eigen2support(MatrixXd(1,1)) ); - CALL_SUBTEST_4( eigen2support(Matrix3f()) ); - CALL_SUBTEST_5( eigen2support(Matrix4d()) ); - CALL_SUBTEST_2( eigen2support(MatrixXf(200,200)) ); - CALL_SUBTEST_6( eigen2support(MatrixXcd(100,100)) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/eigensolver_complex.cpp b/testbed/nanogui/ext/eigen/test/eigensolver_complex.cpp deleted file mode 100644 index 293b1b26..00000000 --- a/testbed/nanogui/ext/eigen/test/eigensolver_complex.cpp +++ /dev/null @@ -1,177 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// Copyright (C) 2010 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -template bool find_pivot(typename MatrixType::Scalar tol, MatrixType &diffs, Index col=0) -{ - bool match = diffs.diagonal().sum() <= tol; - if(match || col==diffs.cols()) - { - return match; - } - else - { - Index n = diffs.cols(); - std::vector > transpositions; - for(Index i=col; i tol) - break; - - best_index += col; - - diffs.row(col).swap(diffs.row(best_index)); - if(find_pivot(tol,diffs,col+1)) return true; - diffs.row(col).swap(diffs.row(best_index)); - - // move current pivot to the end - diffs.row(n-(i-col)-1).swap(diffs.row(best_index)); - transpositions.push_back(std::pair(n-(i-col)-1,best_index)); - } - // restore - for(Index k=transpositions.size()-1; k>=0; --k) - diffs.row(transpositions[k].first).swap(diffs.row(transpositions[k].second)); - } - return false; -} - -/* Check that two column vectors are approximately equal upto permutations. - * Initially, this method checked that the k-th power sums are equal for all k = 1, ..., vec1.rows(), - * however this strategy is numerically inacurate because of numerical cancellation issues. - */ -template -void verify_is_approx_upto_permutation(const VectorType& vec1, const VectorType& vec2) -{ - typedef typename VectorType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - VERIFY(vec1.cols() == 1); - VERIFY(vec2.cols() == 1); - VERIFY(vec1.rows() == vec2.rows()); - - Index n = vec1.rows(); - RealScalar tol = test_precision()*test_precision()*numext::maxi(vec1.squaredNorm(),vec2.squaredNorm()); - Matrix diffs = (vec1.rowwise().replicate(n) - vec2.rowwise().replicate(n).transpose()).cwiseAbs2(); - - VERIFY( find_pivot(tol, diffs) ); -} - - -template void eigensolver(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - /* this test covers the following files: - ComplexEigenSolver.h, and indirectly ComplexSchur.h - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - MatrixType a = MatrixType::Random(rows,cols); - MatrixType symmA = a.adjoint() * a; - - ComplexEigenSolver ei0(symmA); - VERIFY_IS_EQUAL(ei0.info(), Success); - VERIFY_IS_APPROX(symmA * ei0.eigenvectors(), ei0.eigenvectors() * ei0.eigenvalues().asDiagonal()); - - ComplexEigenSolver ei1(a); - VERIFY_IS_EQUAL(ei1.info(), Success); - VERIFY_IS_APPROX(a * ei1.eigenvectors(), ei1.eigenvectors() * ei1.eigenvalues().asDiagonal()); - // Note: If MatrixType is real then a.eigenvalues() uses EigenSolver and thus - // another algorithm so results may differ slightly - verify_is_approx_upto_permutation(a.eigenvalues(), ei1.eigenvalues()); - - ComplexEigenSolver ei2; - ei2.setMaxIterations(ComplexSchur::m_maxIterationsPerRow * rows).compute(a); - VERIFY_IS_EQUAL(ei2.info(), Success); - VERIFY_IS_EQUAL(ei2.eigenvectors(), ei1.eigenvectors()); - VERIFY_IS_EQUAL(ei2.eigenvalues(), ei1.eigenvalues()); - if (rows > 2) { - ei2.setMaxIterations(1).compute(a); - VERIFY_IS_EQUAL(ei2.info(), NoConvergence); - VERIFY_IS_EQUAL(ei2.getMaxIterations(), 1); - } - - ComplexEigenSolver eiNoEivecs(a, false); - VERIFY_IS_EQUAL(eiNoEivecs.info(), Success); - VERIFY_IS_APPROX(ei1.eigenvalues(), eiNoEivecs.eigenvalues()); - - // Regression test for issue #66 - MatrixType z = MatrixType::Zero(rows,cols); - ComplexEigenSolver eiz(z); - VERIFY((eiz.eigenvalues().cwiseEqual(0)).all()); - - MatrixType id = MatrixType::Identity(rows, cols); - VERIFY_IS_APPROX(id.operatorNorm(), RealScalar(1)); - - if (rows > 1 && rows < 20) - { - // Test matrix with NaN - a(0,0) = std::numeric_limits::quiet_NaN(); - ComplexEigenSolver eiNaN(a); - VERIFY_IS_EQUAL(eiNaN.info(), NoConvergence); - } - - // regression test for bug 1098 - { - ComplexEigenSolver eig(a.adjoint() * a); - eig.compute(a.adjoint() * a); - } - - // regression test for bug 478 - { - a.setZero(); - ComplexEigenSolver ei3(a); - VERIFY_IS_EQUAL(ei3.info(), Success); - VERIFY_IS_MUCH_SMALLER_THAN(ei3.eigenvalues().norm(),RealScalar(1)); - VERIFY((ei3.eigenvectors().transpose()*ei3.eigenvectors().transpose()).eval().isIdentity()); - } -} - -template void eigensolver_verify_assert(const MatrixType& m) -{ - ComplexEigenSolver eig; - VERIFY_RAISES_ASSERT(eig.eigenvectors()); - VERIFY_RAISES_ASSERT(eig.eigenvalues()); - - MatrixType a = MatrixType::Random(m.rows(),m.cols()); - eig.compute(a, false); - VERIFY_RAISES_ASSERT(eig.eigenvectors()); -} - -void test_eigensolver_complex() -{ - int s = 0; - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( eigensolver(Matrix4cf()) ); - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_2( eigensolver(MatrixXcd(s,s)) ); - CALL_SUBTEST_3( eigensolver(Matrix, 1, 1>()) ); - CALL_SUBTEST_4( eigensolver(Matrix3f()) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } - CALL_SUBTEST_1( eigensolver_verify_assert(Matrix4cf()) ); - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_2( eigensolver_verify_assert(MatrixXcd(s,s)) ); - CALL_SUBTEST_3( eigensolver_verify_assert(Matrix, 1, 1>()) ); - CALL_SUBTEST_4( eigensolver_verify_assert(Matrix3f()) ); - - // Test problem size constructors - CALL_SUBTEST_5(ComplexEigenSolver tmp(s)); - - TEST_SET_BUT_UNUSED_VARIABLE(s) -} diff --git a/testbed/nanogui/ext/eigen/test/eigensolver_generalized_real.cpp b/testbed/nanogui/ext/eigen/test/eigensolver_generalized_real.cpp deleted file mode 100644 index 9c0838ba..00000000 --- a/testbed/nanogui/ext/eigen/test/eigensolver_generalized_real.cpp +++ /dev/null @@ -1,97 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012-2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_RUNTIME_NO_MALLOC -#include "main.h" -#include -#include -#include - -template void generalized_eigensolver_real(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - /* this test covers the following files: - GeneralizedEigenSolver.h - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef std::complex ComplexScalar; - typedef Matrix VectorType; - - MatrixType a = MatrixType::Random(rows,cols); - MatrixType b = MatrixType::Random(rows,cols); - MatrixType a1 = MatrixType::Random(rows,cols); - MatrixType b1 = MatrixType::Random(rows,cols); - MatrixType spdA = a.adjoint() * a + a1.adjoint() * a1; - MatrixType spdB = b.adjoint() * b + b1.adjoint() * b1; - - // lets compare to GeneralizedSelfAdjointEigenSolver - { - GeneralizedSelfAdjointEigenSolver symmEig(spdA, spdB); - GeneralizedEigenSolver eig(spdA, spdB); - - VERIFY_IS_EQUAL(eig.eigenvalues().imag().cwiseAbs().maxCoeff(), 0); - - VectorType realEigenvalues = eig.eigenvalues().real(); - std::sort(realEigenvalues.data(), realEigenvalues.data()+realEigenvalues.size()); - VERIFY_IS_APPROX(realEigenvalues, symmEig.eigenvalues()); - - // check eigenvectors - typename GeneralizedEigenSolver::EigenvectorsType D = eig.eigenvalues().asDiagonal(); - typename GeneralizedEigenSolver::EigenvectorsType V = eig.eigenvectors(); - VERIFY_IS_APPROX(spdA*V, spdB*V*D); - } - - // non symmetric case: - { - GeneralizedEigenSolver eig(rows); - // TODO enable full-prealocation of required memory, this probably requires an in-place mode for HessenbergDecomposition - //Eigen::internal::set_is_malloc_allowed(false); - eig.compute(a,b); - //Eigen::internal::set_is_malloc_allowed(true); - for(Index k=0; k tmp = (eig.betas()(k)*a).template cast() - eig.alphas()(k)*b; - if(tmp.size()>1 && tmp.norm()>(std::numeric_limits::min)()) - tmp /= tmp.norm(); - VERIFY_IS_MUCH_SMALLER_THAN( std::abs(tmp.determinant()), Scalar(1) ); - } - // check eigenvectors - typename GeneralizedEigenSolver::EigenvectorsType D = eig.eigenvalues().asDiagonal(); - typename GeneralizedEigenSolver::EigenvectorsType V = eig.eigenvectors(); - VERIFY_IS_APPROX(a*V, b*V*D); - } - - // regression test for bug 1098 - { - GeneralizedSelfAdjointEigenSolver eig1(a.adjoint() * a,b.adjoint() * b); - eig1.compute(a.adjoint() * a,b.adjoint() * b); - GeneralizedEigenSolver eig2(a.adjoint() * a,b.adjoint() * b); - eig2.compute(a.adjoint() * a,b.adjoint() * b); - } -} - -void test_eigensolver_generalized_real() -{ - for(int i = 0; i < g_repeat; i++) { - int s = 0; - CALL_SUBTEST_1( generalized_eigensolver_real(Matrix4f()) ); - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_2( generalized_eigensolver_real(MatrixXd(s,s)) ); - - // some trivial but implementation-wise special cases - CALL_SUBTEST_2( generalized_eigensolver_real(MatrixXd(1,1)) ); - CALL_SUBTEST_2( generalized_eigensolver_real(MatrixXd(2,2)) ); - CALL_SUBTEST_3( generalized_eigensolver_real(Matrix()) ); - CALL_SUBTEST_4( generalized_eigensolver_real(Matrix2d()) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } -} diff --git a/testbed/nanogui/ext/eigen/test/eigensolver_generic.cpp b/testbed/nanogui/ext/eigen/test/eigensolver_generic.cpp deleted file mode 100644 index d0e644d4..00000000 --- a/testbed/nanogui/ext/eigen/test/eigensolver_generic.cpp +++ /dev/null @@ -1,166 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2010,2012 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template void eigensolver(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - /* this test covers the following files: - EigenSolver.h - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix RealVectorType; - typedef typename std::complex::Real> Complex; - - MatrixType a = MatrixType::Random(rows,cols); - MatrixType a1 = MatrixType::Random(rows,cols); - MatrixType symmA = a.adjoint() * a + a1.adjoint() * a1; - - EigenSolver ei0(symmA); - VERIFY_IS_EQUAL(ei0.info(), Success); - VERIFY_IS_APPROX(symmA * ei0.pseudoEigenvectors(), ei0.pseudoEigenvectors() * ei0.pseudoEigenvalueMatrix()); - VERIFY_IS_APPROX((symmA.template cast()) * (ei0.pseudoEigenvectors().template cast()), - (ei0.pseudoEigenvectors().template cast()) * (ei0.eigenvalues().asDiagonal())); - - EigenSolver ei1(a); - VERIFY_IS_EQUAL(ei1.info(), Success); - VERIFY_IS_APPROX(a * ei1.pseudoEigenvectors(), ei1.pseudoEigenvectors() * ei1.pseudoEigenvalueMatrix()); - VERIFY_IS_APPROX(a.template cast() * ei1.eigenvectors(), - ei1.eigenvectors() * ei1.eigenvalues().asDiagonal()); - VERIFY_IS_APPROX(ei1.eigenvectors().colwise().norm(), RealVectorType::Ones(rows).transpose()); - VERIFY_IS_APPROX(a.eigenvalues(), ei1.eigenvalues()); - - EigenSolver ei2; - ei2.setMaxIterations(RealSchur::m_maxIterationsPerRow * rows).compute(a); - VERIFY_IS_EQUAL(ei2.info(), Success); - VERIFY_IS_EQUAL(ei2.eigenvectors(), ei1.eigenvectors()); - VERIFY_IS_EQUAL(ei2.eigenvalues(), ei1.eigenvalues()); - if (rows > 2) { - ei2.setMaxIterations(1).compute(a); - VERIFY_IS_EQUAL(ei2.info(), NoConvergence); - VERIFY_IS_EQUAL(ei2.getMaxIterations(), 1); - } - - EigenSolver eiNoEivecs(a, false); - VERIFY_IS_EQUAL(eiNoEivecs.info(), Success); - VERIFY_IS_APPROX(ei1.eigenvalues(), eiNoEivecs.eigenvalues()); - VERIFY_IS_APPROX(ei1.pseudoEigenvalueMatrix(), eiNoEivecs.pseudoEigenvalueMatrix()); - - MatrixType id = MatrixType::Identity(rows, cols); - VERIFY_IS_APPROX(id.operatorNorm(), RealScalar(1)); - - if (rows > 2 && rows < 20) - { - // Test matrix with NaN - a(0,0) = std::numeric_limits::quiet_NaN(); - EigenSolver eiNaN(a); - VERIFY_IS_EQUAL(eiNaN.info(), NoConvergence); - } - - // regression test for bug 1098 - { - EigenSolver eig(a.adjoint() * a); - eig.compute(a.adjoint() * a); - } - - // regression test for bug 478 - { - a.setZero(); - EigenSolver ei3(a); - VERIFY_IS_EQUAL(ei3.info(), Success); - VERIFY_IS_MUCH_SMALLER_THAN(ei3.eigenvalues().norm(),RealScalar(1)); - VERIFY((ei3.eigenvectors().transpose()*ei3.eigenvectors().transpose()).eval().isIdentity()); - } -} - -template void eigensolver_verify_assert(const MatrixType& m) -{ - EigenSolver eig; - VERIFY_RAISES_ASSERT(eig.eigenvectors()); - VERIFY_RAISES_ASSERT(eig.pseudoEigenvectors()); - VERIFY_RAISES_ASSERT(eig.pseudoEigenvalueMatrix()); - VERIFY_RAISES_ASSERT(eig.eigenvalues()); - - MatrixType a = MatrixType::Random(m.rows(),m.cols()); - eig.compute(a, false); - VERIFY_RAISES_ASSERT(eig.eigenvectors()); - VERIFY_RAISES_ASSERT(eig.pseudoEigenvectors()); -} - -void test_eigensolver_generic() -{ - int s = 0; - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( eigensolver(Matrix4f()) ); - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_2( eigensolver(MatrixXd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - // some trivial but implementation-wise tricky cases - CALL_SUBTEST_2( eigensolver(MatrixXd(1,1)) ); - CALL_SUBTEST_2( eigensolver(MatrixXd(2,2)) ); - CALL_SUBTEST_3( eigensolver(Matrix()) ); - CALL_SUBTEST_4( eigensolver(Matrix2d()) ); - } - - CALL_SUBTEST_1( eigensolver_verify_assert(Matrix4f()) ); - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_2( eigensolver_verify_assert(MatrixXd(s,s)) ); - CALL_SUBTEST_3( eigensolver_verify_assert(Matrix()) ); - CALL_SUBTEST_4( eigensolver_verify_assert(Matrix2d()) ); - - // Test problem size constructors - CALL_SUBTEST_5(EigenSolver tmp(s)); - - // regression test for bug 410 - CALL_SUBTEST_2( - { - MatrixXd A(1,1); - A(0,0) = std::sqrt(-1.); // is Not-a-Number - Eigen::EigenSolver solver(A); - VERIFY_IS_EQUAL(solver.info(), NumericalIssue); - } - ); - -#ifdef EIGEN_TEST_PART_2 - { - // regression test for bug 793 - MatrixXd a(3,3); - a << 0, 0, 1, - 1, 1, 1, - 1, 1e+200, 1; - Eigen::EigenSolver eig(a); - double scale = 1e-200; // scale to avoid overflow during the comparisons - VERIFY_IS_APPROX(a * eig.pseudoEigenvectors()*scale, eig.pseudoEigenvectors() * eig.pseudoEigenvalueMatrix()*scale); - VERIFY_IS_APPROX(a * eig.eigenvectors()*scale, eig.eigenvectors() * eig.eigenvalues().asDiagonal()*scale); - } - { - // check a case where all eigenvalues are null. - MatrixXd a(2,2); - a << 1, 1, - -1, -1; - Eigen::EigenSolver eig(a); - VERIFY_IS_APPROX(eig.pseudoEigenvectors().squaredNorm(), 2.); - VERIFY_IS_APPROX((a * eig.pseudoEigenvectors()).norm()+1., 1.); - VERIFY_IS_APPROX((eig.pseudoEigenvectors() * eig.pseudoEigenvalueMatrix()).norm()+1., 1.); - VERIFY_IS_APPROX((a * eig.eigenvectors()).norm()+1., 1.); - VERIFY_IS_APPROX((eig.eigenvectors() * eig.eigenvalues().asDiagonal()).norm()+1., 1.); - } -#endif - - TEST_SET_BUT_UNUSED_VARIABLE(s) -} diff --git a/testbed/nanogui/ext/eigen/test/eigensolver_selfadjoint.cpp b/testbed/nanogui/ext/eigen/test/eigensolver_selfadjoint.cpp deleted file mode 100644 index 39ad4130..00000000 --- a/testbed/nanogui/ext/eigen/test/eigensolver_selfadjoint.cpp +++ /dev/null @@ -1,274 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2010 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include "svd_fill.h" -#include -#include -#include - - -template void selfadjointeigensolver_essential_check(const MatrixType& m) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - RealScalar eival_eps = numext::mini(test_precision(), NumTraits::dummy_precision()*20000); - - SelfAdjointEigenSolver eiSymm(m); - VERIFY_IS_EQUAL(eiSymm.info(), Success); - - RealScalar scaling = m.cwiseAbs().maxCoeff(); - - if(scaling<(std::numeric_limits::min)()) - { - VERIFY(eiSymm.eigenvalues().cwiseAbs().maxCoeff() <= (std::numeric_limits::min)()); - } - else - { - VERIFY_IS_APPROX((m.template selfadjointView() * eiSymm.eigenvectors())/scaling, - (eiSymm.eigenvectors() * eiSymm.eigenvalues().asDiagonal())/scaling); - } - VERIFY_IS_APPROX(m.template selfadjointView().eigenvalues(), eiSymm.eigenvalues()); - VERIFY_IS_UNITARY(eiSymm.eigenvectors()); - - if(m.cols()<=4) - { - SelfAdjointEigenSolver eiDirect; - eiDirect.computeDirect(m); - VERIFY_IS_EQUAL(eiDirect.info(), Success); - if(! eiSymm.eigenvalues().isApprox(eiDirect.eigenvalues(), eival_eps) ) - { - std::cerr << "reference eigenvalues: " << eiSymm.eigenvalues().transpose() << "\n" - << "obtained eigenvalues: " << eiDirect.eigenvalues().transpose() << "\n" - << "diff: " << (eiSymm.eigenvalues()-eiDirect.eigenvalues()).transpose() << "\n" - << "error (eps): " << (eiSymm.eigenvalues()-eiDirect.eigenvalues()).norm() / eiSymm.eigenvalues().norm() << " (" << eival_eps << ")\n"; - } - if(scaling<(std::numeric_limits::min)()) - { - VERIFY(eiDirect.eigenvalues().cwiseAbs().maxCoeff() <= (std::numeric_limits::min)()); - } - else - { - VERIFY_IS_APPROX(eiSymm.eigenvalues()/scaling, eiDirect.eigenvalues()/scaling); - VERIFY_IS_APPROX((m.template selfadjointView() * eiDirect.eigenvectors())/scaling, - (eiDirect.eigenvectors() * eiDirect.eigenvalues().asDiagonal())/scaling); - VERIFY_IS_APPROX(m.template selfadjointView().eigenvalues()/scaling, eiDirect.eigenvalues()/scaling); - } - - VERIFY_IS_UNITARY(eiDirect.eigenvectors()); - } -} - -template void selfadjointeigensolver(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - /* this test covers the following files: - EigenSolver.h, SelfAdjointEigenSolver.h (and indirectly: Tridiagonalization.h) - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - RealScalar largerEps = 10*test_precision(); - - MatrixType a = MatrixType::Random(rows,cols); - MatrixType a1 = MatrixType::Random(rows,cols); - MatrixType symmA = a.adjoint() * a + a1.adjoint() * a1; - MatrixType symmC = symmA; - - svd_fill_random(symmA,Symmetric); - - symmA.template triangularView().setZero(); - symmC.template triangularView().setZero(); - - MatrixType b = MatrixType::Random(rows,cols); - MatrixType b1 = MatrixType::Random(rows,cols); - MatrixType symmB = b.adjoint() * b + b1.adjoint() * b1; - symmB.template triangularView().setZero(); - - CALL_SUBTEST( selfadjointeigensolver_essential_check(symmA) ); - - SelfAdjointEigenSolver eiSymm(symmA); - // generalized eigen pb - GeneralizedSelfAdjointEigenSolver eiSymmGen(symmC, symmB); - - SelfAdjointEigenSolver eiSymmNoEivecs(symmA, false); - VERIFY_IS_EQUAL(eiSymmNoEivecs.info(), Success); - VERIFY_IS_APPROX(eiSymm.eigenvalues(), eiSymmNoEivecs.eigenvalues()); - - // generalized eigen problem Ax = lBx - eiSymmGen.compute(symmC, symmB,Ax_lBx); - VERIFY_IS_EQUAL(eiSymmGen.info(), Success); - VERIFY((symmC.template selfadjointView() * eiSymmGen.eigenvectors()).isApprox( - symmB.template selfadjointView() * (eiSymmGen.eigenvectors() * eiSymmGen.eigenvalues().asDiagonal()), largerEps)); - - // generalized eigen problem BAx = lx - eiSymmGen.compute(symmC, symmB,BAx_lx); - VERIFY_IS_EQUAL(eiSymmGen.info(), Success); - VERIFY((symmB.template selfadjointView() * (symmC.template selfadjointView() * eiSymmGen.eigenvectors())).isApprox( - (eiSymmGen.eigenvectors() * eiSymmGen.eigenvalues().asDiagonal()), largerEps)); - - // generalized eigen problem ABx = lx - eiSymmGen.compute(symmC, symmB,ABx_lx); - VERIFY_IS_EQUAL(eiSymmGen.info(), Success); - VERIFY((symmC.template selfadjointView() * (symmB.template selfadjointView() * eiSymmGen.eigenvectors())).isApprox( - (eiSymmGen.eigenvectors() * eiSymmGen.eigenvalues().asDiagonal()), largerEps)); - - - eiSymm.compute(symmC); - MatrixType sqrtSymmA = eiSymm.operatorSqrt(); - VERIFY_IS_APPROX(MatrixType(symmC.template selfadjointView()), sqrtSymmA*sqrtSymmA); - VERIFY_IS_APPROX(sqrtSymmA, symmC.template selfadjointView()*eiSymm.operatorInverseSqrt()); - - MatrixType id = MatrixType::Identity(rows, cols); - VERIFY_IS_APPROX(id.template selfadjointView().operatorNorm(), RealScalar(1)); - - SelfAdjointEigenSolver eiSymmUninitialized; - VERIFY_RAISES_ASSERT(eiSymmUninitialized.info()); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.eigenvalues()); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.eigenvectors()); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.operatorSqrt()); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.operatorInverseSqrt()); - - eiSymmUninitialized.compute(symmA, false); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.eigenvectors()); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.operatorSqrt()); - VERIFY_RAISES_ASSERT(eiSymmUninitialized.operatorInverseSqrt()); - - // test Tridiagonalization's methods - Tridiagonalization tridiag(symmC); - VERIFY_IS_APPROX(tridiag.diagonal(), tridiag.matrixT().diagonal()); - VERIFY_IS_APPROX(tridiag.subDiagonal(), tridiag.matrixT().template diagonal<-1>()); - Matrix T = tridiag.matrixT(); - if(rows>1 && cols>1) { - // FIXME check that upper and lower part are 0: - //VERIFY(T.topRightCorner(rows-2, cols-2).template triangularView().isZero()); - } - VERIFY_IS_APPROX(tridiag.diagonal(), T.diagonal()); - VERIFY_IS_APPROX(tridiag.subDiagonal(), T.template diagonal<1>()); - VERIFY_IS_APPROX(MatrixType(symmC.template selfadjointView()), tridiag.matrixQ() * tridiag.matrixT().eval() * MatrixType(tridiag.matrixQ()).adjoint()); - VERIFY_IS_APPROX(MatrixType(symmC.template selfadjointView()), tridiag.matrixQ() * tridiag.matrixT() * tridiag.matrixQ().adjoint()); - - // Test computation of eigenvalues from tridiagonal matrix - if(rows > 1) - { - SelfAdjointEigenSolver eiSymmTridiag; - eiSymmTridiag.computeFromTridiagonal(tridiag.matrixT().diagonal(), tridiag.matrixT().diagonal(-1), ComputeEigenvectors); - VERIFY_IS_APPROX(eiSymm.eigenvalues(), eiSymmTridiag.eigenvalues()); - VERIFY_IS_APPROX(tridiag.matrixT(), eiSymmTridiag.eigenvectors().real() * eiSymmTridiag.eigenvalues().asDiagonal() * eiSymmTridiag.eigenvectors().real().transpose()); - } - - if (rows > 1 && rows < 20) - { - // Test matrix with NaN - symmC(0,0) = std::numeric_limits::quiet_NaN(); - SelfAdjointEigenSolver eiSymmNaN(symmC); - VERIFY_IS_EQUAL(eiSymmNaN.info(), NoConvergence); - } - - // regression test for bug 1098 - { - SelfAdjointEigenSolver eig(a.adjoint() * a); - eig.compute(a.adjoint() * a); - } - - // regression test for bug 478 - { - a.setZero(); - SelfAdjointEigenSolver ei3(a); - VERIFY_IS_EQUAL(ei3.info(), Success); - VERIFY_IS_MUCH_SMALLER_THAN(ei3.eigenvalues().norm(),RealScalar(1)); - VERIFY((ei3.eigenvectors().transpose()*ei3.eigenvectors().transpose()).eval().isIdentity()); - } -} - -template -void bug_854() -{ - Matrix3d m; - m << 850.961, 51.966, 0, - 51.966, 254.841, 0, - 0, 0, 0; - selfadjointeigensolver_essential_check(m); -} - -template -void bug_1014() -{ - Matrix3d m; - m << 0.11111111111111114658, 0, 0, - 0, 0.11111111111111109107, 0, - 0, 0, 0.11111111111111107719; - selfadjointeigensolver_essential_check(m); -} - -template -void bug_1225() -{ - Matrix3d m1, m2; - m1.setRandom(); - m1 = m1*m1.transpose(); - m2 = m1.triangularView(); - SelfAdjointEigenSolver eig1(m1); - SelfAdjointEigenSolver eig2(m2.selfadjointView()); - VERIFY_IS_APPROX(eig1.eigenvalues(), eig2.eigenvalues()); -} - -template -void bug_1204() -{ - SparseMatrix A(2,2); - A.setIdentity(); - SelfAdjointEigenSolver > eig(A); -} - -void test_eigensolver_selfadjoint() -{ - int s = 0; - for(int i = 0; i < g_repeat; i++) { - // trivial test for 1x1 matrices: - CALL_SUBTEST_1( selfadjointeigensolver(Matrix())); - CALL_SUBTEST_1( selfadjointeigensolver(Matrix())); - // very important to test 3x3 and 2x2 matrices since we provide special paths for them - CALL_SUBTEST_12( selfadjointeigensolver(Matrix2f()) ); - CALL_SUBTEST_12( selfadjointeigensolver(Matrix2d()) ); - CALL_SUBTEST_13( selfadjointeigensolver(Matrix3f()) ); - CALL_SUBTEST_13( selfadjointeigensolver(Matrix3d()) ); - CALL_SUBTEST_2( selfadjointeigensolver(Matrix4d()) ); - - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_3( selfadjointeigensolver(MatrixXf(s,s)) ); - CALL_SUBTEST_4( selfadjointeigensolver(MatrixXd(s,s)) ); - CALL_SUBTEST_5( selfadjointeigensolver(MatrixXcd(s,s)) ); - CALL_SUBTEST_9( selfadjointeigensolver(Matrix,Dynamic,Dynamic,RowMajor>(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - // some trivial but implementation-wise tricky cases - CALL_SUBTEST_4( selfadjointeigensolver(MatrixXd(1,1)) ); - CALL_SUBTEST_4( selfadjointeigensolver(MatrixXd(2,2)) ); - CALL_SUBTEST_6( selfadjointeigensolver(Matrix()) ); - CALL_SUBTEST_7( selfadjointeigensolver(Matrix()) ); - } - - CALL_SUBTEST_13( bug_854<0>() ); - CALL_SUBTEST_13( bug_1014<0>() ); - CALL_SUBTEST_13( bug_1204<0>() ); - CALL_SUBTEST_13( bug_1225<0>() ); - - // Test problem size constructors - s = internal::random(1,EIGEN_TEST_MAX_SIZE/4); - CALL_SUBTEST_8(SelfAdjointEigenSolver tmp1(s)); - CALL_SUBTEST_8(Tridiagonalization tmp2(s)); - - TEST_SET_BUT_UNUSED_VARIABLE(s) -} - diff --git a/testbed/nanogui/ext/eigen/test/evaluator_common.h b/testbed/nanogui/ext/eigen/test/evaluator_common.h deleted file mode 100644 index e69de29b..00000000 diff --git a/testbed/nanogui/ext/eigen/test/evaluators.cpp b/testbed/nanogui/ext/eigen/test/evaluators.cpp deleted file mode 100644 index aed5a05a..00000000 --- a/testbed/nanogui/ext/eigen/test/evaluators.cpp +++ /dev/null @@ -1,499 +0,0 @@ - -#include "main.h" - -namespace Eigen { - - template - const Product - prod(const Lhs& lhs, const Rhs& rhs) - { - return Product(lhs,rhs); - } - - template - const Product - lazyprod(const Lhs& lhs, const Rhs& rhs) - { - return Product(lhs,rhs); - } - - template - EIGEN_STRONG_INLINE - DstXprType& copy_using_evaluator(const EigenBase &dst, const SrcXprType &src) - { - call_assignment(dst.const_cast_derived(), src.derived(), internal::assign_op()); - return dst.const_cast_derived(); - } - - template class StorageBase, typename SrcXprType> - EIGEN_STRONG_INLINE - const DstXprType& copy_using_evaluator(const NoAlias& dst, const SrcXprType &src) - { - call_assignment(dst, src.derived(), internal::assign_op()); - return dst.expression(); - } - - template - EIGEN_STRONG_INLINE - DstXprType& copy_using_evaluator(const PlainObjectBase &dst, const SrcXprType &src) - { - #ifdef EIGEN_NO_AUTOMATIC_RESIZING - eigen_assert((dst.size()==0 || (IsVectorAtCompileTime ? (dst.size() == src.size()) - : (dst.rows() == src.rows() && dst.cols() == src.cols()))) - && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined"); - #else - dst.const_cast_derived().resizeLike(src.derived()); - #endif - - call_assignment(dst.const_cast_derived(), src.derived(), internal::assign_op()); - return dst.const_cast_derived(); - } - - template - void add_assign_using_evaluator(const DstXprType& dst, const SrcXprType& src) - { - typedef typename DstXprType::Scalar Scalar; - call_assignment(const_cast(dst), src.derived(), internal::add_assign_op()); - } - - template - void subtract_assign_using_evaluator(const DstXprType& dst, const SrcXprType& src) - { - typedef typename DstXprType::Scalar Scalar; - call_assignment(const_cast(dst), src.derived(), internal::sub_assign_op()); - } - - template - void multiply_assign_using_evaluator(const DstXprType& dst, const SrcXprType& src) - { - typedef typename DstXprType::Scalar Scalar; - call_assignment(dst.const_cast_derived(), src.derived(), internal::mul_assign_op()); - } - - template - void divide_assign_using_evaluator(const DstXprType& dst, const SrcXprType& src) - { - typedef typename DstXprType::Scalar Scalar; - call_assignment(dst.const_cast_derived(), src.derived(), internal::div_assign_op()); - } - - template - void swap_using_evaluator(const DstXprType& dst, const SrcXprType& src) - { - typedef typename DstXprType::Scalar Scalar; - call_assignment(dst.const_cast_derived(), src.const_cast_derived(), internal::swap_assign_op()); - } - - namespace internal { - template class StorageBase, typename Src, typename Func> - EIGEN_DEVICE_FUNC void call_assignment(const NoAlias& dst, const Src& src, const Func& func) - { - call_assignment_no_alias(dst.expression(), src, func); - } - } - -} - -template long get_cost(const XprType& ) { return Eigen::internal::evaluator::CoeffReadCost; } - -using namespace std; - -#define VERIFY_IS_APPROX_EVALUATOR(DEST,EXPR) VERIFY_IS_APPROX(copy_using_evaluator(DEST,(EXPR)), (EXPR).eval()); -#define VERIFY_IS_APPROX_EVALUATOR2(DEST,EXPR,REF) VERIFY_IS_APPROX(copy_using_evaluator(DEST,(EXPR)), (REF).eval()); - -void test_evaluators() -{ - // Testing Matrix evaluator and Transpose - Vector2d v = Vector2d::Random(); - const Vector2d v_const(v); - Vector2d v2; - RowVector2d w; - - VERIFY_IS_APPROX_EVALUATOR(v2, v); - VERIFY_IS_APPROX_EVALUATOR(v2, v_const); - - // Testing Transpose - VERIFY_IS_APPROX_EVALUATOR(w, v.transpose()); // Transpose as rvalue - VERIFY_IS_APPROX_EVALUATOR(w, v_const.transpose()); - - copy_using_evaluator(w.transpose(), v); // Transpose as lvalue - VERIFY_IS_APPROX(w,v.transpose().eval()); - - copy_using_evaluator(w.transpose(), v_const); - VERIFY_IS_APPROX(w,v_const.transpose().eval()); - - // Testing Array evaluator - { - ArrayXXf a(2,3); - ArrayXXf b(3,2); - a << 1,2,3, 4,5,6; - const ArrayXXf a_const(a); - - VERIFY_IS_APPROX_EVALUATOR(b, a.transpose()); - - VERIFY_IS_APPROX_EVALUATOR(b, a_const.transpose()); - - // Testing CwiseNullaryOp evaluator - copy_using_evaluator(w, RowVector2d::Random()); - VERIFY((w.array() >= -1).all() && (w.array() <= 1).all()); // not easy to test ... - - VERIFY_IS_APPROX_EVALUATOR(w, RowVector2d::Zero()); - - VERIFY_IS_APPROX_EVALUATOR(w, RowVector2d::Constant(3)); - - // mix CwiseNullaryOp and transpose - VERIFY_IS_APPROX_EVALUATOR(w, Vector2d::Zero().transpose()); - } - - { - // test product expressions - int s = internal::random(1,100); - MatrixXf a(s,s), b(s,s), c(s,s), d(s,s); - a.setRandom(); - b.setRandom(); - c.setRandom(); - d.setRandom(); - VERIFY_IS_APPROX_EVALUATOR(d, (a + b)); - VERIFY_IS_APPROX_EVALUATOR(d, (a + b).transpose()); - VERIFY_IS_APPROX_EVALUATOR2(d, prod(a,b), a*b); - VERIFY_IS_APPROX_EVALUATOR2(d.noalias(), prod(a,b), a*b); - VERIFY_IS_APPROX_EVALUATOR2(d, prod(a,b) + c, a*b + c); - VERIFY_IS_APPROX_EVALUATOR2(d, s * prod(a,b), s * a*b); - VERIFY_IS_APPROX_EVALUATOR2(d, prod(a,b).transpose(), (a*b).transpose()); - VERIFY_IS_APPROX_EVALUATOR2(d, prod(a,b) + prod(b,c), a*b + b*c); - - // check that prod works even with aliasing present - c = a*a; - copy_using_evaluator(a, prod(a,a)); - VERIFY_IS_APPROX(a,c); - - // check compound assignment of products - d = c; - add_assign_using_evaluator(c.noalias(), prod(a,b)); - d.noalias() += a*b; - VERIFY_IS_APPROX(c, d); - - d = c; - subtract_assign_using_evaluator(c.noalias(), prod(a,b)); - d.noalias() -= a*b; - VERIFY_IS_APPROX(c, d); - } - - { - // test product with all possible sizes - int s = internal::random(1,100); - Matrix m11, res11; m11.setRandom(1,1); - Matrix m14, res14; m14.setRandom(1,4); - Matrix m1X, res1X; m1X.setRandom(1,s); - Matrix m41, res41; m41.setRandom(4,1); - Matrix m44, res44; m44.setRandom(4,4); - Matrix m4X, res4X; m4X.setRandom(4,s); - Matrix mX1, resX1; mX1.setRandom(s,1); - Matrix mX4, resX4; mX4.setRandom(s,4); - Matrix mXX, resXX; mXX.setRandom(s,s); - - VERIFY_IS_APPROX_EVALUATOR2(res11, prod(m11,m11), m11*m11); - VERIFY_IS_APPROX_EVALUATOR2(res11, prod(m14,m41), m14*m41); - VERIFY_IS_APPROX_EVALUATOR2(res11, prod(m1X,mX1), m1X*mX1); - VERIFY_IS_APPROX_EVALUATOR2(res14, prod(m11,m14), m11*m14); - VERIFY_IS_APPROX_EVALUATOR2(res14, prod(m14,m44), m14*m44); - VERIFY_IS_APPROX_EVALUATOR2(res14, prod(m1X,mX4), m1X*mX4); - VERIFY_IS_APPROX_EVALUATOR2(res1X, prod(m11,m1X), m11*m1X); - VERIFY_IS_APPROX_EVALUATOR2(res1X, prod(m14,m4X), m14*m4X); - VERIFY_IS_APPROX_EVALUATOR2(res1X, prod(m1X,mXX), m1X*mXX); - VERIFY_IS_APPROX_EVALUATOR2(res41, prod(m41,m11), m41*m11); - VERIFY_IS_APPROX_EVALUATOR2(res41, prod(m44,m41), m44*m41); - VERIFY_IS_APPROX_EVALUATOR2(res41, prod(m4X,mX1), m4X*mX1); - VERIFY_IS_APPROX_EVALUATOR2(res44, prod(m41,m14), m41*m14); - VERIFY_IS_APPROX_EVALUATOR2(res44, prod(m44,m44), m44*m44); - VERIFY_IS_APPROX_EVALUATOR2(res44, prod(m4X,mX4), m4X*mX4); - VERIFY_IS_APPROX_EVALUATOR2(res4X, prod(m41,m1X), m41*m1X); - VERIFY_IS_APPROX_EVALUATOR2(res4X, prod(m44,m4X), m44*m4X); - VERIFY_IS_APPROX_EVALUATOR2(res4X, prod(m4X,mXX), m4X*mXX); - VERIFY_IS_APPROX_EVALUATOR2(resX1, prod(mX1,m11), mX1*m11); - VERIFY_IS_APPROX_EVALUATOR2(resX1, prod(mX4,m41), mX4*m41); - VERIFY_IS_APPROX_EVALUATOR2(resX1, prod(mXX,mX1), mXX*mX1); - VERIFY_IS_APPROX_EVALUATOR2(resX4, prod(mX1,m14), mX1*m14); - VERIFY_IS_APPROX_EVALUATOR2(resX4, prod(mX4,m44), mX4*m44); - VERIFY_IS_APPROX_EVALUATOR2(resX4, prod(mXX,mX4), mXX*mX4); - VERIFY_IS_APPROX_EVALUATOR2(resXX, prod(mX1,m1X), mX1*m1X); - VERIFY_IS_APPROX_EVALUATOR2(resXX, prod(mX4,m4X), mX4*m4X); - VERIFY_IS_APPROX_EVALUATOR2(resXX, prod(mXX,mXX), mXX*mXX); - } - - { - ArrayXXf a(2,3); - ArrayXXf b(3,2); - a << 1,2,3, 4,5,6; - const ArrayXXf a_const(a); - - // this does not work because Random is eval-before-nested: - // copy_using_evaluator(w, Vector2d::Random().transpose()); - - // test CwiseUnaryOp - VERIFY_IS_APPROX_EVALUATOR(v2, 3 * v); - VERIFY_IS_APPROX_EVALUATOR(w, (3 * v).transpose()); - VERIFY_IS_APPROX_EVALUATOR(b, (a + 3).transpose()); - VERIFY_IS_APPROX_EVALUATOR(b, (2 * a_const + 3).transpose()); - - // test CwiseBinaryOp - VERIFY_IS_APPROX_EVALUATOR(v2, v + Vector2d::Ones()); - VERIFY_IS_APPROX_EVALUATOR(w, (v + Vector2d::Ones()).transpose().cwiseProduct(RowVector2d::Constant(3))); - - // dynamic matrices and arrays - MatrixXd mat1(6,6), mat2(6,6); - VERIFY_IS_APPROX_EVALUATOR(mat1, MatrixXd::Identity(6,6)); - VERIFY_IS_APPROX_EVALUATOR(mat2, mat1); - copy_using_evaluator(mat2.transpose(), mat1); - VERIFY_IS_APPROX(mat2.transpose(), mat1); - - ArrayXXd arr1(6,6), arr2(6,6); - VERIFY_IS_APPROX_EVALUATOR(arr1, ArrayXXd::Constant(6,6, 3.0)); - VERIFY_IS_APPROX_EVALUATOR(arr2, arr1); - - // test automatic resizing - mat2.resize(3,3); - VERIFY_IS_APPROX_EVALUATOR(mat2, mat1); - arr2.resize(9,9); - VERIFY_IS_APPROX_EVALUATOR(arr2, arr1); - - // test direct traversal - Matrix3f m3; - Array33f a3; - VERIFY_IS_APPROX_EVALUATOR(m3, Matrix3f::Identity()); // matrix, nullary - // TODO: find a way to test direct traversal with array - VERIFY_IS_APPROX_EVALUATOR(m3.transpose(), Matrix3f::Identity().transpose()); // transpose - VERIFY_IS_APPROX_EVALUATOR(m3, 2 * Matrix3f::Identity()); // unary - VERIFY_IS_APPROX_EVALUATOR(m3, Matrix3f::Identity() + Matrix3f::Zero()); // binary - VERIFY_IS_APPROX_EVALUATOR(m3.block(0,0,2,2), Matrix3f::Identity().block(1,1,2,2)); // block - - // test linear traversal - VERIFY_IS_APPROX_EVALUATOR(m3, Matrix3f::Zero()); // matrix, nullary - VERIFY_IS_APPROX_EVALUATOR(a3, Array33f::Zero()); // array - VERIFY_IS_APPROX_EVALUATOR(m3.transpose(), Matrix3f::Zero().transpose()); // transpose - VERIFY_IS_APPROX_EVALUATOR(m3, 2 * Matrix3f::Zero()); // unary - VERIFY_IS_APPROX_EVALUATOR(m3, Matrix3f::Zero() + m3); // binary - - // test inner vectorization - Matrix4f m4, m4src = Matrix4f::Random(); - Array44f a4, a4src = Matrix4f::Random(); - VERIFY_IS_APPROX_EVALUATOR(m4, m4src); // matrix - VERIFY_IS_APPROX_EVALUATOR(a4, a4src); // array - VERIFY_IS_APPROX_EVALUATOR(m4.transpose(), m4src.transpose()); // transpose - // TODO: find out why Matrix4f::Zero() does not allow inner vectorization - VERIFY_IS_APPROX_EVALUATOR(m4, 2 * m4src); // unary - VERIFY_IS_APPROX_EVALUATOR(m4, m4src + m4src); // binary - - // test linear vectorization - MatrixXf mX(6,6), mXsrc = MatrixXf::Random(6,6); - ArrayXXf aX(6,6), aXsrc = ArrayXXf::Random(6,6); - VERIFY_IS_APPROX_EVALUATOR(mX, mXsrc); // matrix - VERIFY_IS_APPROX_EVALUATOR(aX, aXsrc); // array - VERIFY_IS_APPROX_EVALUATOR(mX.transpose(), mXsrc.transpose()); // transpose - VERIFY_IS_APPROX_EVALUATOR(mX, MatrixXf::Zero(6,6)); // nullary - VERIFY_IS_APPROX_EVALUATOR(mX, 2 * mXsrc); // unary - VERIFY_IS_APPROX_EVALUATOR(mX, mXsrc + mXsrc); // binary - - // test blocks and slice vectorization - VERIFY_IS_APPROX_EVALUATOR(m4, (mXsrc.block<4,4>(1,0))); - VERIFY_IS_APPROX_EVALUATOR(aX, ArrayXXf::Constant(10, 10, 3.0).block(2, 3, 6, 6)); - - Matrix4f m4ref = m4; - copy_using_evaluator(m4.block(1, 1, 2, 3), m3.bottomRows(2)); - m4ref.block(1, 1, 2, 3) = m3.bottomRows(2); - VERIFY_IS_APPROX(m4, m4ref); - - mX.setIdentity(20,20); - MatrixXf mXref = MatrixXf::Identity(20,20); - mXsrc = MatrixXf::Random(9,12); - copy_using_evaluator(mX.block(4, 4, 9, 12), mXsrc); - mXref.block(4, 4, 9, 12) = mXsrc; - VERIFY_IS_APPROX(mX, mXref); - - // test Map - const float raw[3] = {1,2,3}; - float buffer[3] = {0,0,0}; - Vector3f v3; - Array3f a3f; - VERIFY_IS_APPROX_EVALUATOR(v3, Map(raw)); - VERIFY_IS_APPROX_EVALUATOR(a3f, Map(raw)); - Vector3f::Map(buffer) = 2*v3; - VERIFY(buffer[0] == 2); - VERIFY(buffer[1] == 4); - VERIFY(buffer[2] == 6); - - // test CwiseUnaryView - mat1.setRandom(); - mat2.setIdentity(); - MatrixXcd matXcd(6,6), matXcd_ref(6,6); - copy_using_evaluator(matXcd.real(), mat1); - copy_using_evaluator(matXcd.imag(), mat2); - matXcd_ref.real() = mat1; - matXcd_ref.imag() = mat2; - VERIFY_IS_APPROX(matXcd, matXcd_ref); - - // test Select - VERIFY_IS_APPROX_EVALUATOR(aX, (aXsrc > 0).select(aXsrc, -aXsrc)); - - // test Replicate - mXsrc = MatrixXf::Random(6, 6); - VectorXf vX = VectorXf::Random(6); - mX.resize(6, 6); - VERIFY_IS_APPROX_EVALUATOR(mX, mXsrc.colwise() + vX); - matXcd.resize(12, 12); - VERIFY_IS_APPROX_EVALUATOR(matXcd, matXcd_ref.replicate(2,2)); - VERIFY_IS_APPROX_EVALUATOR(matXcd, (matXcd_ref.replicate<2,2>())); - - // test partial reductions - VectorXd vec1(6); - VERIFY_IS_APPROX_EVALUATOR(vec1, mat1.rowwise().sum()); - VERIFY_IS_APPROX_EVALUATOR(vec1, mat1.colwise().sum().transpose()); - - // test MatrixWrapper and ArrayWrapper - mat1.setRandom(6,6); - arr1.setRandom(6,6); - VERIFY_IS_APPROX_EVALUATOR(mat2, arr1.matrix()); - VERIFY_IS_APPROX_EVALUATOR(arr2, mat1.array()); - VERIFY_IS_APPROX_EVALUATOR(mat2, (arr1 + 2).matrix()); - VERIFY_IS_APPROX_EVALUATOR(arr2, mat1.array() + 2); - mat2.array() = arr1 * arr1; - VERIFY_IS_APPROX(mat2, (arr1 * arr1).matrix()); - arr2.matrix() = MatrixXd::Identity(6,6); - VERIFY_IS_APPROX(arr2, MatrixXd::Identity(6,6).array()); - - // test Reverse - VERIFY_IS_APPROX_EVALUATOR(arr2, arr1.reverse()); - VERIFY_IS_APPROX_EVALUATOR(arr2, arr1.colwise().reverse()); - VERIFY_IS_APPROX_EVALUATOR(arr2, arr1.rowwise().reverse()); - arr2.reverse() = arr1; - VERIFY_IS_APPROX(arr2, arr1.reverse()); - mat2.array() = mat1.array().reverse(); - VERIFY_IS_APPROX(mat2.array(), mat1.array().reverse()); - - // test Diagonal - VERIFY_IS_APPROX_EVALUATOR(vec1, mat1.diagonal()); - vec1.resize(5); - VERIFY_IS_APPROX_EVALUATOR(vec1, mat1.diagonal(1)); - VERIFY_IS_APPROX_EVALUATOR(vec1, mat1.diagonal<-1>()); - vec1.setRandom(); - - mat2 = mat1; - copy_using_evaluator(mat1.diagonal(1), vec1); - mat2.diagonal(1) = vec1; - VERIFY_IS_APPROX(mat1, mat2); - - copy_using_evaluator(mat1.diagonal<-1>(), mat1.diagonal(1)); - mat2.diagonal<-1>() = mat2.diagonal(1); - VERIFY_IS_APPROX(mat1, mat2); - } - - { - // test swapping - MatrixXd mat1, mat2, mat1ref, mat2ref; - mat1ref = mat1 = MatrixXd::Random(6, 6); - mat2ref = mat2 = 2 * mat1 + MatrixXd::Identity(6, 6); - swap_using_evaluator(mat1, mat2); - mat1ref.swap(mat2ref); - VERIFY_IS_APPROX(mat1, mat1ref); - VERIFY_IS_APPROX(mat2, mat2ref); - - swap_using_evaluator(mat1.block(0, 0, 3, 3), mat2.block(3, 3, 3, 3)); - mat1ref.block(0, 0, 3, 3).swap(mat2ref.block(3, 3, 3, 3)); - VERIFY_IS_APPROX(mat1, mat1ref); - VERIFY_IS_APPROX(mat2, mat2ref); - - swap_using_evaluator(mat1.row(2), mat2.col(3).transpose()); - mat1.row(2).swap(mat2.col(3).transpose()); - VERIFY_IS_APPROX(mat1, mat1ref); - VERIFY_IS_APPROX(mat2, mat2ref); - } - - { - // test compound assignment - const Matrix4d mat_const = Matrix4d::Random(); - Matrix4d mat, mat_ref; - mat = mat_ref = Matrix4d::Identity(); - add_assign_using_evaluator(mat, mat_const); - mat_ref += mat_const; - VERIFY_IS_APPROX(mat, mat_ref); - - subtract_assign_using_evaluator(mat.row(1), 2*mat.row(2)); - mat_ref.row(1) -= 2*mat_ref.row(2); - VERIFY_IS_APPROX(mat, mat_ref); - - const ArrayXXf arr_const = ArrayXXf::Random(5,3); - ArrayXXf arr, arr_ref; - arr = arr_ref = ArrayXXf::Constant(5, 3, 0.5); - multiply_assign_using_evaluator(arr, arr_const); - arr_ref *= arr_const; - VERIFY_IS_APPROX(arr, arr_ref); - - divide_assign_using_evaluator(arr.row(1), arr.row(2) + 1); - arr_ref.row(1) /= (arr_ref.row(2) + 1); - VERIFY_IS_APPROX(arr, arr_ref); - } - - { - // test triangular shapes - MatrixXd A = MatrixXd::Random(6,6), B(6,6), C(6,6), D(6,6); - A.setRandom();B.setRandom(); - VERIFY_IS_APPROX_EVALUATOR2(B, A.triangularView(), MatrixXd(A.triangularView())); - - A.setRandom();B.setRandom(); - VERIFY_IS_APPROX_EVALUATOR2(B, A.triangularView(), MatrixXd(A.triangularView())); - - A.setRandom();B.setRandom(); - VERIFY_IS_APPROX_EVALUATOR2(B, A.triangularView(), MatrixXd(A.triangularView())); - - A.setRandom();B.setRandom(); - C = B; C.triangularView() = A; - copy_using_evaluator(B.triangularView(), A); - VERIFY(B.isApprox(C) && "copy_using_evaluator(B.triangularView(), A)"); - - A.setRandom();B.setRandom(); - C = B; C.triangularView() = A.triangularView(); - copy_using_evaluator(B.triangularView(), A.triangularView()); - VERIFY(B.isApprox(C) && "copy_using_evaluator(B.triangularView(), A.triangularView())"); - - - A.setRandom();B.setRandom(); - C = B; C.triangularView() = A.triangularView().transpose(); - copy_using_evaluator(B.triangularView(), A.triangularView().transpose()); - VERIFY(B.isApprox(C) && "copy_using_evaluator(B.triangularView(), A.triangularView().transpose())"); - - - A.setRandom();B.setRandom(); C = B; D = A; - C.triangularView().swap(D.triangularView()); - swap_using_evaluator(B.triangularView(), A.triangularView()); - VERIFY(B.isApprox(C) && "swap_using_evaluator(B.triangularView(), A.triangularView())"); - - - VERIFY_IS_APPROX_EVALUATOR2(B, prod(A.triangularView(),A), MatrixXd(A.triangularView()*A)); - - VERIFY_IS_APPROX_EVALUATOR2(B, prod(A.selfadjointView(),A), MatrixXd(A.selfadjointView()*A)); - } - - { - // test diagonal shapes - VectorXd d = VectorXd::Random(6); - MatrixXd A = MatrixXd::Random(6,6), B(6,6); - A.setRandom();B.setRandom(); - - VERIFY_IS_APPROX_EVALUATOR2(B, lazyprod(d.asDiagonal(),A), MatrixXd(d.asDiagonal()*A)); - VERIFY_IS_APPROX_EVALUATOR2(B, lazyprod(A,d.asDiagonal()), MatrixXd(A*d.asDiagonal())); - } - - { - // test CoeffReadCost - Matrix4d a, b; - VERIFY_IS_EQUAL( get_cost(a), 1 ); - VERIFY_IS_EQUAL( get_cost(a+b), 3); - VERIFY_IS_EQUAL( get_cost(2*a+b), 4); - VERIFY_IS_EQUAL( get_cost(a*b), 1); - VERIFY_IS_EQUAL( get_cost(a.lazyProduct(b)), 15); - VERIFY_IS_EQUAL( get_cost(a*(a*b)), 1); - VERIFY_IS_EQUAL( get_cost(a.lazyProduct(a*b)), 15); - VERIFY_IS_EQUAL( get_cost(a*(a+b)), 1); - VERIFY_IS_EQUAL( get_cost(a.lazyProduct(a+b)), 15); - } -} diff --git a/testbed/nanogui/ext/eigen/test/exceptions.cpp b/testbed/nanogui/ext/eigen/test/exceptions.cpp deleted file mode 100644 index b83fb82b..00000000 --- a/testbed/nanogui/ext/eigen/test/exceptions.cpp +++ /dev/null @@ -1,113 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - - -// Various sanity tests with exceptions: -// - no memory leak when a custom scalar type trow an exceptions -// - todo: complete the list of tests! - -#define EIGEN_STACK_ALLOCATION_LIMIT 100000000 - -#include "main.h" - -struct my_exception -{ - my_exception() {} - ~my_exception() {} -}; - -class ScalarWithExceptions -{ - public: - ScalarWithExceptions() { init(); } - ScalarWithExceptions(const float& _v) { init(); *v = _v; } - ScalarWithExceptions(const ScalarWithExceptions& other) { init(); *v = *(other.v); } - ~ScalarWithExceptions() { - delete v; - instances--; - } - - void init() { - v = new float; - instances++; - } - - ScalarWithExceptions operator+(const ScalarWithExceptions& other) const - { - countdown--; - if(countdown<=0) - throw my_exception(); - return ScalarWithExceptions(*v+*other.v); - } - - ScalarWithExceptions operator-(const ScalarWithExceptions& other) const - { return ScalarWithExceptions(*v-*other.v); } - - ScalarWithExceptions operator*(const ScalarWithExceptions& other) const - { return ScalarWithExceptions((*v)*(*other.v)); } - - ScalarWithExceptions& operator+=(const ScalarWithExceptions& other) - { *v+=*other.v; return *this; } - ScalarWithExceptions& operator-=(const ScalarWithExceptions& other) - { *v-=*other.v; return *this; } - ScalarWithExceptions& operator=(const ScalarWithExceptions& other) - { *v = *(other.v); return *this; } - - bool operator==(const ScalarWithExceptions& other) const - { return *v==*other.v; } - bool operator!=(const ScalarWithExceptions& other) const - { return *v!=*other.v; } - - float* v; - static int instances; - static int countdown; -}; - -ScalarWithExceptions real(const ScalarWithExceptions &x) { return x; } -ScalarWithExceptions imag(const ScalarWithExceptions & ) { return 0; } -ScalarWithExceptions conj(const ScalarWithExceptions &x) { return x; } - -int ScalarWithExceptions::instances = 0; -int ScalarWithExceptions::countdown = 0; - - -#define CHECK_MEMLEAK(OP) { \ - ScalarWithExceptions::countdown = 100; \ - int before = ScalarWithExceptions::instances; \ - bool exception_thrown = false; \ - try { OP; } \ - catch (my_exception) { \ - exception_thrown = true; \ - VERIFY(ScalarWithExceptions::instances==before && "memory leak detected in " && EIGEN_MAKESTRING(OP)); \ - } \ - VERIFY(exception_thrown && " no exception thrown in " && EIGEN_MAKESTRING(OP)); \ - } - -void memoryleak() -{ - typedef Eigen::Matrix VectorType; - typedef Eigen::Matrix MatrixType; - - { - int n = 50; - VectorType v0(n), v1(n); - MatrixType m0(n,n), m1(n,n), m2(n,n); - v0.setOnes(); v1.setOnes(); - m0.setOnes(); m1.setOnes(); m2.setOnes(); - CHECK_MEMLEAK(v0 = m0 * m1 * v1); - CHECK_MEMLEAK(m2 = m0 * m1 * m2); - CHECK_MEMLEAK((v0+v1).dot(v0+v1)); - } - VERIFY(ScalarWithExceptions::instances==0 && "global memory leak detected in " && EIGEN_MAKESTRING(OP)); \ -} - -void test_exceptions() -{ - CALL_SUBTEST( memoryleak() ); -} diff --git a/testbed/nanogui/ext/eigen/test/fastmath.cpp b/testbed/nanogui/ext/eigen/test/fastmath.cpp deleted file mode 100644 index cc5db074..00000000 --- a/testbed/nanogui/ext/eigen/test/fastmath.cpp +++ /dev/null @@ -1,99 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -void check(bool b, bool ref) -{ - std::cout << b; - if(b==ref) - std::cout << " OK "; - else - std::cout << " BAD "; -} - -#if EIGEN_COMP_MSVC && EIGEN_COMP_MSVC < 1800 -namespace std { - template bool (isfinite)(T x) { return _finite(x); } - template bool (isnan)(T x) { return _isnan(x); } - template bool (isinf)(T x) { return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF; } -} -#endif - -template -void check_inf_nan(bool dryrun) { - Matrix m(10); - m.setRandom(); - m(3) = std::numeric_limits::quiet_NaN(); - - if(dryrun) - { - std::cout << "std::isfinite(" << m(3) << ") = "; check((std::isfinite)(m(3)),false); std::cout << " ; numext::isfinite = "; check((numext::isfinite)(m(3)), false); std::cout << "\n"; - std::cout << "std::isinf(" << m(3) << ") = "; check((std::isinf)(m(3)),false); std::cout << " ; numext::isinf = "; check((numext::isinf)(m(3)), false); std::cout << "\n"; - std::cout << "std::isnan(" << m(3) << ") = "; check((std::isnan)(m(3)),true); std::cout << " ; numext::isnan = "; check((numext::isnan)(m(3)), true); std::cout << "\n"; - std::cout << "allFinite: "; check(m.allFinite(), 0); std::cout << "\n"; - std::cout << "hasNaN: "; check(m.hasNaN(), 1); std::cout << "\n"; - std::cout << "\n"; - } - else - { - VERIFY( !(numext::isfinite)(m(3)) ); - VERIFY( !(numext::isinf)(m(3)) ); - VERIFY( (numext::isnan)(m(3)) ); - VERIFY( !m.allFinite() ); - VERIFY( m.hasNaN() ); - } - T hidden_zero = (std::numeric_limits::min)()*(std::numeric_limits::min)(); - m(4) /= hidden_zero; - if(dryrun) - { - std::cout << "std::isfinite(" << m(4) << ") = "; check((std::isfinite)(m(4)),false); std::cout << " ; numext::isfinite = "; check((numext::isfinite)(m(4)), false); std::cout << "\n"; - std::cout << "std::isinf(" << m(4) << ") = "; check((std::isinf)(m(4)),true); std::cout << " ; numext::isinf = "; check((numext::isinf)(m(4)), true); std::cout << "\n"; - std::cout << "std::isnan(" << m(4) << ") = "; check((std::isnan)(m(4)),false); std::cout << " ; numext::isnan = "; check((numext::isnan)(m(4)), false); std::cout << "\n"; - std::cout << "allFinite: "; check(m.allFinite(), 0); std::cout << "\n"; - std::cout << "hasNaN: "; check(m.hasNaN(), 1); std::cout << "\n"; - std::cout << "\n"; - } - else - { - VERIFY( !(numext::isfinite)(m(4)) ); - VERIFY( (numext::isinf)(m(4)) ); - VERIFY( !(numext::isnan)(m(4)) ); - VERIFY( !m.allFinite() ); - VERIFY( m.hasNaN() ); - } - m(3) = 0; - if(dryrun) - { - std::cout << "std::isfinite(" << m(3) << ") = "; check((std::isfinite)(m(3)),true); std::cout << " ; numext::isfinite = "; check((numext::isfinite)(m(3)), true); std::cout << "\n"; - std::cout << "std::isinf(" << m(3) << ") = "; check((std::isinf)(m(3)),false); std::cout << " ; numext::isinf = "; check((numext::isinf)(m(3)), false); std::cout << "\n"; - std::cout << "std::isnan(" << m(3) << ") = "; check((std::isnan)(m(3)),false); std::cout << " ; numext::isnan = "; check((numext::isnan)(m(3)), false); std::cout << "\n"; - std::cout << "allFinite: "; check(m.allFinite(), 0); std::cout << "\n"; - std::cout << "hasNaN: "; check(m.hasNaN(), 0); std::cout << "\n"; - std::cout << "\n\n"; - } - else - { - VERIFY( (numext::isfinite)(m(3)) ); - VERIFY( !(numext::isinf)(m(3)) ); - VERIFY( !(numext::isnan)(m(3)) ); - VERIFY( !m.allFinite() ); - VERIFY( !m.hasNaN() ); - } -} - -void test_fastmath() { - std::cout << "*** float *** \n\n"; check_inf_nan(true); - std::cout << "*** double ***\n\n"; check_inf_nan(true); - std::cout << "*** long double *** \n\n"; check_inf_nan(true); - - check_inf_nan(false); - check_inf_nan(false); - check_inf_nan(false); -} diff --git a/testbed/nanogui/ext/eigen/test/first_aligned.cpp b/testbed/nanogui/ext/eigen/test/first_aligned.cpp deleted file mode 100644 index ae2d4bc4..00000000 --- a/testbed/nanogui/ext/eigen/test/first_aligned.cpp +++ /dev/null @@ -1,51 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template -void test_first_aligned_helper(Scalar *array, int size) -{ - const int packet_size = sizeof(Scalar) * internal::packet_traits::size; - VERIFY(((size_t(array) + sizeof(Scalar) * internal::first_default_aligned(array, size)) % packet_size) == 0); -} - -template -void test_none_aligned_helper(Scalar *array, int size) -{ - EIGEN_UNUSED_VARIABLE(array); - EIGEN_UNUSED_VARIABLE(size); - VERIFY(internal::packet_traits::size == 1 || internal::first_default_aligned(array, size) == size); -} - -struct some_non_vectorizable_type { float x; }; - -void test_first_aligned() -{ - EIGEN_ALIGN16 float array_float[100]; - test_first_aligned_helper(array_float, 50); - test_first_aligned_helper(array_float+1, 50); - test_first_aligned_helper(array_float+2, 50); - test_first_aligned_helper(array_float+3, 50); - test_first_aligned_helper(array_float+4, 50); - test_first_aligned_helper(array_float+5, 50); - - EIGEN_ALIGN16 double array_double[100]; - test_first_aligned_helper(array_double, 50); - test_first_aligned_helper(array_double+1, 50); - test_first_aligned_helper(array_double+2, 50); - - double *array_double_plus_4_bytes = (double*)(internal::UIntPtr(array_double)+4); - test_none_aligned_helper(array_double_plus_4_bytes, 50); - test_none_aligned_helper(array_double_plus_4_bytes+1, 50); - - some_non_vectorizable_type array_nonvec[100]; - test_first_aligned_helper(array_nonvec, 100); - test_none_aligned_helper(array_nonvec, 100); -} diff --git a/testbed/nanogui/ext/eigen/test/geo_alignedbox.cpp b/testbed/nanogui/ext/eigen/test/geo_alignedbox.cpp deleted file mode 100644 index 223ff5ee..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_alignedbox.cpp +++ /dev/null @@ -1,198 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -#include -using namespace std; - -// NOTE the following workaround was needed on some 32 bits builds to kill extra precision of x87 registers. -// It seems that it os not needed anymore, but let's keep it here, just in case... - -template EIGEN_DONT_INLINE -void kill_extra_precision(T& /* x */) { - // This one worked but triggered a warning: - /* eigen_assert((void*)(&x) != (void*)0); */ - // An alternative could be: - /* volatile T tmp = x; */ - /* x = tmp; */ -} - - -template void alignedbox(const BoxType& _box) -{ - /* this test covers the following files: - AlignedBox.h - */ - typedef typename BoxType::Index Index; - typedef typename BoxType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - - const Index dim = _box.dim(); - - VectorType p0 = VectorType::Random(dim); - VectorType p1 = VectorType::Random(dim); - while( p1 == p0 ){ - p1 = VectorType::Random(dim); } - RealScalar s1 = internal::random(0,1); - - BoxType b0(dim); - BoxType b1(VectorType::Random(dim),VectorType::Random(dim)); - BoxType b2; - - kill_extra_precision(b1); - kill_extra_precision(p0); - kill_extra_precision(p1); - - b0.extend(p0); - b0.extend(p1); - VERIFY(b0.contains(p0*s1+(Scalar(1)-s1)*p1)); - VERIFY(b0.contains(b0.center())); - VERIFY_IS_APPROX(b0.center(),(p0+p1)/Scalar(2)); - - (b2 = b0).extend(b1); - VERIFY(b2.contains(b0)); - VERIFY(b2.contains(b1)); - VERIFY_IS_APPROX(b2.clamp(b0), b0); - - // intersection - BoxType box1(VectorType::Random(dim)); - box1.extend(VectorType::Random(dim)); - BoxType box2(VectorType::Random(dim)); - box2.extend(VectorType::Random(dim)); - - VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty()); - - // alignment -- make sure there is no memory alignment assertion - BoxType *bp0 = new BoxType(dim); - BoxType *bp1 = new BoxType(dim); - bp0->extend(*bp1); - delete bp0; - delete bp1; - - // sampling - for( int i=0; i<10; ++i ) - { - VectorType r = b0.sample(); - VERIFY(b0.contains(r)); - } - -} - - - -template -void alignedboxCastTests(const BoxType& _box) -{ - // casting - typedef typename BoxType::Index Index; - typedef typename BoxType::Scalar Scalar; - typedef Matrix VectorType; - - const Index dim = _box.dim(); - - VectorType p0 = VectorType::Random(dim); - VectorType p1 = VectorType::Random(dim); - - BoxType b0(dim); - - b0.extend(p0); - b0.extend(p1); - - const int Dim = BoxType::AmbientDimAtCompileTime; - typedef typename GetDifferentType::type OtherScalar; - AlignedBox hp1f = b0.template cast(); - VERIFY_IS_APPROX(hp1f.template cast(),b0); - AlignedBox hp1d = b0.template cast(); - VERIFY_IS_APPROX(hp1d.template cast(),b0); -} - - -void specificTest1() -{ - Vector2f m; m << -1.0f, -2.0f; - Vector2f M; M << 1.0f, 5.0f; - - typedef AlignedBox2f BoxType; - BoxType box( m, M ); - - Vector2f sides = M-m; - VERIFY_IS_APPROX(sides, box.sizes() ); - VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); - VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); - VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); - - VERIFY_IS_APPROX( 14.0f, box.volume() ); - VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() ); - VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() ); - - VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) ); - VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) ); - Vector2f bottomRight; bottomRight << M[0], m[1]; - Vector2f topLeft; topLeft << m[0], M[1]; - VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) ); - VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) ); -} - - -void specificTest2() -{ - Vector3i m; m << -1, -2, 0; - Vector3i M; M << 1, 5, 3; - - typedef AlignedBox3i BoxType; - BoxType box( m, M ); - - Vector3i sides = M-m; - VERIFY_IS_APPROX(sides, box.sizes() ); - VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); - VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); - VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); - - VERIFY_IS_APPROX( 42, box.volume() ); - VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() ); - - VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) ); - VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) ); - Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2]; - Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2]; - VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) ); - VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) ); -} - - -void test_geo_alignedbox() -{ - for(int i = 0; i < g_repeat; i++) - { - CALL_SUBTEST_1( alignedbox(AlignedBox2f()) ); - CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); - - CALL_SUBTEST_3( alignedbox(AlignedBox3f()) ); - CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); - - CALL_SUBTEST_5( alignedbox(AlignedBox4d()) ); - CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); - - CALL_SUBTEST_7( alignedbox(AlignedBox1d()) ); - CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); - - CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); - CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); - CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); - - CALL_SUBTEST_14( alignedbox(AlignedBox(4)) ); - } - CALL_SUBTEST_12( specificTest1() ); - CALL_SUBTEST_13( specificTest2() ); -} diff --git a/testbed/nanogui/ext/eigen/test/geo_eulerangles.cpp b/testbed/nanogui/ext/eigen/test/geo_eulerangles.cpp deleted file mode 100644 index 932ebe77..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_eulerangles.cpp +++ /dev/null @@ -1,112 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2012 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - - -template -void verify_euler(const Matrix& ea, int i, int j, int k) -{ - typedef Matrix Matrix3; - typedef Matrix Vector3; - typedef AngleAxis AngleAxisx; - using std::abs; - Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k))); - Vector3 eabis = m.eulerAngles(i, j, k); - Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k))); - VERIFY_IS_APPROX(m, mbis); - /* If I==K, and ea[1]==0, then there no unique solution. */ - /* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */ - if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(EIGEN_PI/2),test_precision())) ) - VERIFY((ea-eabis).norm() <= test_precision()); - - // approx_or_less_than does not work for 0 - VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1))); - VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI)); - VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[1]); - VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI)); - VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]); - VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI)); -} - -template void check_all_var(const Matrix& ea) -{ - verify_euler(ea, 0,1,2); - verify_euler(ea, 0,1,0); - verify_euler(ea, 0,2,1); - verify_euler(ea, 0,2,0); - - verify_euler(ea, 1,2,0); - verify_euler(ea, 1,2,1); - verify_euler(ea, 1,0,2); - verify_euler(ea, 1,0,1); - - verify_euler(ea, 2,0,1); - verify_euler(ea, 2,0,2); - verify_euler(ea, 2,1,0); - verify_euler(ea, 2,1,2); -} - -template void eulerangles() -{ - typedef Matrix Matrix3; - typedef Matrix Vector3; - typedef Array Array3; - typedef Quaternion Quaternionx; - typedef AngleAxis AngleAxisx; - - Scalar a = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); - Quaternionx q1; - q1 = AngleAxisx(a, Vector3::Random().normalized()); - Matrix3 m; - m = q1; - - Vector3 ea = m.eulerAngles(0,1,2); - check_all_var(ea); - ea = m.eulerAngles(0,1,0); - check_all_var(ea); - - // Check with purely random Quaternion: - q1.coeffs() = Quaternionx::Coefficients::Random().normalized(); - m = q1; - ea = m.eulerAngles(0,1,2); - check_all_var(ea); - ea = m.eulerAngles(0,1,0); - check_all_var(ea); - - // Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi]. - ea = (Array3::Random() + Array3(1,0,0))*Scalar(EIGEN_PI)*Array3(0.5,1,1); - check_all_var(ea); - - ea[2] = ea[0] = internal::random(0,Scalar(EIGEN_PI)); - check_all_var(ea); - - ea[0] = ea[1] = internal::random(0,Scalar(EIGEN_PI)); - check_all_var(ea); - - ea[1] = 0; - check_all_var(ea); - - ea.head(2).setZero(); - check_all_var(ea); - - ea.setZero(); - check_all_var(ea); -} - -void test_geo_eulerangles() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( eulerangles() ); - CALL_SUBTEST_2( eulerangles() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/geo_homogeneous.cpp b/testbed/nanogui/ext/eigen/test/geo_homogeneous.cpp deleted file mode 100644 index 2187c7bf..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_homogeneous.cpp +++ /dev/null @@ -1,125 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void homogeneous(void) -{ - /* this test covers the following files: - Homogeneous.h - */ - - typedef Matrix MatrixType; - typedef Matrix VectorType; - - typedef Matrix HMatrixType; - typedef Matrix HVectorType; - - typedef Matrix T1MatrixType; - typedef Matrix T2MatrixType; - typedef Matrix T3MatrixType; - - VectorType v0 = VectorType::Random(), - ones = VectorType::Ones(); - - HVectorType hv0 = HVectorType::Random(); - - MatrixType m0 = MatrixType::Random(); - - HMatrixType hm0 = HMatrixType::Random(); - - hv0 << v0, 1; - VERIFY_IS_APPROX(v0.homogeneous(), hv0); - VERIFY_IS_APPROX(v0, hv0.hnormalized()); - - VERIFY_IS_APPROX(v0.homogeneous().sum(), hv0.sum()); - VERIFY_IS_APPROX(v0.homogeneous().minCoeff(), hv0.minCoeff()); - VERIFY_IS_APPROX(v0.homogeneous().maxCoeff(), hv0.maxCoeff()); - - hm0 << m0, ones.transpose(); - VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0); - VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized()); - hm0.row(Size-1).setRandom(); - for(int j=0; j aff; - Transform caff; - Transform proj; - Matrix pts; - Matrix pts1, pts2; - - aff.affine().setRandom(); - proj = caff = aff; - pts.setRandom(Size,internal::random(1,20)); - - pts1 = pts.colwise().homogeneous(); - VERIFY_IS_APPROX(aff * pts.colwise().homogeneous(), (aff * pts1).colwise().hnormalized()); - VERIFY_IS_APPROX(caff * pts.colwise().homogeneous(), (caff * pts1).colwise().hnormalized()); - VERIFY_IS_APPROX(proj * pts.colwise().homogeneous(), (proj * pts1)); - - VERIFY_IS_APPROX((aff * pts1).colwise().hnormalized(), aff * pts); - VERIFY_IS_APPROX((caff * pts1).colwise().hnormalized(), caff * pts); - - pts2 = pts1; - pts2.row(Size).setRandom(); - VERIFY_IS_APPROX((aff * pts2).colwise().hnormalized(), aff * pts2.colwise().hnormalized()); - VERIFY_IS_APPROX((caff * pts2).colwise().hnormalized(), caff * pts2.colwise().hnormalized()); - VERIFY_IS_APPROX((proj * pts2).colwise().hnormalized(), (proj * pts2.colwise().hnormalized().colwise().homogeneous()).colwise().hnormalized()); - - // Test combination of homogeneous - - VERIFY_IS_APPROX( (t2 * v0.homogeneous()).hnormalized(), - (t2.template topLeftCorner() * v0 + t2.template topRightCorner()) - / ((t2.template bottomLeftCorner<1,Size>()*v0).value() + t2(Size,Size)) ); - - VERIFY_IS_APPROX( (t2 * pts.colwise().homogeneous()).colwise().hnormalized(), - (Matrix(t2 * pts1).colwise().hnormalized()) ); - - VERIFY_IS_APPROX( (t2 .lazyProduct( v0.homogeneous() )).hnormalized(), (t2 * v0.homogeneous()).hnormalized() ); - VERIFY_IS_APPROX( (t2 .lazyProduct ( pts.colwise().homogeneous() )).colwise().hnormalized(), (t2 * pts1).colwise().hnormalized() ); - - VERIFY_IS_APPROX( (v0.transpose().homogeneous() .lazyProduct( t2 )).hnormalized(), (v0.transpose().homogeneous()*t2).hnormalized() ); - VERIFY_IS_APPROX( (pts.transpose().rowwise().homogeneous() .lazyProduct( t2 )).rowwise().hnormalized(), (pts1.transpose()*t2).rowwise().hnormalized() ); - - VERIFY_IS_APPROX( (t2.template triangularView() * v0.homogeneous()).eval(), (t2.template triangularView()*hv0) ); -} - -void test_geo_homogeneous() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(( homogeneous() )); - CALL_SUBTEST_2(( homogeneous() )); - CALL_SUBTEST_3(( homogeneous() )); - } -} diff --git a/testbed/nanogui/ext/eigen/test/geo_hyperplane.cpp b/testbed/nanogui/ext/eigen/test/geo_hyperplane.cpp deleted file mode 100644 index 27892850..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_hyperplane.cpp +++ /dev/null @@ -1,198 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -template void hyperplane(const HyperplaneType& _plane) -{ - /* this test covers the following files: - Hyperplane.h - */ - using std::abs; - typedef typename HyperplaneType::Index Index; - const Index dim = _plane.dim(); - enum { Options = HyperplaneType::Options }; - typedef typename HyperplaneType::Scalar Scalar; - typedef typename HyperplaneType::RealScalar RealScalar; - typedef Matrix VectorType; - typedef Matrix MatrixType; - - VectorType p0 = VectorType::Random(dim); - VectorType p1 = VectorType::Random(dim); - - VectorType n0 = VectorType::Random(dim).normalized(); - VectorType n1 = VectorType::Random(dim).normalized(); - - HyperplaneType pl0(n0, p0); - HyperplaneType pl1(n1, p1); - HyperplaneType pl2 = pl1; - - Scalar s0 = internal::random(); - Scalar s1 = internal::random(); - - VERIFY_IS_APPROX( n1.dot(n1), Scalar(1) ); - - VERIFY_IS_MUCH_SMALLER_THAN( pl0.absDistance(p0), Scalar(1) ); - if(numext::abs2(s0)>RealScalar(1e-6)) - VERIFY_IS_APPROX( pl1.signedDistance(p1 + n1 * s0), s0); - else - VERIFY_IS_MUCH_SMALLER_THAN( abs(pl1.signedDistance(p1 + n1 * s0) - s0), Scalar(1) ); - VERIFY_IS_MUCH_SMALLER_THAN( pl1.signedDistance(pl1.projection(p0)), Scalar(1) ); - VERIFY_IS_MUCH_SMALLER_THAN( pl1.absDistance(p1 + pl1.normal().unitOrthogonal() * s1), Scalar(1) ); - - // transform - if (!NumTraits::IsComplex) - { - MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ(); - DiagonalMatrix scaling(VectorType::Random()); - Translation translation(VectorType::Random()); - - while(scaling.diagonal().cwiseAbs().minCoeff()::type OtherScalar; - Hyperplane hp1f = pl1.template cast(); - VERIFY_IS_APPROX(hp1f.template cast(),pl1); - Hyperplane hp1d = pl1.template cast(); - VERIFY_IS_APPROX(hp1d.template cast(),pl1); -} - -template void lines() -{ - using std::abs; - typedef Hyperplane HLine; - typedef ParametrizedLine PLine; - typedef Matrix Vector; - typedef Matrix CoeffsType; - - for(int i = 0; i < 10; i++) - { - Vector center = Vector::Random(); - Vector u = Vector::Random(); - Vector v = Vector::Random(); - Scalar a = internal::random(); - while (abs(a-1) < Scalar(1e-4)) a = internal::random(); - while (u.norm() < Scalar(1e-4)) u = Vector::Random(); - while (v.norm() < Scalar(1e-4)) v = Vector::Random(); - - HLine line_u = HLine::Through(center + u, center + a*u); - HLine line_v = HLine::Through(center + v, center + a*v); - - // the line equations should be normalized so that a^2+b^2=1 - VERIFY_IS_APPROX(line_u.normal().norm(), Scalar(1)); - VERIFY_IS_APPROX(line_v.normal().norm(), Scalar(1)); - - Vector result = line_u.intersection(line_v); - - // the lines should intersect at the point we called "center" - if(abs(a-1) > Scalar(1e-2) && abs(v.normalized().dot(u.normalized())) void planes() -{ - using std::abs; - typedef Hyperplane Plane; - typedef Matrix Vector; - - for(int i = 0; i < 10; i++) - { - Vector v0 = Vector::Random(); - Vector v1(v0), v2(v0); - if(internal::random(0,1)>0.25) - v1 += Vector::Random(); - if(internal::random(0,1)>0.25) - v2 += v1 * std::pow(internal::random(0,1),internal::random(1,16)); - if(internal::random(0,1)>0.25) - v2 += Vector::Random() * std::pow(internal::random(0,1),internal::random(1,16)); - - Plane p0 = Plane::Through(v0, v1, v2); - - VERIFY_IS_APPROX(p0.normal().norm(), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(p0.absDistance(v0), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(p0.absDistance(v1), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(p0.absDistance(v2), Scalar(1)); - } -} - -template void hyperplane_alignment() -{ - typedef Hyperplane Plane3a; - typedef Hyperplane Plane3u; - - EIGEN_ALIGN_MAX Scalar array1[4]; - EIGEN_ALIGN_MAX Scalar array2[4]; - EIGEN_ALIGN_MAX Scalar array3[4+1]; - Scalar* array3u = array3+1; - - Plane3a *p1 = ::new(reinterpret_cast(array1)) Plane3a; - Plane3u *p2 = ::new(reinterpret_cast(array2)) Plane3u; - Plane3u *p3 = ::new(reinterpret_cast(array3u)) Plane3u; - - p1->coeffs().setRandom(); - *p2 = *p1; - *p3 = *p1; - - VERIFY_IS_APPROX(p1->coeffs(), p2->coeffs()); - VERIFY_IS_APPROX(p1->coeffs(), p3->coeffs()); - - #if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES > 0 - if(internal::packet_traits::Vectorizable && internal::packet_traits::size<=4) - VERIFY_RAISES_ASSERT((::new(reinterpret_cast(array3u)) Plane3a)); - #endif -} - - -void test_geo_hyperplane() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( hyperplane(Hyperplane()) ); - CALL_SUBTEST_2( hyperplane(Hyperplane()) ); - CALL_SUBTEST_2( hyperplane(Hyperplane()) ); - CALL_SUBTEST_2( hyperplane_alignment() ); - CALL_SUBTEST_3( hyperplane(Hyperplane()) ); - CALL_SUBTEST_4( hyperplane(Hyperplane,5>()) ); - CALL_SUBTEST_1( lines() ); - CALL_SUBTEST_3( lines() ); - CALL_SUBTEST_2( planes() ); - CALL_SUBTEST_5( planes() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/geo_orthomethods.cpp b/testbed/nanogui/ext/eigen/test/geo_orthomethods.cpp deleted file mode 100644 index e178df25..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_orthomethods.cpp +++ /dev/null @@ -1,133 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -/* this test covers the following files: - Geometry/OrthoMethods.h -*/ - -template void orthomethods_3() -{ - typedef typename NumTraits::Real RealScalar; - typedef Matrix Matrix3; - typedef Matrix Vector3; - - typedef Matrix Vector4; - - Vector3 v0 = Vector3::Random(), - v1 = Vector3::Random(), - v2 = Vector3::Random(); - - // cross product - VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(v1.dot(v1.cross(v2)), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v2), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(v2.dot(v1.cross(v2)), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(Vector3::Random()).dot(v1), Scalar(1)); - Matrix3 mat3; - mat3 << v0.normalized(), - (v0.cross(v1)).normalized(), - (v0.cross(v1).cross(v0)).normalized(); - VERIFY(mat3.isUnitary()); - - mat3.setRandom(); - VERIFY_IS_APPROX(v0.cross(mat3*v1), -(mat3*v1).cross(v0)); - VERIFY_IS_APPROX(v0.cross(mat3.lazyProduct(v1)), -(mat3.lazyProduct(v1)).cross(v0)); - - // colwise/rowwise cross product - mat3.setRandom(); - Vector3 vec3 = Vector3::Random(); - Matrix3 mcross; - int i = internal::random(0,2); - mcross = mat3.colwise().cross(vec3); - VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3)); - - VERIFY_IS_MUCH_SMALLER_THAN((mat3.adjoint() * mat3.colwise().cross(vec3)).diagonal().cwiseAbs().sum(), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN((mat3.adjoint() * mat3.colwise().cross(Vector3::Random())).diagonal().cwiseAbs().sum(), Scalar(1)); - - VERIFY_IS_MUCH_SMALLER_THAN((vec3.adjoint() * mat3.colwise().cross(vec3)).cwiseAbs().sum(), Scalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN((vec3.adjoint() * Matrix3::Random().colwise().cross(vec3)).cwiseAbs().sum(), Scalar(1)); - - mcross = mat3.rowwise().cross(vec3); - VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3)); - - // cross3 - Vector4 v40 = Vector4::Random(), - v41 = Vector4::Random(), - v42 = Vector4::Random(); - v40.w() = v41.w() = v42.w() = 0; - v42.template head<3>() = v40.template head<3>().cross(v41.template head<3>()); - VERIFY_IS_APPROX(v40.cross3(v41), v42); - VERIFY_IS_MUCH_SMALLER_THAN(v40.cross3(Vector4::Random()).dot(v40), Scalar(1)); - - // check mixed product - typedef Matrix RealVector3; - RealVector3 rv1 = RealVector3::Random(); - VERIFY_IS_APPROX(v1.cross(rv1.template cast()), v1.cross(rv1)); - VERIFY_IS_APPROX(rv1.template cast().cross(v1), rv1.cross(v1)); -} - -template void orthomethods(int size=Size) -{ - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - typedef Matrix Matrix3N; - typedef Matrix MatrixN3; - typedef Matrix Vector3; - - VectorType v0 = VectorType::Random(size); - - // unitOrthogonal - VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1)); - VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), RealScalar(1)); - - if (size>=3) - { - v0.template head<2>().setZero(); - v0.tail(size-2).setRandom(); - - VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1)); - VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), RealScalar(1)); - } - - // colwise/rowwise cross product - Vector3 vec3 = Vector3::Random(); - int i = internal::random(0,size-1); - - Matrix3N mat3N(3,size), mcross3N(3,size); - mat3N.setRandom(); - mcross3N = mat3N.colwise().cross(vec3); - VERIFY_IS_APPROX(mcross3N.col(i), mat3N.col(i).cross(vec3)); - - MatrixN3 matN3(size,3), mcrossN3(size,3); - matN3.setRandom(); - mcrossN3 = matN3.rowwise().cross(vec3); - VERIFY_IS_APPROX(mcrossN3.row(i), matN3.row(i).cross(vec3)); -} - -void test_geo_orthomethods() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( orthomethods_3() ); - CALL_SUBTEST_2( orthomethods_3() ); - CALL_SUBTEST_4( orthomethods_3 >() ); - CALL_SUBTEST_1( (orthomethods()) ); - CALL_SUBTEST_2( (orthomethods()) ); - CALL_SUBTEST_1( (orthomethods()) ); - CALL_SUBTEST_2( (orthomethods()) ); - CALL_SUBTEST_3( (orthomethods()) ); - CALL_SUBTEST_4( (orthomethods,8>()) ); - CALL_SUBTEST_5( (orthomethods(36)) ); - CALL_SUBTEST_6( (orthomethods(35)) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/geo_parametrizedline.cpp b/testbed/nanogui/ext/eigen/test/geo_parametrizedline.cpp deleted file mode 100644 index 29c1b105..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_parametrizedline.cpp +++ /dev/null @@ -1,131 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -template void parametrizedline(const LineType& _line) -{ - /* this test covers the following files: - ParametrizedLine.h - */ - using std::abs; - typedef typename LineType::Index Index; - const Index dim = _line.dim(); - typedef typename LineType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - typedef Hyperplane HyperplaneType; - typedef Matrix MatrixType; - - VectorType p0 = VectorType::Random(dim); - VectorType p1 = VectorType::Random(dim); - - VectorType d0 = VectorType::Random(dim).normalized(); - - LineType l0(p0, d0); - - Scalar s0 = internal::random(); - Scalar s1 = abs(internal::random()); - - VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) ); - VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) ); - VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) ); - VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) ); - VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 ); - - // casting - const int Dim = LineType::AmbientDimAtCompileTime; - typedef typename GetDifferentType::type OtherScalar; - ParametrizedLine hp1f = l0.template cast(); - VERIFY_IS_APPROX(hp1f.template cast(),l0); - ParametrizedLine hp1d = l0.template cast(); - VERIFY_IS_APPROX(hp1d.template cast(),l0); - - // intersections - VectorType p2 = VectorType::Random(dim); - VectorType n2 = VectorType::Random(dim).normalized(); - HyperplaneType hp(p2,n2); - Scalar t = l0.intersectionParameter(hp); - VectorType pi = l0.pointAt(t); - VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1)); - VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1)); - VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi); - - // transform - if (!NumTraits::IsComplex) - { - MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ(); - DiagonalMatrix scaling(VectorType::Random()); - Translation translation(VectorType::Random()); - - while(scaling.diagonal().cwiseAbs().minCoeff() void parametrizedline_alignment() -{ - typedef ParametrizedLine Line4a; - typedef ParametrizedLine Line4u; - - EIGEN_ALIGN_MAX Scalar array1[16]; - EIGEN_ALIGN_MAX Scalar array2[16]; - EIGEN_ALIGN_MAX Scalar array3[16+1]; - Scalar* array3u = array3+1; - - Line4a *p1 = ::new(reinterpret_cast(array1)) Line4a; - Line4u *p2 = ::new(reinterpret_cast(array2)) Line4u; - Line4u *p3 = ::new(reinterpret_cast(array3u)) Line4u; - - p1->origin().setRandom(); - p1->direction().setRandom(); - *p2 = *p1; - *p3 = *p1; - - VERIFY_IS_APPROX(p1->origin(), p2->origin()); - VERIFY_IS_APPROX(p1->origin(), p3->origin()); - VERIFY_IS_APPROX(p1->direction(), p2->direction()); - VERIFY_IS_APPROX(p1->direction(), p3->direction()); - - #if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES>0 - if(internal::packet_traits::Vectorizable && internal::packet_traits::size<=4) - VERIFY_RAISES_ASSERT((::new(reinterpret_cast(array3u)) Line4a)); - #endif -} - -void test_geo_parametrizedline() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( parametrizedline(ParametrizedLine()) ); - CALL_SUBTEST_2( parametrizedline(ParametrizedLine()) ); - CALL_SUBTEST_2( parametrizedline_alignment() ); - CALL_SUBTEST_3( parametrizedline(ParametrizedLine()) ); - CALL_SUBTEST_3( parametrizedline_alignment() ); - CALL_SUBTEST_4( parametrizedline(ParametrizedLine,5>()) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/geo_quaternion.cpp b/testbed/nanogui/ext/eigen/test/geo_quaternion.cpp deleted file mode 100644 index 96889e72..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_quaternion.cpp +++ /dev/null @@ -1,289 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// Copyright (C) 2009 Mathieu Gautier -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -template T bounded_acos(T v) -{ - using std::acos; - using std::min; - using std::max; - return acos((max)(T(-1),(min)(v,T(1)))); -} - -template void check_slerp(const QuatType& q0, const QuatType& q1) -{ - using std::abs; - typedef typename QuatType::Scalar Scalar; - typedef AngleAxis AA; - - Scalar largeEps = test_precision(); - - Scalar theta_tot = AA(q1*q0.inverse()).angle(); - if(theta_tot>Scalar(EIGEN_PI)) - theta_tot = Scalar(2.)*Scalar(EIGEN_PI)-theta_tot; - for(Scalar t=0; t<=Scalar(1.001); t+=Scalar(0.1)) - { - QuatType q = q0.slerp(t,q1); - Scalar theta = AA(q*q0.inverse()).angle(); - VERIFY(abs(q.norm() - 1) < largeEps); - if(theta_tot==0) VERIFY(theta_tot==0); - else VERIFY(abs(theta - t * theta_tot) < largeEps); - } -} - -template void quaternion(void) -{ - /* this test covers the following files: - Quaternion.h - */ - using std::abs; - typedef Matrix Vector3; - typedef Matrix Matrix3; - typedef Quaternion Quaternionx; - typedef AngleAxis AngleAxisx; - - Scalar largeEps = test_precision(); - if (internal::is_same::value) - largeEps = Scalar(1e-3); - - Scalar eps = internal::random() * Scalar(1e-2); - - Vector3 v0 = Vector3::Random(), - v1 = Vector3::Random(), - v2 = Vector3::Random(), - v3 = Vector3::Random(); - - Scalar a = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)), - b = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); - - // Quaternion: Identity(), setIdentity(); - Quaternionx q1, q2; - q2.setIdentity(); - VERIFY_IS_APPROX(Quaternionx(Quaternionx::Identity()).coeffs(), q2.coeffs()); - q1.coeffs().setRandom(); - VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs()); - - // concatenation - q1 *= q2; - - q1 = AngleAxisx(a, v0.normalized()); - q2 = AngleAxisx(a, v1.normalized()); - - // angular distance - Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle()); - if (refangle>Scalar(EIGEN_PI)) - refangle = Scalar(2)*Scalar(EIGEN_PI) - refangle; - - if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps) - { - VERIFY_IS_MUCH_SMALLER_THAN(abs(q1.angularDistance(q2) - refangle), Scalar(1)); - } - - // rotation matrix conversion - VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2); - VERIFY_IS_APPROX(q1 * q2 * v2, - q1.toRotationMatrix() * q2.toRotationMatrix() * v2); - - VERIFY( (q2*q1).isApprox(q1*q2, largeEps) - || !(q2 * q1 * v2).isApprox(q1.toRotationMatrix() * q2.toRotationMatrix() * v2)); - - q2 = q1.toRotationMatrix(); - VERIFY_IS_APPROX(q1*v1,q2*v1); - - Matrix3 rot1(q1); - VERIFY_IS_APPROX(q1*v1,rot1*v1); - Quaternionx q3(rot1.transpose()*rot1); - VERIFY_IS_APPROX(q3*v1,v1); - - - // angle-axis conversion - AngleAxisx aa = AngleAxisx(q1); - VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); - - // Do not execute the test if the rotation angle is almost zero, or - // the rotation axis and v1 are almost parallel. - if (abs(aa.angle()) > 5*test_precision() - && (aa.axis() - v1.normalized()).norm() < Scalar(1.99) - && (aa.axis() + v1.normalized()).norm() < Scalar(1.99)) - { - VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); - } - - // from two vector creation - VERIFY_IS_APPROX( v2.normalized(),(q2.setFromTwoVectors(v1, v2)*v1).normalized()); - VERIFY_IS_APPROX( v1.normalized(),(q2.setFromTwoVectors(v1, v1)*v1).normalized()); - VERIFY_IS_APPROX(-v1.normalized(),(q2.setFromTwoVectors(v1,-v1)*v1).normalized()); - if (internal::is_same::value) - { - v3 = (v1.array()+eps).matrix(); - VERIFY_IS_APPROX( v3.normalized(),(q2.setFromTwoVectors(v1, v3)*v1).normalized()); - VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized()); - } - - // from two vector creation static function - VERIFY_IS_APPROX( v2.normalized(),(Quaternionx::FromTwoVectors(v1, v2)*v1).normalized()); - VERIFY_IS_APPROX( v1.normalized(),(Quaternionx::FromTwoVectors(v1, v1)*v1).normalized()); - VERIFY_IS_APPROX(-v1.normalized(),(Quaternionx::FromTwoVectors(v1,-v1)*v1).normalized()); - if (internal::is_same::value) - { - v3 = (v1.array()+eps).matrix(); - VERIFY_IS_APPROX( v3.normalized(),(Quaternionx::FromTwoVectors(v1, v3)*v1).normalized()); - VERIFY_IS_APPROX(-v3.normalized(),(Quaternionx::FromTwoVectors(v1,-v3)*v1).normalized()); - } - - // inverse and conjugate - VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1); - VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1); - - // test casting - Quaternion q1f = q1.template cast(); - VERIFY_IS_APPROX(q1f.template cast(),q1); - Quaternion q1d = q1.template cast(); - VERIFY_IS_APPROX(q1d.template cast(),q1); - - // test bug 369 - improper alignment. - Quaternionx *q = new Quaternionx; - delete q; - - q1 = Quaternionx::UnitRandom(); - q2 = Quaternionx::UnitRandom(); - check_slerp(q1,q2); - - q1 = AngleAxisx(b, v1.normalized()); - q2 = AngleAxisx(b+Scalar(EIGEN_PI), v1.normalized()); - check_slerp(q1,q2); - - q1 = AngleAxisx(b, v1.normalized()); - q2 = AngleAxisx(-b, -v1.normalized()); - check_slerp(q1,q2); - - q1 = Quaternionx::UnitRandom(); - q2.coeffs() = -q1.coeffs(); - check_slerp(q1,q2); -} - -template void mapQuaternion(void){ - typedef Map, Aligned> MQuaternionA; - typedef Map, Aligned> MCQuaternionA; - typedef Map > MQuaternionUA; - typedef Map > MCQuaternionUA; - typedef Quaternion Quaternionx; - typedef Matrix Vector3; - typedef AngleAxis AngleAxisx; - - Vector3 v0 = Vector3::Random(), - v1 = Vector3::Random(); - Scalar a = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); - - EIGEN_ALIGN_MAX Scalar array1[4]; - EIGEN_ALIGN_MAX Scalar array2[4]; - EIGEN_ALIGN_MAX Scalar array3[4+1]; - Scalar* array3unaligned = array3+1; - - MQuaternionA mq1(array1); - MCQuaternionA mcq1(array1); - MQuaternionA mq2(array2); - MQuaternionUA mq3(array3unaligned); - MCQuaternionUA mcq3(array3unaligned); - -// std::cerr << array1 << " " << array2 << " " << array3 << "\n"; - mq1 = AngleAxisx(a, v0.normalized()); - mq2 = mq1; - mq3 = mq1; - - Quaternionx q1 = mq1; - Quaternionx q2 = mq2; - Quaternionx q3 = mq3; - Quaternionx q4 = MCQuaternionUA(array3unaligned); - - VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs()); - VERIFY_IS_APPROX(q1.coeffs(), q3.coeffs()); - VERIFY_IS_APPROX(q4.coeffs(), q3.coeffs()); - #ifdef EIGEN_VECTORIZE - if(internal::packet_traits::Vectorizable) - VERIFY_RAISES_ASSERT((MQuaternionA(array3unaligned))); - #endif - - VERIFY_IS_APPROX(mq1 * (mq1.inverse() * v1), v1); - VERIFY_IS_APPROX(mq1 * (mq1.conjugate() * v1), v1); - - VERIFY_IS_APPROX(mcq1 * (mcq1.inverse() * v1), v1); - VERIFY_IS_APPROX(mcq1 * (mcq1.conjugate() * v1), v1); - - VERIFY_IS_APPROX(mq3 * (mq3.inverse() * v1), v1); - VERIFY_IS_APPROX(mq3 * (mq3.conjugate() * v1), v1); - - VERIFY_IS_APPROX(mcq3 * (mcq3.inverse() * v1), v1); - VERIFY_IS_APPROX(mcq3 * (mcq3.conjugate() * v1), v1); - - VERIFY_IS_APPROX(mq1*mq2, q1*q2); - VERIFY_IS_APPROX(mq3*mq2, q3*q2); - VERIFY_IS_APPROX(mcq1*mq2, q1*q2); - VERIFY_IS_APPROX(mcq3*mq2, q3*q2); -} - -template void quaternionAlignment(void){ - typedef Quaternion QuaternionA; - typedef Quaternion QuaternionUA; - - EIGEN_ALIGN_MAX Scalar array1[4]; - EIGEN_ALIGN_MAX Scalar array2[4]; - EIGEN_ALIGN_MAX Scalar array3[4+1]; - Scalar* arrayunaligned = array3+1; - - QuaternionA *q1 = ::new(reinterpret_cast(array1)) QuaternionA; - QuaternionUA *q2 = ::new(reinterpret_cast(array2)) QuaternionUA; - QuaternionUA *q3 = ::new(reinterpret_cast(arrayunaligned)) QuaternionUA; - - q1->coeffs().setRandom(); - *q2 = *q1; - *q3 = *q1; - - VERIFY_IS_APPROX(q1->coeffs(), q2->coeffs()); - VERIFY_IS_APPROX(q1->coeffs(), q3->coeffs()); - #if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES>0 - if(internal::packet_traits::Vectorizable && internal::packet_traits::size<=4) - VERIFY_RAISES_ASSERT((::new(reinterpret_cast(arrayunaligned)) QuaternionA)); - #endif -} - -template void check_const_correctness(const PlainObjectType&) -{ - // there's a lot that we can't test here while still having this test compile! - // the only possible approach would be to run a script trying to compile stuff and checking that it fails. - // CMake can help with that. - - // verify that map-to-const don't have LvalueBit - typedef typename internal::add_const::type ConstPlainObjectType; - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(Map::Flags & LvalueBit) ); - VERIFY( !(Map::Flags & LvalueBit) ); -} - -void test_geo_quaternion() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(( quaternion() )); - CALL_SUBTEST_1( check_const_correctness(Quaternionf()) ); - CALL_SUBTEST_2(( quaternion() )); - CALL_SUBTEST_2( check_const_correctness(Quaterniond()) ); - CALL_SUBTEST_3(( quaternion() )); - CALL_SUBTEST_4(( quaternion() )); - CALL_SUBTEST_5(( quaternionAlignment() )); - CALL_SUBTEST_6(( quaternionAlignment() )); - CALL_SUBTEST_1( mapQuaternion() ); - CALL_SUBTEST_2( mapQuaternion() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/geo_transformations.cpp b/testbed/nanogui/ext/eigen/test/geo_transformations.cpp deleted file mode 100644 index 278e527c..00000000 --- a/testbed/nanogui/ext/eigen/test/geo_transformations.cpp +++ /dev/null @@ -1,645 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -template -Matrix angleToVec(T a) -{ - return Matrix(std::cos(a), std::sin(a)); -} - -// This permits to workaround a bug in clang/llvm code generation. -template -EIGEN_DONT_INLINE -void dont_over_optimize(T& x) { volatile typename T::Scalar tmp = x(0); x(0) = tmp; } - -template void non_projective_only() -{ - /* this test covers the following files: - Cross.h Quaternion.h, Transform.cpp - */ - typedef Matrix Vector3; - typedef Quaternion Quaternionx; - typedef AngleAxis AngleAxisx; - typedef Transform Transform3; - typedef DiagonalMatrix AlignedScaling3; - typedef Translation Translation3; - - Vector3 v0 = Vector3::Random(), - v1 = Vector3::Random(); - - Transform3 t0, t1, t2; - - Scalar a = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); - - Quaternionx q1, q2; - - q1 = AngleAxisx(a, v0.normalized()); - - t0 = Transform3::Identity(); - VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); - - t0.linear() = q1.toRotationMatrix(); - - v0 << 50, 2, 1; - t0.scale(v0); - - VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x()); - - t0.setIdentity(); - t1.setIdentity(); - v1 << 1, 2, 3; - t0.linear() = q1.toRotationMatrix(); - t0.pretranslate(v0); - t0.scale(v1); - t1.linear() = q1.conjugate().toRotationMatrix(); - t1.prescale(v1.cwiseInverse()); - t1.translate(-v0); - - VERIFY((t0 * t1).matrix().isIdentity(test_precision())); - - t1.fromPositionOrientationScale(v0, q1, v1); - VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); - VERIFY_IS_APPROX(t1*v1, t0*v1); - - // translation * vector - t0.setIdentity(); - t0.translate(v0); - VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); - - // AlignedScaling * vector - t0.setIdentity(); - t0.scale(v0); - VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1); -} - -template void transformations() -{ - /* this test covers the following files: - Cross.h Quaternion.h, Transform.cpp - */ - using std::cos; - using std::abs; - typedef Matrix Matrix3; - typedef Matrix Matrix4; - typedef Matrix Vector2; - typedef Matrix Vector3; - typedef Matrix Vector4; - typedef Quaternion Quaternionx; - typedef AngleAxis AngleAxisx; - typedef Transform Transform2; - typedef Transform Transform3; - typedef typename Transform3::MatrixType MatrixType; - typedef DiagonalMatrix AlignedScaling3; - typedef Translation Translation2; - typedef Translation Translation3; - - Vector3 v0 = Vector3::Random(), - v1 = Vector3::Random(); - Matrix3 matrot1, m; - - Scalar a = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); - Scalar s0 = internal::random(), s1 = internal::random(); - - while(v0.norm() < test_precision()) v0 = Vector3::Random(); - while(v1.norm() < test_precision()) v1 = Vector3::Random(); - - VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); - VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(EIGEN_PI), v0.unitOrthogonal()) * v0); - if(abs(cos(a)) > test_precision()) - { - VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0)); - } - m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint(); - VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized())); - VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m); - - Quaternionx q1, q2; - q1 = AngleAxisx(a, v0.normalized()); - q2 = AngleAxisx(a, v1.normalized()); - - // rotation matrix conversion - matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX()) - * AngleAxisx(Scalar(0.2), Vector3::UnitY()) - * AngleAxisx(Scalar(0.3), Vector3::UnitZ()); - VERIFY_IS_APPROX(matrot1 * v1, - AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix() - * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix() - * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1))); - - // angle-axis conversion - AngleAxisx aa = AngleAxisx(q1); - VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); - - // The following test is stable only if 2*angle != angle and v1 is not colinear with axis - if( (abs(aa.angle()) > test_precision()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision())) ) - { - VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) ); - } - - aa.fromRotationMatrix(aa.toRotationMatrix()); - VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); - // The following test is stable only if 2*angle != angle and v1 is not colinear with axis - if( (abs(aa.angle()) > test_precision()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision())) ) - { - VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) ); - } - - // AngleAxis - VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), - Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix()); - - AngleAxisx aa1; - m = q1.toRotationMatrix(); - aa1 = m; - VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(), - Quaternionx(m).toRotationMatrix()); - - // Transform - // TODO complete the tests ! - a = 0; - while (abs(a)(-Scalar(0.4)*Scalar(EIGEN_PI), Scalar(0.4)*Scalar(EIGEN_PI)); - q1 = AngleAxisx(a, v0.normalized()); - Transform3 t0, t1, t2; - - // first test setIdentity() and Identity() - t0.setIdentity(); - VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); - t0.matrix().setZero(); - t0 = Transform3::Identity(); - VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); - - t0.setIdentity(); - t1.setIdentity(); - v1 << 1, 2, 3; - t0.linear() = q1.toRotationMatrix(); - t0.pretranslate(v0); - t0.scale(v1); - t1.linear() = q1.conjugate().toRotationMatrix(); - t1.prescale(v1.cwiseInverse()); - t1.translate(-v0); - - VERIFY((t0 * t1).matrix().isIdentity(test_precision())); - - t1.fromPositionOrientationScale(v0, q1, v1); - VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); - - t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); - t1.setIdentity(); t1.scale(v0).rotate(q1); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); - VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); - - // More transform constructors, operator=, operator*= - - Matrix3 mat3 = Matrix3::Random(); - Matrix4 mat4; - mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose(); - Transform3 tmat3(mat3), tmat4(mat4); - if(Mode!=int(AffineCompact)) - tmat4.matrix()(3,3) = Scalar(1); - VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix()); - - Scalar a3 = internal::random(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); - Vector3 v3 = Vector3::Random().normalized(); - AngleAxisx aa3(a3, v3); - Transform3 t3(aa3); - Transform3 t4; - t4 = aa3; - VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); - t4.rotate(AngleAxisx(-a3,v3)); - VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); - t4 *= aa3; - VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); - - do { - v3 = Vector3::Random(); - dont_over_optimize(v3); - } while (v3.cwiseAbs().minCoeff()::epsilon()); - Translation3 tv3(v3); - Transform3 t5(tv3); - t4 = tv3; - VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); - t4.translate((-v3).eval()); - VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); - t4 *= tv3; - VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); - - AlignedScaling3 sv3(v3); - Transform3 t6(sv3); - t4 = sv3; - VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); - t4.scale(v3.cwiseInverse()); - VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); - t4 *= sv3; - VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); - - // matrix * transform - VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix()); - - // chained Transform product - VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix()); - - // check that Transform product doesn't have aliasing problems - t5 = t4; - t5 = t5*t5; - VERIFY_IS_APPROX(t5, t4*t4); - - // 2D transformation - Transform2 t20, t21; - Vector2 v20 = Vector2::Random(); - Vector2 v21 = Vector2::Random(); - for (int k=0; k<2; ++k) - if (abs(v21[k])(a).toRotationMatrix(); - VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(), - t21.pretranslate(v20).scale(v21).matrix()); - - t21.setIdentity(); - t21.linear() = Rotation2D(-a).toRotationMatrix(); - VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) - * (t21.prescale(v21.cwiseInverse()).translate(-v20))).matrix().isIdentity(test_precision()) ); - - // Transform - new API - // 3D - t0.setIdentity(); - t0.rotate(q1).scale(v0).translate(v0); - // mat * aligned scaling and mat * translation - t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t1 = (Matrix3(q1) * Eigen::Scaling(v0)) * Translation3(v0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t1 = (q1 * Eigen::Scaling(v0)) * Translation3(v0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // mat * transformation and aligned scaling * translation - t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - - t0.setIdentity(); - t0.scale(s0).translate(v0); - t1 = Eigen::Scaling(s0) * Translation3(v0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t0.prescale(s0); - t1 = Eigen::Scaling(s0) * t1; - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - t0 = t3; - t0.scale(s0); - t1 = t3 * Eigen::Scaling(s0,s0,s0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t0.prescale(s0); - t1 = Eigen::Scaling(s0,s0,s0) * t1; - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - t0 = t3; - t0.scale(s0); - t1 = t3 * Eigen::Scaling(s0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t0.prescale(s0); - t1 = Eigen::Scaling(s0) * t1; - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - t0.setIdentity(); - t0.prerotate(q1).prescale(v0).pretranslate(v0); - // translation * aligned scaling and transformation * mat - t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // scaling * mat and translation * mat - t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1)); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - t0.setIdentity(); - t0.scale(v0).translate(v0).rotate(q1); - // translation * mat and aligned scaling * transformation - t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1)); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // transformation * aligned scaling - t0.scale(v0); - t1 *= AlignedScaling3(v0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1)); - t1 = t1 * v0.asDiagonal(); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // transformation * translation - t0.translate(v0); - t1 = t1 * Translation3(v0); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - // translation * transformation - t0.pretranslate(v0); - t1 = Translation3(v0) * t1; - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // transform * quaternion - t0.rotate(q1); - t1 = t1 * q1; - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // translation * quaternion - t0.translate(v1).rotate(q1); - t1 = t1 * (Translation3(v1) * q1); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // aligned scaling * quaternion - t0.scale(v1).rotate(q1); - t1 = t1 * (AlignedScaling3(v1) * q1); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // quaternion * transform - t0.prerotate(q1); - t1 = q1 * t1; - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // quaternion * translation - t0.rotate(q1).translate(v1); - t1 = t1 * (q1 * Translation3(v1)); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // quaternion * aligned scaling - t0.rotate(q1).scale(v1); - t1 = t1 * (q1 * AlignedScaling3(v1)); - VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); - - // test transform inversion - t0.setIdentity(); - t0.translate(v0); - do { - t0.linear().setRandom(); - } while(t0.linear().jacobiSvd().singularValues()(2)()); - Matrix4 t044 = Matrix4::Zero(); - t044(3,3) = 1; - t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); - VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); - t0.setIdentity(); - t0.translate(v0).rotate(q1); - t044 = Matrix4::Zero(); - t044(3,3) = 1; - t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); - VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); - - Matrix3 mat_rotation, mat_scaling; - t0.setIdentity(); - t0.translate(v0).rotate(q1).scale(v1); - t0.computeRotationScaling(&mat_rotation, &mat_scaling); - VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); - VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); - VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); - t0.computeScalingRotation(&mat_scaling, &mat_rotation); - VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); - VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); - VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); - - // test casting - Transform t1f = t1.template cast(); - VERIFY_IS_APPROX(t1f.template cast(),t1); - Transform t1d = t1.template cast(); - VERIFY_IS_APPROX(t1d.template cast(),t1); - - Translation3 tr1(v0); - Translation tr1f = tr1.template cast(); - VERIFY_IS_APPROX(tr1f.template cast(),tr1); - Translation tr1d = tr1.template cast(); - VERIFY_IS_APPROX(tr1d.template cast(),tr1); - - AngleAxis aa1f = aa1.template cast(); - VERIFY_IS_APPROX(aa1f.template cast(),aa1); - AngleAxis aa1d = aa1.template cast(); - VERIFY_IS_APPROX(aa1d.template cast(),aa1); - - Rotation2D r2d1(internal::random()); - Rotation2D r2d1f = r2d1.template cast(); - VERIFY_IS_APPROX(r2d1f.template cast(),r2d1); - Rotation2D r2d1d = r2d1.template cast(); - VERIFY_IS_APPROX(r2d1d.template cast(),r2d1); - - for(int k=0; k<100; ++k) - { - Scalar angle = internal::random(-100,100); - Rotation2D rot2(angle); - VERIFY( rot2.smallestPositiveAngle() >= 0 ); - VERIFY( rot2.smallestPositiveAngle() <= Scalar(2)*Scalar(EIGEN_PI) ); - VERIFY_IS_APPROX( angleToVec(rot2.smallestPositiveAngle()), angleToVec(rot2.angle()) ); - - VERIFY( rot2.smallestAngle() >= -Scalar(EIGEN_PI) ); - VERIFY( rot2.smallestAngle() <= Scalar(EIGEN_PI) ); - VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot2.angle()) ); - - Matrix rot2_as_mat(rot2); - Rotation2D rot3(rot2_as_mat); - VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot3.angle()) ); - } - - s0 = internal::random(-100,100); - s1 = internal::random(-100,100); - Rotation2D R0(s0), R1(s1); - - t20 = Translation2(v20) * (R0 * Eigen::Scaling(s0)); - t21 = Translation2(v20) * R0 * Eigen::Scaling(s0); - VERIFY_IS_APPROX(t20,t21); - - t20 = Translation2(v20) * (R0 * R0.inverse() * Eigen::Scaling(s0)); - t21 = Translation2(v20) * Eigen::Scaling(s0); - VERIFY_IS_APPROX(t20,t21); - - VERIFY_IS_APPROX(s0, (R0.slerp(0, R1)).angle()); - VERIFY_IS_APPROX( angleToVec(R1.smallestPositiveAngle()), angleToVec((R0.slerp(1, R1)).smallestPositiveAngle()) ); - VERIFY_IS_APPROX(R0.smallestPositiveAngle(), (R0.slerp(0.5, R0)).smallestPositiveAngle()); - - if(std::cos(s0)>0) - VERIFY_IS_MUCH_SMALLER_THAN((R0.slerp(0.5, R0.inverse())).smallestAngle(), Scalar(1)); - else - VERIFY_IS_APPROX(Scalar(EIGEN_PI), (R0.slerp(0.5, R0.inverse())).smallestPositiveAngle()); - - // Check path length - Scalar l = 0; - int path_steps = 100; - for(int k=0; k::epsilon()*Scalar(path_steps/2))); - - // check basic features - { - Rotation2D r1; // default ctor - r1 = Rotation2D(s0); // copy assignment - VERIFY_IS_APPROX(r1.angle(),s0); - Rotation2D r2(r1); // copy ctor - VERIFY_IS_APPROX(r2.angle(),s0); - } - - { - Transform3 t32(Matrix4::Random()), t33, t34; - t34 = t33 = t32; - t32.scale(v0); - t33*=AlignedScaling3(v0); - VERIFY_IS_APPROX(t32.matrix(), t33.matrix()); - t33 = t34 * AlignedScaling3(v0); - VERIFY_IS_APPROX(t32.matrix(), t33.matrix()); - } - -} - -template -void transform_associativity_left(const A1& a1, const A2& a2, const P& p, const Q& q, const V& v, const H& h) -{ - VERIFY_IS_APPROX( q*(a1*v), (q*a1)*v ); - VERIFY_IS_APPROX( q*(a2*v), (q*a2)*v ); - VERIFY_IS_APPROX( q*(p*h).hnormalized(), ((q*p)*h).hnormalized() ); -} - -template -void transform_associativity2(const A1& a1, const A2& a2, const P& p, const Q& q, const V& v, const H& h) -{ - VERIFY_IS_APPROX( a1*(q*v), (a1*q)*v ); - VERIFY_IS_APPROX( a2*(q*v), (a2*q)*v ); - VERIFY_IS_APPROX( p *(q*v).homogeneous(), (p *q)*v.homogeneous() ); - - transform_associativity_left(a1, a2,p, q, v, h); -} - -template -void transform_associativity(const RotationType& R) -{ - typedef Matrix VectorType; - typedef Matrix HVectorType; - typedef Matrix LinearType; - typedef Matrix MatrixType; - typedef Transform AffineCompactType; - typedef Transform AffineType; - typedef Transform ProjectiveType; - typedef DiagonalMatrix ScalingType; - typedef Translation TranslationType; - - AffineCompactType A1c; A1c.matrix().setRandom(); - AffineCompactType A2c; A2c.matrix().setRandom(); - AffineType A1(A1c); - AffineType A2(A2c); - ProjectiveType P1; P1.matrix().setRandom(); - VectorType v1 = VectorType::Random(); - VectorType v2 = VectorType::Random(); - HVectorType h1 = HVectorType::Random(); - Scalar s1 = internal::random(); - LinearType L = LinearType::Random(); - MatrixType M = MatrixType::Random(); - - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, A2, v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, A2c, v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, v1.asDiagonal(), v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, ScalingType(v1), v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, Scaling(v1), v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, Scaling(s1), v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, TranslationType(v1), v2, h1) ); - CALL_SUBTEST( transform_associativity_left(A1c, A1, P1, L, v2, h1) ); - CALL_SUBTEST( transform_associativity2(A1c, A1, P1, R, v2, h1) ); - - VERIFY_IS_APPROX( A1*(M*h1), (A1*M)*h1 ); - VERIFY_IS_APPROX( A1c*(M*h1), (A1c*M)*h1 ); - VERIFY_IS_APPROX( P1*(M*h1), (P1*M)*h1 ); - - VERIFY_IS_APPROX( M*(A1*h1), (M*A1)*h1 ); - VERIFY_IS_APPROX( M*(A1c*h1), (M*A1c)*h1 ); - VERIFY_IS_APPROX( M*(P1*h1), ((M*P1)*h1) ); -} - -template void transform_alignment() -{ - typedef Transform Projective3a; - typedef Transform Projective3u; - - EIGEN_ALIGN_MAX Scalar array1[16]; - EIGEN_ALIGN_MAX Scalar array2[16]; - EIGEN_ALIGN_MAX Scalar array3[16+1]; - Scalar* array3u = array3+1; - - Projective3a *p1 = ::new(reinterpret_cast(array1)) Projective3a; - Projective3u *p2 = ::new(reinterpret_cast(array2)) Projective3u; - Projective3u *p3 = ::new(reinterpret_cast(array3u)) Projective3u; - - p1->matrix().setRandom(); - *p2 = *p1; - *p3 = *p1; - - VERIFY_IS_APPROX(p1->matrix(), p2->matrix()); - VERIFY_IS_APPROX(p1->matrix(), p3->matrix()); - - VERIFY_IS_APPROX( (*p1) * (*p1), (*p2)*(*p3)); - - #if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES>0 - if(internal::packet_traits::Vectorizable) - VERIFY_RAISES_ASSERT((::new(reinterpret_cast(array3u)) Projective3a)); - #endif -} - -template void transform_products() -{ - typedef Matrix Mat; - typedef Transform Proj; - typedef Transform Aff; - typedef Transform AffC; - - Proj p; p.matrix().setRandom(); - Aff a; a.linear().setRandom(); a.translation().setRandom(); - AffC ac = a; - - Mat p_m(p.matrix()), a_m(a.matrix()); - - VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m); - VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m); - VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m); - VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m); - VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m); - VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m); - VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m); - VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); -} - -void test_geo_transformations() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(( transformations() )); - CALL_SUBTEST_1(( non_projective_only() )); - - CALL_SUBTEST_2(( transformations() )); - CALL_SUBTEST_2(( non_projective_only() )); - CALL_SUBTEST_2(( transform_alignment() )); - - CALL_SUBTEST_3(( transformations() )); - CALL_SUBTEST_3(( transformations() )); - CALL_SUBTEST_3(( transform_alignment() )); - - CALL_SUBTEST_4(( transformations() )); - CALL_SUBTEST_4(( non_projective_only() )); - - CALL_SUBTEST_5(( transformations() )); - CALL_SUBTEST_5(( non_projective_only() )); - - CALL_SUBTEST_6(( transformations() )); - CALL_SUBTEST_6(( transformations() )); - - - CALL_SUBTEST_7(( transform_products() )); - CALL_SUBTEST_7(( transform_products() )); - - CALL_SUBTEST_8(( transform_associativity(Rotation2D(internal::random()*double(EIGEN_PI))) )); - CALL_SUBTEST_8(( transform_associativity(Quaterniond::UnitRandom()) )); - } -} diff --git a/testbed/nanogui/ext/eigen/test/half_float.cpp b/testbed/nanogui/ext/eigen/test/half_float.cpp deleted file mode 100644 index 6f319685..00000000 --- a/testbed/nanogui/ext/eigen/test/half_float.cpp +++ /dev/null @@ -1,257 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include - -#include "main.h" - -#include - -// Make sure it's possible to forward declare Eigen::half -namespace Eigen { -struct half; -} - -using Eigen::half; - -void test_conversion() -{ - using Eigen::half_impl::__half; - - // Conversion from float. - VERIFY_IS_EQUAL(half(1.0f).x, 0x3c00); - VERIFY_IS_EQUAL(half(0.5f).x, 0x3800); - VERIFY_IS_EQUAL(half(0.33333f).x, 0x3555); - VERIFY_IS_EQUAL(half(0.0f).x, 0x0000); - VERIFY_IS_EQUAL(half(-0.0f).x, 0x8000); - VERIFY_IS_EQUAL(half(65504.0f).x, 0x7bff); - VERIFY_IS_EQUAL(half(65536.0f).x, 0x7c00); // Becomes infinity. - - // Denormals. - VERIFY_IS_EQUAL(half(-5.96046e-08f).x, 0x8001); - VERIFY_IS_EQUAL(half(5.96046e-08f).x, 0x0001); - VERIFY_IS_EQUAL(half(1.19209e-07f).x, 0x0002); - - // Verify round-to-nearest-even behavior. - float val1 = float(half(__half(0x3c00))); - float val2 = float(half(__half(0x3c01))); - float val3 = float(half(__half(0x3c02))); - VERIFY_IS_EQUAL(half(0.5f * (val1 + val2)).x, 0x3c00); - VERIFY_IS_EQUAL(half(0.5f * (val2 + val3)).x, 0x3c02); - - // Conversion from int. - VERIFY_IS_EQUAL(half(-1).x, 0xbc00); - VERIFY_IS_EQUAL(half(0).x, 0x0000); - VERIFY_IS_EQUAL(half(1).x, 0x3c00); - VERIFY_IS_EQUAL(half(2).x, 0x4000); - VERIFY_IS_EQUAL(half(3).x, 0x4200); - - // Conversion from bool. - VERIFY_IS_EQUAL(half(false).x, 0x0000); - VERIFY_IS_EQUAL(half(true).x, 0x3c00); - - // Conversion to float. - VERIFY_IS_EQUAL(float(half(__half(0x0000))), 0.0f); - VERIFY_IS_EQUAL(float(half(__half(0x3c00))), 1.0f); - - // Denormals. - VERIFY_IS_APPROX(float(half(__half(0x8001))), -5.96046e-08f); - VERIFY_IS_APPROX(float(half(__half(0x0001))), 5.96046e-08f); - VERIFY_IS_APPROX(float(half(__half(0x0002))), 1.19209e-07f); - - // NaNs and infinities. - VERIFY(!(numext::isinf)(float(half(65504.0f)))); // Largest finite number. - VERIFY(!(numext::isnan)(float(half(0.0f)))); - VERIFY((numext::isinf)(float(half(__half(0xfc00))))); - VERIFY((numext::isnan)(float(half(__half(0xfc01))))); - VERIFY((numext::isinf)(float(half(__half(0x7c00))))); - VERIFY((numext::isnan)(float(half(__half(0x7c01))))); - -#if !EIGEN_COMP_MSVC - // Visual Studio errors out on divisions by 0 - VERIFY((numext::isnan)(float(half(0.0 / 0.0)))); - VERIFY((numext::isinf)(float(half(1.0 / 0.0)))); - VERIFY((numext::isinf)(float(half(-1.0 / 0.0)))); -#endif - - // Exactly same checks as above, just directly on the half representation. - VERIFY(!(numext::isinf)(half(__half(0x7bff)))); - VERIFY(!(numext::isnan)(half(__half(0x0000)))); - VERIFY((numext::isinf)(half(__half(0xfc00)))); - VERIFY((numext::isnan)(half(__half(0xfc01)))); - VERIFY((numext::isinf)(half(__half(0x7c00)))); - VERIFY((numext::isnan)(half(__half(0x7c01)))); - -#if !EIGEN_COMP_MSVC - // Visual Studio errors out on divisions by 0 - VERIFY((numext::isnan)(half(0.0 / 0.0))); - VERIFY((numext::isinf)(half(1.0 / 0.0))); - VERIFY((numext::isinf)(half(-1.0 / 0.0))); -#endif -} - -void test_numtraits() -{ - std::cout << "epsilon = " << NumTraits::epsilon() << std::endl; - std::cout << "highest = " << NumTraits::highest() << std::endl; - std::cout << "lowest = " << NumTraits::lowest() << std::endl; - std::cout << "inifinty = " << NumTraits::infinity() << std::endl; - std::cout << "nan = " << NumTraits::quiet_NaN() << std::endl; - -} - -void test_arithmetic() -{ - VERIFY_IS_EQUAL(float(half(2) + half(2)), 4); - VERIFY_IS_EQUAL(float(half(2) + half(-2)), 0); - VERIFY_IS_APPROX(float(half(0.33333f) + half(0.66667f)), 1.0f); - VERIFY_IS_EQUAL(float(half(2.0f) * half(-5.5f)), -11.0f); - VERIFY_IS_APPROX(float(half(1.0f) / half(3.0f)), 0.33333f); - VERIFY_IS_EQUAL(float(-half(4096.0f)), -4096.0f); - VERIFY_IS_EQUAL(float(-half(-4096.0f)), 4096.0f); -} - -void test_comparison() -{ - VERIFY(half(1.0f) > half(0.5f)); - VERIFY(half(0.5f) < half(1.0f)); - VERIFY(!(half(1.0f) < half(0.5f))); - VERIFY(!(half(0.5f) > half(1.0f))); - - VERIFY(!(half(4.0f) > half(4.0f))); - VERIFY(!(half(4.0f) < half(4.0f))); - - VERIFY(!(half(0.0f) < half(-0.0f))); - VERIFY(!(half(-0.0f) < half(0.0f))); - VERIFY(!(half(0.0f) > half(-0.0f))); - VERIFY(!(half(-0.0f) > half(0.0f))); - - VERIFY(half(0.2f) > half(-1.0f)); - VERIFY(half(-1.0f) < half(0.2f)); - VERIFY(half(-16.0f) < half(-15.0f)); - - VERIFY(half(1.0f) == half(1.0f)); - VERIFY(half(1.0f) != half(2.0f)); - - // Comparisons with NaNs and infinities. -#if !EIGEN_COMP_MSVC - // Visual Studio errors out on divisions by 0 - VERIFY(!(half(0.0 / 0.0) == half(0.0 / 0.0))); - VERIFY(half(0.0 / 0.0) != half(0.0 / 0.0)); - - VERIFY(!(half(1.0) == half(0.0 / 0.0))); - VERIFY(!(half(1.0) < half(0.0 / 0.0))); - VERIFY(!(half(1.0) > half(0.0 / 0.0))); - VERIFY(half(1.0) != half(0.0 / 0.0)); - - VERIFY(half(1.0) < half(1.0 / 0.0)); - VERIFY(half(1.0) > half(-1.0 / 0.0)); -#endif -} - -void test_basic_functions() -{ - VERIFY_IS_EQUAL(float(numext::abs(half(3.5f))), 3.5f); - VERIFY_IS_EQUAL(float(abs(half(3.5f))), 3.5f); - VERIFY_IS_EQUAL(float(numext::abs(half(-3.5f))), 3.5f); - VERIFY_IS_EQUAL(float(abs(half(-3.5f))), 3.5f); - - VERIFY_IS_EQUAL(float(numext::floor(half(3.5f))), 3.0f); - VERIFY_IS_EQUAL(float(floor(half(3.5f))), 3.0f); - VERIFY_IS_EQUAL(float(numext::floor(half(-3.5f))), -4.0f); - VERIFY_IS_EQUAL(float(floor(half(-3.5f))), -4.0f); - - VERIFY_IS_EQUAL(float(numext::ceil(half(3.5f))), 4.0f); - VERIFY_IS_EQUAL(float(ceil(half(3.5f))), 4.0f); - VERIFY_IS_EQUAL(float(numext::ceil(half(-3.5f))), -3.0f); - VERIFY_IS_EQUAL(float(ceil(half(-3.5f))), -3.0f); - - VERIFY_IS_APPROX(float(numext::sqrt(half(0.0f))), 0.0f); - VERIFY_IS_APPROX(float(sqrt(half(0.0f))), 0.0f); - VERIFY_IS_APPROX(float(numext::sqrt(half(4.0f))), 2.0f); - VERIFY_IS_APPROX(float(sqrt(half(4.0f))), 2.0f); - - VERIFY_IS_APPROX(float(numext::pow(half(0.0f), half(1.0f))), 0.0f); - VERIFY_IS_APPROX(float(pow(half(0.0f), half(1.0f))), 0.0f); - VERIFY_IS_APPROX(float(numext::pow(half(2.0f), half(2.0f))), 4.0f); - VERIFY_IS_APPROX(float(pow(half(2.0f), half(2.0f))), 4.0f); - - VERIFY_IS_EQUAL(float(numext::exp(half(0.0f))), 1.0f); - VERIFY_IS_EQUAL(float(exp(half(0.0f))), 1.0f); - VERIFY_IS_APPROX(float(numext::exp(half(EIGEN_PI))), 20.f + float(EIGEN_PI)); - VERIFY_IS_APPROX(float(exp(half(EIGEN_PI))), 20.f + float(EIGEN_PI)); - - VERIFY_IS_EQUAL(float(numext::expm1(half(0.0f))), 0.0f); - VERIFY_IS_EQUAL(float(expm1(half(0.0f))), 0.0f); - VERIFY_IS_APPROX(float(numext::expm1(half(2.0f))), 6.3890561f); - VERIFY_IS_APPROX(float(expm1(half(2.0f))), 6.3890561f); - - VERIFY_IS_EQUAL(float(numext::log(half(1.0f))), 0.0f); - VERIFY_IS_EQUAL(float(log(half(1.0f))), 0.0f); - VERIFY_IS_APPROX(float(numext::log(half(10.0f))), 2.30273f); - VERIFY_IS_APPROX(float(log(half(10.0f))), 2.30273f); - - VERIFY_IS_EQUAL(float(numext::log1p(half(0.0f))), 0.0f); - VERIFY_IS_EQUAL(float(log1p(half(0.0f))), 0.0f); - VERIFY_IS_APPROX(float(numext::log1p(half(10.0f))), 2.3978953f); - VERIFY_IS_APPROX(float(log1p(half(10.0f))), 2.3978953f); -} - -void test_trigonometric_functions() -{ - VERIFY_IS_APPROX(numext::cos(half(0.0f)), half(cosf(0.0f))); - VERIFY_IS_APPROX(cos(half(0.0f)), half(cosf(0.0f))); - VERIFY_IS_APPROX(numext::cos(half(EIGEN_PI)), half(cosf(EIGEN_PI))); - //VERIFY_IS_APPROX(numext::cos(half(EIGEN_PI/2)), half(cosf(EIGEN_PI/2))); - //VERIFY_IS_APPROX(numext::cos(half(3*EIGEN_PI/2)), half(cosf(3*EIGEN_PI/2))); - VERIFY_IS_APPROX(numext::cos(half(3.5f)), half(cosf(3.5f))); - - VERIFY_IS_APPROX(numext::sin(half(0.0f)), half(sinf(0.0f))); - VERIFY_IS_APPROX(sin(half(0.0f)), half(sinf(0.0f))); - // VERIFY_IS_APPROX(numext::sin(half(EIGEN_PI)), half(sinf(EIGEN_PI))); - VERIFY_IS_APPROX(numext::sin(half(EIGEN_PI/2)), half(sinf(EIGEN_PI/2))); - VERIFY_IS_APPROX(numext::sin(half(3*EIGEN_PI/2)), half(sinf(3*EIGEN_PI/2))); - VERIFY_IS_APPROX(numext::sin(half(3.5f)), half(sinf(3.5f))); - - VERIFY_IS_APPROX(numext::tan(half(0.0f)), half(tanf(0.0f))); - VERIFY_IS_APPROX(tan(half(0.0f)), half(tanf(0.0f))); - // VERIFY_IS_APPROX(numext::tan(half(EIGEN_PI)), half(tanf(EIGEN_PI))); - // VERIFY_IS_APPROX(numext::tan(half(EIGEN_PI/2)), half(tanf(EIGEN_PI/2))); - //VERIFY_IS_APPROX(numext::tan(half(3*EIGEN_PI/2)), half(tanf(3*EIGEN_PI/2))); - VERIFY_IS_APPROX(numext::tan(half(3.5f)), half(tanf(3.5f))); -} - -void test_array() -{ - typedef Array ArrayXh; - Index size = internal::random(1,10); - Index i = internal::random(0,size-1); - ArrayXh a1 = ArrayXh::Random(size), a2 = ArrayXh::Random(size); - VERIFY_IS_APPROX( a1+a1, half(2)*a1 ); - VERIFY( (a1.abs() >= half(0)).all() ); - VERIFY_IS_APPROX( (a1*a1).sqrt(), a1.abs() ); - - VERIFY( ((a1.min)(a2) <= (a1.max)(a2)).all() ); - a1(i) = half(-10.); - VERIFY_IS_EQUAL( a1.minCoeff(), half(-10.) ); - a1(i) = half(10.); - VERIFY_IS_EQUAL( a1.maxCoeff(), half(10.) ); - - std::stringstream ss; - ss << a1; -} - -void test_half_float() -{ - CALL_SUBTEST(test_conversion()); - CALL_SUBTEST(test_numtraits()); - CALL_SUBTEST(test_arithmetic()); - CALL_SUBTEST(test_comparison()); - CALL_SUBTEST(test_basic_functions()); - CALL_SUBTEST(test_trigonometric_functions()); - CALL_SUBTEST(test_array()); -} diff --git a/testbed/nanogui/ext/eigen/test/hessenberg.cpp b/testbed/nanogui/ext/eigen/test/hessenberg.cpp deleted file mode 100644 index 96bc19e2..00000000 --- a/testbed/nanogui/ext/eigen/test/hessenberg.cpp +++ /dev/null @@ -1,62 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// Copyright (C) 2010 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void hessenberg(int size = Size) -{ - typedef Matrix MatrixType; - - // Test basic functionality: A = U H U* and H is Hessenberg - for(int counter = 0; counter < g_repeat; ++counter) { - MatrixType m = MatrixType::Random(size,size); - HessenbergDecomposition hess(m); - MatrixType Q = hess.matrixQ(); - MatrixType H = hess.matrixH(); - VERIFY_IS_APPROX(m, Q * H * Q.adjoint()); - for(int row = 2; row < size; ++row) { - for(int col = 0; col < row-1; ++col) { - VERIFY(H(row,col) == (typename MatrixType::Scalar)0); - } - } - } - - // Test whether compute() and constructor returns same result - MatrixType A = MatrixType::Random(size, size); - HessenbergDecomposition cs1; - cs1.compute(A); - HessenbergDecomposition cs2(A); - VERIFY_IS_EQUAL(cs1.matrixH().eval(), cs2.matrixH().eval()); - MatrixType cs1Q = cs1.matrixQ(); - MatrixType cs2Q = cs2.matrixQ(); - VERIFY_IS_EQUAL(cs1Q, cs2Q); - - // Test assertions for when used uninitialized - HessenbergDecomposition hessUninitialized; - VERIFY_RAISES_ASSERT( hessUninitialized.matrixH() ); - VERIFY_RAISES_ASSERT( hessUninitialized.matrixQ() ); - VERIFY_RAISES_ASSERT( hessUninitialized.householderCoefficients() ); - VERIFY_RAISES_ASSERT( hessUninitialized.packedMatrix() ); - - // TODO: Add tests for packedMatrix() and householderCoefficients() -} - -void test_hessenberg() -{ - CALL_SUBTEST_1(( hessenberg,1>() )); - CALL_SUBTEST_2(( hessenberg,2>() )); - CALL_SUBTEST_3(( hessenberg,4>() )); - CALL_SUBTEST_4(( hessenberg(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - CALL_SUBTEST_5(( hessenberg,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - - // Test problem size constructors - CALL_SUBTEST_6(HessenbergDecomposition(10)); -} diff --git a/testbed/nanogui/ext/eigen/test/householder.cpp b/testbed/nanogui/ext/eigen/test/householder.cpp deleted file mode 100644 index c5f6b5e4..00000000 --- a/testbed/nanogui/ext/eigen/test/householder.cpp +++ /dev/null @@ -1,138 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void householder(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - static bool even = true; - even = !even; - /* this test covers the following files: - Householder.h - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - typedef Matrix::ret, 1> EssentialVectorType; - typedef Matrix SquareMatrixType; - typedef Matrix HBlockMatrixType; - typedef Matrix HCoeffsVectorType; - - typedef Matrix TMatrixType; - - Matrix _tmp((std::max)(rows,cols)); - Scalar* tmp = &_tmp.coeffRef(0,0); - - Scalar beta; - RealScalar alpha; - EssentialVectorType essential; - - VectorType v1 = VectorType::Random(rows), v2; - v2 = v1; - v1.makeHouseholder(essential, beta, alpha); - v1.applyHouseholderOnTheLeft(essential,beta,tmp); - VERIFY_IS_APPROX(v1.norm(), v2.norm()); - if(rows>=2) VERIFY_IS_MUCH_SMALLER_THAN(v1.tail(rows-1).norm(), v1.norm()); - v1 = VectorType::Random(rows); - v2 = v1; - v1.applyHouseholderOnTheLeft(essential,beta,tmp); - VERIFY_IS_APPROX(v1.norm(), v2.norm()); - - MatrixType m1(rows, cols), - m2(rows, cols); - - v1 = VectorType::Random(rows); - if(even) v1.tail(rows-1).setZero(); - m1.colwise() = v1; - m2 = m1; - m1.col(0).makeHouseholder(essential, beta, alpha); - m1.applyHouseholderOnTheLeft(essential,beta,tmp); - VERIFY_IS_APPROX(m1.norm(), m2.norm()); - if(rows>=2) VERIFY_IS_MUCH_SMALLER_THAN(m1.block(1,0,rows-1,cols).norm(), m1.norm()); - VERIFY_IS_MUCH_SMALLER_THAN(numext::imag(m1(0,0)), numext::real(m1(0,0))); - VERIFY_IS_APPROX(numext::real(m1(0,0)), alpha); - - v1 = VectorType::Random(rows); - if(even) v1.tail(rows-1).setZero(); - SquareMatrixType m3(rows,rows), m4(rows,rows); - m3.rowwise() = v1.transpose(); - m4 = m3; - m3.row(0).makeHouseholder(essential, beta, alpha); - m3.applyHouseholderOnTheRight(essential,beta,tmp); - VERIFY_IS_APPROX(m3.norm(), m4.norm()); - if(rows>=2) VERIFY_IS_MUCH_SMALLER_THAN(m3.block(0,1,rows,rows-1).norm(), m3.norm()); - VERIFY_IS_MUCH_SMALLER_THAN(numext::imag(m3(0,0)), numext::real(m3(0,0))); - VERIFY_IS_APPROX(numext::real(m3(0,0)), alpha); - - // test householder sequence on the left with a shift - - Index shift = internal::random(0, std::max(rows-2,0)); - Index brows = rows - shift; - m1.setRandom(rows, cols); - HBlockMatrixType hbm = m1.block(shift,0,brows,cols); - HouseholderQR qr(hbm); - m2 = m1; - m2.block(shift,0,brows,cols) = qr.matrixQR(); - HCoeffsVectorType hc = qr.hCoeffs().conjugate(); - HouseholderSequence hseq(m2, hc); - hseq.setLength(hc.size()).setShift(shift); - VERIFY(hseq.length() == hc.size()); - VERIFY(hseq.shift() == shift); - - MatrixType m5 = m2; - m5.block(shift,0,brows,cols).template triangularView().setZero(); - VERIFY_IS_APPROX(hseq * m5, m1); // test applying hseq directly - m3 = hseq; - VERIFY_IS_APPROX(m3 * m5, m1); // test evaluating hseq to a dense matrix, then applying - - SquareMatrixType hseq_mat = hseq; - SquareMatrixType hseq_mat_conj = hseq.conjugate(); - SquareMatrixType hseq_mat_adj = hseq.adjoint(); - SquareMatrixType hseq_mat_trans = hseq.transpose(); - SquareMatrixType m6 = SquareMatrixType::Random(rows, rows); - VERIFY_IS_APPROX(hseq_mat.adjoint(), hseq_mat_adj); - VERIFY_IS_APPROX(hseq_mat.conjugate(), hseq_mat_conj); - VERIFY_IS_APPROX(hseq_mat.transpose(), hseq_mat_trans); - VERIFY_IS_APPROX(hseq_mat * m6, hseq_mat * m6); - VERIFY_IS_APPROX(hseq_mat.adjoint() * m6, hseq_mat_adj * m6); - VERIFY_IS_APPROX(hseq_mat.conjugate() * m6, hseq_mat_conj * m6); - VERIFY_IS_APPROX(hseq_mat.transpose() * m6, hseq_mat_trans * m6); - VERIFY_IS_APPROX(m6 * hseq_mat, m6 * hseq_mat); - VERIFY_IS_APPROX(m6 * hseq_mat.adjoint(), m6 * hseq_mat_adj); - VERIFY_IS_APPROX(m6 * hseq_mat.conjugate(), m6 * hseq_mat_conj); - VERIFY_IS_APPROX(m6 * hseq_mat.transpose(), m6 * hseq_mat_trans); - - // test householder sequence on the right with a shift - - TMatrixType tm2 = m2.transpose(); - HouseholderSequence rhseq(tm2, hc); - rhseq.setLength(hc.size()).setShift(shift); - VERIFY_IS_APPROX(rhseq * m5, m1); // test applying rhseq directly - m3 = rhseq; - VERIFY_IS_APPROX(m3 * m5, m1); // test evaluating rhseq to a dense matrix, then applying -} - -void test_householder() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( householder(Matrix()) ); - CALL_SUBTEST_2( householder(Matrix()) ); - CALL_SUBTEST_3( householder(Matrix()) ); - CALL_SUBTEST_4( householder(Matrix()) ); - CALL_SUBTEST_5( householder(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_6( householder(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_7( householder(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_8( householder(Matrix()) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/incomplete_cholesky.cpp b/testbed/nanogui/ext/eigen/test/incomplete_cholesky.cpp deleted file mode 100644 index 59ffe925..00000000 --- a/testbed/nanogui/ext/eigen/test/incomplete_cholesky.cpp +++ /dev/null @@ -1,65 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015-2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -// #define EIGEN_DONT_VECTORIZE -// #define EIGEN_MAX_ALIGN_BYTES 0 -#include "sparse_solver.h" -#include -#include - -template void test_incomplete_cholesky_T() -{ - typedef SparseMatrix SparseMatrixType; - ConjugateGradient > > cg_illt_lower_amd; - ConjugateGradient > > cg_illt_lower_nat; - ConjugateGradient > > cg_illt_upper_amd; - ConjugateGradient > > cg_illt_upper_nat; - ConjugateGradient > > cg_illt_uplo_amd; - - - CALL_SUBTEST( check_sparse_spd_solving(cg_illt_lower_amd) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_illt_lower_nat) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_illt_upper_amd) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_illt_upper_nat) ); - CALL_SUBTEST( check_sparse_spd_solving(cg_illt_uplo_amd) ); -} - -void test_incomplete_cholesky() -{ - CALL_SUBTEST_1(( test_incomplete_cholesky_T() )); - CALL_SUBTEST_2(( test_incomplete_cholesky_T, int>() )); - CALL_SUBTEST_3(( test_incomplete_cholesky_T() )); - -#ifdef EIGEN_TEST_PART_1 - // regression for bug 1150 - for(int N = 1; N<20; ++N) - { - Eigen::MatrixXd b( N, N ); - b.setOnes(); - - Eigen::SparseMatrix m( N, N ); - m.reserve(Eigen::VectorXi::Constant(N,4)); - for( int i = 0; i < N; ++i ) - { - m.insert( i, i ) = 1; - m.coeffRef( i, i / 2 ) = 2; - m.coeffRef( i, i / 3 ) = 2; - m.coeffRef( i, i / 4 ) = 2; - } - - Eigen::SparseMatrix A; - A = m * m.transpose(); - - Eigen::ConjugateGradient, - Eigen::Lower | Eigen::Upper, - Eigen::IncompleteCholesky > solver( A ); - VERIFY(solver.preconditioner().info() == Eigen::Success); - VERIFY(solver.info() == Eigen::Success); - } -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/indexed_view.cpp b/testbed/nanogui/ext/eigen/test/indexed_view.cpp deleted file mode 100644 index 7245cf37..00000000 --- a/testbed/nanogui/ext/eigen/test/indexed_view.cpp +++ /dev/null @@ -1,378 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2017 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifdef EIGEN_TEST_PART_2 -// Make sure we also check c++11 max implementation -#define EIGEN_MAX_CPP_VER 11 -#endif - -#ifdef EIGEN_TEST_PART_3 -// Make sure we also check c++98 max implementation -#define EIGEN_MAX_CPP_VER 03 -#endif - -#include -#include -#include "main.h" - -#if EIGEN_HAS_CXX11 -#include -#endif - -typedef std::pair IndexPair; - -int encode(Index i, Index j) { - return int(i*100 + j); -} - -IndexPair decode(Index ij) { - return IndexPair(ij / 100, ij % 100); -} - -template -bool match(const T& xpr, std::string ref, std::string str_xpr = "") { - EIGEN_UNUSED_VARIABLE(str_xpr); - std::stringstream str; - str << xpr; - if(!(str.str() == ref)) - std::cout << str_xpr << "\n" << xpr << "\n\n"; - return str.str() == ref; -} - -#define MATCH(X,R) match(X, R, #X) - -template -typename internal::enable_if::value,bool>::type -is_same_eq(const T1& a, const T2& b) -{ - return (a == b).all(); -} - -template -bool is_same_seq(const T1& a, const T2& b) -{ - bool ok = a.first()==b.first() && a.size() == b.size() && Index(a.incrObject())==Index(b.incrObject());; - if(!ok) - { - std::cerr << "seqN(" << a.first() << ", " << a.size() << ", " << Index(a.incrObject()) << ") != "; - std::cerr << "seqN(" << b.first() << ", " << b.size() << ", " << Index(b.incrObject()) << ")\n"; - } - return ok; -} - -template -typename internal::enable_if::value,bool>::type -is_same_seq_type(const T1& a, const T2& b) -{ - return is_same_seq(a,b); -} - - - -#define VERIFY_EQ_INT(A,B) VERIFY_IS_APPROX(int(A),int(B)) - -void check_indexed_view() -{ - using Eigen::placeholders::all; - using Eigen::placeholders::last; - using Eigen::placeholders::end; - - Index n = 10; - - ArrayXd a = ArrayXd::LinSpaced(n,0,n-1); - Array b = a.transpose(); - - ArrayXXi A = ArrayXXi::NullaryExpr(n,n, std::ptr_fun(encode)); - - for(Index i=0; i vali(4); Map(&vali[0],4) = eii; - std::vector veci(4); Map(veci.data(),4) = eii; - - VERIFY( MATCH( A(3, seq(9,3,-1)), - "309 308 307 306 305 304 303") - ); - - VERIFY( MATCH( A(seqN(2,5), seq(9,3,-1)), - "209 208 207 206 205 204 203\n" - "309 308 307 306 305 304 303\n" - "409 408 407 406 405 404 403\n" - "509 508 507 506 505 504 503\n" - "609 608 607 606 605 604 603") - ); - - VERIFY( MATCH( A(seqN(2,5), 5), - "205\n" - "305\n" - "405\n" - "505\n" - "605") - ); - - VERIFY( MATCH( A(seqN(last,5,-1), seq(2,last)), - "902 903 904 905 906 907 908 909\n" - "802 803 804 805 806 807 808 809\n" - "702 703 704 705 706 707 708 709\n" - "602 603 604 605 606 607 608 609\n" - "502 503 504 505 506 507 508 509") - ); - - VERIFY( MATCH( A(eii, veci), - "303 301 306 305\n" - "103 101 106 105\n" - "603 601 606 605\n" - "503 501 506 505") - ); - - VERIFY( MATCH( A(eii, all), - "300 301 302 303 304 305 306 307 308 309\n" - "100 101 102 103 104 105 106 107 108 109\n" - "600 601 602 603 604 605 606 607 608 609\n" - "500 501 502 503 504 505 506 507 508 509") - ); - - // takes the row numer 3, and repeat it 5 times - VERIFY( MATCH( A(seqN(3,5,0), all), - "300 301 302 303 304 305 306 307 308 309\n" - "300 301 302 303 304 305 306 307 308 309\n" - "300 301 302 303 304 305 306 307 308 309\n" - "300 301 302 303 304 305 306 307 308 309\n" - "300 301 302 303 304 305 306 307 308 309") - ); - - VERIFY( MATCH( a(seqN(3,3),0), "3\n4\n5" ) ); - VERIFY( MATCH( a(seq(3,5)), "3\n4\n5" ) ); - VERIFY( MATCH( a(seqN(3,3,1)), "3\n4\n5" ) ); - VERIFY( MATCH( a(seqN(5,3,-1)), "5\n4\n3" ) ); - - VERIFY( MATCH( b(0,seqN(3,3)), "3 4 5" ) ); - VERIFY( MATCH( b(seq(3,5)), "3 4 5" ) ); - VERIFY( MATCH( b(seqN(3,3,1)), "3 4 5" ) ); - VERIFY( MATCH( b(seqN(5,3,-1)), "5 4 3" ) ); - - VERIFY( MATCH( b(all), "0 1 2 3 4 5 6 7 8 9" ) ); - VERIFY( MATCH( b(eii), "3 1 6 5" ) ); - - Array44i B; - B.setRandom(); - VERIFY( (A(seqN(2,5), 5)).ColsAtCompileTime == 1); - VERIFY( (A(seqN(2,5), 5)).RowsAtCompileTime == Dynamic); - VERIFY_EQ_INT( (A(seqN(2,5), 5)).InnerStrideAtCompileTime , A.InnerStrideAtCompileTime); - VERIFY_EQ_INT( (A(seqN(2,5), 5)).OuterStrideAtCompileTime , A.col(5).OuterStrideAtCompileTime); - - VERIFY_EQ_INT( (A(5,seqN(2,5))).InnerStrideAtCompileTime , A.row(5).InnerStrideAtCompileTime); - VERIFY_EQ_INT( (A(5,seqN(2,5))).OuterStrideAtCompileTime , A.row(5).OuterStrideAtCompileTime); - VERIFY_EQ_INT( (B(1,seqN(1,2))).InnerStrideAtCompileTime , B.row(1).InnerStrideAtCompileTime); - VERIFY_EQ_INT( (B(1,seqN(1,2))).OuterStrideAtCompileTime , B.row(1).OuterStrideAtCompileTime); - - VERIFY_EQ_INT( (A(seqN(2,5), seq(1,3))).InnerStrideAtCompileTime , A.InnerStrideAtCompileTime); - VERIFY_EQ_INT( (A(seqN(2,5), seq(1,3))).OuterStrideAtCompileTime , A.OuterStrideAtCompileTime); - VERIFY_EQ_INT( (B(seqN(1,2), seq(1,3))).InnerStrideAtCompileTime , B.InnerStrideAtCompileTime); - VERIFY_EQ_INT( (B(seqN(1,2), seq(1,3))).OuterStrideAtCompileTime , B.OuterStrideAtCompileTime); - VERIFY_EQ_INT( (A(seqN(2,5,2), seq(1,3,2))).InnerStrideAtCompileTime , Dynamic); - VERIFY_EQ_INT( (A(seqN(2,5,2), seq(1,3,2))).OuterStrideAtCompileTime , Dynamic); - VERIFY_EQ_INT( (A(seqN(2,5,fix<2>), seq(1,3,fix<3>))).InnerStrideAtCompileTime , 2); - VERIFY_EQ_INT( (A(seqN(2,5,fix<2>), seq(1,3,fix<3>))).OuterStrideAtCompileTime , Dynamic); - VERIFY_EQ_INT( (B(seqN(1,2,fix<2>), seq(1,3,fix<3>))).InnerStrideAtCompileTime , 2); - VERIFY_EQ_INT( (B(seqN(1,2,fix<2>), seq(1,3,fix<3>))).OuterStrideAtCompileTime , 3*4); - - VERIFY_EQ_INT( (A(seqN(2,fix<5>), seqN(1,fix<3>))).RowsAtCompileTime, 5); - VERIFY_EQ_INT( (A(seqN(2,fix<5>), seqN(1,fix<3>))).ColsAtCompileTime, 3); - VERIFY_EQ_INT( (A(seqN(2,fix<5>(5)), seqN(1,fix<3>(3)))).RowsAtCompileTime, 5); - VERIFY_EQ_INT( (A(seqN(2,fix<5>(5)), seqN(1,fix<3>(3)))).ColsAtCompileTime, 3); - VERIFY_EQ_INT( (A(seqN(2,fix(5)), seqN(1,fix(3)))).RowsAtCompileTime, Dynamic); - VERIFY_EQ_INT( (A(seqN(2,fix(5)), seqN(1,fix(3)))).ColsAtCompileTime, Dynamic); - VERIFY_EQ_INT( (A(seqN(2,fix(5)), seqN(1,fix(3)))).rows(), 5); - VERIFY_EQ_INT( (A(seqN(2,fix(5)), seqN(1,fix(3)))).cols(), 3); - - VERIFY( is_same_seq_type( seqN(2,5,fix<-1>), seqN(2,5,fix<-1>(-1)) ) ); - VERIFY( is_same_seq_type( seqN(2,5), seqN(2,5,fix<1>(1)) ) ); - VERIFY( is_same_seq_type( seqN(2,5,3), seqN(2,5,fix(3)) ) ); - VERIFY( is_same_seq_type( seq(2,7,fix<3>), seqN(2,2,fix<3>) ) ); - VERIFY( is_same_seq_type( seqN(2,fix(5),3), seqN(2,5,fix(3)) ) ); - VERIFY( is_same_seq_type( seqN(2,fix<5>(5),fix<-2>), seqN(2,fix<5>,fix<-2>()) ) ); - - VERIFY( is_same_seq_type( seq(2,fix<5>), seqN(2,4) ) ); -#if EIGEN_HAS_CXX11 - VERIFY( is_same_seq_type( seq(fix<2>,fix<5>), seqN(fix<2>,fix<4>) ) ); - VERIFY( is_same_seq( seqN(2,std::integral_constant(),std::integral_constant()), seqN(2,fix<5>,fix<-2>()) ) ); - VERIFY( is_same_seq( seq(std::integral_constant(),std::integral_constant(),std::integral_constant()), - seq(fix<1>,fix<5>,fix<2>()) ) ); - VERIFY( is_same_seq_type( seqN(2,std::integral_constant(),std::integral_constant()), seqN(2,fix<5>,fix<-2>()) ) ); - VERIFY( is_same_seq_type( seq(std::integral_constant(),std::integral_constant(),std::integral_constant()), - seq(fix<1>,fix<5>,fix<2>()) ) ); - - VERIFY( is_same_seq_type( seqN(2,std::integral_constant()), seqN(2,fix<5>) ) ); - VERIFY( is_same_seq_type( seq(std::integral_constant(),std::integral_constant()), seq(fix<1>,fix<5>) ) ); -#else - // sorry, no compile-time size recovery in c++98/03 - VERIFY( is_same_seq( seq(fix<2>,fix<5>), seqN(fix<2>,fix<4>) ) ); -#endif - - VERIFY( (A(seqN(2,fix<5>), 5)).RowsAtCompileTime == 5); - VERIFY( (A(4, all)).ColsAtCompileTime == Dynamic); - VERIFY( (A(4, all)).RowsAtCompileTime == 1); - VERIFY( (B(1, all)).ColsAtCompileTime == 4); - VERIFY( (B(1, all)).RowsAtCompileTime == 1); - VERIFY( (B(all,1)).ColsAtCompileTime == 1); - VERIFY( (B(all,1)).RowsAtCompileTime == 4); - - VERIFY(int( (A(all, eii)).ColsAtCompileTime) == int(eii.SizeAtCompileTime)); - VERIFY_EQ_INT( (A(eii, eii)).Flags&DirectAccessBit, (unsigned int)(0)); - VERIFY_EQ_INT( (A(eii, eii)).InnerStrideAtCompileTime, 0); - VERIFY_EQ_INT( (A(eii, eii)).OuterStrideAtCompileTime, 0); - - VERIFY_IS_APPROX( A(seq(n-1,2,-2), seqN(n-1-6,3,-1)), A(seq(last,2,fix<-2>), seqN(last-6,3,fix<-1>)) ); - - VERIFY_IS_APPROX( A(seq(n-1,2,-2), seqN(n-1-6,4)), A(seq(last,2,-2), seqN(last-6,4)) ); - VERIFY_IS_APPROX( A(seq(n-1-6,n-1-2), seqN(n-1-6,4)), A(seq(last-6,last-2), seqN(6+last-6-6,4)) ); - VERIFY_IS_APPROX( A(seq((n-1)/2,(n)/2+3), seqN(2,4)), A(seq(last/2,(last+1)/2+3), seqN(last+2-last,4)) ); - VERIFY_IS_APPROX( A(seq(n-2,2,-2), seqN(n-8,4)), A(seq(end-2,2,-2), seqN(end-8,4)) ); - - // Check all combinations of seq: - VERIFY_IS_APPROX( A(seq(1,n-1-2,2), seq(1,n-1-2,2)), A(seq(1,last-2,2), seq(1,last-2,fix<2>)) ); - VERIFY_IS_APPROX( A(seq(n-1-5,n-1-2,2), seq(n-1-5,n-1-2,2)), A(seq(last-5,last-2,2), seq(last-5,last-2,fix<2>)) ); - VERIFY_IS_APPROX( A(seq(n-1-5,7,2), seq(n-1-5,7,2)), A(seq(last-5,7,2), seq(last-5,7,fix<2>)) ); - VERIFY_IS_APPROX( A(seq(1,n-1-2), seq(n-1-5,7)), A(seq(1,last-2), seq(last-5,7)) ); - VERIFY_IS_APPROX( A(seq(n-1-5,n-1-2), seq(n-1-5,n-1-2)), A(seq(last-5,last-2), seq(last-5,last-2)) ); - - VERIFY_IS_APPROX( A.col(A.cols()-1), A(all,last) ); - VERIFY_IS_APPROX( A(A.rows()-2, A.cols()/2), A(last-1, end/2) ); - VERIFY_IS_APPROX( a(a.size()-2), a(last-1) ); - VERIFY_IS_APPROX( a(a.size()/2), a((last+1)/2) ); - - // Check fall-back to Block - { - VERIFY( is_same_eq(A.col(0), A(all,0)) ); - VERIFY( is_same_eq(A.row(0), A(0,all)) ); - VERIFY( is_same_eq(A.block(0,0,2,2), A(seqN(0,2),seq(0,1))) ); - VERIFY( is_same_eq(A.middleRows(2,4), A(seqN(2,4),all)) ); - VERIFY( is_same_eq(A.middleCols(2,4), A(all,seqN(2,4))) ); - - VERIFY( is_same_eq(A.col(A.cols()-1), A(all,last)) ); - - const ArrayXXi& cA(A); - VERIFY( is_same_eq(cA.col(0), cA(all,0)) ); - VERIFY( is_same_eq(cA.row(0), cA(0,all)) ); - VERIFY( is_same_eq(cA.block(0,0,2,2), cA(seqN(0,2),seq(0,1))) ); - VERIFY( is_same_eq(cA.middleRows(2,4), cA(seqN(2,4),all)) ); - VERIFY( is_same_eq(cA.middleCols(2,4), cA(all,seqN(2,4))) ); - - VERIFY( is_same_eq(a.head(4), a(seq(0,3))) ); - VERIFY( is_same_eq(a.tail(4), a(seqN(last-3,4))) ); - VERIFY( is_same_eq(a.tail(4), a(seq(end-4,last))) ); - VERIFY( is_same_eq(a.segment<4>(3), a(seqN(3,fix<4>))) ); - } - - ArrayXXi A1=A, A2 = ArrayXXi::Random(4,4); - ArrayXi range25(4); range25 << 3,2,4,5; - A1(seqN(3,4),seq(2,5)) = A2; - VERIFY_IS_APPROX( A1.block(3,2,4,4), A2 ); - A1 = A; - A2.setOnes(); - A1(seq(6,3,-1),range25) = A2; - VERIFY_IS_APPROX( A1.block(3,2,4,4), A2 ); - - // check reverse - { - VERIFY( is_same_seq_type( seq(3,7).reverse(), seqN(7,5,fix<-1>) ) ); - VERIFY( is_same_seq_type( seq(7,3,fix<-2>).reverse(), seqN(3,3,fix<2>) ) ); - VERIFY_IS_APPROX( a(seqN(2,last/2).reverse()), a(seqN(2+(last/2-1)*1,last/2,fix<-1>)) ); - VERIFY_IS_APPROX( a(seqN(last/2,fix<4>).reverse()),a(seqN(last/2,fix<4>)).reverse() ); - VERIFY_IS_APPROX( A(seq(last-5,last-1,2).reverse(), seqN(last-3,3,fix<-2>).reverse()), - A(seq(last-5,last-1,2), seqN(last-3,3,fix<-2>)).reverse() ); - } - -#if EIGEN_HAS_CXX11 - VERIFY( (A(all, std::array{{1,3,2,4}})).ColsAtCompileTime == 4); - - VERIFY_IS_APPROX( (A(std::array{{1,3,5}}, std::array{{9,6,3,0}})), A(seqN(1,3,2), seqN(9,4,-3)) ); - -#if EIGEN_HAS_STATIC_ARRAY_TEMPLATE - VERIFY_IS_APPROX( A({3, 1, 6, 5}, all), A(std::array{{3, 1, 6, 5}}, all) ); - VERIFY_IS_APPROX( A(all,{3, 1, 6, 5}), A(all,std::array{{3, 1, 6, 5}}) ); - VERIFY_IS_APPROX( A({1,3,5},{3, 1, 6, 5}), A(std::array{{1,3,5}},std::array{{3, 1, 6, 5}}) ); - - VERIFY_IS_EQUAL( A({1,3,5},{3, 1, 6, 5}).RowsAtCompileTime, 3 ); - VERIFY_IS_EQUAL( A({1,3,5},{3, 1, 6, 5}).ColsAtCompileTime, 4 ); - - VERIFY_IS_APPROX( a({3, 1, 6, 5}), a(std::array{{3, 1, 6, 5}}) ); - VERIFY_IS_EQUAL( a({1,3,5}).SizeAtCompileTime, 3 ); - - VERIFY_IS_APPROX( b({3, 1, 6, 5}), b(std::array{{3, 1, 6, 5}}) ); - VERIFY_IS_EQUAL( b({1,3,5}).SizeAtCompileTime, 3 ); -#endif - -#endif - - // check mat(i,j) with weird types for i and j - { - VERIFY_IS_APPROX( A(B.RowsAtCompileTime-1, 1), A(3,1) ); - VERIFY_IS_APPROX( A(B.RowsAtCompileTime, 1), A(4,1) ); - VERIFY_IS_APPROX( A(B.RowsAtCompileTime-1, B.ColsAtCompileTime-1), A(3,3) ); - VERIFY_IS_APPROX( A(B.RowsAtCompileTime, B.ColsAtCompileTime), A(4,4) ); - const Index I = 3, J = 4; - VERIFY_IS_APPROX( A(I,J), A(3,4) ); - } - - // check extended block API - { - VERIFY( is_same_eq( A.block<3,4>(1,1), A.block(1,1,fix<3>,fix<4>)) ); - VERIFY( is_same_eq( A.block<3,4>(1,1,3,4), A.block(1,1,fix<3>(),fix<4>(4))) ); - VERIFY( is_same_eq( A.block<3,Dynamic>(1,1,3,4), A.block(1,1,fix<3>,4)) ); - VERIFY( is_same_eq( A.block(1,1,3,4), A.block(1,1,fix(3),fix<4>)) ); - VERIFY( is_same_eq( A.block(1,1,3,4), A.block(1,1,fix(3),fix(4))) ); - - VERIFY( is_same_eq( A.topLeftCorner<3,4>(), A.topLeftCorner(fix<3>,fix<4>)) ); - VERIFY( is_same_eq( A.bottomLeftCorner<3,4>(), A.bottomLeftCorner(fix<3>,fix<4>)) ); - VERIFY( is_same_eq( A.bottomRightCorner<3,4>(), A.bottomRightCorner(fix<3>,fix<4>)) ); - VERIFY( is_same_eq( A.topRightCorner<3,4>(), A.topRightCorner(fix<3>,fix<4>)) ); - - VERIFY( is_same_eq( A.leftCols<3>(), A.leftCols(fix<3>)) ); - VERIFY( is_same_eq( A.rightCols<3>(), A.rightCols(fix<3>)) ); - VERIFY( is_same_eq( A.middleCols<3>(1), A.middleCols(1,fix<3>)) ); - - VERIFY( is_same_eq( A.topRows<3>(), A.topRows(fix<3>)) ); - VERIFY( is_same_eq( A.bottomRows<3>(), A.bottomRows(fix<3>)) ); - VERIFY( is_same_eq( A.middleRows<3>(1), A.middleRows(1,fix<3>)) ); - - VERIFY( is_same_eq( a.segment<3>(1), a.segment(1,fix<3>)) ); - VERIFY( is_same_eq( a.head<3>(), a.head(fix<3>)) ); - VERIFY( is_same_eq( a.tail<3>(), a.tail(fix<3>)) ); - - const ArrayXXi& cA(A); - VERIFY( is_same_eq( cA.block(1,1,3,4), cA.block(1,1,fix(3),fix<4>)) ); - - VERIFY( is_same_eq( cA.topLeftCorner<3,4>(), cA.topLeftCorner(fix<3>,fix<4>)) ); - VERIFY( is_same_eq( cA.bottomLeftCorner<3,4>(), cA.bottomLeftCorner(fix<3>,fix<4>)) ); - VERIFY( is_same_eq( cA.bottomRightCorner<3,4>(), cA.bottomRightCorner(fix<3>,fix<4>)) ); - VERIFY( is_same_eq( cA.topRightCorner<3,4>(), cA.topRightCorner(fix<3>,fix<4>)) ); - - VERIFY( is_same_eq( cA.leftCols<3>(), cA.leftCols(fix<3>)) ); - VERIFY( is_same_eq( cA.rightCols<3>(), cA.rightCols(fix<3>)) ); - VERIFY( is_same_eq( cA.middleCols<3>(1), cA.middleCols(1,fix<3>)) ); - - VERIFY( is_same_eq( cA.topRows<3>(), cA.topRows(fix<3>)) ); - VERIFY( is_same_eq( cA.bottomRows<3>(), cA.bottomRows(fix<3>)) ); - VERIFY( is_same_eq( cA.middleRows<3>(1), cA.middleRows(1,fix<3>)) ); - } - -} - -void test_indexed_view() -{ -// for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( check_indexed_view() ); - CALL_SUBTEST_2( check_indexed_view() ); - CALL_SUBTEST_3( check_indexed_view() ); -// } -} diff --git a/testbed/nanogui/ext/eigen/test/inplace_decomposition.cpp b/testbed/nanogui/ext/eigen/test/inplace_decomposition.cpp deleted file mode 100644 index 92d0d91b..00000000 --- a/testbed/nanogui/ext/eigen/test/inplace_decomposition.cpp +++ /dev/null @@ -1,110 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include -#include - -// This file test inplace decomposition through Ref<>, as supported by Cholesky, LU, and QR decompositions. - -template void inplace(bool square = false, bool SPD = false) -{ - typedef typename MatrixType::Scalar Scalar; - typedef Matrix RhsType; - typedef Matrix ResType; - - Index rows = MatrixType::RowsAtCompileTime==Dynamic ? internal::random(2,EIGEN_TEST_MAX_SIZE/2) : Index(MatrixType::RowsAtCompileTime); - Index cols = MatrixType::ColsAtCompileTime==Dynamic ? (square?rows:internal::random(2,rows)) : Index(MatrixType::ColsAtCompileTime); - - MatrixType A = MatrixType::Random(rows,cols); - RhsType b = RhsType::Random(rows); - ResType x(cols); - - if(SPD) - { - assert(square); - A.topRows(cols) = A.topRows(cols).adjoint() * A.topRows(cols); - A.diagonal().array() += 1e-3; - } - - MatrixType A0 = A; - MatrixType A1 = A; - - DecType dec(A); - - // Check that the content of A has been modified - VERIFY_IS_NOT_APPROX( A, A0 ); - - // Check that the decomposition is correct: - if(rows==cols) - { - VERIFY_IS_APPROX( A0 * (x = dec.solve(b)), b ); - } - else - { - VERIFY_IS_APPROX( A0.transpose() * A0 * (x = dec.solve(b)), A0.transpose() * b ); - } - - // Check that modifying A breaks the current dec: - A.setRandom(); - if(rows==cols) - { - VERIFY_IS_NOT_APPROX( A0 * (x = dec.solve(b)), b ); - } - else - { - VERIFY_IS_NOT_APPROX( A0.transpose() * A0 * (x = dec.solve(b)), A0.transpose() * b ); - } - - // Check that calling compute(A1) does not modify A1: - A = A0; - dec.compute(A1); - VERIFY_IS_EQUAL(A0,A1); - VERIFY_IS_NOT_APPROX( A, A0 ); - if(rows==cols) - { - VERIFY_IS_APPROX( A0 * (x = dec.solve(b)), b ); - } - else - { - VERIFY_IS_APPROX( A0.transpose() * A0 * (x = dec.solve(b)), A0.transpose() * b ); - } -} - - -void test_inplace_decomposition() -{ - EIGEN_UNUSED typedef Matrix Matrix43d; - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(( inplace >, MatrixXd>(true,true) )); - CALL_SUBTEST_1(( inplace >, Matrix4d>(true,true) )); - - CALL_SUBTEST_2(( inplace >, MatrixXd>(true,true) )); - CALL_SUBTEST_2(( inplace >, Matrix4d>(true,true) )); - - CALL_SUBTEST_3(( inplace >, MatrixXd>(true,false) )); - CALL_SUBTEST_3(( inplace >, Matrix4d>(true,false) )); - - CALL_SUBTEST_4(( inplace >, MatrixXd>(true,false) )); - CALL_SUBTEST_4(( inplace >, Matrix4d>(true,false) )); - - CALL_SUBTEST_5(( inplace >, MatrixXd>(false,false) )); - CALL_SUBTEST_5(( inplace >, Matrix43d>(false,false) )); - - CALL_SUBTEST_6(( inplace >, MatrixXd>(false,false) )); - CALL_SUBTEST_6(( inplace >, Matrix43d>(false,false) )); - - CALL_SUBTEST_7(( inplace >, MatrixXd>(false,false) )); - CALL_SUBTEST_7(( inplace >, Matrix43d>(false,false) )); - - CALL_SUBTEST_8(( inplace >, MatrixXd>(false,false) )); - CALL_SUBTEST_8(( inplace >, Matrix43d>(false,false) )); - } -} diff --git a/testbed/nanogui/ext/eigen/test/integer_types.cpp b/testbed/nanogui/ext/eigen/test/integer_types.cpp deleted file mode 100644 index a21f73a8..00000000 --- a/testbed/nanogui/ext/eigen/test/integer_types.cpp +++ /dev/null @@ -1,169 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT - -#include "main.h" - -#undef VERIFY_IS_APPROX -#define VERIFY_IS_APPROX(a, b) VERIFY((a)==(b)); -#undef VERIFY_IS_NOT_APPROX -#define VERIFY_IS_NOT_APPROX(a, b) VERIFY((a)!=(b)); - -template void signed_integer_type_tests(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - enum { is_signed = (Scalar(-1) > Scalar(0)) ? 0 : 1 }; - VERIFY(is_signed == 1); - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1(rows, cols), - m2 = MatrixType::Random(rows, cols), - mzero = MatrixType::Zero(rows, cols); - - do { - m1 = MatrixType::Random(rows, cols); - } while(m1 == mzero || m1 == m2); - - // check linear structure - - Scalar s1; - do { - s1 = internal::random(); - } while(s1 == 0); - - VERIFY_IS_EQUAL(-(-m1), m1); - VERIFY_IS_EQUAL(-m2+m1+m2, m1); - VERIFY_IS_EQUAL((-m1+m2)*s1, -s1*m1+s1*m2); -} - -template void integer_type_tests(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - VERIFY(NumTraits::IsInteger); - enum { is_signed = (Scalar(-1) > Scalar(0)) ? 0 : 1 }; - VERIFY(int(NumTraits::IsSigned) == is_signed); - - typedef Matrix VectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - - // this test relies a lot on Random.h, and there's not much more that we can do - // to test it, hence I consider that we will have tested Random.h - MatrixType m1(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - mzero = MatrixType::Zero(rows, cols); - - typedef Matrix SquareMatrixType; - SquareMatrixType identity = SquareMatrixType::Identity(rows, rows), - square = SquareMatrixType::Random(rows, rows); - VectorType v1(rows), - v2 = VectorType::Random(rows), - vzero = VectorType::Zero(rows); - - do { - m1 = MatrixType::Random(rows, cols); - } while(m1 == mzero || m1 == m2); - - do { - v1 = VectorType::Random(rows); - } while(v1 == vzero || v1 == v2); - - VERIFY_IS_APPROX( v1, v1); - VERIFY_IS_NOT_APPROX( v1, 2*v1); - VERIFY_IS_APPROX( vzero, v1-v1); - VERIFY_IS_APPROX( m1, m1); - VERIFY_IS_NOT_APPROX( m1, 2*m1); - VERIFY_IS_APPROX( mzero, m1-m1); - - VERIFY_IS_APPROX(m3 = m1,m1); - MatrixType m4; - VERIFY_IS_APPROX(m4 = m1,m1); - - m3.real() = m1.real(); - VERIFY_IS_APPROX(static_cast(m3).real(), static_cast(m1).real()); - VERIFY_IS_APPROX(static_cast(m3).real(), m1.real()); - - // check == / != operators - VERIFY(m1==m1); - VERIFY(m1!=m2); - VERIFY(!(m1==m2)); - VERIFY(!(m1!=m1)); - m1 = m2; - VERIFY(m1==m2); - VERIFY(!(m1!=m2)); - - // check linear structure - - Scalar s1; - do { - s1 = internal::random(); - } while(s1 == 0); - - VERIFY_IS_EQUAL(m1+m1, 2*m1); - VERIFY_IS_EQUAL(m1+m2-m1, m2); - VERIFY_IS_EQUAL(m1*s1, s1*m1); - VERIFY_IS_EQUAL((m1+m2)*s1, s1*m1+s1*m2); - m3 = m2; m3 += m1; - VERIFY_IS_EQUAL(m3, m1+m2); - m3 = m2; m3 -= m1; - VERIFY_IS_EQUAL(m3, m2-m1); - m3 = m2; m3 *= s1; - VERIFY_IS_EQUAL(m3, s1*m2); - - // check matrix product. - - VERIFY_IS_APPROX(identity * m1, m1); - VERIFY_IS_APPROX(square * (m1 + m2), square * m1 + square * m2); - VERIFY_IS_APPROX((m1 + m2).transpose() * square, m1.transpose() * square + m2.transpose() * square); - VERIFY_IS_APPROX((m1 * m2.transpose()) * m1, m1 * (m2.transpose() * m1)); -} - -void test_integer_types() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( integer_type_tests(Matrix()) ); - CALL_SUBTEST_1( integer_type_tests(Matrix()) ); - - CALL_SUBTEST_2( integer_type_tests(Matrix()) ); - CALL_SUBTEST_2( signed_integer_type_tests(Matrix()) ); - - CALL_SUBTEST_3( integer_type_tests(Matrix(2, 10)) ); - CALL_SUBTEST_3( signed_integer_type_tests(Matrix(2, 10)) ); - - CALL_SUBTEST_4( integer_type_tests(Matrix()) ); - CALL_SUBTEST_4( integer_type_tests(Matrix(20, 20)) ); - - CALL_SUBTEST_5( integer_type_tests(Matrix(7, 4)) ); - CALL_SUBTEST_5( signed_integer_type_tests(Matrix(7, 4)) ); - - CALL_SUBTEST_6( integer_type_tests(Matrix()) ); - - CALL_SUBTEST_7( integer_type_tests(Matrix()) ); - CALL_SUBTEST_7( signed_integer_type_tests(Matrix()) ); - - CALL_SUBTEST_8( integer_type_tests(Matrix(1, 5)) ); - } -#ifdef EIGEN_TEST_PART_9 - VERIFY_IS_EQUAL(internal::scalar_div_cost::value, 8); - VERIFY_IS_EQUAL(internal::scalar_div_cost::value, 8); - if(sizeof(long)>sizeof(int)) { - VERIFY(internal::scalar_div_cost::value > internal::scalar_div_cost::value); - VERIFY(internal::scalar_div_cost::value > internal::scalar_div_cost::value); - } -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/inverse.cpp b/testbed/nanogui/ext/eigen/test/inverse.cpp deleted file mode 100644 index 5c6777a1..00000000 --- a/testbed/nanogui/ext/eigen/test/inverse.cpp +++ /dev/null @@ -1,117 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void inverse(const MatrixType& m) -{ - using std::abs; - typedef typename MatrixType::Index Index; - /* this test covers the following files: - Inverse.h - */ - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - - MatrixType m1(rows, cols), - m2(rows, cols), - identity = MatrixType::Identity(rows, rows); - createRandomPIMatrixOfRank(rows,rows,rows,m1); - m2 = m1.inverse(); - VERIFY_IS_APPROX(m1, m2.inverse() ); - - VERIFY_IS_APPROX((Scalar(2)*m2).inverse(), m2.inverse()*Scalar(0.5)); - - VERIFY_IS_APPROX(identity, m1.inverse() * m1 ); - VERIFY_IS_APPROX(identity, m1 * m1.inverse() ); - - VERIFY_IS_APPROX(m1, m1.inverse().inverse() ); - - // since for the general case we implement separately row-major and col-major, test that - VERIFY_IS_APPROX(MatrixType(m1.transpose().inverse()), MatrixType(m1.inverse().transpose())); - -#if !defined(EIGEN_TEST_PART_5) && !defined(EIGEN_TEST_PART_6) - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - - //computeInverseAndDetWithCheck tests - //First: an invertible matrix - bool invertible; - RealScalar det; - - m2.setZero(); - m1.computeInverseAndDetWithCheck(m2, det, invertible); - VERIFY(invertible); - VERIFY_IS_APPROX(identity, m1*m2); - VERIFY_IS_APPROX(det, m1.determinant()); - - m2.setZero(); - m1.computeInverseWithCheck(m2, invertible); - VERIFY(invertible); - VERIFY_IS_APPROX(identity, m1*m2); - - //Second: a rank one matrix (not invertible, except for 1x1 matrices) - VectorType v3 = VectorType::Random(rows); - MatrixType m3 = v3*v3.transpose(), m4(rows,cols); - m3.computeInverseAndDetWithCheck(m4, det, invertible); - VERIFY( rows==1 ? invertible : !invertible ); - VERIFY_IS_MUCH_SMALLER_THAN(abs(det-m3.determinant()), RealScalar(1)); - m3.computeInverseWithCheck(m4, invertible); - VERIFY( rows==1 ? invertible : !invertible ); - - // check with submatrices - { - Matrix m5; - m5.setRandom(); - m5.topLeftCorner(rows,rows) = m1; - m2 = m5.template topLeftCorner().inverse(); - VERIFY_IS_APPROX( (m5.template topLeftCorner()), m2.inverse() ); - } -#endif - - // check in-place inversion - if(MatrixType::RowsAtCompileTime>=2 && MatrixType::RowsAtCompileTime<=4) - { - // in-place is forbidden - VERIFY_RAISES_ASSERT(m1 = m1.inverse()); - } - else - { - m2 = m1.inverse(); - m1 = m1.inverse(); - VERIFY_IS_APPROX(m1,m2); - } -} - -void test_inverse() -{ - int s = 0; - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( inverse(Matrix()) ); - CALL_SUBTEST_2( inverse(Matrix2d()) ); - CALL_SUBTEST_3( inverse(Matrix3f()) ); - CALL_SUBTEST_4( inverse(Matrix4f()) ); - CALL_SUBTEST_4( inverse(Matrix()) ); - - s = internal::random(50,320); - CALL_SUBTEST_5( inverse(MatrixXf(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(25,100); - CALL_SUBTEST_6( inverse(MatrixXcd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - CALL_SUBTEST_7( inverse(Matrix4d()) ); - CALL_SUBTEST_7( inverse(Matrix()) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/is_same_dense.cpp b/testbed/nanogui/ext/eigen/test/is_same_dense.cpp deleted file mode 100644 index 2c7838ce..00000000 --- a/testbed/nanogui/ext/eigen/test/is_same_dense.cpp +++ /dev/null @@ -1,33 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -using internal::is_same_dense; - -void test_is_same_dense() -{ - typedef Matrix ColMatrixXd; - ColMatrixXd m1(10,10); - Ref ref_m1(m1); - Ref const_ref_m1(m1); - VERIFY(is_same_dense(m1,m1)); - VERIFY(is_same_dense(m1,ref_m1)); - VERIFY(is_same_dense(const_ref_m1,m1)); - VERIFY(is_same_dense(const_ref_m1,ref_m1)); - - VERIFY(is_same_dense(m1.block(0,0,m1.rows(),m1.cols()),m1)); - VERIFY(!is_same_dense(m1.row(0),m1.col(0))); - - Ref const_ref_m1_row(m1.row(1)); - VERIFY(!is_same_dense(m1.row(1),const_ref_m1_row)); - - Ref const_ref_m1_col(m1.col(1)); - VERIFY(is_same_dense(m1.col(1),const_ref_m1_col)); -} diff --git a/testbed/nanogui/ext/eigen/test/jacobi.cpp b/testbed/nanogui/ext/eigen/test/jacobi.cpp deleted file mode 100644 index 7ccd4124..00000000 --- a/testbed/nanogui/ext/eigen/test/jacobi.cpp +++ /dev/null @@ -1,81 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template -void jacobi(const MatrixType& m = MatrixType()) -{ - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - - typedef Matrix JacobiVector; - - const MatrixType a(MatrixType::Random(rows, cols)); - - JacobiVector v = JacobiVector::Random().normalized(); - JacobiScalar c = v.x(), s = v.y(); - JacobiRotation rot(c, s); - - { - Index p = internal::random(0, rows-1); - Index q; - do { - q = internal::random(0, rows-1); - } while (q == p); - - MatrixType b = a; - b.applyOnTheLeft(p, q, rot); - VERIFY_IS_APPROX(b.row(p), c * a.row(p) + numext::conj(s) * a.row(q)); - VERIFY_IS_APPROX(b.row(q), -s * a.row(p) + numext::conj(c) * a.row(q)); - } - - { - Index p = internal::random(0, cols-1); - Index q; - do { - q = internal::random(0, cols-1); - } while (q == p); - - MatrixType b = a; - b.applyOnTheRight(p, q, rot); - VERIFY_IS_APPROX(b.col(p), c * a.col(p) - s * a.col(q)); - VERIFY_IS_APPROX(b.col(q), numext::conj(s) * a.col(p) + numext::conj(c) * a.col(q)); - } -} - -void test_jacobi() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(( jacobi() )); - CALL_SUBTEST_2(( jacobi() )); - CALL_SUBTEST_3(( jacobi() )); - CALL_SUBTEST_3(( jacobi >() )); - - int r = internal::random(2, internal::random(1,EIGEN_TEST_MAX_SIZE)/2), - c = internal::random(2, internal::random(1,EIGEN_TEST_MAX_SIZE)/2); - CALL_SUBTEST_4(( jacobi(MatrixXf(r,c)) )); - CALL_SUBTEST_5(( jacobi(MatrixXcd(r,c)) )); - CALL_SUBTEST_5(( jacobi >(MatrixXcd(r,c)) )); - // complex is really important to test as it is the only way to cover conjugation issues in certain unaligned paths - CALL_SUBTEST_6(( jacobi(MatrixXcf(r,c)) )); - CALL_SUBTEST_6(( jacobi >(MatrixXcf(r,c)) )); - - TEST_SET_BUT_UNUSED_VARIABLE(r); - TEST_SET_BUT_UNUSED_VARIABLE(c); - } -} diff --git a/testbed/nanogui/ext/eigen/test/jacobisvd.cpp b/testbed/nanogui/ext/eigen/test/jacobisvd.cpp deleted file mode 100644 index 7f5f7156..00000000 --- a/testbed/nanogui/ext/eigen/test/jacobisvd.cpp +++ /dev/null @@ -1,126 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2014 Gael Guennebaud -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// discard stack allocation as that too bypasses malloc -#define EIGEN_STACK_ALLOCATION_LIMIT 0 -#define EIGEN_RUNTIME_NO_MALLOC -#include "main.h" -#include - -#define SVD_DEFAULT(M) JacobiSVD -#define SVD_FOR_MIN_NORM(M) JacobiSVD -#include "svd_common.h" - -// Check all variants of JacobiSVD -template -void jacobisvd(const MatrixType& a = MatrixType(), bool pickrandom = true) -{ - MatrixType m = a; - if(pickrandom) - svd_fill_random(m); - - CALL_SUBTEST(( svd_test_all_computation_options >(m, true) )); // check full only - CALL_SUBTEST(( svd_test_all_computation_options >(m, false) )); - CALL_SUBTEST(( svd_test_all_computation_options >(m, false) )); - if(m.rows()==m.cols()) - CALL_SUBTEST(( svd_test_all_computation_options >(m, false) )); -} - -template void jacobisvd_verify_assert(const MatrixType& m) -{ - svd_verify_assert >(m); - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - enum { - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - - - MatrixType a = MatrixType::Zero(rows, cols); - a.setZero(); - - if (ColsAtCompileTime == Dynamic) - { - JacobiSVD svd_fullqr; - VERIFY_RAISES_ASSERT(svd_fullqr.compute(a, ComputeFullU|ComputeThinV)) - VERIFY_RAISES_ASSERT(svd_fullqr.compute(a, ComputeThinU|ComputeThinV)) - VERIFY_RAISES_ASSERT(svd_fullqr.compute(a, ComputeThinU|ComputeFullV)) - } -} - -template -void jacobisvd_method() -{ - enum { Size = MatrixType::RowsAtCompileTime }; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix RealVecType; - MatrixType m = MatrixType::Identity(); - VERIFY_IS_APPROX(m.jacobiSvd().singularValues(), RealVecType::Ones()); - VERIFY_RAISES_ASSERT(m.jacobiSvd().matrixU()); - VERIFY_RAISES_ASSERT(m.jacobiSvd().matrixV()); - VERIFY_IS_APPROX(m.jacobiSvd(ComputeFullU|ComputeFullV).solve(m), m); -} - -void test_jacobisvd() -{ - CALL_SUBTEST_3(( jacobisvd_verify_assert(Matrix3f()) )); - CALL_SUBTEST_4(( jacobisvd_verify_assert(Matrix4d()) )); - CALL_SUBTEST_7(( jacobisvd_verify_assert(MatrixXf(10,12)) )); - CALL_SUBTEST_8(( jacobisvd_verify_assert(MatrixXcd(7,5)) )); - - CALL_SUBTEST_11(svd_all_trivial_2x2(jacobisvd)); - CALL_SUBTEST_12(svd_all_trivial_2x2(jacobisvd)); - - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_3(( jacobisvd() )); - CALL_SUBTEST_4(( jacobisvd() )); - CALL_SUBTEST_5(( jacobisvd >() )); - CALL_SUBTEST_6(( jacobisvd >(Matrix(10,2)) )); - - int r = internal::random(1, 30), - c = internal::random(1, 30); - - TEST_SET_BUT_UNUSED_VARIABLE(r) - TEST_SET_BUT_UNUSED_VARIABLE(c) - - CALL_SUBTEST_10(( jacobisvd(MatrixXd(r,c)) )); - CALL_SUBTEST_7(( jacobisvd(MatrixXf(r,c)) )); - CALL_SUBTEST_8(( jacobisvd(MatrixXcd(r,c)) )); - (void) r; - (void) c; - - // Test on inf/nan matrix - CALL_SUBTEST_7( (svd_inf_nan, MatrixXf>()) ); - CALL_SUBTEST_10( (svd_inf_nan, MatrixXd>()) ); - - // bug1395 test compile-time vectors as input - CALL_SUBTEST_13(( jacobisvd_verify_assert(Matrix()) )); - CALL_SUBTEST_13(( jacobisvd_verify_assert(Matrix()) )); - CALL_SUBTEST_13(( jacobisvd_verify_assert(Matrix(r)) )); - CALL_SUBTEST_13(( jacobisvd_verify_assert(Matrix(c)) )); - } - - CALL_SUBTEST_7(( jacobisvd(MatrixXf(internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2), internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2))) )); - CALL_SUBTEST_8(( jacobisvd(MatrixXcd(internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3), internal::random(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3))) )); - - // test matrixbase method - CALL_SUBTEST_1(( jacobisvd_method() )); - CALL_SUBTEST_3(( jacobisvd_method() )); - - // Test problem size constructors - CALL_SUBTEST_7( JacobiSVD(10,10) ); - - // Check that preallocation avoids subsequent mallocs - CALL_SUBTEST_9( svd_preallocate() ); - - CALL_SUBTEST_2( svd_underoverflow() ); -} diff --git a/testbed/nanogui/ext/eigen/test/linearstructure.cpp b/testbed/nanogui/ext/eigen/test/linearstructure.cpp deleted file mode 100644 index 17474af1..00000000 --- a/testbed/nanogui/ext/eigen/test/linearstructure.cpp +++ /dev/null @@ -1,149 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -static bool g_called; -#define EIGEN_SCALAR_BINARY_OP_PLUGIN { g_called |= (!internal::is_same::value); } - -#include "main.h" - -template void linearStructure(const MatrixType& m) -{ - using std::abs; - /* this test covers the following files: - CwiseUnaryOp.h, CwiseBinaryOp.h, SelfCwiseBinaryOp.h - */ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - // this test relies a lot on Random.h, and there's not much more that we can do - // to test it, hence I consider that we will have tested Random.h - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols); - - Scalar s1 = internal::random(); - while (abs(s1)(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - VERIFY_IS_APPROX(-(-m1), m1); - VERIFY_IS_APPROX(m1+m1, 2*m1); - VERIFY_IS_APPROX(m1+m2-m1, m2); - VERIFY_IS_APPROX(-m2+m1+m2, m1); - VERIFY_IS_APPROX(m1*s1, s1*m1); - VERIFY_IS_APPROX((m1+m2)*s1, s1*m1+s1*m2); - VERIFY_IS_APPROX((-m1+m2)*s1, -s1*m1+s1*m2); - m3 = m2; m3 += m1; - VERIFY_IS_APPROX(m3, m1+m2); - m3 = m2; m3 -= m1; - VERIFY_IS_APPROX(m3, m2-m1); - m3 = m2; m3 *= s1; - VERIFY_IS_APPROX(m3, s1*m2); - if(!NumTraits::IsInteger) - { - m3 = m2; m3 /= s1; - VERIFY_IS_APPROX(m3, m2/s1); - } - - // again, test operator() to check const-qualification - VERIFY_IS_APPROX((-m1)(r,c), -(m1(r,c))); - VERIFY_IS_APPROX((m1-m2)(r,c), (m1(r,c))-(m2(r,c))); - VERIFY_IS_APPROX((m1+m2)(r,c), (m1(r,c))+(m2(r,c))); - VERIFY_IS_APPROX((s1*m1)(r,c), s1*(m1(r,c))); - VERIFY_IS_APPROX((m1*s1)(r,c), (m1(r,c))*s1); - if(!NumTraits::IsInteger) - VERIFY_IS_APPROX((m1/s1)(r,c), (m1(r,c))/s1); - - // use .block to disable vectorization and compare to the vectorized version - VERIFY_IS_APPROX(m1+m1.block(0,0,rows,cols), m1+m1); - VERIFY_IS_APPROX(m1.cwiseProduct(m1.block(0,0,rows,cols)), m1.cwiseProduct(m1)); - VERIFY_IS_APPROX(m1 - m1.block(0,0,rows,cols), m1 - m1); - VERIFY_IS_APPROX(m1.block(0,0,rows,cols) * s1, m1 * s1); -} - -// Make sure that complex * real and real * complex are properly optimized -template void real_complex(DenseIndex rows = MatrixType::RowsAtCompileTime, DenseIndex cols = MatrixType::ColsAtCompileTime) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - - RealScalar s = internal::random(); - MatrixType m1 = MatrixType::Random(rows, cols); - - g_called = false; - VERIFY_IS_APPROX(s*m1, Scalar(s)*m1); - VERIFY(g_called && "real * matrix not properly optimized"); - - g_called = false; - VERIFY_IS_APPROX(m1*s, m1*Scalar(s)); - VERIFY(g_called && "matrix * real not properly optimized"); - - g_called = false; - VERIFY_IS_APPROX(m1/s, m1/Scalar(s)); - VERIFY(g_called && "matrix / real not properly optimized"); - - g_called = false; - VERIFY_IS_APPROX(s+m1.array(), Scalar(s)+m1.array()); - VERIFY(g_called && "real + matrix not properly optimized"); - - g_called = false; - VERIFY_IS_APPROX(m1.array()+s, m1.array()+Scalar(s)); - VERIFY(g_called && "matrix + real not properly optimized"); - - g_called = false; - VERIFY_IS_APPROX(s-m1.array(), Scalar(s)-m1.array()); - VERIFY(g_called && "real - matrix not properly optimized"); - - g_called = false; - VERIFY_IS_APPROX(m1.array()-s, m1.array()-Scalar(s)); - VERIFY(g_called && "matrix - real not properly optimized"); -} - -void test_linearstructure() -{ - g_called = true; - VERIFY(g_called); // avoid `unneeded-internal-declaration` warning. - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( linearStructure(Matrix()) ); - CALL_SUBTEST_2( linearStructure(Matrix2f()) ); - CALL_SUBTEST_3( linearStructure(Vector3d()) ); - CALL_SUBTEST_4( linearStructure(Matrix4d()) ); - CALL_SUBTEST_5( linearStructure(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_6( linearStructure(MatrixXf (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_7( linearStructure(MatrixXi (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_8( linearStructure(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_9( linearStructure(ArrayXXf (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_10( linearStructure(ArrayXXcf (internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - - CALL_SUBTEST_11( real_complex() ); - CALL_SUBTEST_11( real_complex(10,10) ); - CALL_SUBTEST_11( real_complex(10,10) ); - } - -#ifdef EIGEN_TEST_PART_4 - { - // make sure that /=scalar and /scalar do not overflow - // rational: 1.0/4.94e-320 overflow, but m/4.94e-320 should not - Matrix4d m2, m3; - m3 = m2 = Matrix4d::Random()*1e-20; - m2 = m2 / 4.9e-320; - VERIFY_IS_APPROX(m2.cwiseQuotient(m2), Matrix4d::Ones()); - m3 /= 4.9e-320; - VERIFY_IS_APPROX(m3.cwiseQuotient(m3), Matrix4d::Ones()); - - - } -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/lscg.cpp b/testbed/nanogui/ext/eigen/test/lscg.cpp deleted file mode 100644 index daa62a95..00000000 --- a/testbed/nanogui/ext/eigen/test/lscg.cpp +++ /dev/null @@ -1,29 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse_solver.h" -#include - -template void test_lscg_T() -{ - LeastSquaresConjugateGradient > lscg_colmajor_diag; - LeastSquaresConjugateGradient, IdentityPreconditioner> lscg_colmajor_I; - - CALL_SUBTEST( check_sparse_square_solving(lscg_colmajor_diag) ); - CALL_SUBTEST( check_sparse_square_solving(lscg_colmajor_I) ); - - CALL_SUBTEST( check_sparse_leastsquare_solving(lscg_colmajor_diag) ); - CALL_SUBTEST( check_sparse_leastsquare_solving(lscg_colmajor_I) ); -} - -void test_lscg() -{ - CALL_SUBTEST_1(test_lscg_T()); - CALL_SUBTEST_2(test_lscg_T >()); -} diff --git a/testbed/nanogui/ext/eigen/test/lu.cpp b/testbed/nanogui/ext/eigen/test/lu.cpp deleted file mode 100644 index 9787f4d8..00000000 --- a/testbed/nanogui/ext/eigen/test/lu.cpp +++ /dev/null @@ -1,281 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -using namespace std; - -template -typename MatrixType::RealScalar matrix_l1_norm(const MatrixType& m) { - return m.cwiseAbs().colwise().sum().maxCoeff(); -} - -template void lu_non_invertible() -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::RealScalar RealScalar; - /* this test covers the following files: - LU.h - */ - Index rows, cols, cols2; - if(MatrixType::RowsAtCompileTime==Dynamic) - { - rows = internal::random(2,EIGEN_TEST_MAX_SIZE); - } - else - { - rows = MatrixType::RowsAtCompileTime; - } - if(MatrixType::ColsAtCompileTime==Dynamic) - { - cols = internal::random(2,EIGEN_TEST_MAX_SIZE); - cols2 = internal::random(2,EIGEN_TEST_MAX_SIZE); - } - else - { - cols2 = cols = MatrixType::ColsAtCompileTime; - } - - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - typedef typename internal::kernel_retval_base >::ReturnType KernelMatrixType; - typedef typename internal::image_retval_base >::ReturnType ImageMatrixType; - typedef Matrix - CMatrixType; - typedef Matrix - RMatrixType; - - Index rank = internal::random(1, (std::min)(rows, cols)-1); - - // The image of the zero matrix should consist of a single (zero) column vector - VERIFY((MatrixType::Zero(rows,cols).fullPivLu().image(MatrixType::Zero(rows,cols)).cols() == 1)); - - MatrixType m1(rows, cols), m3(rows, cols2); - CMatrixType m2(cols, cols2); - createRandomPIMatrixOfRank(rank, rows, cols, m1); - - FullPivLU lu; - - // The special value 0.01 below works well in tests. Keep in mind that we're only computing the rank - // of singular values are either 0 or 1. - // So it's not clear at all that the epsilon should play any role there. - lu.setThreshold(RealScalar(0.01)); - lu.compute(m1); - - MatrixType u(rows,cols); - u = lu.matrixLU().template triangularView(); - RMatrixType l = RMatrixType::Identity(rows,rows); - l.block(0,0,rows,(std::min)(rows,cols)).template triangularView() - = lu.matrixLU().block(0,0,rows,(std::min)(rows,cols)); - - VERIFY_IS_APPROX(lu.permutationP() * m1 * lu.permutationQ(), l*u); - - KernelMatrixType m1kernel = lu.kernel(); - ImageMatrixType m1image = lu.image(m1); - - VERIFY_IS_APPROX(m1, lu.reconstructedMatrix()); - VERIFY(rank == lu.rank()); - VERIFY(cols - lu.rank() == lu.dimensionOfKernel()); - VERIFY(!lu.isInjective()); - VERIFY(!lu.isInvertible()); - VERIFY(!lu.isSurjective()); - VERIFY((m1 * m1kernel).isMuchSmallerThan(m1)); - VERIFY(m1image.fullPivLu().rank() == rank); - VERIFY_IS_APPROX(m1 * m1.adjoint() * m1image, m1image); - - m2 = CMatrixType::Random(cols,cols2); - m3 = m1*m2; - m2 = CMatrixType::Random(cols,cols2); - // test that the code, which does resize(), may be applied to an xpr - m2.block(0,0,m2.rows(),m2.cols()) = lu.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - - // test solve with transposed - m3 = MatrixType::Random(rows,cols2); - m2 = m1.transpose()*m3; - m3 = MatrixType::Random(rows,cols2); - lu.template _solve_impl_transposed(m2, m3); - VERIFY_IS_APPROX(m2, m1.transpose()*m3); - m3 = MatrixType::Random(rows,cols2); - m3 = lu.transpose().solve(m2); - VERIFY_IS_APPROX(m2, m1.transpose()*m3); - - // test solve with conjugate transposed - m3 = MatrixType::Random(rows,cols2); - m2 = m1.adjoint()*m3; - m3 = MatrixType::Random(rows,cols2); - lu.template _solve_impl_transposed(m2, m3); - VERIFY_IS_APPROX(m2, m1.adjoint()*m3); - m3 = MatrixType::Random(rows,cols2); - m3 = lu.adjoint().solve(m2); - VERIFY_IS_APPROX(m2, m1.adjoint()*m3); -} - -template void lu_invertible() -{ - /* this test covers the following files: - LU.h - */ - typedef typename NumTraits::Real RealScalar; - Index size = MatrixType::RowsAtCompileTime; - if( size==Dynamic) - size = internal::random(1,EIGEN_TEST_MAX_SIZE); - - MatrixType m1(size, size), m2(size, size), m3(size, size); - FullPivLU lu; - lu.setThreshold(RealScalar(0.01)); - do { - m1 = MatrixType::Random(size,size); - lu.compute(m1); - } while(!lu.isInvertible()); - - VERIFY_IS_APPROX(m1, lu.reconstructedMatrix()); - VERIFY(0 == lu.dimensionOfKernel()); - VERIFY(lu.kernel().cols() == 1); // the kernel() should consist of a single (zero) column vector - VERIFY(size == lu.rank()); - VERIFY(lu.isInjective()); - VERIFY(lu.isSurjective()); - VERIFY(lu.isInvertible()); - VERIFY(lu.image(m1).fullPivLu().isInvertible()); - m3 = MatrixType::Random(size,size); - m2 = lu.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - MatrixType m1_inverse = lu.inverse(); - VERIFY_IS_APPROX(m2, m1_inverse*m3); - - RealScalar rcond = (RealScalar(1) / matrix_l1_norm(m1)) / matrix_l1_norm(m1_inverse); - const RealScalar rcond_est = lu.rcond(); - // Verify that the estimated condition number is within a factor of 10 of the - // truth. - VERIFY(rcond_est > rcond / 10 && rcond_est < rcond * 10); - - // test solve with transposed - lu.template _solve_impl_transposed(m3, m2); - VERIFY_IS_APPROX(m3, m1.transpose()*m2); - m3 = MatrixType::Random(size,size); - m3 = lu.transpose().solve(m2); - VERIFY_IS_APPROX(m2, m1.transpose()*m3); - - // test solve with conjugate transposed - lu.template _solve_impl_transposed(m3, m2); - VERIFY_IS_APPROX(m3, m1.adjoint()*m2); - m3 = MatrixType::Random(size,size); - m3 = lu.adjoint().solve(m2); - VERIFY_IS_APPROX(m2, m1.adjoint()*m3); - - // Regression test for Bug 302 - MatrixType m4 = MatrixType::Random(size,size); - VERIFY_IS_APPROX(lu.solve(m3*m4), lu.solve(m3)*m4); -} - -template void lu_partial_piv() -{ - /* this test covers the following files: - PartialPivLU.h - */ - typedef typename MatrixType::Index Index; - typedef typename NumTraits::Real RealScalar; - Index size = internal::random(1,4); - - MatrixType m1(size, size), m2(size, size), m3(size, size); - m1.setRandom(); - PartialPivLU plu(m1); - - VERIFY_IS_APPROX(m1, plu.reconstructedMatrix()); - - m3 = MatrixType::Random(size,size); - m2 = plu.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - MatrixType m1_inverse = plu.inverse(); - VERIFY_IS_APPROX(m2, m1_inverse*m3); - - RealScalar rcond = (RealScalar(1) / matrix_l1_norm(m1)) / matrix_l1_norm(m1_inverse); - const RealScalar rcond_est = plu.rcond(); - // Verify that the estimate is within a factor of 10 of the truth. - VERIFY(rcond_est > rcond / 10 && rcond_est < rcond * 10); - - // test solve with transposed - plu.template _solve_impl_transposed(m3, m2); - VERIFY_IS_APPROX(m3, m1.transpose()*m2); - m3 = MatrixType::Random(size,size); - m3 = plu.transpose().solve(m2); - VERIFY_IS_APPROX(m2, m1.transpose()*m3); - - // test solve with conjugate transposed - plu.template _solve_impl_transposed(m3, m2); - VERIFY_IS_APPROX(m3, m1.adjoint()*m2); - m3 = MatrixType::Random(size,size); - m3 = plu.adjoint().solve(m2); - VERIFY_IS_APPROX(m2, m1.adjoint()*m3); -} - -template void lu_verify_assert() -{ - MatrixType tmp; - - FullPivLU lu; - VERIFY_RAISES_ASSERT(lu.matrixLU()) - VERIFY_RAISES_ASSERT(lu.permutationP()) - VERIFY_RAISES_ASSERT(lu.permutationQ()) - VERIFY_RAISES_ASSERT(lu.kernel()) - VERIFY_RAISES_ASSERT(lu.image(tmp)) - VERIFY_RAISES_ASSERT(lu.solve(tmp)) - VERIFY_RAISES_ASSERT(lu.determinant()) - VERIFY_RAISES_ASSERT(lu.rank()) - VERIFY_RAISES_ASSERT(lu.dimensionOfKernel()) - VERIFY_RAISES_ASSERT(lu.isInjective()) - VERIFY_RAISES_ASSERT(lu.isSurjective()) - VERIFY_RAISES_ASSERT(lu.isInvertible()) - VERIFY_RAISES_ASSERT(lu.inverse()) - - PartialPivLU plu; - VERIFY_RAISES_ASSERT(plu.matrixLU()) - VERIFY_RAISES_ASSERT(plu.permutationP()) - VERIFY_RAISES_ASSERT(plu.solve(tmp)) - VERIFY_RAISES_ASSERT(plu.determinant()) - VERIFY_RAISES_ASSERT(plu.inverse()) -} - -void test_lu() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( lu_non_invertible() ); - CALL_SUBTEST_1( lu_invertible() ); - CALL_SUBTEST_1( lu_verify_assert() ); - - CALL_SUBTEST_2( (lu_non_invertible >()) ); - CALL_SUBTEST_2( (lu_verify_assert >()) ); - - CALL_SUBTEST_3( lu_non_invertible() ); - CALL_SUBTEST_3( lu_invertible() ); - CALL_SUBTEST_3( lu_verify_assert() ); - - CALL_SUBTEST_4( lu_non_invertible() ); - CALL_SUBTEST_4( lu_invertible() ); - CALL_SUBTEST_4( lu_partial_piv() ); - CALL_SUBTEST_4( lu_verify_assert() ); - - CALL_SUBTEST_5( lu_non_invertible() ); - CALL_SUBTEST_5( lu_invertible() ); - CALL_SUBTEST_5( lu_verify_assert() ); - - CALL_SUBTEST_6( lu_non_invertible() ); - CALL_SUBTEST_6( lu_invertible() ); - CALL_SUBTEST_6( lu_partial_piv() ); - CALL_SUBTEST_6( lu_verify_assert() ); - - CALL_SUBTEST_7(( lu_non_invertible >() )); - - // Test problem size constructors - CALL_SUBTEST_9( PartialPivLU(10) ); - CALL_SUBTEST_9( FullPivLU(10, 20); ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/main.h b/testbed/nanogui/ext/eigen/test/main.h deleted file mode 100644 index 25d2dcf4..00000000 --- a/testbed/nanogui/ext/eigen/test/main.h +++ /dev/null @@ -1,746 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// The following includes of STL headers have to be done _before_ the -// definition of macros min() and max(). The reason is that many STL -// implementations will not work properly as the min and max symbols collide -// with the STL functions std:min() and std::max(). The STL headers may check -// for the macro definition of min/max and issue a warning or undefine the -// macros. -// -// Still, Windows defines min() and max() in windef.h as part of the regular -// Windows system interfaces and many other Windows APIs depend on these -// macros being available. To prevent the macro expansion of min/max and to -// make Eigen compatible with the Windows environment all function calls of -// std::min() and std::max() have to be written with parenthesis around the -// function name. -// -// All STL headers used by Eigen should be included here. Because main.h is -// included before any Eigen header and because the STL headers are guarded -// against multiple inclusions, no STL header will see our own min/max macro -// definitions. -#include -#include -#include -#include -#include -#include -#include -#if __cplusplus >= 201103L -#include -#ifdef EIGEN_USE_THREADS -#include -#endif -#endif - -// To test that all calls from Eigen code to std::min() and std::max() are -// protected by parenthesis against macro expansion, the min()/max() macros -// are defined here and any not-parenthesized min/max call will cause a -// compiler error. -#define min(A,B) please_protect_your_min_with_parentheses -#define max(A,B) please_protect_your_max_with_parentheses -#define isnan(X) please_protect_your_isnan_with_parentheses -#define isinf(X) please_protect_your_isinf_with_parentheses -#define isfinite(X) please_protect_your_isfinite_with_parentheses -#ifdef M_PI -#undef M_PI -#endif -#define M_PI please_use_EIGEN_PI_instead_of_M_PI - -#define FORBIDDEN_IDENTIFIER (this_identifier_is_forbidden_to_avoid_clashes) this_identifier_is_forbidden_to_avoid_clashes -// B0 is defined in POSIX header termios.h -#define B0 FORBIDDEN_IDENTIFIER - -// Unit tests calling Eigen's blas library must preserve the default blocking size -// to avoid troubles. -#ifndef EIGEN_NO_DEBUG_SMALL_PRODUCT_BLOCKS -#define EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS -#endif - -// shuts down ICC's remark #593: variable "XXX" was set but never used -#define TEST_SET_BUT_UNUSED_VARIABLE(X) EIGEN_UNUSED_VARIABLE(X) - -#ifdef TEST_ENABLE_TEMPORARY_TRACKING - -static long int nb_temporaries; -static long int nb_temporaries_on_assert = -1; - -inline void on_temporary_creation(long int size) { - // here's a great place to set a breakpoint when debugging failures in this test! - if(size!=0) nb_temporaries++; - if(nb_temporaries_on_assert>0) assert(nb_temporaries if NDEBUG is not defined. -#ifndef DEBUG -#define DEBUG -#endif - -// bounds integer values for AltiVec -#if defined(__ALTIVEC__) || defined(__VSX__) -#define EIGEN_MAKING_DOCS -#endif - -#ifndef EIGEN_TEST_FUNC -#error EIGEN_TEST_FUNC must be defined -#endif - -#define DEFAULT_REPEAT 10 - -namespace Eigen -{ - static std::vector g_test_stack; - // level == 0 <=> abort if test fail - // level >= 1 <=> warning message to std::cerr if test fail - static int g_test_level = 0; - static int g_repeat; - static unsigned int g_seed; - static bool g_has_set_repeat, g_has_set_seed; -} - -#define TRACK std::cerr << __FILE__ << " " << __LINE__ << std::endl -// #define TRACK while() - -#define EI_PP_MAKE_STRING2(S) #S -#define EI_PP_MAKE_STRING(S) EI_PP_MAKE_STRING2(S) - -#define EIGEN_DEFAULT_IO_FORMAT IOFormat(4, 0, " ", "\n", "", "", "", "") - -#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) - #define EIGEN_EXCEPTIONS -#endif - -#ifndef EIGEN_NO_ASSERTION_CHECKING - - namespace Eigen - { - static const bool should_raise_an_assert = false; - - // Used to avoid to raise two exceptions at a time in which - // case the exception is not properly caught. - // This may happen when a second exceptions is triggered in a destructor. - static bool no_more_assert = false; - static bool report_on_cerr_on_assert_failure = true; - - struct eigen_assert_exception - { - eigen_assert_exception(void) {} - ~eigen_assert_exception() { Eigen::no_more_assert = false; } - }; - } - // If EIGEN_DEBUG_ASSERTS is defined and if no assertion is triggered while - // one should have been, then the list of excecuted assertions is printed out. - // - // EIGEN_DEBUG_ASSERTS is not enabled by default as it - // significantly increases the compilation time - // and might even introduce side effects that would hide - // some memory errors. - #ifdef EIGEN_DEBUG_ASSERTS - - namespace Eigen - { - namespace internal - { - static bool push_assert = false; - } - static std::vector eigen_assert_list; - } - #define eigen_assert(a) \ - if( (!(a)) && (!no_more_assert) ) \ - { \ - if(report_on_cerr_on_assert_failure) \ - std::cerr << #a << " " __FILE__ << "(" << __LINE__ << ")\n"; \ - Eigen::no_more_assert = true; \ - EIGEN_THROW_X(Eigen::eigen_assert_exception()); \ - } \ - else if (Eigen::internal::push_assert) \ - { \ - eigen_assert_list.push_back(std::string(EI_PP_MAKE_STRING(__FILE__) " (" EI_PP_MAKE_STRING(__LINE__) ") : " #a) ); \ - } - - #ifdef EIGEN_EXCEPTIONS - #define VERIFY_RAISES_ASSERT(a) \ - { \ - Eigen::no_more_assert = false; \ - Eigen::eigen_assert_list.clear(); \ - Eigen::internal::push_assert = true; \ - Eigen::report_on_cerr_on_assert_failure = false; \ - try { \ - a; \ - std::cerr << "One of the following asserts should have been triggered:\n"; \ - for (uint ai=0 ; ai // required for createRandomPIMatrixOfRank - -inline void verify_impl(bool condition, const char *testname, const char *file, int line, const char *condition_as_string) -{ - if (!condition) - { - if(Eigen::g_test_level>0) - std::cerr << "WARNING: "; - std::cerr << "Test " << testname << " failed in " << file << " (" << line << ")" - << std::endl << " " << condition_as_string << std::endl; - std::cerr << "Stack:\n"; - const int test_stack_size = static_cast(Eigen::g_test_stack.size()); - for(int i=test_stack_size-1; i>=0; --i) - std::cerr << " - " << Eigen::g_test_stack[i] << "\n"; - std::cerr << "\n"; - if(Eigen::g_test_level==0) - abort(); - } -} - -#define VERIFY(a) ::verify_impl(a, g_test_stack.back().c_str(), __FILE__, __LINE__, EI_PP_MAKE_STRING(a)) - -#define VERIFY_GE(a, b) ::verify_impl(a >= b, g_test_stack.back().c_str(), __FILE__, __LINE__, EI_PP_MAKE_STRING(a >= b)) -#define VERIFY_LE(a, b) ::verify_impl(a <= b, g_test_stack.back().c_str(), __FILE__, __LINE__, EI_PP_MAKE_STRING(a <= b)) - - -#define VERIFY_IS_EQUAL(a, b) VERIFY(test_is_equal(a, b, true)) -#define VERIFY_IS_NOT_EQUAL(a, b) VERIFY(test_is_equal(a, b, false)) -#define VERIFY_IS_APPROX(a, b) VERIFY(verifyIsApprox(a, b)) -#define VERIFY_IS_NOT_APPROX(a, b) VERIFY(!test_isApprox(a, b)) -#define VERIFY_IS_MUCH_SMALLER_THAN(a, b) VERIFY(test_isMuchSmallerThan(a, b)) -#define VERIFY_IS_NOT_MUCH_SMALLER_THAN(a, b) VERIFY(!test_isMuchSmallerThan(a, b)) -#define VERIFY_IS_APPROX_OR_LESS_THAN(a, b) VERIFY(test_isApproxOrLessThan(a, b)) -#define VERIFY_IS_NOT_APPROX_OR_LESS_THAN(a, b) VERIFY(!test_isApproxOrLessThan(a, b)) - -#define VERIFY_IS_UNITARY(a) VERIFY(test_isUnitary(a)) - -#define CALL_SUBTEST(FUNC) do { \ - g_test_stack.push_back(EI_PP_MAKE_STRING(FUNC)); \ - FUNC; \ - g_test_stack.pop_back(); \ - } while (0) - - -namespace Eigen { - -template inline typename NumTraits::Real test_precision() { return NumTraits::dummy_precision(); } -template<> inline float test_precision() { return 1e-3f; } -template<> inline double test_precision() { return 1e-6; } -template<> inline long double test_precision() { return 1e-6l; } -template<> inline float test_precision >() { return test_precision(); } -template<> inline double test_precision >() { return test_precision(); } -template<> inline long double test_precision >() { return test_precision(); } - -inline bool test_isApprox(const int& a, const int& b) -{ return internal::isApprox(a, b, test_precision()); } -inline bool test_isMuchSmallerThan(const int& a, const int& b) -{ return internal::isMuchSmallerThan(a, b, test_precision()); } -inline bool test_isApproxOrLessThan(const int& a, const int& b) -{ return internal::isApproxOrLessThan(a, b, test_precision()); } - -inline bool test_isApprox(const float& a, const float& b) -{ return internal::isApprox(a, b, test_precision()); } -inline bool test_isMuchSmallerThan(const float& a, const float& b) -{ return internal::isMuchSmallerThan(a, b, test_precision()); } -inline bool test_isApproxOrLessThan(const float& a, const float& b) -{ return internal::isApproxOrLessThan(a, b, test_precision()); } - -inline bool test_isApprox(const double& a, const double& b) -{ return internal::isApprox(a, b, test_precision()); } -inline bool test_isMuchSmallerThan(const double& a, const double& b) -{ return internal::isMuchSmallerThan(a, b, test_precision()); } -inline bool test_isApproxOrLessThan(const double& a, const double& b) -{ return internal::isApproxOrLessThan(a, b, test_precision()); } - -#ifndef EIGEN_TEST_NO_COMPLEX -inline bool test_isApprox(const std::complex& a, const std::complex& b) -{ return internal::isApprox(a, b, test_precision >()); } -inline bool test_isMuchSmallerThan(const std::complex& a, const std::complex& b) -{ return internal::isMuchSmallerThan(a, b, test_precision >()); } - -inline bool test_isApprox(const std::complex& a, const std::complex& b) -{ return internal::isApprox(a, b, test_precision >()); } -inline bool test_isMuchSmallerThan(const std::complex& a, const std::complex& b) -{ return internal::isMuchSmallerThan(a, b, test_precision >()); } - -#ifndef EIGEN_TEST_NO_LONGDOUBLE -inline bool test_isApprox(const std::complex& a, const std::complex& b) -{ return internal::isApprox(a, b, test_precision >()); } -inline bool test_isMuchSmallerThan(const std::complex& a, const std::complex& b) -{ return internal::isMuchSmallerThan(a, b, test_precision >()); } -#endif -#endif - -#ifndef EIGEN_TEST_NO_LONGDOUBLE -inline bool test_isApprox(const long double& a, const long double& b) -{ - bool ret = internal::isApprox(a, b, test_precision()); - if (!ret) std::cerr - << std::endl << " actual = " << a - << std::endl << " expected = " << b << std::endl << std::endl; - return ret; -} - -inline bool test_isMuchSmallerThan(const long double& a, const long double& b) -{ return internal::isMuchSmallerThan(a, b, test_precision()); } -inline bool test_isApproxOrLessThan(const long double& a, const long double& b) -{ return internal::isApproxOrLessThan(a, b, test_precision()); } -#endif // EIGEN_TEST_NO_LONGDOUBLE - -inline bool test_isApprox(const half& a, const half& b) -{ return internal::isApprox(a, b, test_precision()); } -inline bool test_isMuchSmallerThan(const half& a, const half& b) -{ return internal::isMuchSmallerThan(a, b, test_precision()); } -inline bool test_isApproxOrLessThan(const half& a, const half& b) -{ return internal::isApproxOrLessThan(a, b, test_precision()); } - -// test_relative_error returns the relative difference between a and b as a real scalar as used in isApprox. -template -typename NumTraits::NonInteger test_relative_error(const EigenBase &a, const EigenBase &b) -{ - using std::sqrt; - typedef typename NumTraits::NonInteger RealScalar; - typename internal::nested_eval::type ea(a.derived()); - typename internal::nested_eval::type eb(b.derived()); - return sqrt(RealScalar((ea-eb).cwiseAbs2().sum()) / RealScalar((std::min)(eb.cwiseAbs2().sum(),ea.cwiseAbs2().sum()))); -} - -template -typename T1::RealScalar test_relative_error(const T1 &a, const T2 &b, const typename T1::Coefficients* = 0) -{ - return test_relative_error(a.coeffs(), b.coeffs()); -} - -template -typename T1::Scalar test_relative_error(const T1 &a, const T2 &b, const typename T1::MatrixType* = 0) -{ - return test_relative_error(a.matrix(), b.matrix()); -} - -template -S test_relative_error(const Translation &a, const Translation &b) -{ - return test_relative_error(a.vector(), b.vector()); -} - -template -S test_relative_error(const ParametrizedLine &a, const ParametrizedLine &b) -{ - return (std::max)(test_relative_error(a.origin(), b.origin()), test_relative_error(a.origin(), b.origin())); -} - -template -S test_relative_error(const AlignedBox &a, const AlignedBox &b) -{ - return (std::max)(test_relative_error((a.min)(), (b.min)()), test_relative_error((a.max)(), (b.max)())); -} - -template class SparseMatrixBase; -template -typename T1::RealScalar test_relative_error(const MatrixBase &a, const SparseMatrixBase &b) -{ - return test_relative_error(a,b.toDense()); -} - -template class SparseMatrixBase; -template -typename T1::RealScalar test_relative_error(const SparseMatrixBase &a, const MatrixBase &b) -{ - return test_relative_error(a.toDense(),b); -} - -template class SparseMatrixBase; -template -typename T1::RealScalar test_relative_error(const SparseMatrixBase &a, const SparseMatrixBase &b) -{ - return test_relative_error(a.toDense(),b.toDense()); -} - -template -typename NumTraits::Real>::NonInteger test_relative_error(const T1 &a, const T2 &b, typename internal::enable_if::Real>::value, T1>::type* = 0) -{ - typedef typename NumTraits::Real>::NonInteger RealScalar; - return numext::sqrt(RealScalar(numext::abs2(a-b))/RealScalar((numext::mini)(numext::abs2(a),numext::abs2(b)))); -} - -template -T test_relative_error(const Rotation2D &a, const Rotation2D &b) -{ - return test_relative_error(a.angle(), b.angle()); -} - -template -T test_relative_error(const AngleAxis &a, const AngleAxis &b) -{ - return (std::max)(test_relative_error(a.angle(), b.angle()), test_relative_error(a.axis(), b.axis())); -} - -template -inline bool test_isApprox(const Type1& a, const Type2& b, typename Type1::Scalar* = 0) // Enabled for Eigen's type only -{ - return a.isApprox(b, test_precision()); -} - -// get_test_precision is a small wrapper to test_precision allowing to return the scalar precision for either scalars or expressions -template -typename NumTraits::Real get_test_precision(const T&, const typename T::Scalar* = 0) -{ - return test_precision::Real>(); -} - -template -typename NumTraits::Real get_test_precision(const T&,typename internal::enable_if::Real>::value, T>::type* = 0) -{ - return test_precision::Real>(); -} - -// verifyIsApprox is a wrapper to test_isApprox that outputs the relative difference magnitude if the test fails. -template -inline bool verifyIsApprox(const Type1& a, const Type2& b) -{ - bool ret = test_isApprox(a,b); - if(!ret) - { - std::cerr << "Difference too large wrt tolerance " << get_test_precision(a) << ", relative error is: " << test_relative_error(a,b) << std::endl; - } - return ret; -} - -// The idea behind this function is to compare the two scalars a and b where -// the scalar ref is a hint about the expected order of magnitude of a and b. -// WARNING: the scalar a and b must be positive -// Therefore, if for some reason a and b are very small compared to ref, -// we won't issue a false negative. -// This test could be: abs(a-b) <= eps * ref -// However, it seems that simply comparing a+ref and b+ref is more sensitive to true error. -template -inline bool test_isApproxWithRef(const Scalar& a, const Scalar& b, const ScalarRef& ref) -{ - return test_isApprox(a+ref, b+ref); -} - -template -inline bool test_isMuchSmallerThan(const MatrixBase& m1, - const MatrixBase& m2) -{ - return m1.isMuchSmallerThan(m2, test_precision::Scalar>()); -} - -template -inline bool test_isMuchSmallerThan(const MatrixBase& m, - const typename NumTraits::Scalar>::Real& s) -{ - return m.isMuchSmallerThan(s, test_precision::Scalar>()); -} - -template -inline bool test_isUnitary(const MatrixBase& m) -{ - return m.isUnitary(test_precision::Scalar>()); -} - -// Forward declaration to avoid ICC warning -template -bool test_is_equal(const T& actual, const U& expected, bool expect_equal=true); - -template -bool test_is_equal(const T& actual, const U& expected, bool expect_equal) -{ - if ((actual==expected) == expect_equal) - return true; - // false: - std::cerr - << "\n actual = " << actual - << "\n expected " << (expect_equal ? "= " : "!=") << expected << "\n\n"; - return false; -} - -/** Creates a random Partial Isometry matrix of given rank. - * - * A partial isometry is a matrix all of whose singular values are either 0 or 1. - * This is very useful to test rank-revealing algorithms. - */ -// Forward declaration to avoid ICC warning -template -void createRandomPIMatrixOfRank(Index desired_rank, Index rows, Index cols, MatrixType& m); -template -void createRandomPIMatrixOfRank(Index desired_rank, Index rows, Index cols, MatrixType& m) -{ - typedef typename internal::traits::Scalar Scalar; - enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime }; - - typedef Matrix VectorType; - typedef Matrix MatrixAType; - typedef Matrix MatrixBType; - - if(desired_rank == 0) - { - m.setZero(rows,cols); - return; - } - - if(desired_rank == 1) - { - // here we normalize the vectors to get a partial isometry - m = VectorType::Random(rows).normalized() * VectorType::Random(cols).normalized().transpose(); - return; - } - - MatrixAType a = MatrixAType::Random(rows,rows); - MatrixType d = MatrixType::Identity(rows,cols); - MatrixBType b = MatrixBType::Random(cols,cols); - - // set the diagonal such that only desired_rank non-zero entries reamain - const Index diag_size = (std::min)(d.rows(),d.cols()); - if(diag_size != desired_rank) - d.diagonal().segment(desired_rank, diag_size-desired_rank) = VectorType::Zero(diag_size-desired_rank); - - HouseholderQR qra(a); - HouseholderQR qrb(b); - m = qra.householderQ() * d * qrb.householderQ(); -} - -// Forward declaration to avoid ICC warning -template -void randomPermutationVector(PermutationVectorType& v, Index size); -template -void randomPermutationVector(PermutationVectorType& v, Index size) -{ - typedef typename PermutationVectorType::Scalar Scalar; - v.resize(size); - for(Index i = 0; i < size; ++i) v(i) = Scalar(i); - if(size == 1) return; - for(Index n = 0; n < 3 * size; ++n) - { - Index i = internal::random(0, size-1); - Index j; - do j = internal::random(0, size-1); while(j==i); - std::swap(v(i), v(j)); - } -} - -template bool isNotNaN(const T& x) -{ - return x==x; -} - -template bool isPlusInf(const T& x) -{ - return x > NumTraits::highest(); -} - -template bool isMinusInf(const T& x) -{ - return x < NumTraits::lowest(); -} - -} // end namespace Eigen - -template struct GetDifferentType; - -template<> struct GetDifferentType { typedef double type; }; -template<> struct GetDifferentType { typedef float type; }; -template struct GetDifferentType > -{ typedef std::complex::type> type; }; - -// Forward declaration to avoid ICC warning -template std::string type_name(); -template std::string type_name() { return "other"; } -template<> std::string type_name() { return "float"; } -template<> std::string type_name() { return "double"; } -template<> std::string type_name() { return "long double"; } -template<> std::string type_name() { return "int"; } -template<> std::string type_name >() { return "complex"; } -template<> std::string type_name >() { return "complex"; } -template<> std::string type_name >() { return "complex"; } -template<> std::string type_name >() { return "complex"; } - -// forward declaration of the main test function -void EIGEN_CAT(test_,EIGEN_TEST_FUNC)(); - -using namespace Eigen; - -inline void set_repeat_from_string(const char *str) -{ - errno = 0; - g_repeat = int(strtoul(str, 0, 10)); - if(errno || g_repeat <= 0) - { - std::cout << "Invalid repeat value " << str << std::endl; - exit(EXIT_FAILURE); - } - g_has_set_repeat = true; -} - -inline void set_seed_from_string(const char *str) -{ - errno = 0; - g_seed = int(strtoul(str, 0, 10)); - if(errno || g_seed == 0) - { - std::cout << "Invalid seed value " << str << std::endl; - exit(EXIT_FAILURE); - } - g_has_set_seed = true; -} - -int main(int argc, char *argv[]) -{ - g_has_set_repeat = false; - g_has_set_seed = false; - bool need_help = false; - - for(int i = 1; i < argc; i++) - { - if(argv[i][0] == 'r') - { - if(g_has_set_repeat) - { - std::cout << "Argument " << argv[i] << " conflicting with a former argument" << std::endl; - return 1; - } - set_repeat_from_string(argv[i]+1); - } - else if(argv[i][0] == 's') - { - if(g_has_set_seed) - { - std::cout << "Argument " << argv[i] << " conflicting with a former argument" << std::endl; - return 1; - } - set_seed_from_string(argv[i]+1); - } - else - { - need_help = true; - } - } - - if(need_help) - { - std::cout << "This test application takes the following optional arguments:" << std::endl; - std::cout << " rN Repeat each test N times (default: " << DEFAULT_REPEAT << ")" << std::endl; - std::cout << " sN Use N as seed for random numbers (default: based on current time)" << std::endl; - std::cout << std::endl; - std::cout << "If defined, the environment variables EIGEN_REPEAT and EIGEN_SEED" << std::endl; - std::cout << "will be used as default values for these parameters." << std::endl; - return 1; - } - - char *env_EIGEN_REPEAT = getenv("EIGEN_REPEAT"); - if(!g_has_set_repeat && env_EIGEN_REPEAT) - set_repeat_from_string(env_EIGEN_REPEAT); - char *env_EIGEN_SEED = getenv("EIGEN_SEED"); - if(!g_has_set_seed && env_EIGEN_SEED) - set_seed_from_string(env_EIGEN_SEED); - - if(!g_has_set_seed) g_seed = (unsigned int) time(NULL); - if(!g_has_set_repeat) g_repeat = DEFAULT_REPEAT; - - std::cout << "Initializing random number generator with seed " << g_seed << std::endl; - std::stringstream ss; - ss << "Seed: " << g_seed; - g_test_stack.push_back(ss.str()); - srand(g_seed); - std::cout << "Repeating each test " << g_repeat << " times" << std::endl; - - Eigen::g_test_stack.push_back(std::string(EI_PP_MAKE_STRING(EIGEN_TEST_FUNC))); - - EIGEN_CAT(test_,EIGEN_TEST_FUNC)(); - return 0; -} - -// These warning are disabled here such that they are still ON when parsing Eigen's header files. -#if defined __INTEL_COMPILER - // remark #383: value copied to temporary, reference to temporary used - // -> this warning is raised even for legal usage as: g_test_stack.push_back("foo"); where g_test_stack is a std::vector - // remark #1418: external function definition with no prior declaration - // -> this warning is raised for all our test functions. Declaring them static would fix the issue. - // warning #279: controlling expression is constant - // remark #1572: floating-point equality and inequality comparisons are unreliable - #pragma warning disable 279 383 1418 1572 -#endif - -#ifdef _MSC_VER - // 4503 - decorated name length exceeded, name was truncated - #pragma warning( disable : 4503) -#endif diff --git a/testbed/nanogui/ext/eigen/test/mapped_matrix.cpp b/testbed/nanogui/ext/eigen/test/mapped_matrix.cpp deleted file mode 100644 index 6a84c589..00000000 --- a/testbed/nanogui/ext/eigen/test/mapped_matrix.cpp +++ /dev/null @@ -1,211 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_NO_STATIC_ASSERT -#define EIGEN_NO_STATIC_ASSERT // turn static asserts into runtime asserts in order to check them -#endif - -#include "main.h" - -#define EIGEN_TESTMAP_MAX_SIZE 256 - -template void map_class_vector(const VectorType& m) -{ - typedef typename VectorType::Index Index; - typedef typename VectorType::Scalar Scalar; - - Index size = m.size(); - - Scalar* array1 = internal::aligned_new(size); - Scalar* array2 = internal::aligned_new(size); - Scalar* array3 = new Scalar[size+1]; - Scalar* array3unaligned = (internal::UIntPtr(array3)%EIGEN_MAX_ALIGN_BYTES) == 0 ? array3+1 : array3; - Scalar array4[EIGEN_TESTMAP_MAX_SIZE]; - - Map(array1, size) = VectorType::Random(size); - Map(array2, size) = Map(array1, size); - Map(array3unaligned, size) = Map(array1, size); - Map(array4, size) = Map(array1, size); - VectorType ma1 = Map(array1, size); - VectorType ma2 = Map(array2, size); - VectorType ma3 = Map(array3unaligned, size); - VectorType ma4 = Map(array4, size); - VERIFY_IS_EQUAL(ma1, ma2); - VERIFY_IS_EQUAL(ma1, ma3); - VERIFY_IS_EQUAL(ma1, ma4); - #ifdef EIGEN_VECTORIZE - if(internal::packet_traits::Vectorizable && size>=AlignedMax) - VERIFY_RAISES_ASSERT((Map(array3unaligned, size))) - #endif - - internal::aligned_delete(array1, size); - internal::aligned_delete(array2, size); - delete[] array3; -} - -template void map_class_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = m.rows(), cols = m.cols(), size = rows*cols; - Scalar s1 = internal::random(); - - // array1 and array2 -> aligned heap allocation - Scalar* array1 = internal::aligned_new(size); - for(int i = 0; i < size; i++) array1[i] = Scalar(1); - Scalar* array2 = internal::aligned_new(size); - for(int i = 0; i < size; i++) array2[i] = Scalar(1); - // array3unaligned -> unaligned pointer to heap - Scalar* array3 = new Scalar[size+1]; - for(int i = 0; i < size+1; i++) array3[i] = Scalar(1); - Scalar* array3unaligned = internal::UIntPtr(array3)%EIGEN_MAX_ALIGN_BYTES == 0 ? array3+1 : array3; - Scalar array4[256]; - if(size<=256) - for(int i = 0; i < size; i++) array4[i] = Scalar(1); - - Map map1(array1, rows, cols); - Map map2(array2, rows, cols); - Map map3(array3unaligned, rows, cols); - Map map4(array4, rows, cols); - - VERIFY_IS_EQUAL(map1, MatrixType::Ones(rows,cols)); - VERIFY_IS_EQUAL(map2, MatrixType::Ones(rows,cols)); - VERIFY_IS_EQUAL(map3, MatrixType::Ones(rows,cols)); - map1 = MatrixType::Random(rows,cols); - map2 = map1; - map3 = map1; - MatrixType ma1 = map1; - MatrixType ma2 = map2; - MatrixType ma3 = map3; - VERIFY_IS_EQUAL(map1, map2); - VERIFY_IS_EQUAL(map1, map3); - VERIFY_IS_EQUAL(ma1, ma2); - VERIFY_IS_EQUAL(ma1, ma3); - VERIFY_IS_EQUAL(ma1, map3); - - VERIFY_IS_APPROX(s1*map1, s1*map2); - VERIFY_IS_APPROX(s1*ma1, s1*ma2); - VERIFY_IS_EQUAL(s1*ma1, s1*ma3); - VERIFY_IS_APPROX(s1*map1, s1*map3); - - map2 *= s1; - map3 *= s1; - VERIFY_IS_APPROX(s1*map1, map2); - VERIFY_IS_APPROX(s1*map1, map3); - - if(size<=256) - { - VERIFY_IS_EQUAL(map4, MatrixType::Ones(rows,cols)); - map4 = map1; - MatrixType ma4 = map4; - VERIFY_IS_EQUAL(map1, map4); - VERIFY_IS_EQUAL(ma1, map4); - VERIFY_IS_EQUAL(ma1, ma4); - VERIFY_IS_APPROX(s1*map1, s1*map4); - - map4 *= s1; - VERIFY_IS_APPROX(s1*map1, map4); - } - - internal::aligned_delete(array1, size); - internal::aligned_delete(array2, size); - delete[] array3; -} - -template void map_static_methods(const VectorType& m) -{ - typedef typename VectorType::Index Index; - typedef typename VectorType::Scalar Scalar; - - Index size = m.size(); - - Scalar* array1 = internal::aligned_new(size); - Scalar* array2 = internal::aligned_new(size); - Scalar* array3 = new Scalar[size+1]; - Scalar* array3unaligned = internal::UIntPtr(array3)%EIGEN_MAX_ALIGN_BYTES == 0 ? array3+1 : array3; - - VectorType::MapAligned(array1, size) = VectorType::Random(size); - VectorType::Map(array2, size) = VectorType::Map(array1, size); - VectorType::Map(array3unaligned, size) = VectorType::Map(array1, size); - VectorType ma1 = VectorType::Map(array1, size); - VectorType ma2 = VectorType::MapAligned(array2, size); - VectorType ma3 = VectorType::Map(array3unaligned, size); - VERIFY_IS_EQUAL(ma1, ma2); - VERIFY_IS_EQUAL(ma1, ma3); - - internal::aligned_delete(array1, size); - internal::aligned_delete(array2, size); - delete[] array3; -} - -template void check_const_correctness(const PlainObjectType&) -{ - // there's a lot that we can't test here while still having this test compile! - // the only possible approach would be to run a script trying to compile stuff and checking that it fails. - // CMake can help with that. - - // verify that map-to-const don't have LvalueBit - typedef typename internal::add_const::type ConstPlainObjectType; - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(Map::Flags & LvalueBit) ); - VERIFY( !(Map::Flags & LvalueBit) ); -} - -template -void map_not_aligned_on_scalar() -{ - typedef Matrix MatrixType; - typedef typename MatrixType::Index Index; - Index size = 11; - Scalar* array1 = internal::aligned_new((size+1)*(size+1)+1); - Scalar* array2 = reinterpret_cast(sizeof(Scalar)/2+std::size_t(array1)); - Map > map2(array2, size, size, OuterStride<>(size+1)); - MatrixType m2 = MatrixType::Random(size,size); - map2 = m2; - VERIFY_IS_EQUAL(m2, map2); - - typedef Matrix VectorType; - Map map3(array2, size); - MatrixType v3 = VectorType::Random(size); - map3 = v3; - VERIFY_IS_EQUAL(v3, map3); - - internal::aligned_delete(array1, (size+1)*(size+1)+1); -} - -void test_mapped_matrix() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( map_class_vector(Matrix()) ); - CALL_SUBTEST_1( check_const_correctness(Matrix()) ); - CALL_SUBTEST_2( map_class_vector(Vector4d()) ); - CALL_SUBTEST_2( map_class_vector(VectorXd(13)) ); - CALL_SUBTEST_2( check_const_correctness(Matrix4d()) ); - CALL_SUBTEST_3( map_class_vector(RowVector4f()) ); - CALL_SUBTEST_4( map_class_vector(VectorXcf(8)) ); - CALL_SUBTEST_5( map_class_vector(VectorXi(12)) ); - CALL_SUBTEST_5( check_const_correctness(VectorXi(12)) ); - - CALL_SUBTEST_1( map_class_matrix(Matrix()) ); - CALL_SUBTEST_2( map_class_matrix(Matrix4d()) ); - CALL_SUBTEST_11( map_class_matrix(Matrix()) ); - CALL_SUBTEST_4( map_class_matrix(MatrixXcf(internal::random(1,10),internal::random(1,10))) ); - CALL_SUBTEST_5( map_class_matrix(MatrixXi(internal::random(1,10),internal::random(1,10))) ); - - CALL_SUBTEST_6( map_static_methods(Matrix()) ); - CALL_SUBTEST_7( map_static_methods(Vector3f()) ); - CALL_SUBTEST_8( map_static_methods(RowVector3d()) ); - CALL_SUBTEST_9( map_static_methods(VectorXcd(8)) ); - CALL_SUBTEST_10( map_static_methods(VectorXf(12)) ); - - CALL_SUBTEST_11( map_not_aligned_on_scalar() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/mapstaticmethods.cpp b/testbed/nanogui/ext/eigen/test/mapstaticmethods.cpp deleted file mode 100644 index 06272d10..00000000 --- a/testbed/nanogui/ext/eigen/test/mapstaticmethods.cpp +++ /dev/null @@ -1,175 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -float *ptr; -const float *const_ptr; - -template -struct mapstaticmethods_impl {}; - -template -struct mapstaticmethods_impl -{ - static void run(const PlainObjectType& m) - { - mapstaticmethods_impl::run(m); - - int i = internal::random(2,5), j = internal::random(2,5); - - PlainObjectType::Map(ptr).setZero(); - PlainObjectType::MapAligned(ptr).setZero(); - PlainObjectType::Map(const_ptr).sum(); - PlainObjectType::MapAligned(const_ptr).sum(); - - PlainObjectType::Map(ptr, InnerStride<>(i)).setZero(); - PlainObjectType::MapAligned(ptr, InnerStride<>(i)).setZero(); - PlainObjectType::Map(const_ptr, InnerStride<>(i)).sum(); - PlainObjectType::MapAligned(const_ptr, InnerStride<>(i)).sum(); - - PlainObjectType::Map(ptr, InnerStride<2>()).setZero(); - PlainObjectType::MapAligned(ptr, InnerStride<3>()).setZero(); - PlainObjectType::Map(const_ptr, InnerStride<4>()).sum(); - PlainObjectType::MapAligned(const_ptr, InnerStride<5>()).sum(); - - PlainObjectType::Map(ptr, OuterStride<>(i)).setZero(); - PlainObjectType::MapAligned(ptr, OuterStride<>(i)).setZero(); - PlainObjectType::Map(const_ptr, OuterStride<>(i)).sum(); - PlainObjectType::MapAligned(const_ptr, OuterStride<>(i)).sum(); - - PlainObjectType::Map(ptr, OuterStride<2>()).setZero(); - PlainObjectType::MapAligned(ptr, OuterStride<3>()).setZero(); - PlainObjectType::Map(const_ptr, OuterStride<4>()).sum(); - PlainObjectType::MapAligned(const_ptr, OuterStride<5>()).sum(); - - PlainObjectType::Map(ptr, Stride(i,j)).setZero(); - PlainObjectType::MapAligned(ptr, Stride<2,Dynamic>(2,i)).setZero(); - PlainObjectType::Map(const_ptr, Stride(i,3)).sum(); - PlainObjectType::MapAligned(const_ptr, Stride(i,j)).sum(); - - PlainObjectType::Map(ptr, Stride<2,3>()).setZero(); - PlainObjectType::MapAligned(ptr, Stride<3,4>()).setZero(); - PlainObjectType::Map(const_ptr, Stride<2,4>()).sum(); - PlainObjectType::MapAligned(const_ptr, Stride<5,3>()).sum(); - } -}; - -template -struct mapstaticmethods_impl -{ - static void run(const PlainObjectType& m) - { - typedef typename PlainObjectType::Index Index; - Index rows = m.rows(), cols = m.cols(); - - int i = internal::random(2,5), j = internal::random(2,5); - - PlainObjectType::Map(ptr, rows, cols).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols).setZero(); - PlainObjectType::Map(const_ptr, rows, cols).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols).sum(); - - PlainObjectType::Map(ptr, rows, cols, InnerStride<>(i)).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols, InnerStride<>(i)).setZero(); - PlainObjectType::Map(const_ptr, rows, cols, InnerStride<>(i)).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols, InnerStride<>(i)).sum(); - - PlainObjectType::Map(ptr, rows, cols, InnerStride<2>()).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols, InnerStride<3>()).setZero(); - PlainObjectType::Map(const_ptr, rows, cols, InnerStride<4>()).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols, InnerStride<5>()).sum(); - - PlainObjectType::Map(ptr, rows, cols, OuterStride<>(i)).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols, OuterStride<>(i)).setZero(); - PlainObjectType::Map(const_ptr, rows, cols, OuterStride<>(i)).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols, OuterStride<>(i)).sum(); - - PlainObjectType::Map(ptr, rows, cols, OuterStride<2>()).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols, OuterStride<3>()).setZero(); - PlainObjectType::Map(const_ptr, rows, cols, OuterStride<4>()).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols, OuterStride<5>()).sum(); - - PlainObjectType::Map(ptr, rows, cols, Stride(i,j)).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols, Stride<2,Dynamic>(2,i)).setZero(); - PlainObjectType::Map(const_ptr, rows, cols, Stride(i,3)).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols, Stride(i,j)).sum(); - - PlainObjectType::Map(ptr, rows, cols, Stride<2,3>()).setZero(); - PlainObjectType::MapAligned(ptr, rows, cols, Stride<3,4>()).setZero(); - PlainObjectType::Map(const_ptr, rows, cols, Stride<2,4>()).sum(); - PlainObjectType::MapAligned(const_ptr, rows, cols, Stride<5,3>()).sum(); - } -}; - -template -struct mapstaticmethods_impl -{ - static void run(const PlainObjectType& v) - { - typedef typename PlainObjectType::Index Index; - Index size = v.size(); - - int i = internal::random(2,5); - - PlainObjectType::Map(ptr, size).setZero(); - PlainObjectType::MapAligned(ptr, size).setZero(); - PlainObjectType::Map(const_ptr, size).sum(); - PlainObjectType::MapAligned(const_ptr, size).sum(); - - PlainObjectType::Map(ptr, size, InnerStride<>(i)).setZero(); - PlainObjectType::MapAligned(ptr, size, InnerStride<>(i)).setZero(); - PlainObjectType::Map(const_ptr, size, InnerStride<>(i)).sum(); - PlainObjectType::MapAligned(const_ptr, size, InnerStride<>(i)).sum(); - - PlainObjectType::Map(ptr, size, InnerStride<2>()).setZero(); - PlainObjectType::MapAligned(ptr, size, InnerStride<3>()).setZero(); - PlainObjectType::Map(const_ptr, size, InnerStride<4>()).sum(); - PlainObjectType::MapAligned(const_ptr, size, InnerStride<5>()).sum(); - } -}; - -template -void mapstaticmethods(const PlainObjectType& m) -{ - mapstaticmethods_impl::run(m); - VERIFY(true); // just to avoid 'unused function' warning -} - -void test_mapstaticmethods() -{ - ptr = internal::aligned_new(1000); - for(int i = 0; i < 1000; i++) ptr[i] = float(i); - - const_ptr = ptr; - - CALL_SUBTEST_1(( mapstaticmethods(Matrix()) )); - CALL_SUBTEST_1(( mapstaticmethods(Vector2f()) )); - CALL_SUBTEST_2(( mapstaticmethods(Vector3f()) )); - CALL_SUBTEST_2(( mapstaticmethods(Matrix2f()) )); - CALL_SUBTEST_3(( mapstaticmethods(Matrix4f()) )); - CALL_SUBTEST_3(( mapstaticmethods(Array4f()) )); - CALL_SUBTEST_4(( mapstaticmethods(Array3f()) )); - CALL_SUBTEST_4(( mapstaticmethods(Array33f()) )); - CALL_SUBTEST_5(( mapstaticmethods(Array44f()) )); - CALL_SUBTEST_5(( mapstaticmethods(VectorXf(1)) )); - CALL_SUBTEST_5(( mapstaticmethods(VectorXf(8)) )); - CALL_SUBTEST_6(( mapstaticmethods(MatrixXf(1,1)) )); - CALL_SUBTEST_6(( mapstaticmethods(MatrixXf(5,7)) )); - CALL_SUBTEST_7(( mapstaticmethods(ArrayXf(1)) )); - CALL_SUBTEST_7(( mapstaticmethods(ArrayXf(5)) )); - CALL_SUBTEST_8(( mapstaticmethods(ArrayXXf(1,1)) )); - CALL_SUBTEST_8(( mapstaticmethods(ArrayXXf(8,6)) )); - - internal::aligned_delete(ptr, 1000); -} - diff --git a/testbed/nanogui/ext/eigen/test/mapstride.cpp b/testbed/nanogui/ext/eigen/test/mapstride.cpp deleted file mode 100644 index 4858f8fe..00000000 --- a/testbed/nanogui/ext/eigen/test/mapstride.cpp +++ /dev/null @@ -1,181 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void map_class_vector(const VectorType& m) -{ - typedef typename VectorType::Index Index; - typedef typename VectorType::Scalar Scalar; - - Index size = m.size(); - - VectorType v = VectorType::Random(size); - - Index arraysize = 3*size; - - Scalar* a_array = internal::aligned_new(arraysize+1); - Scalar* array = a_array; - if(Alignment!=Aligned) - array = (Scalar*)(internal::IntPtr(a_array) + (internal::packet_traits::AlignedOnScalar?sizeof(Scalar):sizeof(typename NumTraits::Real))); - - { - Map > map(array, size); - map = v; - for(int i = 0; i < size; ++i) - { - VERIFY(array[3*i] == v[i]); - VERIFY(map[i] == v[i]); - } - } - - { - Map > map(array, size, InnerStride(2)); - map = v; - for(int i = 0; i < size; ++i) - { - VERIFY(array[2*i] == v[i]); - VERIFY(map[i] == v[i]); - } - } - - internal::aligned_delete(a_array, arraysize+1); -} - -template void map_class_matrix(const MatrixType& _m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = _m.rows(), cols = _m.cols(); - - MatrixType m = MatrixType::Random(rows,cols); - Scalar s1 = internal::random(); - - Index arraysize = 2*(rows+4)*(cols+4); - - Scalar* a_array1 = internal::aligned_new(arraysize+1); - Scalar* array1 = a_array1; - if(Alignment!=Aligned) - array1 = (Scalar*)(internal::IntPtr(a_array1) + (internal::packet_traits::AlignedOnScalar?sizeof(Scalar):sizeof(typename NumTraits::Real))); - - Scalar a_array2[256]; - Scalar* array2 = a_array2; - if(Alignment!=Aligned) - array2 = (Scalar*)(internal::IntPtr(a_array2) + (internal::packet_traits::AlignedOnScalar?sizeof(Scalar):sizeof(typename NumTraits::Real))); - else - array2 = (Scalar*)(((internal::UIntPtr(a_array2)+EIGEN_MAX_ALIGN_BYTES-1)/EIGEN_MAX_ALIGN_BYTES)*EIGEN_MAX_ALIGN_BYTES); - Index maxsize2 = a_array2 - array2 + 256; - - // test no inner stride and some dynamic outer stride - for(int k=0; k<2; ++k) - { - if(k==1 && (m.innerSize()+1)*m.outerSize() > maxsize2) - break; - Scalar* array = (k==0 ? array1 : array2); - - Map > map(array, rows, cols, OuterStride(m.innerSize()+1)); - map = m; - VERIFY(map.outerStride() == map.innerSize()+1); - for(int i = 0; i < m.outerSize(); ++i) - for(int j = 0; j < m.innerSize(); ++j) - { - VERIFY(array[map.outerStride()*i+j] == m.coeffByOuterInner(i,j)); - VERIFY(map.coeffByOuterInner(i,j) == m.coeffByOuterInner(i,j)); - } - VERIFY_IS_APPROX(s1*map,s1*m); - map *= s1; - VERIFY_IS_APPROX(map,s1*m); - } - - // test no inner stride and an outer stride of +4. This is quite important as for fixed-size matrices, - // this allows to hit the special case where it's vectorizable. - for(int k=0; k<2; ++k) - { - if(k==1 && (m.innerSize()+4)*m.outerSize() > maxsize2) - break; - Scalar* array = (k==0 ? array1 : array2); - - enum { - InnerSize = MatrixType::InnerSizeAtCompileTime, - OuterStrideAtCompileTime = InnerSize==Dynamic ? Dynamic : InnerSize+4 - }; - Map > - map(array, rows, cols, OuterStride(m.innerSize()+4)); - map = m; - VERIFY(map.outerStride() == map.innerSize()+4); - for(int i = 0; i < m.outerSize(); ++i) - for(int j = 0; j < m.innerSize(); ++j) - { - VERIFY(array[map.outerStride()*i+j] == m.coeffByOuterInner(i,j)); - VERIFY(map.coeffByOuterInner(i,j) == m.coeffByOuterInner(i,j)); - } - VERIFY_IS_APPROX(s1*map,s1*m); - map *= s1; - VERIFY_IS_APPROX(map,s1*m); - } - - // test both inner stride and outer stride - for(int k=0; k<2; ++k) - { - if(k==1 && (2*m.innerSize()+1)*(m.outerSize()*2) > maxsize2) - break; - Scalar* array = (k==0 ? array1 : array2); - - Map > map(array, rows, cols, Stride(2*m.innerSize()+1, 2)); - map = m; - VERIFY(map.outerStride() == 2*map.innerSize()+1); - VERIFY(map.innerStride() == 2); - for(int i = 0; i < m.outerSize(); ++i) - for(int j = 0; j < m.innerSize(); ++j) - { - VERIFY(array[map.outerStride()*i+map.innerStride()*j] == m.coeffByOuterInner(i,j)); - VERIFY(map.coeffByOuterInner(i,j) == m.coeffByOuterInner(i,j)); - } - VERIFY_IS_APPROX(s1*map,s1*m); - map *= s1; - VERIFY_IS_APPROX(map,s1*m); - } - - internal::aligned_delete(a_array1, arraysize+1); -} - -void test_mapstride() -{ - for(int i = 0; i < g_repeat; i++) { - int maxn = 30; - CALL_SUBTEST_1( map_class_vector(Matrix()) ); - CALL_SUBTEST_1( map_class_vector(Matrix()) ); - CALL_SUBTEST_2( map_class_vector(Vector4d()) ); - CALL_SUBTEST_2( map_class_vector(Vector4d()) ); - CALL_SUBTEST_3( map_class_vector(RowVector4f()) ); - CALL_SUBTEST_3( map_class_vector(RowVector4f()) ); - CALL_SUBTEST_4( map_class_vector(VectorXcf(internal::random(1,maxn))) ); - CALL_SUBTEST_4( map_class_vector(VectorXcf(internal::random(1,maxn))) ); - CALL_SUBTEST_5( map_class_vector(VectorXi(internal::random(1,maxn))) ); - CALL_SUBTEST_5( map_class_vector(VectorXi(internal::random(1,maxn))) ); - - CALL_SUBTEST_1( map_class_matrix(Matrix()) ); - CALL_SUBTEST_1( map_class_matrix(Matrix()) ); - CALL_SUBTEST_2( map_class_matrix(Matrix4d()) ); - CALL_SUBTEST_2( map_class_matrix(Matrix4d()) ); - CALL_SUBTEST_3( map_class_matrix(Matrix()) ); - CALL_SUBTEST_3( map_class_matrix(Matrix()) ); - CALL_SUBTEST_3( map_class_matrix(Matrix()) ); - CALL_SUBTEST_3( map_class_matrix(Matrix()) ); - CALL_SUBTEST_4( map_class_matrix(MatrixXcf(internal::random(1,maxn),internal::random(1,maxn))) ); - CALL_SUBTEST_4( map_class_matrix(MatrixXcf(internal::random(1,maxn),internal::random(1,maxn))) ); - CALL_SUBTEST_5( map_class_matrix(MatrixXi(internal::random(1,maxn),internal::random(1,maxn))) ); - CALL_SUBTEST_5( map_class_matrix(MatrixXi(internal::random(1,maxn),internal::random(1,maxn))) ); - CALL_SUBTEST_6( map_class_matrix(MatrixXcd(internal::random(1,maxn),internal::random(1,maxn))) ); - CALL_SUBTEST_6( map_class_matrix(MatrixXcd(internal::random(1,maxn),internal::random(1,maxn))) ); - - TEST_SET_BUT_UNUSED_VARIABLE(maxn); - } -} diff --git a/testbed/nanogui/ext/eigen/test/meta.cpp b/testbed/nanogui/ext/eigen/test/meta.cpp deleted file mode 100644 index b8dea68e..00000000 --- a/testbed/nanogui/ext/eigen/test/meta.cpp +++ /dev/null @@ -1,97 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template -bool check_is_convertible(const From&, const To&) -{ - return internal::is_convertible::value; -} - -void test_meta() -{ - VERIFY((internal::conditional<(3<4),internal::true_type, internal::false_type>::type::value)); - VERIFY(( internal::is_same::value)); - VERIFY((!internal::is_same::value)); - VERIFY((!internal::is_same::value)); - VERIFY((!internal::is_same::value)); - - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - - // test add_const - VERIFY(( internal::is_same< internal::add_const::type, const float >::value)); - VERIFY(( internal::is_same< internal::add_const::type, float* const>::value)); - VERIFY(( internal::is_same< internal::add_const::type, float const* const>::value)); - VERIFY(( internal::is_same< internal::add_const::type, float& >::value)); - - // test remove_const - VERIFY(( internal::is_same< internal::remove_const::type, float const* >::value)); - VERIFY(( internal::is_same< internal::remove_const::type, float const* >::value)); - VERIFY(( internal::is_same< internal::remove_const::type, float* >::value)); - - // test add_const_on_value_type - VERIFY(( internal::is_same< internal::add_const_on_value_type::type, float const& >::value)); - VERIFY(( internal::is_same< internal::add_const_on_value_type::type, float const* >::value)); - - VERIFY(( internal::is_same< internal::add_const_on_value_type::type, const float >::value)); - VERIFY(( internal::is_same< internal::add_const_on_value_type::type, const float >::value)); - - VERIFY(( internal::is_same< internal::add_const_on_value_type::type, const float* const>::value)); - VERIFY(( internal::is_same< internal::add_const_on_value_type::type, const float* const>::value)); - - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - VERIFY(( internal::is_same::type >::value)); - - VERIFY(( internal::is_convertible::value )); - VERIFY(( internal::is_convertible::value )); - VERIFY(( internal::is_convertible::value )); - VERIFY((!internal::is_convertible,double>::value )); - VERIFY(( internal::is_convertible::value )); -// VERIFY((!internal::is_convertible::value )); //does not work because the conversion is prevented by a static assertion - VERIFY((!internal::is_convertible::value )); - VERIFY((!internal::is_convertible::value )); - { - float f; - MatrixXf A, B; - VectorXf a, b; - VERIFY(( check_is_convertible(a.dot(b), f) )); - VERIFY(( check_is_convertible(a.transpose()*b, f) )); - VERIFY((!check_is_convertible(A*B, f) )); - VERIFY(( check_is_convertible(A*B, A) )); - } - - VERIFY(internal::meta_sqrt<1>::ret == 1); - #define VERIFY_META_SQRT(X) VERIFY(internal::meta_sqrt::ret == int(std::sqrt(double(X)))) - VERIFY_META_SQRT(2); - VERIFY_META_SQRT(3); - VERIFY_META_SQRT(4); - VERIFY_META_SQRT(5); - VERIFY_META_SQRT(6); - VERIFY_META_SQRT(8); - VERIFY_META_SQRT(9); - VERIFY_META_SQRT(15); - VERIFY_META_SQRT(16); - VERIFY_META_SQRT(17); - VERIFY_META_SQRT(255); - VERIFY_META_SQRT(256); - VERIFY_META_SQRT(257); - VERIFY_META_SQRT(1023); - VERIFY_META_SQRT(1024); - VERIFY_META_SQRT(1025); -} diff --git a/testbed/nanogui/ext/eigen/test/metis_support.cpp b/testbed/nanogui/ext/eigen/test/metis_support.cpp deleted file mode 100644 index d87c56a1..00000000 --- a/testbed/nanogui/ext/eigen/test/metis_support.cpp +++ /dev/null @@ -1,25 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Désiré Nuentsa-Wakam -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse_solver.h" -#include -#include -#include - -template void test_metis_T() -{ - SparseLU, MetisOrdering > sparselu_metis; - - check_sparse_square_solving(sparselu_metis); -} - -void test_metis_support() -{ - CALL_SUBTEST_1(test_metis_T()); -} diff --git a/testbed/nanogui/ext/eigen/test/miscmatrices.cpp b/testbed/nanogui/ext/eigen/test/miscmatrices.cpp deleted file mode 100644 index ef20dc74..00000000 --- a/testbed/nanogui/ext/eigen/test/miscmatrices.cpp +++ /dev/null @@ -1,47 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void miscMatrices(const MatrixType& m) -{ - /* this test covers the following files: - DiagonalMatrix.h Ones.h - */ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - Index rows = m.rows(); - Index cols = m.cols(); - - Index r = internal::random(0, rows-1), r2 = internal::random(0, rows-1), c = internal::random(0, cols-1); - VERIFY_IS_APPROX(MatrixType::Ones(rows,cols)(r,c), static_cast(1)); - MatrixType m1 = MatrixType::Ones(rows,cols); - VERIFY_IS_APPROX(m1(r,c), static_cast(1)); - VectorType v1 = VectorType::Random(rows); - v1[0]; - Matrix - square(v1.asDiagonal()); - if(r==r2) VERIFY_IS_APPROX(square(r,r2), v1[r]); - else VERIFY_IS_MUCH_SMALLER_THAN(square(r,r2), static_cast(1)); - square = MatrixType::Zero(rows, rows); - square.diagonal() = VectorType::Ones(rows); - VERIFY_IS_APPROX(square, MatrixType::Identity(rows, rows)); -} - -void test_miscmatrices() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( miscMatrices(Matrix()) ); - CALL_SUBTEST_2( miscMatrices(Matrix4d()) ); - CALL_SUBTEST_3( miscMatrices(MatrixXcf(3, 3)) ); - CALL_SUBTEST_4( miscMatrices(MatrixXi(8, 12)) ); - CALL_SUBTEST_5( miscMatrices(MatrixXcd(20, 20)) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/mixingtypes.cpp b/testbed/nanogui/ext/eigen/test/mixingtypes.cpp deleted file mode 100644 index b796082c..00000000 --- a/testbed/nanogui/ext/eigen/test/mixingtypes.cpp +++ /dev/null @@ -1,300 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2015 Gael Guennebaud -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// work around "uninitialized" warnings and give that option some testing -#define EIGEN_INITIALIZE_MATRICES_BY_ZERO - -#ifndef EIGEN_NO_STATIC_ASSERT -#define EIGEN_NO_STATIC_ASSERT // turn static asserts into runtime asserts in order to check them -#endif - -#if defined(EIGEN_TEST_PART_1) || defined(EIGEN_TEST_PART_2) || defined(EIGEN_TEST_PART_3) - -#ifndef EIGEN_DONT_VECTORIZE -#define EIGEN_DONT_VECTORIZE -#endif - -#endif - -static bool g_called; -#define EIGEN_SCALAR_BINARY_OP_PLUGIN { g_called |= (!internal::is_same::value); } - -#include "main.h" - -using namespace std; - -#define VERIFY_MIX_SCALAR(XPR,REF) \ - g_called = false; \ - VERIFY_IS_APPROX(XPR,REF); \ - VERIFY( g_called && #XPR" not properly optimized"); - -template void mixingtypes(int size = SizeAtCompileType) -{ - typedef std::complex CF; - typedef std::complex CD; - typedef Matrix Mat_f; - typedef Matrix Mat_d; - typedef Matrix, SizeAtCompileType, SizeAtCompileType> Mat_cf; - typedef Matrix, SizeAtCompileType, SizeAtCompileType> Mat_cd; - typedef Matrix Vec_f; - typedef Matrix Vec_d; - typedef Matrix, SizeAtCompileType, 1> Vec_cf; - typedef Matrix, SizeAtCompileType, 1> Vec_cd; - - Mat_f mf = Mat_f::Random(size,size); - Mat_d md = mf.template cast(); - //Mat_d rd = md; - Mat_cf mcf = Mat_cf::Random(size,size); - Mat_cd mcd = mcf.template cast >(); - Mat_cd rcd = mcd; - Vec_f vf = Vec_f::Random(size,1); - Vec_d vd = vf.template cast(); - Vec_cf vcf = Vec_cf::Random(size,1); - Vec_cd vcd = vcf.template cast >(); - float sf = internal::random(); - double sd = internal::random(); - complex scf = internal::random >(); - complex scd = internal::random >(); - - mf+mf; - - float epsf = std::sqrt(std::numeric_limits ::min EIGEN_EMPTY ()); - double epsd = std::sqrt(std::numeric_limits::min EIGEN_EMPTY ()); - - while(std::abs(sf )(); - while(std::abs(sd )(); - while(std::abs(scf)(); - while(std::abs(scd)(); - -// VERIFY_RAISES_ASSERT(mf+md); // does not even compile - -#ifdef EIGEN_DONT_VECTORIZE - VERIFY_RAISES_ASSERT(vf=vd); - VERIFY_RAISES_ASSERT(vf+=vd); -#endif - - // check scalar products - VERIFY_MIX_SCALAR(vcf * sf , vcf * complex(sf)); - VERIFY_MIX_SCALAR(sd * vcd , complex(sd) * vcd); - VERIFY_MIX_SCALAR(vf * scf , vf.template cast >() * scf); - VERIFY_MIX_SCALAR(scd * vd , scd * vd.template cast >()); - - VERIFY_MIX_SCALAR(vcf * 2 , vcf * complex(2)); - VERIFY_MIX_SCALAR(vcf * 2.1 , vcf * complex(2.1)); - VERIFY_MIX_SCALAR(2 * vcf, vcf * complex(2)); - VERIFY_MIX_SCALAR(2.1 * vcf , vcf * complex(2.1)); - - // check scalar quotients - VERIFY_MIX_SCALAR(vcf / sf , vcf / complex(sf)); - VERIFY_MIX_SCALAR(vf / scf , vf.template cast >() / scf); - VERIFY_MIX_SCALAR(vf.array() / scf, vf.template cast >().array() / scf); - VERIFY_MIX_SCALAR(scd / vd.array() , scd / vd.template cast >().array()); - - // check scalar increment - VERIFY_MIX_SCALAR(vcf.array() + sf , vcf.array() + complex(sf)); - VERIFY_MIX_SCALAR(sd + vcd.array(), complex(sd) + vcd.array()); - VERIFY_MIX_SCALAR(vf.array() + scf, vf.template cast >().array() + scf); - VERIFY_MIX_SCALAR(scd + vd.array() , scd + vd.template cast >().array()); - - // check scalar subtractions - VERIFY_MIX_SCALAR(vcf.array() - sf , vcf.array() - complex(sf)); - VERIFY_MIX_SCALAR(sd - vcd.array(), complex(sd) - vcd.array()); - VERIFY_MIX_SCALAR(vf.array() - scf, vf.template cast >().array() - scf); - VERIFY_MIX_SCALAR(scd - vd.array() , scd - vd.template cast >().array()); - - // check scalar powers - VERIFY_MIX_SCALAR( pow(vcf.array(), sf), Eigen::pow(vcf.array(), complex(sf)) ); - VERIFY_MIX_SCALAR( vcf.array().pow(sf) , Eigen::pow(vcf.array(), complex(sf)) ); - VERIFY_MIX_SCALAR( pow(sd, vcd.array()), Eigen::pow(complex(sd), vcd.array()) ); - VERIFY_MIX_SCALAR( Eigen::pow(vf.array(), scf), Eigen::pow(vf.template cast >().array(), scf) ); - VERIFY_MIX_SCALAR( vf.array().pow(scf) , Eigen::pow(vf.template cast >().array(), scf) ); - VERIFY_MIX_SCALAR( Eigen::pow(scd, vd.array()), Eigen::pow(scd, vd.template cast >().array()) ); - - // check dot product - vf.dot(vf); -#if 0 // we get other compilation errors here than just static asserts - VERIFY_RAISES_ASSERT(vd.dot(vf)); -#endif - VERIFY_IS_APPROX(vcf.dot(vf), vcf.dot(vf.template cast >())); - - // check diagonal product - VERIFY_IS_APPROX(vf.asDiagonal() * mcf, vf.template cast >().asDiagonal() * mcf); - VERIFY_IS_APPROX(vcd.asDiagonal() * md, vcd.asDiagonal() * md.template cast >()); - VERIFY_IS_APPROX(mcf * vf.asDiagonal(), mcf * vf.template cast >().asDiagonal()); - VERIFY_IS_APPROX(md * vcd.asDiagonal(), md.template cast >() * vcd.asDiagonal()); - -// vd.asDiagonal() * mf; // does not even compile -// vcd.asDiagonal() * mf; // does not even compile - - // check inner product - VERIFY_IS_APPROX((vf.transpose() * vcf).value(), (vf.template cast >().transpose() * vcf).value()); - - // check outer product - VERIFY_IS_APPROX((vf * vcf.transpose()).eval(), (vf.template cast >() * vcf.transpose()).eval()); - - // coeff wise product - - VERIFY_IS_APPROX((vf * vcf.transpose()).eval(), (vf.template cast >() * vcf.transpose()).eval()); - - Mat_cd mcd2 = mcd; - VERIFY_IS_APPROX(mcd.array() *= md.array(), mcd2.array() *= md.array().template cast >()); - - // check matrix-matrix products - VERIFY_IS_APPROX(sd*md*mcd, (sd*md).template cast().eval()*mcd); - VERIFY_IS_APPROX(sd*mcd*md, sd*mcd*md.template cast()); - VERIFY_IS_APPROX(scd*md*mcd, scd*md.template cast().eval()*mcd); - VERIFY_IS_APPROX(scd*mcd*md, scd*mcd*md.template cast()); - - VERIFY_IS_APPROX(sf*mf*mcf, sf*mf.template cast()*mcf); - VERIFY_IS_APPROX(sf*mcf*mf, sf*mcf*mf.template cast()); - VERIFY_IS_APPROX(scf*mf*mcf, scf*mf.template cast()*mcf); - VERIFY_IS_APPROX(scf*mcf*mf, scf*mcf*mf.template cast()); - - VERIFY_IS_APPROX(sd*md.adjoint()*mcd, (sd*md).template cast().eval().adjoint()*mcd); - VERIFY_IS_APPROX(sd*mcd.adjoint()*md, sd*mcd.adjoint()*md.template cast()); - VERIFY_IS_APPROX(sd*md.adjoint()*mcd.adjoint(), (sd*md).template cast().eval().adjoint()*mcd.adjoint()); - VERIFY_IS_APPROX(sd*mcd.adjoint()*md.adjoint(), sd*mcd.adjoint()*md.template cast().adjoint()); - VERIFY_IS_APPROX(sd*md*mcd.adjoint(), (sd*md).template cast().eval()*mcd.adjoint()); - VERIFY_IS_APPROX(sd*mcd*md.adjoint(), sd*mcd*md.template cast().adjoint()); - - VERIFY_IS_APPROX(sf*mf.adjoint()*mcf, (sf*mf).template cast().eval().adjoint()*mcf); - VERIFY_IS_APPROX(sf*mcf.adjoint()*mf, sf*mcf.adjoint()*mf.template cast()); - VERIFY_IS_APPROX(sf*mf.adjoint()*mcf.adjoint(), (sf*mf).template cast().eval().adjoint()*mcf.adjoint()); - VERIFY_IS_APPROX(sf*mcf.adjoint()*mf.adjoint(), sf*mcf.adjoint()*mf.template cast().adjoint()); - VERIFY_IS_APPROX(sf*mf*mcf.adjoint(), (sf*mf).template cast().eval()*mcf.adjoint()); - VERIFY_IS_APPROX(sf*mcf*mf.adjoint(), sf*mcf*mf.template cast().adjoint()); - - VERIFY_IS_APPROX(sf*mf*vcf, (sf*mf).template cast().eval()*vcf); - VERIFY_IS_APPROX(scf*mf*vcf,(scf*mf.template cast()).eval()*vcf); - VERIFY_IS_APPROX(sf*mcf*vf, sf*mcf*vf.template cast()); - VERIFY_IS_APPROX(scf*mcf*vf,scf*mcf*vf.template cast()); - - VERIFY_IS_APPROX(sf*vcf.adjoint()*mf, sf*vcf.adjoint()*mf.template cast().eval()); - VERIFY_IS_APPROX(scf*vcf.adjoint()*mf, scf*vcf.adjoint()*mf.template cast().eval()); - VERIFY_IS_APPROX(sf*vf.adjoint()*mcf, sf*vf.adjoint().template cast().eval()*mcf); - VERIFY_IS_APPROX(scf*vf.adjoint()*mcf, scf*vf.adjoint().template cast().eval()*mcf); - - VERIFY_IS_APPROX(sd*md*vcd, (sd*md).template cast().eval()*vcd); - VERIFY_IS_APPROX(scd*md*vcd,(scd*md.template cast()).eval()*vcd); - VERIFY_IS_APPROX(sd*mcd*vd, sd*mcd*vd.template cast().eval()); - VERIFY_IS_APPROX(scd*mcd*vd,scd*mcd*vd.template cast().eval()); - - VERIFY_IS_APPROX(sd*vcd.adjoint()*md, sd*vcd.adjoint()*md.template cast().eval()); - VERIFY_IS_APPROX(scd*vcd.adjoint()*md, scd*vcd.adjoint()*md.template cast().eval()); - VERIFY_IS_APPROX(sd*vd.adjoint()*mcd, sd*vd.adjoint().template cast().eval()*mcd); - VERIFY_IS_APPROX(scd*vd.adjoint()*mcd, scd*vd.adjoint().template cast().eval()*mcd); - - VERIFY_IS_APPROX( sd*vcd.adjoint()*md.template triangularView(), sd*vcd.adjoint()*md.template cast().eval().template triangularView()); - VERIFY_IS_APPROX(scd*vcd.adjoint()*md.template triangularView(), scd*vcd.adjoint()*md.template cast().eval().template triangularView()); - VERIFY_IS_APPROX( sd*vcd.adjoint()*md.transpose().template triangularView(), sd*vcd.adjoint()*md.transpose().template cast().eval().template triangularView()); - VERIFY_IS_APPROX(scd*vcd.adjoint()*md.transpose().template triangularView(), scd*vcd.adjoint()*md.transpose().template cast().eval().template triangularView()); - VERIFY_IS_APPROX( sd*vd.adjoint()*mcd.template triangularView(), sd*vd.adjoint().template cast().eval()*mcd.template triangularView()); - VERIFY_IS_APPROX(scd*vd.adjoint()*mcd.template triangularView(), scd*vd.adjoint().template cast().eval()*mcd.template triangularView()); - VERIFY_IS_APPROX( sd*vd.adjoint()*mcd.transpose().template triangularView(), sd*vd.adjoint().template cast().eval()*mcd.transpose().template triangularView()); - VERIFY_IS_APPROX(scd*vd.adjoint()*mcd.transpose().template triangularView(), scd*vd.adjoint().template cast().eval()*mcd.transpose().template triangularView()); - - // Not supported yet: trmm -// VERIFY_IS_APPROX(sd*mcd*md.template triangularView(), sd*mcd*md.template cast().eval().template triangularView()); -// VERIFY_IS_APPROX(scd*mcd*md.template triangularView(), scd*mcd*md.template cast().eval().template triangularView()); -// VERIFY_IS_APPROX(sd*md*mcd.template triangularView(), sd*md.template cast().eval()*mcd.template triangularView()); -// VERIFY_IS_APPROX(scd*md*mcd.template triangularView(), scd*md.template cast().eval()*mcd.template triangularView()); - - // Not supported yet: symv -// VERIFY_IS_APPROX(sd*vcd.adjoint()*md.template selfadjointView(), sd*vcd.adjoint()*md.template cast().eval().template selfadjointView()); -// VERIFY_IS_APPROX(scd*vcd.adjoint()*md.template selfadjointView(), scd*vcd.adjoint()*md.template cast().eval().template selfadjointView()); -// VERIFY_IS_APPROX(sd*vd.adjoint()*mcd.template selfadjointView(), sd*vd.adjoint().template cast().eval()*mcd.template selfadjointView()); -// VERIFY_IS_APPROX(scd*vd.adjoint()*mcd.template selfadjointView(), scd*vd.adjoint().template cast().eval()*mcd.template selfadjointView()); - - // Not supported yet: symm -// VERIFY_IS_APPROX(sd*vcd.adjoint()*md.template selfadjointView(), sd*vcd.adjoint()*md.template cast().eval().template selfadjointView()); -// VERIFY_IS_APPROX(scd*vcd.adjoint()*md.template selfadjointView(), scd*vcd.adjoint()*md.template cast().eval().template selfadjointView()); -// VERIFY_IS_APPROX(sd*vd.adjoint()*mcd.template selfadjointView(), sd*vd.adjoint().template cast().eval()*mcd.template selfadjointView()); -// VERIFY_IS_APPROX(scd*vd.adjoint()*mcd.template selfadjointView(), scd*vd.adjoint().template cast().eval()*mcd.template selfadjointView()); - - rcd.setZero(); - VERIFY_IS_APPROX(Mat_cd(rcd.template triangularView() = sd * mcd * md), - Mat_cd((sd * mcd * md.template cast().eval()).template triangularView())); - VERIFY_IS_APPROX(Mat_cd(rcd.template triangularView() = sd * md * mcd), - Mat_cd((sd * md.template cast().eval() * mcd).template triangularView())); - VERIFY_IS_APPROX(Mat_cd(rcd.template triangularView() = scd * mcd * md), - Mat_cd((scd * mcd * md.template cast().eval()).template triangularView())); - VERIFY_IS_APPROX(Mat_cd(rcd.template triangularView() = scd * md * mcd), - Mat_cd((scd * md.template cast().eval() * mcd).template triangularView())); - - - VERIFY_IS_APPROX( md.array() * mcd.array(), md.template cast().eval().array() * mcd.array() ); - VERIFY_IS_APPROX( mcd.array() * md.array(), mcd.array() * md.template cast().eval().array() ); - - VERIFY_IS_APPROX( md.array() + mcd.array(), md.template cast().eval().array() + mcd.array() ); - VERIFY_IS_APPROX( mcd.array() + md.array(), mcd.array() + md.template cast().eval().array() ); - - VERIFY_IS_APPROX( md.array() - mcd.array(), md.template cast().eval().array() - mcd.array() ); - VERIFY_IS_APPROX( mcd.array() - md.array(), mcd.array() - md.template cast().eval().array() ); - - if(mcd.array().abs().minCoeff()>epsd) - { - VERIFY_IS_APPROX( md.array() / mcd.array(), md.template cast().eval().array() / mcd.array() ); - } - if(md.array().abs().minCoeff()>epsd) - { - VERIFY_IS_APPROX( mcd.array() / md.array(), mcd.array() / md.template cast().eval().array() ); - } - - if(md.array().abs().minCoeff()>epsd || mcd.array().abs().minCoeff()>epsd) - { - VERIFY_IS_APPROX( md.array().pow(mcd.array()), md.template cast().eval().array().pow(mcd.array()) ); - VERIFY_IS_APPROX( mcd.array().pow(md.array()), mcd.array().pow(md.template cast().eval().array()) ); - - VERIFY_IS_APPROX( pow(md.array(),mcd.array()), md.template cast().eval().array().pow(mcd.array()) ); - VERIFY_IS_APPROX( pow(mcd.array(),md.array()), mcd.array().pow(md.template cast().eval().array()) ); - } - - rcd = mcd; - VERIFY_IS_APPROX( rcd = md, md.template cast().eval() ); - rcd = mcd; - VERIFY_IS_APPROX( rcd += md, mcd + md.template cast().eval() ); - rcd = mcd; - VERIFY_IS_APPROX( rcd -= md, mcd - md.template cast().eval() ); - rcd = mcd; - VERIFY_IS_APPROX( rcd.array() *= md.array(), mcd.array() * md.template cast().eval().array() ); - rcd = mcd; - if(md.array().abs().minCoeff()>epsd) - { - VERIFY_IS_APPROX( rcd.array() /= md.array(), mcd.array() / md.template cast().eval().array() ); - } - - rcd = mcd; - VERIFY_IS_APPROX( rcd.noalias() += md + mcd*md, mcd + (md.template cast().eval()) + mcd*(md.template cast().eval())); - - VERIFY_IS_APPROX( rcd.noalias() = md*md, ((md*md).eval().template cast()) ); - rcd = mcd; - VERIFY_IS_APPROX( rcd.noalias() += md*md, mcd + ((md*md).eval().template cast()) ); - rcd = mcd; - VERIFY_IS_APPROX( rcd.noalias() -= md*md, mcd - ((md*md).eval().template cast()) ); - - VERIFY_IS_APPROX( rcd.noalias() = mcd + md*md, mcd + ((md*md).eval().template cast()) ); - rcd = mcd; - VERIFY_IS_APPROX( rcd.noalias() += mcd + md*md, mcd + mcd + ((md*md).eval().template cast()) ); - rcd = mcd; - VERIFY_IS_APPROX( rcd.noalias() -= mcd + md*md, - ((md*md).eval().template cast()) ); -} - -void test_mixingtypes() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(mixingtypes<3>()); - CALL_SUBTEST_2(mixingtypes<4>()); - CALL_SUBTEST_3(mixingtypes(internal::random(1,EIGEN_TEST_MAX_SIZE))); - - CALL_SUBTEST_4(mixingtypes<3>()); - CALL_SUBTEST_5(mixingtypes<4>()); - CALL_SUBTEST_6(mixingtypes(internal::random(1,EIGEN_TEST_MAX_SIZE))); - } -} diff --git a/testbed/nanogui/ext/eigen/test/mpl2only.cpp b/testbed/nanogui/ext/eigen/test/mpl2only.cpp deleted file mode 100644 index 7d04d6bb..00000000 --- a/testbed/nanogui/ext/eigen/test/mpl2only.cpp +++ /dev/null @@ -1,22 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_MPL2_ONLY -#include -#include -#include -#include -#include -#include -#include - -int main() -{ - return 0; -} diff --git a/testbed/nanogui/ext/eigen/test/nesting_ops.cpp b/testbed/nanogui/ext/eigen/test/nesting_ops.cpp deleted file mode 100644 index a419b0e4..00000000 --- a/testbed/nanogui/ext/eigen/test/nesting_ops.cpp +++ /dev/null @@ -1,107 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Hauke Heibel -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define TEST_ENABLE_TEMPORARY_TRACKING - -#include "main.h" - -template -void use_n_times(const XprType &xpr) -{ - typename internal::nested_eval::type mat(xpr); - typename XprType::PlainObject res(mat.rows(), mat.cols()); - nb_temporaries--; // remove res - res.setZero(); - for(int i=0; i -bool verify_eval_type(const XprType &, const ReferenceType&) -{ - typedef typename internal::nested_eval::type EvalType; - return internal::is_same::type, typename internal::remove_all::type>::value; -} - -template void run_nesting_ops_1(const MatrixType& _m) -{ - typename internal::nested_eval::type m(_m); - - // Make really sure that we are in debug mode! - VERIFY_RAISES_ASSERT(eigen_assert(false)); - - // The only intention of these tests is to ensure that this code does - // not trigger any asserts or segmentation faults... more to come. - VERIFY_IS_APPROX( (m.transpose() * m).diagonal().sum(), (m.transpose() * m).diagonal().sum() ); - VERIFY_IS_APPROX( (m.transpose() * m).diagonal().array().abs().sum(), (m.transpose() * m).diagonal().array().abs().sum() ); - - VERIFY_IS_APPROX( (m.transpose() * m).array().abs().sum(), (m.transpose() * m).array().abs().sum() ); -} - -template void run_nesting_ops_2(const MatrixType& _m) -{ - typedef typename MatrixType::Scalar Scalar; - Index rows = _m.rows(); - Index cols = _m.cols(); - MatrixType m1 = MatrixType::Random(rows,cols); - Matrix m2; - - if((MatrixType::SizeAtCompileTime==Dynamic)) - { - VERIFY_EVALUATION_COUNT( use_n_times<1>(m1 + m1*m1), 1 ); - VERIFY_EVALUATION_COUNT( use_n_times<10>(m1 + m1*m1), 1 ); - - VERIFY_EVALUATION_COUNT( use_n_times<1>(m1.template triangularView().solve(m1.col(0))), 1 ); - VERIFY_EVALUATION_COUNT( use_n_times<10>(m1.template triangularView().solve(m1.col(0))), 1 ); - - VERIFY_EVALUATION_COUNT( use_n_times<1>(Scalar(2)*m1.template triangularView().solve(m1.col(0))), 2 ); // FIXME could be one by applying the scaling in-place on the solve result - VERIFY_EVALUATION_COUNT( use_n_times<1>(m1.col(0)+m1.template triangularView().solve(m1.col(0))), 2 ); // FIXME could be one by adding m1.col() inplace - VERIFY_EVALUATION_COUNT( use_n_times<10>(m1.col(0)+m1.template triangularView().solve(m1.col(0))), 2 ); - } - - { - VERIFY( verify_eval_type<10>(m1, m1) ); - if(!NumTraits::IsComplex) - { - VERIFY( verify_eval_type<3>(2*m1, 2*m1) ); - VERIFY( verify_eval_type<4>(2*m1, m1) ); - } - else - { - VERIFY( verify_eval_type<2>(2*m1, 2*m1) ); - VERIFY( verify_eval_type<3>(2*m1, m1) ); - } - VERIFY( verify_eval_type<2>(m1+m1, m1+m1) ); - VERIFY( verify_eval_type<3>(m1+m1, m1) ); - VERIFY( verify_eval_type<1>(m1*m1.transpose(), m2) ); - VERIFY( verify_eval_type<1>(m1*(m1+m1).transpose(), m2) ); - VERIFY( verify_eval_type<2>(m1*m1.transpose(), m2) ); - VERIFY( verify_eval_type<1>(m1+m1*m1, m1) ); - - VERIFY( verify_eval_type<1>(m1.template triangularView().solve(m1), m1) ); - VERIFY( verify_eval_type<1>(m1+m1.template triangularView().solve(m1), m1) ); - } -} - - -void test_nesting_ops() -{ - CALL_SUBTEST_1(run_nesting_ops_1(MatrixXf::Random(25,25))); - CALL_SUBTEST_2(run_nesting_ops_1(MatrixXcd::Random(25,25))); - CALL_SUBTEST_3(run_nesting_ops_1(Matrix4f::Random())); - CALL_SUBTEST_4(run_nesting_ops_1(Matrix2d::Random())); - - Index s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_1( run_nesting_ops_2(MatrixXf(s,s)) ); - CALL_SUBTEST_2( run_nesting_ops_2(MatrixXcd(s,s)) ); - CALL_SUBTEST_3( run_nesting_ops_2(Matrix4f()) ); - CALL_SUBTEST_4( run_nesting_ops_2(Matrix2d()) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) -} diff --git a/testbed/nanogui/ext/eigen/test/nomalloc.cpp b/testbed/nanogui/ext/eigen/test/nomalloc.cpp deleted file mode 100644 index 50756c2f..00000000 --- a/testbed/nanogui/ext/eigen/test/nomalloc.cpp +++ /dev/null @@ -1,229 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// discard stack allocation as that too bypasses malloc -#define EIGEN_STACK_ALLOCATION_LIMIT 0 -// heap allocation will raise an assert if enabled at runtime -#define EIGEN_RUNTIME_NO_MALLOC - -#include "main.h" -#include -#include -#include -#include -#include - -template void nomalloc(const MatrixType& m) -{ - /* this test check no dynamic memory allocation are issued with fixed-size matrices - */ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols); - - Scalar s1 = internal::random(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - VERIFY_IS_APPROX((m1+m2)*s1, s1*m1+s1*m2); - VERIFY_IS_APPROX((m1+m2)(r,c), (m1(r,c))+(m2(r,c))); - VERIFY_IS_APPROX(m1.cwiseProduct(m1.block(0,0,rows,cols)), (m1.array()*m1.array()).matrix()); - VERIFY_IS_APPROX((m1*m1.transpose())*m2, m1*(m1.transpose()*m2)); - - m2.col(0).noalias() = m1 * m1.col(0); - m2.col(0).noalias() -= m1.adjoint() * m1.col(0); - m2.col(0).noalias() -= m1 * m1.row(0).adjoint(); - m2.col(0).noalias() -= m1.adjoint() * m1.row(0).adjoint(); - - m2.row(0).noalias() = m1.row(0) * m1; - m2.row(0).noalias() -= m1.row(0) * m1.adjoint(); - m2.row(0).noalias() -= m1.col(0).adjoint() * m1; - m2.row(0).noalias() -= m1.col(0).adjoint() * m1.adjoint(); - VERIFY_IS_APPROX(m2,m2); - - m2.col(0).noalias() = m1.template triangularView() * m1.col(0); - m2.col(0).noalias() -= m1.adjoint().template triangularView() * m1.col(0); - m2.col(0).noalias() -= m1.template triangularView() * m1.row(0).adjoint(); - m2.col(0).noalias() -= m1.adjoint().template triangularView() * m1.row(0).adjoint(); - - m2.row(0).noalias() = m1.row(0) * m1.template triangularView(); - m2.row(0).noalias() -= m1.row(0) * m1.adjoint().template triangularView(); - m2.row(0).noalias() -= m1.col(0).adjoint() * m1.template triangularView(); - m2.row(0).noalias() -= m1.col(0).adjoint() * m1.adjoint().template triangularView(); - VERIFY_IS_APPROX(m2,m2); - - m2.col(0).noalias() = m1.template selfadjointView() * m1.col(0); - m2.col(0).noalias() -= m1.adjoint().template selfadjointView() * m1.col(0); - m2.col(0).noalias() -= m1.template selfadjointView() * m1.row(0).adjoint(); - m2.col(0).noalias() -= m1.adjoint().template selfadjointView() * m1.row(0).adjoint(); - - m2.row(0).noalias() = m1.row(0) * m1.template selfadjointView(); - m2.row(0).noalias() -= m1.row(0) * m1.adjoint().template selfadjointView(); - m2.row(0).noalias() -= m1.col(0).adjoint() * m1.template selfadjointView(); - m2.row(0).noalias() -= m1.col(0).adjoint() * m1.adjoint().template selfadjointView(); - VERIFY_IS_APPROX(m2,m2); - - m2.template selfadjointView().rankUpdate(m1.col(0),-1); - m2.template selfadjointView().rankUpdate(m1.row(0),-1); - m2.template selfadjointView().rankUpdate(m1.col(0), m1.col(0)); // rank-2 - - // The following fancy matrix-matrix products are not safe yet regarding static allocation - m2.template selfadjointView().rankUpdate(m1); - m2 += m2.template triangularView() * m1; - m2.template triangularView() = m2 * m2; - m1 += m1.template selfadjointView() * m2; - VERIFY_IS_APPROX(m2,m2); -} - -template -void ctms_decompositions() -{ - const int maxSize = 16; - const int size = 12; - - typedef Eigen::Matrix Matrix; - - typedef Eigen::Matrix Vector; - - typedef Eigen::Matrix, - Eigen::Dynamic, Eigen::Dynamic, - 0, - maxSize, maxSize> ComplexMatrix; - - const Matrix A(Matrix::Random(size, size)), B(Matrix::Random(size, size)); - Matrix X(size,size); - const ComplexMatrix complexA(ComplexMatrix::Random(size, size)); - const Matrix saA = A.adjoint() * A; - const Vector b(Vector::Random(size)); - Vector x(size); - - // Cholesky module - Eigen::LLT LLT; LLT.compute(A); - X = LLT.solve(B); - x = LLT.solve(b); - Eigen::LDLT LDLT; LDLT.compute(A); - X = LDLT.solve(B); - x = LDLT.solve(b); - - // Eigenvalues module - Eigen::HessenbergDecomposition hessDecomp; hessDecomp.compute(complexA); - Eigen::ComplexSchur cSchur(size); cSchur.compute(complexA); - Eigen::ComplexEigenSolver cEigSolver; cEigSolver.compute(complexA); - Eigen::EigenSolver eigSolver; eigSolver.compute(A); - Eigen::SelfAdjointEigenSolver saEigSolver(size); saEigSolver.compute(saA); - Eigen::Tridiagonalization tridiag; tridiag.compute(saA); - - // LU module - Eigen::PartialPivLU ppLU; ppLU.compute(A); - X = ppLU.solve(B); - x = ppLU.solve(b); - Eigen::FullPivLU fpLU; fpLU.compute(A); - X = fpLU.solve(B); - x = fpLU.solve(b); - - // QR module - Eigen::HouseholderQR hQR; hQR.compute(A); - X = hQR.solve(B); - x = hQR.solve(b); - Eigen::ColPivHouseholderQR cpQR; cpQR.compute(A); - X = cpQR.solve(B); - x = cpQR.solve(b); - Eigen::FullPivHouseholderQR fpQR; fpQR.compute(A); - // FIXME X = fpQR.solve(B); - x = fpQR.solve(b); - - // SVD module - Eigen::JacobiSVD jSVD; jSVD.compute(A, ComputeFullU | ComputeFullV); -} - -void test_zerosized() { - // default constructors: - Eigen::MatrixXd A; - Eigen::VectorXd v; - // explicit zero-sized: - Eigen::ArrayXXd A0(0,0); - Eigen::ArrayXd v0(0); - - // assigning empty objects to each other: - A=A0; - v=v0; -} - -template void test_reference(const MatrixType& m) { - typedef typename MatrixType::Scalar Scalar; - enum { Flag = MatrixType::IsRowMajor ? Eigen::RowMajor : Eigen::ColMajor}; - enum { TransposeFlag = !MatrixType::IsRowMajor ? Eigen::RowMajor : Eigen::ColMajor}; - typename MatrixType::Index rows = m.rows(), cols=m.cols(); - typedef Eigen::Matrix MatrixX; - typedef Eigen::Matrix MatrixXT; - // Dynamic reference: - typedef Eigen::Ref Ref; - typedef Eigen::Ref RefT; - - Ref r1(m); - Ref r2(m.block(rows/3, cols/4, rows/2, cols/2)); - RefT r3(m.transpose()); - RefT r4(m.topLeftCorner(rows/2, cols/2).transpose()); - - VERIFY_RAISES_ASSERT(RefT r5(m)); - VERIFY_RAISES_ASSERT(Ref r6(m.transpose())); - VERIFY_RAISES_ASSERT(Ref r7(Scalar(2) * m)); - - // Copy constructors shall also never malloc - Ref r8 = r1; - RefT r9 = r3; - - // Initializing from a compatible Ref shall also never malloc - Eigen::Ref > r10=r8, r11=m; - - // Initializing from an incompatible Ref will malloc: - typedef Eigen::Ref RefAligned; - VERIFY_RAISES_ASSERT(RefAligned r12=r10); - VERIFY_RAISES_ASSERT(Ref r13=r10); // r10 has more dynamic strides - -} - -void test_nomalloc() -{ - // create some dynamic objects - Eigen::MatrixXd M1 = MatrixXd::Random(3,3); - Ref R1 = 2.0*M1; // Ref requires temporary - - // from here on prohibit malloc: - Eigen::internal::set_is_malloc_allowed(false); - - // check that our operator new is indeed called: - VERIFY_RAISES_ASSERT(MatrixXd dummy(MatrixXd::Random(3,3))); - CALL_SUBTEST_1(nomalloc(Matrix()) ); - CALL_SUBTEST_2(nomalloc(Matrix4d()) ); - CALL_SUBTEST_3(nomalloc(Matrix()) ); - - // Check decomposition modules with dynamic matrices that have a known compile-time max size (ctms) - CALL_SUBTEST_4(ctms_decompositions()); - - CALL_SUBTEST_5(test_zerosized()); - - CALL_SUBTEST_6(test_reference(Matrix())); - CALL_SUBTEST_7(test_reference(R1)); - CALL_SUBTEST_8(Ref R2 = M1.topRows<2>(); test_reference(R2)); -} diff --git a/testbed/nanogui/ext/eigen/test/nullary.cpp b/testbed/nanogui/ext/eigen/test/nullary.cpp deleted file mode 100644 index acd55506..00000000 --- a/testbed/nanogui/ext/eigen/test/nullary.cpp +++ /dev/null @@ -1,304 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010-2011 Jitse Niesen -// Copyright (C) 2016 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template -bool equalsIdentity(const MatrixType& A) -{ - typedef typename MatrixType::Scalar Scalar; - Scalar zero = static_cast(0); - - bool offDiagOK = true; - for (Index i = 0; i < A.rows(); ++i) { - for (Index j = i+1; j < A.cols(); ++j) { - offDiagOK = offDiagOK && (A(i,j) == zero); - } - } - for (Index i = 0; i < A.rows(); ++i) { - for (Index j = 0; j < (std::min)(i, A.cols()); ++j) { - offDiagOK = offDiagOK && (A(i,j) == zero); - } - } - - bool diagOK = (A.diagonal().array() == 1).all(); - return offDiagOK && diagOK; - -} - -template -void check_extremity_accuracy(const VectorType &v, const typename VectorType::Scalar &low, const typename VectorType::Scalar &high) -{ - typedef typename VectorType::Scalar Scalar; - typedef typename VectorType::RealScalar RealScalar; - - RealScalar prec = internal::is_same::value ? NumTraits::dummy_precision()*10 : NumTraits::dummy_precision()/10; - Index size = v.size(); - - if(size<20) - return; - - for (int i=0; isize-6) - { - Scalar ref = (low*RealScalar(size-i-1))/RealScalar(size-1) + (high*RealScalar(i))/RealScalar(size-1); - if(std::abs(ref)>1) - { - if(!internal::isApprox(v(i), ref, prec)) - std::cout << v(i) << " != " << ref << " ; relative error: " << std::abs((v(i)-ref)/ref) << " ; required precision: " << prec << " ; range: " << low << "," << high << " ; i: " << i << "\n"; - VERIFY(internal::isApprox(v(i), (low*RealScalar(size-i-1))/RealScalar(size-1) + (high*RealScalar(i))/RealScalar(size-1), prec)); - } - } - } -} - -template -void testVectorType(const VectorType& base) -{ - typedef typename VectorType::Scalar Scalar; - typedef typename VectorType::RealScalar RealScalar; - - const Index size = base.size(); - - Scalar high = internal::random(-500,500); - Scalar low = (size == 1 ? high : internal::random(-500,500)); - if (low>high) std::swap(low,high); - - // check low==high - if(internal::random(0.f,1.f)<0.05f) - low = high; - // check abs(low) >> abs(high) - else if(size>2 && std::numeric_limits::max_exponent10>0 && internal::random(0.f,1.f)<0.1f) - low = -internal::random(1,2) * RealScalar(std::pow(RealScalar(10),std::numeric_limits::max_exponent10/2)); - - const Scalar step = ((size == 1) ? 1 : (high-low)/(size-1)); - - // check whether the result yields what we expect it to do - VectorType m(base); - m.setLinSpaced(size,low,high); - - if(!NumTraits::IsInteger) - { - VectorType n(size); - for (int i=0; i::IsInteger) || ((high-low)>=size && (Index(high-low)%(size-1))==0) || (Index(high-low+1)::IsInteger) || (high-low>=size)) - for (int i=0; i::IsInteger) - CALL_SUBTEST( check_extremity_accuracy(m, low, high) ); - } - - VERIFY( m(m.size()-1) <= high ); - VERIFY( (m.array() <= high).all() ); - VERIFY( (m.array() >= low).all() ); - - - VERIFY( m(m.size()-1) >= low ); - if(size>=1) - { - VERIFY( internal::isApprox(m(0),low) ); - VERIFY_IS_EQUAL(m(0) , low); - } - - // check whether everything works with row and col major vectors - Matrix row_vector(size); - Matrix col_vector(size); - row_vector.setLinSpaced(size,low,high); - col_vector.setLinSpaced(size,low,high); - // when using the extended precision (e.g., FPU) the relative error might exceed 1 bit - // when computing the squared sum in isApprox, thus the 2x factor. - VERIFY( row_vector.isApprox(col_vector.transpose(), Scalar(2)*NumTraits::epsilon())); - - Matrix size_changer(size+50); - size_changer.setLinSpaced(size,low,high); - VERIFY( size_changer.size() == size ); - - typedef Matrix ScalarMatrix; - ScalarMatrix scalar; - scalar.setLinSpaced(1,low,high); - VERIFY_IS_APPROX( scalar, ScalarMatrix::Constant(high) ); - VERIFY_IS_APPROX( ScalarMatrix::LinSpaced(1,low,high), ScalarMatrix::Constant(high) ); - - // regression test for bug 526 (linear vectorized transversal) - if (size > 1 && (!NumTraits::IsInteger)) { - m.tail(size-1).setLinSpaced(low, high); - VERIFY_IS_APPROX(m(size-1), high); - } - - // regression test for bug 1383 (LinSpaced with empty size/range) - { - Index n0 = VectorType::SizeAtCompileTime==Dynamic ? 0 : VectorType::SizeAtCompileTime; - low = internal::random(); - m = VectorType::LinSpaced(n0,low,low-1); - VERIFY(m.size()==n0); - - if(VectorType::SizeAtCompileTime==Dynamic) - { - VERIFY_IS_EQUAL(VectorType::LinSpaced(n0,0,Scalar(n0-1)).sum(),Scalar(0)); - VERIFY_IS_EQUAL(VectorType::LinSpaced(n0,low,low-1).sum(),Scalar(0)); - } - - m.setLinSpaced(n0,0,Scalar(n0-1)); - VERIFY(m.size()==n0); - m.setLinSpaced(n0,low,low-1); - VERIFY(m.size()==n0); - - // empty range only: - VERIFY_IS_APPROX(VectorType::LinSpaced(size,low,low),VectorType::Constant(size,low)); - m.setLinSpaced(size,low,low); - VERIFY_IS_APPROX(m,VectorType::Constant(size,low)); - - if(NumTraits::IsInteger) - { - VERIFY_IS_APPROX( VectorType::LinSpaced(size,low,Scalar(low+size-1)), VectorType::LinSpaced(size,Scalar(low+size-1),low).reverse() ); - - if(VectorType::SizeAtCompileTime==Dynamic) - { - // Check negative multiplicator path: - for(Index k=1; k<5; ++k) - VERIFY_IS_APPROX( VectorType::LinSpaced(size,low,Scalar(low+(size-1)*k)), VectorType::LinSpaced(size,Scalar(low+(size-1)*k),low).reverse() ); - // Check negative divisor path: - for(Index k=1; k<5; ++k) - VERIFY_IS_APPROX( VectorType::LinSpaced(size*k,low,Scalar(low+size-1)), VectorType::LinSpaced(size*k,Scalar(low+size-1),low).reverse() ); - } - } - } -} - -template -void testMatrixType(const MatrixType& m) -{ - using std::abs; - const Index rows = m.rows(); - const Index cols = m.cols(); - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - - Scalar s1; - do { - s1 = internal::random(); - } while(abs(s1)::IsInteger)); - - MatrixType A; - A.setIdentity(rows, cols); - VERIFY(equalsIdentity(A)); - VERIFY(equalsIdentity(MatrixType::Identity(rows, cols))); - - - A = MatrixType::Constant(rows,cols,s1); - Index i = internal::random(0,rows-1); - Index j = internal::random(0,cols-1); - VERIFY_IS_APPROX( MatrixType::Constant(rows,cols,s1)(i,j), s1 ); - VERIFY_IS_APPROX( MatrixType::Constant(rows,cols,s1).coeff(i,j), s1 ); - VERIFY_IS_APPROX( A(i,j), s1 ); -} - -void test_nullary() -{ - CALL_SUBTEST_1( testMatrixType(Matrix2d()) ); - CALL_SUBTEST_2( testMatrixType(MatrixXcf(internal::random(1,300),internal::random(1,300))) ); - CALL_SUBTEST_3( testMatrixType(MatrixXf(internal::random(1,300),internal::random(1,300))) ); - - for(int i = 0; i < g_repeat*10; i++) { - CALL_SUBTEST_4( testVectorType(VectorXd(internal::random(1,30000))) ); - CALL_SUBTEST_5( testVectorType(Vector4d()) ); // regression test for bug 232 - CALL_SUBTEST_6( testVectorType(Vector3d()) ); - CALL_SUBTEST_7( testVectorType(VectorXf(internal::random(1,30000))) ); - CALL_SUBTEST_8( testVectorType(Vector3f()) ); - CALL_SUBTEST_8( testVectorType(Vector4f()) ); - CALL_SUBTEST_8( testVectorType(Matrix()) ); - CALL_SUBTEST_8( testVectorType(Matrix()) ); - - CALL_SUBTEST_9( testVectorType(VectorXi(internal::random(1,10))) ); - CALL_SUBTEST_9( testVectorType(VectorXi(internal::random(9,300))) ); - CALL_SUBTEST_9( testVectorType(Matrix()) ); - } - -#ifdef EIGEN_TEST_PART_6 - // Assignment of a RowVectorXd to a MatrixXd (regression test for bug #79). - VERIFY( (MatrixXd(RowVectorXd::LinSpaced(3, 0, 1)) - RowVector3d(0, 0.5, 1)).norm() < std::numeric_limits::epsilon() ); -#endif - -#ifdef EIGEN_TEST_PART_9 - // Check possible overflow issue - { - int n = 60000; - ArrayXi a1(n), a2(n); - a1.setLinSpaced(n, 0, n-1); - for(int i=0; i >::value )); - VERIFY(( !internal::has_unary_operator >::value )); - VERIFY(( !internal::has_binary_operator >::value )); - VERIFY(( internal::functor_has_linear_access >::ret )); - - VERIFY(( !internal::has_nullary_operator >::value )); - VERIFY(( !internal::has_unary_operator >::value )); - VERIFY(( internal::has_binary_operator >::value )); - VERIFY(( !internal::functor_has_linear_access >::ret )); - - VERIFY(( !internal::has_nullary_operator >::value )); - VERIFY(( internal::has_unary_operator >::value )); - VERIFY(( !internal::has_binary_operator >::value )); - VERIFY(( internal::functor_has_linear_access >::ret )); - - // Regression unit test for a weird MSVC bug. - // Search "nullary_wrapper_workaround_msvc" in CoreEvaluators.h for the details. - // See also traits::match. - { - MatrixXf A = MatrixXf::Random(3,3); - Ref R = 2.0*A; - VERIFY_IS_APPROX(R, A+A); - - Ref R1 = MatrixXf::Random(3,3)+A; - - VectorXi V = VectorXi::Random(3); - Ref R2 = VectorXi::LinSpaced(3,1,3)+V; - VERIFY_IS_APPROX(R2, V+Vector3i(1,2,3)); - - VERIFY(( internal::has_nullary_operator >::value )); - VERIFY(( !internal::has_unary_operator >::value )); - VERIFY(( !internal::has_binary_operator >::value )); - VERIFY(( internal::functor_has_linear_access >::ret )); - - VERIFY(( !internal::has_nullary_operator >::value )); - VERIFY(( internal::has_unary_operator >::value )); - VERIFY(( !internal::has_binary_operator >::value )); - VERIFY(( internal::functor_has_linear_access >::ret )); - } -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/packetmath.cpp b/testbed/nanogui/ext/eigen/test/packetmath.cpp deleted file mode 100644 index 08b36034..00000000 --- a/testbed/nanogui/ext/eigen/test/packetmath.cpp +++ /dev/null @@ -1,642 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include "unsupported/Eigen/SpecialFunctions" - -#if defined __GNUC__ && __GNUC__>=6 - #pragma GCC diagnostic ignored "-Wignored-attributes" -#endif -// using namespace Eigen; - -#ifdef EIGEN_VECTORIZE_SSE -const bool g_vectorize_sse = true; -#else -const bool g_vectorize_sse = false; -#endif - -namespace Eigen { -namespace internal { -template T negate(const T& x) { return -x; } -} -} - -// NOTE: we disbale inlining for this function to workaround a GCC issue when using -O3 and the i387 FPU. -template EIGEN_DONT_INLINE -bool isApproxAbs(const Scalar& a, const Scalar& b, const typename NumTraits::Real& refvalue) -{ - return internal::isMuchSmallerThan(a-b, refvalue); -} - -template bool areApproxAbs(const Scalar* a, const Scalar* b, int size, const typename NumTraits::Real& refvalue) -{ - for (int i=0; i >(a,size) << "]" << " != vec: [" << Map >(b,size) << "]\n"; - return false; - } - } - return true; -} - -template bool areApprox(const Scalar* a, const Scalar* b, int size) -{ - for (int i=0; i >(a,size) << "]" << " != vec: [" << Map >(b,size) << "]\n"; - return false; - } - } - return true; -} - -#define CHECK_CWISE1(REFOP, POP) { \ - for (int i=0; i(data1))); \ - VERIFY(areApprox(ref, data2, PacketSize) && #POP); \ -} - -template -struct packet_helper -{ - template - inline Packet load(const T* from) const { return internal::pload(from); } - - template - inline void store(T* to, const Packet& x) const { internal::pstore(to,x); } -}; - -template -struct packet_helper -{ - template - inline T load(const T* from) const { return *from; } - - template - inline void store(T* to, const T& x) const { *to = x; } -}; - -#define CHECK_CWISE1_IF(COND, REFOP, POP) if(COND) { \ - packet_helper h; \ - for (int i=0; i h; \ - for (int i=0; i void packetmath() -{ - using std::abs; - typedef internal::packet_traits PacketTraits; - typedef typename PacketTraits::type Packet; - const int PacketSize = PacketTraits::size; - typedef typename NumTraits::Real RealScalar; - - const int max_size = PacketSize > 4 ? PacketSize : 4; - const int size = PacketSize*max_size; - EIGEN_ALIGN_MAX Scalar data1[size]; - EIGEN_ALIGN_MAX Scalar data2[size]; - EIGEN_ALIGN_MAX Packet packets[PacketSize*2]; - EIGEN_ALIGN_MAX Scalar ref[size]; - RealScalar refvalue = 0; - for (int i=0; i()/RealScalar(PacketSize); - data2[i] = internal::random()/RealScalar(PacketSize); - refvalue = (std::max)(refvalue,abs(data1[i])); - } - - internal::pstore(data2, internal::pload(data1)); - VERIFY(areApprox(data1, data2, PacketSize) && "aligned load/store"); - - for (int offset=0; offset(data1+offset)); - VERIFY(areApprox(data1+offset, data2, PacketSize) && "internal::ploadu"); - } - - for (int offset=0; offset(data1)); - VERIFY(areApprox(data1, data2+offset, PacketSize) && "internal::pstoreu"); - } - - for (int offset=0; offset(data1); - packets[1] = internal::pload(data1+PacketSize); - if (offset==0) internal::palign<0>(packets[0], packets[1]); - else if (offset==1) internal::palign<1>(packets[0], packets[1]); - else if (offset==2) internal::palign<2>(packets[0], packets[1]); - else if (offset==3) internal::palign<3>(packets[0], packets[1]); - else if (offset==4) internal::palign<4>(packets[0], packets[1]); - else if (offset==5) internal::palign<5>(packets[0], packets[1]); - else if (offset==6) internal::palign<6>(packets[0], packets[1]); - else if (offset==7) internal::palign<7>(packets[0], packets[1]); - else if (offset==8) internal::palign<8>(packets[0], packets[1]); - else if (offset==9) internal::palign<9>(packets[0], packets[1]); - else if (offset==10) internal::palign<10>(packets[0], packets[1]); - else if (offset==11) internal::palign<11>(packets[0], packets[1]); - else if (offset==12) internal::palign<12>(packets[0], packets[1]); - else if (offset==13) internal::palign<13>(packets[0], packets[1]); - else if (offset==14) internal::palign<14>(packets[0], packets[1]); - else if (offset==15) internal::palign<15>(packets[0], packets[1]); - internal::pstore(data2, packets[0]); - - for (int i=0; i::value) || (!PacketTraits::Vectorizable) || PacketTraits::HasDiv); - - CHECK_CWISE2_IF(PacketTraits::HasAdd, REF_ADD, internal::padd); - CHECK_CWISE2_IF(PacketTraits::HasSub, REF_SUB, internal::psub); - CHECK_CWISE2_IF(PacketTraits::HasMul, REF_MUL, internal::pmul); - CHECK_CWISE2_IF(PacketTraits::HasDiv, REF_DIV, internal::pdiv); - - CHECK_CWISE1(internal::negate, internal::pnegate); - CHECK_CWISE1(numext::conj, internal::pconj); - - for(int offset=0;offset<3;++offset) - { - for (int i=0; i(data1[offset])); - VERIFY(areApprox(ref, data2, PacketSize) && "internal::pset1"); - } - - { - for (int i=0; i(data1, A0, A1, A2, A3); - internal::pstore(data2+0*PacketSize, A0); - internal::pstore(data2+1*PacketSize, A1); - internal::pstore(data2+2*PacketSize, A2); - internal::pstore(data2+3*PacketSize, A3); - VERIFY(areApprox(ref, data2, 4*PacketSize) && "internal::pbroadcast4"); - } - - { - for (int i=0; i(data1, A0, A1); - internal::pstore(data2+0*PacketSize, A0); - internal::pstore(data2+1*PacketSize, A1); - VERIFY(areApprox(ref, data2, 2*PacketSize) && "internal::pbroadcast2"); - } - - VERIFY(internal::isApprox(data1[0], internal::pfirst(internal::pload(data1))) && "internal::pfirst"); - - if(PacketSize>1) - { - for(int offset=0;offset<4;++offset) - { - for(int i=0;i(data1+offset)); - VERIFY(areApprox(ref, data2, PacketSize) && "ploaddup"); - } - } - - if(PacketSize>2) - { - for(int offset=0;offset<4;++offset) - { - for(int i=0;i(data1+offset)); - VERIFY(areApprox(ref, data2, PacketSize) && "ploadquad"); - } - } - - ref[0] = 0; - for (int i=0; i(data1)), refvalue) && "internal::predux"); - - { - for (int i=0; i<4; ++i) - ref[i] = 0; - for (int i=0; i(data1))); - VERIFY(areApprox(ref, data2, PacketSize>4?PacketSize/2:PacketSize) && "internal::predux_downto4"); - } - - ref[0] = 1; - for (int i=0; i(data1))) && "internal::predux_mul"); - - for (int j=0; j(data1+j*PacketSize); - } - internal::pstore(data2, internal::preduxp(packets)); - VERIFY(areApproxAbs(ref, data2, PacketSize, refvalue) && "internal::preduxp"); - - for (int i=0; i(data1))); - VERIFY(areApprox(ref, data2, PacketSize) && "internal::preverse"); - - internal::PacketBlock kernel; - for (int i=0; i(data1+i*PacketSize); - } - ptranspose(kernel); - for (int i=0; i(data1); - Packet elsePacket = internal::pload(data2); - EIGEN_ALIGN_MAX internal::Selector selector; - for (int i = 0; i < PacketSize; ++i) { - selector.select[i] = i; - } - - Packet blend = internal::pblend(selector, thenPacket, elsePacket); - EIGEN_ALIGN_MAX Scalar result[size]; - internal::pstore(result, blend); - for (int i = 0; i < PacketSize; ++i) { - VERIFY(isApproxAbs(result[i], (selector.select[i] ? data1[i] : data2[i]), refvalue)); - } - } - - if (PacketTraits::HasBlend || g_vectorize_sse) { - // pinsertfirst - for (int i=0; i(); - ref[0] = s; - internal::pstore(data2, internal::pinsertfirst(internal::pload(data1),s)); - VERIFY(areApprox(ref, data2, PacketSize) && "internal::pinsertfirst"); - } - - if (PacketTraits::HasBlend || g_vectorize_sse) { - // pinsertlast - for (int i=0; i(); - ref[PacketSize-1] = s; - internal::pstore(data2, internal::pinsertlast(internal::pload(data1),s)); - VERIFY(areApprox(ref, data2, PacketSize) && "internal::pinsertlast"); - } -} - -template void packetmath_real() -{ - using std::abs; - typedef internal::packet_traits PacketTraits; - typedef typename PacketTraits::type Packet; - const int PacketSize = PacketTraits::size; - - const int size = PacketSize*4; - EIGEN_ALIGN_MAX Scalar data1[PacketTraits::size*4]; - EIGEN_ALIGN_MAX Scalar data2[PacketTraits::size*4]; - EIGEN_ALIGN_MAX Scalar ref[PacketTraits::size*4]; - - for (int i=0; i(-1,1) * std::pow(Scalar(10), internal::random(-3,3)); - data2[i] = internal::random(-1,1) * std::pow(Scalar(10), internal::random(-3,3)); - } - CHECK_CWISE1_IF(PacketTraits::HasSin, std::sin, internal::psin); - CHECK_CWISE1_IF(PacketTraits::HasCos, std::cos, internal::pcos); - CHECK_CWISE1_IF(PacketTraits::HasTan, std::tan, internal::ptan); - - CHECK_CWISE1_IF(PacketTraits::HasRound, numext::round, internal::pround); - CHECK_CWISE1_IF(PacketTraits::HasCeil, numext::ceil, internal::pceil); - CHECK_CWISE1_IF(PacketTraits::HasFloor, numext::floor, internal::pfloor); - - for (int i=0; i(-1,1); - data2[i] = internal::random(-1,1); - } - CHECK_CWISE1_IF(PacketTraits::HasASin, std::asin, internal::pasin); - CHECK_CWISE1_IF(PacketTraits::HasACos, std::acos, internal::pacos); - - for (int i=0; i(-87,88); - data2[i] = internal::random(-87,88); - } - CHECK_CWISE1_IF(PacketTraits::HasExp, std::exp, internal::pexp); - for (int i=0; i(-1,1) * std::pow(Scalar(10), internal::random(-6,6)); - data2[i] = internal::random(-1,1) * std::pow(Scalar(10), internal::random(-6,6)); - } - CHECK_CWISE1_IF(PacketTraits::HasTanh, std::tanh, internal::ptanh); - if(PacketTraits::HasExp && PacketTraits::size>=2) - { - data1[0] = std::numeric_limits::quiet_NaN(); - data1[1] = std::numeric_limits::epsilon(); - packet_helper h; - h.store(data2, internal::pexp(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - VERIFY_IS_EQUAL(std::exp(std::numeric_limits::epsilon()), data2[1]); - - data1[0] = -std::numeric_limits::epsilon(); - data1[1] = 0; - h.store(data2, internal::pexp(h.load(data1))); - VERIFY_IS_EQUAL(std::exp(-std::numeric_limits::epsilon()), data2[0]); - VERIFY_IS_EQUAL(std::exp(Scalar(0)), data2[1]); - - data1[0] = (std::numeric_limits::min)(); - data1[1] = -(std::numeric_limits::min)(); - h.store(data2, internal::pexp(h.load(data1))); - VERIFY_IS_EQUAL(std::exp((std::numeric_limits::min)()), data2[0]); - VERIFY_IS_EQUAL(std::exp(-(std::numeric_limits::min)()), data2[1]); - - data1[0] = std::numeric_limits::denorm_min(); - data1[1] = -std::numeric_limits::denorm_min(); - h.store(data2, internal::pexp(h.load(data1))); - VERIFY_IS_EQUAL(std::exp(std::numeric_limits::denorm_min()), data2[0]); - VERIFY_IS_EQUAL(std::exp(-std::numeric_limits::denorm_min()), data2[1]); - } - - if (PacketTraits::HasTanh) { - // NOTE this test migh fail with GCC prior to 6.3, see MathFunctionsImpl.h for details. - data1[0] = std::numeric_limits::quiet_NaN(); - packet_helper::HasTanh,Packet> h; - h.store(data2, internal::ptanh(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - } - -#if EIGEN_HAS_C99_MATH - { - data1[0] = std::numeric_limits::quiet_NaN(); - packet_helper::HasLGamma,Packet> h; - h.store(data2, internal::plgamma(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - } - { - data1[0] = std::numeric_limits::quiet_NaN(); - packet_helper::HasErf,Packet> h; - h.store(data2, internal::perf(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - } - { - data1[0] = std::numeric_limits::quiet_NaN(); - packet_helper::HasErfc,Packet> h; - h.store(data2, internal::perfc(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - } -#endif // EIGEN_HAS_C99_MATH - - for (int i=0; i(0,1) * std::pow(Scalar(10), internal::random(-6,6)); - data2[i] = internal::random(0,1) * std::pow(Scalar(10), internal::random(-6,6)); - } - - if(internal::random(0,1)<0.1f) - data1[internal::random(0, PacketSize)] = 0; - CHECK_CWISE1_IF(PacketTraits::HasSqrt, std::sqrt, internal::psqrt); - CHECK_CWISE1_IF(PacketTraits::HasLog, std::log, internal::plog); -#if EIGEN_HAS_C99_MATH && (__cplusplus > 199711L) - CHECK_CWISE1_IF(PacketTraits::HasExpm1, std::expm1, internal::pexpm1); - CHECK_CWISE1_IF(PacketTraits::HasLog1p, std::log1p, internal::plog1p); - CHECK_CWISE1_IF(internal::packet_traits::HasLGamma, std::lgamma, internal::plgamma); - CHECK_CWISE1_IF(internal::packet_traits::HasErf, std::erf, internal::perf); - CHECK_CWISE1_IF(internal::packet_traits::HasErfc, std::erfc, internal::perfc); -#endif - - if(PacketTraits::HasLog && PacketTraits::size>=2) - { - data1[0] = std::numeric_limits::quiet_NaN(); - data1[1] = std::numeric_limits::epsilon(); - packet_helper h; - h.store(data2, internal::plog(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - VERIFY_IS_EQUAL(std::log(std::numeric_limits::epsilon()), data2[1]); - - data1[0] = -std::numeric_limits::epsilon(); - data1[1] = 0; - h.store(data2, internal::plog(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - VERIFY_IS_EQUAL(std::log(Scalar(0)), data2[1]); - - data1[0] = (std::numeric_limits::min)(); - data1[1] = -(std::numeric_limits::min)(); - h.store(data2, internal::plog(h.load(data1))); - VERIFY_IS_EQUAL(std::log((std::numeric_limits::min)()), data2[0]); - VERIFY((numext::isnan)(data2[1])); - - data1[0] = std::numeric_limits::denorm_min(); - data1[1] = -std::numeric_limits::denorm_min(); - h.store(data2, internal::plog(h.load(data1))); - // VERIFY_IS_EQUAL(std::log(std::numeric_limits::denorm_min()), data2[0]); - VERIFY((numext::isnan)(data2[1])); - - data1[0] = Scalar(-1.0f); - h.store(data2, internal::plog(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - h.store(data2, internal::psqrt(h.load(data1))); - VERIFY((numext::isnan)(data2[0])); - VERIFY((numext::isnan)(data2[1])); - } -} - -template void packetmath_notcomplex() -{ - using std::abs; - typedef internal::packet_traits PacketTraits; - typedef typename PacketTraits::type Packet; - const int PacketSize = PacketTraits::size; - - EIGEN_ALIGN_MAX Scalar data1[PacketTraits::size*4]; - EIGEN_ALIGN_MAX Scalar data2[PacketTraits::size*4]; - EIGEN_ALIGN_MAX Scalar ref[PacketTraits::size*4]; - - Array::Map(data1, PacketTraits::size*4).setRandom(); - - ref[0] = data1[0]; - for (int i=0; i(data1))) && "internal::predux_min"); - - VERIFY((!PacketTraits::Vectorizable) || PacketTraits::HasMin); - VERIFY((!PacketTraits::Vectorizable) || PacketTraits::HasMax); - - CHECK_CWISE2_IF(PacketTraits::HasMin, (std::min), internal::pmin); - CHECK_CWISE2_IF(PacketTraits::HasMax, (std::max), internal::pmax); - CHECK_CWISE1(abs, internal::pabs); - - ref[0] = data1[0]; - for (int i=0; i(data1))) && "internal::predux_max"); - - for (int i=0; i(data1[0])); - VERIFY(areApprox(ref, data2, PacketSize) && "internal::plset"); -} - -template void test_conj_helper(Scalar* data1, Scalar* data2, Scalar* ref, Scalar* pval) -{ - typedef internal::packet_traits PacketTraits; - typedef typename PacketTraits::type Packet; - const int PacketSize = PacketTraits::size; - - internal::conj_if cj0; - internal::conj_if cj1; - internal::conj_helper cj; - internal::conj_helper pcj; - - for(int i=0;i(data1),internal::pload(data2))); - VERIFY(areApprox(ref, pval, PacketSize) && "conj_helper pmul"); - - for(int i=0;i(data1),internal::pload(data2),internal::pload(pval))); - VERIFY(areApprox(ref, pval, PacketSize) && "conj_helper pmadd"); -} - -template void packetmath_complex() -{ - typedef internal::packet_traits PacketTraits; - typedef typename PacketTraits::type Packet; - const int PacketSize = PacketTraits::size; - - const int size = PacketSize*4; - EIGEN_ALIGN_MAX Scalar data1[PacketSize*4]; - EIGEN_ALIGN_MAX Scalar data2[PacketSize*4]; - EIGEN_ALIGN_MAX Scalar ref[PacketSize*4]; - EIGEN_ALIGN_MAX Scalar pval[PacketSize*4]; - - for (int i=0; i() * Scalar(1e2); - data2[i] = internal::random() * Scalar(1e2); - } - - test_conj_helper (data1,data2,ref,pval); - test_conj_helper (data1,data2,ref,pval); - test_conj_helper (data1,data2,ref,pval); - test_conj_helper (data1,data2,ref,pval); - - { - for(int i=0;i(data1))); - VERIFY(areApprox(ref, pval, PacketSize) && "pcplxflip"); - } -} - -template void packetmath_scatter_gather() -{ - typedef internal::packet_traits PacketTraits; - typedef typename PacketTraits::type Packet; - typedef typename NumTraits::Real RealScalar; - const int PacketSize = PacketTraits::size; - EIGEN_ALIGN_MAX Scalar data1[PacketSize]; - RealScalar refvalue = 0; - for (int i=0; i()/RealScalar(PacketSize); - } - - int stride = internal::random(1,20); - - EIGEN_ALIGN_MAX Scalar buffer[PacketSize*20]; - memset(buffer, 0, 20*PacketSize*sizeof(Scalar)); - Packet packet = internal::pload(data1); - internal::pscatter(buffer, packet, stride); - - for (int i = 0; i < PacketSize*20; ++i) { - if ((i%stride) == 0 && i()/RealScalar(PacketSize); - } - packet = internal::pgather(buffer, 7); - internal::pstore(data1, packet); - for (int i = 0; i < PacketSize; ++i) { - VERIFY(isApproxAbs(data1[i], buffer[i*7], refvalue) && "pgather"); - } -} - -void test_packetmath() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( packetmath() ); - CALL_SUBTEST_2( packetmath() ); - CALL_SUBTEST_3( packetmath() ); - CALL_SUBTEST_4( packetmath >() ); - CALL_SUBTEST_5( packetmath >() ); - - CALL_SUBTEST_1( packetmath_notcomplex() ); - CALL_SUBTEST_2( packetmath_notcomplex() ); - CALL_SUBTEST_3( packetmath_notcomplex() ); - - CALL_SUBTEST_1( packetmath_real() ); - CALL_SUBTEST_2( packetmath_real() ); - - CALL_SUBTEST_4( packetmath_complex >() ); - CALL_SUBTEST_5( packetmath_complex >() ); - - CALL_SUBTEST_1( packetmath_scatter_gather() ); - CALL_SUBTEST_2( packetmath_scatter_gather() ); - CALL_SUBTEST_3( packetmath_scatter_gather() ); - CALL_SUBTEST_4( packetmath_scatter_gather >() ); - CALL_SUBTEST_5( packetmath_scatter_gather >() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/pardiso_support.cpp b/testbed/nanogui/ext/eigen/test/pardiso_support.cpp deleted file mode 100644 index 67efad6d..00000000 --- a/testbed/nanogui/ext/eigen/test/pardiso_support.cpp +++ /dev/null @@ -1,29 +0,0 @@ -/* - Intel Copyright (C) .... -*/ - -#include "sparse_solver.h" -#include - -template void test_pardiso_T() -{ - PardisoLLT < SparseMatrix, Lower> pardiso_llt_lower; - PardisoLLT < SparseMatrix, Upper> pardiso_llt_upper; - PardisoLDLT < SparseMatrix, Lower> pardiso_ldlt_lower; - PardisoLDLT < SparseMatrix, Upper> pardiso_ldlt_upper; - PardisoLU < SparseMatrix > pardiso_lu; - - check_sparse_spd_solving(pardiso_llt_lower); - check_sparse_spd_solving(pardiso_llt_upper); - check_sparse_spd_solving(pardiso_ldlt_lower); - check_sparse_spd_solving(pardiso_ldlt_upper); - check_sparse_square_solving(pardiso_lu); -} - -void test_pardiso_support() -{ - CALL_SUBTEST_1(test_pardiso_T()); - CALL_SUBTEST_2(test_pardiso_T()); - CALL_SUBTEST_3(test_pardiso_T< std::complex >()); - CALL_SUBTEST_4(test_pardiso_T< std::complex >()); -} diff --git a/testbed/nanogui/ext/eigen/test/pastix_support.cpp b/testbed/nanogui/ext/eigen/test/pastix_support.cpp deleted file mode 100644 index b62f8573..00000000 --- a/testbed/nanogui/ext/eigen/test/pastix_support.cpp +++ /dev/null @@ -1,54 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2012 Gael Guennebaud -// Copyright (C) 2012 Désiré Nuentsa-Wakam -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_DEBUG_SMALL_PRODUCT_BLOCKS -#include "sparse_solver.h" -#include -#include - - -template void test_pastix_T() -{ - PastixLLT< SparseMatrix, Eigen::Lower > pastix_llt_lower; - PastixLDLT< SparseMatrix, Eigen::Lower > pastix_ldlt_lower; - PastixLLT< SparseMatrix, Eigen::Upper > pastix_llt_upper; - PastixLDLT< SparseMatrix, Eigen::Upper > pastix_ldlt_upper; - PastixLU< SparseMatrix > pastix_lu; - - check_sparse_spd_solving(pastix_llt_lower); - check_sparse_spd_solving(pastix_ldlt_lower); - check_sparse_spd_solving(pastix_llt_upper); - check_sparse_spd_solving(pastix_ldlt_upper); - check_sparse_square_solving(pastix_lu); - - // Some compilation check: - pastix_llt_lower.iparm(); - pastix_llt_lower.dparm(); - pastix_ldlt_lower.iparm(); - pastix_ldlt_lower.dparm(); - pastix_lu.iparm(); - pastix_lu.dparm(); -} - -// There is no support for selfadjoint matrices with PaStiX. -// Complex symmetric matrices should pass though -template void test_pastix_T_LU() -{ - PastixLU< SparseMatrix > pastix_lu; - check_sparse_square_solving(pastix_lu); -} - -void test_pastix_support() -{ - CALL_SUBTEST_1(test_pastix_T()); - CALL_SUBTEST_2(test_pastix_T()); - CALL_SUBTEST_3( (test_pastix_T_LU >()) ); - CALL_SUBTEST_4(test_pastix_T_LU >()); -} diff --git a/testbed/nanogui/ext/eigen/test/permutationmatrices.cpp b/testbed/nanogui/ext/eigen/test/permutationmatrices.cpp deleted file mode 100644 index db126657..00000000 --- a/testbed/nanogui/ext/eigen/test/permutationmatrices.cpp +++ /dev/null @@ -1,156 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define TEST_ENABLE_TEMPORARY_TRACKING - -#include "main.h" - -using namespace std; -template void permutationmatrices(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime, - Options = MatrixType::Options }; - typedef PermutationMatrix LeftPermutationType; - typedef Matrix LeftPermutationVectorType; - typedef Map MapLeftPerm; - typedef PermutationMatrix RightPermutationType; - typedef Matrix RightPermutationVectorType; - typedef Map MapRightPerm; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m_original = MatrixType::Random(rows,cols); - LeftPermutationVectorType lv; - randomPermutationVector(lv, rows); - LeftPermutationType lp(lv); - RightPermutationVectorType rv; - randomPermutationVector(rv, cols); - RightPermutationType rp(rv); - MatrixType m_permuted = MatrixType::Random(rows,cols); - - VERIFY_EVALUATION_COUNT(m_permuted = lp * m_original * rp, 1); // 1 temp for sub expression "lp * m_original" - - for (int i=0; i lm(lp); - Matrix rm(rp); - - VERIFY_IS_APPROX(m_permuted, lm*m_original*rm); - - m_permuted = m_original; - VERIFY_EVALUATION_COUNT(m_permuted = lp * m_permuted * rp, 1); - VERIFY_IS_APPROX(m_permuted, lm*m_original*rm); - - VERIFY_IS_APPROX(lp.inverse()*m_permuted*rp.inverse(), m_original); - VERIFY_IS_APPROX(lv.asPermutation().inverse()*m_permuted*rv.asPermutation().inverse(), m_original); - VERIFY_IS_APPROX(MapLeftPerm(lv.data(),lv.size()).inverse()*m_permuted*MapRightPerm(rv.data(),rv.size()).inverse(), m_original); - - VERIFY((lp*lp.inverse()).toDenseMatrix().isIdentity()); - VERIFY((lv.asPermutation()*lv.asPermutation().inverse()).toDenseMatrix().isIdentity()); - VERIFY((MapLeftPerm(lv.data(),lv.size())*MapLeftPerm(lv.data(),lv.size()).inverse()).toDenseMatrix().isIdentity()); - - LeftPermutationVectorType lv2; - randomPermutationVector(lv2, rows); - LeftPermutationType lp2(lv2); - Matrix lm2(lp2); - VERIFY_IS_APPROX((lp*lp2).toDenseMatrix().template cast(), lm*lm2); - VERIFY_IS_APPROX((lv.asPermutation()*lv2.asPermutation()).toDenseMatrix().template cast(), lm*lm2); - VERIFY_IS_APPROX((MapLeftPerm(lv.data(),lv.size())*MapLeftPerm(lv2.data(),lv2.size())).toDenseMatrix().template cast(), lm*lm2); - - LeftPermutationType identityp; - identityp.setIdentity(rows); - VERIFY_IS_APPROX(m_original, identityp*m_original); - - // check inplace permutations - m_permuted = m_original; - VERIFY_EVALUATION_COUNT(m_permuted.noalias()= lp.inverse() * m_permuted, 1); // 1 temp to allocate the mask - VERIFY_IS_APPROX(m_permuted, lp.inverse()*m_original); - - m_permuted = m_original; - VERIFY_EVALUATION_COUNT(m_permuted.noalias() = m_permuted * rp.inverse(), 1); // 1 temp to allocate the mask - VERIFY_IS_APPROX(m_permuted, m_original*rp.inverse()); - - m_permuted = m_original; - VERIFY_EVALUATION_COUNT(m_permuted.noalias() = lp * m_permuted, 1); // 1 temp to allocate the mask - VERIFY_IS_APPROX(m_permuted, lp*m_original); - - m_permuted = m_original; - VERIFY_EVALUATION_COUNT(m_permuted.noalias() = m_permuted * rp, 1); // 1 temp to allocate the mask - VERIFY_IS_APPROX(m_permuted, m_original*rp); - - if(rows>1 && cols>1) - { - lp2 = lp; - Index i = internal::random(0, rows-1); - Index j; - do j = internal::random(0, rows-1); while(j==i); - lp2.applyTranspositionOnTheLeft(i, j); - lm = lp; - lm.row(i).swap(lm.row(j)); - VERIFY_IS_APPROX(lm, lp2.toDenseMatrix().template cast()); - - RightPermutationType rp2 = rp; - i = internal::random(0, cols-1); - do j = internal::random(0, cols-1); while(j==i); - rp2.applyTranspositionOnTheRight(i, j); - rm = rp; - rm.col(i).swap(rm.col(j)); - VERIFY_IS_APPROX(rm, rp2.toDenseMatrix().template cast()); - } - - { - // simple compilation check - Matrix A = rp; - Matrix B = rp.transpose(); - VERIFY_IS_APPROX(A, B.transpose()); - } -} - -template -void bug890() -{ - typedef Matrix MatrixType; - typedef Matrix VectorType; - typedef Stride S; - typedef Map MapType; - typedef PermutationMatrix Perm; - - VectorType v1(2), v2(2), op(4), rhs(2); - v1 << 666,667; - op << 1,0,0,1; - rhs << 42,42; - - Perm P(2); - P.indices() << 1, 0; - - MapType(v1.data(),2,1,S(1,1)) = P * MapType(rhs.data(),2,1,S(1,1)); - VERIFY_IS_APPROX(v1, (P * rhs).eval()); - - MapType(v1.data(),2,1,S(1,1)) = P.inverse() * MapType(rhs.data(),2,1,S(1,1)); - VERIFY_IS_APPROX(v1, (P.inverse() * rhs).eval()); -} - -void test_permutationmatrices() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( permutationmatrices(Matrix()) ); - CALL_SUBTEST_2( permutationmatrices(Matrix3f()) ); - CALL_SUBTEST_3( permutationmatrices(Matrix()) ); - CALL_SUBTEST_4( permutationmatrices(Matrix4d()) ); - CALL_SUBTEST_5( permutationmatrices(Matrix()) ); - CALL_SUBTEST_6( permutationmatrices(Matrix(20, 30)) ); - CALL_SUBTEST_7( permutationmatrices(MatrixXcf(15, 10)) ); - } - CALL_SUBTEST_5( bug890() ); -} diff --git a/testbed/nanogui/ext/eigen/test/prec_inverse_4x4.cpp b/testbed/nanogui/ext/eigen/test/prec_inverse_4x4.cpp deleted file mode 100644 index eb6ad18c..00000000 --- a/testbed/nanogui/ext/eigen/test/prec_inverse_4x4.cpp +++ /dev/null @@ -1,83 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template void inverse_permutation_4x4() -{ - typedef typename MatrixType::Scalar Scalar; - Vector4i indices(0,1,2,3); - for(int i = 0; i < 24; ++i) - { - MatrixType m = PermutationMatrix<4>(indices); - MatrixType inv = m.inverse(); - double error = double( (m*inv-MatrixType::Identity()).norm() / NumTraits::epsilon() ); - EIGEN_DEBUG_VAR(error) - VERIFY(error == 0.0); - std::next_permutation(indices.data(),indices.data()+4); - } -} - -template void inverse_general_4x4(int repeat) -{ - using std::abs; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - double error_sum = 0., error_max = 0.; - for(int i = 0; i < repeat; ++i) - { - MatrixType m; - RealScalar absdet; - do { - m = MatrixType::Random(); - absdet = abs(m.determinant()); - } while(absdet < NumTraits::epsilon()); - MatrixType inv = m.inverse(); - double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / NumTraits::epsilon() ); - error_sum += error; - error_max = (std::max)(error_max, error); - } - std::cerr << "inverse_general_4x4, Scalar = " << type_name() << std::endl; - double error_avg = error_sum / repeat; - EIGEN_DEBUG_VAR(error_avg); - EIGEN_DEBUG_VAR(error_max); - // FIXME that 1.25 used to be a 1.0 until the NumTraits changes on 28 April 2010, what's going wrong?? - // FIXME that 1.25 used to be 1.2 until we tested gcc 4.1 on 30 June 2010 and got 1.21. - VERIFY(error_avg < (NumTraits::IsComplex ? 8.0 : 1.25)); - VERIFY(error_max < (NumTraits::IsComplex ? 64.0 : 20.0)); - - { - int s = 5;//internal::random(4,10); - int i = 0;//internal::random(0,s-4); - int j = 0;//internal::random(0,s-4); - Matrix mat(s,s); - mat.setRandom(); - MatrixType submat = mat.template block<4,4>(i,j); - MatrixType mat_inv = mat.template block<4,4>(i,j).inverse(); - VERIFY_IS_APPROX(mat_inv, submat.inverse()); - mat.template block<4,4>(i,j) = submat.inverse(); - VERIFY_IS_APPROX(mat_inv, (mat.template block<4,4>(i,j))); - } -} - -void test_prec_inverse_4x4() -{ - CALL_SUBTEST_1((inverse_permutation_4x4())); - CALL_SUBTEST_1(( inverse_general_4x4(200000 * g_repeat) )); - CALL_SUBTEST_1(( inverse_general_4x4 >(200000 * g_repeat) )); - - CALL_SUBTEST_2((inverse_permutation_4x4 >())); - CALL_SUBTEST_2(( inverse_general_4x4 >(200000 * g_repeat) )); - CALL_SUBTEST_2(( inverse_general_4x4 >(200000 * g_repeat) )); - - CALL_SUBTEST_3((inverse_permutation_4x4())); - CALL_SUBTEST_3((inverse_general_4x4(50000 * g_repeat))); -} diff --git a/testbed/nanogui/ext/eigen/test/product.h b/testbed/nanogui/ext/eigen/test/product.h deleted file mode 100644 index 3b651127..00000000 --- a/testbed/nanogui/ext/eigen/test/product.h +++ /dev/null @@ -1,231 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template -bool areNotApprox(const MatrixBase& m1, const MatrixBase& m2, typename Derived1::RealScalar epsilon = NumTraits::dummy_precision()) -{ - return !((m1-m2).cwiseAbs2().maxCoeff() < epsilon * epsilon - * (std::max)(m1.cwiseAbs2().maxCoeff(), m2.cwiseAbs2().maxCoeff())); -} - -template void product(const MatrixType& m) -{ - /* this test covers the following files: - Identity.h Product.h - */ - typedef typename MatrixType::Scalar Scalar; - typedef Matrix RowVectorType; - typedef Matrix ColVectorType; - typedef Matrix RowSquareMatrixType; - typedef Matrix ColSquareMatrixType; - typedef Matrix OtherMajorMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - // this test relies a lot on Random.h, and there's not much more that we can do - // to test it, hence I consider that we will have tested Random.h - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols); - RowSquareMatrixType - identity = RowSquareMatrixType::Identity(rows, rows), - square = RowSquareMatrixType::Random(rows, rows), - res = RowSquareMatrixType::Random(rows, rows); - ColSquareMatrixType - square2 = ColSquareMatrixType::Random(cols, cols), - res2 = ColSquareMatrixType::Random(cols, cols); - RowVectorType v1 = RowVectorType::Random(rows); - ColVectorType vc2 = ColVectorType::Random(cols), vcres(cols); - OtherMajorMatrixType tm1 = m1; - - Scalar s1 = internal::random(); - - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1), - c2 = internal::random(0, cols-1); - - // begin testing Product.h: only associativity for now - // (we use Transpose.h but this doesn't count as a test for it) - VERIFY_IS_APPROX((m1*m1.transpose())*m2, m1*(m1.transpose()*m2)); - m3 = m1; - m3 *= m1.transpose() * m2; - VERIFY_IS_APPROX(m3, m1 * (m1.transpose()*m2)); - VERIFY_IS_APPROX(m3, m1 * (m1.transpose()*m2)); - - // continue testing Product.h: distributivity - VERIFY_IS_APPROX(square*(m1 + m2), square*m1+square*m2); - VERIFY_IS_APPROX(square*(m1 - m2), square*m1-square*m2); - - // continue testing Product.h: compatibility with ScalarMultiple.h - VERIFY_IS_APPROX(s1*(square*m1), (s1*square)*m1); - VERIFY_IS_APPROX(s1*(square*m1), square*(m1*s1)); - - // test Product.h together with Identity.h - VERIFY_IS_APPROX(v1, identity*v1); - VERIFY_IS_APPROX(v1.transpose(), v1.transpose() * identity); - // again, test operator() to check const-qualification - VERIFY_IS_APPROX(MatrixType::Identity(rows, cols)(r,c), static_cast(r==c)); - - if (rows!=cols) - VERIFY_RAISES_ASSERT(m3 = m1*m1); - - // test the previous tests were not screwed up because operator* returns 0 - // (we use the more accurate default epsilon) - if (!NumTraits::IsInteger && (std::min)(rows,cols)>1) - { - VERIFY(areNotApprox(m1.transpose()*m2,m2.transpose()*m1)); - } - - // test optimized operator+= path - res = square; - res.noalias() += m1 * m2.transpose(); - VERIFY_IS_APPROX(res, square + m1 * m2.transpose()); - if (!NumTraits::IsInteger && (std::min)(rows,cols)>1) - { - VERIFY(areNotApprox(res,square + m2 * m1.transpose())); - } - vcres = vc2; - vcres.noalias() += m1.transpose() * v1; - VERIFY_IS_APPROX(vcres, vc2 + m1.transpose() * v1); - - // test optimized operator-= path - res = square; - res.noalias() -= m1 * m2.transpose(); - VERIFY_IS_APPROX(res, square - (m1 * m2.transpose())); - if (!NumTraits::IsInteger && (std::min)(rows,cols)>1) - { - VERIFY(areNotApprox(res,square - m2 * m1.transpose())); - } - vcres = vc2; - vcres.noalias() -= m1.transpose() * v1; - VERIFY_IS_APPROX(vcres, vc2 - m1.transpose() * v1); - - // test d ?= a+b*c rules - res.noalias() = square + m1 * m2.transpose(); - VERIFY_IS_APPROX(res, square + m1 * m2.transpose()); - res.noalias() += square + m1 * m2.transpose(); - VERIFY_IS_APPROX(res, 2*(square + m1 * m2.transpose())); - res.noalias() -= square + m1 * m2.transpose(); - VERIFY_IS_APPROX(res, square + m1 * m2.transpose()); - - // test d ?= a-b*c rules - res.noalias() = square - m1 * m2.transpose(); - VERIFY_IS_APPROX(res, square - m1 * m2.transpose()); - res.noalias() += square - m1 * m2.transpose(); - VERIFY_IS_APPROX(res, 2*(square - m1 * m2.transpose())); - res.noalias() -= square - m1 * m2.transpose(); - VERIFY_IS_APPROX(res, square - m1 * m2.transpose()); - - - tm1 = m1; - VERIFY_IS_APPROX(tm1.transpose() * v1, m1.transpose() * v1); - VERIFY_IS_APPROX(v1.transpose() * tm1, v1.transpose() * m1); - - // test submatrix and matrix/vector product - for (int i=0; i::IsInteger && (std::min)(rows,cols)>1) - { - VERIFY(areNotApprox(res2,square2 + m2.transpose() * m1)); - } - - VERIFY_IS_APPROX(res.col(r).noalias() = square.adjoint() * square.col(r), (square.adjoint() * square.col(r)).eval()); - VERIFY_IS_APPROX(res.col(r).noalias() = square * square.col(r), (square * square.col(r)).eval()); - - // vector at runtime (see bug 1166) - { - RowSquareMatrixType ref(square); - ColSquareMatrixType ref2(square2); - ref = res = square; - VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.col(0).transpose() * square.transpose(), (ref.row(0) = m1.col(0).transpose() * square.transpose())); - VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.block(0,0,rows,1).transpose() * square.transpose(), (ref.row(0) = m1.col(0).transpose() * square.transpose())); - VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.col(0).transpose() * square, (ref.row(0) = m1.col(0).transpose() * square)); - VERIFY_IS_APPROX(res.block(0,0,1,rows).noalias() = m1.block(0,0,rows,1).transpose() * square, (ref.row(0) = m1.col(0).transpose() * square)); - ref2 = res2 = square2; - VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.row(0) * square2.transpose(), (ref2.row(0) = m1.row(0) * square2.transpose())); - VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.block(0,0,1,cols) * square2.transpose(), (ref2.row(0) = m1.row(0) * square2.transpose())); - VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.row(0) * square2, (ref2.row(0) = m1.row(0) * square2)); - VERIFY_IS_APPROX(res2.block(0,0,1,cols).noalias() = m1.block(0,0,1,cols) * square2, (ref2.row(0) = m1.row(0) * square2)); - } - - // vector.block() (see bug 1283) - { - RowVectorType w1(rows); - VERIFY_IS_APPROX(square * v1.block(0,0,rows,1), square * v1); - VERIFY_IS_APPROX(w1.noalias() = square * v1.block(0,0,rows,1), square * v1); - VERIFY_IS_APPROX(w1.block(0,0,rows,1).noalias() = square * v1.block(0,0,rows,1), square * v1); - - Matrix w2(cols); - VERIFY_IS_APPROX(vc2.block(0,0,cols,1).transpose() * square2, vc2.transpose() * square2); - VERIFY_IS_APPROX(w2.noalias() = vc2.block(0,0,cols,1).transpose() * square2, vc2.transpose() * square2); - VERIFY_IS_APPROX(w2.block(0,0,1,cols).noalias() = vc2.block(0,0,cols,1).transpose() * square2, vc2.transpose() * square2); - - vc2 = square2.block(0,0,1,cols).transpose(); - VERIFY_IS_APPROX(square2.block(0,0,1,cols) * square2, vc2.transpose() * square2); - VERIFY_IS_APPROX(w2.noalias() = square2.block(0,0,1,cols) * square2, vc2.transpose() * square2); - VERIFY_IS_APPROX(w2.block(0,0,1,cols).noalias() = square2.block(0,0,1,cols) * square2, vc2.transpose() * square2); - - vc2 = square2.block(0,0,cols,1); - VERIFY_IS_APPROX(square2.block(0,0,cols,1).transpose() * square2, vc2.transpose() * square2); - VERIFY_IS_APPROX(w2.noalias() = square2.block(0,0,cols,1).transpose() * square2, vc2.transpose() * square2); - VERIFY_IS_APPROX(w2.block(0,0,1,cols).noalias() = square2.block(0,0,cols,1).transpose() * square2, vc2.transpose() * square2); - } - - // inner product - { - Scalar x = square2.row(c) * square2.col(c2); - VERIFY_IS_APPROX(x, square2.row(c).transpose().cwiseProduct(square2.col(c2)).sum()); - } - - // outer product - { - VERIFY_IS_APPROX(m1.col(c) * m1.row(r), m1.block(0,c,rows,1) * m1.block(r,0,1,cols)); - VERIFY_IS_APPROX(m1.row(r).transpose() * m1.col(c).transpose(), m1.block(r,0,1,cols).transpose() * m1.block(0,c,rows,1).transpose()); - VERIFY_IS_APPROX(m1.block(0,c,rows,1) * m1.row(r), m1.block(0,c,rows,1) * m1.block(r,0,1,cols)); - VERIFY_IS_APPROX(m1.col(c) * m1.block(r,0,1,cols), m1.block(0,c,rows,1) * m1.block(r,0,1,cols)); - VERIFY_IS_APPROX(m1.leftCols(1) * m1.row(r), m1.block(0,0,rows,1) * m1.block(r,0,1,cols)); - VERIFY_IS_APPROX(m1.col(c) * m1.topRows(1), m1.block(0,c,rows,1) * m1.block(0,0,1,cols)); - } - - // Aliasing - { - ColVectorType x(cols); x.setRandom(); - ColVectorType z(x); - ColVectorType y(cols); y.setZero(); - ColSquareMatrixType A(cols,cols); A.setRandom(); - // CwiseBinaryOp - VERIFY_IS_APPROX(x = y + A*x, A*z); - x = z; - // CwiseUnaryOp - VERIFY_IS_APPROX(x = Scalar(1.)*(A*x), A*z); - } - - // regression for blas_trais - { - VERIFY_IS_APPROX(square * (square*square).transpose(), square * square.transpose() * square.transpose()); - VERIFY_IS_APPROX(square * (-(square*square)), -square * square * square); - VERIFY_IS_APPROX(square * (s1*(square*square)), s1 * square * square * square); - VERIFY_IS_APPROX(square * (square*square).conjugate(), square * square.conjugate() * square.conjugate()); - } - -} diff --git a/testbed/nanogui/ext/eigen/test/product_extra.cpp b/testbed/nanogui/ext/eigen/test/product_extra.cpp deleted file mode 100644 index e2b855bf..00000000 --- a/testbed/nanogui/ext/eigen/test/product_extra.cpp +++ /dev/null @@ -1,375 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void product_extra(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix RowVectorType; - typedef Matrix ColVectorType; - typedef Matrix OtherMajorMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - mzero = MatrixType::Zero(rows, cols), - identity = MatrixType::Identity(rows, rows), - square = MatrixType::Random(rows, rows), - res = MatrixType::Random(rows, rows), - square2 = MatrixType::Random(cols, cols), - res2 = MatrixType::Random(cols, cols); - RowVectorType v1 = RowVectorType::Random(rows), vrres(rows); - ColVectorType vc2 = ColVectorType::Random(cols), vcres(cols); - OtherMajorMatrixType tm1 = m1; - - Scalar s1 = internal::random(), - s2 = internal::random(), - s3 = internal::random(); - - VERIFY_IS_APPROX(m3.noalias() = m1 * m2.adjoint(), m1 * m2.adjoint().eval()); - VERIFY_IS_APPROX(m3.noalias() = m1.adjoint() * square.adjoint(), m1.adjoint().eval() * square.adjoint().eval()); - VERIFY_IS_APPROX(m3.noalias() = m1.adjoint() * m2, m1.adjoint().eval() * m2); - VERIFY_IS_APPROX(m3.noalias() = (s1 * m1.adjoint()) * m2, (s1 * m1.adjoint()).eval() * m2); - VERIFY_IS_APPROX(m3.noalias() = ((s1 * m1).adjoint()) * m2, (numext::conj(s1) * m1.adjoint()).eval() * m2); - VERIFY_IS_APPROX(m3.noalias() = (- m1.adjoint() * s1) * (s3 * m2), (- m1.adjoint() * s1).eval() * (s3 * m2).eval()); - VERIFY_IS_APPROX(m3.noalias() = (s2 * m1.adjoint() * s1) * m2, (s2 * m1.adjoint() * s1).eval() * m2); - VERIFY_IS_APPROX(m3.noalias() = (-m1*s2) * s1*m2.adjoint(), (-m1*s2).eval() * (s1*m2.adjoint()).eval()); - - // a very tricky case where a scale factor has to be automatically conjugated: - VERIFY_IS_APPROX( m1.adjoint() * (s1*m2).conjugate(), (m1.adjoint()).eval() * ((s1*m2).conjugate()).eval()); - - - // test all possible conjugate combinations for the four matrix-vector product cases: - - VERIFY_IS_APPROX((-m1.conjugate() * s2) * (s1 * vc2), - (-m1.conjugate()*s2).eval() * (s1 * vc2).eval()); - VERIFY_IS_APPROX((-m1 * s2) * (s1 * vc2.conjugate()), - (-m1*s2).eval() * (s1 * vc2.conjugate()).eval()); - VERIFY_IS_APPROX((-m1.conjugate() * s2) * (s1 * vc2.conjugate()), - (-m1.conjugate()*s2).eval() * (s1 * vc2.conjugate()).eval()); - - VERIFY_IS_APPROX((s1 * vc2.transpose()) * (-m1.adjoint() * s2), - (s1 * vc2.transpose()).eval() * (-m1.adjoint()*s2).eval()); - VERIFY_IS_APPROX((s1 * vc2.adjoint()) * (-m1.transpose() * s2), - (s1 * vc2.adjoint()).eval() * (-m1.transpose()*s2).eval()); - VERIFY_IS_APPROX((s1 * vc2.adjoint()) * (-m1.adjoint() * s2), - (s1 * vc2.adjoint()).eval() * (-m1.adjoint()*s2).eval()); - - VERIFY_IS_APPROX((-m1.adjoint() * s2) * (s1 * v1.transpose()), - (-m1.adjoint()*s2).eval() * (s1 * v1.transpose()).eval()); - VERIFY_IS_APPROX((-m1.transpose() * s2) * (s1 * v1.adjoint()), - (-m1.transpose()*s2).eval() * (s1 * v1.adjoint()).eval()); - VERIFY_IS_APPROX((-m1.adjoint() * s2) * (s1 * v1.adjoint()), - (-m1.adjoint()*s2).eval() * (s1 * v1.adjoint()).eval()); - - VERIFY_IS_APPROX((s1 * v1) * (-m1.conjugate() * s2), - (s1 * v1).eval() * (-m1.conjugate()*s2).eval()); - VERIFY_IS_APPROX((s1 * v1.conjugate()) * (-m1 * s2), - (s1 * v1.conjugate()).eval() * (-m1*s2).eval()); - VERIFY_IS_APPROX((s1 * v1.conjugate()) * (-m1.conjugate() * s2), - (s1 * v1.conjugate()).eval() * (-m1.conjugate()*s2).eval()); - - VERIFY_IS_APPROX((-m1.adjoint() * s2) * (s1 * v1.adjoint()), - (-m1.adjoint()*s2).eval() * (s1 * v1.adjoint()).eval()); - - // test the vector-matrix product with non aligned starts - Index i = internal::random(0,m1.rows()-2); - Index j = internal::random(0,m1.cols()-2); - Index r = internal::random(1,m1.rows()-i); - Index c = internal::random(1,m1.cols()-j); - Index i2 = internal::random(0,m1.rows()-1); - Index j2 = internal::random(0,m1.cols()-1); - - VERIFY_IS_APPROX(m1.col(j2).adjoint() * m1.block(0,j,m1.rows(),c), m1.col(j2).adjoint().eval() * m1.block(0,j,m1.rows(),c).eval()); - VERIFY_IS_APPROX(m1.block(i,0,r,m1.cols()) * m1.row(i2).adjoint(), m1.block(i,0,r,m1.cols()).eval() * m1.row(i2).adjoint().eval()); - - // regression test - MatrixType tmp = m1 * m1.adjoint() * s1; - VERIFY_IS_APPROX(tmp, m1 * m1.adjoint() * s1); - - // regression test for bug 1343, assignment to arrays - Array a1 = m1 * vc2; - VERIFY_IS_APPROX(a1.matrix(),m1*vc2); - Array a2 = s1 * (m1 * vc2); - VERIFY_IS_APPROX(a2.matrix(),s1*m1*vc2); - Array a3 = v1 * m1; - VERIFY_IS_APPROX(a3.matrix(),v1*m1); - Array a4 = m1 * m2.adjoint(); - VERIFY_IS_APPROX(a4.matrix(),m1*m2.adjoint()); -} - -// Regression test for bug reported at http://forum.kde.org/viewtopic.php?f=74&t=96947 -void mat_mat_scalar_scalar_product() -{ - Eigen::Matrix2Xd dNdxy(2, 3); - dNdxy << -0.5, 0.5, 0, - -0.3, 0, 0.3; - double det = 6.0, wt = 0.5; - VERIFY_IS_APPROX(dNdxy.transpose()*dNdxy*det*wt, det*wt*dNdxy.transpose()*dNdxy); -} - -template -void zero_sized_objects(const MatrixType& m) -{ - typedef typename MatrixType::Scalar Scalar; - const int PacketSize = internal::packet_traits::size; - const int PacketSize1 = PacketSize>1 ? PacketSize-1 : 1; - Index rows = m.rows(); - Index cols = m.cols(); - - { - MatrixType res, a(rows,0), b(0,cols); - VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(rows,cols) ); - VERIFY_IS_APPROX( (res=a*a.transpose()), MatrixType::Zero(rows,rows) ); - VERIFY_IS_APPROX( (res=b.transpose()*b), MatrixType::Zero(cols,cols) ); - VERIFY_IS_APPROX( (res=b.transpose()*a.transpose()), MatrixType::Zero(cols,rows) ); - } - - { - MatrixType res, a(rows,cols), b(cols,0); - res = a*b; - VERIFY(res.rows()==rows && res.cols()==0); - b.resize(0,rows); - res = b*a; - VERIFY(res.rows()==0 && res.cols()==cols); - } - - { - Matrix a; - Matrix b; - Matrix res; - VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize,1) ); - VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize,1) ); - } - - { - Matrix a; - Matrix b; - Matrix res; - VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize1,1) ); - VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize1,1) ); - } - - { - Matrix a(PacketSize,0); - Matrix b(0,1); - Matrix res; - VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize,1) ); - VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize,1) ); - } - - { - Matrix a(PacketSize1,0); - Matrix b(0,1); - Matrix res; - VERIFY_IS_APPROX( (res=a*b), MatrixType::Zero(PacketSize1,1) ); - VERIFY_IS_APPROX( (res=a.lazyProduct(b)), MatrixType::Zero(PacketSize1,1) ); - } -} - -template -void bug_127() -{ - // Bug 127 - // - // a product of the form lhs*rhs with - // - // lhs: - // rows = 1, cols = 4 - // RowsAtCompileTime = 1, ColsAtCompileTime = -1 - // MaxRowsAtCompileTime = 1, MaxColsAtCompileTime = 5 - // - // rhs: - // rows = 4, cols = 0 - // RowsAtCompileTime = -1, ColsAtCompileTime = -1 - // MaxRowsAtCompileTime = 5, MaxColsAtCompileTime = 1 - // - // was failing on a runtime assertion, because it had been mis-compiled as a dot product because Product.h was using the - // max-sizes to detect size 1 indicating vectors, and that didn't account for 0-sized object with max-size 1. - - Matrix a(1,4); - Matrix b(4,0); - a*b; -} - -template void bug_817() -{ - ArrayXXf B = ArrayXXf::Random(10,10), C; - VectorXf x = VectorXf::Random(10); - C = (x.transpose()*B.matrix()); - B = (x.transpose()*B.matrix()); - VERIFY_IS_APPROX(B,C); -} - -template -void unaligned_objects() -{ - // Regression test for the bug reported here: - // http://forum.kde.org/viewtopic.php?f=74&t=107541 - // Recall the matrix*vector kernel avoid unaligned loads by loading two packets and then reassemble then. - // There was a mistake in the computation of the valid range for fully unaligned objects: in some rare cases, - // memory was read outside the allocated matrix memory. Though the values were not used, this might raise segfault. - for(int m=450;m<460;++m) - { - for(int n=8;n<12;++n) - { - MatrixXf M(m, n); - VectorXf v1(n), r1(500); - RowVectorXf v2(m), r2(16); - - M.setRandom(); - v1.setRandom(); - v2.setRandom(); - for(int o=0; o<4; ++o) - { - r1.segment(o,m).noalias() = M * v1; - VERIFY_IS_APPROX(r1.segment(o,m), M * MatrixXf(v1)); - r2.segment(o,n).noalias() = v2 * M; - VERIFY_IS_APPROX(r2.segment(o,n), MatrixXf(v2) * M); - } - } - } -} - -template -EIGEN_DONT_INLINE -Index test_compute_block_size(Index m, Index n, Index k) -{ - Index mc(m), nc(n), kc(k); - internal::computeProductBlockingSizes(kc, mc, nc); - return kc+mc+nc; -} - -template -Index compute_block_size() -{ - Index ret = 0; - ret += test_compute_block_size(0,1,1); - ret += test_compute_block_size(1,0,1); - ret += test_compute_block_size(1,1,0); - ret += test_compute_block_size(0,0,1); - ret += test_compute_block_size(0,1,0); - ret += test_compute_block_size(1,0,0); - ret += test_compute_block_size(0,0,0); - return ret; -} - -template -void aliasing_with_resize() -{ - Index m = internal::random(10,50); - Index n = internal::random(10,50); - MatrixXd A, B, C(m,n), D(m,m); - VectorXd a, b, c(n); - C.setRandom(); - D.setRandom(); - c.setRandom(); - double s = internal::random(1,10); - - A = C; - B = A * A.transpose(); - A = A * A.transpose(); - VERIFY_IS_APPROX(A,B); - - A = C; - B = (A * A.transpose())/s; - A = (A * A.transpose())/s; - VERIFY_IS_APPROX(A,B); - - A = C; - B = (A * A.transpose()) + D; - A = (A * A.transpose()) + D; - VERIFY_IS_APPROX(A,B); - - A = C; - B = D + (A * A.transpose()); - A = D + (A * A.transpose()); - VERIFY_IS_APPROX(A,B); - - A = C; - B = s * (A * A.transpose()); - A = s * (A * A.transpose()); - VERIFY_IS_APPROX(A,B); - - A = C; - a = c; - b = (A * a)/s; - a = (A * a)/s; - VERIFY_IS_APPROX(a,b); -} - -template -void bug_1308() -{ - int n = 10; - MatrixXd r(n,n); - VectorXd v = VectorXd::Random(n); - r = v * RowVectorXd::Ones(n); - VERIFY_IS_APPROX(r, v.rowwise().replicate(n)); - r = VectorXd::Ones(n) * v.transpose(); - VERIFY_IS_APPROX(r, v.rowwise().replicate(n).transpose()); - - Matrix4d ones44 = Matrix4d::Ones(); - Matrix4d m44 = Matrix4d::Ones() * Matrix4d::Ones(); - VERIFY_IS_APPROX(m44,Matrix4d::Constant(4)); - VERIFY_IS_APPROX(m44.noalias()=ones44*Matrix4d::Ones(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(m44.noalias()=ones44.transpose()*Matrix4d::Ones(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(m44.noalias()=Matrix4d::Ones()*ones44, Matrix4d::Constant(4)); - VERIFY_IS_APPROX(m44.noalias()=Matrix4d::Ones()*ones44.transpose(), Matrix4d::Constant(4)); - - typedef Matrix RMatrix4d; - RMatrix4d r44 = Matrix4d::Ones() * Matrix4d::Ones(); - VERIFY_IS_APPROX(r44,Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=ones44*Matrix4d::Ones(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=ones44.transpose()*Matrix4d::Ones(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=Matrix4d::Ones()*ones44, Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=Matrix4d::Ones()*ones44.transpose(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=ones44*RMatrix4d::Ones(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=ones44.transpose()*RMatrix4d::Ones(), Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=RMatrix4d::Ones()*ones44, Matrix4d::Constant(4)); - VERIFY_IS_APPROX(r44.noalias()=RMatrix4d::Ones()*ones44.transpose(), Matrix4d::Constant(4)); - -// RowVector4d r4; - m44.setOnes(); - r44.setZero(); - VERIFY_IS_APPROX(r44.noalias() += m44.row(0).transpose() * RowVector4d::Ones(), ones44); - r44.setZero(); - VERIFY_IS_APPROX(r44.noalias() += m44.col(0) * RowVector4d::Ones(), ones44); - r44.setZero(); - VERIFY_IS_APPROX(r44.noalias() += Vector4d::Ones() * m44.row(0), ones44); - r44.setZero(); - VERIFY_IS_APPROX(r44.noalias() += Vector4d::Ones() * m44.col(0).transpose(), ones44); -} - -void test_product_extra() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( product_extra(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_2( product_extra(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_2( mat_mat_scalar_scalar_product() ); - CALL_SUBTEST_3( product_extra(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_1( zero_sized_objects(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } - CALL_SUBTEST_5( bug_127<0>() ); - CALL_SUBTEST_5( bug_817<0>() ); - CALL_SUBTEST_5( bug_1308<0>() ); - CALL_SUBTEST_6( unaligned_objects<0>() ); - CALL_SUBTEST_7( compute_block_size() ); - CALL_SUBTEST_7( compute_block_size() ); - CALL_SUBTEST_7( compute_block_size >() ); - CALL_SUBTEST_8( aliasing_with_resize() ); - -} diff --git a/testbed/nanogui/ext/eigen/test/product_large.cpp b/testbed/nanogui/ext/eigen/test/product_large.cpp deleted file mode 100644 index 845cd40c..00000000 --- a/testbed/nanogui/ext/eigen/test/product_large.cpp +++ /dev/null @@ -1,107 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "product.h" - -template -void test_aliasing() -{ - int rows = internal::random(1,12); - int cols = internal::random(1,12); - typedef Matrix MatrixType; - typedef Matrix VectorType; - VectorType x(cols); x.setRandom(); - VectorType z(x); - VectorType y(rows); y.setZero(); - MatrixType A(rows,cols); A.setRandom(); - // CwiseBinaryOp - VERIFY_IS_APPROX(x = y + A*x, A*z); // OK because "y + A*x" is marked as "assume-aliasing" - x = z; - // CwiseUnaryOp - VERIFY_IS_APPROX(x = T(1.)*(A*x), A*z); // OK because 1*(A*x) is replaced by (1*A*x) which is a Product<> expression - x = z; - // VERIFY_IS_APPROX(x = y-A*x, -A*z); // Not OK in 3.3 because x is resized before A*x gets evaluated - x = z; -} - -void test_product_large() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( product(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_2( product(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_3( product(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_4( product(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_5( product(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - - CALL_SUBTEST_1( test_aliasing() ); - } - -#if defined EIGEN_TEST_PART_6 - { - // test a specific issue in DiagonalProduct - int N = 1000000; - VectorXf v = VectorXf::Ones(N); - MatrixXf m = MatrixXf::Ones(N,3); - m = (v+v).asDiagonal() * m; - VERIFY_IS_APPROX(m, MatrixXf::Constant(N,3,2)); - } - - { - // test deferred resizing in Matrix::operator= - MatrixXf a = MatrixXf::Random(10,4), b = MatrixXf::Random(4,10), c = a; - VERIFY_IS_APPROX((a = a * b), (c * b).eval()); - } - - { - // check the functions to setup blocking sizes compile and do not segfault - // FIXME check they do what they are supposed to do !! - std::ptrdiff_t l1 = internal::random(10000,20000); - std::ptrdiff_t l2 = internal::random(100000,200000); - std::ptrdiff_t l3 = internal::random(1000000,2000000); - setCpuCacheSizes(l1,l2,l3); - VERIFY(l1==l1CacheSize()); - VERIFY(l2==l2CacheSize()); - std::ptrdiff_t k1 = internal::random(10,100)*16; - std::ptrdiff_t m1 = internal::random(10,100)*16; - std::ptrdiff_t n1 = internal::random(10,100)*16; - // only makes sure it compiles fine - internal::computeProductBlockingSizes(k1,m1,n1,1); - } - - { - // test regression in row-vector by matrix (bad Map type) - MatrixXf mat1(10,32); mat1.setRandom(); - MatrixXf mat2(32,32); mat2.setRandom(); - MatrixXf r1 = mat1.row(2)*mat2.transpose(); - VERIFY_IS_APPROX(r1, (mat1.row(2)*mat2.transpose()).eval()); - - MatrixXf r2 = mat1.row(2)*mat2; - VERIFY_IS_APPROX(r2, (mat1.row(2)*mat2).eval()); - } - - { - Eigen::MatrixXd A(10,10), B, C; - A.setRandom(); - C = A; - for(int k=0; k<79; ++k) - C = C * A; - B.noalias() = (((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A)) * ((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))) - * (((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A)) * ((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))); - VERIFY_IS_APPROX(B,C); - } -#endif - - // Regression test for bug 714: -#if defined EIGEN_HAS_OPENMP - omp_set_dynamic(1); - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_6( product(Matrix(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - } -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/product_mmtr.cpp b/testbed/nanogui/ext/eigen/test/product_mmtr.cpp deleted file mode 100644 index f6e4bb1a..00000000 --- a/testbed/nanogui/ext/eigen/test/product_mmtr.cpp +++ /dev/null @@ -1,89 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#define CHECK_MMTR(DEST, TRI, OP) { \ - ref2 = ref1 = DEST; \ - DEST.template triangularView() OP; \ - ref1 OP; \ - ref2.template triangularView() \ - = ref1.template triangularView(); \ - VERIFY_IS_APPROX(DEST,ref2); \ - } - -template void mmtr(int size) -{ - typedef Matrix MatrixColMaj; - typedef Matrix MatrixRowMaj; - - DenseIndex othersize = internal::random(1,200); - - MatrixColMaj matc = MatrixColMaj::Zero(size, size); - MatrixRowMaj matr = MatrixRowMaj::Zero(size, size); - MatrixColMaj ref1(size, size), ref2(size, size); - - MatrixColMaj soc(size,othersize); soc.setRandom(); - MatrixColMaj osc(othersize,size); osc.setRandom(); - MatrixRowMaj sor(size,othersize); sor.setRandom(); - MatrixRowMaj osr(othersize,size); osr.setRandom(); - MatrixColMaj sqc(size,size); sqc.setRandom(); - MatrixRowMaj sqr(size,size); sqr.setRandom(); - - Scalar s = internal::random(); - - CHECK_MMTR(matc, Lower, = s*soc*sor.adjoint()); - CHECK_MMTR(matc, Upper, = s*(soc*soc.adjoint())); - CHECK_MMTR(matr, Lower, = s*soc*soc.adjoint()); - CHECK_MMTR(matr, Upper, = soc*(s*sor.adjoint())); - - CHECK_MMTR(matc, Lower, += s*soc*soc.adjoint()); - CHECK_MMTR(matc, Upper, += s*(soc*sor.transpose())); - CHECK_MMTR(matr, Lower, += s*sor*soc.adjoint()); - CHECK_MMTR(matr, Upper, += soc*(s*soc.adjoint())); - - CHECK_MMTR(matc, Lower, -= s*soc*soc.adjoint()); - CHECK_MMTR(matc, Upper, -= s*(osc.transpose()*osc.conjugate())); - CHECK_MMTR(matr, Lower, -= s*soc*soc.adjoint()); - CHECK_MMTR(matr, Upper, -= soc*(s*soc.adjoint())); - - CHECK_MMTR(matc, Lower, -= s*sqr*sqc.template triangularView()); - CHECK_MMTR(matc, Upper, = s*sqc*sqr.template triangularView()); - CHECK_MMTR(matc, Lower, += s*sqr*sqc.template triangularView()); - CHECK_MMTR(matc, Upper, = s*sqc*sqc.template triangularView()); - - CHECK_MMTR(matc, Lower, = (s*sqr).template triangularView()*sqc); - CHECK_MMTR(matc, Upper, -= (s*sqc).template triangularView()*sqc); - CHECK_MMTR(matc, Lower, = (s*sqr).template triangularView()*sqc); - CHECK_MMTR(matc, Upper, += (s*sqc).template triangularView()*sqc); - - // check aliasing - ref2 = ref1 = matc; - ref1 = sqc.adjoint() * matc * sqc; - ref2.template triangularView() = ref1.template triangularView(); - matc.template triangularView() = sqc.adjoint() * matc * sqc; - VERIFY_IS_APPROX(matc, ref2); - - ref2 = ref1 = matc; - ref1 = sqc * matc * sqc.adjoint(); - ref2.template triangularView() = ref1.template triangularView(); - matc.template triangularView() = sqc * matc * sqc.adjoint(); - VERIFY_IS_APPROX(matc, ref2); -} - -void test_product_mmtr() -{ - for(int i = 0; i < g_repeat ; i++) - { - CALL_SUBTEST_1((mmtr(internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_2((mmtr(internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_3((mmtr >(internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); - CALL_SUBTEST_4((mmtr >(internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_notemporary.cpp b/testbed/nanogui/ext/eigen/test/product_notemporary.cpp deleted file mode 100644 index 8bf71b4f..00000000 --- a/testbed/nanogui/ext/eigen/test/product_notemporary.cpp +++ /dev/null @@ -1,159 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define TEST_ENABLE_TEMPORARY_TRACKING - -#include "main.h" - -template void product_notemporary(const MatrixType& m) -{ - /* This test checks the number of temporaries created - * during the evaluation of a complex expression */ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix RowVectorType; - typedef Matrix ColVectorType; - typedef Matrix ColMajorMatrixType; - typedef Matrix RowMajorMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - ColMajorMatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols); - RowVectorType rv1 = RowVectorType::Random(rows), rvres(rows); - ColVectorType cv1 = ColVectorType::Random(cols), cvres(cols); - RowMajorMatrixType rm3(rows, cols); - - Scalar s1 = internal::random(), - s2 = internal::random(), - s3 = internal::random(); - - Index c0 = internal::random(4,cols-8), - c1 = internal::random(8,cols-c0), - r0 = internal::random(4,cols-8), - r1 = internal::random(8,rows-r0); - - VERIFY_EVALUATION_COUNT( m3 = (m1 * m2.adjoint()), 1); - VERIFY_EVALUATION_COUNT( m3 = (m1 * m2.adjoint()).transpose(), 1); - VERIFY_EVALUATION_COUNT( m3.noalias() = m1 * m2.adjoint(), 0); - - VERIFY_EVALUATION_COUNT( m3 = s1 * (m1 * m2.transpose()), 1); -// VERIFY_EVALUATION_COUNT( m3 = m3 + s1 * (m1 * m2.transpose()), 1); - VERIFY_EVALUATION_COUNT( m3.noalias() = s1 * (m1 * m2.transpose()), 0); - - VERIFY_EVALUATION_COUNT( m3 = m3 + (m1 * m2.adjoint()), 1); - - VERIFY_EVALUATION_COUNT( m3 = m3 + (m1 * m2.adjoint()).transpose(), 1); - VERIFY_EVALUATION_COUNT( m3.noalias() = m3 + m1 * m2.transpose(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() += m3 + m1 * m2.transpose(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() -= m3 + m1 * m2.transpose(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() = m3 - m1 * m2.transpose(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() += m3 - m1 * m2.transpose(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() -= m3 - m1 * m2.transpose(), 0); - - VERIFY_EVALUATION_COUNT( m3.noalias() = s1 * m1 * s2 * m2.adjoint(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() = s1 * m1 * s2 * (m1*s3+m2*s2).adjoint(), 1); - VERIFY_EVALUATION_COUNT( m3.noalias() = (s1 * m1).adjoint() * s2 * m2, 0); - VERIFY_EVALUATION_COUNT( m3.noalias() += s1 * (-m1*s3).adjoint() * (s2 * m2 * s3), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() -= s1 * (m1.transpose() * m2), 0); - - VERIFY_EVALUATION_COUNT(( m3.block(r0,r0,r1,r1).noalias() += -m1.block(r0,c0,r1,c1) * (s2*m2.block(r0,c0,r1,c1)).adjoint() ), 0); - VERIFY_EVALUATION_COUNT(( m3.block(r0,r0,r1,r1).noalias() -= s1 * m1.block(r0,c0,r1,c1) * m2.block(c0,r0,c1,r1) ), 0); - - // NOTE this is because the Block expression is not handled yet by our expression analyser - VERIFY_EVALUATION_COUNT(( m3.block(r0,r0,r1,r1).noalias() = s1 * m1.block(r0,c0,r1,c1) * (s1*m2).block(c0,r0,c1,r1) ), 1); - - VERIFY_EVALUATION_COUNT( m3.noalias() -= (s1 * m1).template triangularView() * m2, 0); - VERIFY_EVALUATION_COUNT( rm3.noalias() = (s1 * m1.adjoint()).template triangularView() * (m2+m2), 1); - VERIFY_EVALUATION_COUNT( rm3.noalias() = (s1 * m1.adjoint()).template triangularView() * m2.adjoint(), 0); - - VERIFY_EVALUATION_COUNT( m3.template triangularView() = (m1 * m2.adjoint()), 0); - VERIFY_EVALUATION_COUNT( m3.template triangularView() -= (m1 * m2.adjoint()), 0); - - // NOTE this is because the blas_traits require innerstride==1 to avoid a temporary, but that doesn't seem to be actually needed for the triangular products - VERIFY_EVALUATION_COUNT( rm3.col(c0).noalias() = (s1 * m1.adjoint()).template triangularView() * (s2*m2.row(c0)).adjoint(), 1); - - VERIFY_EVALUATION_COUNT( m1.template triangularView().solveInPlace(m3), 0); - VERIFY_EVALUATION_COUNT( m1.adjoint().template triangularView().solveInPlace(m3.transpose()), 0); - - VERIFY_EVALUATION_COUNT( m3.noalias() -= (s1 * m1).adjoint().template selfadjointView() * (-m2*s3).adjoint(), 0); - VERIFY_EVALUATION_COUNT( m3.noalias() = s2 * m2.adjoint() * (s1 * m1.adjoint()).template selfadjointView(), 0); - VERIFY_EVALUATION_COUNT( rm3.noalias() = (s1 * m1.adjoint()).template selfadjointView() * m2.adjoint(), 0); - - // NOTE this is because the blas_traits require innerstride==1 to avoid a temporary, but that doesn't seem to be actually needed for the triangular products - VERIFY_EVALUATION_COUNT( m3.col(c0).noalias() = (s1 * m1).adjoint().template selfadjointView() * (-m2.row(c0)*s3).adjoint(), 1); - VERIFY_EVALUATION_COUNT( m3.col(c0).noalias() -= (s1 * m1).adjoint().template selfadjointView() * (-m2.row(c0)*s3).adjoint(), 1); - - VERIFY_EVALUATION_COUNT( m3.block(r0,c0,r1,c1).noalias() += m1.block(r0,r0,r1,r1).template selfadjointView() * (s1*m2.block(r0,c0,r1,c1)), 0); - VERIFY_EVALUATION_COUNT( m3.block(r0,c0,r1,c1).noalias() = m1.block(r0,r0,r1,r1).template selfadjointView() * m2.block(r0,c0,r1,c1), 0); - - VERIFY_EVALUATION_COUNT( m3.template selfadjointView().rankUpdate(m2.adjoint()), 0); - - // Here we will get 1 temporary for each resize operation of the lhs operator; resize(r1,c1) would lead to zero temporaries - m3.resize(1,1); - VERIFY_EVALUATION_COUNT( m3.noalias() = m1.block(r0,r0,r1,r1).template selfadjointView() * m2.block(r0,c0,r1,c1), 1); - m3.resize(1,1); - VERIFY_EVALUATION_COUNT( m3.noalias() = m1.block(r0,r0,r1,r1).template triangularView() * m2.block(r0,c0,r1,c1), 1); - - // Zero temporaries for lazy products ... - VERIFY_EVALUATION_COUNT( Scalar tmp = 0; tmp += Scalar(RealScalar(1)) / (m3.transpose().lazyProduct(m3)).diagonal().sum(), 0 ); - - // ... and even no temporary for even deeply (>=2) nested products - VERIFY_EVALUATION_COUNT( Scalar tmp = 0; tmp += Scalar(RealScalar(1)) / (m3.transpose() * m3).diagonal().sum(), 0 ); - VERIFY_EVALUATION_COUNT( Scalar tmp = 0; tmp += Scalar(RealScalar(1)) / (m3.transpose() * m3).diagonal().array().abs().sum(), 0 ); - - // Zero temporaries for ... CoeffBasedProductMode - VERIFY_EVALUATION_COUNT( m3.col(0).template head<5>() * m3.col(0).transpose() + m3.col(0).template head<5>() * m3.col(0).transpose(), 0 ); - - // Check matrix * vectors - VERIFY_EVALUATION_COUNT( cvres.noalias() = m1 * cv1, 0 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() -= m1 * cv1, 0 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() -= m1 * m2.col(0), 0 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() -= m1 * rv1.adjoint(), 0 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() -= m1 * m2.row(0).transpose(), 0 ); - - VERIFY_EVALUATION_COUNT( cvres.noalias() = (m1+m1) * cv1, 0 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() = (rm3+rm3) * cv1, 0 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() = (m1+m1) * (m1*cv1), 1 ); - VERIFY_EVALUATION_COUNT( cvres.noalias() = (rm3+rm3) * (m1*cv1), 1 ); - - // Check outer products - m3 = cv1 * rv1; - VERIFY_EVALUATION_COUNT( m3.noalias() = cv1 * rv1, 0 ); - VERIFY_EVALUATION_COUNT( m3.noalias() = (cv1+cv1) * (rv1+rv1), 1 ); - VERIFY_EVALUATION_COUNT( m3.noalias() = (m1*cv1) * (rv1), 1 ); - VERIFY_EVALUATION_COUNT( m3.noalias() += (m1*cv1) * (rv1), 1 ); - VERIFY_EVALUATION_COUNT( rm3.noalias() = (cv1) * (rv1 * m1), 1 ); - VERIFY_EVALUATION_COUNT( rm3.noalias() -= (cv1) * (rv1 * m1), 1 ); - VERIFY_EVALUATION_COUNT( rm3.noalias() = (m1*cv1) * (rv1 * m1), 2 ); - VERIFY_EVALUATION_COUNT( rm3.noalias() += (m1*cv1) * (rv1 * m1), 2 ); - - // Check nested products - VERIFY_EVALUATION_COUNT( cvres.noalias() = m1.adjoint() * m1 * cv1, 1 ); - VERIFY_EVALUATION_COUNT( rvres.noalias() = rv1 * (m1 * m2.adjoint()), 1 ); -} - -void test_product_notemporary() -{ - int s; - for(int i = 0; i < g_repeat; i++) { - s = internal::random(16,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_1( product_notemporary(MatrixXf(s, s)) ); - CALL_SUBTEST_2( product_notemporary(MatrixXd(s, s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(16,EIGEN_TEST_MAX_SIZE/2); - CALL_SUBTEST_3( product_notemporary(MatrixXcf(s,s)) ); - CALL_SUBTEST_4( product_notemporary(MatrixXcd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_selfadjoint.cpp b/testbed/nanogui/ext/eigen/test/product_selfadjoint.cpp deleted file mode 100644 index 3d768aa7..00000000 --- a/testbed/nanogui/ext/eigen/test/product_selfadjoint.cpp +++ /dev/null @@ -1,87 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void product_selfadjoint(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix VectorType; - typedef Matrix RowVectorType; - - typedef Matrix RhsMatrixType; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3; - VectorType v1 = VectorType::Random(rows), - v2 = VectorType::Random(rows), - v3(rows); - RowVectorType r1 = RowVectorType::Random(rows), - r2 = RowVectorType::Random(rows); - RhsMatrixType m4 = RhsMatrixType::Random(rows,10); - - Scalar s1 = internal::random(), - s2 = internal::random(), - s3 = internal::random(); - - m1 = (m1.adjoint() + m1).eval(); - - // rank2 update - m2 = m1.template triangularView(); - m2.template selfadjointView().rankUpdate(v1,v2); - VERIFY_IS_APPROX(m2, (m1 + v1 * v2.adjoint()+ v2 * v1.adjoint()).template triangularView().toDenseMatrix()); - - m2 = m1.template triangularView(); - m2.template selfadjointView().rankUpdate(-v1,s2*v2,s3); - VERIFY_IS_APPROX(m2, (m1 + (s3*(-v1)*(s2*v2).adjoint()+numext::conj(s3)*(s2*v2)*(-v1).adjoint())).template triangularView().toDenseMatrix()); - - m2 = m1.template triangularView(); - m2.template selfadjointView().rankUpdate(-s2*r1.adjoint(),r2.adjoint()*s3,s1); - VERIFY_IS_APPROX(m2, (m1 + s1*(-s2*r1.adjoint())*(r2.adjoint()*s3).adjoint() + numext::conj(s1)*(r2.adjoint()*s3) * (-s2*r1.adjoint()).adjoint()).template triangularView().toDenseMatrix()); - - if (rows>1) - { - m2 = m1.template triangularView(); - m2.block(1,1,rows-1,cols-1).template selfadjointView().rankUpdate(v1.tail(rows-1),v2.head(cols-1)); - m3 = m1; - m3.block(1,1,rows-1,cols-1) += v1.tail(rows-1) * v2.head(cols-1).adjoint()+ v2.head(cols-1) * v1.tail(rows-1).adjoint(); - VERIFY_IS_APPROX(m2, m3.template triangularView().toDenseMatrix()); - } -} - -void test_product_selfadjoint() -{ - int s = 0; - for(int i = 0; i < g_repeat ; i++) { - CALL_SUBTEST_1( product_selfadjoint(Matrix()) ); - CALL_SUBTEST_2( product_selfadjoint(Matrix()) ); - CALL_SUBTEST_3( product_selfadjoint(Matrix3d()) ); - - s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); - CALL_SUBTEST_4( product_selfadjoint(MatrixXcf(s, s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); - CALL_SUBTEST_5( product_selfadjoint(MatrixXcd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_6( product_selfadjoint(MatrixXd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_7( product_selfadjoint(Matrix(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_small.cpp b/testbed/nanogui/ext/eigen/test/product_small.cpp deleted file mode 100644 index fdfdd9f6..00000000 --- a/testbed/nanogui/ext/eigen/test/product_small.cpp +++ /dev/null @@ -1,293 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT -#include "product.h" -#include - -// regression test for bug 447 -template -void product1x1() -{ - Matrix matAstatic; - Matrix matBstatic; - matAstatic.setRandom(); - matBstatic.setRandom(); - VERIFY_IS_APPROX( (matAstatic * matBstatic).coeff(0,0), - matAstatic.cwiseProduct(matBstatic.transpose()).sum() ); - - MatrixXf matAdynamic(1,3); - MatrixXf matBdynamic(3,1); - matAdynamic.setRandom(); - matBdynamic.setRandom(); - VERIFY_IS_APPROX( (matAdynamic * matBdynamic).coeff(0,0), - matAdynamic.cwiseProduct(matBdynamic.transpose()).sum() ); -} - -template -const TC& ref_prod(TC &C, const TA &A, const TB &B) -{ - for(Index i=0;i -typename internal::enable_if::type -test_lazy_single(int rows, int cols, int depth) -{ - Matrix A(rows,depth); A.setRandom(); - Matrix B(depth,cols); B.setRandom(); - Matrix C(rows,cols); C.setRandom(); - Matrix D(C); - VERIFY_IS_APPROX(C+=A.lazyProduct(B), ref_prod(D,A,B)); -} - -template -typename internal::enable_if< ( (Rows ==1&&Depth!=1&&OA==ColMajor) - || (Depth==1&&Rows !=1&&OA==RowMajor) - || (Cols ==1&&Depth!=1&&OB==RowMajor) - || (Depth==1&&Cols !=1&&OB==ColMajor) - || (Rows ==1&&Cols !=1&&OC==ColMajor) - || (Cols ==1&&Rows !=1&&OC==RowMajor)),void>::type -test_lazy_single(int, int, int) -{ -} - -template -void test_lazy_all_layout(int rows=Rows, int cols=Cols, int depth=Depth) -{ - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); - CALL_SUBTEST(( test_lazy_single(rows,cols,depth) )); -} - -template -void test_lazy_l1() -{ - int rows = internal::random(1,12); - int cols = internal::random(1,12); - int depth = internal::random(1,12); - - // Inner - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout(1,1,depth) )); - - // Outer - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout(4,cols) )); - CALL_SUBTEST(( test_lazy_all_layout(7,cols) )); - CALL_SUBTEST(( test_lazy_all_layout(rows) )); - CALL_SUBTEST(( test_lazy_all_layout(rows) )); - CALL_SUBTEST(( test_lazy_all_layout(rows,cols) )); -} - -template -void test_lazy_l2() -{ - int rows = internal::random(1,12); - int cols = internal::random(1,12); - int depth = internal::random(1,12); - - // mat-vec - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout(rows) )); - CALL_SUBTEST(( test_lazy_all_layout(4,1,depth) )); - CALL_SUBTEST(( test_lazy_all_layout(rows,1,depth) )); - - // vec-mat - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout(1,cols) )); - CALL_SUBTEST(( test_lazy_all_layout(1,4,depth) )); - CALL_SUBTEST(( test_lazy_all_layout(1,cols,depth) )); -} - -template -void test_lazy_l3() -{ - int rows = internal::random(1,12); - int cols = internal::random(1,12); - int depth = internal::random(1,12); - // mat-mat - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout(rows) )); - CALL_SUBTEST(( test_lazy_all_layout(4,3,depth) )); - CALL_SUBTEST(( test_lazy_all_layout(rows,6,depth) )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout() )); - CALL_SUBTEST(( test_lazy_all_layout(8,cols) )); - CALL_SUBTEST(( test_lazy_all_layout(3,4,depth) )); - CALL_SUBTEST(( test_lazy_all_layout(4,cols,depth) )); -} - -template -void test_linear_but_not_vectorizable() -{ - // Check tricky cases for which the result of the product is a vector and thus must exhibit the LinearBit flag, - // but is not vectorizable along the linear dimension. - Index n = N==Dynamic ? internal::random(1,32) : N; - Index m = M==Dynamic ? internal::random(1,32) : M; - Index k = K==Dynamic ? internal::random(1,32) : K; - - { - Matrix A; A.setRandom(n,m+1); - Matrix B; B.setRandom(m*2,k); - Matrix C; - Matrix R; - - C.noalias() = A.template topLeftCorner<1,M>() * (B.template topRows()+B.template bottomRows()); - R.noalias() = A.template topLeftCorner<1,M>() * (B.template topRows()+B.template bottomRows()).eval(); - VERIFY_IS_APPROX(C,R); - } - - { - Matrix A; A.setRandom(m+1,n); - Matrix B; B.setRandom(k,m*2); - Matrix C; - Matrix R; - - C.noalias() = (B.template leftCols()+B.template rightCols()) * A.template topLeftCorner(); - R.noalias() = (B.template leftCols()+B.template rightCols()).eval() * A.template topLeftCorner(); - VERIFY_IS_APPROX(C,R); - } -} - -template -void bug_1311() -{ - Matrix< double, Rows, 2 > A; A.setRandom(); - Vector2d b = Vector2d::Random() ; - Matrix res; - res.noalias() = 1. * (A * b); - VERIFY_IS_APPROX(res, A*b); - res.noalias() = 1.*A * b; - VERIFY_IS_APPROX(res, A*b); - res.noalias() = (1.*A).lazyProduct(b); - VERIFY_IS_APPROX(res, A*b); - res.noalias() = (1.*A).lazyProduct(1.*b); - VERIFY_IS_APPROX(res, A*b); - res.noalias() = (A).lazyProduct(1.*b); - VERIFY_IS_APPROX(res, A*b); -} - -void test_product_small() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( product(Matrix()) ); - CALL_SUBTEST_2( product(Matrix()) ); - CALL_SUBTEST_8( product(Matrix()) ); - CALL_SUBTEST_3( product(Matrix3d()) ); - CALL_SUBTEST_4( product(Matrix4d()) ); - CALL_SUBTEST_5( product(Matrix4f()) ); - CALL_SUBTEST_6( product1x1<0>() ); - - CALL_SUBTEST_11( test_lazy_l1() ); - CALL_SUBTEST_12( test_lazy_l2() ); - CALL_SUBTEST_13( test_lazy_l3() ); - - CALL_SUBTEST_21( test_lazy_l1() ); - CALL_SUBTEST_22( test_lazy_l2() ); - CALL_SUBTEST_23( test_lazy_l3() ); - - CALL_SUBTEST_31( test_lazy_l1 >() ); - CALL_SUBTEST_32( test_lazy_l2 >() ); - CALL_SUBTEST_33( test_lazy_l3 >() ); - - CALL_SUBTEST_41( test_lazy_l1 >() ); - CALL_SUBTEST_42( test_lazy_l2 >() ); - CALL_SUBTEST_43( test_lazy_l3 >() ); - - CALL_SUBTEST_7(( test_linear_but_not_vectorizable() )); - CALL_SUBTEST_7(( test_linear_but_not_vectorizable() )); - CALL_SUBTEST_7(( test_linear_but_not_vectorizable() )); - - CALL_SUBTEST_6( bug_1311<3>() ); - CALL_SUBTEST_6( bug_1311<5>() ); - } - -#ifdef EIGEN_TEST_PART_6 - { - // test compilation of (outer_product) * vector - Vector3f v = Vector3f::Random(); - VERIFY_IS_APPROX( (v * v.transpose()) * v, (v * v.transpose()).eval() * v); - } - - { - // regression test for pull-request #93 - Eigen::Matrix A; A.setRandom(); - Eigen::Matrix B; B.setRandom(); - Eigen::Matrix C; C.setRandom(); - VERIFY_IS_APPROX(B * A.inverse(), B * A.inverse()[0]); - VERIFY_IS_APPROX(A.inverse() * C, A.inverse()[0] * C); - } - - { - Eigen::Matrix A, B, C; - A.setRandom(); - C = A; - for(int k=0; k<79; ++k) - C = C * A; - B.noalias() = (((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A)) * ((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))) - * (((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A)) * ((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))*((A*A)*(A*A))); - VERIFY_IS_APPROX(B,C); - } -#endif -} diff --git a/testbed/nanogui/ext/eigen/test/product_symm.cpp b/testbed/nanogui/ext/eigen/test/product_symm.cpp deleted file mode 100644 index 8c44383f..00000000 --- a/testbed/nanogui/ext/eigen/test/product_symm.cpp +++ /dev/null @@ -1,112 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void symm(int size = Size, int othersize = OtherSize) -{ - typedef Matrix MatrixType; - typedef Matrix Rhs1; - typedef Matrix Rhs2; - enum { order = OtherSize==1 ? 0 : RowMajor }; - typedef Matrix Rhs3; - typedef typename MatrixType::Index Index; - - Index rows = size; - Index cols = size; - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), m3; - - m1 = (m1+m1.adjoint()).eval(); - - Rhs1 rhs1 = Rhs1::Random(cols, othersize), rhs12(cols, othersize), rhs13(cols, othersize); - Rhs2 rhs2 = Rhs2::Random(othersize, rows), rhs22(othersize, rows), rhs23(othersize, rows); - Rhs3 rhs3 = Rhs3::Random(cols, othersize), rhs32(cols, othersize), rhs33(cols, othersize); - - Scalar s1 = internal::random(), - s2 = internal::random(); - - m2 = m1.template triangularView(); - m3 = m2.template selfadjointView(); - VERIFY_IS_EQUAL(m1, m3); - VERIFY_IS_APPROX(rhs12 = (s1*m2).template selfadjointView() * (s2*rhs1), - rhs13 = (s1*m1) * (s2*rhs1)); - - VERIFY_IS_APPROX(rhs12 = (s1*m2).transpose().template selfadjointView() * (s2*rhs1), - rhs13 = (s1*m1.transpose()) * (s2*rhs1)); - - VERIFY_IS_APPROX(rhs12 = (s1*m2).template selfadjointView().transpose() * (s2*rhs1), - rhs13 = (s1*m1.transpose()) * (s2*rhs1)); - - VERIFY_IS_APPROX(rhs12 = (s1*m2).conjugate().template selfadjointView() * (s2*rhs1), - rhs13 = (s1*m1).conjugate() * (s2*rhs1)); - - VERIFY_IS_APPROX(rhs12 = (s1*m2).template selfadjointView().conjugate() * (s2*rhs1), - rhs13 = (s1*m1).conjugate() * (s2*rhs1)); - - VERIFY_IS_APPROX(rhs12 = (s1*m2).adjoint().template selfadjointView() * (s2*rhs1), - rhs13 = (s1*m1).adjoint() * (s2*rhs1)); - - VERIFY_IS_APPROX(rhs12 = (s1*m2).template selfadjointView().adjoint() * (s2*rhs1), - rhs13 = (s1*m1).adjoint() * (s2*rhs1)); - - m2 = m1.template triangularView(); rhs12.setRandom(); rhs13 = rhs12; - m3 = m2.template selfadjointView(); - VERIFY_IS_EQUAL(m1, m3); - VERIFY_IS_APPROX(rhs12 += (s1*m2).template selfadjointView() * (s2*rhs1), - rhs13 += (s1*m1) * (s2*rhs1)); - - m2 = m1.template triangularView(); - VERIFY_IS_APPROX(rhs12 = (s1*m2).template selfadjointView() * (s2*rhs2.adjoint()), - rhs13 = (s1*m1) * (s2*rhs2.adjoint())); - - m2 = m1.template triangularView(); - VERIFY_IS_APPROX(rhs12 = (s1*m2).template selfadjointView() * (s2*rhs2.adjoint()), - rhs13 = (s1*m1) * (s2*rhs2.adjoint())); - - m2 = m1.template triangularView(); - VERIFY_IS_APPROX(rhs12 = (s1*m2.adjoint()).template selfadjointView() * (s2*rhs2.adjoint()), - rhs13 = (s1*m1.adjoint()) * (s2*rhs2.adjoint())); - - // test row major = <...> - m2 = m1.template triangularView(); rhs12.setRandom(); rhs13 = rhs12; - VERIFY_IS_APPROX(rhs12 -= (s1*m2).template selfadjointView() * (s2*rhs3), - rhs13 -= (s1*m1) * (s2 * rhs3)); - - m2 = m1.template triangularView(); - VERIFY_IS_APPROX(rhs12 = (s1*m2.adjoint()).template selfadjointView() * (s2*rhs3).conjugate(), - rhs13 = (s1*m1.adjoint()) * (s2*rhs3).conjugate()); - - - m2 = m1.template triangularView(); rhs13 = rhs12; - VERIFY_IS_APPROX(rhs12.noalias() += s1 * ((m2.adjoint()).template selfadjointView() * (s2*rhs3).conjugate()), - rhs13 += (s1*m1.adjoint()) * (s2*rhs3).conjugate()); - - m2 = m1.template triangularView(); - VERIFY_IS_APPROX(rhs22 = (rhs2) * (m2).template selfadjointView(), rhs23 = (rhs2) * (m1)); - VERIFY_IS_APPROX(rhs22 = (s2*rhs2) * (s1*m2).template selfadjointView(), rhs23 = (s2*rhs2) * (s1*m1)); - -} - -void test_product_symm() -{ - for(int i = 0; i < g_repeat ; i++) - { - CALL_SUBTEST_1(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - CALL_SUBTEST_2(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - CALL_SUBTEST_3(( symm,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)) )); - CALL_SUBTEST_4(( symm,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)) )); - - CALL_SUBTEST_5(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - CALL_SUBTEST_6(( symm(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - CALL_SUBTEST_7(( symm,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - CALL_SUBTEST_8(( symm,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)) )); - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_syrk.cpp b/testbed/nanogui/ext/eigen/test/product_syrk.cpp deleted file mode 100644 index e10f0f2f..00000000 --- a/testbed/nanogui/ext/eigen/test/product_syrk.cpp +++ /dev/null @@ -1,136 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void syrk(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef Matrix RMatrixType; - typedef Matrix Rhs1; - typedef Matrix Rhs2; - typedef Matrix Rhs3; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3 = MatrixType::Random(rows, cols); - RMatrixType rm2 = MatrixType::Random(rows, cols); - - Rhs1 rhs1 = Rhs1::Random(internal::random(1,320), cols); Rhs1 rhs11 = Rhs1::Random(rhs1.rows(), cols); - Rhs2 rhs2 = Rhs2::Random(rows, internal::random(1,320)); Rhs2 rhs22 = Rhs2::Random(rows, rhs2.cols()); - Rhs3 rhs3 = Rhs3::Random(internal::random(1,320), rows); - - Scalar s1 = internal::random(); - - Index c = internal::random(0,cols-1); - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(rhs2,s1)._expression()), - ((s1 * rhs2 * rhs2.adjoint()).eval().template triangularView().toDenseMatrix())); - m2.setZero(); - VERIFY_IS_APPROX(((m2.template triangularView() += s1 * rhs2 * rhs22.adjoint()).nestedExpression()), - ((s1 * rhs2 * rhs22.adjoint()).eval().template triangularView().toDenseMatrix())); - - - m2.setZero(); - VERIFY_IS_APPROX(m2.template selfadjointView().rankUpdate(rhs2,s1)._expression(), - (s1 * rhs2 * rhs2.adjoint()).eval().template triangularView().toDenseMatrix()); - m2.setZero(); - VERIFY_IS_APPROX((m2.template triangularView() += s1 * rhs22 * rhs2.adjoint()).nestedExpression(), - (s1 * rhs22 * rhs2.adjoint()).eval().template triangularView().toDenseMatrix()); - - - m2.setZero(); - VERIFY_IS_APPROX(m2.template selfadjointView().rankUpdate(rhs1.adjoint(),s1)._expression(), - (s1 * rhs1.adjoint() * rhs1).eval().template triangularView().toDenseMatrix()); - m2.setZero(); - VERIFY_IS_APPROX((m2.template triangularView() += s1 * rhs11.adjoint() * rhs1).nestedExpression(), - (s1 * rhs11.adjoint() * rhs1).eval().template triangularView().toDenseMatrix()); - - - m2.setZero(); - VERIFY_IS_APPROX(m2.template selfadjointView().rankUpdate(rhs1.adjoint(),s1)._expression(), - (s1 * rhs1.adjoint() * rhs1).eval().template triangularView().toDenseMatrix()); - VERIFY_IS_APPROX((m2.template triangularView() = s1 * rhs1.adjoint() * rhs11).nestedExpression(), - (s1 * rhs1.adjoint() * rhs11).eval().template triangularView().toDenseMatrix()); - - - m2.setZero(); - VERIFY_IS_APPROX(m2.template selfadjointView().rankUpdate(rhs3.adjoint(),s1)._expression(), - (s1 * rhs3.adjoint() * rhs3).eval().template triangularView().toDenseMatrix()); - - m2.setZero(); - VERIFY_IS_APPROX(m2.template selfadjointView().rankUpdate(rhs3.adjoint(),s1)._expression(), - (s1 * rhs3.adjoint() * rhs3).eval().template triangularView().toDenseMatrix()); - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(m1.col(c),s1)._expression()), - ((s1 * m1.col(c) * m1.col(c).adjoint()).eval().template triangularView().toDenseMatrix())); - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(m1.col(c),s1)._expression()), - ((s1 * m1.col(c) * m1.col(c).adjoint()).eval().template triangularView().toDenseMatrix())); - rm2.setZero(); - VERIFY_IS_APPROX((rm2.template selfadjointView().rankUpdate(m1.col(c),s1)._expression()), - ((s1 * m1.col(c) * m1.col(c).adjoint()).eval().template triangularView().toDenseMatrix())); - m2.setZero(); - VERIFY_IS_APPROX((m2.template triangularView() += s1 * m3.col(c) * m1.col(c).adjoint()).nestedExpression(), - ((s1 * m3.col(c) * m1.col(c).adjoint()).eval().template triangularView().toDenseMatrix())); - rm2.setZero(); - VERIFY_IS_APPROX((rm2.template triangularView() += s1 * m1.col(c) * m3.col(c).adjoint()).nestedExpression(), - ((s1 * m1.col(c) * m3.col(c).adjoint()).eval().template triangularView().toDenseMatrix())); - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(m1.col(c).conjugate(),s1)._expression()), - ((s1 * m1.col(c).conjugate() * m1.col(c).conjugate().adjoint()).eval().template triangularView().toDenseMatrix())); - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(m1.col(c).conjugate(),s1)._expression()), - ((s1 * m1.col(c).conjugate() * m1.col(c).conjugate().adjoint()).eval().template triangularView().toDenseMatrix())); - - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(m1.row(c),s1)._expression()), - ((s1 * m1.row(c).transpose() * m1.row(c).transpose().adjoint()).eval().template triangularView().toDenseMatrix())); - rm2.setZero(); - VERIFY_IS_APPROX((rm2.template selfadjointView().rankUpdate(m1.row(c),s1)._expression()), - ((s1 * m1.row(c).transpose() * m1.row(c).transpose().adjoint()).eval().template triangularView().toDenseMatrix())); - m2.setZero(); - VERIFY_IS_APPROX((m2.template triangularView() += s1 * m3.row(c).transpose() * m1.row(c).transpose().adjoint()).nestedExpression(), - ((s1 * m3.row(c).transpose() * m1.row(c).transpose().adjoint()).eval().template triangularView().toDenseMatrix())); - rm2.setZero(); - VERIFY_IS_APPROX((rm2.template triangularView() += s1 * m3.row(c).transpose() * m1.row(c).transpose().adjoint()).nestedExpression(), - ((s1 * m3.row(c).transpose() * m1.row(c).transpose().adjoint()).eval().template triangularView().toDenseMatrix())); - - - m2.setZero(); - VERIFY_IS_APPROX((m2.template selfadjointView().rankUpdate(m1.row(c).adjoint(),s1)._expression()), - ((s1 * m1.row(c).adjoint() * m1.row(c).adjoint().adjoint()).eval().template triangularView().toDenseMatrix())); -} - -void test_product_syrk() -{ - for(int i = 0; i < g_repeat ; i++) - { - int s; - s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_1( syrk(MatrixXf(s, s)) ); - CALL_SUBTEST_2( syrk(MatrixXd(s, s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); - CALL_SUBTEST_3( syrk(MatrixXcf(s, s)) ); - CALL_SUBTEST_4( syrk(MatrixXcd(s, s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_trmm.cpp b/testbed/nanogui/ext/eigen/test/product_trmm.cpp deleted file mode 100644 index 12e55441..00000000 --- a/testbed/nanogui/ext/eigen/test/product_trmm.cpp +++ /dev/null @@ -1,115 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template -int get_random_size() -{ - const int factor = NumTraits::ReadCost; - const int max_test_size = EIGEN_TEST_MAX_SIZE>2*factor ? EIGEN_TEST_MAX_SIZE/factor : EIGEN_TEST_MAX_SIZE; - return internal::random(1,max_test_size); -} - -template -void trmm(int rows=get_random_size(), - int cols=get_random_size(), - int otherCols = OtherCols==Dynamic?get_random_size():OtherCols) -{ - typedef Matrix TriMatrix; - typedef Matrix OnTheRight; - typedef Matrix OnTheLeft; - - typedef Matrix ResXS; - typedef Matrix ResSX; - - TriMatrix mat(rows,cols), tri(rows,cols), triTr(cols,rows); - - OnTheRight ge_right(cols,otherCols); - OnTheLeft ge_left(otherCols,rows); - ResSX ge_sx, ge_sx_save; - ResXS ge_xs, ge_xs_save; - - Scalar s1 = internal::random(), - s2 = internal::random(); - - mat.setRandom(); - tri = mat.template triangularView(); - triTr = mat.transpose().template triangularView(); - ge_right.setRandom(); - ge_left.setRandom(); - - VERIFY_IS_APPROX( ge_xs = mat.template triangularView() * ge_right, tri * ge_right); - VERIFY_IS_APPROX( ge_sx = ge_left * mat.template triangularView(), ge_left * tri); - - VERIFY_IS_APPROX( ge_xs.noalias() = mat.template triangularView() * ge_right, tri * ge_right); - VERIFY_IS_APPROX( ge_sx.noalias() = ge_left * mat.template triangularView(), ge_left * tri); - - VERIFY_IS_APPROX( ge_xs.noalias() = (s1*mat.adjoint()).template triangularView() * (s2*ge_left.transpose()), s1*triTr.conjugate() * (s2*ge_left.transpose())); - VERIFY_IS_APPROX( ge_sx.noalias() = ge_right.transpose() * mat.adjoint().template triangularView(), ge_right.transpose() * triTr.conjugate()); - - VERIFY_IS_APPROX( ge_xs.noalias() = (s1*mat.adjoint()).template triangularView() * (s2*ge_left.adjoint()), s1*triTr.conjugate() * (s2*ge_left.adjoint())); - VERIFY_IS_APPROX( ge_sx.noalias() = ge_right.adjoint() * mat.adjoint().template triangularView(), ge_right.adjoint() * triTr.conjugate()); - - ge_xs_save = ge_xs; - VERIFY_IS_APPROX( (ge_xs_save + s1*triTr.conjugate() * (s2*ge_left.adjoint())).eval(), ge_xs.noalias() += (s1*mat.adjoint()).template triangularView() * (s2*ge_left.adjoint()) ); - ge_sx.setRandom(); - ge_sx_save = ge_sx; - VERIFY_IS_APPROX( ge_sx_save - (ge_right.adjoint() * (-s1 * triTr).conjugate()).eval(), ge_sx.noalias() -= (ge_right.adjoint() * (-s1 * mat).adjoint().template triangularView()).eval()); - - VERIFY_IS_APPROX( ge_xs = (s1*mat).adjoint().template triangularView() * ge_left.adjoint(), numext::conj(s1) * triTr.conjugate() * ge_left.adjoint()); - - // TODO check with sub-matrix expressions ? -} - -template -void trmv(int rows=get_random_size(), int cols=get_random_size()) -{ - trmm(rows,cols,1); -} - -template -void trmm(int rows=get_random_size(), int cols=get_random_size(), int otherCols = get_random_size()) -{ - trmm(rows,cols,otherCols); -} - -#define CALL_ALL_ORDERS(NB,SCALAR,MODE) \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - EIGEN_CAT(CALL_SUBTEST_,NB)((trmm())); \ - \ - EIGEN_CAT(CALL_SUBTEST_1,NB)((trmv())); \ - EIGEN_CAT(CALL_SUBTEST_1,NB)((trmv())); - - -#define CALL_ALL(NB,SCALAR) \ - CALL_ALL_ORDERS(EIGEN_CAT(1,NB),SCALAR,Upper) \ - CALL_ALL_ORDERS(EIGEN_CAT(2,NB),SCALAR,UnitUpper) \ - CALL_ALL_ORDERS(EIGEN_CAT(3,NB),SCALAR,StrictlyUpper) \ - CALL_ALL_ORDERS(EIGEN_CAT(1,NB),SCALAR,Lower) \ - CALL_ALL_ORDERS(EIGEN_CAT(2,NB),SCALAR,UnitLower) \ - CALL_ALL_ORDERS(EIGEN_CAT(3,NB),SCALAR,StrictlyLower) - - -void test_product_trmm() -{ - for(int i = 0; i < g_repeat ; i++) - { - CALL_ALL(1,float); // EIGEN_SUFFIXES;11;111;21;121;31;131 - CALL_ALL(2,double); // EIGEN_SUFFIXES;12;112;22;122;32;132 - CALL_ALL(3,std::complex); // EIGEN_SUFFIXES;13;113;23;123;33;133 - CALL_ALL(4,std::complex); // EIGEN_SUFFIXES;14;114;24;124;34;134 - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_trmv.cpp b/testbed/nanogui/ext/eigen/test/product_trmv.cpp deleted file mode 100644 index 57a202af..00000000 --- a/testbed/nanogui/ext/eigen/test/product_trmv.cpp +++ /dev/null @@ -1,91 +0,0 @@ -// This file is triangularView of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void trmv(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - - RealScalar largerEps = 10*test_precision(); - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m3(rows, cols); - VectorType v1 = VectorType::Random(rows); - - Scalar s1 = internal::random(); - - m1 = MatrixType::Random(rows, cols); - - // check with a column-major matrix - m3 = m1.template triangularView(); - VERIFY((m3 * v1).isApprox(m1.template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3 * v1).isApprox(m1.template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3 * v1).isApprox(m1.template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3 * v1).isApprox(m1.template triangularView() * v1, largerEps)); - - // check conjugated and scalar multiple expressions (col-major) - m3 = m1.template triangularView(); - VERIFY(((s1*m3).conjugate() * v1).isApprox((s1*m1).conjugate().template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3.conjugate() * v1.conjugate()).isApprox(m1.conjugate().template triangularView() * v1.conjugate(), largerEps)); - - // check with a row-major matrix - m3 = m1.template triangularView(); - VERIFY((m3.transpose() * v1).isApprox(m1.transpose().template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3.transpose() * v1).isApprox(m1.transpose().template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3.transpose() * v1).isApprox(m1.transpose().template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3.transpose() * v1).isApprox(m1.transpose().template triangularView() * v1, largerEps)); - - // check conjugated and scalar multiple expressions (row-major) - m3 = m1.template triangularView(); - VERIFY((m3.adjoint() * v1).isApprox(m1.adjoint().template triangularView() * v1, largerEps)); - m3 = m1.template triangularView(); - VERIFY((m3.adjoint() * (s1*v1.conjugate())).isApprox(m1.adjoint().template triangularView() * (s1*v1.conjugate()), largerEps)); - m3 = m1.template triangularView(); - - // check transposed cases: - m3 = m1.template triangularView(); - VERIFY((v1.transpose() * m3).isApprox(v1.transpose() * m1.template triangularView(), largerEps)); - VERIFY((v1.adjoint() * m3).isApprox(v1.adjoint() * m1.template triangularView(), largerEps)); - VERIFY((v1.adjoint() * m3.adjoint()).isApprox(v1.adjoint() * m1.template triangularView().adjoint(), largerEps)); - - // TODO check with sub-matrices -} - -void test_product_trmv() -{ - int s = 0; - for(int i = 0; i < g_repeat ; i++) { - CALL_SUBTEST_1( trmv(Matrix()) ); - CALL_SUBTEST_2( trmv(Matrix()) ); - CALL_SUBTEST_3( trmv(Matrix3d()) ); - - s = internal::random(1,EIGEN_TEST_MAX_SIZE/2); - CALL_SUBTEST_4( trmv(MatrixXcf(s,s)) ); - CALL_SUBTEST_5( trmv(MatrixXcd(s,s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - - s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_6( trmv(Matrix(s, s)) ); - TEST_SET_BUT_UNUSED_VARIABLE(s) - } -} diff --git a/testbed/nanogui/ext/eigen/test/product_trsolve.cpp b/testbed/nanogui/ext/eigen/test/product_trsolve.cpp deleted file mode 100644 index 4b97fa9d..00000000 --- a/testbed/nanogui/ext/eigen/test/product_trsolve.cpp +++ /dev/null @@ -1,101 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#define VERIFY_TRSM(TRI,XB) { \ - (XB).setRandom(); ref = (XB); \ - (TRI).solveInPlace(XB); \ - VERIFY_IS_APPROX((TRI).toDenseMatrix() * (XB), ref); \ - (XB).setRandom(); ref = (XB); \ - (XB) = (TRI).solve(XB); \ - VERIFY_IS_APPROX((TRI).toDenseMatrix() * (XB), ref); \ - } - -#define VERIFY_TRSM_ONTHERIGHT(TRI,XB) { \ - (XB).setRandom(); ref = (XB); \ - (TRI).transpose().template solveInPlace(XB.transpose()); \ - VERIFY_IS_APPROX((XB).transpose() * (TRI).transpose().toDenseMatrix(), ref.transpose()); \ - (XB).setRandom(); ref = (XB); \ - (XB).transpose() = (TRI).transpose().template solve(XB.transpose()); \ - VERIFY_IS_APPROX((XB).transpose() * (TRI).transpose().toDenseMatrix(), ref.transpose()); \ - } - -template void trsolve(int size=Size,int cols=Cols) -{ - typedef typename NumTraits::Real RealScalar; - - Matrix cmLhs(size,size); - Matrix rmLhs(size,size); - - enum { colmajor = Size==1 ? RowMajor : ColMajor, - rowmajor = Cols==1 ? ColMajor : RowMajor }; - Matrix cmRhs(size,cols); - Matrix rmRhs(size,cols); - Matrix ref(size,cols); - - cmLhs.setRandom(); cmLhs *= static_cast(0.1); cmLhs.diagonal().array() += static_cast(1); - rmLhs.setRandom(); rmLhs *= static_cast(0.1); rmLhs.diagonal().array() += static_cast(1); - - VERIFY_TRSM(cmLhs.conjugate().template triangularView(), cmRhs); - VERIFY_TRSM(cmLhs.adjoint() .template triangularView(), cmRhs); - VERIFY_TRSM(cmLhs .template triangularView(), cmRhs); - VERIFY_TRSM(cmLhs .template triangularView(), rmRhs); - VERIFY_TRSM(cmLhs.conjugate().template triangularView(), rmRhs); - VERIFY_TRSM(cmLhs.adjoint() .template triangularView(), rmRhs); - - VERIFY_TRSM(cmLhs.conjugate().template triangularView(), cmRhs); - VERIFY_TRSM(cmLhs .template triangularView(), rmRhs); - - VERIFY_TRSM(rmLhs .template triangularView(), cmRhs); - VERIFY_TRSM(rmLhs.conjugate().template triangularView(), rmRhs); - - - VERIFY_TRSM_ONTHERIGHT(cmLhs.conjugate().template triangularView(), cmRhs); - VERIFY_TRSM_ONTHERIGHT(cmLhs .template triangularView(), cmRhs); - VERIFY_TRSM_ONTHERIGHT(cmLhs .template triangularView(), rmRhs); - VERIFY_TRSM_ONTHERIGHT(cmLhs.conjugate().template triangularView(), rmRhs); - - VERIFY_TRSM_ONTHERIGHT(cmLhs.conjugate().template triangularView(), cmRhs); - VERIFY_TRSM_ONTHERIGHT(cmLhs .template triangularView(), rmRhs); - - VERIFY_TRSM_ONTHERIGHT(rmLhs .template triangularView(), cmRhs); - VERIFY_TRSM_ONTHERIGHT(rmLhs.conjugate().template triangularView(), rmRhs); - - int c = internal::random(0,cols-1); - VERIFY_TRSM(rmLhs.template triangularView(), rmRhs.col(c)); - VERIFY_TRSM(cmLhs.template triangularView(), rmRhs.col(c)); -} - -void test_product_trsolve() -{ - for(int i = 0; i < g_repeat ; i++) - { - // matrices - CALL_SUBTEST_1((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_2((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_3((trsolve,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); - CALL_SUBTEST_4((trsolve,Dynamic,Dynamic>(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2)))); - - // vectors - CALL_SUBTEST_5((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_6((trsolve(internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_7((trsolve,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)))); - CALL_SUBTEST_8((trsolve,Dynamic,1>(internal::random(1,EIGEN_TEST_MAX_SIZE)))); - - // meta-unrollers - CALL_SUBTEST_9((trsolve())); - CALL_SUBTEST_10((trsolve())); - CALL_SUBTEST_11((trsolve,4,1>())); - CALL_SUBTEST_12((trsolve())); - CALL_SUBTEST_13((trsolve())); - CALL_SUBTEST_14((trsolve())); - - } -} diff --git a/testbed/nanogui/ext/eigen/test/qr.cpp b/testbed/nanogui/ext/eigen/test/qr.cpp deleted file mode 100644 index dfcc1e8f..00000000 --- a/testbed/nanogui/ext/eigen/test/qr.cpp +++ /dev/null @@ -1,132 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void qr(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - - Index rows = m.rows(); - Index cols = m.cols(); - - typedef typename MatrixType::Scalar Scalar; - typedef Matrix MatrixQType; - - MatrixType a = MatrixType::Random(rows,cols); - HouseholderQR qrOfA(a); - - MatrixQType q = qrOfA.householderQ(); - VERIFY_IS_UNITARY(q); - - MatrixType r = qrOfA.matrixQR().template triangularView(); - VERIFY_IS_APPROX(a, qrOfA.householderQ() * r); -} - -template void qr_fixedsize() -{ - enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime }; - typedef typename MatrixType::Scalar Scalar; - Matrix m1 = Matrix::Random(); - HouseholderQR > qr(m1); - - Matrix r = qr.matrixQR(); - // FIXME need better way to construct trapezoid - for(int i = 0; i < Rows; i++) for(int j = 0; j < Cols; j++) if(i>j) r(i,j) = Scalar(0); - - VERIFY_IS_APPROX(m1, qr.householderQ() * r); - - Matrix m2 = Matrix::Random(Cols,Cols2); - Matrix m3 = m1*m2; - m2 = Matrix::Random(Cols,Cols2); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); -} - -template void qr_invertible() -{ - using std::log; - using std::abs; - using std::pow; - using std::max; - typedef typename NumTraits::Real RealScalar; - typedef typename MatrixType::Scalar Scalar; - - int size = internal::random(10,50); - - MatrixType m1(size, size), m2(size, size), m3(size, size); - m1 = MatrixType::Random(size,size); - - if (internal::is_same::value) - { - // let's build a matrix more stable to inverse - MatrixType a = MatrixType::Random(size,size*4); - m1 += a * a.adjoint(); - } - - HouseholderQR qr(m1); - m3 = MatrixType::Random(size,size); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - - // now construct a matrix with prescribed determinant - m1.setZero(); - for(int i = 0; i < size; i++) m1(i,i) = internal::random(); - RealScalar absdet = abs(m1.diagonal().prod()); - m3 = qr.householderQ(); // get a unitary - m1 = m3 * m1 * m3; - qr.compute(m1); - VERIFY_IS_APPROX(log(absdet), qr.logAbsDeterminant()); - // This test is tricky if the determinant becomes too small. - // Since we generate random numbers with magnitude rrange [0,1], the average determinant is 0.5^size - VERIFY_IS_MUCH_SMALLER_THAN( abs(absdet-qr.absDeterminant()), numext::maxi(RealScalar(pow(0.5,size)),numext::maxi(abs(absdet),abs(qr.absDeterminant()))) ); - -} - -template void qr_verify_assert() -{ - MatrixType tmp; - - HouseholderQR qr; - VERIFY_RAISES_ASSERT(qr.matrixQR()) - VERIFY_RAISES_ASSERT(qr.solve(tmp)) - VERIFY_RAISES_ASSERT(qr.householderQ()) - VERIFY_RAISES_ASSERT(qr.absDeterminant()) - VERIFY_RAISES_ASSERT(qr.logAbsDeterminant()) -} - -void test_qr() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( qr(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE),internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_2( qr(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2),internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); - CALL_SUBTEST_3(( qr_fixedsize, 2 >() )); - CALL_SUBTEST_4(( qr_fixedsize, 4 >() )); - CALL_SUBTEST_5(( qr_fixedsize, 7 >() )); - CALL_SUBTEST_11( qr(Matrix()) ); - } - - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( qr_invertible() ); - CALL_SUBTEST_6( qr_invertible() ); - CALL_SUBTEST_7( qr_invertible() ); - CALL_SUBTEST_8( qr_invertible() ); - } - - CALL_SUBTEST_9(qr_verify_assert()); - CALL_SUBTEST_10(qr_verify_assert()); - CALL_SUBTEST_1(qr_verify_assert()); - CALL_SUBTEST_6(qr_verify_assert()); - CALL_SUBTEST_7(qr_verify_assert()); - CALL_SUBTEST_8(qr_verify_assert()); - - // Test problem size constructors - CALL_SUBTEST_12(HouseholderQR(10, 20)); -} diff --git a/testbed/nanogui/ext/eigen/test/qr_colpivoting.cpp b/testbed/nanogui/ext/eigen/test/qr_colpivoting.cpp deleted file mode 100644 index 26ed27f5..00000000 --- a/testbed/nanogui/ext/eigen/test/qr_colpivoting.cpp +++ /dev/null @@ -1,342 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template -void cod() { - typedef typename MatrixType::Index Index; - - Index rows = internal::random(2, EIGEN_TEST_MAX_SIZE); - Index cols = internal::random(2, EIGEN_TEST_MAX_SIZE); - Index cols2 = internal::random(2, EIGEN_TEST_MAX_SIZE); - Index rank = internal::random(1, (std::min)(rows, cols) - 1); - - typedef typename MatrixType::Scalar Scalar; - typedef Matrix - MatrixQType; - MatrixType matrix; - createRandomPIMatrixOfRank(rank, rows, cols, matrix); - CompleteOrthogonalDecomposition cod(matrix); - VERIFY(rank == cod.rank()); - VERIFY(cols - cod.rank() == cod.dimensionOfKernel()); - VERIFY(!cod.isInjective()); - VERIFY(!cod.isInvertible()); - VERIFY(!cod.isSurjective()); - - MatrixQType q = cod.householderQ(); - VERIFY_IS_UNITARY(q); - - MatrixType z = cod.matrixZ(); - VERIFY_IS_UNITARY(z); - - MatrixType t; - t.setZero(rows, cols); - t.topLeftCorner(rank, rank) = - cod.matrixT().topLeftCorner(rank, rank).template triangularView(); - - MatrixType c = q * t * z * cod.colsPermutation().inverse(); - VERIFY_IS_APPROX(matrix, c); - - MatrixType exact_solution = MatrixType::Random(cols, cols2); - MatrixType rhs = matrix * exact_solution; - MatrixType cod_solution = cod.solve(rhs); - VERIFY_IS_APPROX(rhs, matrix * cod_solution); - - // Verify that we get the same minimum-norm solution as the SVD. - JacobiSVD svd(matrix, ComputeThinU | ComputeThinV); - MatrixType svd_solution = svd.solve(rhs); - VERIFY_IS_APPROX(cod_solution, svd_solution); - - MatrixType pinv = cod.pseudoInverse(); - VERIFY_IS_APPROX(cod_solution, pinv * rhs); -} - -template -void cod_fixedsize() { - enum { - Rows = MatrixType::RowsAtCompileTime, - Cols = MatrixType::ColsAtCompileTime - }; - typedef typename MatrixType::Scalar Scalar; - int rank = internal::random(1, (std::min)(int(Rows), int(Cols)) - 1); - Matrix matrix; - createRandomPIMatrixOfRank(rank, Rows, Cols, matrix); - CompleteOrthogonalDecomposition > cod(matrix); - VERIFY(rank == cod.rank()); - VERIFY(Cols - cod.rank() == cod.dimensionOfKernel()); - VERIFY(cod.isInjective() == (rank == Rows)); - VERIFY(cod.isSurjective() == (rank == Cols)); - VERIFY(cod.isInvertible() == (cod.isInjective() && cod.isSurjective())); - - Matrix exact_solution; - exact_solution.setRandom(Cols, Cols2); - Matrix rhs = matrix * exact_solution; - Matrix cod_solution = cod.solve(rhs); - VERIFY_IS_APPROX(rhs, matrix * cod_solution); - - // Verify that we get the same minimum-norm solution as the SVD. - JacobiSVD svd(matrix, ComputeFullU | ComputeFullV); - Matrix svd_solution = svd.solve(rhs); - VERIFY_IS_APPROX(cod_solution, svd_solution); -} - -template void qr() -{ - using std::sqrt; - typedef typename MatrixType::Index Index; - - Index rows = internal::random(2,EIGEN_TEST_MAX_SIZE), cols = internal::random(2,EIGEN_TEST_MAX_SIZE), cols2 = internal::random(2,EIGEN_TEST_MAX_SIZE); - Index rank = internal::random(1, (std::min)(rows, cols)-1); - - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix MatrixQType; - MatrixType m1; - createRandomPIMatrixOfRank(rank,rows,cols,m1); - ColPivHouseholderQR qr(m1); - VERIFY_IS_EQUAL(rank, qr.rank()); - VERIFY_IS_EQUAL(cols - qr.rank(), qr.dimensionOfKernel()); - VERIFY(!qr.isInjective()); - VERIFY(!qr.isInvertible()); - VERIFY(!qr.isSurjective()); - - MatrixQType q = qr.householderQ(); - VERIFY_IS_UNITARY(q); - - MatrixType r = qr.matrixQR().template triangularView(); - MatrixType c = q * r * qr.colsPermutation().inverse(); - VERIFY_IS_APPROX(m1, c); - - // Verify that the absolute value of the diagonal elements in R are - // non-increasing until they reach the singularity threshold. - RealScalar threshold = - sqrt(RealScalar(rows)) * numext::abs(r(0, 0)) * NumTraits::epsilon(); - for (Index i = 0; i < (std::min)(rows, cols) - 1; ++i) { - RealScalar x = numext::abs(r(i, i)); - RealScalar y = numext::abs(r(i + 1, i + 1)); - if (x < threshold && y < threshold) continue; - if (!test_isApproxOrLessThan(y, x)) { - for (Index j = 0; j < (std::min)(rows, cols); ++j) { - std::cout << "i = " << j << ", |r_ii| = " << numext::abs(r(j, j)) << std::endl; - } - std::cout << "Failure at i=" << i << ", rank=" << rank - << ", threshold=" << threshold << std::endl; - } - VERIFY_IS_APPROX_OR_LESS_THAN(y, x); - } - - MatrixType m2 = MatrixType::Random(cols,cols2); - MatrixType m3 = m1*m2; - m2 = MatrixType::Random(cols,cols2); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - - { - Index size = rows; - do { - m1 = MatrixType::Random(size,size); - qr.compute(m1); - } while(!qr.isInvertible()); - MatrixType m1_inv = qr.inverse(); - m3 = m1 * MatrixType::Random(size,cols2); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m2, m1_inv*m3); - } -} - -template void qr_fixedsize() -{ - using std::sqrt; - using std::abs; - enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime }; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - int rank = internal::random(1, (std::min)(int(Rows), int(Cols))-1); - Matrix m1; - createRandomPIMatrixOfRank(rank,Rows,Cols,m1); - ColPivHouseholderQR > qr(m1); - VERIFY_IS_EQUAL(rank, qr.rank()); - VERIFY_IS_EQUAL(Cols - qr.rank(), qr.dimensionOfKernel()); - VERIFY_IS_EQUAL(qr.isInjective(), (rank == Rows)); - VERIFY_IS_EQUAL(qr.isSurjective(), (rank == Cols)); - VERIFY_IS_EQUAL(qr.isInvertible(), (qr.isInjective() && qr.isSurjective())); - - Matrix r = qr.matrixQR().template triangularView(); - Matrix c = qr.householderQ() * r * qr.colsPermutation().inverse(); - VERIFY_IS_APPROX(m1, c); - - Matrix m2 = Matrix::Random(Cols,Cols2); - Matrix m3 = m1*m2; - m2 = Matrix::Random(Cols,Cols2); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - // Verify that the absolute value of the diagonal elements in R are - // non-increasing until they reache the singularity threshold. - RealScalar threshold = - sqrt(RealScalar(Rows)) * (std::abs)(r(0, 0)) * NumTraits::epsilon(); - for (Index i = 0; i < (std::min)(int(Rows), int(Cols)) - 1; ++i) { - RealScalar x = numext::abs(r(i, i)); - RealScalar y = numext::abs(r(i + 1, i + 1)); - if (x < threshold && y < threshold) continue; - if (!test_isApproxOrLessThan(y, x)) { - for (Index j = 0; j < (std::min)(int(Rows), int(Cols)); ++j) { - std::cout << "i = " << j << ", |r_ii| = " << numext::abs(r(j, j)) << std::endl; - } - std::cout << "Failure at i=" << i << ", rank=" << rank - << ", threshold=" << threshold << std::endl; - } - VERIFY_IS_APPROX_OR_LESS_THAN(y, x); - } -} - -// This test is meant to verify that pivots are chosen such that -// even for a graded matrix, the diagonal of R falls of roughly -// monotonically until it reaches the threshold for singularity. -// We use the so-called Kahan matrix, which is a famous counter-example -// for rank-revealing QR. See -// http://www.netlib.org/lapack/lawnspdf/lawn176.pdf -// page 3 for more detail. -template void qr_kahan_matrix() -{ - using std::sqrt; - using std::abs; - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - - Index rows = 300, cols = rows; - - MatrixType m1; - m1.setZero(rows,cols); - RealScalar s = std::pow(NumTraits::epsilon(), 1.0 / rows); - RealScalar c = std::sqrt(1 - s*s); - RealScalar pow_s_i(1.0); // pow(s,i) - for (Index i = 0; i < rows; ++i) { - m1(i, i) = pow_s_i; - m1.row(i).tail(rows - i - 1) = -pow_s_i * c * MatrixType::Ones(1, rows - i - 1); - pow_s_i *= s; - } - m1 = (m1 + m1.transpose()).eval(); - ColPivHouseholderQR qr(m1); - MatrixType r = qr.matrixQR().template triangularView(); - - RealScalar threshold = - std::sqrt(RealScalar(rows)) * numext::abs(r(0, 0)) * NumTraits::epsilon(); - for (Index i = 0; i < (std::min)(rows, cols) - 1; ++i) { - RealScalar x = numext::abs(r(i, i)); - RealScalar y = numext::abs(r(i + 1, i + 1)); - if (x < threshold && y < threshold) continue; - if (!test_isApproxOrLessThan(y, x)) { - for (Index j = 0; j < (std::min)(rows, cols); ++j) { - std::cout << "i = " << j << ", |r_ii| = " << numext::abs(r(j, j)) << std::endl; - } - std::cout << "Failure at i=" << i << ", rank=" << qr.rank() - << ", threshold=" << threshold << std::endl; - } - VERIFY_IS_APPROX_OR_LESS_THAN(y, x); - } -} - -template void qr_invertible() -{ - using std::log; - using std::abs; - typedef typename NumTraits::Real RealScalar; - typedef typename MatrixType::Scalar Scalar; - - int size = internal::random(10,50); - - MatrixType m1(size, size), m2(size, size), m3(size, size); - m1 = MatrixType::Random(size,size); - - if (internal::is_same::value) - { - // let's build a matrix more stable to inverse - MatrixType a = MatrixType::Random(size,size*2); - m1 += a * a.adjoint(); - } - - ColPivHouseholderQR qr(m1); - m3 = MatrixType::Random(size,size); - m2 = qr.solve(m3); - //VERIFY_IS_APPROX(m3, m1*m2); - - // now construct a matrix with prescribed determinant - m1.setZero(); - for(int i = 0; i < size; i++) m1(i,i) = internal::random(); - RealScalar absdet = abs(m1.diagonal().prod()); - m3 = qr.householderQ(); // get a unitary - m1 = m3 * m1 * m3; - qr.compute(m1); - VERIFY_IS_APPROX(absdet, qr.absDeterminant()); - VERIFY_IS_APPROX(log(absdet), qr.logAbsDeterminant()); -} - -template void qr_verify_assert() -{ - MatrixType tmp; - - ColPivHouseholderQR qr; - VERIFY_RAISES_ASSERT(qr.matrixQR()) - VERIFY_RAISES_ASSERT(qr.solve(tmp)) - VERIFY_RAISES_ASSERT(qr.householderQ()) - VERIFY_RAISES_ASSERT(qr.dimensionOfKernel()) - VERIFY_RAISES_ASSERT(qr.isInjective()) - VERIFY_RAISES_ASSERT(qr.isSurjective()) - VERIFY_RAISES_ASSERT(qr.isInvertible()) - VERIFY_RAISES_ASSERT(qr.inverse()) - VERIFY_RAISES_ASSERT(qr.absDeterminant()) - VERIFY_RAISES_ASSERT(qr.logAbsDeterminant()) -} - -void test_qr_colpivoting() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( qr() ); - CALL_SUBTEST_2( qr() ); - CALL_SUBTEST_3( qr() ); - CALL_SUBTEST_4(( qr_fixedsize, 4 >() )); - CALL_SUBTEST_5(( qr_fixedsize, 3 >() )); - CALL_SUBTEST_5(( qr_fixedsize, 1 >() )); - } - - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( cod() ); - CALL_SUBTEST_2( cod() ); - CALL_SUBTEST_3( cod() ); - CALL_SUBTEST_4(( cod_fixedsize, 4 >() )); - CALL_SUBTEST_5(( cod_fixedsize, 3 >() )); - CALL_SUBTEST_5(( cod_fixedsize, 1 >() )); - } - - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( qr_invertible() ); - CALL_SUBTEST_2( qr_invertible() ); - CALL_SUBTEST_6( qr_invertible() ); - CALL_SUBTEST_3( qr_invertible() ); - } - - CALL_SUBTEST_7(qr_verify_assert()); - CALL_SUBTEST_8(qr_verify_assert()); - CALL_SUBTEST_1(qr_verify_assert()); - CALL_SUBTEST_2(qr_verify_assert()); - CALL_SUBTEST_6(qr_verify_assert()); - CALL_SUBTEST_3(qr_verify_assert()); - - // Test problem size constructors - CALL_SUBTEST_9(ColPivHouseholderQR(10, 20)); - - CALL_SUBTEST_1( qr_kahan_matrix() ); - CALL_SUBTEST_2( qr_kahan_matrix() ); -} diff --git a/testbed/nanogui/ext/eigen/test/qr_fullpivoting.cpp b/testbed/nanogui/ext/eigen/test/qr_fullpivoting.cpp deleted file mode 100644 index 70e89c19..00000000 --- a/testbed/nanogui/ext/eigen/test/qr_fullpivoting.cpp +++ /dev/null @@ -1,159 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void qr() -{ - typedef typename MatrixType::Index Index; - - Index max_size = EIGEN_TEST_MAX_SIZE; - Index min_size = numext::maxi(1,EIGEN_TEST_MAX_SIZE/10); - Index rows = internal::random(min_size,max_size), - cols = internal::random(min_size,max_size), - cols2 = internal::random(min_size,max_size), - rank = internal::random(1, (std::min)(rows, cols)-1); - - typedef typename MatrixType::Scalar Scalar; - typedef Matrix MatrixQType; - MatrixType m1; - createRandomPIMatrixOfRank(rank,rows,cols,m1); - FullPivHouseholderQR qr(m1); - VERIFY_IS_EQUAL(rank, qr.rank()); - VERIFY_IS_EQUAL(cols - qr.rank(), qr.dimensionOfKernel()); - VERIFY(!qr.isInjective()); - VERIFY(!qr.isInvertible()); - VERIFY(!qr.isSurjective()); - - MatrixType r = qr.matrixQR(); - - MatrixQType q = qr.matrixQ(); - VERIFY_IS_UNITARY(q); - - // FIXME need better way to construct trapezoid - for(int i = 0; i < rows; i++) for(int j = 0; j < cols; j++) if(i>j) r(i,j) = Scalar(0); - - MatrixType c = qr.matrixQ() * r * qr.colsPermutation().inverse(); - - VERIFY_IS_APPROX(m1, c); - - // stress the ReturnByValue mechanism - MatrixType tmp; - VERIFY_IS_APPROX(tmp.noalias() = qr.matrixQ() * r, (qr.matrixQ() * r).eval()); - - MatrixType m2 = MatrixType::Random(cols,cols2); - MatrixType m3 = m1*m2; - m2 = MatrixType::Random(cols,cols2); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - - { - Index size = rows; - do { - m1 = MatrixType::Random(size,size); - qr.compute(m1); - } while(!qr.isInvertible()); - MatrixType m1_inv = qr.inverse(); - m3 = m1 * MatrixType::Random(size,cols2); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m2, m1_inv*m3); - } -} - -template void qr_invertible() -{ - using std::log; - using std::abs; - typedef typename NumTraits::Real RealScalar; - typedef typename MatrixType::Scalar Scalar; - - Index max_size = numext::mini(50,EIGEN_TEST_MAX_SIZE); - Index min_size = numext::maxi(1,EIGEN_TEST_MAX_SIZE/10); - Index size = internal::random(min_size,max_size); - - MatrixType m1(size, size), m2(size, size), m3(size, size); - m1 = MatrixType::Random(size,size); - - if (internal::is_same::value) - { - // let's build a matrix more stable to inverse - MatrixType a = MatrixType::Random(size,size*2); - m1 += a * a.adjoint(); - } - - FullPivHouseholderQR qr(m1); - VERIFY(qr.isInjective()); - VERIFY(qr.isInvertible()); - VERIFY(qr.isSurjective()); - - m3 = MatrixType::Random(size,size); - m2 = qr.solve(m3); - VERIFY_IS_APPROX(m3, m1*m2); - - // now construct a matrix with prescribed determinant - m1.setZero(); - for(int i = 0; i < size; i++) m1(i,i) = internal::random(); - RealScalar absdet = abs(m1.diagonal().prod()); - m3 = qr.matrixQ(); // get a unitary - m1 = m3 * m1 * m3; - qr.compute(m1); - VERIFY_IS_APPROX(absdet, qr.absDeterminant()); - VERIFY_IS_APPROX(log(absdet), qr.logAbsDeterminant()); -} - -template void qr_verify_assert() -{ - MatrixType tmp; - - FullPivHouseholderQR qr; - VERIFY_RAISES_ASSERT(qr.matrixQR()) - VERIFY_RAISES_ASSERT(qr.solve(tmp)) - VERIFY_RAISES_ASSERT(qr.matrixQ()) - VERIFY_RAISES_ASSERT(qr.dimensionOfKernel()) - VERIFY_RAISES_ASSERT(qr.isInjective()) - VERIFY_RAISES_ASSERT(qr.isSurjective()) - VERIFY_RAISES_ASSERT(qr.isInvertible()) - VERIFY_RAISES_ASSERT(qr.inverse()) - VERIFY_RAISES_ASSERT(qr.absDeterminant()) - VERIFY_RAISES_ASSERT(qr.logAbsDeterminant()) -} - -void test_qr_fullpivoting() -{ - for(int i = 0; i < 1; i++) { - // FIXME : very weird bug here -// CALL_SUBTEST(qr(Matrix2f()) ); - CALL_SUBTEST_1( qr() ); - CALL_SUBTEST_2( qr() ); - CALL_SUBTEST_3( qr() ); - } - - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( qr_invertible() ); - CALL_SUBTEST_2( qr_invertible() ); - CALL_SUBTEST_4( qr_invertible() ); - CALL_SUBTEST_3( qr_invertible() ); - } - - CALL_SUBTEST_5(qr_verify_assert()); - CALL_SUBTEST_6(qr_verify_assert()); - CALL_SUBTEST_1(qr_verify_assert()); - CALL_SUBTEST_2(qr_verify_assert()); - CALL_SUBTEST_4(qr_verify_assert()); - CALL_SUBTEST_3(qr_verify_assert()); - - // Test problem size constructors - CALL_SUBTEST_7(FullPivHouseholderQR(10, 20)); - CALL_SUBTEST_7((FullPivHouseholderQR >(10,20))); - CALL_SUBTEST_7((FullPivHouseholderQR >(Matrix::Random()))); - CALL_SUBTEST_7((FullPivHouseholderQR >(20,10))); - CALL_SUBTEST_7((FullPivHouseholderQR >(Matrix::Random()))); -} diff --git a/testbed/nanogui/ext/eigen/test/qtvector.cpp b/testbed/nanogui/ext/eigen/test/qtvector.cpp deleted file mode 100644 index 2be885e4..00000000 --- a/testbed/nanogui/ext/eigen/test/qtvector.cpp +++ /dev/null @@ -1,158 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_WORK_AROUND_QT_BUG_CALLING_WRONG_OPERATOR_NEW_FIXED_IN_QT_4_5 - -#include "main.h" -#include -#include -#include - -template -void check_qtvector_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - - Index rows = m.rows(); - Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - QVector v(10, MatrixType(rows,cols)), w(20, y); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], y); - } - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.fill(y,22); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((size_t)&(v[22]) == (size_t)&(v[21]) + sizeof(MatrixType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - MatrixType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(int i=23; i -void check_qtvector_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - QVector v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.fill(y,22); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((size_t)&(v[22]) == (size_t)&(v[21]) + sizeof(TransformType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - TransformType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; int(i) -void check_qtvector_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - QVector v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.fill(y,22); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((size_t)&(v[22]) == (size_t)&(v[21]) + sizeof(QuaternionType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - QuaternionType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; int(i) -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -typedef long long int64; - -template Scalar check_in_range(Scalar x, Scalar y) -{ - Scalar r = internal::random(x,y); - VERIFY(r>=x); - if(y>=x) - { - VERIFY(r<=y); - } - return r; -} - -template void check_all_in_range(Scalar x, Scalar y) -{ - Array mask(y-x+1); - mask.fill(0); - long n = (y-x+1)*32; - for(long k=0; k0).all() ); -} - -template void check_histogram(Scalar x, Scalar y, int bins) -{ - Array hist(bins); - hist.fill(0); - int f = 100000; - int n = bins*f; - int64 range = int64(y)-int64(x); - int divisor = int((range+1)/bins); - assert(((range+1)%bins)==0); - for(int k=0; k()/double(f))-1.0).abs()<0.02).all() ); -} - -void test_rand() -{ - long long_ref = NumTraits::highest()/10; - signed char char_offset = (std::min)(g_repeat,64); - signed char short_offset = (std::min)(g_repeat,16000); - - for(int i = 0; i < g_repeat*10000; i++) { - CALL_SUBTEST(check_in_range(10,11)); - CALL_SUBTEST(check_in_range(1.24234523,1.24234523)); - CALL_SUBTEST(check_in_range(-1,1)); - CALL_SUBTEST(check_in_range(-1432.2352,-1432.2352)); - - CALL_SUBTEST(check_in_range(10,11)); - CALL_SUBTEST(check_in_range(1.24234523,1.24234523)); - CALL_SUBTEST(check_in_range(-1,1)); - CALL_SUBTEST(check_in_range(-1432.2352,-1432.2352)); - - CALL_SUBTEST(check_in_range(0,-1)); - CALL_SUBTEST(check_in_range(0,-1)); - CALL_SUBTEST(check_in_range(0,-1)); - CALL_SUBTEST(check_in_range(-673456,673456)); - CALL_SUBTEST(check_in_range(-RAND_MAX+10,RAND_MAX-10)); - CALL_SUBTEST(check_in_range(-24345,24345)); - CALL_SUBTEST(check_in_range(-long_ref,long_ref)); - } - - CALL_SUBTEST(check_all_in_range(11,11)); - CALL_SUBTEST(check_all_in_range(11,11+char_offset)); - CALL_SUBTEST(check_all_in_range(-5,5)); - CALL_SUBTEST(check_all_in_range(-11-char_offset,-11)); - CALL_SUBTEST(check_all_in_range(-126,-126+char_offset)); - CALL_SUBTEST(check_all_in_range(126-char_offset,126)); - CALL_SUBTEST(check_all_in_range(-126,126)); - - CALL_SUBTEST(check_all_in_range(11,11)); - CALL_SUBTEST(check_all_in_range(11,11+short_offset)); - CALL_SUBTEST(check_all_in_range(-5,5)); - CALL_SUBTEST(check_all_in_range(-11-short_offset,-11)); - CALL_SUBTEST(check_all_in_range(-24345,-24345+short_offset)); - CALL_SUBTEST(check_all_in_range(24345,24345+short_offset)); - - CALL_SUBTEST(check_all_in_range(11,11)); - CALL_SUBTEST(check_all_in_range(11,11+g_repeat)); - CALL_SUBTEST(check_all_in_range(-5,5)); - CALL_SUBTEST(check_all_in_range(-11-g_repeat,-11)); - CALL_SUBTEST(check_all_in_range(-673456,-673456+g_repeat)); - CALL_SUBTEST(check_all_in_range(673456,673456+g_repeat)); - - CALL_SUBTEST(check_all_in_range(11,11)); - CALL_SUBTEST(check_all_in_range(11,11+g_repeat)); - CALL_SUBTEST(check_all_in_range(-5,5)); - CALL_SUBTEST(check_all_in_range(-11-g_repeat,-11)); - CALL_SUBTEST(check_all_in_range(-long_ref,-long_ref+g_repeat)); - CALL_SUBTEST(check_all_in_range( long_ref, long_ref+g_repeat)); - - CALL_SUBTEST(check_histogram(-5,5,11)); - int bins = 100; - CALL_SUBTEST(check_histogram(-3333,-3333+bins*(3333/bins)-1,bins)); - bins = 1000; - CALL_SUBTEST(check_histogram(-RAND_MAX+10,-RAND_MAX+10+bins*(RAND_MAX/bins)-1,bins)); - CALL_SUBTEST(check_histogram(-RAND_MAX+10,-int64(RAND_MAX)+10+bins*(2*int64(RAND_MAX)/bins)-1,bins)); -} diff --git a/testbed/nanogui/ext/eigen/test/real_qz.cpp b/testbed/nanogui/ext/eigen/test/real_qz.cpp deleted file mode 100644 index 99ac3123..00000000 --- a/testbed/nanogui/ext/eigen/test/real_qz.cpp +++ /dev/null @@ -1,95 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Alexey Korepanov -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_RUNTIME_NO_MALLOC -#include "main.h" -#include -#include - -template void real_qz(const MatrixType& m) -{ - /* this test covers the following files: - RealQZ.h - */ - using std::abs; - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index dim = m.cols(); - - MatrixType A = MatrixType::Random(dim,dim), - B = MatrixType::Random(dim,dim); - - - // Regression test for bug 985: Randomly set rows or columns to zero - Index k=internal::random(0, dim-1); - switch(internal::random(0,10)) { - case 0: - A.row(k).setZero(); break; - case 1: - A.col(k).setZero(); break; - case 2: - B.row(k).setZero(); break; - case 3: - B.col(k).setZero(); break; - default: - break; - } - - RealQZ qz(dim); - // TODO enable full-prealocation of required memory, this probably requires an in-place mode for HessenbergDecomposition - //Eigen::internal::set_is_malloc_allowed(false); - qz.compute(A,B); - //Eigen::internal::set_is_malloc_allowed(true); - - VERIFY_IS_EQUAL(qz.info(), Success); - // check for zeros - bool all_zeros = true; - for (Index i=0; i void matrixRedux(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols); - - // The entries of m1 are uniformly distributed in [0,1], so m1.prod() is very small. This may lead to test - // failures if we underflow into denormals. Thus, we scale so that entries are close to 1. - MatrixType m1_for_prod = MatrixType::Ones(rows, cols) + RealScalar(0.2) * m1; - - VERIFY_IS_MUCH_SMALLER_THAN(MatrixType::Zero(rows, cols).sum(), Scalar(1)); - VERIFY_IS_APPROX(MatrixType::Ones(rows, cols).sum(), Scalar(float(rows*cols))); // the float() here to shut up excessive MSVC warning about int->complex conversion being lossy - Scalar s(0), p(1), minc(numext::real(m1.coeff(0))), maxc(numext::real(m1.coeff(0))); - for(int j = 0; j < cols; j++) - for(int i = 0; i < rows; i++) - { - s += m1(i,j); - p *= m1_for_prod(i,j); - minc = (std::min)(numext::real(minc), numext::real(m1(i,j))); - maxc = (std::max)(numext::real(maxc), numext::real(m1(i,j))); - } - const Scalar mean = s/Scalar(RealScalar(rows*cols)); - - VERIFY_IS_APPROX(m1.sum(), s); - VERIFY_IS_APPROX(m1.mean(), mean); - VERIFY_IS_APPROX(m1_for_prod.prod(), p); - VERIFY_IS_APPROX(m1.real().minCoeff(), numext::real(minc)); - VERIFY_IS_APPROX(m1.real().maxCoeff(), numext::real(maxc)); - - // test slice vectorization assuming assign is ok - Index r0 = internal::random(0,rows-1); - Index c0 = internal::random(0,cols-1); - Index r1 = internal::random(r0+1,rows)-r0; - Index c1 = internal::random(c0+1,cols)-c0; - VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).sum(), m1.block(r0,c0,r1,c1).eval().sum()); - VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).mean(), m1.block(r0,c0,r1,c1).eval().mean()); - VERIFY_IS_APPROX(m1_for_prod.block(r0,c0,r1,c1).prod(), m1_for_prod.block(r0,c0,r1,c1).eval().prod()); - VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).real().minCoeff(), m1.block(r0,c0,r1,c1).real().eval().minCoeff()); - VERIFY_IS_APPROX(m1.block(r0,c0,r1,c1).real().maxCoeff(), m1.block(r0,c0,r1,c1).real().eval().maxCoeff()); - - // regression for bug 1090 - const int R1 = MatrixType::RowsAtCompileTime>=2 ? MatrixType::RowsAtCompileTime/2 : 6; - const int C1 = MatrixType::ColsAtCompileTime>=2 ? MatrixType::ColsAtCompileTime/2 : 6; - if(R1<=rows-r0 && C1<=cols-c0) - { - VERIFY_IS_APPROX( (m1.template block(r0,c0).sum()), m1.block(r0,c0,R1,C1).sum() ); - } - - // test empty objects - VERIFY_IS_APPROX(m1.block(r0,c0,0,0).sum(), Scalar(0)); - VERIFY_IS_APPROX(m1.block(r0,c0,0,0).prod(), Scalar(1)); - - // test nesting complex expression - VERIFY_EVALUATION_COUNT( (m1.matrix()*m1.matrix().transpose()).sum(), (MatrixType::IsVectorAtCompileTime && MatrixType::SizeAtCompileTime!=1 ? 0 : 1) ); - Matrix m2(rows,rows); - m2.setRandom(); - VERIFY_EVALUATION_COUNT( ((m1.matrix()*m1.matrix().transpose())+m2).sum(),(MatrixType::IsVectorAtCompileTime && MatrixType::SizeAtCompileTime!=1 ? 0 : 1)); -} - -template void vectorRedux(const VectorType& w) -{ - using std::abs; - typedef typename VectorType::Index Index; - typedef typename VectorType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - Index size = w.size(); - - VectorType v = VectorType::Random(size); - VectorType v_for_prod = VectorType::Ones(size) + Scalar(0.2) * v; // see comment above declaration of m1_for_prod - - for(int i = 1; i < size; i++) - { - Scalar s(0), p(1); - RealScalar minc(numext::real(v.coeff(0))), maxc(numext::real(v.coeff(0))); - for(int j = 0; j < i; j++) - { - s += v[j]; - p *= v_for_prod[j]; - minc = (std::min)(minc, numext::real(v[j])); - maxc = (std::max)(maxc, numext::real(v[j])); - } - VERIFY_IS_MUCH_SMALLER_THAN(abs(s - v.head(i).sum()), Scalar(1)); - VERIFY_IS_APPROX(p, v_for_prod.head(i).prod()); - VERIFY_IS_APPROX(minc, v.real().head(i).minCoeff()); - VERIFY_IS_APPROX(maxc, v.real().head(i).maxCoeff()); - } - - for(int i = 0; i < size-1; i++) - { - Scalar s(0), p(1); - RealScalar minc(numext::real(v.coeff(i))), maxc(numext::real(v.coeff(i))); - for(int j = i; j < size; j++) - { - s += v[j]; - p *= v_for_prod[j]; - minc = (std::min)(minc, numext::real(v[j])); - maxc = (std::max)(maxc, numext::real(v[j])); - } - VERIFY_IS_MUCH_SMALLER_THAN(abs(s - v.tail(size-i).sum()), Scalar(1)); - VERIFY_IS_APPROX(p, v_for_prod.tail(size-i).prod()); - VERIFY_IS_APPROX(minc, v.real().tail(size-i).minCoeff()); - VERIFY_IS_APPROX(maxc, v.real().tail(size-i).maxCoeff()); - } - - for(int i = 0; i < size/2; i++) - { - Scalar s(0), p(1); - RealScalar minc(numext::real(v.coeff(i))), maxc(numext::real(v.coeff(i))); - for(int j = i; j < size-i; j++) - { - s += v[j]; - p *= v_for_prod[j]; - minc = (std::min)(minc, numext::real(v[j])); - maxc = (std::max)(maxc, numext::real(v[j])); - } - VERIFY_IS_MUCH_SMALLER_THAN(abs(s - v.segment(i, size-2*i).sum()), Scalar(1)); - VERIFY_IS_APPROX(p, v_for_prod.segment(i, size-2*i).prod()); - VERIFY_IS_APPROX(minc, v.real().segment(i, size-2*i).minCoeff()); - VERIFY_IS_APPROX(maxc, v.real().segment(i, size-2*i).maxCoeff()); - } - - // test empty objects - VERIFY_IS_APPROX(v.head(0).sum(), Scalar(0)); - VERIFY_IS_APPROX(v.tail(0).prod(), Scalar(1)); - VERIFY_RAISES_ASSERT(v.head(0).mean()); - VERIFY_RAISES_ASSERT(v.head(0).minCoeff()); - VERIFY_RAISES_ASSERT(v.head(0).maxCoeff()); -} - -void test_redux() -{ - // the max size cannot be too large, otherwise reduxion operations obviously generate large errors. - int maxsize = (std::min)(100,EIGEN_TEST_MAX_SIZE); - TEST_SET_BUT_UNUSED_VARIABLE(maxsize); - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( matrixRedux(Matrix()) ); - CALL_SUBTEST_1( matrixRedux(Array()) ); - CALL_SUBTEST_2( matrixRedux(Matrix2f()) ); - CALL_SUBTEST_2( matrixRedux(Array2f()) ); - CALL_SUBTEST_2( matrixRedux(Array22f()) ); - CALL_SUBTEST_3( matrixRedux(Matrix4d()) ); - CALL_SUBTEST_3( matrixRedux(Array4d()) ); - CALL_SUBTEST_3( matrixRedux(Array44d()) ); - CALL_SUBTEST_4( matrixRedux(MatrixXcf(internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_4( matrixRedux(ArrayXXcf(internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_5( matrixRedux(MatrixXd (internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_5( matrixRedux(ArrayXXd (internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_6( matrixRedux(MatrixXi (internal::random(1,maxsize), internal::random(1,maxsize))) ); - CALL_SUBTEST_6( matrixRedux(ArrayXXi (internal::random(1,maxsize), internal::random(1,maxsize))) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_7( vectorRedux(Vector4f()) ); - CALL_SUBTEST_7( vectorRedux(Array4f()) ); - CALL_SUBTEST_5( vectorRedux(VectorXd(internal::random(1,maxsize))) ); - CALL_SUBTEST_5( vectorRedux(ArrayXd(internal::random(1,maxsize))) ); - CALL_SUBTEST_8( vectorRedux(VectorXf(internal::random(1,maxsize))) ); - CALL_SUBTEST_8( vectorRedux(ArrayXf(internal::random(1,maxsize))) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/ref.cpp b/testbed/nanogui/ext/eigen/test/ref.cpp deleted file mode 100644 index 769db041..00000000 --- a/testbed/nanogui/ext/eigen/test/ref.cpp +++ /dev/null @@ -1,280 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 20013 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// This unit test cannot be easily written to work with EIGEN_DEFAULT_TO_ROW_MAJOR -#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR -#undef EIGEN_DEFAULT_TO_ROW_MAJOR -#endif - -#define TEST_ENABLE_TEMPORARY_TRACKING - -#include "main.h" - -// test Ref.h - -// Deal with i387 extended precision -#if EIGEN_ARCH_i386 && !(EIGEN_ARCH_x86_64) - -#if EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_LEAST(4,4) -#pragma GCC optimize ("-ffloat-store") -#else -#undef VERIFY_IS_EQUAL -#define VERIFY_IS_EQUAL(X,Y) VERIFY_IS_APPROX(X,Y) -#endif - -#endif - -template void ref_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix DynMatrixType; - typedef Matrix RealDynMatrixType; - - typedef Ref RefMat; - typedef Ref RefDynMat; - typedef Ref ConstRefDynMat; - typedef Ref > RefRealMatWithStride; - - Index rows = m.rows(), cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = m1; - - Index i = internal::random(0,rows-1); - Index j = internal::random(0,cols-1); - Index brows = internal::random(1,rows-i); - Index bcols = internal::random(1,cols-j); - - RefMat rm0 = m1; - VERIFY_IS_EQUAL(rm0, m1); - RefDynMat rm1 = m1; - VERIFY_IS_EQUAL(rm1, m1); - RefDynMat rm2 = m1.block(i,j,brows,bcols); - VERIFY_IS_EQUAL(rm2, m1.block(i,j,brows,bcols)); - rm2.setOnes(); - m2.block(i,j,brows,bcols).setOnes(); - VERIFY_IS_EQUAL(m1, m2); - - m2.block(i,j,brows,bcols).setRandom(); - rm2 = m2.block(i,j,brows,bcols); - VERIFY_IS_EQUAL(m1, m2); - - ConstRefDynMat rm3 = m1.block(i,j,brows,bcols); - m1.block(i,j,brows,bcols) *= 2; - m2.block(i,j,brows,bcols) *= 2; - VERIFY_IS_EQUAL(rm3, m2.block(i,j,brows,bcols)); - RefRealMatWithStride rm4 = m1.real(); - VERIFY_IS_EQUAL(rm4, m2.real()); - rm4.array() += 1; - m2.real().array() += 1; - VERIFY_IS_EQUAL(m1, m2); -} - -template void ref_vector(const VectorType& m) -{ - typedef typename VectorType::Index Index; - typedef typename VectorType::Scalar Scalar; - typedef typename VectorType::RealScalar RealScalar; - typedef Matrix DynMatrixType; - typedef Matrix MatrixType; - typedef Matrix RealDynMatrixType; - - typedef Ref RefMat; - typedef Ref RefDynMat; - typedef Ref ConstRefDynMat; - typedef Ref > RefRealMatWithStride; - typedef Ref > RefMatWithStride; - - Index size = m.size(); - - VectorType v1 = VectorType::Random(size), - v2 = v1; - MatrixType mat1 = MatrixType::Random(size,size), - mat2 = mat1, - mat3 = MatrixType::Random(size,size); - - Index i = internal::random(0,size-1); - Index bsize = internal::random(1,size-i); - - RefMat rm0 = v1; - VERIFY_IS_EQUAL(rm0, v1); - RefDynMat rv1 = v1; - VERIFY_IS_EQUAL(rv1, v1); - RefDynMat rv2 = v1.segment(i,bsize); - VERIFY_IS_EQUAL(rv2, v1.segment(i,bsize)); - rv2.setOnes(); - v2.segment(i,bsize).setOnes(); - VERIFY_IS_EQUAL(v1, v2); - - v2.segment(i,bsize).setRandom(); - rv2 = v2.segment(i,bsize); - VERIFY_IS_EQUAL(v1, v2); - - ConstRefDynMat rm3 = v1.segment(i,bsize); - v1.segment(i,bsize) *= 2; - v2.segment(i,bsize) *= 2; - VERIFY_IS_EQUAL(rm3, v2.segment(i,bsize)); - - RefRealMatWithStride rm4 = v1.real(); - VERIFY_IS_EQUAL(rm4, v2.real()); - rm4.array() += 1; - v2.real().array() += 1; - VERIFY_IS_EQUAL(v1, v2); - - RefMatWithStride rm5 = mat1.row(i).transpose(); - VERIFY_IS_EQUAL(rm5, mat1.row(i).transpose()); - rm5.array() += 1; - mat2.row(i).array() += 1; - VERIFY_IS_EQUAL(mat1, mat2); - rm5.noalias() = rm4.transpose() * mat3; - mat2.row(i) = v2.real().transpose() * mat3; - VERIFY_IS_APPROX(mat1, mat2); -} - -template void check_const_correctness(const PlainObjectType&) -{ - // verify that ref-to-const don't have LvalueBit - typedef typename internal::add_const::type ConstPlainObjectType; - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(Ref::Flags & LvalueBit) ); - VERIFY( !(Ref::Flags & LvalueBit) ); -} - -template -EIGEN_DONT_INLINE void call_ref_1(Ref a, const B &b) { VERIFY_IS_EQUAL(a,b); } -template -EIGEN_DONT_INLINE void call_ref_2(const Ref& a, const B &b) { VERIFY_IS_EQUAL(a,b); } -template -EIGEN_DONT_INLINE void call_ref_3(Ref > a, const B &b) { VERIFY_IS_EQUAL(a,b); } -template -EIGEN_DONT_INLINE void call_ref_4(const Ref >& a, const B &b) { VERIFY_IS_EQUAL(a,b); } -template -EIGEN_DONT_INLINE void call_ref_5(Ref > a, const B &b) { VERIFY_IS_EQUAL(a,b); } -template -EIGEN_DONT_INLINE void call_ref_6(const Ref >& a, const B &b) { VERIFY_IS_EQUAL(a,b); } -template -EIGEN_DONT_INLINE void call_ref_7(Ref > a, const B &b) { VERIFY_IS_EQUAL(a,b); } - -void call_ref() -{ - VectorXcf ca = VectorXcf::Random(10); - VectorXf a = VectorXf::Random(10); - RowVectorXf b = RowVectorXf::Random(10); - MatrixXf A = MatrixXf::Random(10,10); - RowVector3f c = RowVector3f::Random(); - const VectorXf& ac(a); - VectorBlock ab(a,0,3); - const VectorBlock abc(a,0,3); - - - VERIFY_EVALUATION_COUNT( call_ref_1(a,a), 0); - VERIFY_EVALUATION_COUNT( call_ref_1(b,b.transpose()), 0); -// call_ref_1(ac,a RowMatrixXd; -int test_ref_overload_fun1(Ref ) { return 1; } -int test_ref_overload_fun1(Ref ) { return 2; } -int test_ref_overload_fun1(Ref ) { return 3; } - -int test_ref_overload_fun2(Ref ) { return 4; } -int test_ref_overload_fun2(Ref ) { return 5; } - -void test_ref_ambiguous(const Ref &A, Ref B) -{ - B = A; - B = A - A; -} - -// See also bug 969 -void test_ref_overloads() -{ - MatrixXd Ad, Bd; - RowMatrixXd rAd, rBd; - VERIFY( test_ref_overload_fun1(Ad)==1 ); - VERIFY( test_ref_overload_fun1(rAd)==2 ); - - MatrixXf Af, Bf; - VERIFY( test_ref_overload_fun2(Ad)==4 ); - VERIFY( test_ref_overload_fun2(Ad+Bd)==4 ); - VERIFY( test_ref_overload_fun2(Af+Bf)==5 ); - - ArrayXd A, B; - test_ref_ambiguous(A, B); -} - -void test_ref() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( ref_vector(Matrix()) ); - CALL_SUBTEST_1( check_const_correctness(Matrix()) ); - CALL_SUBTEST_2( ref_vector(Vector4d()) ); - CALL_SUBTEST_2( check_const_correctness(Matrix4d()) ); - CALL_SUBTEST_3( ref_vector(Vector4cf()) ); - CALL_SUBTEST_4( ref_vector(VectorXcf(8)) ); - CALL_SUBTEST_5( ref_vector(VectorXi(12)) ); - CALL_SUBTEST_5( check_const_correctness(VectorXi(12)) ); - - CALL_SUBTEST_1( ref_matrix(Matrix()) ); - CALL_SUBTEST_2( ref_matrix(Matrix4d()) ); - CALL_SUBTEST_1( ref_matrix(Matrix()) ); - CALL_SUBTEST_4( ref_matrix(MatrixXcf(internal::random(1,10),internal::random(1,10))) ); - CALL_SUBTEST_4( ref_matrix(Matrix,10,15>()) ); - CALL_SUBTEST_5( ref_matrix(MatrixXi(internal::random(1,10),internal::random(1,10))) ); - CALL_SUBTEST_6( call_ref() ); - } - - CALL_SUBTEST_7( test_ref_overloads() ); -} diff --git a/testbed/nanogui/ext/eigen/test/resize.cpp b/testbed/nanogui/ext/eigen/test/resize.cpp deleted file mode 100644 index 4adaafe5..00000000 --- a/testbed/nanogui/ext/eigen/test/resize.cpp +++ /dev/null @@ -1,41 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Keir Mierle -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template -void resizeLikeTest() -{ - MatrixXf A(rows, cols); - MatrixXf B; - Matrix C; - B.resizeLike(A); - C.resizeLike(B); // Shouldn't crash. - VERIFY(B.rows() == rows && B.cols() == cols); - - VectorXf x(rows); - RowVectorXf y; - y.resizeLike(x); - VERIFY(y.rows() == 1 && y.cols() == rows); - - y.resize(cols); - x.resizeLike(y); - VERIFY(x.rows() == cols && x.cols() == 1); -} - -void resizeLikeTest12() { resizeLikeTest<1,2>(); } -void resizeLikeTest1020() { resizeLikeTest<10,20>(); } -void resizeLikeTest31() { resizeLikeTest<3,1>(); } - -void test_resize() -{ - CALL_SUBTEST(resizeLikeTest12() ); - CALL_SUBTEST(resizeLikeTest1020() ); - CALL_SUBTEST(resizeLikeTest31() ); -} diff --git a/testbed/nanogui/ext/eigen/test/rvalue_types.cpp b/testbed/nanogui/ext/eigen/test/rvalue_types.cpp deleted file mode 100644 index 8887f1b1..00000000 --- a/testbed/nanogui/ext/eigen/test/rvalue_types.cpp +++ /dev/null @@ -1,64 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2013 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include - -using internal::UIntPtr; - -#if EIGEN_HAS_RVALUE_REFERENCES -template -void rvalue_copyassign(const MatrixType& m) -{ - - typedef typename internal::traits::Scalar Scalar; - - // create a temporary which we are about to destroy by moving - MatrixType tmp = m; - UIntPtr src_address = reinterpret_cast(tmp.data()); - - // move the temporary to n - MatrixType n = std::move(tmp); - UIntPtr dst_address = reinterpret_cast(n.data()); - - if (MatrixType::RowsAtCompileTime==Dynamic|| MatrixType::ColsAtCompileTime==Dynamic) - { - // verify that we actually moved the guts - VERIFY_IS_EQUAL(src_address, dst_address); - } - - // verify that the content did not change - Scalar abs_diff = (m-n).array().abs().sum(); - VERIFY_IS_EQUAL(abs_diff, Scalar(0)); -} -#else -template -void rvalue_copyassign(const MatrixType&) {} -#endif - -void test_rvalue_types() -{ - CALL_SUBTEST_1(rvalue_copyassign( MatrixXf::Random(50,50).eval() )); - CALL_SUBTEST_1(rvalue_copyassign( ArrayXXf::Random(50,50).eval() )); - - CALL_SUBTEST_1(rvalue_copyassign( Matrix::Random(50).eval() )); - CALL_SUBTEST_1(rvalue_copyassign( Array::Random(50).eval() )); - - CALL_SUBTEST_1(rvalue_copyassign( Matrix::Random(50).eval() )); - CALL_SUBTEST_1(rvalue_copyassign( Array::Random(50).eval() )); - - CALL_SUBTEST_2(rvalue_copyassign( Array::Random().eval() )); - CALL_SUBTEST_2(rvalue_copyassign( Array::Random().eval() )); - CALL_SUBTEST_2(rvalue_copyassign( Array::Random().eval() )); - - CALL_SUBTEST_2(rvalue_copyassign( Array::Random().eval() )); - CALL_SUBTEST_2(rvalue_copyassign( Array::Random().eval() )); - CALL_SUBTEST_2(rvalue_copyassign( Array::Random().eval() )); -} diff --git a/testbed/nanogui/ext/eigen/test/schur_complex.cpp b/testbed/nanogui/ext/eigen/test/schur_complex.cpp deleted file mode 100644 index deb78e44..00000000 --- a/testbed/nanogui/ext/eigen/test/schur_complex.cpp +++ /dev/null @@ -1,91 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010,2012 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template void schur(int size = MatrixType::ColsAtCompileTime) -{ - typedef typename ComplexSchur::ComplexScalar ComplexScalar; - typedef typename ComplexSchur::ComplexMatrixType ComplexMatrixType; - - // Test basic functionality: T is triangular and A = U T U* - for(int counter = 0; counter < g_repeat; ++counter) { - MatrixType A = MatrixType::Random(size, size); - ComplexSchur schurOfA(A); - VERIFY_IS_EQUAL(schurOfA.info(), Success); - ComplexMatrixType U = schurOfA.matrixU(); - ComplexMatrixType T = schurOfA.matrixT(); - for(int row = 1; row < size; ++row) { - for(int col = 0; col < row; ++col) { - VERIFY(T(row,col) == (typename MatrixType::Scalar)0); - } - } - VERIFY_IS_APPROX(A.template cast(), U * T * U.adjoint()); - } - - // Test asserts when not initialized - ComplexSchur csUninitialized; - VERIFY_RAISES_ASSERT(csUninitialized.matrixT()); - VERIFY_RAISES_ASSERT(csUninitialized.matrixU()); - VERIFY_RAISES_ASSERT(csUninitialized.info()); - - // Test whether compute() and constructor returns same result - MatrixType A = MatrixType::Random(size, size); - ComplexSchur cs1; - cs1.compute(A); - ComplexSchur cs2(A); - VERIFY_IS_EQUAL(cs1.info(), Success); - VERIFY_IS_EQUAL(cs2.info(), Success); - VERIFY_IS_EQUAL(cs1.matrixT(), cs2.matrixT()); - VERIFY_IS_EQUAL(cs1.matrixU(), cs2.matrixU()); - - // Test maximum number of iterations - ComplexSchur cs3; - cs3.setMaxIterations(ComplexSchur::m_maxIterationsPerRow * size).compute(A); - VERIFY_IS_EQUAL(cs3.info(), Success); - VERIFY_IS_EQUAL(cs3.matrixT(), cs1.matrixT()); - VERIFY_IS_EQUAL(cs3.matrixU(), cs1.matrixU()); - cs3.setMaxIterations(1).compute(A); - VERIFY_IS_EQUAL(cs3.info(), size > 1 ? NoConvergence : Success); - VERIFY_IS_EQUAL(cs3.getMaxIterations(), 1); - - MatrixType Atriangular = A; - Atriangular.template triangularView().setZero(); - cs3.setMaxIterations(1).compute(Atriangular); // triangular matrices do not need any iterations - VERIFY_IS_EQUAL(cs3.info(), Success); - VERIFY_IS_EQUAL(cs3.matrixT(), Atriangular.template cast()); - VERIFY_IS_EQUAL(cs3.matrixU(), ComplexMatrixType::Identity(size, size)); - - // Test computation of only T, not U - ComplexSchur csOnlyT(A, false); - VERIFY_IS_EQUAL(csOnlyT.info(), Success); - VERIFY_IS_EQUAL(cs1.matrixT(), csOnlyT.matrixT()); - VERIFY_RAISES_ASSERT(csOnlyT.matrixU()); - - if (size > 1 && size < 20) - { - // Test matrix with NaN - A(0,0) = std::numeric_limits::quiet_NaN(); - ComplexSchur csNaN(A); - VERIFY_IS_EQUAL(csNaN.info(), NoConvergence); - } -} - -void test_schur_complex() -{ - CALL_SUBTEST_1(( schur() )); - CALL_SUBTEST_2(( schur(internal::random(1,EIGEN_TEST_MAX_SIZE/4)) )); - CALL_SUBTEST_3(( schur, 1, 1> >() )); - CALL_SUBTEST_4(( schur >() )); - - // Test problem size constructors - CALL_SUBTEST_5(ComplexSchur(10)); -} diff --git a/testbed/nanogui/ext/eigen/test/schur_real.cpp b/testbed/nanogui/ext/eigen/test/schur_real.cpp deleted file mode 100644 index 4aede87d..00000000 --- a/testbed/nanogui/ext/eigen/test/schur_real.cpp +++ /dev/null @@ -1,112 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010,2012 Jitse Niesen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template void verifyIsQuasiTriangular(const MatrixType& T) -{ - typedef typename MatrixType::Index Index; - - const Index size = T.cols(); - typedef typename MatrixType::Scalar Scalar; - - // Check T is lower Hessenberg - for(int row = 2; row < size; ++row) { - for(int col = 0; col < row - 1; ++col) { - VERIFY(T(row,col) == Scalar(0)); - } - } - - // Check that any non-zero on the subdiagonal is followed by a zero and is - // part of a 2x2 diagonal block with imaginary eigenvalues. - for(int row = 1; row < size; ++row) { - if (T(row,row-1) != Scalar(0)) { - VERIFY(row == size-1 || T(row+1,row) == 0); - Scalar tr = T(row-1,row-1) + T(row,row); - Scalar det = T(row-1,row-1) * T(row,row) - T(row-1,row) * T(row,row-1); - VERIFY(4 * det > tr * tr); - } - } -} - -template void schur(int size = MatrixType::ColsAtCompileTime) -{ - // Test basic functionality: T is quasi-triangular and A = U T U* - for(int counter = 0; counter < g_repeat; ++counter) { - MatrixType A = MatrixType::Random(size, size); - RealSchur schurOfA(A); - VERIFY_IS_EQUAL(schurOfA.info(), Success); - MatrixType U = schurOfA.matrixU(); - MatrixType T = schurOfA.matrixT(); - verifyIsQuasiTriangular(T); - VERIFY_IS_APPROX(A, U * T * U.transpose()); - } - - // Test asserts when not initialized - RealSchur rsUninitialized; - VERIFY_RAISES_ASSERT(rsUninitialized.matrixT()); - VERIFY_RAISES_ASSERT(rsUninitialized.matrixU()); - VERIFY_RAISES_ASSERT(rsUninitialized.info()); - - // Test whether compute() and constructor returns same result - MatrixType A = MatrixType::Random(size, size); - RealSchur rs1; - rs1.compute(A); - RealSchur rs2(A); - VERIFY_IS_EQUAL(rs1.info(), Success); - VERIFY_IS_EQUAL(rs2.info(), Success); - VERIFY_IS_EQUAL(rs1.matrixT(), rs2.matrixT()); - VERIFY_IS_EQUAL(rs1.matrixU(), rs2.matrixU()); - - // Test maximum number of iterations - RealSchur rs3; - rs3.setMaxIterations(RealSchur::m_maxIterationsPerRow * size).compute(A); - VERIFY_IS_EQUAL(rs3.info(), Success); - VERIFY_IS_EQUAL(rs3.matrixT(), rs1.matrixT()); - VERIFY_IS_EQUAL(rs3.matrixU(), rs1.matrixU()); - if (size > 2) { - rs3.setMaxIterations(1).compute(A); - VERIFY_IS_EQUAL(rs3.info(), NoConvergence); - VERIFY_IS_EQUAL(rs3.getMaxIterations(), 1); - } - - MatrixType Atriangular = A; - Atriangular.template triangularView().setZero(); - rs3.setMaxIterations(1).compute(Atriangular); // triangular matrices do not need any iterations - VERIFY_IS_EQUAL(rs3.info(), Success); - VERIFY_IS_APPROX(rs3.matrixT(), Atriangular); // approx because of scaling... - VERIFY_IS_EQUAL(rs3.matrixU(), MatrixType::Identity(size, size)); - - // Test computation of only T, not U - RealSchur rsOnlyT(A, false); - VERIFY_IS_EQUAL(rsOnlyT.info(), Success); - VERIFY_IS_EQUAL(rs1.matrixT(), rsOnlyT.matrixT()); - VERIFY_RAISES_ASSERT(rsOnlyT.matrixU()); - - if (size > 2 && size < 20) - { - // Test matrix with NaN - A(0,0) = std::numeric_limits::quiet_NaN(); - RealSchur rsNaN(A); - VERIFY_IS_EQUAL(rsNaN.info(), NoConvergence); - } -} - -void test_schur_real() -{ - CALL_SUBTEST_1(( schur() )); - CALL_SUBTEST_2(( schur(internal::random(1,EIGEN_TEST_MAX_SIZE/4)) )); - CALL_SUBTEST_3(( schur >() )); - CALL_SUBTEST_4(( schur >() )); - - // Test problem size constructors - CALL_SUBTEST_5(RealSchur(10)); -} diff --git a/testbed/nanogui/ext/eigen/test/selfadjoint.cpp b/testbed/nanogui/ext/eigen/test/selfadjoint.cpp deleted file mode 100644 index 92401e50..00000000 --- a/testbed/nanogui/ext/eigen/test/selfadjoint.cpp +++ /dev/null @@ -1,72 +0,0 @@ -// This file is triangularView of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -// This file tests the basic selfadjointView API, -// the related products and decompositions are tested in specific files. - -template void selfadjoint(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - m4(rows, cols); - - m1.diagonal() = m1.diagonal().real().template cast(); - - // check selfadjoint to dense - m3 = m1.template selfadjointView(); - VERIFY_IS_APPROX(MatrixType(m3.template triangularView()), MatrixType(m1.template triangularView())); - VERIFY_IS_APPROX(m3, m3.adjoint()); - - m3 = m1.template selfadjointView(); - VERIFY_IS_APPROX(MatrixType(m3.template triangularView()), MatrixType(m1.template triangularView())); - VERIFY_IS_APPROX(m3, m3.adjoint()); - - m3 = m1.template selfadjointView(); - m4 = m2; - m4 += m1.template selfadjointView(); - VERIFY_IS_APPROX(m4, m2+m3); - - m3 = m1.template selfadjointView(); - m4 = m2; - m4 -= m1.template selfadjointView(); - VERIFY_IS_APPROX(m4, m2-m3); -} - -void bug_159() -{ - Matrix3d m = Matrix3d::Random().selfadjointView(); - EIGEN_UNUSED_VARIABLE(m) -} - -void test_selfadjoint() -{ - for(int i = 0; i < g_repeat ; i++) - { - int s = internal::random(1,EIGEN_TEST_MAX_SIZE); - - CALL_SUBTEST_1( selfadjoint(Matrix()) ); - CALL_SUBTEST_2( selfadjoint(Matrix()) ); - CALL_SUBTEST_3( selfadjoint(Matrix3cf()) ); - CALL_SUBTEST_4( selfadjoint(MatrixXcd(s,s)) ); - CALL_SUBTEST_5( selfadjoint(Matrix(s, s)) ); - - TEST_SET_BUT_UNUSED_VARIABLE(s) - } - - CALL_SUBTEST_1( bug_159() ); -} diff --git a/testbed/nanogui/ext/eigen/test/simplicial_cholesky.cpp b/testbed/nanogui/ext/eigen/test/simplicial_cholesky.cpp deleted file mode 100644 index 649c817b..00000000 --- a/testbed/nanogui/ext/eigen/test/simplicial_cholesky.cpp +++ /dev/null @@ -1,47 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse_solver.h" - -template void test_simplicial_cholesky_T() -{ - typedef SparseMatrix SparseMatrixType; - SimplicialCholesky chol_colmajor_lower_amd; - SimplicialCholesky chol_colmajor_upper_amd; - SimplicialLLT< SparseMatrixType, Lower> llt_colmajor_lower_amd; - SimplicialLLT< SparseMatrixType, Upper> llt_colmajor_upper_amd; - SimplicialLDLT< SparseMatrixType, Lower> ldlt_colmajor_lower_amd; - SimplicialLDLT< SparseMatrixType, Upper> ldlt_colmajor_upper_amd; - SimplicialLDLT< SparseMatrixType, Lower, NaturalOrdering > ldlt_colmajor_lower_nat; - SimplicialLDLT< SparseMatrixType, Upper, NaturalOrdering > ldlt_colmajor_upper_nat; - - check_sparse_spd_solving(chol_colmajor_lower_amd); - check_sparse_spd_solving(chol_colmajor_upper_amd); - check_sparse_spd_solving(llt_colmajor_lower_amd); - check_sparse_spd_solving(llt_colmajor_upper_amd); - check_sparse_spd_solving(ldlt_colmajor_lower_amd); - check_sparse_spd_solving(ldlt_colmajor_upper_amd); - - check_sparse_spd_determinant(chol_colmajor_lower_amd); - check_sparse_spd_determinant(chol_colmajor_upper_amd); - check_sparse_spd_determinant(llt_colmajor_lower_amd); - check_sparse_spd_determinant(llt_colmajor_upper_amd); - check_sparse_spd_determinant(ldlt_colmajor_lower_amd); - check_sparse_spd_determinant(ldlt_colmajor_upper_amd); - - check_sparse_spd_solving(ldlt_colmajor_lower_nat, 300, 1000); - check_sparse_spd_solving(ldlt_colmajor_upper_nat, 300, 1000); -} - -void test_simplicial_cholesky() -{ - CALL_SUBTEST_1(( test_simplicial_cholesky_T() )); - CALL_SUBTEST_2(( test_simplicial_cholesky_T, int>() )); - CALL_SUBTEST_3(( test_simplicial_cholesky_T() )); -} diff --git a/testbed/nanogui/ext/eigen/test/sizeof.cpp b/testbed/nanogui/ext/eigen/test/sizeof.cpp deleted file mode 100644 index 03ad2045..00000000 --- a/testbed/nanogui/ext/eigen/test/sizeof.cpp +++ /dev/null @@ -1,47 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void verifySizeOf(const MatrixType&) -{ - typedef typename MatrixType::Scalar Scalar; - if (MatrixType::RowsAtCompileTime!=Dynamic && MatrixType::ColsAtCompileTime!=Dynamic) - VERIFY_IS_EQUAL(std::ptrdiff_t(sizeof(MatrixType)),std::ptrdiff_t(sizeof(Scalar))*std::ptrdiff_t(MatrixType::SizeAtCompileTime)); - else - VERIFY_IS_EQUAL(sizeof(MatrixType),sizeof(Scalar*) + 2 * sizeof(typename MatrixType::Index)); -} - -void test_sizeof() -{ - CALL_SUBTEST(verifySizeOf(Matrix()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Array()) ); - CALL_SUBTEST(verifySizeOf(Vector2d()) ); - CALL_SUBTEST(verifySizeOf(Vector4f()) ); - CALL_SUBTEST(verifySizeOf(Matrix4d()) ); - CALL_SUBTEST(verifySizeOf(Matrix()) ); - CALL_SUBTEST(verifySizeOf(Matrix()) ); - CALL_SUBTEST(verifySizeOf(MatrixXcf(3, 3)) ); - CALL_SUBTEST(verifySizeOf(MatrixXi(8, 12)) ); - CALL_SUBTEST(verifySizeOf(MatrixXcd(20, 20)) ); - CALL_SUBTEST(verifySizeOf(Matrix()) ); - - VERIFY(sizeof(std::complex) == 2*sizeof(float)); - VERIFY(sizeof(std::complex) == 2*sizeof(double)); -} diff --git a/testbed/nanogui/ext/eigen/test/sizeoverflow.cpp b/testbed/nanogui/ext/eigen/test/sizeoverflow.cpp deleted file mode 100644 index 240d2229..00000000 --- a/testbed/nanogui/ext/eigen/test/sizeoverflow.cpp +++ /dev/null @@ -1,64 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#define VERIFY_THROWS_BADALLOC(a) { \ - bool threw = false; \ - try { \ - a; \ - } \ - catch (std::bad_alloc&) { threw = true; } \ - VERIFY(threw && "should have thrown bad_alloc: " #a); \ - } - -template -void triggerMatrixBadAlloc(Index rows, Index cols) -{ - VERIFY_THROWS_BADALLOC( MatrixType m(rows, cols) ); - VERIFY_THROWS_BADALLOC( MatrixType m; m.resize(rows, cols) ); - VERIFY_THROWS_BADALLOC( MatrixType m; m.conservativeResize(rows, cols) ); -} - -template -void triggerVectorBadAlloc(Index size) -{ - VERIFY_THROWS_BADALLOC( VectorType v(size) ); - VERIFY_THROWS_BADALLOC( VectorType v; v.resize(size) ); - VERIFY_THROWS_BADALLOC( VectorType v; v.conservativeResize(size) ); -} - -void test_sizeoverflow() -{ - // there are 2 levels of overflow checking. first in PlainObjectBase.h we check for overflow in rows*cols computations. - // this is tested in tests of the form times_itself_gives_0 * times_itself_gives_0 - // Then in Memory.h we check for overflow in size * sizeof(T) computations. - // this is tested in tests of the form times_4_gives_0 * sizeof(float) - - size_t times_itself_gives_0 = size_t(1) << (8 * sizeof(Index) / 2); - VERIFY(times_itself_gives_0 * times_itself_gives_0 == 0); - - size_t times_4_gives_0 = size_t(1) << (8 * sizeof(Index) - 2); - VERIFY(times_4_gives_0 * 4 == 0); - - size_t times_8_gives_0 = size_t(1) << (8 * sizeof(Index) - 3); - VERIFY(times_8_gives_0 * 8 == 0); - - triggerMatrixBadAlloc(times_itself_gives_0, times_itself_gives_0); - triggerMatrixBadAlloc(times_itself_gives_0 / 4, times_itself_gives_0); - triggerMatrixBadAlloc(times_4_gives_0, 1); - - triggerMatrixBadAlloc(times_itself_gives_0, times_itself_gives_0); - triggerMatrixBadAlloc(times_itself_gives_0 / 8, times_itself_gives_0); - triggerMatrixBadAlloc(times_8_gives_0, 1); - - triggerVectorBadAlloc(times_4_gives_0); - - triggerVectorBadAlloc(times_8_gives_0); -} diff --git a/testbed/nanogui/ext/eigen/test/smallvectors.cpp b/testbed/nanogui/ext/eigen/test/smallvectors.cpp deleted file mode 100644 index 78151139..00000000 --- a/testbed/nanogui/ext/eigen/test/smallvectors.cpp +++ /dev/null @@ -1,67 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2006-2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT -#include "main.h" - -template void smallVectors() -{ - typedef Matrix V2; - typedef Matrix V3; - typedef Matrix V4; - typedef Matrix VX; - Scalar x1 = internal::random(), - x2 = internal::random(), - x3 = internal::random(), - x4 = internal::random(); - V2 v2(x1, x2); - V3 v3(x1, x2, x3); - V4 v4(x1, x2, x3, x4); - VERIFY_IS_APPROX(x1, v2.x()); - VERIFY_IS_APPROX(x1, v3.x()); - VERIFY_IS_APPROX(x1, v4.x()); - VERIFY_IS_APPROX(x2, v2.y()); - VERIFY_IS_APPROX(x2, v3.y()); - VERIFY_IS_APPROX(x2, v4.y()); - VERIFY_IS_APPROX(x3, v3.z()); - VERIFY_IS_APPROX(x3, v4.z()); - VERIFY_IS_APPROX(x4, v4.w()); - - if (!NumTraits::IsInteger) - { - VERIFY_RAISES_ASSERT(V3(2, 1)) - VERIFY_RAISES_ASSERT(V3(3, 2)) - VERIFY_RAISES_ASSERT(V3(Scalar(3), 1)) - VERIFY_RAISES_ASSERT(V3(3, Scalar(1))) - VERIFY_RAISES_ASSERT(V3(Scalar(3), Scalar(1))) - VERIFY_RAISES_ASSERT(V3(Scalar(123), Scalar(123))) - - VERIFY_RAISES_ASSERT(V4(1, 3)) - VERIFY_RAISES_ASSERT(V4(2, 4)) - VERIFY_RAISES_ASSERT(V4(1, Scalar(4))) - VERIFY_RAISES_ASSERT(V4(Scalar(1), 4)) - VERIFY_RAISES_ASSERT(V4(Scalar(1), Scalar(4))) - VERIFY_RAISES_ASSERT(V4(Scalar(123), Scalar(123))) - - VERIFY_RAISES_ASSERT(VX(3, 2)) - VERIFY_RAISES_ASSERT(VX(Scalar(3), 1)) - VERIFY_RAISES_ASSERT(VX(3, Scalar(1))) - VERIFY_RAISES_ASSERT(VX(Scalar(3), Scalar(1))) - VERIFY_RAISES_ASSERT(VX(Scalar(123), Scalar(123))) - } -} - -void test_smallvectors() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST(smallVectors() ); - CALL_SUBTEST(smallVectors() ); - CALL_SUBTEST(smallVectors() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/sparse.h b/testbed/nanogui/ext/eigen/test/sparse.h deleted file mode 100644 index 9912e1e2..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse.h +++ /dev/null @@ -1,210 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_TESTSPARSE_H -#define EIGEN_TESTSPARSE_H - -#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET - -#include "main.h" - -#if EIGEN_GNUC_AT_LEAST(4,0) && !defined __ICC && !defined(__clang__) - -#ifdef min -#undef min -#endif - -#ifdef max -#undef max -#endif - -#include -#define EIGEN_UNORDERED_MAP_SUPPORT -namespace std { - using std::tr1::unordered_map; -} -#endif - -#ifdef EIGEN_GOOGLEHASH_SUPPORT - #include -#endif - -#include -#include -#include - -enum { - ForceNonZeroDiag = 1, - MakeLowerTriangular = 2, - MakeUpperTriangular = 4, - ForceRealDiag = 8 -}; - -/* Initializes both a sparse and dense matrix with same random values, - * and a ratio of \a density non zero entries. - * \param flags is a union of ForceNonZeroDiag, MakeLowerTriangular and MakeUpperTriangular - * allowing to control the shape of the matrix. - * \param zeroCoords and nonzeroCoords allows to get the coordinate lists of the non zero, - * and zero coefficients respectively. - */ -template void -initSparse(double density, - Matrix& refMat, - SparseMatrix& sparseMat, - int flags = 0, - std::vector >* zeroCoords = 0, - std::vector >* nonzeroCoords = 0) -{ - enum { IsRowMajor = SparseMatrix::IsRowMajor }; - sparseMat.setZero(); - //sparseMat.reserve(int(refMat.rows()*refMat.cols()*density)); - sparseMat.reserve(VectorXi::Constant(IsRowMajor ? refMat.rows() : refMat.cols(), int((1.5*density)*(IsRowMajor?refMat.cols():refMat.rows())))); - - for(Index j=0; j(0,1) < density) ? internal::random() : Scalar(0); - if ((flags&ForceNonZeroDiag) && (i==j)) - { - // FIXME: the following is too conservative - v = internal::random()*Scalar(3.); - v = v*v; - if(numext::real(v)>0) v += Scalar(5); - else v -= Scalar(5); - } - if ((flags & MakeLowerTriangular) && aj>ai) - v = Scalar(0); - else if ((flags & MakeUpperTriangular) && ajpush_back(Matrix (ai,aj)); - } - else if (zeroCoords) - { - zeroCoords->push_back(Matrix (ai,aj)); - } - refMat(ai,aj) = v; - } - } - //sparseMat.finalize(); -} - -template void -initSparse(double density, - Matrix& refMat, - DynamicSparseMatrix& sparseMat, - int flags = 0, - std::vector >* zeroCoords = 0, - std::vector >* nonzeroCoords = 0) -{ - enum { IsRowMajor = DynamicSparseMatrix::IsRowMajor }; - sparseMat.setZero(); - sparseMat.reserve(int(refMat.rows()*refMat.cols()*density)); - for(int j=0; j(0,1) < density) ? internal::random() : Scalar(0); - if ((flags&ForceNonZeroDiag) && (i==j)) - { - v = internal::random()*Scalar(3.); - v = v*v + Scalar(5.); - } - if ((flags & MakeLowerTriangular) && aj>ai) - v = Scalar(0); - else if ((flags & MakeUpperTriangular) && ajpush_back(Matrix (ai,aj)); - } - else if (zeroCoords) - { - zeroCoords->push_back(Matrix (ai,aj)); - } - refMat(ai,aj) = v; - } - } - sparseMat.finalize(); -} - -template void -initSparse(double density, - Matrix& refVec, - SparseVector& sparseVec, - std::vector* zeroCoords = 0, - std::vector* nonzeroCoords = 0) -{ - sparseVec.reserve(int(refVec.size()*density)); - sparseVec.setZero(); - for(int i=0; i(0,1) < density) ? internal::random() : Scalar(0); - if (v!=Scalar(0)) - { - sparseVec.insertBack(i) = v; - if (nonzeroCoords) - nonzeroCoords->push_back(i); - } - else if (zeroCoords) - zeroCoords->push_back(i); - refVec[i] = v; - } -} - -template void -initSparse(double density, - Matrix& refVec, - SparseVector& sparseVec, - std::vector* zeroCoords = 0, - std::vector* nonzeroCoords = 0) -{ - sparseVec.reserve(int(refVec.size()*density)); - sparseVec.setZero(); - for(int i=0; i(0,1) < density) ? internal::random() : Scalar(0); - if (v!=Scalar(0)) - { - sparseVec.insertBack(i) = v; - if (nonzeroCoords) - nonzeroCoords->push_back(i); - } - else if (zeroCoords) - zeroCoords->push_back(i); - refVec[i] = v; - } -} - - -#include -#endif // EIGEN_TESTSPARSE_H diff --git a/testbed/nanogui/ext/eigen/test/sparseLM.cpp b/testbed/nanogui/ext/eigen/test/sparseLM.cpp deleted file mode 100644 index 8e148f9b..00000000 --- a/testbed/nanogui/ext/eigen/test/sparseLM.cpp +++ /dev/null @@ -1,176 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Desire Nuentsa -// Copyright (C) 2012 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. -#include -#include -#include - -#include "main.h" -#include - -using namespace std; -using namespace Eigen; - -template -struct sparseGaussianTest : SparseFunctor -{ - typedef Matrix VectorType; - typedef SparseFunctor Base; - typedef typename Base::JacobianType JacobianType; - sparseGaussianTest(int inputs, int values) : SparseFunctor(inputs,values) - { } - - VectorType model(const VectorType& uv, VectorType& x) - { - VectorType y; //Change this to use expression template - int m = Base::values(); - int n = Base::inputs(); - eigen_assert(uv.size()%2 == 0); - eigen_assert(uv.size() == n); - eigen_assert(x.size() == m); - y.setZero(m); - int half = n/2; - VectorBlock u(uv, 0, half); - VectorBlock v(uv, half, half); - Scalar coeff; - for (int j = 0; j < m; j++) - { - for (int i = 0; i < half; i++) - { - coeff = (x(j)-i)/v(i); - coeff *= coeff; - if (coeff < 1. && coeff > 0.) - y(j) += u(i)*std::pow((1-coeff), 2); - } - } - return y; - } - void initPoints(VectorType& uv_ref, VectorType& x) - { - m_x = x; - m_y = this->model(uv_ref,x); - } - int operator()(const VectorType& uv, VectorType& fvec) - { - int m = Base::values(); - int n = Base::inputs(); - eigen_assert(uv.size()%2 == 0); - eigen_assert(uv.size() == n); - int half = n/2; - VectorBlock u(uv, 0, half); - VectorBlock v(uv, half, half); - fvec = m_y; - Scalar coeff; - for (int j = 0; j < m; j++) - { - for (int i = 0; i < half; i++) - { - coeff = (m_x(j)-i)/v(i); - coeff *= coeff; - if (coeff < 1. && coeff > 0.) - fvec(j) -= u(i)*std::pow((1-coeff), 2); - } - } - return 0; - } - - int df(const VectorType& uv, JacobianType& fjac) - { - int m = Base::values(); - int n = Base::inputs(); - eigen_assert(n == uv.size()); - eigen_assert(fjac.rows() == m); - eigen_assert(fjac.cols() == n); - int half = n/2; - VectorBlock u(uv, 0, half); - VectorBlock v(uv, half, half); - Scalar coeff; - - //Derivatives with respect to u - for (int col = 0; col < half; col++) - { - for (int row = 0; row < m; row++) - { - coeff = (m_x(row)-col)/v(col); - coeff = coeff*coeff; - if(coeff < 1. && coeff > 0.) - { - fjac.coeffRef(row,col) = -(1-coeff)*(1-coeff); - } - } - } - //Derivatives with respect to v - for (int col = 0; col < half; col++) - { - for (int row = 0; row < m; row++) - { - coeff = (m_x(row)-col)/v(col); - coeff = coeff*coeff; - if(coeff < 1. && coeff > 0.) - { - fjac.coeffRef(row,col+half) = -4 * (u(col)/v(col))*coeff*(1-coeff); - } - } - } - return 0; - } - - VectorType m_x, m_y; //Data points -}; - - -template -void test_sparseLM_T() -{ - typedef Matrix VectorType; - - int inputs = 10; - int values = 2000; - sparseGaussianTest sparse_gaussian(inputs, values); - VectorType uv(inputs),uv_ref(inputs); - VectorType x(values); - // Generate the reference solution - uv_ref << -2, 1, 4 ,8, 6, 1.8, 1.2, 1.1, 1.9 , 3; - //Generate the reference data points - x.setRandom(); - x = 10*x; - x.array() += 10; - sparse_gaussian.initPoints(uv_ref, x); - - - // Generate the initial parameters - VectorBlock u(uv, 0, inputs/2); - VectorBlock v(uv, inputs/2, inputs/2); - v.setOnes(); - //Generate u or Solve for u from v - u.setOnes(); - - // Solve the optimization problem - LevenbergMarquardt > lm(sparse_gaussian); - int info; -// info = lm.minimize(uv); - - VERIFY_IS_EQUAL(info,1); - // Do a step by step solution and save the residual - int maxiter = 200; - int iter = 0; - MatrixXd Err(values, maxiter); - MatrixXd Mod(values, maxiter); - LevenbergMarquardtSpace::Status status; - status = lm.minimizeInit(uv); - if (status==LevenbergMarquardtSpace::ImproperInputParameters) - return ; - -} -void test_sparseLM() -{ - CALL_SUBTEST_1(test_sparseLM_T()); - - // CALL_SUBTEST_2(test_sparseLM_T()); -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_basic.cpp b/testbed/nanogui/ext/eigen/test/sparse_basic.cpp deleted file mode 100644 index 38498502..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_basic.cpp +++ /dev/null @@ -1,688 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2011 Gael Guennebaud -// Copyright (C) 2008 Daniel Gomez Ferro -// Copyright (C) 2013 Désiré Nuentsa-Wakam -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -static long g_realloc_count = 0; -#define EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN g_realloc_count++; - -#include "sparse.h" - -template void sparse_basic(const SparseMatrixType& ref) -{ - typedef typename SparseMatrixType::StorageIndex StorageIndex; - typedef Matrix Vector2; - - const Index rows = ref.rows(); - const Index cols = ref.cols(); - //const Index inner = ref.innerSize(); - //const Index outer = ref.outerSize(); - - typedef typename SparseMatrixType::Scalar Scalar; - typedef typename SparseMatrixType::RealScalar RealScalar; - enum { Flags = SparseMatrixType::Flags }; - - double density = (std::max)(8./(rows*cols), 0.01); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - Scalar eps = 1e-6; - - Scalar s1 = internal::random(); - { - SparseMatrixType m(rows, cols); - DenseMatrix refMat = DenseMatrix::Zero(rows, cols); - DenseVector vec1 = DenseVector::Random(rows); - - std::vector zeroCoords; - std::vector nonzeroCoords; - initSparse(density, refMat, m, 0, &zeroCoords, &nonzeroCoords); - - // test coeff and coeffRef - for (std::size_t i=0; i >::value) - VERIFY_RAISES_ASSERT( m.coeffRef(zeroCoords[i].x(),zeroCoords[i].y()) = 5 ); - } - VERIFY_IS_APPROX(m, refMat); - - if(!nonzeroCoords.empty()) { - m.coeffRef(nonzeroCoords[0].x(), nonzeroCoords[0].y()) = Scalar(5); - refMat.coeffRef(nonzeroCoords[0].x(), nonzeroCoords[0].y()) = Scalar(5); - } - - VERIFY_IS_APPROX(m, refMat); - - // test assertion - VERIFY_RAISES_ASSERT( m.coeffRef(-1,1) = 0 ); - VERIFY_RAISES_ASSERT( m.coeffRef(0,m.cols()) = 0 ); - } - - // test insert (inner random) - { - DenseMatrix m1(rows,cols); - m1.setZero(); - SparseMatrixType m2(rows,cols); - bool call_reserve = internal::random()%2; - Index nnz = internal::random(1,int(rows)/2); - if(call_reserve) - { - if(internal::random()%2) - m2.reserve(VectorXi::Constant(m2.outerSize(), int(nnz))); - else - m2.reserve(m2.outerSize() * nnz); - } - g_realloc_count = 0; - for (Index j=0; j(0,rows-1); - if (m1.coeff(i,j)==Scalar(0)) - m2.insert(i,j) = m1(i,j) = internal::random(); - } - } - - if(call_reserve && !SparseMatrixType::IsRowMajor) - { - VERIFY(g_realloc_count==0); - } - - m2.finalize(); - VERIFY_IS_APPROX(m2,m1); - } - - // test insert (fully random) - { - DenseMatrix m1(rows,cols); - m1.setZero(); - SparseMatrixType m2(rows,cols); - if(internal::random()%2) - m2.reserve(VectorXi::Constant(m2.outerSize(), 2)); - for (int k=0; k(0,rows-1); - Index j = internal::random(0,cols-1); - if ((m1.coeff(i,j)==Scalar(0)) && (internal::random()%2)) - m2.insert(i,j) = m1(i,j) = internal::random(); - else - { - Scalar v = internal::random(); - m2.coeffRef(i,j) += v; - m1(i,j) += v; - } - } - VERIFY_IS_APPROX(m2,m1); - } - - // test insert (un-compressed) - for(int mode=0;mode<4;++mode) - { - DenseMatrix m1(rows,cols); - m1.setZero(); - SparseMatrixType m2(rows,cols); - VectorXi r(VectorXi::Constant(m2.outerSize(), ((mode%2)==0) ? int(m2.innerSize()) : std::max(1,int(m2.innerSize())/8))); - m2.reserve(r); - for (Index k=0; k(0,rows-1); - Index j = internal::random(0,cols-1); - if (m1.coeff(i,j)==Scalar(0)) - m2.insert(i,j) = m1(i,j) = internal::random(); - if(mode==3) - m2.reserve(r); - } - if(internal::random()%2) - m2.makeCompressed(); - VERIFY_IS_APPROX(m2,m1); - } - - // test basic computations - { - DenseMatrix refM1 = DenseMatrix::Zero(rows, cols); - DenseMatrix refM2 = DenseMatrix::Zero(rows, cols); - DenseMatrix refM3 = DenseMatrix::Zero(rows, cols); - DenseMatrix refM4 = DenseMatrix::Zero(rows, cols); - SparseMatrixType m1(rows, cols); - SparseMatrixType m2(rows, cols); - SparseMatrixType m3(rows, cols); - SparseMatrixType m4(rows, cols); - initSparse(density, refM1, m1); - initSparse(density, refM2, m2); - initSparse(density, refM3, m3); - initSparse(density, refM4, m4); - - if(internal::random()) - m1.makeCompressed(); - - Index m1_nnz = m1.nonZeros(); - - VERIFY_IS_APPROX(m1*s1, refM1*s1); - VERIFY_IS_APPROX(m1+m2, refM1+refM2); - VERIFY_IS_APPROX(m1+m2+m3, refM1+refM2+refM3); - VERIFY_IS_APPROX(m3.cwiseProduct(m1+m2), refM3.cwiseProduct(refM1+refM2)); - VERIFY_IS_APPROX(m1*s1-m2, refM1*s1-refM2); - VERIFY_IS_APPROX(m4=m1/s1, refM1/s1); - VERIFY_IS_EQUAL(m4.nonZeros(), m1_nnz); - - if(SparseMatrixType::IsRowMajor) - VERIFY_IS_APPROX(m1.innerVector(0).dot(refM2.row(0)), refM1.row(0).dot(refM2.row(0))); - else - VERIFY_IS_APPROX(m1.innerVector(0).dot(refM2.col(0)), refM1.col(0).dot(refM2.col(0))); - - DenseVector rv = DenseVector::Random(m1.cols()); - DenseVector cv = DenseVector::Random(m1.rows()); - Index r = internal::random(0,m1.rows()-2); - Index c = internal::random(0,m1.cols()-1); - VERIFY_IS_APPROX(( m1.template block<1,Dynamic>(r,0,1,m1.cols()).dot(rv)) , refM1.row(r).dot(rv)); - VERIFY_IS_APPROX(m1.row(r).dot(rv), refM1.row(r).dot(rv)); - VERIFY_IS_APPROX(m1.col(c).dot(cv), refM1.col(c).dot(cv)); - - VERIFY_IS_APPROX(m1.conjugate(), refM1.conjugate()); - VERIFY_IS_APPROX(m1.real(), refM1.real()); - - refM4.setRandom(); - // sparse cwise* dense - VERIFY_IS_APPROX(m3.cwiseProduct(refM4), refM3.cwiseProduct(refM4)); - // dense cwise* sparse - VERIFY_IS_APPROX(refM4.cwiseProduct(m3), refM4.cwiseProduct(refM3)); -// VERIFY_IS_APPROX(m3.cwise()/refM4, refM3.cwise()/refM4); - - VERIFY_IS_APPROX(refM4 + m3, refM4 + refM3); - VERIFY_IS_APPROX(m3 + refM4, refM3 + refM4); - VERIFY_IS_APPROX(refM4 - m3, refM4 - refM3); - VERIFY_IS_APPROX(m3 - refM4, refM3 - refM4); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + RealScalar(0.5)*m3).eval(), RealScalar(0.5)*refM4 + RealScalar(0.5)*refM3); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + m3*RealScalar(0.5)).eval(), RealScalar(0.5)*refM4 + RealScalar(0.5)*refM3); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + m3.cwiseProduct(m3)).eval(), RealScalar(0.5)*refM4 + refM3.cwiseProduct(refM3)); - - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + RealScalar(0.5)*m3).eval(), RealScalar(0.5)*refM4 + RealScalar(0.5)*refM3); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + m3*RealScalar(0.5)).eval(), RealScalar(0.5)*refM4 + RealScalar(0.5)*refM3); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + (m3+m3)).eval(), RealScalar(0.5)*refM4 + (refM3+refM3)); - VERIFY_IS_APPROX(((refM3+m3)+RealScalar(0.5)*m3).eval(), RealScalar(0.5)*refM3 + (refM3+refM3)); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + (refM3+m3)).eval(), RealScalar(0.5)*refM4 + (refM3+refM3)); - VERIFY_IS_APPROX((RealScalar(0.5)*refM4 + (m3+refM3)).eval(), RealScalar(0.5)*refM4 + (refM3+refM3)); - - - VERIFY_IS_APPROX(m1.sum(), refM1.sum()); - - m4 = m1; refM4 = m4; - - VERIFY_IS_APPROX(m1*=s1, refM1*=s1); - VERIFY_IS_EQUAL(m1.nonZeros(), m1_nnz); - VERIFY_IS_APPROX(m1/=s1, refM1/=s1); - VERIFY_IS_EQUAL(m1.nonZeros(), m1_nnz); - - VERIFY_IS_APPROX(m1+=m2, refM1+=refM2); - VERIFY_IS_APPROX(m1-=m2, refM1-=refM2); - - if (rows>=2 && cols>=2) - { - VERIFY_RAISES_ASSERT( m1 += m1.innerVector(0) ); - VERIFY_RAISES_ASSERT( m1 -= m1.innerVector(0) ); - VERIFY_RAISES_ASSERT( refM1 -= m1.innerVector(0) ); - VERIFY_RAISES_ASSERT( refM1 += m1.innerVector(0) ); - m1 = m4; refM1 = refM4; - } - - // test aliasing - VERIFY_IS_APPROX((m1 = -m1), (refM1 = -refM1)); - VERIFY_IS_EQUAL(m1.nonZeros(), m1_nnz); - m1 = m4; refM1 = refM4; - VERIFY_IS_APPROX((m1 = m1.transpose()), (refM1 = refM1.transpose().eval())); - VERIFY_IS_EQUAL(m1.nonZeros(), m1_nnz); - m1 = m4; refM1 = refM4; - VERIFY_IS_APPROX((m1 = -m1.transpose()), (refM1 = -refM1.transpose().eval())); - VERIFY_IS_EQUAL(m1.nonZeros(), m1_nnz); - m1 = m4; refM1 = refM4; - VERIFY_IS_APPROX((m1 += -m1), (refM1 += -refM1)); - VERIFY_IS_EQUAL(m1.nonZeros(), m1_nnz); - m1 = m4; refM1 = refM4; - - if(m1.isCompressed()) - { - VERIFY_IS_APPROX(m1.coeffs().sum(), m1.sum()); - m1.coeffs() += s1; - for(Index j = 0; j SpBool; - SpBool mb1 = m1.real().template cast(); - SpBool mb2 = m2.real().template cast(); - VERIFY_IS_EQUAL(mb1.template cast().sum(), refM1.real().template cast().count()); - VERIFY_IS_EQUAL((mb1 && mb2).template cast().sum(), (refM1.real().template cast() && refM2.real().template cast()).count()); - VERIFY_IS_EQUAL((mb1 || mb2).template cast().sum(), (refM1.real().template cast() || refM2.real().template cast()).count()); - SpBool mb3 = mb1 && mb2; - if(mb1.coeffs().all() && mb2.coeffs().all()) - { - VERIFY_IS_EQUAL(mb3.nonZeros(), (refM1.real().template cast() && refM2.real().template cast()).count()); - } - } - } - - // test reverse iterators - { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, cols); - SparseMatrixType m2(rows, cols); - initSparse(density, refMat2, m2); - std::vector ref_value(m2.innerSize()); - std::vector ref_index(m2.innerSize()); - if(internal::random()) - m2.makeCompressed(); - for(Index j = 0; j(density, refMat2, m2); - VERIFY_IS_APPROX(m2.transpose().eval(), refMat2.transpose().eval()); - VERIFY_IS_APPROX(m2.transpose(), refMat2.transpose()); - - VERIFY_IS_APPROX(SparseMatrixType(m2.adjoint()), refMat2.adjoint()); - - // check isApprox handles opposite storage order - typename Transpose::PlainObject m3(m2); - VERIFY(m2.isApprox(m3)); - } - - // test prune - { - SparseMatrixType m2(rows, cols); - DenseMatrix refM2(rows, cols); - refM2.setZero(); - int countFalseNonZero = 0; - int countTrueNonZero = 0; - m2.reserve(VectorXi::Constant(m2.outerSize(), int(m2.innerSize()))); - for (Index j=0; j(0,1); - if (x<0.1f) - { - // do nothing - } - else if (x<0.5f) - { - countFalseNonZero++; - m2.insert(i,j) = Scalar(0); - } - else - { - countTrueNonZero++; - m2.insert(i,j) = Scalar(1); - refM2(i,j) = Scalar(1); - } - } - } - if(internal::random()) - m2.makeCompressed(); - VERIFY(countFalseNonZero+countTrueNonZero == m2.nonZeros()); - if(countTrueNonZero>0) - VERIFY_IS_APPROX(m2, refM2); - m2.prune(Scalar(1)); - VERIFY(countTrueNonZero==m2.nonZeros()); - VERIFY_IS_APPROX(m2, refM2); - } - - // test setFromTriplets - { - typedef Triplet TripletType; - std::vector triplets; - Index ntriplets = rows*cols; - triplets.reserve(ntriplets); - DenseMatrix refMat_sum = DenseMatrix::Zero(rows,cols); - DenseMatrix refMat_prod = DenseMatrix::Zero(rows,cols); - DenseMatrix refMat_last = DenseMatrix::Zero(rows,cols); - - for(Index i=0;i(0,StorageIndex(rows-1)); - StorageIndex c = internal::random(0,StorageIndex(cols-1)); - Scalar v = internal::random(); - triplets.push_back(TripletType(r,c,v)); - refMat_sum(r,c) += v; - if(std::abs(refMat_prod(r,c))==0) - refMat_prod(r,c) = v; - else - refMat_prod(r,c) *= v; - refMat_last(r,c) = v; - } - SparseMatrixType m(rows,cols); - m.setFromTriplets(triplets.begin(), triplets.end()); - VERIFY_IS_APPROX(m, refMat_sum); - - m.setFromTriplets(triplets.begin(), triplets.end(), std::multiplies()); - VERIFY_IS_APPROX(m, refMat_prod); -#if (defined(__cplusplus) && __cplusplus >= 201103L) - m.setFromTriplets(triplets.begin(), triplets.end(), [] (Scalar,Scalar b) { return b; }); - VERIFY_IS_APPROX(m, refMat_last); -#endif - } - - // test Map - { - DenseMatrix refMat2(rows, cols), refMat3(rows, cols); - SparseMatrixType m2(rows, cols), m3(rows, cols); - initSparse(density, refMat2, m2); - initSparse(density, refMat3, m3); - { - Map mapMat2(m2.rows(), m2.cols(), m2.nonZeros(), m2.outerIndexPtr(), m2.innerIndexPtr(), m2.valuePtr(), m2.innerNonZeroPtr()); - Map mapMat3(m3.rows(), m3.cols(), m3.nonZeros(), m3.outerIndexPtr(), m3.innerIndexPtr(), m3.valuePtr(), m3.innerNonZeroPtr()); - VERIFY_IS_APPROX(mapMat2+mapMat3, refMat2+refMat3); - VERIFY_IS_APPROX(mapMat2+mapMat3, refMat2+refMat3); - } - { - MappedSparseMatrix mapMat2(m2.rows(), m2.cols(), m2.nonZeros(), m2.outerIndexPtr(), m2.innerIndexPtr(), m2.valuePtr(), m2.innerNonZeroPtr()); - MappedSparseMatrix mapMat3(m3.rows(), m3.cols(), m3.nonZeros(), m3.outerIndexPtr(), m3.innerIndexPtr(), m3.valuePtr(), m3.innerNonZeroPtr()); - VERIFY_IS_APPROX(mapMat2+mapMat3, refMat2+refMat3); - VERIFY_IS_APPROX(mapMat2+mapMat3, refMat2+refMat3); - } - - Index i = internal::random(0,rows-1); - Index j = internal::random(0,cols-1); - m2.coeffRef(i,j) = 123; - if(internal::random()) - m2.makeCompressed(); - Map mapMat2(rows, cols, m2.nonZeros(), m2.outerIndexPtr(), m2.innerIndexPtr(), m2.valuePtr(), m2.innerNonZeroPtr()); - VERIFY_IS_EQUAL(m2.coeff(i,j),Scalar(123)); - VERIFY_IS_EQUAL(mapMat2.coeff(i,j),Scalar(123)); - mapMat2.coeffRef(i,j) = -123; - VERIFY_IS_EQUAL(m2.coeff(i,j),Scalar(-123)); - } - - // test triangularView - { - DenseMatrix refMat2(rows, cols), refMat3(rows, cols); - SparseMatrixType m2(rows, cols), m3(rows, cols); - initSparse(density, refMat2, m2); - refMat3 = refMat2.template triangularView(); - m3 = m2.template triangularView(); - VERIFY_IS_APPROX(m3, refMat3); - - refMat3 = refMat2.template triangularView(); - m3 = m2.template triangularView(); - VERIFY_IS_APPROX(m3, refMat3); - - { - refMat3 = refMat2.template triangularView(); - m3 = m2.template triangularView(); - VERIFY_IS_APPROX(m3, refMat3); - - refMat3 = refMat2.template triangularView(); - m3 = m2.template triangularView(); - VERIFY_IS_APPROX(m3, refMat3); - } - - refMat3 = refMat2.template triangularView(); - m3 = m2.template triangularView(); - VERIFY_IS_APPROX(m3, refMat3); - - refMat3 = refMat2.template triangularView(); - m3 = m2.template triangularView(); - VERIFY_IS_APPROX(m3, refMat3); - - // check sparse-triangular to dense - refMat3 = m2.template triangularView(); - VERIFY_IS_APPROX(refMat3, DenseMatrix(refMat2.template triangularView())); - } - - // test selfadjointView - if(!SparseMatrixType::IsRowMajor) - { - DenseMatrix refMat2(rows, rows), refMat3(rows, rows); - SparseMatrixType m2(rows, rows), m3(rows, rows); - initSparse(density, refMat2, m2); - refMat3 = refMat2.template selfadjointView(); - m3 = m2.template selfadjointView(); - VERIFY_IS_APPROX(m3, refMat3); - - refMat3 += refMat2.template selfadjointView(); - m3 += m2.template selfadjointView(); - VERIFY_IS_APPROX(m3, refMat3); - - refMat3 -= refMat2.template selfadjointView(); - m3 -= m2.template selfadjointView(); - VERIFY_IS_APPROX(m3, refMat3); - - // selfadjointView only works for square matrices: - SparseMatrixType m4(rows, rows+1); - VERIFY_RAISES_ASSERT(m4.template selfadjointView()); - VERIFY_RAISES_ASSERT(m4.template selfadjointView()); - } - - // test sparseView - { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, rows); - SparseMatrixType m2(rows, rows); - initSparse(density, refMat2, m2); - VERIFY_IS_APPROX(m2.eval(), refMat2.sparseView().eval()); - - // sparse view on expressions: - VERIFY_IS_APPROX((s1*m2).eval(), (s1*refMat2).sparseView().eval()); - VERIFY_IS_APPROX((m2+m2).eval(), (refMat2+refMat2).sparseView().eval()); - VERIFY_IS_APPROX((m2*m2).eval(), (refMat2.lazyProduct(refMat2)).sparseView().eval()); - VERIFY_IS_APPROX((m2*m2).eval(), (refMat2*refMat2).sparseView().eval()); - } - - // test diagonal - { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, cols); - SparseMatrixType m2(rows, cols); - initSparse(density, refMat2, m2); - VERIFY_IS_APPROX(m2.diagonal(), refMat2.diagonal().eval()); - DenseVector d = m2.diagonal(); - VERIFY_IS_APPROX(d, refMat2.diagonal().eval()); - d = m2.diagonal().array(); - VERIFY_IS_APPROX(d, refMat2.diagonal().eval()); - VERIFY_IS_APPROX(const_cast(m2).diagonal(), refMat2.diagonal().eval()); - - initSparse(density, refMat2, m2, ForceNonZeroDiag); - m2.diagonal() += refMat2.diagonal(); - refMat2.diagonal() += refMat2.diagonal(); - VERIFY_IS_APPROX(m2, refMat2); - } - - // test diagonal to sparse - { - DenseVector d = DenseVector::Random(rows); - DenseMatrix refMat2 = d.asDiagonal(); - SparseMatrixType m2(rows, rows); - m2 = d.asDiagonal(); - VERIFY_IS_APPROX(m2, refMat2); - SparseMatrixType m3(d.asDiagonal()); - VERIFY_IS_APPROX(m3, refMat2); - refMat2 += d.asDiagonal(); - m2 += d.asDiagonal(); - VERIFY_IS_APPROX(m2, refMat2); - } - - // test conservative resize - { - std::vector< std::pair > inc; - if(rows > 3 && cols > 2) - inc.push_back(std::pair(-3,-2)); - inc.push_back(std::pair(0,0)); - inc.push_back(std::pair(3,2)); - inc.push_back(std::pair(3,0)); - inc.push_back(std::pair(0,3)); - - for(size_t i = 0; i< inc.size(); i++) { - StorageIndex incRows = inc[i].first; - StorageIndex incCols = inc[i].second; - SparseMatrixType m1(rows, cols); - DenseMatrix refMat1 = DenseMatrix::Zero(rows, cols); - initSparse(density, refMat1, m1); - - m1.conservativeResize(rows+incRows, cols+incCols); - refMat1.conservativeResize(rows+incRows, cols+incCols); - if (incRows > 0) refMat1.bottomRows(incRows).setZero(); - if (incCols > 0) refMat1.rightCols(incCols).setZero(); - - VERIFY_IS_APPROX(m1, refMat1); - - // Insert new values - if (incRows > 0) - m1.insert(m1.rows()-1, 0) = refMat1(refMat1.rows()-1, 0) = 1; - if (incCols > 0) - m1.insert(0, m1.cols()-1) = refMat1(0, refMat1.cols()-1) = 1; - - VERIFY_IS_APPROX(m1, refMat1); - - - } - } - - // test Identity matrix - { - DenseMatrix refMat1 = DenseMatrix::Identity(rows, rows); - SparseMatrixType m1(rows, rows); - m1.setIdentity(); - VERIFY_IS_APPROX(m1, refMat1); - for(int k=0; k(0,rows-1); - Index j = internal::random(0,rows-1); - Scalar v = internal::random(); - m1.coeffRef(i,j) = v; - refMat1.coeffRef(i,j) = v; - VERIFY_IS_APPROX(m1, refMat1); - if(internal::random(0,10)<2) - m1.makeCompressed(); - } - m1.setIdentity(); - refMat1.setIdentity(); - VERIFY_IS_APPROX(m1, refMat1); - } - - // test array/vector of InnerIterator - { - typedef typename SparseMatrixType::InnerIterator IteratorType; - - DenseMatrix refMat2 = DenseMatrix::Zero(rows, cols); - SparseMatrixType m2(rows, cols); - initSparse(density, refMat2, m2); - IteratorType static_array[2]; - static_array[0] = IteratorType(m2,0); - static_array[1] = IteratorType(m2,m2.outerSize()-1); - VERIFY( static_array[0] || m2.innerVector(static_array[0].outer()).nonZeros() == 0 ); - VERIFY( static_array[1] || m2.innerVector(static_array[1].outer()).nonZeros() == 0 ); - if(static_array[0] && static_array[1]) - { - ++(static_array[1]); - static_array[1] = IteratorType(m2,0); - VERIFY( static_array[1] ); - VERIFY( static_array[1].index() == static_array[0].index() ); - VERIFY( static_array[1].outer() == static_array[0].outer() ); - VERIFY( static_array[1].value() == static_array[0].value() ); - } - - std::vector iters(2); - iters[0] = IteratorType(m2,0); - iters[1] = IteratorType(m2,m2.outerSize()-1); - } -} - - -template -void big_sparse_triplet(Index rows, Index cols, double density) { - typedef typename SparseMatrixType::StorageIndex StorageIndex; - typedef typename SparseMatrixType::Scalar Scalar; - typedef Triplet TripletType; - std::vector triplets; - double nelements = density * rows*cols; - VERIFY(nelements>=0 && nelements < NumTraits::highest()); - Index ntriplets = Index(nelements); - triplets.reserve(ntriplets); - Scalar sum = Scalar(0); - for(Index i=0;i(0,rows-1); - Index c = internal::random(0,cols-1); - Scalar v = internal::random(); - triplets.push_back(TripletType(r,c,v)); - sum += v; - } - SparseMatrixType m(rows,cols); - m.setFromTriplets(triplets.begin(), triplets.end()); - VERIFY(m.nonZeros() <= ntriplets); - VERIFY_IS_APPROX(sum, m.sum()); -} - - -void test_sparse_basic() -{ - for(int i = 0; i < g_repeat; i++) { - int r = Eigen::internal::random(1,200), c = Eigen::internal::random(1,200); - if(Eigen::internal::random(0,4) == 0) { - r = c; // check square matrices in 25% of tries - } - EIGEN_UNUSED_VARIABLE(r+c); - CALL_SUBTEST_1(( sparse_basic(SparseMatrix(1, 1)) )); - CALL_SUBTEST_1(( sparse_basic(SparseMatrix(8, 8)) )); - CALL_SUBTEST_2(( sparse_basic(SparseMatrix, ColMajor>(r, c)) )); - CALL_SUBTEST_2(( sparse_basic(SparseMatrix, RowMajor>(r, c)) )); - CALL_SUBTEST_1(( sparse_basic(SparseMatrix(r, c)) )); - CALL_SUBTEST_5(( sparse_basic(SparseMatrix(r, c)) )); - CALL_SUBTEST_5(( sparse_basic(SparseMatrix(r, c)) )); - - r = Eigen::internal::random(1,100); - c = Eigen::internal::random(1,100); - if(Eigen::internal::random(0,4) == 0) { - r = c; // check square matrices in 25% of tries - } - - CALL_SUBTEST_6(( sparse_basic(SparseMatrix(short(r), short(c))) )); - CALL_SUBTEST_6(( sparse_basic(SparseMatrix(short(r), short(c))) )); - } - - // Regression test for bug 900: (manually insert higher values here, if you have enough RAM): - CALL_SUBTEST_3((big_sparse_triplet >(10000, 10000, 0.125))); - CALL_SUBTEST_4((big_sparse_triplet >(10000, 10000, 0.125))); - - // Regression test for bug 1105 -#ifdef EIGEN_TEST_PART_7 - { - int n = Eigen::internal::random(200,600); - SparseMatrix,0, long> mat(n, n); - std::complex val; - - for(int i=0; i -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse.h" - -template -typename Eigen::internal::enable_if<(T::Flags&RowMajorBit)==RowMajorBit, typename T::RowXpr>::type -innervec(T& A, Index i) -{ - return A.row(i); -} - -template -typename Eigen::internal::enable_if<(T::Flags&RowMajorBit)==0, typename T::ColXpr>::type -innervec(T& A, Index i) -{ - return A.col(i); -} - -template void sparse_block(const SparseMatrixType& ref) -{ - const Index rows = ref.rows(); - const Index cols = ref.cols(); - const Index inner = ref.innerSize(); - const Index outer = ref.outerSize(); - - typedef typename SparseMatrixType::Scalar Scalar; - typedef typename SparseMatrixType::StorageIndex StorageIndex; - - double density = (std::max)(8./(rows*cols), 0.01); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - typedef Matrix RowDenseVector; - typedef SparseVector SparseVectorType; - - Scalar s1 = internal::random(); - { - SparseMatrixType m(rows, cols); - DenseMatrix refMat = DenseMatrix::Zero(rows, cols); - initSparse(density, refMat, m); - - VERIFY_IS_APPROX(m, refMat); - - // test InnerIterators and Block expressions - for (int t=0; t<10; ++t) - { - Index j = internal::random(0,cols-2); - Index i = internal::random(0,rows-2); - Index w = internal::random(1,cols-j); - Index h = internal::random(1,rows-i); - - VERIFY_IS_APPROX(m.block(i,j,h,w), refMat.block(i,j,h,w)); - for(Index c=0; c(density, refMat2, m2); - Index j0 = internal::random(0,outer-1); - Index j1 = internal::random(0,outer-1); - Index r0 = internal::random(0,rows-1); - Index c0 = internal::random(0,cols-1); - - VERIFY_IS_APPROX(m2.innerVector(j0), innervec(refMat2,j0)); - VERIFY_IS_APPROX(m2.innerVector(j0)+m2.innerVector(j1), innervec(refMat2,j0)+innervec(refMat2,j1)); - - m2.innerVector(j0) *= Scalar(2); - innervec(refMat2,j0) *= Scalar(2); - VERIFY_IS_APPROX(m2, refMat2); - - m2.row(r0) *= Scalar(3); - refMat2.row(r0) *= Scalar(3); - VERIFY_IS_APPROX(m2, refMat2); - - m2.col(c0) *= Scalar(4); - refMat2.col(c0) *= Scalar(4); - VERIFY_IS_APPROX(m2, refMat2); - - m2.row(r0) /= Scalar(3); - refMat2.row(r0) /= Scalar(3); - VERIFY_IS_APPROX(m2, refMat2); - - m2.col(c0) /= Scalar(4); - refMat2.col(c0) /= Scalar(4); - VERIFY_IS_APPROX(m2, refMat2); - - SparseVectorType v1; - VERIFY_IS_APPROX(v1 = m2.col(c0) * 4, refMat2.col(c0)*4); - VERIFY_IS_APPROX(v1 = m2.row(r0) * 4, refMat2.row(r0).transpose()*4); - - SparseMatrixType m3(rows,cols); - m3.reserve(VectorXi::Constant(outer,int(inner/2))); - for(Index j=0; j(k+1); - for(Index j=0; j<(std::min)(outer, inner); ++j) - { - VERIFY(j==numext::real(m3.innerVector(j).nonZeros())); - if(j>0) - VERIFY(j==numext::real(m3.innerVector(j).lastCoeff())); - } - m3.makeCompressed(); - for(Index j=0; j<(std::min)(outer, inner); ++j) - { - VERIFY(j==numext::real(m3.innerVector(j).nonZeros())); - if(j>0) - VERIFY(j==numext::real(m3.innerVector(j).lastCoeff())); - } - - VERIFY(m3.innerVector(j0).nonZeros() == m3.transpose().innerVector(j0).nonZeros()); - -// m2.innerVector(j0) = 2*m2.innerVector(j1); -// refMat2.col(j0) = 2*refMat2.col(j1); -// VERIFY_IS_APPROX(m2, refMat2); - } - - // test innerVectors() - { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, cols); - SparseMatrixType m2(rows, cols); - initSparse(density, refMat2, m2); - if(internal::random(0,1)>0.5f) m2.makeCompressed(); - Index j0 = internal::random(0,outer-2); - Index j1 = internal::random(0,outer-2); - Index n0 = internal::random(1,outer-(std::max)(j0,j1)); - if(SparseMatrixType::IsRowMajor) - VERIFY_IS_APPROX(m2.innerVectors(j0,n0), refMat2.block(j0,0,n0,cols)); - else - VERIFY_IS_APPROX(m2.innerVectors(j0,n0), refMat2.block(0,j0,rows,n0)); - if(SparseMatrixType::IsRowMajor) - VERIFY_IS_APPROX(m2.innerVectors(j0,n0)+m2.innerVectors(j1,n0), - refMat2.middleRows(j0,n0)+refMat2.middleRows(j1,n0)); - else - VERIFY_IS_APPROX(m2.innerVectors(j0,n0)+m2.innerVectors(j1,n0), - refMat2.block(0,j0,rows,n0)+refMat2.block(0,j1,rows,n0)); - - VERIFY_IS_APPROX(m2, refMat2); - - VERIFY(m2.innerVectors(j0,n0).nonZeros() == m2.transpose().innerVectors(j0,n0).nonZeros()); - - m2.innerVectors(j0,n0) = m2.innerVectors(j0,n0) + m2.innerVectors(j1,n0); - if(SparseMatrixType::IsRowMajor) - refMat2.middleRows(j0,n0) = (refMat2.middleRows(j0,n0) + refMat2.middleRows(j1,n0)).eval(); - else - refMat2.middleCols(j0,n0) = (refMat2.middleCols(j0,n0) + refMat2.middleCols(j1,n0)).eval(); - - VERIFY_IS_APPROX(m2, refMat2); - } - - // test generic blocks - { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, cols); - SparseMatrixType m2(rows, cols); - initSparse(density, refMat2, m2); - Index j0 = internal::random(0,outer-2); - Index j1 = internal::random(0,outer-2); - Index n0 = internal::random(1,outer-(std::max)(j0,j1)); - if(SparseMatrixType::IsRowMajor) - VERIFY_IS_APPROX(m2.block(j0,0,n0,cols), refMat2.block(j0,0,n0,cols)); - else - VERIFY_IS_APPROX(m2.block(0,j0,rows,n0), refMat2.block(0,j0,rows,n0)); - - if(SparseMatrixType::IsRowMajor) - VERIFY_IS_APPROX(m2.block(j0,0,n0,cols)+m2.block(j1,0,n0,cols), - refMat2.block(j0,0,n0,cols)+refMat2.block(j1,0,n0,cols)); - else - VERIFY_IS_APPROX(m2.block(0,j0,rows,n0)+m2.block(0,j1,rows,n0), - refMat2.block(0,j0,rows,n0)+refMat2.block(0,j1,rows,n0)); - - Index i = internal::random(0,m2.outerSize()-1); - if(SparseMatrixType::IsRowMajor) { - m2.innerVector(i) = m2.innerVector(i) * s1; - refMat2.row(i) = refMat2.row(i) * s1; - VERIFY_IS_APPROX(m2,refMat2); - } else { - m2.innerVector(i) = m2.innerVector(i) * s1; - refMat2.col(i) = refMat2.col(i) * s1; - VERIFY_IS_APPROX(m2,refMat2); - } - - Index r0 = internal::random(0,rows-2); - Index c0 = internal::random(0,cols-2); - Index r1 = internal::random(1,rows-r0); - Index c1 = internal::random(1,cols-c0); - - VERIFY_IS_APPROX(DenseVector(m2.col(c0)), refMat2.col(c0)); - VERIFY_IS_APPROX(m2.col(c0), refMat2.col(c0)); - - VERIFY_IS_APPROX(RowDenseVector(m2.row(r0)), refMat2.row(r0)); - VERIFY_IS_APPROX(m2.row(r0), refMat2.row(r0)); - - VERIFY_IS_APPROX(m2.block(r0,c0,r1,c1), refMat2.block(r0,c0,r1,c1)); - VERIFY_IS_APPROX((2*m2).block(r0,c0,r1,c1), (2*refMat2).block(r0,c0,r1,c1)); - - if(m2.nonZeros()>0) - { - VERIFY_IS_APPROX(m2, refMat2); - SparseMatrixType m3(rows, cols); - DenseMatrix refMat3(rows, cols); refMat3.setZero(); - Index n = internal::random(1,10); - for(Index k=0; k(0,outer-1); - Index o2 = internal::random(0,outer-1); - if(SparseMatrixType::IsRowMajor) - { - m3.innerVector(o1) = m2.row(o2); - refMat3.row(o1) = refMat2.row(o2); - } - else - { - m3.innerVector(o1) = m2.col(o2); - refMat3.col(o1) = refMat2.col(o2); - } - if(internal::random()) - m3.makeCompressed(); - } - if(m3.nonZeros()>0) - VERIFY_IS_APPROX(m3, refMat3); - } - } -} - -void test_sparse_block() -{ - for(int i = 0; i < g_repeat; i++) { - int r = Eigen::internal::random(1,200), c = Eigen::internal::random(1,200); - if(Eigen::internal::random(0,4) == 0) { - r = c; // check square matrices in 25% of tries - } - EIGEN_UNUSED_VARIABLE(r+c); - CALL_SUBTEST_1(( sparse_block(SparseMatrix(1, 1)) )); - CALL_SUBTEST_1(( sparse_block(SparseMatrix(8, 8)) )); - CALL_SUBTEST_1(( sparse_block(SparseMatrix(r, c)) )); - CALL_SUBTEST_2(( sparse_block(SparseMatrix, ColMajor>(r, c)) )); - CALL_SUBTEST_2(( sparse_block(SparseMatrix, RowMajor>(r, c)) )); - - CALL_SUBTEST_3(( sparse_block(SparseMatrix(r, c)) )); - CALL_SUBTEST_3(( sparse_block(SparseMatrix(r, c)) )); - - r = Eigen::internal::random(1,100); - c = Eigen::internal::random(1,100); - if(Eigen::internal::random(0,4) == 0) { - r = c; // check square matrices in 25% of tries - } - - CALL_SUBTEST_4(( sparse_block(SparseMatrix(short(r), short(c))) )); - CALL_SUBTEST_4(( sparse_block(SparseMatrix(short(r), short(c))) )); - } -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_permutations.cpp b/testbed/nanogui/ext/eigen/test/sparse_permutations.cpp deleted file mode 100644 index b82cceff..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_permutations.cpp +++ /dev/null @@ -1,236 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011-2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - - -static long int nb_transposed_copies; -#define EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN {nb_transposed_copies++;} -#define VERIFY_TRANSPOSITION_COUNT(XPR,N) {\ - nb_transposed_copies = 0; \ - XPR; \ - if(nb_transposed_copies!=N) std::cerr << "nb_transposed_copies == " << nb_transposed_copies << "\n"; \ - VERIFY( (#XPR) && nb_transposed_copies==N ); \ - } - -#include "sparse.h" - -template -bool is_sorted(const T& mat) { - for(Index k = 0; k=it.index()) - return false; - prev = it.index(); - } - } - return true; -} - -template -typename internal::nested_eval::type eval(const T &xpr) -{ - VERIFY( int(internal::nested_eval::type::Flags&RowMajorBit) == int(internal::evaluator::Flags&RowMajorBit) ); - return xpr; -} - -template void sparse_permutations(const SparseMatrixType& ref) -{ - const Index rows = ref.rows(); - const Index cols = ref.cols(); - typedef typename SparseMatrixType::Scalar Scalar; - typedef typename SparseMatrixType::StorageIndex StorageIndex; - typedef SparseMatrix OtherSparseMatrixType; - typedef Matrix DenseMatrix; - typedef Matrix VectorI; -// bool IsRowMajor1 = SparseMatrixType::IsRowMajor; -// bool IsRowMajor2 = OtherSparseMatrixType::IsRowMajor; - - double density = (std::max)(8./(rows*cols), 0.01); - - SparseMatrixType mat(rows, cols), up(rows,cols), lo(rows,cols); - OtherSparseMatrixType res; - DenseMatrix mat_d = DenseMatrix::Zero(rows, cols), up_sym_d, lo_sym_d, res_d; - - initSparse(density, mat_d, mat, 0); - - up = mat.template triangularView(); - lo = mat.template triangularView(); - - up_sym_d = mat_d.template selfadjointView(); - lo_sym_d = mat_d.template selfadjointView(); - - VERIFY_IS_APPROX(mat, mat_d); - VERIFY_IS_APPROX(up, DenseMatrix(mat_d.template triangularView())); - VERIFY_IS_APPROX(lo, DenseMatrix(mat_d.template triangularView())); - - PermutationMatrix p, p_null; - VectorI pi; - randomPermutationVector(pi, cols); - p.indices() = pi; - - VERIFY( is_sorted( ::eval(mat*p) )); - VERIFY( is_sorted( res = mat*p )); - VERIFY_TRANSPOSITION_COUNT( ::eval(mat*p), 0); - //VERIFY_TRANSPOSITION_COUNT( res = mat*p, IsRowMajor ? 1 : 0 ); - res_d = mat_d*p; - VERIFY(res.isApprox(res_d) && "mat*p"); - - VERIFY( is_sorted( ::eval(p*mat) )); - VERIFY( is_sorted( res = p*mat )); - VERIFY_TRANSPOSITION_COUNT( ::eval(p*mat), 0); - res_d = p*mat_d; - VERIFY(res.isApprox(res_d) && "p*mat"); - - VERIFY( is_sorted( (mat*p).eval() )); - VERIFY( is_sorted( res = mat*p.inverse() )); - VERIFY_TRANSPOSITION_COUNT( ::eval(mat*p.inverse()), 0); - res_d = mat*p.inverse(); - VERIFY(res.isApprox(res_d) && "mat*inv(p)"); - - VERIFY( is_sorted( (p*mat+p*mat).eval() )); - VERIFY( is_sorted( res = p.inverse()*mat )); - VERIFY_TRANSPOSITION_COUNT( ::eval(p.inverse()*mat), 0); - res_d = p.inverse()*mat_d; - VERIFY(res.isApprox(res_d) && "inv(p)*mat"); - - VERIFY( is_sorted( (p * mat * p.inverse()).eval() )); - VERIFY( is_sorted( res = mat.twistedBy(p) )); - VERIFY_TRANSPOSITION_COUNT( ::eval(p * mat * p.inverse()), 0); - res_d = (p * mat_d) * p.inverse(); - VERIFY(res.isApprox(res_d) && "p*mat*inv(p)"); - - - VERIFY( is_sorted( res = mat.template selfadjointView().twistedBy(p_null) )); - res_d = up_sym_d; - VERIFY(res.isApprox(res_d) && "full selfadjoint upper to full"); - - VERIFY( is_sorted( res = mat.template selfadjointView().twistedBy(p_null) )); - res_d = lo_sym_d; - VERIFY(res.isApprox(res_d) && "full selfadjoint lower to full"); - - - VERIFY( is_sorted( res = up.template selfadjointView().twistedBy(p_null) )); - res_d = up_sym_d; - VERIFY(res.isApprox(res_d) && "upper selfadjoint to full"); - - VERIFY( is_sorted( res = lo.template selfadjointView().twistedBy(p_null) )); - res_d = lo_sym_d; - VERIFY(res.isApprox(res_d) && "lower selfadjoint full"); - - - VERIFY( is_sorted( res = mat.template selfadjointView() )); - res_d = up_sym_d; - VERIFY(res.isApprox(res_d) && "full selfadjoint upper to full"); - - VERIFY( is_sorted( res = mat.template selfadjointView() )); - res_d = lo_sym_d; - VERIFY(res.isApprox(res_d) && "full selfadjoint lower to full"); - - VERIFY( is_sorted( res = up.template selfadjointView() )); - res_d = up_sym_d; - VERIFY(res.isApprox(res_d) && "upper selfadjoint to full"); - - VERIFY( is_sorted( res = lo.template selfadjointView() )); - res_d = lo_sym_d; - VERIFY(res.isApprox(res_d) && "lower selfadjoint full"); - - - res.template selfadjointView() = mat.template selfadjointView(); - res_d = up_sym_d.template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint upper to upper"); - - res.template selfadjointView() = mat.template selfadjointView(); - res_d = up_sym_d.template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint upper to lower"); - - res.template selfadjointView() = mat.template selfadjointView(); - res_d = lo_sym_d.template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint lower to upper"); - - res.template selfadjointView() = mat.template selfadjointView(); - res_d = lo_sym_d.template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint lower to lower"); - - - - res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); - res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint upper twisted to upper"); - - res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); - res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint lower twisted to upper"); - - res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); - res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint lower twisted to lower"); - - res.template selfadjointView() = mat.template selfadjointView().twistedBy(p); - res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "full selfadjoint upper twisted to lower"); - - - res.template selfadjointView() = up.template selfadjointView().twistedBy(p); - res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "upper selfadjoint twisted to upper"); - - res.template selfadjointView() = lo.template selfadjointView().twistedBy(p); - res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "lower selfadjoint twisted to upper"); - - res.template selfadjointView() = lo.template selfadjointView().twistedBy(p); - res_d = ((p * lo_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "lower selfadjoint twisted to lower"); - - res.template selfadjointView() = up.template selfadjointView().twistedBy(p); - res_d = ((p * up_sym_d) * p.inverse()).eval().template triangularView(); - VERIFY(res.isApprox(res_d) && "upper selfadjoint twisted to lower"); - - - VERIFY( is_sorted( res = mat.template selfadjointView().twistedBy(p) )); - res_d = (p * up_sym_d) * p.inverse(); - VERIFY(res.isApprox(res_d) && "full selfadjoint upper twisted to full"); - - VERIFY( is_sorted( res = mat.template selfadjointView().twistedBy(p) )); - res_d = (p * lo_sym_d) * p.inverse(); - VERIFY(res.isApprox(res_d) && "full selfadjoint lower twisted to full"); - - VERIFY( is_sorted( res = up.template selfadjointView().twistedBy(p) )); - res_d = (p * up_sym_d) * p.inverse(); - VERIFY(res.isApprox(res_d) && "upper selfadjoint twisted to full"); - - VERIFY( is_sorted( res = lo.template selfadjointView().twistedBy(p) )); - res_d = (p * lo_sym_d) * p.inverse(); - VERIFY(res.isApprox(res_d) && "lower selfadjoint twisted to full"); -} - -template void sparse_permutations_all(int size) -{ - CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); - CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); - CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); - CALL_SUBTEST(( sparse_permutations(SparseMatrix(size,size)) )); -} - -void test_sparse_permutations() -{ - for(int i = 0; i < g_repeat; i++) { - int s = Eigen::internal::random(1,50); - CALL_SUBTEST_1(( sparse_permutations_all(s) )); - CALL_SUBTEST_2(( sparse_permutations_all >(s) )); - } - - VERIFY((internal::is_same,OnTheRight,false,SparseShape>::ReturnType, - internal::nested_eval,PermutationMatrix,AliasFreeProduct>,1>::type>::value)); - - VERIFY((internal::is_same,OnTheLeft,false,SparseShape>::ReturnType, - internal::nested_eval,SparseMatrix,AliasFreeProduct>,1>::type>::value)); -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_product.cpp b/testbed/nanogui/ext/eigen/test/sparse_product.cpp deleted file mode 100644 index c1edd26e..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_product.cpp +++ /dev/null @@ -1,381 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -static long int nb_temporaries; - -inline void on_temporary_creation() { - // here's a great place to set a breakpoint when debugging failures in this test! - nb_temporaries++; -} - -#define EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN { on_temporary_creation(); } - -#include "sparse.h" - -#define VERIFY_EVALUATION_COUNT(XPR,N) {\ - nb_temporaries = 0; \ - CALL_SUBTEST( XPR ); \ - if(nb_temporaries!=N) std::cerr << "nb_temporaries == " << nb_temporaries << "\n"; \ - VERIFY( (#XPR) && nb_temporaries==N ); \ - } - - - -template void sparse_product() -{ - typedef typename SparseMatrixType::StorageIndex StorageIndex; - Index n = 100; - const Index rows = internal::random(1,n); - const Index cols = internal::random(1,n); - const Index depth = internal::random(1,n); - typedef typename SparseMatrixType::Scalar Scalar; - enum { Flags = SparseMatrixType::Flags }; - - double density = (std::max)(8./(rows*cols), 0.2); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - typedef Matrix RowDenseVector; - typedef SparseVector ColSpVector; - typedef SparseVector RowSpVector; - - Scalar s1 = internal::random(); - Scalar s2 = internal::random(); - - // test matrix-matrix product - { - DenseMatrix refMat2 = DenseMatrix::Zero(rows, depth); - DenseMatrix refMat2t = DenseMatrix::Zero(depth, rows); - DenseMatrix refMat3 = DenseMatrix::Zero(depth, cols); - DenseMatrix refMat3t = DenseMatrix::Zero(cols, depth); - DenseMatrix refMat4 = DenseMatrix::Zero(rows, cols); - DenseMatrix refMat4t = DenseMatrix::Zero(cols, rows); - DenseMatrix refMat5 = DenseMatrix::Random(depth, cols); - DenseMatrix refMat6 = DenseMatrix::Random(rows, rows); - DenseMatrix dm4 = DenseMatrix::Zero(rows, rows); -// DenseVector dv1 = DenseVector::Random(rows); - SparseMatrixType m2 (rows, depth); - SparseMatrixType m2t(depth, rows); - SparseMatrixType m3 (depth, cols); - SparseMatrixType m3t(cols, depth); - SparseMatrixType m4 (rows, cols); - SparseMatrixType m4t(cols, rows); - SparseMatrixType m6(rows, rows); - initSparse(density, refMat2, m2); - initSparse(density, refMat2t, m2t); - initSparse(density, refMat3, m3); - initSparse(density, refMat3t, m3t); - initSparse(density, refMat4, m4); - initSparse(density, refMat4t, m4t); - initSparse(density, refMat6, m6); - -// int c = internal::random(0,depth-1); - - // sparse * sparse - VERIFY_IS_APPROX(m4=m2*m3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(m4=m2t.transpose()*m3, refMat4=refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(m4=m2t.transpose()*m3t.transpose(), refMat4=refMat2t.transpose()*refMat3t.transpose()); - VERIFY_IS_APPROX(m4=m2*m3t.transpose(), refMat4=refMat2*refMat3t.transpose()); - - VERIFY_IS_APPROX(m4 = m2*m3/s1, refMat4 = refMat2*refMat3/s1); - VERIFY_IS_APPROX(m4 = m2*m3*s1, refMat4 = refMat2*refMat3*s1); - VERIFY_IS_APPROX(m4 = s2*m2*m3*s1, refMat4 = s2*refMat2*refMat3*s1); - VERIFY_IS_APPROX(m4 = (m2+m2)*m3, refMat4 = (refMat2+refMat2)*refMat3); - VERIFY_IS_APPROX(m4 = m2*m3.leftCols(cols/2), refMat4 = refMat2*refMat3.leftCols(cols/2)); - VERIFY_IS_APPROX(m4 = m2*(m3+m3).leftCols(cols/2), refMat4 = refMat2*(refMat3+refMat3).leftCols(cols/2)); - - VERIFY_IS_APPROX(m4=(m2*m3).pruned(0), refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(m4=(m2t.transpose()*m3).pruned(0), refMat4=refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(m4=(m2t.transpose()*m3t.transpose()).pruned(0), refMat4=refMat2t.transpose()*refMat3t.transpose()); - VERIFY_IS_APPROX(m4=(m2*m3t.transpose()).pruned(0), refMat4=refMat2*refMat3t.transpose()); - - // make sure the right product implementation is called: - if((!SparseMatrixType::IsRowMajor) && m2.rows()<=m3.cols()) - { - VERIFY_EVALUATION_COUNT(m4 = m2*m3, 3); // 1 temp for the result + 2 for transposing and get a sorted result. - VERIFY_EVALUATION_COUNT(m4 = (m2*m3).pruned(0), 1); - VERIFY_EVALUATION_COUNT(m4 = (m2*m3).eval().pruned(0), 4); - } - - // and that pruning is effective: - { - DenseMatrix Ad(2,2); - Ad << -1, 1, 1, 1; - SparseMatrixType As(Ad.sparseView()), B(2,2); - VERIFY_IS_EQUAL( (As*As.transpose()).eval().nonZeros(), 4); - VERIFY_IS_EQUAL( (Ad*Ad.transpose()).eval().sparseView().eval().nonZeros(), 2); - VERIFY_IS_EQUAL( (As*As.transpose()).pruned(1e-6).eval().nonZeros(), 2); - } - - // dense ?= sparse * sparse - VERIFY_IS_APPROX(dm4 =m2*m3, refMat4 =refMat2*refMat3); - VERIFY_IS_APPROX(dm4+=m2*m3, refMat4+=refMat2*refMat3); - VERIFY_IS_APPROX(dm4-=m2*m3, refMat4-=refMat2*refMat3); - VERIFY_IS_APPROX(dm4 =m2t.transpose()*m3, refMat4 =refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(dm4+=m2t.transpose()*m3, refMat4+=refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(dm4-=m2t.transpose()*m3, refMat4-=refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(dm4 =m2t.transpose()*m3t.transpose(), refMat4 =refMat2t.transpose()*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4+=m2t.transpose()*m3t.transpose(), refMat4+=refMat2t.transpose()*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4-=m2t.transpose()*m3t.transpose(), refMat4-=refMat2t.transpose()*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4 =m2*m3t.transpose(), refMat4 =refMat2*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4+=m2*m3t.transpose(), refMat4+=refMat2*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4-=m2*m3t.transpose(), refMat4-=refMat2*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4 = m2*m3*s1, refMat4 = refMat2*refMat3*s1); - - // test aliasing - m4 = m2; refMat4 = refMat2; - VERIFY_IS_APPROX(m4=m4*m3, refMat4=refMat4*refMat3); - - // sparse * dense matrix - VERIFY_IS_APPROX(dm4=m2*refMat3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=m2*refMat3t.transpose(), refMat4=refMat2*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4=m2t.transpose()*refMat3, refMat4=refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(dm4=m2t.transpose()*refMat3t.transpose(), refMat4=refMat2t.transpose()*refMat3t.transpose()); - - VERIFY_IS_APPROX(dm4=m2*refMat3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=dm4+m2*refMat3, refMat4=refMat4+refMat2*refMat3); - VERIFY_IS_APPROX(dm4+=m2*refMat3, refMat4+=refMat2*refMat3); - VERIFY_IS_APPROX(dm4-=m2*refMat3, refMat4-=refMat2*refMat3); - VERIFY_IS_APPROX(dm4.noalias()+=m2*refMat3, refMat4+=refMat2*refMat3); - VERIFY_IS_APPROX(dm4.noalias()-=m2*refMat3, refMat4-=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=m2*(refMat3+refMat3), refMat4=refMat2*(refMat3+refMat3)); - VERIFY_IS_APPROX(dm4=m2t.transpose()*(refMat3+refMat5)*0.5, refMat4=refMat2t.transpose()*(refMat3+refMat5)*0.5); - - // sparse * dense vector - VERIFY_IS_APPROX(dm4.col(0)=m2*refMat3.col(0), refMat4.col(0)=refMat2*refMat3.col(0)); - VERIFY_IS_APPROX(dm4.col(0)=m2*refMat3t.transpose().col(0), refMat4.col(0)=refMat2*refMat3t.transpose().col(0)); - VERIFY_IS_APPROX(dm4.col(0)=m2t.transpose()*refMat3.col(0), refMat4.col(0)=refMat2t.transpose()*refMat3.col(0)); - VERIFY_IS_APPROX(dm4.col(0)=m2t.transpose()*refMat3t.transpose().col(0), refMat4.col(0)=refMat2t.transpose()*refMat3t.transpose().col(0)); - - // dense * sparse - VERIFY_IS_APPROX(dm4=refMat2*m3, refMat4=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=dm4+refMat2*m3, refMat4=refMat4+refMat2*refMat3); - VERIFY_IS_APPROX(dm4+=refMat2*m3, refMat4+=refMat2*refMat3); - VERIFY_IS_APPROX(dm4-=refMat2*m3, refMat4-=refMat2*refMat3); - VERIFY_IS_APPROX(dm4.noalias()+=refMat2*m3, refMat4+=refMat2*refMat3); - VERIFY_IS_APPROX(dm4.noalias()-=refMat2*m3, refMat4-=refMat2*refMat3); - VERIFY_IS_APPROX(dm4=refMat2*m3t.transpose(), refMat4=refMat2*refMat3t.transpose()); - VERIFY_IS_APPROX(dm4=refMat2t.transpose()*m3, refMat4=refMat2t.transpose()*refMat3); - VERIFY_IS_APPROX(dm4=refMat2t.transpose()*m3t.transpose(), refMat4=refMat2t.transpose()*refMat3t.transpose()); - - // sparse * dense and dense * sparse outer product - { - Index c = internal::random(0,depth-1); - Index r = internal::random(0,rows-1); - Index c1 = internal::random(0,cols-1); - Index r1 = internal::random(0,depth-1); - DenseMatrix dm5 = DenseMatrix::Random(depth, cols); - - VERIFY_IS_APPROX( m4=m2.col(c)*dm5.col(c1).transpose(), refMat4=refMat2.col(c)*dm5.col(c1).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX( m4=m2.middleCols(c,1)*dm5.col(c1).transpose(), refMat4=refMat2.col(c)*dm5.col(c1).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(dm4=m2.col(c)*dm5.col(c1).transpose(), refMat4=refMat2.col(c)*dm5.col(c1).transpose()); - - VERIFY_IS_APPROX(m4=dm5.col(c1)*m2.col(c).transpose(), refMat4=dm5.col(c1)*refMat2.col(c).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(m4=dm5.col(c1)*m2.middleCols(c,1).transpose(), refMat4=dm5.col(c1)*refMat2.col(c).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(dm4=dm5.col(c1)*m2.col(c).transpose(), refMat4=dm5.col(c1)*refMat2.col(c).transpose()); - - VERIFY_IS_APPROX( m4=dm5.row(r1).transpose()*m2.col(c).transpose(), refMat4=dm5.row(r1).transpose()*refMat2.col(c).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(dm4=dm5.row(r1).transpose()*m2.col(c).transpose(), refMat4=dm5.row(r1).transpose()*refMat2.col(c).transpose()); - - VERIFY_IS_APPROX( m4=m2.row(r).transpose()*dm5.col(c1).transpose(), refMat4=refMat2.row(r).transpose()*dm5.col(c1).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX( m4=m2.middleRows(r,1).transpose()*dm5.col(c1).transpose(), refMat4=refMat2.row(r).transpose()*dm5.col(c1).transpose()); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(dm4=m2.row(r).transpose()*dm5.col(c1).transpose(), refMat4=refMat2.row(r).transpose()*dm5.col(c1).transpose()); - - VERIFY_IS_APPROX( m4=dm5.col(c1)*m2.row(r), refMat4=dm5.col(c1)*refMat2.row(r)); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX( m4=dm5.col(c1)*m2.middleRows(r,1), refMat4=dm5.col(c1)*refMat2.row(r)); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(dm4=dm5.col(c1)*m2.row(r), refMat4=dm5.col(c1)*refMat2.row(r)); - - VERIFY_IS_APPROX( m4=dm5.row(r1).transpose()*m2.row(r), refMat4=dm5.row(r1).transpose()*refMat2.row(r)); - VERIFY_IS_EQUAL(m4.nonZeros(), (refMat4.array()!=0).count()); - VERIFY_IS_APPROX(dm4=dm5.row(r1).transpose()*m2.row(r), refMat4=dm5.row(r1).transpose()*refMat2.row(r)); - } - - VERIFY_IS_APPROX(m6=m6*m6, refMat6=refMat6*refMat6); - - // sparse matrix * sparse vector - ColSpVector cv0(cols), cv1; - DenseVector dcv0(cols), dcv1; - initSparse(2*density,dcv0, cv0); - - RowSpVector rv0(depth), rv1; - RowDenseVector drv0(depth), drv1(rv1); - initSparse(2*density,drv0, rv0); - - VERIFY_IS_APPROX(cv1=m3*cv0, dcv1=refMat3*dcv0); - VERIFY_IS_APPROX(rv1=rv0*m3, drv1=drv0*refMat3); - VERIFY_IS_APPROX(cv1=m3t.adjoint()*cv0, dcv1=refMat3t.adjoint()*dcv0); - VERIFY_IS_APPROX(cv1=rv0*m3, dcv1=drv0*refMat3); - VERIFY_IS_APPROX(rv1=m3*cv0, drv1=refMat3*dcv0); - } - - // test matrix - diagonal product - { - DenseMatrix refM2 = DenseMatrix::Zero(rows, cols); - DenseMatrix refM3 = DenseMatrix::Zero(rows, cols); - DenseMatrix d3 = DenseMatrix::Zero(rows, cols); - DiagonalMatrix d1(DenseVector::Random(cols)); - DiagonalMatrix d2(DenseVector::Random(rows)); - SparseMatrixType m2(rows, cols); - SparseMatrixType m3(rows, cols); - initSparse(density, refM2, m2); - initSparse(density, refM3, m3); - VERIFY_IS_APPROX(m3=m2*d1, refM3=refM2*d1); - VERIFY_IS_APPROX(m3=m2.transpose()*d2, refM3=refM2.transpose()*d2); - VERIFY_IS_APPROX(m3=d2*m2, refM3=d2*refM2); - VERIFY_IS_APPROX(m3=d1*m2.transpose(), refM3=d1*refM2.transpose()); - - // also check with a SparseWrapper: - DenseVector v1 = DenseVector::Random(cols); - DenseVector v2 = DenseVector::Random(rows); - DenseVector v3 = DenseVector::Random(rows); - VERIFY_IS_APPROX(m3=m2*v1.asDiagonal(), refM3=refM2*v1.asDiagonal()); - VERIFY_IS_APPROX(m3=m2.transpose()*v2.asDiagonal(), refM3=refM2.transpose()*v2.asDiagonal()); - VERIFY_IS_APPROX(m3=v2.asDiagonal()*m2, refM3=v2.asDiagonal()*refM2); - VERIFY_IS_APPROX(m3=v1.asDiagonal()*m2.transpose(), refM3=v1.asDiagonal()*refM2.transpose()); - - VERIFY_IS_APPROX(m3=v2.asDiagonal()*m2*v1.asDiagonal(), refM3=v2.asDiagonal()*refM2*v1.asDiagonal()); - - VERIFY_IS_APPROX(v2=m2*v1.asDiagonal()*v1, refM2*v1.asDiagonal()*v1); - VERIFY_IS_APPROX(v3=v2.asDiagonal()*m2*v1, v2.asDiagonal()*refM2*v1); - - // evaluate to a dense matrix to check the .row() and .col() iterator functions - VERIFY_IS_APPROX(d3=m2*d1, refM3=refM2*d1); - VERIFY_IS_APPROX(d3=m2.transpose()*d2, refM3=refM2.transpose()*d2); - VERIFY_IS_APPROX(d3=d2*m2, refM3=d2*refM2); - VERIFY_IS_APPROX(d3=d1*m2.transpose(), refM3=d1*refM2.transpose()); - } - - // test self-adjoint and triangular-view products - { - DenseMatrix b = DenseMatrix::Random(rows, rows); - DenseMatrix x = DenseMatrix::Random(rows, rows); - DenseMatrix refX = DenseMatrix::Random(rows, rows); - DenseMatrix refUp = DenseMatrix::Zero(rows, rows); - DenseMatrix refLo = DenseMatrix::Zero(rows, rows); - DenseMatrix refS = DenseMatrix::Zero(rows, rows); - DenseMatrix refA = DenseMatrix::Zero(rows, rows); - SparseMatrixType mUp(rows, rows); - SparseMatrixType mLo(rows, rows); - SparseMatrixType mS(rows, rows); - SparseMatrixType mA(rows, rows); - initSparse(density, refA, mA); - do { - initSparse(density, refUp, mUp, ForceRealDiag|/*ForceNonZeroDiag|*/MakeUpperTriangular); - } while (refUp.isZero()); - refLo = refUp.adjoint(); - mLo = mUp.adjoint(); - refS = refUp + refLo; - refS.diagonal() *= 0.5; - mS = mUp + mLo; - // TODO be able to address the diagonal.... - for (int k=0; k()*b, refX=refS*b); - VERIFY_IS_APPROX(x=mLo.template selfadjointView()*b, refX=refS*b); - VERIFY_IS_APPROX(x=mS.template selfadjointView()*b, refX=refS*b); - - VERIFY_IS_APPROX(x.noalias()+=mUp.template selfadjointView()*b, refX+=refS*b); - VERIFY_IS_APPROX(x.noalias()-=mLo.template selfadjointView()*b, refX-=refS*b); - VERIFY_IS_APPROX(x.noalias()+=mS.template selfadjointView()*b, refX+=refS*b); - - // sparse selfadjointView with sparse matrices - SparseMatrixType mSres(rows,rows); - VERIFY_IS_APPROX(mSres = mLo.template selfadjointView()*mS, - refX = refLo.template selfadjointView()*refS); - VERIFY_IS_APPROX(mSres = mS * mLo.template selfadjointView(), - refX = refS * refLo.template selfadjointView()); - - // sparse triangularView with dense matrices - VERIFY_IS_APPROX(x=mA.template triangularView()*b, refX=refA.template triangularView()*b); - VERIFY_IS_APPROX(x=mA.template triangularView()*b, refX=refA.template triangularView()*b); - VERIFY_IS_APPROX(x=b*mA.template triangularView(), refX=b*refA.template triangularView()); - VERIFY_IS_APPROX(x=b*mA.template triangularView(), refX=b*refA.template triangularView()); - - // sparse triangularView with sparse matrices - VERIFY_IS_APPROX(mSres = mA.template triangularView()*mS, refX = refA.template triangularView()*refS); - VERIFY_IS_APPROX(mSres = mS * mA.template triangularView(), refX = refS * refA.template triangularView()); - VERIFY_IS_APPROX(mSres = mA.template triangularView()*mS, refX = refA.template triangularView()*refS); - VERIFY_IS_APPROX(mSres = mS * mA.template triangularView(), refX = refS * refA.template triangularView()); - } -} - -// New test for Bug in SparseTimeDenseProduct -template void sparse_product_regression_test() -{ - // This code does not compile with afflicted versions of the bug - SparseMatrixType sm1(3,2); - DenseMatrixType m2(2,2); - sm1.setZero(); - m2.setZero(); - - DenseMatrixType m3 = sm1*m2; - - - // This code produces a segfault with afflicted versions of another SparseTimeDenseProduct - // bug - - SparseMatrixType sm2(20000,2); - sm2.setZero(); - DenseMatrixType m4(sm2*m2); - - VERIFY_IS_APPROX( m4(0,0), 0.0 ); -} - -template -void bug_942() -{ - typedef Matrix Vector; - typedef SparseMatrix ColSpMat; - typedef SparseMatrix RowSpMat; - ColSpMat cmA(1,1); - cmA.insert(0,0) = 1; - - RowSpMat rmA(1,1); - rmA.insert(0,0) = 1; - - Vector d(1); - d[0] = 2; - - double res = 2; - - VERIFY_IS_APPROX( ( cmA*d.asDiagonal() ).eval().coeff(0,0), res ); - VERIFY_IS_APPROX( ( d.asDiagonal()*rmA ).eval().coeff(0,0), res ); - VERIFY_IS_APPROX( ( rmA*d.asDiagonal() ).eval().coeff(0,0), res ); - VERIFY_IS_APPROX( ( d.asDiagonal()*cmA ).eval().coeff(0,0), res ); -} - -void test_sparse_product() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( (sparse_product >()) ); - CALL_SUBTEST_1( (sparse_product >()) ); - CALL_SUBTEST_1( (bug_942()) ); - CALL_SUBTEST_2( (sparse_product, ColMajor > >()) ); - CALL_SUBTEST_2( (sparse_product, RowMajor > >()) ); - CALL_SUBTEST_3( (sparse_product >()) ); - CALL_SUBTEST_4( (sparse_product_regression_test, Matrix >()) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_ref.cpp b/testbed/nanogui/ext/eigen/test/sparse_ref.cpp deleted file mode 100644 index 5e960723..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_ref.cpp +++ /dev/null @@ -1,139 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 20015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// This unit test cannot be easily written to work with EIGEN_DEFAULT_TO_ROW_MAJOR -#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR -#undef EIGEN_DEFAULT_TO_ROW_MAJOR -#endif - -static long int nb_temporaries; - -inline void on_temporary_creation() { - // here's a great place to set a breakpoint when debugging failures in this test! - nb_temporaries++; -} - -#define EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN { on_temporary_creation(); } - -#include "main.h" -#include - -#define VERIFY_EVALUATION_COUNT(XPR,N) {\ - nb_temporaries = 0; \ - CALL_SUBTEST( XPR ); \ - if(nb_temporaries!=N) std::cerr << "nb_temporaries == " << nb_temporaries << "\n"; \ - VERIFY( (#XPR) && nb_temporaries==N ); \ - } - -template void check_const_correctness(const PlainObjectType&) -{ - // verify that ref-to-const don't have LvalueBit - typedef typename internal::add_const::type ConstPlainObjectType; - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(internal::traits >::Flags & LvalueBit) ); - VERIFY( !(Ref::Flags & LvalueBit) ); - VERIFY( !(Ref::Flags & LvalueBit) ); -} - -template -EIGEN_DONT_INLINE void call_ref_1(Ref > a, const B &b) { VERIFY_IS_EQUAL(a.toDense(),b.toDense()); } - -template -EIGEN_DONT_INLINE void call_ref_2(const Ref >& a, const B &b) { VERIFY_IS_EQUAL(a.toDense(),b.toDense()); } - -template -EIGEN_DONT_INLINE void call_ref_3(const Ref, StandardCompressedFormat>& a, const B &b) { - VERIFY(a.isCompressed()); - VERIFY_IS_EQUAL(a.toDense(),b.toDense()); -} - -template -EIGEN_DONT_INLINE void call_ref_4(Ref > a, const B &b) { VERIFY_IS_EQUAL(a.toDense(),b.toDense()); } - -template -EIGEN_DONT_INLINE void call_ref_5(const Ref >& a, const B &b) { VERIFY_IS_EQUAL(a.toDense(),b.toDense()); } - -void call_ref() -{ - SparseMatrix A = MatrixXf::Random(10,10).sparseView(0.5,1); - SparseMatrix B = MatrixXf::Random(10,10).sparseView(0.5,1); - SparseMatrix C = MatrixXf::Random(10,10).sparseView(0.5,1); - C.reserve(VectorXi::Constant(C.outerSize(), 2)); - const SparseMatrix& Ac(A); - Block > Ab(A,0,1, 3,3); - const Block > Abc(A,0,1,3,3); - SparseVector vc = VectorXf::Random(10).sparseView(0.5,1); - SparseVector vr = VectorXf::Random(10).sparseView(0.5,1); - SparseMatrix AA = A*A; - - - VERIFY_EVALUATION_COUNT( call_ref_1(A, A), 0); -// VERIFY_EVALUATION_COUNT( call_ref_1(Ac, Ac), 0); // does not compile on purpose - VERIFY_EVALUATION_COUNT( call_ref_2(A, A), 0); - VERIFY_EVALUATION_COUNT( call_ref_3(A, A), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(A.transpose(), A.transpose()), 1); - VERIFY_EVALUATION_COUNT( call_ref_3(A.transpose(), A.transpose()), 1); - VERIFY_EVALUATION_COUNT( call_ref_2(Ac,Ac), 0); - VERIFY_EVALUATION_COUNT( call_ref_3(Ac,Ac), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(A+A,2*Ac), 1); - VERIFY_EVALUATION_COUNT( call_ref_3(A+A,2*Ac), 1); - VERIFY_EVALUATION_COUNT( call_ref_2(B, B), 1); - VERIFY_EVALUATION_COUNT( call_ref_3(B, B), 1); - VERIFY_EVALUATION_COUNT( call_ref_2(B.transpose(), B.transpose()), 0); - VERIFY_EVALUATION_COUNT( call_ref_3(B.transpose(), B.transpose()), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(A*A, AA), 3); - VERIFY_EVALUATION_COUNT( call_ref_3(A*A, AA), 3); - - VERIFY(!C.isCompressed()); - VERIFY_EVALUATION_COUNT( call_ref_3(C, C), 1); - - Ref > Ar(A); - VERIFY_IS_APPROX(Ar+Ar, A+A); - VERIFY_EVALUATION_COUNT( call_ref_1(Ar, A), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(Ar, A), 0); - - Ref > Br(B); - VERIFY_EVALUATION_COUNT( call_ref_1(Br.transpose(), Br.transpose()), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(Br, Br), 1); - VERIFY_EVALUATION_COUNT( call_ref_2(Br.transpose(), Br.transpose()), 0); - - Ref > Arc(A); -// VERIFY_EVALUATION_COUNT( call_ref_1(Arc, Arc), 0); // does not compile on purpose - VERIFY_EVALUATION_COUNT( call_ref_2(Arc, Arc), 0); - - VERIFY_EVALUATION_COUNT( call_ref_2(A.middleCols(1,3), A.middleCols(1,3)), 0); - - VERIFY_EVALUATION_COUNT( call_ref_2(A.col(2), A.col(2)), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(vc, vc), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(vr.transpose(), vr.transpose()), 0); - VERIFY_EVALUATION_COUNT( call_ref_2(vr, vr.transpose()), 0); - - VERIFY_EVALUATION_COUNT( call_ref_2(A.block(1,1,3,3), A.block(1,1,3,3)), 1); // should be 0 (allocate starts/nnz only) - - VERIFY_EVALUATION_COUNT( call_ref_4(vc, vc), 0); - VERIFY_EVALUATION_COUNT( call_ref_4(vr, vr.transpose()), 0); - VERIFY_EVALUATION_COUNT( call_ref_5(vc, vc), 0); - VERIFY_EVALUATION_COUNT( call_ref_5(vr, vr.transpose()), 0); - VERIFY_EVALUATION_COUNT( call_ref_4(A.col(2), A.col(2)), 0); - VERIFY_EVALUATION_COUNT( call_ref_5(A.col(2), A.col(2)), 0); - // VERIFY_EVALUATION_COUNT( call_ref_4(A.row(2), A.row(2).transpose()), 1); // does not compile on purpose - VERIFY_EVALUATION_COUNT( call_ref_5(A.row(2), A.row(2).transpose()), 1); -} - -void test_sparse_ref() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( check_const_correctness(SparseMatrix()) ); - CALL_SUBTEST_1( check_const_correctness(SparseMatrix()) ); - CALL_SUBTEST_2( call_ref() ); - - CALL_SUBTEST_3( check_const_correctness(SparseVector()) ); - CALL_SUBTEST_3( check_const_correctness(SparseVector()) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_solver.h b/testbed/nanogui/ext/eigen/test/sparse_solver.h deleted file mode 100644 index 5145bc3e..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_solver.h +++ /dev/null @@ -1,565 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse.h" -#include -#include - -template -void solve_with_guess(IterativeSolverBase& solver, const MatrixBase& b, const Guess& g, Result &x) { - if(internal::random()) - { - // With a temporary through evaluator - x = solver.derived().solveWithGuess(b,g) + Result::Zero(x.rows(), x.cols()); - } - else - { - // direct evaluation within x through Assignment - x = solver.derived().solveWithGuess(b.derived(),g); - } -} - -template -void solve_with_guess(SparseSolverBase& solver, const MatrixBase& b, const Guess& , Result& x) { - if(internal::random()) - x = solver.derived().solve(b) + Result::Zero(x.rows(), x.cols()); - else - x = solver.derived().solve(b); -} - -template -void solve_with_guess(SparseSolverBase& solver, const SparseMatrixBase& b, const Guess& , Result& x) { - x = solver.derived().solve(b); -} - -template -void check_sparse_solving(Solver& solver, const typename Solver::MatrixType& A, const Rhs& b, const DenseMat& dA, const DenseRhs& db) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef typename Mat::StorageIndex StorageIndex; - - DenseRhs refX = dA.householderQr().solve(db); - { - Rhs x(A.cols(), b.cols()); - Rhs oldb = b; - - solver.compute(A); - if (solver.info() != Success) - { - std::cerr << "ERROR | sparse solver testing, factorization failed (" << typeid(Solver).name() << ")\n"; - VERIFY(solver.info() == Success); - } - x = solver.solve(b); - if (solver.info() != Success) - { - std::cerr << "WARNING | sparse solver testing: solving failed (" << typeid(Solver).name() << ")\n"; - return; - } - VERIFY(oldb.isApprox(b) && "sparse solver testing: the rhs should not be modified!"); - VERIFY(x.isApprox(refX,test_precision())); - - x.setZero(); - solve_with_guess(solver, b, x, x); - VERIFY(solver.info() == Success && "solving failed when using analyzePattern/factorize API"); - VERIFY(oldb.isApprox(b) && "sparse solver testing: the rhs should not be modified!"); - VERIFY(x.isApprox(refX,test_precision())); - - x.setZero(); - // test the analyze/factorize API - solver.analyzePattern(A); - solver.factorize(A); - VERIFY(solver.info() == Success && "factorization failed when using analyzePattern/factorize API"); - x = solver.solve(b); - VERIFY(solver.info() == Success && "solving failed when using analyzePattern/factorize API"); - VERIFY(oldb.isApprox(b) && "sparse solver testing: the rhs should not be modified!"); - VERIFY(x.isApprox(refX,test_precision())); - - x.setZero(); - // test with Map - MappedSparseMatrix Am(A.rows(), A.cols(), A.nonZeros(), const_cast(A.outerIndexPtr()), const_cast(A.innerIndexPtr()), const_cast(A.valuePtr())); - solver.compute(Am); - VERIFY(solver.info() == Success && "factorization failed when using Map"); - DenseRhs dx(refX); - dx.setZero(); - Map xm(dx.data(), dx.rows(), dx.cols()); - Map bm(db.data(), db.rows(), db.cols()); - xm = solver.solve(bm); - VERIFY(solver.info() == Success && "solving failed when using Map"); - VERIFY(oldb.isApprox(bm) && "sparse solver testing: the rhs should not be modified!"); - VERIFY(xm.isApprox(refX,test_precision())); - } - - // if not too large, do some extra check: - if(A.rows()<2000) - { - // test initialization ctor - { - Rhs x(b.rows(), b.cols()); - Solver solver2(A); - VERIFY(solver2.info() == Success); - x = solver2.solve(b); - VERIFY(x.isApprox(refX,test_precision())); - } - - // test dense Block as the result and rhs: - { - DenseRhs x(refX.rows(), refX.cols()); - DenseRhs oldb(db); - x.setZero(); - x.block(0,0,x.rows(),x.cols()) = solver.solve(db.block(0,0,db.rows(),db.cols())); - VERIFY(oldb.isApprox(db) && "sparse solver testing: the rhs should not be modified!"); - VERIFY(x.isApprox(refX,test_precision())); - } - - // test uncompressed inputs - { - Mat A2 = A; - A2.reserve((ArrayXf::Random(A.outerSize())+2).template cast().eval()); - solver.compute(A2); - Rhs x = solver.solve(b); - VERIFY(x.isApprox(refX,test_precision())); - } - - // test expression as input - { - solver.compute(0.5*(A+A)); - Rhs x = solver.solve(b); - VERIFY(x.isApprox(refX,test_precision())); - - Solver solver2(0.5*(A+A)); - Rhs x2 = solver2.solve(b); - VERIFY(x2.isApprox(refX,test_precision())); - } - } -} - -template -void check_sparse_solving_real_cases(Solver& solver, const typename Solver::MatrixType& A, const Rhs& b, const typename Solver::MatrixType& fullA, const Rhs& refX) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef typename Mat::RealScalar RealScalar; - - Rhs x(A.cols(), b.cols()); - - solver.compute(A); - if (solver.info() != Success) - { - std::cerr << "ERROR | sparse solver testing, factorization failed (" << typeid(Solver).name() << ")\n"; - VERIFY(solver.info() == Success); - } - x = solver.solve(b); - - if (solver.info() != Success) - { - std::cerr << "WARNING | sparse solver testing, solving failed (" << typeid(Solver).name() << ")\n"; - return; - } - - RealScalar res_error = (fullA*x-b).norm()/b.norm(); - VERIFY( (res_error <= test_precision() ) && "sparse solver failed without noticing it"); - - - if(refX.size() != 0 && (refX - x).norm()/refX.norm() > test_precision()) - { - std::cerr << "WARNING | found solution is different from the provided reference one\n"; - } - -} -template -void check_sparse_determinant(Solver& solver, const typename Solver::MatrixType& A, const DenseMat& dA) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - - solver.compute(A); - if (solver.info() != Success) - { - std::cerr << "WARNING | sparse solver testing: factorization failed (check_sparse_determinant)\n"; - return; - } - - Scalar refDet = dA.determinant(); - VERIFY_IS_APPROX(refDet,solver.determinant()); -} -template -void check_sparse_abs_determinant(Solver& solver, const typename Solver::MatrixType& A, const DenseMat& dA) -{ - using std::abs; - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - - solver.compute(A); - if (solver.info() != Success) - { - std::cerr << "WARNING | sparse solver testing: factorization failed (check_sparse_abs_determinant)\n"; - return; - } - - Scalar refDet = abs(dA.determinant()); - VERIFY_IS_APPROX(refDet,solver.absDeterminant()); -} - -template -int generate_sparse_spd_problem(Solver& , typename Solver::MatrixType& A, typename Solver::MatrixType& halfA, DenseMat& dA, int maxSize = 300) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef Matrix DenseMatrix; - - int size = internal::random(1,maxSize); - double density = (std::max)(8./(size*size), 0.01); - - Mat M(size, size); - DenseMatrix dM(size, size); - - initSparse(density, dM, M, ForceNonZeroDiag); - - A = M * M.adjoint(); - dA = dM * dM.adjoint(); - - halfA.resize(size,size); - if(Solver::UpLo==(Lower|Upper)) - halfA = A; - else - halfA.template selfadjointView().rankUpdate(M); - - return size; -} - - -#ifdef TEST_REAL_CASES -template -inline std::string get_matrixfolder() -{ - std::string mat_folder = TEST_REAL_CASES; - if( internal::is_same >::value || internal::is_same >::value ) - mat_folder = mat_folder + static_cast("/complex/"); - else - mat_folder = mat_folder + static_cast("/real/"); - return mat_folder; -} -std::string sym_to_string(int sym) -{ - if(sym==Symmetric) return "Symmetric "; - if(sym==SPD) return "SPD "; - return ""; -} -template -std::string solver_stats(const IterativeSolverBase &solver) -{ - std::stringstream ss; - ss << solver.iterations() << " iters, error: " << solver.error(); - return ss.str(); -} -template -std::string solver_stats(const SparseSolverBase &/*solver*/) -{ - return ""; -} -#endif - -template void check_sparse_spd_solving(Solver& solver, int maxSize = 300, int maxRealWorldSize = 100000) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef typename Mat::StorageIndex StorageIndex; - typedef SparseMatrix SpMat; - typedef SparseVector SpVec; - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - - // generate the problem - Mat A, halfA; - DenseMatrix dA; - for (int i = 0; i < g_repeat; i++) { - int size = generate_sparse_spd_problem(solver, A, halfA, dA, maxSize); - - // generate the right hand sides - int rhsCols = internal::random(1,16); - double density = (std::max)(8./(size*rhsCols), 0.1); - SpMat B(size,rhsCols); - DenseVector b = DenseVector::Random(size); - DenseMatrix dB(size,rhsCols); - initSparse(density, dB, B, ForceNonZeroDiag); - SpVec c = B.col(0); - DenseVector dc = dB.col(0); - - CALL_SUBTEST( check_sparse_solving(solver, A, b, dA, b) ); - CALL_SUBTEST( check_sparse_solving(solver, halfA, b, dA, b) ); - CALL_SUBTEST( check_sparse_solving(solver, A, dB, dA, dB) ); - CALL_SUBTEST( check_sparse_solving(solver, halfA, dB, dA, dB) ); - CALL_SUBTEST( check_sparse_solving(solver, A, B, dA, dB) ); - CALL_SUBTEST( check_sparse_solving(solver, halfA, B, dA, dB) ); - CALL_SUBTEST( check_sparse_solving(solver, A, c, dA, dc) ); - CALL_SUBTEST( check_sparse_solving(solver, halfA, c, dA, dc) ); - - // check only once - if(i==0) - { - b = DenseVector::Zero(size); - check_sparse_solving(solver, A, b, dA, b); - } - } - - // First, get the folder -#ifdef TEST_REAL_CASES - // Test real problems with double precision only - if (internal::is_same::Real, double>::value) - { - std::string mat_folder = get_matrixfolder(); - MatrixMarketIterator it(mat_folder); - for (; it; ++it) - { - if (it.sym() == SPD){ - A = it.matrix(); - if(A.diagonal().size() <= maxRealWorldSize) - { - DenseVector b = it.rhs(); - DenseVector refX = it.refX(); - PermutationMatrix pnull; - halfA.resize(A.rows(), A.cols()); - if(Solver::UpLo == (Lower|Upper)) - halfA = A; - else - halfA.template selfadjointView() = A.template triangularView().twistedBy(pnull); - - std::cout << "INFO | Testing " << sym_to_string(it.sym()) << "sparse problem " << it.matname() - << " (" << A.rows() << "x" << A.cols() << ") using " << typeid(Solver).name() << "..." << std::endl; - CALL_SUBTEST( check_sparse_solving_real_cases(solver, A, b, A, refX) ); - std::string stats = solver_stats(solver); - if(stats.size()>0) - std::cout << "INFO | " << stats << std::endl; - CALL_SUBTEST( check_sparse_solving_real_cases(solver, halfA, b, A, refX) ); - } - else - { - std::cout << "INFO | Skip sparse problem \"" << it.matname() << "\" (too large)" << std::endl; - } - } - } - } -#else - EIGEN_UNUSED_VARIABLE(maxRealWorldSize); -#endif -} - -template void check_sparse_spd_determinant(Solver& solver) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef Matrix DenseMatrix; - - // generate the problem - Mat A, halfA; - DenseMatrix dA; - generate_sparse_spd_problem(solver, A, halfA, dA, 30); - - for (int i = 0; i < g_repeat; i++) { - check_sparse_determinant(solver, A, dA); - check_sparse_determinant(solver, halfA, dA ); - } -} - -template -Index generate_sparse_square_problem(Solver&, typename Solver::MatrixType& A, DenseMat& dA, int maxSize = 300, int options = ForceNonZeroDiag) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - - Index size = internal::random(1,maxSize); - double density = (std::max)(8./(size*size), 0.01); - - A.resize(size,size); - dA.resize(size,size); - - initSparse(density, dA, A, options); - - return size; -} - - -struct prune_column { - Index m_col; - prune_column(Index col) : m_col(col) {} - template - bool operator()(Index, Index col, const Scalar&) const { - return col != m_col; - } -}; - - -template void check_sparse_square_solving(Solver& solver, int maxSize = 300, int maxRealWorldSize = 100000, bool checkDeficient = false) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef SparseMatrix SpMat; - typedef SparseVector SpVec; - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - - int rhsCols = internal::random(1,16); - - Mat A; - DenseMatrix dA; - for (int i = 0; i < g_repeat; i++) { - Index size = generate_sparse_square_problem(solver, A, dA, maxSize); - - A.makeCompressed(); - DenseVector b = DenseVector::Random(size); - DenseMatrix dB(size,rhsCols); - SpMat B(size,rhsCols); - double density = (std::max)(8./(size*rhsCols), 0.1); - initSparse(density, dB, B, ForceNonZeroDiag); - B.makeCompressed(); - SpVec c = B.col(0); - DenseVector dc = dB.col(0); - CALL_SUBTEST(check_sparse_solving(solver, A, b, dA, b)); - CALL_SUBTEST(check_sparse_solving(solver, A, dB, dA, dB)); - CALL_SUBTEST(check_sparse_solving(solver, A, B, dA, dB)); - CALL_SUBTEST(check_sparse_solving(solver, A, c, dA, dc)); - - // check only once - if(i==0) - { - b = DenseVector::Zero(size); - check_sparse_solving(solver, A, b, dA, b); - } - // regression test for Bug 792 (structurally rank deficient matrices): - if(checkDeficient && size>1) { - Index col = internal::random(0,int(size-1)); - A.prune(prune_column(col)); - solver.compute(A); - VERIFY_IS_EQUAL(solver.info(), NumericalIssue); - } - } - - // First, get the folder -#ifdef TEST_REAL_CASES - // Test real problems with double precision only - if (internal::is_same::Real, double>::value) - { - std::string mat_folder = get_matrixfolder(); - MatrixMarketIterator it(mat_folder); - for (; it; ++it) - { - A = it.matrix(); - if(A.diagonal().size() <= maxRealWorldSize) - { - DenseVector b = it.rhs(); - DenseVector refX = it.refX(); - std::cout << "INFO | Testing " << sym_to_string(it.sym()) << "sparse problem " << it.matname() - << " (" << A.rows() << "x" << A.cols() << ") using " << typeid(Solver).name() << "..." << std::endl; - CALL_SUBTEST(check_sparse_solving_real_cases(solver, A, b, A, refX)); - std::string stats = solver_stats(solver); - if(stats.size()>0) - std::cout << "INFO | " << stats << std::endl; - } - else - { - std::cout << "INFO | SKIP sparse problem \"" << it.matname() << "\" (too large)" << std::endl; - } - } - } -#else - EIGEN_UNUSED_VARIABLE(maxRealWorldSize); -#endif - -} - -template void check_sparse_square_determinant(Solver& solver) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef Matrix DenseMatrix; - - for (int i = 0; i < g_repeat; i++) { - // generate the problem - Mat A; - DenseMatrix dA; - - int size = internal::random(1,30); - dA.setRandom(size,size); - - dA = (dA.array().abs()<0.3).select(0,dA); - dA.diagonal() = (dA.diagonal().array()==0).select(1,dA.diagonal()); - A = dA.sparseView(); - A.makeCompressed(); - - check_sparse_determinant(solver, A, dA); - } -} - -template void check_sparse_square_abs_determinant(Solver& solver) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef Matrix DenseMatrix; - - for (int i = 0; i < g_repeat; i++) { - // generate the problem - Mat A; - DenseMatrix dA; - generate_sparse_square_problem(solver, A, dA, 30); - A.makeCompressed(); - check_sparse_abs_determinant(solver, A, dA); - } -} - -template -void generate_sparse_leastsquare_problem(Solver&, typename Solver::MatrixType& A, DenseMat& dA, int maxSize = 300, int options = ForceNonZeroDiag) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - - int rows = internal::random(1,maxSize); - int cols = internal::random(1,rows); - double density = (std::max)(8./(rows*cols), 0.01); - - A.resize(rows,cols); - dA.resize(rows,cols); - - initSparse(density, dA, A, options); -} - -template void check_sparse_leastsquare_solving(Solver& solver) -{ - typedef typename Solver::MatrixType Mat; - typedef typename Mat::Scalar Scalar; - typedef SparseMatrix SpMat; - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - - int rhsCols = internal::random(1,16); - - Mat A; - DenseMatrix dA; - for (int i = 0; i < g_repeat; i++) { - generate_sparse_leastsquare_problem(solver, A, dA); - - A.makeCompressed(); - DenseVector b = DenseVector::Random(A.rows()); - DenseMatrix dB(A.rows(),rhsCols); - SpMat B(A.rows(),rhsCols); - double density = (std::max)(8./(A.rows()*rhsCols), 0.1); - initSparse(density, dB, B, ForceNonZeroDiag); - B.makeCompressed(); - check_sparse_solving(solver, A, b, dA, b); - check_sparse_solving(solver, A, dB, dA, dB); - check_sparse_solving(solver, A, B, dA, dB); - - // check only once - if(i==0) - { - b = DenseVector::Zero(A.rows()); - check_sparse_solving(solver, A, b, dA, b); - } - } -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_solvers.cpp b/testbed/nanogui/ext/eigen/test/sparse_solvers.cpp deleted file mode 100644 index 3a8873d4..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_solvers.cpp +++ /dev/null @@ -1,112 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2010 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse.h" - -template void -initSPD(double density, - Matrix& refMat, - SparseMatrix& sparseMat) -{ - Matrix aux(refMat.rows(),refMat.cols()); - initSparse(density,refMat,sparseMat); - refMat = refMat * refMat.adjoint(); - for (int k=0; k<2; ++k) - { - initSparse(density,aux,sparseMat,ForceNonZeroDiag); - refMat += aux * aux.adjoint(); - } - sparseMat.setZero(); - for (int j=0 ; j void sparse_solvers(int rows, int cols) -{ - double density = (std::max)(8./(rows*cols), 0.01); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - // Scalar eps = 1e-6; - - DenseVector vec1 = DenseVector::Random(rows); - - std::vector zeroCoords; - std::vector nonzeroCoords; - - // test triangular solver - { - DenseVector vec2 = vec1, vec3 = vec1; - SparseMatrix m2(rows, cols); - DenseMatrix refMat2 = DenseMatrix::Zero(rows, cols); - - // lower - dense - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular, &zeroCoords, &nonzeroCoords); - VERIFY_IS_APPROX(refMat2.template triangularView().solve(vec2), - m2.template triangularView().solve(vec3)); - - // upper - dense - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeUpperTriangular, &zeroCoords, &nonzeroCoords); - VERIFY_IS_APPROX(refMat2.template triangularView().solve(vec2), - m2.template triangularView().solve(vec3)); - VERIFY_IS_APPROX(refMat2.conjugate().template triangularView().solve(vec2), - m2.conjugate().template triangularView().solve(vec3)); - { - SparseMatrix cm2(m2); - //Index rows, Index cols, Index nnz, Index* outerIndexPtr, Index* innerIndexPtr, Scalar* valuePtr - MappedSparseMatrix mm2(rows, cols, cm2.nonZeros(), cm2.outerIndexPtr(), cm2.innerIndexPtr(), cm2.valuePtr()); - VERIFY_IS_APPROX(refMat2.conjugate().template triangularView().solve(vec2), - mm2.conjugate().template triangularView().solve(vec3)); - } - - // lower - transpose - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular, &zeroCoords, &nonzeroCoords); - VERIFY_IS_APPROX(refMat2.transpose().template triangularView().solve(vec2), - m2.transpose().template triangularView().solve(vec3)); - - // upper - transpose - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeUpperTriangular, &zeroCoords, &nonzeroCoords); - VERIFY_IS_APPROX(refMat2.transpose().template triangularView().solve(vec2), - m2.transpose().template triangularView().solve(vec3)); - - SparseMatrix matB(rows, rows); - DenseMatrix refMatB = DenseMatrix::Zero(rows, rows); - - // lower - sparse - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular); - initSparse(density, refMatB, matB); - refMat2.template triangularView().solveInPlace(refMatB); - m2.template triangularView().solveInPlace(matB); - VERIFY_IS_APPROX(matB.toDense(), refMatB); - - // upper - sparse - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeUpperTriangular); - initSparse(density, refMatB, matB); - refMat2.template triangularView().solveInPlace(refMatB); - m2.template triangularView().solveInPlace(matB); - VERIFY_IS_APPROX(matB, refMatB); - - // test deprecated API - initSparse(density, refMat2, m2, ForceNonZeroDiag|MakeLowerTriangular, &zeroCoords, &nonzeroCoords); - VERIFY_IS_APPROX(refMat2.template triangularView().solve(vec2), - m2.template triangularView().solve(vec3)); - } -} - -void test_sparse_solvers() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1(sparse_solvers(8, 8) ); - int s = internal::random(1,300); - CALL_SUBTEST_2(sparse_solvers >(s,s) ); - CALL_SUBTEST_1(sparse_solvers(s,s) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/sparse_vector.cpp b/testbed/nanogui/ext/eigen/test/sparse_vector.cpp deleted file mode 100644 index b3e1dda2..00000000 --- a/testbed/nanogui/ext/eigen/test/sparse_vector.cpp +++ /dev/null @@ -1,163 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "sparse.h" - -template void sparse_vector(int rows, int cols) -{ - double densityMat = (std::max)(8./(rows*cols), 0.01); - double densityVec = (std::max)(8./(rows), 0.1); - typedef Matrix DenseMatrix; - typedef Matrix DenseVector; - typedef SparseVector SparseVectorType; - typedef SparseMatrix SparseMatrixType; - Scalar eps = 1e-6; - - SparseMatrixType m1(rows,rows); - SparseVectorType v1(rows), v2(rows), v3(rows); - DenseMatrix refM1 = DenseMatrix::Zero(rows, rows); - DenseVector refV1 = DenseVector::Random(rows), - refV2 = DenseVector::Random(rows), - refV3 = DenseVector::Random(rows); - - std::vector zerocoords, nonzerocoords; - initSparse(densityVec, refV1, v1, &zerocoords, &nonzerocoords); - initSparse(densityMat, refM1, m1); - - initSparse(densityVec, refV2, v2); - initSparse(densityVec, refV3, v3); - - Scalar s1 = internal::random(); - - // test coeff and coeffRef - for (unsigned int i=0; i(0,rows-1); - Scalar v = internal::random(); - v4.coeffRef(i) += v; - v5.coeffRef(i) += v; - } - VERIFY_IS_APPROX(v4,v5); - } - - v1.coeffRef(nonzerocoords[0]) = Scalar(5); - refV1.coeffRef(nonzerocoords[0]) = Scalar(5); - VERIFY_IS_APPROX(v1, refV1); - - VERIFY_IS_APPROX(v1+v2, refV1+refV2); - VERIFY_IS_APPROX(v1+v2+v3, refV1+refV2+refV3); - - VERIFY_IS_APPROX(v1*s1-v2, refV1*s1-refV2); - - VERIFY_IS_APPROX(v1*=s1, refV1*=s1); - VERIFY_IS_APPROX(v1/=s1, refV1/=s1); - - VERIFY_IS_APPROX(v1+=v2, refV1+=refV2); - VERIFY_IS_APPROX(v1-=v2, refV1-=refV2); - - VERIFY_IS_APPROX(v1.dot(v2), refV1.dot(refV2)); - VERIFY_IS_APPROX(v1.dot(refV2), refV1.dot(refV2)); - - VERIFY_IS_APPROX(m1*v2, refM1*refV2); - VERIFY_IS_APPROX(v1.dot(m1*v2), refV1.dot(refM1*refV2)); - { - int i = internal::random(0,rows-1); - VERIFY_IS_APPROX(v1.dot(m1.col(i)), refV1.dot(refM1.col(i))); - } - - - VERIFY_IS_APPROX(v1.squaredNorm(), refV1.squaredNorm()); - - VERIFY_IS_APPROX(v1.blueNorm(), refV1.blueNorm()); - - // test aliasing - VERIFY_IS_APPROX((v1 = -v1), (refV1 = -refV1)); - VERIFY_IS_APPROX((v1 = v1.transpose()), (refV1 = refV1.transpose().eval())); - VERIFY_IS_APPROX((v1 += -v1), (refV1 += -refV1)); - - // sparse matrix to sparse vector - SparseMatrixType mv1; - VERIFY_IS_APPROX((mv1=v1),v1); - VERIFY_IS_APPROX(mv1,(v1=mv1)); - VERIFY_IS_APPROX(mv1,(v1=mv1.transpose())); - - // check copy to dense vector with transpose - refV3.resize(0); - VERIFY_IS_APPROX(refV3 = v1.transpose(),v1.toDense()); - VERIFY_IS_APPROX(DenseVector(v1),v1.toDense()); - - // test conservative resize - { - std::vector inc; - if(rows > 3) - inc.push_back(-3); - inc.push_back(0); - inc.push_back(3); - inc.push_back(1); - inc.push_back(10); - - for(std::size_t i = 0; i< inc.size(); i++) { - StorageIndex incRows = inc[i]; - SparseVectorType vec1(rows); - DenseVector refVec1 = DenseVector::Zero(rows); - initSparse(densityVec, refVec1, vec1); - - vec1.conservativeResize(rows+incRows); - refVec1.conservativeResize(rows+incRows); - if (incRows > 0) refVec1.tail(incRows).setZero(); - - VERIFY_IS_APPROX(vec1, refVec1); - - // Insert new values - if (incRows > 0) - vec1.insert(vec1.rows()-1) = refVec1(refVec1.rows()-1) = 1; - - VERIFY_IS_APPROX(vec1, refVec1); - } - } - -} - -void test_sparse_vector() -{ - for(int i = 0; i < g_repeat; i++) { - int r = Eigen::internal::random(1,500), c = Eigen::internal::random(1,500); - if(Eigen::internal::random(0,4) == 0) { - r = c; // check square matrices in 25% of tries - } - EIGEN_UNUSED_VARIABLE(r+c); - - CALL_SUBTEST_1(( sparse_vector(8, 8) )); - CALL_SUBTEST_2(( sparse_vector, int>(r, c) )); - CALL_SUBTEST_1(( sparse_vector(r, c) )); - CALL_SUBTEST_1(( sparse_vector(r, c) )); - } -} - diff --git a/testbed/nanogui/ext/eigen/test/sparselu.cpp b/testbed/nanogui/ext/eigen/test/sparselu.cpp deleted file mode 100644 index bd000baf..00000000 --- a/testbed/nanogui/ext/eigen/test/sparselu.cpp +++ /dev/null @@ -1,45 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Désiré Nuentsa-Wakam -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -// SparseLU solve does not accept column major matrices for the destination. -// However, as expected, the generic check_sparse_square_solving routines produces row-major -// rhs and destination matrices when compiled with EIGEN_DEFAULT_TO_ROW_MAJOR - -#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR -#undef EIGEN_DEFAULT_TO_ROW_MAJOR -#endif - -#include "sparse_solver.h" -#include -#include - -template void test_sparselu_T() -{ - SparseLU /*, COLAMDOrdering*/ > sparselu_colamd; // COLAMDOrdering is the default - SparseLU, AMDOrdering > sparselu_amd; - SparseLU, NaturalOrdering > sparselu_natural; - - check_sparse_square_solving(sparselu_colamd, 300, 100000, true); - check_sparse_square_solving(sparselu_amd, 300, 10000, true); - check_sparse_square_solving(sparselu_natural, 300, 2000, true); - - check_sparse_square_abs_determinant(sparselu_colamd); - check_sparse_square_abs_determinant(sparselu_amd); - - check_sparse_square_determinant(sparselu_colamd); - check_sparse_square_determinant(sparselu_amd); -} - -void test_sparselu() -{ - CALL_SUBTEST_1(test_sparselu_T()); - CALL_SUBTEST_2(test_sparselu_T()); - CALL_SUBTEST_3(test_sparselu_T >()); - CALL_SUBTEST_4(test_sparselu_T >()); -} diff --git a/testbed/nanogui/ext/eigen/test/sparseqr.cpp b/testbed/nanogui/ext/eigen/test/sparseqr.cpp deleted file mode 100644 index e8605fd2..00000000 --- a/testbed/nanogui/ext/eigen/test/sparseqr.cpp +++ /dev/null @@ -1,106 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Desire Nuentsa Wakam -// Copyright (C) 2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -#include "sparse.h" -#include - -template -int generate_sparse_rectangular_problem(MatrixType& A, DenseMat& dA, int maxRows = 300, int maxCols = 150) -{ - eigen_assert(maxRows >= maxCols); - typedef typename MatrixType::Scalar Scalar; - int rows = internal::random(1,maxRows); - int cols = internal::random(1,maxCols); - double density = (std::max)(8./(rows*cols), 0.01); - - A.resize(rows,cols); - dA.resize(rows,cols); - initSparse(density, dA, A,ForceNonZeroDiag); - A.makeCompressed(); - int nop = internal::random(0, internal::random(0,1) > 0.5 ? cols/2 : 0); - for(int k=0; k(0,cols-1); - int j1 = internal::random(0,cols-1); - Scalar s = internal::random(); - A.col(j0) = s * A.col(j1); - dA.col(j0) = s * dA.col(j1); - } - -// if(rows void test_sparseqr_scalar() -{ - typedef SparseMatrix MatrixType; - typedef Matrix DenseMat; - typedef Matrix DenseVector; - MatrixType A; - DenseMat dA; - DenseVector refX,x,b; - SparseQR > solver; - generate_sparse_rectangular_problem(A,dA); - - b = dA * DenseVector::Random(A.cols()); - solver.compute(A); - if(internal::random(0,1)>0.5f) - solver.factorize(A); // this checks that calling analyzePattern is not needed if the pattern do not change. - if (solver.info() != Success) - { - std::cerr << "sparse QR factorization failed\n"; - exit(0); - return; - } - x = solver.solve(b); - if (solver.info() != Success) - { - std::cerr << "sparse QR factorization failed\n"; - exit(0); - return; - } - - VERIFY_IS_APPROX(A * x, b); - - //Compare with a dense QR solver - ColPivHouseholderQR dqr(dA); - refX = dqr.solve(b); - - VERIFY_IS_EQUAL(dqr.rank(), solver.rank()); - if(solver.rank()==A.cols()) // full rank - VERIFY_IS_APPROX(x, refX); -// else -// VERIFY((dA * refX - b).norm() * 2 > (A * x - b).norm() ); - - // Compute explicitly the matrix Q - MatrixType Q, QtQ, idM; - Q = solver.matrixQ(); - //Check ||Q' * Q - I || - QtQ = Q * Q.adjoint(); - idM.resize(Q.rows(), Q.rows()); idM.setIdentity(); - VERIFY(idM.isApprox(QtQ)); - - // Q to dense - DenseMat dQ; - dQ = solver.matrixQ(); - VERIFY_IS_APPROX(Q, dQ); -} -void test_sparseqr() -{ - for(int i=0; i()); - CALL_SUBTEST_2(test_sparseqr_scalar >()); - } -} - diff --git a/testbed/nanogui/ext/eigen/test/special_numbers.cpp b/testbed/nanogui/ext/eigen/test/special_numbers.cpp deleted file mode 100644 index 2f1b704b..00000000 --- a/testbed/nanogui/ext/eigen/test/special_numbers.cpp +++ /dev/null @@ -1,58 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2013 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void special_numbers() -{ - typedef Matrix MatType; - int rows = internal::random(1,300); - int cols = internal::random(1,300); - - Scalar nan = std::numeric_limits::quiet_NaN(); - Scalar inf = std::numeric_limits::infinity(); - Scalar s1 = internal::random(); - - MatType m1 = MatType::Random(rows,cols), - mnan = MatType::Random(rows,cols), - minf = MatType::Random(rows,cols), - mboth = MatType::Random(rows,cols); - - int n = internal::random(1,10); - for(int k=0; k(0,rows-1), internal::random(0,cols-1)) = nan; - minf(internal::random(0,rows-1), internal::random(0,cols-1)) = inf; - } - mboth = mnan + minf; - - VERIFY(!m1.hasNaN()); - VERIFY(m1.allFinite()); - - VERIFY(mnan.hasNaN()); - VERIFY((s1*mnan).hasNaN()); - VERIFY(!minf.hasNaN()); - VERIFY(!(2*minf).hasNaN()); - VERIFY(mboth.hasNaN()); - VERIFY(mboth.array().hasNaN()); - - VERIFY(!mnan.allFinite()); - VERIFY(!minf.allFinite()); - VERIFY(!(minf-mboth).allFinite()); - VERIFY(!mboth.allFinite()); - VERIFY(!mboth.array().allFinite()); -} - -void test_special_numbers() -{ - for(int i = 0; i < 10*g_repeat; i++) { - CALL_SUBTEST_1( special_numbers() ); - CALL_SUBTEST_1( special_numbers() ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/spqr_support.cpp b/testbed/nanogui/ext/eigen/test/spqr_support.cpp deleted file mode 100644 index 81e63b6a..00000000 --- a/testbed/nanogui/ext/eigen/test/spqr_support.cpp +++ /dev/null @@ -1,64 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2012 Desire Nuentsa Wakam -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed - -#define EIGEN_NO_DEBUG_SMALL_PRODUCT_BLOCKS -#include "sparse.h" -#include - - -template -int generate_sparse_rectangular_problem(MatrixType& A, DenseMat& dA, int maxRows = 300, int maxCols = 300) -{ - eigen_assert(maxRows >= maxCols); - typedef typename MatrixType::Scalar Scalar; - int rows = internal::random(1,maxRows); - int cols = internal::random(1,rows); - double density = (std::max)(8./(rows*cols), 0.01); - - A.resize(rows,cols); - dA.resize(rows,cols); - initSparse(density, dA, A,ForceNonZeroDiag); - A.makeCompressed(); - return rows; -} - -template void test_spqr_scalar() -{ - typedef SparseMatrix MatrixType; - MatrixType A; - Matrix dA; - typedef Matrix DenseVector; - DenseVector refX,x,b; - SPQR solver; - generate_sparse_rectangular_problem(A,dA); - - Index m = A.rows(); - b = DenseVector::Random(m); - solver.compute(A); - if (solver.info() != Success) - { - std::cerr << "sparse QR factorization failed\n"; - exit(0); - return; - } - x = solver.solve(b); - if (solver.info() != Success) - { - std::cerr << "sparse QR factorization failed\n"; - exit(0); - return; - } - //Compare with a dense solver - refX = dA.colPivHouseholderQr().solve(b); - VERIFY(x.isApprox(refX,test_precision())); -} -void test_spqr_support() -{ - CALL_SUBTEST_1(test_spqr_scalar()); - CALL_SUBTEST_2(test_spqr_scalar >()); -} diff --git a/testbed/nanogui/ext/eigen/test/stable_norm.cpp b/testbed/nanogui/ext/eigen/test/stable_norm.cpp deleted file mode 100644 index c3eb5ff3..00000000 --- a/testbed/nanogui/ext/eigen/test/stable_norm.cpp +++ /dev/null @@ -1,192 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009-2014 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template EIGEN_DONT_INLINE T copy(const T& x) -{ - return x; -} - -template void stable_norm(const MatrixType& m) -{ - /* this test covers the following files: - StableNorm.h - */ - using std::sqrt; - using std::abs; - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - - bool complex_real_product_ok = true; - - // Check the basic machine-dependent constants. - { - int ibeta, it, iemin, iemax; - - ibeta = std::numeric_limits::radix; // base for floating-point numbers - it = std::numeric_limits::digits; // number of base-beta digits in mantissa - iemin = std::numeric_limits::min_exponent; // minimum exponent - iemax = std::numeric_limits::max_exponent; // maximum exponent - - VERIFY( (!(iemin > 1 - 2*it || 1+it>iemax || (it==2 && ibeta<5) || (it<=4 && ibeta <= 3 ) || it<2)) - && "the stable norm algorithm cannot be guaranteed on this computer"); - - Scalar inf = std::numeric_limits::infinity(); - if(NumTraits::IsComplex && (numext::isnan)(inf*RealScalar(1)) ) - { - complex_real_product_ok = false; - static bool first = true; - if(first) - std::cerr << "WARNING: compiler mess up complex*real product, " << inf << " * " << 1.0 << " = " << inf*RealScalar(1) << std::endl; - first = false; - } - } - - - Index rows = m.rows(); - Index cols = m.cols(); - - // get a non-zero random factor - Scalar factor = internal::random(); - while(numext::abs2(factor)(); - Scalar big = factor * ((std::numeric_limits::max)() * RealScalar(1e-4)); - - factor = internal::random(); - while(numext::abs2(factor)(); - Scalar small = factor * ((std::numeric_limits::min)() * RealScalar(1e4)); - - MatrixType vzero = MatrixType::Zero(rows, cols), - vrand = MatrixType::Random(rows, cols), - vbig(rows, cols), - vsmall(rows,cols); - - vbig.fill(big); - vsmall.fill(small); - - VERIFY_IS_MUCH_SMALLER_THAN(vzero.norm(), static_cast(1)); - VERIFY_IS_APPROX(vrand.stableNorm(), vrand.norm()); - VERIFY_IS_APPROX(vrand.blueNorm(), vrand.norm()); - VERIFY_IS_APPROX(vrand.hypotNorm(), vrand.norm()); - - RealScalar size = static_cast(m.size()); - - // test numext::isfinite - VERIFY(!(numext::isfinite)( std::numeric_limits::infinity())); - VERIFY(!(numext::isfinite)(sqrt(-abs(big)))); - - // test overflow - VERIFY((numext::isfinite)(sqrt(size)*abs(big))); - VERIFY_IS_NOT_APPROX(sqrt(copy(vbig.squaredNorm())), abs(sqrt(size)*big)); // here the default norm must fail - VERIFY_IS_APPROX(vbig.stableNorm(), sqrt(size)*abs(big)); - VERIFY_IS_APPROX(vbig.blueNorm(), sqrt(size)*abs(big)); - VERIFY_IS_APPROX(vbig.hypotNorm(), sqrt(size)*abs(big)); - - // test underflow - VERIFY((numext::isfinite)(sqrt(size)*abs(small))); - VERIFY_IS_NOT_APPROX(sqrt(copy(vsmall.squaredNorm())), abs(sqrt(size)*small)); // here the default norm must fail - VERIFY_IS_APPROX(vsmall.stableNorm(), sqrt(size)*abs(small)); - VERIFY_IS_APPROX(vsmall.blueNorm(), sqrt(size)*abs(small)); - VERIFY_IS_APPROX(vsmall.hypotNorm(), sqrt(size)*abs(small)); - - // Test compilation of cwise() version - VERIFY_IS_APPROX(vrand.colwise().stableNorm(), vrand.colwise().norm()); - VERIFY_IS_APPROX(vrand.colwise().blueNorm(), vrand.colwise().norm()); - VERIFY_IS_APPROX(vrand.colwise().hypotNorm(), vrand.colwise().norm()); - VERIFY_IS_APPROX(vrand.rowwise().stableNorm(), vrand.rowwise().norm()); - VERIFY_IS_APPROX(vrand.rowwise().blueNorm(), vrand.rowwise().norm()); - VERIFY_IS_APPROX(vrand.rowwise().hypotNorm(), vrand.rowwise().norm()); - - // test NaN, +inf, -inf - MatrixType v; - Index i = internal::random(0,rows-1); - Index j = internal::random(0,cols-1); - - // NaN - { - v = vrand; - v(i,j) = std::numeric_limits::quiet_NaN(); - VERIFY(!(numext::isfinite)(v.squaredNorm())); VERIFY((numext::isnan)(v.squaredNorm())); - VERIFY(!(numext::isfinite)(v.norm())); VERIFY((numext::isnan)(v.norm())); - VERIFY(!(numext::isfinite)(v.stableNorm())); VERIFY((numext::isnan)(v.stableNorm())); - VERIFY(!(numext::isfinite)(v.blueNorm())); VERIFY((numext::isnan)(v.blueNorm())); - VERIFY(!(numext::isfinite)(v.hypotNorm())); VERIFY((numext::isnan)(v.hypotNorm())); - } - - // +inf - { - v = vrand; - v(i,j) = std::numeric_limits::infinity(); - VERIFY(!(numext::isfinite)(v.squaredNorm())); VERIFY(isPlusInf(v.squaredNorm())); - VERIFY(!(numext::isfinite)(v.norm())); VERIFY(isPlusInf(v.norm())); - VERIFY(!(numext::isfinite)(v.stableNorm())); - if(complex_real_product_ok){ - VERIFY(isPlusInf(v.stableNorm())); - } - VERIFY(!(numext::isfinite)(v.blueNorm())); VERIFY(isPlusInf(v.blueNorm())); - VERIFY(!(numext::isfinite)(v.hypotNorm())); VERIFY(isPlusInf(v.hypotNorm())); - } - - // -inf - { - v = vrand; - v(i,j) = -std::numeric_limits::infinity(); - VERIFY(!(numext::isfinite)(v.squaredNorm())); VERIFY(isPlusInf(v.squaredNorm())); - VERIFY(!(numext::isfinite)(v.norm())); VERIFY(isPlusInf(v.norm())); - VERIFY(!(numext::isfinite)(v.stableNorm())); - if(complex_real_product_ok) { - VERIFY(isPlusInf(v.stableNorm())); - } - VERIFY(!(numext::isfinite)(v.blueNorm())); VERIFY(isPlusInf(v.blueNorm())); - VERIFY(!(numext::isfinite)(v.hypotNorm())); VERIFY(isPlusInf(v.hypotNorm())); - } - - // mix - { - Index i2 = internal::random(0,rows-1); - Index j2 = internal::random(0,cols-1); - v = vrand; - v(i,j) = -std::numeric_limits::infinity(); - v(i2,j2) = std::numeric_limits::quiet_NaN(); - VERIFY(!(numext::isfinite)(v.squaredNorm())); VERIFY((numext::isnan)(v.squaredNorm())); - VERIFY(!(numext::isfinite)(v.norm())); VERIFY((numext::isnan)(v.norm())); - VERIFY(!(numext::isfinite)(v.stableNorm())); VERIFY((numext::isnan)(v.stableNorm())); - VERIFY(!(numext::isfinite)(v.blueNorm())); VERIFY((numext::isnan)(v.blueNorm())); - VERIFY(!(numext::isfinite)(v.hypotNorm())); VERIFY((numext::isnan)(v.hypotNorm())); - } - - // stableNormalize[d] - { - VERIFY_IS_APPROX(vrand.stableNormalized(), vrand.normalized()); - MatrixType vcopy(vrand); - vcopy.stableNormalize(); - VERIFY_IS_APPROX(vcopy, vrand.normalized()); - VERIFY_IS_APPROX((vrand.stableNormalized()).norm(), RealScalar(1)); - VERIFY_IS_APPROX(vcopy.norm(), RealScalar(1)); - VERIFY_IS_APPROX((vbig.stableNormalized()).norm(), RealScalar(1)); - VERIFY_IS_APPROX((vsmall.stableNormalized()).norm(), RealScalar(1)); - RealScalar big_scaling = ((std::numeric_limits::max)() * RealScalar(1e-4)); - VERIFY_IS_APPROX(vbig/big_scaling, (vbig.stableNorm() * vbig.stableNormalized()).eval()/big_scaling); - VERIFY_IS_APPROX(vsmall, vsmall.stableNorm() * vsmall.stableNormalized()); - } -} - -void test_stable_norm() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( stable_norm(Matrix()) ); - CALL_SUBTEST_2( stable_norm(Vector4d()) ); - CALL_SUBTEST_3( stable_norm(VectorXd(internal::random(10,2000))) ); - CALL_SUBTEST_4( stable_norm(VectorXf(internal::random(10,2000))) ); - CALL_SUBTEST_5( stable_norm(VectorXcd(internal::random(10,2000))) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/stddeque.cpp b/testbed/nanogui/ext/eigen/test/stddeque.cpp deleted file mode 100644 index bb4b476f..00000000 --- a/testbed/nanogui/ext/eigen/test/stddeque.cpp +++ /dev/null @@ -1,132 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// Copyright (C) 2010 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template -void check_stddeque_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - - Index rows = m.rows(); - Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - std::deque > v(10, MatrixType(rows,cols)), w(20, y); - v.front() = x; - w.front() = w.back(); - VERIFY_IS_APPROX(w.front(), w.back()); - v = w; - - typename std::deque >::iterator vi = v.begin(); - typename std::deque >::iterator wi = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*vi, *wi); - ++vi; - ++wi; - } - - v.resize(21); - v.back() = x; - VERIFY_IS_APPROX(v.back(), x); - v.resize(22,y); - VERIFY_IS_APPROX(v.back(), y); - v.push_back(x); - VERIFY_IS_APPROX(v.back(), x); -} - -template -void check_stddeque_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - std::deque > v(10), w(20, y); - v.front() = x; - w.front() = w.back(); - VERIFY_IS_APPROX(w.front(), w.back()); - v = w; - - typename std::deque >::iterator vi = v.begin(); - typename std::deque >::iterator wi = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*vi, *wi); - ++vi; - ++wi; - } - - v.resize(21); - v.back() = x; - VERIFY_IS_APPROX(v.back(), x); - v.resize(22,y); - VERIFY_IS_APPROX(v.back(), y); - v.push_back(x); - VERIFY_IS_APPROX(v.back(), x); -} - -template -void check_stddeque_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - std::deque > v(10), w(20, y); - v.front() = x; - w.front() = w.back(); - VERIFY_IS_APPROX(w.front(), w.back()); - v = w; - - typename std::deque >::iterator vi = v.begin(); - typename std::deque >::iterator wi = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*vi, *wi); - ++vi; - ++wi; - } - - v.resize(21); - v.back() = x; - VERIFY_IS_APPROX(v.back(), x); - v.resize(22,y); - VERIFY_IS_APPROX(v.back(), y); - v.push_back(x); - VERIFY_IS_APPROX(v.back(), x); -} - -void test_stddeque() -{ - // some non vectorizable fixed sizes - CALL_SUBTEST_1(check_stddeque_matrix(Vector2f())); - CALL_SUBTEST_1(check_stddeque_matrix(Matrix3f())); - CALL_SUBTEST_2(check_stddeque_matrix(Matrix3d())); - - // some vectorizable fixed sizes - CALL_SUBTEST_1(check_stddeque_matrix(Matrix2f())); - CALL_SUBTEST_1(check_stddeque_matrix(Vector4f())); - CALL_SUBTEST_1(check_stddeque_matrix(Matrix4f())); - CALL_SUBTEST_2(check_stddeque_matrix(Matrix4d())); - - // some dynamic sizes - CALL_SUBTEST_3(check_stddeque_matrix(MatrixXd(1,1))); - CALL_SUBTEST_3(check_stddeque_matrix(VectorXd(20))); - CALL_SUBTEST_3(check_stddeque_matrix(RowVectorXf(20))); - CALL_SUBTEST_3(check_stddeque_matrix(MatrixXcf(10,10))); - - // some Transform - CALL_SUBTEST_4(check_stddeque_transform(Affine2f())); - CALL_SUBTEST_4(check_stddeque_transform(Affine3f())); - CALL_SUBTEST_4(check_stddeque_transform(Affine3d())); - - // some Quaternion - CALL_SUBTEST_5(check_stddeque_quaternion(Quaternionf())); - CALL_SUBTEST_5(check_stddeque_quaternion(Quaterniond())); -} diff --git a/testbed/nanogui/ext/eigen/test/stddeque_overload.cpp b/testbed/nanogui/ext/eigen/test/stddeque_overload.cpp deleted file mode 100644 index 4da618bb..00000000 --- a/testbed/nanogui/ext/eigen/test/stddeque_overload.cpp +++ /dev/null @@ -1,158 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// Copyright (C) 2010 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include -#include - -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Vector4f) - -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Matrix2f) -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Matrix4f) -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Matrix4d) - -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Affine3f) -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Affine3d) - -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Quaternionf) -EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(Quaterniond) - -template -void check_stddeque_matrix(const MatrixType& m) -{ - typename MatrixType::Index rows = m.rows(); - typename MatrixType::Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - std::deque v(10, MatrixType(rows,cols)), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - - // do a lot of push_back such that the deque gets internally resized - // (with memory reallocation) - MatrixType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -void check_stddeque_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - std::deque v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - - // do a lot of push_back such that the deque gets internally resized - // (with memory reallocation) - TransformType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -void check_stddeque_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - std::deque v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - - // do a lot of push_back such that the deque gets internally resized - // (with memory reallocation) - QuaternionType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -// Copyright (C) 2010 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template -void check_stdlist_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - - Index rows = m.rows(); - Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - std::list > v(10, MatrixType(rows,cols)), w(20, y); - v.front() = x; - w.front() = w.back(); - VERIFY_IS_APPROX(w.front(), w.back()); - v = w; - - typename std::list >::iterator vi = v.begin(); - typename std::list >::iterator wi = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*vi, *wi); - ++vi; - ++wi; - } - - v.resize(21); - v.back() = x; - VERIFY_IS_APPROX(v.back(), x); - v.resize(22,y); - VERIFY_IS_APPROX(v.back(), y); - v.push_back(x); - VERIFY_IS_APPROX(v.back(), x); -} - -template -void check_stdlist_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - std::list > v(10), w(20, y); - v.front() = x; - w.front() = w.back(); - VERIFY_IS_APPROX(w.front(), w.back()); - v = w; - - typename std::list >::iterator vi = v.begin(); - typename std::list >::iterator wi = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*vi, *wi); - ++vi; - ++wi; - } - - v.resize(21); - v.back() = x; - VERIFY_IS_APPROX(v.back(), x); - v.resize(22,y); - VERIFY_IS_APPROX(v.back(), y); - v.push_back(x); - VERIFY_IS_APPROX(v.back(), x); -} - -template -void check_stdlist_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - std::list > v(10), w(20, y); - v.front() = x; - w.front() = w.back(); - VERIFY_IS_APPROX(w.front(), w.back()); - v = w; - - typename std::list >::iterator vi = v.begin(); - typename std::list >::iterator wi = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*vi, *wi); - ++vi; - ++wi; - } - - v.resize(21); - v.back() = x; - VERIFY_IS_APPROX(v.back(), x); - v.resize(22,y); - VERIFY_IS_APPROX(v.back(), y); - v.push_back(x); - VERIFY_IS_APPROX(v.back(), x); -} - -void test_stdlist() -{ - // some non vectorizable fixed sizes - CALL_SUBTEST_1(check_stdlist_matrix(Vector2f())); - CALL_SUBTEST_1(check_stdlist_matrix(Matrix3f())); - CALL_SUBTEST_2(check_stdlist_matrix(Matrix3d())); - - // some vectorizable fixed sizes - CALL_SUBTEST_1(check_stdlist_matrix(Matrix2f())); - CALL_SUBTEST_1(check_stdlist_matrix(Vector4f())); - CALL_SUBTEST_1(check_stdlist_matrix(Matrix4f())); - CALL_SUBTEST_2(check_stdlist_matrix(Matrix4d())); - - // some dynamic sizes - CALL_SUBTEST_3(check_stdlist_matrix(MatrixXd(1,1))); - CALL_SUBTEST_3(check_stdlist_matrix(VectorXd(20))); - CALL_SUBTEST_3(check_stdlist_matrix(RowVectorXf(20))); - CALL_SUBTEST_3(check_stdlist_matrix(MatrixXcf(10,10))); - - // some Transform - CALL_SUBTEST_4(check_stdlist_transform(Affine2f())); - CALL_SUBTEST_4(check_stdlist_transform(Affine3f())); - CALL_SUBTEST_4(check_stdlist_transform(Affine3d())); - - // some Quaternion - CALL_SUBTEST_5(check_stdlist_quaternion(Quaternionf())); - CALL_SUBTEST_5(check_stdlist_quaternion(Quaterniond())); -} diff --git a/testbed/nanogui/ext/eigen/test/stdlist_overload.cpp b/testbed/nanogui/ext/eigen/test/stdlist_overload.cpp deleted file mode 100644 index bb910bd4..00000000 --- a/testbed/nanogui/ext/eigen/test/stdlist_overload.cpp +++ /dev/null @@ -1,192 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// Copyright (C) 2010 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include -#include - -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Vector4f) - -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Matrix2f) -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Matrix4f) -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Matrix4d) - -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Affine3f) -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Affine3d) - -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Quaternionf) -EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Quaterniond) - -template -typename Container::iterator get(Container & c, Position position) -{ - typename Container::iterator it = c.begin(); - std::advance(it, position); - return it; -} - -template -void set(Container & c, Position position, const Value & value) -{ - typename Container::iterator it = c.begin(); - std::advance(it, position); - *it = value; -} - -template -void check_stdlist_matrix(const MatrixType& m) -{ - typename MatrixType::Index rows = m.rows(); - typename MatrixType::Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - std::list v(10, MatrixType(rows,cols)), w(20, y); - typename std::list::iterator itv = get(v, 5); - typename std::list::iterator itw = get(w, 6); - *itv = x; - *itw = *itv; - VERIFY_IS_APPROX(*itw, *itv); - v = w; - itv = v.begin(); - itw = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*itw, *itv); - ++itv; - ++itw; - } - - v.resize(21); - set(v, 20, x); - VERIFY_IS_APPROX(*get(v, 20), x); - v.resize(22,y); - VERIFY_IS_APPROX(*get(v, 21), y); - v.push_back(x); - VERIFY_IS_APPROX(*get(v, 22), x); - - // do a lot of push_back such that the list gets internally resized - // (with memory reallocation) - MatrixType* ref = &(*get(w, 0)); - for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i) - v.push_back(*get(w, i%w.size())); - for(unsigned int i=23; i -void check_stdlist_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - std::list v(10), w(20, y); - typename std::list::iterator itv = get(v, 5); - typename std::list::iterator itw = get(w, 6); - *itv = x; - *itw = *itv; - VERIFY_IS_APPROX(*itw, *itv); - v = w; - itv = v.begin(); - itw = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*itw, *itv); - ++itv; - ++itw; - } - - v.resize(21); - set(v, 20, x); - VERIFY_IS_APPROX(*get(v, 20), x); - v.resize(22,y); - VERIFY_IS_APPROX(*get(v, 21), y); - v.push_back(x); - VERIFY_IS_APPROX(*get(v, 22), x); - - // do a lot of push_back such that the list gets internally resized - // (with memory reallocation) - TransformType* ref = &(*get(w, 0)); - for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i) - v.push_back(*get(w, i%w.size())); - for(unsigned int i=23; imatrix()==get(w, (i-23)%w.size())->matrix()); - } -} - -template -void check_stdlist_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - std::list v(10), w(20, y); - typename std::list::iterator itv = get(v, 5); - typename std::list::iterator itw = get(w, 6); - *itv = x; - *itw = *itv; - VERIFY_IS_APPROX(*itw, *itv); - v = w; - itv = v.begin(); - itw = w.begin(); - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(*itw, *itv); - ++itv; - ++itw; - } - - v.resize(21); - set(v, 20, x); - VERIFY_IS_APPROX(*get(v, 20), x); - v.resize(22,y); - VERIFY_IS_APPROX(*get(v, 21), y); - v.push_back(x); - VERIFY_IS_APPROX(*get(v, 22), x); - - // do a lot of push_back such that the list gets internally resized - // (with memory reallocation) - QuaternionType* ref = &(*get(w, 0)); - for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i) - v.push_back(*get(w, i%w.size())); - for(unsigned int i=23; icoeffs()==get(w, (i-23)%w.size())->coeffs()); - } -} - -void test_stdlist_overload() -{ - // some non vectorizable fixed sizes - CALL_SUBTEST_1(check_stdlist_matrix(Vector2f())); - CALL_SUBTEST_1(check_stdlist_matrix(Matrix3f())); - CALL_SUBTEST_2(check_stdlist_matrix(Matrix3d())); - - // some vectorizable fixed sizes - CALL_SUBTEST_1(check_stdlist_matrix(Matrix2f())); - CALL_SUBTEST_1(check_stdlist_matrix(Vector4f())); - CALL_SUBTEST_1(check_stdlist_matrix(Matrix4f())); - CALL_SUBTEST_2(check_stdlist_matrix(Matrix4d())); - - // some dynamic sizes - CALL_SUBTEST_3(check_stdlist_matrix(MatrixXd(1,1))); - CALL_SUBTEST_3(check_stdlist_matrix(VectorXd(20))); - CALL_SUBTEST_3(check_stdlist_matrix(RowVectorXf(20))); - CALL_SUBTEST_3(check_stdlist_matrix(MatrixXcf(10,10))); - - // some Transform - CALL_SUBTEST_4(check_stdlist_transform(Affine2f())); // does not need the specialization (2+1)^2 = 9 - CALL_SUBTEST_4(check_stdlist_transform(Affine3f())); - CALL_SUBTEST_4(check_stdlist_transform(Affine3d())); - - // some Quaternion - CALL_SUBTEST_5(check_stdlist_quaternion(Quaternionf())); - CALL_SUBTEST_5(check_stdlist_quaternion(Quaterniond())); -} diff --git a/testbed/nanogui/ext/eigen/test/stdvector.cpp b/testbed/nanogui/ext/eigen/test/stdvector.cpp deleted file mode 100644 index 50cb3341..00000000 --- a/testbed/nanogui/ext/eigen/test/stdvector.cpp +++ /dev/null @@ -1,148 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include -#include - -template -void check_stdvector_matrix(const MatrixType& m) -{ - typename MatrixType::Index rows = m.rows(); - typename MatrixType::Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - std::vector > v(10, MatrixType(rows,cols)), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((internal::UIntPtr)&(v[22]) == (internal::UIntPtr)&(v[21]) + sizeof(MatrixType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - MatrixType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -void check_stdvector_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - std::vector > v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((internal::UIntPtr)&(v[22]) == (internal::UIntPtr)&(v[21]) + sizeof(TransformType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - TransformType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -void check_stdvector_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - std::vector > v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((internal::UIntPtr)&(v[22]) == (internal::UIntPtr)&(v[21]) + sizeof(QuaternionType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - QuaternionType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -// Copyright (C) 2010 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include -#include - -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Vector4f) - -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Matrix2f) -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Matrix4f) -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Matrix4d) - -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Affine3f) -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Affine3d) - -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Quaternionf) -EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Quaterniond) - -template -void check_stdvector_matrix(const MatrixType& m) -{ - typename MatrixType::Index rows = m.rows(); - typename MatrixType::Index cols = m.cols(); - MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols); - std::vector v(10, MatrixType(rows,cols)), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((internal::UIntPtr)&(v[22]) == (internal::UIntPtr)&(v[21]) + sizeof(MatrixType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - MatrixType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -void check_stdvector_transform(const TransformType&) -{ - typedef typename TransformType::MatrixType MatrixType; - TransformType x(MatrixType::Random()), y(MatrixType::Random()); - std::vector v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((internal::UIntPtr)&(v[22]) == (internal::UIntPtr)&(v[21]) + sizeof(TransformType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - TransformType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -void check_stdvector_quaternion(const QuaternionType&) -{ - typedef typename QuaternionType::Coefficients Coefficients; - QuaternionType x(Coefficients::Random()), y(Coefficients::Random()); - std::vector v(10), w(20, y); - v[5] = x; - w[6] = v[5]; - VERIFY_IS_APPROX(w[6], v[5]); - v = w; - for(int i = 0; i < 20; i++) - { - VERIFY_IS_APPROX(w[i], v[i]); - } - - v.resize(21); - v[20] = x; - VERIFY_IS_APPROX(v[20], x); - v.resize(22,y); - VERIFY_IS_APPROX(v[21], y); - v.push_back(x); - VERIFY_IS_APPROX(v[22], x); - VERIFY((internal::UIntPtr)&(v[22]) == (internal::UIntPtr)&(v[21]) + sizeof(QuaternionType)); - - // do a lot of push_back such that the vector gets internally resized - // (with memory reallocation) - QuaternionType* ref = &w[0]; - for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i) - v.push_back(w[i%w.size()]); - for(unsigned int i=23; i -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_DEBUG_SMALL_PRODUCT_BLOCKS -#include "sparse_solver.h" - -#include - -void test_superlu_support() -{ - SuperLU > superlu_double_colmajor; - SuperLU > > superlu_cplxdouble_colmajor; - CALL_SUBTEST_1( check_sparse_square_solving(superlu_double_colmajor) ); - CALL_SUBTEST_2( check_sparse_square_solving(superlu_cplxdouble_colmajor) ); - CALL_SUBTEST_1( check_sparse_square_determinant(superlu_double_colmajor) ); - CALL_SUBTEST_2( check_sparse_square_determinant(superlu_cplxdouble_colmajor) ); -} diff --git a/testbed/nanogui/ext/eigen/test/svd_common.h b/testbed/nanogui/ext/eigen/test/svd_common.h deleted file mode 100644 index 605d5dfe..00000000 --- a/testbed/nanogui/ext/eigen/test/svd_common.h +++ /dev/null @@ -1,483 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2014 Gael Guennebaud -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef SVD_DEFAULT -#error a macro SVD_DEFAULT(MatrixType) must be defined prior to including svd_common.h -#endif - -#ifndef SVD_FOR_MIN_NORM -#error a macro SVD_FOR_MIN_NORM(MatrixType) must be defined prior to including svd_common.h -#endif - -#include "svd_fill.h" - -// Check that the matrix m is properly reconstructed and that the U and V factors are unitary -// The SVD must have already been computed. -template -void svd_check_full(const MatrixType& m, const SvdType& svd) -{ - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef Matrix MatrixUType; - typedef Matrix MatrixVType; - - MatrixType sigma = MatrixType::Zero(rows,cols); - sigma.diagonal() = svd.singularValues().template cast(); - MatrixUType u = svd.matrixU(); - MatrixVType v = svd.matrixV(); - RealScalar scaling = m.cwiseAbs().maxCoeff(); - if(scaling<(std::numeric_limits::min)()) - { - VERIFY(sigma.cwiseAbs().maxCoeff() <= (std::numeric_limits::min)()); - } - else - { - VERIFY_IS_APPROX(m/scaling, u * (sigma/scaling) * v.adjoint()); - } - VERIFY_IS_UNITARY(u); - VERIFY_IS_UNITARY(v); -} - -// Compare partial SVD defined by computationOptions to a full SVD referenceSvd -template -void svd_compare_to_full(const MatrixType& m, - unsigned int computationOptions, - const SvdType& referenceSvd) -{ - typedef typename MatrixType::RealScalar RealScalar; - Index rows = m.rows(); - Index cols = m.cols(); - Index diagSize = (std::min)(rows, cols); - RealScalar prec = test_precision(); - - SvdType svd(m, computationOptions); - - VERIFY_IS_APPROX(svd.singularValues(), referenceSvd.singularValues()); - - if(computationOptions & (ComputeFullV|ComputeThinV)) - { - VERIFY( (svd.matrixV().adjoint()*svd.matrixV()).isIdentity(prec) ); - VERIFY_IS_APPROX( svd.matrixV().leftCols(diagSize) * svd.singularValues().asDiagonal() * svd.matrixV().leftCols(diagSize).adjoint(), - referenceSvd.matrixV().leftCols(diagSize) * referenceSvd.singularValues().asDiagonal() * referenceSvd.matrixV().leftCols(diagSize).adjoint()); - } - - if(computationOptions & (ComputeFullU|ComputeThinU)) - { - VERIFY( (svd.matrixU().adjoint()*svd.matrixU()).isIdentity(prec) ); - VERIFY_IS_APPROX( svd.matrixU().leftCols(diagSize) * svd.singularValues().cwiseAbs2().asDiagonal() * svd.matrixU().leftCols(diagSize).adjoint(), - referenceSvd.matrixU().leftCols(diagSize) * referenceSvd.singularValues().cwiseAbs2().asDiagonal() * referenceSvd.matrixU().leftCols(diagSize).adjoint()); - } - - // The following checks are not critical. - // For instance, with Dived&Conquer SVD, if only the factor 'V' is computedt then different matrix-matrix product implementation will be used - // and the resulting 'V' factor might be significantly different when the SVD decomposition is not unique, especially with single precision float. - ++g_test_level; - if(computationOptions & ComputeFullU) VERIFY_IS_APPROX(svd.matrixU(), referenceSvd.matrixU()); - if(computationOptions & ComputeThinU) VERIFY_IS_APPROX(svd.matrixU(), referenceSvd.matrixU().leftCols(diagSize)); - if(computationOptions & ComputeFullV) VERIFY_IS_APPROX(svd.matrixV().cwiseAbs(), referenceSvd.matrixV().cwiseAbs()); - if(computationOptions & ComputeThinV) VERIFY_IS_APPROX(svd.matrixV(), referenceSvd.matrixV().leftCols(diagSize)); - --g_test_level; -} - -// -template -void svd_least_square(const MatrixType& m, unsigned int computationOptions) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - - typedef Matrix RhsType; - typedef Matrix SolutionType; - - RhsType rhs = RhsType::Random(rows, internal::random(1, cols)); - SvdType svd(m, computationOptions); - - if(internal::is_same::value) svd.setThreshold(1e-8); - else if(internal::is_same::value) svd.setThreshold(2e-4); - - SolutionType x = svd.solve(rhs); - - RealScalar residual = (m*x-rhs).norm(); - RealScalar rhs_norm = rhs.norm(); - if(!test_isMuchSmallerThan(residual,rhs.norm())) - { - // ^^^ If the residual is very small, then we have an exact solution, so we are already good. - - // evaluate normal equation which works also for least-squares solutions - if(internal::is_same::value || svd.rank()==m.diagonal().size()) - { - using std::sqrt; - // This test is not stable with single precision. - // This is probably because squaring m signicantly affects the precision. - if(internal::is_same::value) ++g_test_level; - - VERIFY_IS_APPROX(m.adjoint()*(m*x),m.adjoint()*rhs); - - if(internal::is_same::value) --g_test_level; - } - - // Check that there is no significantly better solution in the neighborhood of x - for(Index k=0;k::epsilon())*x.row(k); - RealScalar residual_y = (m*y-rhs).norm(); - VERIFY( test_isMuchSmallerThan(abs(residual_y-residual), rhs_norm) || residual < residual_y ); - if(internal::is_same::value) ++g_test_level; - VERIFY( test_isApprox(residual_y,residual) || residual < residual_y ); - if(internal::is_same::value) --g_test_level; - - y.row(k) = (RealScalar(1)-2*NumTraits::epsilon())*x.row(k); - residual_y = (m*y-rhs).norm(); - VERIFY( test_isMuchSmallerThan(abs(residual_y-residual), rhs_norm) || residual < residual_y ); - if(internal::is_same::value) ++g_test_level; - VERIFY( test_isApprox(residual_y,residual) || residual < residual_y ); - if(internal::is_same::value) --g_test_level; - } - } -} - -// check minimal norm solutions, the inoput matrix m is only used to recover problem size -template -void svd_min_norm(const MatrixType& m, unsigned int computationOptions) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::Index Index; - Index cols = m.cols(); - - enum { - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - - typedef Matrix SolutionType; - - // generate a full-rank m x n problem with m MatrixType2; - typedef Matrix RhsType2; - typedef Matrix MatrixType2T; - Index rank = RankAtCompileTime2==Dynamic ? internal::random(1,cols) : Index(RankAtCompileTime2); - MatrixType2 m2(rank,cols); - int guard = 0; - do { - m2.setRandom(); - } while(SVD_FOR_MIN_NORM(MatrixType2)(m2).setThreshold(test_precision()).rank()!=rank && (++guard)<10); - VERIFY(guard<10); - - RhsType2 rhs2 = RhsType2::Random(rank); - // use QR to find a reference minimal norm solution - HouseholderQR qr(m2.adjoint()); - Matrix tmp = qr.matrixQR().topLeftCorner(rank,rank).template triangularView().adjoint().solve(rhs2); - tmp.conservativeResize(cols); - tmp.tail(cols-rank).setZero(); - SolutionType x21 = qr.householderQ() * tmp; - // now check with SVD - SVD_FOR_MIN_NORM(MatrixType2) svd2(m2, computationOptions); - SolutionType x22 = svd2.solve(rhs2); - VERIFY_IS_APPROX(m2*x21, rhs2); - VERIFY_IS_APPROX(m2*x22, rhs2); - VERIFY_IS_APPROX(x21, x22); - - // Now check with a rank deficient matrix - typedef Matrix MatrixType3; - typedef Matrix RhsType3; - Index rows3 = RowsAtCompileTime3==Dynamic ? internal::random(rank+1,2*cols) : Index(RowsAtCompileTime3); - Matrix C = Matrix::Random(rows3,rank); - MatrixType3 m3 = C * m2; - RhsType3 rhs3 = C * rhs2; - SVD_FOR_MIN_NORM(MatrixType3) svd3(m3, computationOptions); - SolutionType x3 = svd3.solve(rhs3); - VERIFY_IS_APPROX(m3*x3, rhs3); - VERIFY_IS_APPROX(m3*x21, rhs3); - VERIFY_IS_APPROX(m2*x3, rhs2); - VERIFY_IS_APPROX(x21, x3); -} - -// Check full, compare_to_full, least_square, and min_norm for all possible compute-options -template -void svd_test_all_computation_options(const MatrixType& m, bool full_only) -{ -// if (QRPreconditioner == NoQRPreconditioner && m.rows() != m.cols()) -// return; - SvdType fullSvd(m, ComputeFullU|ComputeFullV); - CALL_SUBTEST(( svd_check_full(m, fullSvd) )); - CALL_SUBTEST(( svd_least_square(m, ComputeFullU | ComputeFullV) )); - CALL_SUBTEST(( svd_min_norm(m, ComputeFullU | ComputeFullV) )); - - #if defined __INTEL_COMPILER - // remark #111: statement is unreachable - #pragma warning disable 111 - #endif - if(full_only) - return; - - CALL_SUBTEST(( svd_compare_to_full(m, ComputeFullU, fullSvd) )); - CALL_SUBTEST(( svd_compare_to_full(m, ComputeFullV, fullSvd) )); - CALL_SUBTEST(( svd_compare_to_full(m, 0, fullSvd) )); - - if (MatrixType::ColsAtCompileTime == Dynamic) { - // thin U/V are only available with dynamic number of columns - CALL_SUBTEST(( svd_compare_to_full(m, ComputeFullU|ComputeThinV, fullSvd) )); - CALL_SUBTEST(( svd_compare_to_full(m, ComputeThinV, fullSvd) )); - CALL_SUBTEST(( svd_compare_to_full(m, ComputeThinU|ComputeFullV, fullSvd) )); - CALL_SUBTEST(( svd_compare_to_full(m, ComputeThinU , fullSvd) )); - CALL_SUBTEST(( svd_compare_to_full(m, ComputeThinU|ComputeThinV, fullSvd) )); - - CALL_SUBTEST(( svd_least_square(m, ComputeFullU | ComputeThinV) )); - CALL_SUBTEST(( svd_least_square(m, ComputeThinU | ComputeFullV) )); - CALL_SUBTEST(( svd_least_square(m, ComputeThinU | ComputeThinV) )); - - CALL_SUBTEST(( svd_min_norm(m, ComputeFullU | ComputeThinV) )); - CALL_SUBTEST(( svd_min_norm(m, ComputeThinU | ComputeFullV) )); - CALL_SUBTEST(( svd_min_norm(m, ComputeThinU | ComputeThinV) )); - - // test reconstruction - typedef typename MatrixType::Index Index; - Index diagSize = (std::min)(m.rows(), m.cols()); - SvdType svd(m, ComputeThinU | ComputeThinV); - VERIFY_IS_APPROX(m, svd.matrixU().leftCols(diagSize) * svd.singularValues().asDiagonal() * svd.matrixV().leftCols(diagSize).adjoint()); - } -} - - -// work around stupid msvc error when constructing at compile time an expression that involves -// a division by zero, even if the numeric type has floating point -template -EIGEN_DONT_INLINE Scalar zero() { return Scalar(0); } - -// workaround aggressive optimization in ICC -template EIGEN_DONT_INLINE T sub(T a, T b) { return a - b; } - -// all this function does is verify we don't iterate infinitely on nan/inf values -template -void svd_inf_nan() -{ - SvdType svd; - typedef typename MatrixType::Scalar Scalar; - Scalar some_inf = Scalar(1) / zero(); - VERIFY(sub(some_inf, some_inf) != sub(some_inf, some_inf)); - svd.compute(MatrixType::Constant(10,10,some_inf), ComputeFullU | ComputeFullV); - - Scalar nan = std::numeric_limits::quiet_NaN(); - VERIFY(nan != nan); - svd.compute(MatrixType::Constant(10,10,nan), ComputeFullU | ComputeFullV); - - MatrixType m = MatrixType::Zero(10,10); - m(internal::random(0,9), internal::random(0,9)) = some_inf; - svd.compute(m, ComputeFullU | ComputeFullV); - - m = MatrixType::Zero(10,10); - m(internal::random(0,9), internal::random(0,9)) = nan; - svd.compute(m, ComputeFullU | ComputeFullV); - - // regression test for bug 791 - m.resize(3,3); - m << 0, 2*NumTraits::epsilon(), 0.5, - 0, -0.5, 0, - nan, 0, 0; - svd.compute(m, ComputeFullU | ComputeFullV); - - m.resize(4,4); - m << 1, 0, 0, 0, - 0, 3, 1, 2e-308, - 1, 0, 1, nan, - 0, nan, nan, 0; - svd.compute(m, ComputeFullU | ComputeFullV); -} - -// Regression test for bug 286: JacobiSVD loops indefinitely with some -// matrices containing denormal numbers. -template -void svd_underoverflow() -{ -#if defined __INTEL_COMPILER -// shut up warning #239: floating point underflow -#pragma warning push -#pragma warning disable 239 -#endif - Matrix2d M; - M << -7.90884e-313, -4.94e-324, - 0, 5.60844e-313; - SVD_DEFAULT(Matrix2d) svd; - svd.compute(M,ComputeFullU|ComputeFullV); - CALL_SUBTEST( svd_check_full(M,svd) ); - - // Check all 2x2 matrices made with the following coefficients: - VectorXd value_set(9); - value_set << 0, 1, -1, 5.60844e-313, -5.60844e-313, 4.94e-324, -4.94e-324, -4.94e-223, 4.94e-223; - Array4i id(0,0,0,0); - int k = 0; - do - { - M << value_set(id(0)), value_set(id(1)), value_set(id(2)), value_set(id(3)); - svd.compute(M,ComputeFullU|ComputeFullV); - CALL_SUBTEST( svd_check_full(M,svd) ); - - id(k)++; - if(id(k)>=value_set.size()) - { - while(k<3 && id(k)>=value_set.size()) id(++k)++; - id.head(k).setZero(); - k=0; - } - - } while((id -void svd_all_trivial_2x2( void (*cb)(const MatrixType&,bool) ) -{ - MatrixType M; - VectorXd value_set(3); - value_set << 0, 1, -1; - Array4i id(0,0,0,0); - int k = 0; - do - { - M << value_set(id(0)), value_set(id(1)), value_set(id(2)), value_set(id(3)); - - cb(M,false); - - id(k)++; - if(id(k)>=value_set.size()) - { - while(k<3 && id(k)>=value_set.size()) id(++k)++; - id.head(k).setZero(); - k=0; - } - - } while((id -void svd_preallocate() -{ - Vector3f v(3.f, 2.f, 1.f); - MatrixXf m = v.asDiagonal(); - - internal::set_is_malloc_allowed(false); - VERIFY_RAISES_ASSERT(VectorXf tmp(10);) - SVD_DEFAULT(MatrixXf) svd; - internal::set_is_malloc_allowed(true); - svd.compute(m); - VERIFY_IS_APPROX(svd.singularValues(), v); - - SVD_DEFAULT(MatrixXf) svd2(3,3); - internal::set_is_malloc_allowed(false); - svd2.compute(m); - internal::set_is_malloc_allowed(true); - VERIFY_IS_APPROX(svd2.singularValues(), v); - VERIFY_RAISES_ASSERT(svd2.matrixU()); - VERIFY_RAISES_ASSERT(svd2.matrixV()); - svd2.compute(m, ComputeFullU | ComputeFullV); - VERIFY_IS_APPROX(svd2.matrixU(), Matrix3f::Identity()); - VERIFY_IS_APPROX(svd2.matrixV(), Matrix3f::Identity()); - internal::set_is_malloc_allowed(false); - svd2.compute(m); - internal::set_is_malloc_allowed(true); - - SVD_DEFAULT(MatrixXf) svd3(3,3,ComputeFullU|ComputeFullV); - internal::set_is_malloc_allowed(false); - svd2.compute(m); - internal::set_is_malloc_allowed(true); - VERIFY_IS_APPROX(svd2.singularValues(), v); - VERIFY_IS_APPROX(svd2.matrixU(), Matrix3f::Identity()); - VERIFY_IS_APPROX(svd2.matrixV(), Matrix3f::Identity()); - internal::set_is_malloc_allowed(false); - svd2.compute(m, ComputeFullU|ComputeFullV); - internal::set_is_malloc_allowed(true); -} - -template -void svd_verify_assert(const MatrixType& m) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::Index Index; - Index rows = m.rows(); - Index cols = m.cols(); - - enum { - RowsAtCompileTime = MatrixType::RowsAtCompileTime, - ColsAtCompileTime = MatrixType::ColsAtCompileTime - }; - - typedef Matrix RhsType; - RhsType rhs(rows); - SvdType svd; - VERIFY_RAISES_ASSERT(svd.matrixU()) - VERIFY_RAISES_ASSERT(svd.singularValues()) - VERIFY_RAISES_ASSERT(svd.matrixV()) - VERIFY_RAISES_ASSERT(svd.solve(rhs)) - MatrixType a = MatrixType::Zero(rows, cols); - a.setZero(); - svd.compute(a, 0); - VERIFY_RAISES_ASSERT(svd.matrixU()) - VERIFY_RAISES_ASSERT(svd.matrixV()) - svd.singularValues(); - VERIFY_RAISES_ASSERT(svd.solve(rhs)) - - if (ColsAtCompileTime == Dynamic) - { - svd.compute(a, ComputeThinU); - svd.matrixU(); - VERIFY_RAISES_ASSERT(svd.matrixV()) - VERIFY_RAISES_ASSERT(svd.solve(rhs)) - svd.compute(a, ComputeThinV); - svd.matrixV(); - VERIFY_RAISES_ASSERT(svd.matrixU()) - VERIFY_RAISES_ASSERT(svd.solve(rhs)) - } - else - { - VERIFY_RAISES_ASSERT(svd.compute(a, ComputeThinU)) - VERIFY_RAISES_ASSERT(svd.compute(a, ComputeThinV)) - } -} - -#undef SVD_DEFAULT -#undef SVD_FOR_MIN_NORM diff --git a/testbed/nanogui/ext/eigen/test/svd_fill.h b/testbed/nanogui/ext/eigen/test/svd_fill.h deleted file mode 100644 index 3877c0c7..00000000 --- a/testbed/nanogui/ext/eigen/test/svd_fill.h +++ /dev/null @@ -1,119 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014-2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -template -Array four_denorms(); - -template<> -Array4f four_denorms() { return Array4f(5.60844e-39f, -5.60844e-39f, 4.94e-44f, -4.94e-44f); } -template<> -Array4d four_denorms() { return Array4d(5.60844e-313, -5.60844e-313, 4.94e-324, -4.94e-324); } -template -Array four_denorms() { return four_denorms().cast(); } - -template -void svd_fill_random(MatrixType &m, int Option = 0) -{ - using std::pow; - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::RealScalar RealScalar; - typedef typename MatrixType::Index Index; - Index diagSize = (std::min)(m.rows(), m.cols()); - RealScalar s = std::numeric_limits::max_exponent10/4; - s = internal::random(1,s); - Matrix d = Matrix::Random(diagSize); - for(Index k=0; k(-s,s)); - - bool dup = internal::random(0,10) < 3; - bool unit_uv = internal::random(0,10) < (dup?7:3); // if we duplicate some diagonal entries, then increase the chance to preserve them using unitary U and V factors - - // duplicate some singular values - if(dup) - { - Index n = internal::random(0,d.size()-1); - for(Index i=0; i(0,d.size()-1)) = d(internal::random(0,d.size()-1)); - } - - Matrix U(m.rows(),diagSize); - Matrix VT(diagSize,m.cols()); - if(unit_uv) - { - // in very rare cases let's try with a pure diagonal matrix - if(internal::random(0,10) < 1) - { - U.setIdentity(); - VT.setIdentity(); - } - else - { - createRandomPIMatrixOfRank(diagSize,U.rows(), U.cols(), U); - createRandomPIMatrixOfRank(diagSize,VT.rows(), VT.cols(), VT); - } - } - else - { - U.setRandom(); - VT.setRandom(); - } - - Matrix samples(9); - samples << 0, four_denorms(), - -RealScalar(1)/NumTraits::highest(), RealScalar(1)/NumTraits::highest(), (std::numeric_limits::min)(), pow((std::numeric_limits::min)(),0.8); - - if(Option==Symmetric) - { - m = U * d.asDiagonal() * U.transpose(); - - // randomly nullify some rows/columns - { - Index count = internal::random(-diagSize,diagSize); - for(Index k=0; k(0,diagSize-1); - m.row(i).setZero(); - m.col(i).setZero(); - } - if(count<0) - // (partly) cancel some coeffs - if(!(dup && unit_uv)) - { - - Index n = internal::random(0,m.size()-1); - for(Index k=0; k(0,m.rows()-1); - Index j = internal::random(0,m.cols()-1); - m(j,i) = m(i,j) = samples(internal::random(0,samples.size()-1)); - if(NumTraits::IsComplex) - *(&numext::real_ref(m(j,i))+1) = *(&numext::real_ref(m(i,j))+1) = samples.real()(internal::random(0,samples.size()-1)); - } - } - } - } - else - { - m = U * d.asDiagonal() * VT; - // (partly) cancel some coeffs - if(!(dup && unit_uv)) - { - Index n = internal::random(0,m.size()-1); - for(Index k=0; k(0,m.rows()-1); - Index j = internal::random(0,m.cols()-1); - m(i,j) = samples(internal::random(0,samples.size()-1)); - if(NumTraits::IsComplex) - *(&numext::real_ref(m(i,j))+1) = samples.real()(internal::random(0,samples.size()-1)); - } - } - } -} - diff --git a/testbed/nanogui/ext/eigen/test/swap.cpp b/testbed/nanogui/ext/eigen/test/swap.cpp deleted file mode 100644 index f76e3624..00000000 --- a/testbed/nanogui/ext/eigen/test/swap.cpp +++ /dev/null @@ -1,94 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_STATIC_ASSERT -#include "main.h" - -template -struct other_matrix_type -{ - typedef int type; -}; - -template -struct other_matrix_type > -{ - typedef Matrix<_Scalar, _Rows, _Cols, _Options^RowMajor, _MaxRows, _MaxCols> type; -}; - -template void swap(const MatrixType& m) -{ - typedef typename other_matrix_type::type OtherMatrixType; - typedef typename MatrixType::Scalar Scalar; - - eigen_assert((!internal::is_same::value)); - typename MatrixType::Index rows = m.rows(); - typename MatrixType::Index cols = m.cols(); - - // construct 3 matrix guaranteed to be distinct - MatrixType m1 = MatrixType::Random(rows,cols); - MatrixType m2 = MatrixType::Random(rows,cols) + Scalar(100) * MatrixType::Identity(rows,cols); - OtherMatrixType m3 = OtherMatrixType::Random(rows,cols) + Scalar(200) * OtherMatrixType::Identity(rows,cols); - - MatrixType m1_copy = m1; - MatrixType m2_copy = m2; - OtherMatrixType m3_copy = m3; - - // test swapping 2 matrices of same type - Scalar *d1=m1.data(), *d2=m2.data(); - m1.swap(m2); - VERIFY_IS_APPROX(m1,m2_copy); - VERIFY_IS_APPROX(m2,m1_copy); - if(MatrixType::SizeAtCompileTime==Dynamic) - { - VERIFY(m1.data()==d2); - VERIFY(m2.data()==d1); - } - m1 = m1_copy; - m2 = m2_copy; - - // test swapping 2 matrices of different types - m1.swap(m3); - VERIFY_IS_APPROX(m1,m3_copy); - VERIFY_IS_APPROX(m3,m1_copy); - m1 = m1_copy; - m3 = m3_copy; - - // test swapping matrix with expression - m1.swap(m2.block(0,0,rows,cols)); - VERIFY_IS_APPROX(m1,m2_copy); - VERIFY_IS_APPROX(m2,m1_copy); - m1 = m1_copy; - m2 = m2_copy; - - // test swapping two expressions of different types - m1.transpose().swap(m3.transpose()); - VERIFY_IS_APPROX(m1,m3_copy); - VERIFY_IS_APPROX(m3,m1_copy); - m1 = m1_copy; - m3 = m3_copy; - - if(m1.rows()>1) - { - // test assertion on mismatching size -- matrix case - VERIFY_RAISES_ASSERT(m1.swap(m1.row(0))); - // test assertion on mismatching size -- xpr case - VERIFY_RAISES_ASSERT(m1.row(0).swap(m1)); - } -} - -void test_swap() -{ - int s = internal::random(1,EIGEN_TEST_MAX_SIZE); - CALL_SUBTEST_1( swap(Matrix3f()) ); // fixed size, no vectorization - CALL_SUBTEST_2( swap(Matrix4d()) ); // fixed size, possible vectorization - CALL_SUBTEST_3( swap(MatrixXd(s,s)) ); // dyn size, no vectorization - CALL_SUBTEST_4( swap(MatrixXf(s,s)) ); // dyn size, possible vectorization - TEST_SET_BUT_UNUSED_VARIABLE(s) -} diff --git a/testbed/nanogui/ext/eigen/test/symbolic_index.cpp b/testbed/nanogui/ext/eigen/test/symbolic_index.cpp deleted file mode 100644 index 1db85144..00000000 --- a/testbed/nanogui/ext/eigen/test/symbolic_index.cpp +++ /dev/null @@ -1,104 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2017 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifdef EIGEN_TEST_PART_2 -#define EIGEN_MAX_CPP_VER 03 -#endif - -#include "main.h" - -template -bool match(const T& xpr, std::string ref, std::string str_xpr = "") { - EIGEN_UNUSED_VARIABLE(str_xpr); - std::stringstream str; - str << xpr; - if(!(str.str() == ref)) - std::cout << str_xpr << "\n" << xpr << "\n\n"; - return str.str() == ref; -} - -#define MATCH(X,R) match(X, R, #X) - -template -typename internal::enable_if::value,bool>::type -is_same_fixed(const T1& a, const T2& b) -{ - return (Index(a) == Index(b)); -} - -template -bool is_same_seq(const T1& a, const T2& b) -{ - bool ok = a.first()==b.first() && a.size() == b.size() && Index(a.incrObject())==Index(b.incrObject());; - if(!ok) - { - std::cerr << "seqN(" << a.first() << ", " << a.size() << ", " << Index(a.incrObject()) << ") != "; - std::cerr << "seqN(" << b.first() << ", " << b.size() << ", " << Index(b.incrObject()) << ")\n"; - } - return ok; -} - -template -typename internal::enable_if::value,bool>::type -is_same_type(const T1&, const T2&) -{ - return true; -} - -template -bool is_same_symb(const T1& a, const T2& b, Index size) -{ - using Eigen::placeholders::last; - return a.eval(last=size-1) == b.eval(last=size-1); -} - - -#define VERIFY_EQ_INT(A,B) VERIFY_IS_APPROX(int(A),int(B)) - -void check_symbolic_index() -{ - using Eigen::placeholders::last; - using Eigen::placeholders::end; - - Index size=100; - - // First, let's check FixedInt arithmetic: - VERIFY( is_same_type( (fix<5>()-fix<3>())*fix<9>()/(-fix<3>()), fix<-(5-3)*9/3>() ) ); - VERIFY( is_same_type( (fix<5>()-fix<3>())*fix<9>()/fix<2>(), fix<(5-3)*9/2>() ) ); - VERIFY( is_same_type( fix<9>()/fix<2>(), fix<9/2>() ) ); - VERIFY( is_same_type( fix<9>()%fix<2>(), fix<9%2>() ) ); - VERIFY( is_same_type( fix<9>()&fix<2>(), fix<9&2>() ) ); - VERIFY( is_same_type( fix<9>()|fix<2>(), fix<9|2>() ) ); - VERIFY( is_same_type( fix<9>()/2, int(9/2) ) ); - - VERIFY( is_same_symb( end-1, last, size) ); - VERIFY( is_same_symb( end-fix<1>, last, size) ); - - VERIFY_IS_EQUAL( ( (last*5-2)/3 ).eval(last=size-1), ((size-1)*5-2)/3 ); - VERIFY_IS_EQUAL( ( (last*fix<5>-fix<2>)/fix<3> ).eval(last=size-1), ((size-1)*5-2)/3 ); - VERIFY_IS_EQUAL( ( -last*end ).eval(last=size-1), -(size-1)*size ); - VERIFY_IS_EQUAL( ( end-3*last ).eval(last=size-1), size- 3*(size-1) ); - VERIFY_IS_EQUAL( ( (end-3*last)/end ).eval(last=size-1), (size- 3*(size-1))/size ); - -#if EIGEN_HAS_CXX14 - { - struct x_tag {}; static const Symbolic::SymbolExpr x; - struct y_tag {}; static const Symbolic::SymbolExpr y; - struct z_tag {}; static const Symbolic::SymbolExpr z; - - VERIFY_IS_APPROX( int(((x+3)/y+z).eval(x=6,y=3,z=-13)), (6+3)/3+(-13) ); - } -#endif -} - -void test_symbolic_index() -{ - CALL_SUBTEST_1( check_symbolic_index() ); - CALL_SUBTEST_2( check_symbolic_index() ); -} diff --git a/testbed/nanogui/ext/eigen/test/triangular.cpp b/testbed/nanogui/ext/eigen/test/triangular.cpp deleted file mode 100644 index b9685648..00000000 --- a/testbed/nanogui/ext/eigen/test/triangular.cpp +++ /dev/null @@ -1,247 +0,0 @@ -// This file is triangularView of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - - - -template void triangular_square(const MatrixType& m) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix VectorType; - - RealScalar largerEps = 10*test_precision(); - - typename MatrixType::Index rows = m.rows(); - typename MatrixType::Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - m4(rows, cols), - r1(rows, cols), - r2(rows, cols); - VectorType v2 = VectorType::Random(rows); - - MatrixType m1up = m1.template triangularView(); - MatrixType m2up = m2.template triangularView(); - - if (rows*cols>1) - { - VERIFY(m1up.isUpperTriangular()); - VERIFY(m2up.transpose().isLowerTriangular()); - VERIFY(!m2.isLowerTriangular()); - } - -// VERIFY_IS_APPROX(m1up.transpose() * m2, m1.upper().transpose().lower() * m2); - - // test overloaded operator+= - r1.setZero(); - r2.setZero(); - r1.template triangularView() += m1; - r2 += m1up; - VERIFY_IS_APPROX(r1,r2); - - // test overloaded operator= - m1.setZero(); - m1.template triangularView() = m2.transpose() + m2; - m3 = m2.transpose() + m2; - VERIFY_IS_APPROX(m3.template triangularView().transpose().toDenseMatrix(), m1); - - // test overloaded operator= - m1.setZero(); - m1.template triangularView() = m2.transpose() + m2; - VERIFY_IS_APPROX(m3.template triangularView().toDenseMatrix(), m1); - - VERIFY_IS_APPROX(m3.template triangularView().conjugate().toDenseMatrix(), - m3.conjugate().template triangularView().toDenseMatrix()); - - m1 = MatrixType::Random(rows, cols); - for (int i=0; i(); - - Transpose trm4(m4); - // test back and forward subsitution with a vector as the rhs - m3 = m1.template triangularView(); - VERIFY(v2.isApprox(m3.adjoint() * (m1.adjoint().template triangularView().solve(v2)), largerEps)); - m3 = m1.template triangularView(); - VERIFY(v2.isApprox(m3.transpose() * (m1.transpose().template triangularView().solve(v2)), largerEps)); - m3 = m1.template triangularView(); - VERIFY(v2.isApprox(m3 * (m1.template triangularView().solve(v2)), largerEps)); - m3 = m1.template triangularView(); - VERIFY(v2.isApprox(m3.conjugate() * (m1.conjugate().template triangularView().solve(v2)), largerEps)); - - // test back and forward substitution with a matrix as the rhs - m3 = m1.template triangularView(); - VERIFY(m2.isApprox(m3.adjoint() * (m1.adjoint().template triangularView().solve(m2)), largerEps)); - m3 = m1.template triangularView(); - VERIFY(m2.isApprox(m3.transpose() * (m1.transpose().template triangularView().solve(m2)), largerEps)); - m3 = m1.template triangularView(); - VERIFY(m2.isApprox(m3 * (m1.template triangularView().solve(m2)), largerEps)); - m3 = m1.template triangularView(); - VERIFY(m2.isApprox(m3.conjugate() * (m1.conjugate().template triangularView().solve(m2)), largerEps)); - - // check M * inv(L) using in place API - m4 = m3; - m1.transpose().template triangularView().solveInPlace(trm4); - VERIFY_IS_APPROX(m4 * m1.template triangularView(), m3); - - // check M * inv(U) using in place API - m3 = m1.template triangularView(); - m4 = m3; - m3.transpose().template triangularView().solveInPlace(trm4); - VERIFY_IS_APPROX(m4 * m1.template triangularView(), m3); - - // check solve with unit diagonal - m3 = m1.template triangularView(); - VERIFY(m2.isApprox(m3 * (m1.template triangularView().solve(m2)), largerEps)); - -// VERIFY(( m1.template triangularView() -// * m2.template triangularView()).isUpperTriangular()); - - // test swap - m1.setOnes(); - m2.setZero(); - m2.template triangularView().swap(m1); - m3.setZero(); - m3.template triangularView().setOnes(); - VERIFY_IS_APPROX(m2,m3); - - m1.setRandom(); - m3 = m1.template triangularView(); - Matrix m5(cols, internal::random(1,20)); m5.setRandom(); - Matrix m6(internal::random(1,20), rows); m6.setRandom(); - VERIFY_IS_APPROX(m1.template triangularView() * m5, m3*m5); - VERIFY_IS_APPROX(m6*m1.template triangularView(), m6*m3); - - m1up = m1.template triangularView(); - VERIFY_IS_APPROX(m1.template selfadjointView().template triangularView().toDenseMatrix(), m1up); - VERIFY_IS_APPROX(m1up.template selfadjointView().template triangularView().toDenseMatrix(), m1up); - VERIFY_IS_APPROX(m1.template selfadjointView().template triangularView().toDenseMatrix(), m1up.adjoint()); - VERIFY_IS_APPROX(m1up.template selfadjointView().template triangularView().toDenseMatrix(), m1up.adjoint()); - - VERIFY_IS_APPROX(m1.template selfadjointView().diagonal(), m1.diagonal()); - -} - - -template void triangular_rect(const MatrixType& m) -{ - typedef const typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime }; - - Index rows = m.rows(); - Index cols = m.cols(); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2 = MatrixType::Random(rows, cols), - m3(rows, cols), - m4(rows, cols), - r1(rows, cols), - r2(rows, cols); - - MatrixType m1up = m1.template triangularView(); - MatrixType m2up = m2.template triangularView(); - - if (rows>1 && cols>1) - { - VERIFY(m1up.isUpperTriangular()); - VERIFY(m2up.transpose().isLowerTriangular()); - VERIFY(!m2.isLowerTriangular()); - } - - // test overloaded operator+= - r1.setZero(); - r2.setZero(); - r1.template triangularView() += m1; - r2 += m1up; - VERIFY_IS_APPROX(r1,r2); - - // test overloaded operator= - m1.setZero(); - m1.template triangularView() = 3 * m2; - m3 = 3 * m2; - VERIFY_IS_APPROX(m3.template triangularView().toDenseMatrix(), m1); - - - m1.setZero(); - m1.template triangularView() = 3 * m2; - VERIFY_IS_APPROX(m3.template triangularView().toDenseMatrix(), m1); - - m1.setZero(); - m1.template triangularView() = 3 * m2; - VERIFY_IS_APPROX(m3.template triangularView().toDenseMatrix(), m1); - - - m1.setZero(); - m1.template triangularView() = 3 * m2; - VERIFY_IS_APPROX(m3.template triangularView().toDenseMatrix(), m1); - m1.setRandom(); - m2 = m1.template triangularView(); - VERIFY(m2.isUpperTriangular()); - VERIFY(!m2.isLowerTriangular()); - m2 = m1.template triangularView(); - VERIFY(m2.isUpperTriangular()); - VERIFY(m2.diagonal().isMuchSmallerThan(RealScalar(1))); - m2 = m1.template triangularView(); - VERIFY(m2.isUpperTriangular()); - m2.diagonal().array() -= Scalar(1); - VERIFY(m2.diagonal().isMuchSmallerThan(RealScalar(1))); - m2 = m1.template triangularView(); - VERIFY(m2.isLowerTriangular()); - VERIFY(!m2.isUpperTriangular()); - m2 = m1.template triangularView(); - VERIFY(m2.isLowerTriangular()); - VERIFY(m2.diagonal().isMuchSmallerThan(RealScalar(1))); - m2 = m1.template triangularView(); - VERIFY(m2.isLowerTriangular()); - m2.diagonal().array() -= Scalar(1); - VERIFY(m2.diagonal().isMuchSmallerThan(RealScalar(1))); - // test swap - m1.setOnes(); - m2.setZero(); - m2.template triangularView().swap(m1); - m3.setZero(); - m3.template triangularView().setOnes(); - VERIFY_IS_APPROX(m2,m3); -} - -void bug_159() -{ - Matrix3d m = Matrix3d::Random().triangularView(); - EIGEN_UNUSED_VARIABLE(m) -} - -void test_triangular() -{ - int maxsize = (std::min)(EIGEN_TEST_MAX_SIZE,20); - for(int i = 0; i < g_repeat ; i++) - { - int r = internal::random(2,maxsize); TEST_SET_BUT_UNUSED_VARIABLE(r) - int c = internal::random(2,maxsize); TEST_SET_BUT_UNUSED_VARIABLE(c) - - CALL_SUBTEST_1( triangular_square(Matrix()) ); - CALL_SUBTEST_2( triangular_square(Matrix()) ); - CALL_SUBTEST_3( triangular_square(Matrix3d()) ); - CALL_SUBTEST_4( triangular_square(Matrix,8, 8>()) ); - CALL_SUBTEST_5( triangular_square(MatrixXcd(r,r)) ); - CALL_SUBTEST_6( triangular_square(Matrix(r, r)) ); - - CALL_SUBTEST_7( triangular_rect(Matrix()) ); - CALL_SUBTEST_8( triangular_rect(Matrix()) ); - CALL_SUBTEST_9( triangular_rect(MatrixXcf(r, c)) ); - CALL_SUBTEST_5( triangular_rect(MatrixXcd(r, c)) ); - CALL_SUBTEST_6( triangular_rect(Matrix(r, c)) ); - } - - CALL_SUBTEST_1( bug_159() ); -} diff --git a/testbed/nanogui/ext/eigen/test/umeyama.cpp b/testbed/nanogui/ext/eigen/test/umeyama.cpp deleted file mode 100644 index 2e809243..00000000 --- a/testbed/nanogui/ext/eigen/test/umeyama.cpp +++ /dev/null @@ -1,183 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Hauke Heibel -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -#include -#include - -#include // required for MatrixBase::determinant -#include // required for SVD - -using namespace Eigen; - -// Constructs a random matrix from the unitary group U(size). -template -Eigen::Matrix randMatrixUnitary(int size) -{ - typedef T Scalar; - typedef Eigen::Matrix MatrixType; - - MatrixType Q; - - int max_tries = 40; - double is_unitary = false; - - while (!is_unitary && max_tries > 0) - { - // initialize random matrix - Q = MatrixType::Random(size, size); - - // orthogonalize columns using the Gram-Schmidt algorithm - for (int col = 0; col < size; ++col) - { - typename MatrixType::ColXpr colVec = Q.col(col); - for (int prevCol = 0; prevCol < col; ++prevCol) - { - typename MatrixType::ColXpr prevColVec = Q.col(prevCol); - colVec -= colVec.dot(prevColVec)*prevColVec; - } - Q.col(col) = colVec.normalized(); - } - - // this additional orthogonalization is not necessary in theory but should enhance - // the numerical orthogonality of the matrix - for (int row = 0; row < size; ++row) - { - typename MatrixType::RowXpr rowVec = Q.row(row); - for (int prevRow = 0; prevRow < row; ++prevRow) - { - typename MatrixType::RowXpr prevRowVec = Q.row(prevRow); - rowVec -= rowVec.dot(prevRowVec)*prevRowVec; - } - Q.row(row) = rowVec.normalized(); - } - - // final check - is_unitary = Q.isUnitary(); - --max_tries; - } - - if (max_tries == 0) - eigen_assert(false && "randMatrixUnitary: Could not construct unitary matrix!"); - - return Q; -} - -// Constructs a random matrix from the special unitary group SU(size). -template -Eigen::Matrix randMatrixSpecialUnitary(int size) -{ - typedef T Scalar; - - typedef Eigen::Matrix MatrixType; - - // initialize unitary matrix - MatrixType Q = randMatrixUnitary(size); - - // tweak the first column to make the determinant be 1 - Q.col(0) *= numext::conj(Q.determinant()); - - return Q; -} - -template -void run_test(int dim, int num_elements) -{ - using std::abs; - typedef typename internal::traits::Scalar Scalar; - typedef Matrix MatrixX; - typedef Matrix VectorX; - - // MUST be positive because in any other case det(cR_t) may become negative for - // odd dimensions! - const Scalar c = abs(internal::random()); - - MatrixX R = randMatrixSpecialUnitary(dim); - VectorX t = Scalar(50)*VectorX::Random(dim,1); - - MatrixX cR_t = MatrixX::Identity(dim+1,dim+1); - cR_t.block(0,0,dim,dim) = c*R; - cR_t.block(0,dim,dim,1) = t; - - MatrixX src = MatrixX::Random(dim+1, num_elements); - src.row(dim) = Matrix::Constant(num_elements, Scalar(1)); - - MatrixX dst = cR_t*src; - - MatrixX cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements)); - - const Scalar error = ( cR_t_umeyama*src - dst ).norm() / dst.norm(); - VERIFY(error < Scalar(40)*std::numeric_limits::epsilon()); -} - -template -void run_fixed_size_test(int num_elements) -{ - using std::abs; - typedef Matrix MatrixX; - typedef Matrix HomMatrix; - typedef Matrix FixedMatrix; - typedef Matrix FixedVector; - - const int dim = Dimension; - - // MUST be positive because in any other case det(cR_t) may become negative for - // odd dimensions! - // Also if c is to small compared to t.norm(), problem is ill-posed (cf. Bug 744) - const Scalar c = internal::random(0.5, 2.0); - - FixedMatrix R = randMatrixSpecialUnitary(dim); - FixedVector t = Scalar(32)*FixedVector::Random(dim,1); - - HomMatrix cR_t = HomMatrix::Identity(dim+1,dim+1); - cR_t.block(0,0,dim,dim) = c*R; - cR_t.block(0,dim,dim,1) = t; - - MatrixX src = MatrixX::Random(dim+1, num_elements); - src.row(dim) = Matrix::Constant(num_elements, Scalar(1)); - - MatrixX dst = cR_t*src; - - Block src_block(src,0,0,dim,num_elements); - Block dst_block(dst,0,0,dim,num_elements); - - HomMatrix cR_t_umeyama = umeyama(src_block, dst_block); - - const Scalar error = ( cR_t_umeyama*src - dst ).squaredNorm(); - - VERIFY(error < Scalar(16)*std::numeric_limits::epsilon()); -} - -void test_umeyama() -{ - for (int i=0; i(40,500); - - // works also for dimensions bigger than 3... - for (int dim=2; dim<8; ++dim) - { - CALL_SUBTEST_1(run_test(dim, num_elements)); - CALL_SUBTEST_2(run_test(dim, num_elements)); - } - - CALL_SUBTEST_3((run_fixed_size_test(num_elements))); - CALL_SUBTEST_4((run_fixed_size_test(num_elements))); - CALL_SUBTEST_5((run_fixed_size_test(num_elements))); - - CALL_SUBTEST_6((run_fixed_size_test(num_elements))); - CALL_SUBTEST_7((run_fixed_size_test(num_elements))); - CALL_SUBTEST_8((run_fixed_size_test(num_elements))); - } - - // Those two calls don't compile and result in meaningful error messages! - // umeyama(MatrixXcf(),MatrixXcf()); - // umeyama(MatrixXcd(),MatrixXcd()); -} diff --git a/testbed/nanogui/ext/eigen/test/umfpack_support.cpp b/testbed/nanogui/ext/eigen/test/umfpack_support.cpp deleted file mode 100644 index 37ab11f0..00000000 --- a/testbed/nanogui/ext/eigen/test/umfpack_support.cpp +++ /dev/null @@ -1,32 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define EIGEN_NO_DEBUG_SMALL_PRODUCT_BLOCKS -#include "sparse_solver.h" - -#include - -template void test_umfpack_support_T() -{ - UmfPackLU > umfpack_colmajor; - UmfPackLU > umfpack_rowmajor; - - check_sparse_square_solving(umfpack_colmajor); - check_sparse_square_solving(umfpack_rowmajor); - - check_sparse_square_determinant(umfpack_colmajor); - check_sparse_square_determinant(umfpack_rowmajor); -} - -void test_umfpack_support() -{ - CALL_SUBTEST_1(test_umfpack_support_T()); - CALL_SUBTEST_2(test_umfpack_support_T >()); -} - diff --git a/testbed/nanogui/ext/eigen/test/unalignedassert.cpp b/testbed/nanogui/ext/eigen/test/unalignedassert.cpp deleted file mode 100644 index 731a0897..00000000 --- a/testbed/nanogui/ext/eigen/test/unalignedassert.cpp +++ /dev/null @@ -1,180 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#if defined(EIGEN_TEST_PART_1) - // default -#elif defined(EIGEN_TEST_PART_2) - #define EIGEN_MAX_STATIC_ALIGN_BYTES 16 - #define EIGEN_MAX_ALIGN_BYTES 16 -#elif defined(EIGEN_TEST_PART_3) - #define EIGEN_MAX_STATIC_ALIGN_BYTES 32 - #define EIGEN_MAX_ALIGN_BYTES 32 -#elif defined(EIGEN_TEST_PART_4) - #define EIGEN_MAX_STATIC_ALIGN_BYTES 64 - #define EIGEN_MAX_ALIGN_BYTES 64 -#endif - -#include "main.h" - -typedef Matrix Vector6f; -typedef Matrix Vector8f; -typedef Matrix Vector12f; - -typedef Matrix Vector5d; -typedef Matrix Vector6d; -typedef Matrix Vector7d; -typedef Matrix Vector8d; -typedef Matrix Vector9d; -typedef Matrix Vector10d; -typedef Matrix Vector12d; - -struct TestNew1 -{ - MatrixXd m; // good: m will allocate its own array, taking care of alignment. - TestNew1() : m(20,20) {} -}; - -struct TestNew2 -{ - Matrix3d m; // good: m's size isn't a multiple of 16 bytes, so m doesn't have to be 16-byte aligned, - // 8-byte alignment is good enough here, which we'll get automatically -}; - -struct TestNew3 -{ - Vector2f m; // good: m's size isn't a multiple of 16 bytes, so m doesn't have to be 16-byte aligned -}; - -struct TestNew4 -{ - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - Vector2d m; - float f; // make the struct have sizeof%16!=0 to make it a little more tricky when we allow an array of 2 such objects -}; - -struct TestNew5 -{ - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - float f; // try the f at first -- the EIGEN_ALIGN_MAX attribute of m should make that still work - Matrix4f m; -}; - -struct TestNew6 -{ - Matrix m; // good: no alignment requested - float f; -}; - -template struct Depends -{ - EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(Align) - Vector2d m; - float f; -}; - -template -void check_unalignedassert_good() -{ - T *x, *y; - x = new T; - delete x; - y = new T[2]; - delete[] y; -} - -#if EIGEN_MAX_STATIC_ALIGN_BYTES>0 -template -void construct_at_boundary(int boundary) -{ - char buf[sizeof(T)+256]; - size_t _buf = reinterpret_cast(buf); - _buf += (EIGEN_MAX_ALIGN_BYTES - (_buf % EIGEN_MAX_ALIGN_BYTES)); // make 16/32/...-byte aligned - _buf += boundary; // make exact boundary-aligned - T *x = ::new(reinterpret_cast(_buf)) T; - x[0].setZero(); // just in order to silence warnings - x->~T(); -} -#endif - -void unalignedassert() -{ -#if EIGEN_MAX_STATIC_ALIGN_BYTES>0 - construct_at_boundary(4); - construct_at_boundary(4); - construct_at_boundary(16); - construct_at_boundary(4); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - construct_at_boundary(16); - construct_at_boundary(16); - construct_at_boundary(4); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - - construct_at_boundary(16); - construct_at_boundary(4); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - construct_at_boundary(4); - construct_at_boundary(16); - construct_at_boundary(4); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - construct_at_boundary(4); - construct_at_boundary(16); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - construct_at_boundary(4); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - - construct_at_boundary(16); - construct_at_boundary(4); - construct_at_boundary(EIGEN_MAX_ALIGN_BYTES); - construct_at_boundary(16); -#endif - - check_unalignedassert_good(); - check_unalignedassert_good(); - check_unalignedassert_good(); - - check_unalignedassert_good(); - check_unalignedassert_good(); - check_unalignedassert_good(); - check_unalignedassert_good >(); - -#if EIGEN_MAX_STATIC_ALIGN_BYTES>0 - if(EIGEN_MAX_ALIGN_BYTES>=16) - { - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - // Complexes are disabled because the compiler might aggressively vectorize - // the initialization of complex coeffs to 0 before we can check for alignedness - //VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - VERIFY_RAISES_ASSERT(construct_at_boundary(8)); - } - for(int b=8; b(b)); - if(b<64) VERIFY_RAISES_ASSERT(construct_at_boundary(b)); - if(b<32) VERIFY_RAISES_ASSERT(construct_at_boundary(b)); - if(b<32) VERIFY_RAISES_ASSERT(construct_at_boundary(b)); - if(b<128) VERIFY_RAISES_ASSERT(construct_at_boundary(b)); - //if(b<32) VERIFY_RAISES_ASSERT(construct_at_boundary(b)); - } -#endif -} - -void test_unalignedassert() -{ - CALL_SUBTEST(unalignedassert()); -} diff --git a/testbed/nanogui/ext/eigen/test/unalignedcount.cpp b/testbed/nanogui/ext/eigen/test/unalignedcount.cpp deleted file mode 100644 index d6ffeafd..00000000 --- a/testbed/nanogui/ext/eigen/test/unalignedcount.cpp +++ /dev/null @@ -1,53 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -static int nb_load; -static int nb_loadu; -static int nb_store; -static int nb_storeu; - -#define EIGEN_DEBUG_ALIGNED_LOAD { nb_load++; } -#define EIGEN_DEBUG_UNALIGNED_LOAD { nb_loadu++; } -#define EIGEN_DEBUG_ALIGNED_STORE { nb_store++; } -#define EIGEN_DEBUG_UNALIGNED_STORE { nb_storeu++; } - -#define VERIFY_ALIGNED_UNALIGNED_COUNT(XPR,AL,UL,AS,US) {\ - nb_load = nb_loadu = nb_store = nb_storeu = 0; \ - XPR; \ - if(!(nb_load==AL && nb_loadu==UL && nb_store==AS && nb_storeu==US)) \ - std::cerr << " >> " << nb_load << ", " << nb_loadu << ", " << nb_store << ", " << nb_storeu << "\n"; \ - VERIFY( (#XPR) && nb_load==AL && nb_loadu==UL && nb_store==AS && nb_storeu==US ); \ - } - - -#include "main.h" - -void test_unalignedcount() -{ - #if defined(EIGEN_VECTORIZE_AVX) - VectorXf a(40), b(40); - VERIFY_ALIGNED_UNALIGNED_COUNT(a += b, 10, 0, 5, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) += b.segment(0,40), 5, 5, 5, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) -= b.segment(0,40), 5, 5, 5, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) *= 3.5, 5, 0, 5, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) /= 3.5, 5, 0, 5, 0); - #elif defined(EIGEN_VECTORIZE_SSE) - VectorXf a(40), b(40); - VERIFY_ALIGNED_UNALIGNED_COUNT(a += b, 20, 0, 10, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) += b.segment(0,40), 10, 10, 10, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) -= b.segment(0,40), 10, 10, 10, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) *= 3.5, 10, 0, 10, 0); - VERIFY_ALIGNED_UNALIGNED_COUNT(a.segment(0,40) /= 3.5, 10, 0, 10, 0); - #else - // The following line is to eliminate "variable not used" warnings - nb_load = nb_loadu = nb_store = nb_storeu = 0; - int a(0), b(0); - VERIFY(a==b); - #endif -} diff --git a/testbed/nanogui/ext/eigen/test/upperbidiagonalization.cpp b/testbed/nanogui/ext/eigen/test/upperbidiagonalization.cpp deleted file mode 100644 index 847b34b5..00000000 --- a/testbed/nanogui/ext/eigen/test/upperbidiagonalization.cpp +++ /dev/null @@ -1,43 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2010 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" -#include - -template void upperbidiag(const MatrixType& m) -{ - const typename MatrixType::Index rows = m.rows(); - const typename MatrixType::Index cols = m.cols(); - - typedef Matrix RealMatrixType; - typedef Matrix TransposeMatrixType; - - MatrixType a = MatrixType::Random(rows,cols); - internal::UpperBidiagonalization ubd(a); - RealMatrixType b(rows, cols); - b.setZero(); - b.block(0,0,cols,cols) = ubd.bidiagonal(); - MatrixType c = ubd.householderU() * b * ubd.householderV().adjoint(); - VERIFY_IS_APPROX(a,c); - TransposeMatrixType d = ubd.householderV() * b.adjoint() * ubd.householderU().adjoint(); - VERIFY_IS_APPROX(a.adjoint(),d); -} - -void test_upperbidiagonalization() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( upperbidiag(MatrixXf(3,3)) ); - CALL_SUBTEST_2( upperbidiag(MatrixXd(17,12)) ); - CALL_SUBTEST_3( upperbidiag(MatrixXcf(20,20)) ); - CALL_SUBTEST_4( upperbidiag(Matrix,Dynamic,Dynamic,RowMajor>(16,15)) ); - CALL_SUBTEST_5( upperbidiag(Matrix()) ); - CALL_SUBTEST_6( upperbidiag(Matrix()) ); - CALL_SUBTEST_7( upperbidiag(Matrix()) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/vectorization_logic.cpp b/testbed/nanogui/ext/eigen/test/vectorization_logic.cpp deleted file mode 100644 index 83c1439a..00000000 --- a/testbed/nanogui/ext/eigen/test/vectorization_logic.cpp +++ /dev/null @@ -1,419 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifdef EIGEN_TEST_PART_1 -#define EIGEN_UNALIGNED_VECTORIZE 1 -#endif - -#ifdef EIGEN_TEST_PART_2 -#define EIGEN_UNALIGNED_VECTORIZE 0 -#endif - -#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR -#undef EIGEN_DEFAULT_TO_ROW_MAJOR -#endif -#define EIGEN_DEBUG_ASSIGN -#include "main.h" -#include - -using internal::demangle_flags; -using internal::demangle_traversal; -using internal::demangle_unrolling; - -template -bool test_assign(const Dst&, const Src&, int traversal, int unrolling) -{ - typedef internal::copy_using_evaluator_traits,internal::evaluator, internal::assign_op > traits; - bool res = traits::Traversal==traversal; - if(unrolling==InnerUnrolling+CompleteUnrolling) - res = res && (int(traits::Unrolling)==InnerUnrolling || int(traits::Unrolling)==CompleteUnrolling); - else - res = res && int(traits::Unrolling)==unrolling; - if(!res) - { - std::cerr << "Src: " << demangle_flags(Src::Flags) << std::endl; - std::cerr << " " << demangle_flags(internal::evaluator::Flags) << std::endl; - std::cerr << "Dst: " << demangle_flags(Dst::Flags) << std::endl; - std::cerr << " " << demangle_flags(internal::evaluator::Flags) << std::endl; - traits::debug(); - std::cerr << " Expected Traversal == " << demangle_traversal(traversal) - << " got " << demangle_traversal(traits::Traversal) << "\n"; - std::cerr << " Expected Unrolling == " << demangle_unrolling(unrolling) - << " got " << demangle_unrolling(traits::Unrolling) << "\n"; - } - return res; -} - -template -bool test_assign(int traversal, int unrolling) -{ - typedef internal::copy_using_evaluator_traits,internal::evaluator, internal::assign_op > traits; - bool res = traits::Traversal==traversal && traits::Unrolling==unrolling; - if(!res) - { - std::cerr << "Src: " << demangle_flags(Src::Flags) << std::endl; - std::cerr << " " << demangle_flags(internal::evaluator::Flags) << std::endl; - std::cerr << "Dst: " << demangle_flags(Dst::Flags) << std::endl; - std::cerr << " " << demangle_flags(internal::evaluator::Flags) << std::endl; - traits::debug(); - std::cerr << " Expected Traversal == " << demangle_traversal(traversal) - << " got " << demangle_traversal(traits::Traversal) << "\n"; - std::cerr << " Expected Unrolling == " << demangle_unrolling(unrolling) - << " got " << demangle_unrolling(traits::Unrolling) << "\n"; - } - return res; -} - -template -bool test_redux(const Xpr&, int traversal, int unrolling) -{ - typedef typename Xpr::Scalar Scalar; - typedef internal::redux_traits,internal::redux_evaluator > traits; - - bool res = traits::Traversal==traversal && traits::Unrolling==unrolling; - if(!res) - { - std::cerr << demangle_flags(Xpr::Flags) << std::endl; - std::cerr << demangle_flags(internal::evaluator::Flags) << std::endl; - traits::debug(); - - std::cerr << " Expected Traversal == " << demangle_traversal(traversal) - << " got " << demangle_traversal(traits::Traversal) << "\n"; - std::cerr << " Expected Unrolling == " << demangle_unrolling(unrolling) - << " got " << demangle_unrolling(traits::Unrolling) << "\n"; - } - return res; -} - -template::Vectorizable> -struct vectorization_logic -{ - typedef internal::packet_traits PacketTraits; - - typedef typename internal::packet_traits::type PacketType; - typedef typename internal::unpacket_traits::half HalfPacketType; - enum { - PacketSize = internal::unpacket_traits::size, - HalfPacketSize = internal::unpacket_traits::size - }; - static void run() - { - - typedef Matrix Vector1; - typedef Matrix VectorX; - typedef Matrix MatrixXX; - typedef Matrix Matrix11; - typedef Matrix Matrix22; - typedef Matrix Matrix44; - typedef Matrix Matrix44u; - typedef Matrix Matrix44c; - typedef Matrix Matrix44r; - - typedef Matrix Matrix1; - - typedef Matrix Matrix1u; - - // this type is made such that it can only be vectorized when viewed as a linear 1D vector - typedef Matrix Matrix3; - - #if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT - VERIFY(test_assign(Vector1(),Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1()+Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().cwiseProduct(Vector1()), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().template cast(), - InnerVectorizedTraversal,CompleteUnrolling)); - - - VERIFY(test_assign(Vector1(),Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1()+Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().cwiseProduct(Vector1()), - InnerVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix44(),Matrix44()+Matrix44(), - InnerVectorizedTraversal,InnerUnrolling)); - - VERIFY(test_assign(Matrix44u(),Matrix44()+Matrix44(), - EIGEN_UNALIGNED_VECTORIZE ? InnerVectorizedTraversal : LinearTraversal, - EIGEN_UNALIGNED_VECTORIZE ? InnerUnrolling : NoUnrolling)); - - VERIFY(test_assign(Matrix1(),Matrix1()+Matrix1(), - (Matrix1::InnerSizeAtCompileTime % PacketSize)==0 ? InnerVectorizedTraversal : LinearVectorizedTraversal, - CompleteUnrolling)); - - VERIFY(test_assign(Matrix1u(),Matrix1()+Matrix1(), - EIGEN_UNALIGNED_VECTORIZE ? ((Matrix1::InnerSizeAtCompileTime % PacketSize)==0 ? InnerVectorizedTraversal : LinearVectorizedTraversal) - : LinearTraversal, CompleteUnrolling)); - - VERIFY(test_assign(Matrix44c().col(1),Matrix44c().col(2)+Matrix44c().col(3), - InnerVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix44r().row(2),Matrix44r().row(1)+Matrix44r().row(1), - InnerVectorizedTraversal,CompleteUnrolling)); - - if(PacketSize>1) - { - typedef Matrix Matrix33c; - typedef Matrix Vector3; - VERIFY(test_assign(Matrix33c().row(2),Matrix33c().row(1)+Matrix33c().row(1), - LinearTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector3(),Vector3()+Vector3(), - EIGEN_UNALIGNED_VECTORIZE ? (HalfPacketSize==1 ? InnerVectorizedTraversal : LinearVectorizedTraversal) : (HalfPacketSize==1 ? InnerVectorizedTraversal : LinearTraversal), CompleteUnrolling)); - VERIFY(test_assign(Matrix33c().col(0),Matrix33c().col(1)+Matrix33c().col(1), - EIGEN_UNALIGNED_VECTORIZE ? (HalfPacketSize==1 ? InnerVectorizedTraversal : LinearVectorizedTraversal) : (HalfPacketSize==1 ? SliceVectorizedTraversal : LinearTraversal), - ((!EIGEN_UNALIGNED_VECTORIZE) && HalfPacketSize==1) ? NoUnrolling : CompleteUnrolling)); - - VERIFY(test_assign(Matrix3(),Matrix3().cwiseProduct(Matrix3()), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix(),Matrix()+Matrix(), - HalfPacketSize==1 ? InnerVectorizedTraversal : - EIGEN_UNALIGNED_VECTORIZE ? LinearVectorizedTraversal : - LinearTraversal, - NoUnrolling)); - - VERIFY(test_assign(Matrix11(), Matrix11()+Matrix11(),InnerVectorizedTraversal,CompleteUnrolling)); - - - VERIFY(test_assign(Matrix11(),Matrix().template block(2,3)+Matrix().template block(8,4), - (EIGEN_UNALIGNED_VECTORIZE) ? InnerVectorizedTraversal : DefaultTraversal, CompleteUnrolling|InnerUnrolling)); - - VERIFY(test_assign(Vector1(),Matrix11()*Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix11(),Matrix11().lazyProduct(Matrix11()), - InnerVectorizedTraversal,InnerUnrolling+CompleteUnrolling)); - } - - VERIFY(test_redux(Vector1(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix3(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix44(), - LinearVectorizedTraversal,NoUnrolling)); - - VERIFY(test_redux(Matrix44().template block<(Matrix1::Flags&RowMajorBit)?4:PacketSize,(Matrix1::Flags&RowMajorBit)?PacketSize:4>(1,2), - DefaultTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix44c().template block<2*PacketSize,1>(1,2), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix44r().template block<1,2*PacketSize>(2,1), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY((test_assign< - Map >, - Matrix22 - >(InnerVectorizedTraversal,CompleteUnrolling))); - - VERIFY((test_assign< - Map, AlignedMax, InnerStride<3*PacketSize> >, - Matrix - >(DefaultTraversal,PacketSize>=8?InnerUnrolling:CompleteUnrolling))); - - VERIFY((test_assign(Matrix11(), Matrix()*Matrix(), - InnerVectorizedTraversal, CompleteUnrolling))); - #endif - - VERIFY(test_assign(MatrixXX(10,10),MatrixXX(20,20).block(10,10,2,3), - SliceVectorizedTraversal,NoUnrolling)); - - VERIFY(test_redux(VectorX(10), - LinearVectorizedTraversal,NoUnrolling)); - } -}; - -template struct vectorization_logic -{ - static void run() {} -}; - -template::type>::half, - typename internal::packet_traits::type>::value > -struct vectorization_logic_half -{ - typedef internal::packet_traits PacketTraits; - typedef typename internal::unpacket_traits::type>::half PacketType; - enum { - PacketSize = internal::unpacket_traits::size - }; - static void run() - { - - typedef Matrix Vector1; - typedef Matrix Matrix11; - typedef Matrix Matrix57; - typedef Matrix Matrix35; - typedef Matrix Matrix57u; -// typedef Matrix Matrix44; -// typedef Matrix Matrix44u; -// typedef Matrix Matrix44c; -// typedef Matrix Matrix44r; - - typedef Matrix Matrix1; - - typedef Matrix Matrix1u; - - // this type is made such that it can only be vectorized when viewed as a linear 1D vector - typedef Matrix Matrix3; - - #if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT - VERIFY(test_assign(Vector1(),Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1()+Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().template segment(0).derived(), - EIGEN_UNALIGNED_VECTORIZE ? InnerVectorizedTraversal : LinearVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Scalar(2.1)*Vector1()-Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),(Scalar(2.1)*Vector1().template segment(0)-Vector1().template segment(0)).derived(), - EIGEN_UNALIGNED_VECTORIZE ? InnerVectorizedTraversal : LinearVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().cwiseProduct(Vector1()), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().template cast(), - InnerVectorizedTraversal,CompleteUnrolling)); - - - VERIFY(test_assign(Vector1(),Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1()+Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - VERIFY(test_assign(Vector1(),Vector1().cwiseProduct(Vector1()), - InnerVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix57(),Matrix57()+Matrix57(), - InnerVectorizedTraversal,InnerUnrolling)); - - VERIFY(test_assign(Matrix57u(),Matrix57()+Matrix57(), - EIGEN_UNALIGNED_VECTORIZE ? InnerVectorizedTraversal : LinearTraversal, - EIGEN_UNALIGNED_VECTORIZE ? InnerUnrolling : NoUnrolling)); - - VERIFY(test_assign(Matrix1u(),Matrix1()+Matrix1(), - EIGEN_UNALIGNED_VECTORIZE ? ((Matrix1::InnerSizeAtCompileTime % PacketSize)==0 ? InnerVectorizedTraversal : LinearVectorizedTraversal) : LinearTraversal,CompleteUnrolling)); - - if(PacketSize>1) - { - typedef Matrix Matrix33c; - VERIFY(test_assign(Matrix33c().row(2),Matrix33c().row(1)+Matrix33c().row(1), - LinearTraversal,CompleteUnrolling)); - VERIFY(test_assign(Matrix33c().col(0),Matrix33c().col(1)+Matrix33c().col(1), - EIGEN_UNALIGNED_VECTORIZE ? (PacketSize==1 ? InnerVectorizedTraversal : LinearVectorizedTraversal) : LinearTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix3(),Matrix3().cwiseQuotient(Matrix3()), - PacketTraits::HasDiv ? LinearVectorizedTraversal : LinearTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix(),Matrix()+Matrix(), - EIGEN_UNALIGNED_VECTORIZE ? (PacketSize==1 ? InnerVectorizedTraversal : LinearVectorizedTraversal) : LinearTraversal, - NoUnrolling)); - - VERIFY(test_assign(Matrix11(),Matrix().template block(2,3)+Matrix().template block(8,4), - EIGEN_UNALIGNED_VECTORIZE ? InnerVectorizedTraversal : DefaultTraversal,PacketSize>4?InnerUnrolling:CompleteUnrolling)); - - VERIFY(test_assign(Vector1(),Matrix11()*Vector1(), - InnerVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_assign(Matrix11(),Matrix11().lazyProduct(Matrix11()), - InnerVectorizedTraversal,InnerUnrolling+CompleteUnrolling)); - } - - VERIFY(test_redux(Vector1(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix3(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix35(), - LinearVectorizedTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix57().template block(1,0), - DefaultTraversal,CompleteUnrolling)); - - VERIFY((test_assign< - Map, AlignedMax, InnerStride<3*PacketSize> >, - Matrix - >(DefaultTraversal,CompleteUnrolling))); - - VERIFY((test_assign(Matrix57(), Matrix()*Matrix(), - InnerVectorizedTraversal, InnerUnrolling|CompleteUnrolling))); - #endif - } -}; - -template struct vectorization_logic_half -{ - static void run() {} -}; - -void test_vectorization_logic() -{ - -#ifdef EIGEN_VECTORIZE - - CALL_SUBTEST( vectorization_logic::run() ); - CALL_SUBTEST( vectorization_logic::run() ); - CALL_SUBTEST( vectorization_logic::run() ); - CALL_SUBTEST( vectorization_logic >::run() ); - CALL_SUBTEST( vectorization_logic >::run() ); - - CALL_SUBTEST( vectorization_logic_half::run() ); - CALL_SUBTEST( vectorization_logic_half::run() ); - CALL_SUBTEST( vectorization_logic_half::run() ); - CALL_SUBTEST( vectorization_logic_half >::run() ); - CALL_SUBTEST( vectorization_logic_half >::run() ); - - if(internal::packet_traits::Vectorizable) - { - VERIFY(test_assign(Matrix(),Matrix()+Matrix(), - EIGEN_UNALIGNED_VECTORIZE ? LinearVectorizedTraversal : LinearTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix(), - EIGEN_UNALIGNED_VECTORIZE ? LinearVectorizedTraversal : DefaultTraversal,CompleteUnrolling)); - } - - if(internal::packet_traits::Vectorizable) - { - VERIFY(test_assign(Matrix(),Matrix()+Matrix(), - EIGEN_UNALIGNED_VECTORIZE ? LinearVectorizedTraversal : LinearTraversal,CompleteUnrolling)); - - VERIFY(test_redux(Matrix(), - EIGEN_UNALIGNED_VECTORIZE ? LinearVectorizedTraversal : DefaultTraversal,CompleteUnrolling)); - } -#endif // EIGEN_VECTORIZE - -} diff --git a/testbed/nanogui/ext/eigen/test/vectorwiseop.cpp b/testbed/nanogui/ext/eigen/test/vectorwiseop.cpp deleted file mode 100644 index f3ab561e..00000000 --- a/testbed/nanogui/ext/eigen/test/vectorwiseop.cpp +++ /dev/null @@ -1,252 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// Copyright (C) 2015 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#define TEST_ENABLE_TEMPORARY_TRACKING -#define EIGEN_NO_STATIC_ASSERT - -#include "main.h" - -template void vectorwiseop_array(const ArrayType& m) -{ - typedef typename ArrayType::Index Index; - typedef typename ArrayType::Scalar Scalar; - typedef Array ColVectorType; - typedef Array RowVectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - ArrayType m1 = ArrayType::Random(rows, cols), - m2(rows, cols), - m3(rows, cols); - - ColVectorType colvec = ColVectorType::Random(rows); - RowVectorType rowvec = RowVectorType::Random(cols); - - // test addition - - m2 = m1; - m2.colwise() += colvec; - VERIFY_IS_APPROX(m2, m1.colwise() + colvec); - VERIFY_IS_APPROX(m2.col(c), m1.col(c) + colvec); - - VERIFY_RAISES_ASSERT(m2.colwise() += colvec.transpose()); - VERIFY_RAISES_ASSERT(m1.colwise() + colvec.transpose()); - - m2 = m1; - m2.rowwise() += rowvec; - VERIFY_IS_APPROX(m2, m1.rowwise() + rowvec); - VERIFY_IS_APPROX(m2.row(r), m1.row(r) + rowvec); - - VERIFY_RAISES_ASSERT(m2.rowwise() += rowvec.transpose()); - VERIFY_RAISES_ASSERT(m1.rowwise() + rowvec.transpose()); - - // test substraction - - m2 = m1; - m2.colwise() -= colvec; - VERIFY_IS_APPROX(m2, m1.colwise() - colvec); - VERIFY_IS_APPROX(m2.col(c), m1.col(c) - colvec); - - VERIFY_RAISES_ASSERT(m2.colwise() -= colvec.transpose()); - VERIFY_RAISES_ASSERT(m1.colwise() - colvec.transpose()); - - m2 = m1; - m2.rowwise() -= rowvec; - VERIFY_IS_APPROX(m2, m1.rowwise() - rowvec); - VERIFY_IS_APPROX(m2.row(r), m1.row(r) - rowvec); - - VERIFY_RAISES_ASSERT(m2.rowwise() -= rowvec.transpose()); - VERIFY_RAISES_ASSERT(m1.rowwise() - rowvec.transpose()); - - // test multiplication - - m2 = m1; - m2.colwise() *= colvec; - VERIFY_IS_APPROX(m2, m1.colwise() * colvec); - VERIFY_IS_APPROX(m2.col(c), m1.col(c) * colvec); - - VERIFY_RAISES_ASSERT(m2.colwise() *= colvec.transpose()); - VERIFY_RAISES_ASSERT(m1.colwise() * colvec.transpose()); - - m2 = m1; - m2.rowwise() *= rowvec; - VERIFY_IS_APPROX(m2, m1.rowwise() * rowvec); - VERIFY_IS_APPROX(m2.row(r), m1.row(r) * rowvec); - - VERIFY_RAISES_ASSERT(m2.rowwise() *= rowvec.transpose()); - VERIFY_RAISES_ASSERT(m1.rowwise() * rowvec.transpose()); - - // test quotient - - m2 = m1; - m2.colwise() /= colvec; - VERIFY_IS_APPROX(m2, m1.colwise() / colvec); - VERIFY_IS_APPROX(m2.col(c), m1.col(c) / colvec); - - VERIFY_RAISES_ASSERT(m2.colwise() /= colvec.transpose()); - VERIFY_RAISES_ASSERT(m1.colwise() / colvec.transpose()); - - m2 = m1; - m2.rowwise() /= rowvec; - VERIFY_IS_APPROX(m2, m1.rowwise() / rowvec); - VERIFY_IS_APPROX(m2.row(r), m1.row(r) / rowvec); - - VERIFY_RAISES_ASSERT(m2.rowwise() /= rowvec.transpose()); - VERIFY_RAISES_ASSERT(m1.rowwise() / rowvec.transpose()); - - m2 = m1; - // yes, there might be an aliasing issue there but ".rowwise() /=" - // is supposed to evaluate " m2.colwise().sum()" into a temporary to avoid - // evaluating the reduction multiple times - if(ArrayType::RowsAtCompileTime>2 || ArrayType::RowsAtCompileTime==Dynamic) - { - m2.rowwise() /= m2.colwise().sum(); - VERIFY_IS_APPROX(m2, m1.rowwise() / m1.colwise().sum()); - } - - // all/any - Array mb(rows,cols); - mb = (m1.real()<=0.7).colwise().all(); - VERIFY( (mb.col(c) == (m1.real().col(c)<=0.7).all()).all() ); - mb = (m1.real()<=0.7).rowwise().all(); - VERIFY( (mb.row(r) == (m1.real().row(r)<=0.7).all()).all() ); - - mb = (m1.real()>=0.7).colwise().any(); - VERIFY( (mb.col(c) == (m1.real().col(c)>=0.7).any()).all() ); - mb = (m1.real()>=0.7).rowwise().any(); - VERIFY( (mb.row(r) == (m1.real().row(r)>=0.7).any()).all() ); -} - -template void vectorwiseop_matrix(const MatrixType& m) -{ - typedef typename MatrixType::Index Index; - typedef typename MatrixType::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef Matrix ColVectorType; - typedef Matrix RowVectorType; - typedef Matrix RealColVectorType; - typedef Matrix RealRowVectorType; - - Index rows = m.rows(); - Index cols = m.cols(); - Index r = internal::random(0, rows-1), - c = internal::random(0, cols-1); - - MatrixType m1 = MatrixType::Random(rows, cols), - m2(rows, cols), - m3(rows, cols); - - ColVectorType colvec = ColVectorType::Random(rows); - RowVectorType rowvec = RowVectorType::Random(cols); - RealColVectorType rcres; - RealRowVectorType rrres; - - // test addition - - m2 = m1; - m2.colwise() += colvec; - VERIFY_IS_APPROX(m2, m1.colwise() + colvec); - VERIFY_IS_APPROX(m2.col(c), m1.col(c) + colvec); - - if(rows>1) - { - VERIFY_RAISES_ASSERT(m2.colwise() += colvec.transpose()); - VERIFY_RAISES_ASSERT(m1.colwise() + colvec.transpose()); - } - - m2 = m1; - m2.rowwise() += rowvec; - VERIFY_IS_APPROX(m2, m1.rowwise() + rowvec); - VERIFY_IS_APPROX(m2.row(r), m1.row(r) + rowvec); - - if(cols>1) - { - VERIFY_RAISES_ASSERT(m2.rowwise() += rowvec.transpose()); - VERIFY_RAISES_ASSERT(m1.rowwise() + rowvec.transpose()); - } - - // test substraction - - m2 = m1; - m2.colwise() -= colvec; - VERIFY_IS_APPROX(m2, m1.colwise() - colvec); - VERIFY_IS_APPROX(m2.col(c), m1.col(c) - colvec); - - if(rows>1) - { - VERIFY_RAISES_ASSERT(m2.colwise() -= colvec.transpose()); - VERIFY_RAISES_ASSERT(m1.colwise() - colvec.transpose()); - } - - m2 = m1; - m2.rowwise() -= rowvec; - VERIFY_IS_APPROX(m2, m1.rowwise() - rowvec); - VERIFY_IS_APPROX(m2.row(r), m1.row(r) - rowvec); - - if(cols>1) - { - VERIFY_RAISES_ASSERT(m2.rowwise() -= rowvec.transpose()); - VERIFY_RAISES_ASSERT(m1.rowwise() - rowvec.transpose()); - } - - // test norm - rrres = m1.colwise().norm(); - VERIFY_IS_APPROX(rrres(c), m1.col(c).norm()); - rcres = m1.rowwise().norm(); - VERIFY_IS_APPROX(rcres(r), m1.row(r).norm()); - - VERIFY_IS_APPROX(m1.cwiseAbs().colwise().sum(), m1.colwise().template lpNorm<1>()); - VERIFY_IS_APPROX(m1.cwiseAbs().rowwise().sum(), m1.rowwise().template lpNorm<1>()); - VERIFY_IS_APPROX(m1.cwiseAbs().colwise().maxCoeff(), m1.colwise().template lpNorm()); - VERIFY_IS_APPROX(m1.cwiseAbs().rowwise().maxCoeff(), m1.rowwise().template lpNorm()); - - // regression for bug 1158 - VERIFY_IS_APPROX(m1.cwiseAbs().colwise().sum().x(), m1.col(0).cwiseAbs().sum()); - - // test normalized - m2 = m1.colwise().normalized(); - VERIFY_IS_APPROX(m2.col(c), m1.col(c).normalized()); - m2 = m1.rowwise().normalized(); - VERIFY_IS_APPROX(m2.row(r), m1.row(r).normalized()); - - // test normalize - m2 = m1; - m2.colwise().normalize(); - VERIFY_IS_APPROX(m2.col(c), m1.col(c).normalized()); - m2 = m1; - m2.rowwise().normalize(); - VERIFY_IS_APPROX(m2.row(r), m1.row(r).normalized()); - - // test with partial reduction of products - Matrix m1m1 = m1 * m1.transpose(); - VERIFY_IS_APPROX( (m1 * m1.transpose()).colwise().sum(), m1m1.colwise().sum()); - Matrix tmp(rows); - VERIFY_EVALUATION_COUNT( tmp = (m1 * m1.transpose()).colwise().sum(), 1); - - m2 = m1.rowwise() - (m1.colwise().sum()/RealScalar(m1.rows())).eval(); - m1 = m1.rowwise() - (m1.colwise().sum()/RealScalar(m1.rows())); - VERIFY_IS_APPROX( m1, m2 ); - VERIFY_EVALUATION_COUNT( m2 = (m1.rowwise() - m1.colwise().sum()/RealScalar(m1.rows())), (MatrixType::RowsAtCompileTime!=1 ? 1 : 0) ); -} - -void test_vectorwiseop() -{ - CALL_SUBTEST_1( vectorwiseop_array(Array22cd()) ); - CALL_SUBTEST_2( vectorwiseop_array(Array()) ); - CALL_SUBTEST_3( vectorwiseop_array(ArrayXXf(3, 4)) ); - CALL_SUBTEST_4( vectorwiseop_matrix(Matrix4cf()) ); - CALL_SUBTEST_5( vectorwiseop_matrix(Matrix()) ); - CALL_SUBTEST_6( vectorwiseop_matrix(MatrixXd(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_7( vectorwiseop_matrix(VectorXd(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); - CALL_SUBTEST_7( vectorwiseop_matrix(RowVectorXd(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); -} diff --git a/testbed/nanogui/ext/eigen/test/visitor.cpp b/testbed/nanogui/ext/eigen/test/visitor.cpp deleted file mode 100644 index 844170ec..00000000 --- a/testbed/nanogui/ext/eigen/test/visitor.cpp +++ /dev/null @@ -1,135 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - -template void matrixVisitor(const MatrixType& p) -{ - typedef typename MatrixType::Scalar Scalar; - typedef typename MatrixType::Index Index; - - Index rows = p.rows(); - Index cols = p.cols(); - - // construct a random matrix where all coefficients are different - MatrixType m; - m = MatrixType::Random(rows, cols); - for(Index i = 0; i < m.size(); i++) - for(Index i2 = 0; i2 < i; i2++) - while(m(i) == m(i2)) // yes, == - m(i) = internal::random(); - - Scalar minc = Scalar(1000), maxc = Scalar(-1000); - Index minrow=0,mincol=0,maxrow=0,maxcol=0; - for(Index j = 0; j < cols; j++) - for(Index i = 0; i < rows; i++) - { - if(m(i,j) < minc) - { - minc = m(i,j); - minrow = i; - mincol = j; - } - if(m(i,j) > maxc) - { - maxc = m(i,j); - maxrow = i; - maxcol = j; - } - } - Index eigen_minrow, eigen_mincol, eigen_maxrow, eigen_maxcol; - Scalar eigen_minc, eigen_maxc; - eigen_minc = m.minCoeff(&eigen_minrow,&eigen_mincol); - eigen_maxc = m.maxCoeff(&eigen_maxrow,&eigen_maxcol); - VERIFY(minrow == eigen_minrow); - VERIFY(maxrow == eigen_maxrow); - VERIFY(mincol == eigen_mincol); - VERIFY(maxcol == eigen_maxcol); - VERIFY_IS_APPROX(minc, eigen_minc); - VERIFY_IS_APPROX(maxc, eigen_maxc); - VERIFY_IS_APPROX(minc, m.minCoeff()); - VERIFY_IS_APPROX(maxc, m.maxCoeff()); - - eigen_maxc = (m.adjoint()*m).maxCoeff(&eigen_maxrow,&eigen_maxcol); - eigen_maxc = (m.adjoint()*m).eval().maxCoeff(&maxrow,&maxcol); - VERIFY(maxrow == eigen_maxrow); - VERIFY(maxcol == eigen_maxcol); -} - -template void vectorVisitor(const VectorType& w) -{ - typedef typename VectorType::Scalar Scalar; - typedef typename VectorType::Index Index; - - Index size = w.size(); - - // construct a random vector where all coefficients are different - VectorType v; - v = VectorType::Random(size); - for(Index i = 0; i < size; i++) - for(Index i2 = 0; i2 < i; i2++) - while(v(i) == v(i2)) // yes, == - v(i) = internal::random(); - - Scalar minc = v(0), maxc = v(0); - Index minidx=0, maxidx=0; - for(Index i = 0; i < size; i++) - { - if(v(i) < minc) - { - minc = v(i); - minidx = i; - } - if(v(i) > maxc) - { - maxc = v(i); - maxidx = i; - } - } - Index eigen_minidx, eigen_maxidx; - Scalar eigen_minc, eigen_maxc; - eigen_minc = v.minCoeff(&eigen_minidx); - eigen_maxc = v.maxCoeff(&eigen_maxidx); - VERIFY(minidx == eigen_minidx); - VERIFY(maxidx == eigen_maxidx); - VERIFY_IS_APPROX(minc, eigen_minc); - VERIFY_IS_APPROX(maxc, eigen_maxc); - VERIFY_IS_APPROX(minc, v.minCoeff()); - VERIFY_IS_APPROX(maxc, v.maxCoeff()); - - Index idx0 = internal::random(0,size-1); - Index idx1 = eigen_minidx; - Index idx2 = eigen_maxidx; - VectorType v1(v), v2(v); - v1(idx0) = v1(idx1); - v2(idx0) = v2(idx2); - v1.minCoeff(&eigen_minidx); - v2.maxCoeff(&eigen_maxidx); - VERIFY(eigen_minidx == (std::min)(idx0,idx1)); - VERIFY(eigen_maxidx == (std::min)(idx0,idx2)); -} - -void test_visitor() -{ - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_1( matrixVisitor(Matrix()) ); - CALL_SUBTEST_2( matrixVisitor(Matrix2f()) ); - CALL_SUBTEST_3( matrixVisitor(Matrix4d()) ); - CALL_SUBTEST_4( matrixVisitor(MatrixXd(8, 12)) ); - CALL_SUBTEST_5( matrixVisitor(Matrix(20, 20)) ); - CALL_SUBTEST_6( matrixVisitor(MatrixXi(8, 12)) ); - } - for(int i = 0; i < g_repeat; i++) { - CALL_SUBTEST_7( vectorVisitor(Vector4f()) ); - CALL_SUBTEST_7( vectorVisitor(Matrix()) ); - CALL_SUBTEST_8( vectorVisitor(VectorXd(10)) ); - CALL_SUBTEST_9( vectorVisitor(RowVectorXd(10)) ); - CALL_SUBTEST_10( vectorVisitor(VectorXf(33)) ); - } -} diff --git a/testbed/nanogui/ext/eigen/test/zerosized.cpp b/testbed/nanogui/ext/eigen/test/zerosized.cpp deleted file mode 100644 index 477ff007..00000000 --- a/testbed/nanogui/ext/eigen/test/zerosized.cpp +++ /dev/null @@ -1,102 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2011 Benoit Jacob -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#include "main.h" - - -template void zeroReduction(const MatrixType& m) { - // Reductions that must hold for zero sized objects - VERIFY(m.all()); - VERIFY(!m.any()); - VERIFY(m.prod()==1); - VERIFY(m.sum()==0); - VERIFY(m.count()==0); - VERIFY(m.allFinite()); - VERIFY(!m.hasNaN()); -} - - -template void zeroSizedMatrix() -{ - MatrixType t1; - typedef typename MatrixType::Scalar Scalar; - - if (MatrixType::SizeAtCompileTime == Dynamic || MatrixType::SizeAtCompileTime == 0) - { - zeroReduction(t1); - if (MatrixType::RowsAtCompileTime == Dynamic) - VERIFY(t1.rows() == 0); - if (MatrixType::ColsAtCompileTime == Dynamic) - VERIFY(t1.cols() == 0); - - if (MatrixType::RowsAtCompileTime == Dynamic && MatrixType::ColsAtCompileTime == Dynamic) - { - - MatrixType t2(0, 0), t3(t1); - VERIFY(t2.rows() == 0); - VERIFY(t2.cols() == 0); - - zeroReduction(t2); - VERIFY(t1==t2); - } - } - - if(MatrixType::MaxColsAtCompileTime!=0 && MatrixType::MaxRowsAtCompileTime!=0) - { - Index rows = MatrixType::RowsAtCompileTime==Dynamic ? internal::random(1,10) : Index(MatrixType::RowsAtCompileTime); - Index cols = MatrixType::ColsAtCompileTime==Dynamic ? internal::random(1,10) : Index(MatrixType::ColsAtCompileTime); - MatrixType m(rows,cols); - zeroReduction(m.template block<0,MatrixType::ColsAtCompileTime>(0,0,0,cols)); - zeroReduction(m.template block(0,0,rows,0)); - zeroReduction(m.template block<0,1>(0,0)); - zeroReduction(m.template block<1,0>(0,0)); - Matrix prod = m.template block(0,0,rows,0) * m.template block<0,MatrixType::ColsAtCompileTime>(0,0,0,cols); - VERIFY(prod.rows()==rows && prod.cols()==cols); - VERIFY(prod.isZero()); - prod = m.template block<1,0>(0,0) * m.template block<0,1>(0,0); - VERIFY(prod.size()==1); - VERIFY(prod.isZero()); - } -} - -template void zeroSizedVector() -{ - VectorType t1; - - if (VectorType::SizeAtCompileTime == Dynamic || VectorType::SizeAtCompileTime==0) - { - zeroReduction(t1); - VERIFY(t1.size() == 0); - VectorType t2(DenseIndex(0)); // DenseIndex disambiguates with 0-the-null-pointer (error with gcc 4.4 and MSVC8) - VERIFY(t2.size() == 0); - zeroReduction(t2); - - VERIFY(t1==t2); - } -} - -void test_zerosized() -{ - zeroSizedMatrix(); - zeroSizedMatrix(); - zeroSizedMatrix >(); - zeroSizedMatrix(); - zeroSizedMatrix >(); - zeroSizedMatrix >(); - zeroSizedMatrix >(); - zeroSizedMatrix >(); - zeroSizedMatrix >(); - zeroSizedMatrix >(); - - zeroSizedVector(); - zeroSizedVector(); - zeroSizedVector(); - zeroSizedVector >(); - zeroSizedVector >(); -} diff --git a/testbed/nanogui/ext/eigen/unsupported/CMakeLists.txt b/testbed/nanogui/ext/eigen/unsupported/CMakeLists.txt deleted file mode 100644 index 9a566610..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -add_subdirectory(Eigen) -add_subdirectory(doc EXCLUDE_FROM_ALL) -if(BUILD_TESTING) - if(EIGEN_LEAVE_TEST_IN_ALL_TARGET) - add_subdirectory(test) # can't do EXCLUDE_FROM_ALL here, breaks CTest - else() - add_subdirectory(test EXCLUDE_FROM_ALL) - endif() -endif() diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/AdolcForward b/testbed/nanogui/ext/eigen/unsupported/Eigen/AdolcForward deleted file mode 100644 index 15f5f073..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/AdolcForward +++ /dev/null @@ -1,156 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ADLOC_FORWARD -#define EIGEN_ADLOC_FORWARD - -//-------------------------------------------------------------------------------- -// -// This file provides support for adolc's adouble type in forward mode. -// ADOL-C is a C++ automatic differentiation library, -// see https://projects.coin-or.org/ADOL-C for more information. -// -// Note that the maximal number of directions is controlled by -// the preprocessor token NUMBER_DIRECTIONS. The default is 2. -// -//-------------------------------------------------------------------------------- - -#define ADOLC_TAPELESS -#ifndef NUMBER_DIRECTIONS -# define NUMBER_DIRECTIONS 2 -#endif -#include - -// adolc defines some very stupid macros: -#if defined(malloc) -# undef malloc -#endif - -#if defined(calloc) -# undef calloc -#endif - -#if defined(realloc) -# undef realloc -#endif - -#include - -namespace Eigen { - -/** - * \defgroup AdolcForward_Module Adolc forward module - * This module provides support for adolc's adouble type in forward mode. - * ADOL-C is a C++ automatic differentiation library, - * see https://projects.coin-or.org/ADOL-C for more information. - * It mainly consists in: - * - a struct Eigen::NumTraits specialization - * - overloads of internal::* math function for adtl::adouble type. - * - * Note that the maximal number of directions is controlled by - * the preprocessor token NUMBER_DIRECTIONS. The default is 2. - * - * \code - * #include - * \endcode - */ - //@{ - -} // namespace Eigen - -// Eigen's require a few additional functions which must be defined in the same namespace -// than the custom scalar type own namespace -namespace adtl { - -inline const adouble& conj(const adouble& x) { return x; } -inline const adouble& real(const adouble& x) { return x; } -inline adouble imag(const adouble&) { return 0.; } -inline adouble abs(const adouble& x) { return fabs(x); } -inline adouble abs2(const adouble& x) { return x*x; } - -} - -namespace Eigen { - -template<> struct NumTraits - : NumTraits -{ - typedef adtl::adouble Real; - typedef adtl::adouble NonInteger; - typedef adtl::adouble Nested; - enum { - IsComplex = 0, - IsInteger = 0, - IsSigned = 1, - RequireInitialization = 1, - ReadCost = 1, - AddCost = 1, - MulCost = 1 - }; -}; - -template class AdolcForwardJacobian : public Functor -{ - typedef adtl::adouble ActiveScalar; -public: - - AdolcForwardJacobian() : Functor() {} - AdolcForwardJacobian(const Functor& f) : Functor(f) {} - - // forward constructors - template - AdolcForwardJacobian(const T0& a0) : Functor(a0) {} - template - AdolcForwardJacobian(const T0& a0, const T1& a1) : Functor(a0, a1) {} - template - AdolcForwardJacobian(const T0& a0, const T1& a1, const T1& a2) : Functor(a0, a1, a2) {} - - typedef typename Functor::InputType InputType; - typedef typename Functor::ValueType ValueType; - typedef typename Functor::JacobianType JacobianType; - - typedef Matrix ActiveInput; - typedef Matrix ActiveValue; - - void operator() (const InputType& x, ValueType* v, JacobianType* _jac) const - { - eigen_assert(v!=0); - if (!_jac) - { - Functor::operator()(x, v); - return; - } - - JacobianType& jac = *_jac; - - ActiveInput ax = x.template cast(); - ActiveValue av(jac.rows()); - - for (int j=0; j -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ALIGNED_VECTOR3 -#define EIGEN_ALIGNED_VECTOR3 - -#include - -namespace Eigen { - -/** - * \defgroup AlignedVector3_Module Aligned vector3 module - * - * \code - * #include - * \endcode - */ - //@{ - - -/** \class AlignedVector3 - * - * \brief A vectorization friendly 3D vector - * - * This class represents a 3D vector internally using a 4D vector - * such that vectorization can be seamlessly enabled. Of course, - * the same result can be achieved by directly using a 4D vector. - * This class makes this process simpler. - * - */ -// TODO specialize Cwise -template class AlignedVector3; - -namespace internal { -template struct traits > - : traits > -{ -}; -} - -template class AlignedVector3 - : public MatrixBase > -{ - typedef Matrix<_Scalar,4,1> CoeffType; - CoeffType m_coeffs; - public: - - typedef MatrixBase > Base; - EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3) - using Base::operator*; - - inline Index rows() const { return 3; } - inline Index cols() const { return 1; } - - Scalar* data() { return m_coeffs.data(); } - const Scalar* data() const { return m_coeffs.data(); } - Index innerStride() const { return 1; } - Index outerStride() const { return 3; } - - inline const Scalar& coeff(Index row, Index col) const - { return m_coeffs.coeff(row, col); } - - inline Scalar& coeffRef(Index row, Index col) - { return m_coeffs.coeffRef(row, col); } - - inline const Scalar& coeff(Index index) const - { return m_coeffs.coeff(index); } - - inline Scalar& coeffRef(Index index) - { return m_coeffs.coeffRef(index);} - - - inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z) - : m_coeffs(x, y, z, Scalar(0)) - {} - - inline AlignedVector3(const AlignedVector3& other) - : Base(), m_coeffs(other.m_coeffs) - {} - - template - struct generic_assign_selector {}; - - template struct generic_assign_selector - { - inline static void run(AlignedVector3& dest, const XprType& src) - { - dest.m_coeffs = src; - } - }; - - template struct generic_assign_selector - { - inline static void run(AlignedVector3& dest, const XprType& src) - { - dest.m_coeffs.template head<3>() = src; - dest.m_coeffs.w() = Scalar(0); - } - }; - - template - inline AlignedVector3(const MatrixBase& other) - { - generic_assign_selector::run(*this,other.derived()); - } - - inline AlignedVector3& operator=(const AlignedVector3& other) - { m_coeffs = other.m_coeffs; return *this; } - - template - inline AlignedVector3& operator=(const MatrixBase& other) - { - generic_assign_selector::run(*this,other.derived()); - return *this; - } - - inline AlignedVector3 operator+(const AlignedVector3& other) const - { return AlignedVector3(m_coeffs + other.m_coeffs); } - - inline AlignedVector3& operator+=(const AlignedVector3& other) - { m_coeffs += other.m_coeffs; return *this; } - - inline AlignedVector3 operator-(const AlignedVector3& other) const - { return AlignedVector3(m_coeffs - other.m_coeffs); } - - inline AlignedVector3 operator-=(const AlignedVector3& other) - { m_coeffs -= other.m_coeffs; return *this; } - - inline AlignedVector3 operator*(const Scalar& s) const - { return AlignedVector3(m_coeffs * s); } - - inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec) - { return AlignedVector3(s * vec.m_coeffs); } - - inline AlignedVector3& operator*=(const Scalar& s) - { m_coeffs *= s; return *this; } - - inline AlignedVector3 operator/(const Scalar& s) const - { return AlignedVector3(m_coeffs / s); } - - inline AlignedVector3& operator/=(const Scalar& s) - { m_coeffs /= s; return *this; } - - inline Scalar dot(const AlignedVector3& other) const - { - eigen_assert(m_coeffs.w()==Scalar(0)); - eigen_assert(other.m_coeffs.w()==Scalar(0)); - return m_coeffs.dot(other.m_coeffs); - } - - inline void normalize() - { - m_coeffs /= norm(); - } - - inline AlignedVector3 normalized() const - { - return AlignedVector3(m_coeffs / norm()); - } - - inline Scalar sum() const - { - eigen_assert(m_coeffs.w()==Scalar(0)); - return m_coeffs.sum(); - } - - inline Scalar squaredNorm() const - { - eigen_assert(m_coeffs.w()==Scalar(0)); - return m_coeffs.squaredNorm(); - } - - inline Scalar norm() const - { - using std::sqrt; - return sqrt(squaredNorm()); - } - - inline AlignedVector3 cross(const AlignedVector3& other) const - { - return AlignedVector3(m_coeffs.cross3(other.m_coeffs)); - } - - template - inline bool isApprox(const MatrixBase& other, const RealScalar& eps=NumTraits::dummy_precision()) const - { - return m_coeffs.template head<3>().isApprox(other,eps); - } - - CoeffType& coeffs() { return m_coeffs; } - const CoeffType& coeffs() const { return m_coeffs; } -}; - -namespace internal { - -template -struct eval, Dense> -{ - typedef const AlignedVector3<_Scalar>& type; -}; - -template -struct evaluator > - : evaluator > -{ - typedef AlignedVector3 XprType; - typedef evaluator > Base; - - evaluator(const XprType &m) : Base(m.coeffs()) {} -}; - -} - -//@} - -} - -#endif // EIGEN_ALIGNED_VECTOR3 diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/ArpackSupport b/testbed/nanogui/ext/eigen/unsupported/Eigen/ArpackSupport deleted file mode 100644 index 37a2799e..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/ArpackSupport +++ /dev/null @@ -1,31 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ARPACKSUPPORT_MODULE_H -#define EIGEN_ARPACKSUPPORT_MODULE_H - -#include - -#include - -/** \defgroup ArpackSupport_Module Arpack support module - * - * This module provides a wrapper to Arpack, a library for sparse eigenvalue decomposition. - * - * \code - * #include - * \endcode - */ - -#include -#include "src/Eigenvalues/ArpackSelfAdjointEigenSolver.h" - -#include - -#endif // EIGEN_ARPACKSUPPORT_MODULE_H -/* vim: set filetype=cpp et sw=2 ts=2 ai: */ diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/AutoDiff b/testbed/nanogui/ext/eigen/unsupported/Eigen/AutoDiff deleted file mode 100644 index abf5b7d6..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/AutoDiff +++ /dev/null @@ -1,40 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008-2009 Gael Guennebaud -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_AUTODIFF_MODULE -#define EIGEN_AUTODIFF_MODULE - -namespace Eigen { - -/** - * \defgroup AutoDiff_Module Auto Diff module - * - * This module features forward automatic differentation via a simple - * templated scalar type wrapper AutoDiffScalar. - * - * Warning : this should NOT be confused with numerical differentiation, which - * is a different method and has its own module in Eigen : \ref NumericalDiff_Module. - * - * \code - * #include - * \endcode - */ -//@{ - -} - -#include "src/AutoDiff/AutoDiffScalar.h" -// #include "src/AutoDiff/AutoDiffVector.h" -#include "src/AutoDiff/AutoDiffJacobian.h" - -namespace Eigen { -//@} -} - -#endif // EIGEN_AUTODIFF_MODULE diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/BVH b/testbed/nanogui/ext/eigen/unsupported/Eigen/BVH deleted file mode 100644 index 0161a540..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/BVH +++ /dev/null @@ -1,95 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Ilya Baran -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_BVH_MODULE_H -#define EIGEN_BVH_MODULE_H - -#include -#include -#include -#include -#include - -namespace Eigen { - -/** - * \defgroup BVH_Module BVH module - * \brief This module provides generic bounding volume hierarchy algorithms - * and reference tree implementations. - * - * - * \code - * #include - * \endcode - * - * A bounding volume hierarchy (BVH) can accelerate many geometric queries. This module provides a generic implementation - * of the two basic algorithms over a BVH: intersection of a query object against all objects in the hierarchy and minimization - * of a function over the objects in the hierarchy. It also provides intersection and minimization over a cartesian product of - * two BVH's. A BVH accelerates intersection by using the fact that if a query object does not intersect a volume, then it cannot - * intersect any object contained in that volume. Similarly, a BVH accelerates minimization because the minimum of a function - * over a volume is no greater than the minimum of a function over any object contained in it. - * - * Some sample queries that can be written in terms of intersection are: - * - Determine all points where a ray intersects a triangle mesh - * - Given a set of points, determine which are contained in a query sphere - * - Given a set of spheres, determine which contain the query point - * - Given a set of disks, determine if any is completely contained in a query rectangle (represent each 2D disk as a point \f$(x,y,r)\f$ - * in 3D and represent the rectangle as a pyramid based on the original rectangle and shrinking in the \f$r\f$ direction) - * - Given a set of points, count how many pairs are \f$d\pm\epsilon\f$ apart (done by looking at the cartesian product of the set - * of points with itself) - * - * Some sample queries that can be written in terms of function minimization over a set of objects are: - * - Find the intersection between a ray and a triangle mesh closest to the ray origin (function is infinite off the ray) - * - Given a polyline and a query point, determine the closest point on the polyline to the query - * - Find the diameter of a point cloud (done by looking at the cartesian product and using negative distance as the function) - * - Determine how far two meshes are from colliding (this is also a cartesian product query) - * - * This implementation decouples the basic algorithms both from the type of hierarchy (and the types of the bounding volumes) and - * from the particulars of the query. To enable abstraction from the BVH, the BVH is required to implement a generic mechanism - * for traversal. To abstract from the query, the query is responsible for keeping track of results. - * - * To be used in the algorithms, a hierarchy must implement the following traversal mechanism (see KdBVH for a sample implementation): \code - typedef Volume //the type of bounding volume - typedef Object //the type of object in the hierarchy - typedef Index //a reference to a node in the hierarchy--typically an int or a pointer - typedef VolumeIterator //an iterator type over node children--returns Index - typedef ObjectIterator //an iterator over object (leaf) children--returns const Object & - Index getRootIndex() const //returns the index of the hierarchy root - const Volume &getVolume(Index index) const //returns the bounding volume of the node at given index - void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd, - ObjectIterator &outOBegin, ObjectIterator &outOEnd) const - //getChildren takes a node index and makes [outVBegin, outVEnd) range over its node children - //and [outOBegin, outOEnd) range over its object children - \endcode - * - * To use the hierarchy, call BVIntersect or BVMinimize, passing it a BVH (or two, for cartesian product) and a minimizer or intersector. - * For an intersection query on a single BVH, the intersector encapsulates the query and must provide two functions: - * \code - bool intersectVolume(const Volume &volume) //returns true if the query intersects the volume - bool intersectObject(const Object &object) //returns true if the intersection search should terminate immediately - \endcode - * The guarantee that BVIntersect provides is that intersectObject will be called on every object whose bounding volume - * intersects the query (but possibly on other objects too) unless the search is terminated prematurely. It is the - * responsibility of the intersectObject function to keep track of the results in whatever manner is appropriate. - * The cartesian product intersection and the BVMinimize queries are similar--see their individual documentation. - * - * The following is a simple but complete example for how to use the BVH to accelerate the search for a closest red-blue point pair: - * \include BVH_Example.cpp - * Output: \verbinclude BVH_Example.out - */ -} - -//@{ - -#include "src/BVH/BVAlgorithms.h" -#include "src/BVH/KdBVH.h" - -//@} - -#endif // EIGEN_BVH_MODULE_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CMakeLists.txt b/testbed/nanogui/ext/eigen/unsupported/Eigen/CMakeLists.txt deleted file mode 100644 index 631a0601..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CMakeLists.txt +++ /dev/null @@ -1,32 +0,0 @@ -set(Eigen_HEADERS - AdolcForward - AlignedVector3 - ArpackSupport - AutoDiff - BVH - EulerAngles - FFT - IterativeSolvers - KroneckerProduct - LevenbergMarquardt - MatrixFunctions - MoreVectorization - MPRealSupport - NonLinearOptimization - NumericalDiff - OpenGLSupport - Polynomials - Skyline - SparseExtra - SpecialFunctions - Splines - ) - -install(FILES - ${Eigen_HEADERS} - DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen COMPONENT Devel - ) - -install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h") - -add_subdirectory(CXX11) diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/CMakeLists.txt b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/CMakeLists.txt deleted file mode 100644 index 385ed240..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/CMakeLists.txt +++ /dev/null @@ -1,8 +0,0 @@ -set(Eigen_CXX11_HEADERS Tensor TensorSymmetry ThreadPool) - -install(FILES - ${Eigen_CXX11_HEADERS} - DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel - ) - -install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/CXX11 COMPONENT Devel FILES_MATCHING PATTERN "*.h") diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/Tensor b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/Tensor deleted file mode 100644 index 39916092..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/Tensor +++ /dev/null @@ -1,159 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// Copyright (C) 2013 Christian Seiler -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -//#ifndef EIGEN_CXX11_TENSOR_MODULE -//#define EIGEN_CXX11_TENSOR_MODULE - -#include "../../../Eigen/Core" - -#if defined(EIGEN_USE_SYCL) -#undef min -#undef max -#undef isnan -#undef isinf -#undef isfinite -#include -#include -#include -#include -#include -#endif - -#include - -#include "../SpecialFunctions" -#include "src/util/CXX11Meta.h" -#include "src/util/MaxSizeVector.h" - -/** \defgroup CXX11_Tensor_Module Tensor Module - * - * This module provides a Tensor class for storing arbitrarily indexed - * objects. - * - * \code - * #include - * \endcode - */ - -#include -#include -#include - -#ifdef _WIN32 -typedef __int16 int16_t; -typedef unsigned __int16 uint16_t; -typedef __int32 int32_t; -typedef unsigned __int32 uint32_t; -typedef __int64 int64_t; -typedef unsigned __int64 uint64_t; -#include -#else -#include -#include -#endif - -#if __cplusplus > 199711 || EIGEN_COMP_MSVC >= 1900 -#include -#endif - -#ifdef _WIN32 -#include -#elif defined(__APPLE__) -#include -#else -#include -#endif - -#if defined(EIGEN_USE_LIBXSMM) -#include "libxsmm.h" -#endif - -#ifdef EIGEN_USE_THREADS -#include "ThreadPool" -#endif - -#ifdef EIGEN_USE_GPU -#include -#include -#if __cplusplus >= 201103L -#include -#include -#endif -#endif - -#include "src/Tensor/TensorMacros.h" -#include "src/Tensor/TensorForwardDeclarations.h" -#include "src/Tensor/TensorMeta.h" -#include "src/Tensor/TensorFunctors.h" -#include "src/Tensor/TensorCostModel.h" -#include "src/Tensor/TensorDeviceDefault.h" -#include "src/Tensor/TensorDeviceThreadPool.h" -#include "src/Tensor/TensorDeviceCuda.h" -#include "src/Tensor/TensorDeviceSycl.h" -#include "src/Tensor/TensorIndexList.h" -#include "src/Tensor/TensorDimensionList.h" -#include "src/Tensor/TensorDimensions.h" -#include "src/Tensor/TensorInitializer.h" -#include "src/Tensor/TensorTraits.h" -#include "src/Tensor/TensorRandom.h" -#include "src/Tensor/TensorUInt128.h" -#include "src/Tensor/TensorIntDiv.h" -#include "src/Tensor/TensorGlobalFunctions.h" - -#include "src/Tensor/TensorBase.h" - -#include "src/Tensor/TensorEvaluator.h" -#include "src/Tensor/TensorExpr.h" -#include "src/Tensor/TensorReduction.h" -#include "src/Tensor/TensorReductionCuda.h" -#include "src/Tensor/TensorArgMax.h" -#include "src/Tensor/TensorConcatenation.h" -#include "src/Tensor/TensorContractionMapper.h" -#include "src/Tensor/TensorContractionBlocking.h" -#include "src/Tensor/TensorContraction.h" -#include "src/Tensor/TensorContractionThreadPool.h" -#include "src/Tensor/TensorContractionCuda.h" -#include "src/Tensor/TensorConversion.h" -#include "src/Tensor/TensorConvolution.h" -#include "src/Tensor/TensorFFT.h" -#include "src/Tensor/TensorPatch.h" -#include "src/Tensor/TensorImagePatch.h" -#include "src/Tensor/TensorVolumePatch.h" -#include "src/Tensor/TensorBroadcasting.h" -#include "src/Tensor/TensorChipping.h" -#include "src/Tensor/TensorInflation.h" -#include "src/Tensor/TensorLayoutSwap.h" -#include "src/Tensor/TensorMorphing.h" -#include "src/Tensor/TensorPadding.h" -#include "src/Tensor/TensorReverse.h" -#include "src/Tensor/TensorShuffling.h" -#include "src/Tensor/TensorStriding.h" -#include "src/Tensor/TensorCustomOp.h" -#include "src/Tensor/TensorEvalTo.h" -#include "src/Tensor/TensorForcedEval.h" -#include "src/Tensor/TensorGenerator.h" -#include "src/Tensor/TensorAssign.h" -#include "src/Tensor/TensorScan.h" - -#include "src/Tensor/TensorSycl.h" -#include "src/Tensor/TensorExecutor.h" -#include "src/Tensor/TensorDevice.h" - -#include "src/Tensor/TensorStorage.h" -#include "src/Tensor/Tensor.h" -#include "src/Tensor/TensorFixedSize.h" -#include "src/Tensor/TensorMap.h" -#include "src/Tensor/TensorRef.h" - -#include "src/Tensor/TensorIO.h" - -#include - -//#endif // EIGEN_CXX11_TENSOR_MODULE diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/TensorSymmetry b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/TensorSymmetry deleted file mode 100644 index fb1b0c0f..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/TensorSymmetry +++ /dev/null @@ -1,42 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2013 Christian Seiler -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSORSYMMETRY_MODULE -#define EIGEN_CXX11_TENSORSYMMETRY_MODULE - -#include - -#include - -#include "src/util/CXX11Meta.h" - -/** \defgroup CXX11_TensorSymmetry_Module Tensor Symmetry Module - * - * This module provides a classes that allow for the definition of - * symmetries w.r.t. tensor indices. - * - * Including this module will implicitly include the Tensor module. - * - * \code - * #include - * \endcode - */ - -#include "src/TensorSymmetry/util/TemplateGroupTheory.h" -#include "src/TensorSymmetry/Symmetry.h" -#include "src/TensorSymmetry/StaticSymmetry.h" -#include "src/TensorSymmetry/DynamicSymmetry.h" - -#include - -#endif // EIGEN_CXX11_TENSORSYMMETRY_MODULE - -/* - * kate: space-indent on; indent-width 2; mixedindent off; indent-mode cstyle; - */ diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/ThreadPool b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/ThreadPool deleted file mode 100644 index c3461419..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/ThreadPool +++ /dev/null @@ -1,78 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_THREADPOOL_MODULE -#define EIGEN_CXX11_THREADPOOL_MODULE - -#include "../../../Eigen/Core" - -#include - -/** \defgroup CXX11_ThreadPool_Module C++11 ThreadPool Module - * - * This module provides 2 threadpool implementations - * - a simple reference implementation - * - a faster non blocking implementation - * - * This module requires C++11. - * - * \code - * #include - * \endcode - */ - - -// The code depends on CXX11, so only include the module if the -// compiler supports it. -#if __cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900 -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "src/util/CXX11Meta.h" -#include "src/util/MaxSizeVector.h" - -#include "src/ThreadPool/ThreadLocal.h" -#include "src/ThreadPool/ThreadYield.h" -#include "src/ThreadPool/ThreadCancel.h" -#include "src/ThreadPool/EventCount.h" -#include "src/ThreadPool/RunQueue.h" -#include "src/ThreadPool/ThreadPoolInterface.h" -#include "src/ThreadPool/ThreadEnvironment.h" -#include "src/ThreadPool/SimpleThreadPool.h" -#include "src/ThreadPool/NonBlockingThreadPool.h" - - -// Use the more efficient NonBlockingThreadPool by default. -namespace Eigen { -#ifndef EIGEN_USE_SIMPLE_THREAD_POOL -template using ThreadPoolTempl = NonBlockingThreadPoolTempl; -typedef NonBlockingThreadPool ThreadPool; -#else -template using ThreadPoolTempl = SimpleThreadPoolTempl; -typedef SimpleThreadPool ThreadPool; -#endif -} // namespace Eigen - -#endif - -#include - -#endif // EIGEN_CXX11_THREADPOOL_MODULE - diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/README.md b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/README.md deleted file mode 100644 index 38cdb9c6..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/README.md +++ /dev/null @@ -1,1755 +0,0 @@ -# Eigen Tensors - -Tensors are multidimensional arrays of elements. Elements are typically scalars, -but more complex types such as strings are also supported. - -[TOC] - -## Tensor Classes - -You can manipulate a tensor with one of the following classes. They all are in -the namespace ```::Eigen.``` - - -### Class Tensor - -This is the class to use to create a tensor and allocate memory for it. The -class is templatized with the tensor datatype, such as float or int, and the -tensor rank. The rank is the number of dimensions, for example rank 2 is a -matrix. - -Tensors of this class are resizable. For example, if you assign a tensor of a -different size to a Tensor, that tensor is resized to match its new value. - -#### Constructor Tensor(size0, size1, ...) - -Constructor for a Tensor. The constructor must be passed ```rank``` integers -indicating the sizes of the instance along each of the the ```rank``` -dimensions. - - // Create a tensor of rank 3 of sizes 2, 3, 4. This tensor owns - // memory to hold 24 floating point values (24 = 2 x 3 x 4). - Tensor t_3d(2, 3, 4); - - // Resize t_3d by assigning a tensor of different sizes, but same rank. - t_3d = Tensor(3, 4, 3); - -#### Constructor Tensor(size_array) - -Constructor where the sizes for the constructor are specified as an array of -values instead of an explicitly list of parameters. The array type to use is -```Eigen::array```. The array can be constructed automatically -from an initializer list. - - // Create a tensor of strings of rank 2 with sizes 5, 7. - Tensor t_2d({5, 7}); - - -### Class TensorFixedSize> - -Class to use for tensors of fixed size, where the size is known at compile -time. Fixed sized tensors can provide very fast computations because all their -dimensions are known by the compiler. FixedSize tensors are not resizable. - -If the total number of elements in a fixed size tensor is small enough the -tensor data is held onto the stack and does not cause heap allocation and free. - - // Create a 4 x 3 tensor of floats. - TensorFixedSize> t_4x3; - -### Class TensorMap> - -This is the class to use to create a tensor on top of memory allocated and -owned by another part of your code. It allows to view any piece of allocated -memory as a Tensor. Instances of this class do not own the memory where the -data are stored. - -A TensorMap is not resizable because it does not own the memory where its data -are stored. - -#### Constructor TensorMap>(data, size0, size1, ...) - -Constructor for a Tensor. The constructor must be passed a pointer to the -storage for the data, and "rank" size attributes. The storage has to be -large enough to hold all the data. - - // Map a tensor of ints on top of stack-allocated storage. - int storage[128]; // 2 x 4 x 2 x 8 = 128 - TensorMap> t_4d(storage, 2, 4, 2, 8); - - // The same storage can be viewed as a different tensor. - // You can also pass the sizes as an array. - TensorMap> t_2d(storage, 16, 8); - - // You can also map fixed-size tensors. Here we get a 1d view of - // the 2d fixed-size tensor. - Tensor> t_4x3; - TensorMap> t_12(t_4x3, 12); - - -#### Class TensorRef - -See Assigning to a TensorRef below. - -## Accessing Tensor Elements - -#### tensor(index0, index1...) - -Return the element at position ```(index0, index1...)``` in tensor -```tensor```. You must pass as many parameters as the rank of ```tensor```. -The expression can be used as an l-value to set the value of the element at the -specified position. The value returned is of the datatype of the tensor. - - // Set the value of the element at position (0, 1, 0); - Tensor t_3d(2, 3, 4); - t_3d(0, 1, 0) = 12.0f; - - // Initialize all elements to random values. - for (int i = 0; i < 2; ++i) { - for (int j = 0; j < 3; ++j) { - for (int k = 0; k < 4; ++k) { - t_3d(i, j, k) = ...some random value...; - } - } - } - - // Print elements of a tensor. - for (int i = 0; i < 2; ++i) { - LOG(INFO) << t_3d(i, 0, 0); - } - - -## TensorLayout - -The tensor library supports 2 layouts: ```ColMajor``` (the default) and -```RowMajor```. Only the default column major layout is currently fully -supported, and it is therefore not recommended to attempt to use the row major -layout at the moment. - -The layout of a tensor is optionally specified as part of its type. If not -specified explicitly column major is assumed. - - Tensor col_major; // equivalent to Tensor - TensorMap > row_major(data, ...); - -All the arguments to an expression must use the same layout. Attempting to mix -different layouts will result in a compilation error. - -It is possible to change the layout of a tensor or an expression using the -```swap_layout()``` method. Note that this will also reverse the order of the -dimensions. - - Tensor col_major(2, 4); - Tensor row_major(2, 4); - - Tensor col_major_result = col_major; // ok, layouts match - Tensor col_major_result = row_major; // will not compile - - // Simple layout swap - col_major_result = row_major.swap_layout(); - eigen_assert(col_major_result.dimension(0) == 4); - eigen_assert(col_major_result.dimension(1) == 2); - - // Swap the layout and preserve the order of the dimensions - array shuffle(1, 0); - col_major_result = row_major.swap_layout().shuffle(shuffle); - eigen_assert(col_major_result.dimension(0) == 2); - eigen_assert(col_major_result.dimension(1) == 4); - - -## Tensor Operations - -The Eigen Tensor library provides a vast library of operations on Tensors: -numerical operations such as addition and multiplication, geometry operations -such as slicing and shuffling, etc. These operations are available as methods -of the Tensor classes, and in some cases as operator overloads. For example -the following code computes the elementwise addition of two tensors: - - Tensor t1(2, 3, 4); - ...set some values in t1... - Tensor t2(2, 3, 4); - ...set some values in t2... - // Set t3 to the element wise sum of t1 and t2 - Tensor t3 = t1 + t2; - -While the code above looks easy enough, it is important to understand that the -expression ```t1 + t2``` is not actually adding the values of the tensors. The -expression instead constructs a "tensor operator" object of the class -TensorCwiseBinaryOp, which has references to the tensors -```t1``` and ```t2```. This is a small C++ object that knows how to add -```t1``` and ```t2```. It is only when the value of the expression is assigned -to the tensor ```t3``` that the addition is actually performed. Technically, -this happens through the overloading of ```operator=()``` in the Tensor class. - -This mechanism for computing tensor expressions allows for lazy evaluation and -optimizations which are what make the tensor library very fast. - -Of course, the tensor operators do nest, and the expression ```t1 + t2 * -0.3f``` is actually represented with the (approximate) tree of operators: - - TensorCwiseBinaryOp(t1, TensorCwiseUnaryOp(t2, 0.3f)) - - -### Tensor Operations and C++ "auto" - -Because Tensor operations create tensor operators, the C++ ```auto``` keyword -does not have its intuitive meaning. Consider these 2 lines of code: - - Tensor t3 = t1 + t2; - auto t4 = t1 + t2; - -In the first line we allocate the tensor ```t3``` and it will contain the -result of the addition of ```t1``` and ```t2```. In the second line, ```t4``` -is actually the tree of tensor operators that will compute the addition of -```t1``` and ```t2```. In fact, ```t4``` is *not* a tensor and you cannot get -the values of its elements: - - Tensor t3 = t1 + t2; - cout << t3(0, 0, 0); // OK prints the value of t1(0, 0, 0) + t2(0, 0, 0) - - auto t4 = t1 + t2; - cout << t4(0, 0, 0); // Compilation error! - -When you use ```auto``` you do not get a Tensor as a result but instead a -non-evaluated expression. So only use ```auto``` to delay evaluation. - -Unfortunately, there is no single underlying concrete type for holding -non-evaluated expressions, hence you have to use auto in the case when you do -want to hold non-evaluated expressions. - -When you need the results of set of tensor computations you have to assign the -result to a Tensor that will be capable of holding onto them. This can be -either a normal Tensor, a fixed size Tensor, or a TensorMap on an existing -piece of memory. All the following will work: - - auto t4 = t1 + t2; - - Tensor result = t4; // Could also be: result(t4); - cout << result(0, 0, 0); - - TensorMap result(, , ...) = t4; - cout << result(0, 0, 0); - - TensorFixedSize> result = t4; - cout << result(0, 0, 0); - -Until you need the results, you can keep the operation around, and even reuse -it for additional operations. As long as you keep the expression as an -operation, no computation is performed. - - // One way to compute exp((t1 + t2) * 0.2f); - auto t3 = t1 + t2; - auto t4 = t3 * 0.2f; - auto t5 = t4.exp(); - Tensor result = t5; - - // Another way, exactly as efficient as the previous one: - Tensor result = ((t1 + t2) * 0.2f).exp(); - -### Controlling When Expression are Evaluated - -There are several ways to control when expressions are evaluated: - -* Assignment to a Tensor, TensorFixedSize, or TensorMap. -* Use of the eval() method. -* Assignment to a TensorRef. - -#### Assigning to a Tensor, TensorFixedSize, or TensorMap. - -The most common way to evaluate an expression is to assign it to a Tensor. In -the example below, the ```auto``` declarations make the intermediate values -"Operations", not Tensors, and do not cause the expressions to be evaluated. -The assignment to the Tensor ```result``` causes the evaluation of all the -operations. - - auto t3 = t1 + t2; // t3 is an Operation. - auto t4 = t3 * 0.2f; // t4 is an Operation. - auto t5 = t4.exp(); // t5 is an Operation. - Tensor result = t5; // The operations are evaluated. - -If you know the ranks and sizes of the Operation value you can assign the -Operation to a TensorFixedSize instead of a Tensor, which is a bit more -efficient. - - // We know that the result is a 4x4x2 tensor! - TensorFixedSize result = t5; - -Simiarly, assigning an expression to a TensorMap causes its evaluation. Like -tensors of type TensorFixedSize, TensorMaps cannot be resized so they have to -have the rank and sizes of the expression that are assigned to them. - -#### Calling eval(). - -When you compute large composite expressions, you sometimes want to tell Eigen -that an intermediate value in the expression tree is worth evaluating ahead of -time. This is done by inserting a call to the ```eval()``` method of the -expression Operation. - - // The previous example could have been written: - Tensor result = ((t1 + t2) * 0.2f).exp(); - - // If you want to compute (t1 + t2) once ahead of time you can write: - Tensor result = ((t1 + t2).eval() * 0.2f).exp(); - -Semantically, calling ```eval()``` is equivalent to materializing the value of -the expression in a temporary Tensor of the right size. The code above in -effect does: - - // .eval() knows the size! - TensorFixedSize tmp = t1 + t2; - Tensor result = (tmp * 0.2f).exp(); - -Note that the return value of ```eval()``` is itself an Operation, so the -following code does not do what you may think: - - // Here t3 is an evaluation Operation. t3 has not been evaluated yet. - auto t3 = (t1 + t2).eval(); - - // You can use t3 in another expression. Still no evaluation. - auto t4 = (t3 * 0.2f).exp(); - - // The value is evaluated when you assign the Operation to a Tensor, using - // an intermediate tensor to represent t3.x - Tensor result = t4; - -While in the examples above calling ```eval()``` does not make a difference in -performance, in other cases it can make a huge difference. In the expression -below the ```broadcast()``` expression causes the ```X.maximum()``` expression -to be evaluated many times: - - Tensor<...> X ...; - Tensor<...> Y = ((X - X.maximum(depth_dim).reshape(dims2d).broadcast(bcast)) - * beta).exp(); - -Inserting a call to ```eval()``` between the ```maximum()``` and -```reshape()``` calls guarantees that maximum() is only computed once and -greatly speeds-up execution: - - Tensor<...> Y = - ((X - X.maximum(depth_dim).eval().reshape(dims2d).broadcast(bcast)) - * beta).exp(); - -In the other example below, the tensor ```Y``` is both used in the expression -and its assignment. This is an aliasing problem and if the evaluation is not -done in the right order Y will be updated incrementally during the evaluation -resulting in bogus results: - - Tensor<...> Y ...; - Y = Y / (Y.sum(depth_dim).reshape(dims2d).broadcast(bcast)); - -Inserting a call to ```eval()``` between the ```sum()``` and ```reshape()``` -expressions ensures that the sum is computed before any updates to ```Y``` are -done. - - Y = Y / (Y.sum(depth_dim).eval().reshape(dims2d).broadcast(bcast)); - -Note that an eval around the full right hand side expression is not needed -because the generated has to compute the i-th value of the right hand side -before assigning it to the left hand side. - -However, if you were assigning the expression value to a shuffle of ```Y``` -then you would need to force an eval for correctness by adding an ```eval()``` -call for the right hand side: - - Y.shuffle(...) = - (Y / (Y.sum(depth_dim).eval().reshape(dims2d).broadcast(bcast))).eval(); - - -#### Assigning to a TensorRef. - -If you need to access only a few elements from the value of an expression you -can avoid materializing the value in a full tensor by using a TensorRef. - -A TensorRef is a small wrapper class for any Eigen Operation. It provides -overloads for the ```()``` operator that let you access individual values in -the expression. TensorRef is convenient, because the Operation themselves do -not provide a way to access individual elements. - - // Create a TensorRef for the expression. The expression is not - // evaluated yet. - TensorRef > ref = ((t1 + t2) * 0.2f).exp(); - - // Use "ref" to access individual elements. The expression is evaluated - // on the fly. - float at_0 = ref(0, 0, 0); - cout << ref(0, 1, 0); - -Only use TensorRef when you need a subset of the values of the expression. -TensorRef only computes the values you access. However note that if you are -going to access all the values it will be much faster to materialize the -results in a Tensor first. - -In some cases, if the full Tensor result would be very large, you may save -memory by accessing it as a TensorRef. But not always. So don't count on it. - - -### Controlling How Expressions Are Evaluated - -The tensor library provides several implementations of the various operations -such as contractions and convolutions. The implementations are optimized for -different environments: single threaded on CPU, multi threaded on CPU, or on a -GPU using cuda. Additional implementations may be added later. - -You can choose which implementation to use with the ```device()``` call. If -you do not choose an implementation explicitly the default implementation that -uses a single thread on the CPU is used. - -The default implementation has been optimized for recent Intel CPUs, taking -advantage of SSE, AVX, and FMA instructions. Work is ongoing to tune the -library on ARM CPUs. Note that you need to pass compiler-dependent flags -to enable the use of SSE, AVX, and other instructions. - -For example, the following code adds two tensors using the default -single-threaded CPU implementation: - - Tensor a(30, 40); - Tensor b(30, 40); - Tensor c = a + b; - -To choose a different implementation you have to insert a ```device()``` call -before the assignment of the result. For technical C++ reasons this requires -that the Tensor for the result be declared on its own. This means that you -have to know the size of the result. - - Eigen::Tensor c(30, 40); - c.device(...) = a + b; - -The call to ```device()``` must be the last call on the left of the operator=. - -You must pass to the ```device()``` call an Eigen device object. There are -presently three devices you can use: DefaultDevice, ThreadPoolDevice and -GpuDevice. - - -#### Evaluating With the DefaultDevice - -This is exactly the same as not inserting a ```device()``` call. - - DefaultDevice my_device; - c.device(my_device) = a + b; - -#### Evaluating with a Thread Pool - - // Create the Eigen ThreadPoolDevice. - Eigen::ThreadPoolDevice my_device(4 /* number of threads to use */); - - // Now just use the device when evaluating expressions. - Eigen::Tensor c(30, 50); - c.device(my_device) = a.contract(b, dot_product_dims); - - -#### Evaluating On GPU - -This is presently a bit more complicated than just using a thread pool device. -You need to create a GPU device but you also need to explicitly allocate the -memory for tensors with cuda. - - -## API Reference - -### Datatypes - -In the documentation of the tensor methods and Operation we mention datatypes -that are tensor-type specific: - -#### ::Dimensions - -Acts like an array of ints. Has an ```int size``` attribute, and can be -indexed like an array to access individual values. Used to represent the -dimensions of a tensor. See ```dimensions()```. - -#### ::Index - -Acts like an ```int```. Used for indexing tensors along their dimensions. See -```operator()```, ```dimension()```, and ```size()```. - -#### ::Scalar - -Represents the datatype of individual tensor elements. For example, for a -```Tensor```, ```Scalar``` is the type ```float```. See -```setConstant()```. - -#### - -We use this pseudo type to indicate that a tensor Operation is returned by a -method. We indicate in the text the type and dimensions of the tensor that the -Operation returns after evaluation. - -The Operation will have to be evaluated, for example by assigning it to a -tensor, before you can access the values of the resulting tensor. You can also -access the values through a TensorRef. - - -## Built-in Tensor Methods - -These are usual C++ methods that act on tensors immediately. They are not -Operations which provide delayed evaluation of their results. Unless specified -otherwise, all the methods listed below are available on all tensor classes: -Tensor, TensorFixedSize, and TensorMap. - -## Metadata - -### int NumDimensions - -Constant value indicating the number of dimensions of a Tensor. This is also -known as the tensor "rank". - - Eigen::Tensor a(3, 4); - cout << "Dims " << a.NumDimensions; - => Dims 2 - -### Dimensions dimensions() - -Returns an array-like object representing the dimensions of the tensor. -The actual type of the dimensions() result is ::Dimensions. - - Eigen::Tensor a(3, 4); - const Eigen::Tensor::Dimensions& d = a.dimensions(); - cout << "Dim size: " << d.size << ", dim 0: " << d[0] - << ", dim 1: " << d[1]; - => Dim size: 2, dim 0: 3, dim 1: 4 - -If you use a C++11 compiler, you can use ```auto``` to simplify the code: - - const auto& d = a.dimensions(); - cout << "Dim size: " << d.size << ", dim 0: " << d[0] - << ", dim 1: " << d[1]; - => Dim size: 2, dim 0: 3, dim 1: 4 - -### Index dimension(Index n) - -Returns the n-th dimension of the tensor. The actual type of the -```dimension()``` result is ```::Index```, but you can -always use it like an int. - - Eigen::Tensor a(3, 4); - int dim1 = a.dimension(1); - cout << "Dim 1: " << dim1; - => Dim 1: 4 - -### Index size() - -Returns the total number of elements in the tensor. This is the product of all -the tensor dimensions. The actual type of the ```size()``` result is -```::Index```, but you can always use it like an int. - - Eigen::Tensor a(3, 4); - cout << "Size: " << a.size(); - => Size: 12 - - -### Getting Dimensions From An Operation - -A few operations provide ```dimensions()``` directly, -e.g. ```TensorReslicingOp```. Most operations defer calculating dimensions -until the operation is being evaluated. If you need access to the dimensions -of a deferred operation, you can wrap it in a TensorRef (see Assigning to a -TensorRef above), which provides ```dimensions()``` and ```dimension()``` as -above. - -TensorRef can also wrap the plain Tensor types, so this is a useful idiom in -templated contexts where the underlying object could be either a raw Tensor -or some deferred operation (e.g. a slice of a Tensor). In this case, the -template code can wrap the object in a TensorRef and reason about its -dimensionality while remaining agnostic to the underlying type. - - -## Constructors - -### Tensor - -Creates a tensor of the specified size. The number of arguments must be equal -to the rank of the tensor. The content of the tensor is not initialized. - - Eigen::Tensor a(3, 4); - cout << "NumRows: " << a.dimension(0) << " NumCols: " << a.dimension(1) << endl; - => NumRows: 3 NumCols: 4 - -### TensorFixedSize - -Creates a tensor of the specified size. The number of arguments in the Size<> -template parameter determines the rank of the tensor. The content of the tensor -is not initialized. - - Eigen::TensorFixedSize> a; - cout << "Rank: " << a.rank() << endl; - => Rank: 2 - cout << "NumRows: " << a.dimension(0) << " NumCols: " << a.dimension(1) << endl; - => NumRows: 3 NumCols: 4 - -### TensorMap - -Creates a tensor mapping an existing array of data. The data must not be freed -until the TensorMap is discarded, and the size of the data must be large enough -to accomodate of the coefficients of the tensor. - - float data[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; - Eigen::TensorMap a(data, 3, 4); - cout << "NumRows: " << a.dimension(0) << " NumCols: " << a.dimension(1) << endl; - => NumRows: 3 NumCols: 4 - cout << "a(1, 2): " << a(1, 2) << endl; - => a(1, 2): 9 - - -## Contents Initialization - -When a new Tensor or a new TensorFixedSize are created, memory is allocated to -hold all the tensor elements, but the memory is not initialized. Similarly, -when a new TensorMap is created on top of non-initialized memory the memory its -contents are not initialized. - -You can use one of the methods below to initialize the tensor memory. These -have an immediate effect on the tensor and return the tensor itself as a -result. These are not tensor Operations which delay evaluation. - -### setConstant(const Scalar& val) - -Sets all elements of the tensor to the constant value ```val```. ```Scalar``` -is the type of data stored in the tensor. You can pass any value that is -convertible to that type. - -Returns the tensor itself in case you want to chain another call. - - a.setConstant(12.3f); - cout << "Constant: " << endl << a << endl << endl; - => - Constant: - 12.3 12.3 12.3 12.3 - 12.3 12.3 12.3 12.3 - 12.3 12.3 12.3 12.3 - -Note that ```setConstant()``` can be used on any tensor where the element type -has a copy constructor and an ```operator=()```: - - Eigen::Tensor a(2, 3); - a.setConstant("yolo"); - cout << "String tensor: " << endl << a << endl << endl; - => - String tensor: - yolo yolo yolo - yolo yolo yolo - - -### setZero() - -Fills the tensor with zeros. Equivalent to ```setConstant(Scalar(0))```. -Returns the tensor itself in case you want to chain another call. - - a.setZero(); - cout << "Zeros: " << endl << a << endl << endl; - => - Zeros: - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - -### setValues({..initializer_list}) - -Fills the tensor with explicit values specified in a std::initializer_list. -The type of the initializer list depends on the type and rank of the tensor. - -If the tensor has rank N, the initializer list must be nested N times. The -most deeply nested lists must contains P scalars of the Tensor type where P is -the size of the last dimension of the Tensor. - -For example, for a ```TensorFixedSize``` the initializer list must -contains 2 lists of 3 floats each. - -```setValues()``` returns the tensor itself in case you want to chain another -call. - - Eigen::Tensor a(2, 3); - a.setValues({{0.0f, 1.0f, 2.0f}, {3.0f, 4.0f, 5.0f}}); - cout << "a" << endl << a << endl << endl; - => - a - 0 1 2 - 3 4 5 - -If a list is too short, the corresponding elements of the tensor will not be -changed. This is valid at each level of nesting. For example the following -code only sets the values of the first row of the tensor. - - Eigen::Tensor a(2, 3); - a.setConstant(1000); - a.setValues({{10, 20, 30}}); - cout << "a" << endl << a << endl << endl; - => - a - 10 20 30 - 1000 1000 1000 - -### setRandom() - -Fills the tensor with random values. Returns the tensor itself in case you -want to chain another call. - - a.setRandom(); - cout << "Random: " << endl << a << endl << endl; - => - Random: - 0.680375 0.59688 -0.329554 0.10794 - -0.211234 0.823295 0.536459 -0.0452059 - 0.566198 -0.604897 -0.444451 0.257742 - -You can customize ```setRandom()``` by providing your own random number -generator as a template argument: - - a.setRandom(); - -Here, ```MyRandomGenerator``` must be a struct with the following member -functions, where Scalar and Index are the same as ```::Scalar``` -and ```::Index```. - -See ```struct UniformRandomGenerator``` in TensorFunctors.h for an example. - - // Custom number generator for use with setRandom(). - struct MyRandomGenerator { - // Default and copy constructors. Both are needed - MyRandomGenerator() { } - MyRandomGenerator(const MyRandomGenerator& ) { } - - // Return a random value to be used. "element_location" is the - // location of the entry to set in the tensor, it can typically - // be ignored. - Scalar operator()(Eigen::DenseIndex element_location, - Eigen::DenseIndex /*unused*/ = 0) const { - return ; - } - - // Same as above but generates several numbers at a time. - typename internal::packet_traits::type packetOp( - Eigen::DenseIndex packet_location, Eigen::DenseIndex /*unused*/ = 0) const { - return ; - } - }; - -You can also use one of the 2 random number generators that are part of the -tensor library: -* UniformRandomGenerator -* NormalRandomGenerator - - -## Data Access - -The Tensor, TensorFixedSize, and TensorRef classes provide the following -accessors to access the tensor coefficients: - - const Scalar& operator()(const array& indices) - const Scalar& operator()(Index firstIndex, IndexTypes... otherIndices) - Scalar& operator()(const array& indices) - Scalar& operator()(Index firstIndex, IndexTypes... otherIndices) - -The number of indices must be equal to the rank of the tensor. Moreover, these -accessors are not available on tensor expressions. In order to access the -values of a tensor expression, the expression must either be evaluated or -wrapped in a TensorRef. - - -### Scalar* data() and const Scalar* data() const - -Returns a pointer to the storage for the tensor. The pointer is const if the -tensor was const. This allows direct access to the data. The layout of the -data depends on the tensor layout: RowMajor or ColMajor. - -This access is usually only needed for special cases, for example when mixing -Eigen Tensor code with other libraries. - -Scalar is the type of data stored in the tensor. - - Eigen::Tensor a(3, 4); - float* a_data = a.data(); - a_data[0] = 123.45f; - cout << "a(0, 0): " << a(0, 0); - => a(0, 0): 123.45 - - -## Tensor Operations - -All the methods documented below return non evaluated tensor ```Operations```. -These can be chained: you can apply another Tensor Operation to the value -returned by the method. - -The chain of Operation is evaluated lazily, typically when it is assigned to a -tensor. See "Controlling when Expression are Evaluated" for more details about -their evaluation. - -### constant(const Scalar& val) - -Returns a tensor of the same type and dimensions as the original tensor but -where all elements have the value ```val```. - -This is useful, for example, when you want to add or subtract a constant from a -tensor, or multiply every element of a tensor by a scalar. - - Eigen::Tensor a(2, 3); - a.setConstant(1.0f); - Eigen::Tensor b = a + a.constant(2.0f); - Eigen::Tensor c = b * b.constant(0.2f); - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - cout << "c" << endl << c << endl << endl; - => - a - 1 1 1 - 1 1 1 - - b - 3 3 3 - 3 3 3 - - c - 0.6 0.6 0.6 - 0.6 0.6 0.6 - -### random() - -Returns a tensor of the same type and dimensions as the current tensor -but where all elements have random values. - -This is for example useful to add random values to an existing tensor. -The generation of random values can be customized in the same manner -as for ```setRandom()```. - - Eigen::Tensor a(2, 3); - a.setConstant(1.0f); - Eigen::Tensor b = a + a.random(); - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - => - a - 1 1 1 - 1 1 1 - - b - 1.68038 1.5662 1.82329 - 0.788766 1.59688 0.395103 - - -## Unary Element Wise Operations - -All these operations take a single input tensor as argument and return a tensor -of the same type and dimensions as the tensor to which they are applied. The -requested operations are applied to each element independently. - -### operator-() - -Returns a tensor of the same type and dimensions as the original tensor -containing the opposite values of the original tensor. - - Eigen::Tensor a(2, 3); - a.setConstant(1.0f); - Eigen::Tensor b = -a; - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - => - a - 1 1 1 - 1 1 1 - - b - -1 -1 -1 - -1 -1 -1 - -### sqrt() - -Returns a tensor of the same type and dimensions as the original tensor -containing the square roots of the original tensor. - -### rsqrt() - -Returns a tensor of the same type and dimensions as the original tensor -containing the inverse square roots of the original tensor. - -### square() - -Returns a tensor of the same type and dimensions as the original tensor -containing the squares of the original tensor values. - -### inverse() - -Returns a tensor of the same type and dimensions as the original tensor -containing the inverse of the original tensor values. - -### exp() - -Returns a tensor of the same type and dimensions as the original tensor -containing the exponential of the original tensor. - -### log() - -Returns a tensor of the same type and dimensions as the original tensor -containing the natural logarithms of the original tensor. - -### abs() - -Returns a tensor of the same type and dimensions as the original tensor -containing the absolute values of the original tensor. - -### pow(Scalar exponent) - -Returns a tensor of the same type and dimensions as the original tensor -containing the coefficients of the original tensor to the power of the -exponent. - -The type of the exponent, Scalar, is always the same as the type of the -tensor coefficients. For example, only integer exponents can be used in -conjuntion with tensors of integer values. - -You can use cast() to lift this restriction. For example this computes -cubic roots of an int Tensor: - - Eigen::Tensor a(2, 3); - a.setValues({{0, 1, 8}, {27, 64, 125}}); - Eigen::Tensor b = a.cast().pow(1.0 / 3.0); - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - => - a - 0 1 8 - 27 64 125 - - b - 0 1 2 - 3 4 5 - -### operator * (Scalar scale) - -Multiplies all the coefficients of the input tensor by the provided scale. - -### cwiseMax(Scalar threshold) -TODO - -### cwiseMin(Scalar threshold) -TODO - -### unaryExpr(const CustomUnaryOp& func) -TODO - - -## Binary Element Wise Operations - -These operations take two input tensors as arguments. The 2 input tensors should -be of the same type and dimensions. The result is a tensor of the same -dimensions as the tensors to which they are applied, and unless otherwise -specified it is also of the same type. The requested operations are applied to -each pair of elements independently. - -### operator+(const OtherDerived& other) - -Returns a tensor of the same type and dimensions as the input tensors -containing the coefficient wise sums of the inputs. - -### operator-(const OtherDerived& other) - -Returns a tensor of the same type and dimensions as the input tensors -containing the coefficient wise differences of the inputs. - -### operator*(const OtherDerived& other) - -Returns a tensor of the same type and dimensions as the input tensors -containing the coefficient wise products of the inputs. - -### operator/(const OtherDerived& other) - -Returns a tensor of the same type and dimensions as the input tensors -containing the coefficient wise quotients of the inputs. - -This operator is not supported for integer types. - -### cwiseMax(const OtherDerived& other) - -Returns a tensor of the same type and dimensions as the input tensors -containing the coefficient wise maximums of the inputs. - -### cwiseMin(const OtherDerived& other) - -Returns a tensor of the same type and dimensions as the input tensors -containing the coefficient wise mimimums of the inputs. - -### Logical operators - -The following logical operators are supported as well: - -* operator&&(const OtherDerived& other) -* operator||(const OtherDerived& other) -* operator<(const OtherDerived& other) -* operator<=(const OtherDerived& other) -* operator>(const OtherDerived& other) -* operator>=(const OtherDerived& other) -* operator==(const OtherDerived& other) -* operator!=(const OtherDerived& other) - -They all return a tensor of boolean values. - - -## Selection (select(const ThenDerived& thenTensor, const ElseDerived& elseTensor) - -Selection is a coefficient-wise ternary operator that is the tensor equivalent -to the if-then-else operation. - - Tensor if = ...; - Tensor then = ...; - Tensor else = ...; - Tensor result = if.select(then, else); - -The 3 arguments must be of the same dimensions, which will also be the dimension -of the result. The 'if' tensor must be of type boolean, the 'then' and the -'else' tensor must be of the same type, which will also be the type of the -result. - -Each coefficient in the result is equal to the corresponding coefficient in the -'then' tensor if the corresponding value in the 'if' tensor is true. If not, the -resulting coefficient will come from the 'else' tensor. - - -## Contraction - -Tensor *contractions* are a generalization of the matrix product to the -multidimensional case. - - // Create 2 matrices using tensors of rank 2 - Eigen::Tensor a(2, 3); - a.setValues({{1, 2, 3}, {6, 5, 4}}); - Eigen::Tensor b(3, 2); - a.setValues({{1, 2}, {4, 5}, {5, 6}}); - - // Compute the traditional matrix product - array, 1> product_dims = { IndexPair(1, 0) }; - Eigen::Tensor AB = a.contract(b, product_dims); - - // Compute the product of the transpose of the matrices - array, 1> transpose_product_dims = { IndexPair(0, 1) }; - Eigen::Tensor AtBt = a.contract(b, transposed_product_dims); - - -## Reduction Operations - -A *Reduction* operation returns a tensor with fewer dimensions than the -original tensor. The values in the returned tensor are computed by applying a -*reduction operator* to slices of values from the original tensor. You specify -the dimensions along which the slices are made. - -The Eigen Tensor library provides a set of predefined reduction operators such -as ```maximum()``` and ```sum()``` and lets you define additional operators by -implementing a few methods from a reductor template. - -### Reduction Dimensions - -All reduction operations take a single parameter of type -```::Dimensions``` which can always be specified as an array of -ints. These are called the "reduction dimensions." The values are the indices -of the dimensions of the input tensor over which the reduction is done. The -parameter can have at most as many element as the rank of the input tensor; -each element must be less than the tensor rank, as it indicates one of the -dimensions to reduce. - -Each dimension of the input tensor should occur at most once in the reduction -dimensions as the implementation does not remove duplicates. - -The order of the values in the reduction dimensions does not affect the -results, but the code may execute faster if you list the dimensions in -increasing order. - -Example: Reduction along one dimension. - - // Create a tensor of 2 dimensions - Eigen::Tensor a(2, 3); - a.setValues({{1, 2, 3}, {6, 5, 4}}); - // Reduce it along the second dimension (1)... - Eigen::array dims({1 /* dimension to reduce */}); - // ...using the "maximum" operator. - // The result is a tensor with one dimension. The size of - // that dimension is the same as the first (non-reduced) dimension of a. - Eigen::Tensor b = a.maximum(dims); - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - => - a - 1 2 3 - 6 5 4 - - b - 3 - 6 - -Example: Reduction along two dimensions. - - Eigen::Tensor a(2, 3, 4); - a.setValues({{{0.0f, 1.0f, 2.0f, 3.0f}, - {7.0f, 6.0f, 5.0f, 4.0f}, - {8.0f, 9.0f, 10.0f, 11.0f}}, - {{12.0f, 13.0f, 14.0f, 15.0f}, - {19.0f, 18.0f, 17.0f, 16.0f}, - {20.0f, 21.0f, 22.0f, 23.0f}}}); - // The tensor a has 3 dimensions. We reduce along the - // first 2, resulting in a tensor with a single dimension - // of size 4 (the last dimension of a.) - // Note that we pass the array of reduction dimensions - // directly to the maximum() call. - Eigen::Tensor b = - a.maximum(Eigen::array({0, 1})); - cout << "b" << endl << b << endl << endl; - => - b - 20 - 21 - 22 - 23 - -#### Reduction along all dimensions - -As a special case, if you pass no parameter to a reduction operation the -original tensor is reduced along *all* its dimensions. The result is a -scalar, represented as a zero-dimension tensor. - - Eigen::Tensor a(2, 3, 4); - a.setValues({{{0.0f, 1.0f, 2.0f, 3.0f}, - {7.0f, 6.0f, 5.0f, 4.0f}, - {8.0f, 9.0f, 10.0f, 11.0f}}, - {{12.0f, 13.0f, 14.0f, 15.0f}, - {19.0f, 18.0f, 17.0f, 16.0f}, - {20.0f, 21.0f, 22.0f, 23.0f}}}); - // Reduce along all dimensions using the sum() operator. - Eigen::Tensor b = a.sum(); - cout << "b" << endl << b << endl << endl; - => - b - 276 - - -### sum(const Dimensions& new_dims) -### sum() - -Reduce a tensor using the sum() operator. The resulting values -are the sum of the reduced values. - -### mean(const Dimensions& new_dims) -### mean() - -Reduce a tensor using the mean() operator. The resulting values -are the mean of the reduced values. - -### maximum(const Dimensions& new_dims) -### maximum() - -Reduce a tensor using the maximum() operator. The resulting values are the -largest of the reduced values. - -### minimum(const Dimensions& new_dims) -### minimum() - -Reduce a tensor using the minimum() operator. The resulting values -are the smallest of the reduced values. - -### prod(const Dimensions& new_dims) -### prod() - -Reduce a tensor using the prod() operator. The resulting values -are the product of the reduced values. - -### all(const Dimensions& new_dims) -### all() -Reduce a tensor using the all() operator. Casts tensor to bool and then checks -whether all elements are true. Runs through all elements rather than -short-circuiting, so may be significantly inefficient. - -### any(const Dimensions& new_dims) -### any() -Reduce a tensor using the any() operator. Casts tensor to bool and then checks -whether any element is true. Runs through all elements rather than -short-circuiting, so may be significantly inefficient. - - -### reduce(const Dimensions& new_dims, const Reducer& reducer) - -Reduce a tensor using a user-defined reduction operator. See ```SumReducer``` -in TensorFunctors.h for information on how to implement a reduction operator. - - -## Scan Operations - -A *Scan* operation returns a tensor with the same dimensions as the original -tensor. The operation performs an inclusive scan along the specified -axis, which means it computes a running total along the axis for a given -reduction operation. -If the reduction operation corresponds to summation, then this computes the -prefix sum of the tensor along the given axis. - -Example: -dd a comment to this line - - // Create a tensor of 2 dimensions - Eigen::Tensor a(2, 3); - a.setValues({{1, 2, 3}, {4, 5, 6}}); - // Scan it along the second dimension (1) using summation - Eigen::Tensor b = a.cumsum(1); - // The result is a tensor with the same size as the input - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - => - a - 1 2 3 - 6 5 4 - - b - 1 3 6 - 4 9 15 - -### cumsum(const Index& axis) - -Perform a scan by summing consecutive entries. - -### cumprod(const Index& axis) - -Perform a scan by multiplying consecutive entries. - - -## Convolutions - -### convolve(const Kernel& kernel, const Dimensions& dims) - -Returns a tensor that is the output of the convolution of the input tensor with the kernel, -along the specified dimensions of the input tensor. The dimension size for dimensions of the output tensor -which were part of the convolution will be reduced by the formula: -output_dim_size = input_dim_size - kernel_dim_size + 1 (requires: input_dim_size >= kernel_dim_size). -The dimension sizes for dimensions that were not part of the convolution will remain the same. -Performance of the convolution can depend on the length of the stride(s) of the input tensor dimension(s) along which the -convolution is computed (the first dimension has the shortest stride for ColMajor, whereas RowMajor's shortest stride is -for the last dimension). - - // Compute convolution along the second and third dimension. - Tensor input(3, 3, 7, 11); - Tensor kernel(2, 2); - Tensor output(3, 2, 6, 11); - input.setRandom(); - kernel.setRandom(); - - Eigen::array dims({1, 2}); // Specify second and third dimension for convolution. - output = input.convolve(kernel, dims); - - for (int i = 0; i < 3; ++i) { - for (int j = 0; j < 2; ++j) { - for (int k = 0; k < 6; ++k) { - for (int l = 0; l < 11; ++l) { - const float result = output(i,j,k,l); - const float expected = input(i,j+0,k+0,l) * kernel(0,0) + - input(i,j+1,k+0,l) * kernel(1,0) + - input(i,j+0,k+1,l) * kernel(0,1) + - input(i,j+1,k+1,l) * kernel(1,1); - VERIFY_IS_APPROX(result, expected); - } - } - } - } - - -## Geometrical Operations - -These operations return a Tensor with different dimensions than the original -Tensor. They can be used to access slices of tensors, see them with different -dimensions, or pad tensors with additional data. - -### reshape(const Dimensions& new_dims) - -Returns a view of the input tensor that has been reshaped to the specified -new dimensions. The argument new_dims is an array of Index values. The -rank of the resulting tensor is equal to the number of elements in new_dims. - -The product of all the sizes in the new dimension array must be equal to -the number of elements in the input tensor. - - // Increase the rank of the input tensor by introducing a new dimension - // of size 1. - Tensor input(7, 11); - array three_dims{{7, 11, 1}}; - Tensor result = input.reshape(three_dims); - - // Decrease the rank of the input tensor by merging 2 dimensions; - array one_dim{{7 * 11}}; - Tensor result = input.reshape(one_dim); - -This operation does not move any data in the input tensor, so the resulting -contents of a reshaped Tensor depend on the data layout of the original Tensor. - -For example this is what happens when you ```reshape()``` a 2D ColMajor tensor -to one dimension: - - Eigen::Tensor a(2, 3); - a.setValues({{0.0f, 100.0f, 200.0f}, {300.0f, 400.0f, 500.0f}}); - Eigen::array one_dim({3 * 2}); - Eigen::Tensor b = a.reshape(one_dim); - cout << "b" << endl << b << endl; - => - b - 0 - 300 - 100 - 400 - 200 - 500 - -This is what happens when the 2D Tensor is RowMajor: - - Eigen::Tensor a(2, 3); - a.setValues({{0.0f, 100.0f, 200.0f}, {300.0f, 400.0f, 500.0f}}); - Eigen::array one_dim({3 * 2}); - Eigen::Tensor b = a.reshape(one_dim); - cout << "b" << endl << b << endl; - => - b - 0 - 100 - 200 - 300 - 400 - 500 - -The reshape operation is a lvalue. In other words, it can be used on the left -side of the assignment operator. - -The previous example can be rewritten as follow: - - Eigen::Tensor a(2, 3); - a.setValues({{0.0f, 100.0f, 200.0f}, {300.0f, 400.0f, 500.0f}}); - Eigen::array two_dim({2, 3}); - Eigen::Tensor b; - b.reshape(two_dim) = a; - cout << "b" << endl << b << endl; - => - b - 0 - 300 - 100 - 400 - 200 - 500 - -Note that "b" itself was not reshaped but that instead the assignment is done to -the reshape view of b. - - -### shuffle(const Shuffle& shuffle) - -Returns a copy of the input tensor whose dimensions have been -reordered according to the specified permutation. The argument shuffle -is an array of Index values. Its size is the rank of the input -tensor. It must contain a permutation of 0, 1, ..., rank - 1. The i-th -dimension of the output tensor equals to the size of the shuffle[i]-th -dimension of the input tensor. For example: - - // Shuffle all dimensions to the left by 1. - Tensor input(20, 30, 50); - // ... set some values in input. - Tensor output = input.shuffle({1, 2, 0}) - - eigen_assert(output.dimension(0) == 30); - eigen_assert(output.dimension(1) == 50); - eigen_assert(output.dimension(2) == 20); - -Indices into the output tensor are shuffled accordingly to formulate -indices into the input tensor. For example, one can assert in the above -code snippet that: - - eigen_assert(output(3, 7, 11) == input(11, 3, 7)); - -In general, one can assert that - - eigen_assert(output(..., indices[shuffle[i]], ...) == - input(..., indices[i], ...)) - -The shuffle operation results in a lvalue, which means that it can be assigned -to. In other words, it can be used on the left side of the assignment operator. - -Let's rewrite the previous example to take advantage of this feature: - - // Shuffle all dimensions to the left by 1. - Tensor input(20, 30, 50); - // ... set some values in input. - Tensor output(30, 50, 20); - output.shuffle({2, 0, 1}) = input; - - -### stride(const Strides& strides) - -Returns a view of the input tensor that strides (skips stride-1 -elements) along each of the dimensions. The argument strides is an -array of Index values. The dimensions of the resulting tensor are -ceil(input_dimensions[i] / strides[i]). - -For example this is what happens when you ```stride()``` a 2D tensor: - - Eigen::Tensor a(4, 3); - a.setValues({{0, 100, 200}, {300, 400, 500}, {600, 700, 800}, {900, 1000, 1100}}); - Eigen::array strides({3, 2}); - Eigen::Tensor b = a.stride(strides); - cout << "b" << endl << b << endl; - => - b - 0 200 - 900 1100 - -It is possible to assign a tensor to a stride: - Tensor input(20, 30, 50); - // ... set some values in input. - Tensor output(40, 90, 200); - output.stride({2, 3, 4}) = input; - - -### slice(const StartIndices& offsets, const Sizes& extents) - -Returns a sub-tensor of the given tensor. For each dimension i, the slice is -made of the coefficients stored between offset[i] and offset[i] + extents[i] in -the input tensor. - - Eigen::Tensor a(4, 3); - a.setValues({{0, 100, 200}, {300, 400, 500}, - {600, 700, 800}, {900, 1000, 1100}}); - Eigen::array offsets = {1, 0}; - Eigen::array extents = {2, 2}; - Eigen::Tensor slice = a.slice(offsets, extents); - cout << "a" << endl << a << endl; - => - a - 0 100 200 - 300 400 500 - 600 700 800 - 900 1000 1100 - cout << "slice" << endl << slice << endl; - => - slice - 300 400 - 600 700 - - -### chip(const Index offset, const Index dim) - -A chip is a special kind of slice. It is the subtensor at the given offset in -the dimension dim. The returned tensor has one fewer dimension than the input -tensor: the dimension dim is removed. - -For example, a matrix chip would be either a row or a column of the input -matrix. - - Eigen::Tensor a(4, 3); - a.setValues({{0, 100, 200}, {300, 400, 500}, - {600, 700, 800}, {900, 1000, 1100}}); - Eigen::Tensor row_3 = a.chip(2, 0); - Eigen::Tensor col_2 = a.chip(1, 1); - cout << "a" << endl << a << endl; - => - a - 0 100 200 - 300 400 500 - 600 700 800 - 900 1000 1100 - cout << "row_3" << endl << row_3 << endl; - => - row_3 - 600 700 800 - cout << "col_2" << endl << col_2 << endl; - => - col_2 - 100 400 700 1000 - -It is possible to assign values to a tensor chip since the chip operation is a -lvalue. For example: - - Eigen::Tensor a(3); - a.setValues({{100, 200, 300}}); - Eigen::Tensor b(2, 3); - b.setZero(); - b.chip(0, 0) = a; - cout << "a" << endl << a << endl; - => - a - 100 - 200 - 300 - cout << "b" << endl << b << endl; - => - b - 100 200 300 - 0 0 0 - - -### reverse(const ReverseDimensions& reverse) - -Returns a view of the input tensor that reverses the order of the coefficients -along a subset of the dimensions. The argument reverse is an array of boolean -values that indicates whether or not the order of the coefficients should be -reversed along each of the dimensions. This operation preserves the dimensions -of the input tensor. - -For example this is what happens when you ```reverse()``` the first dimension -of a 2D tensor: - - Eigen::Tensor a(4, 3); - a.setValues({{0, 100, 200}, {300, 400, 500}, - {600, 700, 800}, {900, 1000, 1100}}); - Eigen::array reverse({true, false}); - Eigen::Tensor b = a.reverse(reverse); - cout << "a" << endl << a << endl << "b" << endl << b << endl; - => - a - 0 100 200 - 300 400 500 - 600 700 800 - 900 1000 1100 - b - 900 1000 1100 - 600 700 800 - 300 400 500 - 0 100 200 - - -### broadcast(const Broadcast& broadcast) - -Returns a view of the input tensor in which the input is replicated one to many -times. -The broadcast argument specifies how many copies of the input tensor need to be -made in each of the dimensions. - - Eigen::Tensor a(2, 3); - a.setValues({{0, 100, 200}, {300, 400, 500}}); - Eigen::array bcast({3, 2}); - Eigen::Tensor b = a.broadcast(bcast); - cout << "a" << endl << a << endl << "b" << endl << b << endl; - => - a - 0 100 200 - 300 400 500 - b - 0 100 200 0 100 200 - 300 400 500 300 400 500 - 0 100 200 0 100 200 - 300 400 500 300 400 500 - 0 100 200 0 100 200 - 300 400 500 300 400 500 - -### concatenate(const OtherDerived& other, Axis axis) - -TODO - -### pad(const PaddingDimensions& padding) - -Returns a view of the input tensor in which the input is padded with zeros. - - Eigen::Tensor a(2, 3); - a.setValues({{0, 100, 200}, {300, 400, 500}}); - Eigen::array, 2> paddings; - paddings[0] = make_pair(0, 1); - paddings[1] = make_pair(2, 3); - Eigen::Tensor b = a.pad(paddings); - cout << "a" << endl << a << endl << "b" << endl << b << endl; - => - a - 0 100 200 - 300 400 500 - b - 0 0 0 0 - 0 0 0 0 - 0 100 200 0 - 300 400 500 0 - 0 0 0 0 - 0 0 0 0 - 0 0 0 0 - - -### extract_patches(const PatchDims& patch_dims) - -Returns a tensor of coefficient patches extracted from the input tensor, where -each patch is of dimension specified by 'patch_dims'. The returned tensor has -one greater dimension than the input tensor, which is used to index each patch. -The patch index in the output tensor depends on the data layout of the input -tensor: the patch index is the last dimension ColMajor layout, and the first -dimension in RowMajor layout. - -For example, given the following input tensor: - - Eigen::Tensor tensor(3,4); - tensor.setValues({{0.0f, 1.0f, 2.0f, 3.0f}, - {4.0f, 5.0f, 6.0f, 7.0f}, - {8.0f, 9.0f, 10.0f, 11.0f}}); - - cout << "tensor: " << endl << tensor << endl; -=> -tensor: - 0 1 2 3 - 4 5 6 7 - 8 9 10 11 - -Six 2x2 patches can be extracted and indexed using the following code: - - Eigen::Tensor patch; - Eigen::array patch_dims; - patch_dims[0] = 2; - patch_dims[1] = 2; - patch = tensor.extract_patches(patch_dims); - for (int k = 0; k < 6; ++k) { - cout << "patch index: " << k << endl; - for (int i = 0; i < 2; ++i) { - for (int j = 0; j < 2; ++j) { - if (DataLayout == ColMajor) { - cout << patch(i, j, k) << " "; - } else { - cout << patch(k, i, j) << " "; - } - } - cout << endl; - } - } - -This code results in the following output when the data layout is ColMajor: - -patch index: 0 -0 1 -4 5 -patch index: 1 -4 5 -8 9 -patch index: 2 -1 2 -5 6 -patch index: 3 -5 6 -9 10 -patch index: 4 -2 3 -6 7 -patch index: 5 -6 7 -10 11 - -This code results in the following output when the data layout is RowMajor: -(NOTE: the set of patches is the same as in ColMajor, but are indexed differently). - -patch index: 0 -0 1 -4 5 -patch index: 1 -1 2 -5 6 -patch index: 2 -2 3 -6 7 -patch index: 3 -4 5 -8 9 -patch index: 4 -5 6 -9 10 -patch index: 5 -6 7 -10 11 - -### extract_image_patches(const Index patch_rows, const Index patch_cols, - const Index row_stride, const Index col_stride, - const PaddingType padding_type) - -Returns a tensor of coefficient image patches extracted from the input tensor, -which is expected to have dimensions ordered as follows (depending on the data -layout of the input tensor, and the number of additional dimensions 'N'): - -*) ColMajor -1st dimension: channels (of size d) -2nd dimension: rows (of size r) -3rd dimension: columns (of size c) -4th-Nth dimension: time (for video) or batch (for bulk processing). - -*) RowMajor (reverse order of ColMajor) -1st-Nth dimension: time (for video) or batch (for bulk processing). -N+1'th dimension: columns (of size c) -N+2'th dimension: rows (of size r) -N+3'th dimension: channels (of size d) - -The returned tensor has one greater dimension than the input tensor, which is -used to index each patch. The patch index in the output tensor depends on the -data layout of the input tensor: the patch index is the 4'th dimension in -ColMajor layout, and the 4'th from the last dimension in RowMajor layout. - -For example, given the following input tensor with the following dimension -sizes: - *) depth: 2 - *) rows: 3 - *) columns: 5 - *) batch: 7 - - Tensor tensor(2,3,5,7); - Tensor tensor_row_major = tensor.swap_layout(); - -2x2 image patches can be extracted and indexed using the following code: - -*) 2D patch: ColMajor (patch indexed by second-to-last dimension) - Tensor twod_patch; - twod_patch = tensor.extract_image_patches<2, 2>(); - // twod_patch.dimension(0) == 2 - // twod_patch.dimension(1) == 2 - // twod_patch.dimension(2) == 2 - // twod_patch.dimension(3) == 3*5 - // twod_patch.dimension(4) == 7 - -*) 2D patch: RowMajor (patch indexed by the second dimension) - Tensor twod_patch_row_major; - twod_patch_row_major = tensor_row_major.extract_image_patches<2, 2>(); - // twod_patch_row_major.dimension(0) == 7 - // twod_patch_row_major.dimension(1) == 3*5 - // twod_patch_row_major.dimension(2) == 2 - // twod_patch_row_major.dimension(3) == 2 - // twod_patch_row_major.dimension(4) == 2 - -## Special Operations - -### cast() - -Returns a tensor of type T with the same dimensions as the original tensor. -The returned tensor contains the values of the original tensor converted to -type T. - - Eigen::Tensor a(2, 3); - Eigen::Tensor b = a.cast(); - -This can be useful for example if you need to do element-wise division of -Tensors of integers. This is not currently supported by the Tensor library -but you can easily cast the tensors to floats to do the division: - - Eigen::Tensor a(2, 3); - a.setValues({{0, 1, 2}, {3, 4, 5}}); - Eigen::Tensor b = - (a.cast() / a.constant(2).cast()).cast(); - cout << "a" << endl << a << endl << endl; - cout << "b" << endl << b << endl << endl; - => - a - 0 1 2 - 3 4 5 - - b - 0 0 1 - 1 2 2 - - -### eval() - -TODO - - -## Representation of scalar values - -Scalar values are often represented by tensors of size 1 and rank 0.For example -Tensor::maximum() currently returns a Tensor. Similarly, the inner -product of 2 1d tensors (through contractions) returns a 0d tensor. - -## Limitations - -* The number of tensor dimensions is currently limited to 250 when using a - compiler that supports cxx11. It is limited to only 5 for older compilers. -* The IndexList class requires a cxx11 compliant compiler. You can use an - array of indices instead if you don't have access to a modern compiler. -* On GPUs only floating point values are properly tested and optimized for. -* Complex and integer values are known to be broken on GPUs. If you try to use - them you'll most likely end up triggering a static assertion failure such as - EIGEN_STATIC_ASSERT(packetSize > 1, YOU_MADE_A_PROGRAMMING_MISTAKE) - - diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h deleted file mode 100644 index 1940a969..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/Tensor.h +++ /dev/null @@ -1,527 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// Copyright (C) 2013 Christian Seiler -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_H -#define EIGEN_CXX11_TENSOR_TENSOR_H - -namespace Eigen { - -/** \class Tensor - * \ingroup CXX11_Tensor_Module - * - * \brief The tensor class. - * - * The %Tensor class is the work-horse for all \em dense tensors within Eigen. - * - * The %Tensor class encompasses only dynamic-size objects so far. - * - * The first two template parameters are required: - * \tparam Scalar_ \anchor tensor_tparam_scalar Numeric type, e.g. float, double, int or std::complex. - * User defined scalar types are supported as well (see \ref user_defined_scalars "here"). - * \tparam NumIndices_ Number of indices (i.e. rank of the tensor) - * - * The remaining template parameters are optional -- in most cases you don't have to worry about them. - * \tparam Options_ \anchor tensor_tparam_options A combination of either \b #RowMajor or \b #ColMajor, and of either - * \b #AutoAlign or \b #DontAlign. - * The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required - * for vectorization. It defaults to aligning tensors. Note that tensors currently do not support any operations that profit from vectorization. - * Support for such operations (i.e. adding two tensors etc.) is planned. - * - * You can access elements of tensors using normal subscripting: - * - * \code - * Eigen::Tensor t(10, 10, 10, 10); - * t(0, 1, 2, 3) = 42.0; - * \endcode - * - * This class can be extended with the help of the plugin mechanism described on the page - * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TENSOR_PLUGIN. - * - * Some notes: - * - *
- *
Relation to other parts of Eigen:
- *
The midterm developement goal for this class is to have a similar hierarchy as Eigen uses for matrices, so that - * taking blocks or using tensors in expressions is easily possible, including an interface with the vector/matrix code - * by providing .asMatrix() and .asVector() (or similar) methods for rank 2 and 1 tensors. However, currently, the %Tensor - * class does not provide any of these features and is only available as a stand-alone class that just allows for - * coefficient access. Also, when fixed-size tensors are implemented, the number of template arguments is likely to - * change dramatically.
- *
- * - * \ref TopicStorageOrders - */ - -template -class Tensor : public TensorBase > -{ - public: - typedef Tensor Self; - typedef TensorBase > Base; - typedef typename Eigen::internal::nested::type Nested; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - typedef Scalar_ Scalar; - typedef typename NumTraits::Real RealScalar; - typedef typename Base::CoeffReturnType CoeffReturnType; - - enum { - IsAligned = bool(EIGEN_MAX_ALIGN_BYTES>0) & !(Options_&DontAlign), - Layout = Options_ & RowMajor ? RowMajor : ColMajor, - CoordAccess = true, - RawAccess = true - }; - - static const int Options = Options_; - static const int NumIndices = NumIndices_; - typedef DSizes Dimensions; - - protected: - TensorStorage m_storage; - -#ifdef EIGEN_HAS_SFINAE - template - struct isOfNormalIndex{ - static const bool is_array = internal::is_base_of, CustomIndices>::value; - static const bool is_int = NumTraits::IsInteger; - static const bool value = is_array | is_int; - }; -#endif - - public: - // Metadata - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rank() const { return NumIndices; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index dimension(std::size_t n) const { return m_storage.dimensions()[n]; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_storage.dimensions(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index size() const { return m_storage.size(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data() { return m_storage.data(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const { return m_storage.data(); } - - // This makes EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - // work, because that uses base().coeffRef() - and we don't yet - // implement a similar class hierarchy - inline Self& base() { return *this; } - inline const Self& base() const { return *this; } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - EIGEN_DEVICE_FUNC inline const Scalar& coeff(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) const - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return coeff(array{{firstIndex, secondIndex, otherIndices...}}); - } -#endif - - // normal indices - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(const array& indices) const - { - eigen_internal_assert(checkIndexRange(indices)); - return m_storage.data()[linearizedIndex(indices)]; - } - - // custom indices -#ifdef EIGEN_HAS_SFINAE - template::value) ) - > - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(CustomIndices& indices) const - { - return coeff(internal::customIndices2Array(indices)); - } -#endif - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff() const - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return m_storage.data()[0]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const - { - eigen_internal_assert(index >= 0 && index < size()); - return m_storage.data()[index]; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - inline Scalar& coeffRef(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return coeffRef(array{{firstIndex, secondIndex, otherIndices...}}); - } -#endif - - // normal indices - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(const array& indices) - { - eigen_internal_assert(checkIndexRange(indices)); - return m_storage.data()[linearizedIndex(indices)]; - } - - // custom indices -#ifdef EIGEN_HAS_SFINAE - template::value) ) - > - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(CustomIndices& indices) - { - return coeffRef(internal::customIndices2Array(indices)); - } -#endif - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef() - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return m_storage.data()[0]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) - { - eigen_internal_assert(index >= 0 && index < size()); - return m_storage.data()[index]; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - inline const Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) const - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return this->operator()(array{{firstIndex, secondIndex, otherIndices...}}); - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1) const - { - return coeff(array(i0, i1)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2) const - { - return coeff(array(i0, i1, i2)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3) const - { - return coeff(array(i0, i1, i2, i3)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const - { - return coeff(array(i0, i1, i2, i3, i4)); - } -#endif - - // custom indices -#ifdef EIGEN_HAS_SFINAE - template::value) ) - > - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(CustomIndices& indices) const - { - return coeff(internal::customIndices2Array(indices)); - } -#endif - - // normal indices - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(const array& indices) const - { - return coeff(indices); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(Index index) const - { - eigen_internal_assert(index >= 0 && index < size()); - return coeff(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()() const - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return coeff(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator[](Index index) const - { - // The bracket operator is only for vectors, use the parenthesis operator instead. - EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE); - return coeff(index); - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - inline Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return operator()(array{{firstIndex, secondIndex, otherIndices...}}); - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1) - { - return coeffRef(array(i0, i1)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2) - { - return coeffRef(array(i0, i1, i2)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3) - { - return coeffRef(array(i0, i1, i2, i3)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) - { - return coeffRef(array(i0, i1, i2, i3, i4)); - } -#endif - - // normal indices - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(const array& indices) - { - return coeffRef(indices); - } - - // custom indices -#ifdef EIGEN_HAS_SFINAE - template::value) ) - > - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(CustomIndices& indices) - { - return coeffRef(internal::customIndices2Array(indices)); - } -#endif - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(Index index) - { - eigen_assert(index >= 0 && index < size()); - return coeffRef(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()() - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return coeffRef(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator[](Index index) - { - // The bracket operator is only for vectors, use the parenthesis operator instead - EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE) - return coeffRef(index); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Tensor() - : m_storage() - { - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Tensor(const Self& other) - : m_storage(other.m_storage) - { - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index firstDimension, IndexTypes... otherDimensions) - : m_storage(firstDimension, otherDimensions...) - { - // The number of dimensions used to construct a tensor must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherDimensions) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - } -#else - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Tensor(Index dim1) - : m_storage(dim1, array(dim1)) - { - EIGEN_STATIC_ASSERT(1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2) - : m_storage(dim1*dim2, array(dim1, dim2)) - { - EIGEN_STATIC_ASSERT(2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2, Index dim3) - : m_storage(dim1*dim2*dim3, array(dim1, dim2, dim3)) - { - EIGEN_STATIC_ASSERT(3 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2, Index dim3, Index dim4) - : m_storage(dim1*dim2*dim3*dim4, array(dim1, dim2, dim3, dim4)) - { - EIGEN_STATIC_ASSERT(4 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Tensor(Index dim1, Index dim2, Index dim3, Index dim4, Index dim5) - : m_storage(dim1*dim2*dim3*dim4*dim5, array(dim1, dim2, dim3, dim4, dim5)) - { - EIGEN_STATIC_ASSERT(5 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - } -#endif - - /** Normal Dimension */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit Tensor(const array& dimensions) - : m_storage(internal::array_prod(dimensions), dimensions) - { - EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Tensor(const TensorBase& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other.derived()); - resize(TensorEvaluator(assign, DefaultDevice()).dimensions()); - internal::TensorExecutor::run(assign, DefaultDevice()); - } - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Tensor(const TensorBase& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other.derived()); - resize(TensorEvaluator(assign, DefaultDevice()).dimensions()); - internal::TensorExecutor::run(assign, DefaultDevice()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Tensor& operator=(const Tensor& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - resize(TensorEvaluator(assign, DefaultDevice()).dimensions()); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Tensor& operator=(const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - resize(TensorEvaluator(assign, DefaultDevice()).dimensions()); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template EIGEN_DEVICE_FUNC - void resize(Index firstDimension, IndexTypes... otherDimensions) - { - // The number of dimensions used to resize a tensor must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherDimensions) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - resize(array{{firstDimension, otherDimensions...}}); - } -#endif - - /** Normal Dimension */ - EIGEN_DEVICE_FUNC void resize(const array& dimensions) - { - int i; - Index size = Index(1); - for (i = 0; i < NumIndices; i++) { - internal::check_rows_cols_for_overflow::run(size, dimensions[i]); - size *= dimensions[i]; - } - #ifdef EIGEN_INITIALIZE_COEFFS - bool size_changed = size != this->size(); - m_storage.resize(size, dimensions); - if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - #else - m_storage.resize(size, dimensions); - #endif - } - - // Why this overload, DSizes is derived from array ??? // - EIGEN_DEVICE_FUNC void resize(const DSizes& dimensions) { - array dims; - for (int i = 0; i < NumIndices; ++i) { - dims[i] = dimensions[i]; - } - resize(dims); - } - - EIGEN_DEVICE_FUNC - void resize() - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - // Nothing to do: rank 0 tensors have fixed size - } - - /** Custom Dimension */ -#ifdef EIGEN_HAS_SFINAE - template::value) ) - > - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(CustomDimension& dimensions) - { - resize(internal::customIndices2Array(dimensions)); - } -#endif - -#ifndef EIGEN_EMULATE_CXX11_META_H - template - EIGEN_DEVICE_FUNC - void resize(const Sizes& dimensions) { - array dims; - for (int i = 0; i < NumIndices; ++i) { - dims[i] = static_cast(dimensions[i]); - } - resize(dims); - } -#else - template - EIGEN_DEVICE_FUNC - void resize(const Sizes& dimensions) { - array dims; - for (int i = 0; i < NumIndices; ++i) { - dims[i] = static_cast(dimensions[i]); - } - resize(dims); - } -#endif - - protected: - - bool checkIndexRange(const array& indices) const - { - using internal::array_apply_and_reduce; - using internal::array_zip_and_reduce; - using internal::greater_equal_zero_op; - using internal::logical_and_op; - using internal::lesser_op; - - return - // check whether the indices are all >= 0 - array_apply_and_reduce(indices) && - // check whether the indices fit in the dimensions - array_zip_and_reduce(indices, m_storage.dimensions()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index linearizedIndex(const array& indices) const - { - if (Options&RowMajor) { - return m_storage.dimensions().IndexOfRowMajor(indices); - } else { - return m_storage.dimensions().IndexOfColMajor(indices); - } - } -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h deleted file mode 100644 index d06f40cd..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorArgMax.h +++ /dev/null @@ -1,299 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Eugene Brevdo -// Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_ARG_MAX_H -#define EIGEN_CXX11_TENSOR_TENSOR_ARG_MAX_H - -namespace Eigen { -namespace internal { - -/** \class TensorIndexTuple - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor + Index Tuple class. - * - * - */ -template -struct traits > : public traits -{ - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef Tuple Scalar; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorIndexTupleOp& type; -}; - -template -struct nested, 1, - typename eval >::type> -{ - typedef TensorIndexTupleOp type; -}; - -} // end namespace internal - -template -class TensorIndexTupleOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - typedef Tuple CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIndexTupleOp(const XprType& expr) - : m_xpr(expr) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; -}; - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorIndexTupleOp XprType; - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - - typedef typename TensorEvaluator::Dimensions Dimensions; - static const int NumDims = internal::array_size::value; - - enum { - IsAligned = /*TensorEvaluator::IsAligned*/ false, - PacketAccess = /*TensorEvaluator::PacketAccess*/ false, - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device) { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { - return m_impl.dimensions(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return CoeffReturnType(index, m_impl.coeff(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, 1); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - protected: - TensorEvaluator m_impl; -}; - -namespace internal { - -/** \class TensorTupleIndex - * \ingroup CXX11_Tensor_Module - * - * \brief Converts to Tensor > and reduces to Tensor. - * - */ -template -struct traits > : public traits -{ - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef Index Scalar; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions - array_size::value; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorTupleReducerOp& type; -}; - -template -struct nested, 1, - typename eval >::type> -{ - typedef TensorTupleReducerOp type; -}; - -} // end namespace internal - -template -class TensorTupleReducerOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - typedef Index CoeffReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorTupleReducerOp(const XprType& expr, - const ReduceOp& reduce_op, - const int return_dim, - const Dims& reduce_dims) - : m_xpr(expr), m_reduce_op(reduce_op), m_return_dim(return_dim), m_reduce_dims(reduce_dims) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC - const ReduceOp& reduce_op() const { return m_reduce_op; } - - EIGEN_DEVICE_FUNC - const Dims& reduce_dims() const { return m_reduce_dims; } - - EIGEN_DEVICE_FUNC - int return_dim() const { return m_return_dim; } - - protected: - typename XprType::Nested m_xpr; - const ReduceOp m_reduce_op; - const int m_return_dim; - const Dims m_reduce_dims; -}; - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorTupleReducerOp XprType; - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename TensorIndexTupleOp::CoeffReturnType TupleType; - typedef typename TensorEvaluator >, Device>::Dimensions Dimensions; - typedef typename TensorEvaluator , Device>::Dimensions InputDimensions; - static const int NumDims = internal::array_size::value; - typedef array StrideDims; - - enum { - IsAligned = /*TensorEvaluator::IsAligned*/ false, - PacketAccess = /*TensorEvaluator::PacketAccess*/ false, - BlockAccess = false, - Layout = TensorEvaluator >, Device>::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_orig_impl(op.expression(), device), - m_impl(op.expression().index_tuples().reduce(op.reduce_dims(), op.reduce_op()), device), - m_return_dim(op.return_dim()) { - - gen_strides(m_orig_impl.dimensions(), m_strides); - if (Layout == static_cast(ColMajor)) { - const Index total_size = internal::array_prod(m_orig_impl.dimensions()); - m_stride_mod = (m_return_dim < NumDims - 1) ? m_strides[m_return_dim + 1] : total_size; - } else { - const Index total_size = internal::array_prod(m_orig_impl.dimensions()); - m_stride_mod = (m_return_dim > 0) ? m_strides[m_return_dim - 1] : total_size; - } - m_stride_div = m_strides[m_return_dim]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { - return m_impl.dimensions(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { - const TupleType v = m_impl.coeff(index); - return (m_return_dim < 0) ? v.first : (v.first % m_stride_mod) / m_stride_div; - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - const double compute_cost = 1.0 + - (m_return_dim < 0 ? 0.0 : (TensorOpCost::ModCost() + TensorOpCost::DivCost())); - return m_orig_impl.costPerCoeff(vectorized) + - m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, compute_cost); - } - - private: - EIGEN_DEVICE_FUNC void gen_strides(const InputDimensions& dims, StrideDims& strides) { - if (m_return_dim < 0) { - return; // Won't be using the strides. - } - eigen_assert(m_return_dim < NumDims && - "Asking to convert index to a dimension outside of the rank"); - - // Calculate m_stride_div and m_stride_mod, which are used to - // calculate the value of an index w.r.t. the m_return_dim. - if (Layout == static_cast(ColMajor)) { - strides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - strides[i] = strides[i-1] * dims[i-1]; - } - } else { - strides[NumDims-1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - strides[i] = strides[i+1] * dims[i+1]; - } - } - } - - protected: - TensorEvaluator, Device> m_orig_impl; - TensorEvaluator >, Device> m_impl; - const int m_return_dim; - StrideDims m_strides; - Index m_stride_mod; - Index m_stride_div; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_ARG_MAX_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h deleted file mode 100644 index 166be200..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h +++ /dev/null @@ -1,181 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_ASSIGN_H -#define EIGEN_CXX11_TENSOR_TENSOR_ASSIGN_H - -namespace Eigen { - -/** \class TensorAssign - * \ingroup CXX11_Tensor_Module - * - * \brief The tensor assignment class. - * - * This class is represents the assignment of the values resulting from the evaluation of - * the rhs expression to the memory locations denoted by the lhs expression. - */ -namespace internal { -template -struct traits > -{ - typedef typename LhsXprType::Scalar Scalar; - typedef typename traits::StorageKind StorageKind; - typedef typename promote_index_type::Index, - typename traits::Index>::type Index; - typedef typename LhsXprType::Nested LhsNested; - typedef typename RhsXprType::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - static const std::size_t NumDimensions = internal::traits::NumDimensions; - static const int Layout = internal::traits::Layout; - - enum { - Flags = 0 - }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorAssignOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorAssignOp type; -}; - -} // end namespace internal - - - -template -class TensorAssignOp : public TensorBase > -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename LhsXprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorAssignOp(LhsXprType& lhs, const RhsXprType& rhs) - : m_lhs_xpr(lhs), m_rhs_xpr(rhs) {} - - /** \returns the nested expressions */ - EIGEN_DEVICE_FUNC - typename internal::remove_all::type& - lhsExpression() const { return *((typename internal::remove_all::type*)&m_lhs_xpr); } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - rhsExpression() const { return m_rhs_xpr; } - - protected: - typename internal::remove_all::type& m_lhs_xpr; - const typename internal::remove_all::type& m_rhs_xpr; -}; - - -template -struct TensorEvaluator, Device> -{ - typedef TensorAssignOp XprType; - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef typename TensorEvaluator::Dimensions Dimensions; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - RawAccess = TensorEvaluator::RawAccess - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) : - m_leftImpl(op.lhsExpression(), device), - m_rightImpl(op.rhsExpression(), device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE); - } - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const - { - // The dimensions of the lhs and the rhs tensors should be equal to prevent - // overflows and ensure the result is fully initialized. - // TODO: use left impl instead if right impl dimensions are known at compile time. - return m_rightImpl.dimensions(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) { - eigen_assert(dimensions_match(m_leftImpl.dimensions(), m_rightImpl.dimensions())); - m_leftImpl.evalSubExprsIfNeeded(NULL); - // If the lhs provides raw access to its storage area (i.e. if m_leftImpl.data() returns a non - // null value), attempt to evaluate the rhs expression in place. Returns true iff in place - // evaluation isn't supported and the caller still needs to manually assign the values generated - // by the rhs to the lhs. - return m_rightImpl.evalSubExprsIfNeeded(m_leftImpl.data()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_leftImpl.cleanup(); - m_rightImpl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalScalar(Index i) { - m_leftImpl.coeffRef(i) = m_rightImpl.coeff(i); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalPacket(Index i) { - const int LhsStoreMode = TensorEvaluator::IsAligned ? Aligned : Unaligned; - const int RhsLoadMode = TensorEvaluator::IsAligned ? Aligned : Unaligned; - m_leftImpl.template writePacket(i, m_rightImpl.template packet(i)); - } - EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const - { - return m_leftImpl.coeff(index); - } - template - EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const - { - return m_leftImpl.template packet(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - // We assume that evalPacket or evalScalar is called to perform the - // assignment and account for the cost of the write here, but reduce left - // cost by one load because we are using m_leftImpl.coeffRef. - TensorOpCost left = m_leftImpl.costPerCoeff(vectorized); - return m_rightImpl.costPerCoeff(vectorized) + - TensorOpCost( - numext::maxi(0.0, left.bytes_loaded() - sizeof(CoeffReturnType)), - left.bytes_stored(), left.compute_cycles()) + - TensorOpCost(0, sizeof(CoeffReturnType), 0, vectorized, PacketSize); - } - - /// required by sycl in order to extract the accessor - const TensorEvaluator& left_impl() const { return m_leftImpl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& right_impl() const { return m_rightImpl; } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return m_leftImpl.data(); } - - private: - TensorEvaluator m_leftImpl; - TensorEvaluator m_rightImpl; -}; - -} - - -#endif // EIGEN_CXX11_TENSOR_TENSOR_ASSIGN_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h deleted file mode 100644 index fbe34082..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h +++ /dev/null @@ -1,1016 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_BASE_H -#define EIGEN_CXX11_TENSOR_TENSOR_BASE_H - -// clang-format off - -namespace Eigen { - -/** \class TensorBase - * \ingroup CXX11_Tensor_Module - * - * \brief The tensor base class. - * - * This class is the common parent of the Tensor and TensorMap class, thus - * making it possible to use either class interchangably in expressions. - */ - -template -class TensorBase -{ - public: - typedef internal::traits DerivedTraits; - typedef typename DerivedTraits::Scalar Scalar; - typedef typename DerivedTraits::Index Index; - typedef typename internal::remove_const::type CoeffReturnType; - static const int NumDimensions = DerivedTraits::NumDimensions; - - // Generic nullary operation support. - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseNullaryOp - nullaryExpr(const CustomNullaryOp& func) const { - return TensorCwiseNullaryOp(derived(), func); - } - - // Coefficient-wise nullary operators - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseNullaryOp, const Derived> - constant(const Scalar& value) const { - return nullaryExpr(internal::scalar_constant_op(value)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseNullaryOp, const Derived> - random() const { - return nullaryExpr(internal::UniformRandomGenerator()); - } - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseNullaryOp - random(const RandomGenerator& gen = RandomGenerator()) const { - return nullaryExpr(gen); - } - - // Tensor generation - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorGeneratorOp - generate(const Generator& generator) const { - return TensorGeneratorOp(derived(), generator); - } - - // Generic unary operation support. - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp - unaryExpr(const CustomUnaryOp& func) const { - return TensorCwiseUnaryOp(derived(), func); - } - - // Coefficient-wise unary operators - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - operator-() const { - return unaryExpr(internal::scalar_opposite_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - sqrt() const { - return unaryExpr(internal::scalar_sqrt_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - sign() const { - return unaryExpr(internal::scalar_sign_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - rsqrt() const { - return unaryExpr(internal::scalar_rsqrt_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - square() const { - return unaryExpr(internal::scalar_square_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - cube() const { - return unaryExpr(internal::scalar_cube_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - inverse() const { - return unaryExpr(internal::scalar_inverse_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - tanh() const { - return unaryExpr(internal::scalar_tanh_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - lgamma() const { - return unaryExpr(internal::scalar_lgamma_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - digamma() const { - return unaryExpr(internal::scalar_digamma_op()); - } - - // igamma(a = this, x = other) - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - igamma(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_igamma_op()); - } - - // igammac(a = this, x = other) - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - igammac(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_igammac_op()); - } - - // zeta(x = this, q = other) - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - zeta(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_zeta_op()); - } - - // polygamma(n = this, x = other) - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - polygamma(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_polygamma_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - erf() const { - return unaryExpr(internal::scalar_erf_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - erfc() const { - return unaryExpr(internal::scalar_erfc_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - sigmoid() const { - return unaryExpr(internal::scalar_sigmoid_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - exp() const { - return unaryExpr(internal::scalar_exp_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - expm1() const { - return unaryExpr(internal::scalar_expm1_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - log() const { - return unaryExpr(internal::scalar_log_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - log1p() const { - return unaryExpr(internal::scalar_log1p_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - abs() const { - return unaryExpr(internal::scalar_abs_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - conjugate() const { - return unaryExpr(internal::scalar_conjugate_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp >, const Derived> - pow(Scalar exponent) const { - return unaryExpr(internal::bind2nd_op >(exponent)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - real() const { - return unaryExpr(internal::scalar_real_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - imag() const { - return unaryExpr(internal::scalar_imag_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp >, const Derived> - operator+ (Scalar rhs) const { - return unaryExpr(internal::bind2nd_op >(rhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE friend - const TensorCwiseUnaryOp >, const Derived> - operator+ (Scalar lhs, const Derived& rhs) { - return rhs.unaryExpr(internal::bind1st_op >(lhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp >, const Derived> - operator- (Scalar rhs) const { - EIGEN_STATIC_ASSERT((NumTraits::IsSigned || internal::is_same >::value), YOU_MADE_A_PROGRAMMING_MISTAKE); - return unaryExpr(internal::bind2nd_op >(rhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE friend - const TensorCwiseUnaryOp >, const Derived> - operator- (Scalar lhs, const Derived& rhs) { - return rhs.unaryExpr(internal::bind1st_op >(lhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp >, const Derived> - operator* (Scalar rhs) const { - return unaryExpr(internal::bind2nd_op >(rhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE friend - const TensorCwiseUnaryOp >, const Derived> - operator* (Scalar lhs, const Derived& rhs) { - return rhs.unaryExpr(internal::bind1st_op >(lhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp >, const Derived> - operator/ (Scalar rhs) const { - return unaryExpr(internal::bind2nd_op >(rhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE friend - const TensorCwiseUnaryOp >, const Derived> - operator/ (Scalar lhs, const Derived& rhs) { - return rhs.unaryExpr(internal::bind1st_op >(lhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - operator% (Scalar rhs) const { - EIGEN_STATIC_ASSERT(NumTraits::IsInteger, YOU_MADE_A_PROGRAMMING_MISTAKE_TRY_MOD); - return unaryExpr(internal::scalar_mod_op(rhs)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - cwiseMax(Scalar threshold) const { - return cwiseMax(constant(threshold)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - cwiseMin(Scalar threshold) const { - return cwiseMin(constant(threshold)); - } - - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorConversionOp - cast() const { - return TensorConversionOp(derived()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - round() const { - return unaryExpr(internal::scalar_round_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - ceil() const { - return unaryExpr(internal::scalar_ceil_op()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - floor() const { - return unaryExpr(internal::scalar_floor_op()); - } - - // Generic binary operation support. - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp - binaryExpr(const OtherDerived& other, const CustomBinaryOp& func) const { - return TensorCwiseBinaryOp(derived(), other, func); - } - - // Coefficient-wise binary operators. - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator+(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_sum_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator-(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_difference_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator*(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_product_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator/(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_quotient_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - cwiseMax(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_max_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - cwiseMin(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_min_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp - operator&&(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_boolean_and_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp - operator||(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_boolean_or_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp - operator^(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_boolean_xor_op()); - } - - // Comparisons and tests. - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator<(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_cmp_op()); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator<=(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_cmp_op()); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator>(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_cmp_op()); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator>=(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_cmp_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator==(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_cmp_op()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCwiseBinaryOp, const Derived, const OtherDerived> - operator!=(const OtherDerived& other) const { - return binaryExpr(other.derived(), internal::scalar_cmp_op()); - } - - // comparisons and tests for Scalars - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - operator<(Scalar threshold) const { - return operator<(constant(threshold)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - operator<=(Scalar threshold) const { - return operator<=(constant(threshold)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - operator>(Scalar threshold) const { - return operator>(constant(threshold)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - operator>=(Scalar threshold) const { - return operator>=(constant(threshold)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - operator==(Scalar threshold) const { - return operator==(constant(threshold)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseBinaryOp, const Derived, const TensorCwiseNullaryOp, const Derived> > - operator!=(Scalar threshold) const { - return operator!=(constant(threshold)); - } - - // Checks - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - (isnan)() const { - return unaryExpr(internal::scalar_isnan_op()); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - (isinf)() const { - return unaryExpr(internal::scalar_isinf_op()); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const TensorCwiseUnaryOp, const Derived> - (isfinite)() const { - return unaryExpr(internal::scalar_isfinite_op()); - } - - // Coefficient-wise ternary operators. - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorSelectOp - select(const ThenDerived& thenTensor, const ElseDerived& elseTensor) const { - return TensorSelectOp(derived(), thenTensor.derived(), elseTensor.derived()); - } - - // Contractions. - typedef Eigen::IndexPair DimensionPair; - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorContractionOp - contract(const OtherDerived& other, const Dimensions& dims) const { - return TensorContractionOp(derived(), other.derived(), dims); - } - - // Convolutions. - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorConvolutionOp - convolve(const KernelDerived& kernel, const Dimensions& dims) const { - return TensorConvolutionOp(derived(), kernel.derived(), dims); - } - - // Fourier transforms - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorFFTOp - fft(const FFT& fft) const { - return TensorFFTOp(derived(), fft); - } - - // Scan. - typedef TensorScanOp, const Derived> TensorScanSumOp; - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorScanSumOp - cumsum(const Index& axis, bool exclusive = false) const { - return TensorScanSumOp(derived(), axis, exclusive); - } - - typedef TensorScanOp, const Derived> TensorScanProdOp; - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorScanProdOp - cumprod(const Index& axis, bool exclusive = false) const { - return TensorScanProdOp(derived(), axis, exclusive); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorScanOp - scan(const Index& axis, const Reducer& reducer, bool exclusive = false) const { - return TensorScanOp(derived(), axis, exclusive, reducer); - } - - // Reductions. - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const Dims, const Derived> - sum(const Dims& dims) const { - return TensorReductionOp, const Dims, const Derived>(derived(), dims, internal::SumReducer()); - } - - const TensorReductionOp, const DimensionList, const Derived> - sum() const { - DimensionList in_dims; - return TensorReductionOp, const DimensionList, const Derived>(derived(), in_dims, internal::SumReducer()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const Dims, const Derived> - mean(const Dims& dims) const { - return TensorReductionOp, const Dims, const Derived>(derived(), dims, internal::MeanReducer()); - } - - const TensorReductionOp, const DimensionList, const Derived> - mean() const { - DimensionList in_dims; - return TensorReductionOp, const DimensionList, const Derived>(derived(), in_dims, internal::MeanReducer()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const Dims, const Derived> - prod(const Dims& dims) const { - return TensorReductionOp, const Dims, const Derived>(derived(), dims, internal::ProdReducer()); - } - - const TensorReductionOp, const DimensionList, const Derived> - prod() const { - DimensionList in_dims; - return TensorReductionOp, const DimensionList, const Derived>(derived(), in_dims, internal::ProdReducer()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const Dims, const Derived> - maximum(const Dims& dims) const { - return TensorReductionOp, const Dims, const Derived>(derived(), dims, internal::MaxReducer()); - } - - const TensorReductionOp, const DimensionList, const Derived> - maximum() const { - DimensionList in_dims; - return TensorReductionOp, const DimensionList, const Derived>(derived(), in_dims, internal::MaxReducer()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const Dims, const Derived> - minimum(const Dims& dims) const { - return TensorReductionOp, const Dims, const Derived>(derived(), dims, internal::MinReducer()); - } - - const TensorReductionOp, const DimensionList, const Derived> - minimum() const { - DimensionList in_dims; - return TensorReductionOp, const DimensionList, const Derived>(derived(), in_dims, internal::MinReducer()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp > - all(const Dims& dims) const { - return cast().reduce(dims, internal::AndReducer()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const TensorConversionOp > - all() const { - DimensionList in_dims; - return cast().reduce(in_dims, internal::AndReducer()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp > - any(const Dims& dims) const { - return cast().reduce(dims, internal::OrReducer()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp, const TensorConversionOp > - any() const { - DimensionList in_dims; - return cast().reduce(in_dims, internal::OrReducer()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorTupleReducerOp< - internal::ArgMaxTupleReducer >, - const array, const Derived> - argmax() const { - array in_dims; - for (int d = 0; d < NumDimensions; ++d) in_dims[d] = d; - return TensorTupleReducerOp< - internal::ArgMaxTupleReducer >, - const array, - const Derived>(derived(), internal::ArgMaxTupleReducer >(), -1, in_dims); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorTupleReducerOp< - internal::ArgMinTupleReducer >, - const array, const Derived> - argmin() const { - array in_dims; - for (int d = 0; d < NumDimensions; ++d) in_dims[d] = d; - return TensorTupleReducerOp< - internal::ArgMinTupleReducer >, - const array, - const Derived>(derived(), internal::ArgMinTupleReducer >(), -1, in_dims); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorTupleReducerOp< - internal::ArgMaxTupleReducer >, - const array, const Derived> - argmax(const int return_dim) const { - array in_dims; - in_dims[0] = return_dim; - return TensorTupleReducerOp< - internal::ArgMaxTupleReducer >, - const array, - const Derived>(derived(), internal::ArgMaxTupleReducer >(), return_dim, in_dims); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorTupleReducerOp< - internal::ArgMinTupleReducer >, - const array, const Derived> - argmin(const int return_dim) const { - array in_dims; - in_dims[0] = return_dim; - return TensorTupleReducerOp< - internal::ArgMinTupleReducer >, - const array, - const Derived>(derived(), internal::ArgMinTupleReducer >(), return_dim, in_dims); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReductionOp - reduce(const Dims& dims, const Reducer& reducer) const { - return TensorReductionOp(derived(), dims, reducer); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorBroadcastingOp - broadcast(const Broadcast& broadcast) const { - return TensorBroadcastingOp(derived(), broadcast); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorConcatenationOp - concatenate(const OtherDerived& other, Axis axis) const { - return TensorConcatenationOp(derived(), other.derived(), axis); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorPatchOp - extract_patches(const PatchDims& patch_dims) const { - return TensorPatchOp(derived(), patch_dims); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorImagePatchOp - extract_image_patches(const Index patch_rows = 1, const Index patch_cols = 1, - const Index row_stride = 1, const Index col_stride = 1, - const Index in_row_stride = 1, const Index in_col_stride = 1, - const PaddingType padding_type = PADDING_SAME, const Scalar padding_value = Scalar(0)) const { - return TensorImagePatchOp(derived(), patch_rows, patch_cols, row_stride, col_stride, - in_row_stride, in_col_stride, 1, 1, padding_type, padding_value); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorImagePatchOp - extract_image_patches(const Index patch_rows, const Index patch_cols, - const Index row_stride, const Index col_stride, - const Index in_row_stride, const Index in_col_stride, - const Index row_inflate_stride, const Index col_inflate_stride, - const Index padding_top, const Index padding_bottom, - const Index padding_left,const Index padding_right, - const Scalar padding_value) const { - return TensorImagePatchOp(derived(), patch_rows, patch_cols, row_stride, col_stride, - in_row_stride, in_col_stride, row_inflate_stride, col_inflate_stride, - padding_top, padding_bottom, padding_left, padding_right, padding_value); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorVolumePatchOp - extract_volume_patches(const Index patch_planes, const Index patch_rows, const Index patch_cols, - const Index plane_stride = 1, const Index row_stride = 1, const Index col_stride = 1, - const PaddingType padding_type = PADDING_SAME, const Scalar padding_value = Scalar(0)) const { - return TensorVolumePatchOp(derived(), patch_planes, patch_rows, patch_cols, plane_stride, row_stride, col_stride, 1, 1, 1, 1, 1, 1, padding_type, padding_value); - } - - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorVolumePatchOp - extract_volume_patches(const Index patch_planes, const Index patch_rows, const Index patch_cols, - const Index plane_stride, const Index row_stride, const Index col_stride, - const Index plane_inflate_stride, const Index row_inflate_stride, const Index col_inflate_stride, - const Index padding_top_z, const Index padding_bottom_z, - const Index padding_top, const Index padding_bottom, - const Index padding_left, const Index padding_right, const Scalar padding_value = Scalar(0)) const { - return TensorVolumePatchOp(derived(), patch_planes, patch_rows, patch_cols, plane_stride, row_stride, col_stride, 1, 1, 1, plane_inflate_stride, row_inflate_stride, col_inflate_stride, padding_top_z, padding_bottom_z, padding_top, padding_bottom, padding_left, padding_right, padding_value); - } - - // Morphing operators. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorLayoutSwapOp - swap_layout() const { - return TensorLayoutSwapOp(derived()); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReshapingOp - reshape(const NewDimensions& newDimensions) const { - return TensorReshapingOp(derived(), newDimensions); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorSlicingOp - slice(const StartIndices& startIndices, const Sizes& sizes) const { - return TensorSlicingOp(derived(), startIndices, sizes); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorStridingSlicingOp - stridedSlice(const StartIndices& startIndices, const StopIndices& stopIndices, const Strides& strides) const { - return TensorStridingSlicingOp(derived(), startIndices, stopIndices, strides); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorChippingOp - chip(const Index offset) const { - return TensorChippingOp(derived(), offset, DimId); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorChippingOp - chip(const Index offset, const Index dim) const { - return TensorChippingOp(derived(), offset, dim); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReverseOp - reverse(const ReverseDimensions& rev) const { - return TensorReverseOp(derived(), rev); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorPaddingOp - pad(const PaddingDimensions& padding) const { - return TensorPaddingOp(derived(), padding, internal::scalar_cast_op()(0)); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorPaddingOp - pad(const PaddingDimensions& padding, const Scalar padding_value) const { - return TensorPaddingOp(derived(), padding, padding_value); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorShufflingOp - shuffle(const Shuffle& shuffle) const { - return TensorShufflingOp(derived(), shuffle); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorStridingOp - stride(const Strides& strides) const { - return TensorStridingOp(derived(), strides); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorInflationOp - inflate(const Strides& strides) const { - return TensorInflationOp(derived(), strides); - } - - // Returns a tensor containing index/value tuples - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorIndexTupleOp - index_tuples() const { - return TensorIndexTupleOp(derived()); - } - - // Support for custom unary and binary operations - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCustomUnaryOp customOp(const CustomUnaryFunc& op) const { - return TensorCustomUnaryOp(derived(), op); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorCustomBinaryOp customOp(const OtherDerived& other, const CustomBinaryFunc& op) const { - return TensorCustomBinaryOp(derived(), other, op); - } - - // Force the evaluation of the expression. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorForcedEvalOp eval() const { - return TensorForcedEvalOp(derived()); - } - - protected: - template friend class Tensor; - template friend class TensorFixedSize; - template friend class TensorBase; - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Derived& derived() const { return *static_cast(this); } -}; - -template::value> -class TensorBase : public TensorBase { - public: - typedef internal::traits DerivedTraits; - typedef typename DerivedTraits::Scalar Scalar; - typedef typename DerivedTraits::Index Index; - typedef Scalar CoeffReturnType; - static const int NumDimensions = DerivedTraits::NumDimensions; - - template friend class Tensor; - template friend class TensorFixedSize; - template friend class TensorBase; - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& setZero() { - return setConstant(Scalar(0)); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& setConstant(const Scalar& val) { - return derived() = this->constant(val); - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& setRandom() { - return derived() = this->random(); - } - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& setRandom() { - return derived() = this->template random(); - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& setValues( - const typename internal::Initializer::InitList& vals) { - TensorEvaluator eval(derived(), DefaultDevice()); - internal::initialize_tensor(eval, vals); - return derived(); - } -#endif // EIGEN_HAS_VARIADIC_TEMPLATES - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator+=(const OtherDerived& other) { - return derived() = derived() + other.derived(); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator-=(const OtherDerived& other) { - return derived() = derived() - other.derived(); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator*=(const OtherDerived& other) { - return derived() = derived() * other.derived(); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Derived& operator/=(const OtherDerived& other) { - return derived() = derived() / other.derived(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorLayoutSwapOp - swap_layout() const { - return TensorLayoutSwapOp(derived()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorLayoutSwapOp - swap_layout() { - return TensorLayoutSwapOp(derived()); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorConcatenationOp - concatenate(const OtherDerived& other, const Axis& axis) const { - return TensorConcatenationOp(derived(), other, axis); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorConcatenationOp - concatenate(const OtherDerived& other, const Axis& axis) { - return TensorConcatenationOp(derived(), other, axis); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReshapingOp - reshape(const NewDimensions& newDimensions) const { - return TensorReshapingOp(derived(), newDimensions); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorReshapingOp - reshape(const NewDimensions& newDimensions) { - return TensorReshapingOp(derived(), newDimensions); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorSlicingOp - slice(const StartIndices& startIndices, const Sizes& sizes) const { - return TensorSlicingOp(derived(), startIndices, sizes); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorSlicingOp - slice(const StartIndices& startIndices, const Sizes& sizes) { - return TensorSlicingOp(derived(), startIndices, sizes); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorStridingSlicingOp - stridedSlice(const StartIndices& startIndices, const StopIndices& stopIndices, const Strides& strides) const { - return TensorStridingSlicingOp(derived(), startIndices, stopIndices, strides); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorStridingSlicingOp - stridedSlice(const StartIndices& startIndices, const StopIndices& stopIndices, const Strides& strides) { - return TensorStridingSlicingOp(derived(), startIndices, stopIndices, strides); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorChippingOp - chip(const Index offset) const { - return TensorChippingOp(derived(), offset, DimId); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorChippingOp - chip(const Index offset) { - return TensorChippingOp(derived(), offset, DimId); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorChippingOp - chip(const Index offset, const Index dim) const { - return TensorChippingOp(derived(), offset, dim); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorChippingOp - chip(const Index offset, const Index dim) { - return TensorChippingOp(derived(), offset, dim); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorReverseOp - reverse(const ReverseDimensions& rev) const { - return TensorReverseOp(derived(), rev); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorReverseOp - reverse(const ReverseDimensions& rev) { - return TensorReverseOp(derived(), rev); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorShufflingOp - shuffle(const Shuffle& shuffle) const { - return TensorShufflingOp(derived(), shuffle); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorShufflingOp - shuffle(const Shuffle& shuffle) { - return TensorShufflingOp(derived(), shuffle); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const TensorStridingOp - stride(const Strides& strides) const { - return TensorStridingOp(derived(), strides); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorStridingOp - stride(const Strides& strides) { - return TensorStridingOp(derived(), strides); - } - - // Select the device on which to evaluate the expression. - template - TensorDevice device(const DeviceType& device) { - return TensorDevice(device, derived()); - } - - protected: - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Derived& derived() { return *static_cast(this); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Derived& derived() const { return *static_cast(this); } -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_BASE_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h deleted file mode 100644 index 23a74460..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorBroadcasting.h +++ /dev/null @@ -1,392 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_BROADCASTING_H -#define EIGEN_CXX11_TENSOR_TENSOR_BROADCASTING_H - -namespace Eigen { - -/** \class TensorBroadcasting - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor broadcasting class. - * - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorBroadcastingOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorBroadcastingOp type; -}; - -template -struct is_input_scalar { - static const bool value = false; -}; -template <> -struct is_input_scalar > { - static const bool value = true; -}; -#ifndef EIGEN_EMULATE_CXX11_META_H -template -struct is_input_scalar > { - static const bool value = (Sizes::total_size == 1); -}; -#endif - -} // end namespace internal - - - -template -class TensorBroadcastingOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorBroadcastingOp(const XprType& expr, const Broadcast& broadcast) - : m_xpr(expr), m_broadcast(broadcast) {} - - EIGEN_DEVICE_FUNC - const Broadcast& broadcast() const { return m_broadcast; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const Broadcast m_broadcast; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorBroadcastingOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::Dimensions>::value; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename TensorEvaluator::Dimensions InputDimensions; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = true, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_broadcast(op.broadcast()),m_impl(op.expression(), device) - { - // The broadcasting op doesn't change the rank of the tensor. One can't broadcast a scalar - // and store the result in a scalar. Instead one should reshape the scalar into a a N-D - // tensor with N >= 1 of 1 element first and then broadcast. - EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE); - const InputDimensions& input_dims = m_impl.dimensions(); - const Broadcast& broadcast = op.broadcast(); - for (int i = 0; i < NumDims; ++i) { - eigen_assert(input_dims[i] > 0); - m_dimensions[i] = input_dims[i] * broadcast[i]; - } - - if (static_cast(Layout) == static_cast(ColMajor)) { - m_inputStrides[0] = 1; - m_outputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1]; - m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1]; - } - } else { - m_inputStrides[NumDims-1] = 1; - m_outputStrides[NumDims-1] = 1; - for (int i = NumDims-2; i >= 0; --i) { - m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1]; - m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffReturnType coeff(Index index) const - { - if (internal::is_input_scalar::type>::value) { - return m_impl.coeff(0); - } - - if (static_cast(Layout) == static_cast(ColMajor)) { - return coeffColMajor(index); - } else { - return coeffRowMajor(index); - } - } - - // TODO: attempt to speed this up. The integer divisions and modulo are slow - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeffColMajor(Index index) const - { - Index inputIndex = 0; - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_outputStrides[i]; - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx < m_impl.dimensions()[i]); - inputIndex += idx * m_inputStrides[i]; - } else { - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx % m_impl.dimensions()[i] == 0); - } else { - inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i]; - } - } - index -= idx * m_outputStrides[i]; - } - if (internal::index_statically_eq(0, 1)) { - eigen_assert(index < m_impl.dimensions()[0]); - inputIndex += index; - } else { - if (internal::index_statically_eq(0, 1)) { - eigen_assert(index % m_impl.dimensions()[0] == 0); - } else { - inputIndex += (index % m_impl.dimensions()[0]); - } - } - return m_impl.coeff(inputIndex); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeffRowMajor(Index index) const - { - Index inputIndex = 0; - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_outputStrides[i]; - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx < m_impl.dimensions()[i]); - inputIndex += idx * m_inputStrides[i]; - } else { - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx % m_impl.dimensions()[i] == 0); - } else { - inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i]; - } - } - index -= idx * m_outputStrides[i]; - } - if (internal::index_statically_eq(NumDims-1, 1)) { - eigen_assert(index < m_impl.dimensions()[NumDims-1]); - inputIndex += index; - } else { - if (internal::index_statically_eq(NumDims-1, 1)) { - eigen_assert(index % m_impl.dimensions()[NumDims-1] == 0); - } else { - inputIndex += (index % m_impl.dimensions()[NumDims-1]); - } - } - return m_impl.coeff(inputIndex); - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketReturnType packet(Index index) const - { - if (internal::is_input_scalar::type>::value) { - return internal::pset1(m_impl.coeff(0)); - } - - if (static_cast(Layout) == static_cast(ColMajor)) { - return packetColMajor(index); - } else { - return packetRowMajor(index); - } - } - - // Ignore the LoadMode and always use unaligned loads since we can't guarantee - // the alignment at compile time. - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetColMajor(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - const Index originalIndex = index; - - Index inputIndex = 0; - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_outputStrides[i]; - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx < m_impl.dimensions()[i]); - inputIndex += idx * m_inputStrides[i]; - } else { - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx % m_impl.dimensions()[i] == 0); - } else { - inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i]; - } - } - index -= idx * m_outputStrides[i]; - } - Index innermostLoc; - if (internal::index_statically_eq(0, 1)) { - eigen_assert(index < m_impl.dimensions()[0]); - innermostLoc = index; - } else { - if (internal::index_statically_eq(0, 1)) { - eigen_assert(index % m_impl.dimensions()[0] == 0); - innermostLoc = 0; - } else { - innermostLoc = index % m_impl.dimensions()[0]; - } - } - inputIndex += innermostLoc; - - // Todo: this could be extended to the second dimension if we're not - // broadcasting alongside the first dimension, and so on. - if (innermostLoc + PacketSize <= m_impl.dimensions()[0]) { - return m_impl.template packet(inputIndex); - } else { - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - values[0] = m_impl.coeff(inputIndex); - for (int i = 1; i < PacketSize; ++i) { - values[i] = coeffColMajor(originalIndex+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetRowMajor(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - const Index originalIndex = index; - - Index inputIndex = 0; - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_outputStrides[i]; - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx < m_impl.dimensions()[i]); - inputIndex += idx * m_inputStrides[i]; - } else { - if (internal::index_statically_eq(i, 1)) { - eigen_assert(idx % m_impl.dimensions()[i] == 0); - } else { - inputIndex += (idx % m_impl.dimensions()[i]) * m_inputStrides[i]; - } - } - index -= idx * m_outputStrides[i]; - } - Index innermostLoc; - if (internal::index_statically_eq(NumDims-1, 1)) { - eigen_assert(index < m_impl.dimensions()[NumDims-1]); - innermostLoc = index; - } else { - if (internal::index_statically_eq(NumDims-1, 1)) { - eigen_assert(index % m_impl.dimensions()[NumDims-1] == 0); - innermostLoc = 0; - } else { - innermostLoc = index % m_impl.dimensions()[NumDims-1]; - } - } - inputIndex += innermostLoc; - - // Todo: this could be extended to the second dimension if we're not - // broadcasting alongside the first dimension, and so on. - if (innermostLoc + PacketSize <= m_impl.dimensions()[NumDims-1]) { - return m_impl.template packet(inputIndex); - } else { - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - values[0] = m_impl.coeff(inputIndex); - for (int i = 1; i < PacketSize; ++i) { - values[i] = coeffRowMajor(originalIndex+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - double compute_cost = TensorOpCost::AddCost(); - if (NumDims > 0) { - for (int i = NumDims - 1; i > 0; --i) { - compute_cost += TensorOpCost::DivCost(); - if (internal::index_statically_eq(i, 1)) { - compute_cost += - TensorOpCost::MulCost() + TensorOpCost::AddCost(); - } else { - if (!internal::index_statically_eq(i, 1)) { - compute_cost += TensorOpCost::MulCost() + - TensorOpCost::ModCost() + - TensorOpCost::AddCost(); - } - } - compute_cost += - TensorOpCost::MulCost() + TensorOpCost::AddCost(); - } - } - return m_impl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, compute_cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - const TensorEvaluator& impl() const { return m_impl; } - - Broadcast functor() const { return m_broadcast; } - - protected: - const Broadcast m_broadcast; - Dimensions m_dimensions; - array m_outputStrides; - array m_inputStrides; - TensorEvaluator m_impl; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_BROADCASTING_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h deleted file mode 100644 index c46a778b..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorChipping.h +++ /dev/null @@ -1,400 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CHIPPING_H -#define EIGEN_CXX11_TENSOR_TENSOR_CHIPPING_H - -namespace Eigen { - -/** \class TensorKChippingReshaping - * \ingroup CXX11_Tensor_Module - * - * \brief A chip is a thin slice, corresponding to a column or a row in a 2-d tensor. - * - * - */ - -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions - 1; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorChippingOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorChippingOp type; -}; - -template -struct DimensionId -{ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DimensionId(DenseIndex dim) { - EIGEN_UNUSED_VARIABLE(dim); - eigen_assert(dim == DimId); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex actualDim() const { - return DimId; - } -}; -template <> -struct DimensionId -{ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DimensionId(DenseIndex dim) : actual_dim(dim) { - eigen_assert(dim >= 0); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex actualDim() const { - return actual_dim; - } - private: - const DenseIndex actual_dim; -}; - - -} // end namespace internal - - - -template -class TensorChippingOp : public TensorBase > -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorChippingOp(const XprType& expr, const Index offset, const Index dim) - : m_xpr(expr), m_offset(offset), m_dim(dim) { - } - - EIGEN_DEVICE_FUNC - const Index offset() const { return m_offset; } - EIGEN_DEVICE_FUNC - const Index dim() const { return m_dim.actualDim(); } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorChippingOp& operator = (const TensorChippingOp& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorChippingOp& operator = (const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - protected: - typename XprType::Nested m_xpr; - const Index m_offset; - const internal::DimensionId m_dim; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorChippingOp XprType; - static const int NumInputDims = internal::array_size::Dimensions>::value; - static const int NumDims = NumInputDims-1; - typedef typename XprType::Index Index; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - - enum { - // Alignment can't be guaranteed at compile time since it depends on the - // slice offsets. - IsAligned = false, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_dim(op.dim()), m_device(device), m_offset(op.offset()) - { - EIGEN_STATIC_ASSERT((NumInputDims >= 1), YOU_MADE_A_PROGRAMMING_MISTAKE); - eigen_assert(NumInputDims > m_dim.actualDim()); - - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - eigen_assert(op.offset() < input_dims[m_dim.actualDim()]); - - int j = 0; - for (int i = 0; i < NumInputDims; ++i) { - if (i != m_dim.actualDim()) { - m_dimensions[j] = input_dims[i]; - ++j; - } - } - - m_stride = 1; - m_inputStride = 1; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < m_dim.actualDim(); ++i) { - m_stride *= input_dims[i]; - m_inputStride *= input_dims[i]; - } - } else { - for (int i = NumInputDims-1; i > m_dim.actualDim(); --i) { - m_stride *= input_dims[i]; - m_inputStride *= input_dims[i]; - } - } - m_inputStride *= input_dims[m_dim.actualDim()]; - m_inputOffset = m_stride * op.offset(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_impl.coeff(srcCoeff(index)); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - if ((static_cast(Layout) == static_cast(ColMajor) && m_dim.actualDim() == 0) || - (static_cast(Layout) == static_cast(RowMajor) && m_dim.actualDim() == NumInputDims-1)) { - // m_stride is equal to 1, so let's avoid the integer division. - eigen_assert(m_stride == 1); - Index inputIndex = index * m_inputStride + m_inputOffset; - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - for (int i = 0; i < PacketSize; ++i) { - values[i] = m_impl.coeff(inputIndex); - inputIndex += m_inputStride; - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } else if ((static_cast(Layout) == static_cast(ColMajor) && m_dim.actualDim() == NumInputDims - 1) || - (static_cast(Layout) == static_cast(RowMajor) && m_dim.actualDim() == 0)) { - // m_stride is aways greater than index, so let's avoid the integer division. - eigen_assert(m_stride > index); - return m_impl.template packet(index + m_inputOffset); - } else { - const Index idx = index / m_stride; - const Index rem = index - idx * m_stride; - if (rem + PacketSize <= m_stride) { - Index inputIndex = idx * m_inputStride + m_inputOffset + rem; - return m_impl.template packet(inputIndex); - } else { - // Cross the stride boundary. Fallback to slow path. - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - for (int i = 0; i < PacketSize; ++i) { - values[i] = coeff(index); - ++index; - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - double cost = 0; - if ((static_cast(Layout) == static_cast(ColMajor) && - m_dim.actualDim() == 0) || - (static_cast(Layout) == static_cast(RowMajor) && - m_dim.actualDim() == NumInputDims - 1)) { - cost += TensorOpCost::MulCost() + TensorOpCost::AddCost(); - } else if ((static_cast(Layout) == static_cast(ColMajor) && - m_dim.actualDim() == NumInputDims - 1) || - (static_cast(Layout) == static_cast(RowMajor) && - m_dim.actualDim() == 0)) { - cost += TensorOpCost::AddCost(); - } else { - cost += 3 * TensorOpCost::MulCost() + TensorOpCost::DivCost() + - 3 * TensorOpCost::AddCost(); - } - - return m_impl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const { - CoeffReturnType* result = const_cast(m_impl.data()); - if (((static_cast(Layout) == static_cast(ColMajor) && m_dim.actualDim() == NumDims) || - (static_cast(Layout) == static_cast(RowMajor) && m_dim.actualDim() == 0)) && - result) { - return result + m_inputOffset; - } else { - return NULL; - } - } - - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex dimId() const { - return m_dim.actualDim(); - } - - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const DenseIndex& offset() const { - return m_offset; - } - /// required by sycl in order to extract the accessor - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const TensorEvaluator& impl() const { return m_impl; } - - protected: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const - { - Index inputIndex; - if ((static_cast(Layout) == static_cast(ColMajor) && m_dim.actualDim() == 0) || - (static_cast(Layout) == static_cast(RowMajor) && m_dim.actualDim() == NumInputDims-1)) { - // m_stride is equal to 1, so let's avoid the integer division. - eigen_assert(m_stride == 1); - inputIndex = index * m_inputStride + m_inputOffset; - } else if ((static_cast(Layout) == static_cast(ColMajor) && m_dim.actualDim() == NumInputDims-1) || - (static_cast(Layout) == static_cast(RowMajor) && m_dim.actualDim() == 0)) { - // m_stride is aways greater than index, so let's avoid the integer division. - eigen_assert(m_stride > index); - inputIndex = index + m_inputOffset; - } else { - const Index idx = index / m_stride; - inputIndex = idx * m_inputStride + m_inputOffset; - index -= idx * m_stride; - inputIndex += index; - } - return inputIndex; - } - - Dimensions m_dimensions; - Index m_stride; - Index m_inputOffset; - Index m_inputStride; - TensorEvaluator m_impl; - const internal::DimensionId m_dim; - const Device& m_device; -// required by sycl - const DenseIndex m_offset; - -}; - - -// Eval as lvalue -template -struct TensorEvaluator, Device> - : public TensorEvaluator, Device> -{ - typedef TensorEvaluator, Device> Base; - typedef TensorChippingOp XprType; - static const int NumInputDims = internal::array_size::Dimensions>::value; - static const int NumDims = NumInputDims-1; - typedef typename XprType::Index Index; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = TensorEvaluator::PacketAccess, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : Base(op, device) - { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index) - { - return this->m_impl.coeffRef(this->srcCoeff(index)); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketReturnType& x) - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - - if ((static_cast(this->Layout) == static_cast(ColMajor) && this->m_dim.actualDim() == 0) || - (static_cast(this->Layout) == static_cast(RowMajor) && this->m_dim.actualDim() == NumInputDims-1)) { - // m_stride is equal to 1, so let's avoid the integer division. - eigen_assert(this->m_stride == 1); - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - internal::pstore(values, x); - Index inputIndex = index * this->m_inputStride + this->m_inputOffset; - for (int i = 0; i < PacketSize; ++i) { - this->m_impl.coeffRef(inputIndex) = values[i]; - inputIndex += this->m_inputStride; - } - } else if ((static_cast(this->Layout) == static_cast(ColMajor) && this->m_dim.actualDim() == NumInputDims-1) || - (static_cast(this->Layout) == static_cast(RowMajor) && this->m_dim.actualDim() == 0)) { - // m_stride is aways greater than index, so let's avoid the integer division. - eigen_assert(this->m_stride > index); - this->m_impl.template writePacket(index + this->m_inputOffset, x); - } else { - const Index idx = index / this->m_stride; - const Index rem = index - idx * this->m_stride; - if (rem + PacketSize <= this->m_stride) { - const Index inputIndex = idx * this->m_inputStride + this->m_inputOffset + rem; - this->m_impl.template writePacket(inputIndex, x); - } else { - // Cross stride boundary. Fallback to slow path. - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - internal::pstore(values, x); - for (int i = 0; i < PacketSize; ++i) { - this->coeffRef(index) = values[i]; - ++index; - } - } - } - } -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CHIPPING_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h deleted file mode 100644 index 2c7ba961..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConcatenation.h +++ /dev/null @@ -1,367 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONCATENATION_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONCATENATION_H - -namespace Eigen { - -/** \class TensorConcatenationOp - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor concatenation class. - * - * - */ -namespace internal { -template -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs are different. - typedef typename promote_storage_type::ret Scalar; - typedef typename promote_storage_type::StorageKind, - typename traits::StorageKind>::ret StorageKind; - typedef typename promote_index_type::Index, - typename traits::Index>::type Index; - typedef typename LhsXprType::Nested LhsNested; - typedef typename RhsXprType::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - static const int NumDimensions = traits::NumDimensions; - static const int Layout = traits::Layout; - enum { Flags = 0 }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorConcatenationOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorConcatenationOp type; -}; - -} // end namespace internal - - -template -class TensorConcatenationOp : public TensorBase, WriteAccessors> -{ - public: - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - typedef typename internal::nested::type Nested; - typedef typename internal::promote_storage_type::ret CoeffReturnType; - typedef typename NumTraits::Real RealScalar; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorConcatenationOp(const LhsXprType& lhs, const RhsXprType& rhs, Axis axis) - : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_axis(axis) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - lhsExpression() const { return m_lhs_xpr; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - rhsExpression() const { return m_rhs_xpr; } - - EIGEN_DEVICE_FUNC const Axis& axis() const { return m_axis; } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorConcatenationOp& operator = (const TensorConcatenationOp& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorConcatenationOp& operator = (const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - protected: - typename LhsXprType::Nested m_lhs_xpr; - typename RhsXprType::Nested m_rhs_xpr; - const Axis m_axis; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorConcatenationOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::Dimensions>::value; - static const int RightNumDims = internal::array_size::Dimensions>::value; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - enum { - IsAligned = false, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_leftImpl(op.lhsExpression(), device), m_rightImpl(op.rhsExpression(), device), m_axis(op.axis()) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout) || NumDims == 1), YOU_MADE_A_PROGRAMMING_MISTAKE); - EIGEN_STATIC_ASSERT((NumDims == RightNumDims), YOU_MADE_A_PROGRAMMING_MISTAKE); - EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE); - - eigen_assert(0 <= m_axis && m_axis < NumDims); - const Dimensions& lhs_dims = m_leftImpl.dimensions(); - const Dimensions& rhs_dims = m_rightImpl.dimensions(); - { - int i = 0; - for (; i < m_axis; ++i) { - eigen_assert(lhs_dims[i] > 0); - eigen_assert(lhs_dims[i] == rhs_dims[i]); - m_dimensions[i] = lhs_dims[i]; - } - eigen_assert(lhs_dims[i] > 0); // Now i == m_axis. - eigen_assert(rhs_dims[i] > 0); - m_dimensions[i] = lhs_dims[i] + rhs_dims[i]; - for (++i; i < NumDims; ++i) { - eigen_assert(lhs_dims[i] > 0); - eigen_assert(lhs_dims[i] == rhs_dims[i]); - m_dimensions[i] = lhs_dims[i]; - } - } - - if (static_cast(Layout) == static_cast(ColMajor)) { - m_leftStrides[0] = 1; - m_rightStrides[0] = 1; - m_outputStrides[0] = 1; - - for (int j = 1; j < NumDims; ++j) { - m_leftStrides[j] = m_leftStrides[j-1] * lhs_dims[j-1]; - m_rightStrides[j] = m_rightStrides[j-1] * rhs_dims[j-1]; - m_outputStrides[j] = m_outputStrides[j-1] * m_dimensions[j-1]; - } - } else { - m_leftStrides[NumDims - 1] = 1; - m_rightStrides[NumDims - 1] = 1; - m_outputStrides[NumDims - 1] = 1; - - for (int j = NumDims - 2; j >= 0; --j) { - m_leftStrides[j] = m_leftStrides[j+1] * lhs_dims[j+1]; - m_rightStrides[j] = m_rightStrides[j+1] * rhs_dims[j+1]; - m_outputStrides[j] = m_outputStrides[j+1] * m_dimensions[j+1]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - // TODO(phli): Add short-circuit memcpy evaluation if underlying data are linear? - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) - { - m_leftImpl.evalSubExprsIfNeeded(NULL); - m_rightImpl.evalSubExprsIfNeeded(NULL); - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() - { - m_leftImpl.cleanup(); - m_rightImpl.cleanup(); - } - - // TODO(phli): attempt to speed this up. The integer divisions and modulo are slow. - // See CL/76180724 comments for more ideas. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - // Collect dimension-wise indices (subs). - array subs; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - subs[i] = index / m_outputStrides[i]; - index -= subs[i] * m_outputStrides[i]; - } - subs[0] = index; - } else { - for (int i = 0; i < NumDims - 1; ++i) { - subs[i] = index / m_outputStrides[i]; - index -= subs[i] * m_outputStrides[i]; - } - subs[NumDims - 1] = index; - } - - const Dimensions& left_dims = m_leftImpl.dimensions(); - if (subs[m_axis] < left_dims[m_axis]) { - Index left_index; - if (static_cast(Layout) == static_cast(ColMajor)) { - left_index = subs[0]; - for (int i = 1; i < NumDims; ++i) { - left_index += (subs[i] % left_dims[i]) * m_leftStrides[i]; - } - } else { - left_index = subs[NumDims - 1]; - for (int i = NumDims - 2; i >= 0; --i) { - left_index += (subs[i] % left_dims[i]) * m_leftStrides[i]; - } - } - return m_leftImpl.coeff(left_index); - } else { - subs[m_axis] -= left_dims[m_axis]; - const Dimensions& right_dims = m_rightImpl.dimensions(); - Index right_index; - if (static_cast(Layout) == static_cast(ColMajor)) { - right_index = subs[0]; - for (int i = 1; i < NumDims; ++i) { - right_index += (subs[i] % right_dims[i]) * m_rightStrides[i]; - } - } else { - right_index = subs[NumDims - 1]; - for (int i = NumDims - 2; i >= 0; --i) { - right_index += (subs[i] % right_dims[i]) * m_rightStrides[i]; - } - } - return m_rightImpl.coeff(right_index); - } - } - - // TODO(phli): Add a real vectorization. - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - const int packetSize = internal::unpacket_traits::size; - EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index + packetSize - 1 < dimensions().TotalSize()); - - EIGEN_ALIGN_MAX CoeffReturnType values[packetSize]; - for (int i = 0; i < packetSize; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - const double compute_cost = NumDims * (2 * TensorOpCost::AddCost() + - 2 * TensorOpCost::MulCost() + - TensorOpCost::DivCost() + - TensorOpCost::ModCost()); - const double lhs_size = m_leftImpl.dimensions().TotalSize(); - const double rhs_size = m_rightImpl.dimensions().TotalSize(); - return (lhs_size / (lhs_size + rhs_size)) * - m_leftImpl.costPerCoeff(vectorized) + - (rhs_size / (lhs_size + rhs_size)) * - m_rightImpl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, compute_cost); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& left_impl() const { return m_leftImpl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& right_impl() const { return m_rightImpl; } - /// required by sycl in order to extract the accessor - const Axis& axis() const { return m_axis; } - - protected: - Dimensions m_dimensions; - array m_outputStrides; - array m_leftStrides; - array m_rightStrides; - TensorEvaluator m_leftImpl; - TensorEvaluator m_rightImpl; - const Axis m_axis; -}; - -// Eval as lvalue -template - struct TensorEvaluator, Device> - : public TensorEvaluator, Device> -{ - typedef TensorEvaluator, Device> Base; - typedef TensorConcatenationOp XprType; - typedef typename Base::Dimensions Dimensions; - enum { - IsAligned = false, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(XprType& op, const Device& device) - : Base(op, device) - { - EIGEN_STATIC_ASSERT((static_cast(Layout) == static_cast(ColMajor)), YOU_MADE_A_PROGRAMMING_MISTAKE); - } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index) - { - // Collect dimension-wise indices (subs). - array subs; - for (int i = Base::NumDims - 1; i > 0; --i) { - subs[i] = index / this->m_outputStrides[i]; - index -= subs[i] * this->m_outputStrides[i]; - } - subs[0] = index; - - const Dimensions& left_dims = this->m_leftImpl.dimensions(); - if (subs[this->m_axis] < left_dims[this->m_axis]) { - Index left_index = subs[0]; - for (int i = 1; i < Base::NumDims; ++i) { - left_index += (subs[i] % left_dims[i]) * this->m_leftStrides[i]; - } - return this->m_leftImpl.coeffRef(left_index); - } else { - subs[this->m_axis] -= left_dims[this->m_axis]; - const Dimensions& right_dims = this->m_rightImpl.dimensions(); - Index right_index = subs[0]; - for (int i = 1; i < Base::NumDims; ++i) { - right_index += (subs[i] % right_dims[i]) * this->m_rightStrides[i]; - } - return this->m_rightImpl.coeffRef(right_index); - } - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketReturnType& x) - { - const int packetSize = internal::unpacket_traits::size; - EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index + packetSize - 1 < this->dimensions().TotalSize()); - - EIGEN_ALIGN_MAX CoeffReturnType values[packetSize]; - internal::pstore(values, x); - for (int i = 0; i < packetSize; ++i) { - coeffRef(index+i) = values[i]; - } - } -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONCATENATION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h deleted file mode 100644 index bf4a476d..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContraction.h +++ /dev/null @@ -1,909 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_H - -namespace Eigen { - -/** \class TensorContraction - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor contraction class. - * - * - */ -namespace internal { -#if defined(EIGEN_VECTORIZE_AVX) && defined(EIGEN_USE_LIBXSMM) -template -void pack_simple(Scalar * dst, const Scalar * src, Index cols, Index rows, Index lddst, Index ldsrc) { - size_t psize = packet_traits::size; // Packet size - typedef typename packet_traits::type Packet; // Packet type - size_t alignment = psize*sizeof(Scalar); // Needed alignment - if (rows % psize == 0 && (lddst*sizeof(Scalar)) % alignment == 0 && - (ldsrc*sizeof(Scalar)) % alignment == 0 && - reinterpret_cast(src) % alignment == 0 && - reinterpret_cast(dst) % alignment == 0) { - // Optimized version using packets - size_t num_packets = rows / psize; - for (Index col = 0; col < cols; ++col) { - EIGEN_ASM_COMMENT("begin pack_simple inner copy"); - // Unrolled manually 4 times. - for (size_t i=0; i < num_packets/4; ++i) { - internal::pstore(dst, internal::pload(src)); - dst += psize; src += psize; - internal::pstore(dst, internal::pload(src)); - dst += psize; src += psize; - internal::pstore(dst, internal::pload(src)); - dst += psize; src += psize; - internal::pstore(dst, internal::pload(src)); - dst += psize; src += psize; - } - for (size_t i=0; i < num_packets%4; ++i) { - internal::pstore(dst, internal::pload(src)); - dst += psize; src += psize; - } - dst += lddst - num_packets*psize; - src += ldsrc - num_packets*psize; - EIGEN_ASM_COMMENT("end pack_simple inner copy"); - } - } else { - // Naive memcpy calls - for (Index col = 0; col < cols; ++col) { - memcpy(dst + col*lddst, src + col*ldsrc, rows*sizeof(Scalar)); - } - } -} - -template - struct libxsmm_wrapper { - libxsmm_wrapper() {} - libxsmm_wrapper(int, int, int, int, int, int, int, float, float, int) {} - void operator()(const LhsScalar*, const RhsScalar*, Scalar*) {} - void operator()(const LhsScalar*, const RhsScalar*, Scalar*, const LhsScalar*, const RhsScalar*, const Scalar*) {} - }; - - template<> - struct libxsmm_wrapper: public libxsmm_mmfunction { - libxsmm_wrapper(): libxsmm_mmfunction() {} - libxsmm_wrapper(int flags, int m, int n, int k, int lda, int ldb, int ldc, float alpha, float beta, int prefetch) : - libxsmm_mmfunction(flags, m, n, k, lda, ldb, ldc, alpha, beta, prefetch) {} - }; - - template<> - struct libxsmm_wrapper: public libxsmm_mmfunction { - libxsmm_wrapper(): libxsmm_mmfunction() {} - libxsmm_wrapper(int flags, int m, int n, int k, int lda, int ldb, int ldc, float alpha, float beta, int prefetch) : - libxsmm_mmfunction(flags, m, n, k, lda, ldb, ldc, alpha, beta, prefetch) {} - }; -#endif - - -template -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs are different. - typedef typename gebp_traits::type, - typename remove_const::type>::ResScalar Scalar; - - typedef typename promote_storage_type::StorageKind, - typename traits::StorageKind>::ret StorageKind; - typedef typename promote_index_type::Index, - typename traits::Index>::type Index; - typedef typename LhsXprType::Nested LhsNested; - typedef typename RhsXprType::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - - // From NumDims below. - static const int NumDimensions = traits::NumDimensions + traits::NumDimensions - 2 * array_size::value; - static const int Layout = traits::Layout; - - enum { - Flags = 0 - }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorContractionOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorContractionOp type; -}; - -template -struct traits, Device_> > { - typedef Indices_ Indices; - typedef LeftArgType_ LeftArgType; - typedef RightArgType_ RightArgType; - typedef Device_ Device; - - // From NumDims below. - static const int NumDimensions = traits::NumDimensions + traits::NumDimensions - 2 * array_size::value; -}; - -} // end namespace internal - -template -class TensorContractionOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename internal::gebp_traits::ResScalar CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorContractionOp( - const LhsXprType& lhs, const RhsXprType& rhs, const Indices& dims) - : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_indices(dims) {} - - EIGEN_DEVICE_FUNC - const Indices& indices() const { return m_indices; } - - /** \returns the nested expressions */ - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - lhsExpression() const { return m_lhs_xpr; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - rhsExpression() const { return m_rhs_xpr; } - - protected: - typename LhsXprType::Nested m_lhs_xpr; - typename RhsXprType::Nested m_rhs_xpr; - const Indices m_indices; -}; - - -template -struct TensorContractionEvaluatorBase -{ - typedef typename internal::traits::Indices Indices; - typedef typename internal::traits::LeftArgType LeftArgType; - typedef typename internal::traits::RightArgType RightArgType; - typedef typename internal::traits::Device Device; - - typedef TensorContractionOp XprType; - typedef typename internal::remove_const::type Scalar; - typedef typename XprType::Index Index; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - enum { - IsAligned = true, - PacketAccess = (internal::unpacket_traits::size > 1), - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = true - }; - - // Most of the code is assuming that both input tensors are ColMajor. If the - // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS: - // If we want to compute A * B = C, where A is LHS and B is RHS, the code - // will pretend B is LHS and A is RHS. - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType; - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType; - - static const int LDims = - internal::array_size::Dimensions>::value; - static const int RDims = - internal::array_size::Dimensions>::value; - static const int ContractDims = internal::array_size::value; - static const int NumDims = LDims + RDims - 2 * ContractDims; - - typedef array contract_t; - typedef array left_nocontract_t; - typedef array right_nocontract_t; - - typedef DSizes Dimensions; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorContractionEvaluatorBase(const XprType& op, const Device& device) - : m_leftImpl(choose(Cond(Layout) == static_cast(ColMajor)>(), - op.lhsExpression(), op.rhsExpression()), device), - m_rightImpl(choose(Cond(Layout) == static_cast(ColMajor)>(), - op.rhsExpression(), op.lhsExpression()), device), - m_device(device), - m_result(NULL) { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == - static_cast(TensorEvaluator::Layout)), - YOU_MADE_A_PROGRAMMING_MISTAKE); - - - DSizes eval_left_dims; - DSizes eval_right_dims; - array, ContractDims> eval_op_indices; - if (static_cast(Layout) == static_cast(ColMajor)) { - // For ColMajor, we keep using the existing dimensions - for (int i = 0; i < LDims; i++) { - eval_left_dims[i] = m_leftImpl.dimensions()[i]; - } - for (int i = 0; i < RDims; i++) { - eval_right_dims[i] = m_rightImpl.dimensions()[i]; - } - // We keep the pairs of contracting indices. - for (int i = 0; i < ContractDims; i++) { - eval_op_indices[i].first = op.indices()[i].first; - eval_op_indices[i].second = op.indices()[i].second; - } - } else { - // For RowMajor, we need to reverse the existing dimensions - for (int i = 0; i < LDims; i++) { - eval_left_dims[i] = m_leftImpl.dimensions()[LDims - i - 1]; - } - for (int i = 0; i < RDims; i++) { - eval_right_dims[i] = m_rightImpl.dimensions()[RDims - i - 1]; - } - // We need to flip all the pairs of contracting indices as well as - // reversing the dimensions. - for (int i = 0; i < ContractDims; i++) { - eval_op_indices[i].first = LDims - 1 - op.indices()[ContractDims - 1 - i].second; - eval_op_indices[i].second = RDims - 1 - op.indices()[ContractDims - 1 - i].first; - } - } - - // Check for duplicate axes and make sure the first index in eval_op_indices - // is increasing. Using O(n^2) sorting is OK since ContractDims is small - for (int i = 0; i < ContractDims; i++) { - for (int j = i + 1; j < ContractDims; j++) { - eigen_assert(eval_op_indices[j].first != eval_op_indices[i].first && - eval_op_indices[j].second != eval_op_indices[i].second && - "contraction axes should be unique"); - if (eval_op_indices[j].first < eval_op_indices[i].first) { - numext::swap(eval_op_indices[j], eval_op_indices[i]); - } - } - } - - array lhs_strides; - lhs_strides[0] = 1; - for (int i = 0; i < LDims-1; ++i) { - lhs_strides[i+1] = lhs_strides[i] * eval_left_dims[i]; - } - - array rhs_strides; - rhs_strides[0] = 1; - for (int i = 0; i < RDims-1; ++i) { - rhs_strides[i+1] = rhs_strides[i] * eval_right_dims[i]; - } - - if (m_i_strides.size() > 0) m_i_strides[0] = 1; - if (m_j_strides.size() > 0) m_j_strides[0] = 1; - if (m_k_strides.size() > 0) m_k_strides[0] = 1; - - m_i_size = 1; - m_j_size = 1; - m_k_size = 1; - - // To compute the dimension, we simply concatenate the non-contracting - // dimensions of the left and then the right tensor. Additionally, we also - // compute the strides corresponding to the left non-contracting - // dimensions and right non-contracting dimensions. - m_lhs_inner_dim_contiguous = true; - int dim_idx = 0; - unsigned int nocontract_idx = 0; - - for (int i = 0; i < LDims; i++) { - // find if we are contracting on index i of left tensor - bool contracting = false; - for (int j = 0; j < ContractDims; j++) { - if (eval_op_indices[j].first == i) { - contracting = true; - break; - } - } - if (!contracting) { - // add dimension size to output dimensions - m_dimensions[dim_idx] = eval_left_dims[i]; - m_left_nocontract_strides[nocontract_idx] = lhs_strides[i]; - if (dim_idx != i) { - m_lhs_inner_dim_contiguous = false; - } - if (nocontract_idx+1 < internal::array_size::value) { - m_i_strides[nocontract_idx+1] = - m_i_strides[nocontract_idx] * eval_left_dims[i]; - } else { - m_i_size = m_i_strides[nocontract_idx] * eval_left_dims[i]; - } - dim_idx++; - nocontract_idx++; - } - } - - nocontract_idx = 0; - for (int i = 0; i < RDims; i++) { - bool contracting = false; - // find if we are contracting on index i of right tensor - for (int j = 0; j < ContractDims; j++) { - if (eval_op_indices[j].second == i) { - contracting = true; - break; - } - } - if (!contracting) { - m_dimensions[dim_idx] = eval_right_dims[i]; - if (nocontract_idx+1 < internal::array_size::value) { - m_j_strides[nocontract_idx+1] = - m_j_strides[nocontract_idx] * eval_right_dims[i]; - } else { - m_j_size = m_j_strides[nocontract_idx] * eval_right_dims[i]; - } - m_right_nocontract_strides[nocontract_idx] = rhs_strides[i]; - dim_idx++; - nocontract_idx++; - } - } - - // Now compute the strides corresponding to the contracting dimensions. We - // assumed above that non-contracting axes are represented in the same order - // in the matrix as they are in the tensor. This is not the case for - // contracting axes. As the contracting axes must be of the same size in - // each tensor, we'll only look at the first tensor here. - m_rhs_inner_dim_contiguous = true; - m_rhs_inner_dim_reordered = false; - for (int i = 0; i < ContractDims; i++) { - Index left = eval_op_indices[i].first; - Index right = eval_op_indices[i].second; - - Index size = eval_left_dims[left]; - eigen_assert(size == eval_right_dims[right] && - "Contraction axes must be same size"); - - if (i+1 < static_cast(internal::array_size::value)) { - m_k_strides[i+1] = m_k_strides[i] * size; - } else { - m_k_size = m_k_strides[i] * size; - } - m_left_contracting_strides[i] = lhs_strides[left]; - m_right_contracting_strides[i] = rhs_strides[right]; - - if (i > 0 && right < eval_op_indices[i-1].second) { - m_rhs_inner_dim_reordered = true; - } - if (right != i) { - m_rhs_inner_dim_contiguous = false; - } - } - - EnableXSMMIfPossible(eval_op_indices); - - // If the layout is RowMajor, we need to reverse the m_dimensions - if (static_cast(Layout) == static_cast(RowMajor)) { - for (int i = 0, j = NumDims - 1; i < j; i++, j--) { - numext::swap(m_dimensions[i], m_dimensions[j]); - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar * data) { - m_leftImpl.evalSubExprsIfNeeded(NULL); - m_rightImpl.evalSubExprsIfNeeded(NULL); - if (data) { - evalTo(data); - return false; - } else { - m_result = static_cast(m_device.allocate(dimensions().TotalSize() * sizeof(Scalar))); - evalTo(m_result); - return true; - } - } - - EIGEN_DEVICE_FUNC void evalTo(Scalar* buffer) const { - if (this->m_lhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_reordered) { - static_cast(this)->template evalProduct(buffer); - } - else { - static_cast(this)->template evalProduct(buffer); - } - } - else { - if (this->m_rhs_inner_dim_reordered) { - static_cast(this)->template evalProduct(buffer); - } - else { - static_cast(this)->template evalProduct(buffer); - } - } - } - else { - if (this->m_rhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_reordered) { - static_cast(this)->template evalProduct(buffer); - } - else { - static_cast(this)->template evalProduct(buffer); - } - } - else { - if (this->m_rhs_inner_dim_reordered) { - static_cast(this)->template evalProduct(buffer); - } - else { - static_cast(this)->template evalProduct(buffer); - } - } - } - } - - template - EIGEN_DEVICE_FUNC void evalGemv(Scalar* buffer) const { - const Index rows = m_i_size; - const Index cols = m_k_size; - - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - const Index lhs_packet_size = internal::unpacket_traits::size; - const Index rhs_packet_size = internal::unpacket_traits::size; - const int lhs_alignment = LeftEvaluator::IsAligned ? Aligned : Unaligned; - const int rhs_alignment = RightEvaluator::IsAligned ? Aligned : Unaligned; - typedef internal::TensorContractionInputMapper LhsMapper; - - typedef internal::TensorContractionInputMapper RhsMapper; - - LhsMapper lhs(m_leftImpl, m_left_nocontract_strides, m_i_strides, - m_left_contracting_strides, m_k_strides); - RhsMapper rhs(m_rightImpl, m_right_nocontract_strides, m_j_strides, - m_right_contracting_strides, m_k_strides); - - const Scalar alpha(1); - const Index resIncr(1); - - // zero out the result buffer (which must be of size at least rows * sizeof(Scalar) - m_device.memset(buffer, 0, rows * sizeof(Scalar)); - - internal::general_matrix_vector_product::run( - rows, cols, lhs, rhs, - buffer, resIncr, alpha); - } - - template - EIGEN_DEVICE_FUNC void evalGemm(Scalar* buffer) const { - #if defined(EIGEN_VECTORIZE_AVX) && defined(EIGEN_USE_LIBXSMM) - if (m_can_use_xsmm) { - evalGemmXSMM(buffer); - return; - } - #endif - - // columns in left side, rows in right side - const Index k = this->m_k_size; - - // rows in left side - const Index m = this->m_i_size; - - // columns in right side - const Index n = this->m_j_size; - - // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar) - this->m_device.memset(buffer, 0, m * n * sizeof(Scalar)); - - // define mr, nr, and all of my data mapper types - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - typedef typename internal::gebp_traits Traits; - - const Index nr = Traits::nr; - const Index mr = Traits::mr; - - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - - const Index lhs_packet_size = internal::unpacket_traits::size; - const Index rhs_packet_size = internal::unpacket_traits::size; - - typedef internal::TensorContractionInputMapper LhsMapper; - - typedef internal::TensorContractionInputMapper RhsMapper; - - typedef internal::blas_data_mapper OutputMapper; - - // Declare GEBP packing and kernel structs - internal::gemm_pack_lhs pack_lhs; - internal::gemm_pack_rhs pack_rhs; - - internal::gebp_kernel gebp; - - // initialize data mappers - LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, this->m_i_strides, - this->m_left_contracting_strides, this->m_k_strides); - - RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, this->m_j_strides, - this->m_right_contracting_strides, this->m_k_strides); - - OutputMapper output(buffer, m); - - // Sizes of the blocks to load in cache. See the Goto paper for details. - internal::TensorContractionBlocking blocking(k, m, n, 1); - const Index kc = blocking.kc(); - const Index mc = numext::mini(m, blocking.mc()); - const Index nc = numext::mini(n, blocking.nc()); - const Index sizeA = mc * kc; - const Index sizeB = kc * nc; - - LhsScalar* blockA = static_cast(this->m_device.allocate(sizeA * sizeof(LhsScalar))); - RhsScalar* blockB = static_cast(this->m_device.allocate(sizeB * sizeof(RhsScalar))); - - for(Index i2=0; i2m_device.deallocate(blockA); - this->m_device.deallocate(blockB); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_leftImpl.cleanup(); - m_rightImpl.cleanup(); - - if (m_result != NULL) { - m_device.deallocate(m_result); - m_result = NULL; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { - return m_result[index]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool) const { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const { - return internal::ploadt(m_result + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar* data() const { return m_result; } - -protected: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void EnableXSMMIfPossible(const array, ContractDims>& eval_op_indices) { - m_can_use_xsmm = false; - -#if defined(EIGEN_VECTORIZE_AVX) && defined(EIGEN_USE_LIBXSMM) - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - if (!std::is_same::value || - !std::is_same::value || - !(std::is_same::value || - std::is_same::value) || - m_leftImpl.data() == NULL || - m_rightImpl.data() == NULL) { - return; - } - - // Check if we can use faster matmul algorithms. For contraction to be - // equivalent to matmul, we need both lhs and rhs contracting dims sequences - // to be either a prefix or suffix of all dims. Also, the order of both - // must be the same, so we don't have to do reordering. - // For example: - // * OK: lhs 4D, rhs 4D, contraction: [(0, 2), (1, 3)] - // * BAD: lhs 3D, rhs 3D, contraction: [(1,1)] - // * BAD: lhs 3D, rhs 3D, contraction: [(0, 0), (2, 2)] - // * BAD: lhs 3D, rhs 3D, contraction: [(0, 2), (1, 1)] - // Depending if contraction dims are prefix or suffix of all dims we need to - // pre-transpose matrices in matmul algorithm: - // lhs: prefix -> transpose, suffix -> no transpose - // rhs: prefix -> no transpose, suffix -> transpose - // For example, for lhs 2D, rhs 2D, contraction [(1, 0)] is regular, - // non-transposed matmul. - if (ContractDims == 0) { - // This case is totally uninteresting, filter it out to avoid problems - // with iterations in further tests. - return; - } - - // Check if RHS dims list is increasing. LHS already is, so if not, the - // order is different and we cannot do matmul. - for (int i = 1; i < ContractDims; i++) { - if (eval_op_indices[i].second < eval_op_indices[i-1].second) { - return; - } - } - - // Check if no holes. - int diff; - for (int i = 1; i < ContractDims; i++) { - // LHS contract dims are sorted to form an increasing seq. - diff = eval_op_indices[i].first - eval_op_indices[i-1].first; - if (diff != 1) { - return; - } - // Now we may already assume RHS contract dims seq is increasing too. - diff = eval_op_indices[i].second - eval_op_indices[i-1].second; - if (diff != 1) { - return; - } - } - - // Check if suffix or prefix. - if (eval_op_indices[0].first != 0 && - eval_op_indices[ContractDims-1].first != LDims-1) { - return; - } - if (eval_op_indices[0].second != 0 && - eval_op_indices[ContractDims-1].second != RDims-1) { - return; - } - - m_can_use_xsmm = true; -#else - EIGEN_UNUSED_VARIABLE(eval_op_indices); -#endif - } - -#if defined(EIGEN_VECTORIZE_AVX) && defined(EIGEN_USE_LIBXSMM) - EIGEN_DEVICE_FUNC void evalGemmXSMM(Scalar* buffer) const { - // columns in left side, rows in right side - const Index k = this->m_k_size; - - // rows in left side - const Index m = this->m_i_size; - - // columns in right side - const Index n = this->m_j_size; - - const bool transposeA = !m_lhs_inner_dim_contiguous; - const bool transposeB = !m_rhs_inner_dim_contiguous; - - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - - internal::TensorXsmmContractionBlocking blocking( - k, m, n, 1, transposeA, transposeB); - - // Outer blocks sizes - const Index mc_outer = blocking.outer_m(); - const Index nc_outer = blocking.outer_n(); - const Index kc_outer = blocking.outer_k(); - // Inner blocks sizes - const Index mc = blocking.mc(); - const Index nc = blocking.nc(); - const Index kc = blocking.kc(); - // Decisions whether we should copy parts of matrices - const bool copyA = blocking.copyA(); - const bool copyB = blocking.copyB(); - - const LhsScalar* leftData = m_leftImpl.data(); - const RhsScalar* rightData = m_rightImpl.data(); - - const libxsmm_blasint stride_A = static_cast(transposeA ? k : m); - const libxsmm_blasint stride_B = static_cast(transposeB ? n : k); - const libxsmm_blasint stride_C = static_cast(m); - - const libxsmm_blasint stride_blockA = static_cast(mc); - // Use bigger stride to avoid hitting same cache line too often. - // This consistently gives +~0.5 Gflops. - const libxsmm_blasint stride_panelB = static_cast( - kc % 32 == 0 ? kc + 16 : kc - ); - - // Kernel for the general case (not edges) - internal::libxsmm_wrapper kernel; - - LhsScalar* blockA = NULL; - RhsScalar* panelB = NULL; - - if (copyA) { - blockA = static_cast(this->m_device.allocate(mc * kc * sizeof(LhsScalar))); - } - if (copyB) { - panelB = static_cast(this->m_device.allocate(nc_outer * stride_panelB * sizeof(RhsScalar))); - } - - const Index kernel_stride_A = copyA ? stride_blockA : stride_A; - const Index kernel_stride_B = copyB ? stride_panelB : stride_B; - kernel = internal::libxsmm_wrapper(0, mc, nc, kc, kernel_stride_A, kernel_stride_B, stride_C, 1, 1, blocking.prefetch()); - - // Outer blocking - for (Index ki_outer = 0; ki_outer < k; ki_outer += kc_outer) { - for (Index mi_outer = 0; mi_outer < m; mi_outer += mc_outer) { - for (Index ni_outer = 0; ni_outer < n; ni_outer += nc_outer) { - using numext::mini; - - Index actual_nc_outer = mini(ni_outer+nc_outer, n) - ni_outer; - - // Inner blocking - for (Index ki = ki_outer; ki < mini(ki_outer+kc_outer, k); ki += kc) { - const Index actual_kc = mini(ki_outer+kc_outer, mini(ki+kc, k)) - ki; - const float beta = ki == 0 ? 0 : 1; - - if (copyB) { - if (transposeB) { - libxsmm_otrans(panelB, rightData + ki*stride_B + ni_outer, sizeof(RhsScalar), actual_nc_outer, actual_kc, stride_B, stride_panelB); - } else { - internal::pack_simple(panelB, rightData + ni_outer*stride_B + ki, actual_nc_outer, actual_kc, stride_panelB, stride_B); - } - } - - for (Index mi = mi_outer; mi < mini(mi_outer+mc_outer, m); mi += mc) { - const Index actual_mc = mini(mi_outer+mc_outer, mini(mi+mc, m)) - mi; - - const LhsScalar* a = transposeA ? leftData + mi*stride_A + ki : - leftData + ki*stride_A + mi; - - if (copyA) { - if (transposeA) { - libxsmm_otrans(blockA, a, sizeof(LhsScalar), actual_kc, actual_mc, stride_A, stride_blockA); - } else { - internal::pack_simple(blockA, a, actual_kc, actual_mc, stride_blockA, stride_A); - } - } - const LhsScalar* actual_a = copyA ? blockA : a; - - for (Index ni = ni_outer; ni < mini(ni_outer+nc_outer, n); ni += nc) { - const Index actual_nc = mini(ni_outer+nc_outer, mini(ni+nc, n)) - ni; - - const RhsScalar* b = rightData + ni*stride_B + ki; - Scalar* c = buffer + ni*stride_C + mi; - const Scalar* cp = c + nc*stride_C; - - const RhsScalar* actual_b = copyB ? panelB + (ni-ni_outer)*stride_panelB : b; - const RhsScalar* bp = copyB ? panelB + nc*stride_panelB : b + nc*stride_B; - - if (actual_mc == mc && actual_kc == kc && actual_nc == nc && beta == 1) { - // Most used, cached kernel. - kernel(actual_a, actual_b, c, actual_a, bp, cp); - } else { - // Edges - use libxsmm kernel cache. - internal::libxsmm_wrapper(0, actual_mc, actual_nc, actual_kc, kernel_stride_A, kernel_stride_B, stride_C, 1, beta, blocking.prefetch())(actual_a, actual_b, c, actual_a, bp, cp); - } - } - } - } - } - } - } - - if (copyA) { - this->m_device.deallocate(blockA); - } - if (copyB) { - this->m_device.deallocate(panelB); - } - } -#endif - - // Prevent assignment - TensorContractionEvaluatorBase& operator = (const TensorContractionEvaluatorBase&); - Dimensions m_dimensions; - - contract_t m_k_strides; - contract_t m_left_contracting_strides; - contract_t m_right_contracting_strides; - - bool m_lhs_inner_dim_contiguous; - bool m_rhs_inner_dim_contiguous; - bool m_rhs_inner_dim_reordered; - - left_nocontract_t m_i_strides; - right_nocontract_t m_j_strides; - left_nocontract_t m_left_nocontract_strides; - right_nocontract_t m_right_nocontract_strides; - - Index m_i_size; - Index m_j_size; - Index m_k_size; - - TensorEvaluator m_leftImpl; - TensorEvaluator m_rightImpl; - const Device& m_device; - Scalar* m_result; - bool m_can_use_xsmm; -}; - - -// evaluator for default device -template -struct TensorEvaluator, Device> : - public TensorContractionEvaluatorBase< - TensorEvaluator, Device> > { - typedef TensorEvaluator, Device> Self; - typedef TensorContractionEvaluatorBase Base; - - typedef TensorContractionOp XprType; - typedef typename internal::remove_const::type Scalar; - typedef typename XprType::Index Index; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - enum { - Layout = TensorEvaluator::Layout - }; - - // Most of the code is assuming that both input tensors are ColMajor. If the - // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS: - // If we want to compute A * B = C, where A is LHS and B is RHS, the code - // will pretend B is LHS and A is RHS. - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType; - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType; - - static const int LDims = - internal::array_size::Dimensions>::value; - static const int RDims = - internal::array_size::Dimensions>::value; - static const int ContractDims = internal::array_size::value; - - typedef array contract_t; - typedef array left_nocontract_t; - typedef array right_nocontract_t; - - static const int NumDims = LDims + RDims - 2 * ContractDims; - - // Could we use NumDimensions here? - typedef DSizes Dimensions; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) : - Base(op, device) { } - - template - EIGEN_DEVICE_FUNC void evalProduct(Scalar* buffer) const { - if (this->m_j_size == 1) { - this->template evalGemv(buffer); - return; - } - - this->template evalGemm(buffer); - } -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h deleted file mode 100644 index d34f9cae..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionBlocking.h +++ /dev/null @@ -1,190 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_BLOCKING_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_BLOCKING_H - - -namespace Eigen { -namespace internal { - -enum { - ShardByRow = 0, - ShardByCol = 1 -}; - - -// Default Blocking Strategy -template -class TensorContractionBlocking { - public: - - typedef typename LhsMapper::Scalar LhsScalar; - typedef typename RhsMapper::Scalar RhsScalar; - - EIGEN_DEVICE_FUNC TensorContractionBlocking(Index k, Index m, Index n, Index num_threads = 1) : - kc_(k), mc_(m), nc_(n) - { - if (ShardingType == ShardByCol) { - computeProductBlockingSizes(kc_, mc_, nc_, num_threads); - } - else { - computeProductBlockingSizes(kc_, nc_, mc_, num_threads); - } - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index kc() const { return kc_; } - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index mc() const { return mc_; } - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index nc() const { return nc_; } - - private: - Index kc_; - Index mc_; - Index nc_; -}; - - - -#if defined(EIGEN_USE_LIBXSMM) -template -class TensorXsmmContractionBlocking { - public: - TensorXsmmContractionBlocking(Index k, Index m, Index n, - size_t max_num_threads = 1, bool transposeA = false, - bool transposeB = false): - k_(k), m_(m), n_(n), transposeA_(transposeA), - transposeB_(transposeB), num_threads_(max_num_threads) { -#ifdef EIGEN_TEST_SPECIFIC_BLOCKING_SIZES - if (EIGEN_TEST_SPECIFIC_BLOCKING_SIZES) { - mc_ = EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_M; - kc_ = EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_K; - nc_ = EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_N; - outer_m_ = EIGEN_TEST_SPECIFIC_OUTER_BLOCKING_SIZE_M; - outer_k_ = EIGEN_TEST_SPECIFIC_OUTER_BLOCKING_SIZE_K; - outer_n_ = EIGEN_TEST_SPECIFIC_OUTER_BLOCKING_SIZE_N; - copyA_ = EIGEN_TEST_SPECIFIC_BLOCKING_COPY_A; - copyB_ = EIGEN_TEST_SPECIFIC_BLOCKING_COPY_B; - outer_m_ = outer_m_ != 0 ? outer_m_ : m; - outer_k_ = outer_k_ != 0 ? outer_k_ : k; - outer_n_ = outer_n_ != 0 ? outer_n_ : n; - } -#else - // Defaults, possibly overriden per-platform. - copyA_ = true; - copyB_ = false; - - // If the matrix is small enough, don't do blocking, just call single xsmm - // kernel. - if (static_cast(m)*k*n <= LIBXSMM_THRESHOLD) { - mc_ = m; kc_ = k; nc_ = n; - outer_m_ = m; outer_k_ = k; outer_n_ = n; - copyA_ = false; copyB_ = false; - } else { - int arch = libxsmm_cpuid_x86(); - - if (arch == LIBXSMM_X86_AVX512_CORE) { - // skylake - mc_ = 64; kc_ = 64; nc_ = 24; - outer_m_ = 512; outer_k_ = 512; outer_n_ = 24*22; - // Hack to use this kernel architecture as the other one has performance - // issues (no hardware prefetching). - // TODO(nishantpatil): This should be removed if the issues are fixed, - // or this one becomes the default. - setenv("LIBXSMM_AVX512_CLASSIC_GEMM", "1", 1); - } else if (arch == LIBXSMM_X86_AVX2) { - // haswell - mc_ = 32; kc_ = 192; nc_ = 33; - outer_m_ = 512; outer_k_ = 3*192; outer_n_ = 33*16; - } else if (arch == LIBXSMM_X86_AVX) { - // ivybridge - mc_ = 32; kc_ = 192; nc_ = 48; - outer_m_ = 512; outer_k_ = 3*192; outer_n_ = 48*11; - } else { - // generic kernel size, usually performing well - mc_ = 32; kc_ = 128; nc_ = 32; - outer_m_ = 512; outer_k_ = 512; outer_n_ = 512; - } - - // Only copy if it makes the stride smaller. - copyA_ = copyA_ && (m > mc_); - copyB_ = copyB_ && (k > kc_); - } - - // We need to copy anyway if transposing - copyA_ = copyA_ || transposeA; - copyB_ = copyB_ || transposeB; - - // See libxsmm_gemm_prefetch_type definition in libxsmm_typedefs.h - prefetch_ = LIBXSMM_PREFETCH_AL2CL2BL2_VIA_C; - -#endif - - mc_ = mc_ > m ? m : mc_; - nc_ = nc_ > n ? n : nc_; - kc_ = kc_ > k ? k : kc_; - - size_t compute_parallelism = (m / mc_) * (n / nc_); - size_t pack_parallelism = 0; - if (copyA_) { - pack_parallelism += (m / mc_) * (k / kc_); - } - if (copyB_) { - pack_parallelism += (n / nc_) * (k / kc_); - } - size_t parallelism = numext::maxi(compute_parallelism, pack_parallelism); - - num_threads_ = numext::mini(num_threads_, - parallelism / MIN_JOBS_PER_THREAD); - num_threads_ = numext::maxi(num_threads_, 1); - - // For optimal performance outer block sizes should be multiplies of kernel - // sizes, or bigger than matrix size (=no outer blocking). - eigen_assert(outer_m_ % mc_ == 0 || outer_m_ >= m); - eigen_assert(outer_k_ % kc_ == 0 || outer_k_ >= k); - eigen_assert(outer_n_ % nc_ == 0 || outer_n_ >= n); - } - - EIGEN_ALWAYS_INLINE Index kc() const { return kc_; } - EIGEN_ALWAYS_INLINE Index mc() const { return mc_; } - EIGEN_ALWAYS_INLINE Index nc() const { return nc_; } - EIGEN_ALWAYS_INLINE Index outer_k() const { return outer_k_; } - EIGEN_ALWAYS_INLINE Index outer_m() const { return outer_m_; } - EIGEN_ALWAYS_INLINE Index outer_n() const { return outer_n_; } - EIGEN_ALWAYS_INLINE bool copyA() const { return copyA_; } - EIGEN_ALWAYS_INLINE bool copyB() const { return copyB_; } - EIGEN_ALWAYS_INLINE bool transposeA() const { return transposeA_; } - EIGEN_ALWAYS_INLINE bool transposeB() const { return transposeB_; } - EIGEN_ALWAYS_INLINE int num_threads() const { return num_threads_; } - EIGEN_ALWAYS_INLINE Index blocks_m() const { return divup(m_, mc_); } - EIGEN_ALWAYS_INLINE Index blocks_k() const { return divup(k_, kc_); } - EIGEN_ALWAYS_INLINE Index blocks_n() const { return divup(n_, nc_); } - EIGEN_ALWAYS_INLINE libxsmm_gemm_prefetch_type prefetch() const { - return prefetch_; - } - - private: - Index k_, m_, n_; - Index kc_, mc_, nc_; - Index outer_k_, outer_m_, outer_n_; - bool copyA_, copyB_, transposeA_, transposeB_; - size_t num_threads_; - - // Threshold for m*k*n to skip blocking and just call libxsmm - const double LIBXSMM_THRESHOLD = 80*80*80; - // For computing optimal number of threads - so that each thread gets at least - // that many jobs. - const double MIN_JOBS_PER_THREAD = 3; - libxsmm_gemm_prefetch_type prefetch_; -}; -#endif // EIGEN_USE_LIBXSMM - -} // end namespace internal -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_BLOCKING_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h deleted file mode 100644 index c04b784a..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionCuda.h +++ /dev/null @@ -1,1386 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014-2015 Benoit Steiner -// Copyright (C) 2015 Navdeep Jaitly -// Copyright (C) 2014 Eric Martin -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_CUDA_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_CUDA_H - -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) - -namespace Eigen { - -template -__device__ EIGEN_STRONG_INLINE void -EigenContractionKernelInternal(const LhsMapper lhs, const RhsMapper rhs, - const OutputMapper output, Scalar* lhs_shmem, Scalar* rhs_shmem, - const Index m_size, const Index n_size, const Index k_size) { - - const Index m_block_idx = blockIdx.x; - const Index n_block_idx = blockIdx.y; - - const Index base_m = 64 * m_block_idx; - const Index base_n = 64 * n_block_idx; - - // declare and initialize 64 registers for output 8x8 block - - // prefetch registers - Scalar lhs_pf0; - Scalar lhs_pf1; - Scalar lhs_pf2; - Scalar lhs_pf3; - Scalar lhs_pf4; - Scalar lhs_pf5; - Scalar lhs_pf6; - Scalar lhs_pf7; - - Scalar rhs_pf0; - Scalar rhs_pf1; - Scalar rhs_pf2; - Scalar rhs_pf3; - Scalar rhs_pf4; - Scalar rhs_pf5; - Scalar rhs_pf6; - Scalar rhs_pf7; - - // shared memory is formatted - // (contract idx in block, nocontract idx in block, block idx) - // where block idx is column major. This transposition limits the number of - // bank conflicts when reading the LHS. The core idea is that since the contracting - // index is shared by both sides, then the contracting index should be in threadIdx.x. - - // On the LHS, we pad each row inside of each block with an extra element. This makes - // each block 8 rows of 9 elements, which is 72 elements. This gives no bank conflicts - // on writes and very few 2-way conflicts on reads. There is an 8x8 grid of these blocks. - - // On the RHS we just add 8 padding elements to the end of each block. This gives no bank - // conflicts on writes and also none on reads. - - // storage indices - const Index lhs_store_idx_base = threadIdx.y * 72 + threadIdx.x * 9 + threadIdx.z; - const Index rhs_store_idx_base = threadIdx.y * 72 + threadIdx.z * 8 + threadIdx.x; - - const Index lhs_store_idx_0 = lhs_store_idx_base + 576 * 0; - const Index lhs_store_idx_1 = lhs_store_idx_base + 576 * 1; - const Index lhs_store_idx_2 = lhs_store_idx_base + 576 * 2; - const Index lhs_store_idx_3 = lhs_store_idx_base + 576 * 3; - const Index lhs_store_idx_4 = lhs_store_idx_base + 576 * 4; - const Index lhs_store_idx_5 = lhs_store_idx_base + 576 * 5; - const Index lhs_store_idx_6 = lhs_store_idx_base + 576 * 6; - const Index lhs_store_idx_7 = lhs_store_idx_base + 576 * 7; - - const Index rhs_store_idx_0 = rhs_store_idx_base + 576 * 0; - const Index rhs_store_idx_1 = rhs_store_idx_base + 576 * 1; - const Index rhs_store_idx_2 = rhs_store_idx_base + 576 * 2; - const Index rhs_store_idx_3 = rhs_store_idx_base + 576 * 3; - const Index rhs_store_idx_4 = rhs_store_idx_base + 576 * 4; - const Index rhs_store_idx_5 = rhs_store_idx_base + 576 * 5; - const Index rhs_store_idx_6 = rhs_store_idx_base + 576 * 6; - const Index rhs_store_idx_7 = rhs_store_idx_base + 576 * 7; - - // in the loading code, the following variables are important: - // threadIdx.x: the vertical position in an 8x8 block - // threadIdx.y: the vertical index of the 8x8 block in the grid - // threadIdx.z: the horizontal position in an 8x8 block - // k: the horizontal index of the 8x8 block in the grid - // - // The k parameter is implicit (it was the loop counter for a loop that went - // from 0 to <8, but now that loop is unrolled in the below code. - - const Index load_idx_vert = threadIdx.x + 8 * threadIdx.y; - const Index lhs_vert = base_m + load_idx_vert; - -#define prefetchIntoRegisters(base_k) \ - { \ - lhs_pf0 = conv(0); \ - lhs_pf1 = conv(0); \ - lhs_pf2 = conv(0); \ - lhs_pf3 = conv(0); \ - lhs_pf4 = conv(0); \ - lhs_pf5 = conv(0); \ - lhs_pf6 = conv(0); \ - lhs_pf7 = conv(0); \ - \ - rhs_pf0 = conv(0); \ - rhs_pf1 = conv(0); \ - rhs_pf2 = conv(0); \ - rhs_pf3 = conv(0); \ - rhs_pf4 = conv(0); \ - rhs_pf5 = conv(0); \ - rhs_pf6 = conv(0); \ - rhs_pf7 = conv(0); \ - \ - if (!needs_edge_check || lhs_vert < m_size) { \ - const Index lhs_horiz_0 = base_k + threadIdx.z + 0 * 8; \ - const Index lhs_horiz_1 = base_k + threadIdx.z + 1 * 8; \ - const Index lhs_horiz_2 = base_k + threadIdx.z + 2 * 8; \ - const Index lhs_horiz_3 = base_k + threadIdx.z + 3 * 8; \ - const Index lhs_horiz_4 = base_k + threadIdx.z + 4 * 8; \ - const Index lhs_horiz_5 = base_k + threadIdx.z + 5 * 8; \ - const Index lhs_horiz_6 = base_k + threadIdx.z + 6 * 8; \ - const Index lhs_horiz_7 = base_k + threadIdx.z + 7 * 8; \ - \ - if (!needs_edge_check || lhs_horiz_7 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - lhs_pf2 = lhs(lhs_vert, lhs_horiz_2); \ - lhs_pf3 = lhs(lhs_vert, lhs_horiz_3); \ - lhs_pf4 = lhs(lhs_vert, lhs_horiz_4); \ - lhs_pf5 = lhs(lhs_vert, lhs_horiz_5); \ - lhs_pf6 = lhs(lhs_vert, lhs_horiz_6); \ - lhs_pf7 = lhs(lhs_vert, lhs_horiz_7); \ - } else if (lhs_horiz_6 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - lhs_pf2 = lhs(lhs_vert, lhs_horiz_2); \ - lhs_pf3 = lhs(lhs_vert, lhs_horiz_3); \ - lhs_pf4 = lhs(lhs_vert, lhs_horiz_4); \ - lhs_pf5 = lhs(lhs_vert, lhs_horiz_5); \ - lhs_pf6 = lhs(lhs_vert, lhs_horiz_6); \ - } else if (lhs_horiz_5 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - lhs_pf2 = lhs(lhs_vert, lhs_horiz_2); \ - lhs_pf3 = lhs(lhs_vert, lhs_horiz_3); \ - lhs_pf4 = lhs(lhs_vert, lhs_horiz_4); \ - lhs_pf5 = lhs(lhs_vert, lhs_horiz_5); \ - } else if (lhs_horiz_4 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - lhs_pf2 = lhs(lhs_vert, lhs_horiz_2); \ - lhs_pf3 = lhs(lhs_vert, lhs_horiz_3); \ - lhs_pf4 = lhs(lhs_vert, lhs_horiz_4); \ - } else if (lhs_horiz_3 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - lhs_pf2 = lhs(lhs_vert, lhs_horiz_2); \ - lhs_pf3 = lhs(lhs_vert, lhs_horiz_3); \ - } else if (lhs_horiz_2 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - lhs_pf2 = lhs(lhs_vert, lhs_horiz_2); \ - } else if (lhs_horiz_1 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - lhs_pf1 = lhs(lhs_vert, lhs_horiz_1); \ - } else if (lhs_horiz_0 < k_size) { \ - lhs_pf0 = lhs(lhs_vert, lhs_horiz_0); \ - } \ - } \ - \ - const Index rhs_vert = base_k + load_idx_vert; \ - if (!needs_edge_check || rhs_vert < k_size) { \ - const Index rhs_horiz_0 = base_n + threadIdx.z + 0 * 8; \ - const Index rhs_horiz_1 = base_n + threadIdx.z + 1 * 8; \ - const Index rhs_horiz_2 = base_n + threadIdx.z + 2 * 8; \ - const Index rhs_horiz_3 = base_n + threadIdx.z + 3 * 8; \ - const Index rhs_horiz_4 = base_n + threadIdx.z + 4 * 8; \ - const Index rhs_horiz_5 = base_n + threadIdx.z + 5 * 8; \ - const Index rhs_horiz_6 = base_n + threadIdx.z + 6 * 8; \ - const Index rhs_horiz_7 = base_n + threadIdx.z + 7 * 8; \ - \ - if (rhs_horiz_7 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - rhs_pf2 = rhs(rhs_vert, rhs_horiz_2); \ - rhs_pf3 = rhs(rhs_vert, rhs_horiz_3); \ - rhs_pf4 = rhs(rhs_vert, rhs_horiz_4); \ - rhs_pf5 = rhs(rhs_vert, rhs_horiz_5); \ - rhs_pf6 = rhs(rhs_vert, rhs_horiz_6); \ - rhs_pf7 = rhs(rhs_vert, rhs_horiz_7); \ - } else if (rhs_horiz_6 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - rhs_pf2 = rhs(rhs_vert, rhs_horiz_2); \ - rhs_pf3 = rhs(rhs_vert, rhs_horiz_3); \ - rhs_pf4 = rhs(rhs_vert, rhs_horiz_4); \ - rhs_pf5 = rhs(rhs_vert, rhs_horiz_5); \ - rhs_pf6 = rhs(rhs_vert, rhs_horiz_6); \ - } else if (rhs_horiz_5 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - rhs_pf2 = rhs(rhs_vert, rhs_horiz_2); \ - rhs_pf3 = rhs(rhs_vert, rhs_horiz_3); \ - rhs_pf4 = rhs(rhs_vert, rhs_horiz_4); \ - rhs_pf5 = rhs(rhs_vert, rhs_horiz_5); \ - } else if (rhs_horiz_4 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - rhs_pf2 = rhs(rhs_vert, rhs_horiz_2); \ - rhs_pf3 = rhs(rhs_vert, rhs_horiz_3); \ - rhs_pf4 = rhs(rhs_vert, rhs_horiz_4); \ - } else if (rhs_horiz_3 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - rhs_pf2 = rhs(rhs_vert, rhs_horiz_2); \ - rhs_pf3 = rhs(rhs_vert, rhs_horiz_3); \ - } else if (rhs_horiz_2 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - rhs_pf2 = rhs(rhs_vert, rhs_horiz_2); \ - } else if (rhs_horiz_1 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - rhs_pf1 = rhs(rhs_vert, rhs_horiz_1); \ - } else if (rhs_horiz_0 < n_size) { \ - rhs_pf0 = rhs(rhs_vert, rhs_horiz_0); \ - } \ - } \ - } \ - -#define writeRegToShmem(_) \ - lhs_shmem[lhs_store_idx_0] = lhs_pf0; \ - rhs_shmem[rhs_store_idx_0] = rhs_pf0; \ - \ - lhs_shmem[lhs_store_idx_1] = lhs_pf1; \ - rhs_shmem[rhs_store_idx_1] = rhs_pf1; \ - \ - lhs_shmem[lhs_store_idx_2] = lhs_pf2; \ - rhs_shmem[rhs_store_idx_2] = rhs_pf2; \ - \ - lhs_shmem[lhs_store_idx_3] = lhs_pf3; \ - rhs_shmem[rhs_store_idx_3] = rhs_pf3; \ - \ - lhs_shmem[lhs_store_idx_4] = lhs_pf4; \ - rhs_shmem[rhs_store_idx_4] = rhs_pf4; \ - \ - lhs_shmem[lhs_store_idx_5] = lhs_pf5; \ - rhs_shmem[rhs_store_idx_5] = rhs_pf5; \ - \ - lhs_shmem[lhs_store_idx_6] = lhs_pf6; \ - rhs_shmem[rhs_store_idx_6] = rhs_pf6; \ - \ - lhs_shmem[lhs_store_idx_7] = lhs_pf7; \ - rhs_shmem[rhs_store_idx_7] = rhs_pf7; \ - - // declare and initialize result array -#define res(i, j) _res_##i##j -#define initResultRow(i) \ - Scalar res(i, 0) = conv(0); \ - Scalar res(i, 1) = conv(0); \ - Scalar res(i, 2) = conv(0); \ - Scalar res(i, 3) = conv(0); \ - Scalar res(i, 4) = conv(0); \ - Scalar res(i, 5) = conv(0); \ - Scalar res(i, 6) = conv(0); \ - Scalar res(i, 7) = conv(0); \ - - internal::scalar_cast_op conv; - initResultRow(0); - initResultRow(1); - initResultRow(2); - initResultRow(3); - initResultRow(4); - initResultRow(5); - initResultRow(6); - initResultRow(7); -#undef initResultRow - - for (Index base_k = 0; base_k < k_size; base_k += 64) { - // wait for previous iteration to finish with shmem. Despite common sense, - // the code is a bit faster with this here then at bottom of loop - __syncthreads(); - - prefetchIntoRegisters(base_k); - writeRegToShmem(); - - #undef prefetchIntoRegisters - #undef writeRegToShmem - - // wait for shared mem packing to be done before starting computation - __syncthreads(); - - // compute 8x8 matrix product by outer product. This involves packing one column - // of LHS and one row of RHS into registers (takes 16 registers). - -#define lcol(i) _lcol##i - Scalar lcol(0); - Scalar lcol(1); - Scalar lcol(2); - Scalar lcol(3); - Scalar lcol(4); - Scalar lcol(5); - Scalar lcol(6); - Scalar lcol(7); - -#define rrow(j) _rrow##j - Scalar rrow(0); - Scalar rrow(1); - Scalar rrow(2); - Scalar rrow(3); - Scalar rrow(4); - Scalar rrow(5); - Scalar rrow(6); - Scalar rrow(7); - - // Now x corresponds to k, y to m, and z to n - const Scalar* lhs_block = &lhs_shmem[threadIdx.x + 9 * threadIdx.y]; - const Scalar* rhs_block = &rhs_shmem[threadIdx.x + 8 * threadIdx.z]; - -#define lhs_element(i, j) lhs_block[72 * ((i) + 8 * (j))] -#define rhs_element(i, j) rhs_block[72 * ((i) + 8 * (j))] - -#define loadData(i, j) \ - lcol(0) = lhs_element(0, j); \ - rrow(0) = rhs_element(i, 0); \ - lcol(1) = lhs_element(1, j); \ - rrow(1) = rhs_element(i, 1); \ - lcol(2) = lhs_element(2, j); \ - rrow(2) = rhs_element(i, 2); \ - lcol(3) = lhs_element(3, j); \ - rrow(3) = rhs_element(i, 3); \ - lcol(4) = lhs_element(4, j); \ - rrow(4) = rhs_element(i, 4); \ - lcol(5) = lhs_element(5, j); \ - rrow(5) = rhs_element(i, 5); \ - lcol(6) = lhs_element(6, j); \ - rrow(6) = rhs_element(i, 6); \ - lcol(7) = lhs_element(7, j); \ - rrow(7) = rhs_element(i, 7); \ - -#define computeCol(j) \ - res(0, j) += lcol(0) * rrow(j); \ - res(1, j) += lcol(1) * rrow(j); \ - res(2, j) += lcol(2) * rrow(j); \ - res(3, j) += lcol(3) * rrow(j); \ - res(4, j) += lcol(4) * rrow(j); \ - res(5, j) += lcol(5) * rrow(j); \ - res(6, j) += lcol(6) * rrow(j); \ - res(7, j) += lcol(7) * rrow(j); \ - -#define computePass(i) \ - loadData(i, i); \ - \ - computeCol(0); \ - computeCol(1); \ - computeCol(2); \ - computeCol(3); \ - computeCol(4); \ - computeCol(5); \ - computeCol(6); \ - computeCol(7); \ - - computePass(0); - computePass(1); - computePass(2); - computePass(3); - computePass(4); - computePass(5); - computePass(6); - computePass(7); - -#undef lcol -#undef rrow -#undef lhs_element -#undef rhs_element -#undef loadData -#undef computeCol -#undef computePass - } // end loop over k - - // we've now iterated over all of the large (ie width 64) k blocks and - // accumulated results in registers. At this point thread (x, y, z) contains - // the sum across all big k blocks of the product of little k block of index (x, y) - // with block of index (y, z). To compute the final output, we need to reduce - // the 8 threads over y by summation. -#define shuffleInc(i, j, mask) res(i, j) += __shfl_xor(res(i, j), mask) - -#define reduceRow(i, mask) \ - shuffleInc(i, 0, mask); \ - shuffleInc(i, 1, mask); \ - shuffleInc(i, 2, mask); \ - shuffleInc(i, 3, mask); \ - shuffleInc(i, 4, mask); \ - shuffleInc(i, 5, mask); \ - shuffleInc(i, 6, mask); \ - shuffleInc(i, 7, mask); \ - -#define reduceMatrix(mask) \ - reduceRow(0, mask); \ - reduceRow(1, mask); \ - reduceRow(2, mask); \ - reduceRow(3, mask); \ - reduceRow(4, mask); \ - reduceRow(5, mask); \ - reduceRow(6, mask); \ - reduceRow(7, mask); \ - - // actually perform the reduction, now each thread of index (_, y, z) - // contains the correct values in its registers that belong in the output - // block - reduceMatrix(1); - reduceMatrix(2); - reduceMatrix(4); - -#undef shuffleInc -#undef reduceRow -#undef reduceMatrix - - // now we need to copy the 64 values into main memory. We can't split work - // among threads because all variables are in registers. There's 2 ways - // to do this: - // (1) have 1 thread do 64 writes from registers into global memory - // (2) have 1 thread do 64 writes into shared memory, and then 8 threads - // each do 8 writes into global memory. We can just overwrite the shared - // memory from the problem we just solved. - // (2) is slightly faster than (1) due to less branching and more ILP - - // TODO: won't yield much gain, but could just use currently unused shared mem - // and then we won't have to sync - // wait for shared mem to be out of use - __syncthreads(); - -#define writeResultShmem(i, j) \ - lhs_shmem[i + 8 * threadIdx.y + 64 * threadIdx.z + 512 * j] = res(i, j); \ - -#define writeRow(i) \ - writeResultShmem(i, 0); \ - writeResultShmem(i, 1); \ - writeResultShmem(i, 2); \ - writeResultShmem(i, 3); \ - writeResultShmem(i, 4); \ - writeResultShmem(i, 5); \ - writeResultShmem(i, 6); \ - writeResultShmem(i, 7); \ - - if (threadIdx.x == 0) { - writeRow(0); - writeRow(1); - writeRow(2); - writeRow(3); - writeRow(4); - writeRow(5); - writeRow(6); - writeRow(7); - } -#undef writeResultShmem -#undef writeRow - - const int max_i_write = numext::mini((int)((m_size - base_m - threadIdx.y + 7) / 8), 8); - const int max_j_write = numext::mini((int)((n_size - base_n - threadIdx.z + 7) / 8), 8); - - if (threadIdx.x < max_i_write) { - if (max_j_write == 8) { - // TODO: can i trade bank conflicts for coalesced writes? - Scalar val0 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 0]; - Scalar val1 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 1]; - Scalar val2 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 2]; - Scalar val3 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 3]; - Scalar val4 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 4]; - Scalar val5 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 5]; - Scalar val6 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 6]; - Scalar val7 = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * 7]; - - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 0) = val0; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 1) = val1; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 2) = val2; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 3) = val3; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 4) = val4; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 5) = val5; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 6) = val6; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * 7) = val7; - } else { -#pragma unroll 7 - for (int j = 0; j < max_j_write; j++) { - Scalar val = lhs_shmem[threadIdx.x + 8 * threadIdx.y + 64 * threadIdx.z + 512 * j]; - output(base_m + threadIdx.y + 8 * threadIdx.x, base_n + threadIdx.z + 8 * j) = val; - } - } - } -#undef res -} - - -template -__global__ void -__launch_bounds__(512) -EigenContractionKernel(const LhsMapper lhs, const RhsMapper rhs, - const OutputMapper output, - const Index m_size, const Index n_size, const Index k_size) { - __shared__ Scalar lhs_shmem[72 * 64]; - __shared__ Scalar rhs_shmem[72 * 64]; - - const Index m_block_idx = blockIdx.x; - const Index n_block_idx = blockIdx.y; - - const Index base_m = 64 * m_block_idx; - const Index base_n = 64 * n_block_idx; - - if (base_m + 63 < m_size && base_n + 63 < n_size) { - EigenContractionKernelInternal(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size); - } else { - EigenContractionKernelInternal(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size); - } -} - - -template -__device__ EIGEN_STRONG_INLINE void -EigenFloatContractionKernelInternal16x16(const LhsMapper lhs, const RhsMapper rhs, - const OutputMapper output, float2 lhs_shmem2[][16], - float2 rhs_shmem2[][8], const Index m_size, - const Index n_size, const Index k_size, - const Index base_m, const Index base_n) { - - // prefetch registers - float4 lhs_pf0, rhs_pf0; - - float4 results[4]; - for (int i=0; i < 4; i++) { - results[i].x = results[i].y = results[i].z = results[i].w = 0; - } - - -#define prefetch_lhs(reg, row, col) \ - if (!CHECK_LHS_BOUNDARY) { \ - if (col < k_size) { \ - reg =lhs.template loadPacket(row, col); \ - } \ - } else { \ - if (col < k_size) { \ - if (row + 3 < m_size) { \ - reg =lhs.template loadPacket(row, col); \ - } else if (row + 2 < m_size) { \ - reg.x =lhs(row + 0, col); \ - reg.y =lhs(row + 1, col); \ - reg.z =lhs(row + 2, col); \ - } else if (row + 1 < m_size) { \ - reg.x =lhs(row + 0, col); \ - reg.y =lhs(row + 1, col); \ - } else if (row < m_size) { \ - reg.x =lhs(row + 0, col); \ - } \ - } \ - } \ - - - Index lhs_vert = base_m+threadIdx.x*4; - - for (Index k = 0; k < k_size; k += 16) { - lhs_pf0 = internal::pset1(0); - rhs_pf0 = internal::pset1(0); - - Index lhs_horiz = threadIdx.y+k; - prefetch_lhs(lhs_pf0, lhs_vert, lhs_horiz) - - Index rhs_vert = k+(threadIdx.x%4)*4; - Index rhs_horiz0 = (threadIdx.x>>2)+threadIdx.y*4+base_n; - - if (!CHECK_RHS_BOUNDARY) { - if ((rhs_vert + 3) < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0 = rhs.template loadPacket(rhs_vert, rhs_horiz0); - } else if (rhs_vert + 2 < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0); - } else if (rhs_vert + 1 < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - } else if (rhs_vert < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - } - } else { - if (rhs_horiz0 < n_size) { - if ((rhs_vert + 3) < k_size) { - rhs_pf0 = rhs.template loadPacket(rhs_vert, rhs_horiz0); - } else if ((rhs_vert + 2) < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0); - } else if ((rhs_vert + 1) < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - } else if (rhs_vert < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - } - } - } - float x1, x2 ; - // the following can be a bitwise operation..... some day. - if((threadIdx.x%8) < 4) { - x1 = rhs_pf0.y; - x2 = rhs_pf0.w; - } else { - x1 = rhs_pf0.x; - x2 = rhs_pf0.z; - } - x1 = __shfl_xor(x1, 4); - x2 = __shfl_xor(x2, 4); - if((threadIdx.x%8) < 4) { - rhs_pf0.y = x1; - rhs_pf0.w = x2; - } else { - rhs_pf0.x = x1; - rhs_pf0.z = x2; - } - - // We have 64 features. - // Row 0 -> times (0, 4, 8, 12, 1, 5, 9, 13) for features 0, 1. - // Row 1 -> times (0, 4, 8, 12, 1, 5, 9, 13) for features 2, 3. - // ... - // Row 31 -> times (0, 4, 8, 12, 1, 5, 9, 13) for features 62, 63 - // Row 32 -> times (2, 6, 10, 14, 3, 7, 11, 15) for features 0, 1 - // ... - rhs_shmem2[(threadIdx.x>>3)+ threadIdx.y*2][threadIdx.x%8] = make_float2(rhs_pf0.x, rhs_pf0.y); - rhs_shmem2[(threadIdx.x>>3)+ threadIdx.y*2+32][threadIdx.x%8] = make_float2(rhs_pf0.z, rhs_pf0.w); - - // Row 0 (time 0) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), .. (60, 61) - // Row 1 (time 1) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), .. (60, 61) - // ... - // Row 15 (time 15) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), .. (60, 61) - // Row 16 (time 0) -> features (2, 3), (6, 7), .. (30, 31), (34, 35), .. (62, 63) - // ... - - lhs_shmem2[threadIdx.y][threadIdx.x] = make_float2(lhs_pf0.x, lhs_pf0.y); - lhs_shmem2[threadIdx.y+16][threadIdx.x] = make_float2(lhs_pf0.z, lhs_pf0.w); - - -#define add_vals(fl1, fl2, fr1, fr2)\ - results[0].x += fl1.x * fr1.x;\ - results[0].y += fl1.y * fr1.x;\ - results[0].z += fl2.x * fr1.x;\ - results[0].w += fl2.y * fr1.x;\ -\ - results[1].x += fl1.x * fr1.y;\ - results[1].y += fl1.y * fr1.y;\ - results[1].z += fl2.x * fr1.y;\ - results[1].w += fl2.y * fr1.y;\ -\ - results[2].x += fl1.x * fr2.x;\ - results[2].y += fl1.y * fr2.x;\ - results[2].z += fl2.x * fr2.x;\ - results[2].w += fl2.y * fr2.x;\ -\ - results[3].x += fl1.x * fr2.y;\ - results[3].y += fl1.y * fr2.y;\ - results[3].z += fl2.x * fr2.y;\ - results[3].w += fl2.y * fr2.y;\ - - __syncthreads(); - - // Do the multiplies. - #pragma unroll - for (int koff = 0; koff < 16; koff ++) { - // 32 x threads. - float2 fl1 = lhs_shmem2[koff][threadIdx.x]; - float2 fl2 = lhs_shmem2[koff + 16][threadIdx.x]; - - int start_feature = threadIdx.y * 4; - float2 fr1 = rhs_shmem2[(start_feature>>1) + 32*((koff%4)/2)][koff/4 + (koff%2)*4]; - float2 fr2 = rhs_shmem2[(start_feature>>1) + 1 + 32*((koff%4)/2)][koff/4 + (koff%2)*4]; - - add_vals(fl1, fl2, fr1, fr2) - } - __syncthreads(); - } - -#undef prefetch_lhs -#undef add_vals - - Index horiz_base = threadIdx.y*4+base_n; - if (!CHECK_LHS_BOUNDARY && !CHECK_RHS_BOUNDARY) { - for (int i = 0; i < 4; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } else if (!CHECK_RHS_BOUNDARY) { - // CHECK LHS - if (lhs_vert + 3 < m_size) { - for (int i = 0; i < 4; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } else if (lhs_vert + 2 < m_size) { - for (int i = 0; i < 4; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - } - } else if (lhs_vert + 1 < m_size) { - for (int i = 0; i < 4; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - } - } else if (lhs_vert < m_size) { - for (int i = 0; i < 4; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - } - } - } else if (!CHECK_LHS_BOUNDARY) { - // CHECK RHS - /* - int ncols_rem = fminf(n_size- horiz_base, 4); - for (int i = 0; i < ncols_rem; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - }*/ - for (int i = 0; i < 4; i++) { - if (horiz_base+i < n_size) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } - } else { - // CHECK both boundaries. - for (int i = 0; i < 4; i++) { - if (horiz_base+i < n_size) { - if (lhs_vert < m_size) - output(lhs_vert, horiz_base + i) = results[i].x; - if (lhs_vert + 1 < m_size) - output(lhs_vert + 1, horiz_base + i) = results[i].y; - if (lhs_vert + 2 < m_size) - output(lhs_vert + 2, horiz_base + i) = results[i].z; - if (lhs_vert + 3 < m_size) - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } - } -} - - -template -__device__ EIGEN_STRONG_INLINE void -EigenFloatContractionKernelInternal(const LhsMapper lhs, const RhsMapper rhs, - const OutputMapper output, float2 lhs_shmem2[][32], - float2 rhs_shmem2[][8], const Index m_size, - const Index n_size, const Index k_size, - const Index base_m, const Index base_n) { - - // prefetch registers - float4 lhs_pf0, lhs_pf1, lhs_pf2, lhs_pf3; - float4 rhs_pf0, rhs_pf1; - - float4 results[8]; - for (int i=0; i < 8; i++) { - results[i].x = results[i].y = results[i].z = results[i].w = 0; - } - - - Index lhs_vert = base_m+threadIdx.x*4+(threadIdx.y%4)*32; - for (Index k = 0; k < k_size; k += 32) { - lhs_pf0 = internal::pset1(0); - lhs_pf1 = internal::pset1(0); - lhs_pf2 = internal::pset1(0); - lhs_pf3 = internal::pset1(0); - - rhs_pf0 = internal::pset1(0); - rhs_pf1 = internal::pset1(0); - - if (!CHECK_LHS_BOUNDARY) { - if ((threadIdx.y/4+k+24) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - lhs_pf1 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+8)); - lhs_pf2 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+16)); - lhs_pf3 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+24)); - } else if ((threadIdx.y/4+k+16) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - lhs_pf1 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+8)); - lhs_pf2 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+16)); - } else if ((threadIdx.y/4+k+8) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - lhs_pf1 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+8)); - } else if ((threadIdx.y/4+k) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - } - } else { - // just CHECK_LHS_BOUNDARY - if (lhs_vert + 3 < m_size) { - if ((threadIdx.y/4+k+24) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - lhs_pf1 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+8)); - lhs_pf2 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+16)); - lhs_pf3 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+24)); - } else if ((threadIdx.y/4+k+16) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - lhs_pf1 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+8)); - lhs_pf2 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+16)); - } else if ((threadIdx.y/4+k+8) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - lhs_pf1 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k+8)); - } else if ((threadIdx.y/4+k) < k_size) { - lhs_pf0 =lhs.template loadPacket(lhs_vert, (threadIdx.y/4+k)); - } - } else if (lhs_vert + 2 < m_size) { - if ((threadIdx.y/4+k+24) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8)); - lhs_pf1.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+8)); - lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16)); - lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16)); - lhs_pf2.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+16)); - lhs_pf3.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+24)); - lhs_pf3.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+24)); - lhs_pf3.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+24)); - } else if ((threadIdx.y/4+k+16) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8)); - lhs_pf1.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+8)); - lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16)); - lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16)); - lhs_pf2.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+16)); - } else if ((threadIdx.y/4+k+8) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8)); - lhs_pf1.z =lhs(lhs_vert + 2, (threadIdx.y/4+k+8)); - } else if ((threadIdx.y/4+k) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf0.z =lhs(lhs_vert + 2, (threadIdx.y/4+k)); - } - } else if (lhs_vert + 1 < m_size) { - if ((threadIdx.y/4+k+24) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8)); - lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16)); - lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16)); - lhs_pf3.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+24)); - lhs_pf3.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+24)); - } else if ((threadIdx.y/4+k+16) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8)); - lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16)); - lhs_pf2.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+16)); - } else if ((threadIdx.y/4+k+8) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf1.y =lhs(lhs_vert + 1, (threadIdx.y/4+k+8)); - } else if ((threadIdx.y/4+k) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf0.y =lhs(lhs_vert + 1, (threadIdx.y/4+k)); - } - } else if (lhs_vert < m_size) { - if ((threadIdx.y/4+k+24) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16)); - lhs_pf3.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+24)); - } else if ((threadIdx.y/4+k+16) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - lhs_pf2.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+16)); - } else if ((threadIdx.y/4+k+8) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - lhs_pf1.x =lhs(lhs_vert + 0, (threadIdx.y/4+k+8)); - } else if ((threadIdx.y/4+k) < k_size) { - lhs_pf0.x =lhs(lhs_vert + 0, (threadIdx.y/4+k)); - } - } - } - __syncthreads(); - Index rhs_vert = k+threadIdx.x*4; - Index rhs_horiz0 = threadIdx.y*2+base_n; - Index rhs_horiz1 = threadIdx.y*2+1+base_n; - if (!CHECK_RHS_BOUNDARY) { - if ((rhs_vert + 3) < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0 = rhs.template loadPacket(rhs_vert, rhs_horiz0); - rhs_pf1 = rhs.template loadPacket(rhs_vert, rhs_horiz1); - } else if (rhs_vert + 2 < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0); - rhs_pf1.x = rhs(rhs_vert, rhs_horiz1); - rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1); - rhs_pf1.z = rhs(rhs_vert + 2, rhs_horiz1); - } else if (rhs_vert + 1 < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf1.x = rhs(rhs_vert, rhs_horiz1); - rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1); - } else if (rhs_vert < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf1.x = rhs(rhs_vert, rhs_horiz1); - } - } else { - if (rhs_horiz1 < n_size) { - if ((rhs_vert + 3) < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0 = rhs.template loadPacket(rhs_vert, rhs_horiz0); - rhs_pf1 = rhs.template loadPacket(rhs_vert, rhs_horiz1); - } else if (rhs_vert + 2 < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0); - rhs_pf1.x = rhs(rhs_vert, rhs_horiz1); - rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1); - rhs_pf1.z = rhs(rhs_vert + 2, rhs_horiz1); - } else if (k+threadIdx.x*4 + 1 < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf1.x = rhs(rhs_vert, rhs_horiz1); - rhs_pf1.y = rhs(rhs_vert + 1, rhs_horiz1); - } else if (k+threadIdx.x*4 < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf1.x = rhs(rhs_vert, rhs_horiz1); - } - } else if (rhs_horiz0 < n_size) { - if ((rhs_vert + 3) < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0 = rhs.template loadPacket(rhs_vert, rhs_horiz0); - } else if ((rhs_vert + 2) < k_size) { - // just CHECK_RHS_BOUNDARY - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - rhs_pf0.z = rhs(rhs_vert + 2, rhs_horiz0); - } else if ((rhs_vert + 1) < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - rhs_pf0.y = rhs(rhs_vert + 1, rhs_horiz0); - } else if (rhs_vert < k_size) { - rhs_pf0.x = rhs(rhs_vert, rhs_horiz0); - } - } - } - __syncthreads(); - // Loaded. Do computation - // Row 0 -> times (0, 4, 8, .. 28) for features 0, 1. - // Row 1 -> times (0, 4, 8, .. 28) for features 2, 3. - // .. - // Row 31 -> times (0, 4, 8, .. 28) for features 62, 63 - rhs_shmem2[threadIdx.y][threadIdx.x] = make_float2(rhs_pf0.x, rhs_pf1.x); - // Row 32 -> times (1, 5, 9, .. 29) for features 0, 1. - // Row 33 -> times (1, 5, 9, .. 29) for features 2, 3. - // .. - rhs_shmem2[threadIdx.y+32][threadIdx.x] = make_float2(rhs_pf0.y, rhs_pf1.y); - // Row 64 -> times (2, 6, 10, .. 30) for features 0, 1. - // Row 65 -> times (2, 6, 10, .. 30) for features 2, 3. - rhs_shmem2[threadIdx.y+64][threadIdx.x] = make_float2(rhs_pf0.z, rhs_pf1.z); - // Row 96 -> times (3, 7, 11, .. 31) for features 0, 1. - // Row 97 -> times (3, 7, 11, .. 31) for features 2, 3. - rhs_shmem2[threadIdx.y+96][threadIdx.x] = make_float2(rhs_pf0.w, rhs_pf1.w); - - // LHS. - // Row 0 (time 0) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), .. (60, 61) .. (124, 125) - // Row 1 (time 1) -> features (0, 1), (4, 5), .. (28, 29), (32, 33), .. (60, 61) .. (124, 125) - // ... - // Row 8 (time 0) -> features (2, 3), (6, 7), .. (30, 31), (34, 35), .. (62, 63) .. (126, 127) - // Row 15 (time 7) -> features (2, 3), (6, 7), .. (30, 31), (34, 35), .. (62, 63) .. (126, 127) - - -#define add_vals(a_feat1, a_feat2, f1, f2, f3, f4)\ - results[0].x += a_feat1.x * f1.x;\ - results[1].x += a_feat1.x * f1.y;\ - results[2].x += a_feat1.x * f2.x;\ - results[3].x += a_feat1.x * f2.y;\ - results[4].x += a_feat1.x * f3.x;\ - results[5].x += a_feat1.x * f3.y;\ - results[6].x += a_feat1.x * f4.x;\ - results[7].x += a_feat1.x * f4.y;\ -\ - results[0].y += a_feat1.y * f1.x;\ - results[1].y += a_feat1.y * f1.y;\ - results[2].y += a_feat1.y * f2.x;\ - results[3].y += a_feat1.y * f2.y;\ - results[4].y += a_feat1.y * f3.x;\ - results[5].y += a_feat1.y * f3.y;\ - results[6].y += a_feat1.y * f4.x;\ - results[7].y += a_feat1.y * f4.y;\ -\ - results[0].z += a_feat2.x * f1.x;\ - results[1].z += a_feat2.x * f1.y;\ - results[2].z += a_feat2.x * f2.x;\ - results[3].z += a_feat2.x * f2.y;\ - results[4].z += a_feat2.x * f3.x;\ - results[5].z += a_feat2.x * f3.y;\ - results[6].z += a_feat2.x * f4.x;\ - results[7].z += a_feat2.x * f4.y;\ -\ - results[0].w += a_feat2.y * f1.x;\ - results[1].w += a_feat2.y * f1.y;\ - results[2].w += a_feat2.y * f2.x;\ - results[3].w += a_feat2.y * f2.y;\ - results[4].w += a_feat2.y * f3.x;\ - results[5].w += a_feat2.y * f3.y;\ - results[6].w += a_feat2.y * f4.x;\ - results[7].w += a_feat2.y * f4.y;\ - - lhs_shmem2[threadIdx.y/4][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf0.x, lhs_pf0.y); - lhs_shmem2[threadIdx.y/4+8][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf1.x, lhs_pf1.y); - lhs_shmem2[threadIdx.y/4+16][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf2.x, lhs_pf2.y); - lhs_shmem2[threadIdx.y/4+24][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf3.x, lhs_pf3.y); - - lhs_shmem2[threadIdx.y/4 + 32][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf0.z, lhs_pf0.w); - lhs_shmem2[threadIdx.y/4 + 40][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf1.z, lhs_pf1.w); - lhs_shmem2[threadIdx.y/4 + 48][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf2.z, lhs_pf2.w); - lhs_shmem2[threadIdx.y/4 + 56][threadIdx.x+(threadIdx.y%4)*8] = make_float2(lhs_pf3.z, lhs_pf3.w); - - __syncthreads(); - - // Do the multiplies. - #pragma unroll - for (int koff = 0; koff < 32; koff ++) { - float2 a3 = lhs_shmem2[koff][threadIdx.x + (threadIdx.y % 4) * 8]; - float2 a4 = lhs_shmem2[koff + 32][threadIdx.x + (threadIdx.y % 4) * 8]; - - // first feature is at (threadIdx.y/4) * 8 last is at start + 8. - int start_feature = (threadIdx.y / 4) * 8; - - float2 br1 = rhs_shmem2[start_feature/2 + (koff % 4) * 32][koff/4]; - float2 br2 = rhs_shmem2[start_feature/2 + 1 + (koff % 4) * 32][koff/4]; - float2 br3 = rhs_shmem2[start_feature/2 + 2 + (koff % 4) * 32][koff/4]; - float2 br4 = rhs_shmem2[start_feature/2 + 3 + (koff % 4) * 32][koff/4]; - - add_vals(a3, a4, br1, br2, br3, br4) - } - __syncthreads(); - } // end loop over k - - - __syncthreads(); - Index horiz_base = (threadIdx.y/4)*8+base_n; - if (!CHECK_LHS_BOUNDARY && !CHECK_RHS_BOUNDARY) { - for (int i = 0; i < 8; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } else if (!CHECK_RHS_BOUNDARY) { - if (lhs_vert + 3 < m_size) { - for (int i = 0; i < 8; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } else if (lhs_vert + 2 < m_size) { - for (int i = 0; i < 8; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - } - } else if (lhs_vert + 1 < m_size) { - for (int i = 0; i < 8; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - } - } else if (lhs_vert < m_size) { - for (int i = 0; i < 8; i++) { - output(lhs_vert, horiz_base + i) = results[i].x; - } - } - } else if (!CHECK_LHS_BOUNDARY) { - // CHECK BOUNDARY_B - for (int i = 0; i < 8; i++) { - if (horiz_base + i < n_size) { - output(lhs_vert, horiz_base + i) = results[i].x; - output(lhs_vert + 1, horiz_base + i) = results[i].y; - output(lhs_vert + 2, horiz_base + i) = results[i].z; - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } - } else { - // CHECK both boundaries. - for (int i = 0; i < 8; i++) { - if (horiz_base + i < n_size) { - if (lhs_vert < m_size) - output(lhs_vert, horiz_base + i) = results[i].x; - if (lhs_vert + 1 < m_size) - output(lhs_vert + 1, horiz_base + i) = results[i].y; - if (lhs_vert + 2 < m_size) - output(lhs_vert + 2, horiz_base + i) = results[i].z; - if (lhs_vert + 3 < m_size) - output(lhs_vert + 3, horiz_base + i) = results[i].w; - } - } - } -} - - -template -__global__ void -__launch_bounds__(256) -EigenFloatContractionKernel(const LhsMapper lhs, const RhsMapper rhs, - const OutputMapper output, - const Index m_size, const Index n_size, const Index k_size) { - __shared__ float2 lhs_shmem[64*32]; - __shared__ float2 rhs_shmem[128*8]; - - typedef float2 LHS_MEM[64][32]; - typedef float2 RHS_MEM[128][8]; - - const Index m_block_idx = blockIdx.x; - const Index n_block_idx = blockIdx.y; - - const Index base_m = 128 * m_block_idx; - const Index base_n = 64 * n_block_idx; - - bool check_rhs = (base_n + 63) >= n_size; - bool check_lhs128 = (base_m + 127) >= m_size; - - if (!check_rhs) { - if (!check_lhs128) { - // >= 128 rows left - EigenFloatContractionKernelInternal( - lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n); - } else { - EigenFloatContractionKernelInternal( - lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n); - } - } else { - if (!check_lhs128) { - // >= 128 rows left - EigenFloatContractionKernelInternal( - lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n); - } else { - EigenFloatContractionKernelInternal( - lhs, rhs, output, *((LHS_MEM *) lhs_shmem), *((RHS_MEM *) rhs_shmem), m_size, n_size, k_size, base_m, base_n); - } - } -} - -template -__global__ void -__launch_bounds__(256) -EigenFloatContractionKernel16x16(const LhsMapper lhs, const RhsMapper rhs, - const OutputMapper output, - const Index m_size, const Index n_size, const Index k_size) { - __shared__ float2 lhs_shmem[32][16]; - __shared__ float2 rhs_shmem[64][8]; - - const Index m_block_idx = blockIdx.x; - const Index n_block_idx = blockIdx.y; - - const Index base_m = 64 * m_block_idx; - const Index base_n = 64 * n_block_idx; - - if (base_m + 63 < m_size) { - if (base_n + 63 < n_size) { - EigenFloatContractionKernelInternal16x16(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n); - } else { - EigenFloatContractionKernelInternal16x16(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n); - } - } else { - if (base_n + 63 < n_size) { - EigenFloatContractionKernelInternal16x16(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n); - } else { - EigenFloatContractionKernelInternal16x16(lhs, rhs, output, lhs_shmem, rhs_shmem, m_size, n_size, k_size, base_m, base_n); - } - } -} - - -template -struct TensorEvaluator, GpuDevice> : - public TensorContractionEvaluatorBase, GpuDevice> > { - - typedef GpuDevice Device; - - typedef TensorEvaluator, Device> Self; - typedef TensorContractionEvaluatorBase Base; - - typedef TensorContractionOp XprType; - typedef typename internal::remove_const::type Scalar; - typedef typename XprType::Index Index; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - enum { - Layout = TensorEvaluator::Layout, - }; - - // Most of the code is assuming that both input tensors are ColMajor. If the - // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS: - // If we want to compute A * B = C, where A is LHS and B is RHS, the code - // will pretend B is LHS and A is RHS. - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType; - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType; - - static const int LDims = - internal::array_size::Dimensions>::value; - static const int RDims = - internal::array_size::Dimensions>::value; - static const int ContractDims = internal::array_size::value; - - typedef array left_dim_mapper_t; - typedef array right_dim_mapper_t; - - typedef array contract_t; - typedef array left_nocontract_t; - typedef array right_nocontract_t; - - static const int NumDims = LDims + RDims - 2 * ContractDims; - - typedef DSizes Dimensions; - - // typedefs needed in evalTo - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - - typedef typename LeftEvaluator::Dimensions LeftDimensions; - typedef typename RightEvaluator::Dimensions RightDimensions; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) : - Base(op, device) {} - - // We need to redefine this method to make nvcc happy - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) { - this->m_leftImpl.evalSubExprsIfNeeded(NULL); - this->m_rightImpl.evalSubExprsIfNeeded(NULL); - if (data) { - evalTo(data); - return false; - } else { - this->m_result = static_cast(this->m_device.allocate(this->dimensions().TotalSize() * sizeof(Scalar))); - evalTo(this->m_result); - return true; - } - } - - void evalTo(Scalar* buffer) const { - if (this->m_lhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - else { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - } - else { - if (this->m_rhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - else { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - } - } - - template struct LaunchKernels { - static void Run(const LhsMapper& lhs, const RhsMapper& rhs, const OutputMapper& output, Index m, Index n, Index k, const GpuDevice& device) { - const Index m_blocks = (m + 63) / 64; - const Index n_blocks = (n + 63) / 64; - const dim3 num_blocks(m_blocks, n_blocks, 1); - const dim3 block_size(8, 8, 8); - LAUNCH_CUDA_KERNEL((EigenContractionKernel), num_blocks, block_size, 0, device, lhs, rhs, output, m, n, k); - } - }; - - template struct LaunchKernels { - static void Run(const LhsMapper& lhs, const RhsMapper& rhs, const OutputMapper& output, Index m, Index n, Index k, const GpuDevice& device) { - if (m < 768 || n < 768) { - const Index m_blocks = (m + 63) / 64; - const Index n_blocks = (n + 63) / 64; - const dim3 num_blocks(m_blocks, n_blocks, 1); - const dim3 block_size(16, 16, 1); - LAUNCH_CUDA_KERNEL((EigenFloatContractionKernel16x16), num_blocks, block_size, 0, device, lhs, rhs, output, m, n, k); - } else { - const Index m_blocks = (m + 127) / 128; - const Index n_blocks = (n + 63) / 64; - const dim3 num_blocks(m_blocks, n_blocks, 1); - const dim3 block_size(8, 32, 1); - LAUNCH_CUDA_KERNEL((EigenFloatContractionKernel), num_blocks, block_size, 0, device, lhs, rhs, output, m, n, k); - } - } - }; - - template - void evalTyped(Scalar* buffer) const { - // columns in left side, rows in right side - const Index k = this->m_k_size; - EIGEN_UNUSED_VARIABLE(k) - - // rows in left side - const Index m = this->m_i_size; - - // columns in right side - const Index n = this->m_j_size; - - // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar) - this->m_device.memset(buffer, 0, m * n * sizeof(Scalar)); - - typedef internal::TensorContractionInputMapper LhsMapper; - - typedef internal::TensorContractionInputMapper RhsMapper; - - typedef internal::blas_data_mapper OutputMapper; - - - // initialize data mappers - LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, this->m_i_strides, - this->m_left_contracting_strides, this->m_k_strides); - - RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, this->m_j_strides, - this->m_right_contracting_strides, this->m_k_strides); - - OutputMapper output(buffer, m); - - setCudaSharedMemConfig(cudaSharedMemBankSizeEightByte); - LaunchKernels::Run(lhs, rhs, output, m, n, k, this->m_device); - } -}; - -} // end namespace Eigen - -#endif // EIGEN_USE_GPU and __CUDACC__ -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_CUDA_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h deleted file mode 100644 index ab320a50..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionMapper.h +++ /dev/null @@ -1,493 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_MAPPER_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_MAPPER_H - -namespace Eigen { - -namespace internal { - -enum { - Rhs = 0, - Lhs = 1 -}; - -/* - * Implementation of the Eigen blas_data_mapper class for tensors. - */ -/// The make pointer class is used by sycl in order to build the mapper class on the device. For other platform the default make pointer is used which -/// is scalar * for CoeffLoader. -template class MakePointer_ = MakePointer> struct CoeffLoader; -template class MakePointer_ = MakePointer> class BaseTensorContractionMapper; - -template class MakePointer_> struct CoeffLoader { - enum { - DirectOffsets = false - }; - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffLoader(const Tensor& tensor) : m_tensor(tensor) { } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void offsetBuffer(typename Tensor::Index) { - eigen_assert(false && "unsupported"); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE typename Tensor::Scalar coeff(typename Tensor::Index index) const { return m_tensor.coeff(index); } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - typename Tensor::PacketReturnType packet(typename Tensor::Index index) const - { - return m_tensor.template packet(index); - } - - - private: - const Tensor m_tensor; -}; - -template class MakePointer_> struct CoeffLoader { - enum { - DirectOffsets = true - }; - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffLoader(const Tensor& tensor) : m_data(tensor.data()) {} - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void offsetBuffer(typename Tensor::Index offset) { - m_data += offset; - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE typename Tensor::Scalar coeff(typename Tensor::Index index) const { return loadConstant(m_data+index); } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - typename Tensor::PacketReturnType packet(typename Tensor::Index index) const - { - return internal::ploadt_ro(m_data + index); - } - private: - typedef typename Tensor::Scalar Scalar; - - typename MakePointer_::Type m_data; -}; - -template class MakePointer_ = MakePointer> -class SimpleTensorContractionMapper { - public: - EIGEN_DEVICE_FUNC - SimpleTensorContractionMapper(const Tensor& tensor, - const nocontract_t& nocontract_strides, - const nocontract_t& ij_strides, - const contract_t& contract_strides, - const contract_t& k_strides) : - m_tensor(tensor), - m_nocontract_strides(nocontract_strides), - m_ij_strides(ij_strides), - m_contract_strides(contract_strides), - m_k_strides(k_strides) { } - - enum { - DirectOffsets = CoeffLoader::DirectOffsets - }; - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void offsetBuffer(typename Tensor::Index offset) { - m_tensor.offsetBuffer(offset); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE void prefetch(Index /*i*/) { } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar operator()(Index row) const { - // column major assumption - return operator()(row, 0); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar operator()(Index row, Index col) const { - return m_tensor.coeff(computeIndex(row, col)); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index computeIndex(Index row, Index col) const { - const bool left = (side == Lhs); - Index nocontract_val = left ? row : col; - Index linidx = 0; - for (int i = static_cast(array_size::value) - 1; i > 0; i--) { - const Index idx = nocontract_val / m_ij_strides[i]; - linidx += idx * m_nocontract_strides[i]; - nocontract_val -= idx * m_ij_strides[i]; - } - if (array_size::value > array_size::value) { - if (side == Lhs && inner_dim_contiguous) { - eigen_assert(m_nocontract_strides[0] == 1); - linidx += nocontract_val; - } else { - linidx += nocontract_val * m_nocontract_strides[0]; - } - } - - Index contract_val = left ? col : row; - if(array_size::value > 0) { - for (int i = static_cast(array_size::value) - 1; i > 0; i--) { - const Index idx = contract_val / m_k_strides[i]; - linidx += idx * m_contract_strides[i]; - contract_val -= idx * m_k_strides[i]; - } - - if (side == Rhs && inner_dim_contiguous) { - eigen_assert(m_contract_strides[0] == 1); - linidx += contract_val; - } else { - linidx += contract_val * m_contract_strides[0]; - } - } - - return linidx; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE IndexPair computeIndexPair(Index row, Index col, const Index distance) const { - const bool left = (side == Lhs); - Index nocontract_val[2] = {left ? row : col, left ? row + distance : col}; - Index linidx[2] = {0, 0}; - if (array_size::value > array_size::value) { - for (int i = static_cast(array_size::value) - 1; i > 0; i--) { - const Index idx0 = nocontract_val[0] / m_ij_strides[i]; - const Index idx1 = nocontract_val[1] / m_ij_strides[i]; - linidx[0] += idx0 * m_nocontract_strides[i]; - linidx[1] += idx1 * m_nocontract_strides[i]; - nocontract_val[0] -= idx0 * m_ij_strides[i]; - nocontract_val[1] -= idx1 * m_ij_strides[i]; - } - if (side == Lhs && inner_dim_contiguous) { - eigen_assert(m_nocontract_strides[0] == 1); - linidx[0] += nocontract_val[0]; - linidx[1] += nocontract_val[1]; - } else { - linidx[0] += nocontract_val[0] * m_nocontract_strides[0]; - linidx[1] += nocontract_val[1] * m_nocontract_strides[0]; - } - } - - Index contract_val[2] = {left ? col : row, left ? col : row + distance}; - if (array_size::value> 0) { - for (int i = static_cast(array_size::value) - 1; i > 0; i--) { - const Index idx0 = contract_val[0] / m_k_strides[i]; - const Index idx1 = contract_val[1] / m_k_strides[i]; - linidx[0] += idx0 * m_contract_strides[i]; - linidx[1] += idx1 * m_contract_strides[i]; - contract_val[0] -= idx0 * m_k_strides[i]; - contract_val[1] -= idx1 * m_k_strides[i]; - } - - if (side == Rhs && inner_dim_contiguous) { - eigen_assert(m_contract_strides[0] == 1); - linidx[0] += contract_val[0]; - linidx[1] += contract_val[1]; - } else { - linidx[0] += contract_val[0] * m_contract_strides[0]; - linidx[1] += contract_val[1] * m_contract_strides[0]; - } - } - return IndexPair(linidx[0], linidx[1]); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index firstAligned(Index size) const { - // Only claim alignment when we can compute the actual stride (ie when we're - // dealing with the lhs with inner_dim_contiguous. This is because the - // matrix-vector product relies on the stride when dealing with aligned inputs. - return (Alignment == Aligned) && (side == Lhs) && inner_dim_contiguous ? 0 : size; - } - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Index stride() const { - return ((side == Lhs) && inner_dim_contiguous && array_size::value > 0) ? m_contract_strides[0] : 1; - } - - protected: - CoeffLoader m_tensor; - const nocontract_t m_nocontract_strides; - const nocontract_t m_ij_strides; - const contract_t m_contract_strides; - const contract_t m_k_strides; -}; - -template class MakePointer_> -class BaseTensorContractionMapper : public SimpleTensorContractionMapper -{ - public: - typedef SimpleTensorContractionMapper ParentMapper; - - EIGEN_DEVICE_FUNC - BaseTensorContractionMapper(const Tensor& tensor, - const nocontract_t& nocontract_strides, - const nocontract_t& ij_strides, - const contract_t& contract_strides, - const contract_t& k_strides) : - ParentMapper(tensor, nocontract_strides, ij_strides, contract_strides, k_strides) { } - - typedef typename Tensor::PacketReturnType Packet; - typedef typename unpacket_traits::half HalfPacket; - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PacketT load(Index i, Index j) const { - // whole method makes column major assumption - - // don't need to add offsets for now (because operator handles that) - // current code assumes packet size must be a multiple of 2 - EIGEN_STATIC_ASSERT(packet_size % 2 == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - - if (Tensor::PacketAccess && inner_dim_contiguous && !inner_dim_reordered) { - const Index index = this->computeIndex(i, j); - eigen_assert(this->computeIndex(i+packet_size-1, j) == index + packet_size-1); - return this->m_tensor.template packet(index); - } - - const IndexPair indexPair = this->computeIndexPair(i, j, packet_size - 1); - const Index first = indexPair.first; - const Index last = indexPair.second; - - // We can always do optimized packet reads from left hand side right now, because - // the vertical matrix dimension on the left hand side is never contracting. - // On the right hand side we need to check if the contracting dimensions may have - // been shuffled first. - if (Tensor::PacketAccess && - (side == Lhs || internal::array_size::value <= 1 || !inner_dim_reordered) && - (last - first) == (packet_size - 1)) { - - return this->m_tensor.template packet(first); - } - - EIGEN_ALIGN_MAX Scalar data[packet_size]; - - data[0] = this->m_tensor.coeff(first); - for (Index k = 1; k < packet_size - 1; k += 2) { - const IndexPair internal_pair = this->computeIndexPair(i + k, j, 1); - data[k] = this->m_tensor.coeff(internal_pair.first); - data[k + 1] = this->m_tensor.coeff(internal_pair.second); - } - data[packet_size - 1] = this->m_tensor.coeff(last); - - return pload(data); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Packet loadPacket(Index i, Index j) const { - return this->load(i,j); - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE HalfPacket loadHalfPacket(Index i, Index j) const { - // whole method makes column major assumption - - // don't need to add offsets for now (because operator handles that) - const Index half_packet_size = unpacket_traits::size; - if (half_packet_size == packet_size) { - return loadPacket(i, j); - } - EIGEN_ALIGN_MAX Scalar data[half_packet_size]; - for (Index k = 0; k < half_packet_size; k++) { - data[k] = operator()(i + k, j); - } - return pload(data); - } -}; - - -template class MakePointer_> -class BaseTensorContractionMapper : public SimpleTensorContractionMapper -{ - public: - typedef SimpleTensorContractionMapper ParentMapper; - - EIGEN_DEVICE_FUNC - BaseTensorContractionMapper(const Tensor& tensor, - const nocontract_t& nocontract_strides, - const nocontract_t& ij_strides, - const contract_t& contract_strides, - const contract_t& k_strides) : - ParentMapper(tensor, nocontract_strides, ij_strides, contract_strides, k_strides) { } - - typedef typename Tensor::PacketReturnType Packet; - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Packet loadPacket(Index i, Index j) const { - EIGEN_ALIGN_MAX Scalar data[1]; - data[0] = this->m_tensor.coeff(this->computeIndex(i, j)); - return pload(data); - } - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PacketT load(Index i, Index j) const { - EIGEN_ALIGN_MAX Scalar data[1]; - data[0] = this->m_tensor.coeff(this->computeIndex(i, j)); - return pload(data); - } - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Packet loadHalfPacket(Index i, Index j) const { - return loadPacket(i, j); - } -}; - - -template class MakePointer_=MakePointer> -class TensorContractionSubMapper { - public: - typedef typename Tensor::PacketReturnType Packet; - typedef typename unpacket_traits::half HalfPacket; - - typedef BaseTensorContractionMapper ParentMapper; - typedef TensorContractionSubMapper Self; - typedef Self LinearMapper; - - enum { - // We can use direct offsets iff the parent mapper supports then and we can compute the strides. - // TODO: we should also enable direct offsets for the Rhs case. - UseDirectOffsets = ParentMapper::DirectOffsets && (side == Lhs) && inner_dim_contiguous && (array_size::value > 0) - }; - - EIGEN_DEVICE_FUNC TensorContractionSubMapper(const ParentMapper& base_mapper, Index vert_offset, Index horiz_offset) - : m_base_mapper(base_mapper), m_vert_offset(vert_offset), m_horiz_offset(horiz_offset) { - // Bake the offsets into the buffer used by the base mapper whenever possible. This avoids the need to recompute - // this offset every time we attempt to access a coefficient. - if (UseDirectOffsets) { - Index stride = m_base_mapper.stride(); - m_base_mapper.offsetBuffer(vert_offset + horiz_offset * stride); - } - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i) const { - if (UseDirectOffsets) { - return m_base_mapper(i, 0); - } - return m_base_mapper(i + m_vert_offset, m_horiz_offset); - } - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i, Index j) const { - if (UseDirectOffsets) { - return m_base_mapper(i, j); - } - return m_base_mapper(i + m_vert_offset, j + m_horiz_offset); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const { - if (UseDirectOffsets) { - return m_base_mapper.template loadPacket(i, 0); - } - return m_base_mapper.template loadPacket(i + m_vert_offset, m_horiz_offset); - } - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const { - if (UseDirectOffsets) { - return m_base_mapper.template loadPacket(i, j); - } - return m_base_mapper.template loadPacket(i + m_vert_offset, j + m_horiz_offset); - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketT loadPacket(Index i, Index j) const { - if (UseDirectOffsets) { - return m_base_mapper.template load(i, j); - } - return m_base_mapper.template loadPacket(i + m_vert_offset, j + m_horiz_offset); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const { - if (UseDirectOffsets) { - return m_base_mapper.template loadHalfPacket(i, 0); - } - return m_base_mapper.template loadHalfPacket(i + m_vert_offset, m_horiz_offset); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const Packet& p) const { - if (UseDirectOffsets) { - m_base_mapper.storePacket(i, 0, p); - } - m_base_mapper.storePacket(i + m_vert_offset, m_horiz_offset, p); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const { - if (UseDirectOffsets) { - return LinearMapper(m_base_mapper, i, j); - } - return LinearMapper(m_base_mapper, i + m_vert_offset, j + m_horiz_offset); - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketT load(Index i) const { - EIGEN_STATIC_ASSERT((internal::is_same::value), YOU_MADE_A_PROGRAMMING_MISTAKE); - const int ActualAlignment = (AlignmentType == Aligned) && (Alignment == Aligned) ? Aligned : Unaligned; - if (UseDirectOffsets) { - return m_base_mapper.template loadPacket(i, 0); - } - return m_base_mapper.template loadPacket(i + m_vert_offset, m_horiz_offset); - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool aligned(Index) const { - return false; - } - - private: - ParentMapper m_base_mapper; - const Index m_vert_offset; - const Index m_horiz_offset; -}; - - -template class MakePointer_=MakePointer> -class TensorContractionInputMapper - : public BaseTensorContractionMapper { - - public: - typedef Scalar_ Scalar; - typedef BaseTensorContractionMapper Base; - typedef TensorContractionSubMapper SubMapper; - typedef SubMapper VectorMapper; - - EIGEN_DEVICE_FUNC TensorContractionInputMapper(const Tensor& tensor, - const nocontract_t& nocontract_strides, - const nocontract_t& ij_strides, - const contract_t& contract_strides, - const contract_t& k_strides) - : Base(tensor, nocontract_strides, ij_strides, contract_strides, k_strides) { } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE SubMapper getSubMapper(Index i, Index j) const { - return SubMapper(*this, i, j); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE VectorMapper getVectorMapper(Index i, Index j) const { - return VectorMapper(*this, i, j); - } -}; - - - -} // end namespace internal -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_MAPPER_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h deleted file mode 100644 index e87de0c5..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h +++ /dev/null @@ -1,400 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Mehdi Goli Codeplay Software Ltd. -// Ralph Potter Codeplay Software Ltd. -// Luke Iwanski Codeplay Software Ltd. -// Contact: -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -/***************************************************************** - * TensorSyclConvertToDeviceExpression.h - * - * \brief: - * TensorContractionsycl - * -*****************************************************************/ - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_SYCL_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_SYCL_H -namespace Eigen { - -template struct LaunchSyclKernels; -template -struct TensorEvaluator, const Eigen::SyclDevice> : - public TensorContractionEvaluatorBase, const Eigen::SyclDevice> > { - - typedef const Eigen::SyclDevice Device; - - typedef TensorEvaluator, Device> Self; - typedef TensorContractionEvaluatorBase Base; - typedef TensorContractionOp XprType; - typedef typename internal::remove_const::type Scalar; - typedef typename XprType::Index Index; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - enum { - Layout = TensorEvaluator::Layout, - }; - - // Most of the code is assuming that both input tensors are ColMajor. If the - // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS: - // If we want to compute A * B = C, where A is LHS and B is RHS, the code - // will pretend B is LHS and A is RHS. - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType; - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType; - - static const int LDims = - internal::array_size::Dimensions>::value; - static const int RDims = - internal::array_size::Dimensions>::value; - static const int ContractDims = internal::array_size::value; - - typedef array left_dim_mapper_t; - typedef array right_dim_mapper_t; - - typedef array contract_t; - typedef array left_nocontract_t; - typedef array right_nocontract_t; - - static const int NumDims = LDims + RDims - 2 * ContractDims; - - typedef DSizes Dimensions; - - // typedefs needed in evalTo - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - - typedef typename LeftEvaluator::Dimensions LeftDimensions; - typedef typename RightEvaluator::Dimensions RightDimensions; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) : - Base(op, device) {} - - // We need to redefine this method to make nvcc happy - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) { - this->m_leftImpl.evalSubExprsIfNeeded(NULL); - this->m_rightImpl.evalSubExprsIfNeeded(NULL); - if (data) { - evalTo(data); - return false; - } else { - this->m_result = static_cast(this->m_device.allocate(this->dimensions().TotalSize() * sizeof(Scalar))); - evalTo(this->m_result); - return true; - } - } - const Eigen::SyclDevice& device() const {return this->m_device;} - void evalTo(Scalar* buffer) const { - // Here is the result - if (this->m_lhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - else { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - } - else { - if (this->m_rhs_inner_dim_contiguous) { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - else { - if (this->m_rhs_inner_dim_reordered) { - evalTyped(buffer); - } - else { - evalTyped(buffer); - } - } - } - } - - template - void evalTyped(Scalar* buffer) const { - // columns in left side, rows in right side - const Index k = this->m_k_size; - EIGEN_UNUSED_VARIABLE(k) - // rows in left side - const Index m = this->m_i_size; - // columns in right side - const Index n = this->m_j_size; - - // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar) - this->m_device.memset(buffer, 0, m * n * sizeof(Scalar)); - LaunchSyclKernels::Run(*this, buffer, m, n, k, - this->m_k_strides, this->m_left_contracting_strides, this->m_right_contracting_strides, - this->m_i_strides, this->m_j_strides, this->m_left_nocontract_strides, this->m_right_nocontract_strides); - } - // required by sycl to construct the expr on the device. Returns original left_impl - const TensorEvaluator& left_impl() const { - return choose(Cond(Layout) == static_cast(ColMajor)>(), this->m_leftImpl, this->m_rightImpl); - } - // required by sycl to construct the expr on the device. Returns original right_impl - const TensorEvaluator& right_impl() const { - return choose(Cond(Layout) == static_cast(ColMajor)>(), this->m_rightImpl, this->m_leftImpl); - } -}; - -template struct KernelConstructor{ - typedef typename Eigen::internal::traits::_LhsNested LHSHostExpr; - typedef typename Eigen::internal::traits::_RhsNested RHSHostExpr; - typedef typename Eigen::TensorSycl::internal::createPlaceHolderExpression::Type LHSPlaceHolderExpr; - typedef typename Eigen::TensorSycl::internal::createPlaceHolderExpression::Type RHSPlaceHolderExpr; - LHSFunctorExpr lhs_functors; - RHSFunctorExpr rhs_functors; - LhsLocalAcc localLhs; - RhsLocalAcc localRhs; - OutAccessor out_res; - Index roundUpK, M, N, K; - ContractT m_k_strides, m_left_contracting_strides, m_right_contracting_strides; - LeftNocontractT m_i_strides, m_left_nocontract_strides; - RightNocontractT m_j_strides, m_right_nocontract_strides; - LHSTupleType left_tuple_of_accessors; - RHSTupleType right_tuple_of_accessors; - Device dev; - - - KernelConstructor(LHSFunctorExpr lhs_functors_, RHSFunctorExpr rhs_functors_, LhsLocalAcc localLhs_, RhsLocalAcc localRhs_, OutAccessor out_res_, - Index roundUpK_, Index M_, Index N_, Index K_, ContractT m_k_strides_, ContractT m_left_contracting_strides_, - ContractT m_right_contracting_strides_, LeftNocontractT m_i_strides_, RightNocontractT m_j_strides_, - LeftNocontractT m_left_nocontract_strides_, RightNocontractT m_right_nocontract_strides_, LHSTupleType left_tuple_of_accessors_, RHSTupleType right_tuple_of_accessors_, Device dev_) - :lhs_functors(lhs_functors_), rhs_functors(rhs_functors_), localLhs(localLhs_), localRhs(localRhs_), out_res(out_res_), roundUpK(roundUpK_), M(M_), N(N_), K(K_), - m_k_strides(m_k_strides_), m_left_contracting_strides(m_left_contracting_strides_), - m_right_contracting_strides(m_right_contracting_strides_), - m_i_strides(m_i_strides_), m_left_nocontract_strides(m_left_nocontract_strides_), - m_j_strides(m_j_strides_), m_right_nocontract_strides(m_right_nocontract_strides_), - left_tuple_of_accessors(left_tuple_of_accessors_), right_tuple_of_accessors(right_tuple_of_accessors_), dev(dev_){} - - void operator()(cl::sycl::nd_item<1> itemID) { - typedef typename Eigen::TensorSycl::internal::ConvertToDeviceExpression::Type DevExpr; - typedef typename Eigen::TensorSycl::internal::ConvertToDeviceExpression::Type LHSDevExpr; - typedef typename Eigen::TensorSycl::internal::ConvertToDeviceExpression::Type RHSDevExpr; - auto lhs_dev_expr = Eigen::TensorSycl::internal::createDeviceExpression(lhs_functors, left_tuple_of_accessors); - auto rhs_dev_expr = Eigen::TensorSycl::internal::createDeviceExpression(rhs_functors, right_tuple_of_accessors); - typedef decltype(lhs_dev_expr.expr) LeftArgType; - typedef decltype(rhs_dev_expr.expr) RightArgType; - typedef typename internal::conditional(Eigen::internal::traits::Layout) == static_cast(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType; - typedef typename internal::conditional(Eigen::internal::traits::Layout) == static_cast(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType; - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - typedef internal::TensorContractionInputMapper LhsMapper; - - typedef internal::TensorContractionInputMapper RhsMapper; - // initialize data mappers must happen inside the kernel for device eval - LhsMapper lhs(LeftEvaluator(choose(Cond(Eigen::internal::traits::Layout) == static_cast(ColMajor)>(), - lhs_dev_expr.expr, rhs_dev_expr.expr), dev), m_left_nocontract_strides, m_i_strides, m_left_contracting_strides, m_k_strides); - RhsMapper rhs(RightEvaluator(choose(Cond(Eigen::internal::traits::Layout) == static_cast(ColMajor)>(), - rhs_dev_expr.expr, lhs_dev_expr.expr),dev), m_right_nocontract_strides, m_j_strides, m_right_contracting_strides, m_k_strides); - auto out_ptr = ConvertToActualTypeSycl(OutScalar, out_res); - // Matmul Kernel - // Thread identifiers - const Index mLocalThreadId = itemID.get_local(0); // Local ID row - const Index nLocalThreadId = itemID.get_local(1); // Local ID col - const Index mGroupId = itemID.get_group(0); // Work-group ID row - const Index nGroupId = itemID.get_group(1); // Work-group ID localCol - const Index linearLocalThreadId = nLocalThreadId*LocalThreadSizeM + mLocalThreadId; // linear local thread ID - // Allocate register space - float privateLhs; - float privateRhs[WorkLoadPerThreadN]; - float privateRes[WorkLoadPerThreadM][WorkLoadPerThreadN]; - // Initialise the privateResumulation registers - for (Index wLPTM=0; wLPTM(0); - } - // Tile Rhs - for (Index lPTR=0; lPTR(0); - - } - // Loop over all tiles - const Index numTiles = roundUpK/TileSizeDimK; - Index firstHalf=0; - do { - // Synchronise - itemID.barrier(cl::sycl::access::fence_space::local_space); - // Load the next tile of Lhs and Rhs into local memory - Index nextHalf = firstHalf + 1; - if (nextHalf < numTiles) { - // Tile A - for (Index lPTL=0; lPTL(0); - } - // Tile B - for (Index lPTR=0; lPTR(0); - } - } - // Loop over the values of a single tile - for (Index k=0; k struct LaunchSyclKernels { - -static const Index TileSizeDimM = 32ul; // Tile size for dimension M -static const Index TileSizeDimN = 32ul; // Tile size for dimension N -static const Index TileSizeDimK = 16ul; // Tile size for dimension K -static const Index WorkLoadPerThreadM = 4ul; // Work load per thread in dimension M -static const Index WorkLoadPerThreadN = 4ul; // work load per thread in dimension N -static const Index LocalThreadSizeM = (TileSizeDimM/WorkLoadPerThreadM); // Local thread size for the first dimension (M here) -static const Index LocalThreadSizeN = (TileSizeDimN/WorkLoadPerThreadN); // Local thread size for the second dimension (N here) -static const Index LoadPerThreadLhs = ((TileSizeDimK*WorkLoadPerThreadM*WorkLoadPerThreadN)/(TileSizeDimN)); // workload per thread for Lhs expression -static const Index LoadPerThreadRhs = ((TileSizeDimK*WorkLoadPerThreadM*WorkLoadPerThreadN)/(TileSizeDimM)); // workload per thread for Rhs expression - -// RoundUp function to make sure that the global threadId is divisable by local threadId -static Index RoundUp(Index x, Index y) { - return ((((x) + (y) - 1) / (y))*(y)); -} - -template< typename Self, typename OutScalar, typename ContractT, typename LeftNocontractT, typename RightNocontractT> - static void Run(const Self& self, OutScalar* buffer, Index M, Index N, Index K, - ContractT m_k_strides, ContractT m_left_contracting_strides, ContractT m_right_contracting_strides, - LeftNocontractT m_i_strides, RightNocontractT m_j_strides, LeftNocontractT m_left_nocontract_strides, RightNocontractT m_right_nocontract_strides){ - - typedef typename Self::XprType HostExpr; - typedef typename Eigen::internal::traits::_LhsNested LHSHostExpr; - typedef typename Eigen::internal::traits::_RhsNested RHSHostExpr; - typedef TensorEvaluator OrigLHSExpr; - typedef TensorEvaluator OrigRHSExpr; - typedef Eigen::TensorSycl::internal::FunctorExtractor LHSFunctorExpr; - typedef Eigen::TensorSycl::internal::FunctorExtractor RHSFunctorExpr; - // extract lhs functor list - LHSFunctorExpr lhs_functors = Eigen::TensorSycl::internal::extractFunctors(self.left_impl()); - // extract rhs functor list - RHSFunctorExpr rhs_functors = Eigen::TensorSycl::internal::extractFunctors(self.left_impl()); - - Index roundUpK = RoundUp(K, TileSizeDimK); - Index roundUpM = RoundUp(M, TileSizeDimM); - Index roundUpN = RoundUp(N, TileSizeDimN); - - self.device().sycl_queue().submit([&](cl::sycl::handler &cgh) { - /// work-around for gcc bug - typedef decltype(Eigen::TensorSycl::internal::createTupleOfAccessors(cgh, self.left_impl())) LHSTupleType; - /// work-around for gcc bug - typedef decltype(Eigen::TensorSycl::internal::createTupleOfAccessors(cgh, self.right_impl())) RHSTupleType; - // create lhs tuple of accessors - LHSTupleType left_tuple_of_accessors = Eigen::TensorSycl::internal::createTupleOfAccessors(cgh, self.left_impl()); - // create rhs tuple of accessors - RHSTupleType right_tuple_of_accessors = Eigen::TensorSycl::internal::createTupleOfAccessors(cgh, self.right_impl()); - - // Local memory for elements of Lhs - typedef cl::sycl::accessor LhsLocalAcc; - LhsLocalAcc localLhs(cl::sycl::range<1>(2* TileSizeDimM * TileSizeDimK), cgh); - // Local memory for elements of Rhs - typedef cl::sycl::accessor RhsLocalAcc; - RhsLocalAcc localRhs(cl::sycl::range<1>(2* TileSizeDimK * TileSizeDimN), cgh); - - typedef cl::sycl::accessor OutAccessor; - //OutScalar memory - OutAccessor out_res= self.device(). template get_sycl_accessor(cgh, buffer); - - // sycl parallel for - cgh.parallel_for(cl::sycl::nd_range<2>(cl::sycl::range<2>(roundUpM/WorkLoadPerThreadM, roundUpN/WorkLoadPerThreadN), - cl::sycl::range<2>(LocalThreadSizeM, LocalThreadSizeN)), - KernelConstructor(lhs_functors, rhs_functors, - localLhs, localRhs, out_res, roundUpK, M, N, K, m_k_strides, m_left_contracting_strides, m_right_contracting_strides,m_i_strides, m_j_strides, - m_left_nocontract_strides,m_right_nocontract_strides, left_tuple_of_accessors, right_tuple_of_accessors, Eigen::DefaultDevice())); - }); - self.device().asynchronousExec(); - } -}; - -} // end namespace Eigen -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_SYCL_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h deleted file mode 100644 index d30cc96a..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorContractionThreadPool.h +++ /dev/null @@ -1,1252 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_THREAD_POOL_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_THREAD_POOL_H - -// evaluator for thread pool device -#ifdef EIGEN_USE_THREADS - -namespace Eigen { - -#ifdef EIGEN_USE_SIMPLE_THREAD_POOL -namespace internal { - -template -struct packLhsArg { - LhsScalar* blockA; - const LhsMapper& lhs; - const Index m_start; - const Index k_start; - const Index mc; - const Index kc; -}; - -template -struct packRhsAndKernelArg { - const MaxSizeVector* blockAs; - RhsScalar* blockB; - const RhsMapper& rhs; - OutputMapper& output; - const Index m; - const Index k; - const Index n; - const Index mc; - const Index kc; - const Index nc; - const Index num_threads; - const Index num_blockAs; - const Index max_m; - const Index k_block_idx; - const Index m_block_idx; - const Index n_block_idx; - const Index m_blocks; - const Index n_blocks; - MaxSizeVector* kernel_notifications; - const MaxSizeVector* lhs_notifications; - const bool need_to_pack; -}; - -} // end namespace internal -#endif // EIGEN_USE_SIMPLE_THREAD_POOL - -template -struct TensorEvaluator, ThreadPoolDevice> : - public TensorContractionEvaluatorBase, ThreadPoolDevice> > { - - typedef ThreadPoolDevice Device; - - typedef TensorEvaluator, Device> Self; - typedef TensorContractionEvaluatorBase Base; - - typedef TensorContractionOp XprType; - typedef typename internal::remove_const::type Scalar; - typedef typename XprType::Index Index; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - enum { - Layout = TensorEvaluator::Layout, - }; - - // Most of the code is assuming that both input tensors are ColMajor. If the - // inputs are RowMajor, we will "cheat" by swapping the LHS and RHS: - // If we want to compute A * B = C, where A is LHS and B is RHS, the code - // will pretend B is LHS and A is RHS. - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), LeftArgType, RightArgType>::type EvalLeftArgType; - typedef typename internal::conditional< - static_cast(Layout) == static_cast(ColMajor), RightArgType, LeftArgType>::type EvalRightArgType; - - static const int LDims = - internal::array_size::Dimensions>::value; - static const int RDims = - internal::array_size::Dimensions>::value; - static const int ContractDims = internal::array_size::value; - - typedef array left_dim_mapper_t; - typedef array right_dim_mapper_t; - - typedef array contract_t; - typedef array left_nocontract_t; - typedef array right_nocontract_t; - - static const int NumDims = LDims + RDims - 2 * ContractDims; - - typedef DSizes Dimensions; - - // typedefs needed in evalTo - typedef typename internal::remove_const::type LhsScalar; - typedef typename internal::remove_const::type RhsScalar; - typedef typename internal::gebp_traits Traits; - - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - - TensorEvaluator(const XprType& op, const Device& device) : - Base(op, device) {} - -#ifndef EIGEN_USE_SIMPLE_THREAD_POOL - template - void evalProduct(Scalar* buffer) const { - const Index m = this->m_i_size; - const Index n = this->m_j_size; - const Index k = this->m_k_size; - if (m == 0 || n == 0 || k == 0) return; - -#if defined(EIGEN_VECTORIZE_AVX) && defined(EIGEN_USE_LIBXSMM) - if (this->m_can_use_xsmm) { - bool transposeA = !this->m_lhs_inner_dim_contiguous; - bool transposeB = !this->m_rhs_inner_dim_contiguous; - internal::TensorXsmmContractionBlocking - blocking(k, m, n, this->m_device.numThreads(), transposeA, - transposeB); - - if (blocking.num_threads() == 1) { - this->evalGemmXSMM(buffer); - } else { - ContextXsmm(this, buffer, m, n, k, blocking).run(); - } - return; - } -#endif - - typedef - typename internal::remove_const::type - LhsScalar; - typedef - typename internal::remove_const::type - RhsScalar; - typedef typename internal::gebp_traits Traits; - typedef TensorEvaluator LeftEvaluator; - typedef TensorEvaluator RightEvaluator; - typedef internal::TensorContractionInputMapper< - LhsScalar, Index, internal::Lhs, LeftEvaluator, left_nocontract_t, - contract_t, internal::packet_traits::size, - lhs_inner_dim_contiguous, false, Unaligned> - LhsMapper; - typedef internal::TensorContractionInputMapper< - RhsScalar, Index, internal::Rhs, RightEvaluator, right_nocontract_t, - contract_t, internal::packet_traits::size, - rhs_inner_dim_contiguous, rhs_inner_dim_reordered, Unaligned> - RhsMapper; - typedef internal::blas_data_mapper OutputMapper; - typedef internal::gemm_pack_lhs - LhsPacker; - typedef internal::gemm_pack_rhs< - RhsScalar, Index, typename RhsMapper::SubMapper, Traits::nr, ColMajor> - RhsPacker; - typedef internal::gebp_kernel - GebpKernel; - - - - // Compute a set of algorithm parameters: - // - kernel block sizes (bm, bn, bk) - // - task grain sizes (number of kernels executed per task: gm, gn) - // - number of threads - // - sharding by row/column - // - parallel packing or first lhs then rhs - // and some derived parameters: - // - number of tasks (nm, nn, nk) - // - number of kernels (nm0, nn0) - // Unfortunately, all these parameters are tightly interdependent. - // So in some cases we first compute approximate values, then compute other - // values based on these approximations and then refine the approximations. - - // There are lots of heuristics here. There is some reasoning behind them, - // but ultimately they are just tuned on contraction benchmarks for - // different input configurations, thread counts and instruction sets. - // So feel free to question any of them. - - // Compute whether we want to shard by row or by column. - // This is a first approximation, it will be refined later. Since we don't - // know number of threads yet we use 2, because what's we are most - // interested in at this point is whether it makes sense to use - // parallelization at all or not. - bool shard_by_col = shardByCol(m, n, 2); - - // First approximation of kernel blocking sizes. - // Again, we don't know number of threads yet, so we use 2. - Index bm, bn, bk; - if (shard_by_col) { - internal::TensorContractionBlocking - blocking(k, m, n, 2); - bm = blocking.mc(); - bn = blocking.nc(); - bk = blocking.kc(); - } else { - internal::TensorContractionBlocking - blocking(k, m, n, 2); - bm = blocking.mc(); - bn = blocking.nc(); - bk = blocking.kc(); - } - - // Compute optimal number of threads. - // Note: we use bk instead of k here because we are interested in amount of - // _parallelizable_ computations, and computations are not parallelizable - // across k dimension. - const TensorOpCost cost = - contractionCost(m, n, bm, bn, bk, shard_by_col, false); - int num_threads = TensorCostModel::numThreads( - static_cast(n) * m, cost, this->m_device.numThreads()); - - // TODO(dvyukov): this is a stop-gap to prevent regressions while the cost - // model is not tuned. Remove this when the cost model is tuned. - if (n == 1) num_threads = 1; - - if (num_threads == 1) { - // The single-threaded algorithm should be faster in this case. - if (n == 1) - this->template evalGemv(buffer); - else - this->template evalGemm(buffer); - return; - } - - // Now that we know number of threads, recalculate sharding and blocking. - shard_by_col = shardByCol(m, n, num_threads); - if (shard_by_col) { - internal::TensorContractionBlocking - blocking(k, m, n, num_threads); - bm = blocking.mc(); - bn = blocking.nc(); - bk = blocking.kc(); - } else { - internal::TensorContractionBlocking - blocking(k, m, n, num_threads); - bm = blocking.mc(); - bn = blocking.nc(); - bk = blocking.kc(); - } - - // Number of kernels for each dimension. - Index nm0 = divup(m, bm); - Index nn0 = divup(n, bn); - Index nk = divup(k, bk); - - // Calculate task grain size (number of kernels executed per task). - // This task size coarsening serves two purposes: - // 1. It reduces per-task overheads including synchronization overheads. - // 2. It allows to use caches better (reuse the same packed rhs in several - // consecutive kernels). - Index gm = 1; - Index gn = 1; - // If we are sharding by column, then we prefer to reduce rows first. - if (shard_by_col) { - gm = coarsenM(m, n, bm, bn, bk, gn, num_threads, shard_by_col); - gn = coarsenN(m, n, bm, bn, bk, gm, num_threads, shard_by_col); - } else { - gn = coarsenN(m, n, bm, bn, bk, gm, num_threads, shard_by_col); - gm = coarsenM(m, n, bm, bn, bk, gn, num_threads, shard_by_col); - } - // Number of tasks in each dimension. - Index nm = divup(nm0, gm); - Index nn = divup(nn0, gn); - - // Last by not least, decide whether we want to issue both lhs and rhs - // packing in parallel; or issue lhs packing first, and then issue rhs - // packing when lhs packing completes (for !shard_by_col lhs and rhs are - // swapped). Parallel packing allows more parallelism (for both packing and - // kernels), while sequential packing provides better locality (once - // a thread finishes rhs packing it proceed to kernels with that rhs). - // First, we are interested in parallel packing if there are few tasks. - bool parallel_pack = num_threads >= nm * nn; - // Also do parallel packing if all data fits into L2$. - if (m * bk * Index(sizeof(LhsScalar)) + n * bk * Index(sizeof(RhsScalar)) <= - l2CacheSize() * num_threads) - parallel_pack = true; - // But don't do it if we will use each rhs only once. Locality seems to be - // more important in this case. - if ((shard_by_col ? nm : nn) == 1) parallel_pack = false; - - LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, - this->m_i_strides, this->m_left_contracting_strides, - this->m_k_strides); - - RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, - this->m_j_strides, this->m_right_contracting_strides, - this->m_k_strides); - - Context(this->m_device, num_threads, lhs, rhs, buffer, m, n, - k, bm, bn, bk, nm, nn, nk, gm, gn, nm0, nn0, - shard_by_col, parallel_pack) - .run(); - } - - // Context coordinates a single parallel gemm operation. - template - class Context { - public: - Context(const Device& device, int num_threads, LhsMapper& lhs, - RhsMapper& rhs, Scalar* buffer, Index tm, Index tn, Index tk, Index bm, - Index bn, Index bk, Index nm, Index nn, Index nk, Index gm, - Index gn, Index nm0, Index nn0, bool shard_by_col, - bool parallel_pack) - : device_(device), - lhs_(lhs), - rhs_(rhs), - buffer_(buffer), - output_(buffer, tm), - num_threads_(num_threads), - shard_by_col_(shard_by_col), - parallel_pack_(parallel_pack), - m_(tm), - n_(tn), - k_(tk), - bm_(bm), - bn_(bn), - bk_(bk), - nm_(nm), - nn_(nn), - nk_(nk), - gm_(gm), - gn_(gn), - nm0_(nm0), - nn0_(nn0) - { - for (Index x = 0; x < P; x++) { - // Normal number of notifications for k slice switch is - // nm_ + nn_ + nm_ * nn_. However, first P - 1 slices will receive only - // nm_ + nn_ notifications, because they will not receive notifications - // from preceeding kernels. - state_switch_[x] = - x == 0 - ? 1 - : (parallel_pack_ ? nn_ + nm_ : (shard_by_col_ ? nn_ : nm_)) + - (x == P - 1 ? nm_ * nn_ : 0); - state_packing_ready_[x] = - parallel_pack_ ? 0 : (shard_by_col_ ? nm_ : nn_); - state_kernel_[x] = new std::atomic*[nm_]; - for (Index m = 0; m < nm_; m++) { - state_kernel_[x][m] = new std::atomic[nn_]; - // Kernels generally receive 3 notifications (previous kernel + 2 - // packing), but the first slice won't get notifications from previous - // kernels. - for (Index n = 0; n < nn_; n++) - state_kernel_[x][m][n].store( - (x == 0 ? 0 : 1) + (parallel_pack_ ? 2 : 1), - std::memory_order_relaxed); - } - } - - // Allocate memory for packed rhs/lhs matrices. - size_t align = numext::maxi(EIGEN_MAX_ALIGN_BYTES, 1); - size_t lhs_size = - divup(bm_ * bk_ * sizeof(LhsScalar), align) * align; - size_t rhs_size = - divup(bn_ * bk_ * sizeof(RhsScalar), align) * align; - packed_mem_ = static_cast(internal::aligned_malloc( - (nm0_ * lhs_size + nn0_ * rhs_size) * std::min(nk_, P - 1))); - char* mem = static_cast(packed_mem_); - for (Index x = 0; x < numext::mini(nk_, P - 1); x++) { - packed_lhs_[x].resize(nm0_); - for (Index m = 0; m < nm0_; m++) { - packed_lhs_[x][m] = reinterpret_cast(mem); - mem += lhs_size; - } - packed_rhs_[x].resize(nn0_); - for (Index n = 0; n < nn0_; n++) { - packed_rhs_[x][n] = reinterpret_cast(mem); - mem += rhs_size; - } - } - } - - ~Context() { - for (Index x = 0; x < P; x++) { - for (Index m = 0; m < nm_; m++) delete[] state_kernel_[x][m]; - delete[] state_kernel_[x]; - } - internal::aligned_free(packed_mem_); - } - - void run() { - // Kick off packing of the first slice. - signal_switch(0, 1); - // Wait for overall completion. - // TODO(dvyukov): this wait can lead to deadlock. - // If nthreads contractions are concurrently submitted from worker - // threads, this wait will block all worker threads and the system will - // deadlock. - done_.Wait(); - } - - private: - Notification done_; - const Device& device_; - LhsMapper& lhs_; - RhsMapper& rhs_; - Scalar* const buffer_; - OutputMapper output_; - const int num_threads_; - const bool shard_by_col_; - const bool parallel_pack_; - // Matrix sizes. - const Index m_; - const Index n_; - const Index k_; - // Block sizes. - const Index bm_; - const Index bn_; - const Index bk_; - // Number of tasks. - const Index nm_; - const Index nn_; - const Index nk_; - // Task grain sizes (number of kernels executed per task). - const Index gm_; - const Index gn_; - // Number of blocks (this is different from ni_/nn_ because of task size - // coarsening). - const Index nm0_; - const Index nn0_; - - // Parallelization strategy. - // - // Blocks related to the same k block can run in parallel because they write - // to different output blocks. So we parallelize within k slices, this - // gives us parallelism level of m x n. Before we can start any kernels - // related to k-th slice, we need to issue m lhs packing tasks and n rhs - // packing tasks. - // - // However, there is a bottleneck when we are finishing kernels for k-th - // slice (at the very end there is only 1 runnable kernel). To mitigate this - // bottleneck we allow kernels from k-th and k+1-th slices to run in - // parallel. Note that (m, n, k) and (m, n, k+1) kernels write to the same - // output block, so they must not run in parallel. - // - // This gives us the following dependency graph. - // On each k slice we have m x n kernel tasks, m lhs paking tasks and n rhs - // packing tasks. - // Kernel (m, n, k) can start when: - // - kernel (m, n, k-1) has finished - // - lhs packing (m, k) has finished - // - rhs packing (n, k) has finished - // Lhs/rhs packing can start when: - // - all k-1 packing has finished (artificially imposed to limit amount of - // parallel packing) - // - // On top of that we limit runnable tasks to two consecutive k slices. - // This is done to limit amount of memory we need for packed lhs/rhs - // (for each k slice we need m*bk + n*bk memory in packed_lhs_/packed_rhs_). - // - // state_switch_ tracks when we are ready to switch to the next k slice. - // state_kernel_[m][n] tracks when we are ready to kick off kernel (m, n). - // These variable are rolling over 3 consecutive k slices: first two we are - // actively executing + one to track completion of kernels in the second - // slice. - static const Index P = 3; - void* packed_mem_; - std::vector packed_lhs_[P - 1]; - std::vector packed_rhs_[P - 1]; - std::atomic** state_kernel_[P]; - // state_switch_ is frequently modified by worker threads, while other - // fields are read-only after constructor. Let's move it to a separate cache - // line to reduce cache-coherency traffic. - char pad_[128]; - std::atomic state_packing_ready_[P]; - std::atomic state_switch_[P]; - - void pack_lhs(Index m, Index k) { - const Index mend = m * gm_ + gm(m); - for (Index m1 = m * gm_; m1 < mend; m1++) - LhsPacker()(packed_lhs_[k % (P - 1)][m1], - lhs_.getSubMapper(m1 * bm_, k * bk_), bk(k), bm(m1)); - - if (!parallel_pack_ && shard_by_col_) { - signal_packing(k); - } else { - signal_switch(k + 1); - for (Index n = nn_ - 1; n >= 0; n--) signal_kernel(m, n, k, n == 0); - } - } - - void pack_rhs(Index n, Index k) { - const Index nend = n * gn_ + gn(n); - for (Index n1 = n * gn_; n1 < nend; n1++) { - if (k == 0) { - // Zero the output memory in parallel. - // On 10000x2x10000 mm zeroing can easily take half of time. - // Zero (bn x m) row. Safe to do here because all kernels that will - // write to this memory depend on completion of this task. - // Note: don't call device_.memset() here. device_.memset() blocks on - // thread pool worker thread, which can lead to underutilization and - // deadlocks. - memset(buffer_ + n1 * bn_ * m_, 0, bn(n1) * m_ * sizeof(Scalar)); - } - RhsPacker()(packed_rhs_[k % (P - 1)][n1], - rhs_.getSubMapper(k * bk_, n1 * bn_), bk(k), bn(n1)); - } - - if (parallel_pack_ || shard_by_col_) { - signal_switch(k + 1); - for (Index m = nm_ - 1; m >= 0; m--) signal_kernel(m, n, k, m == 0); - } else { - signal_packing(k); - } - } - - void kernel(Index m, Index n, Index k) { - // Note: order of iteration matters here. Iteration over m is innermost - // because we want to reuse the same packed rhs in consequetive tasks - // (rhs fits into L2$ while lhs only into L3$). - const Index nend = n * gn_ + gn(n); - const Index mend = m * gm_ + gm(m); - if (shard_by_col_) { - for (Index n1 = n * gn_; n1 < nend; n1++) { - for (Index m1 = m * gm_; m1 < mend; m1++) - GebpKernel()(output_.getSubMapper(m1 * bm_, n1 * bn_), - packed_lhs_[k % (P - 1)][m1], - packed_rhs_[k % (P - 1)][n1], bm(m1), bk(k), bn(n1), - Scalar(1), -1, -1, 0, 0); - } - } else { - for (Index m1 = m * gm_; m1 < mend; m1++) - for (Index n1 = n * gn_; n1 < nend; n1++) { - GebpKernel()(output_.getSubMapper(m1 * bm_, n1 * bn_), - packed_lhs_[k % (P - 1)][m1], - packed_rhs_[k % (P - 1)][n1], bm(m1), bk(k), bn(n1), - Scalar(1), -1, -1, 0, 0); - } - } - signal_kernel(m, n, k + 1, false); - signal_switch(k + 2); - } - - void signal_packing(Index k) { - eigen_assert(!parallel_pack_); - Index s = state_packing_ready_[k % P].fetch_sub(1); - eigen_assert(s > 0); - if (s != 1) return; - state_packing_ready_[k % P] = shard_by_col_ ? nm_ : nn_; - enqueue_packing(k, shard_by_col_); - } - - void signal_kernel(Index m, Index n, Index k, bool sync) { - std::atomic* state = &state_kernel_[k % P][m][n]; - Index s = state->load(); - eigen_assert(s > 0); - if (s != 1 && state->fetch_sub(1) != 1) return; - state->store(parallel_pack_ ? 3 : 2, std::memory_order_relaxed); - if (sync) - kernel(m, n, k); - else - device_.enqueueNoNotification([=]() { kernel(m, n, k); }); - } - - void signal_switch(Index k, Index v = 1) { - Index s = state_switch_[k % P].fetch_sub(v); - eigen_assert(s >= v); - if (s != v) return; - - // Ready to switch to the next k slice. - // Reset counter for the next iteration. - state_switch_[k % P] = - (parallel_pack_ ? nm_ + nn_ : (shard_by_col_ ? nn_ : nm_)) + - nm_ * nn_; - if (k < nk_) { - // Issue lhs/rhs packing. Their completion will in turn kick off - // kernels. - if (parallel_pack_) { - enqueue_packing(k, !shard_by_col_); - enqueue_packing(k, shard_by_col_); - } else if (shard_by_col_) { - enqueue_packing(k, false); - } else { - enqueue_packing(k, true); - } - - // Termination handling. - // Because kernel completion signals k + 2 switch, we need to finish nk - // + 2 slices without issuing any tasks on nk + 1 slice. So here we - // pretend that all nk + 1 packing tasks just finish instantly; so that - // nk + 2 switch only waits for completion of nk kernels. - } else if (k == nk_) { - signal_switch(k + 1, - parallel_pack_ ? nm_ + nn_ : (shard_by_col_ ? nn_ : nm_)); - } else { - done_.Notify(); - } - } - - // Enqueue all rhs/lhs packing for k-th slice. - void enqueue_packing(Index k, bool rhs) { - enqueue_packing_helper(0, rhs ? nn_ : nm_, k, rhs); - } - - void enqueue_packing_helper(Index start, Index end, Index k, bool rhs) { - if (end - start == 1) { - if (rhs) - pack_rhs(start, k); - else - pack_lhs(start, k); - } else { - Index mid = (start + end) / 2; - device_.enqueueNoNotification( - [=]() { enqueue_packing_helper(mid, end, k, rhs); }); - device_.enqueueNoNotification( - [=]() { enqueue_packing_helper(start, mid, k, rhs); }); - } - } - - // Block sizes with accounting for potentially incomplete last block. - Index bm(Index m) const { return m + 1 < nm0_ ? bm_ : m_ + bm_ - bm_ * nm0_; } - Index bn(Index n) const { return n + 1 < nn0_ ? bn_ : n_ + bn_ - bn_ * nn0_; } - Index bk(Index k) const { return k + 1 < nk_ ? bk_ : k_ + bk_ - bk_ * nk_; } - // Task grain sizes accounting for potentially incomplete last task. - Index gm(Index m) const { return m + 1 < nm_ ? gm_ : nm0_ + gm_ - gm_ * nm_; } - Index gn(Index n) const { return n + 1 < nn_ ? gn_ : nn0_ + gn_ - gn_ * nn_; } - - Context(const Context&) = delete; - void operator=(const Context&) = delete; - }; - - // Decide whether we want to shard m x n contraction by columns or by rows. - static bool shardByCol(Index m, Index n, Index num_threads) { - // Note: we are comparing both n and m against Traits::nr, it is not - // a mistake. We are trying to figure out how both n and m will fit into - // the main sharding dimension. - - // Sharding by column is the default - // ... unless there is enough data for vectorization over rows - if (m / num_threads >= Traits::nr && - // and not enough data for vectorization over columns - (n / num_threads < Traits::nr || - // ... or barely enough data for vectorization over columns, - // but it is not evenly dividable across threads - (n / num_threads < 4 * Traits::nr && - (n % (num_threads * Traits::nr)) != 0 && - // ... and it is evenly dividable across threads for rows - ((m % (num_threads * Traits::nr)) == 0 || - // .. or it is not evenly dividable for both dimensions but - // there is much more data over rows so that corner effects are - // mitigated. - (m / n >= 6))))) - return false; - // Wait, or if matrices are just substantially prolonged over the other - // dimension. - if (n / num_threads < 16 * Traits::nr && m > n * 32) return false; - return true; - } - - Index coarsenM(Index m, Index n, Index bm, Index bn, Index bk, Index gn, - int num_threads, bool shard_by_col) const { - Index gm = 1; - Index gm1 = 1; - Index nm0 = divup(m, bm); - Index nm1 = nm0; - for (;;) { - // Find the next candidate for m grain size. It needs to result in - // different number of blocks. E.g. if we have 10 kernels, we want to try - // 5 and 10, but not 6, 7, 8 and 9. - while (gm1 <= nm0 && nm1 == divup(nm0, gm1)) gm1++; - if (gm1 > nm0) break; - // Check the candidate. - int res = checkGrain(m, n, bm, bn, bk, gm1, gn, gm, gn, num_threads, - shard_by_col); - if (res < 0) break; - nm1 = divup(nm0, gm1); - if (res == 0) continue; - // Commit new grain size. - gm = gm1; - } - return gm; - } - - Index coarsenN(Index m, Index n, Index bm, Index bn, Index bk, Index gm, - int num_threads, bool shard_by_col) const { - Index gn = 1; - Index gn1 = 1; - Index nn0 = divup(n, bn); - Index nn1 = nn0; - for (;;) { - while (gn1 <= nn0 && nn1 == divup(nn0, gn1)) gn1++; - if (gn1 > nn0) break; - int res = checkGrain(m, n, bm, bn, bk, gm, gn1, gm, gn, num_threads, - shard_by_col); - if (res < 0) break; - nn1 = divup(nn0, gn1); - if (res == 0) continue; - gn = gn1; - } - return gn; - } - - // checkGrain checks whether grain (gm, gn) is suitable and is better than - // (oldgm, oldgn). - int checkGrain(Index m, Index n, Index bm, Index bn, Index bk, Index gm, - Index gn, Index oldgm, Index oldgn, int num_threads, - bool shard_by_col) const { - const TensorOpCost cost = - contractionCost(bm * gm, bn * gn, bm, bn, bk, shard_by_col, true); - double taskSize = TensorCostModel::taskSize( - static_cast(bm) * gm * bn * gn, cost); - // If the task is too small, then we agree on it regardless of anything - // else. Otherwise synchronization overheads will dominate. - if (taskSize < 1) return 1; - // If it is too large, then we reject it and all larger tasks. - if (taskSize > 2) return -1; - // Now we are in presumably good task size range. - // The main deciding factor here is parallelism. Consider that we have 12 - // kernels and 4 threads. Grains of 2, 3 and 4 all yield good task sizes. - // But 2/4 yield 6/3 tasks, which gives us parallelism of 0.75 (at most 3/4 - // of cores will be busy). While grain size 3 gives us 4 tasks, which gives - // us parallelism of 1 (we can load all cores). - Index nm0 = divup(m, bm); - Index nn0 = divup(n, bn); - Index new_tasks = divup(nm0, gm) * divup(nn0, gn); - double new_parallelism = static_cast(new_tasks) / - (divup(new_tasks, num_threads) * num_threads); - Index old_tasks = divup(nm0, oldgm) * divup(nn0, oldgn); - double old_parallelism = static_cast(old_tasks) / - (divup(old_tasks, num_threads) * num_threads); - if (new_parallelism > old_parallelism || new_parallelism == 1) return 1; - return 0; - } - -#else // EIGEN_USE_SIMPLE_THREAD_POOL - - template - void evalProduct(Scalar* buffer) const { - if (this->m_j_size == 1) { - this->template evalGemv(buffer); - return; - } - - evalGemm(buffer); - } - - template - void evalGemm(Scalar* buffer) const { - // columns in left side, rows in right side - const Index k = this->m_k_size; - - // rows in left side - const Index m = this->m_i_size; - - // columns in right side - const Index n = this->m_j_size; - - // zero out the result buffer (which must be of size at least m * n * sizeof(Scalar) - this->m_device.memset(buffer, 0, m * n * sizeof(Scalar)); - - - const int lhs_packet_size = internal::unpacket_traits::size; - const int rhs_packet_size = internal::unpacket_traits::size; - - typedef internal::TensorContractionInputMapper LhsMapper; - - typedef internal::TensorContractionInputMapper RhsMapper; - - typedef internal::blas_data_mapper OutputMapper; - - // TODO: packing could be faster sometimes if we supported row major tensor mappers - typedef internal::gemm_pack_lhs LhsPacker; - typedef internal::gemm_pack_rhs RhsPacker; - - // TODO: replace false, false with conjugate values? - typedef internal::gebp_kernel GebpKernel; - - typedef internal::packLhsArg packLArg; - typedef internal::packRhsAndKernelArg packRKArg; - - // initialize data mappers - LhsMapper lhs(this->m_leftImpl, this->m_left_nocontract_strides, this->m_i_strides, - this->m_left_contracting_strides, this->m_k_strides); - - RhsMapper rhs(this->m_rightImpl, this->m_right_nocontract_strides, this->m_j_strides, - this->m_right_contracting_strides, this->m_k_strides); - - OutputMapper output(buffer, m); - - // compute block sizes (which depend on number of threads) - const Index num_threads = this->m_device.numThreads(); - internal::TensorContractionBlocking blocking(k, m, n, num_threads); - Index mc = blocking.mc(); - Index nc = blocking.nc(); - Index kc = blocking.kc(); - eigen_assert(mc <= m); - eigen_assert(nc <= n); - eigen_assert(kc <= k); - -#define CEIL_DIV(a, b) (((a) + (b) - 1) / (b)) - const Index k_blocks = CEIL_DIV(k, kc); - const Index n_blocks = CEIL_DIV(n, nc); - const Index m_blocks = CEIL_DIV(m, mc); - const Index sizeA = mc * kc; - const Index sizeB = kc * nc; - - /* cout << "m: " << m << " n: " << n << " k: " << k << endl; - cout << "mc: " << mc << " nc: " << nc << " kc: " << kc << endl; - cout << "m_blocks: " << m_blocks << " n_blocks: " << n_blocks << " k_blocks: " << k_blocks << endl; - cout << "num threads: " << num_threads << endl; - */ - - // note: m_device.allocate should return 16 byte aligned pointers, but if blockA and blockB - // aren't 16 byte aligned segfaults will happen due to SIMD instructions - // note: You can get away with allocating just a single blockA and offsets and meet the - // the alignment requirements with the assumption that - // (Traits::mr * sizeof(ResScalar)) % 16 == 0 - const Index numBlockAs = numext::mini(num_threads, m_blocks); - MaxSizeVector blockAs(num_threads); - for (int i = 0; i < num_threads; i++) { - blockAs.push_back(static_cast(this->m_device.allocate(sizeA * sizeof(LhsScalar)))); - } - - // To circumvent alignment issues, I'm just going to separately allocate the memory for each thread - // TODO: is this too much memory to allocate? This simplifies coding a lot, but is wasteful. - // Other options: (1) reuse memory when a thread finishes. con: tricky - // (2) allocate block B memory in each thread. con: overhead - MaxSizeVector blockBs(n_blocks); - for (int i = 0; i < n_blocks; i++) { - blockBs.push_back(static_cast(this->m_device.allocate(sizeB * sizeof(RhsScalar)))); - } - - // lhs_notifications starts with all null Notifications - MaxSizeVector lhs_notifications(num_threads, nullptr); - - // this should really be numBlockAs * n_blocks; - const Index num_kernel_notifications = num_threads * n_blocks; - MaxSizeVector kernel_notifications(num_kernel_notifications, - nullptr); - - for (Index k_block_idx = 0; k_block_idx < k_blocks; k_block_idx++) { - const Index k_start = k_block_idx * kc; - // make sure we don't overshoot right edge of left matrix - const Index actual_kc = numext::mini(k_start + kc, k) - k_start; - - for (Index m_block_idx = 0; m_block_idx < m_blocks; m_block_idx += numBlockAs) { - const Index num_blocks = numext::mini(m_blocks-m_block_idx, numBlockAs); - - for (Index mt_block_idx = m_block_idx; mt_block_idx < m_block_idx+num_blocks; mt_block_idx++) { - const Index m_start = mt_block_idx * mc; - const Index actual_mc = numext::mini(m_start + mc, m) - m_start; - eigen_assert(actual_mc > 0); - - Index blockAId = (k_block_idx * m_blocks + mt_block_idx) % num_threads; - - for (int i = 0; i < n_blocks; ++i) { - Index notification_id = (blockAId * n_blocks + i); - // Wait for any current kernels using this slot to complete - // before using it. - if (kernel_notifications[notification_id]) { - wait_until_ready(kernel_notifications[notification_id]); - delete kernel_notifications[notification_id]; - } - kernel_notifications[notification_id] = new Notification(); - } - const packLArg arg = { - blockAs[blockAId], // blockA - lhs, // lhs - m_start, // m - k_start, // k - actual_mc, // mc - actual_kc, // kc - }; - - // Delete any existing notification since we may be - // replacing it. The algorithm should ensure that there are - // no existing waiters on this notification. - delete lhs_notifications[blockAId]; - lhs_notifications[blockAId] = - this->m_device.enqueue(&Self::packLhs, arg); - } - - // now start kernels. - const Index m_base_start = m_block_idx * mc; - const bool need_to_pack = m_block_idx == 0; - - for (Index n_block_idx = 0; n_block_idx < n_blocks; n_block_idx++) { - const Index n_start = n_block_idx * nc; - const Index actual_nc = numext::mini(n_start + nc, n) - n_start; - - // first make sure the previous kernels are all done before overwriting rhs. Also wait if - // we're going to start new k. In both cases need_to_pack is true. - if (need_to_pack) { - for (Index i = num_blocks; i < num_threads; ++i) { - Index blockAId = (k_block_idx * m_blocks + i + m_block_idx) % num_threads; - Index future_id = (blockAId * n_blocks + n_block_idx); - wait_until_ready(kernel_notifications[future_id]); - } - } - - packRKArg arg = { - &blockAs, // blockA - blockBs[n_block_idx], // blockB - rhs, // rhs - output, // output - m_base_start, // m - k_start, // k - n_start, // n - mc, // mc - actual_kc, // kc - actual_nc, // nc - num_threads, - numBlockAs, - m, - k_block_idx, - m_block_idx, - n_block_idx, // n_block_idx - m_blocks, // m_blocks - n_blocks, // n_blocks - &kernel_notifications, // kernel notifications - &lhs_notifications, // lhs notifications - need_to_pack, // need_to_pack - }; - - // We asynchronously kick off this function, which ends up - // notifying the appropriate kernel_notifications objects, - // which this thread waits on before exiting. - this->m_device.enqueueNoNotification(&Self::packRhsAndKernel, arg); - } - } - } - - // Make sure all the kernels are done. - for (size_t i = 0; i < kernel_notifications.size(); ++i) { - wait_until_ready(kernel_notifications[i]); - delete kernel_notifications[i]; - } - - // No need to wait for lhs notifications since they should have - // already been waited on. Just clean them up. - for (size_t i = 0; i < lhs_notifications.size(); ++i) { - delete lhs_notifications[i]; - } - - // deallocate all of the memory for both A and B's - for (size_t i = 0; i < blockAs.size(); i++) { - this->m_device.deallocate(blockAs[i]); - } - for (size_t i = 0; i < blockBs.size(); i++) { - this->m_device.deallocate(blockBs[i]); - } - -#undef CEIL_DIV - } - - /* - * Packs a LHS block of size (mt, kc) starting at lhs(m, k). Before packing - * the LHS block, check that all of the kernels that worked on the same - * mt_block_idx in the previous m_block are done. - */ - template - static void packLhs(const packLArg arg) { - // perform actual packing - LhsPacker pack_lhs; - pack_lhs(arg.blockA, arg.lhs.getSubMapper(arg.m_start, arg.k_start), arg.kc, arg.mc); - } - - /* - * Packs a RHS block of size (kc, nc) starting at (k, n) after checking that - * all kernels in the previous block are done. - * Then for each LHS future, we wait on the future and then call GEBP - * on the area packed by the future (which starts at - * blockA + future_idx * mt * kc) on the LHS and with the full packed - * RHS block. - * The output of this GEBP is written to output(m + i * mt, n). - */ - template - static void packRhsAndKernel(packRKArg arg) { - if (arg.need_to_pack) { - RhsPacker pack_rhs; - pack_rhs(arg.blockB, arg.rhs.getSubMapper(arg.k, arg.n), arg.kc, arg.nc); - } - - GebpKernel gebp; - for (Index mt_block_idx = 0; mt_block_idx < arg.num_blockAs; mt_block_idx++) { - const Index m_base_start = arg.m + arg.mc*mt_block_idx; - if (m_base_start < arg.max_m) { - Index blockAId = (arg.k_block_idx * arg.m_blocks + mt_block_idx + arg.m_block_idx) % arg.num_threads; - wait_until_ready((*arg.lhs_notifications)[blockAId]); - const Index actual_mc = numext::mini(m_base_start + arg.mc, arg.max_m) - m_base_start; - gebp(arg.output.getSubMapper(m_base_start, arg.n), - (*arg.blockAs)[blockAId], arg.blockB, - actual_mc, arg.kc, arg.nc, Scalar(1), -1, -1, 0, 0); - - // Notify that the kernel is done. - const Index set_idx = blockAId * arg.n_blocks + arg.n_block_idx; - (*arg.kernel_notifications)[set_idx]->Notify(); - } - } - } -#endif // EIGEN_USE_SIMPLE_THREAD_POOL - - TensorOpCost contractionCost(Index m, Index n, Index bm, Index bn, Index bk, - bool shard_by_col, bool prepacked) const { - const int packed_size = std::min(PacketType::size, - PacketType::size); - const int output_packet_size = internal::unpacket_traits::size; - const double kd = static_cast(bk); - // Peak VFMA bandwidth is 0.5. However if we have not enough data for - // vectorization bandwidth drops. The 4.0 and 2.0 bandwidth is determined - // experimentally. - double computeBandwidth = bk == 1 ? 4.0 : - (shard_by_col ? bn : bm) < Traits::nr || - (shard_by_col ? bm : bn) < Traits::mr ? 2.0 : 0.5; -#ifndef EIGEN_VECTORIZE_FMA - // Bandwidth of all of VFMA/MULPS/ADDPS is 0.5 on latest Intel processors. - // However for MULPS/ADDPS we have dependent sequence of 2 such instructions, - // so overall bandwidth is 1.0. - if (computeBandwidth == 0.5) computeBandwidth = 1.0; -#endif - // Computations. - TensorOpCost cost = TensorOpCost(0, 0, kd * computeBandwidth, true, packed_size); - // Output stores. - cost += TensorOpCost(0, sizeof(CoeffReturnType), 0, true, output_packet_size); - if (prepacked) { - // Packing and kernels are executed in different tasks. When we calculate - // task grain size we look only at kernel cost assuming that kernel - // is more expensive than packing. - return cost; - } - // Lhs/rhs loads + computations. - TensorOpCost lhsCost = this->m_leftImpl.costPerCoeff(true) * (kd / n); - TensorOpCost rhsCost = this->m_rightImpl.costPerCoeff(true) * (kd / m); - // Lhs packing memory cost does not contribute considerably to overall - // execution time because lhs is prefetched early and accessed sequentially. - if (shard_by_col) - lhsCost.dropMemoryCost(); - else - rhsCost.dropMemoryCost(); - return cost + lhsCost + rhsCost; - } - -#if defined(EIGEN_VECTORIZE_AVX) && defined(EIGEN_USE_LIBXSMM) - template - class ContextXsmm { - public: - ContextXsmm(const Self* self, Scalar* buffer, Index m, Index n, Index k, - const internal::TensorXsmmContractionBlocking& blocking): - device(self->m_device), - m(m), k(k), n(n), - stride_a(blocking.transposeA() ? k : m), - stride_b(blocking.transposeB() ? n : k), - stride_c(m), - bm(blocking.mc()), bk(blocking.kc()), bn(blocking.nc()), - blocks_m(blocking.blocks_m()), blocks_k(blocking.blocks_k()), - blocks_n(blocking.blocks_n()), - copyA(blocking.copyA()), copyB(blocking.copyB()), - transposeA(blocking.transposeA()), transposeB(blocking.transposeB()), - num_threads(blocking.num_threads()), - buffer(buffer), - leftData(self->m_leftImpl.data()), rightData(self->m_rightImpl.data()), - workers_done(blocking.num_threads()), - - packingA_jobs(0), packingB_jobs(0), compute_jobs(0), - packingA_done(blocking.blocks_m()), packingB_done(blocking.blocks_n()) {} - - void worker() { - // Pack - - if (copyA) { - while (true) { - uint32_t mk = packingA_jobs++; - Index mi = mk / blocks_k; - Index ki = mk % blocks_k; - if (mi >= blocks_m) break; - - LhsScalar * blockA = blocksA + (bk*bm) * (mi*blocks_k+ki); - if (transposeA) { - const LhsScalar * current_a = leftData + (bm*mi)*stride_a + (bk*ki); - libxsmm_otrans(blockA, current_a, sizeof(LhsScalar), actual_bk(ki), - actual_bm(mi), stride_a, bm); - } else { - const LhsScalar * current_a = leftData + (bk*ki)*stride_a + (bm*mi); - internal::pack_simple(blockA, current_a, - actual_bk(ki), actual_bm(mi), bm, stride_a); - } - packingA_done.at(mi)++; - } - } - - if (copyB) { - while (true) { - uint32_t nk = packingB_jobs++; - Index ni = nk / blocks_k; - Index ki = nk % blocks_k; - if (ni >= blocks_n) break; - - RhsScalar * blockB = blocksB + (bk*bn) * (ni*blocks_k+ki); - if (transposeB) { - const RhsScalar * current_b = rightData + (ki*bk)*stride_b + - (ni*bn); - libxsmm_otrans(blockB, current_b, sizeof(RhsScalar), actual_bn(ni), - actual_bk(ki), stride_b, bk); - } else { - const RhsScalar * current_b = rightData + (ni*bn)*stride_b + - (ki*bk); - internal::pack_simple(blockB, current_b, - actual_bn(ni), actual_bk(ki), bk, stride_b); - } - packingB_done.at(ni)++; - } - } - - // Compute - - while (true) { - uint32_t mn = compute_jobs++; - Index mi = mn / blocks_n; - Index ni = mn % blocks_n; - if (mi >= blocks_m) break; - - // Wait for mi, ni packings to be done. This is more fine-grained than - // waiting for all workers to finish packing. - while ((copyA && (packingA_done.at(mi) < blocks_k)) || - (copyB && (packingB_done.at(ni) < blocks_k))) - {} - - for (Index ki=0; ki < blocks_k; ++ki) { - const LhsScalar * current_a = copyA ? - blocksA + (bk*bm) * (mi*blocks_k+ki) : - leftData + (bk*ki)*stride_a + (bm*mi); - const RhsScalar * current_b = copyB ? - blocksB + (bk*bn) * (ni*blocks_k+ki) : - rightData + (ni*bn)*stride_b + (bk*ki); - - Index current_stride_a = copyA ? bm : stride_a; - Index current_stride_b = copyB ? bk : stride_b; - - // Memory may not be zeroed, overwrite instead of adding in first - // iteration. - float beta = ki == 0 ? 0 : 1; - - Scalar * current_c = buffer + (mi*bm) + (ni*bn)*stride_c; - internal::libxsmm_wrapper( - 0, actual_bm(mi), actual_bn(ni), actual_bk(ki), - current_stride_a, current_stride_b, stride_c, 1, beta, 0) - (current_a, current_b, current_c); - } - } - - workers_done.Notify(); - } - - void run() { - // Parallelization strategy. - // - // First pack A into blocks (sharding by m, k) and B (sharding by n,k), - // then shard by m, n. - // - // Do not use advanced ThreadPool queuing, just run a single long-standing - // function in each thread. - if (copyA) { - blocksA = static_cast(device.allocate( - (blocks_m*bm)*(blocks_k*bk)*sizeof(LhsScalar))); - } - if (copyB) { - blocksB = static_cast(device.allocate( - (blocks_n*bn)*(blocks_k*bk)*sizeof(RhsScalar))); - } - - for (Index i = 0; i < num_threads; ++i) { - device.enqueueNoNotification([=]() { worker(); }); - } - - workers_done.Wait(); - - if (copyA) { - device.deallocate(blocksA); - } - if (copyB) { - device.deallocate(blocksB); - } - } - - private: - // real block size for block index in [0, ..., blocks - 1]. - Index actual_bm(Index mi) const { - return mi != blocks_m - 1 ? bm : m + bm - bm * blocks_m; - } - Index actual_bk(Index ki) const { - return ki != blocks_k - 1 ? bk : k + bk - bk * blocks_k; - } - Index actual_bn(Index ni) const { - return ni != blocks_n - 1 ? bn : n + bn - bn * blocks_n; - } - - const Device& device; - Index m, k, n; - Index stride_a, stride_b, stride_c; - Index bm, bk, bn; // Block sizes. - Index blocks_m, blocks_k, blocks_n; // Number of blocks in each dimension. - bool copyA, copyB, transposeA, transposeB; - Index num_threads; - Scalar *buffer; - const LhsScalar *leftData; - const RhsScalar *rightData; - - LhsScalar *blocksA; - RhsScalar *blocksB; - // barrier for joining all threads after all done. - Barrier workers_done; - // "queues" of (mi,ki), (ki,ni), (mi,ni) jobs packed [0,p)x[0,q) -> [0, p*q) - std::atomic packingA_jobs; - std::atomic packingB_jobs; - std::atomic compute_jobs; - // already packed blocks for each mi-panel in A and ni-panel in B. - std::vector> packingA_done; - std::vector> packingB_done; - }; -#endif - -}; - -} // end namespace Eigen - -#endif // EIGEN_USE_THREADS -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONTRACTION_THREAD_POOL_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h deleted file mode 100644 index b29968b6..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConversion.h +++ /dev/null @@ -1,282 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONVERSION_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONVERSION_H - -namespace Eigen { - -/** \class TensorConversionOp - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor conversion class. This class makes it possible to vectorize - * type casting operations when the number of scalars per packet in the source - * and the destination type differ - */ -namespace internal { -template -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs are different. - typedef TargetType Scalar; - typedef typename traits::StorageKind StorageKind; - typedef typename traits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = traits::NumDimensions; - static const int Layout = traits::Layout; - enum { Flags = 0 }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorConversionOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorConversionOp type; -}; - -} // end namespace internal - - -template -struct PacketConverter { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - PacketConverter(const TensorEvaluator& impl) - : m_impl(impl) {} - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const { - return internal::pcast(m_impl.template packet(index)); - } - - private: - const TensorEvaluator& m_impl; -}; - - -template -struct PacketConverter { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - PacketConverter(const TensorEvaluator& impl) - : m_impl(impl) {} - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const { - const int SrcPacketSize = internal::unpacket_traits::size; - - SrcPacket src1 = m_impl.template packet(index); - SrcPacket src2 = m_impl.template packet(index + SrcPacketSize); - TgtPacket result = internal::pcast(src1, src2); - return result; - } - - private: - const TensorEvaluator& m_impl; -}; - -template -struct PacketConverter { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - PacketConverter(const TensorEvaluator& impl) - : m_impl(impl) {} - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const { - const int SrcPacketSize = internal::unpacket_traits::size; - - SrcPacket src1 = m_impl.template packet(index); - SrcPacket src2 = m_impl.template packet(index + SrcPacketSize); - SrcPacket src3 = m_impl.template packet(index + 2 * SrcPacketSize); - SrcPacket src4 = m_impl.template packet(index + 3 * SrcPacketSize); - TgtPacket result = internal::pcast(src1, src2, src3, src4); - return result; - } - - private: - const TensorEvaluator& m_impl; -}; - -template -struct PacketConverter { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - PacketConverter(const TensorEvaluator& impl) - : m_impl(impl), m_maxIndex(impl.dimensions().TotalSize()) {} - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TgtPacket packet(Index index) const { - const int SrcPacketSize = internal::unpacket_traits::size; - // Only call m_impl.packet() when we have direct access to the underlying data. This - // ensures that we don't compute the subexpression twice. We may however load some - // coefficients twice, but in practice this doesn't negatively impact performance. - if (m_impl.data() && (index + SrcPacketSize < m_maxIndex)) { - // Force unaligned memory loads since we can't ensure alignment anymore - return internal::pcast(m_impl.template packet(index)); - } else { - const int TgtPacketSize = internal::unpacket_traits::size; - typedef typename internal::unpacket_traits::type SrcType; - typedef typename internal::unpacket_traits::type TgtType; - internal::scalar_cast_op converter; - EIGEN_ALIGN_MAX typename internal::unpacket_traits::type values[TgtPacketSize]; - for (int i = 0; i < TgtPacketSize; ++i) { - values[i] = converter(m_impl.coeff(index+i)); - } - TgtPacket rslt = internal::pload(values); - return rslt; - } - } - - private: - const TensorEvaluator& m_impl; - const typename TensorEvaluator::Index m_maxIndex; -}; - -template -class TensorConversionOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename internal::traits::Scalar Scalar; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - typedef typename internal::nested::type Nested; - typedef Scalar CoeffReturnType; - typedef typename NumTraits::Real RealScalar; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorConversionOp(const XprType& xpr) - : m_xpr(xpr) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; -}; - -template struct ConversionSubExprEval { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool run(Eval& impl, Scalar*) { - impl.evalSubExprsIfNeeded(NULL); - return true; - } -}; - -template struct ConversionSubExprEval { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool run(Eval& impl, Scalar* data) { - return impl.evalSubExprsIfNeeded(data); - } -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorConversionOp XprType; - typedef typename XprType::Index Index; - typedef typename TensorEvaluator::Dimensions Dimensions; - typedef TargetType Scalar; - typedef TargetType CoeffReturnType; - typedef typename internal::remove_all::Scalar>::type SrcType; - typedef typename PacketType::type PacketReturnType; - typedef typename PacketType::type PacketSourceType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = true, - Layout = TensorEvaluator::Layout, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device) - { - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_impl.dimensions(); } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) - { - return ConversionSubExprEval::value, TensorEvaluator, Scalar>::run(m_impl, data); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() - { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - internal::scalar_cast_op converter; - return converter(m_impl.coeff(index)); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - const bool Vectorizable = TensorEvaluator::PacketAccess & - internal::type_casting_traits::VectorizedCast; - return PacketConv::run(m_impl, index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - const double cast_cost = TensorOpCost::CastCost(); - if (vectorized) { - const double SrcCoeffRatio = - internal::type_casting_traits::SrcCoeffRatio; - const double TgtCoeffRatio = - internal::type_casting_traits::TgtCoeffRatio; - return m_impl.costPerCoeff(vectorized) * (SrcCoeffRatio / PacketSize) + - TensorOpCost(0, 0, TgtCoeffRatio * (cast_cost / PacketSize)); - } else { - return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, cast_cost); - } - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - /// required by sycl in order to extract the sycl accessor - const TensorEvaluator& impl() const { return m_impl; } - - protected: - template - struct PacketConv { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType run(const TensorEvaluator& impl, Index index) { - internal::scalar_cast_op converter; - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - for (int i = 0; i < PacketSize; ++i) { - values[i] = converter(impl.coeff(index+i)); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - }; - - template - struct PacketConv { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType run(const TensorEvaluator& impl, Index index) { - const int SrcCoeffRatio = internal::type_casting_traits::SrcCoeffRatio; - const int TgtCoeffRatio = internal::type_casting_traits::TgtCoeffRatio; - PacketConverter, PacketSourceType, PacketReturnType, - SrcCoeffRatio, TgtCoeffRatio> converter(impl); - return converter.template packet(index); - } - }; - - TensorEvaluator m_impl; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONVERSION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h deleted file mode 100644 index 378f5ccc..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolution.h +++ /dev/null @@ -1,1104 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H - -namespace Eigen { - -/** \class TensorConvolution - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor convolution class. - * - * - */ -namespace internal { - -template -class IndexMapper { - public: - IndexMapper(const InputDims& input_dims, const array& kernel_dims, - const array& indices) { - - array dimensions = input_dims; - for (int i = 0; i < NumKernelDims; ++i) { - const Index index = indices[i]; - const Index input_dim = input_dims[index]; - const Index kernel_dim = kernel_dims[i]; - const Index result_dim = input_dim - kernel_dim + 1; - dimensions[index] = result_dim; - } - - array inputStrides; - array outputStrides; - if (static_cast(Layout) == static_cast(ColMajor)) { - inputStrides[0] = 1; - outputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - inputStrides[i] = inputStrides[i-1] * input_dims[i-1]; - outputStrides[i] = outputStrides[i-1] * dimensions[i-1]; - } - } else { - inputStrides[NumDims - 1] = 1; - outputStrides[NumDims - 1] = 1; - for (int i = static_cast(NumDims) - 2; i >= 0; --i) { - inputStrides[i] = inputStrides[i + 1] * input_dims[i + 1]; - outputStrides[i] = outputStrides[i + 1] * dimensions[i + 1]; - } - } - - array cudaInputDimensions; - array cudaOutputDimensions; - array tmp = dimensions; - array ordering; - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - for (int i = 0; i < NumKernelDims; ++i) { - const Index index = i + offset; - ordering[index] = indices[i]; - tmp[indices[i]] = -1; - cudaInputDimensions[index] = input_dims[indices[i]]; - cudaOutputDimensions[index] = dimensions[indices[i]]; - } - - int written = static_cast(Layout) == static_cast(ColMajor) - ? NumKernelDims - : 0; - for (int i = 0; i < NumDims; ++i) { - if (tmp[i] >= 0) { - ordering[written] = i; - cudaInputDimensions[written] = input_dims[i]; - cudaOutputDimensions[written] = dimensions[i]; - ++written; - } - } - - for (int i = 0; i < NumDims; ++i) { - m_inputStrides[i] = inputStrides[ordering[i]]; - m_outputStrides[i] = outputStrides[ordering[i]]; - } - - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < NumDims; ++i) { - if (i > NumKernelDims) { - m_cudaInputStrides[i] = - m_cudaInputStrides[i - 1] * cudaInputDimensions[i - 1]; - m_cudaOutputStrides[i] = - m_cudaOutputStrides[i - 1] * cudaOutputDimensions[i - 1]; - } else { - m_cudaInputStrides[i] = 1; - m_cudaOutputStrides[i] = 1; - } - } - } else { - for (int i = NumDims - 1; i >= 0; --i) { - if (static_cast(i + 1) < offset) { - m_cudaInputStrides[i] = - m_cudaInputStrides[i + 1] * cudaInputDimensions[i + 1]; - m_cudaOutputStrides[i] = - m_cudaOutputStrides[i + 1] * cudaOutputDimensions[i + 1]; - } else { - m_cudaInputStrides[i] = 1; - m_cudaOutputStrides[i] = 1; - } - } - } - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputPlaneToTensorInputOffset(Index p) const { - Index inputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int d = NumDims - 1; d > NumKernelDims; --d) { - const Index idx = p / m_cudaInputStrides[d]; - inputIndex += idx * m_inputStrides[d]; - p -= idx * m_cudaInputStrides[d]; - } - inputIndex += p * m_inputStrides[NumKernelDims]; - } else { - std::ptrdiff_t limit = 0; - if (NumKernelDims < NumDims) { - limit = NumDims - NumKernelDims - 1; - } - for (int d = 0; d < limit; ++d) { - const Index idx = p / m_cudaInputStrides[d]; - inputIndex += idx * m_inputStrides[d]; - p -= idx * m_cudaInputStrides[d]; - } - inputIndex += p * m_inputStrides[limit]; - } - return inputIndex; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputPlaneToTensorOutputOffset(Index p) const { - Index outputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int d = NumDims - 1; d > NumKernelDims; --d) { - const Index idx = p / m_cudaOutputStrides[d]; - outputIndex += idx * m_outputStrides[d]; - p -= idx * m_cudaOutputStrides[d]; - } - outputIndex += p * m_outputStrides[NumKernelDims]; - } else { - std::ptrdiff_t limit = 0; - if (NumKernelDims < NumDims) { - limit = NumDims - NumKernelDims - 1; - } - for (int d = 0; d < limit; ++d) { - const Index idx = p / m_cudaOutputStrides[d]; - outputIndex += idx * m_outputStrides[d]; - p -= idx * m_cudaOutputStrides[d]; - } - outputIndex += p * m_outputStrides[limit]; - } - return outputIndex; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputKernelToTensorInputOffset(Index i) const { - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - return i * m_inputStrides[offset]; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputKernelToTensorOutputOffset(Index i) const { - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - return i * m_outputStrides[offset]; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputKernelToTensorInputOffset(Index i, Index j) const { - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - return i * m_inputStrides[offset] + j * m_inputStrides[offset + 1]; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputKernelToTensorOutputOffset(Index i, Index j) const { - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - return i * m_outputStrides[offset] + j * m_outputStrides[offset + 1]; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaInputKernelToTensorInputOffset(Index i, Index j, Index k) const { - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - return i * m_inputStrides[offset] + j * m_inputStrides[offset + 1] + - k * m_inputStrides[offset + 2]; - } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Index mapCudaOutputKernelToTensorOutputOffset(Index i, Index j, Index k) const { - const size_t offset = static_cast(Layout) == static_cast(ColMajor) - ? 0 - : NumDims - NumKernelDims; - return i * m_outputStrides[offset] + j * m_outputStrides[offset + 1] + - k * m_outputStrides[offset + 2]; - } - - private: - static const int NumDims = internal::array_size::value; - array m_inputStrides; - array m_outputStrides; - array m_cudaInputStrides; - array m_cudaOutputStrides; -}; - - - -template -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs are different. - typedef typename promote_storage_type::ret Scalar; - typedef typename promote_storage_type::StorageKind, - typename traits::StorageKind>::ret StorageKind; - typedef typename promote_index_type::Index, - typename traits::Index>::type Index; - typedef typename InputXprType::Nested LhsNested; - typedef typename KernelXprType::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - static const int NumDimensions = traits::NumDimensions; - static const int Layout = traits::Layout; - - enum { - Flags = 0 - }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorConvolutionOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorConvolutionOp type; -}; - -} // end namespace internal - - - -template -class TensorConvolutionOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::promote_storage_type::ret CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorConvolutionOp(const InputXprType& input, const KernelXprType& kernel, const Indices& dims) - : m_input_xpr(input), m_kernel_xpr(kernel), m_indices(dims) {} - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const Indices& indices() const { return m_indices; } - - /** \returns the nested expressions */ - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const typename internal::remove_all::type& - inputExpression() const { return m_input_xpr; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const typename internal::remove_all::type& - kernelExpression() const { return m_kernel_xpr; } - - protected: - typename InputXprType::Nested m_input_xpr; - typename KernelXprType::Nested m_kernel_xpr; - const Indices m_indices; -}; - - -template -struct TensorEvaluator, Device> -{ - typedef TensorConvolutionOp XprType; - - static const int NumDims = internal::array_size::Dimensions>::value; - static const int NumKernelDims = internal::array_size::value; - typedef typename XprType::Index Index; - typedef DSizes Dimensions; - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_inputImpl(op.inputExpression(), device), m_kernelImpl(op.kernelExpression(), device), m_kernelArg(op.kernelExpression()), m_kernel(NULL), m_local_kernel(false), m_device(device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE); - - const typename TensorEvaluator::Dimensions& input_dims = m_inputImpl.dimensions(); - const typename TensorEvaluator::Dimensions& kernel_dims = m_kernelImpl.dimensions(); - - if (static_cast(Layout) == static_cast(ColMajor)) { - m_inputStride[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_inputStride[i] = m_inputStride[i - 1] * input_dims[i - 1]; - } - } else { - m_inputStride[NumDims - 1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_inputStride[i] = m_inputStride[i + 1] * input_dims[i + 1]; - } - } - - m_dimensions = m_inputImpl.dimensions(); - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < NumKernelDims; ++i) { - const Index index = op.indices()[i]; - const Index input_dim = input_dims[index]; - const Index kernel_dim = kernel_dims[i]; - const Index result_dim = input_dim - kernel_dim + 1; - m_dimensions[index] = result_dim; - if (i > 0) { - m_kernelStride[i] = m_kernelStride[i - 1] * kernel_dims[i - 1]; - } else { - m_kernelStride[0] = 1; - } - m_indexStride[i] = m_inputStride[index]; - } - - m_outputStride[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_outputStride[i] = m_outputStride[i - 1] * m_dimensions[i - 1]; - } - } else { - for (int i = NumKernelDims - 1; i >= 0; --i) { - const Index index = op.indices()[i]; - const Index input_dim = input_dims[index]; - const Index kernel_dim = kernel_dims[i]; - const Index result_dim = input_dim - kernel_dim + 1; - m_dimensions[index] = result_dim; - if (i < NumKernelDims - 1) { - m_kernelStride[i] = m_kernelStride[i + 1] * kernel_dims[i + 1]; - } else { - m_kernelStride[NumKernelDims - 1] = 1; - } - m_indexStride[i] = m_inputStride[index]; - } - - m_outputStride[NumDims - 1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_outputStride[i] = m_outputStride[i + 1] * m_dimensions[i + 1]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) { - m_inputImpl.evalSubExprsIfNeeded(NULL); - preloadKernel(); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_inputImpl.cleanup(); - if (m_local_kernel) { - m_device.deallocate((void*)m_kernel); - m_local_kernel = false; - } - m_kernel = NULL; - } - - void evalTo(typename XprType::Scalar* buffer) { - evalSubExprsIfNeeded(NULL); - for (int i = 0; i < dimensions().TotalSize(); ++i) { - buffer[i] += coeff(i); - } - cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - CoeffReturnType result = CoeffReturnType(0); - convolve(firstInput(index), 0, NumKernelDims-1, result); - return result; - } - - template - EIGEN_DEVICE_FUNC PacketReturnType packet(const Index index) const - { - Index indices[2] = {index, index+PacketSize-1}; - Index startInputs[2] = {0, 0}; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx0 = indices[0] / m_outputStride[i]; - const Index idx1 = indices[1] / m_outputStride[i]; - startInputs[0] += idx0 * m_inputStride[i]; - startInputs[1] += idx1 * m_inputStride[i]; - indices[0] -= idx0 * m_outputStride[i]; - indices[1] -= idx1 * m_outputStride[i]; - } - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx0 = indices[0] / m_outputStride[i]; - const Index idx1 = indices[1] / m_outputStride[i]; - startInputs[0] += idx0 * m_inputStride[i]; - startInputs[1] += idx1 * m_inputStride[i]; - indices[0] -= idx0 * m_outputStride[i]; - indices[1] -= idx1 * m_outputStride[i]; - } - } - startInputs[0] += indices[0]; - startInputs[1] += indices[1]; - - if (startInputs[1]-startInputs[0] == PacketSize-1) { - PacketReturnType result = internal::pset1(0); - convolvePacket(startInputs[0], 0, NumKernelDims-1, result); - return result; - } else { - EIGEN_ALIGN_MAX Scalar data[PacketSize]; - data[0] = Scalar(0); - convolve(startInputs[0], 0, NumKernelDims-1, data[0]); - for (int i = 1; i < PacketSize-1; ++i) { - data[i] = Scalar(0); - convolve(firstInput(index+i), 0, NumKernelDims-1, data[i]); - } - data[PacketSize-1] = Scalar(0); - convolve(startInputs[1], 0, NumKernelDims-1, data[PacketSize-1]); - return internal::pload(data); - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - const double kernel_size = m_kernelImpl.dimensions().TotalSize(); - // We ignore the use of fused multiply-add. - const double convolve_compute_cost = - TensorOpCost::AddCost() + TensorOpCost::MulCost(); - const double firstIndex_compute_cost = - NumDims * - (2 * TensorOpCost::AddCost() + 2 * TensorOpCost::MulCost() + - TensorOpCost::DivCost()); - return TensorOpCost(0, 0, firstIndex_compute_cost, vectorized, PacketSize) + - kernel_size * (m_inputImpl.costPerCoeff(vectorized) + - m_kernelImpl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, convolve_compute_cost, vectorized, - PacketSize)); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - private: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index firstInput(Index index) const { - Index startInput = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_outputStride[i]; - startInput += idx * m_inputStride[i]; - index -= idx * m_outputStride[i]; - } - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_outputStride[i]; - startInput += idx * m_inputStride[i]; - index -= idx * m_outputStride[i]; - } - } - startInput += index; - return startInput; - } - - EIGEN_DEVICE_FUNC void convolve(Index firstIndex, Index firstKernel, int DimIndex, CoeffReturnType& accum) const { - for (int j = 0; j < m_kernelImpl.dimensions()[DimIndex]; ++j) { - const Index input = firstIndex + j * m_indexStride[DimIndex]; - const Index kernel = firstKernel + j * m_kernelStride[DimIndex]; - if (DimIndex > 0) { - convolve(input, kernel, DimIndex-1, accum); - } else { - accum += m_inputImpl.coeff(input) * m_kernel[kernel]; - } - } - } - - template - EIGEN_DEVICE_FUNC void convolvePacket(Index firstIndex, Index firstKernel, int DimIndex, Packet& accum) const { - for (int j = 0; j < m_kernelImpl.dimensions()[DimIndex]; ++j) { - const Index input = firstIndex + j * m_indexStride[DimIndex]; - const Index kernel = firstKernel + j * m_kernelStride[DimIndex]; - if (DimIndex > 0) { - convolvePacket(input, kernel, DimIndex-1, accum); - } else { - accum = internal::pmadd(m_inputImpl.template packet(input), internal::pset1(m_kernel[kernel]), accum); - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void preloadKernel() { - // Don't make a local copy of the kernel unless we have to (i.e. it's an - // expression that needs to be evaluated) - const Scalar* in_place = m_kernelImpl.data(); - if (in_place) { - m_kernel = in_place; - m_local_kernel = false; - } else { - size_t kernel_sz = m_kernelImpl.dimensions().TotalSize() * sizeof(Scalar); - Scalar* local = (Scalar*)m_device.allocate(kernel_sz); - typedef TensorEvalToOp EvalTo; - EvalTo evalToTmp(local, m_kernelArg); - const bool PacketAccess = internal::IsVectorizable::value; - internal::TensorExecutor::run(evalToTmp, m_device); - - m_kernel = local; - m_local_kernel = true; - } - } - - array m_inputStride; - array m_outputStride; - - array m_indexStride; - array m_kernelStride; - TensorEvaluator m_inputImpl; - TensorEvaluator m_kernelImpl; - Dimensions m_dimensions; - - KernelArgType m_kernelArg; - const Scalar* m_kernel; - bool m_local_kernel; - const Device& m_device; -}; - - - - -// Use an optimized implementation of the evaluation code for GPUs whenever possible. -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) - -template -struct GetKernelSize { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int operator() (const int /*kernelSize*/) const { - return StaticKernelSize; - } -}; -template <> -struct GetKernelSize { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int operator() (const int kernelSize) const { - return kernelSize; - } -}; - -template -__global__ void EigenConvolutionKernel1D( - InputEvaluator eval, - const internal::IndexMapper - indexMapper, - const float* __restrict kernel, const int numPlanes, const int numX, - const int maxX, const int kernelSize, float* buffer) { - extern __shared__ float s[]; - - const int first_x = blockIdx.x * maxX; - const int last_x = (first_x + maxX < numX ? first_x + maxX : numX) - 1; - const int num_x_input = last_x - first_x + GetKernelSize()(kernelSize); - const int num_x_output = last_x - first_x + 1; - - const int first_plane = blockIdx.y * blockDim.y; - const int plane_stride = blockDim.y * gridDim.y; - - for (int p = first_plane + threadIdx.y; p < numPlanes; p += plane_stride) { - // Load inputs to shared memory - const int plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(p); - const int plane_kernel_offset = threadIdx.y * num_x_input; - #pragma unroll - for (int i = threadIdx.x; i < num_x_input; i += blockDim.x) { - const int tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i+first_x); - s[i + plane_kernel_offset] = eval.coeff(tensor_index); - } - - __syncthreads(); - - // Compute the convolution - const int plane_output_offset = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p); - - #pragma unroll - for (int i = threadIdx.x; i < num_x_output; i += blockDim.x) { - const int kernel_offset = plane_kernel_offset + i; - float result = 0.0f; - #pragma unroll - for (int k = 0; k < GetKernelSize()(kernelSize); ++k) { - result += s[k + kernel_offset] * kernel[k]; - } - const int tensor_index = plane_output_offset + indexMapper.mapCudaOutputKernelToTensorOutputOffset(i+first_x); - buffer[tensor_index] = result; - } - __syncthreads(); - } -}; - -template -__global__ void EigenConvolutionKernel2D( - InputEvaluator eval, - const internal::IndexMapper - indexMapper, - const float* __restrict kernel, const int numPlanes, const int numX, - const int maxX, const int numY, const int maxY, const int kernelSizeX, - const int kernelSizeY, float* buffer) { - extern __shared__ float s[]; - - const int first_x = blockIdx.x * maxX; - const int last_x = (first_x + maxX < numX ? first_x + maxX : numX) - 1; - const int num_x_input = last_x - first_x + GetKernelSize()(kernelSizeX); - const int num_x_output = last_x - first_x + 1; - - const int first_y = blockIdx.y * maxY; - const int last_y = (first_y + maxY < numY ? first_y + maxY : numY) - 1; - const int num_y_input = last_y - first_y + GetKernelSize()(kernelSizeY); - const int num_y_output = last_y - first_y + 1; - - const int first_plane = blockIdx.z * blockDim.z; - const int plane_stride = blockDim.z * gridDim.z; - - for (int p = first_plane + threadIdx.z; p < numPlanes; p += plane_stride) { - - const int plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(p); - const int plane_kernel_offset = threadIdx.z * num_y_input; - - // Load inputs to shared memory - #pragma unroll - for (int j = threadIdx.y; j < num_y_input; j += blockDim.y) { - const int input_offset = num_x_input * (j + plane_kernel_offset); - #pragma unroll - for (int i = threadIdx.x; i < num_x_input; i += blockDim.x) { - const int tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i+first_x, j+first_y); - s[i + input_offset] = eval.coeff(tensor_index); - } - } - - __syncthreads(); - - // Convolution - const int plane_output_offset = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p); - - #pragma unroll - for (int j = threadIdx.y; j < num_y_output; j += blockDim.y) { - #pragma unroll - for (int i = threadIdx.x; i < num_x_output; i += blockDim.x) { - float result = 0.0f; - #pragma unroll - for (int l = 0; l < GetKernelSize()(kernelSizeY); ++l) { - const int kernel_offset = kernelSizeX * l; - const int input_offset = i + num_x_input * (j + l + plane_kernel_offset); - #pragma unroll - for (int k = 0; k < GetKernelSize()(kernelSizeX); ++k) { - result += s[k + input_offset] * kernel[k + kernel_offset]; - } - } - const int tensor_index = plane_output_offset + indexMapper.mapCudaOutputKernelToTensorOutputOffset(i+first_x, j+first_y); - buffer[tensor_index] = result; - } - } - - __syncthreads(); - } -}; - -template -__global__ void EigenConvolutionKernel3D( - InputEvaluator eval, - const internal::IndexMapper - indexMapper, - const float* __restrict kernel, const size_t numPlanes, const size_t numX, - const size_t maxX, const size_t numY, const size_t maxY, const size_t numZ, - const size_t maxZ, const size_t kernelSizeX, const size_t kernelSizeY, - const size_t kernelSizeZ, float* buffer) { - extern __shared__ float s[]; - - // Load inputs to shared memory - const int first_x = blockIdx.x * maxX; - const int last_x = (first_x + maxX < numX ? first_x + maxX : numX) - 1; - const int num_x_input = last_x - first_x + kernelSizeX; - - const int first_y = blockIdx.y * maxY; - const int last_y = (first_y + maxY < numY ? first_y + maxY : numY) - 1; - const int num_y_input = last_y - first_y + kernelSizeY; - - const int first_z = blockIdx.z * maxZ; - const int last_z = (first_z + maxZ < numZ ? first_z + maxZ : numZ) - 1; - const int num_z_input = last_z - first_z + kernelSizeZ; - - for (int p = 0; p < numPlanes; ++p) { - - const int plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(p); - const int plane_kernel_offset = 0; - - for (int k = threadIdx.z; k < num_z_input; k += blockDim.z) { - for (int j = threadIdx.y; j < num_y_input; j += blockDim.y) { - for (int i = threadIdx.x; i < num_x_input; i += blockDim.x) { - const int tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i+first_x, j+first_y, k+first_z); - s[i + num_x_input * (j + num_y_input * (k + plane_kernel_offset))] = eval.coeff(tensor_index); - } - } - } - - __syncthreads(); - - // Convolution - const int num_z_output = last_z - first_z + 1; - const int num_y_output = last_y - first_y + 1; - const int num_x_output = last_x - first_x + 1; - const int plane_output_offset = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p); - - for (int k = threadIdx.z; k < num_z_output; k += blockDim.z) { - for (int j = threadIdx.y; j < num_y_output; j += blockDim.y) { - for (int i = threadIdx.x; i < num_x_output; i += blockDim.x) { - float result = 0.0f; - for (int n = 0; n < kernelSizeZ; ++n) { - for (int m = 0; m < kernelSizeY; ++m) { - for (int l = 0; l < kernelSizeX; ++l) { - result += s[i + l + num_x_input * (j + m + num_y_input * (k + n + plane_kernel_offset))] * kernel[l + kernelSizeX * (m + kernelSizeY * n)]; - } - } - } - const int tensor_index = plane_output_offset + indexMapper.mapCudaOutputKernelToTensorOutputOffset(i+first_x, j+first_y, k+first_z); - buffer[tensor_index] = result; - } - } - } - __syncthreads(); - } -}; - - - -template -struct TensorEvaluator, GpuDevice> -{ - typedef TensorConvolutionOp XprType; - - static const int NumDims = internal::array_size::Dimensions>::value; - static const int NumKernelDims = internal::array_size::value; - typedef typename XprType::Index Index; - typedef DSizes Dimensions; - typedef typename TensorEvaluator::Dimensions KernelDimensions; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const GpuDevice& device) - : m_inputImpl(op.inputExpression(), device), m_kernelArg(op.kernelExpression()), m_kernelImpl(op.kernelExpression(), device), m_indices(op.indices()), m_buf(NULL), m_kernel(NULL), m_local_kernel(false), m_device(device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE); - - const typename TensorEvaluator::Dimensions& input_dims = m_inputImpl.dimensions(); - const typename TensorEvaluator::Dimensions& kernel_dims = m_kernelImpl.dimensions(); - - m_dimensions = m_inputImpl.dimensions(); - for (int i = 0; i < NumKernelDims; ++i) { - const Index index = op.indices()[i]; - const Index input_dim = input_dims[index]; - const Index kernel_dim = kernel_dims[i]; - const Index result_dim = input_dim - kernel_dim + 1; - m_dimensions[index] = result_dim; - } - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef typename InputArgType::Scalar Scalar; - static const int PacketSize = internal::unpacket_traits::size; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) { - preloadKernel(); - m_inputImpl.evalSubExprsIfNeeded(NULL); - if (data) { - executeEval(data); - return false; - } else { - m_buf = (Scalar*)m_device.allocate(dimensions().TotalSize() * sizeof(Scalar)); - executeEval(m_buf); - return true; - } - } - - EIGEN_STRONG_INLINE void cleanup() { - m_inputImpl.cleanup(); - if (m_buf) { - m_device.deallocate(m_buf); - m_buf = NULL; - } - if (m_local_kernel) { - m_device.deallocate((void*)m_kernel); - m_local_kernel = false; - } - m_kernel = NULL; - } - - EIGEN_STRONG_INLINE void preloadKernel() { - // Don't make a local copy of the kernel unless we have to (i.e. it's an - // expression that needs to be evaluated) - const Scalar* in_place = m_kernelImpl.data(); - if (in_place) { - m_kernel = in_place; - m_local_kernel = false; - } else { - size_t kernel_sz = m_kernelImpl.dimensions().TotalSize() * sizeof(Scalar); - Scalar* local = (Scalar*)m_device.allocate(kernel_sz); - typedef TensorEvalToOp EvalTo; - EvalTo evalToTmp(local, m_kernelArg); - const bool PacketAccess = internal::IsVectorizable::value; - internal::TensorExecutor::run(evalToTmp, m_device); - - m_kernel = local; - m_local_kernel = true; - } - } - - static unsigned int ceil(unsigned int num, unsigned int denom) { - const unsigned int rounded_toward_zero = num / denom; - if (num > rounded_toward_zero * denom) { - return rounded_toward_zero + 1; - } - return rounded_toward_zero; - } - - void executeEval(Scalar* data) const { - typedef typename TensorEvaluator::Dimensions InputDims; - - const int maxSharedMem = m_device.sharedMemPerBlock(); - const int maxThreadsPerBlock = m_device.maxCudaThreadsPerBlock(); - const int maxBlocksPerProcessor = m_device.maxCudaThreadsPerMultiProcessor() / maxThreadsPerBlock; - const int numMultiProcessors = m_device.getNumCudaMultiProcessors(); - const int warpSize = 32; - - switch (NumKernelDims) { - case 1: { - const int kernel_size = m_kernelImpl.dimensions().TotalSize(); - - const int numX = dimensions()[m_indices[0]]; - const int numP = dimensions().TotalSize() / numX; - int maxX; - dim3 block_size; - - const int single_stride_dim = - static_cast(Layout) == static_cast(ColMajor) - ? 0 - : m_inputImpl.dimensions().rank() - 1; - if (m_indices[0] == single_stride_dim) { - // Maximum the reuse - const int inner_dim = ((maxSharedMem / (sizeof(Scalar)) - kernel_size + 1 + 31) / 32) * 32; - maxX = numext::mini(inner_dim, numX); - const int maxP = numext::mini(maxSharedMem / ((kernel_size - 1 + maxX) * sizeof(Scalar)), numP); - block_size.x = numext::mini(maxThreadsPerBlock, maxX); - block_size.y = numext::mini(maxThreadsPerBlock / block_size.x, maxP); - } - else { - // Read as much as possible alongside the inner most dimension, that is the plane - const int inner_dim = maxSharedMem / ((warpSize + kernel_size) * sizeof(Scalar)); - const int maxP = numext::mini(inner_dim, numP); - maxX = numext::mini(maxSharedMem / (inner_dim * sizeof(Scalar)) - kernel_size + 1, numX); - - block_size.x = numext::mini(warpSize, maxX); - block_size.y = numext::mini(maxThreadsPerBlock/block_size.x, maxP); - } - - const int shared_mem = block_size.y * (maxX + kernel_size - 1) * sizeof(Scalar); - assert(shared_mem <= maxSharedMem); - - const int num_x_blocks = ceil(numX, maxX); - const int blocksPerProcessor = numext::mini(maxBlocksPerProcessor, maxSharedMem / shared_mem); - const int num_y_blocks = ceil(numMultiProcessors * blocksPerProcessor, num_x_blocks); - - dim3 num_blocks(num_x_blocks, numext::mini(num_y_blocks, ceil(numP, block_size.y))); - - - //cout << "launching 1D kernel with block_size.x: " << block_size.x << " block_size.y: " << block_size.y << " num_blocks.x: " << num_blocks.x << " num_blocks.y: " << num_blocks.y << " maxX: " << maxX << " shared_mem: " << shared_mem << " in stream " << m_device.stream() << endl; - - const array indices(m_indices[0]); - const array kernel_dims(m_kernelImpl.dimensions()[0]); - internal::IndexMapper indexMapper( - m_inputImpl.dimensions(), kernel_dims, indices); - switch(kernel_size) { - case 4: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel1D, Index, InputDims, 4>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, 4, data); - break; - } - case 7: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel1D, Index, InputDims, 7>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, 7, data); - break; - } - default: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel1D, Index, InputDims, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, kernel_size, data); - } - } - break; - } - - case 2: { - const int idxX = - static_cast(Layout) == static_cast(ColMajor) ? 0 : 1; - const int idxY = - static_cast(Layout) == static_cast(ColMajor) ? 1 : 0; - const int kernel_size_x = m_kernelImpl.dimensions()[idxX]; - const int kernel_size_y = m_kernelImpl.dimensions()[idxY]; - - const int numX = dimensions()[m_indices[idxX]]; - const int numY = dimensions()[m_indices[idxY]]; - const int numP = dimensions().TotalSize() / (numX*numY); - - const float scaling_factor = sqrtf(static_cast(maxSharedMem) / (sizeof(Scalar) * kernel_size_y * kernel_size_x)); - - // Snap maxX to warp size - int inner_dim = ((static_cast(scaling_factor * kernel_size_x) - kernel_size_x + 1 + 32) / 32) * 32; - const int maxX = numext::mini(inner_dim, numX); - const int maxY = numext::mini(maxSharedMem / (sizeof(Scalar) * (maxX + kernel_size_x - 1)) - kernel_size_y + 1, numY); - const int maxP = numext::mini(maxSharedMem / ((kernel_size_x - 1 + maxX) * (kernel_size_y - 1 + maxY) * sizeof(Scalar)), numP); - - dim3 block_size; - block_size.x = numext::mini(1024, maxX); - block_size.y = numext::mini(1024/block_size.x, maxY); - block_size.z = numext::mini(1024/(block_size.x*block_size.y), maxP); - - const int shared_mem = block_size.z * (maxX + kernel_size_x - 1) * (maxY + kernel_size_y - 1) * sizeof(Scalar); - assert(shared_mem <= maxSharedMem); - - const int num_x_blocks = ceil(numX, maxX); - const int num_y_blocks = ceil(numY, maxY); - const int blocksPerProcessor = numext::mini(maxBlocksPerProcessor, maxSharedMem / shared_mem); - const int num_z_blocks = ceil(numMultiProcessors * blocksPerProcessor, num_x_blocks * num_y_blocks); - - dim3 num_blocks(num_x_blocks, num_y_blocks, numext::mini(num_z_blocks, ceil(numP, block_size.z))); - - - //cout << "launching 2D kernel with block_size.x: " << block_size.x << " block_size.y: " << block_size.y << " block_size.z: " << block_size.z << " num_blocks.x: " << num_blocks.x << " num_blocks.y: " << num_blocks.y << " num_blocks.z: " << num_blocks.z << " maxX: " << maxX << " maxY: " << maxY << " maxP: " << maxP << " shared_mem: " << shared_mem << " in stream " << m_device.stream() << endl; - - const array indices(m_indices[idxX], m_indices[idxY]); - const array kernel_dims(m_kernelImpl.dimensions()[idxX], - m_kernelImpl.dimensions()[idxY]); - internal::IndexMapper indexMapper( - m_inputImpl.dimensions(), kernel_dims, indices); - switch (kernel_size_x) { - case 4: { - switch (kernel_size_y) { - case 7: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D, Index, InputDims, 4, 7>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 4, 7, data); - break; - } - default: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D, Index, InputDims, 4, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 4, kernel_size_y, data); - break; - } - } - break; - } - case 7: { - switch (kernel_size_y) { - case 4: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D, Index, InputDims, 7, 4>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 7, 4, data); - break; - } - default: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D, Index, InputDims, 7, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, 7, kernel_size_y, data); - break; - } - } - break; - } - default: { - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel2D, Index, InputDims, Dynamic, Dynamic>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, kernel_size_x, kernel_size_y, data); - break; - } - } - break; - } - - case 3: { - const int idxX = - static_cast(Layout) == static_cast(ColMajor) ? 0 : 2; - const int idxY = - static_cast(Layout) == static_cast(ColMajor) ? 1 : 1; - const int idxZ = - static_cast(Layout) == static_cast(ColMajor) ? 2 : 0; - - const int kernel_size_x = m_kernelImpl.dimensions()[idxX]; - const int kernel_size_y = m_kernelImpl.dimensions()[idxY]; - const int kernel_size_z = m_kernelImpl.dimensions()[idxZ]; - - const int numX = dimensions()[m_indices[idxX]]; - const int numY = dimensions()[m_indices[idxY]]; - const int numZ = dimensions()[m_indices[idxZ]]; - const int numP = dimensions().TotalSize() / (numX*numY*numZ); - - const int maxX = numext::mini(128, numext::mini(maxSharedMem / (sizeof(Scalar) * kernel_size_y * kernel_size_z) - kernel_size_x + 1, numX)); - const int maxY = numext::mini(128, numext::mini(maxSharedMem / (sizeof(Scalar) * (maxX + kernel_size_x - 1) * kernel_size_z) - kernel_size_y + 1, numY)); - const int maxZ = numext::mini(128, numext::mini(maxSharedMem / (sizeof(Scalar) * (maxX + kernel_size_x - 1) * (maxY + kernel_size_y - 1)) - kernel_size_z + 1, numZ)); - - dim3 block_size; - block_size.x = numext::mini(32, maxX); - block_size.y = numext::mini(32, maxY); - block_size.z = numext::mini(1024/(block_size.x*block_size.y), maxZ); - dim3 num_blocks(ceil(numX, maxX), ceil(numY, maxY), ceil(numZ, maxZ)); - - const int shared_mem = (maxX + kernel_size_x - 1) * (maxY + kernel_size_y - 1) * (maxZ + kernel_size_z - 1) * sizeof(Scalar); - assert(shared_mem <= maxSharedMem); - - //cout << "launching 3D kernel with block_size.x: " << block_size.x << " block_size.y: " << block_size.y << " block_size.z: " << block_size.z << " num_blocks.x: " << num_blocks.x << " num_blocks.y: " << num_blocks.y << " num_blocks.z: " << num_blocks.z << " shared_mem: " << shared_mem << " in stream " << m_device.stream() << endl; - const array indices(m_indices[idxX], m_indices[idxY], - m_indices[idxZ]); - const array kernel_dims(m_kernelImpl.dimensions()[idxX], - m_kernelImpl.dimensions()[idxY], - m_kernelImpl.dimensions()[idxZ]); - internal::IndexMapper indexMapper( - m_inputImpl.dimensions(), kernel_dims, indices); - - LAUNCH_CUDA_KERNEL((EigenConvolutionKernel3D, Index, InputDims>), num_blocks, block_size, shared_mem, m_device, m_inputImpl, indexMapper, m_kernel, numP, numX, maxX, numY, maxY, numZ, maxZ, kernel_size_x, kernel_size_y, kernel_size_z, data); - break; - } - - default: { - EIGEN_STATIC_ASSERT((NumKernelDims >= 1 && NumKernelDims <= 3), THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE); - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - eigen_assert(m_buf); - eigen_assert(index < m_dimensions.TotalSize()); - return m_buf[index]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(const Index index) const - { - eigen_assert(m_buf); - eigen_assert(index < m_dimensions.TotalSize()); - return internal::ploadt(m_buf+index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - // TODO(rmlarsen): FIXME: For now, this is just a copy of the CPU cost - // model. - const double kernel_size = m_kernelImpl.dimensions().TotalSize(); - // We ignore the use of fused multiply-add. - const double convolve_compute_cost = - TensorOpCost::AddCost() + TensorOpCost::MulCost(); - const double firstIndex_compute_cost = - NumDims * - (2 * TensorOpCost::AddCost() + 2 * TensorOpCost::MulCost() + - TensorOpCost::DivCost()); - return TensorOpCost(0, 0, firstIndex_compute_cost, vectorized, PacketSize) + - kernel_size * (m_inputImpl.costPerCoeff(vectorized) + - m_kernelImpl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, convolve_compute_cost, vectorized, - PacketSize)); - } - - private: - // No assignment (copies are needed by the kernels) - TensorEvaluator& operator = (const TensorEvaluator&); - - TensorEvaluator m_inputImpl; - TensorEvaluator m_kernelImpl; - KernelArgType m_kernelArg; - Indices m_indices; - Dimensions m_dimensions; - Scalar* m_buf; - const Scalar* m_kernel; - bool m_local_kernel; - - const GpuDevice& m_device; -}; -#endif - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolutionSycl.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolutionSycl.h deleted file mode 100644 index 4247c1c4..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorConvolutionSycl.h +++ /dev/null @@ -1,476 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Mehdi Goli Codeplay Software Ltd. -// Ralph Potter Codeplay Software Ltd. -// Luke Iwanski Codeplay Software Ltd. -// Contact: -// Copyright (C) 2016 Benoit Steiner - -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_SYCL_H -#define EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_SYCL_H - -namespace Eigen { - -/** \class TensorConvolution - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor convolution class. - * - * - */ -template -struct EigenConvolutionKernel1D{ -typedef typename TensorSycl::internal::createPlaceHolderExpression::Type PlaceHolderExpr; -internal::IndexMapper::Layout> indexMapper; -Kernel_accessor kernel_filter; -const size_t kernelSize, range_x, range_y; -Buffer_accessor buffer_acc; -Local_accessor local_acc; -FunctorExpr functors; -TupleType tuple_of_accessors; -EigenConvolutionKernel1D(internal::IndexMapper::Layout> indexMapper_, - Kernel_accessor kernel_filter_, const size_t kernelSize_, const size_t range_x_, const size_t range_y_, - Buffer_accessor buffer_acc_, Local_accessor local_acc_, FunctorExpr functors_, TupleType tuple_of_accessors_) - :indexMapper(indexMapper_), kernel_filter(kernel_filter_), kernelSize(kernelSize_), range_x(range_x_), range_y(range_y_), - buffer_acc(buffer_acc_), local_acc(local_acc_), functors(functors_), tuple_of_accessors(tuple_of_accessors_) {} - - void operator()(cl::sycl::nd_item<2> itemID) { - typedef typename TensorSycl::internal::ConvertToDeviceExpression::Type DevExpr; - auto device_expr =TensorSycl::internal::createDeviceExpression(functors, tuple_of_accessors); - auto device_evaluator = Eigen::TensorEvaluator(device_expr.expr, Eigen::DefaultDevice()); - - auto buffer_ptr = ConvertToActualTypeSycl(CoeffReturnType, buffer_acc); - auto kernel_ptr = ConvertToActualTypeSycl(KernelType, kernel_filter); - - const size_t num_x_input = (itemID.get_local_range()[0] +kernelSize -1); //the required row to be calculated for the for each plane in shered memory - const size_t plane_kernel_offset = itemID.get_local(1) * num_x_input; - const size_t first_input_start = itemID.get_group(0)*itemID.get_local_range()[0]; - const size_t plane_tensor_offset =indexMapper.mapCudaInputPlaneToTensorInputOffset(itemID.get_global(1)); - /// fill the shared memory - for (size_t i = itemID.get_local(0); i < num_x_input ; i += itemID.get_local_range()[0]) { - const size_t local_index = i + plane_kernel_offset ; - const size_t tensor_index = plane_tensor_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i + first_input_start); - if(((i + first_input_start) < (range_x +kernelSize-1)) && itemID.get_global(1)< range_y){ - local_acc[local_index] = device_evaluator.coeff(tensor_index); - } - else local_acc[local_index]=0.0f; - } - - itemID.barrier(cl::sycl::access::fence_space::local_space); - - // calculate the convolution - const size_t first_output_start =itemID.get_group(0)*(itemID.get_local_range()[0]); // output start x - if(itemID.get_global(0)< range_x && itemID.get_global(1)< range_y){ - CoeffReturnType result = static_cast(0); - const size_t index = plane_kernel_offset+ itemID.get_local(0); - for (size_t k = 0; k < kernelSize; ++k) { - result += (local_acc[k + index] * kernel_ptr[k]); - } - const size_t tensor_index = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(itemID.get_global(1)) - +indexMapper.mapCudaOutputKernelToTensorOutputOffset(itemID.get_local(0) + first_output_start); - buffer_ptr[tensor_index] = result; - } - } -}; - - -template -struct EigenConvolutionKernel2D{ -typedef typename TensorSycl::internal::createPlaceHolderExpression::Type PlaceHolderExpr; -internal::IndexMapper::Layout> indexMapper; -Kernel_accessor kernel_filter; -const size_t kernelSize_x, kernelSize_y, range_x, range_y , range_z; -Buffer_accessor buffer_acc; -Local_accessor local_acc; -FunctorExpr functors; -TupleType tuple_of_accessors; -EigenConvolutionKernel2D(internal::IndexMapper::Layout> indexMapper_, - Kernel_accessor kernel_filter_, const size_t kernelSize_x_, const size_t kernelSize_y_ ,const size_t range_x_, const size_t range_y_, const size_t range_z_, - Buffer_accessor buffer_acc_, Local_accessor local_acc_, FunctorExpr functors_, TupleType tuple_of_accessors_) - :indexMapper(indexMapper_), kernel_filter(kernel_filter_), kernelSize_x(kernelSize_x_), kernelSize_y(kernelSize_y_), range_x(range_x_), range_y(range_y_), range_z(range_z_), - buffer_acc(buffer_acc_), local_acc(local_acc_), functors(functors_), tuple_of_accessors(tuple_of_accessors_) {} - - void operator()(cl::sycl::nd_item<3> itemID) { - typedef typename TensorSycl::internal::ConvertToDeviceExpression::Type DevExpr; - auto device_expr =TensorSycl::internal::createDeviceExpression(functors, tuple_of_accessors); - auto device_evaluator = Eigen::TensorEvaluator(device_expr.expr, Eigen::DefaultDevice()); - - auto buffer_ptr = ConvertToActualTypeSycl(CoeffReturnType, buffer_acc); - auto kernel_ptr = ConvertToActualTypeSycl(KernelType, kernel_filter); - const size_t num_x_input = (itemID.get_local_range()[0] +kernelSize_x -1); //the required row to be calculated for the for each plane in shered memory - const size_t num_y_input = (itemID.get_local_range()[1] +kernelSize_y -1); //the required row to be calculated for the for each plane in shered memory - const size_t plane_input_offset = indexMapper.mapCudaInputPlaneToTensorInputOffset(itemID.get_global(2)); - const size_t plane_kernel_offset = itemID.get_local(2) * num_y_input; - - /// fill the shared memory - const size_t first_x_input_start = itemID.get_group(0)*itemID.get_local_range()[0]; - const size_t first_y_input_start = itemID.get_group(1)*itemID.get_local_range()[1]; - for (size_t j = itemID.get_local(1); j < num_y_input; j += itemID.get_local_range()[1]) { - const size_t local_input_offset = num_x_input * (j + plane_kernel_offset); - for (size_t i = itemID.get_local(0); i < num_x_input ; i += itemID.get_local_range()[0]) { - const size_t local_index = i + local_input_offset; - const size_t tensor_index = plane_input_offset + indexMapper.mapCudaInputKernelToTensorInputOffset(i + first_x_input_start, j+ first_y_input_start ); - if(((i + first_x_input_start) < (range_x +kernelSize_x-1)) &&((j + first_y_input_start) < (range_y +kernelSize_y-1)) && itemID.get_global(2)< range_z){ - local_acc[local_index] = device_evaluator.coeff(tensor_index); - } - else local_acc[local_index]=0.0f; - } - } - - itemID.barrier(cl::sycl::access::fence_space::local_space); - - // calculate the convolution - const size_t fitst_x_output_start =itemID.get_group(0)*(itemID.get_local_range()[0]); // output start x - const size_t fitst_y_output_start =itemID.get_group(1)*(itemID.get_local_range()[1]); // output start y - if(itemID.get_global(0)< range_x && itemID.get_global(1)< range_y && itemID.get_global(2)< range_z){ - CoeffReturnType result = static_cast(0); - for (size_t j = 0; j < kernelSize_y; j++) { - size_t kernel_offset =kernelSize_x * j; - const size_t index = (num_x_input*(plane_kernel_offset + j+ itemID.get_local(1))) + itemID.get_local(0); - for (size_t i = 0; i < kernelSize_x; i++) { - result += (local_acc[i + index] * kernel_ptr[i+kernel_offset]); - } - } - const size_t tensor_index = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(itemID.get_global(2)) - +indexMapper.mapCudaOutputKernelToTensorOutputOffset(itemID.get_local(0) + fitst_x_output_start, itemID.get_local(1) + fitst_y_output_start); - buffer_ptr[tensor_index] = result; - } - } -}; - - - -template -struct EigenConvolutionKernel3D{ -typedef typename TensorSycl::internal::createPlaceHolderExpression::Type PlaceHolderExpr; -internal::IndexMapper::Layout> indexMapper; -Kernel_accessor kernel_filter; -const size_t kernelSize_x, kernelSize_y, kernelSize_z, range_x, range_y , range_z, numP; -Buffer_accessor buffer_acc; -Local_accessor local_acc; -FunctorExpr functors; -TupleType tuple_of_accessors; -EigenConvolutionKernel3D(internal::IndexMapper::Layout> indexMapper_, - Kernel_accessor kernel_filter_, const size_t kernelSize_x_, const size_t kernelSize_y_ , const size_t kernelSize_z_ , - const size_t range_x_, const size_t range_y_, const size_t range_z_, const size_t numP_, - Buffer_accessor buffer_acc_, Local_accessor local_acc_, FunctorExpr functors_, TupleType tuple_of_accessors_) - :indexMapper(indexMapper_), kernel_filter(kernel_filter_), kernelSize_x(kernelSize_x_), kernelSize_y(kernelSize_y_), - kernelSize_z(kernelSize_z_), range_x(range_x_), range_y(range_y_), range_z(range_z_), numP(numP_), - buffer_acc(buffer_acc_), local_acc(local_acc_), functors(functors_), tuple_of_accessors(tuple_of_accessors_) {} - - void operator()(cl::sycl::nd_item<3> itemID) { - typedef typename TensorSycl::internal::ConvertToDeviceExpression::Type DevExpr; - auto device_expr =TensorSycl::internal::createDeviceExpression(functors, tuple_of_accessors); - auto device_evaluator = Eigen::TensorEvaluator(device_expr.expr, Eigen::DefaultDevice()); - - auto buffer_ptr = ConvertToActualTypeSycl(CoeffReturnType, buffer_acc); - auto kernel_ptr = ConvertToActualTypeSycl(KernelType, kernel_filter); - const size_t num_x_input = (itemID.get_local_range()[0] +kernelSize_x -1); //the required row to be calculated for the for each plane in shered memory - const size_t num_y_input = (itemID.get_local_range()[1] +kernelSize_y -1); //the required row to be calculated for the for each plane in shered memory - const size_t num_z_input = (itemID.get_local_range()[2] +kernelSize_z -1); //the required row to be calculated for the for each plane in shered memory - const size_t first_x_input_start = itemID.get_group(0)*itemID.get_local_range()[0]; - const size_t first_y_input_start = itemID.get_group(1)*itemID.get_local_range()[1]; - const size_t first_z_input_start = itemID.get_group(2)*itemID.get_local_range()[2]; - for(size_t p=0; p(0); - for (size_t k = 0; k < kernelSize_z; k++) { - for (size_t j = 0; j < kernelSize_y; j++) { - for (size_t i = 0; i < kernelSize_x; i++) { - const size_t kernel_index =i + kernelSize_x * (j + kernelSize_y * k); - const size_t local_index = ((i+ itemID.get_local(0))+ num_x_input*((j+ itemID.get_local(1)) + num_y_input * (k+ itemID.get_local(2)))); - result += (local_acc[local_index] * kernel_ptr[kernel_index]); - } - } - } - const size_t tensor_index = indexMapper.mapCudaOutputPlaneToTensorOutputOffset(p) - +indexMapper.mapCudaOutputKernelToTensorOutputOffset(itemID.get_local(0) + fitst_x_output_start, itemID.get_local(1) + fitst_y_output_start, itemID.get_local(2) + fitst_z_output_start ); - buffer_ptr[tensor_index] = result; - } - - itemID.barrier(cl::sycl::access::fence_space::local_space); - } - } -}; - - -template -struct TensorEvaluator, const Eigen::SyclDevice> -{ - typedef TensorConvolutionOp XprType; - - static const int NumDims = internal::array_size::Dimensions>::value; - static const int NumKernelDims = internal::array_size::value; - typedef typename XprType::Index Index; - typedef DSizes Dimensions; - typedef typename TensorEvaluator::Dimensions KernelDimensions; - typedef const Eigen::SyclDevice Device; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Eigen::SyclDevice& device) - : m_inputImpl(op.inputExpression(), device), m_kernelArg(op.kernelExpression()), m_kernelImpl(op.kernelExpression(), device), m_indices(op.indices()), m_buf(NULL), m_kernel(NULL), m_local_kernel(false), m_device(device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE); - - const typename TensorEvaluator::Dimensions& input_dims = m_inputImpl.dimensions(); - const typename TensorEvaluator::Dimensions& kernel_dims = m_kernelImpl.dimensions(); - - m_dimensions = m_inputImpl.dimensions(); - for (int i = 0; i < NumKernelDims; ++i) { - const Index index = op.indices()[i]; - const Index input_dim = input_dims[index]; - const Index kernel_dim = kernel_dims[i]; - const Index result_dim = input_dim - kernel_dim + 1; - m_dimensions[index] = result_dim; - } - } - - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef typename InputArgType::Scalar Scalar; - static const int PacketSize = internal::unpacket_traits::size; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* data) { - preloadKernel(); - m_inputImpl.evalSubExprsIfNeeded(NULL); - if (data) { - executeEval(data); - return false; - } else { - m_buf = (Scalar*)m_device.allocate(dimensions().TotalSize() * sizeof(Scalar)); - executeEval(m_buf); - return true; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_inputImpl.cleanup(); - if (m_buf) { - m_device.deallocate(m_buf); - m_buf = NULL; - } - if (m_local_kernel) { - m_device.deallocate((void*)m_kernel); - m_local_kernel = false; - } - m_kernel = NULL; - } - /// used by sycl in order to build the sycl buffer - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Device& device() const{return m_device;} - /// used by sycl in order to build the sycl buffer - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const { return m_buf; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void preloadKernel() { - // Don't make a local copy of the kernel unless we have to (i.e. it's an - // expression that needs to be evaluated) - const Scalar* in_place = m_kernelImpl.data(); - if (in_place) { - m_kernel = in_place; - m_local_kernel = false; - } else { - size_t kernel_sz = m_kernelImpl.dimensions().TotalSize() * sizeof(Scalar); - Scalar* local = (Scalar*)m_device.allocate(kernel_sz); - typedef TensorEvalToOp EvalTo; - EvalTo evalToTmp(local, m_kernelArg); - const bool PacketAccess = internal::IsVectorizable::value; - internal::TensorExecutor::run(evalToTmp, m_device); - m_kernel = local; - m_local_kernel = true; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void executeEval(Scalar* data) const { - typedef TensorEvaluator InputEvaluator; - typedef typename InputEvaluator::Dimensions InputDims; - - typedef Eigen::TensorSycl::internal::FunctorExtractor InputFunctorExpr; - // extract input functor list - InputFunctorExpr input_functors = Eigen::TensorSycl::internal::extractFunctors(m_inputImpl); - - - m_device.sycl_queue().submit([&](cl::sycl::handler &cgh) { - - typedef cl::sycl::accessor InputLocalAcc; - /// work-around for gcc 4.8 auto bug - typedef decltype(Eigen::TensorSycl::internal::createTupleOfAccessors(cgh, m_inputImpl)) InputTupleType; - // create input tuple of accessors - InputTupleType tuple_of_accessors = Eigen::TensorSycl::internal::createTupleOfAccessors(cgh, m_inputImpl); - - typedef cl::sycl::accessor OutputAccessorType; - OutputAccessorType out_res= m_device. template get_sycl_accessor(cgh, data); - typedef cl::sycl::accessor KernelAccessorType; - KernelAccessorType kernel_acc= m_device. template get_sycl_accessor(cgh, m_kernel); - - switch (NumKernelDims) { - case 1: { - const size_t numX = dimensions()[m_indices[0]]; - const size_t numP = dimensions().TotalSize() / numX; - const size_t kernel_size = m_kernelImpl.dimensions().TotalSize(); - size_t range_x, GRange_x, tileSize_x, range_y, GRange_y, tileSize_y; - m_device.parallel_for_setup(numX, numP, tileSize_x,tileSize_y,range_x,range_y, GRange_x, GRange_y ); - const size_t shared_mem =(tileSize_x +kernel_size -1)*(tileSize_y); - assert(static_cast(shared_mem) <= m_device.sharedMemPerBlock()); - auto global_range=cl::sycl::range<2>(GRange_x, GRange_y); // global range - auto local_range=cl::sycl::range<2>(tileSize_x, tileSize_y); // local range - InputLocalAcc local_acc(cl::sycl::range<1>(shared_mem), cgh); - const array indices{{m_indices[0]}}; - const array kernel_dims{{m_kernelImpl.dimensions()[0]}}; - internal::IndexMapper indexMapper(m_inputImpl.dimensions(), kernel_dims, indices); - cgh.parallel_for(cl::sycl::nd_range<2>(global_range, local_range), - EigenConvolutionKernel1D( - indexMapper,kernel_acc, kernel_size, numX, numP, out_res, local_acc, input_functors, tuple_of_accessors)); - break; - } - - case 2: { - const size_t idxX =static_cast(Layout) == static_cast(ColMajor) ? 0 : 1; - const size_t idxY =static_cast(Layout) == static_cast(ColMajor) ? 1 : 0; - const size_t kernel_size_x = m_kernelImpl.dimensions()[idxX]; - const size_t kernel_size_y = m_kernelImpl.dimensions()[idxY]; - const size_t numX = dimensions()[m_indices[idxX]]; - const size_t numY = dimensions()[m_indices[idxY]]; - const size_t numP = dimensions().TotalSize() / (numX*numY); - size_t range_x, GRange_x, tileSize_x, range_y, GRange_y, tileSize_y, range_z, GRange_z, tileSize_z; - m_device.parallel_for_setup(numX, numY, numP, tileSize_x, tileSize_y, tileSize_z, range_x, range_y, range_z, GRange_x, GRange_y, GRange_z ); - const size_t shared_mem =(tileSize_x +kernel_size_x -1)*(tileSize_y +kernel_size_y -1) * tileSize_z; - assert(static_cast(shared_mem) <= m_device.sharedMemPerBlock()); - auto global_range=cl::sycl::range<3>(GRange_x, GRange_y, GRange_z); // global range - auto local_range=cl::sycl::range<3>(tileSize_x, tileSize_y, tileSize_z); // local range - InputLocalAcc local_acc(cl::sycl::range<1>(shared_mem), cgh); - const array indices {{m_indices[idxX], m_indices[idxY]}}; - const array kernel_dims{{m_kernelImpl.dimensions()[idxX], m_kernelImpl.dimensions()[idxY]}}; - internal::IndexMapper indexMapper(m_inputImpl.dimensions(), kernel_dims, indices); - cgh.parallel_for(cl::sycl::nd_range<3>(global_range, local_range), - EigenConvolutionKernel2D( - indexMapper,kernel_acc, kernel_size_x, kernel_size_y, numX, numY, numP, out_res, local_acc, input_functors, tuple_of_accessors)); - break; - } - - case 3: { - const size_t idxX =static_cast(Layout) == static_cast(ColMajor) ? 0 : 2; - const size_t idxY =static_cast(Layout) == static_cast(ColMajor) ? 1 : 1; - const size_t idxZ =static_cast(Layout) == static_cast(ColMajor) ? 2 : 0; - const size_t kernel_size_x = m_kernelImpl.dimensions()[idxX]; - const size_t kernel_size_y = m_kernelImpl.dimensions()[idxY]; - const size_t kernel_size_z = m_kernelImpl.dimensions()[idxZ]; - const size_t numX = dimensions()[m_indices[idxX]]; - const size_t numY = dimensions()[m_indices[idxY]]; - const size_t numZ = dimensions()[m_indices[idxZ]]; - const size_t numP = dimensions().TotalSize() / (numX*numY*numZ); - const array indices{{m_indices[idxX], m_indices[idxY], m_indices[idxZ]}}; - const array kernel_dims{{m_kernelImpl.dimensions()[idxX],m_kernelImpl.dimensions()[idxY], m_kernelImpl.dimensions()[idxZ]}}; - internal::IndexMapper indexMapper(m_inputImpl.dimensions(), kernel_dims, indices); - size_t range_x, GRange_x, tileSize_x, range_y, GRange_y, tileSize_y, range_z, GRange_z, tileSize_z; - m_device.parallel_for_setup(numX, numY, numZ, tileSize_x, tileSize_y, tileSize_z, range_x, range_y, range_z, GRange_x, GRange_y, GRange_z ); - const size_t shared_mem =(tileSize_x +kernel_size_x -1)*(tileSize_y +kernel_size_y -1) * (tileSize_z +kernel_size_y -1); - assert(static_cast(shared_mem) <= m_device.sharedMemPerBlock()); - auto global_range=cl::sycl::range<3>(GRange_x, GRange_y, GRange_z); // global range - auto local_range=cl::sycl::range<3>(tileSize_x, tileSize_y, tileSize_z); // local range - InputLocalAcc local_acc(cl::sycl::range<1>(shared_mem), cgh); - cgh.parallel_for(cl::sycl::nd_range<3>(global_range, local_range), - EigenConvolutionKernel3D( - indexMapper,kernel_acc, kernel_size_x, kernel_size_y, kernel_size_z, numX, numY, - numZ, numP, out_res, local_acc, input_functors, tuple_of_accessors)); - break; - } - - default: { - EIGEN_STATIC_ASSERT((NumKernelDims >= 1 && NumKernelDims <= 3), THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE); - } - } - }); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - eigen_assert(m_buf); - eigen_assert(index < m_dimensions.TotalSize()); - return m_buf[index]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(const Index index) const - { - eigen_assert(m_buf); - eigen_assert(index < m_dimensions.TotalSize()); - return internal::ploadt(m_buf+index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - // TODO(rmlarsen): FIXME: For now, this is just a copy of the CPU cost - // model. - const double kernel_size = m_kernelImpl.dimensions().TotalSize(); - // We ignore the use of fused multiply-add. - const double convolve_compute_cost = - TensorOpCost::AddCost() + TensorOpCost::MulCost(); - const double firstIndex_compute_cost = - NumDims * - (2 * TensorOpCost::AddCost() + 2 * TensorOpCost::MulCost() + - TensorOpCost::DivCost()); - return TensorOpCost(0, 0, firstIndex_compute_cost, vectorized, PacketSize) + - kernel_size * (m_inputImpl.costPerCoeff(vectorized) + - m_kernelImpl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, convolve_compute_cost, vectorized, - PacketSize)); - } - - private: - // No assignment (copies are needed by the kernels) - TensorEvaluator& operator = (const TensorEvaluator&); - TensorEvaluator m_inputImpl; - KernelArgType m_kernelArg; - TensorEvaluator m_kernelImpl; - Indices m_indices; - Dimensions m_dimensions; - Scalar* m_buf; - const Scalar* m_kernel; - bool m_local_kernel; - const Eigen::SyclDevice& m_device; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CONVOLUTION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h deleted file mode 100644 index 83c449cf..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCostModel.h +++ /dev/null @@ -1,212 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Rasmus Munk Larsen -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_COST_MODEL_H -#define EIGEN_CXX11_TENSOR_TENSOR_COST_MODEL_H - -namespace Eigen { - -/** \class TensorEvaluator - * \ingroup CXX11_Tensor_Module - * - * \brief A cost model used to limit the number of threads used for evaluating - * tensor expression. - * - */ - -// Class storing the cost of evaluating a tensor expression in terms of the -// estimated number of operand bytes loads, bytes stored, and compute cycles. -class TensorOpCost { - public: - // TODO(rmlarsen): Fix the scalar op costs in Eigen proper. Even a simple - // model based on minimal reciprocal throughput numbers from Intel or - // Agner Fog's tables would be better than what is there now. - template - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int MulCost() { - return internal::functor_traits< - internal::scalar_product_op >::Cost; - } - template - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int AddCost() { - return internal::functor_traits >::Cost; - } - template - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int DivCost() { - return internal::functor_traits< - internal::scalar_quotient_op >::Cost; - } - template - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int ModCost() { - return internal::functor_traits >::Cost; - } - template - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int CastCost() { - return internal::functor_traits< - internal::scalar_cast_op >::Cost; - } - - EIGEN_DEVICE_FUNC - TensorOpCost() : bytes_loaded_(0), bytes_stored_(0), compute_cycles_(0) {} - EIGEN_DEVICE_FUNC - TensorOpCost(double bytes_loaded, double bytes_stored, double compute_cycles) - : bytes_loaded_(bytes_loaded), - bytes_stored_(bytes_stored), - compute_cycles_(compute_cycles) {} - - EIGEN_DEVICE_FUNC - TensorOpCost(double bytes_loaded, double bytes_stored, double compute_cycles, - bool vectorized, double packet_size) - : bytes_loaded_(bytes_loaded), - bytes_stored_(bytes_stored), - compute_cycles_(vectorized ? compute_cycles / packet_size - : compute_cycles) { - eigen_assert(bytes_loaded >= 0 && (numext::isfinite)(bytes_loaded)); - eigen_assert(bytes_stored >= 0 && (numext::isfinite)(bytes_stored)); - eigen_assert(compute_cycles >= 0 && (numext::isfinite)(compute_cycles)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bytes_loaded() const { - return bytes_loaded_; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bytes_stored() const { - return bytes_stored_; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double compute_cycles() const { - return compute_cycles_; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double total_cost( - double load_cost, double store_cost, double compute_cost) const { - return load_cost * bytes_loaded_ + store_cost * bytes_stored_ + - compute_cost * compute_cycles_; - } - - // Drop memory access component. Intended for cases when memory accesses are - // sequential or are completely masked by computations. - EIGEN_DEVICE_FUNC void dropMemoryCost() { - bytes_loaded_ = 0; - bytes_stored_ = 0; - } - - // TODO(rmlarsen): Define min in terms of total cost, not elementwise. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost cwiseMin( - const TensorOpCost& rhs) const { - double bytes_loaded = numext::mini(bytes_loaded_, rhs.bytes_loaded()); - double bytes_stored = numext::mini(bytes_stored_, rhs.bytes_stored()); - double compute_cycles = numext::mini(compute_cycles_, rhs.compute_cycles()); - return TensorOpCost(bytes_loaded, bytes_stored, compute_cycles); - } - - // TODO(rmlarsen): Define max in terms of total cost, not elementwise. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost cwiseMax( - const TensorOpCost& rhs) const { - double bytes_loaded = numext::maxi(bytes_loaded_, rhs.bytes_loaded()); - double bytes_stored = numext::maxi(bytes_stored_, rhs.bytes_stored()); - double compute_cycles = numext::maxi(compute_cycles_, rhs.compute_cycles()); - return TensorOpCost(bytes_loaded, bytes_stored, compute_cycles); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost& operator+=( - const TensorOpCost& rhs) { - bytes_loaded_ += rhs.bytes_loaded(); - bytes_stored_ += rhs.bytes_stored(); - compute_cycles_ += rhs.compute_cycles(); - return *this; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost& operator*=(double rhs) { - bytes_loaded_ *= rhs; - bytes_stored_ *= rhs; - compute_cycles_ *= rhs; - return *this; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend TensorOpCost operator+( - TensorOpCost lhs, const TensorOpCost& rhs) { - lhs += rhs; - return lhs; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend TensorOpCost operator*( - TensorOpCost lhs, double rhs) { - lhs *= rhs; - return lhs; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend TensorOpCost operator*( - double lhs, TensorOpCost rhs) { - rhs *= lhs; - return rhs; - } - - friend std::ostream& operator<<(std::ostream& os, const TensorOpCost& tc) { - return os << "[bytes_loaded = " << tc.bytes_loaded() - << ", bytes_stored = " << tc.bytes_stored() - << ", compute_cycles = " << tc.compute_cycles() << "]"; - } - - private: - double bytes_loaded_; - double bytes_stored_; - double compute_cycles_; -}; - -// TODO(rmlarsen): Implement a policy that chooses an "optimal" number of theads -// in [1:max_threads] instead of just switching multi-threading off for small -// work units. -template -class TensorCostModel { - public: - // Scaling from Eigen compute cost to device cycles. - static const int kDeviceCyclesPerComputeCycle = 1; - - // Costs in device cycles. - static const int kStartupCycles = 100000; - static const int kPerThreadCycles = 100000; - static const int kTaskSize = 40000; - - // Returns the number of threads in [1:max_threads] to use for - // evaluating an expression with the given output size and cost per - // coefficient. - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int numThreads( - double output_size, const TensorOpCost& cost_per_coeff, int max_threads) { - double cost = totalCost(output_size, cost_per_coeff); - int threads = (cost - kStartupCycles) / kPerThreadCycles + 0.9; - return numext::mini(max_threads, numext::maxi(1, threads)); - } - - // taskSize assesses parallel task size. - // Value of 1.0 means ideal parallel task size. Values < 1.0 mean that task - // granularity needs to be increased to mitigate parallelization overheads. - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double taskSize( - double output_size, const TensorOpCost& cost_per_coeff) { - return totalCost(output_size, cost_per_coeff) / kTaskSize; - } - - private: - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double totalCost( - double output_size, const TensorOpCost& cost_per_coeff) { - // Cost of memory fetches from L2 cache. 64 is typical cache line size. - // 11 is L2 cache latency on Haswell. - // We don't know whether data is in L1, L2 or L3. But we are most interested - // in single-threaded computational time around 100us-10ms (smaller time - // is too small for parallelization, larger time is not intersting - // either because we are probably using all available threads already). - // And for the target time range, L2 seems to be what matters. Data set - // fitting into L1 is too small to take noticeable time. Data set fitting - // only into L3 presumably will take more than 10ms to load and process. - const double kLoadCycles = 1.0 / 64 * 11; - const double kStoreCycles = 1.0 / 64 * 11; - // Scaling from Eigen compute cost to device cycles. - return output_size * - cost_per_coeff.total_cost(kLoadCycles, kStoreCycles, - kDeviceCyclesPerComputeCycle); - } -}; - -} // namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_COST_MODEL_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h deleted file mode 100644 index e020d076..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorCustomOp.h +++ /dev/null @@ -1,313 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_CUSTOM_OP_H -#define EIGEN_CXX11_TENSOR_TENSOR_CUSTOM_OP_H - -namespace Eigen { - -/** \class TensorCustomUnaryOp - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor custom class. - * - * - */ -namespace internal { -template -struct traits > -{ - typedef typename XprType::Scalar Scalar; - typedef typename XprType::StorageKind StorageKind; - typedef typename XprType::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = traits::NumDimensions; - static const int Layout = traits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorCustomUnaryOp& type; -}; - -template -struct nested > -{ - typedef TensorCustomUnaryOp type; -}; - -} // end namespace internal - - - -template -class TensorCustomUnaryOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename internal::nested::type Nested; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCustomUnaryOp(const XprType& expr, const CustomUnaryFunc& func) - : m_expr(expr), m_func(func) {} - - EIGEN_DEVICE_FUNC - const CustomUnaryFunc& func() const { return m_func; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_expr; } - - protected: - typename XprType::Nested m_expr; - const CustomUnaryFunc m_func; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorCustomUnaryOp ArgType; - typedef typename internal::traits::Index Index; - static const int NumDims = internal::traits::NumDimensions; - typedef DSizes Dimensions; - typedef typename internal::remove_const::type Scalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = (internal::packet_traits::size > 1), - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const ArgType& op, const Device& device) - : m_op(op), m_device(device), m_result(NULL) - { - m_dimensions = op.func().dimensions(op.expression()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) { - if (data) { - evalTo(data); - return false; - } else { - m_result = static_cast( - m_device.allocate(dimensions().TotalSize() * sizeof(Scalar))); - evalTo(m_result); - return true; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - if (m_result != NULL) { - m_device.deallocate(m_result); - m_result = NULL; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { - return m_result[index]; - } - - template - EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const { - return internal::ploadt(m_result + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - // TODO(rmlarsen): Extend CustomOp API to return its cost estimate. - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return m_result; } - - protected: - EIGEN_DEVICE_FUNC void evalTo(Scalar* data) { - TensorMap > result( - data, m_dimensions); - m_op.func().eval(m_op.expression(), result, m_device); - } - - Dimensions m_dimensions; - const ArgType m_op; - const Device& m_device; - CoeffReturnType* m_result; -}; - - - -/** \class TensorCustomBinaryOp - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor custom class. - * - * - */ -namespace internal { -template -struct traits > -{ - typedef typename internal::promote_storage_type::ret Scalar; - typedef typename internal::promote_storage_type::ret CoeffReturnType; - typedef typename promote_storage_type::StorageKind, - typename traits::StorageKind>::ret StorageKind; - typedef typename promote_index_type::Index, - typename traits::Index>::type Index; - typedef typename LhsXprType::Nested LhsNested; - typedef typename RhsXprType::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - static const int NumDimensions = traits::NumDimensions; - static const int Layout = traits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorCustomBinaryOp& type; -}; - -template -struct nested > -{ - typedef TensorCustomBinaryOp type; -}; - -} // end namespace internal - - - -template -class TensorCustomBinaryOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::traits::CoeffReturnType CoeffReturnType; - typedef typename internal::nested::type Nested; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCustomBinaryOp(const LhsXprType& lhs, const RhsXprType& rhs, const CustomBinaryFunc& func) - - : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_func(func) {} - - EIGEN_DEVICE_FUNC - const CustomBinaryFunc& func() const { return m_func; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - lhsExpression() const { return m_lhs_xpr; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - rhsExpression() const { return m_rhs_xpr; } - - protected: - typename LhsXprType::Nested m_lhs_xpr; - typename RhsXprType::Nested m_rhs_xpr; - const CustomBinaryFunc m_func; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorCustomBinaryOp XprType; - typedef typename internal::traits::Index Index; - static const int NumDims = internal::traits::NumDimensions; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = (internal::packet_traits::size > 1), - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_op(op), m_device(device), m_result(NULL) - { - m_dimensions = op.func().dimensions(op.lhsExpression(), op.rhsExpression()); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) { - if (data) { - evalTo(data); - return false; - } else { - m_result = static_cast(m_device.allocate(dimensions().TotalSize() * sizeof(Scalar))); - evalTo(m_result); - return true; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - if (m_result != NULL) { - m_device.deallocate(m_result); - m_result = NULL; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { - return m_result[index]; - } - - template - EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const { - return internal::ploadt(m_result + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - // TODO(rmlarsen): Extend CustomOp API to return its cost estimate. - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return m_result; } - - protected: - EIGEN_DEVICE_FUNC void evalTo(Scalar* data) { - TensorMap > result(data, m_dimensions); - m_op.func().eval(m_op.lhsExpression(), m_op.rhsExpression(), result, m_device); - } - - Dimensions m_dimensions; - const XprType m_op; - const Device& m_device; - CoeffReturnType* m_result; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_CUSTOM_OP_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h deleted file mode 100644 index 29e50a3b..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDevice.h +++ /dev/null @@ -1,68 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_DEVICE_H -#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_H - -namespace Eigen { - -/** \class TensorDevice - * \ingroup CXX11_Tensor_Module - * - * \brief Pseudo expression providing an operator = that will evaluate its argument - * on the specified computing 'device' (GPU, thread pool, ...) - * - * Example: - * C.device(EIGEN_GPU) = A + B; - * - * Todo: operator *= and /=. - */ - -template class TensorDevice { - public: - TensorDevice(const DeviceType& device, ExpressionType& expression) : m_device(device), m_expression(expression) {} - - template - EIGEN_STRONG_INLINE TensorDevice& operator=(const OtherDerived& other) { - typedef TensorAssignOp Assign; - Assign assign(m_expression, other); - internal::TensorExecutor::run(assign, m_device); - return *this; - } - - template - EIGEN_STRONG_INLINE TensorDevice& operator+=(const OtherDerived& other) { - typedef typename OtherDerived::Scalar Scalar; - typedef TensorCwiseBinaryOp, const ExpressionType, const OtherDerived> Sum; - Sum sum(m_expression, other); - typedef TensorAssignOp Assign; - Assign assign(m_expression, sum); - internal::TensorExecutor::run(assign, m_device); - return *this; - } - - template - EIGEN_STRONG_INLINE TensorDevice& operator-=(const OtherDerived& other) { - typedef typename OtherDerived::Scalar Scalar; - typedef TensorCwiseBinaryOp, const ExpressionType, const OtherDerived> Difference; - Difference difference(m_expression, other); - typedef TensorAssignOp Assign; - Assign assign(m_expression, difference); - internal::TensorExecutor::run(assign, m_device); - return *this; - } - - protected: - const DeviceType& m_device; - ExpressionType& m_expression; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h deleted file mode 100644 index be8d6938..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h +++ /dev/null @@ -1,340 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#if defined(EIGEN_USE_GPU) && !defined(EIGEN_CXX11_TENSOR_TENSOR_DEVICE_CUDA_H) -#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_CUDA_H - -namespace Eigen { - -static const int kCudaScratchSize = 1024; - -// This defines an interface that GPUDevice can take to use -// CUDA streams underneath. -class StreamInterface { - public: - virtual ~StreamInterface() {} - - virtual const cudaStream_t& stream() const = 0; - virtual const cudaDeviceProp& deviceProperties() const = 0; - - // Allocate memory on the actual device where the computation will run - virtual void* allocate(size_t num_bytes) const = 0; - virtual void deallocate(void* buffer) const = 0; - - // Return a scratchpad buffer of size 1k - virtual void* scratchpad() const = 0; - - // Return a semaphore. The semaphore is initially initialized to 0, and - // each kernel using it is responsible for resetting to 0 upon completion - // to maintain the invariant that the semaphore is always equal to 0 upon - // each kernel start. - virtual unsigned int* semaphore() const = 0; -}; - -static cudaDeviceProp* m_deviceProperties; -static bool m_devicePropInitialized = false; - -static void initializeDeviceProp() { - if (!m_devicePropInitialized) { - // Attempts to ensure proper behavior in the case of multiple threads - // calling this function simultaneously. This would be trivial to - // implement if we could use std::mutex, but unfortunately mutex don't - // compile with nvcc, so we resort to atomics and thread fences instead. - // Note that if the caller uses a compiler that doesn't support c++11 we - // can't ensure that the initialization is thread safe. -#if __cplusplus >= 201103L - static std::atomic first(true); - if (first.exchange(false)) { -#else - static bool first = true; - if (first) { - first = false; -#endif - // We're the first thread to reach this point. - int num_devices; - cudaError_t status = cudaGetDeviceCount(&num_devices); - if (status != cudaSuccess) { - std::cerr << "Failed to get the number of CUDA devices: " - << cudaGetErrorString(status) - << std::endl; - assert(status == cudaSuccess); - } - m_deviceProperties = new cudaDeviceProp[num_devices]; - for (int i = 0; i < num_devices; ++i) { - status = cudaGetDeviceProperties(&m_deviceProperties[i], i); - if (status != cudaSuccess) { - std::cerr << "Failed to initialize CUDA device #" - << i - << ": " - << cudaGetErrorString(status) - << std::endl; - assert(status == cudaSuccess); - } - } - -#if __cplusplus >= 201103L - std::atomic_thread_fence(std::memory_order_release); -#endif - m_devicePropInitialized = true; - } else { - // Wait for the other thread to inititialize the properties. - while (!m_devicePropInitialized) { -#if __cplusplus >= 201103L - std::atomic_thread_fence(std::memory_order_acquire); -#endif - EIGEN_SLEEP(1000); - } - } - } -} - -static const cudaStream_t default_stream = cudaStreamDefault; - -class CudaStreamDevice : public StreamInterface { - public: - // Use the default stream on the current device - CudaStreamDevice() : stream_(&default_stream), scratch_(NULL), semaphore_(NULL) { - cudaGetDevice(&device_); - initializeDeviceProp(); - } - // Use the default stream on the specified device - CudaStreamDevice(int device) : stream_(&default_stream), device_(device), scratch_(NULL), semaphore_(NULL) { - initializeDeviceProp(); - } - // Use the specified stream. Note that it's the - // caller responsibility to ensure that the stream can run on - // the specified device. If no device is specified the code - // assumes that the stream is associated to the current gpu device. - CudaStreamDevice(const cudaStream_t* stream, int device = -1) - : stream_(stream), device_(device), scratch_(NULL), semaphore_(NULL) { - if (device < 0) { - cudaGetDevice(&device_); - } else { - int num_devices; - cudaError_t err = cudaGetDeviceCount(&num_devices); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); - assert(device < num_devices); - device_ = device; - } - initializeDeviceProp(); - } - - virtual ~CudaStreamDevice() { - if (scratch_) { - deallocate(scratch_); - } - } - - const cudaStream_t& stream() const { return *stream_; } - const cudaDeviceProp& deviceProperties() const { - return m_deviceProperties[device_]; - } - virtual void* allocate(size_t num_bytes) const { - cudaError_t err = cudaSetDevice(device_); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); - void* result; - err = cudaMalloc(&result, num_bytes); - assert(err == cudaSuccess); - assert(result != NULL); - return result; - } - virtual void deallocate(void* buffer) const { - cudaError_t err = cudaSetDevice(device_); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); - assert(buffer != NULL); - err = cudaFree(buffer); - assert(err == cudaSuccess); - } - - virtual void* scratchpad() const { - if (scratch_ == NULL) { - scratch_ = allocate(kCudaScratchSize + sizeof(unsigned int)); - } - return scratch_; - } - - virtual unsigned int* semaphore() const { - if (semaphore_ == NULL) { - char* scratch = static_cast(scratchpad()) + kCudaScratchSize; - semaphore_ = reinterpret_cast(scratch); - cudaError_t err = cudaMemsetAsync(semaphore_, 0, sizeof(unsigned int), *stream_); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); - } - return semaphore_; - } - - private: - const cudaStream_t* stream_; - int device_; - mutable void* scratch_; - mutable unsigned int* semaphore_; -}; - -struct GpuDevice { - // The StreamInterface is not owned: the caller is - // responsible for its initialization and eventual destruction. - explicit GpuDevice(const StreamInterface* stream) : stream_(stream), max_blocks_(INT_MAX) { - eigen_assert(stream); - } - explicit GpuDevice(const StreamInterface* stream, int num_blocks) : stream_(stream), max_blocks_(num_blocks) { - eigen_assert(stream); - } - // TODO(bsteiner): This is an internal API, we should not expose it. - EIGEN_STRONG_INLINE const cudaStream_t& stream() const { - return stream_->stream(); - } - - EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const { - return stream_->allocate(num_bytes); - } - - EIGEN_STRONG_INLINE void deallocate(void* buffer) const { - stream_->deallocate(buffer); - } - - EIGEN_STRONG_INLINE void* scratchpad() const { - return stream_->scratchpad(); - } - - EIGEN_STRONG_INLINE unsigned int* semaphore() const { - return stream_->semaphore(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpy(void* dst, const void* src, size_t n) const { -#ifndef __CUDA_ARCH__ - cudaError_t err = cudaMemcpyAsync(dst, src, n, cudaMemcpyDeviceToDevice, - stream_->stream()); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); -#else - EIGEN_UNUSED_VARIABLE(dst); - EIGEN_UNUSED_VARIABLE(src); - EIGEN_UNUSED_VARIABLE(n); - eigen_assert(false && "The default device should be used instead to generate kernel code"); -#endif - } - - EIGEN_STRONG_INLINE void memcpyHostToDevice(void* dst, const void* src, size_t n) const { - cudaError_t err = - cudaMemcpyAsync(dst, src, n, cudaMemcpyHostToDevice, stream_->stream()); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); - } - - EIGEN_STRONG_INLINE void memcpyDeviceToHost(void* dst, const void* src, size_t n) const { - cudaError_t err = - cudaMemcpyAsync(dst, src, n, cudaMemcpyDeviceToHost, stream_->stream()); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memset(void* buffer, int c, size_t n) const { -#ifndef __CUDA_ARCH__ - cudaError_t err = cudaMemsetAsync(buffer, c, n, stream_->stream()); - EIGEN_UNUSED_VARIABLE(err) - assert(err == cudaSuccess); -#else - eigen_assert(false && "The default device should be used instead to generate kernel code"); -#endif - } - - EIGEN_STRONG_INLINE size_t numThreads() const { - // FIXME - return 32; - } - - EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const { - // FIXME - return 48*1024; - } - - EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const { - // We won't try to take advantage of the l2 cache for the time being, and - // there is no l3 cache on cuda devices. - return firstLevelCacheSize(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void synchronize() const { -#if defined(__CUDACC__) && !defined(__CUDA_ARCH__) - cudaError_t err = cudaStreamSynchronize(stream_->stream()); - if (err != cudaSuccess) { - std::cerr << "Error detected in CUDA stream: " - << cudaGetErrorString(err) - << std::endl; - assert(err == cudaSuccess); - } -#else - assert(false && "The default device should be used instead to generate kernel code"); -#endif - } - - EIGEN_STRONG_INLINE int getNumCudaMultiProcessors() const { - return stream_->deviceProperties().multiProcessorCount; - } - EIGEN_STRONG_INLINE int maxCudaThreadsPerBlock() const { - return stream_->deviceProperties().maxThreadsPerBlock; - } - EIGEN_STRONG_INLINE int maxCudaThreadsPerMultiProcessor() const { - return stream_->deviceProperties().maxThreadsPerMultiProcessor; - } - EIGEN_STRONG_INLINE int sharedMemPerBlock() const { - return stream_->deviceProperties().sharedMemPerBlock; - } - EIGEN_STRONG_INLINE int majorDeviceVersion() const { - return stream_->deviceProperties().major; - } - EIGEN_STRONG_INLINE int minorDeviceVersion() const { - return stream_->deviceProperties().minor; - } - - EIGEN_STRONG_INLINE int maxBlocks() const { - return max_blocks_; - } - - // This function checks if the CUDA runtime recorded an error for the - // underlying stream device. - inline bool ok() const { -#ifdef __CUDACC__ - cudaError_t error = cudaStreamQuery(stream_->stream()); - return (error == cudaSuccess) || (error == cudaErrorNotReady); -#else - return false; -#endif - } - - private: - const StreamInterface* stream_; - int max_blocks_; -}; - -#define LAUNCH_CUDA_KERNEL(kernel, gridsize, blocksize, sharedmem, device, ...) \ - (kernel) <<< (gridsize), (blocksize), (sharedmem), (device).stream() >>> (__VA_ARGS__); \ - assert(cudaGetLastError() == cudaSuccess); - - -// FIXME: Should be device and kernel specific. -#ifdef __CUDACC__ -static EIGEN_DEVICE_FUNC inline void setCudaSharedMemConfig(cudaSharedMemConfig config) { -#ifndef __CUDA_ARCH__ - cudaError_t status = cudaDeviceSetSharedMemConfig(config); - EIGEN_UNUSED_VARIABLE(status) - assert(status == cudaSuccess); -#else - EIGEN_UNUSED_VARIABLE(config) -#endif -} -#endif - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_CUDA_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h deleted file mode 100644 index ccaaa6cb..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h +++ /dev/null @@ -1,81 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_DEVICE_DEFAULT_H -#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_DEFAULT_H - - -namespace Eigen { - -// Default device for the machine (typically a single cpu core) -struct DefaultDevice { - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const { - return internal::aligned_malloc(num_bytes); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void deallocate(void* buffer) const { - internal::aligned_free(buffer); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpy(void* dst, const void* src, size_t n) const { - ::memcpy(dst, src, n); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpyHostToDevice(void* dst, const void* src, size_t n) const { - memcpy(dst, src, n); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memcpyDeviceToHost(void* dst, const void* src, size_t n) const { - memcpy(dst, src, n); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void memset(void* buffer, int c, size_t n) const { - ::memset(buffer, c, n); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t numThreads() const { -#ifndef __CUDA_ARCH__ - // Running on the host CPU - return 1; -#else - // Running on a CUDA device - return 32; -#endif - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const { -#if !defined(__CUDA_ARCH__) && !defined(__SYCL_DEVICE_ONLY__) - // Running on the host CPU - return l1CacheSize(); -#else - // Running on a CUDA device, return the amount of shared memory available. - return 48*1024; -#endif - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const { -#if !defined(__CUDA_ARCH__) && !defined(__SYCL_DEVICE_ONLY__) - // Running single threaded on the host CPU - return l3CacheSize(); -#else - // Running on a CUDA device - return firstLevelCacheSize(); -#endif - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int majorDeviceVersion() const { -#ifndef __CUDA_ARCH__ - // Running single threaded on the host CPU - // Should return an enum that encodes the ISA supported by the CPU - return 1; -#else - // Running on a CUDA device - return __CUDA_ARCH__ / 100; -#endif - } -}; - -} // namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_DEFAULT_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h deleted file mode 100644 index e209799b..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h +++ /dev/null @@ -1,415 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Mehdi Goli Codeplay Software Ltd. -// Ralph Potter Codeplay Software Ltd. -// Luke Iwanski Codeplay Software Ltd. -// Contact: -// Copyright (C) 2016 Benoit Steiner - -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#if defined(EIGEN_USE_SYCL) && !defined(EIGEN_CXX11_TENSOR_TENSOR_DEVICE_SYCL_H) -#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_SYCL_H - -namespace Eigen { - - #define ConvertToActualTypeSycl(Scalar, buf_acc) reinterpret_cast::pointer_t>((&(*buf_acc.get_pointer()))) - - template class MemCopyFunctor { - public: - MemCopyFunctor(read_accessor src_acc, write_accessor dst_acc, size_t rng, size_t i, size_t offset) : m_src_acc(src_acc), m_dst_acc(dst_acc), m_rng(rng), m_i(i), m_offset(offset) {} - - void operator()(cl::sycl::nd_item<1> itemID) { - auto src_ptr = ConvertToActualTypeSycl(Scalar, m_src_acc); - auto dst_ptr = ConvertToActualTypeSycl(Scalar, m_dst_acc); - auto globalid = itemID.get_global_linear_id(); - if (globalid < m_rng) { - dst_ptr[globalid + m_i] = src_ptr[globalid + m_offset]; - } - } - - private: - read_accessor m_src_acc; - write_accessor m_dst_acc; - size_t m_rng; - size_t m_i; - size_t m_offset; - }; - - struct memsetkernelFunctor{ - typedef cl::sycl::accessor AccType; - AccType m_acc; - const size_t m_rng, m_c; - memsetkernelFunctor(AccType acc, const size_t rng, const size_t c):m_acc(acc), m_rng(rng), m_c(c){} - void operator()(cl::sycl::nd_item<1> itemID) { - auto globalid=itemID.get_global_linear_id(); - if (globalid< m_rng) m_acc[globalid] = m_c; - } - - }; - -EIGEN_STRONG_INLINE auto get_sycl_supported_devices()->decltype(cl::sycl::device::get_devices()){ - auto devices = cl::sycl::device::get_devices(); - std::vector::iterator it =devices.begin(); - while(it!=devices.end()) { - /// get_devices returns all the available opencl devices. Either use device_selector or exclude devices that computecpp does not support (AMD OpenCL for CPU ) - auto s= (*it).template get_info(); - std::transform(s.begin(), s.end(), s.begin(), ::tolower); - if((*it).is_cpu() && s.find("amd")!=std::string::npos && s.find("apu") == std::string::npos){ // remove amd cpu as it is not supported by computecpp allow APUs - it=devices.erase(it); - } - else{ - ++it; - } - } - return devices; -} - -struct QueueInterface { - /// class members: - bool exception_caught_ = false; - - mutable std::mutex mutex_; - - /// std::map is the container used to make sure that we create only one buffer - /// per pointer. The lifespan of the buffer now depends on the lifespan of SyclDevice. - /// If a non-read-only pointer is needed to be accessed on the host we should manually deallocate it. - mutable std::map> buffer_map; - /// sycl queue - mutable cl::sycl::queue m_queue; - /// creating device by using cl::sycl::selector or cl::sycl::device both are the same and can be captured through dev_Selector typename - /// SyclStreamDevice is not owned. it is the caller's responsibility to destroy it. - template explicit QueueInterface(const dev_Selector& s): -#ifdef EIGEN_EXCEPTIONS - m_queue(cl::sycl::queue(s, [&](cl::sycl::exception_list l) { - for (const auto& e : l) { - try { - if (e) { - exception_caught_ = true; - std::rethrow_exception(e); - } - } catch (cl::sycl::exception e) { - std::cerr << e.what() << std::endl; - } - } - })) -#else -m_queue(cl::sycl::queue(s, [&](cl::sycl::exception_list l) { - for (const auto& e : l) { - if (e) { - exception_caught_ = true; - std::cerr << "Error detected Inside Sycl Device."<< std::endl; - - } - } -})) -#endif - {} - - /// Allocating device pointer. This pointer is actually an 8 bytes host pointer used as key to access the sycl device buffer. - /// The reason is that we cannot use device buffer as a pointer as a m_data in Eigen leafNode expressions. So we create a key - /// pointer to be used in Eigen expression construction. When we convert the Eigen construction into the sycl construction we - /// use this pointer as a key in our buffer_map and we make sure that we dedicate only one buffer only for this pointer. - /// The device pointer would be deleted by calling deallocate function. - EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const { - auto buf = cl::sycl::buffer(cl::sycl::range<1>(num_bytes)); - auto ptr =buf.get_access().get_pointer(); - buf.set_final_data(nullptr); - std::lock_guard lock(mutex_); - buffer_map.insert(std::pair>(static_cast(ptr),buf)); - return static_cast(ptr); - } - - /// This is used to deallocate the device pointer. p is used as a key inside - /// the map to find the device buffer and delete it. - EIGEN_STRONG_INLINE void deallocate(void *p) const { - std::lock_guard lock(mutex_); - auto it = buffer_map.find(static_cast(p)); - if (it != buffer_map.end()) { - buffer_map.erase(it); - } - } - - EIGEN_STRONG_INLINE void deallocate_all() const { - std::lock_guard lock(mutex_); - buffer_map.clear(); - } - - EIGEN_STRONG_INLINE std::map>::iterator find_buffer(const void* ptr) const { - std::lock_guard lock(mutex_); - auto it1 = buffer_map.find(static_cast(ptr)); - if (it1 != buffer_map.end()){ - return it1; - } - else{ - for(std::map>::iterator it=buffer_map.begin(); it!=buffer_map.end(); ++it){ - auto size = it->second.get_size(); - if((it->first < (static_cast(ptr))) && ((static_cast(ptr)) < (it->first + size)) ) return it; - } - } - std::cerr << "No sycl buffer found. Make sure that you have allocated memory for your buffer by calling malloc-ed function."<< std::endl; - abort(); - } - - // This function checks if the runtime recorded an error for the - // underlying stream device. - EIGEN_STRONG_INLINE bool ok() const { - if (!exception_caught_) { - m_queue.wait_and_throw(); - } - return !exception_caught_; - } - - // destructor - ~QueueInterface() { buffer_map.clear(); } -}; - -struct SyclDevice { - // class member. - QueueInterface* m_queue_stream; - /// QueueInterface is not owned. it is the caller's responsibility to destroy it. - explicit SyclDevice(QueueInterface* queue_stream) : m_queue_stream(queue_stream){} - - /// Creation of sycl accessor for a buffer. This function first tries to find - /// the buffer in the buffer_map. If found it gets the accessor from it, if not, - /// the function then adds an entry by creating a sycl buffer for that particular pointer. - template EIGEN_STRONG_INLINE cl::sycl::accessor - get_sycl_accessor(cl::sycl::handler &cgh, const void* ptr) const { - return (get_sycl_buffer(ptr).template get_access(cgh)); - } - - /// Accessing the created sycl device buffer for the device pointer - EIGEN_STRONG_INLINE cl::sycl::buffer& get_sycl_buffer(const void * ptr) const { - return m_queue_stream->find_buffer(ptr)->second; - } - - /// This is used to prepare the number of threads and also the number of threads per block for sycl kernels - template - EIGEN_STRONG_INLINE void parallel_for_setup(Index n, Index &tileSize, Index &rng, Index &GRange) const { - tileSize =static_cast(sycl_queue().get_device(). template get_info()); - auto s= sycl_queue().get_device().template get_info(); - std::transform(s.begin(), s.end(), s.begin(), ::tolower); - if(sycl_queue().get_device().is_cpu()){ // intel doesnot allow to use max workgroup size - tileSize=std::min(static_cast(256), static_cast(tileSize)); - } - rng = n; - if (rng==0) rng=static_cast(1); - GRange=rng; - if (tileSize>GRange) tileSize=GRange; - else if(GRange>tileSize){ - Index xMode = static_cast(GRange % tileSize); - if (xMode != 0) GRange += static_cast(tileSize - xMode); - } - } - - /// This is used to prepare the number of threads and also the number of threads per block for sycl kernels - template - EIGEN_STRONG_INLINE void parallel_for_setup(Index dim0, Index dim1, Index &tileSize0, Index &tileSize1, Index &rng0, Index &rng1, Index &GRange0, Index &GRange1) const { - Index max_workgroup_Size = static_cast(maxSyclThreadsPerBlock()); - if(sycl_queue().get_device().is_cpu()){ // intel doesnot allow to use max workgroup size - max_workgroup_Size=std::min(static_cast(256), static_cast(max_workgroup_Size)); - } - Index pow_of_2 = static_cast(std::log2(max_workgroup_Size)); - tileSize1 =static_cast(std::pow(2, static_cast(pow_of_2/2))); - rng1=dim1; - if (rng1==0 ) rng1=static_cast(1); - GRange1=rng1; - if (tileSize1>GRange1) tileSize1=GRange1; - else if(GRange1>tileSize1){ - Index xMode = static_cast(GRange1 % tileSize1); - if (xMode != 0) GRange1 += static_cast(tileSize1 - xMode); - } - tileSize0 = static_cast(max_workgroup_Size/tileSize1); - rng0 = dim0; - if (rng0==0 ) rng0=static_cast(1); - GRange0=rng0; - if (tileSize0>GRange0) tileSize0=GRange0; - else if(GRange0>tileSize0){ - Index xMode = static_cast(GRange0 % tileSize0); - if (xMode != 0) GRange0 += static_cast(tileSize0 - xMode); - } - } - - - - /// This is used to prepare the number of threads and also the number of threads per block for sycl kernels - template - EIGEN_STRONG_INLINE void parallel_for_setup(Index dim0, Index dim1,Index dim2, Index &tileSize0, Index &tileSize1, Index &tileSize2, Index &rng0, Index &rng1, Index &rng2, Index &GRange0, Index &GRange1, Index &GRange2) const { - Index max_workgroup_Size = static_cast(maxSyclThreadsPerBlock()); - if(sycl_queue().get_device().is_cpu()){ // intel doesnot allow to use max workgroup size - max_workgroup_Size=std::min(static_cast(256), static_cast(max_workgroup_Size)); - } - Index pow_of_2 = static_cast(std::log2(max_workgroup_Size)); - tileSize2 =static_cast(std::pow(2, static_cast(pow_of_2/3))); - rng2=dim2; - if (rng2==0 ) rng1=static_cast(1); - GRange2=rng2; - if (tileSize2>GRange2) tileSize2=GRange2; - else if(GRange2>tileSize2){ - Index xMode = static_cast(GRange2 % tileSize2); - if (xMode != 0) GRange2 += static_cast(tileSize2 - xMode); - } - pow_of_2 = static_cast(std::log2(static_cast(max_workgroup_Size/tileSize2))); - tileSize1 =static_cast(std::pow(2, static_cast(pow_of_2/2))); - rng1=dim1; - if (rng1==0 ) rng1=static_cast(1); - GRange1=rng1; - if (tileSize1>GRange1) tileSize1=GRange1; - else if(GRange1>tileSize1){ - Index xMode = static_cast(GRange1 % tileSize1); - if (xMode != 0) GRange1 += static_cast(tileSize1 - xMode); - } - tileSize0 = static_cast(max_workgroup_Size/(tileSize1*tileSize2)); - rng0 = dim0; - if (rng0==0 ) rng0=static_cast(1); - GRange0=rng0; - if (tileSize0>GRange0) tileSize0=GRange0; - else if(GRange0>tileSize0){ - Index xMode = static_cast(GRange0 % tileSize0); - if (xMode != 0) GRange0 += static_cast(tileSize0 - xMode); - } - } - /// allocate device memory - EIGEN_STRONG_INLINE void *allocate(size_t num_bytes) const { - return m_queue_stream->allocate(num_bytes); - } - /// deallocate device memory - EIGEN_STRONG_INLINE void deallocate(void *p) const { - m_queue_stream->deallocate(p); - } - - // some runtime conditions that can be applied here - EIGEN_STRONG_INLINE bool isDeviceSuitable() const { return true; } - - /// the memcpy function - template EIGEN_STRONG_INLINE void memcpy(void *dst, const Index *src, size_t n) const { - auto it1 = m_queue_stream->find_buffer(static_cast(src)); - auto it2 = m_queue_stream->find_buffer(dst); - auto offset= (static_cast(static_cast(src))) - it1->first; - auto i= (static_cast(dst)) - it2->first; - offset/=sizeof(Index); - i/=sizeof(Index); - size_t rng, GRange, tileSize; - parallel_for_setup(n/sizeof(Index), tileSize, rng, GRange); - sycl_queue().submit([&](cl::sycl::handler &cgh) { - auto src_acc =it1->second.template get_access(cgh); - auto dst_acc =it2->second.template get_access(cgh); - typedef decltype(src_acc) read_accessor; - typedef decltype(dst_acc) write_accessor; - cgh.parallel_for(cl::sycl::nd_range<1>(cl::sycl::range<1>(GRange), cl::sycl::range<1>(tileSize)), MemCopyFunctor(src_acc, dst_acc, rng, i, offset)); - }); - synchronize(); - } - - /// The memcpyHostToDevice is used to copy the device only pointer to a host pointer. Using the device - /// pointer created as a key we find the sycl buffer and get the host accessor with discard_write mode - /// on it. Using a discard_write accessor guarantees that we do not bring back the current value of the - /// buffer to host. Then we use the memcpy to copy the data to the host accessor. The first time that - /// this buffer is accessed, the data will be copied to the device. - template EIGEN_STRONG_INLINE void memcpyHostToDevice(Index *dst, const Index *src, size_t n) const { - auto host_acc= get_sycl_buffer(dst). template get_access(); - ::memcpy(host_acc.get_pointer(), src, n); - } - /// The memcpyDeviceToHost is used to copy the data from host to device. Here, in order to avoid double copying the data. We create a sycl - /// buffer with map_allocator for the destination pointer with a discard_write accessor on it. The lifespan of the buffer is bound to the - /// lifespan of the memcpyDeviceToHost function. We create a kernel to copy the data, from the device- only source buffer to the destination - /// buffer with map_allocator on the gpu in parallel. At the end of the function call the destination buffer would be destroyed and the data - /// would be available on the dst pointer using fast copy technique (map_allocator). In this case we can make sure that we copy the data back - /// to the cpu only once per function call. - template EIGEN_STRONG_INLINE void memcpyDeviceToHost(void *dst, const Index *src, size_t n) const { - auto it = m_queue_stream->find_buffer(src); - auto offset =static_cast(static_cast(src))- it->first; - offset/=sizeof(Index); - size_t rng, GRange, tileSize; - parallel_for_setup(n/sizeof(Index), tileSize, rng, GRange); - // Assuming that the dst is the start of the destination pointer - auto dest_buf = cl::sycl::buffer >(static_cast(dst), cl::sycl::range<1>(n)); - sycl_queue().submit([&](cl::sycl::handler &cgh) { - auto src_acc= it->second.template get_access(cgh); - auto dst_acc =dest_buf.template get_access(cgh); - typedef decltype(src_acc) read_accessor; - typedef decltype(dst_acc) write_accessor; - cgh.parallel_for( cl::sycl::nd_range<1>(cl::sycl::range<1>(GRange), cl::sycl::range<1>(tileSize)), MemCopyFunctor(src_acc, dst_acc, rng, 0, offset)); - }); - synchronize(); - } - /// returning the sycl queue - EIGEN_STRONG_INLINE cl::sycl::queue& sycl_queue() const { return m_queue_stream->m_queue;} - /// Here is the implementation of memset function on sycl. - EIGEN_STRONG_INLINE void memset(void *data, int c, size_t n) const { - size_t rng, GRange, tileSize; - parallel_for_setup(n, tileSize, rng, GRange); - sycl_queue().submit(memsetCghFunctor(get_sycl_buffer(static_cast(static_cast(data))),rng, GRange, tileSize, c )); - synchronize(); - } - - struct memsetCghFunctor{ - cl::sycl::buffer& m_buf; - const size_t& rng , GRange, tileSize; - const int &c; - memsetCghFunctor(cl::sycl::buffer& buff, const size_t& rng_, const size_t& GRange_, const size_t& tileSize_, const int& c_) - :m_buf(buff), rng(rng_), GRange(GRange_), tileSize(tileSize_), c(c_){} - - void operator()(cl::sycl::handler &cgh) const { - auto buf_acc = m_buf.template get_access(cgh); - cgh.parallel_for(cl::sycl::nd_range<1>(cl::sycl::range<1>(GRange), cl::sycl::range<1>(tileSize)), memsetkernelFunctor(buf_acc, rng, c)); - } - }; - - EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const { - // FIXME - return 48*1024; - } - - EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const { - // We won't try to take advantage of the l2 cache for the time being, and - // there is no l3 cache on cuda devices. - return firstLevelCacheSize(); - } - EIGEN_STRONG_INLINE unsigned long getNumSyclMultiProcessors() const { - return sycl_queue().get_device(). template get_info(); - // return stream_->deviceProperties().multiProcessorCount; - } - EIGEN_STRONG_INLINE unsigned long maxSyclThreadsPerBlock() const { - return sycl_queue().get_device(). template get_info(); - - // return stream_->deviceProperties().maxThreadsPerBlock; - } - EIGEN_STRONG_INLINE unsigned long maxSyclThreadsPerMultiProcessor() const { - // OpenCL doesnot have such concept - return 2;//sycl_queue().get_device(). template get_info(); - // return stream_->deviceProperties().maxThreadsPerMultiProcessor; - } - EIGEN_STRONG_INLINE size_t sharedMemPerBlock() const { - return sycl_queue().get_device(). template get_info(); - // return stream_->deviceProperties().sharedMemPerBlock; - } - /// No need for sycl it should act the same as CPU version - EIGEN_STRONG_INLINE int majorDeviceVersion() const { return 1; } - - EIGEN_STRONG_INLINE void synchronize() const { - sycl_queue().wait_and_throw(); //pass - } - - EIGEN_STRONG_INLINE void asynchronousExec() const { - ///FIXEDME:: currently there is a race condition regarding the asynch scheduler. - //sycl_queue().throw_asynchronous();// does not pass. Temporarily disabled - sycl_queue().wait_and_throw(); //pass - - } - // This function checks if the runtime recorded an error for the - // underlying stream device. - EIGEN_STRONG_INLINE bool ok() const { - return m_queue_stream->ok(); - } -}; - - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_SYCL_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h deleted file mode 100644 index 16180ca6..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h +++ /dev/null @@ -1,268 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#if defined(EIGEN_USE_THREADS) && !defined(EIGEN_CXX11_TENSOR_TENSOR_DEVICE_THREAD_POOL_H) -#define EIGEN_CXX11_TENSOR_TENSOR_DEVICE_THREAD_POOL_H - -namespace Eigen { - -// Barrier is an object that allows one or more threads to wait until -// Notify has been called a specified number of times. -class Barrier { - public: - Barrier(unsigned int count) : state_(count << 1), notified_(false) { - eigen_assert(((count << 1) >> 1) == count); - } - ~Barrier() { - eigen_assert((state_>>1) == 0); - } - - void Notify() { - unsigned int v = state_.fetch_sub(2, std::memory_order_acq_rel) - 2; - if (v != 1) { - eigen_assert(((v + 2) & ~1) != 0); - return; // either count has not dropped to 0, or waiter is not waiting - } - std::unique_lock l(mu_); - eigen_assert(!notified_); - notified_ = true; - cv_.notify_all(); - } - - void Wait() { - unsigned int v = state_.fetch_or(1, std::memory_order_acq_rel); - if ((v >> 1) == 0) return; - std::unique_lock l(mu_); - while (!notified_) { - cv_.wait(l); - } - } - - private: - std::mutex mu_; - std::condition_variable cv_; - std::atomic state_; // low bit is waiter flag - bool notified_; -}; - - -// Notification is an object that allows a user to to wait for another -// thread to signal a notification that an event has occurred. -// -// Multiple threads can wait on the same Notification object, -// but only one caller must call Notify() on the object. -struct Notification : Barrier { - Notification() : Barrier(1) {}; -}; - - -// Runs an arbitrary function and then calls Notify() on the passed in -// Notification. -template struct FunctionWrapperWithNotification -{ - static void run(Notification* n, Function f, Args... args) { - f(args...); - if (n) { - n->Notify(); - } - } -}; - -template struct FunctionWrapperWithBarrier -{ - static void run(Barrier* b, Function f, Args... args) { - f(args...); - if (b) { - b->Notify(); - } - } -}; - -template -static EIGEN_STRONG_INLINE void wait_until_ready(SyncType* n) { - if (n) { - n->Wait(); - } -} - - -// Build a thread pool device on top the an existing pool of threads. -struct ThreadPoolDevice { - // The ownership of the thread pool remains with the caller. - ThreadPoolDevice(ThreadPoolInterface* pool, int num_cores) : pool_(pool), num_threads_(num_cores) { } - - EIGEN_STRONG_INLINE void* allocate(size_t num_bytes) const { - return internal::aligned_malloc(num_bytes); - } - - EIGEN_STRONG_INLINE void deallocate(void* buffer) const { - internal::aligned_free(buffer); - } - - EIGEN_STRONG_INLINE void memcpy(void* dst, const void* src, size_t n) const { - ::memcpy(dst, src, n); - } - EIGEN_STRONG_INLINE void memcpyHostToDevice(void* dst, const void* src, size_t n) const { - memcpy(dst, src, n); - } - EIGEN_STRONG_INLINE void memcpyDeviceToHost(void* dst, const void* src, size_t n) const { - memcpy(dst, src, n); - } - - EIGEN_STRONG_INLINE void memset(void* buffer, int c, size_t n) const { - ::memset(buffer, c, n); - } - - EIGEN_STRONG_INLINE int numThreads() const { - return num_threads_; - } - - EIGEN_STRONG_INLINE size_t firstLevelCacheSize() const { - return l1CacheSize(); - } - - EIGEN_STRONG_INLINE size_t lastLevelCacheSize() const { - // The l3 cache size is shared between all the cores. - return l3CacheSize() / num_threads_; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE int majorDeviceVersion() const { - // Should return an enum that encodes the ISA supported by the CPU - return 1; - } - - template - EIGEN_STRONG_INLINE Notification* enqueue(Function&& f, Args&&... args) const { - Notification* n = new Notification(); - pool_->Schedule(std::bind(&FunctionWrapperWithNotification::run, n, f, args...)); - return n; - } - - template - EIGEN_STRONG_INLINE void enqueue_with_barrier(Barrier* b, - Function&& f, - Args&&... args) const { - pool_->Schedule(std::bind( - &FunctionWrapperWithBarrier::run, b, f, args...)); - } - - template - EIGEN_STRONG_INLINE void enqueueNoNotification(Function&& f, Args&&... args) const { - pool_->Schedule(std::bind(f, args...)); - } - - // Returns a logical thread index between 0 and pool_->NumThreads() - 1 if - // called from one of the threads in pool_. Returns -1 otherwise. - EIGEN_STRONG_INLINE int currentThreadId() const { - return pool_->CurrentThreadId(); - } - - // parallelFor executes f with [0, n) arguments in parallel and waits for - // completion. F accepts a half-open interval [first, last). - // Block size is choosen based on the iteration cost and resulting parallel - // efficiency. If block_align is not nullptr, it is called to round up the - // block size. - void parallelFor(Index n, const TensorOpCost& cost, - std::function block_align, - std::function f) const { - typedef TensorCostModel CostModel; - if (n <= 1 || numThreads() == 1 || - CostModel::numThreads(n, cost, static_cast(numThreads())) == 1) { - f(0, n); - return; - } - - // Calculate block size based on (1) the iteration cost and (2) parallel - // efficiency. We want blocks to be not too small to mitigate - // parallelization overheads; not too large to mitigate tail - // effect and potential load imbalance and we also want number - // of blocks to be evenly dividable across threads. - - double block_size_f = 1.0 / CostModel::taskSize(1, cost); - Index block_size = numext::mini(n, numext::maxi(1, block_size_f)); - const Index max_block_size = - numext::mini(n, numext::maxi(1, 2 * block_size_f)); - if (block_align) { - Index new_block_size = block_align(block_size); - eigen_assert(new_block_size >= block_size); - block_size = numext::mini(n, new_block_size); - } - Index block_count = divup(n, block_size); - // Calculate parallel efficiency as fraction of total CPU time used for - // computations: - double max_efficiency = - static_cast(block_count) / - (divup(block_count, numThreads()) * numThreads()); - // Now try to increase block size up to max_block_size as long as it - // doesn't decrease parallel efficiency. - for (Index prev_block_count = block_count; prev_block_count > 1;) { - // This is the next block size that divides size into a smaller number - // of blocks than the current block_size. - Index coarser_block_size = divup(n, prev_block_count - 1); - if (block_align) { - Index new_block_size = block_align(coarser_block_size); - eigen_assert(new_block_size >= coarser_block_size); - coarser_block_size = numext::mini(n, new_block_size); - } - if (coarser_block_size > max_block_size) { - break; // Reached max block size. Stop. - } - // Recalculate parallel efficiency. - const Index coarser_block_count = divup(n, coarser_block_size); - eigen_assert(coarser_block_count < prev_block_count); - prev_block_count = coarser_block_count; - const double coarser_efficiency = - static_cast(coarser_block_count) / - (divup(coarser_block_count, numThreads()) * numThreads()); - if (coarser_efficiency + 0.01 >= max_efficiency) { - // Taking it. - block_size = coarser_block_size; - block_count = coarser_block_count; - if (max_efficiency < coarser_efficiency) { - max_efficiency = coarser_efficiency; - } - } - } - - // Recursively divide size into halves until we reach block_size. - // Division code rounds mid to block_size, so we are guaranteed to get - // block_count leaves that do actual computations. - Barrier barrier(static_cast(block_count)); - std::function handleRange; - handleRange = [=, &handleRange, &barrier, &f](Index first, Index last) { - if (last - first <= block_size) { - // Single block or less, execute directly. - f(first, last); - barrier.Notify(); - return; - } - // Split into halves and submit to the pool. - Index mid = first + divup((last - first) / 2, block_size) * block_size; - pool_->Schedule([=, &handleRange]() { handleRange(mid, last); }); - handleRange(first, mid); - }; - handleRange(0, n); - barrier.Wait(); - } - - // Convenience wrapper for parallelFor that does not align blocks. - void parallelFor(Index n, const TensorOpCost& cost, - std::function f) const { - parallelFor(n, cost, nullptr, std::move(f)); - } - - private: - ThreadPoolInterface* pool_; - int num_threads_; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DEVICE_THREAD_POOL_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h deleted file mode 100644 index 1a30e45f..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h +++ /dev/null @@ -1,236 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_DIMENSION_LIST_H -#define EIGEN_CXX11_TENSOR_TENSOR_DIMENSION_LIST_H - -namespace Eigen { - -/** \internal - * - * \class TensorDimensionList - * \ingroup CXX11_Tensor_Module - * - * \brief Special case of tensor index list used to list all the dimensions of a tensor of rank n. - * - * \sa Tensor - */ - -template struct DimensionList { - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE - const Index operator[] (const Index i) const { return i; } -}; - -namespace internal { - -template struct array_size > { - static const size_t value = Rank; -}; -template struct array_size > { - static const size_t value = Rank; -}; - -template const Index array_get(DimensionList&) { - return n; -} -template const Index array_get(const DimensionList&) { - return n; -} - - -#if EIGEN_HAS_CONSTEXPR -template -struct index_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex) { - return true; - } -}; -template -struct index_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex) { - return true; - } -}; - -template -struct all_indices_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return true; - } -}; -template -struct all_indices_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return true; - } -}; - -template -struct indices_statically_known_to_increase_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return true; - } -}; -template -struct indices_statically_known_to_increase_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return true; - } -}; - -template -struct index_statically_eq_impl > { - static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i == value; - } -}; -template -struct index_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i == value; - } -}; - -template -struct index_statically_ne_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i != value; - } -}; -template -struct index_statically_ne_impl > { - static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i != value; - } -}; - -template -struct index_statically_gt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i > value; - } -}; -template -struct index_statically_gt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i > value; - } -}; - -template -struct index_statically_lt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i < value; - } -}; -template -struct index_statically_lt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return i < value; - } -}; - -#else -template -struct index_known_statically_impl > { - EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run(const DenseIndex) { - return true; - } -}; -template -struct index_known_statically_impl > { - EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run(const DenseIndex) { - return true; - } -}; - -template -struct all_indices_known_statically_impl > { - EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run() { - return true; - } -}; -template -struct all_indices_known_statically_impl > { - EIGEN_DEVICE_FUNC static EIGEN_ALWAYS_INLINE bool run() { - return true; - } -}; - -template -struct indices_statically_known_to_increase_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() { - return true; - } -}; -template -struct indices_statically_known_to_increase_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() { - return true; - } -}; - -template -struct index_statically_eq_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; -template -struct index_statically_eq_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; - -template -struct index_statically_ne_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex){ - return false; - } -}; -template -struct index_statically_ne_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; - -template -struct index_statically_gt_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; -template -struct index_statically_gt_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; - -template -struct index_statically_lt_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; -template -struct index_statically_lt_impl > { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex, const DenseIndex) { - return false; - } -}; -#endif - -} // end namespace internal -} // end namespace Eigen - - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DIMENSION_LIST_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h deleted file mode 100644 index 86405e69..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h +++ /dev/null @@ -1,430 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_DIMENSIONS_H -#define EIGEN_CXX11_TENSOR_TENSOR_DIMENSIONS_H - - -namespace Eigen { - -/** \internal - * - * \class TensorDimensions - * \ingroup CXX11_Tensor_Module - * - * \brief Set of classes used to encode and store the dimensions of a Tensor. - * - * The Sizes class encodes as part of the type the number of dimensions and the - * sizes corresponding to each dimension. It uses no storage space since it is - * entirely known at compile time. - * The DSizes class is its dynamic sibling: the number of dimensions is known - * at compile time but the sizes are set during execution. - * - * \sa Tensor - */ - -// Boilerplate code -namespace internal { - -template struct dget { - static const std::ptrdiff_t value = get::value; -}; - - -template -struct fixed_size_tensor_index_linearization_helper -{ - template EIGEN_DEVICE_FUNC - static inline Index run(array const& indices, - const Dimensions& dimensions) - { - return array_get(indices) + - dget::value * - fixed_size_tensor_index_linearization_helper::run(indices, dimensions); - } -}; - -template -struct fixed_size_tensor_index_linearization_helper -{ - template EIGEN_DEVICE_FUNC - static inline Index run(array const&, const Dimensions&) - { - return 0; - } -}; - -template -struct fixed_size_tensor_index_extraction_helper -{ - template EIGEN_DEVICE_FUNC - static inline Index run(const Index index, - const Dimensions& dimensions) - { - const Index mult = (index == n-1) ? 1 : 0; - return array_get(dimensions) * mult + - fixed_size_tensor_index_extraction_helper::run(index, dimensions); - } -}; - -template -struct fixed_size_tensor_index_extraction_helper -{ - template EIGEN_DEVICE_FUNC - static inline Index run(const Index, - const Dimensions&) - { - return 0; - } - }; - -} // end namespace internal - - -// Fixed size -#ifndef EIGEN_EMULATE_CXX11_META_H -template -struct Sizes { - typedef internal::numeric_list Base; - const Base t = Base(); - static const std::ptrdiff_t total_size = internal::arg_prod(Indices...); - static const size_t count = Base::count; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t rank() const { - return Base::count; - } - - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t TotalSize() { - return internal::arg_prod(Indices...); - } - - EIGEN_DEVICE_FUNC Sizes() { } - template - explicit EIGEN_DEVICE_FUNC Sizes(const array& /*indices*/) { - // todo: add assertion - } -#if EIGEN_HAS_VARIADIC_TEMPLATES - template EIGEN_DEVICE_FUNC Sizes(DenseIndex...) { } - explicit EIGEN_DEVICE_FUNC Sizes(std::initializer_list /*l*/) { - // todo: add assertion - } -#endif - - template Sizes& operator = (const T& /*other*/) { - // add assertion failure if the size of other is different - return *this; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t operator[] (const std::size_t index) const { - return internal::fixed_size_tensor_index_extraction_helper::run(index, t); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - size_t IndexOfColMajor(const array& indices) const { - return internal::fixed_size_tensor_index_linearization_helper::run(indices, t); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - size_t IndexOfRowMajor(const array& indices) const { - return internal::fixed_size_tensor_index_linearization_helper::run(indices, t); - } -}; - -namespace internal { -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_prod(const Sizes&) { - return Sizes::total_size; -} -} - -#else - -template -struct non_zero_size { - typedef internal::type2val type; -}; -template <> -struct non_zero_size<0> { - typedef internal::null_type type; -}; - -template struct Sizes { - typedef typename internal::make_type_list::type, typename non_zero_size::type, typename non_zero_size::type, typename non_zero_size::type, typename non_zero_size::type >::type Base; - static const size_t count = Base::count; - static const std::size_t total_size = internal::arg_prod::value; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t rank() const { - return count; - } - - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t TotalSize() { - return internal::arg_prod::value; - } - - Sizes() { } - template - explicit Sizes(const array& /*indices*/) { - // todo: add assertion - } - template Sizes& operator = (const T& /*other*/) { - // add assertion failure if the size of other is different - return *this; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template Sizes(DenseIndex... /*indices*/) { } - explicit Sizes(std::initializer_list) { - // todo: add assertion - } -#else - EIGEN_DEVICE_FUNC explicit Sizes(const DenseIndex) { - } - EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex) { - } - EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex, const DenseIndex) { - } - EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex, const DenseIndex, const DenseIndex) { - } - EIGEN_DEVICE_FUNC Sizes(const DenseIndex, const DenseIndex, const DenseIndex, const DenseIndex, const DenseIndex) { - } -#endif - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex operator[] (const int index) const { - switch (index) { - case 0: - return internal::get<0, Base>::value; - case 1: - return internal::get<1, Base>::value; - case 2: - return internal::get<2, Base>::value; - case 3: - return internal::get<3, Base>::value; - case 4: - return internal::get<4, Base>::value; - default: - eigen_assert(false && "index overflow"); - return static_cast(-1); - } - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - size_t IndexOfColMajor(const array& indices) const { - return internal::fixed_size_tensor_index_linearization_helper::run(indices, *reinterpret_cast(this)); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - size_t IndexOfRowMajor(const array& indices) const { - return internal::fixed_size_tensor_index_linearization_helper::run(indices, *reinterpret_cast(this)); - } -}; - -namespace internal { -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t array_prod(const Sizes&) { - return Sizes::total_size; -} -} - -#endif - -// Boilerplate -namespace internal { -template -struct tensor_index_linearization_helper -{ - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Index run(array const& indices, array const& dimensions) - { - return array_get(indices) + - array_get(dimensions) * - tensor_index_linearization_helper::run(indices, dimensions); - } -}; - -template -struct tensor_index_linearization_helper -{ - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Index run(array const& indices, array const&) - { - return array_get(indices); - } -}; -} // end namespace internal - - - -// Dynamic size -template -struct DSizes : array { - typedef array Base; - static const int count = NumDims; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE size_t rank() const { - return NumDims; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex TotalSize() const { - return (NumDims == 0) ? 1 : internal::array_prod(*static_cast(this)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DSizes() { - for (int i = 0 ; i < NumDims; ++i) { - (*this)[i] = 0; - } - } - EIGEN_DEVICE_FUNC explicit DSizes(const array& a) : Base(a) { } - - EIGEN_DEVICE_FUNC explicit DSizes(const DenseIndex i0) { - eigen_assert(NumDims == 1); - (*this)[0] = i0; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE explicit DSizes(DenseIndex firstDimension, DenseIndex secondDimension, IndexTypes... otherDimensions) : Base({{firstDimension, secondDimension, otherDimensions...}}) { - EIGEN_STATIC_ASSERT(sizeof...(otherDimensions) + 2 == NumDims, YOU_MADE_A_PROGRAMMING_MISTAKE) - } -#else - EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1) { - eigen_assert(NumDims == 2); - (*this)[0] = i0; - (*this)[1] = i1; - } - EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1, const DenseIndex i2) { - eigen_assert(NumDims == 3); - (*this)[0] = i0; - (*this)[1] = i1; - (*this)[2] = i2; - } - EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1, const DenseIndex i2, const DenseIndex i3) { - eigen_assert(NumDims == 4); - (*this)[0] = i0; - (*this)[1] = i1; - (*this)[2] = i2; - (*this)[3] = i3; - } - EIGEN_DEVICE_FUNC DSizes(const DenseIndex i0, const DenseIndex i1, const DenseIndex i2, const DenseIndex i3, const DenseIndex i4) { - eigen_assert(NumDims == 5); - (*this)[0] = i0; - (*this)[1] = i1; - (*this)[2] = i2; - (*this)[3] = i3; - (*this)[4] = i4; - } -#endif - - EIGEN_DEVICE_FUNC DSizes& operator = (const array& other) { - *static_cast(this) = other; - return *this; - } - - // A constexpr would be so much better here - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex IndexOfColMajor(const array& indices) const { - return internal::tensor_index_linearization_helper::run(indices, *static_cast(this)); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE DenseIndex IndexOfRowMajor(const array& indices) const { - return internal::tensor_index_linearization_helper::run(indices, *static_cast(this)); - } -}; - - - - -// Boilerplate -namespace internal { -template -struct tensor_vsize_index_linearization_helper -{ - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Index run(array const& indices, std::vector const& dimensions) - { - return array_get(indices) + - array_get(dimensions) * - tensor_vsize_index_linearization_helper::run(indices, dimensions); - } -}; - -template -struct tensor_vsize_index_linearization_helper -{ - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Index run(array const& indices, std::vector const&) - { - return array_get(indices); - } -}; -} // end namespace internal - - -namespace internal { - -template struct array_size > { - static const size_t value = NumDims; -}; -template struct array_size > { - static const size_t value = NumDims; -}; -#ifndef EIGEN_EMULATE_CXX11_META_H -template struct array_size > { -static const std::ptrdiff_t value = Sizes::count; -}; -template struct array_size > { -static const std::ptrdiff_t value = Sizes::count; -}; -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_get(const Sizes&) { - return get >::value; -} -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t array_get(const Sizes<>&) { - eigen_assert(false && "should never be called"); - return -1; -} -#else -template struct array_size > { - static const size_t value = Sizes::count; -}; -template struct array_size > { - static const size_t value = Sizes::count; -}; -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t array_get(const Sizes&) { - return get::Base>::value; -} - -#endif - - -template -struct sizes_match_below_dim { - static EIGEN_DEVICE_FUNC inline bool run(Dims1&, Dims2&) { - return false; - } -}; -template -struct sizes_match_below_dim { - static EIGEN_DEVICE_FUNC inline bool run(Dims1& dims1, Dims2& dims2) { - return (array_get(dims1) == array_get(dims2)) & - sizes_match_below_dim::run(dims1, dims2); - } -}; -template -struct sizes_match_below_dim { - static EIGEN_DEVICE_FUNC inline bool run(Dims1&, Dims2&) { - return true; - } -}; - -} // end namespace internal - - -template -EIGEN_DEVICE_FUNC bool dimensions_match(Dims1& dims1, Dims2& dims2) { - return internal::sizes_match_below_dim::value, internal::array_size::value>::run(dims1, dims2); -} - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_DIMENSIONS_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h deleted file mode 100644 index 82dd1e64..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h +++ /dev/null @@ -1,184 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_EVAL_TO_H -#define EIGEN_CXX11_TENSOR_TENSOR_EVAL_TO_H - -namespace Eigen { - -/** \class TensorForcedEval - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor reshaping class. - * - * - */ -namespace internal { -template class MakePointer_> -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs are different. - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; - - enum { - Flags = 0 - }; - template - struct MakePointer { - // Intermediate typedef to workaround MSVC issue. - typedef MakePointer_ MakePointerT; - typedef typename MakePointerT::Type Type; - typedef typename MakePointerT::RefType RefType; - - - }; -}; - -template class MakePointer_> -struct eval, Eigen::Dense> -{ - typedef const TensorEvalToOp& type; -}; - -template class MakePointer_> -struct nested, 1, typename eval >::type> -{ - typedef TensorEvalToOp type; -}; - -} // end namespace internal - - - - -template class MakePointer_> -class TensorEvalToOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename MakePointer_::Type PointerType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvalToOp(PointerType buffer, const XprType& expr) - : m_xpr(expr), m_buffer(buffer) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC PointerType buffer() const { return m_buffer; } - - protected: - typename XprType::Nested m_xpr; - PointerType m_buffer; -}; - - - -template class MakePointer_> -struct TensorEvaluator, Device> -{ - typedef TensorEvalToOp XprType; - typedef typename ArgType::Scalar Scalar; - typedef typename TensorEvaluator::Dimensions Dimensions; - typedef typename XprType::Index Index; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = true - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_device(device), - m_buffer(op.buffer()), m_op(op), m_expression(op.expression()) - { } - - // Used for accessor extraction in SYCL Managed TensorMap: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const XprType& op() const { - return m_op; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ~TensorEvaluator() { - } - - typedef typename internal::traits >::template MakePointer::Type DevicePointer; - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_impl.dimensions(); } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(DevicePointer scalar) { - EIGEN_UNUSED_VARIABLE(scalar); - eigen_assert(scalar == NULL); - return m_impl.evalSubExprsIfNeeded(m_buffer); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalScalar(Index i) { - m_buffer[i] = m_impl.coeff(i); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalPacket(Index i) { - internal::pstoret(m_buffer + i, m_impl.template packet::IsAligned ? Aligned : Unaligned>(i)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_buffer[index]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return internal::ploadt(m_buffer + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - // We assume that evalPacket or evalScalar is called to perform the - // assignment and account for the cost of the write here. - return m_impl.costPerCoeff(vectorized) + - TensorOpCost(0, sizeof(CoeffReturnType), 0, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC DevicePointer data() const { return m_buffer; } - ArgType expression() const { return m_expression; } - - /// required by sycl in order to extract the accessor - const TensorEvaluator& impl() const { return m_impl; } - /// added for sycl in order to construct the buffer from the sycl device - const Device& device() const{return m_device;} - - private: - TensorEvaluator m_impl; - const Device& m_device; - DevicePointer m_buffer; - const XprType& m_op; - const ArgType m_expression; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_EVAL_TO_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h deleted file mode 100644 index d6415817..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h +++ /dev/null @@ -1,640 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_EVALUATOR_H -#define EIGEN_CXX11_TENSOR_TENSOR_EVALUATOR_H - -namespace Eigen { - -/** \class TensorEvaluator - * \ingroup CXX11_Tensor_Module - * - * \brief The tensor evaluator classes. - * - * These classes are responsible for the evaluation of the tensor expression. - * - * TODO: add support for more types of expressions, in particular expressions - * leading to lvalues (slicing, reshaping, etc...) - */ - -// Generic evaluator -template -struct TensorEvaluator -{ - typedef typename Derived::Index Index; - typedef typename Derived::Scalar Scalar; - typedef typename Derived::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef typename Derived::Dimensions Dimensions; - typedef Derived XprType; - - // NumDimensions is -1 for variable dim tensors - static const int NumCoords = internal::traits::NumDimensions > 0 ? - internal::traits::NumDimensions : 0; - - enum { - IsAligned = Derived::IsAligned, - PacketAccess = (internal::unpacket_traits::size > 1), - Layout = Derived::Layout, - CoordAccess = NumCoords > 0, - RawAccess = true - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const Derived& m, const Device& device) - : m_data(const_cast::template MakePointer::Type>(m.data())), m_dims(m.dimensions()), m_device(device), m_impl(m) - { } - - // Used for accessor extraction in SYCL Managed TensorMap: - const Derived& derived() const { return m_impl; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dims; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* dest) { - if (dest) { - m_device.memcpy((void*)dest, m_data, sizeof(Scalar) * m_dims.TotalSize()); - return false; - } - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { - eigen_assert(m_data); - return m_data[index]; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - typename internal::traits::template MakePointer::RefType - coeffRef(Index index) { - eigen_assert(m_data); - return m_data[index]; - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - PacketReturnType packet(Index index) const - { - return internal::ploadt(m_data + index); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketReturnType& x) - { - return internal::pstoret(m_data + index, x); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(const array& coords) const { - eigen_assert(m_data); - if (static_cast(Layout) == static_cast(ColMajor)) { - return m_data[m_dims.IndexOfColMajor(coords)]; - } else { - return m_data[m_dims.IndexOfRowMajor(coords)]; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - typename internal::traits::template MakePointer::RefType - coeffRef(const array& coords) { - eigen_assert(m_data); - if (static_cast(Layout) == static_cast(ColMajor)) { - return m_data[m_dims.IndexOfColMajor(coords)]; - } else { - return m_data[m_dims.IndexOfRowMajor(coords)]; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, - internal::unpacket_traits::size); - } - - EIGEN_DEVICE_FUNC typename internal::traits::template MakePointer::Type data() const { return m_data; } - - /// required by sycl in order to construct sycl buffer from raw pointer - const Device& device() const{return m_device;} - - protected: - typename internal::traits::template MakePointer::Type m_data; - Dimensions m_dims; - const Device& m_device; - const Derived& m_impl; -}; - -namespace { -template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T loadConstant(const T* address) { - return *address; -} -// Use the texture cache on CUDA devices whenever possible -#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350 -template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -float loadConstant(const float* address) { - return __ldg(address); -} -template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -double loadConstant(const double* address) { - return __ldg(address); -} -template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -Eigen::half loadConstant(const Eigen::half* address) { - return Eigen::half(half_impl::raw_uint16_to_half(__ldg(&address->x))); -} -#endif -} - - -// Default evaluator for rvalues -template -struct TensorEvaluator -{ - typedef typename Derived::Index Index; - typedef typename Derived::Scalar Scalar; - typedef typename Derived::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef typename Derived::Dimensions Dimensions; - typedef const Derived XprType; - - - // NumDimensions is -1 for variable dim tensors - static const int NumCoords = internal::traits::NumDimensions > 0 ? - internal::traits::NumDimensions : 0; - - enum { - IsAligned = Derived::IsAligned, - PacketAccess = (internal::unpacket_traits::size > 1), - Layout = Derived::Layout, - CoordAccess = NumCoords > 0, - RawAccess = true - }; - - // Used for accessor extraction in SYCL Managed TensorMap: - const Derived& derived() const { return m_impl; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const Derived& m, const Device& device) - : m_data(m.data()), m_dims(m.dimensions()), m_device(device), m_impl(m) - { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dims; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) { - if (!NumTraits::type>::RequireInitialization && data) { - m_device.memcpy((void*)data, m_data, m_dims.TotalSize() * sizeof(Scalar)); - return false; - } - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const { - eigen_assert(m_data); - return loadConstant(m_data+index); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - PacketReturnType packet(Index index) const - { - return internal::ploadt_ro(m_data + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(const array& coords) const { - eigen_assert(m_data); - const Index index = (static_cast(Layout) == static_cast(ColMajor)) ? m_dims.IndexOfColMajor(coords) - : m_dims.IndexOfRowMajor(coords); - return loadConstant(m_data+index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, - internal::unpacket_traits::size); - } - - EIGEN_DEVICE_FUNC typename internal::traits::template MakePointer::Type data() const { return m_data; } - - /// added for sycl in order to construct the buffer from the sycl device - const Device& device() const{return m_device;} - - protected: - typename internal::traits::template MakePointer::Type m_data; - Dimensions m_dims; - const Device& m_device; - const Derived& m_impl; -}; - - - - -// -------------------- CwiseNullaryOp -------------------- - -template -struct TensorEvaluator, Device> -{ - typedef TensorCwiseNullaryOp XprType; - - enum { - IsAligned = true, - PacketAccess = internal::functor_traits::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC - TensorEvaluator(const XprType& op, const Device& device) - : m_functor(op.functor()), m_argImpl(op.nestedExpression(), device), m_wrapper() - { } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename internal::traits::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - typedef typename TensorEvaluator::Dimensions Dimensions; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_argImpl.dimensions(); } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { return true; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { } - - EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const - { - return m_wrapper(m_functor, index); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return m_wrapper.template packetOp(m_functor, index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, - internal::unpacket_traits::size); - } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; } - - /// required by sycl in order to extract the accessor - const TensorEvaluator& impl() const { return m_argImpl; } - /// required by sycl in order to extract the accessor - NullaryOp functor() const { return m_functor; } - - - private: - const NullaryOp m_functor; - TensorEvaluator m_argImpl; - const internal::nullary_wrapper m_wrapper; -}; - - - -// -------------------- CwiseUnaryOp -------------------- - -template -struct TensorEvaluator, Device> -{ - typedef TensorCwiseUnaryOp XprType; - - enum { - IsAligned = TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess & internal::functor_traits::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) - : m_functor(op.functor()), - m_argImpl(op.nestedExpression(), device) - { } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename internal::traits::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - typedef typename TensorEvaluator::Dimensions Dimensions; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_argImpl.dimensions(); } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) { - m_argImpl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_argImpl.cleanup(); - } - - EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const - { - return m_functor(m_argImpl.coeff(index)); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return m_functor.packetOp(m_argImpl.template packet(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - const double functor_cost = internal::functor_traits::Cost; - return m_argImpl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, functor_cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; } - - /// required by sycl in order to extract the accessor - const TensorEvaluator & impl() const { return m_argImpl; } - /// added for sycl in order to construct the buffer from sycl device - UnaryOp functor() const { return m_functor; } - - - private: - const UnaryOp m_functor; - TensorEvaluator m_argImpl; -}; - - -// -------------------- CwiseBinaryOp -------------------- - -template -struct TensorEvaluator, Device> -{ - typedef TensorCwiseBinaryOp XprType; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess & - internal::functor_traits::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) - : m_functor(op.functor()), - m_leftImpl(op.lhsExpression(), device), - m_rightImpl(op.rhsExpression(), device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout) || internal::traits::NumDimensions <= 1), YOU_MADE_A_PROGRAMMING_MISTAKE); - eigen_assert(dimensions_match(m_leftImpl.dimensions(), m_rightImpl.dimensions())); - } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename internal::traits::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - typedef typename TensorEvaluator::Dimensions Dimensions; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const - { - // TODO: use right impl instead if right impl dimensions are known at compile time. - return m_leftImpl.dimensions(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { - m_leftImpl.evalSubExprsIfNeeded(NULL); - m_rightImpl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_leftImpl.cleanup(); - m_rightImpl.cleanup(); - } - - EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const - { - return m_functor(m_leftImpl.coeff(index), m_rightImpl.coeff(index)); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return m_functor.packetOp(m_leftImpl.template packet(index), m_rightImpl.template packet(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - const double functor_cost = internal::functor_traits::Cost; - return m_leftImpl.costPerCoeff(vectorized) + - m_rightImpl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, functor_cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& left_impl() const { return m_leftImpl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& right_impl() const { return m_rightImpl; } - /// required by sycl in order to extract the accessor - BinaryOp functor() const { return m_functor; } - - private: - const BinaryOp m_functor; - TensorEvaluator m_leftImpl; - TensorEvaluator m_rightImpl; -}; - -// -------------------- CwiseTernaryOp -------------------- - -template -struct TensorEvaluator, Device> -{ - typedef TensorCwiseTernaryOp XprType; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess & - internal::functor_traits::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) - : m_functor(op.functor()), - m_arg1Impl(op.arg1Expression(), device), - m_arg2Impl(op.arg2Expression(), device), - m_arg3Impl(op.arg3Expression(), device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout) || internal::traits::NumDimensions <= 1), YOU_MADE_A_PROGRAMMING_MISTAKE); - - EIGEN_STATIC_ASSERT((internal::is_same::StorageKind, - typename internal::traits::StorageKind>::value), - STORAGE_KIND_MUST_MATCH) - EIGEN_STATIC_ASSERT((internal::is_same::StorageKind, - typename internal::traits::StorageKind>::value), - STORAGE_KIND_MUST_MATCH) - EIGEN_STATIC_ASSERT((internal::is_same::Index, - typename internal::traits::Index>::value), - STORAGE_INDEX_MUST_MATCH) - EIGEN_STATIC_ASSERT((internal::is_same::Index, - typename internal::traits::Index>::value), - STORAGE_INDEX_MUST_MATCH) - - eigen_assert(dimensions_match(m_arg1Impl.dimensions(), m_arg2Impl.dimensions()) && dimensions_match(m_arg1Impl.dimensions(), m_arg3Impl.dimensions())); - } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename internal::traits::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - typedef typename TensorEvaluator::Dimensions Dimensions; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const - { - // TODO: use arg2 or arg3 dimensions if they are known at compile time. - return m_arg1Impl.dimensions(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { - m_arg1Impl.evalSubExprsIfNeeded(NULL); - m_arg2Impl.evalSubExprsIfNeeded(NULL); - m_arg3Impl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_arg1Impl.cleanup(); - m_arg2Impl.cleanup(); - m_arg3Impl.cleanup(); - } - - EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const - { - return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index)); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return m_functor.packetOp(m_arg1Impl.template packet(index), - m_arg2Impl.template packet(index), - m_arg3Impl.template packet(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - const double functor_cost = internal::functor_traits::Cost; - return m_arg1Impl.costPerCoeff(vectorized) + - m_arg2Impl.costPerCoeff(vectorized) + - m_arg3Impl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, functor_cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC CoeffReturnType* data() const { return NULL; } - - /// required by sycl in order to extract the accessor - const TensorEvaluator & arg1Impl() const { return m_arg1Impl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& arg2Impl() const { return m_arg2Impl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& arg3Impl() const { return m_arg3Impl; } - - private: - const TernaryOp m_functor; - TensorEvaluator m_arg1Impl; - TensorEvaluator m_arg2Impl; - TensorEvaluator m_arg3Impl; -}; - - -// -------------------- SelectOp -------------------- - -template -struct TensorEvaluator, Device> -{ - typedef TensorSelectOp XprType; - typedef typename XprType::Scalar Scalar; - - enum { - IsAligned = TensorEvaluator::IsAligned & TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess & TensorEvaluator::PacketAccess & - internal::packet_traits::HasBlend, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) - : m_condImpl(op.ifExpression(), device), - m_thenImpl(op.thenExpression(), device), - m_elseImpl(op.elseExpression(), device) - { - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE); - EIGEN_STATIC_ASSERT((static_cast(TensorEvaluator::Layout) == static_cast(TensorEvaluator::Layout)), YOU_MADE_A_PROGRAMMING_MISTAKE); - eigen_assert(dimensions_match(m_condImpl.dimensions(), m_thenImpl.dimensions())); - eigen_assert(dimensions_match(m_thenImpl.dimensions(), m_elseImpl.dimensions())); - } - - typedef typename XprType::Index Index; - typedef typename internal::traits::Scalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - typedef typename TensorEvaluator::Dimensions Dimensions; - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const - { - // TODO: use then or else impl instead if they happen to be known at compile time. - return m_condImpl.dimensions(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { - m_condImpl.evalSubExprsIfNeeded(NULL); - m_thenImpl.evalSubExprsIfNeeded(NULL); - m_elseImpl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_condImpl.cleanup(); - m_thenImpl.cleanup(); - m_elseImpl.cleanup(); - } - - EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index index) const - { - return m_condImpl.coeff(index) ? m_thenImpl.coeff(index) : m_elseImpl.coeff(index); - } - template - EIGEN_DEVICE_FUNC PacketReturnType packet(Index index) const - { - internal::Selector select; - for (Index i = 0; i < PacketSize; ++i) { - select.select[i] = m_condImpl.coeff(index+i); - } - return internal::pblend(select, - m_thenImpl.template packet(index), - m_elseImpl.template packet(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - return m_condImpl.costPerCoeff(vectorized) + - m_thenImpl.costPerCoeff(vectorized) - .cwiseMax(m_elseImpl.costPerCoeff(vectorized)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const { return NULL; } - /// required by sycl in order to extract the accessor - const TensorEvaluator & cond_impl() const { return m_condImpl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& then_impl() const { return m_thenImpl; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& else_impl() const { return m_elseImpl; } - - private: - TensorEvaluator m_condImpl; - TensorEvaluator m_thenImpl; - TensorEvaluator m_elseImpl; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_EVALUATOR_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h deleted file mode 100644 index f01d77c0..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h +++ /dev/null @@ -1,288 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_EXECUTOR_H -#define EIGEN_CXX11_TENSOR_TENSOR_EXECUTOR_H - -namespace Eigen { - -/** \class TensorExecutor - * \ingroup CXX11_Tensor_Module - * - * \brief The tensor executor class. - * - * This class is responsible for launch the evaluation of the expression on - * the specified computing device. - */ -namespace internal { - -// Default strategy: the expression is evaluated with a single cpu thread. -template -class TensorExecutor -{ - public: - typedef typename Expression::Index Index; - EIGEN_DEVICE_FUNC - static inline void run(const Expression& expr, const Device& device = Device()) - { - TensorEvaluator evaluator(expr, device); - const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL); - if (needs_assign) - { - const Index size = array_prod(evaluator.dimensions()); - for (Index i = 0; i < size; ++i) { - evaluator.evalScalar(i); - } - } - evaluator.cleanup(); - } -}; - - -template -class TensorExecutor -{ - public: - typedef typename Expression::Index Index; - EIGEN_DEVICE_FUNC - static inline void run(const Expression& expr, const DefaultDevice& device = DefaultDevice()) - { - TensorEvaluator evaluator(expr, device); - const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL); - if (needs_assign) - { - const Index size = array_prod(evaluator.dimensions()); - const int PacketSize = unpacket_traits::PacketReturnType>::size; - // Give the compiler a strong hint to unroll the loop. But don't insist - // on unrolling, because if the function is expensive the compiler should not - // unroll the loop at the expense of inlining. - const Index UnrolledSize = (size / (4 * PacketSize)) * 4 * PacketSize; - for (Index i = 0; i < UnrolledSize; i += 4*PacketSize) { - for (Index j = 0; j < 4; j++) { - evaluator.evalPacket(i + j * PacketSize); - } - } - const Index VectorizedSize = (size / PacketSize) * PacketSize; - for (Index i = UnrolledSize; i < VectorizedSize; i += PacketSize) { - evaluator.evalPacket(i); - } - for (Index i = VectorizedSize; i < size; ++i) { - evaluator.evalScalar(i); - } - } - evaluator.cleanup(); - } -}; - - - -// Multicore strategy: the index space is partitioned and each partition is executed on a single core -#ifdef EIGEN_USE_THREADS -template -struct EvalRange { - static void run(Evaluator* evaluator_in, const Index first, const Index last) { - Evaluator evaluator = *evaluator_in; - eigen_assert(last >= first); - for (Index i = first; i < last; ++i) { - evaluator.evalScalar(i); - } - } - - static Index alignBlockSize(Index size) { - return size; - } -}; - -template -struct EvalRange { - static const int PacketSize = unpacket_traits::size; - - static void run(Evaluator* evaluator_in, const Index first, const Index last) { - Evaluator evaluator = *evaluator_in; - eigen_assert(last >= first); - Index i = first; - if (last - first >= PacketSize) { - eigen_assert(first % PacketSize == 0); - Index last_chunk_offset = last - 4 * PacketSize; - // Give the compiler a strong hint to unroll the loop. But don't insist - // on unrolling, because if the function is expensive the compiler should not - // unroll the loop at the expense of inlining. - for (; i <= last_chunk_offset; i += 4*PacketSize) { - for (Index j = 0; j < 4; j++) { - evaluator.evalPacket(i + j * PacketSize); - } - } - last_chunk_offset = last - PacketSize; - for (; i <= last_chunk_offset; i += PacketSize) { - evaluator.evalPacket(i); - } - } - for (; i < last; ++i) { - evaluator.evalScalar(i); - } - } - - static Index alignBlockSize(Index size) { - // Align block size to packet size and account for unrolling in run above. - if (size >= 16 * PacketSize) { - return (size + 4 * PacketSize - 1) & ~(4 * PacketSize - 1); - } - // Aligning to 4 * PacketSize would increase block size by more than 25%. - return (size + PacketSize - 1) & ~(PacketSize - 1); - } -}; - -template -class TensorExecutor { - public: - typedef typename Expression::Index Index; - static inline void run(const Expression& expr, const ThreadPoolDevice& device) - { - typedef TensorEvaluator Evaluator; - Evaluator evaluator(expr, device); - const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL); - if (needs_assign) - { - const Index size = array_prod(evaluator.dimensions()); -#if !defined(EIGEN_USE_SIMPLE_THREAD_POOL) - device.parallelFor(size, evaluator.costPerCoeff(Vectorizable), - EvalRange::alignBlockSize, - [&evaluator](Index first, Index last) { - EvalRange::run(&evaluator, first, last); - }); -#else - size_t num_threads = device.numThreads(); - if (num_threads > 1) { - num_threads = TensorCostModel::numThreads( - size, evaluator.costPerCoeff(Vectorizable), num_threads); - } - if (num_threads == 1) { - EvalRange::run(&evaluator, 0, size); - } else { - const Index PacketSize = Vectorizable ? unpacket_traits::size : 1; - Index blocksz = std::ceil(static_cast(size)/num_threads) + PacketSize - 1; - const Index blocksize = numext::maxi(PacketSize, (blocksz - (blocksz % PacketSize))); - const Index numblocks = size / blocksize; - - Barrier barrier(numblocks); - for (int i = 0; i < numblocks; ++i) { - device.enqueue_with_barrier( - &barrier, &EvalRange::run, - &evaluator, i * blocksize, (i + 1) * blocksize); - } - if (numblocks * blocksize < size) { - EvalRange::run( - &evaluator, numblocks * blocksize, size); - } - barrier.Wait(); - } -#endif // defined(!EIGEN_USE_SIMPLE_THREAD_POOL) - } - evaluator.cleanup(); - } -}; -#endif // EIGEN_USE_THREADS - - -// GPU: the evaluation of the expression is offloaded to a GPU. -#if defined(EIGEN_USE_GPU) - -template -class TensorExecutor { - public: - typedef typename Expression::Index Index; - static void run(const Expression& expr, const GpuDevice& device); -}; - - -#if defined(__CUDACC__) -template -struct EigenMetaKernelEval { - static __device__ EIGEN_ALWAYS_INLINE - void run(Evaluator& eval, Index first, Index last, Index step_size) { - for (Index i = first; i < last; i += step_size) { - eval.evalScalar(i); - } - } -}; - -template -struct EigenMetaKernelEval { - static __device__ EIGEN_ALWAYS_INLINE - void run(Evaluator& eval, Index first, Index last, Index step_size) { - const Index PacketSize = unpacket_traits::size; - const Index vectorized_size = (last / PacketSize) * PacketSize; - const Index vectorized_step_size = step_size * PacketSize; - - // Use the vector path - for (Index i = first * PacketSize; i < vectorized_size; - i += vectorized_step_size) { - eval.evalPacket(i); - } - for (Index i = vectorized_size + first; i < last; i += step_size) { - eval.evalScalar(i); - } - } -}; - -template -__global__ void -__launch_bounds__(1024) -EigenMetaKernel(Evaluator eval, Index size) { - - const Index first_index = blockIdx.x * blockDim.x + threadIdx.x; - const Index step_size = blockDim.x * gridDim.x; - - const bool vectorizable = Evaluator::PacketAccess & Evaluator::IsAligned; - EigenMetaKernelEval::run(eval, first_index, size, step_size); -} - -/*static*/ -template -inline void TensorExecutor::run( - const Expression& expr, const GpuDevice& device) { - TensorEvaluator evaluator(expr, device); - const bool needs_assign = evaluator.evalSubExprsIfNeeded(NULL); - if (needs_assign) { - const int block_size = device.maxCudaThreadsPerBlock(); - const int max_blocks = device.getNumCudaMultiProcessors() * - device.maxCudaThreadsPerMultiProcessor() / block_size; - const Index size = array_prod(evaluator.dimensions()); - // Create a least one block to ensure we won't crash when tensorflow calls with tensors of size 0. - const int num_blocks = numext::maxi(numext::mini(max_blocks, divup(size, block_size)), 1); - - LAUNCH_CUDA_KERNEL( - (EigenMetaKernel, Index>), - num_blocks, block_size, 0, device, evaluator, size); - } - evaluator.cleanup(); -} - -#endif // __CUDACC__ -#endif // EIGEN_USE_GPU - -// SYCL Executor policy -#ifdef EIGEN_USE_SYCL - -template -class TensorExecutor { -public: - static inline void run(const Expression &expr, const SyclDevice &device) { - // call TensorSYCL module - TensorSycl::run(expr, device); - } -}; - -#endif - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_EXECUTOR_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h deleted file mode 100644 index 85dfc7a6..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h +++ /dev/null @@ -1,371 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_EXPR_H -#define EIGEN_CXX11_TENSOR_TENSOR_EXPR_H - -namespace Eigen { - -/** \class TensorExpr - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor expression classes. - * - * The TensorCwiseNullaryOp class applies a nullary operators to an expression. - * This is typically used to generate constants. - * - * The TensorCwiseUnaryOp class represents an expression where a unary operator - * (e.g. cwiseSqrt) is applied to an expression. - * - * The TensorCwiseBinaryOp class represents an expression where a binary - * operator (e.g. addition) is applied to a lhs and a rhs expression. - * - */ -namespace internal { -template -struct traits > - : traits -{ - typedef traits XprTraits; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::Nested XprTypeNested; - typedef typename remove_reference::type _XprTypeNested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; - - enum { - Flags = 0 - }; -}; - -} // end namespace internal - - - -template -class TensorCwiseNullaryOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef TensorCwiseNullaryOp Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseNullaryOp(const XprType& xpr, const NullaryOp& func = NullaryOp()) - : m_xpr(xpr), m_functor(func) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - nestedExpression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC - const NullaryOp& functor() const { return m_functor; } - - protected: - typename XprType::Nested m_xpr; - const NullaryOp m_functor; -}; - - - -namespace internal { -template -struct traits > - : traits -{ - // TODO(phli): Add InputScalar, InputPacket. Check references to - // current Scalar/Packet to see if the intent is Input or Output. - typedef typename result_of::type Scalar; - typedef traits XprTraits; - typedef typename XprType::Nested XprTypeNested; - typedef typename remove_reference::type _XprTypeNested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorCwiseUnaryOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorCwiseUnaryOp type; -}; - -} // end namespace internal - - - -template -class TensorCwiseUnaryOp : public TensorBase, ReadOnlyAccessors> -{ - public: - // TODO(phli): Add InputScalar, InputPacket. Check references to - // current Scalar/Packet to see if the intent is Input or Output. - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef Scalar CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp()) - : m_xpr(xpr), m_functor(func) {} - - EIGEN_DEVICE_FUNC - const UnaryOp& functor() const { return m_functor; } - - /** \returns the nested expression */ - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - nestedExpression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const UnaryOp m_functor; -}; - - -namespace internal { -template -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs - // are different. - // TODO(phli): Add Lhs/RhsScalar, Lhs/RhsPacket. Check references to - // current Scalar/Packet to see if the intent is Inputs or Output. - typedef typename result_of< - BinaryOp(typename LhsXprType::Scalar, - typename RhsXprType::Scalar)>::type Scalar; - typedef traits XprTraits; - typedef typename promote_storage_type< - typename traits::StorageKind, - typename traits::StorageKind>::ret StorageKind; - typedef typename promote_index_type< - typename traits::Index, - typename traits::Index>::type Index; - typedef typename LhsXprType::Nested LhsNested; - typedef typename RhsXprType::Nested RhsNested; - typedef typename remove_reference::type _LhsNested; - typedef typename remove_reference::type _RhsNested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; - - enum { - Flags = 0 - }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorCwiseBinaryOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorCwiseBinaryOp type; -}; - -} // end namespace internal - - - -template -class TensorCwiseBinaryOp : public TensorBase, ReadOnlyAccessors> -{ - public: - // TODO(phli): Add Lhs/RhsScalar, Lhs/RhsPacket. Check references to - // current Scalar/Packet to see if the intent is Inputs or Output. - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef Scalar CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseBinaryOp(const LhsXprType& lhs, const RhsXprType& rhs, const BinaryOp& func = BinaryOp()) - : m_lhs_xpr(lhs), m_rhs_xpr(rhs), m_functor(func) {} - - EIGEN_DEVICE_FUNC - const BinaryOp& functor() const { return m_functor; } - - /** \returns the nested expressions */ - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - lhsExpression() const { return m_lhs_xpr; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - rhsExpression() const { return m_rhs_xpr; } - - protected: - typename LhsXprType::Nested m_lhs_xpr; - typename RhsXprType::Nested m_rhs_xpr; - const BinaryOp m_functor; -}; - - -namespace internal { -template -struct traits > -{ - // Type promotion to handle the case where the types of the args are different. - typedef typename result_of< - TernaryOp(typename Arg1XprType::Scalar, - typename Arg2XprType::Scalar, - typename Arg3XprType::Scalar)>::type Scalar; - typedef traits XprTraits; - typedef typename traits::StorageKind StorageKind; - typedef typename traits::Index Index; - typedef typename Arg1XprType::Nested Arg1Nested; - typedef typename Arg2XprType::Nested Arg2Nested; - typedef typename Arg3XprType::Nested Arg3Nested; - typedef typename remove_reference::type _Arg1Nested; - typedef typename remove_reference::type _Arg2Nested; - typedef typename remove_reference::type _Arg3Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; - - enum { - Flags = 0 - }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorCwiseTernaryOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorCwiseTernaryOp type; -}; - -} // end namespace internal - - - -template -class TensorCwiseTernaryOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef Scalar CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorCwiseTernaryOp(const Arg1XprType& arg1, const Arg2XprType& arg2, const Arg3XprType& arg3, const TernaryOp& func = TernaryOp()) - : m_arg1_xpr(arg1), m_arg2_xpr(arg2), m_arg3_xpr(arg3), m_functor(func) {} - - EIGEN_DEVICE_FUNC - const TernaryOp& functor() const { return m_functor; } - - /** \returns the nested expressions */ - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - arg1Expression() const { return m_arg1_xpr; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - arg2Expression() const { return m_arg2_xpr; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - arg3Expression() const { return m_arg3_xpr; } - - protected: - typename Arg1XprType::Nested m_arg1_xpr; - typename Arg2XprType::Nested m_arg2_xpr; - typename Arg3XprType::Nested m_arg3_xpr; - const TernaryOp m_functor; -}; - - -namespace internal { -template -struct traits > - : traits -{ - typedef typename traits::Scalar Scalar; - typedef traits XprTraits; - typedef typename promote_storage_type::StorageKind, - typename traits::StorageKind>::ret StorageKind; - typedef typename promote_index_type::Index, - typename traits::Index>::type Index; - typedef typename IfXprType::Nested IfNested; - typedef typename ThenXprType::Nested ThenNested; - typedef typename ElseXprType::Nested ElseNested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorSelectOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorSelectOp type; -}; - -} // end namespace internal - - -template -class TensorSelectOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::promote_storage_type::ret CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC - TensorSelectOp(const IfXprType& a_condition, - const ThenXprType& a_then, - const ElseXprType& a_else) - : m_condition(a_condition), m_then(a_then), m_else(a_else) - { } - - EIGEN_DEVICE_FUNC - const IfXprType& ifExpression() const { return m_condition; } - - EIGEN_DEVICE_FUNC - const ThenXprType& thenExpression() const { return m_then; } - - EIGEN_DEVICE_FUNC - const ElseXprType& elseExpression() const { return m_else; } - - protected: - typename IfXprType::Nested m_condition; - typename ThenXprType::Nested m_then; - typename ElseXprType::Nested m_else; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_EXPR_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h deleted file mode 100644 index f060191a..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h +++ /dev/null @@ -1,651 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Jianwei Cui -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_FFT_H -#define EIGEN_CXX11_TENSOR_TENSOR_FFT_H - -// This code requires the ability to initialize arrays of constant -// values directly inside a class. -#if __cplusplus >= 201103L || EIGEN_COMP_MSVC >= 1900 - -namespace Eigen { - -/** \class TensorFFT - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor FFT class. - * - * TODO: - * Vectorize the Cooley Tukey and the Bluestein algorithm - * Add support for multithreaded evaluation - * Improve the performance on GPU - */ - -template struct MakeComplex { - template - EIGEN_DEVICE_FUNC - T operator() (const T& val) const { return val; } -}; - -template <> struct MakeComplex { - template - EIGEN_DEVICE_FUNC - std::complex operator() (const T& val) const { return std::complex(val, 0); } -}; - -template <> struct MakeComplex { - template - EIGEN_DEVICE_FUNC - std::complex operator() (const std::complex& val) const { return val; } -}; - -template struct PartOf { - template T operator() (const T& val) const { return val; } -}; - -template <> struct PartOf { - template T operator() (const std::complex& val) const { return val.real(); } -}; - -template <> struct PartOf { - template T operator() (const std::complex& val) const { return val.imag(); } -}; - -namespace internal { -template -struct traits > : public traits { - typedef traits XprTraits; - typedef typename NumTraits::Real RealScalar; - typedef typename std::complex ComplexScalar; - typedef typename XprTraits::Scalar InputScalar; - typedef typename conditional::type OutputScalar; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> { - typedef const TensorFFTOp& type; -}; - -template -struct nested, 1, typename eval >::type> { - typedef TensorFFTOp type; -}; - -} // end namespace internal - -template -class TensorFFTOp : public TensorBase, ReadOnlyAccessors> { - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename std::complex ComplexScalar; - typedef typename internal::conditional::type OutputScalar; - typedef OutputScalar CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorFFTOp(const XprType& expr, const FFT& fft) - : m_xpr(expr), m_fft(fft) {} - - EIGEN_DEVICE_FUNC - const FFT& fft() const { return m_fft; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& expression() const { - return m_xpr; - } - - protected: - typename XprType::Nested m_xpr; - const FFT m_fft; -}; - -// Eval as rvalue -template -struct TensorEvaluator, Device> { - typedef TensorFFTOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::Dimensions>::value; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename std::complex ComplexScalar; - typedef typename TensorEvaluator::Dimensions InputDimensions; - typedef internal::traits XprTraits; - typedef typename XprTraits::Scalar InputScalar; - typedef typename internal::conditional::type OutputScalar; - typedef OutputScalar CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = true, - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) : m_fft(op.fft()), m_impl(op.expression(), device), m_data(NULL), m_device(device) { - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - for (int i = 0; i < NumDims; ++i) { - eigen_assert(input_dims[i] > 0); - m_dimensions[i] = input_dims[i]; - } - - if (static_cast(Layout) == static_cast(ColMajor)) { - m_strides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_strides[i] = m_strides[i - 1] * m_dimensions[i - 1]; - } - } else { - m_strides[NumDims - 1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_strides[i] = m_strides[i + 1] * m_dimensions[i + 1]; - } - } - m_size = m_dimensions.TotalSize(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { - return m_dimensions; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(OutputScalar* data) { - m_impl.evalSubExprsIfNeeded(NULL); - if (data) { - evalToBuf(data); - return false; - } else { - m_data = (CoeffReturnType*)m_device.allocate(sizeof(CoeffReturnType) * m_size); - evalToBuf(m_data); - return true; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - if (m_data) { - m_device.deallocate(m_data); - m_data = NULL; - } - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE CoeffReturnType coeff(Index index) const { - return m_data[index]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketReturnType - packet(Index index) const { - return internal::ploadt(m_data + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return m_data; } - - - private: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalToBuf(OutputScalar* data) { - const bool write_to_out = internal::is_same::value; - ComplexScalar* buf = write_to_out ? (ComplexScalar*)data : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * m_size); - - for (Index i = 0; i < m_size; ++i) { - buf[i] = MakeComplex::value>()(m_impl.coeff(i)); - } - - for (size_t i = 0; i < m_fft.size(); ++i) { - Index dim = m_fft[i]; - eigen_assert(dim >= 0 && dim < NumDims); - Index line_len = m_dimensions[dim]; - eigen_assert(line_len >= 1); - ComplexScalar* line_buf = (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * line_len); - const bool is_power_of_two = isPowerOfTwo(line_len); - const Index good_composite = is_power_of_two ? 0 : findGoodComposite(line_len); - const Index log_len = is_power_of_two ? getLog2(line_len) : getLog2(good_composite); - - ComplexScalar* a = is_power_of_two ? NULL : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * good_composite); - ComplexScalar* b = is_power_of_two ? NULL : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * good_composite); - ComplexScalar* pos_j_base_powered = is_power_of_two ? NULL : (ComplexScalar*)m_device.allocate(sizeof(ComplexScalar) * (line_len + 1)); - if (!is_power_of_two) { - // Compute twiddle factors - // t_n = exp(sqrt(-1) * pi * n^2 / line_len) - // for n = 0, 1,..., line_len-1. - // For n > 2 we use the recurrence t_n = t_{n-1}^2 / t_{n-2} * t_1^2 - pos_j_base_powered[0] = ComplexScalar(1, 0); - if (line_len > 1) { - const RealScalar pi_over_len(EIGEN_PI / line_len); - const ComplexScalar pos_j_base = ComplexScalar( - std::cos(pi_over_len), std::sin(pi_over_len)); - pos_j_base_powered[1] = pos_j_base; - if (line_len > 2) { - const ComplexScalar pos_j_base_sq = pos_j_base * pos_j_base; - for (int j = 2; j < line_len + 1; ++j) { - pos_j_base_powered[j] = pos_j_base_powered[j - 1] * - pos_j_base_powered[j - 1] / - pos_j_base_powered[j - 2] * pos_j_base_sq; - } - } - } - } - - for (Index partial_index = 0; partial_index < m_size / line_len; ++partial_index) { - const Index base_offset = getBaseOffsetFromIndex(partial_index, dim); - - // get data into line_buf - const Index stride = m_strides[dim]; - if (stride == 1) { - m_device.memcpy(line_buf, &buf[base_offset], line_len*sizeof(ComplexScalar)); - } else { - Index offset = base_offset; - for (int j = 0; j < line_len; ++j, offset += stride) { - line_buf[j] = buf[offset]; - } - } - - // processs the line - if (is_power_of_two) { - processDataLineCooleyTukey(line_buf, line_len, log_len); - } - else { - processDataLineBluestein(line_buf, line_len, good_composite, log_len, a, b, pos_j_base_powered); - } - - // write back - if (FFTDir == FFT_FORWARD && stride == 1) { - m_device.memcpy(&buf[base_offset], line_buf, line_len*sizeof(ComplexScalar)); - } else { - Index offset = base_offset; - const ComplexScalar div_factor = ComplexScalar(1.0 / line_len, 0); - for (int j = 0; j < line_len; ++j, offset += stride) { - buf[offset] = (FFTDir == FFT_FORWARD) ? line_buf[j] : line_buf[j] * div_factor; - } - } - } - m_device.deallocate(line_buf); - if (!is_power_of_two) { - m_device.deallocate(a); - m_device.deallocate(b); - m_device.deallocate(pos_j_base_powered); - } - } - - if(!write_to_out) { - for (Index i = 0; i < m_size; ++i) { - data[i] = PartOf()(buf[i]); - } - m_device.deallocate(buf); - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static bool isPowerOfTwo(Index x) { - eigen_assert(x > 0); - return !(x & (x - 1)); - } - - // The composite number for padding, used in Bluestein's FFT algorithm - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Index findGoodComposite(Index n) { - Index i = 2; - while (i < 2 * n - 1) i *= 2; - return i; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Index getLog2(Index m) { - Index log2m = 0; - while (m >>= 1) log2m++; - return log2m; - } - - // Call Cooley Tukey algorithm directly, data length must be power of 2 - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void processDataLineCooleyTukey(ComplexScalar* line_buf, Index line_len, Index log_len) { - eigen_assert(isPowerOfTwo(line_len)); - scramble_FFT(line_buf, line_len); - compute_1D_Butterfly(line_buf, line_len, log_len); - } - - // Call Bluestein's FFT algorithm, m is a good composite number greater than (2 * n - 1), used as the padding length - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void processDataLineBluestein(ComplexScalar* line_buf, Index line_len, Index good_composite, Index log_len, ComplexScalar* a, ComplexScalar* b, const ComplexScalar* pos_j_base_powered) { - Index n = line_len; - Index m = good_composite; - ComplexScalar* data = line_buf; - - for (Index i = 0; i < n; ++i) { - if(FFTDir == FFT_FORWARD) { - a[i] = data[i] * numext::conj(pos_j_base_powered[i]); - } - else { - a[i] = data[i] * pos_j_base_powered[i]; - } - } - for (Index i = n; i < m; ++i) { - a[i] = ComplexScalar(0, 0); - } - - for (Index i = 0; i < n; ++i) { - if(FFTDir == FFT_FORWARD) { - b[i] = pos_j_base_powered[i]; - } - else { - b[i] = numext::conj(pos_j_base_powered[i]); - } - } - for (Index i = n; i < m - n; ++i) { - b[i] = ComplexScalar(0, 0); - } - for (Index i = m - n; i < m; ++i) { - if(FFTDir == FFT_FORWARD) { - b[i] = pos_j_base_powered[m-i]; - } - else { - b[i] = numext::conj(pos_j_base_powered[m-i]); - } - } - - scramble_FFT(a, m); - compute_1D_Butterfly(a, m, log_len); - - scramble_FFT(b, m); - compute_1D_Butterfly(b, m, log_len); - - for (Index i = 0; i < m; ++i) { - a[i] *= b[i]; - } - - scramble_FFT(a, m); - compute_1D_Butterfly(a, m, log_len); - - //Do the scaling after ifft - for (Index i = 0; i < m; ++i) { - a[i] /= m; - } - - for (Index i = 0; i < n; ++i) { - if(FFTDir == FFT_FORWARD) { - data[i] = a[i] * numext::conj(pos_j_base_powered[i]); - } - else { - data[i] = a[i] * pos_j_base_powered[i]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static void scramble_FFT(ComplexScalar* data, Index n) { - eigen_assert(isPowerOfTwo(n)); - Index j = 1; - for (Index i = 1; i < n; ++i){ - if (j > i) { - std::swap(data[j-1], data[i-1]); - } - Index m = n >> 1; - while (m >= 2 && j > m) { - j -= m; - m >>= 1; - } - j += m; - } - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_2(ComplexScalar* data) { - ComplexScalar tmp = data[1]; - data[1] = data[0] - data[1]; - data[0] += tmp; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_4(ComplexScalar* data) { - ComplexScalar tmp[4]; - tmp[0] = data[0] + data[1]; - tmp[1] = data[0] - data[1]; - tmp[2] = data[2] + data[3]; - if (Dir == FFT_FORWARD) { - tmp[3] = ComplexScalar(0.0, -1.0) * (data[2] - data[3]); - } else { - tmp[3] = ComplexScalar(0.0, 1.0) * (data[2] - data[3]); - } - data[0] = tmp[0] + tmp[2]; - data[1] = tmp[1] + tmp[3]; - data[2] = tmp[0] - tmp[2]; - data[3] = tmp[1] - tmp[3]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_8(ComplexScalar* data) { - ComplexScalar tmp_1[8]; - ComplexScalar tmp_2[8]; - - tmp_1[0] = data[0] + data[1]; - tmp_1[1] = data[0] - data[1]; - tmp_1[2] = data[2] + data[3]; - if (Dir == FFT_FORWARD) { - tmp_1[3] = (data[2] - data[3]) * ComplexScalar(0, -1); - } else { - tmp_1[3] = (data[2] - data[3]) * ComplexScalar(0, 1); - } - tmp_1[4] = data[4] + data[5]; - tmp_1[5] = data[4] - data[5]; - tmp_1[6] = data[6] + data[7]; - if (Dir == FFT_FORWARD) { - tmp_1[7] = (data[6] - data[7]) * ComplexScalar(0, -1); - } else { - tmp_1[7] = (data[6] - data[7]) * ComplexScalar(0, 1); - } - tmp_2[0] = tmp_1[0] + tmp_1[2]; - tmp_2[1] = tmp_1[1] + tmp_1[3]; - tmp_2[2] = tmp_1[0] - tmp_1[2]; - tmp_2[3] = tmp_1[1] - tmp_1[3]; - tmp_2[4] = tmp_1[4] + tmp_1[6]; -// SQRT2DIV2 = sqrt(2)/2 -#define SQRT2DIV2 0.7071067811865476 - if (Dir == FFT_FORWARD) { - tmp_2[5] = (tmp_1[5] + tmp_1[7]) * ComplexScalar(SQRT2DIV2, -SQRT2DIV2); - tmp_2[6] = (tmp_1[4] - tmp_1[6]) * ComplexScalar(0, -1); - tmp_2[7] = (tmp_1[5] - tmp_1[7]) * ComplexScalar(-SQRT2DIV2, -SQRT2DIV2); - } else { - tmp_2[5] = (tmp_1[5] + tmp_1[7]) * ComplexScalar(SQRT2DIV2, SQRT2DIV2); - tmp_2[6] = (tmp_1[4] - tmp_1[6]) * ComplexScalar(0, 1); - tmp_2[7] = (tmp_1[5] - tmp_1[7]) * ComplexScalar(-SQRT2DIV2, SQRT2DIV2); - } - data[0] = tmp_2[0] + tmp_2[4]; - data[1] = tmp_2[1] + tmp_2[5]; - data[2] = tmp_2[2] + tmp_2[6]; - data[3] = tmp_2[3] + tmp_2[7]; - data[4] = tmp_2[0] - tmp_2[4]; - data[5] = tmp_2[1] - tmp_2[5]; - data[6] = tmp_2[2] - tmp_2[6]; - data[7] = tmp_2[3] - tmp_2[7]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_1D_merge( - ComplexScalar* data, Index n, Index n_power_of_2) { - // Original code: - // RealScalar wtemp = std::sin(M_PI/n); - // RealScalar wpi = -std::sin(2 * M_PI/n); - const RealScalar wtemp = m_sin_PI_div_n_LUT[n_power_of_2]; - const RealScalar wpi = (Dir == FFT_FORWARD) - ? m_minus_sin_2_PI_div_n_LUT[n_power_of_2] - : -m_minus_sin_2_PI_div_n_LUT[n_power_of_2]; - - const ComplexScalar wp(wtemp, wpi); - const ComplexScalar wp_one = wp + ComplexScalar(1, 0); - const ComplexScalar wp_one_2 = wp_one * wp_one; - const ComplexScalar wp_one_3 = wp_one_2 * wp_one; - const ComplexScalar wp_one_4 = wp_one_3 * wp_one; - const Index n2 = n / 2; - ComplexScalar w(1.0, 0.0); - for (Index i = 0; i < n2; i += 4) { - ComplexScalar temp0(data[i + n2] * w); - ComplexScalar temp1(data[i + 1 + n2] * w * wp_one); - ComplexScalar temp2(data[i + 2 + n2] * w * wp_one_2); - ComplexScalar temp3(data[i + 3 + n2] * w * wp_one_3); - w = w * wp_one_4; - - data[i + n2] = data[i] - temp0; - data[i] += temp0; - - data[i + 1 + n2] = data[i + 1] - temp1; - data[i + 1] += temp1; - - data[i + 2 + n2] = data[i + 2] - temp2; - data[i + 2] += temp2; - - data[i + 3 + n2] = data[i + 3] - temp3; - data[i + 3] += temp3; - } - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void compute_1D_Butterfly( - ComplexScalar* data, Index n, Index n_power_of_2) { - eigen_assert(isPowerOfTwo(n)); - if (n > 8) { - compute_1D_Butterfly(data, n / 2, n_power_of_2 - 1); - compute_1D_Butterfly(data + n / 2, n / 2, n_power_of_2 - 1); - butterfly_1D_merge(data, n, n_power_of_2); - } else if (n == 8) { - butterfly_8(data); - } else if (n == 4) { - butterfly_4(data); - } else if (n == 2) { - butterfly_2(data); - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index getBaseOffsetFromIndex(Index index, Index omitted_dim) const { - Index result = 0; - - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > omitted_dim; --i) { - const Index partial_m_stride = m_strides[i] / m_dimensions[omitted_dim]; - const Index idx = index / partial_m_stride; - index -= idx * partial_m_stride; - result += idx * m_strides[i]; - } - result += index; - } - else { - for (Index i = 0; i < omitted_dim; ++i) { - const Index partial_m_stride = m_strides[i] / m_dimensions[omitted_dim]; - const Index idx = index / partial_m_stride; - index -= idx * partial_m_stride; - result += idx * m_strides[i]; - } - result += index; - } - // Value of index_coords[omitted_dim] is not determined to this step - return result; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index getIndexFromOffset(Index base, Index omitted_dim, Index offset) const { - Index result = base + offset * m_strides[omitted_dim] ; - return result; - } - - protected: - Index m_size; - const FFT& m_fft; - Dimensions m_dimensions; - array m_strides; - TensorEvaluator m_impl; - CoeffReturnType* m_data; - const Device& m_device; - - // This will support a maximum FFT size of 2^32 for each dimension - // m_sin_PI_div_n_LUT[i] = (-2) * std::sin(M_PI / std::pow(2,i)) ^ 2; - const RealScalar m_sin_PI_div_n_LUT[32] = { - RealScalar(0.0), - RealScalar(-2), - RealScalar(-0.999999999999999), - RealScalar(-0.292893218813453), - RealScalar(-0.0761204674887130), - RealScalar(-0.0192147195967696), - RealScalar(-0.00481527332780311), - RealScalar(-0.00120454379482761), - RealScalar(-3.01181303795779e-04), - RealScalar(-7.52981608554592e-05), - RealScalar(-1.88247173988574e-05), - RealScalar(-4.70619042382852e-06), - RealScalar(-1.17654829809007e-06), - RealScalar(-2.94137117780840e-07), - RealScalar(-7.35342821488550e-08), - RealScalar(-1.83835707061916e-08), - RealScalar(-4.59589268710903e-09), - RealScalar(-1.14897317243732e-09), - RealScalar(-2.87243293150586e-10), - RealScalar( -7.18108232902250e-11), - RealScalar(-1.79527058227174e-11), - RealScalar(-4.48817645568941e-12), - RealScalar(-1.12204411392298e-12), - RealScalar(-2.80511028480785e-13), - RealScalar(-7.01277571201985e-14), - RealScalar(-1.75319392800498e-14), - RealScalar(-4.38298482001247e-15), - RealScalar(-1.09574620500312e-15), - RealScalar(-2.73936551250781e-16), - RealScalar(-6.84841378126949e-17), - RealScalar(-1.71210344531737e-17), - RealScalar(-4.28025861329343e-18) - }; - - // m_minus_sin_2_PI_div_n_LUT[i] = -std::sin(2 * M_PI / std::pow(2,i)); - const RealScalar m_minus_sin_2_PI_div_n_LUT[32] = { - RealScalar(0.0), - RealScalar(0.0), - RealScalar(-1.00000000000000e+00), - RealScalar(-7.07106781186547e-01), - RealScalar(-3.82683432365090e-01), - RealScalar(-1.95090322016128e-01), - RealScalar(-9.80171403295606e-02), - RealScalar(-4.90676743274180e-02), - RealScalar(-2.45412285229123e-02), - RealScalar(-1.22715382857199e-02), - RealScalar(-6.13588464915448e-03), - RealScalar(-3.06795676296598e-03), - RealScalar(-1.53398018628477e-03), - RealScalar(-7.66990318742704e-04), - RealScalar(-3.83495187571396e-04), - RealScalar(-1.91747597310703e-04), - RealScalar(-9.58737990959773e-05), - RealScalar(-4.79368996030669e-05), - RealScalar(-2.39684498084182e-05), - RealScalar(-1.19842249050697e-05), - RealScalar(-5.99211245264243e-06), - RealScalar(-2.99605622633466e-06), - RealScalar(-1.49802811316901e-06), - RealScalar(-7.49014056584716e-07), - RealScalar(-3.74507028292384e-07), - RealScalar(-1.87253514146195e-07), - RealScalar(-9.36267570730981e-08), - RealScalar(-4.68133785365491e-08), - RealScalar(-2.34066892682746e-08), - RealScalar(-1.17033446341373e-08), - RealScalar(-5.85167231706864e-09), - RealScalar(-2.92583615853432e-09) - }; -}; - -} // end namespace Eigen - -#endif // EIGEN_HAS_CONSTEXPR - - -#endif // EIGEN_CXX11_TENSOR_TENSOR_FFT_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h deleted file mode 100644 index fcee5f60..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h +++ /dev/null @@ -1,389 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_FIXED_SIZE_H -#define EIGEN_CXX11_TENSOR_TENSOR_FIXED_SIZE_H - -namespace Eigen { - -/** \class TensorFixedSize - * \ingroup CXX11_Tensor_Module - * - * \brief The fixed sized version of the tensor class. - * - * The fixed sized equivalent of - * Eigen::Tensor t(3, 5, 7); - * is - * Eigen::TensorFixedSize> t; - */ - -template -class TensorFixedSize : public TensorBase > -{ - public: - typedef TensorFixedSize Self; - typedef TensorBase > Base; - typedef typename Eigen::internal::nested::type Nested; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - typedef Scalar_ Scalar; - typedef typename NumTraits::Real RealScalar; - typedef typename Base::CoeffReturnType CoeffReturnType; - - static const int Options = Options_; - - enum { - IsAligned = bool(EIGEN_MAX_ALIGN_BYTES>0), - Layout = Options_ & RowMajor ? RowMajor : ColMajor, - CoordAccess = true, - RawAccess = true - }; - - typedef Dimensions_ Dimensions; - static const std::size_t NumIndices = Dimensions::count; - - protected: - TensorStorage m_storage; - - public: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rank() const { return NumIndices; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index dimension(std::size_t n) const { return m_storage.dimensions()[n]; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_storage.dimensions(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index size() const { return m_storage.size(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data() { return m_storage.data(); } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const { return m_storage.data(); } - - // This makes EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED - // work, because that uses base().coeffRef() - and we don't yet - // implement a similar class hierarchy - inline Self& base() { return *this; } - inline const Self& base() const { return *this; } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& coeff(Index firstIndex, IndexTypes... otherIndices) const - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return coeff(array{{firstIndex, otherIndices...}}); - } -#endif - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeff(const array& indices) const - { - eigen_internal_assert(checkIndexRange(indices)); - return m_storage.data()[linearizedIndex(indices)]; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const - { - eigen_internal_assert(index >= 0 && index < size()); - return m_storage.data()[index]; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& coeff() const - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return m_storage.data()[0]; - } - - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& coeffRef(Index firstIndex, IndexTypes... otherIndices) - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return coeffRef(array{{firstIndex, otherIndices...}}); - } -#endif - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& coeffRef(const array& indices) - { - eigen_internal_assert(checkIndexRange(indices)); - return m_storage.data()[linearizedIndex(indices)]; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& coeffRef(Index index) - { - eigen_internal_assert(index >= 0 && index < size()); - return m_storage.data()[index]; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& coeffRef() - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return m_storage.data()[0]; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& operator()(Index firstIndex, IndexTypes... otherIndices) const - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return this->operator()(array{{firstIndex, otherIndices...}}); - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1) const - { - if (Options&RowMajor) { - const Index index = i1 + i0 * m_storage.dimensions()[1]; - return m_storage.data()[index]; - } else { - const Index index = i0 + i1 * m_storage.dimensions()[0]; - return m_storage.data()[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2) const - { - if (Options&RowMajor) { - const Index index = i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0); - return m_storage.data()[index]; - } else { - const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * i2); - return m_storage.data()[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3) const - { - if (Options&RowMajor) { - const Index index = i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0)); - return m_storage.data()[index]; - } else { - const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * i3)); - return m_storage.data()[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const - { - if (Options&RowMajor) { - const Index index = i4 + m_storage.dimensions()[4] * (i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0))); - return m_storage.data()[index]; - } else { - const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * (i3 + m_storage.dimensions()[3] * i4))); - return m_storage.data()[index]; - } - } -#endif - - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(const array& indices) const - { - eigen_assert(checkIndexRange(indices)); - return coeff(indices); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index index) const - { - eigen_internal_assert(index >= 0 && index < size()); - return coeff(index); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()() const - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return coeff(); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator[](Index index) const - { - // The bracket operator is only for vectors, use the parenthesis operator instead. - EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE); - return coeff(index); - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar& operator()(Index firstIndex, IndexTypes... otherIndices) - { - // The number of indices used to access a tensor coefficient must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 1 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - return operator()(array{{firstIndex, otherIndices...}}); - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1) - { - if (Options&RowMajor) { - const Index index = i1 + i0 * m_storage.dimensions()[1]; - return m_storage.data()[index]; - } else { - const Index index = i0 + i1 * m_storage.dimensions()[0]; - return m_storage.data()[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2) - { - if (Options&RowMajor) { - const Index index = i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0); - return m_storage.data()[index]; - } else { - const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * i2); - return m_storage.data()[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3) - { - if (Options&RowMajor) { - const Index index = i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0)); - return m_storage.data()[index]; - } else { - const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * i3)); - return m_storage.data()[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) - { - if (Options&RowMajor) { - const Index index = i4 + m_storage.dimensions()[4] * (i3 + m_storage.dimensions()[3] * (i2 + m_storage.dimensions()[2] * (i1 + m_storage.dimensions()[1] * i0))); - return m_storage.data()[index]; - } else { - const Index index = i0 + m_storage.dimensions()[0] * (i1 + m_storage.dimensions()[1] * (i2 + m_storage.dimensions()[2] * (i3 + m_storage.dimensions()[3] * i4))); - return m_storage.data()[index]; - } - } -#endif - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(const array& indices) - { - eigen_assert(checkIndexRange(indices)); - return coeffRef(indices); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index index) - { - eigen_assert(index >= 0 && index < size()); - return coeffRef(index); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()() - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE); - return coeffRef(); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator[](Index index) - { - // The bracket operator is only for vectors, use the parenthesis operator instead - EIGEN_STATIC_ASSERT(NumIndices == 1, YOU_MADE_A_PROGRAMMING_MISTAKE) - return coeffRef(index); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorFixedSize() - : m_storage() - { - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorFixedSize(const Self& other) - : m_storage(other.m_storage) - { - } - -#if EIGEN_HAS_RVALUE_REFERENCES - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorFixedSize(Self&& other) - : m_storage(other.m_storage) - { - } -#endif - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorFixedSize(const TensorBase& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other.derived()); - internal::TensorExecutor::run(assign, DefaultDevice()); - } - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorFixedSize(const TensorBase& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other.derived()); - internal::TensorExecutor::run(assign, DefaultDevice()); - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorFixedSize& operator=(const TensorFixedSize& other) - { - // FIXME: check that the dimensions of other match the dimensions of *this. - // Unfortunately this isn't possible yet when the rhs is an expression. - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorFixedSize& operator=(const OtherDerived& other) - { - // FIXME: check that the dimensions of other match the dimensions of *this. - // Unfortunately this isn't possible yet when the rhs is an expression. - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - protected: - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE bool checkIndexRange(const array& /*indices*/) const - { - using internal::array_apply_and_reduce; - using internal::array_zip_and_reduce; - using internal::greater_equal_zero_op; - using internal::logical_and_op; - using internal::lesser_op; - - return true; - // check whether the indices are all >= 0 - /* array_apply_and_reduce(indices) && - // check whether the indices fit in the dimensions - array_zip_and_reduce(indices, m_storage.dimensions());*/ - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index linearizedIndex(const array& indices) const - { - if (Options&RowMajor) { - return m_storage.dimensions().IndexOfRowMajor(indices); - } else { - return m_storage.dimensions().IndexOfColMajor(indices); - } - } -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_FIXED_SIZE_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h deleted file mode 100644 index abe85c86..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h +++ /dev/null @@ -1,162 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_FORCED_EVAL_H -#define EIGEN_CXX11_TENSOR_TENSOR_FORCED_EVAL_H - -namespace Eigen { - -/** \class TensorForcedEval - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor reshaping class. - * - * - */ -/// template class MakePointer_ is added to convert the host pointer to the device pointer. -/// It is added due to the fact that for our device compiler T* is not allowed. -/// If we wanted to use the same Evaluator functions we have to convert that type to our pointer T. -/// This is done through our MakePointer_ class. By default the Type in the MakePointer_ is T* . -/// Therefore, by adding the default value, we managed to convert the type and it does not break any -/// existing code as its default value is T*. -namespace internal { -template -struct traits > -{ - // Type promotion to handle the case where the types of the lhs and the rhs are different. - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename traits::StorageKind StorageKind; - typedef typename traits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; - - enum { - Flags = 0 - }; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorForcedEvalOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorForcedEvalOp type; -}; - -} // end namespace internal - - - -template -class TensorForcedEvalOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorForcedEvalOp(const XprType& expr) - : m_xpr(expr) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; -}; - - -template -struct TensorEvaluator, Device> -{ - typedef TensorForcedEvalOp XprType; - typedef typename ArgType::Scalar Scalar; - typedef typename TensorEvaluator::Dimensions Dimensions; - typedef typename XprType::Index Index; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = true, - PacketAccess = (PacketSize > 1), - Layout = TensorEvaluator::Layout, - RawAccess = true - }; - - EIGEN_DEVICE_FUNC TensorEvaluator(const XprType& op, const Device& device) - /// op_ is used for sycl - : m_impl(op.expression(), device), m_op(op.expression()), m_device(device), m_buffer(NULL) - { } - - EIGEN_DEVICE_FUNC const Dimensions& dimensions() const { return m_impl.dimensions(); } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { - const Index numValues = internal::array_prod(m_impl.dimensions()); - m_buffer = (CoeffReturnType*)m_device.allocate(numValues * sizeof(CoeffReturnType)); - // Should initialize the memory in case we're dealing with non POD types. - if (NumTraits::RequireInitialization) { - for (Index i = 0; i < numValues; ++i) { - new(m_buffer+i) CoeffReturnType(); - } - } - typedef TensorEvalToOp< const typename internal::remove_const::type > EvalTo; - EvalTo evalToTmp(m_buffer, m_op); - const bool PacketAccess = internal::IsVectorizable::value; - internal::TensorExecutor::type, PacketAccess>::run(evalToTmp, m_device); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_device.deallocate(m_buffer); - m_buffer = NULL; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_buffer[index]; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return internal::ploadt(m_buffer + index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType* data() const { return m_buffer; } - - /// required by sycl in order to extract the sycl accessor - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const TensorEvaluator& impl() { return m_impl; } - /// used by sycl in order to build the sycl buffer - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Device& device() const{return m_device;} - private: - TensorEvaluator m_impl; - const ArgType m_op; - const Device& m_device; - CoeffReturnType* m_buffer; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_FORCED_EVAL_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h deleted file mode 100644 index 2e638992..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h +++ /dev/null @@ -1,121 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_FORWARD_DECLARATIONS_H -#define EIGEN_CXX11_TENSOR_TENSOR_FORWARD_DECLARATIONS_H - -namespace Eigen { - -// MakePointer class is used as a container of the adress space of the pointer -// on the host and on the device. From the host side it generates the T* pointer -// and when EIGEN_USE_SYCL is used it construct a buffer with a map_allocator to -// T* m_data on the host. It is always called on the device. -// Specialisation of MakePointer class for creating the sycl buffer with -// map_allocator. -template struct MakePointer { - typedef T* Type; - typedef T& RefType; -}; -#if defined(EIGEN_USE_SYCL) -namespace TensorSycl { -namespace internal{ -template class ReductionFunctor; -template -class FullReductionKernelFunctor; -} -} -#endif - - - -template class MakePointer_ = MakePointer> class TensorMap; -template class Tensor; -template class TensorFixedSize; -template class TensorRef; -template class TensorBase; - -template class TensorCwiseNullaryOp; -template class TensorCwiseUnaryOp; -template class TensorCwiseBinaryOp; -template class TensorCwiseTernaryOp; -template class TensorSelectOp; -template class MakePointer_ = MakePointer > class TensorReductionOp; -template class TensorIndexTupleOp; -template class TensorTupleReducerOp; -template class TensorConcatenationOp; -template class TensorContractionOp; -template class TensorConversionOp; -template class TensorConvolutionOp; -template class TensorFFTOp; -template class TensorPatchOp; -template class TensorImagePatchOp; -template class TensorVolumePatchOp; -template class TensorBroadcastingOp; -template class TensorChippingOp; -template class TensorReshapingOp; -template class TensorLayoutSwapOp; -template class TensorSlicingOp; -template class TensorReverseOp; -template class TensorPaddingOp; -template class TensorShufflingOp; -template class TensorStridingOp; -template class TensorStridingSlicingOp; -template class TensorInflationOp; -template class TensorGeneratorOp; -template class TensorAssignOp; -template class TensorScanOp; - -template class TensorCustomUnaryOp; -template class TensorCustomBinaryOp; - -template class MakePointer_ = MakePointer> class TensorEvalToOp; -template class TensorForcedEvalOp; - -template class TensorDevice; -template struct TensorEvaluator; - -struct DefaultDevice; -struct ThreadPoolDevice; -struct GpuDevice; -struct SyclDevice; - -enum FFTResultType { - RealPart = 0, - ImagPart = 1, - BothParts = 2 -}; - -enum FFTDirection { - FFT_FORWARD = 0, - FFT_REVERSE = 1 -}; - - -namespace internal { - -template -struct IsVectorizable { - static const bool value = TensorEvaluator::PacketAccess; -}; - -template -struct IsVectorizable { - static const bool value = TensorEvaluator::PacketAccess && - TensorEvaluator::IsAligned; -}; - -template ::value> -class TensorExecutor; - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_FORWARD_DECLARATIONS_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h deleted file mode 100644 index 3b4f8eda..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h +++ /dev/null @@ -1,489 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_FUNCTORS_H -#define EIGEN_CXX11_TENSOR_TENSOR_FUNCTORS_H - -namespace Eigen { -namespace internal { - - -/** \internal - * \brief Template functor to compute the modulo between an array and a scalar. - */ -template -struct scalar_mod_op { - EIGEN_DEVICE_FUNC scalar_mod_op(const Scalar& divisor) : m_divisor(divisor) {} - EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a % m_divisor; } - const Scalar m_divisor; -}; -template -struct functor_traits > -{ enum { Cost = scalar_div_cost::value, PacketAccess = false }; }; - - -/** \internal - * \brief Template functor to compute the modulo between 2 arrays. - */ -template -struct scalar_mod2_op { - EIGEN_EMPTY_STRUCT_CTOR(scalar_mod2_op) - EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a, const Scalar& b) const { return a % b; } -}; -template -struct functor_traits > -{ enum { Cost = scalar_div_cost::value, PacketAccess = false }; }; - -template -struct scalar_fmod_op { - EIGEN_EMPTY_STRUCT_CTOR(scalar_fmod_op) - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar - operator()(const Scalar& a, const Scalar& b) const { - return numext::fmod(a, b); - } -}; -template -struct functor_traits > { - enum { Cost = 13, // Reciprocal throughput of FPREM on Haswell. - PacketAccess = false }; -}; - - -/** \internal - * \brief Template functor to compute the sigmoid of a scalar - * \sa class CwiseUnaryOp, ArrayBase::sigmoid() - */ -template -struct scalar_sigmoid_op { - EIGEN_EMPTY_STRUCT_CTOR(scalar_sigmoid_op) - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T operator()(const T& x) const { - const T one = T(1); - return one / (one + numext::exp(-x)); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Packet packetOp(const Packet& x) const { - const Packet one = pset1(T(1)); - return pdiv(one, padd(one, pexp(pnegate(x)))); - } -}; - -template -struct functor_traits > { - enum { - Cost = NumTraits::AddCost * 2 + NumTraits::MulCost * 6, - PacketAccess = packet_traits::HasAdd && packet_traits::HasDiv && - packet_traits::HasNegate && packet_traits::HasExp - }; -}; - - -template -struct reducer_traits { - enum { - Cost = 1, - PacketAccess = false - }; -}; - -// Standard reduction functors -template struct SumReducer -{ - static const bool PacketAccess = packet_traits::HasAdd; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const { - internal::scalar_sum_op sum_op; - *accum = sum_op(*accum, t); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const { - (*accum) = padd(*accum, p); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - internal::scalar_cast_op conv; - return conv(0); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const { - return pset1(initialize()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const { - return accum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const { - return vaccum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const { - internal::scalar_sum_op sum_op; - return sum_op(saccum, predux(vaccum)); - } -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::AddCost, - PacketAccess = PacketType::HasAdd - }; -}; - - -template struct MeanReducer -{ - static const bool PacketAccess = packet_traits::HasAdd && !NumTraits::IsInteger; - static const bool IsStateful = true; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - MeanReducer() : scalarCount_(0), packetCount_(0) { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) { - internal::scalar_sum_op sum_op; - *accum = sum_op(*accum, t); - scalarCount_++; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) { - (*accum) = padd(*accum, p); - packetCount_++; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - internal::scalar_cast_op conv; - return conv(0); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const { - return pset1(initialize()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const { - return accum / scalarCount_; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const { - return pdiv(vaccum, pset1(packetCount_)); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const { - internal::scalar_sum_op sum_op; - return sum_op(saccum, predux(vaccum)) / (scalarCount_ + packetCount_ * unpacket_traits::size); - } - - protected: - DenseIndex scalarCount_; - DenseIndex packetCount_; -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::AddCost, - PacketAccess = PacketType::HasAdd - }; -}; - - -template -struct MinMaxBottomValue { - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() { - return Eigen::NumTraits::lowest(); - } -}; -template -struct MinMaxBottomValue { - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() { - return -Eigen::NumTraits::infinity(); - } -}; -template -struct MinMaxBottomValue { - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() { - return Eigen::NumTraits::highest(); - } -}; -template -struct MinMaxBottomValue { - EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T bottom_value() { - return Eigen::NumTraits::infinity(); - } -}; - - -template struct MaxReducer -{ - static const bool PacketAccess = packet_traits::HasMax; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const { - if (t > *accum) { *accum = t; } - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const { - (*accum) = pmax(*accum, p); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - return MinMaxBottomValue::IsInteger>::bottom_value(); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const { - return pset1(initialize()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const { - return accum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const { - return vaccum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const { - return numext::maxi(saccum, predux_max(vaccum)); - } -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::AddCost, - PacketAccess = PacketType::HasMax - }; -}; - - -template struct MinReducer -{ - static const bool PacketAccess = packet_traits::HasMin; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const { - if (t < *accum) { *accum = t; } - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const { - (*accum) = pmin(*accum, p); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - return MinMaxBottomValue::IsInteger>::bottom_value(); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const { - return pset1(initialize()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const { - return accum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const { - return vaccum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const { - return numext::mini(saccum, predux_min(vaccum)); - } -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::AddCost, - PacketAccess = PacketType::HasMin - }; -}; - - -template struct ProdReducer -{ - static const bool PacketAccess = packet_traits::HasMul; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const { - internal::scalar_product_op prod_op; - (*accum) = prod_op(*accum, t); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reducePacket(const Packet& p, Packet* accum) const { - (*accum) = pmul(*accum, p); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - internal::scalar_cast_op conv; - return conv(1); - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet initializePacket() const { - return pset1(initialize()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T accum) const { - return accum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet finalizePacket(const Packet& vaccum) const { - return vaccum; - } - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalizeBoth(const T saccum, const Packet& vaccum) const { - internal::scalar_product_op prod_op; - return prod_op(saccum, predux_mul(vaccum)); - } -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::MulCost, - PacketAccess = PacketType::HasMul - }; -}; - - -struct AndReducer -{ - static const bool PacketAccess = false; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(bool t, bool* accum) const { - *accum = *accum && t; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool initialize() const { - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool finalize(bool accum) const { - return accum; - } -}; - -template -struct reducer_traits { - enum { - Cost = 1, - PacketAccess = false - }; -}; - - -struct OrReducer { - static const bool PacketAccess = false; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(bool t, bool* accum) const { - *accum = *accum || t; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool initialize() const { - return false; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool finalize(bool accum) const { - return accum; - } -}; - -template -struct reducer_traits { - enum { - Cost = 1, - PacketAccess = false - }; -}; - - -// Argmin/Argmax reducers -template struct ArgMaxTupleReducer -{ - static const bool PacketAccess = false; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T t, T* accum) const { - if (t.second > accum->second) { *accum = t; } - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - return T(0, NumTraits::lowest()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T& accum) const { - return accum; - } -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::AddCost, - PacketAccess = false - }; -}; - - -template struct ArgMinTupleReducer -{ - static const bool PacketAccess = false; - static const bool IsStateful = false; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const T& t, T* accum) const { - if (t.second < accum->second) { *accum = t; } - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T initialize() const { - return T(0, NumTraits::highest()); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T finalize(const T& accum) const { - return accum; - } -}; - -template -struct reducer_traits, Device> { - enum { - Cost = NumTraits::AddCost, - PacketAccess = false - }; -}; - - -template -class GaussianGenerator { - public: - static const bool PacketAccess = false; - - EIGEN_DEVICE_FUNC GaussianGenerator(const array& means, - const array& std_devs) - : m_means(means) - { - for (size_t i = 0; i < NumDims; ++i) { - m_two_sigmas[i] = std_devs[i] * std_devs[i] * 2; - } - } - - EIGEN_DEVICE_FUNC T operator()(const array& coordinates) const { - T tmp = T(0); - for (size_t i = 0; i < NumDims; ++i) { - T offset = coordinates[i] - m_means[i]; - tmp += offset * offset / m_two_sigmas[i]; - } - return numext::exp(-tmp); - } - - private: - array m_means; - array m_two_sigmas; -}; - -template -struct functor_traits > { - enum { - Cost = NumDims * (2 * NumTraits::AddCost + NumTraits::MulCost + - functor_traits >::Cost) + - functor_traits >::Cost, - PacketAccess = GaussianGenerator::PacketAccess - }; -}; - -} // end namespace internal -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_FUNCTORS_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h deleted file mode 100644 index eb1d4934..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h +++ /dev/null @@ -1,185 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_GENERATOR_H -#define EIGEN_CXX11_TENSOR_TENSOR_GENERATOR_H - -namespace Eigen { - -/** \class TensorGenerator - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor generator class. - * - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorGeneratorOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorGeneratorOp type; -}; - -} // end namespace internal - - - -template -class TensorGeneratorOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorGeneratorOp(const XprType& expr, const Generator& generator) - : m_xpr(expr), m_generator(generator) {} - - EIGEN_DEVICE_FUNC - const Generator& generator() const { return m_generator; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const Generator m_generator; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorGeneratorOp XprType; - typedef typename XprType::Index Index; - typedef typename TensorEvaluator::Dimensions Dimensions; - static const int NumDims = internal::array_size::value; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - enum { - IsAligned = false, - PacketAccess = (internal::unpacket_traits::size > 1), - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_generator(op.generator()) - { - TensorEvaluator impl(op.expression(), device); - m_dimensions = impl.dimensions(); - - if (static_cast(Layout) == static_cast(ColMajor)) { - m_strides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_strides[i] = m_strides[i - 1] * m_dimensions[i - 1]; - } - } else { - m_strides[NumDims - 1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_strides[i] = m_strides[i + 1] * m_dimensions[i + 1]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - array coords; - extract_coordinates(index, coords); - return m_generator(coords); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - const int packetSize = internal::unpacket_traits::size; - EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+packetSize-1 < dimensions().TotalSize()); - - EIGEN_ALIGN_MAX typename internal::remove_const::type values[packetSize]; - for (int i = 0; i < packetSize; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool) const { - // TODO(rmlarsen): This is just a placeholder. Define interface to make - // generators return their cost. - return TensorOpCost(0, 0, TensorOpCost::AddCost() + - TensorOpCost::MulCost()); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - protected: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void extract_coordinates(Index index, array& coords) const { - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_strides[i]; - index -= idx * m_strides[i]; - coords[i] = idx; - } - coords[0] = index; - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_strides[i]; - index -= idx * m_strides[i]; - coords[i] = idx; - } - coords[NumDims-1] = index; - } - } - - Dimensions m_dimensions; - array m_strides; - Generator m_generator; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_GENERATOR_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h deleted file mode 100644 index 665b861c..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h +++ /dev/null @@ -1,33 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Eugene Brevdo -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_GLOBAL_FUNCTIONS_H -#define EIGEN_CXX11_TENSOR_TENSOR_GLOBAL_FUNCTIONS_H - -namespace Eigen { - -/** \cpp11 \returns an expression of the coefficient-wise betainc(\a x, \a a, \a b) to the given tensors. - * - * This function computes the regularized incomplete beta function (integral). - * - */ -template -EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const - TensorCwiseTernaryOp, - const ADerived, const BDerived, const XDerived> - betainc(const ADerived& a, const BDerived& b, const XDerived& x) { - return TensorCwiseTernaryOp< - internal::scalar_betainc_op, const ADerived, - const BDerived, const XDerived>( - a, b, x, internal::scalar_betainc_op()); -} - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_GLOBAL_FUNCTIONS_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h deleted file mode 100644 index a901c5dd..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h +++ /dev/null @@ -1,79 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_IO_H -#define EIGEN_CXX11_TENSOR_TENSOR_IO_H - -namespace Eigen { - -namespace internal { - -// Print the tensor as a 2d matrix -template -struct TensorPrinter { - static void run (std::ostream& os, const Tensor& tensor) { - typedef typename internal::remove_const::type Scalar; - typedef typename Tensor::Index Index; - const Index total_size = internal::array_prod(tensor.dimensions()); - if (total_size > 0) { - const Index first_dim = Eigen::internal::array_get<0>(tensor.dimensions()); - static const int layout = Tensor::Layout; - Map > matrix(const_cast(tensor.data()), first_dim, total_size/first_dim); - os << matrix; - } - } -}; - - -// Print the tensor as a vector -template -struct TensorPrinter { - static void run (std::ostream& os, const Tensor& tensor) { - typedef typename internal::remove_const::type Scalar; - typedef typename Tensor::Index Index; - const Index total_size = internal::array_prod(tensor.dimensions()); - if (total_size > 0) { - Map > array(const_cast(tensor.data()), total_size); - os << array; - } - } -}; - - -// Print the tensor as a scalar -template -struct TensorPrinter { - static void run (std::ostream& os, const Tensor& tensor) { - os << tensor.coeff(0); - } -}; -} - -template -std::ostream& operator << (std::ostream& os, const TensorBase& expr) { - typedef TensorEvaluator, DefaultDevice> Evaluator; - typedef typename Evaluator::Dimensions Dimensions; - - // Evaluate the expression if needed - TensorForcedEvalOp eval = expr.eval(); - Evaluator tensor(eval, DefaultDevice()); - tensor.evalSubExprsIfNeeded(NULL); - - // Print the result - static const int rank = internal::array_size::value; - internal::TensorPrinter::run(os, tensor); - - // Cleanup. - tensor.cleanup(); - return os; -} - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_IO_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h deleted file mode 100644 index 566856ed..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h +++ /dev/null @@ -1,509 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_IMAGE_PATCH_H -#define EIGEN_CXX11_TENSOR_TENSOR_IMAGE_PATCH_H - -namespace Eigen { - -/** \class TensorImagePatch - * \ingroup CXX11_Tensor_Module - * - * \brief Patch extraction specialized for image processing. - * This assumes that the input has a least 3 dimensions ordered as follow: - * 1st dimension: channels (of size d) - * 2nd dimension: rows (of size r) - * 3rd dimension: columns (of size c) - * There can be additional dimensions such as time (for video) or batch (for - * bulk processing after the first 3. - * Calling the image patch code with patch_rows and patch_cols is equivalent - * to calling the regular patch extraction code with parameters d, patch_rows, - * patch_cols, and 1 for all the additional dimensions. - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename internal::remove_const::type Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions + 1; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorImagePatchOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorImagePatchOp type; -}; - -} // end namespace internal - -template -class TensorImagePatchOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorImagePatchOp(const XprType& expr, DenseIndex patch_rows, DenseIndex patch_cols, - DenseIndex row_strides, DenseIndex col_strides, - DenseIndex in_row_strides, DenseIndex in_col_strides, - DenseIndex row_inflate_strides, DenseIndex col_inflate_strides, - PaddingType padding_type, Scalar padding_value) - : m_xpr(expr), m_patch_rows(patch_rows), m_patch_cols(patch_cols), - m_row_strides(row_strides), m_col_strides(col_strides), - m_in_row_strides(in_row_strides), m_in_col_strides(in_col_strides), - m_row_inflate_strides(row_inflate_strides), m_col_inflate_strides(col_inflate_strides), - m_padding_explicit(false), m_padding_top(0), m_padding_bottom(0), m_padding_left(0), m_padding_right(0), - m_padding_type(padding_type), m_padding_value(padding_value) {} - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorImagePatchOp(const XprType& expr, DenseIndex patch_rows, DenseIndex patch_cols, - DenseIndex row_strides, DenseIndex col_strides, - DenseIndex in_row_strides, DenseIndex in_col_strides, - DenseIndex row_inflate_strides, DenseIndex col_inflate_strides, - DenseIndex padding_top, DenseIndex padding_bottom, - DenseIndex padding_left, DenseIndex padding_right, - Scalar padding_value) - : m_xpr(expr), m_patch_rows(patch_rows), m_patch_cols(patch_cols), - m_row_strides(row_strides), m_col_strides(col_strides), - m_in_row_strides(in_row_strides), m_in_col_strides(in_col_strides), - m_row_inflate_strides(row_inflate_strides), m_col_inflate_strides(col_inflate_strides), - m_padding_explicit(true), m_padding_top(padding_top), m_padding_bottom(padding_bottom), - m_padding_left(padding_left), m_padding_right(padding_right), - m_padding_type(PADDING_VALID), m_padding_value(padding_value) {} - - EIGEN_DEVICE_FUNC - DenseIndex patch_rows() const { return m_patch_rows; } - EIGEN_DEVICE_FUNC - DenseIndex patch_cols() const { return m_patch_cols; } - EIGEN_DEVICE_FUNC - DenseIndex row_strides() const { return m_row_strides; } - EIGEN_DEVICE_FUNC - DenseIndex col_strides() const { return m_col_strides; } - EIGEN_DEVICE_FUNC - DenseIndex in_row_strides() const { return m_in_row_strides; } - EIGEN_DEVICE_FUNC - DenseIndex in_col_strides() const { return m_in_col_strides; } - EIGEN_DEVICE_FUNC - DenseIndex row_inflate_strides() const { return m_row_inflate_strides; } - EIGEN_DEVICE_FUNC - DenseIndex col_inflate_strides() const { return m_col_inflate_strides; } - EIGEN_DEVICE_FUNC - bool padding_explicit() const { return m_padding_explicit; } - EIGEN_DEVICE_FUNC - DenseIndex padding_top() const { return m_padding_top; } - EIGEN_DEVICE_FUNC - DenseIndex padding_bottom() const { return m_padding_bottom; } - EIGEN_DEVICE_FUNC - DenseIndex padding_left() const { return m_padding_left; } - EIGEN_DEVICE_FUNC - DenseIndex padding_right() const { return m_padding_right; } - EIGEN_DEVICE_FUNC - PaddingType padding_type() const { return m_padding_type; } - EIGEN_DEVICE_FUNC - Scalar padding_value() const { return m_padding_value; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const DenseIndex m_patch_rows; - const DenseIndex m_patch_cols; - const DenseIndex m_row_strides; - const DenseIndex m_col_strides; - const DenseIndex m_in_row_strides; - const DenseIndex m_in_col_strides; - const DenseIndex m_row_inflate_strides; - const DenseIndex m_col_inflate_strides; - const bool m_padding_explicit; - const DenseIndex m_padding_top; - const DenseIndex m_padding_bottom; - const DenseIndex m_padding_left; - const DenseIndex m_padding_right; - const PaddingType m_padding_type; - const Scalar m_padding_value; -}; - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorImagePatchOp XprType; - typedef typename XprType::Index Index; - static const int NumInputDims = internal::array_size::Dimensions>::value; - static const int NumDims = NumInputDims + 1; - typedef DSizes Dimensions; - typedef typename internal::remove_const::type Scalar; - typedef TensorEvaluator, - Device> Self; - typedef TensorEvaluator Impl; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device) - { - EIGEN_STATIC_ASSERT((NumDims >= 4), YOU_MADE_A_PROGRAMMING_MISTAKE); - - m_paddingValue = op.padding_value(); - - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - - // Caches a few variables. - if (static_cast(Layout) == static_cast(ColMajor)) { - m_inputDepth = input_dims[0]; - m_inputRows = input_dims[1]; - m_inputCols = input_dims[2]; - } else { - m_inputDepth = input_dims[NumInputDims-1]; - m_inputRows = input_dims[NumInputDims-2]; - m_inputCols = input_dims[NumInputDims-3]; - } - - m_row_strides = op.row_strides(); - m_col_strides = op.col_strides(); - - // Input strides and effective input/patch size - m_in_row_strides = op.in_row_strides(); - m_in_col_strides = op.in_col_strides(); - m_row_inflate_strides = op.row_inflate_strides(); - m_col_inflate_strides = op.col_inflate_strides(); - // The "effective" input rows and input cols are the input rows and cols - // after inflating them with zeros. - // For examples, a 2x3 matrix with row_inflate_strides and - // col_inflate_strides of 2 comes from: - // A B C - // D E F - // - // to a matrix is 3 x 5: - // - // A . B . C - // . . . . . - // D . E . F - - m_input_rows_eff = (m_inputRows - 1) * m_row_inflate_strides + 1; - m_input_cols_eff = (m_inputCols - 1) * m_col_inflate_strides + 1; - m_patch_rows_eff = op.patch_rows() + (op.patch_rows() - 1) * (m_in_row_strides - 1); - m_patch_cols_eff = op.patch_cols() + (op.patch_cols() - 1) * (m_in_col_strides - 1); - - if (op.padding_explicit()) { - m_outputRows = numext::ceil((m_input_rows_eff + op.padding_top() + op.padding_bottom() - m_patch_rows_eff + 1.f) / static_cast(m_row_strides)); - m_outputCols = numext::ceil((m_input_cols_eff + op.padding_left() + op.padding_right() - m_patch_cols_eff + 1.f) / static_cast(m_col_strides)); - m_rowPaddingTop = op.padding_top(); - m_colPaddingLeft = op.padding_left(); - } else { - // Computing padding from the type - switch (op.padding_type()) { - case PADDING_VALID: - m_outputRows = numext::ceil((m_input_rows_eff - m_patch_rows_eff + 1.f) / static_cast(m_row_strides)); - m_outputCols = numext::ceil((m_input_cols_eff - m_patch_cols_eff + 1.f) / static_cast(m_col_strides)); - // Calculate the padding - m_rowPaddingTop = numext::maxi(0, ((m_outputRows - 1) * m_row_strides + m_patch_rows_eff - m_input_rows_eff) / 2); - m_colPaddingLeft = numext::maxi(0, ((m_outputCols - 1) * m_col_strides + m_patch_cols_eff - m_input_cols_eff) / 2); - break; - case PADDING_SAME: - m_outputRows = numext::ceil(m_input_rows_eff / static_cast(m_row_strides)); - m_outputCols = numext::ceil(m_input_cols_eff / static_cast(m_col_strides)); - // Calculate the padding - m_rowPaddingTop = ((m_outputRows - 1) * m_row_strides + m_patch_rows_eff - m_input_rows_eff) / 2; - m_colPaddingLeft = ((m_outputCols - 1) * m_col_strides + m_patch_cols_eff - m_input_cols_eff) / 2; - break; - default: - eigen_assert(false && "unexpected padding"); - } - } - eigen_assert(m_outputRows > 0); - eigen_assert(m_outputCols > 0); - - // Dimensions for result of extraction. - if (static_cast(Layout) == static_cast(ColMajor)) { - // ColMajor - // 0: depth - // 1: patch_rows - // 2: patch_cols - // 3: number of patches - // 4 and beyond: anything else (such as batch). - m_dimensions[0] = input_dims[0]; - m_dimensions[1] = op.patch_rows(); - m_dimensions[2] = op.patch_cols(); - m_dimensions[3] = m_outputRows * m_outputCols; - for (int i = 4; i < NumDims; ++i) { - m_dimensions[i] = input_dims[i-1]; - } - } else { - // RowMajor - // NumDims-1: depth - // NumDims-2: patch_rows - // NumDims-3: patch_cols - // NumDims-4: number of patches - // NumDims-5 and beyond: anything else (such as batch). - m_dimensions[NumDims-1] = input_dims[NumInputDims-1]; - m_dimensions[NumDims-2] = op.patch_rows(); - m_dimensions[NumDims-3] = op.patch_cols(); - m_dimensions[NumDims-4] = m_outputRows * m_outputCols; - for (int i = NumDims-5; i >= 0; --i) { - m_dimensions[i] = input_dims[i]; - } - } - - // Strides for moving the patch in various dimensions. - if (static_cast(Layout) == static_cast(ColMajor)) { - m_colStride = m_dimensions[1]; - m_patchStride = m_colStride * m_dimensions[2] * m_dimensions[0]; - m_otherStride = m_patchStride * m_dimensions[3]; - } else { - m_colStride = m_dimensions[NumDims-2]; - m_patchStride = m_colStride * m_dimensions[NumDims-3] * m_dimensions[NumDims-1]; - m_otherStride = m_patchStride * m_dimensions[NumDims-4]; - } - - // Strides for navigating through the input tensor. - m_rowInputStride = m_inputDepth; - m_colInputStride = m_inputDepth * m_inputRows; - m_patchInputStride = m_inputDepth * m_inputRows * m_inputCols; - - // Fast representations of different variables. - m_fastOtherStride = internal::TensorIntDivisor(m_otherStride); - m_fastPatchStride = internal::TensorIntDivisor(m_patchStride); - m_fastColStride = internal::TensorIntDivisor(m_colStride); - m_fastInflateRowStride = internal::TensorIntDivisor(m_row_inflate_strides); - m_fastInflateColStride = internal::TensorIntDivisor(m_col_inflate_strides); - m_fastInputColsEff = internal::TensorIntDivisor(m_input_cols_eff); - - // Number of patches in the width dimension. - m_fastOutputRows = internal::TensorIntDivisor(m_outputRows); - if (static_cast(Layout) == static_cast(ColMajor)) { - m_fastOutputDepth = internal::TensorIntDivisor(m_dimensions[0]); - } else { - m_fastOutputDepth = internal::TensorIntDivisor(m_dimensions[NumDims-1]); - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - // Patch index corresponding to the passed in index. - const Index patchIndex = index / m_fastPatchStride; - // Find the offset of the element wrt the location of the first element. - const Index patchOffset = (index - patchIndex * m_patchStride) / m_fastOutputDepth; - - // Other ways to index this element. - const Index otherIndex = (NumDims == 4) ? 0 : index / m_fastOtherStride; - const Index patch2DIndex = (NumDims == 4) ? patchIndex : (index - otherIndex * m_otherStride) / m_fastPatchStride; - - // Calculate col index in the input original tensor. - const Index colIndex = patch2DIndex / m_fastOutputRows; - const Index colOffset = patchOffset / m_fastColStride; - const Index inputCol = colIndex * m_col_strides + colOffset * m_in_col_strides - m_colPaddingLeft; - const Index origInputCol = (m_col_inflate_strides == 1) ? inputCol : ((inputCol >= 0) ? (inputCol / m_fastInflateColStride) : 0); - if (inputCol < 0 || inputCol >= m_input_cols_eff || - ((m_col_inflate_strides != 1) && (inputCol != origInputCol * m_col_inflate_strides))) { - return Scalar(m_paddingValue); - } - - // Calculate row index in the original input tensor. - const Index rowIndex = patch2DIndex - colIndex * m_outputRows; - const Index rowOffset = patchOffset - colOffset * m_colStride; - const Index inputRow = rowIndex * m_row_strides + rowOffset * m_in_row_strides - m_rowPaddingTop; - const Index origInputRow = (m_row_inflate_strides == 1) ? inputRow : ((inputRow >= 0) ? (inputRow / m_fastInflateRowStride) : 0); - if (inputRow < 0 || inputRow >= m_input_rows_eff || - ((m_row_inflate_strides != 1) && (inputRow != origInputRow * m_row_inflate_strides))) { - return Scalar(m_paddingValue); - } - - const int depth_index = static_cast(Layout) == static_cast(ColMajor) ? 0 : NumDims - 1; - const Index depth = index - (index / m_fastOutputDepth) * m_dimensions[depth_index]; - - const Index inputIndex = depth + origInputRow * m_rowInputStride + origInputCol * m_colInputStride + otherIndex * m_patchInputStride; - return m_impl.coeff(inputIndex); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - if (m_in_row_strides != 1 || m_in_col_strides != 1 || m_row_inflate_strides != 1 || m_col_inflate_strides != 1) { - return packetWithPossibleZero(index); - } - - const Index indices[2] = {index, index + PacketSize - 1}; - const Index patchIndex = indices[0] / m_fastPatchStride; - if (patchIndex != indices[1] / m_fastPatchStride) { - return packetWithPossibleZero(index); - } - const Index otherIndex = (NumDims == 4) ? 0 : indices[0] / m_fastOtherStride; - eigen_assert(otherIndex == indices[1] / m_fastOtherStride); - - // Find the offset of the element wrt the location of the first element. - const Index patchOffsets[2] = {(indices[0] - patchIndex * m_patchStride) / m_fastOutputDepth, - (indices[1] - patchIndex * m_patchStride) / m_fastOutputDepth}; - - const Index patch2DIndex = (NumDims == 4) ? patchIndex : (indices[0] - otherIndex * m_otherStride) / m_fastPatchStride; - eigen_assert(patch2DIndex == (indices[1] - otherIndex * m_otherStride) / m_fastPatchStride); - - const Index colIndex = patch2DIndex / m_fastOutputRows; - const Index colOffsets[2] = {patchOffsets[0] / m_fastColStride, patchOffsets[1] / m_fastColStride}; - - // Calculate col indices in the original input tensor. - const Index inputCols[2] = {colIndex * m_col_strides + colOffsets[0] - - m_colPaddingLeft, colIndex * m_col_strides + colOffsets[1] - m_colPaddingLeft}; - if (inputCols[1] < 0 || inputCols[0] >= m_inputCols) { - return internal::pset1(Scalar(m_paddingValue)); - } - - if (inputCols[0] == inputCols[1]) { - const Index rowIndex = patch2DIndex - colIndex * m_outputRows; - const Index rowOffsets[2] = {patchOffsets[0] - colOffsets[0]*m_colStride, patchOffsets[1] - colOffsets[1]*m_colStride}; - eigen_assert(rowOffsets[0] <= rowOffsets[1]); - // Calculate col indices in the original input tensor. - const Index inputRows[2] = {rowIndex * m_row_strides + rowOffsets[0] - - m_rowPaddingTop, rowIndex * m_row_strides + rowOffsets[1] - m_rowPaddingTop}; - - if (inputRows[1] < 0 || inputRows[0] >= m_inputRows) { - return internal::pset1(Scalar(m_paddingValue)); - } - - if (inputRows[0] >= 0 && inputRows[1] < m_inputRows) { - // no padding - const int depth_index = static_cast(Layout) == static_cast(ColMajor) ? 0 : NumDims - 1; - const Index depth = index - (index / m_fastOutputDepth) * m_dimensions[depth_index]; - const Index inputIndex = depth + inputRows[0] * m_rowInputStride + inputCols[0] * m_colInputStride + otherIndex * m_patchInputStride; - return m_impl.template packet(inputIndex); - } - } - - return packetWithPossibleZero(index); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - const TensorEvaluator& impl() const { return m_impl; } - - Index rowPaddingTop() const { return m_rowPaddingTop; } - Index colPaddingLeft() const { return m_colPaddingLeft; } - Index outputRows() const { return m_outputRows; } - Index outputCols() const { return m_outputCols; } - Index userRowStride() const { return m_row_strides; } - Index userColStride() const { return m_col_strides; } - Index userInRowStride() const { return m_in_row_strides; } - Index userInColStride() const { return m_in_col_strides; } - Index rowInflateStride() const { return m_row_inflate_strides; } - Index colInflateStride() const { return m_col_inflate_strides; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost - costPerCoeff(bool vectorized) const { - // We conservatively estimate the cost for the code path where the computed - // index is inside the original image and - // TensorEvaluator::CoordAccess is false. - const double compute_cost = 3 * TensorOpCost::DivCost() + - 6 * TensorOpCost::MulCost() + - 8 * TensorOpCost::MulCost(); - return m_impl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, compute_cost, vectorized, PacketSize); - } - - protected: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetWithPossibleZero(Index index) const - { - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - for (int i = 0; i < PacketSize; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - - Dimensions m_dimensions; - - Index m_otherStride; - Index m_patchStride; - Index m_colStride; - Index m_row_strides; - Index m_col_strides; - - Index m_in_row_strides; - Index m_in_col_strides; - Index m_row_inflate_strides; - Index m_col_inflate_strides; - - Index m_input_rows_eff; - Index m_input_cols_eff; - Index m_patch_rows_eff; - Index m_patch_cols_eff; - - internal::TensorIntDivisor m_fastOtherStride; - internal::TensorIntDivisor m_fastPatchStride; - internal::TensorIntDivisor m_fastColStride; - internal::TensorIntDivisor m_fastInflateRowStride; - internal::TensorIntDivisor m_fastInflateColStride; - internal::TensorIntDivisor m_fastInputColsEff; - - Index m_rowInputStride; - Index m_colInputStride; - Index m_patchInputStride; - - Index m_inputDepth; - Index m_inputRows; - Index m_inputCols; - - Index m_outputRows; - Index m_outputCols; - - Index m_rowPaddingTop; - Index m_colPaddingLeft; - - internal::TensorIntDivisor m_fastOutputRows; - internal::TensorIntDivisor m_fastOutputDepth; - - Scalar m_paddingValue; - - TensorEvaluator m_impl; -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_IMAGE_PATCH_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h deleted file mode 100644 index 3209fecd..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h +++ /dev/null @@ -1,725 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_INDEX_LIST_H -#define EIGEN_CXX11_TENSOR_TENSOR_INDEX_LIST_H - - -#if EIGEN_HAS_CONSTEXPR && EIGEN_HAS_VARIADIC_TEMPLATES - -#define EIGEN_HAS_INDEX_LIST - -namespace Eigen { - -/** \internal - * - * \class TensorIndexList - * \ingroup CXX11_Tensor_Module - * - * \brief Set of classes used to encode a set of Tensor dimensions/indices. - * - * The indices in the list can be known at compile time or at runtime. A mix - * of static and dynamic indices can also be provided if needed. The tensor - * code will attempt to take advantage of the indices that are known at - * compile time to optimize the code it generates. - * - * This functionality requires a c++11 compliant compiler. If your compiler - * is older you need to use arrays of indices instead. - * - * Several examples are provided in the cxx11_tensor_index_list.cpp file. - * - * \sa Tensor - */ - -template -struct type2index { - static const DenseIndex value = n; - EIGEN_DEVICE_FUNC constexpr operator DenseIndex() const { return n; } - EIGEN_DEVICE_FUNC void set(DenseIndex val) { - eigen_assert(val == n); - } -}; - -// This can be used with IndexPairList to get compile-time constant pairs, -// such as IndexPairList, type2indexpair<3,4>>(). -template -struct type2indexpair { - static const DenseIndex first = f; - static const DenseIndex second = s; - - constexpr EIGEN_DEVICE_FUNC operator IndexPair() const { - return IndexPair(f, s); - } - - EIGEN_DEVICE_FUNC void set(const IndexPair& val) { - eigen_assert(val.first == f); - eigen_assert(val.second == s); - } -}; - - -template struct NumTraits > -{ - typedef DenseIndex Real; - enum { - IsComplex = 0, - RequireInitialization = false, - ReadCost = 1, - AddCost = 1, - MulCost = 1 - }; - - EIGEN_DEVICE_FUNC static inline Real epsilon() { return 0; } - EIGEN_DEVICE_FUNC static inline Real dummy_precision() { return 0; } - EIGEN_DEVICE_FUNC static inline Real highest() { return n; } - EIGEN_DEVICE_FUNC static inline Real lowest() { return n; } -}; - -namespace internal { -template -EIGEN_DEVICE_FUNC void update_value(T& val, DenseIndex new_val) { - val = new_val; -} -template -EIGEN_DEVICE_FUNC void update_value(type2index& val, DenseIndex new_val) { - val.set(new_val); -} - -template -EIGEN_DEVICE_FUNC void update_value(T& val, IndexPair new_val) { - val = new_val; -} -template -EIGEN_DEVICE_FUNC void update_value(type2indexpair& val, IndexPair new_val) { - val.set(new_val); -} - - -template -struct is_compile_time_constant { - static constexpr bool value = false; -}; - -template -struct is_compile_time_constant > { - static constexpr bool value = true; -}; -template -struct is_compile_time_constant > { - static constexpr bool value = true; -}; -template -struct is_compile_time_constant& > { - static constexpr bool value = true; -}; -template -struct is_compile_time_constant& > { - static constexpr bool value = true; -}; - -template -struct is_compile_time_constant > { - static constexpr bool value = true; -}; -template -struct is_compile_time_constant > { - static constexpr bool value = true; -}; -template -struct is_compile_time_constant& > { - static constexpr bool value = true; -}; -template -struct is_compile_time_constant& > { - static constexpr bool value = true; -}; - - -template -struct IndexTuple; - -template -struct IndexTuple { - EIGEN_DEVICE_FUNC constexpr IndexTuple() : head(), others() { } - EIGEN_DEVICE_FUNC constexpr IndexTuple(const T& v, const O... o) : head(v), others(o...) { } - - constexpr static int count = 1 + sizeof...(O); - T head; - IndexTuple others; - typedef T Head; - typedef IndexTuple Other; -}; - -template - struct IndexTuple { - EIGEN_DEVICE_FUNC constexpr IndexTuple() : head() { } - EIGEN_DEVICE_FUNC constexpr IndexTuple(const T& v) : head(v) { } - - constexpr static int count = 1; - T head; - typedef T Head; -}; - - -template -struct IndexTupleExtractor; - -template -struct IndexTupleExtractor { - - typedef typename IndexTupleExtractor::ValType ValType; - - EIGEN_DEVICE_FUNC static constexpr ValType& get_val(IndexTuple& val) { - return IndexTupleExtractor::get_val(val.others); - } - - EIGEN_DEVICE_FUNC static constexpr const ValType& get_val(const IndexTuple& val) { - return IndexTupleExtractor::get_val(val.others); - } - template - EIGEN_DEVICE_FUNC static void set_val(IndexTuple& val, V& new_val) { - IndexTupleExtractor::set_val(val.others, new_val); - } - -}; - -template - struct IndexTupleExtractor<0, T, O...> { - - typedef T ValType; - - EIGEN_DEVICE_FUNC static constexpr ValType& get_val(IndexTuple& val) { - return val.head; - } - EIGEN_DEVICE_FUNC static constexpr const ValType& get_val(const IndexTuple& val) { - return val.head; - } - template - EIGEN_DEVICE_FUNC static void set_val(IndexTuple& val, V& new_val) { - val.head = new_val; - } -}; - - - -template -EIGEN_DEVICE_FUNC constexpr typename IndexTupleExtractor::ValType& array_get(IndexTuple& tuple) { - return IndexTupleExtractor::get_val(tuple); -} -template -EIGEN_DEVICE_FUNC constexpr const typename IndexTupleExtractor::ValType& array_get(const IndexTuple& tuple) { - return IndexTupleExtractor::get_val(tuple); -} -template - struct array_size > { - static const size_t value = IndexTuple::count; -}; -template - struct array_size > { - static const size_t value = IndexTuple::count; -}; - - - - -template -struct tuple_coeff { - template - EIGEN_DEVICE_FUNC static constexpr ValueT get(const DenseIndex i, const IndexTuple& t) { - // return array_get(t) * (i == Idx) + tuple_coeff::get(i, t) * (i != Idx); - return (i == Idx ? array_get(t) : tuple_coeff::get(i, t)); - } - template - EIGEN_DEVICE_FUNC static void set(const DenseIndex i, IndexTuple& t, const ValueT& value) { - if (i == Idx) { - update_value(array_get(t), value); - } else { - tuple_coeff::set(i, t, value); - } - } - - template - EIGEN_DEVICE_FUNC static constexpr bool value_known_statically(const DenseIndex i, const IndexTuple& t) { - return ((i == Idx) & is_compile_time_constant::ValType>::value) || - tuple_coeff::value_known_statically(i, t); - } - - template - EIGEN_DEVICE_FUNC static constexpr bool values_up_to_known_statically(const IndexTuple& t) { - return is_compile_time_constant::ValType>::value && - tuple_coeff::values_up_to_known_statically(t); - } - - template - EIGEN_DEVICE_FUNC static constexpr bool values_up_to_statically_known_to_increase(const IndexTuple& t) { - return is_compile_time_constant::ValType>::value && - is_compile_time_constant::ValType>::value && - array_get(t) > array_get(t) && - tuple_coeff::values_up_to_statically_known_to_increase(t); - } -}; - -template -struct tuple_coeff<0, ValueT> { - template - EIGEN_DEVICE_FUNC static constexpr ValueT get(const DenseIndex /*i*/, const IndexTuple& t) { - // eigen_assert (i == 0); // gcc fails to compile assertions in constexpr - return array_get<0>(t)/* * (i == 0)*/; - } - template - EIGEN_DEVICE_FUNC static void set(const DenseIndex i, IndexTuple& t, const ValueT value) { - eigen_assert (i == 0); - update_value(array_get<0>(t), value); - } - template - EIGEN_DEVICE_FUNC static constexpr bool value_known_statically(const DenseIndex i, const IndexTuple&) { - return is_compile_time_constant::ValType>::value & (i == 0); - } - - template - EIGEN_DEVICE_FUNC static constexpr bool values_up_to_known_statically(const IndexTuple&) { - return is_compile_time_constant::ValType>::value; - } - - template - EIGEN_DEVICE_FUNC static constexpr bool values_up_to_statically_known_to_increase(const IndexTuple&) { - return true; - } -}; -} // namespace internal - - - -template -struct IndexList : internal::IndexTuple { - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr DenseIndex operator[] (const DenseIndex i) const { - return internal::tuple_coeff >::value-1, DenseIndex>::get(i, *this); - } - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr DenseIndex get(const DenseIndex i) const { - return internal::tuple_coeff >::value-1, DenseIndex>::get(i, *this); - } - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC void set(const DenseIndex i, const DenseIndex value) { - return internal::tuple_coeff >::value-1, DenseIndex>::set(i, *this, value); - } - - EIGEN_DEVICE_FUNC constexpr IndexList(const internal::IndexTuple& other) : internal::IndexTuple(other) { } - EIGEN_DEVICE_FUNC constexpr IndexList(FirstType& first, OtherTypes... other) : internal::IndexTuple(first, other...) { } - EIGEN_DEVICE_FUNC constexpr IndexList() : internal::IndexTuple() { } - - EIGEN_DEVICE_FUNC constexpr bool value_known_statically(const DenseIndex i) const { - return internal::tuple_coeff >::value-1, DenseIndex>::value_known_statically(i, *this); - } - EIGEN_DEVICE_FUNC constexpr bool all_values_known_statically() const { - return internal::tuple_coeff >::value-1, DenseIndex>::values_up_to_known_statically(*this); - } - - EIGEN_DEVICE_FUNC constexpr bool values_statically_known_to_increase() const { - return internal::tuple_coeff >::value-1, DenseIndex>::values_up_to_statically_known_to_increase(*this); - } -}; - - -template -constexpr IndexList make_index_list(FirstType val1, OtherTypes... other_vals) { - return IndexList(val1, other_vals...); -} - - -template -struct IndexPairList : internal::IndexTuple { - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC constexpr IndexPair operator[] (const DenseIndex i) const { - return internal::tuple_coeff >::value-1, IndexPair>::get(i, *this); - } - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC void set(const DenseIndex i, const IndexPair value) { - return internal::tuple_coeff>::value-1, IndexPair >::set(i, *this, value); - } - - EIGEN_DEVICE_FUNC constexpr IndexPairList(const internal::IndexTuple& other) : internal::IndexTuple(other) { } - EIGEN_DEVICE_FUNC constexpr IndexPairList() : internal::IndexTuple() { } - - EIGEN_DEVICE_FUNC constexpr bool value_known_statically(const DenseIndex i) const { - return internal::tuple_coeff >::value-1, DenseIndex>::value_known_statically(i, *this); - } -}; - -namespace internal { - -template size_t array_prod(const IndexList& sizes) { - size_t result = 1; - for (int i = 0; i < array_size >::value; ++i) { - result *= sizes[i]; - } - return result; -} - -template struct array_size > { - static const size_t value = array_size >::value; -}; -template struct array_size > { - static const size_t value = array_size >::value; -}; - -template struct array_size > { - static const size_t value = std::tuple_size >::value; -}; -template struct array_size > { - static const size_t value = std::tuple_size >::value; -}; - -template EIGEN_DEVICE_FUNC constexpr DenseIndex array_get(IndexList& a) { - return IndexTupleExtractor::get_val(a); -} -template EIGEN_DEVICE_FUNC constexpr DenseIndex array_get(const IndexList& a) { - return IndexTupleExtractor::get_val(a); -} - -template -struct index_known_statically_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex) { - return false; - } -}; - -template -struct index_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i) { - return IndexList().value_known_statically(i); - } -}; - -template -struct index_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i) { - return IndexList().value_known_statically(i); - } -}; - - -template -struct all_indices_known_statically_impl { - static constexpr bool run() { - return false; - } -}; - -template -struct all_indices_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return IndexList().all_values_known_statically(); - } -}; - -template -struct all_indices_known_statically_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return IndexList().all_values_known_statically(); - } -}; - - -template -struct indices_statically_known_to_increase_impl { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return false; - } -}; - -template - struct indices_statically_known_to_increase_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return Eigen::IndexList().values_statically_known_to_increase(); - } -}; - -template - struct indices_statically_known_to_increase_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run() { - return Eigen::IndexList().values_statically_known_to_increase(); - } -}; - - -template -struct index_statically_eq_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) == value); - } -}; - -template -struct index_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) == value); - } -}; - - -template -struct index_statically_ne_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_ne_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) != value); - } -}; - -template -struct index_statically_ne_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) != value); - } -}; - - -template -struct index_statically_gt_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_gt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) > value); - } -}; - -template -struct index_statically_gt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) > value); - } -}; - - - -template -struct index_statically_lt_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_lt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) < value); - } -}; - -template -struct index_statically_lt_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexList().value_known_statically(i) & - (IndexList().get(i) < value); - } -}; - - - -template -struct index_pair_first_statically_eq_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_pair_first_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexPairList().value_known_statically(i) & - (IndexPairList().operator[](i).first == value); - } -}; - -template -struct index_pair_first_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexPairList().value_known_statically(i) & - (IndexPairList().operator[](i).first == value); - } -}; - - - -template -struct index_pair_second_statically_eq_impl { - EIGEN_DEVICE_FUNC static constexpr bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_pair_second_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexPairList().value_known_statically(i) & - (IndexPairList().operator[](i).second == value); - } -}; - -template -struct index_pair_second_statically_eq_impl > { - EIGEN_DEVICE_FUNC static constexpr bool run(const DenseIndex i, const DenseIndex value) { - return IndexPairList().value_known_statically(i) & - (IndexPairList().operator[](i).second == value); - } -}; - - -} // end namespace internal -} // end namespace Eigen - -#else - -namespace Eigen { -namespace internal { - -template -struct index_known_statically_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(const DenseIndex) { - return false; - } -}; - -template -struct all_indices_known_statically_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() { - return false; - } -}; - -template -struct indices_statically_known_to_increase_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run() { - return false; - } -}; - -template -struct index_statically_eq_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_ne_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_gt_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_statically_lt_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_pair_first_statically_eq_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) { - return false; - } -}; - -template -struct index_pair_second_statically_eq_impl { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool run(DenseIndex, DenseIndex) { - return false; - } -}; - - - -} // end namespace internal -} // end namespace Eigen - -#endif - - -namespace Eigen { -namespace internal { -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_known_statically(DenseIndex i) { - return index_known_statically_impl::run(i); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool all_indices_known_statically() { - return all_indices_known_statically_impl::run(); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool indices_statically_known_to_increase() { - return indices_statically_known_to_increase_impl::run(); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_eq(DenseIndex i, DenseIndex value) { - return index_statically_eq_impl::run(i, value); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_ne(DenseIndex i, DenseIndex value) { - return index_statically_ne_impl::run(i, value); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_gt(DenseIndex i, DenseIndex value) { - return index_statically_gt_impl::run(i, value); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_statically_lt(DenseIndex i, DenseIndex value) { - return index_statically_lt_impl::run(i, value); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_pair_first_statically_eq(DenseIndex i, DenseIndex value) { - return index_pair_first_statically_eq_impl::run(i, value); -} - -template -static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bool index_pair_second_statically_eq(DenseIndex i, DenseIndex value) { - return index_pair_second_statically_eq_impl::run(i, value); -} - -} // end namespace internal -} // end namespace Eigen - - -#endif // EIGEN_CXX11_TENSOR_TENSOR_INDEX_LIST_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h deleted file mode 100644 index f391fb9e..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h +++ /dev/null @@ -1,229 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Ke Yang -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_INFLATION_H -#define EIGEN_CXX11_TENSOR_TENSOR_INFLATION_H - -namespace Eigen { - -/** \class TensorInflation - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor inflation class. - * - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorInflationOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorInflationOp type; -}; - -} // end namespace internal - -template -class TensorInflationOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorInflationOp(const XprType& expr, const Strides& strides) - : m_xpr(expr), m_strides(strides) {} - - EIGEN_DEVICE_FUNC - const Strides& strides() const { return m_strides; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const Strides m_strides; -}; - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorInflationOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::Dimensions>::value; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = /*TensorEvaluator::IsAligned*/ false, - PacketAccess = TensorEvaluator::PacketAccess, - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_strides(op.strides()) - { - m_dimensions = m_impl.dimensions(); - // Expand each dimension to the inflated dimension. - for (int i = 0; i < NumDims; ++i) { - m_dimensions[i] = (m_dimensions[i] - 1) * op.strides()[i] + 1; - } - - // Remember the strides for fast division. - for (int i = 0; i < NumDims; ++i) { - m_fastStrides[i] = internal::TensorIntDivisor(m_strides[i]); - } - - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - if (static_cast(Layout) == static_cast(ColMajor)) { - m_outputStrides[0] = 1; - m_inputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1]; - m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1]; - } - } else { // RowMajor - m_outputStrides[NumDims-1] = 1; - m_inputStrides[NumDims-1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1]; - m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - // Computes the input index given the output index. Returns true if the output - // index doesn't fall into a hole. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool getInputIndex(Index index, Index* inputIndex) const - { - eigen_assert(index < dimensions().TotalSize()); - *inputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_outputStrides[i]; - if (idx != idx / m_fastStrides[i] * m_strides[i]) { - return false; - } - *inputIndex += idx / m_strides[i] * m_inputStrides[i]; - index -= idx * m_outputStrides[i]; - } - if (index != index / m_fastStrides[0] * m_strides[0]) { - return false; - } - *inputIndex += index / m_strides[0]; - return true; - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_outputStrides[i]; - if (idx != idx / m_fastStrides[i] * m_strides[i]) { - return false; - } - *inputIndex += idx / m_strides[i] * m_inputStrides[i]; - index -= idx * m_outputStrides[i]; - } - if (index != index / m_fastStrides[NumDims-1] * m_strides[NumDims-1]) { - return false; - } - *inputIndex += index / m_strides[NumDims - 1]; - } - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - Index inputIndex = 0; - if (getInputIndex(index, &inputIndex)) { - return m_impl.coeff(inputIndex); - } else { - return Scalar(0); - } - } - - // TODO(yangke): optimize this function so that we can detect and produce - // all-zero packets - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - for (int i = 0; i < PacketSize; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - const double compute_cost = NumDims * (3 * TensorOpCost::DivCost() + - 3 * TensorOpCost::MulCost() + - 2 * TensorOpCost::AddCost()); - const double input_size = m_impl.dimensions().TotalSize(); - const double output_size = m_dimensions.TotalSize(); - if (output_size == 0) - return TensorOpCost(); - return m_impl.costPerCoeff(vectorized) + - TensorOpCost(sizeof(CoeffReturnType) * input_size / output_size, 0, - compute_cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - protected: - Dimensions m_dimensions; - array m_outputStrides; - array m_inputStrides; - TensorEvaluator m_impl; - const Strides m_strides; - array, NumDims> m_fastStrides; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_INFLATION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h deleted file mode 100644 index 33edc49e..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h +++ /dev/null @@ -1,82 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_INITIALIZER_H -#define EIGEN_CXX11_TENSOR_TENSOR_INITIALIZER_H - -#if EIGEN_HAS_VARIADIC_TEMPLATES - -#include - -namespace Eigen { - -/** \class TensorInitializer - * \ingroup CXX11_Tensor_Module - * - * \brief Helper template to initialize Tensors from std::initializer_lists. - */ -namespace internal { - -template -struct Initializer { - typedef std::initializer_list< - typename Initializer::InitList> InitList; - - static void run(TensorEvaluator& tensor, - Eigen::array::Index, traits::NumDimensions>* indices, - const InitList& vals) { - int i = 0; - for (auto v : vals) { - (*indices)[traits::NumDimensions - N] = i++; - Initializer::run(tensor, indices, v); - } - } -}; - -template -struct Initializer { - typedef std::initializer_list::Scalar> InitList; - - static void run(TensorEvaluator& tensor, - Eigen::array::Index, traits::NumDimensions>* indices, - const InitList& vals) { - int i = 0; - // There is likely a faster way to do that than iterating. - for (auto v : vals) { - (*indices)[traits::NumDimensions - 1] = i++; - tensor.coeffRef(*indices) = v; - } - } -}; - -template -struct Initializer { - typedef typename traits::Scalar InitList; - - static void run(TensorEvaluator& tensor, - Eigen::array::Index, traits::NumDimensions>*, - const InitList& v) { - tensor.coeffRef(0) = v; - } -}; - - -template -void initialize_tensor(TensorEvaluator& tensor, - const typename Initializer::NumDimensions>::InitList& vals) { - Eigen::array::Index, traits::NumDimensions> indices; - Initializer::NumDimensions>::run(tensor, &indices, vals); -} - -} // namespace internal -} // namespace Eigen - -#endif // EIGEN_HAS_VARIADIC_TEMPLATES - -#endif // EIGEN_CXX11_TENSOR_TENSOR_INITIALIZER_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h deleted file mode 100644 index ef1c9c42..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h +++ /dev/null @@ -1,263 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_INTDIV_H -#define EIGEN_CXX11_TENSOR_TENSOR_INTDIV_H - - -namespace Eigen { - -/** \internal - * - * \class TensorIntDiv - * \ingroup CXX11_Tensor_Module - * - * \brief Fast integer division by a constant. - * - * See the paper from Granlund and Montgomery for explanation. - * (at http://dx.doi.org/10.1145/773473.178249) - * - * \sa Tensor - */ - -namespace internal { - -namespace { - - // Note: result is undefined if val == 0 - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE - typename internal::enable_if::type count_leading_zeros(const T val) - { -#ifdef __CUDA_ARCH__ - return __clz(val); -#elif defined(__SYCL_DEVICE_ONLY__) - return cl::sycl::clz(val); -#elif EIGEN_COMP_MSVC - unsigned long index; - _BitScanReverse(&index, val); - return 31 - index; -#else - EIGEN_STATIC_ASSERT(sizeof(unsigned long long) == 8, YOU_MADE_A_PROGRAMMING_MISTAKE); - return __builtin_clz(static_cast(val)); -#endif - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE - typename internal::enable_if::type count_leading_zeros(const T val) - { -#ifdef __CUDA_ARCH__ - return __clzll(val); -#elif defined(__SYCL_DEVICE_ONLY__) - return cl::sycl::clz(val); -#elif EIGEN_COMP_MSVC && EIGEN_ARCH_x86_64 - unsigned long index; - _BitScanReverse64(&index, val); - return 63 - index; -#elif EIGEN_COMP_MSVC - // MSVC's _BitScanReverse64 is not available for 32bits builds. - unsigned int lo = (unsigned int)(val&0xffffffff); - unsigned int hi = (unsigned int)((val>>32)&0xffffffff); - int n; - if(hi==0) - n = 32 + count_leading_zeros(lo); - else - n = count_leading_zeros(hi); - return n; -#else - EIGEN_STATIC_ASSERT(sizeof(unsigned long long) == 8, YOU_MADE_A_PROGRAMMING_MISTAKE); - return __builtin_clzll(static_cast(val)); -#endif - } - - template - struct UnsignedTraits { - typedef typename conditional::type type; - }; - - template - struct DividerTraits { - typedef typename UnsignedTraits::type type; - static const int N = sizeof(T) * 8; - }; - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint32_t muluh(const uint32_t a, const T b) { -#if defined(__CUDA_ARCH__) - return __umulhi(a, b); -#elif defined(__SYCL_DEVICE_ONLY__) - return cl::sycl::mul_hi(a, static_cast(b)); -#else - return (static_cast(a) * b) >> 32; -#endif - } - - template - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint64_t muluh(const uint64_t a, const T b) { -#if defined(__CUDA_ARCH__) - return __umul64hi(a, b); -#elif defined(__SYCL_DEVICE_ONLY__) - return cl::sycl::mul_hi(a, static_cast(b)); -#elif defined(__SIZEOF_INT128__) - __uint128_t v = static_cast<__uint128_t>(a) * static_cast<__uint128_t>(b); - return static_cast(v >> 64); -#else - return (TensorUInt128, uint64_t>(a) * TensorUInt128, uint64_t>(b)).upper(); -#endif - } - - template - struct DividerHelper { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint32_t computeMultiplier(const int log_div, const T divider) { - EIGEN_STATIC_ASSERT(N == 32, YOU_MADE_A_PROGRAMMING_MISTAKE); - return static_cast((static_cast(1) << (N+log_div)) / divider - (static_cast(1) << N) + 1); - } - }; - - template - struct DividerHelper<64, T> { - static EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE uint64_t computeMultiplier(const int log_div, const T divider) { -#if defined(__SIZEOF_INT128__) && !defined(__CUDA_ARCH__) && !defined(__SYCL_DEVICE_ONLY__) - return static_cast((static_cast<__uint128_t>(1) << (64+log_div)) / static_cast<__uint128_t>(divider) - (static_cast<__uint128_t>(1) << 64) + 1); -#else - const uint64_t shift = 1ULL << log_div; - TensorUInt128 result = TensorUInt128 >(shift, 0) / TensorUInt128, uint64_t>(divider) - - TensorUInt128, static_val<0> >(1, 0) - + TensorUInt128, static_val<1> >(1); - return static_cast(result); -#endif - } - }; -} - - -template -struct TensorIntDivisor { - public: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIntDivisor() { - multiplier = 0; - shift1 = 0; - shift2 = 0; - } - - // Must have 0 < divider < 2^31. This is relaxed to - // 0 < divider < 2^63 when using 64-bit indices on platforms that support - // the __uint128_t type. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIntDivisor(const T divider) { - const int N = DividerTraits::N; - eigen_assert(static_cast::type>(divider) < NumTraits::highest()/2); - eigen_assert(divider > 0); - - // fast ln2 - const int leading_zeros = count_leading_zeros(static_cast(divider)); - int log_div = N - leading_zeros; - // if divider is a power of two then log_div is 1 more than it should be. - if ((static_cast::type>(1) << (log_div-1)) == static_cast::type>(divider)) - log_div--; - - multiplier = DividerHelper::computeMultiplier(log_div, divider); - shift1 = log_div > 1 ? 1 : log_div; - shift2 = log_div > 1 ? log_div-1 : 0; - } - - // Must have 0 <= numerator. On platforms that dont support the __uint128_t - // type numerator should also be less than 2^32-1. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T divide(const T numerator) const { - eigen_assert(static_cast::type>(numerator) < NumTraits::highest()/2); - //eigen_assert(numerator >= 0); // this is implicitly asserted by the line above - - UnsignedType t1 = muluh(multiplier, numerator); - UnsignedType t = (static_cast(numerator) - t1) >> shift1; - return (t1 + t) >> shift2; - } - - private: - typedef typename DividerTraits::type UnsignedType; - UnsignedType multiplier; - int32_t shift1; - int32_t shift2; -}; - - -// Optimized version for signed 32 bit integers. -// Derived from Hacker's Delight. -// Only works for divisors strictly greater than one -template <> -class TensorIntDivisor { - public: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorIntDivisor() { - magic = 0; - shift = 0; - } - // Must have 2 <= divider - EIGEN_DEVICE_FUNC TensorIntDivisor(int32_t divider) { - eigen_assert(divider >= 2); - calcMagic(divider); - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE int divide(const int32_t n) const { -#ifdef __CUDA_ARCH__ - return (__umulhi(magic, n) >> shift); -#elif defined(__SYCL_DEVICE_ONLY__) - return (cl::sycl::mul_hi(static_cast(magic), static_cast(n)) >> shift); -#else - uint64_t v = static_cast(magic) * static_cast(n); - return (static_cast(v >> 32) >> shift); -#endif - } - -private: - // Compute the magic numbers. See Hacker's Delight section 10 for an in - // depth explanation. - EIGEN_DEVICE_FUNC void calcMagic(int32_t d) { - const unsigned two31 = 0x80000000; // 2**31. - unsigned ad = d; - unsigned t = two31 + (ad >> 31); - unsigned anc = t - 1 - t%ad; // Absolute value of nc. - int p = 31; // Init. p. - unsigned q1 = two31/anc; // Init. q1 = 2**p/|nc|. - unsigned r1 = two31 - q1*anc; // Init. r1 = rem(2**p, |nc|). - unsigned q2 = two31/ad; // Init. q2 = 2**p/|d|. - unsigned r2 = two31 - q2*ad; // Init. r2 = rem(2**p, |d|). - unsigned delta = 0; - do { - p = p + 1; - q1 = 2*q1; // Update q1 = 2**p/|nc|. - r1 = 2*r1; // Update r1 = rem(2**p, |nc|). - if (r1 >= anc) { // (Must be an unsigned - q1 = q1 + 1; // comparison here). - r1 = r1 - anc;} - q2 = 2*q2; // Update q2 = 2**p/|d|. - r2 = 2*r2; // Update r2 = rem(2**p, |d|). - if (r2 >= ad) { // (Must be an unsigned - q2 = q2 + 1; // comparison here). - r2 = r2 - ad;} - delta = ad - r2; - } while (q1 < delta || (q1 == delta && r1 == 0)); - - magic = (unsigned)(q2 + 1); - shift = p - 32; - } - - uint32_t magic; - int32_t shift; -}; - - -template -static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T operator / (const T& numerator, const TensorIntDivisor& divisor) { - return divisor.divide(numerator); -} - - -} // end namespace internal -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_INTDIV_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h deleted file mode 100644 index cd0109ef..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h +++ /dev/null @@ -1,209 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_LAYOUT_SWAP_H -#define EIGEN_CXX11_TENSOR_TENSOR_LAYOUT_SWAP_H - -namespace Eigen { - -/** \class TensorLayoutSwap - * \ingroup CXX11_Tensor_Module - * - * \brief Swap the layout from col-major to row-major, or row-major - * to col-major, and invert the order of the dimensions. - * - * Beware: the dimensions are reversed by this operation. If you want to - * preserve the ordering of the dimensions, you need to combine this - * operation with a shuffle. - * - * \example: - * Tensor input(2, 4); - * Tensor output = input.swap_layout(); - * eigen_assert(output.dimension(0) == 4); - * eigen_assert(output.dimension(1) == 2); - * - * array shuffle(1, 0); - * output = input.swap_layout().shuffle(shuffle); - * eigen_assert(output.dimension(0) == 2); - * eigen_assert(output.dimension(1) == 4); - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = traits::NumDimensions; - static const int Layout = (traits::Layout == ColMajor) ? RowMajor : ColMajor; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorLayoutSwapOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorLayoutSwapOp type; -}; - -} // end namespace internal - - - -template -class TensorLayoutSwapOp : public TensorBase, WriteAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorLayoutSwapOp(const XprType& expr) - : m_xpr(expr) {} - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorLayoutSwapOp& operator = (const TensorLayoutSwapOp& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorLayoutSwapOp& operator = (const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - protected: - typename XprType::Nested m_xpr; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorLayoutSwapOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::Dimensions>::value; - typedef DSizes Dimensions; - - enum { - IsAligned = TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = (static_cast(TensorEvaluator::Layout) == static_cast(ColMajor)) ? RowMajor : ColMajor, - CoordAccess = false, // to be implemented - RawAccess = TensorEvaluator::RawAccess - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device) - { - for(int i = 0; i < NumDims; ++i) { - m_dimensions[i] = m_impl.dimensions()[NumDims-1-i]; - } - } - - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) { - return m_impl.evalSubExprsIfNeeded(data); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_impl.coeff(index); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return m_impl.template packet(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return m_impl.costPerCoeff(vectorized); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return m_impl.data(); } - - const TensorEvaluator& impl() const { return m_impl; } - - protected: - TensorEvaluator m_impl; - Dimensions m_dimensions; -}; - - -// Eval as lvalue -template - struct TensorEvaluator, Device> - : public TensorEvaluator, Device> -{ - typedef TensorEvaluator, Device> Base; - typedef TensorLayoutSwapOp XprType; - - enum { - IsAligned = TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = (static_cast(TensorEvaluator::Layout) == static_cast(ColMajor)) ? RowMajor : ColMajor, - CoordAccess = false // to be implemented - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : Base(op, device) - { } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index) - { - return this->m_impl.coeffRef(index); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketReturnType& x) - { - this->m_impl.template writePacket(index, x); - } -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_LAYOUT_SWAP_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h deleted file mode 100644 index f92e39d6..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h +++ /dev/null @@ -1,62 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_META_MACROS_H -#define EIGEN_CXX11_TENSOR_TENSOR_META_MACROS_H - - -/** use this macro in sfinae selection in templated functions - * - * template::value , int >::type = 0 - * > - * void foo(){} - * - * becomes => - * - * template::value ) - * > - * void foo(){} - */ - -// SFINAE requires variadic templates -#ifndef __CUDACC__ -#if EIGEN_HAS_VARIADIC_TEMPLATES - // SFINAE doesn't work for gcc <= 4.7 - #ifdef EIGEN_COMP_GNUC - #if EIGEN_GNUC_AT_LEAST(4,8) - #define EIGEN_HAS_SFINAE - #endif - #else - #define EIGEN_HAS_SFINAE - #endif -#endif -#endif - -#define EIGEN_SFINAE_ENABLE_IF( __condition__ ) \ - typename internal::enable_if< ( __condition__ ) , int >::type = 0 - - -#if EIGEN_HAS_CONSTEXPR -#define EIGEN_CONSTEXPR constexpr -#else -#define EIGEN_CONSTEXPR -#endif - - -#if EIGEN_OS_WIN || EIGEN_OS_WIN64 -#define EIGEN_SLEEP(n) Sleep(n) -#elif EIGEN_OS_GNULINUX -#define EIGEN_SLEEP(n) usleep(n * 1000); -#else -#define EIGEN_SLEEP(n) sleep(std::max(1, n/1000)) -#endif - -#endif diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h deleted file mode 100644 index a8e55757..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h +++ /dev/null @@ -1,321 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_MAP_H -#define EIGEN_CXX11_TENSOR_TENSOR_MAP_H - -namespace Eigen { - -/** \class TensorMap - * \ingroup CXX11_Tensor_Module - * - * \brief A tensor expression mapping an existing array of data. - * - */ -/// template class MakePointer_ is added to convert the host pointer to the device pointer. -/// It is added due to the fact that for our device compiler T* is not allowed. -/// If we wanted to use the same Evaluator functions we have to convert that type to our pointer T. -/// This is done through our MakePointer_ class. By default the Type in the MakePointer_ is T* . -/// Therefore, by adding the default value, we managed to convert the type and it does not break any -/// existing code as its default value is T*. -template class MakePointer_> class TensorMap : public TensorBase > -{ - public: - typedef TensorMap Self; - typedef typename PlainObjectType::Base Base; - typedef typename Eigen::internal::nested::type Nested; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - typedef typename internal::traits::Scalar Scalar; - typedef typename NumTraits::Real RealScalar; - typedef typename Base::CoeffReturnType CoeffReturnType; - - /* typedef typename internal::conditional< - bool(internal::is_lvalue::value), - Scalar *, - const Scalar *>::type - PointerType;*/ - typedef typename MakePointer_::Type PointerType; - typedef PointerType PointerArgType; - - static const int Options = Options_; - - static const Index NumIndices = PlainObjectType::NumIndices; - typedef typename PlainObjectType::Dimensions Dimensions; - - enum { - IsAligned = ((int(Options_)&Aligned)==Aligned), - Layout = PlainObjectType::Layout, - CoordAccess = true, - RawAccess = true - }; - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr) : m_data(dataPtr), m_dimensions() { - // The number of dimensions used to construct a tensor must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT((0 == NumIndices || NumIndices == Dynamic), YOU_MADE_A_PROGRAMMING_MISTAKE) - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index firstDimension, IndexTypes... otherDimensions) : m_data(dataPtr), m_dimensions(firstDimension, otherDimensions...) { - // The number of dimensions used to construct a tensor must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT((sizeof...(otherDimensions) + 1 == NumIndices || NumIndices == Dynamic), YOU_MADE_A_PROGRAMMING_MISTAKE) - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index firstDimension) : m_data(dataPtr), m_dimensions(firstDimension) { - // The number of dimensions used to construct a tensor must be equal to the rank of the tensor. - EIGEN_STATIC_ASSERT((1 == NumIndices || NumIndices == Dynamic), YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2) : m_data(dataPtr), m_dimensions(dim1, dim2) { - EIGEN_STATIC_ASSERT(2 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2, Index dim3) : m_data(dataPtr), m_dimensions(dim1, dim2, dim3) { - EIGEN_STATIC_ASSERT(3 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2, Index dim3, Index dim4) : m_data(dataPtr), m_dimensions(dim1, dim2, dim3, dim4) { - EIGEN_STATIC_ASSERT(4 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE) - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, Index dim1, Index dim2, Index dim3, Index dim4, Index dim5) : m_data(dataPtr), m_dimensions(dim1, dim2, dim3, dim4, dim5) { - EIGEN_STATIC_ASSERT(5 == NumIndices || NumIndices == Dynamic, YOU_MADE_A_PROGRAMMING_MISTAKE) - } -#endif - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, const array& dimensions) - : m_data(dataPtr), m_dimensions(dimensions) - { } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorMap(PointerArgType dataPtr, const Dimensions& dimensions) - : m_data(dataPtr), m_dimensions(dimensions) - { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorMap(PlainObjectType& tensor) - : m_data(tensor.data()), m_dimensions(tensor.dimensions()) - { } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index rank() const { return m_dimensions.rank(); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index dimension(Index n) const { return m_dimensions[n]; } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Index size() const { return m_dimensions.TotalSize(); } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE PointerType data() { return m_data; } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const PointerType data() const { return m_data; } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(const array& indices) const - { - // eigen_assert(checkIndexRange(indices)); - if (PlainObjectType::Options&RowMajor) { - const Index index = m_dimensions.IndexOfRowMajor(indices); - return m_data[index]; - } else { - const Index index = m_dimensions.IndexOfColMajor(indices); - return m_data[index]; - } - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()() const - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE) - return m_data[0]; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index index) const - { - eigen_internal_assert(index >= 0 && index < size()); - return m_data[index]; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) const - { - EIGEN_STATIC_ASSERT(sizeof...(otherIndices) + 2 == NumIndices, YOU_MADE_A_PROGRAMMING_MISTAKE) - if (PlainObjectType::Options&RowMajor) { - const Index index = m_dimensions.IndexOfRowMajor(array{{firstIndex, secondIndex, otherIndices...}}); - return m_data[index]; - } else { - const Index index = m_dimensions.IndexOfColMajor(array{{firstIndex, secondIndex, otherIndices...}}); - return m_data[index]; - } - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1) const - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i1 + i0 * m_dimensions[1]; - return m_data[index]; - } else { - const Index index = i0 + i1 * m_dimensions[0]; - return m_data[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2) const - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0); - return m_data[index]; - } else { - const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * i2); - return m_data[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3) const - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0)); - return m_data[index]; - } else { - const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * i3)); - return m_data[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE const Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) const - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i4 + m_dimensions[4] * (i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0))); - return m_data[index]; - } else { - const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * (i3 + m_dimensions[3] * i4))); - return m_data[index]; - } - } -#endif - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(const array& indices) - { - // eigen_assert(checkIndexRange(indices)); - if (PlainObjectType::Options&RowMajor) { - const Index index = m_dimensions.IndexOfRowMajor(indices); - return m_data[index]; - } else { - const Index index = m_dimensions.IndexOfColMajor(indices); - return m_data[index]; - } - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()() - { - EIGEN_STATIC_ASSERT(NumIndices == 0, YOU_MADE_A_PROGRAMMING_MISTAKE) - return m_data[0]; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index index) - { - eigen_internal_assert(index >= 0 && index < size()); - return m_data[index]; - } - -#if EIGEN_HAS_VARIADIC_TEMPLATES - template EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index firstIndex, Index secondIndex, IndexTypes... otherIndices) - { - static_assert(sizeof...(otherIndices) + 2 == NumIndices || NumIndices == Dynamic, "Number of indices used to access a tensor coefficient must be equal to the rank of the tensor."); - const std::size_t NumDims = sizeof...(otherIndices) + 2; - if (PlainObjectType::Options&RowMajor) { - const Index index = m_dimensions.IndexOfRowMajor(array{{firstIndex, secondIndex, otherIndices...}}); - return m_data[index]; - } else { - const Index index = m_dimensions.IndexOfColMajor(array{{firstIndex, secondIndex, otherIndices...}}); - return m_data[index]; - } - } -#else - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1) - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i1 + i0 * m_dimensions[1]; - return m_data[index]; - } else { - const Index index = i0 + i1 * m_dimensions[0]; - return m_data[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2) - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0); - return m_data[index]; - } else { - const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * i2); - return m_data[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3) - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0)); - return m_data[index]; - } else { - const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * i3)); - return m_data[index]; - } - } - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE Scalar& operator()(Index i0, Index i1, Index i2, Index i3, Index i4) - { - if (PlainObjectType::Options&RowMajor) { - const Index index = i4 + m_dimensions[4] * (i3 + m_dimensions[3] * (i2 + m_dimensions[2] * (i1 + m_dimensions[1] * i0))); - return m_data[index]; - } else { - const Index index = i0 + m_dimensions[0] * (i1 + m_dimensions[1] * (i2 + m_dimensions[2] * (i3 + m_dimensions[3] * i4))); - return m_data[index]; - } - } -#endif - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Self& operator=(const Self& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Self& operator=(const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - private: - typename MakePointer_::Type m_data; - Dimensions m_dimensions; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_MAP_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h deleted file mode 100644 index b5ef31d5..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h +++ /dev/null @@ -1,219 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2015 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_META_H -#define EIGEN_CXX11_TENSOR_TENSOR_META_H - -namespace Eigen { - -template struct Cond {}; - -template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -const T1& choose(Cond, const T1& first, const T2&) { - return first; -} - -template EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -const T2& choose(Cond, const T1&, const T2& second) { - return second; -} - - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T divup(const X x, const Y y) { - return static_cast((x + y - 1) / y); -} - -template -EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE -T divup(const T x, const T y) { - return static_cast((x + y - 1) / y); -} - -template struct max_n_1 { - static const size_t size = n; -}; -template <> struct max_n_1<0> { - static const size_t size = 1; -}; - - -// Default packet types -template -struct PacketType : internal::packet_traits { - typedef typename internal::packet_traits::type type; -}; - -// For CUDA packet types when using a GpuDevice -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) && defined(EIGEN_HAS_CUDA_FP16) -template <> -struct PacketType { - typedef half2 type; - static const int size = 2; - enum { - HasAdd = 1, - HasSub = 1, - HasMul = 1, - HasNegate = 1, - HasAbs = 1, - HasArg = 0, - HasAbs2 = 0, - HasMin = 1, - HasMax = 1, - HasConj = 0, - HasSetLinear = 0, - HasBlend = 0, - - HasDiv = 1, - HasSqrt = 1, - HasRsqrt = 1, - HasExp = 1, - HasExpm1 = 0, - HasLog = 1, - HasLog1p = 0, - HasLog10 = 0, - HasPow = 1, - }; -}; -#endif - -#if defined(EIGEN_USE_SYCL) -template - struct PacketType { - typedef T type; - static const int size = 1; - enum { - HasAdd = 0, - HasSub = 0, - HasMul = 0, - HasNegate = 0, - HasAbs = 0, - HasArg = 0, - HasAbs2 = 0, - HasMin = 0, - HasMax = 0, - HasConj = 0, - HasSetLinear = 0, - HasBlend = 0 - }; -}; -#endif - - -// Tuple mimics std::pair but works on e.g. nvcc. -template struct Tuple { - public: - U first; - V second; - - typedef U first_type; - typedef V second_type; - - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Tuple() : first(), second() {} - - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Tuple(const U& f, const V& s) : first(f), second(s) {} - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Tuple& operator= (const Tuple& rhs) { - if (&rhs == this) return *this; - first = rhs.first; - second = rhs.second; - return *this; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void swap(Tuple& rhs) { - using numext::swap; - swap(first, rhs.first); - swap(second, rhs.second); - } -}; - -template -EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -bool operator==(const Tuple& x, const Tuple& y) { - return (x.first == y.first && x.second == y.second); -} - -template -EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -bool operator!=(const Tuple& x, const Tuple& y) { - return !(x == y); -} - - -// Can't use std::pairs on cuda devices -template struct IndexPair { - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE IndexPair() : first(0), second(0) {} - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE IndexPair(Idx f, Idx s) : first(f), second(s) {} - - EIGEN_DEVICE_FUNC void set(IndexPair val) { - first = val.first; - second = val.second; - } - - Idx first; - Idx second; -}; - - -#ifdef EIGEN_HAS_SFINAE -namespace internal { - - template - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - array customIndices2Array(IndexType& idx, numeric_list) { - return { idx[Is]... }; - } - template - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - array customIndices2Array(IndexType&, numeric_list) { - return array(); - } - - /** Make an array (for index/dimensions) out of a custom index */ - template - EIGEN_CONSTEXPR EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - array customIndices2Array(IndexType& idx) { - return customIndices2Array(idx, typename gen_numeric_list::type{}); - } - - - template - struct is_base_of - { - - typedef char (&yes)[1]; - typedef char (&no)[2]; - - template - struct Host - { - operator BB*() const; - operator DD*(); - }; - - template - static yes check(D*, T); - static no check(B*, int); - - static const bool value = sizeof(check(Host(), int())) == sizeof(yes); - }; - -} -#endif - - - -} // namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_META_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h deleted file mode 100644 index 6ddd2ca1..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h +++ /dev/null @@ -1,921 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_MORPHING_H -#define EIGEN_CXX11_TENSOR_TENSOR_MORPHING_H - -namespace Eigen { - -/** \class TensorReshaping - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor reshaping class. - * - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = array_size::value; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorReshapingOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorReshapingOp type; -}; - -} // end namespace internal - - - -template -class TensorReshapingOp : public TensorBase, WriteAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorReshapingOp(const XprType& expr, const NewDimensions& dims) - : m_xpr(expr), m_dims(dims) {} - - EIGEN_DEVICE_FUNC - const NewDimensions& dimensions() const { return m_dims; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorReshapingOp& operator = (const TensorReshapingOp& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorReshapingOp& operator = (const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - protected: - typename XprType::Nested m_xpr; - const NewDimensions m_dims; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorReshapingOp XprType; - typedef NewDimensions Dimensions; - - enum { - IsAligned = TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = TensorEvaluator::RawAccess - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_dimensions(op.dimensions()) - { - // The total size of the reshaped tensor must be equal to the total size - // of the input tensor. - eigen_assert(internal::array_prod(m_impl.dimensions()) == internal::array_prod(op.dimensions())); - } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) { - return m_impl.evalSubExprsIfNeeded(data); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_impl.coeff(index); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - return m_impl.template packet(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return m_impl.costPerCoeff(vectorized); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return const_cast(m_impl.data()); } - - EIGEN_DEVICE_FUNC const TensorEvaluator& impl() const { return m_impl; } - - protected: - TensorEvaluator m_impl; - NewDimensions m_dimensions; -}; - - -// Eval as lvalue -template - struct TensorEvaluator, Device> - : public TensorEvaluator, Device> - -{ - typedef TensorEvaluator, Device> Base; - typedef TensorReshapingOp XprType; - typedef NewDimensions Dimensions; - - enum { - IsAligned = TensorEvaluator::IsAligned, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = TensorEvaluator::RawAccess - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : Base(op, device) - { } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index) - { - return this->m_impl.coeffRef(index); - } - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketReturnType& x) - { - this->m_impl.template writePacket(index, x); - } -}; - - -/** \class TensorSlicing - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor slicing class. - * - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = array_size::value; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorSlicingOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorSlicingOp type; -}; - -} // end namespace internal - - - -template -class TensorSlicingOp : public TensorBase > -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorSlicingOp(const XprType& expr, const StartIndices& indices, const Sizes& sizes) - : m_xpr(expr), m_indices(indices), m_sizes(sizes) {} - - EIGEN_DEVICE_FUNC - const StartIndices& startIndices() const { return m_indices; } - EIGEN_DEVICE_FUNC - const Sizes& sizes() const { return m_sizes; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorSlicingOp& operator = (const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorSlicingOp& operator = (const TensorSlicingOp& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run(assign, DefaultDevice()); - return *this; - } - - - protected: - typename XprType::Nested m_xpr; - const StartIndices m_indices; - const Sizes m_sizes; -}; - - -// Fixme: figure out the exact threshold -namespace { -template struct MemcpyTriggerForSlicing { - EIGEN_DEVICE_FUNC MemcpyTriggerForSlicing(const Device& device) : threshold_(2 * device.numThreads()) { } - EIGEN_DEVICE_FUNC bool operator ()(Index val) const { return val > threshold_; } - - private: - Index threshold_; -}; - -// It is very expensive to start the memcpy kernel on GPU: we therefore only -// use it for large copies. -#ifdef EIGEN_USE_GPU -template struct MemcpyTriggerForSlicing { - EIGEN_DEVICE_FUNC MemcpyTriggerForSlicing(const GpuDevice&) { } - EIGEN_DEVICE_FUNC bool operator ()(Index val) const { return val > 4*1024*1024; } -}; -#endif - -// It is very expensive to start the memcpy kernel on GPU: we therefore only -// use it for large copies. -#ifdef EIGEN_USE_SYCL -template struct MemcpyTriggerForSlicing { - EIGEN_DEVICE_FUNC MemcpyTriggerForSlicing(const SyclDevice&) { } - EIGEN_DEVICE_FUNC bool operator ()(Index val) const { return val > 4*1024*1024; } -}; -#endif - -} - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorSlicingOp XprType; - static const int NumDims = internal::array_size::value; - - enum { - // Alignment can't be guaranteed at compile time since it depends on the - // slice offsets and sizes. - IsAligned = /*TensorEvaluator::IsAligned*/false, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_device(device), m_dimensions(op.sizes()), m_offsets(op.startIndices()) - { - for (std::size_t i = 0; i < internal::array_size::value; ++i) { - eigen_assert(m_impl.dimensions()[i] >= op.sizes()[i] + op.startIndices()[i]); - } - - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - const Sizes& output_dims = op.sizes(); - if (static_cast(Layout) == static_cast(ColMajor)) { - m_inputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1]; - } - - // Don't initialize m_fastOutputStrides[0] since it won't ever be accessed. - m_outputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_outputStrides[i] = m_outputStrides[i-1] * output_dims[i-1]; - m_fastOutputStrides[i] = internal::TensorIntDivisor(m_outputStrides[i]); - } - } else { - m_inputStrides[NumDims-1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1]; - } - - // Don't initialize m_fastOutputStrides[NumDims-1] since it won't ever be accessed. - m_outputStrides[NumDims-1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_outputStrides[i] = m_outputStrides[i+1] * output_dims[i+1]; - m_fastOutputStrides[i] = internal::TensorIntDivisor(m_outputStrides[i]); - } - } - } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef Sizes Dimensions; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType* data) { - m_impl.evalSubExprsIfNeeded(NULL); - if (!NumTraits::type>::RequireInitialization && data && m_impl.data()) { - Index contiguous_values = 1; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < NumDims; ++i) { - contiguous_values *= dimensions()[i]; - if (dimensions()[i] != m_impl.dimensions()[i]) { - break; - } - } - } else { - for (int i = NumDims-1; i >= 0; --i) { - contiguous_values *= dimensions()[i]; - if (dimensions()[i] != m_impl.dimensions()[i]) { - break; - } - } - } - // Use memcpy if it's going to be faster than using the regular evaluation. - const MemcpyTriggerForSlicing trigger(m_device); - if (trigger(contiguous_values)) { - Scalar* src = (Scalar*)m_impl.data(); - for (int i = 0; i < internal::array_prod(dimensions()); i += contiguous_values) { - Index offset = srcCoeff(i); - m_device.memcpy((void*)(data+i), src+offset, contiguous_values * sizeof(Scalar)); - } - return false; - } - } - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_impl.coeff(srcCoeff(index)); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - const int packetSize = internal::unpacket_traits::size; - EIGEN_STATIC_ASSERT((packetSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+packetSize-1 < internal::array_prod(dimensions())); - - Index inputIndices[] = {0, 0}; - Index indices[] = {index, index + packetSize - 1}; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx0 = indices[0] / m_fastOutputStrides[i]; - const Index idx1 = indices[1] / m_fastOutputStrides[i]; - inputIndices[0] += (idx0 + m_offsets[i]) * m_inputStrides[i]; - inputIndices[1] += (idx1 + m_offsets[i]) * m_inputStrides[i]; - indices[0] -= idx0 * m_outputStrides[i]; - indices[1] -= idx1 * m_outputStrides[i]; - } - inputIndices[0] += (indices[0] + m_offsets[0]); - inputIndices[1] += (indices[1] + m_offsets[0]); - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx0 = indices[0] / m_fastOutputStrides[i]; - const Index idx1 = indices[1] / m_fastOutputStrides[i]; - inputIndices[0] += (idx0 + m_offsets[i]) * m_inputStrides[i]; - inputIndices[1] += (idx1 + m_offsets[i]) * m_inputStrides[i]; - indices[0] -= idx0 * m_outputStrides[i]; - indices[1] -= idx1 * m_outputStrides[i]; - } - inputIndices[0] += (indices[0] + m_offsets[NumDims-1]); - inputIndices[1] += (indices[1] + m_offsets[NumDims-1]); - } - if (inputIndices[1] - inputIndices[0] == packetSize - 1) { - PacketReturnType rslt = m_impl.template packet(inputIndices[0]); - return rslt; - } - else { - EIGEN_ALIGN_MAX typename internal::remove_const::type values[packetSize]; - values[0] = m_impl.coeff(inputIndices[0]); - values[packetSize-1] = m_impl.coeff(inputIndices[1]); - for (int i = 1; i < packetSize-1; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, NumDims); - } - - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar* data() const { - Scalar* result = m_impl.data(); - if (result) { - Index offset = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < NumDims; ++i) { - if (m_dimensions[i] != m_impl.dimensions()[i]) { - offset += m_offsets[i] * m_inputStrides[i]; - for (int j = i+1; j < NumDims; ++j) { - if (m_dimensions[j] > 1) { - return NULL; - } - offset += m_offsets[j] * m_inputStrides[j]; - } - break; - } - } - } else { - for (int i = NumDims - 1; i >= 0; --i) { - if (m_dimensions[i] != m_impl.dimensions()[i]) { - offset += m_offsets[i] * m_inputStrides[i]; - for (int j = i-1; j >= 0; --j) { - if (m_dimensions[j] > 1) { - return NULL; - } - offset += m_offsets[j] * m_inputStrides[j]; - } - break; - } - } - } - return result + offset; - } - return NULL; - } - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const TensorEvaluator& impl() const{ - return m_impl; - } - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const StartIndices& startIndices() const{ - return m_offsets; - } - protected: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const - { - Index inputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_fastOutputStrides[i]; - inputIndex += (idx + m_offsets[i]) * m_inputStrides[i]; - index -= idx * m_outputStrides[i]; - } - inputIndex += (index + m_offsets[0]); - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_fastOutputStrides[i]; - inputIndex += (idx + m_offsets[i]) * m_inputStrides[i]; - index -= idx * m_outputStrides[i]; - } - inputIndex += (index + m_offsets[NumDims-1]); - } - return inputIndex; - } - - array m_outputStrides; - array, NumDims> m_fastOutputStrides; - array m_inputStrides; - TensorEvaluator m_impl; - const Device& m_device; - Dimensions m_dimensions; - const StartIndices m_offsets; -}; - - -// Eval as lvalue -template -struct TensorEvaluator, Device> - : public TensorEvaluator, Device> -{ - typedef TensorEvaluator, Device> Base; - typedef TensorSlicingOp XprType; - static const int NumDims = internal::array_size::value; - - enum { - IsAligned = /*TensorEvaluator::IsAligned*/false, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : Base(op, device) - { } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef Sizes Dimensions; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index) - { - return this->m_impl.coeffRef(this->srcCoeff(index)); - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - void writePacket(Index index, const PacketReturnType& x) - { - const int packetSize = internal::unpacket_traits::size; - Index inputIndices[] = {0, 0}; - Index indices[] = {index, index + packetSize - 1}; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx0 = indices[0] / this->m_fastOutputStrides[i]; - const Index idx1 = indices[1] / this->m_fastOutputStrides[i]; - inputIndices[0] += (idx0 + this->m_offsets[i]) * this->m_inputStrides[i]; - inputIndices[1] += (idx1 + this->m_offsets[i]) * this->m_inputStrides[i]; - indices[0] -= idx0 * this->m_outputStrides[i]; - indices[1] -= idx1 * this->m_outputStrides[i]; - } - inputIndices[0] += (indices[0] + this->m_offsets[0]); - inputIndices[1] += (indices[1] + this->m_offsets[0]); - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx0 = indices[0] / this->m_fastOutputStrides[i]; - const Index idx1 = indices[1] / this->m_fastOutputStrides[i]; - inputIndices[0] += (idx0 + this->m_offsets[i]) * this->m_inputStrides[i]; - inputIndices[1] += (idx1 + this->m_offsets[i]) * this->m_inputStrides[i]; - indices[0] -= idx0 * this->m_outputStrides[i]; - indices[1] -= idx1 * this->m_outputStrides[i]; - } - inputIndices[0] += (indices[0] + this->m_offsets[NumDims-1]); - inputIndices[1] += (indices[1] + this->m_offsets[NumDims-1]); - } - if (inputIndices[1] - inputIndices[0] == packetSize - 1) { - this->m_impl.template writePacket(inputIndices[0], x); - } - else { - EIGEN_ALIGN_MAX CoeffReturnType values[packetSize]; - internal::pstore(values, x); - this->m_impl.coeffRef(inputIndices[0]) = values[0]; - this->m_impl.coeffRef(inputIndices[1]) = values[packetSize-1]; - for (int i = 1; i < packetSize-1; ++i) { - this->coeffRef(index+i) = values[i]; - } - } - } -}; - - - -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = array_size::value; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorStridingSlicingOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorStridingSlicingOp type; -}; - -} // end namespace internal - - -template -class TensorStridingSlicingOp : public TensorBase > -{ - public: - typedef typename internal::traits::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename internal::nested::type Nested; - typedef typename internal::traits::StorageKind StorageKind; - typedef typename internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorStridingSlicingOp( - const XprType& expr, const StartIndices& startIndices, - const StopIndices& stopIndices, const Strides& strides) - : m_xpr(expr), m_startIndices(startIndices), m_stopIndices(stopIndices), - m_strides(strides) {} - - EIGEN_DEVICE_FUNC - const StartIndices& startIndices() const { return m_startIndices; } - EIGEN_DEVICE_FUNC - const StartIndices& stopIndices() const { return m_stopIndices; } - EIGEN_DEVICE_FUNC - const StartIndices& strides() const { return m_strides; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorStridingSlicingOp& operator = (const TensorStridingSlicingOp& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run( - assign, DefaultDevice()); - return *this; - } - - template - EIGEN_DEVICE_FUNC - EIGEN_STRONG_INLINE TensorStridingSlicingOp& operator = (const OtherDerived& other) - { - typedef TensorAssignOp Assign; - Assign assign(*this, other); - internal::TensorExecutor::run( - assign, DefaultDevice()); - return *this; - } - - protected: - typename XprType::Nested m_xpr; - const StartIndices m_startIndices; - const StopIndices m_stopIndices; - const Strides m_strides; -}; - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorStridingSlicingOp XprType; - static const int NumDims = internal::array_size::value; - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename internal::remove_const::type ScalarNonConst; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef Strides Dimensions; - - enum { - // Alignment can't be guaranteed at compile time since it depends on the - // slice offsets and sizes. - IsAligned = false, - PacketAccess = false, - BlockAccess = false, - Layout = TensorEvaluator::Layout, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_device(device), m_strides(op.strides()), m_exprStartIndices(op.startIndices()), m_exprStopIndices(op.stopIndices()) - { - // Handle degenerate intervals by gracefully clamping and allowing m_dimensions to be zero - DSizes startIndicesClamped, stopIndicesClamped; - for (size_t i = 0; i < internal::array_size::value; ++i) { - eigen_assert(m_strides[i] != 0 && "0 stride is invalid"); - if(m_strides[i]>0){ - startIndicesClamped[i] = clamp(op.startIndices()[i], 0, m_impl.dimensions()[i]); - stopIndicesClamped[i] = clamp(op.stopIndices()[i], 0, m_impl.dimensions()[i]); - }else{ - /* implies m_strides[i]<0 by assert */ - startIndicesClamped[i] = clamp(op.startIndices()[i], -1, m_impl.dimensions()[i] - 1); - stopIndicesClamped[i] = clamp(op.stopIndices()[i], -1, m_impl.dimensions()[i] - 1); - } - m_startIndices[i] = startIndicesClamped[i]; - } - - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - - // check for degenerate intervals and compute output tensor shape - bool degenerate = false;; - for(int i = 0; i < NumDims; i++){ - Index interval = stopIndicesClamped[i] - startIndicesClamped[i]; - if(interval == 0 || ((interval<0) != (m_strides[i]<0))){ - m_dimensions[i] = 0; - degenerate = true; - }else{ - m_dimensions[i] = interval / m_strides[i] - + (interval % m_strides[i] != 0 ? 1 : 0); - eigen_assert(m_dimensions[i] >= 0); - } - } - Strides output_dims = m_dimensions; - - if (static_cast(Layout) == static_cast(ColMajor)) { - m_inputStrides[0] = m_strides[0]; - m_offsets[0] = startIndicesClamped[0]; - Index previousDimProduct = 1; - for (int i = 1; i < NumDims; ++i) { - previousDimProduct *= input_dims[i-1]; - m_inputStrides[i] = previousDimProduct * m_strides[i]; - m_offsets[i] = startIndicesClamped[i] * previousDimProduct; - } - - // Don't initialize m_fastOutputStrides[0] since it won't ever be accessed. - m_outputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_outputStrides[i] = m_outputStrides[i-1] * output_dims[i-1]; - // NOTE: if tensor is degenerate, we send 1 to prevent TensorIntDivisor constructor crash - m_fastOutputStrides[i] = internal::TensorIntDivisor(degenerate ? 1 : m_outputStrides[i]); - } - } else { - m_inputStrides[NumDims-1] = m_strides[NumDims-1]; - m_offsets[NumDims-1] = startIndicesClamped[NumDims-1]; - Index previousDimProduct = 1; - for (int i = NumDims - 2; i >= 0; --i) { - previousDimProduct *= input_dims[i+1]; - m_inputStrides[i] = previousDimProduct * m_strides[i]; - m_offsets[i] = startIndicesClamped[i] * previousDimProduct; - } - - m_outputStrides[NumDims-1] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_outputStrides[i] = m_outputStrides[i+1] * output_dims[i+1]; - // NOTE: if tensor is degenerate, we send 1 to prevent TensorIntDivisor constructor crash - m_fastOutputStrides[i] = internal::TensorIntDivisor(degenerate ? 1 : m_outputStrides[i]); - } - } - m_block_total_size_max = numext::maxi(static_cast(1), - device.lastLevelCacheSize() / - sizeof(Scalar)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(CoeffReturnType*) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - return m_impl.coeff(srcCoeff(index)); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - return m_impl.costPerCoeff(vectorized) + TensorOpCost(0, 0, NumDims); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar* data() const { - return NULL; - } - - //use by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const StartIndices& exprStartIndices() const { return m_exprStartIndices; } - //use by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const StartIndices& exprStopIndices() const { return m_exprStopIndices; } - //use by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const StartIndices& strides() const { return m_strides; } - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const TensorEvaluator& impl() const{return m_impl;} - - protected: - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index srcCoeff(Index index) const - { - Index inputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i >= 0; --i) { - const Index idx = index / m_fastOutputStrides[i]; - inputIndex += idx * m_inputStrides[i] + m_offsets[i]; - index -= idx * m_outputStrides[i]; - } - } else { - for (int i = 0; i < NumDims; ++i) { - const Index idx = index / m_fastOutputStrides[i]; - inputIndex += idx * m_inputStrides[i] + m_offsets[i]; - index -= idx * m_outputStrides[i]; - } - } - return inputIndex; - } - - static EIGEN_STRONG_INLINE Index clamp(Index value, Index min, Index max) { -#ifndef __SYCL_DEVICE_ONLY__ - return numext::maxi(min, numext::mini(max,value)); -#else - return cl::sycl::clamp(value, min, max); -#endif - } - - array m_outputStrides; - array, NumDims> m_fastOutputStrides; - array m_inputStrides; - TensorEvaluator m_impl; - const Device& m_device; - DSizes m_startIndices; // clamped startIndices - DSizes m_dimensions; - DSizes m_offsets; // offset in a flattened shape - const Strides m_strides; - std::size_t m_block_total_size_max; - //use by sycl - const StartIndices m_exprStartIndices; - //use by sycl - const StopIndices m_exprStopIndices; -}; - -// Eval as lvalue -template -struct TensorEvaluator, Device> - : public TensorEvaluator, Device> -{ - typedef TensorEvaluator, Device> Base; - typedef TensorStridingSlicingOp XprType; - static const int NumDims = internal::array_size::value; - - enum { - IsAligned = false, - PacketAccess = false, - BlockAccess = false, - Layout = TensorEvaluator::Layout, - CoordAccess = TensorEvaluator::CoordAccess, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : Base(op, device) - { } - - typedef typename XprType::Index Index; - typedef typename XprType::Scalar Scalar; - typedef typename internal::remove_const::type ScalarNonConst; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - typedef Strides Dimensions; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType& coeffRef(Index index) - { - return this->m_impl.coeffRef(this->srcCoeff(index)); - } -}; - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_MORPHING_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h deleted file mode 100644 index a8e25524..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h +++ /dev/null @@ -1,404 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_PADDING_H -#define EIGEN_CXX11_TENSOR_TENSOR_PADDING_H - -namespace Eigen { - -/** \class TensorPadding - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor padding class. - * At the moment only padding with a constant value is supported. - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorPaddingOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorPaddingOp type; -}; - -} // end namespace internal - - - -template -class TensorPaddingOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorPaddingOp(const XprType& expr, const PaddingDimensions& padding_dims, const Scalar padding_value) - : m_xpr(expr), m_padding_dims(padding_dims), m_padding_value(padding_value) {} - - EIGEN_DEVICE_FUNC - const PaddingDimensions& padding() const { return m_padding_dims; } - EIGEN_DEVICE_FUNC - Scalar padding_value() const { return m_padding_value; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const PaddingDimensions m_padding_dims; - const Scalar m_padding_value; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorPaddingOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::value; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = true, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = true, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_padding(op.padding()), m_paddingValue(op.padding_value()) - { - // The padding op doesn't change the rank of the tensor. Directly padding a scalar would lead - // to a vector, which doesn't make sense. Instead one should reshape the scalar into a vector - // of 1 element first and then pad. - EIGEN_STATIC_ASSERT((NumDims > 0), YOU_MADE_A_PROGRAMMING_MISTAKE); - - // Compute dimensions - m_dimensions = m_impl.dimensions(); - for (int i = 0; i < NumDims; ++i) { - m_dimensions[i] += m_padding[i].first + m_padding[i].second; - } - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - if (static_cast(Layout) == static_cast(ColMajor)) { - m_inputStrides[0] = 1; - m_outputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1]; - m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1]; - } - m_outputStrides[NumDims] = m_outputStrides[NumDims-1] * m_dimensions[NumDims-1]; - } else { - m_inputStrides[NumDims - 1] = 1; - m_outputStrides[NumDims] = 1; - for (int i = NumDims - 2; i >= 0; --i) { - m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1]; - m_outputStrides[i+1] = m_outputStrides[i+2] * m_dimensions[i+1]; - } - m_outputStrides[0] = m_outputStrides[1] * m_dimensions[0]; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar*) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - eigen_assert(index < dimensions().TotalSize()); - Index inputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 1; i > 0; --i) { - const Index idx = index / m_outputStrides[i]; - if (isPaddingAtIndexForDim(idx, i)) { - return m_paddingValue; - } - inputIndex += (idx - m_padding[i].first) * m_inputStrides[i]; - index -= idx * m_outputStrides[i]; - } - if (isPaddingAtIndexForDim(index, 0)) { - return m_paddingValue; - } - inputIndex += (index - m_padding[0].first); - } else { - for (int i = 0; i < NumDims - 1; ++i) { - const Index idx = index / m_outputStrides[i+1]; - if (isPaddingAtIndexForDim(idx, i)) { - return m_paddingValue; - } - inputIndex += (idx - m_padding[i].first) * m_inputStrides[i]; - index -= idx * m_outputStrides[i+1]; - } - if (isPaddingAtIndexForDim(index, NumDims-1)) { - return m_paddingValue; - } - inputIndex += (index - m_padding[NumDims-1].first); - } - return m_impl.coeff(inputIndex); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - if (static_cast(Layout) == static_cast(ColMajor)) { - return packetColMajor(index); - } - return packetRowMajor(index); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - TensorOpCost cost = m_impl.costPerCoeff(vectorized); - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < NumDims; ++i) - updateCostPerDimension(cost, i, i == 0); - } else { - for (int i = NumDims - 1; i >= 0; --i) - updateCostPerDimension(cost, i, i == NumDims - 1); - } - return cost; - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const PaddingDimensions& padding() const { return m_padding; } - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar& padding_value() const { return m_paddingValue; } - /// used by sycl - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const TensorEvaluator& impl() const{return m_impl;} - - private: - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool isPaddingAtIndexForDim( - Index index, int dim_index) const { -#if defined(EIGEN_HAS_INDEX_LIST) - return (!internal::index_pair_first_statically_eq(dim_index, 0) && - index < m_padding[dim_index].first) || - (!internal::index_pair_second_statically_eq(dim_index, 0) && - index >= m_dimensions[dim_index] - m_padding[dim_index].second); -#else - return (index < m_padding[dim_index].first) || - (index >= m_dimensions[dim_index] - m_padding[dim_index].second); -#endif - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool isLeftPaddingCompileTimeZero( - int dim_index) const { -#if defined(EIGEN_HAS_INDEX_LIST) - return internal::index_pair_first_statically_eq(dim_index, 0); -#else - EIGEN_UNUSED_VARIABLE(dim_index); - return false; -#endif - } - - EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool isRightPaddingCompileTimeZero( - int dim_index) const { -#if defined(EIGEN_HAS_INDEX_LIST) - return internal::index_pair_second_statically_eq(dim_index, 0); -#else - EIGEN_UNUSED_VARIABLE(dim_index); - return false; -#endif - } - - - void updateCostPerDimension(TensorOpCost& cost, int i, bool first) const { - const double in = static_cast(m_impl.dimensions()[i]); - const double out = in + m_padding[i].first + m_padding[i].second; - if (out == 0) - return; - const double reduction = in / out; - cost *= reduction; - if (first) { - cost += TensorOpCost(0, 0, 2 * TensorOpCost::AddCost() + - reduction * (1 * TensorOpCost::AddCost())); - } else { - cost += TensorOpCost(0, 0, 2 * TensorOpCost::AddCost() + - 2 * TensorOpCost::MulCost() + - reduction * (2 * TensorOpCost::MulCost() + - 1 * TensorOpCost::DivCost())); - } - } - - protected: - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetColMajor(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - const Index initialIndex = index; - Index inputIndex = 0; - for (int i = NumDims - 1; i > 0; --i) { - const Index first = index; - const Index last = index + PacketSize - 1; - const Index lastPaddedLeft = m_padding[i].first * m_outputStrides[i]; - const Index firstPaddedRight = (m_dimensions[i] - m_padding[i].second) * m_outputStrides[i]; - const Index lastPaddedRight = m_outputStrides[i+1]; - - if (!isLeftPaddingCompileTimeZero(i) && last < lastPaddedLeft) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if (!isRightPaddingCompileTimeZero(i) && first >= firstPaddedRight && last < lastPaddedRight) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if ((isLeftPaddingCompileTimeZero(i) && isRightPaddingCompileTimeZero(i)) || (first >= lastPaddedLeft && last < firstPaddedRight)) { - // all the coefficient are between the 2 padding zones. - const Index idx = index / m_outputStrides[i]; - inputIndex += (idx - m_padding[i].first) * m_inputStrides[i]; - index -= idx * m_outputStrides[i]; - } - else { - // Every other case - return packetWithPossibleZero(initialIndex); - } - } - - const Index last = index + PacketSize - 1; - const Index first = index; - const Index lastPaddedLeft = m_padding[0].first; - const Index firstPaddedRight = (m_dimensions[0] - m_padding[0].second); - const Index lastPaddedRight = m_outputStrides[1]; - - if (!isLeftPaddingCompileTimeZero(0) && last < lastPaddedLeft) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if (!isRightPaddingCompileTimeZero(0) && first >= firstPaddedRight && last < lastPaddedRight) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if ((isLeftPaddingCompileTimeZero(0) && isRightPaddingCompileTimeZero(0)) || (first >= lastPaddedLeft && last < firstPaddedRight)) { - // all the coefficient are between the 2 padding zones. - inputIndex += (index - m_padding[0].first); - return m_impl.template packet(inputIndex); - } - // Every other case - return packetWithPossibleZero(initialIndex); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetRowMajor(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - const Index initialIndex = index; - Index inputIndex = 0; - - for (int i = 0; i < NumDims - 1; ++i) { - const Index first = index; - const Index last = index + PacketSize - 1; - const Index lastPaddedLeft = m_padding[i].first * m_outputStrides[i+1]; - const Index firstPaddedRight = (m_dimensions[i] - m_padding[i].second) * m_outputStrides[i+1]; - const Index lastPaddedRight = m_outputStrides[i]; - - if (!isLeftPaddingCompileTimeZero(i) && last < lastPaddedLeft) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if (!isRightPaddingCompileTimeZero(i) && first >= firstPaddedRight && last < lastPaddedRight) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if ((isLeftPaddingCompileTimeZero(i) && isRightPaddingCompileTimeZero(i)) || (first >= lastPaddedLeft && last < firstPaddedRight)) { - // all the coefficient are between the 2 padding zones. - const Index idx = index / m_outputStrides[i+1]; - inputIndex += (idx - m_padding[i].first) * m_inputStrides[i]; - index -= idx * m_outputStrides[i+1]; - } - else { - // Every other case - return packetWithPossibleZero(initialIndex); - } - } - - const Index last = index + PacketSize - 1; - const Index first = index; - const Index lastPaddedLeft = m_padding[NumDims-1].first; - const Index firstPaddedRight = (m_dimensions[NumDims-1] - m_padding[NumDims-1].second); - const Index lastPaddedRight = m_outputStrides[NumDims-1]; - - if (!isLeftPaddingCompileTimeZero(NumDims-1) && last < lastPaddedLeft) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if (!isRightPaddingCompileTimeZero(NumDims-1) && first >= firstPaddedRight && last < lastPaddedRight) { - // all the coefficient are in the padding zone. - return internal::pset1(m_paddingValue); - } - else if ((isLeftPaddingCompileTimeZero(NumDims-1) && isRightPaddingCompileTimeZero(NumDims-1)) || (first >= lastPaddedLeft && last < firstPaddedRight)) { - // all the coefficient are between the 2 padding zones. - inputIndex += (index - m_padding[NumDims-1].first); - return m_impl.template packet(inputIndex); - } - // Every other case - return packetWithPossibleZero(initialIndex); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packetWithPossibleZero(Index index) const - { - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - for (int i = 0; i < PacketSize; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - - Dimensions m_dimensions; - array m_outputStrides; - array m_inputStrides; - TensorEvaluator m_impl; - PaddingDimensions m_padding; - - Scalar m_paddingValue; -}; - - - - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_PADDING_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h deleted file mode 100644 index 886a254f..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h +++ /dev/null @@ -1,269 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_PATCH_H -#define EIGEN_CXX11_TENSOR_TENSOR_PATCH_H - -namespace Eigen { - -/** \class TensorPatch - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor patch class. - * - * - */ -namespace internal { -template -struct traits > : public traits -{ - typedef typename XprType::Scalar Scalar; - typedef traits XprTraits; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - typedef typename remove_reference::type _Nested; - static const int NumDimensions = XprTraits::NumDimensions + 1; - static const int Layout = XprTraits::Layout; -}; - -template -struct eval, Eigen::Dense> -{ - typedef const TensorPatchOp& type; -}; - -template -struct nested, 1, typename eval >::type> -{ - typedef TensorPatchOp type; -}; - -} // end namespace internal - - - -template -class TensorPatchOp : public TensorBase, ReadOnlyAccessors> -{ - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorPatchOp(const XprType& expr, const PatchDim& patch_dims) - : m_xpr(expr), m_patch_dims(patch_dims) {} - - EIGEN_DEVICE_FUNC - const PatchDim& patch_dims() const { return m_patch_dims; } - - EIGEN_DEVICE_FUNC - const typename internal::remove_all::type& - expression() const { return m_xpr; } - - protected: - typename XprType::Nested m_xpr; - const PatchDim m_patch_dims; -}; - - -// Eval as rvalue -template -struct TensorEvaluator, Device> -{ - typedef TensorPatchOp XprType; - typedef typename XprType::Index Index; - static const int NumDims = internal::array_size::Dimensions>::value + 1; - typedef DSizes Dimensions; - typedef typename XprType::Scalar Scalar; - typedef typename XprType::CoeffReturnType CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - - enum { - IsAligned = false, - PacketAccess = TensorEvaluator::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, - RawAccess = false - }; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device) - { - Index num_patches = 1; - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - const PatchDim& patch_dims = op.patch_dims(); - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = 0; i < NumDims-1; ++i) { - m_dimensions[i] = patch_dims[i]; - num_patches *= (input_dims[i] - patch_dims[i] + 1); - } - m_dimensions[NumDims-1] = num_patches; - - m_inputStrides[0] = 1; - m_patchStrides[0] = 1; - for (int i = 1; i < NumDims-1; ++i) { - m_inputStrides[i] = m_inputStrides[i-1] * input_dims[i-1]; - m_patchStrides[i] = m_patchStrides[i-1] * (input_dims[i-1] - patch_dims[i-1] + 1); - } - m_outputStrides[0] = 1; - for (int i = 1; i < NumDims; ++i) { - m_outputStrides[i] = m_outputStrides[i-1] * m_dimensions[i-1]; - } - } else { - for (int i = 0; i < NumDims-1; ++i) { - m_dimensions[i+1] = patch_dims[i]; - num_patches *= (input_dims[i] - patch_dims[i] + 1); - } - m_dimensions[0] = num_patches; - - m_inputStrides[NumDims-2] = 1; - m_patchStrides[NumDims-2] = 1; - for (int i = NumDims-3; i >= 0; --i) { - m_inputStrides[i] = m_inputStrides[i+1] * input_dims[i+1]; - m_patchStrides[i] = m_patchStrides[i+1] * (input_dims[i+1] - patch_dims[i+1] + 1); - } - m_outputStrides[NumDims-1] = 1; - for (int i = NumDims-2; i >= 0; --i) { - m_outputStrides[i] = m_outputStrides[i+1] * m_dimensions[i+1]; - } - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool evalSubExprsIfNeeded(Scalar* /*data*/) { - m_impl.evalSubExprsIfNeeded(NULL); - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - Index output_stride_index = (static_cast(Layout) == static_cast(ColMajor)) ? NumDims - 1 : 0; - // Find the location of the first element of the patch. - Index patchIndex = index / m_outputStrides[output_stride_index]; - // Find the offset of the element wrt the location of the first element. - Index patchOffset = index - patchIndex * m_outputStrides[output_stride_index]; - Index inputIndex = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 2; i > 0; --i) { - const Index patchIdx = patchIndex / m_patchStrides[i]; - patchIndex -= patchIdx * m_patchStrides[i]; - const Index offsetIdx = patchOffset / m_outputStrides[i]; - patchOffset -= offsetIdx * m_outputStrides[i]; - inputIndex += (patchIdx + offsetIdx) * m_inputStrides[i]; - } - } else { - for (int i = 0; i < NumDims - 2; ++i) { - const Index patchIdx = patchIndex / m_patchStrides[i]; - patchIndex -= patchIdx * m_patchStrides[i]; - const Index offsetIdx = patchOffset / m_outputStrides[i+1]; - patchOffset -= offsetIdx * m_outputStrides[i+1]; - inputIndex += (patchIdx + offsetIdx) * m_inputStrides[i]; - } - } - inputIndex += (patchIndex + patchOffset); - return m_impl.coeff(inputIndex); - } - - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index+PacketSize-1 < dimensions().TotalSize()); - - Index output_stride_index = (static_cast(Layout) == static_cast(ColMajor)) ? NumDims - 1 : 0; - Index indices[2] = {index, index + PacketSize - 1}; - Index patchIndices[2] = {indices[0] / m_outputStrides[output_stride_index], - indices[1] / m_outputStrides[output_stride_index]}; - Index patchOffsets[2] = {indices[0] - patchIndices[0] * m_outputStrides[output_stride_index], - indices[1] - patchIndices[1] * m_outputStrides[output_stride_index]}; - - Index inputIndices[2] = {0, 0}; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumDims - 2; i > 0; --i) { - const Index patchIdx[2] = {patchIndices[0] / m_patchStrides[i], - patchIndices[1] / m_patchStrides[i]}; - patchIndices[0] -= patchIdx[0] * m_patchStrides[i]; - patchIndices[1] -= patchIdx[1] * m_patchStrides[i]; - - const Index offsetIdx[2] = {patchOffsets[0] / m_outputStrides[i], - patchOffsets[1] / m_outputStrides[i]}; - patchOffsets[0] -= offsetIdx[0] * m_outputStrides[i]; - patchOffsets[1] -= offsetIdx[1] * m_outputStrides[i]; - - inputIndices[0] += (patchIdx[0] + offsetIdx[0]) * m_inputStrides[i]; - inputIndices[1] += (patchIdx[1] + offsetIdx[1]) * m_inputStrides[i]; - } - } else { - for (int i = 0; i < NumDims - 2; ++i) { - const Index patchIdx[2] = {patchIndices[0] / m_patchStrides[i], - patchIndices[1] / m_patchStrides[i]}; - patchIndices[0] -= patchIdx[0] * m_patchStrides[i]; - patchIndices[1] -= patchIdx[1] * m_patchStrides[i]; - - const Index offsetIdx[2] = {patchOffsets[0] / m_outputStrides[i+1], - patchOffsets[1] / m_outputStrides[i+1]}; - patchOffsets[0] -= offsetIdx[0] * m_outputStrides[i+1]; - patchOffsets[1] -= offsetIdx[1] * m_outputStrides[i+1]; - - inputIndices[0] += (patchIdx[0] + offsetIdx[0]) * m_inputStrides[i]; - inputIndices[1] += (patchIdx[1] + offsetIdx[1]) * m_inputStrides[i]; - } - } - inputIndices[0] += (patchIndices[0] + patchOffsets[0]); - inputIndices[1] += (patchIndices[1] + patchOffsets[1]); - - if (inputIndices[1] - inputIndices[0] == PacketSize - 1) { - PacketReturnType rslt = m_impl.template packet(inputIndices[0]); - return rslt; - } - else { - EIGEN_ALIGN_MAX CoeffReturnType values[PacketSize]; - values[0] = m_impl.coeff(inputIndices[0]); - values[PacketSize-1] = m_impl.coeff(inputIndices[1]); - for (int i = 1; i < PacketSize-1; ++i) { - values[i] = coeff(index+i); - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - const double compute_cost = NumDims * (TensorOpCost::DivCost() + - TensorOpCost::MulCost() + - 2 * TensorOpCost::AddCost()); - return m_impl.costPerCoeff(vectorized) + - TensorOpCost(0, 0, compute_cost, vectorized, PacketSize); - } - - EIGEN_DEVICE_FUNC Scalar* data() const { return NULL; } - - protected: - Dimensions m_dimensions; - array m_outputStrides; - array m_inputStrides; - array m_patchStrides; - - TensorEvaluator m_impl; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_PATCH_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h deleted file mode 100644 index 1655a813..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h +++ /dev/null @@ -1,276 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2016 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_RANDOM_H -#define EIGEN_CXX11_TENSOR_TENSOR_RANDOM_H - -namespace Eigen { -namespace internal { - -namespace { - -EIGEN_DEVICE_FUNC uint64_t get_random_seed() { -#ifdef __CUDA_ARCH__ - // We don't support 3d kernels since we currently only use 1 and - // 2d kernels. - assert(threadIdx.z == 0); - return clock64() + - blockIdx.x * blockDim.x + threadIdx.x + - gridDim.x * blockDim.x * (blockIdx.y * blockDim.y + threadIdx.y); - -#elif defined _WIN32 - // Use the current time as a baseline. - SYSTEMTIME st; - GetSystemTime(&st); - int time = st.wSecond + 1000 * st.wMilliseconds; - // Mix in a random number to make sure that we get different seeds if - // we try to generate seeds faster than the clock resolution. - // We need 2 random values since the generator only generate 16 bits at - // a time (https://msdn.microsoft.com/en-us/library/398ax69y.aspx) - int rnd1 = ::rand(); - int rnd2 = ::rand(); - uint64_t rnd = (rnd1 | rnd2 << 16) ^ time; - return rnd; - -#elif defined __APPLE__ - // Same approach as for win32, except that the random number generator - // is better (// https://developer.apple.com/legacy/library/documentation/Darwin/Reference/ManPages/man3/random.3.html#//apple_ref/doc/man/3/random). - uint64_t rnd = ::random() ^ mach_absolute_time(); - return rnd; - -#else - // Augment the current time with pseudo random number generation - // to ensure that we get different seeds if we try to generate seeds - // faster than the clock resolution. - timespec ts; - clock_gettime(CLOCK_REALTIME, &ts); - uint64_t rnd = ::random() ^ ts.tv_nsec; - return rnd; -#endif -} - -static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE unsigned PCG_XSH_RS_generator(uint64_t* state) { - // TODO: Unify with the implementation in the non blocking thread pool. - uint64_t current = *state; - // Update the internal state - *state = current * 6364136223846793005ULL + 0xda3e39cb94b95bdbULL; - // Generate the random output (using the PCG-XSH-RS scheme) - return static_cast((current ^ (current >> 22)) >> (22 + (current >> 61))); -} - -static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE uint64_t PCG_XSH_RS_state(uint64_t seed) { - seed = seed ? seed : get_random_seed(); - return seed * 6364136223846793005ULL + 0xda3e39cb94b95bdbULL; -} - -} // namespace - - -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -T RandomToTypeUniform(uint64_t* state) { - unsigned rnd = PCG_XSH_RS_generator(state); - return static_cast(rnd); -} - - -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -Eigen::half RandomToTypeUniform(uint64_t* state) { - Eigen::half result; - // Generate 10 random bits for the mantissa - unsigned rnd = PCG_XSH_RS_generator(state); - result.x = static_cast(rnd & 0x3ffu); - // Set the exponent - result.x |= (static_cast(15) << 10); - // Return the final result - return result - Eigen::half(1.0f); -} - - -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -float RandomToTypeUniform(uint64_t* state) { - typedef union { - uint32_t raw; - float fp; - } internal; - internal result; - // Generate 23 random bits for the mantissa mantissa - const unsigned rnd = PCG_XSH_RS_generator(state); - result.raw = rnd & 0x7fffffu; - // Set the exponent - result.raw |= (static_cast(127) << 23); - // Return the final result - return result.fp - 1.0f; -} - -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -double RandomToTypeUniform(uint64_t* state) { - typedef union { - uint64_t raw; - double dp; - } internal; - internal result; - result.raw = 0; - // Generate 52 random bits for the mantissa - // First generate the upper 20 bits - unsigned rnd1 = PCG_XSH_RS_generator(state) & 0xfffffu; - // The generate the lower 32 bits - unsigned rnd2 = PCG_XSH_RS_generator(state); - result.raw = (static_cast(rnd1) << 32) | rnd2; - // Set the exponent - result.raw |= (static_cast(1023) << 52); - // Return the final result - return result.dp - 1.0; -} - -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -std::complex RandomToTypeUniform >(uint64_t* state) { - return std::complex(RandomToTypeUniform(state), - RandomToTypeUniform(state)); -} -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -std::complex RandomToTypeUniform >(uint64_t* state) { - return std::complex(RandomToTypeUniform(state), - RandomToTypeUniform(state)); -} - -template class UniformRandomGenerator { - public: - static const bool PacketAccess = true; - - // Uses the given "seed" if non-zero, otherwise uses a random seed. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE UniformRandomGenerator( - uint64_t seed = 0) { - m_state = PCG_XSH_RS_state(seed); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE UniformRandomGenerator( - const UniformRandomGenerator& other) { - m_state = other.m_state; - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - T operator()(Index i) const { - uint64_t local_state = m_state + i; - T result = RandomToTypeUniform(&local_state); - m_state = local_state; - return result; - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Packet packetOp(Index i) const { - const int packetSize = internal::unpacket_traits::size; - EIGEN_ALIGN_MAX T values[packetSize]; - uint64_t local_state = m_state + i; - for (int j = 0; j < packetSize; ++j) { - values[j] = RandomToTypeUniform(&local_state); - } - m_state = local_state; - return internal::pload(values); - } - - private: - mutable uint64_t m_state; -}; - -template -struct functor_traits > { - enum { - // Rough estimate for floating point, multiplied by ceil(sizeof(T) / sizeof(float)). - Cost = 12 * NumTraits::AddCost * - ((sizeof(Scalar) + sizeof(float) - 1) / sizeof(float)), - PacketAccess = UniformRandomGenerator::PacketAccess - }; -}; - - - -template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -T RandomToTypeNormal(uint64_t* state) { - // Use the ratio of uniform method to generate numbers following a normal - // distribution. See for example Numerical Recipes chapter 7.3.9 for the - // details. - T u, v, q; - do { - u = RandomToTypeUniform(state); - v = T(1.7156) * (RandomToTypeUniform(state) - T(0.5)); - const T x = u - T(0.449871); - const T y = numext::abs(v) + T(0.386595); - q = x*x + y * (T(0.196)*y - T(0.25472)*x); - } while (q > T(0.27597) && - (q > T(0.27846) || v*v > T(-4) * numext::log(u) * u*u)); - - return v/u; -} - -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -std::complex RandomToTypeNormal >(uint64_t* state) { - return std::complex(RandomToTypeNormal(state), - RandomToTypeNormal(state)); -} -template <> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE -std::complex RandomToTypeNormal >(uint64_t* state) { - return std::complex(RandomToTypeNormal(state), - RandomToTypeNormal(state)); -} - - -template class NormalRandomGenerator { - public: - static const bool PacketAccess = true; - - // Uses the given "seed" if non-zero, otherwise uses a random seed. - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE NormalRandomGenerator(uint64_t seed = 0) { - m_state = PCG_XSH_RS_state(seed); - } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE NormalRandomGenerator( - const NormalRandomGenerator& other) { - m_state = other.m_state; - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - T operator()(Index i) const { - uint64_t local_state = m_state + i; - T result = RandomToTypeNormal(&local_state); - m_state = local_state; - return result; - } - - template EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - Packet packetOp(Index i) const { - const int packetSize = internal::unpacket_traits::size; - EIGEN_ALIGN_MAX T values[packetSize]; - uint64_t local_state = m_state + i; - for (int j = 0; j < packetSize; ++j) { - values[j] = RandomToTypeNormal(&local_state); - } - m_state = local_state; - return internal::pload(values); - } - - private: - mutable uint64_t m_state; -}; - - -template -struct functor_traits > { - enum { - // On average, we need to generate about 3 random numbers - // 15 mul, 8 add, 1.5 logs - Cost = 3 * functor_traits >::Cost + - 15 * NumTraits::AddCost + 8 * NumTraits::AddCost + - 3 * functor_traits >::Cost / 2, - PacketAccess = NormalRandomGenerator::PacketAccess - }; -}; - - -} // end namespace internal -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_RANDOM_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h deleted file mode 100644 index e341e2e9..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h +++ /dev/null @@ -1,799 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// Copyright (C) 2016 Mehdi Goli, Codeplay Software Ltd -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_H -#define EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_H - -// clang is incompatible with the CUDA syntax wrt making a kernel a class friend, -// so we'll use a macro to make clang happy. -#ifndef KERNEL_FRIEND -#if defined(__clang__) && defined(__CUDA__) -#define KERNEL_FRIEND friend __global__ -#else -#define KERNEL_FRIEND friend -#endif -#endif - - -namespace Eigen { - - -/** \class TensorReduction - * \ingroup CXX11_Tensor_Module - * - * \brief Tensor reduction class. - * - */ - -namespace internal { - template class MakePointer_ > - struct traits > - : traits -{ - typedef traits XprTraits; - typedef typename XprTraits::Scalar Scalar; - typedef typename XprTraits::StorageKind StorageKind; - typedef typename XprTraits::Index Index; - typedef typename XprType::Nested Nested; - static const int NumDimensions = XprTraits::NumDimensions - array_size::value; - static const int Layout = XprTraits::Layout; - - template struct MakePointer { - // Intermediate typedef to workaround MSVC issue. - typedef MakePointer_ MakePointerT; - typedef typename MakePointerT::Type Type; - }; -}; - -template class MakePointer_> -struct eval, Eigen::Dense> -{ - typedef const TensorReductionOp& type; -}; - -template class MakePointer_> -struct nested, 1, typename eval >::type> -{ - typedef TensorReductionOp type; -}; - - -template struct DimInitializer { - template EIGEN_DEVICE_FUNC - static void run(const InputDims& input_dims, - const array::value>& reduced, - OutputDims* output_dims, ReducedDims* reduced_dims) { - const int NumInputDims = internal::array_size::value; - int outputIndex = 0; - int reduceIndex = 0; - for (int i = 0; i < NumInputDims; ++i) { - if (reduced[i]) { - (*reduced_dims)[reduceIndex] = input_dims[i]; - ++reduceIndex; - } else { - (*output_dims)[outputIndex] = input_dims[i]; - ++outputIndex; - } - } - } -}; - -template <> struct DimInitializer > { - template EIGEN_DEVICE_FUNC - static void run(const InputDims& input_dims, const array&, - Sizes<>*, array* reduced_dims) { - const int NumInputDims = internal::array_size::value; - for (int i = 0; i < NumInputDims; ++i) { - (*reduced_dims)[i] = input_dims[i]; - } - } -}; - - -template -struct are_inner_most_dims { - static const bool value = false; -}; -template -struct preserve_inner_most_dims { - static const bool value = false; -}; - -#if EIGEN_HAS_CONSTEXPR && EIGEN_HAS_VARIADIC_TEMPLATES -template -struct are_inner_most_dims{ - static const bool tmp1 = indices_statically_known_to_increase(); - static const bool tmp2 = index_statically_eq(0, 0); - static const bool tmp3 = index_statically_eq(array_size::value-1, array_size::value-1); - static const bool value = tmp1 & tmp2 & tmp3; -}; -template -struct are_inner_most_dims{ - static const bool tmp1 = indices_statically_known_to_increase(); - static const bool tmp2 = index_statically_eq(0, NumTensorDims - array_size::value); - static const bool tmp3 = index_statically_eq(array_size::value - 1, NumTensorDims - 1); - static const bool value = tmp1 & tmp2 & tmp3; - -}; -template -struct preserve_inner_most_dims{ - static const bool tmp1 = indices_statically_known_to_increase(); - static const bool tmp2 = index_statically_gt(0, 0); - static const bool value = tmp1 & tmp2; - -}; -template -struct preserve_inner_most_dims{ - static const bool tmp1 = indices_statically_known_to_increase(); - static const bool tmp2 = index_statically_lt(array_size::value - 1, NumTensorDims - 1); - static const bool value = tmp1 & tmp2; -}; -#endif - - -template -struct GenericDimReducer { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::CoeffReturnType* accum) { - EIGEN_STATIC_ASSERT((DimIndex > 0), YOU_MADE_A_PROGRAMMING_MISTAKE); - for (int j = 0; j < self.m_reducedDims[DimIndex]; ++j) { - const typename Self::Index input = firstIndex + j * self.m_reducedStrides[DimIndex]; - GenericDimReducer::reduce(self, input, reducer, accum); - } - } -}; -template -struct GenericDimReducer<0, Self, Op> { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::CoeffReturnType* accum) { - for (int j = 0; j < self.m_reducedDims[0]; ++j) { - const typename Self::Index input = firstIndex + j * self.m_reducedStrides[0]; - reducer.reduce(self.m_impl.coeff(input), accum); - } - } -}; -template -struct GenericDimReducer<-1, Self, Op> { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index index, Op& reducer, typename Self::CoeffReturnType* accum) { - reducer.reduce(self.m_impl.coeff(index), accum); - } -}; - -template -struct InnerMostDimReducer { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename Self::CoeffReturnType reduce(const Self& self, typename Self::Index firstIndex, typename Self::Index numValuesToReduce, Op& reducer) { - typename Self::CoeffReturnType accum = reducer.initialize(); - for (typename Self::Index j = 0; j < numValuesToReduce; ++j) { - reducer.reduce(self.m_impl.coeff(firstIndex + j), &accum); - } - return reducer.finalize(accum); - } -}; - -template -struct InnerMostDimReducer { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename Self::CoeffReturnType reduce(const Self& self, typename Self::Index firstIndex, typename Self::Index numValuesToReduce, Op& reducer) { - const int packetSize = internal::unpacket_traits::size; - const typename Self::Index VectorizedSize = (numValuesToReduce / packetSize) * packetSize; - typename Self::PacketReturnType p = reducer.template initializePacket(); - for (typename Self::Index j = 0; j < VectorizedSize; j += packetSize) { - reducer.reducePacket(self.m_impl.template packet(firstIndex + j), &p); - } - typename Self::CoeffReturnType accum = reducer.initialize(); - for (typename Self::Index j = VectorizedSize; j < numValuesToReduce; ++j) { - reducer.reduce(self.m_impl.coeff(firstIndex + j), &accum); - } - return reducer.finalizeBoth(accum, p); - } -}; - -template -struct InnerMostDimPreserver { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self&, typename Self::Index, Op&, typename Self::PacketReturnType*) { - eigen_assert(false && "should never be called"); - } -}; - -template -struct InnerMostDimPreserver { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::PacketReturnType* accum) { - EIGEN_STATIC_ASSERT((DimIndex > 0), YOU_MADE_A_PROGRAMMING_MISTAKE); - for (typename Self::Index j = 0; j < self.m_reducedDims[DimIndex]; ++j) { - const typename Self::Index input = firstIndex + j * self.m_reducedStrides[DimIndex]; - InnerMostDimPreserver::reduce(self, input, reducer, accum); - } - } -}; - -template -struct InnerMostDimPreserver<0, Self, Op, true> { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self& self, typename Self::Index firstIndex, Op& reducer, typename Self::PacketReturnType* accum) { - for (typename Self::Index j = 0; j < self.m_reducedDims[0]; ++j) { - const typename Self::Index input = firstIndex + j * self.m_reducedStrides[0]; - reducer.reducePacket(self.m_impl.template packet(input), accum); - } - } -}; -template -struct InnerMostDimPreserver<-1, Self, Op, true> { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void reduce(const Self&, typename Self::Index, Op&, typename Self::PacketReturnType*) { - eigen_assert(false && "should never be called"); - } -}; - -// Default full reducer -template -struct FullReducer { - static const bool HasOptimizedImplementation = false; - - static EIGEN_DEVICE_FUNC void run(const Self& self, Op& reducer, const Device&, typename Self::CoeffReturnType* output) { - const typename Self::Index num_coeffs = array_prod(self.m_impl.dimensions()); - *output = InnerMostDimReducer::reduce(self, 0, num_coeffs, reducer); - } -}; - - -#ifdef EIGEN_USE_THREADS -// Multithreaded full reducers -template -struct FullReducerShard { - static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(const Self& self, typename Self::Index firstIndex, - typename Self::Index numValuesToReduce, Op& reducer, - typename Self::CoeffReturnType* output) { - *output = InnerMostDimReducer::reduce( - self, firstIndex, numValuesToReduce, reducer); - } -}; - -// Multithreaded full reducer -template -struct FullReducer { - static const bool HasOptimizedImplementation = !Op::IsStateful; - static const int PacketSize = - unpacket_traits::size; - - // launch one reducer per thread and accumulate the result. - static void run(const Self& self, Op& reducer, const ThreadPoolDevice& device, - typename Self::CoeffReturnType* output) { - typedef typename Self::Index Index; - const Index num_coeffs = array_prod(self.m_impl.dimensions()); - if (num_coeffs == 0) { - *output = reducer.finalize(reducer.initialize()); - return; - } - const TensorOpCost cost = - self.m_impl.costPerCoeff(Vectorizable) + - TensorOpCost(0, 0, internal::functor_traits::Cost, Vectorizable, - PacketSize); - const int num_threads = TensorCostModel::numThreads( - num_coeffs, cost, device.numThreads()); - if (num_threads == 1) { - *output = - InnerMostDimReducer::reduce(self, 0, num_coeffs, reducer); - return; - } - const Index blocksize = - std::floor(static_cast(num_coeffs) / num_threads); - const Index numblocks = blocksize > 0 ? num_coeffs / blocksize : 0; - eigen_assert(num_coeffs >= numblocks * blocksize); - - Barrier barrier(internal::convert_index(numblocks)); - MaxSizeVector shards(numblocks, reducer.initialize()); - for (Index i = 0; i < numblocks; ++i) { - device.enqueue_with_barrier(&barrier, &FullReducerShard::run, - self, i * blocksize, blocksize, reducer, - &shards[i]); - } - typename Self::CoeffReturnType finalShard; - if (numblocks * blocksize < num_coeffs) { - finalShard = InnerMostDimReducer::reduce( - self, numblocks * blocksize, num_coeffs - numblocks * blocksize, - reducer); - } else { - finalShard = reducer.initialize(); - } - barrier.Wait(); - - for (Index i = 0; i < numblocks; ++i) { - reducer.reduce(shards[i], &finalShard); - } - *output = reducer.finalize(finalShard); - } -}; - -#endif - - -// Default inner reducer -template -struct InnerReducer { - static const bool HasOptimizedImplementation = false; - - EIGEN_DEVICE_FUNC static bool run(const Self&, Op&, const Device&, typename Self::CoeffReturnType*, typename Self::Index, typename Self::Index) { - eigen_assert(false && "Not implemented"); - return true; - } -}; - -// Default outer reducer -template -struct OuterReducer { - static const bool HasOptimizedImplementation = false; - - EIGEN_DEVICE_FUNC static bool run(const Self&, Op&, const Device&, typename Self::CoeffReturnType*, typename Self::Index, typename Self::Index) { - eigen_assert(false && "Not implemented"); - return true; - } -}; - - -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) -template -__global__ void FullReductionKernel(R, const S, I, typename S::CoeffReturnType*, unsigned int*); - - -#ifdef EIGEN_HAS_CUDA_FP16 -template -__global__ void ReductionInitFullReduxKernelHalfFloat(R, const S, I, half2*); -template -__global__ void FullReductionKernelHalfFloat(R, const S, I, half*, half2*); -template -__global__ void InnerReductionKernelHalfFloat(R, const S, I, I, half*); - -#endif - -template -__global__ void InnerReductionKernel(R, const S, I, I, typename S::CoeffReturnType*); - -template -__global__ void OuterReductionKernel(R, const S, I, I, typename S::CoeffReturnType*); -#endif - -} // end namespace internal - - -template class MakePointer_> -class TensorReductionOp : public TensorBase, ReadOnlyAccessors> { - public: - typedef typename Eigen::internal::traits::Scalar Scalar; - typedef typename Eigen::NumTraits::Real RealScalar; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename Eigen::internal::nested::type Nested; - typedef typename Eigen::internal::traits::StorageKind StorageKind; - typedef typename Eigen::internal::traits::Index Index; - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorReductionOp(const XprType& expr, const Dims& dims) : m_expr(expr), m_dims(dims) - { } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - TensorReductionOp(const XprType& expr, const Dims& dims, const Op& reducer) : m_expr(expr), m_dims(dims), m_reducer(reducer) - { } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const XprType& expression() const { return m_expr; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const Dims& dims() const { return m_dims; } - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE - const Op& reducer() const { return m_reducer; } - - protected: - typename XprType::Nested m_expr; - const Dims m_dims; - const Op m_reducer; -}; - - -// Eval as rvalue -template class MakePointer_, typename Device> -struct TensorEvaluator, Device> -{ - typedef TensorReductionOp XprType; - typedef typename XprType::Index Index; - typedef ArgType ChildType; - typedef typename TensorEvaluator::Dimensions InputDimensions; - static const int NumInputDims = internal::array_size::value; - static const int NumReducedDims = internal::array_size::value; - static const int NumOutputDims = NumInputDims - NumReducedDims; - typedef typename internal::conditional, DSizes >::type Dimensions; - typedef typename XprType::Scalar Scalar; - typedef TensorEvaluator, Device> Self; - static const bool InputPacketAccess = TensorEvaluator::PacketAccess; - typedef typename internal::remove_const::type CoeffReturnType; - typedef typename PacketType::type PacketReturnType; - static const int PacketSize = internal::unpacket_traits::size; - - enum { - IsAligned = false, - PacketAccess = Self::InputPacketAccess && Op::PacketAccess, - Layout = TensorEvaluator::Layout, - CoordAccess = false, // to be implemented - RawAccess = false - }; - - static const bool ReducingInnerMostDims = internal::are_inner_most_dims::value; - static const bool PreservingInnerMostDims = internal::preserve_inner_most_dims::value; - static const bool RunningFullReduction = (NumOutputDims==0); - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorEvaluator(const XprType& op, const Device& device) - : m_impl(op.expression(), device), m_reducer(op.reducer()), m_result(NULL), m_device(device), m_xpr_dims(op.dims()) - { - EIGEN_STATIC_ASSERT((NumInputDims >= NumReducedDims), YOU_MADE_A_PROGRAMMING_MISTAKE); - EIGEN_STATIC_ASSERT((!ReducingInnerMostDims | !PreservingInnerMostDims | (NumReducedDims == NumInputDims)), - YOU_MADE_A_PROGRAMMING_MISTAKE); - - // Build the bitmap indicating if an input dimension is reduced or not. - for (int i = 0; i < NumInputDims; ++i) { - m_reduced[i] = false; - } - for (int i = 0; i < NumReducedDims; ++i) { - eigen_assert(op.dims()[i] >= 0); - eigen_assert(op.dims()[i] < NumInputDims); - m_reduced[op.dims()[i]] = true; - } - - const typename TensorEvaluator::Dimensions& input_dims = m_impl.dimensions(); - internal::DimInitializer::run(input_dims, m_reduced, &m_dimensions, &m_reducedDims); - - // Precompute output strides. - if (NumOutputDims > 0) { - if (static_cast(Layout) == static_cast(ColMajor)) { - m_outputStrides[0] = 1; - for (int i = 1; i < NumOutputDims; ++i) { - m_outputStrides[i] = m_outputStrides[i - 1] * m_dimensions[i - 1]; - } - } else { - m_outputStrides.back() = 1; - for (int i = NumOutputDims - 2; i >= 0; --i) { - m_outputStrides[i] = m_outputStrides[i + 1] * m_dimensions[i + 1]; - } - } - } - - // Precompute input strides. - if (NumInputDims > 0) { - array input_strides; - if (static_cast(Layout) == static_cast(ColMajor)) { - input_strides[0] = 1; - for (int i = 1; i < NumInputDims; ++i) { - input_strides[i] = input_strides[i-1] * input_dims[i-1]; - } - } else { - input_strides.back() = 1; - for (int i = NumInputDims - 2; i >= 0; --i) { - input_strides[i] = input_strides[i + 1] * input_dims[i + 1]; - } - } - - int outputIndex = 0; - int reduceIndex = 0; - for (int i = 0; i < NumInputDims; ++i) { - if (m_reduced[i]) { - m_reducedStrides[reduceIndex] = input_strides[i]; - ++reduceIndex; - } else { - m_preservedStrides[outputIndex] = input_strides[i]; - ++outputIndex; - } - } - } - - // Special case for full reductions - if (NumOutputDims == 0) { - m_preservedStrides[0] = internal::array_prod(input_dims); - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Dimensions& dimensions() const { return m_dimensions; } - - EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool evalSubExprsIfNeeded(typename MakePointer_::Type data) { - m_impl.evalSubExprsIfNeeded(NULL); - - // Use the FullReducer if possible. - if ((RunningFullReduction && RunningOnSycl) ||(RunningFullReduction && - internal::FullReducer::HasOptimizedImplementation && - ((RunningOnGPU && (m_device.majorDeviceVersion() >= 3)) || - !RunningOnGPU))) { - bool need_assign = false; - if (!data) { - m_result = static_cast(m_device.allocate(sizeof(CoeffReturnType))); - data = m_result; - need_assign = true; - } - Op reducer(m_reducer); - internal::FullReducer::run(*this, reducer, m_device, data); - return need_assign; - } - else if(RunningOnSycl){ - const Index num_values_to_reduce = internal::array_prod(m_reducedDims); - const Index num_coeffs_to_preserve = internal::array_prod(m_dimensions); - if (!data) { - data = static_cast(m_device.allocate(sizeof(CoeffReturnType) * num_coeffs_to_preserve)); - m_result = data; - } - Op reducer(m_reducer); - internal::InnerReducer::run(*this, reducer, m_device, data, num_values_to_reduce, num_coeffs_to_preserve); - return (m_result != NULL); - } - - // Attempt to use an optimized reduction. - else if (RunningOnGPU && (m_device.majorDeviceVersion() >= 3)) { - bool reducing_inner_dims = true; - for (int i = 0; i < NumReducedDims; ++i) { - if (static_cast(Layout) == static_cast(ColMajor)) { - reducing_inner_dims &= m_reduced[i]; - } else { - reducing_inner_dims &= m_reduced[NumInputDims - 1 - i]; - } - } - if (internal::InnerReducer::HasOptimizedImplementation && - (reducing_inner_dims || ReducingInnerMostDims)) { - const Index num_values_to_reduce = internal::array_prod(m_reducedDims); - const Index num_coeffs_to_preserve = internal::array_prod(m_dimensions); - if (!data) { - if (num_coeffs_to_preserve < 1024 && num_values_to_reduce > num_coeffs_to_preserve && num_values_to_reduce > 128) { - data = static_cast(m_device.allocate(sizeof(CoeffReturnType) * num_coeffs_to_preserve)); - m_result = data; - } - else { - return true; - } - } - Op reducer(m_reducer); - if (internal::InnerReducer::run(*this, reducer, m_device, data, num_values_to_reduce, num_coeffs_to_preserve)) { - if (m_result) { - m_device.deallocate(m_result); - m_result = NULL; - } - return true; - } else { - return (m_result != NULL); - } - } - - bool preserving_inner_dims = true; - for (int i = 0; i < NumReducedDims; ++i) { - if (static_cast(Layout) == static_cast(ColMajor)) { - preserving_inner_dims &= m_reduced[NumInputDims - 1 - i]; - } else { - preserving_inner_dims &= m_reduced[i]; - } - } - if (internal::OuterReducer::HasOptimizedImplementation && - preserving_inner_dims) { - const Index num_values_to_reduce = internal::array_prod(m_reducedDims); - const Index num_coeffs_to_preserve = internal::array_prod(m_dimensions); - if (!data) { - if (num_coeffs_to_preserve < 1024 && num_values_to_reduce > num_coeffs_to_preserve && num_values_to_reduce > 32) { - data = static_cast(m_device.allocate(sizeof(CoeffReturnType) * num_coeffs_to_preserve)); - m_result = data; - } - else { - return true; - } - } - Op reducer(m_reducer); - if (internal::OuterReducer::run(*this, reducer, m_device, data, num_values_to_reduce, num_coeffs_to_preserve)) { - if (m_result) { - m_device.deallocate(m_result); - m_result = NULL; - } - return true; - } else { - return (m_result != NULL); - } - } - } - return true; - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void cleanup() { - m_impl.cleanup(); - if (m_result) { - m_device.deallocate(m_result); - m_result = NULL; - } - } - - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const - { - if ((RunningOnSycl || RunningFullReduction || RunningOnGPU) && m_result) { - return *(m_result + index); - } - Op reducer(m_reducer); - if (ReducingInnerMostDims || RunningFullReduction) { - const Index num_values_to_reduce = - (static_cast(Layout) == static_cast(ColMajor)) ? m_preservedStrides[0] : m_preservedStrides[NumPreservedStrides - 1]; - return internal::InnerMostDimReducer::reduce(*this, firstInput(index), - num_values_to_reduce, reducer); - } else { - typename Self::CoeffReturnType accum = reducer.initialize(); - internal::GenericDimReducer::reduce(*this, firstInput(index), reducer, &accum); - return reducer.finalize(accum); - } - } - - // TODO(bsteiner): provide a more efficient implementation. - template - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const - { - EIGEN_STATIC_ASSERT((PacketSize > 1), YOU_MADE_A_PROGRAMMING_MISTAKE) - eigen_assert(index + PacketSize - 1 < Index(internal::array_prod(dimensions()))); - - if (RunningOnGPU && m_result) { - return internal::pload(m_result + index); - } - - EIGEN_ALIGN_MAX typename internal::remove_const::type values[PacketSize]; - if (ReducingInnerMostDims) { - const Index num_values_to_reduce = - (static_cast(Layout) == static_cast(ColMajor)) ? m_preservedStrides[0] : m_preservedStrides[NumPreservedStrides - 1]; - const Index firstIndex = firstInput(index); - for (Index i = 0; i < PacketSize; ++i) { - Op reducer(m_reducer); - values[i] = internal::InnerMostDimReducer::reduce(*this, firstIndex + i * num_values_to_reduce, - num_values_to_reduce, reducer); - } - } else if (PreservingInnerMostDims) { - const Index firstIndex = firstInput(index); - const int innermost_dim = (static_cast(Layout) == static_cast(ColMajor)) ? 0 : NumOutputDims - 1; - // TBD: extend this the the n innermost dimensions that we preserve. - if (((firstIndex % m_dimensions[innermost_dim]) + PacketSize - 1) < m_dimensions[innermost_dim]) { - Op reducer(m_reducer); - typename Self::PacketReturnType accum = reducer.template initializePacket(); - internal::InnerMostDimPreserver::reduce(*this, firstIndex, reducer, &accum); - return reducer.finalizePacket(accum); - } else { - for (int i = 0; i < PacketSize; ++i) { - values[i] = coeff(index + i); - } - } - } else { - for (int i = 0; i < PacketSize; ++i) { - values[i] = coeff(index + i); - } - } - PacketReturnType rslt = internal::pload(values); - return rslt; - } - - // Must be called after evalSubExprsIfNeeded(). - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TensorOpCost costPerCoeff(bool vectorized) const { - if (RunningFullReduction && m_result) { - return TensorOpCost(sizeof(CoeffReturnType), 0, 0, vectorized, PacketSize); - } else { - const Index num_values_to_reduce = internal::array_prod(m_reducedDims); - const double compute_cost = num_values_to_reduce * internal::functor_traits::Cost; - return m_impl.costPerCoeff(vectorized) * num_values_to_reduce + - TensorOpCost(0, 0, compute_cost, vectorized, PacketSize); - } - } - - EIGEN_DEVICE_FUNC typename MakePointer_::Type data() const { return m_result; } - /// required by sycl in order to extract the accessor - const TensorEvaluator& impl() const { return m_impl; } - /// added for sycl in order to construct the buffer from the sycl device - const Device& device() const{return m_device;} - /// added for sycl in order to re-construct the reduction eval on the device for the sub-kernel - const Dims& xprDims() const {return m_xpr_dims;} - - - private: - template friend struct internal::GenericDimReducer; - template friend struct internal::InnerMostDimReducer; - template friend struct internal::InnerMostDimPreserver; - template friend struct internal::FullReducer; -#ifdef EIGEN_USE_THREADS - template friend struct internal::FullReducerShard; -#endif -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) - template KERNEL_FRIEND void internal::FullReductionKernel(R, const S, I, typename S::CoeffReturnType*, unsigned int*); -#ifdef EIGEN_HAS_CUDA_FP16 - template KERNEL_FRIEND void internal::ReductionInitFullReduxKernelHalfFloat(R, const S, I, half2*); - template KERNEL_FRIEND void internal::FullReductionKernelHalfFloat(R, const S, I, half*, half2*); - template KERNEL_FRIEND void internal::InnerReductionKernelHalfFloat(R, const S, I, I, half*); -#endif - template KERNEL_FRIEND void internal::InnerReductionKernel(R, const S, I, I, typename S::CoeffReturnType*); - - template KERNEL_FRIEND void internal::OuterReductionKernel(R, const S, I, I, typename S::CoeffReturnType*); -#endif - -#if defined(EIGEN_USE_SYCL) - template < typename HostExpr_, typename FunctorExpr_, typename Tuple_of_Acc_, typename Dims_, typename Op_, typename Index_> friend class TensorSycl::internal::ReductionFunctor; - template friend class TensorSycl::internal::FullReductionKernelFunctor; -#endif - - - template friend struct internal::InnerReducer; - - // Returns the Index in the input tensor of the first value that needs to be - // used to compute the reduction at output index "index". - EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index firstInput(Index index) const { - if (ReducingInnerMostDims) { - if (static_cast(Layout) == static_cast(ColMajor)) { - return index * m_preservedStrides[0]; - } else { - return index * m_preservedStrides[NumPreservedStrides - 1]; - } - } - // TBD: optimize the case where we preserve the innermost dimensions. - Index startInput = 0; - if (static_cast(Layout) == static_cast(ColMajor)) { - for (int i = NumOutputDims - 1; i > 0; --i) { - // This is index_i in the output tensor. - const Index idx = index / m_outputStrides[i]; - startInput += idx * m_preservedStrides[i]; - index -= idx * m_outputStrides[i]; - } - if (PreservingInnerMostDims) { - eigen_assert(m_preservedStrides[0] == 1); - startInput += index; - } else { - startInput += index * m_preservedStrides[0]; - } - } else { - for (int i = 0; i < NumOutputDims - 1; ++i) { - // This is index_i in the output tensor. - const Index idx = index / m_outputStrides[i]; - startInput += idx * m_preservedStrides[i]; - index -= idx * m_outputStrides[i]; - } - if (PreservingInnerMostDims) { - eigen_assert(m_preservedStrides[NumPreservedStrides - 1] == 1); - startInput += index; - } else { - startInput += index * m_preservedStrides[NumPreservedStrides - 1]; - } - } - return startInput; - } - - // Bitmap indicating if an input dimension is reduced or not. - array m_reduced; - // Dimensions of the output of the operation. - Dimensions m_dimensions; - // Precomputed strides for the output tensor. - array m_outputStrides; - // Subset of strides of the input tensor for the non-reduced dimensions. - // Indexed by output dimensions. - static const int NumPreservedStrides = max_n_1::size; - array m_preservedStrides; - - // Subset of strides of the input tensor for the reduced dimensions. - // Indexed by reduced dimensions. - array m_reducedStrides; - // Size of the input dimensions that are reduced. - // Indexed by reduced dimensions. - array m_reducedDims; - - // Evaluator for the input expression. - TensorEvaluator m_impl; - - // Operation to apply for computing the reduction. - Op m_reducer; - - // For full reductions -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) - static const bool RunningOnGPU = internal::is_same::value; - static const bool RunningOnSycl = false; -#elif defined(EIGEN_USE_SYCL) -static const bool RunningOnSycl = internal::is_same::type, Eigen::SyclDevice>::value; -static const bool RunningOnGPU = false; -#else - static const bool RunningOnGPU = false; - static const bool RunningOnSycl = false; -#endif - typename MakePointer_::Type m_result; - - const Device& m_device; - const Dims& m_xpr_dims; -}; - -} // end namespace Eigen - -#endif // EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_H diff --git a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h b/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h deleted file mode 100644 index edb0ab28..00000000 --- a/testbed/nanogui/ext/eigen/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h +++ /dev/null @@ -1,749 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2014 Benoit Steiner -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_CUDA_H -#define EIGEN_CXX11_TENSOR_TENSOR_REDUCTION_CUDA_H - -namespace Eigen { -namespace internal { - - -#if defined(EIGEN_USE_GPU) && defined(__CUDACC__) -// Full reducers for GPU, don't vectorize for now - -// Reducer function that enables multiple cuda thread to safely accumulate at the same -// output address. It basically reads the current value of the output variable, and -// attempts to update it with the new value. If in the meantime another cuda thread -// updated the content of the output address it will try again. -template -__device__ EIGEN_ALWAYS_INLINE void atomicReduce(T* output, T accum, R& reducer) { -#if __CUDA_ARCH__ >= 300 - if (sizeof(T) == 4) - { - unsigned int oldval = *reinterpret_cast(output); - unsigned int newval = oldval; - reducer.reduce(accum, reinterpret_cast(&newval)); - if (newval == oldval) { - return; - } - unsigned int readback; - while ((readback = atomicCAS((unsigned int*)output, oldval, newval)) != oldval) { - oldval = readback; - newval = oldval; - reducer.reduce(accum, reinterpret_cast(&newval)); - if (newval == oldval) { - return; - } - } - } - else if (sizeof(T) == 8) { - unsigned long long oldval = *reinterpret_cast(output); - unsigned long long newval = oldval; - reducer.reduce(accum, reinterpret_cast(&newval)); - if (newval == oldval) { - return; - } - unsigned long long readback; - while ((readback = atomicCAS((unsigned long long*)output, oldval, newval)) != oldval) { - oldval = readback; - newval = oldval; - reducer.reduce(accum, reinterpret_cast(&newval)); - if (newval == oldval) { - return; - } - } - } - else { - assert(0 && "Wordsize not supported"); - } -#else - assert(0 && "Shouldn't be called on unsupported device"); -#endif -} - -// We extend atomicExch to support extra data types -template -__device__ inline Type atomicExchCustom(Type* address, Type val) { - return atomicExch(address, val); -} - -template <> -__device__ inline double atomicExchCustom(double* address, double val) { - unsigned long long int* address_as_ull = reinterpret_cast(address); - return __longlong_as_double(atomicExch(address_as_ull, __double_as_longlong(val))); -} - -#ifdef EIGEN_HAS_CUDA_FP16 -template